diff --git a/404.html b/404.html index 5fa81802a..c595f9fc5 100644 --- a/404.html +++ b/404.html @@ -9,7 +9,7 @@ - + @@ -19,7 +19,7 @@
- + \ No newline at end of file diff --git a/LANGS.html b/LANGS.html index 94674b553..b518c3131 100644 --- a/LANGS.html +++ b/LANGS.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

Appearance

- + \ No newline at end of file diff --git a/README.html b/README.html index a0a11222f..38dbae350 100644 --- a/README.html +++ b/README.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

Appearance

MAVLink Developer Guide ​

MAVLink is a very lightweight, header-only message marshalling library for micro air vehicles / drones.

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

Tip Because MAVLink doesn't require any additional framing it is very well suited for applications with very limited communication bandwidth. It's reference implementation in C is highly optimized for resource-constrained systems with limited RAM and flash memory. It is field-proven and deployed in many products where it serves as interoperability interface between components of different manufacturers.

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

The content of this book is CC-BY 4.0 licensed.

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AVSSUAS"]},"245":{"title":"MAV_CMD_PRS_SET_ARM (60050)","titles":["Dialect: AVSSUAS","Commands (MAV_CMD)"]},"246":{"title":"MAV_CMD_PRS_GET_ARM (60051)","titles":["Dialect: AVSSUAS","Commands (MAV_CMD)"]},"247":{"title":"MAV_CMD_PRS_GET_BATTERY (60052)","titles":["Dialect: AVSSUAS","Commands (MAV_CMD)"]},"248":{"title":"MAV_CMD_PRS_GET_ERR (60053)","titles":["Dialect: AVSSUAS","Commands (MAV_CMD)"]},"249":{"title":"MAV_CMD_PRS_SET_ARM_ALTI (60070)","titles":["Dialect: AVSSUAS","Commands (MAV_CMD)"]},"250":{"title":"MAV_CMD_PRS_GET_ARM_ALTI (60071)","titles":["Dialect: AVSSUAS","Commands (MAV_CMD)"]},"251":{"title":"MAV_CMD_PRS_SHUTDOWN (60072)","titles":["Dialect: AVSSUAS","Commands (MAV_CMD)"]},"252":{"title":"Dialect: all","titles":[]},"253":{"title":"MAVLink Include Files","titles":["Dialect: all"]},"254":{"title":"Summary","titles":["Dialect: all"]},"255":{"title":"Messages","titles":["Dialect: all"]},"256":{"title":"Enumerated Types","titles":["Dialect: all"]},"257":{"title":"Commands (MAV_CMD)","titles":["Dialect: all"]},"258":{"title":"Dialect: ArduPilotMega","titles":[]},"259":{"title":"MAVLink Include Files","titles":["Dialect: ArduPilotMega"]},"260":{"title":"Summary","titles":["Dialect: ArduPilotMega"]},"261":{"title":"Messages","titles":["Dialect: ArduPilotMega"]},"262":{"title":"SENSOR_OFFSETS (150) — [DEP]","titles":["Dialect: ArduPilotMega","Messages"]},"263":{"title":"SET_MAG_OFFSETS (151) — [DEP]","titles":["Dialect: ArduPilotMega","Messages"]},"264":{"title":"MEMINFO (152)","titles":["Dialect: ArduPilotMega","Messages"]},"265":{"title":"AP_ADC (153)","titles":["Dialect: ArduPilotMega","Messages"]},"266":{"title":"DIGICAM_CONFIGURE (154)","titles":["Dialect: ArduPilotMega","Messages"]},"267":{"title":"DIGICAM_CONTROL (155)","titles":["Dialect: ArduPilotMega","Messages"]},"268":{"title":"MOUNT_CONFIGURE (156)","titles":["Dialect: ArduPilotMega","Messages"]},"269":{"title":"MOUNT_CONTROL (157)","titles":["Dialect: ArduPilotMega","Messages"]},"270":{"title":"MOUNT_STATUS (158)","titles":["Dialect: ArduPilotMega","Messages"]},"271":{"title":"FENCE_POINT (160)","titles":["Dialect: ArduPilotMega","Messages"]},"272":{"title":"FENCE_FETCH_POINT (161)","titles":["Dialect: ArduPilotMega","Messages"]},"273":{"title":"AHRS (163)","titles":["Dialect: ArduPilotMega","Messages"]},"274":{"title":"SIMSTATE (164)","titles":["Dialect: ArduPilotMega","Messages"]},"275":{"title":"HWSTATUS (165)","titles":["Dialect: ArduPilotMega","Messages"]},"276":{"title":"RADIO (166)","titles":["Dialect: ArduPilotMega","Messages"]},"277":{"title":"LIMITS_STATUS (167)","titles":["Dialect: ArduPilotMega","Messages"]},"278":{"title":"WIND (168)","titles":["Dialect: ArduPilotMega","Messages"]},"279":{"title":"DATA16 (169)","titles":["Dialect: ArduPilotMega","Messages"]},"280":{"title":"DATA32 (170)","titles":["Dialect: ArduPilotMega","Messages"]},"281":{"title":"DATA64 (171)","titles":["Dialect: ArduPilotMega","Messages"]},"282":{"title":"DATA96 (172)","titles":["Dialect: ArduPilotMega","Messages"]},"283":{"title":"RANGEFINDER (173)","titles":["Dialect: ArduPilotMega","Messages"]},"284":{"title":"AIRSPEED_AUTOCAL (174)","titles":["Dialect: ArduPilotMega","Messages"]},"285":{"title":"RALLY_POINT (175)","titles":["Dialect: ArduPilotMega","Messages"]},"286":{"title":"RALLY_FETCH_POINT (176)","titles":["Dialect: ArduPilotMega","Messages"]},"287":{"title":"COMPASSMOT_STATUS (177)","titles":["Dialect: ArduPilotMega","Messages"]},"288":{"title":"AHRS2 (178)","titles":["Dialect: ArduPilotMega","Messages"]},"289":{"title":"CAMERA_STATUS (179)","titles":["Dialect: ArduPilotMega","Messages"]},"290":{"title":"CAMERA_FEEDBACK (180)","titles":["Dialect: ArduPilotMega","Messages"]},"291":{"title":"BATTERY2 (181) — [DEP]","titles":["Dialect: ArduPilotMega","Messages"]},"292":{"title":"AHRS3 (182)","titles":["Dialect: ArduPilotMega","Messages"]},"293":{"title":"AUTOPILOT_VERSION_REQUEST (183)","titles":["Dialect: ArduPilotMega","Messages"]},"294":{"title":"REMOTE_LOG_DATA_BLOCK (184)","titles":["Dialect: ArduPilotMega","Messages"]},"295":{"title":"REMOTE_LOG_BLOCK_STATUS (185)","titles":["Dialect: ArduPilotMega","Messages"]},"296":{"title":"LED_CONTROL (186)","titles":["Dialect: ArduPilotMega","Messages"]},"297":{"title":"MAG_CAL_PROGRESS (191)","titles":["Dialect: ArduPilotMega","Messages"]},"298":{"title":"EKF_STATUS_REPORT (193)","titles":["Dialect: ArduPilotMega","Messages"]},"299":{"title":"PID_TUNING (194)","titles":["Dialect: ArduPilotMega","Messages"]},"300":{"title":"DEEPSTALL (195)","titles":["Dialect: ArduPilotMega","Messages"]},"301":{"title":"GIMBAL_REPORT (200)","titles":["Dialect: ArduPilotMega","Messages"]},"302":{"title":"GIMBAL_CONTROL (201)","titles":["Dialect: ArduPilotMega","Messages"]},"303":{"title":"GIMBAL_TORQUE_CMD_REPORT (214)","titles":["Dialect: ArduPilotMega","Messages"]},"304":{"title":"GOPRO_HEARTBEAT (215)","titles":["Dialect: ArduPilotMega","Messages"]},"305":{"title":"GOPRO_GET_REQUEST (216)","titles":["Dialect: ArduPilotMega","Messages"]},"306":{"title":"GOPRO_GET_RESPONSE (217)","titles":["Dialect: ArduPilotMega","Messages"]},"307":{"title":"GOPRO_SET_REQUEST (218)","titles":["Dialect: ArduPilotMega","Messages"]},"308":{"title":"GOPRO_SET_RESPONSE (219)","titles":["Dialect: ArduPilotMega","Messages"]},"309":{"title":"RPM (226)","titles":["Dialect: ArduPilotMega","Messages"]},"310":{"title":"DEVICE_OP_READ (11000)","titles":["Dialect: ArduPilotMega","Messages"]},"311":{"title":"DEVICE_OP_READ_REPLY (11001)","titles":["Dialect: ArduPilotMega","Messages"]},"312":{"title":"DEVICE_OP_WRITE (11002)","titles":["Dialect: ArduPilotMega","Messages"]},"313":{"title":"DEVICE_OP_WRITE_REPLY (11003)","titles":["Dialect: ArduPilotMega","Messages"]},"314":{"title":"SECURE_COMMAND (11004)","titles":["Dialect: ArduPilotMega","Messages"]},"315":{"title":"SECURE_COMMAND_REPLY (11005)","titles":["Dialect: ArduPilotMega","Messages"]},"316":{"title":"ADAP_TUNING (11010)","titles":["Dialect: ArduPilotMega","Messages"]},"317":{"title":"VISION_POSITION_DELTA (11011)","titles":["Dialect: ArduPilotMega","Messages"]},"318":{"title":"AOA_SSA (11020)","titles":["Dialect: ArduPilotMega","Messages"]},"319":{"title":"ESC_TELEMETRY_1_TO_4 (11030)","titles":["Dialect: ArduPilotMega","Messages"]},"320":{"title":"ESC_TELEMETRY_5_TO_8 (11031)","titles":["Dialect: ArduPilotMega","Messages"]},"321":{"title":"ESC_TELEMETRY_9_TO_12 (11032)","titles":["Dialect: ArduPilotMega","Messages"]},"322":{"title":"OSD_PARAM_CONFIG (11033)","titles":["Dialect: ArduPilotMega","Messages"]},"323":{"title":"OSD_PARAM_CONFIG_REPLY (11034)","titles":["Dialect: ArduPilotMega","Messages"]},"324":{"title":"OSD_PARAM_SHOW_CONFIG (11035)","titles":["Dialect: ArduPilotMega","Messages"]},"325":{"title":"OSD_PARAM_SHOW_CONFIG_REPLY (11036)","titles":["Dialect: ArduPilotMega","Messages"]},"326":{"title":"OBSTACLE_DISTANCE_3D (11037)","titles":["Dialect: ArduPilotMega","Messages"]},"327":{"title":"WATER_DEPTH (11038)","titles":["Dialect: ArduPilotMega","Messages"]},"328":{"title":"MCU_STATUS (11039)","titles":["Dialect: ArduPilotMega","Messages"]},"329":{"title":"ESC_TELEMETRY_13_TO_16 (11040)","titles":["Dialect: ArduPilotMega","Messages"]},"330":{"title":"ESC_TELEMETRY_17_TO_20 (11041)","titles":["Dialect: ArduPilotMega","Messages"]},"331":{"title":"ESC_TELEMETRY_21_TO_24 (11042)","titles":["Dialect: ArduPilotMega","Messages"]},"332":{"title":"ESC_TELEMETRY_25_TO_28 (11043)","titles":["Dialect: ArduPilotMega","Messages"]},"333":{"title":"ESC_TELEMETRY_29_TO_32 (11044)","titles":["Dialect: ArduPilotMega","Messages"]},"334":{"title":"Enumerated Types","titles":["Dialect: ArduPilotMega"]},"335":{"title":"ACCELCAL_VEHICLE_POS","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"336":{"title":"HEADING_TYPE","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"337":{"title":"SCRIPTING_CMD","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"338":{"title":"SECURE_COMMAND_OP","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"339":{"title":"LIMITS_STATE","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"340":{"title":"LIMIT_MODULE","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"341":{"title":"RALLY_FLAGS","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"342":{"title":"CAMERA_STATUS_TYPES","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"343":{"title":"CAMERA_FEEDBACK_FLAGS","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"344":{"title":"MAV_MODE_GIMBAL","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"345":{"title":"GIMBAL_AXIS","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"346":{"title":"GIMBAL_AXIS_CALIBRATION_STATUS","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"347":{"title":"GIMBAL_AXIS_CALIBRATION_REQUIRED","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"348":{"title":"GOPRO_HEARTBEAT_STATUS","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"349":{"title":"GOPRO_HEARTBEAT_FLAGS","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"350":{"title":"GOPRO_REQUEST_STATUS","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"351":{"title":"GOPRO_COMMAND","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"352":{"title":"GOPRO_CAPTURE_MODE","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"353":{"title":"GOPRO_RESOLUTION","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"354":{"title":"GOPRO_FRAME_RATE","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"355":{"title":"GOPRO_FIELD_OF_VIEW","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"356":{"title":"GOPRO_VIDEO_SETTINGS_FLAGS","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"357":{"title":"GOPRO_PHOTO_RESOLUTION","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"358":{"title":"GOPRO_PROTUNE_WHITE_BALANCE","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"359":{"title":"GOPRO_PROTUNE_COLOUR","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"360":{"title":"GOPRO_PROTUNE_GAIN","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"361":{"title":"GOPRO_PROTUNE_SHARPNESS","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"362":{"title":"GOPRO_PROTUNE_EXPOSURE","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"363":{"title":"GOPRO_CHARGING","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"364":{"title":"GOPRO_MODEL","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"365":{"title":"GOPRO_BURST_RATE","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"366":{"title":"MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"367":{"title":"LED_CONTROL_PATTERN","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"368":{"title":"EKF_STATUS_FLAGS","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"369":{"title":"PID_TUNING_AXIS","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"370":{"title":"MAV_REMOTE_LOG_DATA_BLOCK_COMMANDS","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"371":{"title":"MAV_REMOTE_LOG_DATA_BLOCK_STATUSES","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"372":{"title":"DEVICE_OP_BUSTYPE","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"373":{"title":"DEEPSTALL_STAGE","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"374":{"title":"PLANE_MODE","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"375":{"title":"COPTER_MODE","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"376":{"title":"SUB_MODE","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"377":{"title":"ROVER_MODE","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"378":{"title":"TRACKER_MODE","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"379":{"title":"OSD_PARAM_CONFIG_TYPE","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"380":{"title":"OSD_PARAM_CONFIG_ERROR","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"381":{"title":"Commands (MAV_CMD)","titles":["Dialect: ArduPilotMega"]},"382":{"title":"MAV_CMD_NAV_ALTITUDE_WAIT (83)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"383":{"title":"MAV_CMD_DO_SET_RESUME_REPEAT_DIST (215)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"384":{"title":"MAV_CMD_DO_SPRAYER (216)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"385":{"title":"MAV_CMD_DO_SEND_SCRIPT_MESSAGE (217)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"386":{"title":"MAV_CMD_DO_AUX_FUNCTION (218)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"387":{"title":"MAV_CMD_POWER_OFF_INITIATED (42000)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"388":{"title":"MAV_CMD_SOLO_BTN_FLY_CLICK (42001)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"389":{"title":"MAV_CMD_SOLO_BTN_FLY_HOLD (42002)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"390":{"title":"MAV_CMD_SOLO_BTN_PAUSE_CLICK (42003)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"391":{"title":"MAV_CMD_FIXED_MAG_CAL (42004)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"392":{"title":"MAV_CMD_FIXED_MAG_CAL_FIELD (42005)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"393":{"title":"MAV_CMD_SET_EKF_SOURCE_SET (42007)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"394":{"title":"MAV_CMD_DO_START_MAG_CAL (42424)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"395":{"title":"MAV_CMD_DO_ACCEPT_MAG_CAL (42425)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"396":{"title":"MAV_CMD_DO_CANCEL_MAG_CAL (42426)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"397":{"title":"MAV_CMD_SET_FACTORY_TEST_MODE (42427)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"398":{"title":"MAV_CMD_DO_SEND_BANNER (42428)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"399":{"title":"MAV_CMD_ACCELCAL_VEHICLE_POS (42429)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"400":{"title":"MAV_CMD_GIMBAL_RESET (42501)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"401":{"title":"MAV_CMD_GIMBAL_AXIS_CALIBRATION_STATUS (42502)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"402":{"title":"MAV_CMD_GIMBAL_REQUEST_AXIS_CALIBRATION (42503)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"403":{"title":"MAV_CMD_GIMBAL_FULL_RESET (42505)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"404":{"title":"MAV_CMD_FLASH_BOOTLOADER (42650)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"405":{"title":"MAV_CMD_BATTERY_RESET (42651)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"406":{"title":"MAV_CMD_DEBUG_TRAP (42700)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"407":{"title":"MAV_CMD_SCRIPTING (42701)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"408":{"title":"MAV_CMD_NAV_SCRIPT_TIME (42702)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"409":{"title":"MAV_CMD_NAV_ATTITUDE_TIME (42703)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"410":{"title":"MAV_CMD_GUIDED_CHANGE_SPEED (43000)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"411":{"title":"MAV_CMD_GUIDED_CHANGE_ALTITUDE (43001)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"412":{"title":"MAV_CMD_GUIDED_CHANGE_HEADING (43002)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"413":{"title":"MAV_CMD_EXTERNAL_POSITION_ESTIMATE (43003)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"414":{"title":"MAV_CMD_SET_HAGL (43005)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"415":{"title":"Dialect: csAirLink","titles":[]},"416":{"title":"MAVLink Include Files","titles":["Dialect: csAirLink"]},"417":{"title":"Summary","titles":["Dialect: csAirLink"]},"418":{"title":"Messages","titles":["Dialect: csAirLink"]},"419":{"title":"AIRLINK_AUTH (52000)","titles":["Dialect: csAirLink","Messages"]},"420":{"title":"AIRLINK_AUTH_RESPONSE (52001)","titles":["Dialect: csAirLink","Messages"]},"421":{"title":"AIRLINK_EYE_GS_HOLE_PUSH_REQUEST (52002)","titles":["Dialect: csAirLink","Messages"]},"422":{"title":"AIRLINK_EYE_GS_HOLE_PUSH_RESPONSE (52003)","titles":["Dialect: csAirLink","Messages"]},"423":{"title":"AIRLINK_EYE_HP (52004)","titles":["Dialect: csAirLink","Messages"]},"424":{"title":"AIRLINK_EYE_TURN_INIT (52005)","titles":["Dialect: csAirLink","Messages"]},"425":{"title":"Enumerated Types","titles":["Dialect: csAirLink"]},"426":{"title":"AIRLINK_AUTH_RESPONSE_TYPE","titles":["Dialect: csAirLink","Enumerated Types"]},"427":{"title":"AIRLINK_EYE_GS_HOLE_PUSH_RESP_TYPE","titles":["Dialect: csAirLink","Enumerated 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(MAV_CMD)"]},"244":{"title":"MAV_CMD_PRS_GET_ERR (60053)","titles":["Dialect: AVSSUAS","Commands (MAV_CMD)"]},"245":{"title":"MAV_CMD_PRS_SET_ARM_ALTI (60070)","titles":["Dialect: AVSSUAS","Commands (MAV_CMD)"]},"246":{"title":"MAV_CMD_PRS_GET_ARM_ALTI (60071)","titles":["Dialect: AVSSUAS","Commands (MAV_CMD)"]},"247":{"title":"MAV_CMD_PRS_SHUTDOWN (60072)","titles":["Dialect: AVSSUAS","Commands (MAV_CMD)"]},"248":{"title":"XML Definition Files & Dialects","titles":[]},"249":{"title":"Standard Definitions","titles":["XML Definition Files & Dialects"]},"250":{"title":"Test Definitions","titles":["XML Definition Files & Dialects"]},"251":{"title":"Dialects","titles":["XML Definition Files & Dialects"]},"252":{"title":"Dialect: all","titles":[]},"253":{"title":"MAVLink Include Files","titles":["Dialect: all"]},"254":{"title":"Summary","titles":["Dialect: all"]},"255":{"title":"Messages","titles":["Dialect: all"]},"256":{"title":"Enumerated Types","titles":["Dialect: all"]},"257":{"title":"Commands (MAV_CMD)","titles":["Dialect: all"]},"258":{"title":"Dialect: ArduPilotMega","titles":[]},"259":{"title":"MAVLink Include Files","titles":["Dialect: ArduPilotMega"]},"260":{"title":"Summary","titles":["Dialect: ArduPilotMega"]},"261":{"title":"Messages","titles":["Dialect: ArduPilotMega"]},"262":{"title":"SENSOR_OFFSETS (150) — [DEP]","titles":["Dialect: ArduPilotMega","Messages"]},"263":{"title":"SET_MAG_OFFSETS (151) — [DEP]","titles":["Dialect: ArduPilotMega","Messages"]},"264":{"title":"MEMINFO (152)","titles":["Dialect: ArduPilotMega","Messages"]},"265":{"title":"AP_ADC (153)","titles":["Dialect: ArduPilotMega","Messages"]},"266":{"title":"DIGICAM_CONFIGURE (154)","titles":["Dialect: ArduPilotMega","Messages"]},"267":{"title":"DIGICAM_CONTROL (155)","titles":["Dialect: ArduPilotMega","Messages"]},"268":{"title":"MOUNT_CONFIGURE (156)","titles":["Dialect: ArduPilotMega","Messages"]},"269":{"title":"MOUNT_CONTROL (157)","titles":["Dialect: ArduPilotMega","Messages"]},"270":{"title":"MOUNT_STATUS (158)","titles":["Dialect: ArduPilotMega","Messages"]},"271":{"title":"FENCE_POINT (160)","titles":["Dialect: ArduPilotMega","Messages"]},"272":{"title":"FENCE_FETCH_POINT (161)","titles":["Dialect: ArduPilotMega","Messages"]},"273":{"title":"AHRS (163)","titles":["Dialect: ArduPilotMega","Messages"]},"274":{"title":"SIMSTATE (164)","titles":["Dialect: ArduPilotMega","Messages"]},"275":{"title":"HWSTATUS (165)","titles":["Dialect: ArduPilotMega","Messages"]},"276":{"title":"RADIO (166)","titles":["Dialect: ArduPilotMega","Messages"]},"277":{"title":"LIMITS_STATUS (167)","titles":["Dialect: ArduPilotMega","Messages"]},"278":{"title":"WIND (168)","titles":["Dialect: ArduPilotMega","Messages"]},"279":{"title":"DATA16 (169)","titles":["Dialect: ArduPilotMega","Messages"]},"280":{"title":"DATA32 (170)","titles":["Dialect: ArduPilotMega","Messages"]},"281":{"title":"DATA64 (171)","titles":["Dialect: ArduPilotMega","Messages"]},"282":{"title":"DATA96 (172)","titles":["Dialect: ArduPilotMega","Messages"]},"283":{"title":"RANGEFINDER (173)","titles":["Dialect: ArduPilotMega","Messages"]},"284":{"title":"AIRSPEED_AUTOCAL (174)","titles":["Dialect: ArduPilotMega","Messages"]},"285":{"title":"RALLY_POINT (175)","titles":["Dialect: ArduPilotMega","Messages"]},"286":{"title":"RALLY_FETCH_POINT (176)","titles":["Dialect: ArduPilotMega","Messages"]},"287":{"title":"COMPASSMOT_STATUS (177)","titles":["Dialect: ArduPilotMega","Messages"]},"288":{"title":"AHRS2 (178)","titles":["Dialect: ArduPilotMega","Messages"]},"289":{"title":"CAMERA_STATUS (179)","titles":["Dialect: ArduPilotMega","Messages"]},"290":{"title":"CAMERA_FEEDBACK (180)","titles":["Dialect: ArduPilotMega","Messages"]},"291":{"title":"BATTERY2 (181) — [DEP]","titles":["Dialect: ArduPilotMega","Messages"]},"292":{"title":"AHRS3 (182)","titles":["Dialect: ArduPilotMega","Messages"]},"293":{"title":"AUTOPILOT_VERSION_REQUEST (183)","titles":["Dialect: ArduPilotMega","Messages"]},"294":{"title":"REMOTE_LOG_DATA_BLOCK (184)","titles":["Dialect: ArduPilotMega","Messages"]},"295":{"title":"REMOTE_LOG_BLOCK_STATUS (185)","titles":["Dialect: ArduPilotMega","Messages"]},"296":{"title":"LED_CONTROL (186)","titles":["Dialect: ArduPilotMega","Messages"]},"297":{"title":"MAG_CAL_PROGRESS (191)","titles":["Dialect: ArduPilotMega","Messages"]},"298":{"title":"EKF_STATUS_REPORT (193)","titles":["Dialect: ArduPilotMega","Messages"]},"299":{"title":"PID_TUNING (194)","titles":["Dialect: ArduPilotMega","Messages"]},"300":{"title":"DEEPSTALL (195)","titles":["Dialect: ArduPilotMega","Messages"]},"301":{"title":"GIMBAL_REPORT (200)","titles":["Dialect: ArduPilotMega","Messages"]},"302":{"title":"GIMBAL_CONTROL (201)","titles":["Dialect: ArduPilotMega","Messages"]},"303":{"title":"GIMBAL_TORQUE_CMD_REPORT (214)","titles":["Dialect: ArduPilotMega","Messages"]},"304":{"title":"GOPRO_HEARTBEAT (215)","titles":["Dialect: ArduPilotMega","Messages"]},"305":{"title":"GOPRO_GET_REQUEST (216)","titles":["Dialect: ArduPilotMega","Messages"]},"306":{"title":"GOPRO_GET_RESPONSE (217)","titles":["Dialect: ArduPilotMega","Messages"]},"307":{"title":"GOPRO_SET_REQUEST (218)","titles":["Dialect: ArduPilotMega","Messages"]},"308":{"title":"GOPRO_SET_RESPONSE (219)","titles":["Dialect: ArduPilotMega","Messages"]},"309":{"title":"RPM (226)","titles":["Dialect: ArduPilotMega","Messages"]},"310":{"title":"DEVICE_OP_READ (11000)","titles":["Dialect: ArduPilotMega","Messages"]},"311":{"title":"DEVICE_OP_READ_REPLY (11001)","titles":["Dialect: ArduPilotMega","Messages"]},"312":{"title":"DEVICE_OP_WRITE (11002)","titles":["Dialect: ArduPilotMega","Messages"]},"313":{"title":"DEVICE_OP_WRITE_REPLY (11003)","titles":["Dialect: ArduPilotMega","Messages"]},"314":{"title":"SECURE_COMMAND (11004)","titles":["Dialect: ArduPilotMega","Messages"]},"315":{"title":"SECURE_COMMAND_REPLY (11005)","titles":["Dialect: ArduPilotMega","Messages"]},"316":{"title":"ADAP_TUNING (11010)","titles":["Dialect: ArduPilotMega","Messages"]},"317":{"title":"VISION_POSITION_DELTA (11011)","titles":["Dialect: ArduPilotMega","Messages"]},"318":{"title":"AOA_SSA (11020)","titles":["Dialect: ArduPilotMega","Messages"]},"319":{"title":"ESC_TELEMETRY_1_TO_4 (11030)","titles":["Dialect: ArduPilotMega","Messages"]},"320":{"title":"ESC_TELEMETRY_5_TO_8 (11031)","titles":["Dialect: ArduPilotMega","Messages"]},"321":{"title":"ESC_TELEMETRY_9_TO_12 (11032)","titles":["Dialect: ArduPilotMega","Messages"]},"322":{"title":"OSD_PARAM_CONFIG (11033)","titles":["Dialect: ArduPilotMega","Messages"]},"323":{"title":"OSD_PARAM_CONFIG_REPLY (11034)","titles":["Dialect: ArduPilotMega","Messages"]},"324":{"title":"OSD_PARAM_SHOW_CONFIG (11035)","titles":["Dialect: ArduPilotMega","Messages"]},"325":{"title":"OSD_PARAM_SHOW_CONFIG_REPLY (11036)","titles":["Dialect: ArduPilotMega","Messages"]},"326":{"title":"OBSTACLE_DISTANCE_3D (11037)","titles":["Dialect: ArduPilotMega","Messages"]},"327":{"title":"WATER_DEPTH (11038)","titles":["Dialect: ArduPilotMega","Messages"]},"328":{"title":"MCU_STATUS (11039)","titles":["Dialect: ArduPilotMega","Messages"]},"329":{"title":"ESC_TELEMETRY_13_TO_16 (11040)","titles":["Dialect: ArduPilotMega","Messages"]},"330":{"title":"ESC_TELEMETRY_17_TO_20 (11041)","titles":["Dialect: ArduPilotMega","Messages"]},"331":{"title":"ESC_TELEMETRY_21_TO_24 (11042)","titles":["Dialect: ArduPilotMega","Messages"]},"332":{"title":"ESC_TELEMETRY_25_TO_28 (11043)","titles":["Dialect: ArduPilotMega","Messages"]},"333":{"title":"ESC_TELEMETRY_29_TO_32 (11044)","titles":["Dialect: ArduPilotMega","Messages"]},"334":{"title":"Enumerated Types","titles":["Dialect: ArduPilotMega"]},"335":{"title":"ACCELCAL_VEHICLE_POS","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"336":{"title":"HEADING_TYPE","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"337":{"title":"SCRIPTING_CMD","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"338":{"title":"SECURE_COMMAND_OP","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"339":{"title":"LIMITS_STATE","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"340":{"title":"LIMIT_MODULE","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"341":{"title":"RALLY_FLAGS","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"342":{"title":"CAMERA_STATUS_TYPES","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"343":{"title":"CAMERA_FEEDBACK_FLAGS","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"344":{"title":"MAV_MODE_GIMBAL","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"345":{"title":"GIMBAL_AXIS","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"346":{"title":"GIMBAL_AXIS_CALIBRATION_STATUS","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"347":{"title":"GIMBAL_AXIS_CALIBRATION_REQUIRED","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"348":{"title":"GOPRO_HEARTBEAT_STATUS","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"349":{"title":"GOPRO_HEARTBEAT_FLAGS","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"350":{"title":"GOPRO_REQUEST_STATUS","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"351":{"title":"GOPRO_COMMAND","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"352":{"title":"GOPRO_CAPTURE_MODE","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"353":{"title":"GOPRO_RESOLUTION","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"354":{"title":"GOPRO_FRAME_RATE","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"355":{"title":"GOPRO_FIELD_OF_VIEW","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"356":{"title":"GOPRO_VIDEO_SETTINGS_FLAGS","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"357":{"title":"GOPRO_PHOTO_RESOLUTION","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"358":{"title":"GOPRO_PROTUNE_WHITE_BALANCE","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"359":{"title":"GOPRO_PROTUNE_COLOUR","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"360":{"title":"GOPRO_PROTUNE_GAIN","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"361":{"title":"GOPRO_PROTUNE_SHARPNESS","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"362":{"title":"GOPRO_PROTUNE_EXPOSURE","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"363":{"title":"GOPRO_CHARGING","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"364":{"title":"GOPRO_MODEL","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"365":{"title":"GOPRO_BURST_RATE","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"366":{"title":"MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"367":{"title":"LED_CONTROL_PATTERN","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"368":{"title":"EKF_STATUS_FLAGS","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"369":{"title":"PID_TUNING_AXIS","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"370":{"title":"MAV_REMOTE_LOG_DATA_BLOCK_COMMANDS","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"371":{"title":"MAV_REMOTE_LOG_DATA_BLOCK_STATUSES","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"372":{"title":"DEVICE_OP_BUSTYPE","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"373":{"title":"DEEPSTALL_STAGE","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"374":{"title":"PLANE_MODE","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"375":{"title":"COPTER_MODE","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"376":{"title":"SUB_MODE","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"377":{"title":"ROVER_MODE","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"378":{"title":"TRACKER_MODE","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"379":{"title":"OSD_PARAM_CONFIG_TYPE","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"380":{"title":"OSD_PARAM_CONFIG_ERROR","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"381":{"title":"Commands (MAV_CMD)","titles":["Dialect: ArduPilotMega"]},"382":{"title":"MAV_CMD_NAV_ALTITUDE_WAIT (83)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"383":{"title":"MAV_CMD_DO_SET_RESUME_REPEAT_DIST (215)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"384":{"title":"MAV_CMD_DO_SPRAYER (216)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"385":{"title":"MAV_CMD_DO_SEND_SCRIPT_MESSAGE (217)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"386":{"title":"MAV_CMD_DO_AUX_FUNCTION (218)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"387":{"title":"MAV_CMD_POWER_OFF_INITIATED (42000)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"388":{"title":"MAV_CMD_SOLO_BTN_FLY_CLICK (42001)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"389":{"title":"MAV_CMD_SOLO_BTN_FLY_HOLD (42002)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"390":{"title":"MAV_CMD_SOLO_BTN_PAUSE_CLICK (42003)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"391":{"title":"MAV_CMD_FIXED_MAG_CAL (42004)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"392":{"title":"MAV_CMD_FIXED_MAG_CAL_FIELD (42005)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"393":{"title":"MAV_CMD_SET_EKF_SOURCE_SET (42007)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"394":{"title":"MAV_CMD_DO_START_MAG_CAL (42424)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"395":{"title":"MAV_CMD_DO_ACCEPT_MAG_CAL (42425)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"396":{"title":"MAV_CMD_DO_CANCEL_MAG_CAL (42426)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"397":{"title":"MAV_CMD_SET_FACTORY_TEST_MODE (42427)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"398":{"title":"MAV_CMD_DO_SEND_BANNER (42428)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"399":{"title":"MAV_CMD_ACCELCAL_VEHICLE_POS (42429)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"400":{"title":"MAV_CMD_GIMBAL_RESET (42501)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"401":{"title":"MAV_CMD_GIMBAL_AXIS_CALIBRATION_STATUS (42502)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"402":{"title":"MAV_CMD_GIMBAL_REQUEST_AXIS_CALIBRATION (42503)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"403":{"title":"MAV_CMD_GIMBAL_FULL_RESET (42505)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"404":{"title":"MAV_CMD_FLASH_BOOTLOADER (42650)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"405":{"title":"MAV_CMD_BATTERY_RESET (42651)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"406":{"title":"MAV_CMD_DEBUG_TRAP (42700)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"407":{"title":"MAV_CMD_SCRIPTING (42701)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"408":{"title":"MAV_CMD_NAV_SCRIPT_TIME (42702)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"409":{"title":"MAV_CMD_NAV_ATTITUDE_TIME (42703)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"410":{"title":"MAV_CMD_GUIDED_CHANGE_SPEED (43000)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"411":{"title":"MAV_CMD_GUIDED_CHANGE_ALTITUDE (43001)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"412":{"title":"MAV_CMD_GUIDED_CHANGE_HEADING (43002)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"413":{"title":"MAV_CMD_EXTERNAL_POSITION_ESTIMATE (43003)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"414":{"title":"MAV_CMD_SET_HAGL (43005)","titles":["Dialect: ArduPilotMega","Commands (MAV_CMD)"]},"415":{"title":"Dialect: cubepilot","titles":[]},"416":{"title":"MAVLink Include Files","titles":["Dialect: cubepilot"]},"417":{"title":"Summary","titles":["Dialect: cubepilot"]},"418":{"title":"Messages","titles":["Dialect: cubepilot"]},"419":{"title":"CUBEPILOT_RAW_RC (50001)","titles":["Dialect: cubepilot","Messages"]},"420":{"title":"HERELINK_VIDEO_STREAM_INFORMATION (50002)","titles":["Dialect: cubepilot","Messages"]},"421":{"title":"HERELINK_TELEM (50003)","titles":["Dialect: cubepilot","Messages"]},"422":{"title":"CUBEPILOT_FIRMWARE_UPDATE_START (50004)","titles":["Dialect: cubepilot","Messages"]},"423":{"title":"CUBEPILOT_FIRMWARE_UPDATE_RESP (50005)","titles":["Dialect: cubepilot","Messages"]},"424":{"title":"Enumerated Types","titles":["Dialect: cubepilot"]},"425":{"title":"Commands (MAV_CMD)","titles":["Dialect: cubepilot"]},"426":{"title":"Dialect: csAirLink","titles":[]},"427":{"title":"MAVLink Include Files","titles":["Dialect: csAirLink"]},"428":{"title":"Summary","titles":["Dialect: csAirLink"]},"429":{"title":"Messages","titles":["Dialect: csAirLink"]},"430":{"title":"AIRLINK_AUTH (52000)","titles":["Dialect: csAirLink","Messages"]},"431":{"title":"AIRLINK_AUTH_RESPONSE (52001)","titles":["Dialect: csAirLink","Messages"]},"432":{"title":"AIRLINK_EYE_GS_HOLE_PUSH_REQUEST (52002)","titles":["Dialect: csAirLink","Messages"]},"433":{"title":"AIRLINK_EYE_GS_HOLE_PUSH_RESPONSE (52003)","titles":["Dialect: csAirLink","Messages"]},"434":{"title":"AIRLINK_EYE_HP (52004)","titles":["Dialect: csAirLink","Messages"]},"435":{"title":"AIRLINK_EYE_TURN_INIT (52005)","titles":["Dialect: csAirLink","Messages"]},"436":{"title":"Enumerated Types","titles":["Dialect: csAirLink"]},"437":{"title":"AIRLINK_AUTH_RESPONSE_TYPE","titles":["Dialect: csAirLink","Enumerated Types"]},"438":{"title":"AIRLINK_EYE_GS_HOLE_PUSH_RESP_TYPE","titles":["Dialect: csAirLink","Enumerated Types"]},"439":{"title":"AIRLINK_EYE_IP_VERSION","titles":["Dialect: csAirLink","Enumerated Types"]},"440":{"title":"AIRLINK_EYE_HOLE_PUSH_TYPE","titles":["Dialect: 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ArduPilotMega","Messages"]},"288":{"title":"BATTERY2 (181) — [DEP]","titles":["Dialect: ArduPilotMega","Messages"]},"289":{"title":"AHRS3 (182)","titles":["Dialect: ArduPilotMega","Messages"]},"290":{"title":"AUTOPILOT_VERSION_REQUEST (183)","titles":["Dialect: ArduPilotMega","Messages"]},"291":{"title":"REMOTE_LOG_DATA_BLOCK (184)","titles":["Dialect: ArduPilotMega","Messages"]},"292":{"title":"REMOTE_LOG_BLOCK_STATUS (185)","titles":["Dialect: ArduPilotMega","Messages"]},"293":{"title":"LED_CONTROL (186)","titles":["Dialect: ArduPilotMega","Messages"]},"294":{"title":"MAG_CAL_PROGRESS (191)","titles":["Dialect: ArduPilotMega","Messages"]},"295":{"title":"EKF_STATUS_REPORT (193)","titles":["Dialect: ArduPilotMega","Messages"]},"296":{"title":"PID_TUNING (194)","titles":["Dialect: ArduPilotMega","Messages"]},"297":{"title":"DEEPSTALL (195)","titles":["Dialect: ArduPilotMega","Messages"]},"298":{"title":"GIMBAL_REPORT (200)","titles":["Dialect: ArduPilotMega","Messages"]},"299":{"title":"GIMBAL_CONTROL (201)","titles":["Dialect: ArduPilotMega","Messages"]},"300":{"title":"GIMBAL_TORQUE_CMD_REPORT (214)","titles":["Dialect: ArduPilotMega","Messages"]},"301":{"title":"GOPRO_HEARTBEAT (215)","titles":["Dialect: ArduPilotMega","Messages"]},"302":{"title":"GOPRO_GET_REQUEST (216)","titles":["Dialect: ArduPilotMega","Messages"]},"303":{"title":"GOPRO_GET_RESPONSE (217)","titles":["Dialect: ArduPilotMega","Messages"]},"304":{"title":"GOPRO_SET_REQUEST (218)","titles":["Dialect: ArduPilotMega","Messages"]},"305":{"title":"GOPRO_SET_RESPONSE (219)","titles":["Dialect: ArduPilotMega","Messages"]},"306":{"title":"RPM (226)","titles":["Dialect: ArduPilotMega","Messages"]},"307":{"title":"DEVICE_OP_READ (11000)","titles":["Dialect: ArduPilotMega","Messages"]},"308":{"title":"DEVICE_OP_READ_REPLY (11001)","titles":["Dialect: ArduPilotMega","Messages"]},"309":{"title":"DEVICE_OP_WRITE (11002)","titles":["Dialect: ArduPilotMega","Messages"]},"310":{"title":"DEVICE_OP_WRITE_REPLY (11003)","titles":["Dialect: ArduPilotMega","Messages"]},"311":{"title":"ADAP_TUNING (11010)","titles":["Dialect: ArduPilotMega","Messages"]},"312":{"title":"VISION_POSITION_DELTA (11011)","titles":["Dialect: ArduPilotMega","Messages"]},"313":{"title":"AOA_SSA (11020)","titles":["Dialect: ArduPilotMega","Messages"]},"314":{"title":"ESC_TELEMETRY_1_TO_4 (11030)","titles":["Dialect: ArduPilotMega","Messages"]},"315":{"title":"ESC_TELEMETRY_5_TO_8 (11031)","titles":["Dialect: ArduPilotMega","Messages"]},"316":{"title":"ESC_TELEMETRY_9_TO_12 (11032)","titles":["Dialect: ArduPilotMega","Messages"]},"317":{"title":"OSD_PARAM_CONFIG (11033)","titles":["Dialect: ArduPilotMega","Messages"]},"318":{"title":"OSD_PARAM_CONFIG_REPLY (11034)","titles":["Dialect: ArduPilotMega","Messages"]},"319":{"title":"OSD_PARAM_SHOW_CONFIG (11035)","titles":["Dialect: ArduPilotMega","Messages"]},"320":{"title":"OSD_PARAM_SHOW_CONFIG_REPLY 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ArduPilotMega","Enumerated Types"]},"332":{"title":"CAMERA_FEEDBACK_FLAGS","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"333":{"title":"MAV_MODE_GIMBAL","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"334":{"title":"GIMBAL_AXIS","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"335":{"title":"GIMBAL_AXIS_CALIBRATION_STATUS","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"336":{"title":"GIMBAL_AXIS_CALIBRATION_REQUIRED","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"337":{"title":"GOPRO_HEARTBEAT_STATUS","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"338":{"title":"GOPRO_HEARTBEAT_FLAGS","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"339":{"title":"GOPRO_REQUEST_STATUS","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"340":{"title":"GOPRO_COMMAND","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"341":{"title":"GOPRO_CAPTURE_MODE","titles":["Dialect: ArduPilotMega","Enumerated 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ArduPilotMega","Messages"]},"288":{"title":"BATTERY2 (181) — [DEP]","titles":["Dialect: ArduPilotMega","Messages"]},"289":{"title":"AHRS3 (182)","titles":["Dialect: ArduPilotMega","Messages"]},"290":{"title":"AUTOPILOT_VERSION_REQUEST (183)","titles":["Dialect: ArduPilotMega","Messages"]},"291":{"title":"REMOTE_LOG_DATA_BLOCK (184)","titles":["Dialect: ArduPilotMega","Messages"]},"292":{"title":"REMOTE_LOG_BLOCK_STATUS (185)","titles":["Dialect: ArduPilotMega","Messages"]},"293":{"title":"LED_CONTROL (186)","titles":["Dialect: ArduPilotMega","Messages"]},"294":{"title":"MAG_CAL_PROGRESS (191)","titles":["Dialect: ArduPilotMega","Messages"]},"295":{"title":"EKF_STATUS_REPORT (193)","titles":["Dialect: ArduPilotMega","Messages"]},"296":{"title":"PID_TUNING (194)","titles":["Dialect: ArduPilotMega","Messages"]},"297":{"title":"DEEPSTALL (195)","titles":["Dialect: ArduPilotMega","Messages"]},"298":{"title":"GIMBAL_REPORT (200)","titles":["Dialect: ArduPilotMega","Messages"]},"299":{"title":"GIMBAL_CONTROL (201)","titles":["Dialect: ArduPilotMega","Messages"]},"300":{"title":"GIMBAL_TORQUE_CMD_REPORT (214)","titles":["Dialect: ArduPilotMega","Messages"]},"301":{"title":"GOPRO_HEARTBEAT (215)","titles":["Dialect: ArduPilotMega","Messages"]},"302":{"title":"GOPRO_GET_REQUEST (216)","titles":["Dialect: ArduPilotMega","Messages"]},"303":{"title":"GOPRO_GET_RESPONSE (217)","titles":["Dialect: ArduPilotMega","Messages"]},"304":{"title":"GOPRO_SET_REQUEST (218)","titles":["Dialect: ArduPilotMega","Messages"]},"305":{"title":"GOPRO_SET_RESPONSE (219)","titles":["Dialect: ArduPilotMega","Messages"]},"306":{"title":"RPM (226)","titles":["Dialect: ArduPilotMega","Messages"]},"307":{"title":"DEVICE_OP_READ (11000)","titles":["Dialect: ArduPilotMega","Messages"]},"308":{"title":"DEVICE_OP_READ_REPLY (11001)","titles":["Dialect: ArduPilotMega","Messages"]},"309":{"title":"DEVICE_OP_WRITE (11002)","titles":["Dialect: ArduPilotMega","Messages"]},"310":{"title":"DEVICE_OP_WRITE_REPLY (11003)","titles":["Dialect: ArduPilotMega","Messages"]},"311":{"title":"ADAP_TUNING (11010)","titles":["Dialect: ArduPilotMega","Messages"]},"312":{"title":"VISION_POSITION_DELTA (11011)","titles":["Dialect: ArduPilotMega","Messages"]},"313":{"title":"AOA_SSA (11020)","titles":["Dialect: ArduPilotMega","Messages"]},"314":{"title":"ESC_TELEMETRY_1_TO_4 (11030)","titles":["Dialect: ArduPilotMega","Messages"]},"315":{"title":"ESC_TELEMETRY_5_TO_8 (11031)","titles":["Dialect: ArduPilotMega","Messages"]},"316":{"title":"ESC_TELEMETRY_9_TO_12 (11032)","titles":["Dialect: ArduPilotMega","Messages"]},"317":{"title":"OSD_PARAM_CONFIG (11033)","titles":["Dialect: ArduPilotMega","Messages"]},"318":{"title":"OSD_PARAM_CONFIG_REPLY (11034)","titles":["Dialect: ArduPilotMega","Messages"]},"319":{"title":"OSD_PARAM_SHOW_CONFIG (11035)","titles":["Dialect: ArduPilotMega","Messages"]},"320":{"title":"OSD_PARAM_SHOW_CONFIG_REPLY 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ArduPilotMega","Enumerated Types"]},"332":{"title":"CAMERA_FEEDBACK_FLAGS","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"333":{"title":"MAV_MODE_GIMBAL","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"334":{"title":"GIMBAL_AXIS","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"335":{"title":"GIMBAL_AXIS_CALIBRATION_STATUS","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"336":{"title":"GIMBAL_AXIS_CALIBRATION_REQUIRED","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"337":{"title":"GOPRO_HEARTBEAT_STATUS","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"338":{"title":"GOPRO_HEARTBEAT_FLAGS","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"339":{"title":"GOPRO_REQUEST_STATUS","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"340":{"title":"GOPRO_COMMAND","titles":["Dialect: ArduPilotMega","Enumerated Types"]},"341":{"title":"GOPRO_CAPTURE_MODE","titles":["Dialect: ArduPilotMega","Enumerated 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u}; diff --git a/assets/en_mavgen_c_example_c_udp.md.D8IcusEk.js b/assets/en_mavgen_c_example_c_udp.md.D8IcusEk.js new file mode 100644 index 000000000..0855f8b5c --- /dev/null +++ b/assets/en_mavgen_c_example_c_udp.md.D8IcusEk.js @@ -0,0 +1,10 @@ +import{_ as i,c as a,a8 as e,o as t}from"./chunks/framework.sDsl5pD6.js";const F=JSON.parse('{"title":"MAVLink C UDP Example","description":"","frontmatter":{},"headers":[],"relativePath":"en/mavgen_c/example_c_udp.md","filePath":"en/mavgen_c/example_c_udp.md"}'),n={name:"en/mavgen_c/example_c_udp.md"};function l(h,s,p,k,r,d){return t(),a("div",null,s[0]||(s[0]=[e(`

MAVLink C UDP Example ​

The MAVLink UDP Example is a simple C example that sends some data to QGroundControl using MAVLink over UDP. QGroundControl responds with heartbeats and other messages, which are then printed by this program.

INFO

The example should work on any Unix-like system (Linux, MacOS, BSD, etc.). These instructions were tested on a clean Ubuntu LTS 20.04 installation using the default version of gcc (9.3.0).

Building/Running the Example ​

The following instructions show how to build and run the example.

  1. Install MAVLink and generate the MAVLink 2.0 libraries into the mavlink/include directory. For example, to generate the headers for common.xml you could use the command line:

    sh
    python3 -m pymavlink.tools.mavgen --lang=C --wire-protocol=2.0 --output=./include/ message_definitions/v1.0/common.xml

    TIP

    Alternatively you can clone the mavlink/mavlink repository and Download prebuilt headers to the same location.

    INFO

    The example will not work with MAVLink 1 because it uses a message that includes extension fields which do not exist in MAVLink 1 (SYS_STATUS).

    INFO

    You can put/generate the library wherever you like, but the build command below assumes they are located in directory named include below the MAVLink root directory.

  2. Open a terminal and navigate to examples/c

  3. Compile with GCC using the following command:

    sh
    gcc -std=c99 -I ../../include/common -o mavlink_udp udp_example.c

    INFO

    The MAVLink header directory must be added to the include path. The path here assumes you are building the code from the example directory, and that have installed the headers in mavlink/include.

  4. Run the executable from the terminal:

    bash
    ./mavlink_udp

    By default, the example will listen for data on the localhost IP address, port 14551. You can specify another IP address as a command line argument (use ./mavlink_udp --help to see usage).

  5. Open QGroundControl on the same machine.

    QGroundControl immediately starts broadcasting its HEARTBEAT on port 14551.

    INFO

    QGroundControl returns data, but will not actually "connect" to the example (it will continue to display the message Waiting for Vehicle Connection).

  6. The example should start displaying the received data in the terminal:

    sh
    ~/github/mavlink/examples/c$ ./mavlink_udp
+Bytes Received: 17
+Datagram: fe 09 00 ff 00 00 00 00 00 00 06 08 c0 04 03 19 87
+Received packet: SYS: 255, COMP: 0, LEN: 9, MSG ID: 0
+
+ Bytes Received: 17
+Datagram: fe 09 01 ff 00 00 00 00 00 00 06 08 c0 04 03 f3 f9
+Received packet: SYS: 255, COMP: 0, LEN: 9, MSG ID: 0
+
+...
`,6)]))}const c=i(n,[["render",l]]);export{F as __pageData,c as default}; diff --git a/assets/en_mavgen_c_example_c_udp.md.D8IcusEk.lean.js b/assets/en_mavgen_c_example_c_udp.md.D8IcusEk.lean.js new file mode 100644 index 000000000..0855f8b5c --- /dev/null +++ b/assets/en_mavgen_c_example_c_udp.md.D8IcusEk.lean.js @@ -0,0 +1,10 @@ +import{_ as i,c as a,a8 as e,o as t}from"./chunks/framework.sDsl5pD6.js";const F=JSON.parse('{"title":"MAVLink C UDP Example","description":"","frontmatter":{},"headers":[],"relativePath":"en/mavgen_c/example_c_udp.md","filePath":"en/mavgen_c/example_c_udp.md"}'),n={name:"en/mavgen_c/example_c_udp.md"};function l(h,s,p,k,r,d){return t(),a("div",null,s[0]||(s[0]=[e(`

MAVLink C UDP Example ​

The MAVLink UDP Example is a simple C example that sends some data to QGroundControl using MAVLink over UDP. QGroundControl responds with heartbeats and other messages, which are then printed by this program.

INFO

The example should work on any Unix-like system (Linux, MacOS, BSD, etc.). These instructions were tested on a clean Ubuntu LTS 20.04 installation using the default version of gcc (9.3.0).

Building/Running the Example ​

The following instructions show how to build and run the example.

  1. Install MAVLink and generate the MAVLink 2.0 libraries into the mavlink/include directory. For example, to generate the headers for common.xml you could use the command line:

    sh
    python3 -m pymavlink.tools.mavgen --lang=C --wire-protocol=2.0 --output=./include/ message_definitions/v1.0/common.xml

    TIP

    Alternatively you can clone the mavlink/mavlink repository and Download prebuilt headers to the same location.

    INFO

    The example will not work with MAVLink 1 because it uses a message that includes extension fields which do not exist in MAVLink 1 (SYS_STATUS).

    INFO

    You can put/generate the library wherever you like, but the build command below assumes they are located in directory named include below the MAVLink root directory.

  2. Open a terminal and navigate to examples/c

  3. Compile with GCC using the following command:

    sh
    gcc -std=c99 -I ../../include/common -o mavlink_udp udp_example.c

    INFO

    The MAVLink header directory must be added to the include path. The path here assumes you are building the code from the example directory, and that have installed the headers in mavlink/include.

  4. Run the executable from the terminal:

    bash
    ./mavlink_udp

    By default, the example will listen for data on the localhost IP address, port 14551. You can specify another IP address as a command line argument (use ./mavlink_udp --help to see usage).

  5. Open QGroundControl on the same machine.

    QGroundControl immediately starts broadcasting its HEARTBEAT on port 14551.

    INFO

    QGroundControl returns data, but will not actually "connect" to the example (it will continue to display the message Waiting for Vehicle Connection).

  6. The example should start displaying the received data in the terminal:

    sh
    ~/github/mavlink/examples/c$ ./mavlink_udp
+Bytes Received: 17
+Datagram: fe 09 00 ff 00 00 00 00 00 00 06 08 c0 04 03 19 87
+Received packet: SYS: 255, COMP: 0, LEN: 9, MSG ID: 0
+
+ Bytes Received: 17
+Datagram: fe 09 01 ff 00 00 00 00 00 00 06 08 c0 04 03 f3 f9
+Received packet: SYS: 255, COMP: 0, LEN: 9, MSG ID: 0
+
+...
`,6)]))}const c=i(n,[["render",l]]);export{F as __pageData,c as default}; diff --git a/assets/en_mavgen_c_example_c_udp.md.Q4XUgL4t.js b/assets/en_mavgen_c_example_c_udp.md.Q4XUgL4t.js deleted file mode 100644 index 1ce2cb14e..000000000 --- a/assets/en_mavgen_c_example_c_udp.md.Q4XUgL4t.js +++ /dev/null @@ -1,10 +0,0 @@ -import{_ as i,c as a,a8 as e,o as t}from"./chunks/framework.sDsl5pD6.js";const F=JSON.parse('{"title":"MAVLink C UDP Example","description":"","frontmatter":{},"headers":[],"relativePath":"en/mavgen_c/example_c_udp.md","filePath":"en/mavgen_c/example_c_udp.md"}'),n={name:"en/mavgen_c/example_c_udp.md"};function l(h,s,p,k,r,d){return t(),a("div",null,s[0]||(s[0]=[e(`

MAVLink C UDP Example ​

The MAVLink UDP Example is a simple C example that sends some data to QGroundControl using MAVLink over UDP. QGroundControl responds with heartbeats and other messages, which are then printed by this program.

INFO

The example should work on any Unix-like system (Linux, MacOS, BSD, etc.). These instructions were tested on a clean Ubuntu LTS 20.04 installation using the default version of gcc (9.3.0).

Building/Running the Example ​

The following instructions show how to build and run the example.

  1. Install MAVLink and generate the MAVLink 2.0 libraries into the mavlink/include directory. For example, to generate the headers for common.xml you could use the command line:

    sh
    python3 -m pymavlink.tools.mavgen --lang=C --wire-protocol=2.0 --output=./include/ message_definitions/v1.0/common.xml

    TIP

    Alternatively you can clone the mavlink/mavlink repository and Download prebuilt headers to the same location.

    INFO

    The example will not work with MAVLink 1 because it uses a message that includes extension fields which do not exist in MAVLink 1 (SYS_STATUS).

    INFO

    You can put/generate the library wherever you like, but the build command below assumes they are located in directory named include below the MAVLink root directory.

  2. Open a terminal and navigate to examples/linux

  3. Compile with GCC using the following command:

    sh
    gcc -std=c99 -I ../../include/common -o mavlink_udp mavlink_udp.c

    INFO

    The MAVLink header directory must be added to the include path. The path here assumes you are building the code from the example directory, and that have installed the headers in mavlink/include.

  4. Run the executable from the terminal:

    bash
    ./mavlink_udp

    By default, the example will listen for data on the localhost IP address, port 14551. You can specify another IP address as a command line argument (use ./mavlink_udp --help to see usage).

  5. Open QGroundControl on the same machine.

    QGroundControl immediately starts broadcasting its HEARTBEAT on port 14551.

    INFO

    QGroundControl returns data, but will not actually "connect" to the example (it will continue to display the message Waiting for Vehicle Connection).

  6. The example should start displaying the received data in the terminal:

    sh
    ~/github/mavlink/examples/linux$ ./mavlink_udp
-Bytes Received: 17
-Datagram: fe 09 00 ff 00 00 00 00 00 00 06 08 c0 04 03 19 87
-Received packet: SYS: 255, COMP: 0, LEN: 9, MSG ID: 0
-
- Bytes Received: 17
-Datagram: fe 09 01 ff 00 00 00 00 00 00 06 08 c0 04 03 f3 f9
-Received packet: SYS: 255, COMP: 0, LEN: 9, MSG ID: 0
-
-...
`,6)]))}const c=i(n,[["render",l]]);export{F as __pageData,c as default}; diff --git a/assets/en_mavgen_c_example_c_udp.md.Q4XUgL4t.lean.js b/assets/en_mavgen_c_example_c_udp.md.Q4XUgL4t.lean.js deleted file mode 100644 index 1ce2cb14e..000000000 --- a/assets/en_mavgen_c_example_c_udp.md.Q4XUgL4t.lean.js +++ /dev/null @@ -1,10 +0,0 @@ -import{_ as i,c as a,a8 as e,o as t}from"./chunks/framework.sDsl5pD6.js";const F=JSON.parse('{"title":"MAVLink C UDP Example","description":"","frontmatter":{},"headers":[],"relativePath":"en/mavgen_c/example_c_udp.md","filePath":"en/mavgen_c/example_c_udp.md"}'),n={name:"en/mavgen_c/example_c_udp.md"};function l(h,s,p,k,r,d){return t(),a("div",null,s[0]||(s[0]=[e(`

MAVLink C UDP Example ​

The MAVLink UDP Example is a simple C example that sends some data to QGroundControl using MAVLink over UDP. QGroundControl responds with heartbeats and other messages, which are then printed by this program.

INFO

The example should work on any Unix-like system (Linux, MacOS, BSD, etc.). These instructions were tested on a clean Ubuntu LTS 20.04 installation using the default version of gcc (9.3.0).

Building/Running the Example ​

The following instructions show how to build and run the example.

  1. Install MAVLink and generate the MAVLink 2.0 libraries into the mavlink/include directory. For example, to generate the headers for common.xml you could use the command line:

    sh
    python3 -m pymavlink.tools.mavgen --lang=C --wire-protocol=2.0 --output=./include/ message_definitions/v1.0/common.xml

    TIP

    Alternatively you can clone the mavlink/mavlink repository and Download prebuilt headers to the same location.

    INFO

    The example will not work with MAVLink 1 because it uses a message that includes extension fields which do not exist in MAVLink 1 (SYS_STATUS).

    INFO

    You can put/generate the library wherever you like, but the build command below assumes they are located in directory named include below the MAVLink root directory.

  2. Open a terminal and navigate to examples/linux

  3. Compile with GCC using the following command:

    sh
    gcc -std=c99 -I ../../include/common -o mavlink_udp mavlink_udp.c

    INFO

    The MAVLink header directory must be added to the include path. The path here assumes you are building the code from the example directory, and that have installed the headers in mavlink/include.

  4. Run the executable from the terminal:

    bash
    ./mavlink_udp

    By default, the example will listen for data on the localhost IP address, port 14551. You can specify another IP address as a command line argument (use ./mavlink_udp --help to see usage).

  5. Open QGroundControl on the same machine.

    QGroundControl immediately starts broadcasting its HEARTBEAT on port 14551.

    INFO

    QGroundControl returns data, but will not actually "connect" to the example (it will continue to display the message Waiting for Vehicle Connection).

  6. The example should start displaying the received data in the terminal:

    sh
    ~/github/mavlink/examples/linux$ ./mavlink_udp
-Bytes Received: 17
-Datagram: fe 09 00 ff 00 00 00 00 00 00 06 08 c0 04 03 19 87
-Received packet: SYS: 255, COMP: 0, LEN: 9, MSG ID: 0
-
- Bytes Received: 17
-Datagram: fe 09 01 ff 00 00 00 00 00 00 06 08 c0 04 03 f3 f9
-Received packet: SYS: 255, COMP: 0, LEN: 9, MSG ID: 0
-
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Frequently Asked Questions (FAQ) ​

Users ​

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

Developers ​

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

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

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

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

Autopilots ​

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

Ground Stations ​

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

The list here contains actively maintained implementations:

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

Research Projects ​

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C
uint8_t signature[13];      ///< Signature which allows ensuring that the link is tamper-proof (optional)

INFO

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

Serialization ​

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

For more information and specific exceptions see Serialization.

Multicast Streams vs. Guaranteed Delivery ​

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

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

Topic Mode (publish-subscribe) ​

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

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

Point-to-Point Mode ​

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

Integrity Checks / Checksum ​

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

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Support ​

Mailing List/Discussion ​

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

Reporting Bugs & Issues ​

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

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

Dev Call ​

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

TIP

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

Who should attend: ​

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

Agenda ​

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

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

Schedule ​

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

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

  • Push changes to your repo:

    git push origin mydescriptivebranchname

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

    • Dev Call ​

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

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    Getting Started ​

    Download or Generate MAVLink source files for your dialect:

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

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    Installing MAVLink Toolchain ​

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

    TIP

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

    Prerequisites ​

    The requirements for using the MAVLink generator are:

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

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

    Installation ​

    To install the MAVLink toolchain:

    1. Install Python 3.7+:

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

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

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

    3. Install the required packages:

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

    Now you are ready to Generate MAVLink Libraries.

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    Generate Source Files for ROS ​

    To add MAVlink messages/dialects while working with ROS:

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

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

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

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

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

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

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    Using MAVLink Libraries ​

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

    INFO

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

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    MAVLink CRC ​

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

    INFO

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

    INFO

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

    CRC32 Algorithm ​

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

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

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

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

    Implementations ​

    This implementation is currently used in:

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

    Command (Entry) Values ​

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

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

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

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

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

    TIP

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

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

    Entry Names ​

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

    • MAV_CMD_NAV_: NAV commands are used for navigation/movement commands (commands to go to a particular waypoint or move in a particular way).
    • MAV_CMD_DO_: DO commands are used for setting modes, changing altitude or speed etc.
    • MAV_CMD_CONDITION_: CONDITION_ commands are used to define conditions before the mission state machine will move to the next item (e.g. a time after reaching a waypoint before taking a picture).
    • MAV_CMD_REQUEST_: For requesting information from a system.

    TIP

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

    Parameters (param) ​

    Message data is encoded in the param values/attributes.

    Standard Mappings ​

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

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

    Data types ​

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

    Reserved/Undefined Parameters ​

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

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

    INFO

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

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

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

    WARNING

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

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

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

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

    GUI Param Attributes ​

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

    These attributes are used to better display params:

    • label - Label for param in GCS/UI. All words in label should be capitalised (e.g. "Hold Altitude").
    • units - SI units for the value.
    • decimalPlaces - Hint to a UI about how many decimal places to use if the parameter value is displayed.

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

    • enum - Enum containing possible values for the parameter (if applicable).
    • increment - Allowed increments for the parameter value.
    • minValue - Minimum value for param.
    • maxValue - Maximum value for the param.
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    General Telemetry ​

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

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    MAVLink 2 ​

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

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

    Features ​

    The key new features of MAVLink 2 are:

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

    TIP

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

    Version Handshaking/Negotiation ​

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

    C Implementation ​

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

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    MAVLink Versions ​

    MAVLink has been deployed in a number of versions:

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

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

    INFO

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

    Determining Protocol/Message Version ​

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

    • AUTOPILOT_VERSION.capabilities can be checked against the MAV_PROTOCOL_CAPABILITY_MAVLINK2 flag to verify MAVLink 2 support.

    • PROTOCOL_VERSION.version contains the MAVLink version number multiplied by 100: v1.0 is 100, v2.3 is 203 etc.

    • HEARTBEAT.mavlink_version field contains the minor version number. This is the <version> field defined in the Message Definitions (version in common.xml for dialects that depend on the common message set).

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

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

      INFO

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

    TIP

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

    Version Handshaking ​

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

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

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

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

    The diagram below illustrates the complete sequence.

    Mermaid sequence: Request protocol version

    Semi-Transparent Legacy Radios ​

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

    Versions and Signing ​

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

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

    INFO

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

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

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

    Negotiating Versions ​

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

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

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

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

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

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

    Frame Format ​

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

    MAVLink 2 Signed

    INFO

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

    The 13 bytes of the signature are:

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

    See below for more information about the fields.

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

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

    (SystemID,ComponentID,LinkID)

    INFO

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

    Signature ​

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

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

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

    Timestamp Handling ​

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

    INFO

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

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

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

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

    • The current timestamp should be stored regularly in persistent storage (ideally at least once a minute)

    • The timestamp used on startup should be the maximum of the timestamp implied by the system clock and the stored timestamp

    • If the system does not have an RTC mechanism then it should update its timestamp when GPS lock is achieved. The maximum of the timestamp from the GPS and the stored timestamp should be used.

    • The timestamp should be incremented by one on each message sent from a particular link.

    • When a correctly signed message is decoded the timestamp should be replaced by the timestamp of the incoming message if that timestamp is greater than the current timestamp.

      INFO

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

    • The timestamp on incoming signed messages should be checked against the previous timestamp for the incoming (linkID,srcSystem,SrcComponent) tuple and the message rejected if it is smaller.

    • If there is no previous message with the given (linkID,srcSystem,SrcComponent) then the timestamp should be accepted if it not more than 6 million (one minute) behind the current timestamp.

    TIP

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

    Accepting Signed Packets ​

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

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

    Accepting Unsigned Packets ​

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

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

    INFO

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

    Some suggestions for when to accept unsigned packets:

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

    Accepting Incorrectly Signed Packets ​

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

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

    INFO

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

    Secret Key Management ​

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

    INFO

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

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

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

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

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

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

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

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

    TIP

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

    Logging ​

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

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

    Further Information ​

    The Message Signing Proposal contains additional information, including:

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

    INFO

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

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    Packet Loss Calculation ​

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

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

    It may not work in more complicated setups:

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

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

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

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

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

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

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    Routing ​

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

    Overview ​

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

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

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

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

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

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

    WARNING

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

    INFO

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

    Routing Detail ​

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

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

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

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

    INFO

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

    INFO

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

    Library Support ​

    C Library (mavgen) ​

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

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

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

    Routing Signed Packets ​

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

    In particular, a routing system should:

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

    Router Implementation ​

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

    Further Information ​

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    Pymavlink Scripts ​

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

    The scripts have the following requirements:

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

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

    python -m pymavlink.tools.mavlogdump test_run.mavlink

    INFO

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

    - + \ No newline at end of file diff --git a/en/guide/serialization.html b/en/guide/serialization.html index 236480738..48a0aec6a 100644 --- a/en/guide/serialization.html +++ b/en/guide/serialization.html @@ -9,9 +9,9 @@ - + - + @@ -38,7 +38,7 @@ if f.array_length: crc.accumulate([f.array_length]) return (crc.crc&0xFF) ^ (crc.crc>>8)

    INFO

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

    Checksum ​

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

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

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    UAVCAN Interaction ​

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

    Basics ​

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

    The text below will be referring to the following terms:

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

    UAVCAN Node Identification ​

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

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

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

    Node Status Reporting ​

    Node Status Messages ​

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

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

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

    Extended Node Information ​

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

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

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

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

    Configuration Parameter Management ​

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

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

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

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

    Internet Access Bridge ​

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

    - + \ No newline at end of file diff --git a/en/guide/wireshark.html b/en/guide/wireshark.html index 54db9dcc8..39e72d894 100644 --- a/en/guide/wireshark.html +++ b/en/guide/wireshark.html @@ -9,9 +9,9 @@ - + - + @@ -33,7 +33,7 @@ tcpdump -i eth0 -w mavlink-capture.pcap

    tcpdump must be installed on the remote machine.

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

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

    INFO

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

    1. mkfifo /tmp/mavlink Creates a named pipe that is used to stream the data.

    2. wireshark -k -i /tmp/mavlink & Start Wireshark, open the named pipe as input and start the capture immediately.

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

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

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

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

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

    - + \ No newline at end of file diff --git a/en/guide/xml_schema.html b/en/guide/xml_schema.html index 2f80e714a..3bb3a27e6 100644 --- a/en/guide/xml_schema.html +++ b/en/guide/xml_schema.html @@ -9,9 +9,9 @@ - + - + @@ -86,7 +86,7 @@ <field type="uint32_t" name="fault_bitmask" display="bitmask" enum="MAV_BATTERY_FAULT">Fault/health indications. These should be set when charge_state is MAV_BATTERY_CHARGE_STATE_FAILED or MAV_BATTERY_CHARGE_STATE_UNHEALTHY (if not, fault reporting is not supported).</field> </message>

    The main message tags/fields are:

    • message: Each message is encapsulated by message tags, with the following attributes

      • id: The id attribute is the unique index number of this message (in the example above: 147).

        • For MAVLink 1:

          • Valid numbers range from 0 to 255.
          • The ids 0-149 and 230-255 are reserved for common.xml. Dialects can use 180-229 for custom messages (provided these are not used by other included dialects).

        • For MAVLink 2:

          • Valid numbers range from 0 to 16777215.

          • All numbers below 255 should be considered reserved unless messages are also intended for MAVLink 1.

            INFO

            IDs are precious in MAVLink 1!

      • name: The name attribute provides a human readable form for the message (ie "BATTERY_STATUS"). It is used for naming helper functions in generated libraries, but is not sent over the wire.

    • description: Human readable description of message, shown in user interfaces and in code comments. This should contain all information (and hyperlinks) to fully understand the message.

    • field: Encodes one field of the message. The field value is its name/text string used in GUI documentation (but not sent over the wire). Every message must have at least one field.

      • type: Similar to a field in a C struct - the size of the data required to store/represent the data type.

        • Fields can be signed/unsigned integers of size 8, 16, 23, 64 bits ({u)int8_t, (u)int16_t, (u)int32_t, (u)int64_t), single/double precision IEEE754 floating point numbers. They can also be arrays of the other types - e.g. uint16_t[10].

      • name: Name of the field (used in code).

      • enum (optional): Name of an enum defining possible values of the field (e.g. MAV_BATTERY_CHARGE_STATE).

      • units (optional): The units for message fields that take numeric values (not enums). These are defined in the schema (search on name="SI_Unit")

      • multiplier (optional) - Multiply by this value to get the unscaled original value. Allowed values are defined in the schema (search on name="factor"). For example, GPS_STATUS is a value in degrees (0-360) sent in a byte field (0-255). To get the original value, scale by multiplying the value with the multiplier (360/256). This is currently only used for values where scaling is not encoded in the units.

      • display (optional): This should be set as display="bitmask" for bitmask fields (hint to ground station that enum values must be displayed as checkboxes).

      • print_format (optional): TBD.

      • default (optional): TBD.

      • increment - Allowed increments for the increment value.

      • minValue - Minimum value for field.

      • maxValue - Maximum value for the field.

      • instance: If true, this indicates that the message contains the information for a particular sensor or battery (e.g. Battery 1, Battery 2, etc.) and that this field indicates which sensor. Default is false.

        INFO

        This field allows a recipient automatically associate messages for a particular sensor and plot them in the same series.

      • invalid: Specifies a value that can be set on a field to indicate that the data is invalid: the recipient should ignore the field if it has this value. For example, BATTERY_STATUS.current_battery specifies invalid="-1", so a battery that does not measure supplied current should set BATTERY_STATUS.current_battery to -1.

        Where possible the value that indicates the field is invalid should be selected to outside the expected/valid range of the field (0 is preferred if it is not an acceptable value for the field). For integers we usually select the largest possible value (i.e. UINT16_MAX, INT16_MAX, UINT8_MAX, UINT8_MAX). For floats we usually select invalid="NaN".

        Arrays represent multiple elements, some (or all) of which may need to be marked as invalid. The following notation is used to specify the values that indicate elements of the array are invalid:

        • invalid="[value]": Array elements that contain value are invalid.
        • invalid="[value:]": All array elements are invalid if the first array element is set to value.
        • invalid="[value1,,value3,]": Array elements are invalid if they contain the value specified in the corresponding position of the comma separated list. If the a position in the list is empty, there is no way to indicate the corresponding array element is invalid. The example above indicates that elements 1 and 3 are invalid if they contain value1 and value3, respectively. For element 2 and any elements >4 the invalid property of the field cannot be set.
        • invalid="[value1,]": The first array element is invalid if it contains value1: the invalid property cannot be set for all other elements.

    • deprecated / wip (optional): A tag indicating that the message is deprecated or "work in progress".

    • extensions (optional): This self-closing tag is used to indicate that subsequent fields apply to MAVLink 2 only.

      • The tag should be used for MAVLink 1 messages only (id < 256) that have been extended in MAVLink 2.

    Common Tags ​

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

    deprecated ​

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

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

    TIP

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

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

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

    The deprecated attributes are:

    • since: Year/month when deprecation started. Format: YYYY-MM.
    • replaced by: String of entity that supersedes this item.

    wip ​

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

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

    Most commonly, the tag is used as shown:

    xml
    <wip />
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    MAVLink Developer Guide ​

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

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

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

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

    INFO

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

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

    Key Features ​

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

    Language/Generator List ​

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

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

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

    External Generators/Languages ​

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

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

    Prebuilt MAVLink C Libraries ​

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

    Using C Libraries explains how to use these libraries.

    Support ​

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

    Contributing ​

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

    License ​

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

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

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

    Governance ​

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

    Dronecode LogoLinux Foundation Logo

     
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    MAVLink C UART Interface Example ​

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

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

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

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    MAVLink C UDP Example ​

    The MAVLink UDP Example is a simple C example that sends some data to QGroundControl using MAVLink over UDP. QGroundControl responds with heartbeats and other messages, which are then printed by this program.

    INFO

    The example should work on any Unix-like system (Linux, MacOS, BSD, etc.). These instructions were tested on a clean Ubuntu LTS 20.04 installation using the default version of gcc (9.3.0).

    Building/Running the Example ​

    The following instructions show how to build and run the example.

    1. Install MAVLink and generate the MAVLink 2.0 libraries into the mavlink/include directory. For example, to generate the headers for common.xml you could use the command line:

      sh
      python3 -m pymavlink.tools.mavgen --lang=C --wire-protocol=2.0 --output=./include/ message_definitions/v1.0/common.xml

      TIP

      Alternatively you can clone the mavlink/mavlink repository and Download prebuilt headers to the same location.

      INFO

      The example will not work with MAVLink 1 because it uses a message that includes extension fields which do not exist in MAVLink 1 (SYS_STATUS).

      INFO

      You can put/generate the library wherever you like, but the build command below assumes they are located in directory named include below the MAVLink root directory.

    2. Open a terminal and navigate to examples/linux

    3. Compile with GCC using the following command:

      sh
      gcc -std=c99 -I ../../include/common -o mavlink_udp mavlink_udp.c

      INFO

      The MAVLink header directory must be added to the include path. The path here assumes you are building the code from the example directory, and that have installed the headers in mavlink/include.

    4. Run the executable from the terminal:

      bash
      ./mavlink_udp

      By default, the example will listen for data on the localhost IP address, port 14551. You can specify another IP address as a command line argument (use ./mavlink_udp --help to see usage).

    5. Open QGroundControl on the same machine.

      QGroundControl immediately starts broadcasting its HEARTBEAT on port 14551.

      INFO

      QGroundControl returns data, but will not actually "connect" to the example (it will continue to display the message Waiting for Vehicle Connection).

    6. The example should start displaying the received data in the terminal:

      sh
      ~/github/mavlink/examples/linux$ ./mavlink_udp
+    
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      MAVLink C UDP Example ​
      The MAVLink UDP Example is a simple C example that sends some data to QGroundControl using MAVLink over UDP. QGroundControl responds with heartbeats and other messages, which are then printed by this program.
      INFO
      The example should work on any Unix-like system (Linux, MacOS, BSD, etc.). These instructions were tested on a clean Ubuntu LTS 20.04 installation using the default version of gcc (9.3.0).
      Building/Running the Example ​
      The following instructions show how to build and run the example.
      1. Install MAVLink and generate the MAVLink 2.0 libraries into the mavlink/include directory. For example, to generate the headers for common.xml you could use the command line:
        sh
        python3 -m pymavlink.tools.mavgen --lang=C --wire-protocol=2.0 --output=./include/ message_definitions/v1.0/common.xml
        TIP
        Alternatively you can clone the mavlink/mavlink repository and Download prebuilt headers to the same location.
        INFO
        The example will not work with MAVLink 1 because it uses a message that includes extension fields which do not exist in MAVLink 1 (SYS_STATUS).
        INFO
        You can put/generate the library wherever you like, but the build command below assumes they are located in directory named include below the MAVLink root directory.
      2. Open a terminal and navigate to examples/c
      3. Compile with GCC using the following command:
        sh
        gcc -std=c99 -I ../../include/common -o mavlink_udp udp_example.c
        INFO
        The MAVLink header directory must be added to the include path. The path here assumes you are building the code from the example directory, and that have installed the headers in mavlink/include.
      4. Run the executable from the terminal:
        bash
        ./mavlink_udp
        By default, the example will listen for data on the localhost IP address, port 14551. You can specify another IP address as a command line argument (use ./mavlink_udp --help to see usage).
      5. Open QGroundControl on the same machine.
        QGroundControl immediately starts broadcasting its HEARTBEAT on port 14551.
        INFO
        QGroundControl returns data, but will not actually "connect" to the example (it will continue to display the message Waiting for Vehicle Connection).
      6. The example should start displaying the received data in the terminal:
        sh
        ~/github/mavlink/examples/c$ ./mavlink_udp
 Bytes Received: 17
 Datagram: fe 09 00 ff 00 00 00 00 00 00 06 08 c0 04 03 19 87
 Received packet: SYS: 255, COMP: 0, LEN: 9, MSG ID: 0
@@ -31,7 +31,7 @@
 Received packet: SYS: 255, COMP: 0, LEN: 9, MSG ID: 0
 
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      English
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      Appearance
      Examples ​
      • UART Interface: Simple C example of a MAVLink to UART interface for Unix-like systems.
      • UDP Example: Simple C example of a MAVLink UDP interface for Unix-like systems (Linux, MacOS, BSD, etc.).
      
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 		chan_state->flags &= ~(MAVLINK_STATUS_FLAG_OUT_MAVLINK1);
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      Examples ​

      The following examples show the use of the API.

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

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

    - + \ No newline at end of file diff --git a/en/mavgen_c/message_signing_c.html b/en/mavgen_c/message_signing_c.html index 54d886eaf..ad95b7f8c 100644 --- a/en/mavgen_c/message_signing_c.html +++ b/en/mavgen_c/message_signing_c.html @@ -9,9 +9,9 @@ - + - + @@ -57,7 +57,7 @@ self.target_component == msg.get_srcComponent()): # change to link_id from incoming packet self.mav.signing.link_id = msg.get_link_id()

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

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

    - + \ No newline at end of file diff --git a/en/mavgen_python/examples.html b/en/mavgen_python/examples.html index 521e2ebc5..941488927 100644 --- a/en/mavgen_python/examples.html +++ b/en/mavgen_python/examples.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

    English

    中文 (Chinese)
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    English

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    Appearance

    Other examples:

    Complex examples:

    • MAVProxy is a command line, console based UAV ground station software package for MAVLink based systems built on Pymavlink.
    - + \ No newline at end of file diff --git a/en/mavgen_python/howto_requestmessages.html b/en/mavgen_python/howto_requestmessages.html index f8cc677f2..226889242 100644 --- a/en/mavgen_python/howto_requestmessages.html +++ b/en/mavgen_python/howto_requestmessages.html @@ -9,9 +9,9 @@ - + - + @@ -60,7 +60,7 @@ print("Command accepted") else: print("Command failed") - + \ No newline at end of file diff --git a/en/mavgen_python/index.html b/en/mavgen_python/index.html index 59c318e3d..231bff71b 100644 --- a/en/mavgen_python/index.html +++ b/en/mavgen_python/index.html @@ -9,9 +9,9 @@ - + - + @@ -84,7 +84,7 @@ # Send heartbeat from a MAVLink application. the_connection.mav.heartbeat_send(mavutil.mavlink.MAV_TYPE_ONBOARD_CONTROLLER, mavutil.mavlink.MAV_AUTOPILOT_INVALID, 0, 0, 0)

    INFO

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

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

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

    Message Signing ​

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

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

    For more information see Message Signing (Pymavlink).

    Examples ​

    See Examples (pymavlink)

    Support ​

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

    The Pymavlink Gitter channel also has an active support community.

    - + \ No newline at end of file diff --git a/en/mavgen_python/message_signing.html b/en/mavgen_python/message_signing.html index 8ad6e86c4..4653333d8 100644 --- a/en/mavgen_python/message_signing.html +++ b/en/mavgen_python/message_signing.html @@ -9,9 +9,9 @@ - + - + @@ -45,7 +45,7 @@ # Pass the callback to the connection (here we also pass an arbitrary secret key) secret_key = chr(42)*32 the_connection.setup_signing(secret_key, sign_outgoing=True, allow_unsigned_callback=my_allow_unsigned_callback) - + \ No newline at end of file diff --git a/en/messages/ASLUAV.html b/en/messages/ASLUAV.html index 9e8733189..5a406d8db 100644 --- a/en/messages/ASLUAV.html +++ b/en/messages/ASLUAV.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

    English

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    Dialect: ASLUAV ​

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

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

    Note

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

    Summary ​

    TypeDefinedIncluded
    Messages17226
    Enums2144
    Commands1660

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

    Messages ​

    COMMAND_INT_STAMPED (223) ​

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

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

    COMMAND_LONG_STAMPED (224) ​

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

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

    SENS_POWER (8002) ​

    Voltage and current sensor data

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

    SENS_MPPT (8003) ​

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

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

    ASLCTRL_DATA (8004) ​

    ASL-fixed-wing controller data

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

    ASLCTRL_DEBUG (8005) ​

    ASL-fixed-wing controller debug data

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

    ASLUAV_STATUS (8006) ​

    Extended state information for ASLUAVs

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

    EKF_EXT (8007) ​

    Extended EKF state estimates for ASLUAVs

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

    ASL_OBCTRL (8008) ​

    Off-board controls/commands for ASLUAVs

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

    SENS_ATMOS (8009) ​

    Atmospheric sensors (temperature, humidity, ...)

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

    SENS_BATMON (8010) ​

    Battery pack monitoring data for Li-Ion batteries

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

    FW_SOARING_DATA (8011) ​

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

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

    SENSORPOD_STATUS (8012) ​

    Monitoring of sensorpod status

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

    SENS_POWER_BOARD (8013) ​

    Monitoring of power board status

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

    Status of GSM modem (connected to onboard computer)

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

    Status of the SatCom link

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

    SENSOR_AIRFLOW_ANGLES (8016) ​

    Calibrated airflow angle measurements

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

    Enumerated Types ​

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

    GSM_MODEM_TYPE ​

    ValueNameDescription
    0GSM_MODEM_TYPE_UNKNOWNnot specified
    1GSM_MODEM_TYPE_HUAWEI_E3372HUAWEI LTE USB Stick E3372

    Commands (MAV_CMD) ​

    MAV_CMD_RESET_MPPT (40001) ​

    Mission command to reset Maximum Power Point Tracker (MPPT)

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

    MAV_CMD_PAYLOAD_CONTROL (40002) ​

    Mission command to perform a power cycle on payload

    Param (Label)Description
    1Complete power cycle
    2VISensor power cycle
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty
    - + \ No newline at end of file diff --git a/en/messages/AVSSUAS.html b/en/messages/AVSSUAS.html index b4b56c6b9..0deb38e05 100644 --- a/en/messages/AVSSUAS.html +++ b/en/messages/AVSSUAS.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

    English

    中文 (Chinese)
    한국어 (Korean)

    English

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    Dialect: AVSSUAS ​

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

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

    Note

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

    Protocol dialect: 1

    Protocol version: 2

    Summary ​

    TypeDefinedIncluded
    Messages4226
    Enums3144
    Commands1710

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

    Messages ​

    AVSS_PRS_SYS_STATUS (60050) ​

    AVSS PRS system status.

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since PRS boot).
    error_statusuint32_tPRS error statuses
    battery_statusuint32_tEstimated battery run-time without a remote connection and PRS battery voltage
    arm_statusuint8_tPRS arm statuses
    charge_statusuint8_tPRS battery charge statuses

    AVSS_DRONE_POSITION (60051) ​

    Drone position.

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since FC boot).
    latint32_tdegE7Latitude, expressed
    lonint32_tdegE7Longitude, expressed
    altint32_tmmAltitude (MSL). Note that virtually all GPS modules provide both WGS84 and MSL.
    ground_altfloatmAltitude above ground, This altitude is measured by a ultrasound, Laser rangefinder or millimeter-wave radar
    barometer_altfloatmThis altitude is measured by a barometer

    AVSS_DRONE_IMU (60052) ​

    Drone IMU data. Quaternion order is w, x, y, z and a zero rotation would be expressed as (1 0 0 0).

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since FC boot).
    q1floatQuaternion component 1, w (1 in null-rotation)
    q2floatQuaternion component 2, x (0 in null-rotation)
    q3floatQuaternion component 3, y (0 in null-rotation)
    q4floatQuaternion component 4, z (0 in null-rotation)
    xaccfloatm/s/sX acceleration
    yaccfloatm/s/sY acceleration
    zaccfloatm/s/sZ acceleration
    xgyrofloatrad/sAngular speed around X axis
    ygyrofloatrad/sAngular speed around Y axis
    zgyrofloatrad/sAngular speed around Z axis

    AVSS_DRONE_OPERATION_MODE (60053) ​

    Drone operation mode.

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since FC boot).
    M300_operation_modeuint8_tDJI M300 operation mode
    horsefly_operation_modeuint8_thorsefly operation mode

    Enumerated Types ​

    MAV_AVSS_COMMAND_FAILURE_REASON ​

    ValueNameDescription
    1PRS_NOT_STEADYAVSS defined command failure reason. PRS not steady.
    2PRS_DTM_NOT_ARMEDAVSS defined command failure reason. PRS DTM not armed.
    3PRS_OTM_NOT_ARMEDAVSS defined command failure reason. PRS OTM not armed.

    AVSS_M300_OPERATION_MODE ​

    ValueNameDescription
    0MODE_M300_MANUAL_CTRLIn manual control mode
    1MODE_M300_ATTITUDEIn attitude mode
    6MODE_M300_P_GPSIn GPS mode
    9MODE_M300_HOTPOINT_MODEIn hotpoint mode
    10MODE_M300_ASSISTED_TAKEOFFIn assisted takeoff mode
    11MODE_M300_AUTO_TAKEOFFIn auto takeoff mode
    12MODE_M300_AUTO_LANDINGIn auto landing mode
    15MODE_M300_NAVI_GO_HOMEIn go home mode
    17MODE_M300_NAVI_SDK_CTRLIn sdk control mode
    31MODE_M300_S_SPORTIn sport mode
    33MODE_M300_FORCE_AUTO_LANDINGIn force auto landing mode
    38MODE_M300_T_TRIPODIn tripod mode
    40MODE_M300_SEARCH_MODEIn search mode
    41MODE_M300_ENGINE_STARTIn engine mode

    AVSS_HORSEFLY_OPERATION_MODE ​

    ValueNameDescription
    0MODE_HORSEFLY_MANUAL_CTRLIn manual control mode
    1MODE_HORSEFLY_AUTO_TAKEOFFIn auto takeoff mode
    2MODE_HORSEFLY_AUTO_LANDINGIn auto landing mode
    3MODE_HORSEFLY_NAVI_GO_HOMEIn go home mode
    4MODE_HORSEFLY_DROPIn drop mode

    Commands (MAV_CMD) ​

    MAV_CMD_PRS_SET_ARM (60050) ​

    AVSS defined command. Set PRS arm statuses.

    Param (Label)Description
    1 (ARM status)PRS arm statuses
    2User defined
    3User defined
    4User defined
    5User defined
    6User defined
    7User defined

    MAV_CMD_PRS_GET_ARM (60051) ​

    AVSS defined command. Gets PRS arm statuses

    Param (Label)Description
    1User defined
    2User defined
    3User defined
    4User defined
    5User defined
    6User defined
    7User defined

    MAV_CMD_PRS_GET_BATTERY (60052) ​

    AVSS defined command. Get the PRS battery voltage in millivolts

    Param (Label)Description
    1User defined
    2User defined
    3User defined
    4User defined
    5User defined
    6User defined
    7User defined

    MAV_CMD_PRS_GET_ERR (60053) ​

    AVSS defined command. Get the PRS error statuses.

    Param (Label)Description
    1User defined
    2User defined
    3User defined
    4User defined
    5User defined
    6User defined
    7User defined

    MAV_CMD_PRS_SET_ARM_ALTI (60070) ​

    AVSS defined command. Set the ATS arming altitude in meters.

    Param (Label)DescriptionUnits
    1 (Altitude)ATS arming altitudem
    2User defined
    3User defined
    4User defined
    5User defined
    6User defined
    7User defined

    MAV_CMD_PRS_GET_ARM_ALTI (60071) ​

    AVSS defined command. Get the ATS arming altitude in meters.

    Param (Label)Description
    1User defined
    2User defined
    3User defined
    4User defined
    5User defined
    6User defined
    7User defined

    MAV_CMD_PRS_SHUTDOWN (60072) ​

    AVSS defined command. Shuts down the PRS system.

    Param (Label)Description
    1User defined
    2User defined
    3User defined
    4User defined
    5User defined
    6User defined
    7User defined
    - + \ No newline at end of file diff --git a/en/messages/README.html b/en/messages/README.html index 937f9b4f7..3d3597464 100644 --- a/en/messages/README.html +++ b/en/messages/README.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

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    XML Definition Files & Dialects ​

    MAVLink definitions files can be found in mavlink/message definitions. These can roughly be divided into:

    Standard Definitions ​

    The following XML definition files are considered standard/core (i.e. not dialects):

    • minimal.xml - the minimum set of entities (messages, enums, MAV_CMD) required to set up a MAVLink network.
    • standard.xml - the standard set of entities that are implemented by almost all flight stacks (at least 2, in a compatible way). This includes minimal.xml.
    • common.xml - the set of entities that have been implemented in at least one core flight stack. This includes standard.xml

    Note We are still working towards moving the truly standard entities from common.xml to standard.xml Currently you should include common.xml

    In addition:

    • development.xml - XML definitions that are proposed for inclusion in the standard definitions. These are work in progress.

    Test Definitions ​

    The following definitions are used for testing and dialect validation:

    • all.xml - This includes all other XML files, and is used to verify that there are no ID clashes (and can potentially be used by GCS to communicate with any core dialect).
    • test.xml - Test XML definition file.

    Dialects ​

    MAVLink dialects are XML definition files that define protocol- and vendor-specific messages, enums and commands.

    Note Vendor forks of MAVLink may contain XML entities that have not yet been pushed into the main repository (and will not be documented).

    Dialects may include other MAVLink XML files, which may in turn contain other XML files (up to 5 levels of XML file nesting are allowed - see MAXIMUM_INCLUDE_FILE_NESTING in mavgen.py). A typical pattern is for a dialect to include common.xml (containing the MAVLink standard definitions), extending it with vendor or protocol specific messages.

    The dialect definitions are:

    - + \ No newline at end of file diff --git a/en/messages/all.html b/en/messages/all.html index 22fb2d00e..612d99bb0 100644 --- a/en/messages/all.html +++ b/en/messages/all.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

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    Dialect: all ​

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

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

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

    Warning

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

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

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

    Note

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

    Summary ​

    TypeDefinedIncluded
    Messages0372
    Enums0236
    Commands2180

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

    Messages ​

    Enumerated Types ​

    Commands (MAV_CMD) ​

    - + \ No newline at end of file diff --git a/en/messages/ardupilotmega.html b/en/messages/ardupilotmega.html index 6c0b5dc7f..7ac5fb645 100644 --- a/en/messages/ardupilotmega.html +++ b/en/messages/ardupilotmega.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

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    Dialect: ArduPilotMega ​

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

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

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

    Note

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

    Protocol dialect: 2

    Summary ​

    TypeDefinedIncluded
    Messages72243
    Enums46159
    Commands1970

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

    Messages ​

    SENSOR_OFFSETS (150) — [DEP] ​

    DEPRECATED: Replaced By MAG_CAL_REPORT, Accel Parameters, and Gyro Parameters (2022-02)

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

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

    SET_MAG_OFFSETS (151) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS (2014-07)

    Set the magnetometer offsets

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

    MEMINFO (152) ​

    State of autopilot RAM.

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

    AP_ADC (153) ​

    Raw ADC output.

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

    DIGICAM_CONFIGURE (154) ​

    Configure on-board Camera Control System.

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

    DIGICAM_CONTROL (155) ​

    Control on-board Camera Control System to take shots.

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

    MOUNT_CONFIGURE (156) ​

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

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

    MOUNT_CONTROL (157) ​

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

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

    MOUNT_STATUS (158) ​

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

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

    FENCE_POINT (160) ​

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

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

    FENCE_FETCH_POINT (161) ​

    Request a current fence point from MAV.

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

    AHRS (163) ​

    Status of DCM attitude estimator.

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

    SIMSTATE (164) ​

    Status of simulation environment, if used.

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

    HWSTATUS (165) ​

    Status of key hardware.

    Field NameTypeUnitsDescription
    Vccuint16_tmVBoard voltage.
    I2Cerruint8_tI2C error count.

    RADIO (166) ​

    Status generated by radio.

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

    LIMITS_STATUS (167) ​

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

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

    WIND (168) ​

    Wind estimation.

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

    DATA16 (169) ​

    Data packet, size 16.

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

    DATA32 (170) ​

    Data packet, size 32.

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

    DATA64 (171) ​

    Data packet, size 64.

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

    DATA96 (172) ​

    Data packet, size 96.

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

    RANGEFINDER (173) ​

    Rangefinder reporting.

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

    AIRSPEED_AUTOCAL (174) ​

    Airspeed auto-calibration.

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

    RALLY_POINT (175) ​

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

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

    RALLY_FETCH_POINT (176) ​

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

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

    COMPASSMOT_STATUS (177) ​

    Status of compassmot calibration.

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

    AHRS2 (178) ​

    Status of secondary AHRS filter if available.

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

    CAMERA_STATUS (179) ​

    Camera Event.

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

    CAMERA_FEEDBACK (180) ​

    Camera Capture Feedback.

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

    BATTERY2 (181) — [DEP] ​

    DEPRECATED: Replaced By BATTERY_STATUS (2017-04)

    2nd Battery status

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

    AHRS3 (182) ​

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

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

    AUTOPILOT_VERSION_REQUEST (183) ​

    Request the autopilot version from the system/component.

    Field NameTypeDescription
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.

    REMOTE_LOG_DATA_BLOCK (184) ​

    Send a block of log data to remote location.

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

    REMOTE_LOG_BLOCK_STATUS (185) ​

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

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

    LED_CONTROL (186) ​

    Control vehicle LEDs.

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

    MAG_CAL_PROGRESS (191) ​

    Reports progress of compass calibration.

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

    EKF_STATUS_REPORT (193) ​

    EKF Status message including flags and variances.

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

    PID_TUNING (194) ​

    PID tuning information.

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

    DEEPSTALL (195) ​

    Deepstall path planning.

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

    GIMBAL_REPORT (200) ​

    3 axis gimbal measurements.

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

    GIMBAL_CONTROL (201) ​

    Control message for rate gimbal.

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

    GIMBAL_TORQUE_CMD_REPORT (214) ​

    100 Hz gimbal torque command telemetry.

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

    GOPRO_HEARTBEAT (215) ​

    Heartbeat from a HeroBus attached GoPro.

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

    GOPRO_GET_REQUEST (216) ​

    Request a GOPRO_COMMAND response from the GoPro.

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    cmd_iduint8_tGOPRO_COMMANDCommand ID.

    GOPRO_GET_RESPONSE (217) ​

    Response from a GOPRO_COMMAND get request.

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

    GOPRO_SET_REQUEST (218) ​

    Request to set a GOPRO_COMMAND with a desired.

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

    GOPRO_SET_RESPONSE (219) ​

    Response from a GOPRO_COMMAND set request.

    Field NameTypeValuesDescription
    cmd_iduint8_tGOPRO_COMMANDCommand ID.
    statusuint8_tGOPRO_REQUEST_STATUSStatus.

    RPM (226) ​

    RPM sensor output.

    Field NameTypeDescription
    rpm1floatRPM Sensor1.
    rpm2floatRPM Sensor2.

    DEVICE_OP_READ (11000) ​

    Read registers for a device.

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

    DEVICE_OP_READ_REPLY (11001) ​

    Read registers reply.

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

    DEVICE_OP_WRITE (11002) ​

    Write registers for a device.

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

    DEVICE_OP_WRITE_REPLY (11003) ​

    Write registers reply.

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

    SECURE_COMMAND (11004) ​

    Send a secure command. Data should be signed with a private key corresponding with a public key known to the recipient. Signature should be over the concatenation of the sequence number (little-endian format), the operation (little-endian format) the data and the session key. For SECURE_COMMAND_GET_SESSION_KEY the session key should be zero length. The data array consists of the data followed by the signature. The sum of the data_length and the sig_length cannot be more than 220. The format of the data is command specific.

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    sequenceuint32_tSequence ID for tagging reply.
    operationuint32_tSECURE_COMMAND_OPOperation being requested.
    data_lengthuint8_tData length.
    sig_lengthuint8_tSignature length.
    datauint8_t[220]Signed data.

    SECURE_COMMAND_REPLY (11005) ​

    Reply from secure command.

    Field NameTypeValuesDescription
    sequenceuint32_tSequence ID from request.
    operationuint32_tSECURE_COMMAND_OPOperation that was requested.
    resultuint8_tMAV_RESULTResult of command.
    data_lengthuint8_tData length.
    datauint8_t[220]Reply data.

    ADAP_TUNING (11010) ​

    Adaptive Controller tuning information.

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

    VISION_POSITION_DELTA (11011) ​

    Camera vision based attitude and position deltas.

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

    AOA_SSA (11020) ​

    Angle of Attack and Side Slip Angle.

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

    ESC_TELEMETRY_1_TO_4 (11030) ​

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

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

    ESC_TELEMETRY_5_TO_8 (11031) ​

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

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

    ESC_TELEMETRY_9_TO_12 (11032) ​

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

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

    OSD_PARAM_CONFIG (11033) ​

    Configure an OSD parameter slot.

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

    OSD_PARAM_CONFIG_REPLY (11034) ​

    Configure OSD parameter reply.

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

    OSD_PARAM_SHOW_CONFIG (11035) ​

    Read a configured an OSD parameter slot.

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

    OSD_PARAM_SHOW_CONFIG_REPLY (11036) ​

    Read configured OSD parameter reply.

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

    OBSTACLE_DISTANCE_3D (11037) ​

    Obstacle located as a 3D vector.

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

    WATER_DEPTH (11038) ​

    Water depth

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

    MCU_STATUS (11039) ​

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

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

    ESC_TELEMETRY_13_TO_16 (11040) ​

    ESC Telemetry Data for ESCs 13 to 16, matching data sent by BLHeli ESCs.

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

    ESC_TELEMETRY_17_TO_20 (11041) ​

    ESC Telemetry Data for ESCs 17 to 20, matching data sent by BLHeli ESCs.

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

    ESC_TELEMETRY_21_TO_24 (11042) ​

    ESC Telemetry Data for ESCs 21 to 24, matching data sent by BLHeli ESCs.

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

    ESC_TELEMETRY_25_TO_28 (11043) ​

    ESC Telemetry Data for ESCs 25 to 28, matching data sent by BLHeli ESCs.

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

    ESC_TELEMETRY_29_TO_32 (11044) ​

    ESC Telemetry Data for ESCs 29 to 32, matching data sent by BLHeli ESCs.

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

    Enumerated Types ​

    ACCELCAL_VEHICLE_POS ​

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

    HEADING_TYPE ​

    ValueNameDescription
    0HEADING_TYPE_COURSE_OVER_GROUND
    1HEADING_TYPE_HEADING
    2HEADING_TYPE_DEFAULT

    SCRIPTING_CMD ​

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

    SECURE_COMMAND_OP ​

    ValueNameDescription
    0SECURE_COMMAND_GET_SESSION_KEYGet an 8 byte session key which is used for remote secure updates which operate on flight controller data such as bootloader public keys. Return data will be 8 bytes on success. The session key remains valid until either the flight controller reboots or another SECURE_COMMAND_GET_SESSION_KEY is run.
    1SECURE_COMMAND_GET_REMOTEID_SESSION_KEYGet an 8 byte session key which is used for remote secure updates which operate on RemoteID module data. Return data will be 8 bytes on success. The session key remains valid until either the remote ID module reboots or another SECURE_COMMAND_GET_REMOTEID_SESSION_KEY is run.
    2SECURE_COMMAND_REMOVE_PUBLIC_KEYSRemove range of public keys from the bootloader. Command data consists of two bytes, first byte if index of first public key to remove. Second byte is the number of keys to remove. If all keys are removed then secure boot is disabled and insecure firmware can be loaded.
    3SECURE_COMMAND_GET_PUBLIC_KEYSGet current public keys from the bootloader. Command data consists of two bytes, first byte is index of first public key to fetch, 2nd byte is number of keys to fetch. Total data needs to fit in data portion of reply (max 6 keys for 32 byte keys). Reply data has the index of the first key in the first byte, followed by the keys. Returned keys may be less than the number of keys requested if there are less keys installed than requested.
    4SECURE_COMMAND_SET_PUBLIC_KEYSSet current public keys in the bootloader. Data consists of a one byte public key index followed by the public keys. With 32 byte keys this allows for up to 6 keys to be set in one request. Keys outside of the range that is being set will remain unchanged.
    5SECURE_COMMAND_GET_REMOTEID_CONFIGGet config data for remote ID module. This command should be sent to the component ID of the flight controller which will forward it to the RemoteID module either over mavlink or DroneCAN. Data format is specific to the RemoteID implementation, see RemoteID firmware documentation for details.
    6SECURE_COMMAND_SET_REMOTEID_CONFIGSet config data for remote ID module. This command should be sent to the component ID of the flight controller which will forward it to the RemoteID module either over mavlink or DroneCAN. Data format is specific to the RemoteID implementation, see RemoteID firmware documentation for details.
    7SECURE_COMMAND_FLASH_BOOTLOADERFlash bootloader from local storage. Data is the filename to use for the bootloader. This is intended to be used with MAVFtp to upload a new bootloader to a microSD before flashing.

    LIMITS_STATE ​

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

    LIMIT_MODULE ​

    (Bitmask)

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

    RALLY_FLAGS ​

    (Bitmask) Flags in RALLY_POINT message.

    ValueNameDescription
    1FAVORABLE_WINDFlag set when requiring favorable winds for landing.
    2LAND_IMMEDIATELYFlag set when plane is to immediately descend to break altitude and land without GCS intervention. Flag not set when plane is to loiter at Rally point until commanded to land.
    4ALT_FRAME_VALIDTrue if the following altitude frame value is valid.
    24ALT_FRAME2 bit value representing altitude frame. 0: absolute, 1: relative home, 2: relative origin, 3: relative terrain

    CAMERA_STATUS_TYPES ​

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

    CAMERA_FEEDBACK_FLAGS ​

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

    MAV_MODE_GIMBAL ​

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

    GIMBAL_AXIS ​

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

    GIMBAL_AXIS_CALIBRATION_STATUS ​

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

    GIMBAL_AXIS_CALIBRATION_REQUIRED ​

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

    GOPRO_HEARTBEAT_STATUS ​

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

    GOPRO_HEARTBEAT_FLAGS ​

    (Bitmask)

    ValueNameDescription
    1GOPRO_FLAG_RECORDINGGoPro is currently recording.

    GOPRO_REQUEST_STATUS ​

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

    GOPRO_COMMAND ​

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

    GOPRO_CAPTURE_MODE ​

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

    GOPRO_RESOLUTION ​

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

    GOPRO_FRAME_RATE ​

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

    GOPRO_FIELD_OF_VIEW ​

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

    GOPRO_VIDEO_SETTINGS_FLAGS ​

    (Bitmask)

    ValueNameDescription
    1GOPRO_VIDEO_SETTINGS_TV_MODE0=NTSC, 1=PAL.

    GOPRO_PHOTO_RESOLUTION ​

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

    GOPRO_PROTUNE_WHITE_BALANCE ​

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

    GOPRO_PROTUNE_COLOUR ​

    ValueNameDescription
    0GOPRO_PROTUNE_COLOUR_STANDARDAuto.
    1GOPRO_PROTUNE_COLOUR_NEUTRALNeutral.

    GOPRO_PROTUNE_GAIN ​

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

    GOPRO_PROTUNE_SHARPNESS ​

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

    GOPRO_PROTUNE_EXPOSURE ​

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

    GOPRO_CHARGING ​

    ValueNameDescription
    0GOPRO_CHARGING_DISABLEDCharging disabled.
    1GOPRO_CHARGING_ENABLEDCharging enabled.

    GOPRO_MODEL ​

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

    GOPRO_BURST_RATE ​

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

    MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL ​

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

    LED_CONTROL_PATTERN ​

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

    EKF_STATUS_FLAGS ​

    (Bitmask) Flags in EKF_STATUS message.

    ValueNameDescription
    1EKF_ATTITUDESet if EKF's attitude estimate is good.
    2EKF_VELOCITY_HORIZSet if EKF's horizontal velocity estimate is good.
    4EKF_VELOCITY_VERTSet if EKF's vertical velocity estimate is good.
    8EKF_POS_HORIZ_RELSet if EKF's horizontal position (relative) estimate is good.
    16EKF_POS_HORIZ_ABSSet if EKF's horizontal position (absolute) estimate is good.
    32EKF_POS_VERT_ABSSet if EKF's vertical position (absolute) estimate is good.
    64EKF_POS_VERT_AGLSet if EKF's vertical position (above ground) estimate is good.
    128EKF_CONST_POS_MODEEKF is in constant position mode and does not know it's absolute or relative position.
    256EKF_PRED_POS_HORIZ_RELSet if EKF's predicted horizontal position (relative) estimate is good.
    512EKF_PRED_POS_HORIZ_ABSSet if EKF's predicted horizontal position (absolute) estimate is good.
    1024EKF_UNINITIALIZEDSet if EKF has never been healthy.
    32768EKF_GPS_GLITCHINGSet if EKF believes the GPS input data is faulty.

    PID_TUNING_AXIS ​

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

    MAV_REMOTE_LOG_DATA_BLOCK_COMMANDS ​

    Special ACK block numbers control activation of dataflash log streaming.

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

    MAV_REMOTE_LOG_DATA_BLOCK_STATUSES ​

    Possible remote log data block statuses.

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

    DEVICE_OP_BUSTYPE ​

    Bus types for device operations.

    ValueNameDescription
    0DEVICE_OP_BUSTYPE_I2CI2C Device operation.
    1DEVICE_OP_BUSTYPE_SPISPI Device operation.

    DEEPSTALL_STAGE ​

    Deepstall flight stage.

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

    PLANE_MODE ​

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

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

    COPTER_MODE ​

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

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

    SUB_MODE ​

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

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

    ROVER_MODE ​

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

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

    TRACKER_MODE ​

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

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

    OSD_PARAM_CONFIG_TYPE ​

    The type of parameter for the OSD parameter editor.

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

    OSD_PARAM_CONFIG_ERROR ​

    The error type for the OSD parameter editor.

    ValueNameDescription
    0OSD_PARAM_SUCCESS
    1OSD_PARAM_INVALID_SCREEN
    2OSD_PARAM_INVALID_PARAMETER_INDEX
    3OSD_PARAM_INVALID_PARAMETER

    Commands (MAV_CMD) ​

    MAV_CMD_NAV_ALTITUDE_WAIT (83) ​

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

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

    MAV_CMD_DO_SET_RESUME_REPEAT_DIST (215) ​

    Set the distance to be repeated on mission resume

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

    MAV_CMD_DO_SPRAYER (216) ​

    Control attached liquid sprayer

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

    MAV_CMD_DO_SEND_SCRIPT_MESSAGE (217) ​

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

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

    MAV_CMD_DO_AUX_FUNCTION (218) ​

    Execute auxiliary function

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

    MAV_CMD_POWER_OFF_INITIATED (42000) ​

    A system wide power-off event has been initiated.

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

    MAV_CMD_SOLO_BTN_FLY_CLICK (42001) ​

    FLY button has been clicked.

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

    MAV_CMD_SOLO_BTN_FLY_HOLD (42002) ​

    FLY button has been held for 1.5 seconds.

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

    MAV_CMD_SOLO_BTN_PAUSE_CLICK (42003) ​

    PAUSE button has been clicked.

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

    MAV_CMD_FIXED_MAG_CAL (42004) ​

    Magnetometer calibration based on fixed position

    in earth field given by inclination, declination and intensity.

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

    MAV_CMD_FIXED_MAG_CAL_FIELD (42005) ​

    Magnetometer calibration based on fixed expected field values.

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

    MAV_CMD_SET_EKF_SOURCE_SET (42007) ​

    Set EKF sensor source set.

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

    MAV_CMD_DO_START_MAG_CAL (42424) ​

    Initiate a magnetometer calibration.

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

    MAV_CMD_DO_ACCEPT_MAG_CAL (42425) ​

    Accept a magnetometer calibration.

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

    MAV_CMD_DO_CANCEL_MAG_CAL (42426) ​

    Cancel a running magnetometer calibration.

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

    MAV_CMD_SET_FACTORY_TEST_MODE (42427) ​

    Command autopilot to get into factory test/diagnostic mode.

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

    MAV_CMD_DO_SEND_BANNER (42428) ​

    Reply with the version banner.

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

    MAV_CMD_ACCELCAL_VEHICLE_POS (42429) ​

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

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

    MAV_CMD_GIMBAL_RESET (42501) ​

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

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

    MAV_CMD_GIMBAL_AXIS_CALIBRATION_STATUS (42502) ​

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

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

    MAV_CMD_GIMBAL_REQUEST_AXIS_CALIBRATION (42503) ​

    Starts commutation calibration on the gimbal.

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

    MAV_CMD_GIMBAL_FULL_RESET (42505) ​

    Erases gimbal application and parameters.

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

    MAV_CMD_FLASH_BOOTLOADER (42650) ​

    Update the bootloader

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

    MAV_CMD_BATTERY_RESET (42651) ​

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

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

    MAV_CMD_DEBUG_TRAP (42700) ​

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

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

    MAV_CMD_SCRIPTING (42701) ​

    Control onboard scripting.

    Param (Label)DescriptionValues
    1Scripting command to executeSCRIPTING_CMD

    MAV_CMD_NAV_SCRIPT_TIME (42702) ​

    Scripting command as NAV command with wait for completion.

    Param (Label)DescriptionUnits
    1 (command)integer command number (0 to 255)
    2 (timeout)timeout for operation in seconds. Zero means no timeout (0 to 255)s
    3 (arg1)argument1.
    4 (arg2)argument2.
    5 (arg3)argument3.
    6 (arg4)argument4.
    7Empty

    MAV_CMD_NAV_ATTITUDE_TIME (42703) ​

    Maintain an attitude for a specified time.

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

    MAV_CMD_GUIDED_CHANGE_SPEED (43000) ​

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

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

    MAV_CMD_GUIDED_CHANGE_ALTITUDE (43001) ​

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

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

    MAV_CMD_GUIDED_CHANGE_HEADING (43002) ​

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

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

    MAV_CMD_EXTERNAL_POSITION_ESTIMATE (43003) ​

    Provide an external position estimate for use when dead-reckoning. This is meant to be used for occasional position resets that may be provided by a external system such as a remote pilot using landmarks over a video link.

    Param (Label)DescriptionUnits
    1 (transmission_time)Timestamp that this message was sent as a time in the transmitters time domain. The sender should wrap this time back to zero based on required timing accuracy for the application and the limitations of a 32 bit float. For example, wrapping at 10 hours would give approximately 1ms accuracy. Recipient must handle time wrap in any timing jitter correction applied to this field. Wrap rollover time should not be at not more than 250 seconds, which would give approximately 10 microsecond accuracy.s
    2 (processing_time)The time spent in processing the sensor data that is the basis for this position. The recipient can use this to improve time alignment of the data. Set to zero if not known.s
    3 (accuracy)estimated one standard deviation accuracy of the measurement. Set to NaN if not known.
    4Empty
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7 (Altitude)Altitude, not used. Should be sent as NaN. May be supported in a future version of this message.m

    MAV_CMD_SET_HAGL (43005) ​

    Provide a value for height above ground level. This can be used for things like fixed wing and VTOL landing.

    Param (Label)DescriptionUnits
    1 (hagl)Height above ground level.m
    2 (accuracy)estimated one standard deviation accuracy of the measurement. Set to NaN if not known.m
    3 (timeout)Timeout for this data. The flight controller should only consider this data valid within the timeout window.s
    4Empty
    5Empty
    6Empty
    7Empty
    - + \ No newline at end of file diff --git a/en/messages/common.html b/en/messages/common.html index 4be371c26..d74241d64 100644 --- a/en/messages/common.html +++ b/en/messages/common.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

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    MAVLINK Common Message Set (common.xml) ​

    The MAVLink common message set contains standard definitions that are managed by the MAVLink project. The definitions cover functionality that is considered useful to most ground control stations and autopilots. MAVLink-compatible systems are expected to use these definitions where possible (if an appropriate message exists) rather than rolling out variants in their own dialects.

    The original definitions are defined in common.xml.

    Note

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

    Protocol dialect: 0

    Protocol version: 3

    Summary ​

    TypeDefinedIncluded
    Messages2242
    Enums1386
    Commands1640

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

    Messages ​

    HEARTBEAT (0) — [from: minimal] ​

    The heartbeat message shows that a system or component is present and responding. The type and autopilot fields (along with the message component id), allow the receiving system to treat further messages from this system appropriately (e.g. by laying out the user interface based on the autopilot). This microservice is documented at https://mavlink.io/en/services/heartbeat.html

    Field NameTypeValuesDescription
    typeuint8_tMAV_TYPEVehicle or component type. For a flight controller component the vehicle type (quadrotor, helicopter, etc.). For other components the component type (e.g. camera, gimbal, etc.). This should be used in preference to component id for identifying the component type.
    autopilotuint8_tMAV_AUTOPILOTAutopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers.
    base_modeuint8_tMAV_MODE_FLAGSystem mode bitmap.
    custom_modeuint32_tA bitfield for use for autopilot-specific flags
    system_statusuint8_tMAV_STATESystem status flag.
    mavlink_versionuint8_t_mavlink_versionMAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version

    SYS_STATUS (1) ​

    The general system state. If the system is following the MAVLink standard, the system state is mainly defined by three orthogonal states/modes: The system mode, which is either LOCKED (motors shut down and locked), MANUAL (system under RC control), GUIDED (system with autonomous position control, position setpoint controlled manually) or AUTO (system guided by path/waypoint planner). The NAV_MODE defined the current flight state: LIFTOFF (often an open-loop maneuver), LANDING, WAYPOINTS or VECTOR. This represents the internal navigation state machine. The system status shows whether the system is currently active or not and if an emergency occurred. During the CRITICAL and EMERGENCY states the MAV is still considered to be active, but should start emergency procedures autonomously. After a failure occurred it should first move from active to critical to allow manual intervention and then move to emergency after a certain timeout.

    Field NameTypeUnitsValuesDescription
    onboard_control_sensors_presentuint32_tMAV_SYS_STATUS_SENSORBitmap showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present.
    onboard_control_sensors_enableduint32_tMAV_SYS_STATUS_SENSORBitmap showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled.
    onboard_control_sensors_healthuint32_tMAV_SYS_STATUS_SENSORBitmap showing which onboard controllers and sensors have an error (or are operational). Value of 0: error. Value of 1: healthy.
    loaduint16_td%Maximum usage in percent of the mainloop time. Values: [0-1000] - should always be below 1000
    voltage_batteryuint16_tmVinvalid:UINT16_MAXBattery voltage, UINT16_MAX: Voltage not sent by autopilot
    current_batteryint16_tcAinvalid:-1Battery current, -1: Current not sent by autopilot
    battery_remainingint8_t%invalid:-1Battery energy remaining, -1: Battery remaining energy not sent by autopilot
    drop_rate_commuint16_tc%Communication drop rate, (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
    errors_commuint16_tCommunication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
    errors_count1uint16_tAutopilot-specific errors
    errors_count2uint16_tAutopilot-specific errors
    errors_count3uint16_tAutopilot-specific errors
    errors_count4uint16_tAutopilot-specific errors
    onboard_control_sensors_present_extended ++uint32_tMAV_SYS_STATUS_SENSOR_EXTENDEDBitmap showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present.
    onboard_control_sensors_enabled_extended ++uint32_tMAV_SYS_STATUS_SENSOR_EXTENDEDBitmap showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled.
    onboard_control_sensors_health_extended ++uint32_tMAV_SYS_STATUS_SENSOR_EXTENDEDBitmap showing which onboard controllers and sensors have an error (or are operational). Value of 0: error. Value of 1: healthy.

    SYSTEM_TIME (2) ​

    The system time is the time of the master clock, typically the computer clock of the main onboard computer.

    Field NameTypeUnitsDescription
    time_unix_usecuint64_tusTimestamp (UNIX epoch time).
    time_boot_msuint32_tmsTimestamp (time since system boot).

    PING (4) — [DEP] ​

    DEPRECATED: Replaced By SYSTEM_TIME (2011-08) — to be removed / merged with SYSTEM_TIME)

    A ping message either requesting or responding to a ping. This allows to measure the system latencies, including serial port, radio modem and UDP connections. The ping microservice is documented at https://mavlink.io/en/services/ping.html

    Field NameTypeUnitsDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    sequint32_tPING sequence
    target_systemuint8_t0: request ping from all receiving systems. If greater than 0: message is a ping response and number is the system id of the requesting system
    target_componentuint8_t0: request ping from all receiving components. If greater than 0: message is a ping response and number is the component id of the requesting component.

    CHANGE_OPERATOR_CONTROL (5) ​

    Request to control this MAV

    Field NameTypeUnitsDescription
    target_systemuint8_tSystem the GCS requests control for
    control_requestuint8_t0: request control of this MAV, 1: Release control of this MAV
    versionuint8_trad0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch.
    passkeychar[25]Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"

    CHANGE_OPERATOR_CONTROL_ACK (6) ​

    Accept / deny control of this MAV

    Field NameTypeDescription
    gcs_system_iduint8_tID of the GCS this message
    control_requestuint8_t0: request control of this MAV, 1: Release control of this MAV
    ackuint8_t0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control

    AUTH_KEY (7) ​

    Emit an encrypted signature / key identifying this system. PLEASE NOTE: This protocol has been kept simple, so transmitting the key requires an encrypted channel for true safety.

    Field NameTypeDescription
    keychar[32]key

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

    Status generated in each node in the communication chain and injected into MAVLink stream.

    Field NameTypeUnitsDescription
    timestampuint64_tmsTimestamp (time since system boot).
    tx_bufuint8_t%Remaining free transmit buffer space
    rx_bufuint8_t%Remaining free receive buffer space
    tx_rateuint32_tbytes/sTransmit rate
    rx_rateuint32_tbytes/sReceive rate
    rx_parse_erruint16_tbytesNumber of bytes that could not be parsed correctly.
    tx_overflowsuint16_tbytesTransmit buffer overflows. This number wraps around as it reaches UINT16_MAX
    rx_overflowsuint16_tbytesReceive buffer overflows. This number wraps around as it reaches UINT16_MAX
    messages_sentuint32_tMessages sent
    messages_receiveduint32_tMessages received (estimated from counting seq)
    messages_lostuint32_tMessages lost (estimated from counting seq)

    SET_MODE (11) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_DO_SET_MODE (2015-12) — Use COMMAND_LONG with MAV_CMD_DO_SET_MODE instead)

    Set the system mode, as defined by enum MAV_MODE. There is no target component id as the mode is by definition for the overall aircraft, not only for one component.

    Field NameTypeValuesDescription
    target_systemuint8_tThe system setting the mode
    base_modeuint8_tMAV_MODEThe new base mode.
    custom_modeuint32_tThe new autopilot-specific mode. This field can be ignored by an autopilot.

    PARAM_REQUEST_READ (20) ​

    Request to read the onboard parameter with the param_id string id. Onboard parameters are stored as key[const char*] -> value[float]. This allows to send a parameter to any other component (such as the GCS) without the need of previous knowledge of possible parameter names. Thus the same GCS can store different parameters for different autopilots. See also https://mavlink.io/en/services/parameter.html for a full documentation of QGroundControl and IMU code.

    Field NameTypeDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    param_idchar[16]Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
    param_indexint16_tParameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored)

    PARAM_REQUEST_LIST (21) ​

    Request all parameters of this component. After this request, all parameters are emitted. The parameter microservice is documented at https://mavlink.io/en/services/parameter.html

    Field NameTypeDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID

    PARAM_VALUE (22) ​

    Emit the value of a onboard parameter. The inclusion of param_count and param_index in the message allows the recipient to keep track of received parameters and allows him to re-request missing parameters after a loss or timeout. The parameter microservice is documented at https://mavlink.io/en/services/parameter.html

    Field NameTypeValuesDescription
    param_idchar[16]Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
    param_valuefloatOnboard parameter value
    param_typeuint8_tMAV_PARAM_TYPEOnboard parameter type.
    param_countuint16_tTotal number of onboard parameters
    param_indexuint16_tIndex of this onboard parameter

    PARAM_SET (23) ​

    Set a parameter value (write new value to permanent storage).

    The receiving component should acknowledge the new parameter value by broadcasting a PARAM_VALUE message (broadcasting ensures that multiple GCS all have an up-to-date list of all parameters). If the sending GCS did not receive a PARAM_VALUE within its timeout time, it should re-send the PARAM_SET message. The parameter microservice is documented at https://mavlink.io/en/services/parameter.html. PARAM_SET may also be called within the context of a transaction (started with MAV_CMD_PARAM_TRANSACTION). Within a transaction the receiving component should respond with PARAM_ACK_TRANSACTION to the setter component (instead of broadcasting PARAM_VALUE), and PARAM_SET should be re-sent if this is ACK not received.

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    param_idchar[16]Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
    param_valuefloatOnboard parameter value
    param_typeuint8_tMAV_PARAM_TYPEOnboard parameter type.

    GPS_RAW_INT (24) ​

    The global position, as returned by the Global Positioning System (GPS). This is

    NOT the global position estimate of the system, but rather a RAW sensor value. See message GLOBAL_POSITION_INT for the global position estimate.

    Field NameTypeUnitsMultiplierValuesDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    fix_typeuint8_tGPS_FIX_TYPEGPS fix type.
    latint32_tdegE7Latitude (WGS84, EGM96 ellipsoid)
    lonint32_tdegE7Longitude (WGS84, EGM96 ellipsoid)
    altint32_tmmAltitude (MSL). Positive for up. Note that virtually all GPS modules provide the MSL altitude in addition to the WGS84 altitude.
    ephuint16_t1E-2invalid:UINT16_MAXGPS HDOP horizontal dilution of position (unitless * 100). If unknown, set to: UINT16_MAX
    epvuint16_t1E-2invalid:UINT16_MAXGPS VDOP vertical dilution of position (unitless * 100). If unknown, set to: UINT16_MAX
    veluint16_tcm/sinvalid:UINT16_MAXGPS ground speed. If unknown, set to: UINT16_MAX
    coguint16_tcdeginvalid:UINT16_MAXCourse over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
    satellites_visibleuint8_tinvalid:UINT8_MAXNumber of satellites visible. If unknown, set to UINT8_MAX
    alt_ellipsoid ++int32_tmmAltitude (above WGS84, EGM96 ellipsoid). Positive for up.
    h_acc ++uint32_tmmPosition uncertainty.
    v_acc ++uint32_tmmAltitude uncertainty.
    vel_acc ++uint32_tmm/sSpeed uncertainty.
    hdg_acc ++uint32_tdegE5Heading / track uncertainty
    yaw ++uint16_tcdeginvalid:0Yaw in earth frame from north. Use 0 if this GPS does not provide yaw. Use UINT16_MAX if this GPS is configured to provide yaw and is currently unable to provide it. Use 36000 for north.

    GPS_STATUS (25) ​

    The positioning status, as reported by GPS. This message is intended to display status information about each satellite visible to the receiver. See message GLOBAL_POSITION_INT for the global position estimate. This message can contain information for up to 20 satellites.

    Field NameTypeUnitsMultiplierDescription
    satellites_visibleuint8_tNumber of satellites visible
    satellite_prnuint8_t[20]Global satellite ID
    satellite_useduint8_t[20]0: Satellite not used, 1: used for localization
    satellite_elevationuint8_t[20]degElevation (0: right on top of receiver, 90: on the horizon) of satellite
    satellite_azimuthuint8_t[20]deg360/255Direction of satellite, 0: 0 deg, 255: 360 deg.
    satellite_snruint8_t[20]dBSignal to noise ratio of satellite

    SCALED_IMU (26) ​

    The RAW IMU readings for the usual 9DOF sensor setup. This message should contain the scaled values to the described units

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    xaccint16_tmGX acceleration
    yaccint16_tmGY acceleration
    zaccint16_tmGZ acceleration
    xgyroint16_tmrad/sAngular speed around X axis
    ygyroint16_tmrad/sAngular speed around Y axis
    zgyroint16_tmrad/sAngular speed around Z axis
    xmagint16_tmgaussX Magnetic field
    ymagint16_tmgaussY Magnetic field
    zmagint16_tmgaussZ Magnetic field
    temperature ++int16_tcdegCTemperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).

    RAW_IMU (27) ​

    The RAW IMU readings for a 9DOF sensor, which is identified by the id (default IMU1). This message should always contain the true raw values without any scaling to allow data capture and system debugging.

    Field NameTypeUnitsDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    xaccint16_tX acceleration (raw)
    yaccint16_tY acceleration (raw)
    zaccint16_tZ acceleration (raw)
    xgyroint16_tAngular speed around X axis (raw)
    ygyroint16_tAngular speed around Y axis (raw)
    zgyroint16_tAngular speed around Z axis (raw)
    xmagint16_tX Magnetic field (raw)
    ymagint16_tY Magnetic field (raw)
    zmagint16_tZ Magnetic field (raw)
    id ++uint8_tId. Ids are numbered from 0 and map to IMUs numbered from 1 (e.g. IMU1 will have a message with id=0)
    Messages with same value are from the same source (instance).
    temperature ++int16_tcdegCTemperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).

    RAW_PRESSURE (28) ​

    The RAW pressure readings for the typical setup of one absolute pressure and one differential pressure sensor. The sensor values should be the raw, UNSCALED ADC values.

    Field NameTypeUnitsDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    press_absint16_tAbsolute pressure (raw)
    press_diff1int16_tDifferential pressure 1 (raw, 0 if nonexistent)
    press_diff2int16_tDifferential pressure 2 (raw, 0 if nonexistent)
    temperatureint16_tRaw Temperature measurement (raw)

    SCALED_PRESSURE (29) ​

    The pressure readings for the typical setup of one absolute and differential pressure sensor. The units are as specified in each field.

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    press_absfloathPaAbsolute pressure
    press_difffloathPaDifferential pressure 1
    temperatureint16_tcdegCAbsolute pressure temperature
    temperature_press_diff ++int16_tcdegCDifferential pressure temperature (0, if not available). Report values of 0 (or 1) as 1 cdegC.

    ATTITUDE (30) ​

    The attitude in the aeronautical frame (right-handed, Z-down, Y-right, X-front, ZYX, intrinsic).

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    rollfloatradRoll angle (-pi..+pi)
    pitchfloatradPitch angle (-pi..+pi)
    yawfloatradYaw angle (-pi..+pi)
    rollspeedfloatrad/sRoll angular speed
    pitchspeedfloatrad/sPitch angular speed
    yawspeedfloatrad/sYaw angular speed

    ATTITUDE_QUATERNION (31) ​

    The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right), expressed as quaternion. Quaternion order is w, x, y, z and a zero rotation would be expressed as (1 0 0 0).

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    q1floatQuaternion component 1, w (1 in null-rotation)
    q2floatQuaternion component 2, x (0 in null-rotation)
    q3floatQuaternion component 3, y (0 in null-rotation)
    q4floatQuaternion component 4, z (0 in null-rotation)
    rollspeedfloatrad/sRoll angular speed
    pitchspeedfloatrad/sPitch angular speed
    yawspeedfloatrad/sYaw angular speed
    repr_offset_q ++float[4]Rotation offset by which the attitude quaternion and angular speed vector should be rotated for user display (quaternion with [w, x, y, z] order, zero-rotation is [1, 0, 0, 0], send [0, 0, 0, 0] if field not supported). This field is intended for systems in which the reference attitude may change during flight. For example, tailsitters VTOLs rotate their reference attitude by 90 degrees between hover mode and fixed wing mode, thus repr_offset_q is equal to [1, 0, 0, 0] in hover mode and equal to [0.7071, 0, 0.7071, 0] in fixed wing mode.

    LOCAL_POSITION_NED (32) ​

    The filtered local position (e.g. fused computer vision and accelerometers). Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention)

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    xfloatmX Position
    yfloatmY Position
    zfloatmZ Position
    vxfloatm/sX Speed
    vyfloatm/sY Speed
    vzfloatm/sZ Speed

    GLOBAL_POSITION_INT (33) ​

    The filtered global position (e.g. fused GPS and accelerometers). The position is in GPS-frame (right-handed, Z-up). It

    is designed as scaled integer message since the resolution of float is not sufficient.

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    latint32_tdegE7Latitude, expressed
    lonint32_tdegE7Longitude, expressed
    altint32_tmmAltitude (MSL). Note that virtually all GPS modules provide both WGS84 and MSL.
    relative_altint32_tmmAltitude above home
    vxint16_tcm/sGround X Speed (Latitude, positive north)
    vyint16_tcm/sGround Y Speed (Longitude, positive east)
    vzint16_tcm/sGround Z Speed (Altitude, positive down)
    hdguint16_tcdegVehicle heading (yaw angle), 0.0..359.99 degrees. If unknown, set to: UINT16_MAX

    RC_CHANNELS_SCALED (34) ​

    The scaled values of the RC channels received: (-100%) -10000, (0%) 0, (100%) 10000. Channels that are inactive should be set to INT16_MAX.

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    portuint8_tServo output port (set of 8 outputs = 1 port). Flight stacks running on Pixhawk should use: 0 = MAIN, 1 = AUX.
    chan1_scaledint16_tRC channel 1 value scaled.
    chan2_scaledint16_tRC channel 2 value scaled.
    chan3_scaledint16_tRC channel 3 value scaled.
    chan4_scaledint16_tRC channel 4 value scaled.
    chan5_scaledint16_tRC channel 5 value scaled.
    chan6_scaledint16_tRC channel 6 value scaled.
    chan7_scaledint16_tRC channel 7 value scaled.
    chan8_scaledint16_tRC channel 8 value scaled.
    rssiuint8_tReceive signal strength indicator in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.

    RC_CHANNELS_RAW (35) ​

    The RAW values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. A value of UINT16_MAX implies the channel is unused. Individual receivers/transmitters might violate this specification.

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    portuint8_tServo output port (set of 8 outputs = 1 port). Flight stacks running on Pixhawk should use: 0 = MAIN, 1 = AUX.
    chan1_rawuint16_tusRC channel 1 value.
    chan2_rawuint16_tusRC channel 2 value.
    chan3_rawuint16_tusRC channel 3 value.
    chan4_rawuint16_tusRC channel 4 value.
    chan5_rawuint16_tusRC channel 5 value.
    chan6_rawuint16_tusRC channel 6 value.
    chan7_rawuint16_tusRC channel 7 value.
    chan8_rawuint16_tusRC channel 8 value.
    rssiuint8_tReceive signal strength indicator in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.

    SERVO_OUTPUT_RAW (36) ​

    Superseded by ACTUATOR_OUTPUT_STATUS. The RAW values of the servo outputs (for RC input from the remote, use the RC_CHANNELS messages). The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%.

    Field NameTypeUnitsDescription
    time_usecuint32_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    portuint8_tServo output port (set of 8 outputs = 1 port). Flight stacks running on Pixhawk should use: 0 = MAIN, 1 = AUX.
    servo1_rawuint16_tusServo output 1 value
    servo2_rawuint16_tusServo output 2 value
    servo3_rawuint16_tusServo output 3 value
    servo4_rawuint16_tusServo output 4 value
    servo5_rawuint16_tusServo output 5 value
    servo6_rawuint16_tusServo output 6 value
    servo7_rawuint16_tusServo output 7 value
    servo8_rawuint16_tusServo output 8 value
    servo9_raw ++uint16_tusServo output 9 value
    servo10_raw ++uint16_tusServo output 10 value
    servo11_raw ++uint16_tusServo output 11 value
    servo12_raw ++uint16_tusServo output 12 value
    servo13_raw ++uint16_tusServo output 13 value
    servo14_raw ++uint16_tusServo output 14 value
    servo15_raw ++uint16_tusServo output 15 value
    servo16_raw ++uint16_tusServo output 16 value

    MISSION_REQUEST_PARTIAL_LIST (37) ​

    Request a partial list of mission items from the system/component. https://mavlink.io/en/services/mission.html. If start and end index are the same, just send one waypoint.

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    start_indexint16_tStart index
    end_indexint16_tEnd index, -1 by default (-1: send list to end). Else a valid index of the list
    mission_type ++uint8_tMAV_MISSION_TYPEMission type.

    MISSION_WRITE_PARTIAL_LIST (38) ​

    This message is sent to the MAV to write a partial list. If start index == end index, only one item will be transmitted / updated. If the start index is NOT 0 and above the current list size, this request should be REJECTED!

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    start_indexint16_tStart index. Must be smaller / equal to the largest index of the current onboard list.
    end_indexint16_tEnd index, equal or greater than start index.
    mission_type ++uint8_tMAV_MISSION_TYPEMission type.

    MISSION_ITEM (39) — [DEP] ​

    DEPRECATED: Replaced By MISSION_ITEM_INT (2020-06)

    Message encoding a mission item. This message is emitted to announce

    the presence of a mission item and to set a mission item on the system. The mission item can be either in x, y, z meters (type: LOCAL) or x:lat, y:lon, z:altitude. Local frame is Z-down, right handed (NED), global frame is Z-up, right handed (ENU). NaN may be used to indicate an optional/default value (e.g. to use the system's current latitude or yaw rather than a specific value). See also https://mavlink.io/en/services/mission.html.

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    sequint16_tSequence
    frameuint8_tMAV_FRAMEThe coordinate system of the waypoint.
    commanduint16_tMAV_CMDThe scheduled action for the waypoint.
    currentuint8_tfalse:0, true:1
    autocontinueuint8_tAutocontinue to next waypoint. 0: false, 1: true. Set false to pause mission after the item completes.
    param1floatPARAM1, see MAV_CMD enum
    param2floatPARAM2, see MAV_CMD enum
    param3floatPARAM3, see MAV_CMD enum
    param4floatPARAM4, see MAV_CMD enum
    xfloatPARAM5 / local: X coordinate, global: latitude
    yfloatPARAM6 / local: Y coordinate, global: longitude
    zfloatPARAM7 / local: Z coordinate, global: altitude (relative or absolute, depending on frame).
    mission_type ++uint8_tMAV_MISSION_TYPEMission type.

    MISSION_REQUEST (40) — [DEP] ​

    DEPRECATED: Replaced By MISSION_REQUEST_INT (2020-06) — A system that gets this request should respond with MISSION_ITEM_INT (as though MISSION_REQUEST_INT was received).)

    Request the information of the mission item with the sequence number seq. The response of the system to this message should be a MISSION_ITEM message. https://mavlink.io/en/services/mission.html

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    sequint16_tSequence
    mission_type ++uint8_tMAV_MISSION_TYPEMission type.

    MISSION_SET_CURRENT (41) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_DO_SET_MISSION_CURRENT (2022-08)

    Set the mission item with sequence number seq as the current item and emit MISSION_CURRENT (whether or not the mission number changed). If a mission is currently being executed, the system will continue to this new mission item on the shortest path, skipping any intermediate mission items. Note that mission jump repeat counters are not reset (see MAV_CMD_DO_JUMP param2).

    This message may trigger a mission state-machine change on some systems: for example from MISSION_STATE_NOT_STARTED or MISSION_STATE_PAUSED to MISSION_STATE_ACTIVE. If the system is in mission mode, on those systems this command might therefore start, restart or resume the mission. If the system is not in mission mode this message must not trigger a switch to mission mode.

    Field NameTypeDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    sequint16_tSequence

    MISSION_CURRENT (42) ​

    Message that announces the sequence number of the current target mission item (that the system will fly towards/execute when the mission is running). This message should be streamed all the time (nominally at 1Hz). This message should be emitted following a call to MAV_CMD_DO_SET_MISSION_CURRENT or SET_MISSION_CURRENT.

    Field NameTypeValuesDescription
    sequint16_tSequence
    total ++uint16_tinvalid:UINT16_MAXTotal number of mission items on vehicle (on last item, sequence == total). If the autopilot stores its home location as part of the mission this will be excluded from the total. 0: Not supported, UINT16_MAX if no mission is present on the vehicle.
    mission_state ++uint8_tinvalid:0 MISSION_STATEMission state machine state. MISSION_STATE_UNKNOWN if state reporting not supported.
    mission_mode ++uint8_tinvalid:0Vehicle is in a mode that can execute mission items or suspended. 0: Unknown, 1: In mission mode, 2: Suspended (not in mission mode).
    mission_id ++uint32_tinvalid:0Id of current on-vehicle mission plan, or 0 if IDs are not supported or there is no mission loaded. GCS can use this to track changes to the mission plan type. The same value is returned on mission upload (in the MISSION_ACK).
    fence_id ++uint32_tinvalid:0Id of current on-vehicle fence plan, or 0 if IDs are not supported or there is no fence loaded. GCS can use this to track changes to the fence plan type. The same value is returned on fence upload (in the MISSION_ACK).
    rally_points_id ++uint32_tinvalid:0Id of current on-vehicle rally point plan, or 0 if IDs are not supported or there are no rally points loaded. GCS can use this to track changes to the rally point plan type. The same value is returned on rally point upload (in the MISSION_ACK).

    MISSION_REQUEST_LIST (43) ​

    Request the overall list of mission items from the system/component.

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    mission_type ++uint8_tMAV_MISSION_TYPEMission type.

    MISSION_COUNT (44) ​

    This message is emitted as response to MISSION_REQUEST_LIST by the MAV and to initiate a write transaction. The GCS can then request the individual mission item based on the knowledge of the total number of waypoints.

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    countuint16_tNumber of mission items in the sequence
    mission_type ++uint8_tMAV_MISSION_TYPEMission type.
    opaque_id ++uint32_tinvalid:0Id of current on-vehicle mission, fence, or rally point plan (on download from vehicle).
    This field is used when downloading a plan from a vehicle to a GCS.
    0 on upload to the vehicle from GCS.
    0 if plan ids are not supported.
    The current on-vehicle plan ids are streamed in [MISSION_CURRENT](#MISSION_CURRENT), allowing a GCS to determine if any part of the plan has changed and needs to be re-uploaded.
    The ids are recalculated by the vehicle when any part of the on-vehicle plan changes (when a new plan is uploaded, the vehicle returns the new id to the GCS in MISSION_ACK).

    MISSION_CLEAR_ALL (45) ​

    Delete all mission items at once.

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    mission_type ++uint8_tMAV_MISSION_TYPEMission type.

    MISSION_ITEM_REACHED (46) ​

    A certain mission item has been reached. The system will either hold this position (or circle on the orbit) or (if the autocontinue on the WP was set) continue to the next waypoint.

    Field NameTypeDescription
    sequint16_tSequence

    MISSION_ACK (47) ​

    Acknowledgment message during waypoint handling. The type field states if this message is a positive ack (type=0) or if an error happened (type=non-zero).

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    typeuint8_tMAV_MISSION_RESULTMission result.
    mission_type ++uint8_tMAV_MISSION_TYPEMission type.
    opaque_id ++uint32_tinvalid:0Id of new on-vehicle mission, fence, or rally point plan (on upload to vehicle).
    The id is calculated and returned by a vehicle when a new plan is uploaded by a GCS.
    The only requirement on the id is that it must change when there is any change to the on-vehicle plan type (there is no requirement that the id be globally unique).
    0 on download from the vehicle to the GCS (on download the ID is set in MISSION_COUNT).
    0 if plan ids are not supported.
    The current on-vehicle plan ids are streamed in [MISSION_CURRENT](#MISSION_CURRENT), allowing a GCS to determine if any part of the plan has changed and needs to be re-uploaded.

    SET_GPS_GLOBAL_ORIGIN (48) ​

    Sets the GPS coordinates of the vehicle local origin (0,0,0) position. Vehicle should emit GPS_GLOBAL_ORIGIN irrespective of whether the origin is changed. This enables transform between the local coordinate frame and the global (GPS) coordinate frame, which may be necessary when (for example) indoor and outdoor settings are connected and the MAV should move from in- to outdoor.

    Field NameTypeUnitsDescription
    target_systemuint8_tSystem ID
    latitudeint32_tdegE7Latitude (WGS84)
    longitudeint32_tdegE7Longitude (WGS84)
    altitudeint32_tmmAltitude (MSL). Positive for up.
    time_usec ++uint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

    GPS_GLOBAL_ORIGIN (49) ​

    Publishes the GPS coordinates of the vehicle local origin (0,0,0) position. Emitted whenever a new GPS-Local position mapping is requested or set - e.g. following SET_GPS_GLOBAL_ORIGIN message.

    Field NameTypeUnitsDescription
    latitudeint32_tdegE7Latitude (WGS84)
    longitudeint32_tdegE7Longitude (WGS84)
    altitudeint32_tmmAltitude (MSL). Positive for up.
    time_usec ++uint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

    PARAM_MAP_RC (50) ​

    Bind a RC channel to a parameter. The parameter should change according to the RC channel value.

    Field NameTypeDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    param_idchar[16]Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
    param_indexint16_tParameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored), send -2 to disable any existing map for this rc_channel_index.
    parameter_rc_channel_indexuint8_tIndex of parameter RC channel. Not equal to the RC channel id. Typically corresponds to a potentiometer-knob on the RC.
    param_value0floatInitial parameter value
    scalefloatScale, maps the RC range [-1, 1] to a parameter value
    param_value_minfloatMinimum param value. The protocol does not define if this overwrites an onboard minimum value. (Depends on implementation)
    param_value_maxfloatMaximum param value. The protocol does not define if this overwrites an onboard maximum value. (Depends on implementation)

    MISSION_REQUEST_INT (51) ​

    Request the information of the mission item with the sequence number seq. The response of the system to this message should be a MISSION_ITEM_INT message. https://mavlink.io/en/services/mission.html

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    sequint16_tSequence
    mission_type ++uint8_tMAV_MISSION_TYPEMission type.

    SAFETY_SET_ALLOWED_AREA (54) ​

    Set a safety zone (volume), which is defined by two corners of a cube. This message can be used to tell the MAV which setpoints/waypoints to accept and which to reject. Safety areas are often enforced by national or competition regulations.

    Field NameTypeUnitsValuesDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    frameuint8_tMAV_FRAMECoordinate frame. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
    p1xfloatmx position 1 / Latitude 1
    p1yfloatmy position 1 / Longitude 1
    p1zfloatmz position 1 / Altitude 1
    p2xfloatmx position 2 / Latitude 2
    p2yfloatmy position 2 / Longitude 2
    p2zfloatmz position 2 / Altitude 2

    SAFETY_ALLOWED_AREA (55) ​

    Read out the safety zone the MAV currently assumes.

    Field NameTypeUnitsValuesDescription
    frameuint8_tMAV_FRAMECoordinate frame. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
    p1xfloatmx position 1 / Latitude 1
    p1yfloatmy position 1 / Longitude 1
    p1zfloatmz position 1 / Altitude 1
    p2xfloatmx position 2 / Latitude 2
    p2yfloatmy position 2 / Longitude 2
    p2zfloatmz position 2 / Altitude 2

    ATTITUDE_QUATERNION_COV (61) ​

    The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right), expressed as quaternion. Quaternion order is w, x, y, z and a zero rotation would be expressed as (1 0 0 0).

    Field NameTypeUnitsDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    qfloat[4]Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
    rollspeedfloatrad/sRoll angular speed
    pitchspeedfloatrad/sPitch angular speed
    yawspeedfloatrad/sYaw angular speed
    covariancefloat[9]Row-major representation of a 3x3 attitude covariance matrix (states: roll, pitch, yaw; first three entries are the first ROW, next three entries are the second row, etc.). If unknown, assign NaN value to first element in the array.

    The state of the navigation and position controller.

    Field NameTypeUnitsDescription
    nav_rollfloatdegCurrent desired roll
    nav_pitchfloatdegCurrent desired pitch
    nav_bearingint16_tdegCurrent desired heading
    target_bearingint16_tdegBearing to current waypoint/target
    wp_distuint16_tmDistance to active waypoint
    alt_errorfloatmCurrent altitude error
    aspd_errorfloatm/sCurrent airspeed error
    xtrack_errorfloatmCurrent crosstrack error on x-y plane

    GLOBAL_POSITION_INT_COV (63) ​

    The filtered global position (e.g. fused GPS and accelerometers). The position is in GPS-frame (right-handed, Z-up). It is designed as scaled integer message since the resolution of float is not sufficient. NOTE: This message is intended for onboard networks / companion computers and higher-bandwidth links and optimized for accuracy and completeness. Please use the GLOBAL_POSITION_INT message for a minimal subset.

    Field NameTypeUnitsValuesDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    estimator_typeuint8_tMAV_ESTIMATOR_TYPEClass id of the estimator this estimate originated from.
    latint32_tdegE7Latitude
    lonint32_tdegE7Longitude
    altint32_tmmAltitude in meters above MSL
    relative_altint32_tmmAltitude above ground
    vxfloatm/sGround X Speed (Latitude)
    vyfloatm/sGround Y Speed (Longitude)
    vzfloatm/sGround Z Speed (Altitude)
    covariancefloat[36]invalid:[NaN:]Row-major representation of a 6x6 position and velocity 6x6 cross-covariance matrix (states: lat, lon, alt, vx, vy, vz; first six entries are the first ROW, next six entries are the second row, etc.). If unknown, assign NaN value to first element in the array.

    LOCAL_POSITION_NED_COV (64) ​

    The filtered local position (e.g. fused computer vision and accelerometers). Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention)

    Field NameTypeUnitsValuesDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    estimator_typeuint8_tMAV_ESTIMATOR_TYPEClass id of the estimator this estimate originated from.
    xfloatmX Position
    yfloatmY Position
    zfloatmZ Position
    vxfloatm/sX Speed
    vyfloatm/sY Speed
    vzfloatm/sZ Speed
    axfloatm/s/sX Acceleration
    ayfloatm/s/sY Acceleration
    azfloatm/s/sZ Acceleration
    covariancefloat[45]invalid:[NaN:]Row-major representation of position, velocity and acceleration 9x9 cross-covariance matrix upper right triangle (states: x, y, z, vx, vy, vz, ax, ay, az; first nine entries are the first ROW, next eight entries are the second row, etc.). If unknown, assign NaN value to first element in the array.

    RC_CHANNELS (65) ​

    The PPM values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. A value of UINT16_MAX implies the channel is unused. Individual receivers/transmitters might violate this specification.

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    chancountuint8_tTotal number of RC channels being received. This can be larger than 18, indicating that more channels are available but not given in this message. This value should be 0 when no RC channels are available.
    chan1_rawuint16_tusRC channel 1 value.
    chan2_rawuint16_tusRC channel 2 value.
    chan3_rawuint16_tusRC channel 3 value.
    chan4_rawuint16_tusRC channel 4 value.
    chan5_rawuint16_tusRC channel 5 value.
    chan6_rawuint16_tusRC channel 6 value.
    chan7_rawuint16_tusRC channel 7 value.
    chan8_rawuint16_tusRC channel 8 value.
    chan9_rawuint16_tusRC channel 9 value.
    chan10_rawuint16_tusRC channel 10 value.
    chan11_rawuint16_tusRC channel 11 value.
    chan12_rawuint16_tusRC channel 12 value.
    chan13_rawuint16_tusRC channel 13 value.
    chan14_rawuint16_tusRC channel 14 value.
    chan15_rawuint16_tusRC channel 15 value.
    chan16_rawuint16_tusRC channel 16 value.
    chan17_rawuint16_tusRC channel 17 value.
    chan18_rawuint16_tusRC channel 18 value.
    rssiuint8_tReceive signal strength indicator in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.

    REQUEST_DATA_STREAM (66) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_SET_MESSAGE_INTERVAL (2015-08)

    Request a data stream.

    Field NameTypeUnitsDescription
    target_systemuint8_tThe target requested to send the message stream.
    target_componentuint8_tThe target requested to send the message stream.
    req_stream_iduint8_tThe ID of the requested data stream
    req_message_rateuint16_tHzThe requested message rate
    start_stopuint8_t1 to start sending, 0 to stop sending.

    DATA_STREAM (67) — [DEP] ​

    DEPRECATED: Replaced By MESSAGE_INTERVAL (2015-08)

    Data stream status information.

    Field NameTypeUnitsDescription
    stream_iduint8_tThe ID of the requested data stream
    message_rateuint16_tHzThe message rate
    on_offuint8_t1 stream is enabled, 0 stream is stopped.

    MANUAL_CONTROL (69) ​

    This message provides an API for manually controlling the vehicle using standard joystick axes nomenclature, along with a joystick-like input device. Unused axes can be disabled and buttons states are transmitted as individual on/off bits of a bitmask

    Field NameTypeDescription
    targetuint8_tThe system to be controlled.
    xint16_tX-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle.
    yint16_tY-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle.
    zint16_tZ-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle. Positive values are positive thrust, negative values are negative thrust.
    rint16_tR-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle.
    buttonsuint16_tA bitfield corresponding to the joystick buttons' 0-15 current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1.
    buttons2 ++uint16_tA bitfield corresponding to the joystick buttons' 16-31 current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 16.
    enabled_extensions ++uint8_tSet bits to 1 to indicate which of the following extension fields contain valid data: bit 0: pitch, bit 1: roll, bit 2: aux1, bit 3: aux2, bit 4: aux3, bit 5: aux4, bit 6: aux5, bit 7: aux6
    s ++int16_tPitch-only-axis, normalized to the range [-1000,1000]. Generally corresponds to pitch on vehicles with additional degrees of freedom. Valid if bit 0 of enabled_extensions field is set. Set to 0 if invalid.
    t ++int16_tRoll-only-axis, normalized to the range [-1000,1000]. Generally corresponds to roll on vehicles with additional degrees of freedom. Valid if bit 1 of enabled_extensions field is set. Set to 0 if invalid.
    aux1 ++int16_tAux continuous input field 1. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 2 of enabled_extensions field is set. 0 if bit 2 is unset.
    aux2 ++int16_tAux continuous input field 2. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 3 of enabled_extensions field is set. 0 if bit 3 is unset.
    aux3 ++int16_tAux continuous input field 3. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 4 of enabled_extensions field is set. 0 if bit 4 is unset.
    aux4 ++int16_tAux continuous input field 4. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 5 of enabled_extensions field is set. 0 if bit 5 is unset.
    aux5 ++int16_tAux continuous input field 5. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 6 of enabled_extensions field is set. 0 if bit 6 is unset.
    aux6 ++int16_tAux continuous input field 6. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 7 of enabled_extensions field is set. 0 if bit 7 is unset.

    RC_CHANNELS_OVERRIDE (70) ​

    The RAW values of the RC channels sent to the MAV to override info received from the RC radio. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. Individual receivers/transmitters might violate this specification. Note carefully the semantic differences between the first 8 channels and the subsequent channels

    Field NameTypeUnitsDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    chan1_rawuint16_tusRC channel 1 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
    chan2_rawuint16_tusRC channel 2 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
    chan3_rawuint16_tusRC channel 3 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
    chan4_rawuint16_tusRC channel 4 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
    chan5_rawuint16_tusRC channel 5 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
    chan6_rawuint16_tusRC channel 6 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
    chan7_rawuint16_tusRC channel 7 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
    chan8_rawuint16_tusRC channel 8 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
    chan9_raw ++uint16_tusRC channel 9 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
    chan10_raw ++uint16_tusRC channel 10 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
    chan11_raw ++uint16_tusRC channel 11 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
    chan12_raw ++uint16_tusRC channel 12 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
    chan13_raw ++uint16_tusRC channel 13 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
    chan14_raw ++uint16_tusRC channel 14 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
    chan15_raw ++uint16_tusRC channel 15 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
    chan16_raw ++uint16_tusRC channel 16 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
    chan17_raw ++uint16_tusRC channel 17 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
    chan18_raw ++uint16_tusRC channel 18 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.

    MISSION_ITEM_INT (73) ​

    Message encoding a mission item. This message is emitted to announce

    the presence of a mission item and to set a mission item on the system. The mission item can be either in x, y, z meters (type: LOCAL) or x:lat, y:lon, z:altitude. Local frame is Z-down, right handed (NED), global frame is Z-up, right handed (ENU). NaN or INT32_MAX may be used in float/integer params (respectively) to indicate optional/default values (e.g. to use the component's current latitude, yaw rather than a specific value). See also https://mavlink.io/en/services/mission.html.

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    sequint16_tWaypoint ID (sequence number). Starts at zero. Increases monotonically for each waypoint, no gaps in the sequence (0,1,2,3,4).
    frameuint8_tMAV_FRAMEThe coordinate system of the waypoint.
    commanduint16_tMAV_CMDThe scheduled action for the waypoint.
    currentuint8_tfalse:0, true:1
    autocontinueuint8_tAutocontinue to next waypoint. 0: false, 1: true. Set false to pause mission after the item completes.
    param1floatPARAM1, see MAV_CMD enum
    param2floatPARAM2, see MAV_CMD enum
    param3floatPARAM3, see MAV_CMD enum
    param4floatPARAM4, see MAV_CMD enum
    xint32_tPARAM5 / local: x position in meters * 1e4, global: latitude in degrees * 10^7
    yint32_tPARAM6 / y position: local: x position in meters * 1e4, global: longitude in degrees *10^7
    zfloatPARAM7 / z position: global: altitude in meters (relative or absolute, depending on frame.
    mission_type ++uint8_tMAV_MISSION_TYPEMission type.

    VFR_HUD (74) ​

    Metrics typically displayed on a HUD for fixed wing aircraft.

    Field NameTypeUnitsDescription
    airspeedfloatm/sVehicle speed in form appropriate for vehicle type. For standard aircraft this is typically calibrated airspeed (CAS) or indicated airspeed (IAS) - either of which can be used by a pilot to estimate stall speed.
    groundspeedfloatm/sCurrent ground speed.
    headingint16_tdegCurrent heading in compass units (0-360, 0=north).
    throttleuint16_t%Current throttle setting (0 to 100).
    altfloatmCurrent altitude (MSL).
    climbfloatm/sCurrent climb rate.

    COMMAND_INT (75) ​

    Send a command with up to seven parameters to the MAV, where params 5 and 6 are integers and the other values are floats. This is preferred over COMMAND_LONG as it allows the MAV_FRAME to be specified for interpreting positional information, such as altitude. COMMAND_INT is also preferred when sending latitude and longitude data in params 5 and 6, as it allows for greater precision. Param 5 and 6 encode positional data as scaled integers, where the scaling depends on the actual command value. NaN or INT32_MAX may be used in float/integer params (respectively) to indicate optional/default values (e.g. to use the component's current latitude, yaw rather than a specific value). The command microservice is documented at https://mavlink.io/en/services/command.html

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    frameuint8_tMAV_FRAMEThe coordinate system of the COMMAND.
    commanduint16_tMAV_CMDThe scheduled action for the mission item.
    currentuint8_tNot used.
    autocontinueuint8_tNot used (set 0).
    param1floatinvalid:NaNPARAM1, see MAV_CMD enum
    param2floatinvalid:NaNPARAM2, see MAV_CMD enum
    param3floatinvalid:NaNPARAM3, see MAV_CMD enum
    param4floatinvalid:NaNPARAM4, see MAV_CMD enum
    xint32_tinvalid:INT32_MAXPARAM5 / local: x position in meters * 1e4, global: latitude in degrees * 10^7
    yint32_tinvalid:INT32_MAXPARAM6 / local: y position in meters * 1e4, global: longitude in degrees * 10^7
    zfloatinvalid:NaNPARAM7 / z position: global: altitude in meters (relative or absolute, depending on frame).

    COMMAND_LONG (76) ​

    Send a command with up to seven parameters to the MAV. COMMAND_INT is generally preferred when sending MAV_CMD commands that include positional information; it offers higher precision and allows the MAV_FRAME to be specified (which may otherwise be ambiguous, particularly for altitude). The command microservice is documented at https://mavlink.io/en/services/command.html

    Field NameTypeValuesDescription
    target_systemuint8_tSystem which should execute the command
    target_componentuint8_tComponent which should execute the command, 0 for all components
    commanduint16_tMAV_CMDCommand ID (of command to send).
    confirmationuint8_t0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
    param1floatinvalid:NaNParameter 1 (for the specific command).
    param2floatinvalid:NaNParameter 2 (for the specific command).
    param3floatinvalid:NaNParameter 3 (for the specific command).
    param4floatinvalid:NaNParameter 4 (for the specific command).
    param5floatinvalid:NaNParameter 5 (for the specific command).
    param6floatinvalid:NaNParameter 6 (for the specific command).
    param7floatinvalid:NaNParameter 7 (for the specific command).

    COMMAND_ACK (77) ​

    Report status of a command. Includes feedback whether the command was executed. The command microservice is documented at https://mavlink.io/en/services/command.html

    Field NameTypeUnitsValuesDescription
    commanduint16_tMAV_CMDCommand ID (of acknowledged command).
    resultuint8_tMAV_RESULTResult of command.
    progress ++uint8_t%invalid:UINT8_MAXThe progress percentage when result is MAV_RESULT_IN_PROGRESS. Values: [0-100], or UINT8_MAX if the progress is unknown.
    result_param2 ++int32_tAdditional result information. Can be set with a command-specific enum containing command-specific error reasons for why the command might be denied. If used, the associated enum must be documented in the corresponding MAV_CMD (this enum should have a 0 value to indicate "unused" or "unknown").
    target_system ++uint8_tSystem ID of the target recipient. This is the ID of the system that sent the command for which this COMMAND_ACK is an acknowledgement.
    target_component ++uint8_tComponent ID of the target recipient. This is the ID of the system that sent the command for which this COMMAND_ACK is an acknowledgement.

    COMMAND_CANCEL (80) — [WIP] ​

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

    Cancel a long running command. The target system should respond with a COMMAND_ACK to the original command with result=MAV_RESULT_CANCELLED if the long running process was cancelled. If it has already completed, the cancel action can be ignored. The cancel action can be retried until some sort of acknowledgement to the original command has been received. The command microservice is documented at https://mavlink.io/en/services/command.html

    Field NameTypeValuesDescription
    target_systemuint8_tSystem executing long running command. Should not be broadcast (0).
    target_componentuint8_tComponent executing long running command.
    commanduint16_tMAV_CMDCommand ID (of command to cancel).

    MANUAL_SETPOINT (81) ​

    Setpoint in roll, pitch, yaw and thrust from the operator

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    rollfloatrad/sDesired roll rate
    pitchfloatrad/sDesired pitch rate
    yawfloatrad/sDesired yaw rate
    thrustfloatCollective thrust, normalized to 0 .. 1
    mode_switchuint8_tFlight mode switch position, 0.. 255
    manual_override_switchuint8_tOverride mode switch position, 0.. 255

    SET_ATTITUDE_TARGET (82) ​

    Sets a desired vehicle attitude. Used by an external controller to command the vehicle (manual controller or other system).

    Field NameTypeUnitsValuesDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    type_maskuint8_tATTITUDE_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
    qfloat[4]Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0) from MAV_FRAME_LOCAL_NED to MAV_FRAME_BODY_FRD
    body_roll_ratefloatrad/sBody roll rate
    body_pitch_ratefloatrad/sBody pitch rate
    body_yaw_ratefloatrad/sBody yaw rate
    thrustfloatCollective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)
    thrust_body ++float[3]3D thrust setpoint in the body NED frame, normalized to -1 .. 1

    ATTITUDE_TARGET (83) ​

    Reports the current commanded attitude of the vehicle as specified by the autopilot. This should match the commands sent in a SET_ATTITUDE_TARGET message if the vehicle is being controlled this way.

    Field NameTypeUnitsValuesDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    type_maskuint8_tATTITUDE_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
    qfloat[4]Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
    body_roll_ratefloatrad/sBody roll rate
    body_pitch_ratefloatrad/sBody pitch rate
    body_yaw_ratefloatrad/sBody yaw rate
    thrustfloatCollective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)

    SET_POSITION_TARGET_LOCAL_NED (84) ​

    Sets a desired vehicle position in a local north-east-down coordinate frame. Used by an external controller to command the vehicle (manual controller or other system).

    Field NameTypeUnitsValuesDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    coordinate_frameuint8_tMAV_FRAMEValid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9
    type_maskuint16_tPOSITION_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
    xfloatmX Position in NED frame
    yfloatmY Position in NED frame
    zfloatmZ Position in NED frame (note, altitude is negative in NED)
    vxfloatm/sX velocity in NED frame
    vyfloatm/sY velocity in NED frame
    vzfloatm/sZ velocity in NED frame
    afxfloatm/s/sX acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
    afyfloatm/s/sY acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
    afzfloatm/s/sZ acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
    yawfloatradyaw setpoint
    yaw_ratefloatrad/syaw rate setpoint

    POSITION_TARGET_LOCAL_NED (85) ​

    Reports the current commanded vehicle position, velocity, and acceleration as specified by the autopilot. This should match the commands sent in SET_POSITION_TARGET_LOCAL_NED if the vehicle is being controlled this way.

    Field NameTypeUnitsValuesDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    coordinate_frameuint8_tMAV_FRAMEValid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9
    type_maskuint16_tPOSITION_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
    xfloatmX Position in NED frame
    yfloatmY Position in NED frame
    zfloatmZ Position in NED frame (note, altitude is negative in NED)
    vxfloatm/sX velocity in NED frame
    vyfloatm/sY velocity in NED frame
    vzfloatm/sZ velocity in NED frame
    afxfloatm/s/sX acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
    afyfloatm/s/sY acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
    afzfloatm/s/sZ acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
    yawfloatradyaw setpoint
    yaw_ratefloatrad/syaw rate setpoint

    SET_POSITION_TARGET_GLOBAL_INT (86) ​

    Sets a desired vehicle position, velocity, and/or acceleration in a global coordinate system (WGS84). Used by an external controller to command the vehicle (manual controller or other system).

    Field NameTypeUnitsValuesDescription
    time_boot_msuint32_tmsTimestamp (time since system boot). The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency.
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    coordinate_frameuint8_tMAV_FRAMEValid options are: MAV_FRAME_GLOBAL = 0, MAV_FRAME_GLOBAL_RELATIVE_ALT = 3, MAV_FRAME_GLOBAL_TERRAIN_ALT = 10 (MAV_FRAME_GLOBAL_INT, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT are allowed synonyms, but have been deprecated)
    type_maskuint16_tPOSITION_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
    lat_intint32_tdegE7Latitude in WGS84 frame
    lon_intint32_tdegE7Longitude in WGS84 frame
    altfloatmAltitude (MSL, Relative to home, or AGL - depending on frame)
    vxfloatm/sX velocity in NED frame
    vyfloatm/sY velocity in NED frame
    vzfloatm/sZ velocity in NED frame
    afxfloatm/s/sX acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
    afyfloatm/s/sY acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
    afzfloatm/s/sZ acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
    yawfloatradyaw setpoint
    yaw_ratefloatrad/syaw rate setpoint

    POSITION_TARGET_GLOBAL_INT (87) ​

    Reports the current commanded vehicle position, velocity, and acceleration as specified by the autopilot. This should match the commands sent in SET_POSITION_TARGET_GLOBAL_INT if the vehicle is being controlled this way.

    Field NameTypeUnitsValuesDescription
    time_boot_msuint32_tmsTimestamp (time since system boot). The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency.
    coordinate_frameuint8_tMAV_FRAMEValid options are: MAV_FRAME_GLOBAL = 0, MAV_FRAME_GLOBAL_RELATIVE_ALT = 3, MAV_FRAME_GLOBAL_TERRAIN_ALT = 10 (MAV_FRAME_GLOBAL_INT, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT are allowed synonyms, but have been deprecated)
    type_maskuint16_tPOSITION_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
    lat_intint32_tdegE7Latitude in WGS84 frame
    lon_intint32_tdegE7Longitude in WGS84 frame
    altfloatmAltitude (MSL, AGL or relative to home altitude, depending on frame)
    vxfloatm/sX velocity in NED frame
    vyfloatm/sY velocity in NED frame
    vzfloatm/sZ velocity in NED frame
    afxfloatm/s/sX acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
    afyfloatm/s/sY acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
    afzfloatm/s/sZ acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
    yawfloatradyaw setpoint
    yaw_ratefloatrad/syaw rate setpoint

    LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET (89) ​

    The offset in X, Y, Z and yaw between the LOCAL_POSITION_NED messages of MAV X and the global coordinate frame in NED coordinates. Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention)

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    xfloatmX Position
    yfloatmY Position
    zfloatmZ Position
    rollfloatradRoll
    pitchfloatradPitch
    yawfloatradYaw

    HIL_STATE (90) — [DEP] ​

    DEPRECATED: Replaced By HIL_STATE_QUATERNION (2013-07) — Suffers from missing airspeed fields and singularities due to Euler angles)

    Sent from simulation to autopilot. This packet is useful for high throughput applications such as hardware in the loop simulations.

    Field NameTypeUnitsDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    rollfloatradRoll angle
    pitchfloatradPitch angle
    yawfloatradYaw angle
    rollspeedfloatrad/sBody frame roll / phi angular speed
    pitchspeedfloatrad/sBody frame pitch / theta angular speed
    yawspeedfloatrad/sBody frame yaw / psi angular speed
    latint32_tdegE7Latitude
    lonint32_tdegE7Longitude
    altint32_tmmAltitude
    vxint16_tcm/sGround X Speed (Latitude)
    vyint16_tcm/sGround Y Speed (Longitude)
    vzint16_tcm/sGround Z Speed (Altitude)
    xaccint16_tmGX acceleration
    yaccint16_tmGY acceleration
    zaccint16_tmGZ acceleration

    HIL_CONTROLS (91) ​

    Sent from autopilot to simulation. Hardware in the loop control outputs

    Field NameTypeUnitsValuesDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    roll_aileronsfloatControl output -1 .. 1
    pitch_elevatorfloatControl output -1 .. 1
    yaw_rudderfloatControl output -1 .. 1
    throttlefloatThrottle 0 .. 1
    aux1floatAux 1, -1 .. 1
    aux2floatAux 2, -1 .. 1
    aux3floatAux 3, -1 .. 1
    aux4floatAux 4, -1 .. 1
    modeuint8_tMAV_MODESystem mode.
    nav_modeuint8_tNavigation mode (MAV_NAV_MODE)

    HIL_RC_INPUTS_RAW (92) ​

    Sent from simulation to autopilot. The RAW values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. Individual receivers/transmitters might violate this specification.

    Field NameTypeUnitsDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    chan1_rawuint16_tusRC channel 1 value
    chan2_rawuint16_tusRC channel 2 value
    chan3_rawuint16_tusRC channel 3 value
    chan4_rawuint16_tusRC channel 4 value
    chan5_rawuint16_tusRC channel 5 value
    chan6_rawuint16_tusRC channel 6 value
    chan7_rawuint16_tusRC channel 7 value
    chan8_rawuint16_tusRC channel 8 value
    chan9_rawuint16_tusRC channel 9 value
    chan10_rawuint16_tusRC channel 10 value
    chan11_rawuint16_tusRC channel 11 value
    chan12_rawuint16_tusRC channel 12 value
    rssiuint8_tReceive signal strength indicator in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.

    HIL_ACTUATOR_CONTROLS (93) ​

    Sent from autopilot to simulation. Hardware in the loop control outputs (replacement for HIL_CONTROLS)

    Field NameTypeUnitsValuesDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    controlsfloat[16]Control outputs -1 .. 1. Channel assignment depends on the simulated hardware.
    modeuint8_tMAV_MODE_FLAGSystem mode. Includes arming state.
    flagsuint64_tFlags as bitfield, 1: indicate simulation using lockstep.

    OPTICAL_FLOW (100) ​

    Optical flow from a flow sensor (e.g. optical mouse sensor)

    Field NameTypeUnitsDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    sensor_iduint8_tSensor ID
    flow_xint16_tdpixFlow in x-sensor direction
    flow_yint16_tdpixFlow in y-sensor direction
    flow_comp_m_xfloatm/sFlow in x-sensor direction, angular-speed compensated
    flow_comp_m_yfloatm/sFlow in y-sensor direction, angular-speed compensated
    qualityuint8_tOptical flow quality / confidence. 0: bad, 255: maximum quality
    ground_distancefloatmGround distance. Positive value: distance known. Negative value: Unknown distance
    flow_rate_x ++floatrad/sFlow rate about X axis
    flow_rate_y ++floatrad/sFlow rate about Y axis

    GLOBAL_VISION_POSITION_ESTIMATE (101) ​

    Global position/attitude estimate from a vision source.

    Field NameTypeUnitsDescription
    usecuint64_tusTimestamp (UNIX time or since system boot)
    xfloatmGlobal X position
    yfloatmGlobal Y position
    zfloatmGlobal Z position
    rollfloatradRoll angle
    pitchfloatradPitch angle
    yawfloatradYaw angle
    covariance ++float[21]Row-major representation of pose 6x6 cross-covariance matrix upper right triangle (states: x_global, y_global, z_global, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
    reset_counter ++uint8_tEstimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.

    VISION_POSITION_ESTIMATE (102) ​

    Local position/attitude estimate from a vision source.

    Field NameTypeUnitsDescription
    usecuint64_tusTimestamp (UNIX time or time since system boot)
    xfloatmLocal X position
    yfloatmLocal Y position
    zfloatmLocal Z position
    rollfloatradRoll angle
    pitchfloatradPitch angle
    yawfloatradYaw angle
    covariance ++float[21]Row-major representation of pose 6x6 cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
    reset_counter ++uint8_tEstimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.

    VISION_SPEED_ESTIMATE (103) ​

    Speed estimate from a vision source.

    Field NameTypeUnitsDescription
    usecuint64_tusTimestamp (UNIX time or time since system boot)
    xfloatm/sGlobal X speed
    yfloatm/sGlobal Y speed
    zfloatm/sGlobal Z speed
    covariance ++float[9]Row-major representation of 3x3 linear velocity covariance matrix (states: vx, vy, vz; 1st three entries - 1st row, etc.). If unknown, assign NaN value to first element in the array.
    reset_counter ++uint8_tEstimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.

    VICON_POSITION_ESTIMATE (104) ​

    Global position estimate from a Vicon motion system source.

    Field NameTypeUnitsDescription
    usecuint64_tusTimestamp (UNIX time or time since system boot)
    xfloatmGlobal X position
    yfloatmGlobal Y position
    zfloatmGlobal Z position
    rollfloatradRoll angle
    pitchfloatradPitch angle
    yawfloatradYaw angle
    covariance ++float[21]Row-major representation of 6x6 pose cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.

    HIGHRES_IMU (105) ​

    The IMU readings in SI units in NED body frame

    Field NameTypeUnitsValuesDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    xaccfloatm/s/sX acceleration
    yaccfloatm/s/sY acceleration
    zaccfloatm/s/sZ acceleration
    xgyrofloatrad/sAngular speed around X axis
    ygyrofloatrad/sAngular speed around Y axis
    zgyrofloatrad/sAngular speed around Z axis
    xmagfloatgaussX Magnetic field
    ymagfloatgaussY Magnetic field
    zmagfloatgaussZ Magnetic field
    abs_pressurefloathPaAbsolute pressure
    diff_pressurefloathPaDifferential pressure
    pressure_altfloatAltitude calculated from pressure
    temperaturefloatdegCTemperature
    fields_updateduint16_tHIGHRES_IMU_UPDATED_FLAGSBitmap for fields that have updated since last message
    id ++uint8_tId. Ids are numbered from 0 and map to IMUs numbered from 1 (e.g. IMU1 will have a message with id=0)
    Messages with same value are from the same source (instance).

    OPTICAL_FLOW_RAD (106) ​

    Optical flow from an angular rate flow sensor (e.g. PX4FLOW or mouse sensor)

    Field NameTypeUnitsDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    sensor_iduint8_tSensor ID
    Messages with same value are from the same source (instance).
    integration_time_usuint32_tusIntegration time. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the.
    integrated_xfloatradFlow around X axis (Sensor RH rotation about the X axis induces a positive flow. Sensor linear motion along the positive Y axis induces a negative flow.)
    integrated_yfloatradFlow around Y axis (Sensor RH rotation about the Y axis induces a positive flow. Sensor linear motion along the positive X axis induces a positive flow.)
    integrated_xgyrofloatradRH rotation around X axis
    integrated_ygyrofloatradRH rotation around Y axis
    integrated_zgyrofloatradRH rotation around Z axis
    temperatureint16_tcdegCTemperature
    qualityuint8_tOptical flow quality / confidence. 0: no valid flow, 255: maximum quality
    time_delta_distance_usuint32_tusTime since the distance was sampled.
    distancefloatmDistance to the center of the flow field. Positive value (including zero): distance known. Negative value: Unknown distance.

    HIL_SENSOR (107) ​

    The IMU readings in SI units in NED body frame

    Field NameTypeUnitsValuesDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    xaccfloatm/s/sX acceleration
    yaccfloatm/s/sY acceleration
    zaccfloatm/s/sZ acceleration
    xgyrofloatrad/sAngular speed around X axis in body frame
    ygyrofloatrad/sAngular speed around Y axis in body frame
    zgyrofloatrad/sAngular speed around Z axis in body frame
    xmagfloatgaussX Magnetic field
    ymagfloatgaussY Magnetic field
    zmagfloatgaussZ Magnetic field
    abs_pressurefloathPaAbsolute pressure
    diff_pressurefloathPaDifferential pressure (airspeed)
    pressure_altfloatAltitude calculated from pressure
    temperaturefloatdegCTemperature
    fields_updateduint32_tHIL_SENSOR_UPDATED_FLAGSBitmap for fields that have updated since last message
    id ++uint8_tSensor ID (zero indexed). Used for multiple sensor inputs

    SIM_STATE (108) ​

    Status of simulation environment, if used

    Field NameTypeUnitsDescription
    q1floatTrue attitude quaternion component 1, w (1 in null-rotation)
    q2floatTrue attitude quaternion component 2, x (0 in null-rotation)
    q3floatTrue attitude quaternion component 3, y (0 in null-rotation)
    q4floatTrue attitude quaternion component 4, z (0 in null-rotation)
    rollfloatradAttitude roll expressed as Euler angles, not recommended except for human-readable outputs
    pitchfloatradAttitude pitch expressed as Euler angles, not recommended except for human-readable outputs
    yawfloatradAttitude yaw expressed as Euler angles, not recommended except for human-readable outputs
    xaccfloatm/s/sX acceleration
    yaccfloatm/s/sY acceleration
    zaccfloatm/s/sZ acceleration
    xgyrofloatrad/sAngular speed around X axis
    ygyrofloatrad/sAngular speed around Y axis
    zgyrofloatrad/sAngular speed around Z axis
    latfloatdegLatitude (lower precision). Both this and the lat_int field should be set.
    lonfloatdegLongitude (lower precision). Both this and the lon_int field should be set.
    altfloatmAltitude
    std_dev_horzfloatHorizontal position standard deviation
    std_dev_vertfloatVertical position standard deviation
    vnfloatm/sTrue velocity in north direction in earth-fixed NED frame
    vefloatm/sTrue velocity in east direction in earth-fixed NED frame
    vdfloatm/sTrue velocity in down direction in earth-fixed NED frame
    lat_int ++int32_tdegE7Latitude (higher precision). If 0, recipients should use the lat field value (otherwise this field is preferred).
    lon_int ++int32_tdegE7Longitude (higher precision). If 0, recipients should use the lon field value (otherwise this field is preferred).

    RADIO_STATUS (109) ​

    Status generated by radio and injected into MAVLink stream.

    Field NameTypeUnitsDescription
    rssiuint8_tLocal (message sender) received signal strength indication in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.
    remrssiuint8_tRemote (message receiver) signal strength indication in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.
    txbufuint8_t%Remaining free transmitter buffer space.
    noiseuint8_tLocal background noise level. These are device dependent RSSI values (scale as approx 2x dB on SiK radios). Values: [0-254], UINT8_MAX: invalid/unknown.
    remnoiseuint8_tRemote background noise level. These are device dependent RSSI values (scale as approx 2x dB on SiK radios). Values: [0-254], UINT8_MAX: invalid/unknown.
    rxerrorsuint16_tCount of radio packet receive errors (since boot).
    fixeduint16_tCount of error corrected radio packets (since boot).

    FILE_TRANSFER_PROTOCOL (110) ​

    File transfer protocol message: https://mavlink.io/en/services/ftp.html.

    Field NameTypeDescription
    target_networkuint8_tNetwork ID (0 for broadcast)
    target_systemuint8_tSystem ID (0 for broadcast)
    target_componentuint8_tComponent ID (0 for broadcast)
    payloaduint8_t[251]Variable length payload. The length is defined by the remaining message length when subtracting the header and other fields. The content/format of this block is defined in https://mavlink.io/en/services/ftp.html.

    TIMESYNC (111) ​

    Time synchronization message. The message is used for both timesync requests and responses. The request is sent with ts1=syncing component timestamp and tc1=0, and may be broadcast or targeted to a specific system/component. The response is sent with ts1=syncing component timestamp (mirror back unchanged), and tc1=responding component timestamp, with the target_system and target_component set to ids of the original request. Systems can determine if they are receiving a request or response based on the value of tc. If the response has target_system==target_component==0 the remote system has not been updated to use the component IDs and cannot reliably timesync; the requestor may report an error. Timestamps are UNIX Epoch time or time since system boot in nanoseconds (the timestamp format can be inferred by checking for the magnitude of the number; generally it doesn't matter as only the offset is used). The message sequence is repeated numerous times with results being filtered/averaged to estimate the offset.

    Field NameTypeUnitsDescription
    tc1int64_tnsTime sync timestamp 1. Syncing: 0. Responding: Timestamp of responding component.
    ts1int64_tnsTime sync timestamp 2. Timestamp of syncing component (mirrored in response).
    target_system ++uint8_tTarget system id. Request: 0 (broadcast) or id of specific system. Response must contain system id of the requesting component.
    target_component ++uint8_tTarget component id. Request: 0 (broadcast) or id of specific component. Response must contain component id of the requesting component.

    CAMERA_TRIGGER (112) ​

    Camera-IMU triggering and synchronisation message.

    Field NameTypeUnitsDescription
    time_usecuint64_tusTimestamp for image frame (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    sequint32_tImage frame sequence

    HIL_GPS (113) ​

    The global position, as returned by the Global Positioning System (GPS). This is

    NOT the global position estimate of the system, but rather a RAW sensor value. See message GLOBAL_POSITION_INT for the global position estimate.

    Field NameTypeUnitsMultiplierDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    fix_typeuint8_t0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
    latint32_tdegE7Latitude (WGS84)
    lonint32_tdegE7Longitude (WGS84)
    altint32_tmmAltitude (MSL). Positive for up.
    ephuint16_t1E-2GPS HDOP horizontal dilution of position (unitless * 100). If unknown, set to: UINT16_MAX
    epvuint16_t1E-2GPS VDOP vertical dilution of position (unitless * 100). If unknown, set to: UINT16_MAX
    veluint16_tcm/sGPS ground speed. If unknown, set to: UINT16_MAX
    vnint16_tcm/sGPS velocity in north direction in earth-fixed NED frame
    veint16_tcm/sGPS velocity in east direction in earth-fixed NED frame
    vdint16_tcm/sGPS velocity in down direction in earth-fixed NED frame
    coguint16_tcdegCourse over ground (NOT heading, but direction of movement), 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
    satellites_visibleuint8_tNumber of satellites visible. If unknown, set to UINT8_MAX
    id ++uint8_tGPS ID (zero indexed). Used for multiple GPS inputs
    yaw ++uint16_tcdegYaw of vehicle relative to Earth's North, zero means not available, use 36000 for north

    HIL_OPTICAL_FLOW (114) ​

    Simulated optical flow from a flow sensor (e.g. PX4FLOW or optical mouse sensor)

    Field NameTypeUnitsDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    sensor_iduint8_tSensor ID
    integration_time_usuint32_tusIntegration time. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the.
    integrated_xfloatradFlow in radians around X axis (Sensor RH rotation about the X axis induces a positive flow. Sensor linear motion along the positive Y axis induces a negative flow.)
    integrated_yfloatradFlow in radians around Y axis (Sensor RH rotation about the Y axis induces a positive flow. Sensor linear motion along the positive X axis induces a positive flow.)
    integrated_xgyrofloatradRH rotation around X axis
    integrated_ygyrofloatradRH rotation around Y axis
    integrated_zgyrofloatradRH rotation around Z axis
    temperatureint16_tcdegCTemperature
    qualityuint8_tOptical flow quality / confidence. 0: no valid flow, 255: maximum quality
    time_delta_distance_usuint32_tusTime since the distance was sampled.
    distancefloatmDistance to the center of the flow field. Positive value (including zero): distance known. Negative value: Unknown distance.

    HIL_STATE_QUATERNION (115) ​

    Sent from simulation to autopilot, avoids in contrast to HIL_STATE singularities. This packet is useful for high throughput applications such as hardware in the loop simulations.

    Field NameTypeUnitsDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    attitude_quaternionfloat[4]Vehicle attitude expressed as normalized quaternion in w, x, y, z order (with 1 0 0 0 being the null-rotation)
    rollspeedfloatrad/sBody frame roll / phi angular speed
    pitchspeedfloatrad/sBody frame pitch / theta angular speed
    yawspeedfloatrad/sBody frame yaw / psi angular speed
    latint32_tdegE7Latitude
    lonint32_tdegE7Longitude
    altint32_tmmAltitude
    vxint16_tcm/sGround X Speed (Latitude)
    vyint16_tcm/sGround Y Speed (Longitude)
    vzint16_tcm/sGround Z Speed (Altitude)
    ind_airspeeduint16_tcm/sIndicated airspeed
    true_airspeeduint16_tcm/sTrue airspeed
    xaccint16_tmGX acceleration
    yaccint16_tmGY acceleration
    zaccint16_tmGZ acceleration

    SCALED_IMU2 (116) ​

    The RAW IMU readings for secondary 9DOF sensor setup. This message should contain the scaled values to the described units

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    xaccint16_tmGX acceleration
    yaccint16_tmGY acceleration
    zaccint16_tmGZ acceleration
    xgyroint16_tmrad/sAngular speed around X axis
    ygyroint16_tmrad/sAngular speed around Y axis
    zgyroint16_tmrad/sAngular speed around Z axis
    xmagint16_tmgaussX Magnetic field
    ymagint16_tmgaussY Magnetic field
    zmagint16_tmgaussZ Magnetic field
    temperature ++int16_tcdegCTemperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).

    LOG_REQUEST_LIST (117) ​

    Request a list of available logs. On some systems calling this may stop on-board logging until LOG_REQUEST_END is called. If there are no log files available this request shall be answered with one LOG_ENTRY message with id = 0 and num_logs = 0.

    Field NameTypeDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    startuint16_tFirst log id (0 for first available)
    enduint16_tLast log id (0xffff for last available)

    LOG_ENTRY (118) ​

    Reply to LOG_REQUEST_LIST

    Field NameTypeUnitsDescription
    iduint16_tLog id
    num_logsuint16_tTotal number of logs
    last_log_numuint16_tHigh log number
    time_utcuint32_tsUTC timestamp of log since 1970, or 0 if not available
    sizeuint32_tbytesSize of the log (may be approximate)

    LOG_REQUEST_DATA (119) ​

    Request a chunk of a log

    Field NameTypeUnitsDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    iduint16_tLog id (from LOG_ENTRY reply)
    ofsuint32_tOffset into the log
    countuint32_tbytesNumber of bytes

    LOG_DATA (120) ​

    Reply to LOG_REQUEST_DATA

    Field NameTypeUnitsDescription
    iduint16_tLog id (from LOG_ENTRY reply)
    ofsuint32_tOffset into the log
    countuint8_tbytesNumber of bytes (zero for end of log)
    datauint8_t[90]log data

    LOG_ERASE (121) ​

    Erase all logs

    Field NameTypeDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID

    LOG_REQUEST_END (122) ​

    Stop log transfer and resume normal logging

    Field NameTypeDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID

    GPS_INJECT_DATA (123) — [DEP] ​

    DEPRECATED: Replaced By GPS_RTCM_DATA (2022-05)

    Data for injecting into the onboard GPS (used for DGPS)

    Field NameTypeUnitsDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    lenuint8_tbytesData length
    datauint8_t[110]Raw data (110 is enough for 12 satellites of RTCMv2)

    GPS2_RAW (124) ​

    Second GPS data.

    Field NameTypeUnitsValuesDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    fix_typeuint8_tGPS_FIX_TYPEGPS fix type.
    latint32_tdegE7Latitude (WGS84)
    lonint32_tdegE7Longitude (WGS84)
    altint32_tmmAltitude (MSL). Positive for up.
    ephuint16_tinvalid:UINT16_MAXGPS HDOP horizontal dilution of position (unitless * 100). If unknown, set to: UINT16_MAX
    epvuint16_tinvalid:UINT16_MAXGPS VDOP vertical dilution of position (unitless * 100). If unknown, set to: UINT16_MAX
    veluint16_tcm/sinvalid:UINT16_MAXGPS ground speed. If unknown, set to: UINT16_MAX
    coguint16_tcdeginvalid:UINT16_MAXCourse over ground (NOT heading, but direction of movement): 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
    satellites_visibleuint8_tinvalid:UINT8_MAXNumber of satellites visible. If unknown, set to UINT8_MAX
    dgps_numchuint8_tNumber of DGPS satellites
    dgps_ageuint32_tmsAge of DGPS info
    yaw ++uint16_tcdeginvalid:0Yaw in earth frame from north. Use 0 if this GPS does not provide yaw. Use UINT16_MAX if this GPS is configured to provide yaw and is currently unable to provide it. Use 36000 for north.
    alt_ellipsoid ++int32_tmmAltitude (above WGS84, EGM96 ellipsoid). Positive for up.
    h_acc ++uint32_tmmPosition uncertainty.
    v_acc ++uint32_tmmAltitude uncertainty.
    vel_acc ++uint32_tmm/sSpeed uncertainty.
    hdg_acc ++uint32_tdegE5Heading / track uncertainty

    POWER_STATUS (125) ​

    Power supply status

    Field NameTypeUnitsValuesDescription
    Vccuint16_tmV5V rail voltage.
    Vservouint16_tmVServo rail voltage.
    flagsuint16_tMAV_POWER_STATUSBitmap of power supply status flags.

    SERIAL_CONTROL (126) ​

    Control a serial port. This can be used for raw access to an onboard serial peripheral such as a GPS or telemetry radio. It is designed to make it possible to update the devices firmware via MAVLink messages or change the devices settings. A message with zero bytes can be used to change just the baudrate.

    Field NameTypeUnitsValuesDescription
    deviceuint8_tSERIAL_CONTROL_DEVSerial control device type.
    flagsuint8_tSERIAL_CONTROL_FLAGBitmap of serial control flags.
    timeoutuint16_tmsTimeout for reply data
    baudrateuint32_tbits/sBaudrate of transfer. Zero means no change.
    countuint8_tbyteshow many bytes in this transfer
    datauint8_t[70]serial data
    target_system ++uint8_tSystem ID
    target_component ++uint8_tComponent ID

    GPS_RTK (127) ​

    RTK GPS data. Gives information on the relative baseline calculation the GPS is reporting

    Field NameTypeUnitsValuesDescription
    time_last_baseline_msuint32_tmsTime since boot of last baseline message received.
    rtk_receiver_iduint8_tIdentification of connected RTK receiver.
    wnuint16_tGPS Week Number of last baseline
    towuint32_tmsGPS Time of Week of last baseline
    rtk_healthuint8_tGPS-specific health report for RTK data.
    rtk_rateuint8_tHzRate of baseline messages being received by GPS
    nsatsuint8_tCurrent number of sats used for RTK calculation.
    baseline_coords_typeuint8_tRTK_BASELINE_COORDINATE_SYSTEMCoordinate system of baseline
    baseline_a_mmint32_tmmCurrent baseline in ECEF x or NED north component.
    baseline_b_mmint32_tmmCurrent baseline in ECEF y or NED east component.
    baseline_c_mmint32_tmmCurrent baseline in ECEF z or NED down component.
    accuracyuint32_tCurrent estimate of baseline accuracy.
    iar_num_hypothesesint32_tCurrent number of integer ambiguity hypotheses.

    GPS2_RTK (128) ​

    RTK GPS data. Gives information on the relative baseline calculation the GPS is reporting

    Field NameTypeUnitsValuesDescription
    time_last_baseline_msuint32_tmsTime since boot of last baseline message received.
    rtk_receiver_iduint8_tIdentification of connected RTK receiver.
    wnuint16_tGPS Week Number of last baseline
    towuint32_tmsGPS Time of Week of last baseline
    rtk_healthuint8_tGPS-specific health report for RTK data.
    rtk_rateuint8_tHzRate of baseline messages being received by GPS
    nsatsuint8_tCurrent number of sats used for RTK calculation.
    baseline_coords_typeuint8_tRTK_BASELINE_COORDINATE_SYSTEMCoordinate system of baseline
    baseline_a_mmint32_tmmCurrent baseline in ECEF x or NED north component.
    baseline_b_mmint32_tmmCurrent baseline in ECEF y or NED east component.
    baseline_c_mmint32_tmmCurrent baseline in ECEF z or NED down component.
    accuracyuint32_tCurrent estimate of baseline accuracy.
    iar_num_hypothesesint32_tCurrent number of integer ambiguity hypotheses.

    SCALED_IMU3 (129) ​

    The RAW IMU readings for 3rd 9DOF sensor setup. This message should contain the scaled values to the described units

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    xaccint16_tmGX acceleration
    yaccint16_tmGY acceleration
    zaccint16_tmGZ acceleration
    xgyroint16_tmrad/sAngular speed around X axis
    ygyroint16_tmrad/sAngular speed around Y axis
    zgyroint16_tmrad/sAngular speed around Z axis
    xmagint16_tmgaussX Magnetic field
    ymagint16_tmgaussY Magnetic field
    zmagint16_tmgaussZ Magnetic field
    temperature ++int16_tcdegCTemperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).

    DATA_TRANSMISSION_HANDSHAKE (130) ​

    Handshake message to initiate, control and stop image streaming when using the Image Transmission Protocol: https://mavlink.io/en/services/image_transmission.html.

    Field NameTypeUnitsValuesDescription
    typeuint8_tMAVLINK_DATA_STREAM_TYPEType of requested/acknowledged data.
    sizeuint32_tbytestotal data size (set on ACK only).
    widthuint16_tWidth of a matrix or image.
    heightuint16_tHeight of a matrix or image.
    packetsuint16_tNumber of packets being sent (set on ACK only).
    payloaduint8_tbytesPayload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only).
    jpg_qualityuint8_t%JPEG quality. Values: [1-100].

    ENCAPSULATED_DATA (131) ​

    Data packet for images sent using the Image Transmission Protocol: https://mavlink.io/en/services/image_transmission.html.

    Field NameTypeDescription
    seqnruint16_tsequence number (starting with 0 on every transmission)
    datauint8_t[253]image data bytes

    DISTANCE_SENSOR (132) ​

    Distance sensor information for an onboard rangefinder.

    Field NameTypeUnitsValuesDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    min_distanceuint16_tcmMinimum distance the sensor can measure
    max_distanceuint16_tcmMaximum distance the sensor can measure
    current_distanceuint16_tcmCurrent distance reading
    typeuint8_tMAV_DISTANCE_SENSORType of distance sensor.
    iduint8_tOnboard ID of the sensor
    Messages with same value are from the same source (instance).
    orientationuint8_tMAV_SENSOR_ORIENTATIONDirection the sensor faces. downward-facing: ROTATION_PITCH_270, upward-facing: ROTATION_PITCH_90, backward-facing: ROTATION_PITCH_180, forward-facing: ROTATION_NONE, left-facing: ROTATION_YAW_90, right-facing: ROTATION_YAW_270
    covarianceuint8_tcm^2invalid:UINT8_MAXMeasurement variance. Max standard deviation is 6cm. UINT8_MAX if unknown.
    horizontal_fov ++floatradinvalid:0Horizontal Field of View (angle) where the distance measurement is valid and the field of view is known. Otherwise this is set to 0.
    vertical_fov ++floatradinvalid:0Vertical Field of View (angle) where the distance measurement is valid and the field of view is known. Otherwise this is set to 0.
    quaternion ++float[4]invalid:[0]Quaternion of the sensor orientation in vehicle body frame (w, x, y, z order, zero-rotation is 1, 0, 0, 0). Zero-rotation is along the vehicle body x-axis. This field is required if the orientation is set to MAV_SENSOR_ROTATION_CUSTOM. Set it to 0 if invalid."
    signal_quality ++uint8_t%invalid:0Signal quality of the sensor. Specific to each sensor type, representing the relation of the signal strength with the target reflectivity, distance, size or aspect, but normalised as a percentage. 0 = unknown/unset signal quality, 1 = invalid signal, 100 = perfect signal.

    TERRAIN_REQUEST (133) ​

    Request for terrain data and terrain status. See terrain protocol docs: https://mavlink.io/en/services/terrain.html

    Field NameTypeUnitsDescription
    latint32_tdegE7Latitude of SW corner of first grid
    lonint32_tdegE7Longitude of SW corner of first grid
    grid_spacinguint16_tmGrid spacing
    maskuint64_tBitmask of requested 4x4 grids (row major 8x7 array of grids, 56 bits)

    TERRAIN_DATA (134) ​

    Terrain data sent from GCS. The lat/lon and grid_spacing must be the same as a lat/lon from a TERRAIN_REQUEST. See terrain protocol docs: https://mavlink.io/en/services/terrain.html

    Field NameTypeUnitsDescription
    latint32_tdegE7Latitude of SW corner of first grid
    lonint32_tdegE7Longitude of SW corner of first grid
    grid_spacinguint16_tmGrid spacing
    gridbituint8_tbit within the terrain request mask
    dataint16_t[16]mTerrain data MSL

    TERRAIN_CHECK (135) ​

    Request that the vehicle report terrain height at the given location (expected response is a TERRAIN_REPORT). Used by GCS to check if vehicle has all terrain data needed for a mission.

    Field NameTypeUnitsDescription
    latint32_tdegE7Latitude
    lonint32_tdegE7Longitude

    TERRAIN_REPORT (136) ​

    Streamed from drone to report progress of terrain map download (initiated by TERRAIN_REQUEST), or sent as a response to a TERRAIN_CHECK request. See terrain protocol docs: https://mavlink.io/en/services/terrain.html

    Field NameTypeUnitsDescription
    latint32_tdegE7Latitude
    lonint32_tdegE7Longitude
    spacinguint16_tgrid spacing (zero if terrain at this location unavailable)
    terrain_heightfloatmTerrain height MSL
    current_heightfloatmCurrent vehicle height above lat/lon terrain height
    pendinguint16_tNumber of 4x4 terrain blocks waiting to be received or read from disk
    loadeduint16_tNumber of 4x4 terrain blocks in memory

    SCALED_PRESSURE2 (137) ​

    Barometer readings for 2nd barometer

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    press_absfloathPaAbsolute pressure
    press_difffloathPaDifferential pressure
    temperatureint16_tcdegCAbsolute pressure temperature
    temperature_press_diff ++int16_tcdegCDifferential pressure temperature (0, if not available). Report values of 0 (or 1) as 1 cdegC.

    ATT_POS_MOCAP (138) ​

    Motion capture attitude and position

    Field NameTypeUnitsDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    qfloat[4]Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
    xfloatmX position (NED)
    yfloatmY position (NED)
    zfloatmZ position (NED)
    covariance ++float[21]Row-major representation of a pose 6x6 cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.

    SET_ACTUATOR_CONTROL_TARGET (139) ​

    Set the vehicle attitude and body angular rates.

    Field NameTypeUnitsDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    group_mlxuint8_tActuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    controlsfloat[8]Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.

    ACTUATOR_CONTROL_TARGET (140) ​

    Set the vehicle attitude and body angular rates.

    Field NameTypeUnitsDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    group_mlxuint8_tActuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.
    controlsfloat[8]Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.

    ALTITUDE (141) ​

    The current system altitude.

    Field NameTypeUnitsDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    altitude_monotonicfloatmThis altitude measure is initialized on system boot and monotonic (it is never reset, but represents the local altitude change). The only guarantee on this field is that it will never be reset and is consistent within a flight. The recommended value for this field is the uncorrected barometric altitude at boot time. This altitude will also drift and vary between flights.
    altitude_amslfloatmThis altitude measure is strictly above mean sea level and might be non-monotonic (it might reset on events like GPS lock or when a new QNH value is set). It should be the altitude to which global altitude waypoints are compared to. Note that it is not the GPS altitude, however, most GPS modules already output MSL by default and not the WGS84 altitude.
    altitude_localfloatmThis is the local altitude in the local coordinate frame. It is not the altitude above home, but in reference to the coordinate origin (0, 0, 0). It is up-positive.
    altitude_relativefloatmThis is the altitude above the home position. It resets on each change of the current home position.
    altitude_terrainfloatmThis is the altitude above terrain. It might be fed by a terrain database or an altimeter. Values smaller than -1000 should be interpreted as unknown.
    bottom_clearancefloatmThis is not the altitude, but the clear space below the system according to the fused clearance estimate. It generally should max out at the maximum range of e.g. the laser altimeter. It is generally a moving target. A negative value indicates no measurement available.

    RESOURCE_REQUEST (142) ​

    The autopilot is requesting a resource (file, binary, other type of data)

    Field NameTypeDescription
    request_iduint8_tRequest ID. This ID should be re-used when sending back URI contents
    uri_typeuint8_tThe type of requested URI. 0 = a file via URL. 1 = a UAVCAN binary
    uriuint8_t[120]The requested unique resource identifier (URI). It is not necessarily a straight domain name (depends on the URI type enum)
    transfer_typeuint8_tThe way the autopilot wants to receive the URI. 0 = MAVLink FTP. 1 = binary stream.
    storageuint8_t[120]The storage path the autopilot wants the URI to be stored in. Will only be valid if the transfer_type has a storage associated (e.g. MAVLink FTP).

    SCALED_PRESSURE3 (143) ​

    Barometer readings for 3rd barometer

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    press_absfloathPaAbsolute pressure
    press_difffloathPaDifferential pressure
    temperatureint16_tcdegCAbsolute pressure temperature
    temperature_press_diff ++int16_tcdegCDifferential pressure temperature (0, if not available). Report values of 0 (or 1) as 1 cdegC.

    FOLLOW_TARGET (144) ​

    Current motion information from a designated system

    Field NameTypeUnitsDescription
    timestampuint64_tmsTimestamp (time since system boot).
    est_capabilitiesuint8_tbit positions for tracker reporting capabilities (POS = 0, VEL = 1, ACCEL = 2, ATT + RATES = 3)
    latint32_tdegE7Latitude (WGS84)
    lonint32_tdegE7Longitude (WGS84)
    altfloatmAltitude (MSL)
    velfloat[3]m/starget velocity (0,0,0) for unknown
    accfloat[3]m/s/slinear target acceleration (0,0,0) for unknown
    attitude_qfloat[4](0 0 0 0 for unknown)
    ratesfloat[3](0 0 0 for unknown)
    position_covfloat[3]eph epv
    custom_stateuint64_tbutton states or switches of a tracker device

    CONTROL_SYSTEM_STATE (146) ​

    The smoothed, monotonic system state used to feed the control loops of the system.

    Field NameTypeUnitsDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    x_accfloatm/s/sX acceleration in body frame
    y_accfloatm/s/sY acceleration in body frame
    z_accfloatm/s/sZ acceleration in body frame
    x_velfloatm/sX velocity in body frame
    y_velfloatm/sY velocity in body frame
    z_velfloatm/sZ velocity in body frame
    x_posfloatmX position in local frame
    y_posfloatmY position in local frame
    z_posfloatmZ position in local frame
    airspeedfloatm/sAirspeed, set to -1 if unknown
    vel_variancefloat[3]Variance of body velocity estimate
    pos_variancefloat[3]Variance in local position
    qfloat[4]The attitude, represented as Quaternion
    roll_ratefloatrad/sAngular rate in roll axis
    pitch_ratefloatrad/sAngular rate in pitch axis
    yaw_ratefloatrad/sAngular rate in yaw axis

    BATTERY_STATUS (147) ​

    Battery information. Updates GCS with flight controller battery status. Smart batteries also use this message, but may additionally send BATTERY_INFO.

    Field NameTypeUnitsValuesDescription
    iduint8_tBattery ID
    Messages with same value are from the same source (instance).
    battery_functionuint8_tMAV_BATTERY_FUNCTIONFunction of the battery
    typeuint8_tMAV_BATTERY_TYPEType (chemistry) of the battery
    temperatureint16_tcdegCinvalid:INT16_MAXTemperature of the battery. INT16_MAX for unknown temperature.
    voltagesuint16_t[10]mVinvalid:[UINT16_MAX]Battery voltage of cells 1 to 10 (see voltages_ext for cells 11-14). Cells in this field above the valid cell count for this battery should have the UINT16_MAX value. If individual cell voltages are unknown or not measured for this battery, then the overall battery voltage should be filled in cell 0, with all others set to UINT16_MAX. If the voltage of the battery is greater than (UINT16_MAX - 1), then cell 0 should be set to (UINT16_MAX - 1), and cell 1 to the remaining voltage. This can be extended to multiple cells if the total voltage is greater than 2 * (UINT16_MAX - 1).
    current_batteryint16_tcAinvalid:-1Battery current, -1: autopilot does not measure the current
    current_consumedint32_tmAhinvalid:-1Consumed charge, -1: autopilot does not provide consumption estimate
    energy_consumedint32_thJinvalid:-1Consumed energy, -1: autopilot does not provide energy consumption estimate
    battery_remainingint8_t%invalid:-1Remaining battery energy. Values: [0-100], -1: autopilot does not estimate the remaining battery.
    time_remaining ++int32_tsinvalid:0Remaining battery time, 0: autopilot does not provide remaining battery time estimate
    charge_state ++uint8_tMAV_BATTERY_CHARGE_STATEState for extent of discharge, provided by autopilot for warning or external reactions
    voltages_ext ++uint16_t[4]mVinvalid:[0]Battery voltages for cells 11 to 14. Cells above the valid cell count for this battery should have a value of 0, where zero indicates not supported (note, this is different than for the voltages field and allows empty byte truncation). If the measured value is 0 then 1 should be sent instead.
    mode ++uint8_tMAV_BATTERY_MODEBattery mode. Default (0) is that battery mode reporting is not supported or battery is in normal-use mode.
    fault_bitmask ++uint32_tMAV_BATTERY_FAULTFault/health indications. These should be set when charge_state is MAV_BATTERY_CHARGE_STATE_FAILED or MAV_BATTERY_CHARGE_STATE_UNHEALTHY (if not, fault reporting is not supported).

    AUTOPILOT_VERSION (148) ​

    Version and capability of autopilot software. This should be emitted in response to a request with MAV_CMD_REQUEST_MESSAGE.

    Field NameTypeValuesDescription
    capabilitiesuint64_tMAV_PROTOCOL_CAPABILITYBitmap of capabilities
    flight_sw_versionuint32_tFirmware version number
    middleware_sw_versionuint32_tMiddleware version number
    os_sw_versionuint32_tOperating system version number
    board_versionuint32_tHW / board version (last 8 bits should be silicon ID, if any). The first 16 bits of this field specify https://github.com/PX4/PX4-Bootloader/blob/master/board_types.txt
    flight_custom_versionuint8_t[8]Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.
    middleware_custom_versionuint8_t[8]Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.
    os_custom_versionuint8_t[8]Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.
    vendor_iduint16_tID of the board vendor
    product_iduint16_tID of the product
    uiduint64_tUID if provided by hardware (see uid2)
    uid2 ++uint8_t[18]UID if provided by hardware (supersedes the uid field. If this is non-zero, use this field, otherwise use uid)

    LANDING_TARGET (149) ​

    The location of a landing target. See: https://mavlink.io/en/services/landing_target.html

    Field NameTypeUnitsValuesDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    target_numuint8_tThe ID of the target if multiple targets are present
    frameuint8_tMAV_FRAMECoordinate frame used for following fields.
    angle_xfloatradX-axis angular offset of the target from the center of the image
    angle_yfloatradY-axis angular offset of the target from the center of the image
    distancefloatmDistance to the target from the vehicle
    size_xfloatradSize of target along x-axis
    size_yfloatradSize of target along y-axis
    x ++floatmX Position of the landing target in MAV_FRAME
    y ++floatmY Position of the landing target in MAV_FRAME
    z ++floatmZ Position of the landing target in MAV_FRAME
    q ++float[4]Quaternion of landing target orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
    type ++uint8_tLANDING_TARGET_TYPEType of landing target
    position_valid ++uint8_tinvalid:0Boolean indicating whether the position fields (x, y, z, q, type) contain valid target position information (valid: 1, invalid: 0). Default is 0 (invalid).

    FENCE_STATUS (162) ​

    Status of geo-fencing. Sent in extended status stream when fencing enabled.

    Field NameTypeUnitsValuesDescription
    breach_statusuint8_tBreach status (0 if currently inside fence, 1 if outside).
    breach_countuint16_tNumber of fence breaches.
    breach_typeuint8_tFENCE_BREACHLast breach type.
    breach_timeuint32_tmsTime (since boot) of last breach.
    breach_mitigation ++uint8_tFENCE_MITIGATEActive action to prevent fence breach

    MAG_CAL_REPORT (192) ​

    Reports results of completed compass calibration. Sent until MAG_CAL_ACK received.

    Field NameTypeUnitsValuesDescription
    compass_iduint8_tCompass being calibrated.
    Messages with same value are from the same source (instance).
    cal_maskuint8_tBitmask of compasses being calibrated.
    cal_statusuint8_tMAG_CAL_STATUSCalibration Status.
    autosaveduint8_t0=requires a MAV_CMD_DO_ACCEPT_MAG_CAL, 1=saved to parameters.
    fitnessfloatmgaussRMS milligauss residuals.
    ofs_xfloatX offset.
    ofs_yfloatY offset.
    ofs_zfloatZ offset.
    diag_xfloatX diagonal (matrix 11).
    diag_yfloatY diagonal (matrix 22).
    diag_zfloatZ diagonal (matrix 33).
    offdiag_xfloatX off-diagonal (matrix 12 and 21).
    offdiag_yfloatY off-diagonal (matrix 13 and 31).
    offdiag_zfloatZ off-diagonal (matrix 32 and 23).
    orientation_confidence ++floatConfidence in orientation (higher is better).
    old_orientation ++uint8_tMAV_SENSOR_ORIENTATIONorientation before calibration.
    new_orientation ++uint8_tMAV_SENSOR_ORIENTATIONorientation after calibration.
    scale_factor ++floatfield radius correction factor

    EFI_STATUS (225) ​

    EFI status output

    Field NameTypeUnitsDescription
    healthuint8_tEFI health status
    ecu_indexfloatECU index
    rpmfloatRPM
    fuel_consumedfloatcm^3Fuel consumed
    fuel_flowfloatcm^3/minFuel flow rate
    engine_loadfloat%Engine load
    throttle_positionfloat%Throttle position
    spark_dwell_timefloatmsSpark dwell time
    barometric_pressurefloatkPaBarometric pressure
    intake_manifold_pressurefloatkPaIntake manifold pressure(
    intake_manifold_temperaturefloatdegCIntake manifold temperature
    cylinder_head_temperaturefloatdegCCylinder head temperature
    ignition_timingfloatdegIgnition timing (Crank angle degrees)
    injection_timefloatmsInjection time
    exhaust_gas_temperaturefloatdegCExhaust gas temperature
    throttle_outfloat%Output throttle
    pt_compensationfloatPressure/temperature compensation
    ignition_voltage ++floatVSupply voltage to EFI sparking system. Zero in this value means "unknown", so if the supply voltage really is zero volts use 0.0001 instead.
    fuel_pressure ++floatkPaFuel pressure. Zero in this value means "unknown", so if the fuel pressure really is zero kPa use 0.0001 instead.

    ESTIMATOR_STATUS (230) ​

    Estimator status message including flags, innovation test ratios and estimated accuracies. The flags message is an integer bitmask containing information on which EKF outputs are valid. See the ESTIMATOR_STATUS_FLAGS enum definition for further information. The innovation test ratios show the magnitude of the sensor innovation divided by the innovation check threshold. Under normal operation the innovation test ratios should be below 0.5 with occasional values up to 1.0. Values greater than 1.0 should be rare under normal operation and indicate that a measurement has been rejected by the filter. The user should be notified if an innovation test ratio greater than 1.0 is recorded. Notifications for values in the range between 0.5 and 1.0 should be optional and controllable by the user.

    Field NameTypeUnitsValuesDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    flagsuint16_tESTIMATOR_STATUS_FLAGSBitmap indicating which EKF outputs are valid.
    vel_ratiofloatVelocity innovation test ratio
    pos_horiz_ratiofloatHorizontal position innovation test ratio
    pos_vert_ratiofloatVertical position innovation test ratio
    mag_ratiofloatMagnetometer innovation test ratio
    hagl_ratiofloatHeight above terrain innovation test ratio
    tas_ratiofloatTrue airspeed innovation test ratio
    pos_horiz_accuracyfloatmHorizontal position 1-STD accuracy relative to the EKF local origin
    pos_vert_accuracyfloatmVertical position 1-STD accuracy relative to the EKF local origin

    WIND_COV (231) ​

    Wind estimate from vehicle. Note that despite the name, this message does not actually contain any covariances but instead variability and accuracy fields in terms of standard deviation (1-STD).

    Field NameTypeUnitsDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    wind_xfloatm/sWind in North (NED) direction (NAN if unknown)
    wind_yfloatm/sWind in East (NED) direction (NAN if unknown)
    wind_zfloatm/sWind in down (NED) direction (NAN if unknown)
    var_horizfloatm/sVariability of wind in XY, 1-STD estimated from a 1 Hz lowpassed wind estimate (NAN if unknown)
    var_vertfloatm/sVariability of wind in Z, 1-STD estimated from a 1 Hz lowpassed wind estimate (NAN if unknown)
    wind_altfloatmAltitude (MSL) that this measurement was taken at (NAN if unknown)
    horiz_accuracyfloatm/sHorizontal speed 1-STD accuracy (0 if unknown)
    vert_accuracyfloatm/sVertical speed 1-STD accuracy (0 if unknown)

    GPS_INPUT (232) ​

    GPS sensor input message. This is a raw sensor value sent by the GPS. This is NOT the global position estimate of the system.

    Field NameTypeUnitsValuesDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    gps_iduint8_tID of the GPS for multiple GPS inputs
    Messages with same value are from the same source (instance).
    ignore_flagsuint16_tGPS_INPUT_IGNORE_FLAGSBitmap indicating which GPS input flags fields to ignore. All other fields must be provided.
    time_week_msuint32_tmsGPS time (from start of GPS week)
    time_weekuint16_tGPS week number
    fix_typeuint8_t0-1: no fix, 2: 2D fix, 3: 3D fix. 4: 3D with DGPS. 5: 3D with RTK
    latint32_tdegE7Latitude (WGS84)
    lonint32_tdegE7Longitude (WGS84)
    altfloatmAltitude (MSL). Positive for up.
    hdopfloatinvalid:UINT16_MAXGPS HDOP horizontal dilution of position (unitless). If unknown, set to: UINT16_MAX
    vdopfloatinvalid:UINT16_MAXGPS VDOP vertical dilution of position (unitless). If unknown, set to: UINT16_MAX
    vnfloatm/sGPS velocity in north direction in earth-fixed NED frame
    vefloatm/sGPS velocity in east direction in earth-fixed NED frame
    vdfloatm/sGPS velocity in down direction in earth-fixed NED frame
    speed_accuracyfloatm/sGPS speed accuracy
    horiz_accuracyfloatmGPS horizontal accuracy
    vert_accuracyfloatmGPS vertical accuracy
    satellites_visibleuint8_tNumber of satellites visible.
    yaw ++uint16_tcdegYaw of vehicle relative to Earth's North, zero means not available, use 36000 for north

    GPS_RTCM_DATA (233) ​

    RTCM message for injecting into the onboard GPS (used for DGPS)

    Field NameTypeUnitsDescription
    flagsuint8_tLSB: 1 means message is fragmented, next 2 bits are the fragment ID, the remaining 5 bits are used for the sequence ID. Messages are only to be flushed to the GPS when the entire message has been reconstructed on the autopilot. The fragment ID specifies which order the fragments should be assembled into a buffer, while the sequence ID is used to detect a mismatch between different buffers. The buffer is considered fully reconstructed when either all 4 fragments are present, or all the fragments before the first fragment with a non full payload is received. This management is used to ensure that normal GPS operation doesn't corrupt RTCM data, and to recover from a unreliable transport delivery order.
    lenuint8_tbytesdata length
    datauint8_t[180]RTCM message (may be fragmented)

    HIGH_LATENCY (234) — [DEP] ​

    DEPRECATED: Replaced By HIGH_LATENCY2 (2020-10)

    Message appropriate for high latency connections like Iridium

    Field NameTypeUnitsValuesDescription
    base_modeuint8_tMAV_MODE_FLAGBitmap of enabled system modes.
    custom_modeuint32_tA bitfield for use for autopilot-specific flags.
    landed_stateuint8_tMAV_LANDED_STATEThe landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.
    rollint16_tcdegroll
    pitchint16_tcdegpitch
    headinguint16_tcdegheading
    throttleint8_t%throttle (percentage)
    heading_spint16_tcdegheading setpoint
    latitudeint32_tdegE7Latitude
    longitudeint32_tdegE7Longitude
    altitude_amslint16_tmAltitude above mean sea level
    altitude_spint16_tmAltitude setpoint relative to the home position
    airspeeduint8_tm/sairspeed
    airspeed_spuint8_tm/sairspeed setpoint
    groundspeeduint8_tm/sgroundspeed
    climb_rateint8_tm/sclimb rate
    gps_nsatuint8_tinvalid:UINT8_MAXNumber of satellites visible. If unknown, set to UINT8_MAX
    gps_fix_typeuint8_tGPS_FIX_TYPEGPS Fix type.
    battery_remaininguint8_t%Remaining battery (percentage)
    temperatureint8_tdegCAutopilot temperature (degrees C)
    temperature_airint8_tdegCAir temperature (degrees C) from airspeed sensor
    failsafeuint8_tfailsafe (each bit represents a failsafe where 0=ok, 1=failsafe active (bit0:RC, bit1:batt, bit2:GPS, bit3:GCS, bit4:fence)
    wp_numuint8_tcurrent waypoint number
    wp_distanceuint16_tmdistance to target

    HIGH_LATENCY2 (235) ​

    Message appropriate for high latency connections like Iridium (version 2)

    Field NameTypeUnitsValuesDescription
    timestampuint32_tmsTimestamp (milliseconds since boot or Unix epoch)
    typeuint8_tMAV_TYPEType of the MAV (quadrotor, helicopter, etc.)
    autopilotuint8_tMAV_AUTOPILOTAutopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers.
    custom_modeuint16_tA bitfield for use for autopilot-specific flags (2 byte version).
    latitudeint32_tdegE7Latitude
    longitudeint32_tdegE7Longitude
    altitudeint16_tmAltitude above mean sea level
    target_altitudeint16_tmAltitude setpoint
    headinguint8_tdeg/2Heading
    target_headinguint8_tdeg/2Heading setpoint
    target_distanceuint16_tdamDistance to target waypoint or position
    throttleuint8_t%Throttle
    airspeeduint8_tm/s*5Airspeed
    airspeed_spuint8_tm/s*5Airspeed setpoint
    groundspeeduint8_tm/s*5Groundspeed
    windspeeduint8_tm/s*5Windspeed
    wind_headinguint8_tdeg/2Wind heading
    ephuint8_tdmMaximum error horizontal position since last message
    epvuint8_tdmMaximum error vertical position since last message
    temperature_airint8_tdegCAir temperature from airspeed sensor
    climb_rateint8_tdm/sMaximum climb rate magnitude since last message
    batteryint8_t%invalid:-1Battery level (-1 if field not provided).
    wp_numuint16_tCurrent waypoint number
    failure_flagsuint16_tHL_FAILURE_FLAGBitmap of failure flags.
    custom0int8_tField for custom payload.
    custom1int8_tField for custom payload.
    custom2int8_tField for custom payload.

    VIBRATION (241) ​

    Vibration levels and accelerometer clipping

    Field NameTypeUnitsDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    vibration_xfloatVibration levels on X-axis
    vibration_yfloatVibration levels on Y-axis
    vibration_zfloatVibration levels on Z-axis
    clipping_0uint32_tfirst accelerometer clipping count
    clipping_1uint32_tsecond accelerometer clipping count
    clipping_2uint32_tthird accelerometer clipping count

    HOME_POSITION (242) ​

    Contains the home position. The home position is the default position that the system will return to and land on. The position must be set automatically by the system during the takeoff, and may also be explicitly set using MAV_CMD_DO_SET_HOME. The global and local positions encode the position in the respective coordinate frames, while the q parameter encodes the orientation of the surface. Under normal conditions it describes the heading and terrain slope, which can be used by the aircraft to adjust the approach. The approach 3D vector describes the point to which the system should fly in normal flight mode and then perform a landing sequence along the vector. Note: this message can be requested by sending the MAV_CMD_REQUEST_MESSAGE with param1=242 (or the deprecated MAV_CMD_GET_HOME_POSITION command).

    Field NameTypeUnitsDescription
    latitudeint32_tdegE7Latitude (WGS84)
    longitudeint32_tdegE7Longitude (WGS84)
    altitudeint32_tmmAltitude (MSL). Positive for up.
    xfloatmLocal X position of this position in the local coordinate frame (NED)
    yfloatmLocal Y position of this position in the local coordinate frame (NED)
    zfloatmLocal Z position of this position in the local coordinate frame (NED: positive "down")
    qfloat[4]Quaternion indicating world-to-surface-normal and heading transformation of the takeoff position.
    Used to indicate the heading and slope of the ground.
    All fields should be set to NaN if an accurate quaternion for both heading and surface slope cannot be supplied.
    approach_xfloatmLocal X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
    approach_yfloatmLocal Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
    approach_zfloatmLocal Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
    time_usec ++uint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

    SET_HOME_POSITION (243) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_DO_SET_HOME (2022-02) — The command protocol version (MAV_CMD_DO_SET_HOME) allows a GCS to detect when setting the home position has failed.)

    Sets the home position. The home position is the default position that the system will return to and land on. The position is set automatically by the system during the takeoff (and may also be set using this message). The global and local positions encode the position in the respective coordinate frames, while the q parameter encodes the orientation of the surface. Under normal conditions it describes the heading and terrain slope, which can be used by the aircraft to adjust the approach. The approach 3D vector describes the point to which the system should fly in normal flight mode and then perform a landing sequence along the vector. Note: the current home position may be emitted in a HOME_POSITION message on request (using MAV_CMD_REQUEST_MESSAGE with param1=242).

    Field NameTypeUnitsDescription
    target_systemuint8_tSystem ID.
    latitudeint32_tdegE7Latitude (WGS84)
    longitudeint32_tdegE7Longitude (WGS84)
    altitudeint32_tmmAltitude (MSL). Positive for up.
    xfloatmLocal X position of this position in the local coordinate frame (NED)
    yfloatmLocal Y position of this position in the local coordinate frame (NED)
    zfloatmLocal Z position of this position in the local coordinate frame (NED: positive "down")
    qfloat[4]World to surface normal and heading transformation of the takeoff position. Used to indicate the heading and slope of the ground
    approach_xfloatmLocal X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
    approach_yfloatmLocal Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
    approach_zfloatmLocal Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
    time_usec ++uint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

    MESSAGE_INTERVAL (244) ​

    The interval between messages for a particular MAVLink message ID. This message is sent in response to the MAV_CMD_REQUEST_MESSAGE command with param1=244 (this message) and param2=message_id (the id of the message for which the interval is required). It may also be sent in response to MAV_CMD_GET_MESSAGE_INTERVAL. This interface replaces DATA_STREAM.

    Field NameTypeUnitsDescription
    message_iduint16_tThe ID of the requested MAVLink message. v1.0 is limited to 254 messages.
    interval_usint32_tusThe interval between two messages. A value of -1 indicates this stream is disabled, 0 indicates it is not available, > 0 indicates the interval at which it is sent.

    EXTENDED_SYS_STATE (245) ​

    Provides state for additional features

    Field NameTypeValuesDescription
    vtol_stateuint8_tMAV_VTOL_STATEThe VTOL state if applicable. Is set to MAV_VTOL_STATE_UNDEFINED if UAV is not in VTOL configuration.
    landed_stateuint8_tMAV_LANDED_STATEThe landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.

    ADSB_VEHICLE (246) ​

    The location and information of an ADSB vehicle

    Field NameTypeUnitsValuesDescription
    ICAO_addressuint32_tICAO address
    latint32_tdegE7Latitude
    lonint32_tdegE7Longitude
    altitude_typeuint8_tADSB_ALTITUDE_TYPEADSB altitude type.
    altitudeint32_tmmAltitude(ASL)
    headinguint16_tcdegCourse over ground
    hor_velocityuint16_tcm/sThe horizontal velocity
    ver_velocityint16_tcm/sThe vertical velocity. Positive is up
    callsignchar[9]The callsign, 8+null
    emitter_typeuint8_tADSB_EMITTER_TYPEADSB emitter type.
    tslcuint8_tsTime since last communication in seconds
    flagsuint16_tADSB_FLAGSBitmap to indicate various statuses including valid data fields
    squawkuint16_tSquawk code. Note that the code is in decimal: e.g. 7700 (general emergency) is encoded as binary 0b0001_1110_0001_0100, not(!) as 0b0000_111_111_000_000

    COLLISION (247) ​

    Information about a potential collision

    Field NameTypeUnitsValuesDescription
    srcuint8_tMAV_COLLISION_SRCCollision data source
    iduint32_tUnique identifier, domain based on src field
    actionuint8_tMAV_COLLISION_ACTIONAction that is being taken to avoid this collision
    threat_leveluint8_tMAV_COLLISION_THREAT_LEVELHow concerned the aircraft is about this collision
    time_to_minimum_deltafloatsEstimated time until collision occurs
    altitude_minimum_deltafloatmClosest vertical distance between vehicle and object
    horizontal_minimum_deltafloatmClosest horizontal distance between vehicle and object

    V2_EXTENSION (248) ​

    Message implementing parts of the V2 payload specs in V1 frames for transitional support.

    Field NameTypeDescription
    target_networkuint8_tNetwork ID (0 for broadcast)
    target_systemuint8_tSystem ID (0 for broadcast)
    target_componentuint8_tComponent ID (0 for broadcast)
    message_typeuint16_tA code that identifies the software component that understands this message (analogous to USB device classes or mime type strings). If this code is less than 32768, it is considered a 'registered' protocol extension and the corresponding entry should be added to https://github.com/mavlink/mavlink/definition_files/extension_message_ids.xml. Software creators can register blocks of message IDs as needed (useful for GCS specific metadata, etc...). Message_types greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase.
    payloaduint8_t[249]Variable length payload. The length must be encoded in the payload as part of the message_type protocol, e.g. by including the length as payload data, or by terminating the payload data with a non-zero marker. This is required in order to reconstruct zero-terminated payloads that are (or otherwise would be) trimmed by MAVLink 2 empty-byte truncation. The entire content of the payload block is opaque unless you understand the encoding message_type. The particular encoding used can be extension specific and might not always be documented as part of the MAVLink specification.

    MEMORY_VECT (249) ​

    Send raw controller memory. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output.

    Field NameTypeDescription
    addressuint16_tStarting address of the debug variables
    veruint8_tVersion code of the type variable. 0=unknown, type ignored and assumed int16_t. 1=as below
    typeuint8_tType code of the memory variables. for ver = 1: 0=16 x int16_t, 1=16 x uint16_t, 2=16 x Q15, 3=16 x 1Q14
    valueint8_t[32]Memory contents at specified address

    DEBUG_VECT (250) ​

    To debug something using a named 3D vector.

    Field NameTypeUnitsDescription
    namechar[10]Name
    Messages with same value are from the same source (instance).
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    xfloatx
    yfloaty
    zfloatz

    NAMED_VALUE_FLOAT (251) ​

    Send a key-value pair as float. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output.

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    namechar[10]Name of the debug variable
    Messages with same value are from the same source (instance).
    valuefloatFloating point value

    NAMED_VALUE_INT (252) ​

    Send a key-value pair as integer. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output.

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    namechar[10]Name of the debug variable
    Messages with same value are from the same source (instance).
    valueint32_tSigned integer value

    STATUSTEXT (253) ​

    Status text message. These messages are printed in yellow in the COMM console of QGroundControl. WARNING: They consume quite some bandwidth, so use only for important status and error messages. If implemented wisely, these messages are buffered on the MCU and sent only at a limited rate (e.g. 10 Hz).

    Field NameTypeValuesDescription
    severityuint8_tMAV_SEVERITYSeverity of status. Relies on the definitions within RFC-5424.
    textchar[50]Status text message, without null termination character
    id ++uint16_tUnique (opaque) identifier for this statustext message. May be used to reassemble a logical long-statustext message from a sequence of chunks. A value of zero indicates this is the only chunk in the sequence and the message can be emitted immediately.
    chunk_seq ++uint8_tThis chunk's sequence number; indexing is from zero. Any null character in the text field is taken to mean this was the last chunk.

    DEBUG (254) ​

    Send a debug value. The index is used to discriminate between values. These values show up in the plot of QGroundControl as DEBUG N.

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    induint8_tindex of debug variable
    valuefloatDEBUG value

    SETUP_SIGNING (256) ​

    Setup a MAVLink2 signing key. If called with secret_key of all zero and zero initial_timestamp will disable signing

    Field NameTypeDescription
    target_systemuint8_tsystem id of the target
    target_componentuint8_tcomponent ID of the target
    secret_keyuint8_t[32]signing key
    initial_timestampuint64_tinitial timestamp

    BUTTON_CHANGE (257) ​

    Report button state change.

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    last_change_msuint32_tmsTime of last change of button state.
    stateuint8_tBitmap for state of buttons.

    PLAY_TUNE (258) — [DEP] ​

    DEPRECATED: Replaced By PLAY_TUNE_V2 (2019-10) — New version explicitly defines format. More interoperable.)

    Control vehicle tone generation (buzzer).

    Field NameTypeDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    tunechar[30]tune in board specific format
    tune2 ++char[200]tune extension (appended to tune)

    CAMERA_INFORMATION (259) ​

    Information about a camera. Can be requested with a MAV_CMD_REQUEST_MESSAGE command.

    Field NameTypeUnitsValuesDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    vendor_nameuint8_t[32]Name of the camera vendor
    model_nameuint8_t[32]Name of the camera model
    firmware_versionuint32_tinvalid:0Version of the camera firmware, encoded as: (Dev & 0xff) << 24
    focal_lengthfloatmminvalid:NaNFocal length. Use NaN if not known.
    sensor_size_hfloatmminvalid:NaNImage sensor size horizontal. Use NaN if not known.
    sensor_size_vfloatmminvalid:NaNImage sensor size vertical. Use NaN if not known.
    resolution_huint16_tpixinvalid:0Horizontal image resolution. Use 0 if not known.
    resolution_vuint16_tpixinvalid:0Vertical image resolution. Use 0 if not known.
    lens_iduint8_tinvalid:0Reserved for a lens ID. Use 0 if not known.
    flagsuint32_tCAMERA_CAP_FLAGSBitmap of camera capability flags.
    cam_definition_versionuint16_tCamera definition version (iteration). Use 0 if not known.
    cam_definition_urichar[140]Camera definition URI (if any, otherwise only basic functions will be available). HTTP- (http://) and MAVLink FTP- (mavlinkftp://) formatted URIs are allowed (and both must be supported by any GCS that implements the Camera Protocol). The definition file may be xz compressed, which will be indicated by the file extension .xml.xz (a GCS that implements the protocol must support decompressing the file). The string needs to be zero terminated. Use a zero-length string if not known.
    gimbal_device_id ++uint8_tinvalid:0Gimbal id of a gimbal associated with this camera. This is the component id of the gimbal device, or 1-6 for non mavlink gimbals. Use 0 if no gimbal is associated with the camera.
    camera_device_id ++uint8_tdefault:0 min:0 max:6Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

    CAMERA_SETTINGS (260) ​

    Settings of a camera. Can be requested with a MAV_CMD_REQUEST_MESSAGE command.

    Field NameTypeUnitsValuesDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    mode_iduint8_tCAMERA_MODECamera mode
    zoomLevel ++floatinvalid:NaNCurrent zoom level as a percentage of the full range (0.0 to 100.0, NaN if not known)
    focusLevel ++floatinvalid:NaNCurrent focus level as a percentage of the full range (0.0 to 100.0, NaN if not known)
    camera_device_id ++uint8_tdefault:0 min:0 max:6Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

    STORAGE_INFORMATION (261) ​

    Information about a storage medium. This message is sent in response to a request with MAV_CMD_REQUEST_MESSAGE and whenever the status of the storage changes (STORAGE_STATUS). Use MAV_CMD_REQUEST_MESSAGE.param2 to indicate the index/id of requested storage: 0 for all, 1 for first, 2 for second, etc.

    Field NameTypeUnitsValuesDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    storage_iduint8_tStorage ID (1 for first, 2 for second, etc.)
    Messages with same value are from the same source (instance).
    storage_countuint8_tNumber of storage devices
    statusuint8_tSTORAGE_STATUSStatus of storage
    total_capacityfloatMiBTotal capacity. If storage is not ready (STORAGE_STATUS_READY) value will be ignored.
    used_capacityfloatMiBUsed capacity. If storage is not ready (STORAGE_STATUS_READY) value will be ignored.
    available_capacityfloatMiBAvailable storage capacity. If storage is not ready (STORAGE_STATUS_READY) value will be ignored.
    read_speedfloatMiB/sRead speed.
    write_speedfloatMiB/sWrite speed.
    type ++uint8_tSTORAGE_TYPEType of storage
    name ++char[32]Textual storage name to be used in UI (microSD 1, Internal Memory, etc.) This is a NULL terminated string. If it is exactly 32 characters long, add a terminating NULL. If this string is empty, the generic type is shown to the user.
    storage_usage ++uint8_tSTORAGE_USAGE_FLAGFlags indicating whether this instance is preferred storage for photos, videos, etc.
    Note: Implementations should initially set the flags on the system-default storage id used for saving media (if possible/supported).
    This setting can then be overridden using MAV_CMD_SET_STORAGE_USAGE.
    If the media usage flags are not set, a GCS may assume storage ID 1 is the default storage for all media types.

    CAMERA_CAPTURE_STATUS (262) ​

    Information about the status of a capture. Can be requested with a MAV_CMD_REQUEST_MESSAGE command.

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    image_statusuint8_tCurrent status of image capturing (0: idle, 1: capture in progress, 2: interval set but idle, 3: interval set and capture in progress)
    video_statusuint8_tCurrent status of video capturing (0: idle, 1: capture in progress)
    image_intervalfloatsImage capture interval
    recording_time_msuint32_tmsElapsed time since recording started (0: Not supported/available). A GCS should compute recording time and use non-zero values of this field to correct any discrepancy.
    available_capacityfloatMiBAvailable storage capacity.
    image_count ++int32_tTotal number of images captured ('forever', or until reset using MAV_CMD_STORAGE_FORMAT).
    camera_device_id ++uint8_tCamera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

    CAMERA_IMAGE_CAPTURED (263) ​

    Information about a captured image. This is emitted every time a message is captured.

    MAV_CMD_REQUEST_MESSAGE can be used to (re)request this message for a specific sequence number or range of sequence numbers: MAV_CMD_REQUEST_MESSAGE.param2 indicates the sequence number the first image to send, or set to -1 to send the message for all sequence numbers. MAV_CMD_REQUEST_MESSAGE.param3 is used to specify a range of messages to send: set to 0 (default) to send just the the message for the sequence number in param 2, set to -1 to send the message for the sequence number in param 2 and all the following sequence numbers, set to the sequence number of the final message in the range.

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    time_utcuint64_tusTimestamp (time since UNIX epoch) in UTC. 0 for unknown.
    camera_iduint8_tDeprecated/unused. Component IDs are used to differentiate multiple cameras.
    latint32_tdegE7Latitude where image was taken
    lonint32_tdegE7Longitude where capture was taken
    altint32_tmmAltitude (MSL) where image was taken
    relative_altint32_tmmAltitude above ground
    qfloat[4]Quaternion of camera orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
    image_indexint32_tZero based index of this image (i.e. a new image will have index CAMERA_CAPTURE_STATUS.image count -1)
    capture_resultint8_tBoolean indicating success (1) or failure (0) while capturing this image.
    file_urlchar[205]URL of image taken. Either local storage or http://foo.jpg if camera provides an HTTP interface.

    FLIGHT_INFORMATION (264) ​

    Flight information.

    This includes time since boot for arm, takeoff, and land, and a flight number. Takeoff and landing values reset to zero on arm. This can be requested using MAV_CMD_REQUEST_MESSAGE. Note, some fields are misnamed - timestamps are from boot (not UTC) and the flight_uuid is a sequence number.

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    arming_time_utcuint64_tusTimestamp at arming (since system boot). Set to 0 on boot. Set value on arming. Note, field is misnamed UTC.
    takeoff_time_utcuint64_tusTimestamp at takeoff (since system boot). Set to 0 at boot and on arming. Note, field is misnamed UTC.
    flight_uuiduint64_tFlight number. Note, field is misnamed UUID.
    landing_time ++uint32_tmsTimestamp at landing (in ms since system boot). Set to 0 at boot and on arming.

    MOUNT_ORIENTATION (265) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (2020-01) — This message is being superseded by MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW. The message can still be used to communicate with legacy gimbals implementing it.)

    Orientation of a mount

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    rollfloatdegRoll in global frame (set to NaN for invalid).
    pitchfloatdegPitch in global frame (set to NaN for invalid).
    yawfloatdegYaw relative to vehicle (set to NaN for invalid).
    yaw_absolute ++floatdegYaw in absolute frame relative to Earth's North, north is 0 (set to NaN for invalid).

    LOGGING_DATA (266) ​

    A message containing logged data (see also MAV_CMD_LOGGING_START)

    Field NameTypeUnitsDescription
    target_systemuint8_tsystem ID of the target
    target_componentuint8_tcomponent ID of the target
    sequenceuint16_tsequence number (can wrap)
    lengthuint8_tbytesdata length
    first_message_offsetuint8_tbytesoffset into data where first message starts. This can be used for recovery, when a previous message got lost (set to UINT8_MAX if no start exists).
    datauint8_t[249]logged data

    LOGGING_DATA_ACKED (267) ​

    A message containing logged data which requires a LOGGING_ACK to be sent back

    Field NameTypeUnitsDescription
    target_systemuint8_tsystem ID of the target
    target_componentuint8_tcomponent ID of the target
    sequenceuint16_tsequence number (can wrap)
    lengthuint8_tbytesdata length
    first_message_offsetuint8_tbytesoffset into data where first message starts. This can be used for recovery, when a previous message got lost (set to UINT8_MAX if no start exists).
    datauint8_t[249]logged data

    LOGGING_ACK (268) ​

    An ack for a LOGGING_DATA_ACKED message

    Field NameTypeDescription
    target_systemuint8_tsystem ID of the target
    target_componentuint8_tcomponent ID of the target
    sequenceuint16_tsequence number (must match the one in LOGGING_DATA_ACKED)

    VIDEO_STREAM_INFORMATION (269) ​

    Information about video stream. It may be requested using MAV_CMD_REQUEST_MESSAGE, where param2 indicates the video stream id: 0 for all streams, 1 for first, 2 for second, etc.

    Field NameTypeUnitsValuesDescription
    stream_iduint8_tVideo Stream ID (1 for first, 2 for second, etc.)
    Messages with same value are from the same source (instance).
    countuint8_tNumber of streams available.
    typeuint8_tVIDEO_STREAM_TYPEType of stream.
    flagsuint16_tVIDEO_STREAM_STATUS_FLAGSBitmap of stream status flags.
    frameratefloatHzFrame rate.
    resolution_huint16_tpixHorizontal resolution.
    resolution_vuint16_tpixVertical resolution.
    bitrateuint32_tbits/sBit rate.
    rotationuint16_tdegVideo image rotation clockwise.
    hfovuint16_tdegHorizontal Field of view.
    namechar[32]Stream name.
    urichar[160]Video stream URI (TCP or RTSP URI ground station should connect to) or port number (UDP port ground station should listen to).
    encoding ++uint8_tVIDEO_STREAM_ENCODINGEncoding of stream.
    camera_device_id ++uint8_tdefault:0 min:0 max:6Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

    VIDEO_STREAM_STATUS (270) ​

    Information about the status of a video stream. It may be requested using MAV_CMD_REQUEST_MESSAGE.

    Field NameTypeUnitsValuesDescription
    stream_iduint8_tVideo Stream ID (1 for first, 2 for second, etc.)
    Messages with same value are from the same source (instance).
    flagsuint16_tVIDEO_STREAM_STATUS_FLAGSBitmap of stream status flags
    frameratefloatHzFrame rate
    resolution_huint16_tpixHorizontal resolution
    resolution_vuint16_tpixVertical resolution
    bitrateuint32_tbits/sBit rate
    rotationuint16_tdegVideo image rotation clockwise
    hfovuint16_tdegHorizontal Field of view
    camera_device_id ++uint8_tdefault:0 min:0 max:6Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

    CAMERA_FOV_STATUS (271) ​

    Information about the field of view of a camera. Can be requested with a MAV_CMD_REQUEST_MESSAGE command.

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    lat_cameraint32_tdegE7Latitude of camera (INT32_MAX if unknown).
    lon_cameraint32_tdegE7Longitude of camera (INT32_MAX if unknown).
    alt_cameraint32_tmmAltitude (MSL) of camera (INT32_MAX if unknown).
    lat_imageint32_tdegE7Latitude of center of image (INT32_MAX if unknown, INT32_MIN if at infinity, not intersecting with horizon).
    lon_imageint32_tdegE7Longitude of center of image (INT32_MAX if unknown, INT32_MIN if at infinity, not intersecting with horizon).
    alt_imageint32_tmmAltitude (MSL) of center of image (INT32_MAX if unknown, INT32_MIN if at infinity, not intersecting with horizon).
    qfloat[4]Quaternion of camera orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
    hfovfloatdegHorizontal field of view (NaN if unknown).
    vfovfloatdegVertical field of view (NaN if unknown).
    camera_device_id ++uint8_tCamera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

    CAMERA_TRACKING_IMAGE_STATUS (275) ​

    Camera tracking status, sent while in active tracking. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval.

    Field NameTypeValuesDescription
    tracking_statusuint8_tCAMERA_TRACKING_STATUS_FLAGSCurrent tracking status
    tracking_modeuint8_tCAMERA_TRACKING_MODECurrent tracking mode
    target_datauint8_tCAMERA_TRACKING_TARGET_DATADefines location of target data
    point_xfloatinvalid:NaNCurrent tracked point x value if CAMERA_TRACKING_MODE_POINT (normalized 0..1, 0 is left, 1 is right), NAN if unknown
    point_yfloatinvalid:NaNCurrent tracked point y value if CAMERA_TRACKING_MODE_POINT (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown
    radiusfloatinvalid:NaNCurrent tracked radius if CAMERA_TRACKING_MODE_POINT (normalized 0..1, 0 is image left, 1 is image right), NAN if unknown
    rec_top_xfloatinvalid:NaNCurrent tracked rectangle top x value if CAMERA_TRACKING_MODE_RECTANGLE (normalized 0..1, 0 is left, 1 is right), NAN if unknown
    rec_top_yfloatinvalid:NaNCurrent tracked rectangle top y value if CAMERA_TRACKING_MODE_RECTANGLE (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown
    rec_bottom_xfloatinvalid:NaNCurrent tracked rectangle bottom x value if CAMERA_TRACKING_MODE_RECTANGLE (normalized 0..1, 0 is left, 1 is right), NAN if unknown
    rec_bottom_yfloatinvalid:NaNCurrent tracked rectangle bottom y value if CAMERA_TRACKING_MODE_RECTANGLE (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown
    camera_device_id ++uint8_tdefault:0 min:0 max:6Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

    CAMERA_TRACKING_GEO_STATUS (276) ​

    Camera tracking status, sent while in active tracking. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval.

    Field NameTypeUnitsValuesDescription
    tracking_statusuint8_tCAMERA_TRACKING_STATUS_FLAGSCurrent tracking status
    latint32_tdegE7Latitude of tracked object
    lonint32_tdegE7Longitude of tracked object
    altfloatmAltitude of tracked object(AMSL, WGS84)
    h_accfloatminvalid:NaNHorizontal accuracy. NAN if unknown
    v_accfloatminvalid:NaNVertical accuracy. NAN if unknown
    vel_nfloatm/sinvalid:NaNNorth velocity of tracked object. NAN if unknown
    vel_efloatm/sinvalid:NaNEast velocity of tracked object. NAN if unknown
    vel_dfloatm/sinvalid:NaNDown velocity of tracked object. NAN if unknown
    vel_accfloatm/sinvalid:NaNVelocity accuracy. NAN if unknown
    distfloatminvalid:NaNDistance between camera and tracked object. NAN if unknown
    hdgfloatradinvalid:NaNHeading in radians, in NED. NAN if unknown
    hdg_accfloatradinvalid:NaNAccuracy of heading, in NED. NAN if unknown
    camera_device_id ++uint8_tdefault:0 min:0 max:6Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

    CAMERA_THERMAL_RANGE (277) — [WIP] ​

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

    Camera absolute thermal range. This can be streamed when the associated VIDEO_STREAM_STATUS flag field bit VIDEO_STREAM_STATUS_FLAGS_THERMAL_RANGE_ENABLED is set, but a GCS may choose to only request it for the current active stream. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval (param3 indicates the stream id of the current camera, or 0 for all streams, param4 indicates the target camera_device_id for autopilot-attached cameras or 0 for MAVLink cameras).

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    stream_iduint8_tVideo Stream ID (1 for first, 2 for second, etc.)
    Messages with same value are from the same source (instance).
    camera_device_iduint8_tCamera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).
    maxfloatdegCTemperature max.
    max_point_xfloatTemperature max point x value (normalized 0..1, 0 is left, 1 is right), NAN if unknown.
    max_point_yfloatTemperature max point y value (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown.
    minfloatdegCTemperature min.
    min_point_xfloatTemperature min point x value (normalized 0..1, 0 is left, 1 is right), NAN if unknown.
    min_point_yfloatTemperature min point y value (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown.

    GIMBAL_MANAGER_INFORMATION (280) ​

    Information about a high level gimbal manager. This message should be requested by a ground station using MAV_CMD_REQUEST_MESSAGE.

    Field NameTypeUnitsValuesDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    cap_flagsuint32_tGIMBAL_MANAGER_CAP_FLAGSBitmap of gimbal capability flags.
    gimbal_device_iduint8_tGimbal device ID that this gimbal manager is responsible for. Component ID of gimbal device (or 1-6 for non-MAVLink gimbal).
    Messages with same value are from the same source (instance).
    roll_minfloatradMinimum hardware roll angle (positive: rolling to the right, negative: rolling to the left)
    roll_maxfloatradMaximum hardware roll angle (positive: rolling to the right, negative: rolling to the left)
    pitch_minfloatradMinimum pitch angle (positive: up, negative: down)
    pitch_maxfloatradMaximum pitch angle (positive: up, negative: down)
    yaw_minfloatradMinimum yaw angle (positive: to the right, negative: to the left)
    yaw_maxfloatradMaximum yaw angle (positive: to the right, negative: to the left)

    GIMBAL_MANAGER_STATUS (281) ​

    Current status about a high level gimbal manager. This message should be broadcast at a low regular rate (e.g. 5Hz).

    Field NameTypeUnitsValuesDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    flagsuint32_tGIMBAL_MANAGER_FLAGSHigh level gimbal manager flags currently applied.
    gimbal_device_iduint8_tGimbal device ID that this gimbal manager is responsible for. Component ID of gimbal device (or 1-6 for non-MAVLink gimbal).
    Messages with same value are from the same source (instance).
    primary_control_sysiduint8_tSystem ID of MAVLink component with primary control, 0 for none.
    primary_control_compiduint8_tComponent ID of MAVLink component with primary control, 0 for none.
    secondary_control_sysiduint8_tSystem ID of MAVLink component with secondary control, 0 for none.
    secondary_control_compiduint8_tComponent ID of MAVLink component with secondary control, 0 for none.

    GIMBAL_MANAGER_SET_ATTITUDE (282) ​

    High level message to control a gimbal's attitude. This message is to be sent to the gimbal manager (e.g. from a ground station). Angles and rates can be set to NaN according to use case.

    Field NameTypeUnitsValuesDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    flagsuint32_tGIMBAL_MANAGER_FLAGSHigh level gimbal manager flags to use.
    gimbal_device_iduint8_tComponent ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).
    Messages with same value are from the same source (instance).
    qfloat[4]Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation, the frame is depends on whether the flag GIMBAL_MANAGER_FLAGS_YAW_LOCK is set)
    angular_velocity_xfloatrad/sinvalid:NaNX component of angular velocity, positive is rolling to the right, NaN to be ignored.
    angular_velocity_yfloatrad/sinvalid:NaNY component of angular velocity, positive is pitching up, NaN to be ignored.
    angular_velocity_zfloatrad/sinvalid:NaNZ component of angular velocity, positive is yawing to the right, NaN to be ignored.

    GIMBAL_DEVICE_INFORMATION (283) ​

    Information about a low level gimbal. This message should be requested by the gimbal manager or a ground station using MAV_CMD_REQUEST_MESSAGE. The maximum angles and rates are the limits by hardware. However, the limits by software used are likely different/smaller and dependent on mode/settings/etc..

    Field NameTypeUnitsValuesDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    vendor_namechar[32]Name of the gimbal vendor.
    model_namechar[32]Name of the gimbal model.
    custom_namechar[32]Custom name of the gimbal given to it by the user.
    firmware_versionuint32_tVersion of the gimbal firmware, encoded as: (Dev & 0xff) << 24
    hardware_versionuint32_tVersion of the gimbal hardware, encoded as: (Dev & 0xff) << 24
    uiduint64_tinvalid:0UID of gimbal hardware (0 if unknown).
    cap_flagsuint16_tGIMBAL_DEVICE_CAP_FLAGSBitmap of gimbal capability flags.
    custom_cap_flagsuint16_tBitmap for use for gimbal-specific capability flags.
    roll_minfloatradinvalid:NaNMinimum hardware roll angle (positive: rolling to the right, negative: rolling to the left). NAN if unknown.
    roll_maxfloatradinvalid:NaNMaximum hardware roll angle (positive: rolling to the right, negative: rolling to the left). NAN if unknown.
    pitch_minfloatradinvalid:NaNMinimum hardware pitch angle (positive: up, negative: down). NAN if unknown.
    pitch_maxfloatradinvalid:NaNMaximum hardware pitch angle (positive: up, negative: down). NAN if unknown.
    yaw_minfloatradinvalid:NaNMinimum hardware yaw angle (positive: to the right, negative: to the left). NAN if unknown.
    yaw_maxfloatradinvalid:NaNMaximum hardware yaw angle (positive: to the right, negative: to the left). NAN if unknown.
    gimbal_device_id ++uint8_tinvalid:0This field is to be used if the gimbal manager and the gimbal device are the same component and hence have the same component ID. This field is then set to a number between 1-6. If the component ID is separate, this field is not required and must be set to 0.

    GIMBAL_DEVICE_SET_ATTITUDE (284) ​

    Low level message to control a gimbal device's attitude.

    This message is to be sent from the gimbal manager to the gimbal device component. The quaternion and angular velocities can be set to NaN according to use case. For the angles encoded in the quaternion and the angular velocities holds: If the flag GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME is set, then they are relative to the vehicle heading (vehicle frame). If the flag GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME is set, then they are relative to absolute North (earth frame). If neither of these flags are set, then (for backwards compatibility) it holds: If the flag GIMBAL_DEVICE_FLAGS_YAW_LOCK is set, then they are relative to absolute North (earth frame), else they are relative to the vehicle heading (vehicle frame). Setting both GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME and GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME is not allowed. These rules are to ensure backwards compatibility. New implementations should always set either GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME or GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME.

    Field NameTypeUnitsValuesDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    flagsuint16_tGIMBAL_DEVICE_FLAGSLow level gimbal flags.
    qfloat[4]invalid:[NaN]Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation). The frame is described in the message description. Set fields to NaN to be ignored.
    angular_velocity_xfloatrad/sinvalid:NaNX component of angular velocity (positive: rolling to the right). The frame is described in the message description. NaN to be ignored.
    angular_velocity_yfloatrad/sinvalid:NaNY component of angular velocity (positive: pitching up). The frame is described in the message description. NaN to be ignored.
    angular_velocity_zfloatrad/sinvalid:NaNZ component of angular velocity (positive: yawing to the right). The frame is described in the message description. NaN to be ignored.

    GIMBAL_DEVICE_ATTITUDE_STATUS (285) ​

    Message reporting the status of a gimbal device.

    This message should be broadcast by a gimbal device component at a low regular rate (e.g. 5 Hz). For the angles encoded in the quaternion and the angular velocities holds: If the flag GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME is set, then they are relative to the vehicle heading (vehicle frame). If the flag GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME is set, then they are relative to absolute North (earth frame). If neither of these flags are set, then (for backwards compatibility) it holds: If the flag GIMBAL_DEVICE_FLAGS_YAW_LOCK is set, then they are relative to absolute North (earth frame), else they are relative to the vehicle heading (vehicle frame). Other conditions of the flags are not allowed. The quaternion and angular velocities in the other frame can be calculated from delta_yaw and delta_yaw_velocity as q_earth = q_delta_yaw * q_vehicle and w_earth = w_delta_yaw_velocity + w_vehicle (if not NaN). If neither the GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME nor the GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME flag is set, then (for backwards compatibility) the data in the delta_yaw and delta_yaw_velocity fields are to be ignored. New implementations should always set either GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME or GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME, and always should set delta_yaw and delta_yaw_velocity either to the proper value or NaN.

    Field NameTypeUnitsValuesDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    time_boot_msuint32_tmsTimestamp (time since system boot).
    flagsuint16_tGIMBAL_DEVICE_FLAGSCurrent gimbal flags set.
    qfloat[4]Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation). The frame is described in the message description.
    angular_velocity_xfloatrad/sinvalid:NaNX component of angular velocity (positive: rolling to the right). The frame is described in the message description. NaN if unknown.
    angular_velocity_yfloatrad/sinvalid:NaNY component of angular velocity (positive: pitching up). The frame is described in the message description. NaN if unknown.
    angular_velocity_zfloatrad/sinvalid:NaNZ component of angular velocity (positive: yawing to the right). The frame is described in the message description. NaN if unknown.
    failure_flagsuint32_tGIMBAL_DEVICE_ERROR_FLAGSFailure flags (0 for no failure)
    delta_yaw ++floatradinvalid:NANYaw angle relating the quaternions in earth and body frames (see message description). NaN if unknown.
    delta_yaw_velocity ++floatrad/sinvalid:NANYaw angular velocity relating the angular velocities in earth and body frames (see message description). NaN if unknown.
    gimbal_device_id ++uint8_tinvalid:0This field is to be used if the gimbal manager and the gimbal device are the same component and hence have the same component ID. This field is then set a number between 1-6. If the component ID is separate, this field is not required and must be set to 0.

    AUTOPILOT_STATE_FOR_GIMBAL_DEVICE (286) ​

    Low level message containing autopilot state relevant for a gimbal device. This message is to be sent from the autopilot to the gimbal device component. The data of this message are for the gimbal device's estimator corrections, in particular horizon compensation, as well as indicates autopilot control intentions, e.g. feed forward angular control in the z-axis.

    Field NameTypeUnitsValuesDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    time_boot_usuint64_tusTimestamp (time since system boot).
    qfloat[4]Quaternion components of autopilot attitude: w, x, y, z (1 0 0 0 is the null-rotation, Hamilton convention).
    q_estimated_delay_usuint32_tusinvalid:0Estimated delay of the attitude data. 0 if unknown.
    vxfloatm/sinvalid:NaNX Speed in NED (North, East, Down). NAN if unknown.
    vyfloatm/sinvalid:NaNY Speed in NED (North, East, Down). NAN if unknown.
    vzfloatm/sinvalid:NaNZ Speed in NED (North, East, Down). NAN if unknown.
    v_estimated_delay_usuint32_tusinvalid:0Estimated delay of the speed data. 0 if unknown.
    feed_forward_angular_velocity_zfloatrad/sinvalid:NaNFeed forward Z component of angular velocity (positive: yawing to the right). NaN to be ignored. This is to indicate if the autopilot is actively yawing.
    estimator_statusuint16_tESTIMATOR_STATUS_FLAGSBitmap indicating which estimator outputs are valid.
    landed_stateuint8_tinvalid:MAV_LANDED_STATE_UNDEFINED MAV_LANDED_STATEThe landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.
    angular_velocity_z ++floatrad/sinvalid:NaNZ component of angular velocity in NED (North, East, Down). NaN if unknown.

    GIMBAL_MANAGER_SET_PITCHYAW (287) ​

    Set gimbal manager pitch and yaw angles (high rate message). This message is to be sent to the gimbal manager (e.g. from a ground station) and will be ignored by gimbal devices. Angles and rates can be set to NaN according to use case. Use MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW for low-rate adjustments that require confirmation.

    Field NameTypeUnitsValuesDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    flagsuint32_tGIMBAL_MANAGER_FLAGSHigh level gimbal manager flags to use.
    gimbal_device_iduint8_tComponent ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).
    Messages with same value are from the same source (instance).
    pitchfloatradinvalid:NaNPitch angle (positive: up, negative: down, NaN to be ignored).
    yawfloatradinvalid:NaNYaw angle (positive: to the right, negative: to the left, NaN to be ignored).
    pitch_ratefloatrad/sinvalid:NaNPitch angular rate (positive: up, negative: down, NaN to be ignored).
    yaw_ratefloatrad/sinvalid:NaNYaw angular rate (positive: to the right, negative: to the left, NaN to be ignored).

    GIMBAL_MANAGER_SET_MANUAL_CONTROL (288) ​

    High level message to control a gimbal manually. The angles or angular rates are unitless; the actual rates will depend on internal gimbal manager settings/configuration (e.g. set by parameters). This message is to be sent to the gimbal manager (e.g. from a ground station). Angles and rates can be set to NaN according to use case.

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    flagsuint32_tGIMBAL_MANAGER_FLAGSHigh level gimbal manager flags.
    gimbal_device_iduint8_tComponent ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).
    Messages with same value are from the same source (instance).
    pitchfloatinvalid:NaNPitch angle unitless (-1..1, positive: up, negative: down, NaN to be ignored).
    yawfloatinvalid:NaNYaw angle unitless (-1..1, positive: to the right, negative: to the left, NaN to be ignored).
    pitch_ratefloatinvalid:NaNPitch angular rate unitless (-1..1, positive: up, negative: down, NaN to be ignored).
    yaw_ratefloatinvalid:NaNYaw angular rate unitless (-1..1, positive: to the right, negative: to the left, NaN to be ignored).

    ESC_INFO (290) — [WIP] ​

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

    ESC information for lower rate streaming. Recommended streaming rate 1Hz. See ESC_STATUS for higher-rate ESC data.

    Field NameTypeUnitsValuesDescription
    indexuint8_tIndex of the first ESC in this message. minValue = 0, maxValue = 60, increment = 4.
    Messages with same value are from the same source (instance).
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
    counteruint16_tCounter of data packets received.
    countuint8_tTotal number of ESCs in all messages of this type. Message fields with an index higher than this should be ignored because they contain invalid data.
    connection_typeuint8_tESC_CONNECTION_TYPEConnection type protocol for all ESC.
    infouint8_tInformation regarding online/offline status of each ESC.
    failure_flagsuint16_t[4]ESC_FAILURE_FLAGSBitmap of ESC failure flags.
    error_countuint32_t[4]Number of reported errors by each ESC since boot.
    temperatureint16_t[4]cdegCinvalid:[INT16_MAX]Temperature of each ESC. INT16_MAX: if data not supplied by ESC.

    ESC_STATUS (291) — [WIP] ​

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

    ESC information for higher rate streaming. Recommended streaming rate is ~10 Hz. Information that changes more slowly is sent in ESC_INFO. It should typically only be streamed on high-bandwidth links (i.e. to a companion computer).

    Field NameTypeUnitsDescription
    indexuint8_tIndex of the first ESC in this message. minValue = 0, maxValue = 60, increment = 4.
    Messages with same value are from the same source (instance).
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
    rpmint32_t[4]rpmReported motor RPM from each ESC (negative for reverse rotation).
    voltagefloat[4]VVoltage measured from each ESC.
    currentfloat[4]ACurrent measured from each ESC.

    WIFI_CONFIG_AP (299) ​

    Configure WiFi AP SSID, password, and mode. This message is re-emitted as an acknowledgement by the AP. The message may also be explicitly requested using MAV_CMD_REQUEST_MESSAGE

    Field NameTypeValuesDescription
    ssidchar[32]Name of Wi-Fi network (SSID). Blank to leave it unchanged when setting. Current SSID when sent back as a response.
    passwordchar[64]Password. Blank for an open AP. MD5 hash when message is sent back as a response.
    mode ++int8_tWIFI_CONFIG_AP_MODEWiFi Mode.
    response ++int8_tWIFI_CONFIG_AP_RESPONSEMessage acceptance response (sent back to GS).

    PROTOCOL_VERSION (300) — [from: minimal] [WIP] ​

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

    Version and capability of protocol version. This message can be requested with MAV_CMD_REQUEST_MESSAGE and is used as part of the handshaking to establish which MAVLink version should be used on the network. Every node should respond to a request for PROTOCOL_VERSION to enable the handshaking. Library implementers should consider adding this into the default decoding state machine to allow the protocol core to respond directly.

    Field NameTypeDescription
    versionuint16_tCurrently active MAVLink version number * 100: v1.0 is 100, v2.0 is 200, etc.
    min_versionuint16_tMinimum MAVLink version supported
    max_versionuint16_tMaximum MAVLink version supported (set to the same value as version by default)
    spec_version_hashuint8_t[8]The first 8 bytes (not characters printed in hex!) of the git hash.
    library_version_hashuint8_t[8]The first 8 bytes (not characters printed in hex!) of the git hash.

    AIS_VESSEL (301) ​

    The location and information of an AIS vessel

    Field NameTypeUnitsValuesDescription
    MMSIuint32_tMobile Marine Service Identifier, 9 decimal digits
    latint32_tdegE7Latitude
    lonint32_tdegE7Longitude
    COGuint16_tcdegCourse over ground
    headinguint16_tcdegTrue heading
    velocityuint16_tcm/sSpeed over ground
    turn_rateint8_tcdeg/sTurn rate
    navigational_statusuint8_tAIS_NAV_STATUSNavigational status
    typeuint8_tAIS_TYPEType of vessels
    dimension_bowuint16_tmDistance from lat/lon location to bow
    dimension_sternuint16_tmDistance from lat/lon location to stern
    dimension_portuint8_tmDistance from lat/lon location to port side
    dimension_starboarduint8_tmDistance from lat/lon location to starboard side
    callsignchar[7]The vessel callsign
    namechar[20]The vessel name
    tslcuint16_tsTime since last communication in seconds
    flagsuint16_tAIS_FLAGSBitmask to indicate various statuses including valid data fields

    UAVCAN_NODE_STATUS (310) ​

    General status information of an UAVCAN node. Please refer to the definition of the UAVCAN message "uavcan.protocol.NodeStatus" for the background information. The UAVCAN specification is available at http://uavcan.org.

    Field NameTypeUnitsValuesDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    uptime_secuint32_tsTime since the start-up of the node.
    healthuint8_tUAVCAN_NODE_HEALTHGeneralized node health status.
    modeuint8_tUAVCAN_NODE_MODEGeneralized operating mode.
    sub_modeuint8_tNot used currently.
    vendor_specific_status_codeuint16_tVendor-specific status information.

    UAVCAN_NODE_INFO (311) ​

    General information describing a particular UAVCAN node. Please refer to the definition of the UAVCAN service "uavcan.protocol.GetNodeInfo" for the background information. This message should be emitted by the system whenever a new node appears online, or an existing node reboots. Additionally, it can be emitted upon request from the other end of the MAVLink channel (see MAV_CMD_UAVCAN_GET_NODE_INFO). It is also not prohibited to emit this message unconditionally at a low frequency. The UAVCAN specification is available at http://uavcan.org.

    Field NameTypeUnitsDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    uptime_secuint32_tsTime since the start-up of the node.
    namechar[80]Node name string. For example, "sapog.px4.io".
    hw_version_majoruint8_tHardware major version number.
    hw_version_minoruint8_tHardware minor version number.
    hw_unique_iduint8_t[16]Hardware unique 128-bit ID.
    sw_version_majoruint8_tSoftware major version number.
    sw_version_minoruint8_tSoftware minor version number.
    sw_vcs_commituint32_tVersion control system (VCS) revision identifier (e.g. git short commit hash). 0 if unknown.

    PARAM_EXT_REQUEST_READ (320) ​

    Request to read the value of a parameter with either the param_id string id or param_index. PARAM_EXT_VALUE should be emitted in response.

    Field NameTypeDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    param_idchar[16]Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
    param_indexint16_tParameter index. Set to -1 to use the Parameter ID field as identifier (else param_id will be ignored)

    PARAM_EXT_REQUEST_LIST (321) ​

    Request all parameters of this component. All parameters should be emitted in response as PARAM_EXT_VALUE.

    Field NameTypeDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID

    PARAM_EXT_VALUE (322) ​

    Emit the value of a parameter. The inclusion of param_count and param_index in the message allows the recipient to keep track of received parameters and allows them to re-request missing parameters after a loss or timeout.

    Field NameTypeValuesDescription
    param_idchar[16]Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
    param_valuechar[128]Parameter value
    param_typeuint8_tMAV_PARAM_EXT_TYPEParameter type.
    param_countuint16_tTotal number of parameters
    param_indexuint16_tIndex of this parameter

    PARAM_EXT_SET (323) ​

    Set a parameter value. In order to deal with message loss (and retransmission of PARAM_EXT_SET), when setting a parameter value and the new value is the same as the current value, you will immediately get a PARAM_ACK_ACCEPTED response. If the current state is PARAM_ACK_IN_PROGRESS, you will accordingly receive a PARAM_ACK_IN_PROGRESS in response.

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    param_idchar[16]Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
    param_valuechar[128]Parameter value
    param_typeuint8_tMAV_PARAM_EXT_TYPEParameter type.

    PARAM_EXT_ACK (324) ​

    Response from a PARAM_EXT_SET message.

    Field NameTypeValuesDescription
    param_idchar[16]Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
    param_valuechar[128]Parameter value (new value if PARAM_ACK_ACCEPTED, current value otherwise)
    param_typeuint8_tMAV_PARAM_EXT_TYPEParameter type.
    param_resultuint8_tPARAM_ACKResult code.

    OBSTACLE_DISTANCE (330) ​

    Obstacle distances in front of the sensor, starting from the left in increment degrees to the right

    Field NameTypeUnitsValuesDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    sensor_typeuint8_tMAV_DISTANCE_SENSORClass id of the distance sensor type.
    distancesuint16_t[72]cminvalid:[UINT16_MAX]Distance of obstacles around the vehicle with index 0 corresponding to north + angle_offset, unless otherwise specified in the frame. A value of 0 is valid and means that the obstacle is practically touching the sensor. A value of max_distance +1 means no obstacle is present. A value of UINT16_MAX for unknown/not used. In a array element, one unit corresponds to 1cm.
    incrementuint8_tdegAngular width in degrees of each array element. Increment direction is clockwise. This field is ignored if increment_f is non-zero.
    min_distanceuint16_tcmMinimum distance the sensor can measure.
    max_distanceuint16_tcmMaximum distance the sensor can measure.
    increment_f ++floatdegAngular width in degrees of each array element as a float. If non-zero then this value is used instead of the uint8_t increment field. Positive is clockwise direction, negative is counter-clockwise.
    angle_offset ++floatdegRelative angle offset of the 0-index element in the distances array. Value of 0 corresponds to forward. Positive is clockwise direction, negative is counter-clockwise.
    frame ++uint8_tMAV_FRAMECoordinate frame of reference for the yaw rotation and offset of the sensor data. Defaults to MAV_FRAME_GLOBAL, which is north aligned. For body-mounted sensors use MAV_FRAME_BODY_FRD, which is vehicle front aligned.

    ODOMETRY (331) ​

    Odometry message to communicate odometry information with an external interface. Fits ROS REP 147 standard for aerial vehicles (http://www.ros.org/reps/rep-0147.html).

    Field NameTypeUnitsValuesDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    frame_iduint8_tMAV_FRAMECoordinate frame of reference for the pose data.
    child_frame_iduint8_tMAV_FRAMECoordinate frame of reference for the velocity in free space (twist) data.
    xfloatmX Position
    yfloatmY Position
    zfloatmZ Position
    qfloat[4]Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
    vxfloatm/sX linear speed
    vyfloatm/sY linear speed
    vzfloatm/sZ linear speed
    rollspeedfloatrad/sRoll angular speed
    pitchspeedfloatrad/sPitch angular speed
    yawspeedfloatrad/sYaw angular speed
    pose_covariancefloat[21]invalid:[NaN:]Row-major representation of a 6x6 pose cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
    velocity_covariancefloat[21]invalid:[NaN:]Row-major representation of a 6x6 velocity cross-covariance matrix upper right triangle (states: vx, vy, vz, rollspeed, pitchspeed, yawspeed; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
    reset_counter ++uint8_tEstimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.
    estimator_type ++uint8_tMAV_ESTIMATOR_TYPEType of estimator that is providing the odometry.
    quality ++int8_t%invalid:0Optional odometry quality metric as a percentage. -1 = odometry has failed, 0 = unknown/unset quality, 1 = worst quality, 100 = best quality

    TRAJECTORY_REPRESENTATION_WAYPOINTS (332) ​

    Describe a trajectory using an array of up-to 5 waypoints in the local frame (MAV_FRAME_LOCAL_NED).

    Field NameTypeUnitsValuesDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    valid_pointsuint8_tNumber of valid points (up-to 5 waypoints are possible)
    pos_xfloat[5]minvalid:[NaN]X-coordinate of waypoint, set to NaN if not being used
    pos_yfloat[5]minvalid:[NaN]Y-coordinate of waypoint, set to NaN if not being used
    pos_zfloat[5]minvalid:[NaN]Z-coordinate of waypoint, set to NaN if not being used
    vel_xfloat[5]m/sinvalid:[NaN]X-velocity of waypoint, set to NaN if not being used
    vel_yfloat[5]m/sinvalid:[NaN]Y-velocity of waypoint, set to NaN if not being used
    vel_zfloat[5]m/sinvalid:[NaN]Z-velocity of waypoint, set to NaN if not being used
    acc_xfloat[5]m/s/sinvalid:[NaN]X-acceleration of waypoint, set to NaN if not being used
    acc_yfloat[5]m/s/sinvalid:[NaN]Y-acceleration of waypoint, set to NaN if not being used
    acc_zfloat[5]m/s/sinvalid:[NaN]Z-acceleration of waypoint, set to NaN if not being used
    pos_yawfloat[5]radinvalid:[NaN]Yaw angle, set to NaN if not being used
    vel_yawfloat[5]rad/sinvalid:[NaN]Yaw rate, set to NaN if not being used
    commanduint16_t[5]invalid:[UINT16_MAX] MAV_CMDMAV_CMD command id of waypoint, set to UINT16_MAX if not being used.

    TRAJECTORY_REPRESENTATION_BEZIER (333) ​

    Describe a trajectory using an array of up-to 5 bezier control points in the local frame (MAV_FRAME_LOCAL_NED).

    Field NameTypeUnitsDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    valid_pointsuint8_tNumber of valid control points (up-to 5 points are possible)
    pos_xfloat[5]mX-coordinate of bezier control points. Set to NaN if not being used
    pos_yfloat[5]mY-coordinate of bezier control points. Set to NaN if not being used
    pos_zfloat[5]mZ-coordinate of bezier control points. Set to NaN if not being used
    deltafloat[5]sBezier time horizon. Set to NaN if velocity/acceleration should not be incorporated
    pos_yawfloat[5]radYaw. Set to NaN for unchanged

    CELLULAR_STATUS (334) ​

    Report current used cellular network status

    Field NameTypeValuesDescription
    statusuint8_tCELLULAR_STATUS_FLAGCellular modem status
    failure_reasonuint8_tCELLULAR_NETWORK_FAILED_REASONFailure reason when status in in CELLULAR_STATUS_FLAG_FAILED
    typeuint8_tCELLULAR_NETWORK_RADIO_TYPECellular network radio type: gsm, cdma, lte...
    qualityuint8_tinvalid:UINT8_MAXSignal quality in percent. If unknown, set to UINT8_MAX
    mccuint16_tinvalid:UINT16_MAXMobile country code. If unknown, set to UINT16_MAX
    mncuint16_tinvalid:UINT16_MAXMobile network code. If unknown, set to UINT16_MAX
    lacuint16_tinvalid:0Location area code. If unknown, set to 0

    Status of the Iridium SBD link.

    Field NameTypeUnitsDescription
    timestampuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    last_heartbeatuint64_tusTimestamp of the last successful sbd session. The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    failed_sessionsuint16_tNumber of failed SBD sessions.
    successful_sessionsuint16_tNumber of successful SBD sessions.
    signal_qualityuint8_tSignal quality equal to the number of bars displayed on the ISU signal strength indicator. Range is 0 to 5, where 0 indicates no signal and 5 indicates maximum signal strength.
    ring_pendinguint8_t1: Ring call pending, 0: No call pending.
    tx_session_pendinguint8_t1: Transmission session pending, 0: No transmission session pending.
    rx_session_pendinguint8_t1: Receiving session pending, 0: No receiving session pending.

    CELLULAR_CONFIG (336) ​

    Configure cellular modems.

    This message is re-emitted as an acknowledgement by the modem. The message may also be explicitly requested using MAV_CMD_REQUEST_MESSAGE.

    Field NameTypeValuesDescription
    enable_lteuint8_tEnable/disable LTE. 0: setting unchanged, 1: disabled, 2: enabled. Current setting when sent back as a response.
    enable_pinuint8_tEnable/disable PIN on the SIM card. 0: setting unchanged, 1: disabled, 2: enabled. Current setting when sent back as a response.
    pinchar[16]PIN sent to the SIM card. Blank when PIN is disabled. Empty when message is sent back as a response.
    new_pinchar[16]New PIN when changing the PIN. Blank to leave it unchanged. Empty when message is sent back as a response.
    apnchar[32]Name of the cellular APN. Blank to leave it unchanged. Current APN when sent back as a response.
    pukchar[16]Required PUK code in case the user failed to authenticate 3 times with the PIN. Empty when message is sent back as a response.
    roaminguint8_tEnable/disable roaming. 0: setting unchanged, 1: disabled, 2: enabled. Current setting when sent back as a response.
    responseuint8_tCELLULAR_CONFIG_RESPONSEMessage acceptance response (sent back to GS).

    RAW_RPM (339) ​

    RPM sensor data message.

    Field NameTypeUnitsDescription
    indexuint8_tIndex of this RPM sensor (0-indexed)
    frequencyfloatrpmIndicated rate

    UTM_GLOBAL_POSITION (340) ​

    The global position resulting from GPS and sensor fusion.

    Field NameTypeUnitsValuesDescription
    timeuint64_tusTime of applicability of position (microseconds since UNIX epoch).
    uas_iduint8_t[18]Unique UAS ID.
    latint32_tdegE7Latitude (WGS84)
    lonint32_tdegE7Longitude (WGS84)
    altint32_tmmAltitude (WGS84)
    relative_altint32_tmmAltitude above ground
    vxint16_tcm/sGround X speed (latitude, positive north)
    vyint16_tcm/sGround Y speed (longitude, positive east)
    vzint16_tcm/sGround Z speed (altitude, positive down)
    h_accuint16_tmmHorizontal position uncertainty (standard deviation)
    v_accuint16_tmmAltitude uncertainty (standard deviation)
    vel_accuint16_tcm/sSpeed uncertainty (standard deviation)
    next_latint32_tdegE7Next waypoint, latitude (WGS84)
    next_lonint32_tdegE7Next waypoint, longitude (WGS84)
    next_altint32_tmmNext waypoint, altitude (WGS84)
    update_rateuint16_tcsinvalid:0Time until next update. Set to 0 if unknown or in data driven mode.
    flight_stateuint8_tUTM_FLIGHT_STATEFlight state
    flagsuint8_tUTM_DATA_AVAIL_FLAGSBitwise OR combination of the data available flags.

    DEBUG_FLOAT_ARRAY (350) ​

    Large debug/prototyping array. The message uses the maximum available payload for data. The array_id and name fields are used to discriminate between messages in code and in user interfaces (respectively). Do not use in production code.

    Field NameTypeUnitsDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    namechar[10]Name, for human-friendly display in a Ground Control Station
    array_iduint16_tUnique ID used to discriminate between arrays
    Messages with same value are from the same source (instance).
    data ++float[58]data

    ORBIT_EXECUTION_STATUS (360) — [WIP] ​

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

    Vehicle status report that is sent out while orbit execution is in progress (see MAV_CMD_DO_ORBIT).

    Field NameTypeUnitsValuesDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    radiusfloatmRadius of the orbit circle. Positive values orbit clockwise, negative values orbit counter-clockwise.
    frameuint8_tMAV_FRAMEThe coordinate system of the fields: x, y, z.
    xint32_tX coordinate of center point. Coordinate system depends on frame field: local = x position in meters * 1e4, global = latitude in degrees * 1e7.
    yint32_tY coordinate of center point. Coordinate system depends on frame field: local = x position in meters * 1e4, global = latitude in degrees * 1e7.
    zfloatmAltitude of center point. Coordinate system depends on frame field.

    SMART_BATTERY_INFO (370) — [DEP] ​

    DEPRECATED: Replaced By BATTERY_INFO (2024-02) — The BATTERY_INFO message is better aligned with UAVCAN messages, and in any case is useful even if a battery is not "smart".)

    Smart Battery information (static/infrequent update). Use for updates from: smart battery to flight stack, flight stack to GCS. Use BATTERY_STATUS for the frequent battery updates.

    Field NameTypeUnitsValuesDescription
    iduint8_tBattery ID
    Messages with same value are from the same source (instance).
    battery_functionuint8_tMAV_BATTERY_FUNCTIONFunction of the battery
    typeuint8_tMAV_BATTERY_TYPEType (chemistry) of the battery
    capacity_full_specificationint32_tmAhinvalid:-1Capacity when full according to manufacturer, -1: field not provided.
    capacity_fullint32_tmAhinvalid:-1Capacity when full (accounting for battery degradation), -1: field not provided.
    cycle_countuint16_tinvalid:UINT16_MAXCharge/discharge cycle count. UINT16_MAX: field not provided.
    serial_numberchar[16]invalid:[0]Serial number in ASCII characters, 0 terminated. All 0: field not provided.
    device_namechar[50]invalid:[0]Static device name in ASCII characters, 0 terminated. All 0: field not provided. Encode as manufacturer name then product name separated using an underscore.
    weightuint16_tginvalid:0Battery weight. 0: field not provided.
    discharge_minimum_voltageuint16_tmVinvalid:UINT16_MAXMinimum per-cell voltage when discharging. If not supplied set to UINT16_MAX value.
    charging_minimum_voltageuint16_tmVinvalid:UINT16_MAXMinimum per-cell voltage when charging. If not supplied set to UINT16_MAX value.
    resting_minimum_voltageuint16_tmVinvalid:UINT16_MAXMinimum per-cell voltage when resting. If not supplied set to UINT16_MAX value.
    charging_maximum_voltage ++uint16_tmVinvalid:0Maximum per-cell voltage when charged. 0: field not provided.
    cells_in_series ++uint8_tinvalid:0Number of battery cells in series. 0: field not provided.
    discharge_maximum_current ++uint32_tmAinvalid:0Maximum pack discharge current. 0: field not provided.
    discharge_maximum_burst_current ++uint32_tmAinvalid:0Maximum pack discharge burst current. 0: field not provided.
    manufacture_date ++char[11]invalid:[0]Manufacture date (DD/MM/YYYY) in ASCII characters, 0 terminated. All 0: field not provided.

    FUEL_STATUS (371) ​

    Fuel status.

    This message provides "generic" fuel level information for display in a GCS and for triggering failsafes in an autopilot. The fuel type and associated units for fields in this message are defined in the enum MAV_FUEL_TYPE.

    The reported consumed_fuel and remaining_fuel must only be supplied if measured: they must not be inferred from the maximum_fuel and the other value. A recipient can assume that if these fields are supplied they are accurate. If not provided, the recipient can infer remaining_fuel from maximum_fuel and consumed_fuel on the assumption that the fuel was initially at its maximum (this is what battery monitors assume). Note however that this is an assumption, and the UI should prompt the user appropriately (i.e. notify user that they should fill the tank before boot).

    This kind of information may also be sent in fuel-specific messages such as BATTERY_STATUS_V2. If both messages are sent for the same fuel system, the ids and corresponding information must match.

    This should be streamed (nominally at 0.1 Hz).

    Field NameTypeUnitsValuesDescription
    iduint8_tFuel ID. Must match ID of other messages for same fuel system, such as BATTERY_STATUS_V2.
    Messages with same value are from the same source (instance).
    maximum_fuelfloatCapacity when full. Must be provided.
    consumed_fuelfloatinvalid:NaNConsumed fuel (measured). This value should not be inferred: if not measured set to NaN. NaN: field not provided.
    remaining_fuelfloatinvalid:NaNRemaining fuel until empty (measured). The value should not be inferred: if not measured set to NaN. NaN: field not provided.
    percent_remaininguint8_t%invalid:UINT8_MAXPercentage of remaining fuel, relative to full. Values: [0-100], UINT8_MAX: field not provided.
    flow_ratefloatinvalid:NaNPositive value when emptying/using, and negative if filling/replacing. NaN: field not provided.
    temperaturefloatKinvalid:NaNFuel temperature. NaN: field not provided.
    fuel_typeuint32_tMAV_FUEL_TYPEFuel type. Defines units for fuel capacity and consumption fields above.

    BATTERY_INFO (372) — [WIP] ​

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

    Battery information that is static, or requires infrequent update. This message should requested using MAV_CMD_REQUEST_MESSAGE and/or streamed at very low rate. BATTERY_STATUS_V2 is used for higher-rate battery status information.

    Field NameTypeUnitsValuesDescription
    iduint8_tBattery ID
    Messages with same value are from the same source (instance).
    battery_functionuint8_tMAV_BATTERY_FUNCTIONFunction of the battery.
    typeuint8_tMAV_BATTERY_TYPEType (chemistry) of the battery.
    state_of_healthuint8_t%invalid:UINT8_MAXState of Health (SOH) estimate. Typically 100% at the time of manufacture and will decrease over time and use. -1: field not provided.
    cells_in_seriesuint8_tinvalid:0Number of battery cells in series. 0: field not provided.
    cycle_countuint16_tinvalid:UINT16_MAXLifetime count of the number of charge/discharge cycles (https://en.wikipedia.org/wiki/Charge_cycle). UINT16_MAX: field not provided.
    weightuint16_tginvalid:0Battery weight. 0: field not provided.
    discharge_minimum_voltagefloatVinvalid:0Minimum per-cell voltage when discharging. 0: field not provided.
    charging_minimum_voltagefloatVinvalid:0Minimum per-cell voltage when charging. 0: field not provided.
    resting_minimum_voltagefloatVinvalid:0Minimum per-cell voltage when resting. 0: field not provided.
    charging_maximum_voltagefloatVinvalid:0Maximum per-cell voltage when charged. 0: field not provided.
    charging_maximum_currentfloatAinvalid:0Maximum pack continuous charge current. 0: field not provided.
    nominal_voltagefloatVinvalid:0Battery nominal voltage. Used for conversion between Wh and Ah. 0: field not provided.
    discharge_maximum_currentfloatAinvalid:0Maximum pack discharge current. 0: field not provided.
    discharge_maximum_burst_currentfloatAinvalid:0Maximum pack discharge burst current. 0: field not provided.
    design_capacityfloatAhinvalid:0Fully charged design capacity. 0: field not provided.
    full_charge_capacityfloatAhinvalid:NaNPredicted battery capacity when fully charged (accounting for battery degradation). NAN: field not provided.
    manufacture_datechar[9]invalid:[0]Manufacture date (DDMMYYYY) in ASCII characters, 0 terminated. All 0: field not provided.
    serial_numberchar[32]invalid:[0]Serial number in ASCII characters, 0 terminated. All 0: field not provided.
    namechar[50]invalid:[0]Battery device name. Formatted as manufacturer name then product name, separated with an underscore (in ASCII characters), 0 terminated. All 0: field not provided.

    GENERATOR_STATUS (373) ​

    Telemetry of power generation system. Alternator or mechanical generator.

    Field NameTypeUnitsValuesDescription
    statusuint64_tMAV_GENERATOR_STATUS_FLAGStatus flags.
    generator_speeduint16_trpminvalid:UINT16_MAXSpeed of electrical generator or alternator. UINT16_MAX: field not provided.
    battery_currentfloatAinvalid:NaNCurrent into/out of battery. Positive for out. Negative for in. NaN: field not provided.
    load_currentfloatAinvalid:NaNCurrent going to the UAV. If battery current not available this is the DC current from the generator. Positive for out. Negative for in. NaN: field not provided
    power_generatedfloatWinvalid:NaNThe power being generated. NaN: field not provided
    bus_voltagefloatVVoltage of the bus seen at the generator, or battery bus if battery bus is controlled by generator and at a different voltage to main bus.
    rectifier_temperatureint16_tdegCinvalid:INT16_MAXThe temperature of the rectifier or power converter. INT16_MAX: field not provided.
    bat_current_setpointfloatAinvalid:NaNThe target battery current. Positive for out. Negative for in. NaN: field not provided
    generator_temperatureint16_tdegCinvalid:INT16_MAXThe temperature of the mechanical motor, fuel cell core or generator. INT16_MAX: field not provided.
    runtimeuint32_tsinvalid:UINT32_MAXSeconds this generator has run since it was rebooted. UINT32_MAX: field not provided.
    time_until_maintenanceint32_tsinvalid:INT32_MAXSeconds until this generator requires maintenance. A negative value indicates maintenance is past-due. INT32_MAX: field not provided.

    ACTUATOR_OUTPUT_STATUS (375) ​

    The raw values of the actuator outputs (e.g. on Pixhawk, from MAIN, AUX ports). This message supersedes SERVO_OUTPUT_RAW.

    Field NameTypeUnitsDescription
    time_usecuint64_tusTimestamp (since system boot).
    activeuint32_tActive outputs
    actuatorfloat[32]Servo / motor output array values. Zero values indicate unused channels.

    TIME_ESTIMATE_TO_TARGET (380) — [WIP] ​

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

    Time/duration estimates for various events and actions given the current vehicle state and position.

    Field NameTypeUnitsDescription
    safe_returnint32_tsEstimated time to complete the vehicle's configured "safe return" action from its current position (e.g. RTL, Smart RTL, etc.). -1 indicates that the vehicle is landed, or that no time estimate available.
    landint32_tsEstimated time for vehicle to complete the LAND action from its current position. -1 indicates that the vehicle is landed, or that no time estimate available.
    mission_next_itemint32_tsEstimated time for reaching/completing the currently active mission item. -1 means no time estimate available.
    mission_endint32_tsEstimated time for completing the current mission. -1 means no mission active and/or no estimate available.
    commanded_actionint32_tsEstimated time for completing the current commanded action (i.e. Go To, Takeoff, Land, etc.). -1 means no action active and/or no estimate available.

    TUNNEL (385) ​

    Message for transporting "arbitrary" variable-length data from one component to another (broadcast is not forbidden, but discouraged). The encoding of the data is usually extension specific, i.e. determined by the source, and is usually not documented as part of the MAVLink specification.

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID (can be 0 for broadcast, but this is discouraged)
    target_componentuint8_tComponent ID (can be 0 for broadcast, but this is discouraged)
    payload_typeuint16_tMAV_TUNNEL_PAYLOAD_TYPEA code that identifies the content of the payload (0 for unknown, which is the default). If this code is less than 32768, it is a 'registered' payload type and the corresponding code should be added to the MAV_TUNNEL_PAYLOAD_TYPE enum. Software creators can register blocks of types as needed. Codes greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase.
    payload_lengthuint8_tLength of the data transported in payload
    payloaduint8_t[128]Variable length payload. The payload length is defined by payload_length. The entire content of this block is opaque unless you understand the encoding specified by payload_type.

    CAN_FRAME (386) ​

    A forwarded CAN frame as requested by MAV_CMD_CAN_FORWARD.

    Field NameTypeDescription
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    busuint8_tBus number
    lenuint8_tFrame length
    iduint32_tFrame ID
    datauint8_t[8]Frame data

    CANFD_FRAME (387) ​

    A forwarded CANFD frame as requested by MAV_CMD_CAN_FORWARD. These are separated from CAN_FRAME as they need different handling (eg. TAO handling)

    Field NameTypeDescription
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    busuint8_tbus number
    lenuint8_tFrame length
    iduint32_tFrame ID
    datauint8_t[64]Frame data

    CAN_FILTER_MODIFY (388) ​

    Modify the filter of what CAN messages to forward over the mavlink. This can be used to make CAN forwarding work well on low bandwidth links. The filtering is applied on bits 8 to 24 of the CAN id (2nd and 3rd bytes) which corresponds to the DroneCAN message ID for DroneCAN. Filters with more than 16 IDs can be constructed by sending multiple CAN_FILTER_MODIFY messages.

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    busuint8_tbus number
    operationuint8_tCAN_FILTER_OPwhat operation to perform on the filter list. See CAN_FILTER_OP enum.
    num_idsuint8_tnumber of IDs in filter list
    idsuint16_t[16]filter IDs, length num_ids

    ONBOARD_COMPUTER_STATUS (390) — [WIP] ​

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

    Hardware status sent by an onboard computer.

    Field NameTypeUnitsDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    uptimeuint32_tmsTime since system boot.
    typeuint8_tType of the onboard computer: 0: Mission computer primary, 1: Mission computer backup 1, 2: Mission computer backup 2, 3: Compute node, 4-5: Compute spares, 6-9: Payload computers.
    cpu_coresuint8_t[8]CPU usage on the component in percent (100 - idle). A value of UINT8_MAX implies the field is unused.
    cpu_combineduint8_t[10]Combined CPU usage as the last 10 slices of 100 MS (a histogram). This allows to identify spikes in load that max out the system, but only for a short amount of time. A value of UINT8_MAX implies the field is unused.
    gpu_coresuint8_t[4]GPU usage on the component in percent (100 - idle). A value of UINT8_MAX implies the field is unused.
    gpu_combineduint8_t[10]Combined GPU usage as the last 10 slices of 100 MS (a histogram). This allows to identify spikes in load that max out the system, but only for a short amount of time. A value of UINT8_MAX implies the field is unused.
    temperature_boardint8_tdegCTemperature of the board. A value of INT8_MAX implies the field is unused.
    temperature_coreint8_t[8]degCTemperature of the CPU core. A value of INT8_MAX implies the field is unused.
    fan_speedint16_t[4]rpmFan speeds. A value of INT16_MAX implies the field is unused.
    ram_usageuint32_tMiBAmount of used RAM on the component system. A value of UINT32_MAX implies the field is unused.
    ram_totaluint32_tMiBTotal amount of RAM on the component system. A value of UINT32_MAX implies the field is unused.
    storage_typeuint32_t[4]Storage type: 0: HDD, 1: SSD, 2: EMMC, 3: SD card (non-removable), 4: SD card (removable). A value of UINT32_MAX implies the field is unused.
    storage_usageuint32_t[4]MiBAmount of used storage space on the component system. A value of UINT32_MAX implies the field is unused.
    storage_totaluint32_t[4]MiBTotal amount of storage space on the component system. A value of UINT32_MAX implies the field is unused.
    link_typeuint32_t[6]Link type: 0-9: UART, 10-19: Wired network, 20-29: Wifi, 30-39: Point-to-point proprietary, 40-49: Mesh proprietary
    link_tx_rateuint32_t[6]KiB/sNetwork traffic from the component system. A value of UINT32_MAX implies the field is unused.
    link_rx_rateuint32_t[6]KiB/sNetwork traffic to the component system. A value of UINT32_MAX implies the field is unused.
    link_tx_maxuint32_t[6]KiB/sNetwork capacity from the component system. A value of UINT32_MAX implies the field is unused.
    link_rx_maxuint32_t[6]KiB/sNetwork capacity to the component system. A value of UINT32_MAX implies the field is unused.

    COMPONENT_INFORMATION (395) — [DEP] ​

    DEPRECATED: Replaced By COMPONENT_METADATA (2022-04)

    Component information message, which may be requested using MAV_CMD_REQUEST_MESSAGE.

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    general_metadata_file_crcuint32_tCRC32 of the general metadata file (general_metadata_uri).
    general_metadata_urichar[100]MAVLink FTP URI for the general metadata file (COMP_METADATA_TYPE_GENERAL), which may be compressed with xz. The file contains general component metadata, and may contain URI links for additional metadata (see COMP_METADATA_TYPE). The information is static from boot, and may be generated at compile time. The string needs to be zero terminated.
    peripherals_metadata_file_crcuint32_tCRC32 of peripherals metadata file (peripherals_metadata_uri).
    peripherals_metadata_urichar[100](Optional) MAVLink FTP URI for the peripherals metadata file (COMP_METADATA_TYPE_PERIPHERALS), which may be compressed with xz. This contains data about "attached components" such as UAVCAN nodes. The peripherals are in a separate file because the information must be generated dynamically at runtime. The string needs to be zero terminated.

    COMPONENT_INFORMATION_BASIC (396) ​

    Basic component information data. Should be requested using MAV_CMD_REQUEST_MESSAGE on startup, or when required.

    Field NameTypeUnitsValuesDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    capabilitiesuint64_tMAV_PROTOCOL_CAPABILITYComponent capability flags
    time_manufacture_suint32_tsinvalid:0Date of manufacture as a UNIX Epoch time (since 1.1.1970) in seconds.
    vendor_namechar[32]Name of the component vendor. Needs to be zero terminated. The field is optional and can be empty/all zeros.
    model_namechar[32]Name of the component model. Needs to be zero terminated. The field is optional and can be empty/all zeros.
    software_versionchar[24]Software version. The recommended format is SEMVER: 'major.minor.patch' (any format may be used). The field must be zero terminated if it has a value. The field is optional and can be empty/all zeros.
    hardware_versionchar[24]Hardware version. The recommended format is SEMVER: 'major.minor.patch' (any format may be used). The field must be zero terminated if it has a value. The field is optional and can be empty/all zeros.
    serial_numberchar[32]Hardware serial number. The field must be zero terminated if it has a value. The field is optional and can be empty/all zeros.

    COMPONENT_METADATA (397) — [WIP] ​

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

    Component metadata message, which may be requested using MAV_CMD_REQUEST_MESSAGE.

    This contains the MAVLink FTP URI and CRC for the component's general metadata file. The file must be hosted on the component, and may be xz compressed. The file CRC can be used for file caching.

    The general metadata file can be read to get the locations of other metadata files (COMP_METADATA_TYPE) and translations, which may be hosted either on the vehicle or the internet. For more information see: https://mavlink.io/en/services/component_information.html.

    Note: Camera components should use CAMERA_INFORMATION instead, and autopilots may use both this message and AUTOPILOT_VERSION.

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    file_crcuint32_tCRC32 of the general metadata file.
    urichar[100]MAVLink FTP URI for the general metadata file (COMP_METADATA_TYPE_GENERAL), which may be compressed with xz. The file contains general component metadata, and may contain URI links for additional metadata (see COMP_METADATA_TYPE). The information is static from boot, and may be generated at compile time. The string needs to be zero terminated.

    PLAY_TUNE_V2 (400) ​

    Play vehicle tone/tune (buzzer). Supersedes message PLAY_TUNE.

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    formatuint32_tTUNE_FORMATTune format
    tunechar[248]Tune definition as a NULL-terminated string.

    SUPPORTED_TUNES (401) ​

    Tune formats supported by vehicle. This should be emitted as response to MAV_CMD_REQUEST_MESSAGE.

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    formatuint32_tTUNE_FORMATBitfield of supported tune formats.

    EVENT (410) — [WIP] ​

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

    Event message. Each new event from a particular component gets a new sequence number. The same message might be sent multiple times if (re-)requested. Most events are broadcast, some can be specific to a target component (as receivers keep track of the sequence for missed events, all events need to be broadcast. Thus we use destination_component instead of target_component).

    Field NameTypeUnitsDescription
    destination_componentuint8_tComponent ID
    destination_systemuint8_tSystem ID
    iduint32_tEvent ID (as defined in the component metadata)
    event_time_boot_msuint32_tmsTimestamp (time since system boot when the event happened).
    sequenceuint16_tSequence number.
    log_levelsuint8_tLog levels: 4 bits MSB: internal (for logging purposes), 4 bits LSB: external. Levels: Emergency = 0, Alert = 1, Critical = 2, Error = 3, Warning = 4, Notice = 5, Info = 6, Debug = 7, Protocol = 8, Disabled = 9
    argumentsuint8_t[40]Arguments (depend on event ID).

    CURRENT_EVENT_SEQUENCE (411) — [WIP] ​

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

    Regular broadcast for the current latest event sequence number for a component. This is used to check for dropped events.

    Field NameTypeValuesDescription
    sequenceuint16_tSequence number.
    flagsuint8_tMAV_EVENT_CURRENT_SEQUENCE_FLAGSFlag bitset.

    REQUEST_EVENT (412) — [WIP] ​

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

    Request one or more events to be (re-)sent. If first_sequence==last_sequence, only a single event is requested. Note that first_sequence can be larger than last_sequence (because the sequence number can wrap). Each sequence will trigger an EVENT or EVENT_ERROR response.

    Field NameTypeDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    first_sequenceuint16_tFirst sequence number of the requested event.
    last_sequenceuint16_tLast sequence number of the requested event.

    RESPONSE_EVENT_ERROR (413) — [WIP] ​

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

    Response to a REQUEST_EVENT in case of an error (e.g. the event is not available anymore).

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    sequenceuint16_tSequence number.
    sequence_oldest_availableuint16_tOldest Sequence number that is still available after the sequence set in REQUEST_EVENT.
    reasonuint8_tMAV_EVENT_ERROR_REASONError reason.

    ILLUMINATOR_STATUS (440) ​

    Illuminator status

    Field NameTypeUnitsValuesDescription
    uptime_msuint32_tmsTime since the start-up of the illuminator in ms
    enableuint8_t0: Illuminators OFF, 1: Illuminators ON
    mode_bitmaskuint8_tILLUMINATOR_MODESupported illuminator modes
    error_statusuint32_tILLUMINATOR_ERROR_FLAGSErrors
    modeuint8_tILLUMINATOR_MODEIlluminator mode
    brightnessfloat%Illuminator brightness
    strobe_periodfloatsIlluminator strobing period in seconds
    strobe_duty_cyclefloat%Illuminator strobing duty cycle
    temp_cfloatTemperature in Celsius
    min_strobe_periodfloatsMinimum strobing period in seconds
    max_strobe_periodfloatsMaximum strobing period in seconds

    WHEEL_DISTANCE (9000) ​

    Cumulative distance traveled for each reported wheel.

    Field NameTypeUnitsDescription
    time_usecuint64_tusTimestamp (synced to UNIX time or since system boot).
    countuint8_tNumber of wheels reported.
    distancedouble[16]mDistance reported by individual wheel encoders. Forward rotations increase values, reverse rotations decrease them. Not all wheels will necessarily have wheel encoders; the mapping of encoders to wheel positions must be agreed/understood by the endpoints.

    WINCH_STATUS (9005) ​

    Winch status.

    Field NameTypeUnitsValuesDescription
    time_usecuint64_tusTimestamp (synced to UNIX time or since system boot).
    line_lengthfloatminvalid:NaNLength of line released. NaN if unknown
    speedfloatm/sinvalid:NaNSpeed line is being released or retracted. Positive values if being released, negative values if being retracted, NaN if unknown
    tensionfloatkginvalid:NaNTension on the line. NaN if unknown
    voltagefloatVinvalid:NaNVoltage of the battery supplying the winch. NaN if unknown
    currentfloatAinvalid:NaNCurrent draw from the winch. NaN if unknown
    temperatureint16_tdegCinvalid:INT16_MAXTemperature of the motor. INT16_MAX if unknown
    statusuint32_tMAV_WINCH_STATUS_FLAGStatus flags

    OPEN_DRONE_ID_BASIC_ID (12900) ​

    Data for filling the OpenDroneID Basic ID message. This and the below messages are primarily meant for feeding data to/from an OpenDroneID implementation. E.g. https://github.com/opendroneid/opendroneid-core-c. These messages are compatible with the ASTM F3411 Remote ID standard and the ASD-STAN prEN 4709-002 Direct Remote ID standard. Additional information and usage of these messages is documented at https://mavlink.io/en/services/opendroneid.html.

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID (0 for broadcast).
    target_componentuint8_tComponent ID (0 for broadcast).
    id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
    id_typeuint8_tMAV_ODID_ID_TYPEIndicates the format for the uas_id field of this message.
    ua_typeuint8_tMAV_ODID_UA_TYPEIndicates the type of UA (Unmanned Aircraft).
    uas_iduint8_t[20]UAS (Unmanned Aircraft System) ID following the format specified by id_type. Shall be filled with nulls in the unused portion of the field.

    OPEN_DRONE_ID_LOCATION (12901) ​

    Data for filling the OpenDroneID Location message. The float data types are 32-bit IEEE 754. The Location message provides the location, altitude, direction and speed of the aircraft.

    Field NameTypeUnitsValuesDescription
    target_systemuint8_tSystem ID (0 for broadcast).
    target_componentuint8_tComponent ID (0 for broadcast).
    id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
    statusuint8_tMAV_ODID_STATUSIndicates whether the unmanned aircraft is on the ground or in the air.
    directionuint16_tcdeginvalid:36100Direction over ground (not heading, but direction of movement) measured clockwise from true North: 0 - 35999 centi-degrees. If unknown: 36100 centi-degrees.
    speed_horizontaluint16_tcm/sGround speed. Positive only. If unknown: 25500 cm/s. If speed is larger than 25425 cm/s, use 25425 cm/s.
    speed_verticalint16_tcm/sThe vertical speed. Up is positive. If unknown: 6300 cm/s. If speed is larger than 6200 cm/s, use 6200 cm/s. If lower than -6200 cm/s, use -6200 cm/s.
    latitudeint32_tdegE7invalid:0Current latitude of the unmanned aircraft. If unknown: 0 (both Lat/Lon).
    longitudeint32_tdegE7invalid:0Current longitude of the unmanned aircraft. If unknown: 0 (both Lat/Lon).
    altitude_barometricfloatminvalid:-1000The altitude calculated from the barometric pressue. Reference is against 29.92inHg or 1013.2mb. If unknown: -1000 m.
    altitude_geodeticfloatminvalid:-1000The geodetic altitude as defined by WGS84. If unknown: -1000 m.
    height_referenceuint8_tMAV_ODID_HEIGHT_REFIndicates the reference point for the height field.
    heightfloatminvalid:-1000The current height of the unmanned aircraft above the take-off location or the ground as indicated by height_reference. If unknown: -1000 m.
    horizontal_accuracyuint8_tMAV_ODID_HOR_ACCThe accuracy of the horizontal position.
    vertical_accuracyuint8_tMAV_ODID_VER_ACCThe accuracy of the vertical position.
    barometer_accuracyuint8_tMAV_ODID_VER_ACCThe accuracy of the barometric altitude.
    speed_accuracyuint8_tMAV_ODID_SPEED_ACCThe accuracy of the horizontal and vertical speed.
    timestampfloatsinvalid:0xFFFFSeconds after the full hour with reference to UTC time. Typically the GPS outputs a time-of-week value in milliseconds. First convert that to UTC and then convert for this field using ((float) (time_week_ms % (60601000))) / 1000. If unknown: 0xFFFF.
    timestamp_accuracyuint8_tMAV_ODID_TIME_ACCThe accuracy of the timestamps.

    OPEN_DRONE_ID_AUTHENTICATION (12902) ​

    Data for filling the OpenDroneID Authentication message. The Authentication Message defines a field that can provide a means of authenticity for the identity of the UAS (Unmanned Aircraft System). The Authentication message can have two different formats. For data page 0, the fields PageCount, Length and TimeStamp are present and AuthData is only 17 bytes. For data page 1 through 15, PageCount, Length and TimeStamp are not present and the size of AuthData is 23 bytes.

    Field NameTypeUnitsValuesDescription
    target_systemuint8_tSystem ID (0 for broadcast).
    target_componentuint8_tComponent ID (0 for broadcast).
    id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
    authentication_typeuint8_tMAV_ODID_AUTH_TYPEIndicates the type of authentication.
    data_pageuint8_tAllowed range is 0 - 15.
    last_page_indexuint8_tThis field is only present for page 0. Allowed range is 0 - 15. See the description of struct ODID_Auth_data at https://github.com/opendroneid/opendroneid-core-c/blob/master/libopendroneid/opendroneid.h.
    lengthuint8_tbytesThis field is only present for page 0. Total bytes of authentication_data from all data pages. See the description of struct ODID_Auth_data at https://github.com/opendroneid/opendroneid-core-c/blob/master/libopendroneid/opendroneid.h.
    timestampuint32_tsThis field is only present for page 0. 32 bit Unix Timestamp in seconds since 00:00:00 01/01/2019.
    authentication_datauint8_t[23]Opaque authentication data. For page 0, the size is only 17 bytes. For other pages, the size is 23 bytes. Shall be filled with nulls in the unused portion of the field.

    OPEN_DRONE_ID_SELF_ID (12903) ​

    Data for filling the OpenDroneID Self ID message. The Self ID Message is an opportunity for the operator to (optionally) declare their identity and purpose of the flight. This message can provide additional information that could reduce the threat profile of a UA (Unmanned Aircraft) flying in a particular area or manner. This message can also be used to provide optional additional clarification in an emergency/remote ID system failure situation.

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID (0 for broadcast).
    target_componentuint8_tComponent ID (0 for broadcast).
    id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
    description_typeuint8_tMAV_ODID_DESC_TYPEIndicates the type of the description field.
    descriptionchar[23]Text description or numeric value expressed as ASCII characters. Shall be filled with nulls in the unused portion of the field.

    OPEN_DRONE_ID_SYSTEM (12904) ​

    Data for filling the OpenDroneID System message. The System Message contains general system information including the operator location/altitude and possible aircraft group and/or category/class information.

    Field NameTypeUnitsValuesDescription
    target_systemuint8_tSystem ID (0 for broadcast).
    target_componentuint8_tComponent ID (0 for broadcast).
    id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
    operator_location_typeuint8_tMAV_ODID_OPERATOR_LOCATION_TYPESpecifies the operator location type.
    classification_typeuint8_tMAV_ODID_CLASSIFICATION_TYPESpecifies the classification type of the UA.
    operator_latitudeint32_tdegE7invalid:0Latitude of the operator. If unknown: 0 (both Lat/Lon).
    operator_longitudeint32_tdegE7invalid:0Longitude of the operator. If unknown: 0 (both Lat/Lon).
    area_countuint16_tNumber of aircraft in the area, group or formation (default 1). Used only for swarms/multiple UA.
    area_radiusuint16_tmRadius of the cylindrical area of the group or formation (default 0). Used only for swarms/multiple UA.
    area_ceilingfloatminvalid:-1000Area Operations Ceiling relative to WGS84. If unknown: -1000 m. Used only for swarms/multiple UA.
    area_floorfloatminvalid:-1000Area Operations Floor relative to WGS84. If unknown: -1000 m. Used only for swarms/multiple UA.
    category_euuint8_tMAV_ODID_CATEGORY_EUWhen classification_type is MAV_ODID_CLASSIFICATION_TYPE_EU, specifies the category of the UA.
    class_euuint8_tMAV_ODID_CLASS_EUWhen classification_type is MAV_ODID_CLASSIFICATION_TYPE_EU, specifies the class of the UA.
    operator_altitude_geofloatminvalid:-1000Geodetic altitude of the operator relative to WGS84. If unknown: -1000 m.
    timestampuint32_ts32 bit Unix Timestamp in seconds since 00:00:00 01/01/2019.

    OPEN_DRONE_ID_OPERATOR_ID (12905) ​

    Data for filling the OpenDroneID Operator ID message, which contains the CAA (Civil Aviation Authority) issued operator ID.

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID (0 for broadcast).
    target_componentuint8_tComponent ID (0 for broadcast).
    id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
    operator_id_typeuint8_tMAV_ODID_OPERATOR_ID_TYPEIndicates the type of the operator_id field.
    operator_idchar[20]Text description or numeric value expressed as ASCII characters. Shall be filled with nulls in the unused portion of the field.

    OPEN_DRONE_ID_MESSAGE_PACK (12915) ​

    An OpenDroneID message pack is a container for multiple encoded OpenDroneID messages (i.e. not in the format given for the above message descriptions but after encoding into the compressed OpenDroneID byte format). Used e.g. when transmitting on Bluetooth 5.0 Long Range/Extended Advertising or on WiFi Neighbor Aware Networking or on WiFi Beacon.

    Field NameTypeUnitsDescription
    target_systemuint8_tSystem ID (0 for broadcast).
    target_componentuint8_tComponent ID (0 for broadcast).
    id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
    single_message_sizeuint8_tbytesThis field must currently always be equal to 25 (bytes), since all encoded OpenDroneID messages are specified to have this length.
    msg_pack_sizeuint8_tNumber of encoded messages in the pack (not the number of bytes). Allowed range is 1 - 9.
    messagesuint8_t[225]Concatenation of encoded OpenDroneID messages. Shall be filled with nulls in the unused portion of the field.

    OPEN_DRONE_ID_ARM_STATUS (12918) ​

    Transmitter (remote ID system) is enabled and ready to start sending location and other required information. This is streamed by transmitter. A flight controller uses it as a condition to arm.

    Field NameTypeValuesDescription
    statusuint8_tMAV_ODID_ARM_STATUSStatus level indicating if arming is allowed.
    errorchar[50]Text error message, should be empty if status is good to arm. Fill with nulls in unused portion.

    OPEN_DRONE_ID_SYSTEM_UPDATE (12919) ​

    Update the data in the OPEN_DRONE_ID_SYSTEM message with new location information. This can be sent to update the location information for the operator when no other information in the SYSTEM message has changed. This message allows for efficient operation on radio links which have limited uplink bandwidth while meeting requirements for update frequency of the operator location.

    Field NameTypeUnitsDescription
    target_systemuint8_tSystem ID (0 for broadcast).
    target_componentuint8_tComponent ID (0 for broadcast).
    operator_latitudeint32_tdegE7Latitude of the operator. If unknown: 0 (both Lat/Lon).
    operator_longitudeint32_tdegE7Longitude of the operator. If unknown: 0 (both Lat/Lon).
    operator_altitude_geofloatmGeodetic altitude of the operator relative to WGS84. If unknown: -1000 m.
    timestampuint32_ts32 bit Unix Timestamp in seconds since 00:00:00 01/01/2019.

    HYGROMETER_SENSOR (12920) ​

    Temperature and humidity from hygrometer.

    Field NameTypeUnitsDescription
    iduint8_tHygrometer ID
    Messages with same value are from the same source (instance).
    temperatureint16_tcdegCTemperature
    humidityuint16_tc%Humidity

    Enumerated Types ​

    FIRMWARE_VERSION_TYPE ​

    These values define the type of firmware release. These values indicate the first version or release of this type. For example the first alpha release would be 64, the second would be 65.

    ValueNameDescription
    0FIRMWARE_VERSION_TYPE_DEVdevelopment release
    64FIRMWARE_VERSION_TYPE_ALPHAalpha release
    128FIRMWARE_VERSION_TYPE_BETAbeta release
    192FIRMWARE_VERSION_TYPE_RCrelease candidate
    255FIRMWARE_VERSION_TYPE_OFFICIALofficial stable release

    HL_FAILURE_FLAG ​

    (Bitmask) Flags to report failure cases over the high latency telemetry.

    ValueNameDescription
    1HL_FAILURE_FLAG_GPSGPS failure.
    2HL_FAILURE_FLAG_DIFFERENTIAL_PRESSUREDifferential pressure sensor failure.
    4HL_FAILURE_FLAG_ABSOLUTE_PRESSUREAbsolute pressure sensor failure.
    8HL_FAILURE_FLAG_3D_ACCELAccelerometer sensor failure.
    16HL_FAILURE_FLAG_3D_GYROGyroscope sensor failure.
    32HL_FAILURE_FLAG_3D_MAGMagnetometer sensor failure.
    64HL_FAILURE_FLAG_TERRAINTerrain subsystem failure.
    128HL_FAILURE_FLAG_BATTERYBattery failure/critical low battery.
    256HL_FAILURE_FLAG_RC_RECEIVERRC receiver failure/no RC connection.
    512HL_FAILURE_FLAG_OFFBOARD_LINKOffboard link failure.
    1024HL_FAILURE_FLAG_ENGINEEngine failure.
    2048HL_FAILURE_FLAG_GEOFENCEGeofence violation.
    4096HL_FAILURE_FLAG_ESTIMATOREstimator failure, for example measurement rejection or large variances.
    8192HL_FAILURE_FLAG_MISSIONMission failure.

    MAV_GOTO ​

    Actions that may be specified in MAV_CMD_OVERRIDE_GOTO to override mission execution.

    ValueNameDescription
    0MAV_GOTO_DO_HOLDHold at the current position.
    1MAV_GOTO_DO_CONTINUEContinue with the next item in mission execution.
    2MAV_GOTO_HOLD_AT_CURRENT_POSITIONHold at the current position of the system
    3MAV_GOTO_HOLD_AT_SPECIFIED_POSITIONHold at the position specified in the parameters of the DO_HOLD action

    MAV_MODE ​

    These defines are predefined OR-combined mode flags. There is no need to use values from this enum, but it

    simplifies the use of the mode flags. Note that manual input is enabled in all modes as a safety override.

    ValueNameDescription
    0MAV_MODE_PREFLIGHTSystem is not ready to fly, booting, calibrating, etc. No flag is set.
    64MAV_MODE_MANUAL_DISARMEDSystem is allowed to be active, under manual (RC) control, no stabilization
    66MAV_MODE_TEST_DISARMEDUNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only.
    80MAV_MODE_STABILIZE_DISARMEDSystem is allowed to be active, under assisted RC control.
    88MAV_MODE_GUIDED_DISARMEDSystem is allowed to be active, under autonomous control, manual setpoint
    92MAV_MODE_AUTO_DISARMEDSystem is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by waypoints)
    192MAV_MODE_MANUAL_ARMEDSystem is allowed to be active, under manual (RC) control, no stabilization
    194MAV_MODE_TEST_ARMEDUNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only.
    208MAV_MODE_STABILIZE_ARMEDSystem is allowed to be active, under assisted RC control.
    216MAV_MODE_GUIDED_ARMEDSystem is allowed to be active, under autonomous control, manual setpoint
    220MAV_MODE_AUTO_ARMEDSystem is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by waypoints)

    MAV_SYS_STATUS_SENSOR ​

    (Bitmask) These encode the sensors whose status is sent as part of the SYS_STATUS message.

    ValueNameDescription
    1MAV_SYS_STATUS_SENSOR_3D_GYRO0x01 3D gyro
    2MAV_SYS_STATUS_SENSOR_3D_ACCEL0x02 3D accelerometer
    4MAV_SYS_STATUS_SENSOR_3D_MAG0x04 3D magnetometer
    8MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE0x08 absolute pressure
    16MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE0x10 differential pressure
    32MAV_SYS_STATUS_SENSOR_GPS0x20 GPS
    64MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW0x40 optical flow
    128MAV_SYS_STATUS_SENSOR_VISION_POSITION0x80 computer vision position
    256MAV_SYS_STATUS_SENSOR_LASER_POSITION0x100 laser based position
    512MAV_SYS_STATUS_SENSOR_EXTERNAL_GROUND_TRUTH0x200 external ground truth (Vicon or Leica)
    1024MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL0x400 3D angular rate control
    2048MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION0x800 attitude stabilization
    4096MAV_SYS_STATUS_SENSOR_YAW_POSITION0x1000 yaw position
    8192MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL0x2000 z/altitude control
    16384MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL0x4000 x/y position control
    32768MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS0x8000 motor outputs / control
    65536MAV_SYS_STATUS_SENSOR_RC_RECEIVER0x10000 RC receiver
    131072MAV_SYS_STATUS_SENSOR_3D_GYRO20x20000 2nd 3D gyro
    262144MAV_SYS_STATUS_SENSOR_3D_ACCEL20x40000 2nd 3D accelerometer
    524288MAV_SYS_STATUS_SENSOR_3D_MAG20x80000 2nd 3D magnetometer
    1048576MAV_SYS_STATUS_GEOFENCE0x100000 geofence
    2097152MAV_SYS_STATUS_AHRS0x200000 AHRS subsystem health
    4194304MAV_SYS_STATUS_TERRAIN0x400000 Terrain subsystem health
    8388608MAV_SYS_STATUS_REVERSE_MOTOR0x800000 Motors are reversed
    16777216MAV_SYS_STATUS_LOGGING0x1000000 Logging
    33554432MAV_SYS_STATUS_SENSOR_BATTERY0x2000000 Battery
    67108864MAV_SYS_STATUS_SENSOR_PROXIMITY0x4000000 Proximity
    134217728MAV_SYS_STATUS_SENSOR_SATCOM0x8000000 Satellite Communication
    268435456MAV_SYS_STATUS_PREARM_CHECK0x10000000 pre-arm check status. Always healthy when armed
    536870912MAV_SYS_STATUS_OBSTACLE_AVOIDANCE0x20000000 Avoidance/collision prevention
    1073741824MAV_SYS_STATUS_SENSOR_PROPULSION0x40000000 propulsion (actuator, esc, motor or propellor)
    2147483648MAV_SYS_STATUS_EXTENSION_USED0x80000000 Extended bit-field are used for further sensor status bits (needs to be set in onboard_control_sensors_present only)

    MAV_SYS_STATUS_SENSOR_EXTENDED ​

    (Bitmask) These encode the sensors whose status is sent as part of the SYS_STATUS message in the extended fields.

    ValueNameDescription
    1MAV_SYS_STATUS_RECOVERY_SYSTEM0x01 Recovery system (parachute, balloon, retracts etc)

    MAV_FRAME ​

    Coordinate frames used by MAVLink. Not all frames are supported by all commands, messages, or vehicles.

    Global frames use the following naming conventions:

    • "GLOBAL": Global coordinate frame with WGS84 latitude/longitude and altitude positive over mean sea level (MSL) by default. The following modifiers may be used with "GLOBAL":
    • "RELATIVE_ALT": Altitude is relative to the vehicle home position rather than MSL.
    • "TERRAIN_ALT": Altitude is relative to ground level rather than MSL.
    • "INT": Latitude/longitude (in degrees) are scaled by multiplying by 1E7.

    Local frames use the following naming conventions:

    • "LOCAL": Origin of local frame is fixed relative to earth. Unless otherwise specified this origin is the origin of the vehicle position-estimator ("EKF").
    • "BODY": Origin of local frame travels with the vehicle. NOTE, "BODY" does NOT indicate alignment of frame axis with vehicle attitude.
    • "OFFSET": Deprecated synonym for "BODY" (origin travels with the vehicle). Not to be used for new frames.

    Some deprecated frames do not follow these conventions (e.g. MAV_FRAME_BODY_NED and MAV_FRAME_BODY_OFFSET_NED).

    ValueNameDescription
    0MAV_FRAME_GLOBALGlobal (WGS84) coordinate frame + altitude relative to mean sea level (MSL).
    1MAV_FRAME_LOCAL_NEDNED local tangent frame (x: North, y: East, z: Down) with origin fixed relative to earth.
    2MAV_FRAME_MISSIONNOT a coordinate frame, indicates a mission command.
    3MAV_FRAME_GLOBAL_RELATIVE_ALTGlobal (WGS84) coordinate frame + altitude relative to the home position.
    4MAV_FRAME_LOCAL_ENUENU local tangent frame (x: East, y: North, z: Up) with origin fixed relative to earth.
    5MAV_FRAME_GLOBAL_INTGlobal (WGS84) coordinate frame (scaled) + altitude relative to mean sea level (MSL).DEPRECATED: Replaced By MAV_FRAME_GLOBAL (2024-03) — Use MAV_FRAME_GLOBAL in COMMAND_INT (and elsewhere) as a synonymous replacement.)
    6MAV_FRAME_GLOBAL_RELATIVE_ALT_INTGlobal (WGS84) coordinate frame (scaled) + altitude relative to the home position.DEPRECATED: Replaced By MAV_FRAME_GLOBAL_RELATIVE_ALT (2024-03) — Use MAV_FRAME_GLOBAL_RELATIVE_ALT in COMMAND_INT (and elsewhere) as a synonymous replacement.)
    7MAV_FRAME_LOCAL_OFFSET_NEDNED local tangent frame (x: North, y: East, z: Down) with origin that travels with the vehicle.
    8MAV_FRAME_BODY_NEDSame as MAV_FRAME_LOCAL_NED when used to represent position values. Same as MAV_FRAME_BODY_FRD when used with velocity/acceleration values.DEPRECATED: Replaced By MAV_FRAME_BODY_FRD (2019-08)
    9MAV_FRAME_BODY_OFFSET_NEDThis is the same as MAV_FRAME_BODY_FRD.DEPRECATED: Replaced By MAV_FRAME_BODY_FRD (2019-08)
    10MAV_FRAME_GLOBAL_TERRAIN_ALTGlobal (WGS84) coordinate frame with AGL altitude (altitude at ground level).
    11MAV_FRAME_GLOBAL_TERRAIN_ALT_INTGlobal (WGS84) coordinate frame (scaled) with AGL altitude (altitude at ground level).DEPRECATED: Replaced By MAV_FRAME_GLOBAL_TERRAIN_ALT (2024-03) — Use MAV_FRAME_GLOBAL_TERRAIN_ALT in COMMAND_INT (and elsewhere) as a synonymous replacement.)
    12MAV_FRAME_BODY_FRDFRD local frame aligned to the vehicle's attitude (x: Forward, y: Right, z: Down) with an origin that travels with vehicle.
    13MAV_FRAME_RESERVED_13MAV_FRAME_BODY_FLU - Body fixed frame of reference, Z-up (x: Forward, y: Left, z: Up).DEPRECATED:(2019-04)
    14MAV_FRAME_RESERVED_14MAV_FRAME_MOCAP_NED - Odometry local coordinate frame of data given by a motion capture system, Z-down (x: North, y: East, z: Down).DEPRECATED: Replaced By MAV_FRAME_LOCAL_FRD (2019-04)
    15MAV_FRAME_RESERVED_15MAV_FRAME_MOCAP_ENU - Odometry local coordinate frame of data given by a motion capture system, Z-up (x: East, y: North, z: Up).DEPRECATED: Replaced By MAV_FRAME_LOCAL_FLU (2019-04)
    16MAV_FRAME_RESERVED_16MAV_FRAME_VISION_NED - Odometry local coordinate frame of data given by a vision estimation system, Z-down (x: North, y: East, z: Down).DEPRECATED: Replaced By MAV_FRAME_LOCAL_FRD (2019-04)
    17MAV_FRAME_RESERVED_17MAV_FRAME_VISION_ENU - Odometry local coordinate frame of data given by a vision estimation system, Z-up (x: East, y: North, z: Up).DEPRECATED: Replaced By MAV_FRAME_LOCAL_FLU (2019-04)
    18MAV_FRAME_RESERVED_18MAV_FRAME_ESTIM_NED - Odometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-down (x: North, y: East, z: Down).DEPRECATED: Replaced By MAV_FRAME_LOCAL_FRD (2019-04)
    19MAV_FRAME_RESERVED_19MAV_FRAME_ESTIM_ENU - Odometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-up (x: East, y: North, z: Up).DEPRECATED: Replaced By MAV_FRAME_LOCAL_FLU (2019-04)
    20MAV_FRAME_LOCAL_FRDFRD local tangent frame (x: Forward, y: Right, z: Down) with origin fixed relative to earth. The forward axis is aligned to the front of the vehicle in the horizontal plane.
    21MAV_FRAME_LOCAL_FLUFLU local tangent frame (x: Forward, y: Left, z: Up) with origin fixed relative to earth. The forward axis is aligned to the front of the vehicle in the horizontal plane.
    ValueNameDescription
    0MAVLINK_DATA_STREAM_IMG_JPEG
    1MAVLINK_DATA_STREAM_IMG_BMP
    2MAVLINK_DATA_STREAM_IMG_RAW8U
    3MAVLINK_DATA_STREAM_IMG_RAW32U
    4MAVLINK_DATA_STREAM_IMG_PGM
    5MAVLINK_DATA_STREAM_IMG_PNG

    FENCE_ACTION ​

    Actions following geofence breach.

    ValueNameDescription
    0FENCE_ACTION_NONEDisable fenced mode. If used in a plan this would mean the next fence is disabled.
    1FENCE_ACTION_GUIDEDFly to geofence MAV_CMD_NAV_FENCE_RETURN_POINT in GUIDED mode. Note: This action is only supported by ArduPlane, and may not be supported in all versions.
    2FENCE_ACTION_REPORTReport fence breach, but don't take action
    3FENCE_ACTION_GUIDED_THR_PASSFly to geofence MAV_CMD_NAV_FENCE_RETURN_POINT with manual throttle control in GUIDED mode. Note: This action is only supported by ArduPlane, and may not be supported in all versions.
    4FENCE_ACTION_RTLReturn/RTL mode.
    5FENCE_ACTION_HOLDHold at current location.
    6FENCE_ACTION_TERMINATETermination failsafe. Motors are shut down (some flight stacks may trigger other failsafe actions).
    7FENCE_ACTION_LANDLand at current location.

    FENCE_BREACH ​

    ValueNameDescription
    0FENCE_BREACH_NONENo last fence breach
    1FENCE_BREACH_MINALTBreached minimum altitude
    2FENCE_BREACH_MAXALTBreached maximum altitude
    3FENCE_BREACH_BOUNDARYBreached fence boundary

    FENCE_MITIGATE ​

    Actions being taken to mitigate/prevent fence breach

    ValueNameDescription
    0FENCE_MITIGATE_UNKNOWNUnknown
    1FENCE_MITIGATE_NONENo actions being taken
    2FENCE_MITIGATE_VEL_LIMITVelocity limiting active to prevent breach

    FENCE_TYPE ​

    (Bitmask)

    ValueNameDescription
    0FENCE_TYPE_ALLAll fence types
    1FENCE_TYPE_ALT_MAXMaximum altitude fence
    2FENCE_TYPE_CIRCLECircle fence
    4FENCE_TYPE_POLYGONPolygon fence
    8FENCE_TYPE_ALT_MINMinimum altitude fence

    MAV_MOUNT_MODE — [DEP] ​

    DEPRECATED: Replaced By GIMBAL_MANAGER_FLAGS (2020-01)

    Enumeration of possible mount operation modes. This message is used by obsolete/deprecated gimbal messages.

    ValueNameDescription
    0MAV_MOUNT_MODE_RETRACTLoad and keep safe position (Roll,Pitch,Yaw) from permanent memory and stop stabilization
    1MAV_MOUNT_MODE_NEUTRALLoad and keep neutral position (Roll,Pitch,Yaw) from permanent memory.
    2MAV_MOUNT_MODE_MAVLINK_TARGETINGLoad neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization
    3MAV_MOUNT_MODE_RC_TARGETINGLoad neutral position and start RC Roll,Pitch,Yaw control with stabilization
    4MAV_MOUNT_MODE_GPS_POINTLoad neutral position and start to point to Lat,Lon,Alt
    5MAV_MOUNT_MODE_SYSID_TARGETGimbal tracks system with specified system ID
    6MAV_MOUNT_MODE_HOME_LOCATIONGimbal tracks home position

    GIMBAL_DEVICE_CAP_FLAGS ​

    (Bitmask) Gimbal device (low level) capability flags (bitmap).

    ValueNameDescription
    1GIMBAL_DEVICE_CAP_FLAGS_HAS_RETRACTGimbal device supports a retracted position.
    2GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRALGimbal device supports a horizontal, forward looking position, stabilized.
    4GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_AXISGimbal device supports rotating around roll axis.
    8GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_FOLLOWGimbal device supports to follow a roll angle relative to the vehicle.
    16GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCKGimbal device supports locking to a roll angle (generally that's the default with roll stabilized).
    32GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXISGimbal device supports rotating around pitch axis.
    64GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_FOLLOWGimbal device supports to follow a pitch angle relative to the vehicle.
    128GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCKGimbal device supports locking to a pitch angle (generally that's the default with pitch stabilized).
    256GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXISGimbal device supports rotating around yaw axis.
    512GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOWGimbal device supports to follow a yaw angle relative to the vehicle (generally that's the default).
    1024GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCKGimbal device supports locking to an absolute heading, i.e., yaw angle relative to North (earth frame, often this is an option available).
    2048GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_INFINITE_YAWGimbal device supports yawing/panning infinitely (e.g. using slip disk).
    4096GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_YAW_IN_EARTH_FRAMEGimbal device supports yaw angles and angular velocities relative to North (earth frame). This usually requires support by an autopilot via AUTOPILOT_STATE_FOR_GIMBAL_DEVICE. Support can go on and off during runtime, which is reported by the flag GIMBAL_DEVICE_FLAGS_CAN_ACCEPT_YAW_IN_EARTH_FRAME.
    8192GIMBAL_DEVICE_CAP_FLAGS_HAS_RC_INPUTSGimbal device supports radio control inputs as an alternative input for controlling the gimbal orientation.

    GIMBAL_MANAGER_CAP_FLAGS ​

    (Bitmask) Gimbal manager high level capability flags (bitmap). The first 16 bits are identical to the GIMBAL_DEVICE_CAP_FLAGS. However, the gimbal manager does not need to copy the flags from the gimbal but can also enhance the capabilities and thus add flags.

    ValueNameDescription
    1GIMBAL_MANAGER_CAP_FLAGS_HAS_RETRACTBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_RETRACT.
    2GIMBAL_MANAGER_CAP_FLAGS_HAS_NEUTRALBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRAL.
    4GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_AXISBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_AXIS.
    8GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_FOLLOWBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_FOLLOW.
    16GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_LOCKBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCK.
    32GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_AXISBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXIS.
    64GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_FOLLOWBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_FOLLOW.
    128GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_LOCKBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCK.
    256GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_AXISBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXIS.
    512GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_FOLLOWBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOW.
    1024GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_LOCKBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCK.
    2048GIMBAL_MANAGER_CAP_FLAGS_SUPPORTS_INFINITE_YAWBased on GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_INFINITE_YAW.
    4096GIMBAL_MANAGER_CAP_FLAGS_SUPPORTS_YAW_IN_EARTH_FRAMEBased on GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_YAW_IN_EARTH_FRAME.
    8192GIMBAL_MANAGER_CAP_FLAGS_HAS_RC_INPUTSBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_RC_INPUTS.
    65536GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_LOCALGimbal manager supports to point to a local position.
    131072GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_GLOBALGimbal manager supports to point to a global latitude, longitude, altitude position.

    GIMBAL_DEVICE_FLAGS ​

    (Bitmask) Flags for gimbal device (lower level) operation.

    ValueNameDescription
    1GIMBAL_DEVICE_FLAGS_RETRACTSet to retracted safe position (no stabilization), takes precedence over all other flags.
    2GIMBAL_DEVICE_FLAGS_NEUTRALSet to neutral/default position, taking precedence over all other flags except RETRACT. Neutral is commonly forward-facing and horizontal (roll=pitch=yaw=0) but may be any orientation.
    4GIMBAL_DEVICE_FLAGS_ROLL_LOCKLock roll angle to absolute angle relative to horizon (not relative to vehicle). This is generally the default with a stabilizing gimbal.
    8GIMBAL_DEVICE_FLAGS_PITCH_LOCKLock pitch angle to absolute angle relative to horizon (not relative to vehicle). This is generally the default with a stabilizing gimbal.
    16GIMBAL_DEVICE_FLAGS_YAW_LOCKLock yaw angle to absolute angle relative to North (not relative to vehicle). If this flag is set, the yaw angle and z component of angular velocity are relative to North (earth frame, x-axis pointing North), else they are relative to the vehicle heading (vehicle frame, earth frame rotated so that the x-axis is pointing forward).
    32GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAMEYaw angle and z component of angular velocity are relative to the vehicle heading (vehicle frame, earth frame rotated such that the x-axis is pointing forward).
    64GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAMEYaw angle and z component of angular velocity are relative to North (earth frame, x-axis is pointing North).
    128GIMBAL_DEVICE_FLAGS_ACCEPTS_YAW_IN_EARTH_FRAMEGimbal device can accept yaw angle inputs relative to North (earth frame). This flag is only for reporting (attempts to set this flag are ignored).
    256GIMBAL_DEVICE_FLAGS_RC_EXCLUSIVEThe gimbal orientation is set exclusively by the RC signals feed to the gimbal's radio control inputs. MAVLink messages for setting the gimbal orientation (GIMBAL_DEVICE_SET_ATTITUDE) are ignored.
    512GIMBAL_DEVICE_FLAGS_RC_MIXEDThe gimbal orientation is determined by combining/mixing the RC signals feed to the gimbal's radio control inputs and the MAVLink messages for setting the gimbal orientation (GIMBAL_DEVICE_SET_ATTITUDE). How these two controls are combined or mixed is not defined by the protocol but is up to the implementation.

    GIMBAL_MANAGER_FLAGS ​

    (Bitmask) Flags for high level gimbal manager operation The first 16 bits are identical to the GIMBAL_DEVICE_FLAGS.

    ValueNameDescription
    1GIMBAL_MANAGER_FLAGS_RETRACTBased on GIMBAL_DEVICE_FLAGS_RETRACT.
    2GIMBAL_MANAGER_FLAGS_NEUTRALBased on GIMBAL_DEVICE_FLAGS_NEUTRAL.
    4GIMBAL_MANAGER_FLAGS_ROLL_LOCKBased on GIMBAL_DEVICE_FLAGS_ROLL_LOCK.
    8GIMBAL_MANAGER_FLAGS_PITCH_LOCKBased on GIMBAL_DEVICE_FLAGS_PITCH_LOCK.
    16GIMBAL_MANAGER_FLAGS_YAW_LOCKBased on GIMBAL_DEVICE_FLAGS_YAW_LOCK.
    32GIMBAL_MANAGER_FLAGS_YAW_IN_VEHICLE_FRAMEBased on GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME.
    64GIMBAL_MANAGER_FLAGS_YAW_IN_EARTH_FRAMEBased on GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME.
    128GIMBAL_MANAGER_FLAGS_ACCEPTS_YAW_IN_EARTH_FRAMEBased on GIMBAL_DEVICE_FLAGS_ACCEPTS_YAW_IN_EARTH_FRAME.
    256GIMBAL_MANAGER_FLAGS_RC_EXCLUSIVEBased on GIMBAL_DEVICE_FLAGS_RC_EXCLUSIVE.
    512GIMBAL_MANAGER_FLAGS_RC_MIXEDBased on GIMBAL_DEVICE_FLAGS_RC_MIXED.

    GIMBAL_DEVICE_ERROR_FLAGS ​

    (Bitmask) Gimbal device (low level) error flags (bitmap, 0 means no error)

    ValueNameDescription
    1GIMBAL_DEVICE_ERROR_FLAGS_AT_ROLL_LIMITGimbal device is limited by hardware roll limit.
    2GIMBAL_DEVICE_ERROR_FLAGS_AT_PITCH_LIMITGimbal device is limited by hardware pitch limit.
    4GIMBAL_DEVICE_ERROR_FLAGS_AT_YAW_LIMITGimbal device is limited by hardware yaw limit.
    8GIMBAL_DEVICE_ERROR_FLAGS_ENCODER_ERRORThere is an error with the gimbal encoders.
    16GIMBAL_DEVICE_ERROR_FLAGS_POWER_ERRORThere is an error with the gimbal power source.
    32GIMBAL_DEVICE_ERROR_FLAGS_MOTOR_ERRORThere is an error with the gimbal motors.
    64GIMBAL_DEVICE_ERROR_FLAGS_SOFTWARE_ERRORThere is an error with the gimbal's software.
    128GIMBAL_DEVICE_ERROR_FLAGS_COMMS_ERRORThere is an error with the gimbal's communication.
    256GIMBAL_DEVICE_ERROR_FLAGS_CALIBRATION_RUNNINGGimbal device is currently calibrating.
    512GIMBAL_DEVICE_ERROR_FLAGS_NO_MANAGERGimbal device is not assigned to a gimbal manager.

    GRIPPER_ACTIONS ​

    Gripper actions.

    ValueNameDescription
    0GRIPPER_ACTION_RELEASEGripper release cargo.
    1GRIPPER_ACTION_GRABGripper grab onto cargo.

    WINCH_ACTIONS ​

    Winch actions.

    ValueNameDescription
    0WINCH_RELAXEDAllow motor to freewheel.
    1WINCH_RELATIVE_LENGTH_CONTROLWind or unwind specified length of line, optionally using specified rate.
    2WINCH_RATE_CONTROLWind or unwind line at specified rate.
    3WINCH_LOCKPerform the locking sequence to relieve motor while in the fully retracted position. Only action and instance command parameters are used, others are ignored.
    4WINCH_DELIVERSequence of drop, slow down, touch down, reel up, lock. Only action and instance command parameters are used, others are ignored.
    5WINCH_HOLDEngage motor and hold current position. Only action and instance command parameters are used, others are ignored.
    6WINCH_RETRACTReturn the reel to the fully retracted position. Only action and instance command parameters are used, others are ignored.
    7WINCH_LOAD_LINELoad the reel with line. The winch will calculate the total loaded length and stop when the tension exceeds a threshold. Only action and instance command parameters are used, others are ignored.
    8WINCH_ABANDON_LINESpool out the entire length of the line. Only action and instance command parameters are used, others are ignored.
    9WINCH_LOAD_PAYLOADSpools out just enough to present the hook to the user to load the payload. Only action and instance command parameters are used, others are ignored

    UAVCAN_NODE_HEALTH ​

    Generalized UAVCAN node health

    ValueNameDescription
    0UAVCAN_NODE_HEALTH_OKThe node is functioning properly.
    1UAVCAN_NODE_HEALTH_WARNINGA critical parameter went out of range or the node has encountered a minor failure.
    2UAVCAN_NODE_HEALTH_ERRORThe node has encountered a major failure.
    3UAVCAN_NODE_HEALTH_CRITICALThe node has suffered a fatal malfunction.

    UAVCAN_NODE_MODE ​

    Generalized UAVCAN node mode

    ValueNameDescription
    0UAVCAN_NODE_MODE_OPERATIONALThe node is performing its primary functions.
    1UAVCAN_NODE_MODE_INITIALIZATIONThe node is initializing; this mode is entered immediately after startup.
    2UAVCAN_NODE_MODE_MAINTENANCEThe node is under maintenance.
    3UAVCAN_NODE_MODE_SOFTWARE_UPDATEThe node is in the process of updating its software.
    7UAVCAN_NODE_MODE_OFFLINEThe node is no longer available online.

    ESC_CONNECTION_TYPE ​

    Indicates the ESC connection type.

    ValueNameDescription
    0ESC_CONNECTION_TYPE_PPMTraditional PPM ESC.
    1ESC_CONNECTION_TYPE_SERIALSerial Bus connected ESC.
    2ESC_CONNECTION_TYPE_ONESHOTOne Shot PPM ESC.
    3ESC_CONNECTION_TYPE_I2CI2C ESC.
    4ESC_CONNECTION_TYPE_CANCAN-Bus ESC.
    5ESC_CONNECTION_TYPE_DSHOTDShot ESC.

    ESC_FAILURE_FLAGS ​

    (Bitmask) Flags to report ESC failures.

    ValueNameDescription
    0ESC_FAILURE_NONENo ESC failure.
    1ESC_FAILURE_OVER_CURRENTOver current failure.
    2ESC_FAILURE_OVER_VOLTAGEOver voltage failure.
    4ESC_FAILURE_OVER_TEMPERATUREOver temperature failure.
    8ESC_FAILURE_OVER_RPMOver RPM failure.
    16ESC_FAILURE_INCONSISTENT_CMDInconsistent command failure i.e. out of bounds.
    32ESC_FAILURE_MOTOR_STUCKMotor stuck failure.
    64ESC_FAILURE_GENERICGeneric ESC failure.

    STORAGE_STATUS ​

    Flags to indicate the status of camera storage.

    ValueNameDescription
    0STORAGE_STATUS_EMPTYStorage is missing (no microSD card loaded for example.)
    1STORAGE_STATUS_UNFORMATTEDStorage present but unformatted.
    2STORAGE_STATUS_READYStorage present and ready.
    3STORAGE_STATUS_NOT_SUPPORTEDCamera does not supply storage status information. Capacity information in STORAGE_INFORMATION fields will be ignored.

    STORAGE_TYPE ​

    Flags to indicate the type of storage.

    ValueNameDescription
    0STORAGE_TYPE_UNKNOWNStorage type is not known.
    1STORAGE_TYPE_USB_STICKStorage type is USB device.
    2STORAGE_TYPE_SDStorage type is SD card.
    3STORAGE_TYPE_MICROSDStorage type is microSD card.
    4STORAGE_TYPE_CFStorage type is CFast.
    5STORAGE_TYPE_CFEStorage type is CFexpress.
    6STORAGE_TYPE_XQDStorage type is XQD.
    7STORAGE_TYPE_HDStorage type is HD mass storage type.
    254STORAGE_TYPE_OTHERStorage type is other, not listed type.

    STORAGE_USAGE_FLAG ​

    Flags to indicate usage for a particular storage (see STORAGE_INFORMATION.storage_usage and MAV_CMD_SET_STORAGE_USAGE).

    ValueNameDescription
    1STORAGE_USAGE_FLAG_SETAlways set to 1 (indicates STORAGE_INFORMATION.storage_usage is supported).
    2STORAGE_USAGE_FLAG_PHOTOStorage for saving photos.
    4STORAGE_USAGE_FLAG_VIDEOStorage for saving videos.
    8STORAGE_USAGE_FLAG_LOGSStorage for saving logs.

    ORBIT_YAW_BEHAVIOUR ​

    Yaw behaviour during orbit flight.

    ValueNameDescription
    0ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTERVehicle front points to the center (default).
    1ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADINGVehicle front holds heading when message received.
    2ORBIT_YAW_BEHAVIOUR_UNCONTROLLEDYaw uncontrolled.
    3ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLEVehicle front follows flight path (tangential to circle).
    4ORBIT_YAW_BEHAVIOUR_RC_CONTROLLEDYaw controlled by RC input.
    5ORBIT_YAW_BEHAVIOUR_UNCHANGEDVehicle uses current yaw behaviour (unchanged). The vehicle-default yaw behaviour is used if this value is specified when orbit is first commanded.

    WIFI_CONFIG_AP_RESPONSE ​

    Possible responses from a WIFI_CONFIG_AP message.

    ValueNameDescription
    0WIFI_CONFIG_AP_RESPONSE_UNDEFINEDUndefined response. Likely an indicative of a system that doesn't support this request.
    1WIFI_CONFIG_AP_RESPONSE_ACCEPTEDChanges accepted.
    2WIFI_CONFIG_AP_RESPONSE_REJECTEDChanges rejected.
    3WIFI_CONFIG_AP_RESPONSE_MODE_ERRORInvalid Mode.
    4WIFI_CONFIG_AP_RESPONSE_SSID_ERRORInvalid SSID.
    5WIFI_CONFIG_AP_RESPONSE_PASSWORD_ERRORInvalid Password.

    CELLULAR_CONFIG_RESPONSE ​

    Possible responses from a CELLULAR_CONFIG message.

    ValueNameDescription
    0CELLULAR_CONFIG_RESPONSE_ACCEPTEDChanges accepted.
    1CELLULAR_CONFIG_RESPONSE_APN_ERRORInvalid APN.
    2CELLULAR_CONFIG_RESPONSE_PIN_ERRORInvalid PIN.
    3CELLULAR_CONFIG_RESPONSE_REJECTEDChanges rejected.
    4CELLULAR_CONFIG_BLOCKED_PUK_REQUIREDPUK is required to unblock SIM card.

    WIFI_CONFIG_AP_MODE ​

    WiFi Mode.

    ValueNameDescription
    0WIFI_CONFIG_AP_MODE_UNDEFINEDWiFi mode is undefined.
    1WIFI_CONFIG_AP_MODE_APWiFi configured as an access point.
    2WIFI_CONFIG_AP_MODE_STATIONWiFi configured as a station connected to an existing local WiFi network.
    3WIFI_CONFIG_AP_MODE_DISABLEDWiFi disabled.

    COMP_METADATA_TYPE ​

    Supported component metadata types. These are used in the "general" metadata file returned by COMPONENT_METADATA to provide information about supported metadata types. The types are not used directly in MAVLink messages.

    ValueNameDescription
    0COMP_METADATA_TYPE_GENERALGeneral information about the component. General metadata includes information about other metadata types supported by the component. Files of this type must be supported, and must be downloadable from vehicle using a MAVLink FTP URI.
    1COMP_METADATA_TYPE_PARAMETERParameter meta data.
    2COMP_METADATA_TYPE_COMMANDSMeta data that specifies which commands and command parameters the vehicle supports. (WIP)
    3COMP_METADATA_TYPE_PERIPHERALSMeta data that specifies external non-MAVLink peripherals.
    4COMP_METADATA_TYPE_EVENTSMeta data for the events interface.
    5COMP_METADATA_TYPE_ACTUATORSMeta data for actuator configuration (motors, servos and vehicle geometry) and testing.

    ACTUATOR_CONFIGURATION ​

    Actuator configuration, used to change a setting on an actuator. Component information metadata can be used to know which outputs support which commands.

    ValueNameDescription
    0ACTUATOR_CONFIGURATION_NONEDo nothing.
    1ACTUATOR_CONFIGURATION_BEEPCommand the actuator to beep now.
    2ACTUATOR_CONFIGURATION_3D_MODE_ONPermanently set the actuator (ESC) to 3D mode (reversible thrust).
    3ACTUATOR_CONFIGURATION_3D_MODE_OFFPermanently set the actuator (ESC) to non 3D mode (non-reversible thrust).
    4ACTUATOR_CONFIGURATION_SPIN_DIRECTION1Permanently set the actuator (ESC) to spin direction 1 (which can be clockwise or counter-clockwise).
    5ACTUATOR_CONFIGURATION_SPIN_DIRECTION2Permanently set the actuator (ESC) to spin direction 2 (opposite of direction 1).

    ACTUATOR_OUTPUT_FUNCTION ​

    Actuator output function. Values greater or equal to 1000 are autopilot-specific.

    ValueNameDescription
    0ACTUATOR_OUTPUT_FUNCTION_NONENo function (disabled).
    1ACTUATOR_OUTPUT_FUNCTION_MOTOR1Motor 1
    2ACTUATOR_OUTPUT_FUNCTION_MOTOR2Motor 2
    3ACTUATOR_OUTPUT_FUNCTION_MOTOR3Motor 3
    4ACTUATOR_OUTPUT_FUNCTION_MOTOR4Motor 4
    5ACTUATOR_OUTPUT_FUNCTION_MOTOR5Motor 5
    6ACTUATOR_OUTPUT_FUNCTION_MOTOR6Motor 6
    7ACTUATOR_OUTPUT_FUNCTION_MOTOR7Motor 7
    8ACTUATOR_OUTPUT_FUNCTION_MOTOR8Motor 8
    9ACTUATOR_OUTPUT_FUNCTION_MOTOR9Motor 9
    10ACTUATOR_OUTPUT_FUNCTION_MOTOR10Motor 10
    11ACTUATOR_OUTPUT_FUNCTION_MOTOR11Motor 11
    12ACTUATOR_OUTPUT_FUNCTION_MOTOR12Motor 12
    13ACTUATOR_OUTPUT_FUNCTION_MOTOR13Motor 13
    14ACTUATOR_OUTPUT_FUNCTION_MOTOR14Motor 14
    15ACTUATOR_OUTPUT_FUNCTION_MOTOR15Motor 15
    16ACTUATOR_OUTPUT_FUNCTION_MOTOR16Motor 16
    33ACTUATOR_OUTPUT_FUNCTION_SERVO1Servo 1
    34ACTUATOR_OUTPUT_FUNCTION_SERVO2Servo 2
    35ACTUATOR_OUTPUT_FUNCTION_SERVO3Servo 3
    36ACTUATOR_OUTPUT_FUNCTION_SERVO4Servo 4
    37ACTUATOR_OUTPUT_FUNCTION_SERVO5Servo 5
    38ACTUATOR_OUTPUT_FUNCTION_SERVO6Servo 6
    39ACTUATOR_OUTPUT_FUNCTION_SERVO7Servo 7
    40ACTUATOR_OUTPUT_FUNCTION_SERVO8Servo 8
    41ACTUATOR_OUTPUT_FUNCTION_SERVO9Servo 9
    42ACTUATOR_OUTPUT_FUNCTION_SERVO10Servo 10
    43ACTUATOR_OUTPUT_FUNCTION_SERVO11Servo 11
    44ACTUATOR_OUTPUT_FUNCTION_SERVO12Servo 12
    45ACTUATOR_OUTPUT_FUNCTION_SERVO13Servo 13
    46ACTUATOR_OUTPUT_FUNCTION_SERVO14Servo 14
    47ACTUATOR_OUTPUT_FUNCTION_SERVO15Servo 15
    48ACTUATOR_OUTPUT_FUNCTION_SERVO16Servo 16

    AUTOTUNE_AXIS ​

    (Bitmask) Enable axes that will be tuned via autotuning. Used in MAV_CMD_DO_AUTOTUNE_ENABLE.

    ValueNameDescription
    0AUTOTUNE_AXIS_DEFAULTFlight stack tunes axis according to its default settings.
    1AUTOTUNE_AXIS_ROLLAutotune roll axis.
    2AUTOTUNE_AXIS_PITCHAutotune pitch axis.
    4AUTOTUNE_AXIS_YAWAutotune yaw axis.

    PREFLIGHT_STORAGE_PARAMETER_ACTION ​

    Actions for reading/writing parameters between persistent and volatile storage when using MAV_CMD_PREFLIGHT_STORAGE. (Commonly parameters are loaded from persistent storage (flash/EEPROM) into volatile storage (RAM) on startup and written back when they are changed.)

    ValueNameDescription
    0PARAM_READ_PERSISTENTRead all parameters from persistent storage. Replaces values in volatile storage.
    1PARAM_WRITE_PERSISTENTWrite all parameter values to persistent storage (flash/EEPROM)
    2PARAM_RESET_CONFIG_DEFAULTReset all user configurable parameters to their default value (including airframe selection, sensor calibration data, safety settings, and so on). Does not reset values that contain operation counters and vehicle computed statistics.
    3PARAM_RESET_SENSOR_DEFAULTReset only sensor calibration parameters to factory defaults (or firmware default if not available)
    4PARAM_RESET_ALL_DEFAULTReset all parameters, including operation counters, to default values

    PREFLIGHT_STORAGE_MISSION_ACTION ​

    Actions for reading and writing plan information (mission, rally points, geofence) between persistent and volatile storage when using MAV_CMD_PREFLIGHT_STORAGE. (Commonly missions are loaded from persistent storage (flash/EEPROM) into volatile storage (RAM) on startup and written back when they are changed.)

    ValueNameDescription
    0MISSION_READ_PERSISTENTRead current mission data from persistent storage
    1MISSION_WRITE_PERSISTENTWrite current mission data to persistent storage
    2MISSION_RESET_DEFAULTErase all mission data stored on the vehicle (both persistent and volatile storage)

    MAV_DATA_STREAM — [DEP] ​

    DEPRECATED: Replaced By MESSAGE_INTERVAL (2015-06)

    A data stream is not a fixed set of messages, but rather a

    recommendation to the autopilot software. Individual autopilots may or may not obey the recommended messages.

    ValueNameDescription
    0MAV_DATA_STREAM_ALLEnable all data streams
    1MAV_DATA_STREAM_RAW_SENSORSEnable IMU_RAW, GPS_RAW, GPS_STATUS packets.
    2MAV_DATA_STREAM_EXTENDED_STATUSEnable GPS_STATUS, CONTROL_STATUS, AUX_STATUS
    3MAV_DATA_STREAM_RC_CHANNELSEnable RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW
    4MAV_DATA_STREAM_RAW_CONTROLLEREnable ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT, NAV_CONTROLLER_OUTPUT.
    6MAV_DATA_STREAM_POSITIONEnable LOCAL_POSITION, GLOBAL_POSITION_INT messages.
    10MAV_DATA_STREAM_EXTRA1Dependent on the autopilot
    11MAV_DATA_STREAM_EXTRA2Dependent on the autopilot
    12MAV_DATA_STREAM_EXTRA3Dependent on the autopilot

    MAV_ROI — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_DO_SET_ROI_* (2018-01)

    The ROI (region of interest) for the vehicle. This can be

    be used by the vehicle for camera/vehicle attitude alignment (see MAV_CMD_NAV_ROI).

    ValueNameDescription
    0MAV_ROI_NONENo region of interest.
    1MAV_ROI_WPNEXTPoint toward next waypoint, with optional pitch/roll/yaw offset.
    2MAV_ROI_WPINDEXPoint toward given waypoint.
    3MAV_ROI_LOCATIONPoint toward fixed location.
    4MAV_ROI_TARGETPoint toward of given id.

    MAV_PARAM_TYPE ​

    Specifies the datatype of a MAVLink parameter.

    ValueNameDescription
    1MAV_PARAM_TYPE_UINT88-bit unsigned integer
    2MAV_PARAM_TYPE_INT88-bit signed integer
    3MAV_PARAM_TYPE_UINT1616-bit unsigned integer
    4MAV_PARAM_TYPE_INT1616-bit signed integer
    5MAV_PARAM_TYPE_UINT3232-bit unsigned integer
    6MAV_PARAM_TYPE_INT3232-bit signed integer
    7MAV_PARAM_TYPE_UINT6464-bit unsigned integer
    8MAV_PARAM_TYPE_INT6464-bit signed integer
    9MAV_PARAM_TYPE_REAL3232-bit floating-point
    10MAV_PARAM_TYPE_REAL6464-bit floating-point

    MAV_PARAM_EXT_TYPE ​

    Specifies the datatype of a MAVLink extended parameter.

    ValueNameDescription
    1MAV_PARAM_EXT_TYPE_UINT88-bit unsigned integer
    2MAV_PARAM_EXT_TYPE_INT88-bit signed integer
    3MAV_PARAM_EXT_TYPE_UINT1616-bit unsigned integer
    4MAV_PARAM_EXT_TYPE_INT1616-bit signed integer
    5MAV_PARAM_EXT_TYPE_UINT3232-bit unsigned integer
    6MAV_PARAM_EXT_TYPE_INT3232-bit signed integer
    7MAV_PARAM_EXT_TYPE_UINT6464-bit unsigned integer
    8MAV_PARAM_EXT_TYPE_INT6464-bit signed integer
    9MAV_PARAM_EXT_TYPE_REAL3232-bit floating-point
    10MAV_PARAM_EXT_TYPE_REAL6464-bit floating-point
    11MAV_PARAM_EXT_TYPE_CUSTOMCustom Type

    MAV_RESULT ​

    Result from a MAVLink command (MAV_CMD)

    ValueNameDescription
    0MAV_RESULT_ACCEPTEDCommand is valid (is supported and has valid parameters), and was executed.
    1MAV_RESULT_TEMPORARILY_REJECTEDCommand is valid, but cannot be executed at this time. This is used to indicate a problem that should be fixed just by waiting (e.g. a state machine is busy, can't arm because have not got GPS lock, etc.). Retrying later should work.
    2MAV_RESULT_DENIEDCommand is invalid (is supported but has invalid parameters). Retrying same command and parameters will not work.
    3MAV_RESULT_UNSUPPORTEDCommand is not supported (unknown).
    4MAV_RESULT_FAILEDCommand is valid, but execution has failed. This is used to indicate any non-temporary or unexpected problem, i.e. any problem that must be fixed before the command can succeed/be retried. For example, attempting to write a file when out of memory, attempting to arm when sensors are not calibrated, etc.
    5MAV_RESULT_IN_PROGRESSCommand is valid and is being executed. This will be followed by further progress updates, i.e. the component may send further COMMAND_ACK messages with result MAV_RESULT_IN_PROGRESS (at a rate decided by the implementation), and must terminate by sending a COMMAND_ACK message with final result of the operation. The COMMAND_ACK.progress field can be used to indicate the progress of the operation.
    6MAV_RESULT_CANCELLEDCommand has been cancelled (as a result of receiving a COMMAND_CANCEL message).
    7MAV_RESULT_COMMAND_LONG_ONLYCommand is only accepted when sent as a COMMAND_LONG.
    8MAV_RESULT_COMMAND_INT_ONLYCommand is only accepted when sent as a COMMAND_INT.
    9MAV_RESULT_COMMAND_UNSUPPORTED_MAV_FRAMECommand is invalid because a frame is required and the specified frame is not supported.

    MAV_MISSION_RESULT ​

    Result of mission operation (in a MISSION_ACK message).

    ValueNameDescription
    0MAV_MISSION_ACCEPTEDmission accepted OK
    1MAV_MISSION_ERRORGeneric error / not accepting mission commands at all right now.
    2MAV_MISSION_UNSUPPORTED_FRAMECoordinate frame is not supported.
    3MAV_MISSION_UNSUPPORTEDCommand is not supported.
    4MAV_MISSION_NO_SPACEMission items exceed storage space.
    5MAV_MISSION_INVALIDOne of the parameters has an invalid value.
    6MAV_MISSION_INVALID_PARAM1param1 has an invalid value.
    7MAV_MISSION_INVALID_PARAM2param2 has an invalid value.
    8MAV_MISSION_INVALID_PARAM3param3 has an invalid value.
    9MAV_MISSION_INVALID_PARAM4param4 has an invalid value.
    10MAV_MISSION_INVALID_PARAM5_Xx / param5 has an invalid value.
    11MAV_MISSION_INVALID_PARAM6_Yy / param6 has an invalid value.
    12MAV_MISSION_INVALID_PARAM7z / param7 has an invalid value.
    13MAV_MISSION_INVALID_SEQUENCEMission item received out of sequence
    14MAV_MISSION_DENIEDNot accepting any mission commands from this communication partner.
    15MAV_MISSION_OPERATION_CANCELLEDCurrent mission operation cancelled (e.g. mission upload, mission download).

    MAV_SEVERITY ​

    Indicates the severity level, generally used for status messages to indicate their relative urgency. Based on RFC-5424 using expanded definitions at: http://www.kiwisyslog.com/kb/info:-syslog-message-levels/.

    ValueNameDescription
    0MAV_SEVERITY_EMERGENCYSystem is unusable. This is a "panic" condition.
    1MAV_SEVERITY_ALERTAction should be taken immediately. Indicates error in non-critical systems.
    2MAV_SEVERITY_CRITICALAction must be taken immediately. Indicates failure in a primary system.
    3MAV_SEVERITY_ERRORIndicates an error in secondary/redundant systems.
    4MAV_SEVERITY_WARNINGIndicates about a possible future error if this is not resolved within a given timeframe. Example would be a low battery warning.
    5MAV_SEVERITY_NOTICEAn unusual event has occurred, though not an error condition. This should be investigated for the root cause.
    6MAV_SEVERITY_INFONormal operational messages. Useful for logging. No action is required for these messages.
    7MAV_SEVERITY_DEBUGUseful non-operational messages that can assist in debugging. These should not occur during normal operation.

    MAV_POWER_STATUS ​

    (Bitmask) Power supply status flags (bitmask)

    ValueNameDescription
    1MAV_POWER_STATUS_BRICK_VALIDmain brick power supply valid
    2MAV_POWER_STATUS_SERVO_VALIDmain servo power supply valid for FMU
    4MAV_POWER_STATUS_USB_CONNECTEDUSB power is connected
    8MAV_POWER_STATUS_PERIPH_OVERCURRENTperipheral supply is in over-current state
    16MAV_POWER_STATUS_PERIPH_HIPOWER_OVERCURRENThi-power peripheral supply is in over-current state
    32MAV_POWER_STATUS_CHANGEDPower status has changed since boot

    SERIAL_CONTROL_DEV ​

    SERIAL_CONTROL device types

    ValueNameDescription
    0SERIAL_CONTROL_DEV_TELEM1First telemetry port
    1SERIAL_CONTROL_DEV_TELEM2Second telemetry port
    2SERIAL_CONTROL_DEV_GPS1First GPS port
    3SERIAL_CONTROL_DEV_GPS2Second GPS port
    10SERIAL_CONTROL_DEV_SHELLsystem shell
    100SERIAL_CONTROL_SERIAL0SERIAL0
    101SERIAL_CONTROL_SERIAL1SERIAL1
    102SERIAL_CONTROL_SERIAL2SERIAL2
    103SERIAL_CONTROL_SERIAL3SERIAL3
    104SERIAL_CONTROL_SERIAL4SERIAL4
    105SERIAL_CONTROL_SERIAL5SERIAL5
    106SERIAL_CONTROL_SERIAL6SERIAL6
    107SERIAL_CONTROL_SERIAL7SERIAL7
    108SERIAL_CONTROL_SERIAL8SERIAL8
    109SERIAL_CONTROL_SERIAL9SERIAL9

    SERIAL_CONTROL_FLAG ​

    (Bitmask) SERIAL_CONTROL flags (bitmask)

    ValueNameDescription
    1SERIAL_CONTROL_FLAG_REPLYSet if this is a reply
    2SERIAL_CONTROL_FLAG_RESPONDSet if the sender wants the receiver to send a response as another SERIAL_CONTROL message
    4SERIAL_CONTROL_FLAG_EXCLUSIVESet if access to the serial port should be removed from whatever driver is currently using it, giving exclusive access to the SERIAL_CONTROL protocol. The port can be handed back by sending a request without this flag set
    8SERIAL_CONTROL_FLAG_BLOCKINGBlock on writes to the serial port
    16SERIAL_CONTROL_FLAG_MULTISend multiple replies until port is drained

    MAV_DISTANCE_SENSOR ​

    Enumeration of distance sensor types

    ValueNameDescription
    0MAV_DISTANCE_SENSOR_LASERLaser rangefinder, e.g. LightWare SF02/F or PulsedLight units
    1MAV_DISTANCE_SENSOR_ULTRASOUNDUltrasound rangefinder, e.g. MaxBotix units
    2MAV_DISTANCE_SENSOR_INFRAREDInfrared rangefinder, e.g. Sharp units
    3MAV_DISTANCE_SENSOR_RADARRadar type, e.g. uLanding units
    4MAV_DISTANCE_SENSOR_UNKNOWNBroken or unknown type, e.g. analog units

    MAV_SENSOR_ORIENTATION ​

    Enumeration of sensor orientation, according to its rotations

    ValueNameDescription
    0MAV_SENSOR_ROTATION_NONERoll: 0, Pitch: 0, Yaw: 0
    1MAV_SENSOR_ROTATION_YAW_45Roll: 0, Pitch: 0, Yaw: 45
    2MAV_SENSOR_ROTATION_YAW_90Roll: 0, Pitch: 0, Yaw: 90
    3MAV_SENSOR_ROTATION_YAW_135Roll: 0, Pitch: 0, Yaw: 135
    4MAV_SENSOR_ROTATION_YAW_180Roll: 0, Pitch: 0, Yaw: 180
    5MAV_SENSOR_ROTATION_YAW_225Roll: 0, Pitch: 0, Yaw: 225
    6MAV_SENSOR_ROTATION_YAW_270Roll: 0, Pitch: 0, Yaw: 270
    7MAV_SENSOR_ROTATION_YAW_315Roll: 0, Pitch: 0, Yaw: 315
    8MAV_SENSOR_ROTATION_ROLL_180Roll: 180, Pitch: 0, Yaw: 0
    9MAV_SENSOR_ROTATION_ROLL_180_YAW_45Roll: 180, Pitch: 0, Yaw: 45
    10MAV_SENSOR_ROTATION_ROLL_180_YAW_90Roll: 180, Pitch: 0, Yaw: 90
    11MAV_SENSOR_ROTATION_ROLL_180_YAW_135Roll: 180, Pitch: 0, Yaw: 135
    12MAV_SENSOR_ROTATION_PITCH_180Roll: 0, Pitch: 180, Yaw: 0
    13MAV_SENSOR_ROTATION_ROLL_180_YAW_225Roll: 180, Pitch: 0, Yaw: 225
    14MAV_SENSOR_ROTATION_ROLL_180_YAW_270Roll: 180, Pitch: 0, Yaw: 270
    15MAV_SENSOR_ROTATION_ROLL_180_YAW_315Roll: 180, Pitch: 0, Yaw: 315
    16MAV_SENSOR_ROTATION_ROLL_90Roll: 90, Pitch: 0, Yaw: 0
    17MAV_SENSOR_ROTATION_ROLL_90_YAW_45Roll: 90, Pitch: 0, Yaw: 45
    18MAV_SENSOR_ROTATION_ROLL_90_YAW_90Roll: 90, Pitch: 0, Yaw: 90
    19MAV_SENSOR_ROTATION_ROLL_90_YAW_135Roll: 90, Pitch: 0, Yaw: 135
    20MAV_SENSOR_ROTATION_ROLL_270Roll: 270, Pitch: 0, Yaw: 0
    21MAV_SENSOR_ROTATION_ROLL_270_YAW_45Roll: 270, Pitch: 0, Yaw: 45
    22MAV_SENSOR_ROTATION_ROLL_270_YAW_90Roll: 270, Pitch: 0, Yaw: 90
    23MAV_SENSOR_ROTATION_ROLL_270_YAW_135Roll: 270, Pitch: 0, Yaw: 135
    24MAV_SENSOR_ROTATION_PITCH_90Roll: 0, Pitch: 90, Yaw: 0
    25MAV_SENSOR_ROTATION_PITCH_270Roll: 0, Pitch: 270, Yaw: 0
    26MAV_SENSOR_ROTATION_PITCH_180_YAW_90Roll: 0, Pitch: 180, Yaw: 90
    27MAV_SENSOR_ROTATION_PITCH_180_YAW_270Roll: 0, Pitch: 180, Yaw: 270
    28MAV_SENSOR_ROTATION_ROLL_90_PITCH_90Roll: 90, Pitch: 90, Yaw: 0
    29MAV_SENSOR_ROTATION_ROLL_180_PITCH_90Roll: 180, Pitch: 90, Yaw: 0
    30MAV_SENSOR_ROTATION_ROLL_270_PITCH_90Roll: 270, Pitch: 90, Yaw: 0
    31MAV_SENSOR_ROTATION_ROLL_90_PITCH_180Roll: 90, Pitch: 180, Yaw: 0
    32MAV_SENSOR_ROTATION_ROLL_270_PITCH_180Roll: 270, Pitch: 180, Yaw: 0
    33MAV_SENSOR_ROTATION_ROLL_90_PITCH_270Roll: 90, Pitch: 270, Yaw: 0
    34MAV_SENSOR_ROTATION_ROLL_180_PITCH_270Roll: 180, Pitch: 270, Yaw: 0
    35MAV_SENSOR_ROTATION_ROLL_270_PITCH_270Roll: 270, Pitch: 270, Yaw: 0
    36MAV_SENSOR_ROTATION_ROLL_90_PITCH_180_YAW_90Roll: 90, Pitch: 180, Yaw: 90
    37MAV_SENSOR_ROTATION_ROLL_90_YAW_270Roll: 90, Pitch: 0, Yaw: 270
    38MAV_SENSOR_ROTATION_ROLL_90_PITCH_68_YAW_293Roll: 90, Pitch: 68, Yaw: 293
    39MAV_SENSOR_ROTATION_PITCH_315Pitch: 315
    40MAV_SENSOR_ROTATION_ROLL_90_PITCH_315Roll: 90, Pitch: 315
    100MAV_SENSOR_ROTATION_CUSTOMCustom orientation

    MAV_PROTOCOL_CAPABILITY ​

    (Bitmask) Bitmask of (optional) autopilot capabilities (64 bit). If a bit is set, the autopilot supports this capability.

    ValueNameDescription
    1MAV_PROTOCOL_CAPABILITY_MISSION_FLOATAutopilot supports the MISSION_ITEM float message type.
    Note that MISSION_ITEM is deprecated, and autopilots should use MISSION_INT instead.
    2MAV_PROTOCOL_CAPABILITY_PARAM_FLOATAutopilot supports the new param float message type.DEPRECATED: Replaced By MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST (2022-03)
    4MAV_PROTOCOL_CAPABILITY_MISSION_INTAutopilot supports MISSION_ITEM_INT scaled integer message type.
    Note that this flag must always be set if missions are supported, because missions must always use MISSION_ITEM_INT (rather than MISSION_ITEM, which is deprecated).
    8MAV_PROTOCOL_CAPABILITY_COMMAND_INTAutopilot supports COMMAND_INT scaled integer message type.
    16MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISEParameter protocol uses byte-wise encoding of parameter values into param_value (float) fields: https://mavlink.io/en/services/parameter.html#parameter-encoding.
    Note that either this flag or MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST should be set if the parameter protocol is supported.
    32MAV_PROTOCOL_CAPABILITY_FTPAutopilot supports the File Transfer Protocol v1: https://mavlink.io/en/services/ftp.html.
    64MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGETAutopilot supports commanding attitude offboard.
    128MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NEDAutopilot supports commanding position and velocity targets in local NED frame.
    256MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INTAutopilot supports commanding position and velocity targets in global scaled integers.
    512MAV_PROTOCOL_CAPABILITY_TERRAINAutopilot supports terrain protocol / data handling.
    1024MAV_PROTOCOL_CAPABILITY_RESERVED3Reserved for future use.
    2048MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATIONAutopilot supports the MAV_CMD_DO_FLIGHTTERMINATION command (flight termination).
    4096MAV_PROTOCOL_CAPABILITY_COMPASS_CALIBRATIONAutopilot supports onboard compass calibration.
    8192MAV_PROTOCOL_CAPABILITY_MAVLINK2Autopilot supports MAVLink version 2.
    16384MAV_PROTOCOL_CAPABILITY_MISSION_FENCEAutopilot supports mission fence protocol.
    32768MAV_PROTOCOL_CAPABILITY_MISSION_RALLYAutopilot supports mission rally point protocol.
    65536MAV_PROTOCOL_CAPABILITY_RESERVED2Reserved for future use.
    131072MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CASTParameter protocol uses C-cast of parameter values to set the param_value (float) fields: https://mavlink.io/en/services/parameter.html#parameter-encoding.
    Note that either this flag or MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISE should be set if the parameter protocol is supported.
    262144MAV_PROTOCOL_CAPABILITY_COMPONENT_IMPLEMENTS_GIMBAL_MANAGERThis component implements/is a gimbal manager. This means the GIMBAL_MANAGER_INFORMATION, and other messages can be requested.
    524288MAV_PROTOCOL_CAPABILITY_COMPONENT_ACCEPTS_GCS_CONTROLComponent supports locking control to a particular GCS independent of its system (via MAV_CMD_REQUEST_OPERATOR_CONTROL).

    MAV_MISSION_TYPE ​

    Type of mission items being requested/sent in mission protocol.

    ValueNameDescription
    0MAV_MISSION_TYPE_MISSIONItems are mission commands for main mission.
    1MAV_MISSION_TYPE_FENCESpecifies GeoFence area(s). Items are MAV_CMD_NAV_FENCE_ GeoFence items.
    2MAV_MISSION_TYPE_RALLYSpecifies the rally points for the vehicle. Rally points are alternative RTL points. Items are MAV_CMD_NAV_RALLY_POINT rally point items.
    255MAV_MISSION_TYPE_ALLOnly used in MISSION_CLEAR_ALL to clear all mission types.

    MAV_ESTIMATOR_TYPE ​

    Enumeration of estimator types

    ValueNameDescription
    0MAV_ESTIMATOR_TYPE_UNKNOWNUnknown type of the estimator.
    1MAV_ESTIMATOR_TYPE_NAIVEThis is a naive estimator without any real covariance feedback.
    2MAV_ESTIMATOR_TYPE_VISIONComputer vision based estimate. Might be up to scale.
    3MAV_ESTIMATOR_TYPE_VIOVisual-inertial estimate.
    4MAV_ESTIMATOR_TYPE_GPSPlain GPS estimate.
    5MAV_ESTIMATOR_TYPE_GPS_INSEstimator integrating GPS and inertial sensing.
    6MAV_ESTIMATOR_TYPE_MOCAPEstimate from external motion capturing system.
    7MAV_ESTIMATOR_TYPE_LIDAREstimator based on lidar sensor input.
    8MAV_ESTIMATOR_TYPE_AUTOPILOTEstimator on autopilot.

    MAV_BATTERY_TYPE ​

    Enumeration of battery types

    ValueNameDescription
    0MAV_BATTERY_TYPE_UNKNOWNNot specified.
    1MAV_BATTERY_TYPE_LIPOLithium polymer battery
    2MAV_BATTERY_TYPE_LIFELithium-iron-phosphate battery
    3MAV_BATTERY_TYPE_LIONLithium-ION battery
    4MAV_BATTERY_TYPE_NIMHNickel metal hydride battery

    MAV_BATTERY_FUNCTION ​

    Enumeration of battery functions

    ValueNameDescription
    0MAV_BATTERY_FUNCTION_UNKNOWNBattery function is unknown
    1MAV_BATTERY_FUNCTION_ALLBattery supports all flight systems
    2MAV_BATTERY_FUNCTION_PROPULSIONBattery for the propulsion system
    3MAV_BATTERY_FUNCTION_AVIONICSAvionics battery
    4MAV_BATTERY_FUNCTION_PAYLOADPayload battery

    MAV_BATTERY_CHARGE_STATE ​

    Enumeration for battery charge states.

    ValueNameDescription
    0MAV_BATTERY_CHARGE_STATE_UNDEFINEDLow battery state is not provided
    1MAV_BATTERY_CHARGE_STATE_OKBattery is not in low state. Normal operation.
    2MAV_BATTERY_CHARGE_STATE_LOWBattery state is low, warn and monitor close.
    3MAV_BATTERY_CHARGE_STATE_CRITICALBattery state is critical, return or abort immediately.
    4MAV_BATTERY_CHARGE_STATE_EMERGENCYBattery state is too low for ordinary abort sequence. Perform fastest possible emergency stop to prevent damage.
    5MAV_BATTERY_CHARGE_STATE_FAILEDBattery failed, damage unavoidable. Possible causes (faults) are listed in MAV_BATTERY_FAULT.
    6MAV_BATTERY_CHARGE_STATE_UNHEALTHYBattery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in MAV_BATTERY_FAULT.
    7MAV_BATTERY_CHARGE_STATE_CHARGINGBattery is charging.

    MAV_BATTERY_MODE ​

    Battery mode. Note, the normal operation mode (i.e. when flying) should be reported as MAV_BATTERY_MODE_UNKNOWN to allow message trimming in normal flight.

    ValueNameDescription
    0MAV_BATTERY_MODE_UNKNOWNBattery mode not supported/unknown battery mode/normal operation.
    1MAV_BATTERY_MODE_AUTO_DISCHARGINGBattery is auto discharging (towards storage level).
    2MAV_BATTERY_MODE_HOT_SWAPBattery in hot-swap mode (current limited to prevent spikes that might damage sensitive electrical circuits).

    MAV_BATTERY_FAULT ​

    (Bitmask) Smart battery supply status/fault flags (bitmask) for health indication. The battery must also report either MAV_BATTERY_CHARGE_STATE_FAILED or MAV_BATTERY_CHARGE_STATE_UNHEALTHY if any of these are set.

    ValueNameDescription
    1MAV_BATTERY_FAULT_DEEP_DISCHARGEBattery has deep discharged.
    2MAV_BATTERY_FAULT_SPIKESVoltage spikes.
    4MAV_BATTERY_FAULT_CELL_FAILOne or more cells have failed. Battery should also report MAV_BATTERY_CHARGE_STATE_FAILE (and should not be used).
    8MAV_BATTERY_FAULT_OVER_CURRENTOver-current fault.
    16MAV_BATTERY_FAULT_OVER_TEMPERATUREOver-temperature fault.
    32MAV_BATTERY_FAULT_UNDER_TEMPERATUREUnder-temperature fault.
    64MAV_BATTERY_FAULT_INCOMPATIBLE_VOLTAGEVehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage).
    128MAV_BATTERY_FAULT_INCOMPATIBLE_FIRMWAREBattery firmware is not compatible with current autopilot firmware.
    256BATTERY_FAULT_INCOMPATIBLE_CELLS_CONFIGURATIONBattery is not compatible due to cell configuration (e.g. 5s1p when vehicle requires 6s).

    MAV_FUEL_TYPE ​

    Fuel types for use in FUEL_TYPE. Fuel types specify the units for the maximum, available and consumed fuel, and for the flow rates.

    ValueNameDescription
    0MAV_FUEL_TYPE_UNKNOWNNot specified. Fuel levels are normalized (i.e. maximum is 1, and other levels are relative to 1).
    1MAV_FUEL_TYPE_LIQUIDA generic liquid fuel. Fuel levels are in millilitres (ml). Fuel rates are in millilitres/second.
    2MAV_FUEL_TYPE_GASA gas tank. Fuel levels are in kilo-Pascal (kPa), and flow rates are in milliliters per second (ml/s).

    MAV_GENERATOR_STATUS_FLAG ​

    (Bitmask) Flags to report status/failure cases for a power generator (used in GENERATOR_STATUS). Note that FAULTS are conditions that cause the generator to fail. Warnings are conditions that require attention before the next use (they indicate the system is not operating properly).

    ValueNameDescription
    1MAV_GENERATOR_STATUS_FLAG_OFFGenerator is off.
    2MAV_GENERATOR_STATUS_FLAG_READYGenerator is ready to start generating power.
    4MAV_GENERATOR_STATUS_FLAG_GENERATINGGenerator is generating power.
    8MAV_GENERATOR_STATUS_FLAG_CHARGINGGenerator is charging the batteries (generating enough power to charge and provide the load).
    16MAV_GENERATOR_STATUS_FLAG_REDUCED_POWERGenerator is operating at a reduced maximum power.
    32MAV_GENERATOR_STATUS_FLAG_MAXPOWERGenerator is providing the maximum output.
    64MAV_GENERATOR_STATUS_FLAG_OVERTEMP_WARNINGGenerator is near the maximum operating temperature, cooling is insufficient.
    128MAV_GENERATOR_STATUS_FLAG_OVERTEMP_FAULTGenerator hit the maximum operating temperature and shutdown.
    256MAV_GENERATOR_STATUS_FLAG_ELECTRONICS_OVERTEMP_WARNINGPower electronics are near the maximum operating temperature, cooling is insufficient.
    512MAV_GENERATOR_STATUS_FLAG_ELECTRONICS_OVERTEMP_FAULTPower electronics hit the maximum operating temperature and shutdown.
    1024MAV_GENERATOR_STATUS_FLAG_ELECTRONICS_FAULTPower electronics experienced a fault and shutdown.
    2048MAV_GENERATOR_STATUS_FLAG_POWERSOURCE_FAULTThe power source supplying the generator failed e.g. mechanical generator stopped, tether is no longer providing power, solar cell is in shade, hydrogen reaction no longer happening.
    4096MAV_GENERATOR_STATUS_FLAG_COMMUNICATION_WARNINGGenerator controller having communication problems.
    8192MAV_GENERATOR_STATUS_FLAG_COOLING_WARNINGPower electronic or generator cooling system error.
    16384MAV_GENERATOR_STATUS_FLAG_POWER_RAIL_FAULTGenerator controller power rail experienced a fault.
    32768MAV_GENERATOR_STATUS_FLAG_OVERCURRENT_FAULTGenerator controller exceeded the overcurrent threshold and shutdown to prevent damage.
    65536MAV_GENERATOR_STATUS_FLAG_BATTERY_OVERCHARGE_CURRENT_FAULTGenerator controller detected a high current going into the batteries and shutdown to prevent battery damage.
    131072MAV_GENERATOR_STATUS_FLAG_OVERVOLTAGE_FAULTGenerator controller exceeded it's overvoltage threshold and shutdown to prevent it exceeding the voltage rating.
    262144MAV_GENERATOR_STATUS_FLAG_BATTERY_UNDERVOLT_FAULTBatteries are under voltage (generator will not start).
    524288MAV_GENERATOR_STATUS_FLAG_START_INHIBITEDGenerator start is inhibited by e.g. a safety switch.
    1048576MAV_GENERATOR_STATUS_FLAG_MAINTENANCE_REQUIREDGenerator requires maintenance.
    2097152MAV_GENERATOR_STATUS_FLAG_WARMING_UPGenerator is not ready to generate yet.
    4194304MAV_GENERATOR_STATUS_FLAG_IDLEGenerator is idle.

    MAV_VTOL_STATE ​

    Enumeration of VTOL states

    ValueNameDescription
    0MAV_VTOL_STATE_UNDEFINEDMAV is not configured as VTOL
    1MAV_VTOL_STATE_TRANSITION_TO_FWVTOL is in transition from multicopter to fixed-wing
    2MAV_VTOL_STATE_TRANSITION_TO_MCVTOL is in transition from fixed-wing to multicopter
    3MAV_VTOL_STATE_MCVTOL is in multicopter state
    4MAV_VTOL_STATE_FWVTOL is in fixed-wing state

    MAV_LANDED_STATE ​

    Enumeration of landed detector states

    ValueNameDescription
    0MAV_LANDED_STATE_UNDEFINEDMAV landed state is unknown
    1MAV_LANDED_STATE_ON_GROUNDMAV is landed (on ground)
    2MAV_LANDED_STATE_IN_AIRMAV is in air
    3MAV_LANDED_STATE_TAKEOFFMAV currently taking off
    4MAV_LANDED_STATE_LANDINGMAV currently landing

    ADSB_ALTITUDE_TYPE ​

    Enumeration of the ADSB altimeter types

    ValueNameDescription
    0ADSB_ALTITUDE_TYPE_PRESSURE_QNHAltitude reported from a Baro source using QNH reference
    1ADSB_ALTITUDE_TYPE_GEOMETRICAltitude reported from a GNSS source

    ADSB_EMITTER_TYPE ​

    ADSB classification for the type of vehicle emitting the transponder signal

    ValueNameDescription
    0ADSB_EMITTER_TYPE_NO_INFO
    1ADSB_EMITTER_TYPE_LIGHT
    2ADSB_EMITTER_TYPE_SMALL
    3ADSB_EMITTER_TYPE_LARGE
    4ADSB_EMITTER_TYPE_HIGH_VORTEX_LARGE
    5ADSB_EMITTER_TYPE_HEAVY
    6ADSB_EMITTER_TYPE_HIGHLY_MANUV
    7ADSB_EMITTER_TYPE_ROTOCRAFT
    8ADSB_EMITTER_TYPE_UNASSIGNED
    9ADSB_EMITTER_TYPE_GLIDER
    10ADSB_EMITTER_TYPE_LIGHTER_AIR
    11ADSB_EMITTER_TYPE_PARACHUTE
    12ADSB_EMITTER_TYPE_ULTRA_LIGHT
    13ADSB_EMITTER_TYPE_UNASSIGNED2
    14ADSB_EMITTER_TYPE_UAV
    15ADSB_EMITTER_TYPE_SPACE
    16ADSB_EMITTER_TYPE_UNASSGINED3
    17ADSB_EMITTER_TYPE_EMERGENCY_SURFACE
    18ADSB_EMITTER_TYPE_SERVICE_SURFACE
    19ADSB_EMITTER_TYPE_POINT_OBSTACLE

    ADSB_FLAGS ​

    (Bitmask) These flags indicate status such as data validity of each data source. Set = data valid

    ValueNameDescription
    1ADSB_FLAGS_VALID_COORDS
    2ADSB_FLAGS_VALID_ALTITUDE
    4ADSB_FLAGS_VALID_HEADING
    8ADSB_FLAGS_VALID_VELOCITY
    16ADSB_FLAGS_VALID_CALLSIGN
    32ADSB_FLAGS_VALID_SQUAWK
    64ADSB_FLAGS_SIMULATED
    128ADSB_FLAGS_VERTICAL_VELOCITY_VALID
    256ADSB_FLAGS_BARO_VALID
    32768ADSB_FLAGS_SOURCE_UAT

    MAV_DO_REPOSITION_FLAGS ​

    (Bitmask) Bitmap of options for the MAV_CMD_DO_REPOSITION

    ValueNameDescription
    1MAV_DO_REPOSITION_FLAGS_CHANGE_MODEThe aircraft should immediately transition into guided. This should not be set for follow me applications

    SPEED_TYPE ​

    Speed setpoint types used in MAV_CMD_DO_CHANGE_SPEED

    ValueNameDescription
    0SPEED_TYPE_AIRSPEEDAirspeed
    1SPEED_TYPE_GROUNDSPEEDGroundspeed
    2SPEED_TYPE_CLIMB_SPEEDClimb speed
    3SPEED_TYPE_DESCENT_SPEEDDescent speed

    ESTIMATOR_STATUS_FLAGS ​

    (Bitmask) Flags in ESTIMATOR_STATUS message

    ValueNameDescription
    1ESTIMATOR_ATTITUDETrue if the attitude estimate is good
    2ESTIMATOR_VELOCITY_HORIZTrue if the horizontal velocity estimate is good
    4ESTIMATOR_VELOCITY_VERTTrue if the vertical velocity estimate is good
    8ESTIMATOR_POS_HORIZ_RELTrue if the horizontal position (relative) estimate is good
    16ESTIMATOR_POS_HORIZ_ABSTrue if the horizontal position (absolute) estimate is good
    32ESTIMATOR_POS_VERT_ABSTrue if the vertical position (absolute) estimate is good
    64ESTIMATOR_POS_VERT_AGLTrue if the vertical position (above ground) estimate is good
    128ESTIMATOR_CONST_POS_MODETrue if the EKF is in a constant position mode and is not using external measurements (eg GPS or optical flow)
    256ESTIMATOR_PRED_POS_HORIZ_RELTrue if the EKF has sufficient data to enter a mode that will provide a (relative) position estimate
    512ESTIMATOR_PRED_POS_HORIZ_ABSTrue if the EKF has sufficient data to enter a mode that will provide a (absolute) position estimate
    1024ESTIMATOR_GPS_GLITCHTrue if the EKF has detected a GPS glitch
    2048ESTIMATOR_ACCEL_ERRORTrue if the EKF has detected bad accelerometer data

    MOTOR_TEST_ORDER ​

    Sequence that motors are tested when using MAV_CMD_DO_MOTOR_TEST.

    ValueNameDescription
    0MOTOR_TEST_ORDER_DEFAULTDefault autopilot motor test method.
    1MOTOR_TEST_ORDER_SEQUENCEMotor numbers are specified as their index in a predefined vehicle-specific sequence.
    2MOTOR_TEST_ORDER_BOARDMotor numbers are specified as the output as labeled on the board.

    MOTOR_TEST_THROTTLE_TYPE ​

    Defines how throttle value is represented in MAV_CMD_DO_MOTOR_TEST.

    ValueNameDescription
    0MOTOR_TEST_THROTTLE_PERCENTThrottle as a percentage (0 ~ 100)
    1MOTOR_TEST_THROTTLE_PWMThrottle as an absolute PWM value (normally in range of 1000~2000).
    2MOTOR_TEST_THROTTLE_PILOTThrottle pass-through from pilot's transmitter.
    3MOTOR_TEST_COMPASS_CALPer-motor compass calibration test.

    GPS_INPUT_IGNORE_FLAGS ​

    (Bitmask)

    ValueNameDescription
    1GPS_INPUT_IGNORE_FLAG_ALTignore altitude field
    2GPS_INPUT_IGNORE_FLAG_HDOPignore hdop field
    4GPS_INPUT_IGNORE_FLAG_VDOPignore vdop field
    8GPS_INPUT_IGNORE_FLAG_VEL_HORIZignore horizontal velocity field (vn and ve)
    16GPS_INPUT_IGNORE_FLAG_VEL_VERTignore vertical velocity field (vd)
    32GPS_INPUT_IGNORE_FLAG_SPEED_ACCURACYignore speed accuracy field
    64GPS_INPUT_IGNORE_FLAG_HORIZONTAL_ACCURACYignore horizontal accuracy field
    128GPS_INPUT_IGNORE_FLAG_VERTICAL_ACCURACYignore vertical accuracy field

    MAV_COLLISION_ACTION ​

    Possible actions an aircraft can take to avoid a collision.

    ValueNameDescription
    0MAV_COLLISION_ACTION_NONEIgnore any potential collisions
    1MAV_COLLISION_ACTION_REPORTReport potential collision
    2MAV_COLLISION_ACTION_ASCEND_OR_DESCENDAscend or Descend to avoid threat
    3MAV_COLLISION_ACTION_MOVE_HORIZONTALLYMove horizontally to avoid threat
    4MAV_COLLISION_ACTION_MOVE_PERPENDICULARAircraft to move perpendicular to the collision's velocity vector
    5MAV_COLLISION_ACTION_RTLAircraft to fly directly back to its launch point
    6MAV_COLLISION_ACTION_HOVERAircraft to stop in place

    MAV_COLLISION_THREAT_LEVEL ​

    Aircraft-rated danger from this threat.

    ValueNameDescription
    0MAV_COLLISION_THREAT_LEVEL_NONENot a threat
    1MAV_COLLISION_THREAT_LEVEL_LOWCraft is mildly concerned about this threat
    2MAV_COLLISION_THREAT_LEVEL_HIGHCraft is panicking, and may take actions to avoid threat

    MAV_COLLISION_SRC ​

    Source of information about this collision.

    ValueNameDescription
    0MAV_COLLISION_SRC_ADSBID field references ADSB_VEHICLE packets
    1MAV_COLLISION_SRC_MAVLINK_GPS_GLOBAL_INTID field references MAVLink SRC ID

    GPS_FIX_TYPE ​

    Type of GPS fix

    ValueNameDescription
    0GPS_FIX_TYPE_NO_GPSNo GPS connected
    1GPS_FIX_TYPE_NO_FIXNo position information, GPS is connected
    2GPS_FIX_TYPE_2D_FIX2D position
    3GPS_FIX_TYPE_3D_FIX3D position
    4GPS_FIX_TYPE_DGPSDGPS/SBAS aided 3D position
    5GPS_FIX_TYPE_RTK_FLOATRTK float, 3D position
    6GPS_FIX_TYPE_RTK_FIXEDRTK Fixed, 3D position
    7GPS_FIX_TYPE_STATICStatic fixed, typically used for base stations
    8GPS_FIX_TYPE_PPPPPP, 3D position.

    RTK_BASELINE_COORDINATE_SYSTEM ​

    RTK GPS baseline coordinate system, used for RTK corrections

    ValueNameDescription
    0RTK_BASELINE_COORDINATE_SYSTEM_ECEFEarth-centered, Earth-fixed
    1RTK_BASELINE_COORDINATE_SYSTEM_NEDRTK basestation centered, north, east, down

    LANDING_TARGET_TYPE ​

    Type of landing target

    ValueNameDescription
    0LANDING_TARGET_TYPE_LIGHT_BEACONLanding target signaled by light beacon (ex: IR-LOCK)
    1LANDING_TARGET_TYPE_RADIO_BEACONLanding target signaled by radio beacon (ex: ILS, NDB)
    2LANDING_TARGET_TYPE_VISION_FIDUCIALLanding target represented by a fiducial marker (ex: ARTag)
    3LANDING_TARGET_TYPE_VISION_OTHERLanding target represented by a pre-defined visual shape/feature (ex: X-marker, H-marker, square)

    VTOL_TRANSITION_HEADING ​

    Direction of VTOL transition

    ValueNameDescription
    0VTOL_TRANSITION_HEADING_VEHICLE_DEFAULTRespect the heading configuration of the vehicle.
    1VTOL_TRANSITION_HEADING_NEXT_WAYPOINTUse the heading pointing towards the next waypoint.
    2VTOL_TRANSITION_HEADING_TAKEOFFUse the heading on takeoff (while sitting on the ground).
    3VTOL_TRANSITION_HEADING_SPECIFIEDUse the specified heading in parameter 4.
    4VTOL_TRANSITION_HEADING_ANYUse the current heading when reaching takeoff altitude (potentially facing the wind when weather-vaning is active).

    CAMERA_CAP_FLAGS ​

    (Bitmask) Camera capability flags (Bitmap)

    ValueNameDescription
    1CAMERA_CAP_FLAGS_CAPTURE_VIDEOCamera is able to record video
    2CAMERA_CAP_FLAGS_CAPTURE_IMAGECamera is able to capture images
    4CAMERA_CAP_FLAGS_HAS_MODESCamera has separate Video and Image/Photo modes (MAV_CMD_SET_CAMERA_MODE)
    8CAMERA_CAP_FLAGS_CAN_CAPTURE_IMAGE_IN_VIDEO_MODECamera can capture images while in video mode
    16CAMERA_CAP_FLAGS_CAN_CAPTURE_VIDEO_IN_IMAGE_MODECamera can capture videos while in Photo/Image mode
    32CAMERA_CAP_FLAGS_HAS_IMAGE_SURVEY_MODECamera has image survey mode (MAV_CMD_SET_CAMERA_MODE)
    64CAMERA_CAP_FLAGS_HAS_BASIC_ZOOMCamera has basic zoom control (MAV_CMD_SET_CAMERA_ZOOM)
    128CAMERA_CAP_FLAGS_HAS_BASIC_FOCUSCamera has basic focus control (MAV_CMD_SET_CAMERA_FOCUS)
    256CAMERA_CAP_FLAGS_HAS_VIDEO_STREAMCamera has video streaming capabilities (request VIDEO_STREAM_INFORMATION with MAV_CMD_REQUEST_MESSAGE for video streaming info)
    512CAMERA_CAP_FLAGS_HAS_TRACKING_POINTCamera supports tracking of a point on the camera view.
    1024CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLECamera supports tracking of a selection rectangle on the camera view.
    2048CAMERA_CAP_FLAGS_HAS_TRACKING_GEO_STATUSCamera supports tracking geo status (CAMERA_TRACKING_GEO_STATUS).
    4096CAMERA_CAP_FLAGS_HAS_THERMAL_RANGECamera supports absolute thermal range (request CAMERA_THERMAL_RANGE with MAV_CMD_REQUEST_MESSAGE) (WIP).

    VIDEO_STREAM_STATUS_FLAGS ​

    (Bitmask) Stream status flags (Bitmap)

    ValueNameDescription
    1VIDEO_STREAM_STATUS_FLAGS_RUNNINGStream is active (running)
    2VIDEO_STREAM_STATUS_FLAGS_THERMALStream is thermal imaging
    4VIDEO_STREAM_STATUS_FLAGS_THERMAL_RANGE_ENABLEDStream can report absolute thermal range (see CAMERA_THERMAL_RANGE). (WIP).

    VIDEO_STREAM_TYPE ​

    Video stream types

    ValueNameDescription
    0VIDEO_STREAM_TYPE_RTSPStream is RTSP
    1VIDEO_STREAM_TYPE_RTPUDPStream is RTP UDP (URI gives the port number)
    2VIDEO_STREAM_TYPE_TCP_MPEGStream is MPEG on TCP
    3VIDEO_STREAM_TYPE_MPEG_TSStream is MPEG TS (URI gives the port number)

    VIDEO_STREAM_ENCODING ​

    Video stream encodings

    ValueNameDescription
    0VIDEO_STREAM_ENCODING_UNKNOWNStream encoding is unknown
    1VIDEO_STREAM_ENCODING_H264Stream encoding is H.264
    2VIDEO_STREAM_ENCODING_H265Stream encoding is H.265

    CAMERA_TRACKING_STATUS_FLAGS ​

    Camera tracking status flags

    ValueNameDescription
    0CAMERA_TRACKING_STATUS_FLAGS_IDLECamera is not tracking
    1CAMERA_TRACKING_STATUS_FLAGS_ACTIVECamera is tracking
    2CAMERA_TRACKING_STATUS_FLAGS_ERRORCamera tracking in error state

    CAMERA_TRACKING_MODE ​

    Camera tracking modes

    ValueNameDescription
    0CAMERA_TRACKING_MODE_NONENot tracking
    1CAMERA_TRACKING_MODE_POINTTarget is a point
    2CAMERA_TRACKING_MODE_RECTANGLETarget is a rectangle

    CAMERA_TRACKING_TARGET_DATA ​

    (Bitmask) Camera tracking target data (shows where tracked target is within image)

    ValueNameDescription
    0CAMERA_TRACKING_TARGET_DATA_NONENo target data
    1CAMERA_TRACKING_TARGET_DATA_EMBEDDEDTarget data embedded in image data (proprietary)
    2CAMERA_TRACKING_TARGET_DATA_RENDEREDTarget data rendered in image
    4CAMERA_TRACKING_TARGET_DATA_IN_STATUSTarget data within status message (Point or Rectangle)

    CAMERA_ZOOM_TYPE ​

    Zoom types for MAV_CMD_SET_CAMERA_ZOOM

    ValueNameDescription
    0ZOOM_TYPE_STEPZoom one step increment (-1 for wide, 1 for tele)
    1ZOOM_TYPE_CONTINUOUSContinuous zoom up/down until stopped (-1 for wide, 1 for tele, 0 to stop zooming)
    2ZOOM_TYPE_RANGEZoom value as proportion of full camera range (a percentage value between 0.0 and 100.0)
    3ZOOM_TYPE_FOCAL_LENGTHZoom value/variable focal length in millimetres. Note that there is no message to get the valid zoom range of the camera, so this can type can only be used for cameras where the zoom range is known (implying that this cannot reliably be used in a GCS for an arbitrary camera)
    4ZOOM_TYPE_HORIZONTAL_FOVZoom value as horizontal field of view in degrees.

    SET_FOCUS_TYPE ​

    Focus types for MAV_CMD_SET_CAMERA_FOCUS

    ValueNameDescription
    0FOCUS_TYPE_STEPFocus one step increment (-1 for focusing in, 1 for focusing out towards infinity).
    1FOCUS_TYPE_CONTINUOUSContinuous focus up/down until stopped (-1 for focusing in, 1 for focusing out towards infinity, 0 to stop focusing)
    2FOCUS_TYPE_RANGEFocus value as proportion of full camera focus range (a value between 0.0 and 100.0)
    3FOCUS_TYPE_METERSFocus value in metres. Note that there is no message to get the valid focus range of the camera, so this can type can only be used for cameras where the range is known (implying that this cannot reliably be used in a GCS for an arbitrary camera).
    4FOCUS_TYPE_AUTOFocus automatically.
    5FOCUS_TYPE_AUTO_SINGLESingle auto focus. Mainly used for still pictures. Usually abbreviated as AF-S.
    6FOCUS_TYPE_AUTO_CONTINUOUSContinuous auto focus. Mainly used for dynamic scenes. Abbreviated as AF-C.

    CAMERA_SOURCE ​

    Camera sources for MAV_CMD_SET_CAMERA_SOURCE

    ValueNameDescription
    0CAMERA_SOURCE_DEFAULTDefault camera source.
    1CAMERA_SOURCE_RGBRGB camera source.
    2CAMERA_SOURCE_IRIR camera source.
    3CAMERA_SOURCE_NDVINDVI camera source.

    PARAM_ACK ​

    Result from PARAM_EXT_SET message (or a PARAM_SET within a transaction).

    ValueNameDescription
    0PARAM_ACK_ACCEPTEDParameter value ACCEPTED and SET
    1PARAM_ACK_VALUE_UNSUPPORTEDParameter value UNKNOWN/UNSUPPORTED
    2PARAM_ACK_FAILEDParameter failed to set
    3PARAM_ACK_IN_PROGRESSParameter value received but not yet set/accepted. A subsequent PARAM_ACK_TRANSACTION or PARAM_EXT_ACK with the final result will follow once operation is completed. This is returned immediately for parameters that take longer to set, indicating that the the parameter was received and does not need to be resent.

    CAMERA_MODE ​

    Camera Modes.

    ValueNameDescription
    0CAMERA_MODE_IMAGECamera is in image/photo capture mode.
    1CAMERA_MODE_VIDEOCamera is in video capture mode.
    2CAMERA_MODE_IMAGE_SURVEYCamera is in image survey capture mode. It allows for camera controller to do specific settings for surveys.

    MAV_ARM_AUTH_DENIED_REASON ​

    ValueNameDescription
    0MAV_ARM_AUTH_DENIED_REASON_GENERICNot a specific reason
    1MAV_ARM_AUTH_DENIED_REASON_NONEAuthorizer will send the error as string to GCS
    2MAV_ARM_AUTH_DENIED_REASON_INVALID_WAYPOINTAt least one waypoint have a invalid value
    3MAV_ARM_AUTH_DENIED_REASON_TIMEOUTTimeout in the authorizer process(in case it depends on network)
    4MAV_ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USEAirspace of the mission in use by another vehicle, second result parameter can have the waypoint id that caused it to be denied.
    5MAV_ARM_AUTH_DENIED_REASON_BAD_WEATHERWeather is not good to fly

    RC_TYPE ​

    RC type. Used in MAV_CMD_START_RX_PAIR.

    ValueNameDescription
    0RC_TYPE_SPEKTRUMSpektrum
    1RC_TYPE_CRSFCRSF

    RC_SUB_TYPE ​

    RC sub-type of types defined in RC_TYPE. Used in MAV_CMD_START_RX_PAIR. Ignored if value does not correspond to the set RC_TYPE.

    ValueNameDescription
    0RC_SUB_TYPE_SPEKTRUM_DSM2Spektrum DSM2
    1RC_SUB_TYPE_SPEKTRUM_DSMXSpektrum DSMX
    2RC_SUB_TYPE_SPEKTRUM_DSMX8Spektrum DSMX8

    POSITION_TARGET_TYPEMASK ​

    (Bitmask) Bitmap to indicate which dimensions should be ignored by the vehicle: a value of 0b0000000000000000 or 0b0000001000000000 indicates that none of the setpoint dimensions should be ignored. If bit 9 is set the floats afx afy afz should be interpreted as force instead of acceleration.

    ValueNameDescription
    1POSITION_TARGET_TYPEMASK_X_IGNOREIgnore position x
    2POSITION_TARGET_TYPEMASK_Y_IGNOREIgnore position y
    4POSITION_TARGET_TYPEMASK_Z_IGNOREIgnore position z
    8POSITION_TARGET_TYPEMASK_VX_IGNOREIgnore velocity x
    16POSITION_TARGET_TYPEMASK_VY_IGNOREIgnore velocity y
    32POSITION_TARGET_TYPEMASK_VZ_IGNOREIgnore velocity z
    64POSITION_TARGET_TYPEMASK_AX_IGNOREIgnore acceleration x
    128POSITION_TARGET_TYPEMASK_AY_IGNOREIgnore acceleration y
    256POSITION_TARGET_TYPEMASK_AZ_IGNOREIgnore acceleration z
    512POSITION_TARGET_TYPEMASK_FORCE_SETUse force instead of acceleration
    1024POSITION_TARGET_TYPEMASK_YAW_IGNOREIgnore yaw
    2048POSITION_TARGET_TYPEMASK_YAW_RATE_IGNOREIgnore yaw rate

    ATTITUDE_TARGET_TYPEMASK ​

    (Bitmask) Bitmap to indicate which dimensions should be ignored by the vehicle: a value of 0b00000000 indicates that none of the setpoint dimensions should be ignored.

    ValueNameDescription
    1ATTITUDE_TARGET_TYPEMASK_BODY_ROLL_RATE_IGNOREIgnore body roll rate
    2ATTITUDE_TARGET_TYPEMASK_BODY_PITCH_RATE_IGNOREIgnore body pitch rate
    4ATTITUDE_TARGET_TYPEMASK_BODY_YAW_RATE_IGNOREIgnore body yaw rate
    32ATTITUDE_TARGET_TYPEMASK_THRUST_BODY_SETUse 3D body thrust setpoint instead of throttle
    64ATTITUDE_TARGET_TYPEMASK_THROTTLE_IGNOREIgnore throttle
    128ATTITUDE_TARGET_TYPEMASK_ATTITUDE_IGNOREIgnore attitude

    UTM_FLIGHT_STATE ​

    Airborne status of UAS.

    ValueNameDescription
    1UTM_FLIGHT_STATE_UNKNOWNThe flight state can't be determined.
    2UTM_FLIGHT_STATE_GROUNDUAS on ground.
    3UTM_FLIGHT_STATE_AIRBORNEUAS airborne.
    16UTM_FLIGHT_STATE_EMERGENCYUAS is in an emergency flight state.
    32UTM_FLIGHT_STATE_NOCTRLUAS has no active controls.

    UTM_DATA_AVAIL_FLAGS ​

    (Bitmask) Flags for the global position report.

    ValueNameDescription
    1UTM_DATA_AVAIL_FLAGS_TIME_VALIDThe field time contains valid data.
    2UTM_DATA_AVAIL_FLAGS_UAS_ID_AVAILABLEThe field uas_id contains valid data.
    4UTM_DATA_AVAIL_FLAGS_POSITION_AVAILABLEThe fields lat, lon and h_acc contain valid data.
    8UTM_DATA_AVAIL_FLAGS_ALTITUDE_AVAILABLEThe fields alt and v_acc contain valid data.
    16UTM_DATA_AVAIL_FLAGS_RELATIVE_ALTITUDE_AVAILABLEThe field relative_alt contains valid data.
    32UTM_DATA_AVAIL_FLAGS_HORIZONTAL_VELO_AVAILABLEThe fields vx and vy contain valid data.
    64UTM_DATA_AVAIL_FLAGS_VERTICAL_VELO_AVAILABLEThe field vz contains valid data.
    128UTM_DATA_AVAIL_FLAGS_NEXT_WAYPOINT_AVAILABLEThe fields next_lat, next_lon and next_alt contain valid data.

    CELLULAR_STATUS_FLAG ​

    These flags encode the cellular network status

    ValueNameDescription
    0CELLULAR_STATUS_FLAG_UNKNOWNState unknown or not reportable.
    1CELLULAR_STATUS_FLAG_FAILEDModem is unusable
    2CELLULAR_STATUS_FLAG_INITIALIZINGModem is being initialized
    3CELLULAR_STATUS_FLAG_LOCKEDModem is locked
    4CELLULAR_STATUS_FLAG_DISABLEDModem is not enabled and is powered down
    5CELLULAR_STATUS_FLAG_DISABLINGModem is currently transitioning to the CELLULAR_STATUS_FLAG_DISABLED state
    6CELLULAR_STATUS_FLAG_ENABLINGModem is currently transitioning to the CELLULAR_STATUS_FLAG_ENABLED state
    7CELLULAR_STATUS_FLAG_ENABLEDModem is enabled and powered on but not registered with a network provider and not available for data connections
    8CELLULAR_STATUS_FLAG_SEARCHINGModem is searching for a network provider to register
    9CELLULAR_STATUS_FLAG_REGISTEREDModem is registered with a network provider, and data connections and messaging may be available for use
    10CELLULAR_STATUS_FLAG_DISCONNECTINGModem is disconnecting and deactivating the last active packet data bearer. This state will not be entered if more than one packet data bearer is active and one of the active bearers is deactivated
    11CELLULAR_STATUS_FLAG_CONNECTINGModem is activating and connecting the first packet data bearer. Subsequent bearer activations when another bearer is already active do not cause this state to be entered
    12CELLULAR_STATUS_FLAG_CONNECTEDOne or more packet data bearers is active and connected

    CELLULAR_NETWORK_FAILED_REASON ​

    These flags are used to diagnose the failure state of CELLULAR_STATUS

    ValueNameDescription
    0CELLULAR_NETWORK_FAILED_REASON_NONENo error
    1CELLULAR_NETWORK_FAILED_REASON_UNKNOWNError state is unknown
    2CELLULAR_NETWORK_FAILED_REASON_SIM_MISSINGSIM is required for the modem but missing
    3CELLULAR_NETWORK_FAILED_REASON_SIM_ERRORSIM is available, but not usable for connection

    CELLULAR_NETWORK_RADIO_TYPE ​

    Cellular network radio type

    ValueNameDescription
    0CELLULAR_NETWORK_RADIO_TYPE_NONE
    1CELLULAR_NETWORK_RADIO_TYPE_GSM
    2CELLULAR_NETWORK_RADIO_TYPE_CDMA
    3CELLULAR_NETWORK_RADIO_TYPE_WCDMA
    4CELLULAR_NETWORK_RADIO_TYPE_LTE

    PRECISION_LAND_MODE ​

    Precision land modes (used in MAV_CMD_NAV_LAND).

    ValueNameDescription
    0PRECISION_LAND_MODE_DISABLEDNormal (non-precision) landing.
    1PRECISION_LAND_MODE_OPPORTUNISTICUse precision landing if beacon detected when land command accepted, otherwise land normally.
    2PRECISION_LAND_MODE_REQUIREDUse precision landing, searching for beacon if not found when land command accepted (land normally if beacon cannot be found).

    PARACHUTE_ACTION ​

    Parachute actions. Trigger release and enable/disable auto-release.

    ValueNameDescription
    0PARACHUTE_DISABLEDisable auto-release of parachute (i.e. release triggered by crash detectors).
    1PARACHUTE_ENABLEEnable auto-release of parachute.
    2PARACHUTE_RELEASERelease parachute and kill motors.

    MAV_TUNNEL_PAYLOAD_TYPE ​

    ValueNameDescription
    0MAV_TUNNEL_PAYLOAD_TYPE_UNKNOWNEncoding of payload unknown.
    200MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED0Registered for STorM32 gimbal controller.
    201MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED1Registered for STorM32 gimbal controller.
    202MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED2Registered for STorM32 gimbal controller.
    203MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED3Registered for STorM32 gimbal controller.
    204MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED4Registered for STorM32 gimbal controller.
    205MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED5Registered for STorM32 gimbal controller.
    206MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED6Registered for STorM32 gimbal controller.
    207MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED7Registered for STorM32 gimbal controller.
    208MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED8Registered for STorM32 gimbal controller.
    209MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED9Registered for STorM32 gimbal controller.

    MAV_ODID_ID_TYPE ​

    ValueNameDescription
    0MAV_ODID_ID_TYPE_NONENo type defined.
    1MAV_ODID_ID_TYPE_SERIAL_NUMBERManufacturer Serial Number (ANSI/CTA-2063 format).
    2MAV_ODID_ID_TYPE_CAA_REGISTRATION_IDCAA (Civil Aviation Authority) registered ID. Format: [ICAO Country Code].[CAA Assigned ID].
    3MAV_ODID_ID_TYPE_UTM_ASSIGNED_UUIDUTM (Unmanned Traffic Management) assigned UUID (RFC4122).
    4MAV_ODID_ID_TYPE_SPECIFIC_SESSION_IDA 20 byte ID for a specific flight/session. The exact ID type is indicated by the first byte of uas_id and these type values are managed by ICAO.

    MAV_ODID_UA_TYPE ​

    ValueNameDescription
    0MAV_ODID_UA_TYPE_NONENo UA (Unmanned Aircraft) type defined.
    1MAV_ODID_UA_TYPE_AEROPLANEAeroplane/Airplane. Fixed wing.
    2MAV_ODID_UA_TYPE_HELICOPTER_OR_MULTIROTORHelicopter or multirotor.
    3MAV_ODID_UA_TYPE_GYROPLANEGyroplane.
    4MAV_ODID_UA_TYPE_HYBRID_LIFTVTOL (Vertical Take-Off and Landing). Fixed wing aircraft that can take off vertically.
    5MAV_ODID_UA_TYPE_ORNITHOPTEROrnithopter.
    6MAV_ODID_UA_TYPE_GLIDERGlider.
    7MAV_ODID_UA_TYPE_KITEKite.
    8MAV_ODID_UA_TYPE_FREE_BALLOONFree Balloon.
    9MAV_ODID_UA_TYPE_CAPTIVE_BALLOONCaptive Balloon.
    10MAV_ODID_UA_TYPE_AIRSHIPAirship. E.g. a blimp.
    11MAV_ODID_UA_TYPE_FREE_FALL_PARACHUTEFree Fall/Parachute (unpowered).
    12MAV_ODID_UA_TYPE_ROCKETRocket.
    13MAV_ODID_UA_TYPE_TETHERED_POWERED_AIRCRAFTTethered powered aircraft.
    14MAV_ODID_UA_TYPE_GROUND_OBSTACLEGround Obstacle.
    15MAV_ODID_UA_TYPE_OTHEROther type of aircraft not listed earlier.

    MAV_ODID_STATUS ​

    ValueNameDescription
    0MAV_ODID_STATUS_UNDECLAREDThe status of the (UA) Unmanned Aircraft is undefined.
    1MAV_ODID_STATUS_GROUNDThe UA is on the ground.
    2MAV_ODID_STATUS_AIRBORNEThe UA is in the air.
    3MAV_ODID_STATUS_EMERGENCYThe UA is having an emergency.
    4MAV_ODID_STATUS_REMOTE_ID_SYSTEM_FAILUREThe remote ID system is failing or unreliable in some way.

    MAV_ODID_HEIGHT_REF ​

    ValueNameDescription
    0MAV_ODID_HEIGHT_REF_OVER_TAKEOFFThe height field is relative to the take-off location.
    1MAV_ODID_HEIGHT_REF_OVER_GROUNDThe height field is relative to ground.

    MAV_ODID_HOR_ACC ​

    ValueNameDescription
    0MAV_ODID_HOR_ACC_UNKNOWNThe horizontal accuracy is unknown.
    1MAV_ODID_HOR_ACC_10NMThe horizontal accuracy is smaller than 10 Nautical Miles. 18.52 km.
    2MAV_ODID_HOR_ACC_4NMThe horizontal accuracy is smaller than 4 Nautical Miles. 7.408 km.
    3MAV_ODID_HOR_ACC_2NMThe horizontal accuracy is smaller than 2 Nautical Miles. 3.704 km.
    4MAV_ODID_HOR_ACC_1NMThe horizontal accuracy is smaller than 1 Nautical Miles. 1.852 km.
    5MAV_ODID_HOR_ACC_0_5NMThe horizontal accuracy is smaller than 0.5 Nautical Miles. 926 m.
    6MAV_ODID_HOR_ACC_0_3NMThe horizontal accuracy is smaller than 0.3 Nautical Miles. 555.6 m.
    7MAV_ODID_HOR_ACC_0_1NMThe horizontal accuracy is smaller than 0.1 Nautical Miles. 185.2 m.
    8MAV_ODID_HOR_ACC_0_05NMThe horizontal accuracy is smaller than 0.05 Nautical Miles. 92.6 m.
    9MAV_ODID_HOR_ACC_30_METERThe horizontal accuracy is smaller than 30 meter.
    10MAV_ODID_HOR_ACC_10_METERThe horizontal accuracy is smaller than 10 meter.
    11MAV_ODID_HOR_ACC_3_METERThe horizontal accuracy is smaller than 3 meter.
    12MAV_ODID_HOR_ACC_1_METERThe horizontal accuracy is smaller than 1 meter.

    MAV_ODID_VER_ACC ​

    ValueNameDescription
    0MAV_ODID_VER_ACC_UNKNOWNThe vertical accuracy is unknown.
    1MAV_ODID_VER_ACC_150_METERThe vertical accuracy is smaller than 150 meter.
    2MAV_ODID_VER_ACC_45_METERThe vertical accuracy is smaller than 45 meter.
    3MAV_ODID_VER_ACC_25_METERThe vertical accuracy is smaller than 25 meter.
    4MAV_ODID_VER_ACC_10_METERThe vertical accuracy is smaller than 10 meter.
    5MAV_ODID_VER_ACC_3_METERThe vertical accuracy is smaller than 3 meter.
    6MAV_ODID_VER_ACC_1_METERThe vertical accuracy is smaller than 1 meter.

    MAV_ODID_SPEED_ACC ​

    ValueNameDescription
    0MAV_ODID_SPEED_ACC_UNKNOWNThe speed accuracy is unknown.
    1MAV_ODID_SPEED_ACC_10_METERS_PER_SECONDThe speed accuracy is smaller than 10 meters per second.
    2MAV_ODID_SPEED_ACC_3_METERS_PER_SECONDThe speed accuracy is smaller than 3 meters per second.
    3MAV_ODID_SPEED_ACC_1_METERS_PER_SECONDThe speed accuracy is smaller than 1 meters per second.
    4MAV_ODID_SPEED_ACC_0_3_METERS_PER_SECONDThe speed accuracy is smaller than 0.3 meters per second.

    MAV_ODID_TIME_ACC ​

    ValueNameDescription
    0MAV_ODID_TIME_ACC_UNKNOWNThe timestamp accuracy is unknown.
    1MAV_ODID_TIME_ACC_0_1_SECONDThe timestamp accuracy is smaller than or equal to 0.1 second.
    2MAV_ODID_TIME_ACC_0_2_SECONDThe timestamp accuracy is smaller than or equal to 0.2 second.
    3MAV_ODID_TIME_ACC_0_3_SECONDThe timestamp accuracy is smaller than or equal to 0.3 second.
    4MAV_ODID_TIME_ACC_0_4_SECONDThe timestamp accuracy is smaller than or equal to 0.4 second.
    5MAV_ODID_TIME_ACC_0_5_SECONDThe timestamp accuracy is smaller than or equal to 0.5 second.
    6MAV_ODID_TIME_ACC_0_6_SECONDThe timestamp accuracy is smaller than or equal to 0.6 second.
    7MAV_ODID_TIME_ACC_0_7_SECONDThe timestamp accuracy is smaller than or equal to 0.7 second.
    8MAV_ODID_TIME_ACC_0_8_SECONDThe timestamp accuracy is smaller than or equal to 0.8 second.
    9MAV_ODID_TIME_ACC_0_9_SECONDThe timestamp accuracy is smaller than or equal to 0.9 second.
    10MAV_ODID_TIME_ACC_1_0_SECONDThe timestamp accuracy is smaller than or equal to 1.0 second.
    11MAV_ODID_TIME_ACC_1_1_SECONDThe timestamp accuracy is smaller than or equal to 1.1 second.
    12MAV_ODID_TIME_ACC_1_2_SECONDThe timestamp accuracy is smaller than or equal to 1.2 second.
    13MAV_ODID_TIME_ACC_1_3_SECONDThe timestamp accuracy is smaller than or equal to 1.3 second.
    14MAV_ODID_TIME_ACC_1_4_SECONDThe timestamp accuracy is smaller than or equal to 1.4 second.
    15MAV_ODID_TIME_ACC_1_5_SECONDThe timestamp accuracy is smaller than or equal to 1.5 second.

    MAV_ODID_AUTH_TYPE ​

    ValueNameDescription
    0MAV_ODID_AUTH_TYPE_NONENo authentication type is specified.
    1MAV_ODID_AUTH_TYPE_UAS_ID_SIGNATURESignature for the UAS (Unmanned Aircraft System) ID.
    2MAV_ODID_AUTH_TYPE_OPERATOR_ID_SIGNATURESignature for the Operator ID.
    3MAV_ODID_AUTH_TYPE_MESSAGE_SET_SIGNATURESignature for the entire message set.
    4MAV_ODID_AUTH_TYPE_NETWORK_REMOTE_IDAuthentication is provided by Network Remote ID.
    5MAV_ODID_AUTH_TYPE_SPECIFIC_AUTHENTICATIONThe exact authentication type is indicated by the first byte of authentication_data and these type values are managed by ICAO.

    MAV_ODID_DESC_TYPE ​

    ValueNameDescription
    0MAV_ODID_DESC_TYPE_TEXTOptional free-form text description of the purpose of the flight.
    1MAV_ODID_DESC_TYPE_EMERGENCYOptional additional clarification when status == MAV_ODID_STATUS_EMERGENCY.
    2MAV_ODID_DESC_TYPE_EXTENDED_STATUSOptional additional clarification when status != MAV_ODID_STATUS_EMERGENCY.

    MAV_ODID_OPERATOR_LOCATION_TYPE ​

    ValueNameDescription
    0MAV_ODID_OPERATOR_LOCATION_TYPE_TAKEOFFThe location/altitude of the operator is the same as the take-off location.
    1MAV_ODID_OPERATOR_LOCATION_TYPE_LIVE_GNSSThe location/altitude of the operator is dynamic. E.g. based on live GNSS data.
    2MAV_ODID_OPERATOR_LOCATION_TYPE_FIXEDThe location/altitude of the operator are fixed values.

    MAV_ODID_CLASSIFICATION_TYPE ​

    ValueNameDescription
    0MAV_ODID_CLASSIFICATION_TYPE_UNDECLAREDThe classification type for the UA is undeclared.
    1MAV_ODID_CLASSIFICATION_TYPE_EUThe classification type for the UA follows EU (European Union) specifications.

    MAV_ODID_CATEGORY_EU ​

    ValueNameDescription
    0MAV_ODID_CATEGORY_EU_UNDECLAREDThe category for the UA, according to the EU specification, is undeclared.
    1MAV_ODID_CATEGORY_EU_OPENThe category for the UA, according to the EU specification, is the Open category.
    2MAV_ODID_CATEGORY_EU_SPECIFICThe category for the UA, according to the EU specification, is the Specific category.
    3MAV_ODID_CATEGORY_EU_CERTIFIEDThe category for the UA, according to the EU specification, is the Certified category.

    MAV_ODID_CLASS_EU ​

    ValueNameDescription
    0MAV_ODID_CLASS_EU_UNDECLAREDThe class for the UA, according to the EU specification, is undeclared.
    1MAV_ODID_CLASS_EU_CLASS_0The class for the UA, according to the EU specification, is Class 0.
    2MAV_ODID_CLASS_EU_CLASS_1The class for the UA, according to the EU specification, is Class 1.
    3MAV_ODID_CLASS_EU_CLASS_2The class for the UA, according to the EU specification, is Class 2.
    4MAV_ODID_CLASS_EU_CLASS_3The class for the UA, according to the EU specification, is Class 3.
    5MAV_ODID_CLASS_EU_CLASS_4The class for the UA, according to the EU specification, is Class 4.
    6MAV_ODID_CLASS_EU_CLASS_5The class for the UA, according to the EU specification, is Class 5.
    7MAV_ODID_CLASS_EU_CLASS_6The class for the UA, according to the EU specification, is Class 6.

    MAV_ODID_OPERATOR_ID_TYPE ​

    ValueNameDescription
    0MAV_ODID_OPERATOR_ID_TYPE_CAACAA (Civil Aviation Authority) registered operator ID.

    MAV_ODID_ARM_STATUS ​

    ValueNameDescription
    0MAV_ODID_ARM_STATUS_GOOD_TO_ARMPassing arming checks.
    1MAV_ODID_ARM_STATUS_PRE_ARM_FAIL_GENERICGeneric arming failure, see error string for details.

    TUNE_FORMAT ​

    Tune formats (used for vehicle buzzer/tone generation).

    ValueNameDescription
    1TUNE_FORMAT_QBASIC1_1Format is QBasic 1.1 Play: https://www.qbasic.net/en/reference/qb11/Statement/PLAY-006.htm.
    2TUNE_FORMAT_MML_MODERNFormat is Modern Music Markup Language (MML): https://en.wikipedia.org/wiki/Music_Macro_Language#Modern_MML.

    AIS_TYPE ​

    Type of AIS vessel, enum duplicated from AIS standard, https://gpsd.gitlab.io/gpsd/AIVDM.html

    ValueNameDescription
    0AIS_TYPE_UNKNOWNNot available (default).
    1AIS_TYPE_RESERVED_1
    2AIS_TYPE_RESERVED_2
    3AIS_TYPE_RESERVED_3
    4AIS_TYPE_RESERVED_4
    5AIS_TYPE_RESERVED_5
    6AIS_TYPE_RESERVED_6
    7AIS_TYPE_RESERVED_7
    8AIS_TYPE_RESERVED_8
    9AIS_TYPE_RESERVED_9
    10AIS_TYPE_RESERVED_10
    11AIS_TYPE_RESERVED_11
    12AIS_TYPE_RESERVED_12
    13AIS_TYPE_RESERVED_13
    14AIS_TYPE_RESERVED_14
    15AIS_TYPE_RESERVED_15
    16AIS_TYPE_RESERVED_16
    17AIS_TYPE_RESERVED_17
    18AIS_TYPE_RESERVED_18
    19AIS_TYPE_RESERVED_19
    20AIS_TYPE_WIGWing In Ground effect.
    21AIS_TYPE_WIG_HAZARDOUS_A
    22AIS_TYPE_WIG_HAZARDOUS_B
    23AIS_TYPE_WIG_HAZARDOUS_C
    24AIS_TYPE_WIG_HAZARDOUS_D
    25AIS_TYPE_WIG_RESERVED_1
    26AIS_TYPE_WIG_RESERVED_2
    27AIS_TYPE_WIG_RESERVED_3
    28AIS_TYPE_WIG_RESERVED_4
    29AIS_TYPE_WIG_RESERVED_5
    30AIS_TYPE_FISHING
    31AIS_TYPE_TOWING
    32AIS_TYPE_TOWING_LARGETowing: length exceeds 200m or breadth exceeds 25m.
    33AIS_TYPE_DREDGINGDredging or other underwater ops.
    34AIS_TYPE_DIVING
    35AIS_TYPE_MILITARY
    36AIS_TYPE_SAILING
    37AIS_TYPE_PLEASURE
    38AIS_TYPE_RESERVED_20
    39AIS_TYPE_RESERVED_21
    40AIS_TYPE_HSCHigh Speed Craft.
    41AIS_TYPE_HSC_HAZARDOUS_A
    42AIS_TYPE_HSC_HAZARDOUS_B
    43AIS_TYPE_HSC_HAZARDOUS_C
    44AIS_TYPE_HSC_HAZARDOUS_D
    45AIS_TYPE_HSC_RESERVED_1
    46AIS_TYPE_HSC_RESERVED_2
    47AIS_TYPE_HSC_RESERVED_3
    48AIS_TYPE_HSC_RESERVED_4
    49AIS_TYPE_HSC_UNKNOWN
    50AIS_TYPE_PILOT
    51AIS_TYPE_SARSearch And Rescue vessel.
    52AIS_TYPE_TUG
    53AIS_TYPE_PORT_TENDER
    54AIS_TYPE_ANTI_POLLUTIONAnti-pollution equipment.
    55AIS_TYPE_LAW_ENFORCEMENT
    56AIS_TYPE_SPARE_LOCAL_1
    57AIS_TYPE_SPARE_LOCAL_2
    58AIS_TYPE_MEDICAL_TRANSPORT
    59AIS_TYPE_NONECOMBATANTNoncombatant ship according to RR Resolution No. 18.
    60AIS_TYPE_PASSENGER
    61AIS_TYPE_PASSENGER_HAZARDOUS_A
    62AIS_TYPE_PASSENGER_HAZARDOUS_B
    63AIS_TYPE_PASSENGER_HAZARDOUS_C
    64AIS_TYPE_PASSENGER_HAZARDOUS_D
    65AIS_TYPE_PASSENGER_RESERVED_1
    66AIS_TYPE_PASSENGER_RESERVED_2
    67AIS_TYPE_PASSENGER_RESERVED_3
    68AIS_TYPE_PASSENGER_RESERVED_4
    69AIS_TYPE_PASSENGER_UNKNOWN
    70AIS_TYPE_CARGO
    71AIS_TYPE_CARGO_HAZARDOUS_A
    72AIS_TYPE_CARGO_HAZARDOUS_B
    73AIS_TYPE_CARGO_HAZARDOUS_C
    74AIS_TYPE_CARGO_HAZARDOUS_D
    75AIS_TYPE_CARGO_RESERVED_1
    76AIS_TYPE_CARGO_RESERVED_2
    77AIS_TYPE_CARGO_RESERVED_3
    78AIS_TYPE_CARGO_RESERVED_4
    79AIS_TYPE_CARGO_UNKNOWN
    80AIS_TYPE_TANKER
    81AIS_TYPE_TANKER_HAZARDOUS_A
    82AIS_TYPE_TANKER_HAZARDOUS_B
    83AIS_TYPE_TANKER_HAZARDOUS_C
    84AIS_TYPE_TANKER_HAZARDOUS_D
    85AIS_TYPE_TANKER_RESERVED_1
    86AIS_TYPE_TANKER_RESERVED_2
    87AIS_TYPE_TANKER_RESERVED_3
    88AIS_TYPE_TANKER_RESERVED_4
    89AIS_TYPE_TANKER_UNKNOWN
    90AIS_TYPE_OTHER
    91AIS_TYPE_OTHER_HAZARDOUS_A
    92AIS_TYPE_OTHER_HAZARDOUS_B
    93AIS_TYPE_OTHER_HAZARDOUS_C
    94AIS_TYPE_OTHER_HAZARDOUS_D
    95AIS_TYPE_OTHER_RESERVED_1
    96AIS_TYPE_OTHER_RESERVED_2
    97AIS_TYPE_OTHER_RESERVED_3
    98AIS_TYPE_OTHER_RESERVED_4
    99AIS_TYPE_OTHER_UNKNOWN

    AIS_NAV_STATUS ​

    Navigational status of AIS vessel, enum duplicated from AIS standard, https://gpsd.gitlab.io/gpsd/AIVDM.html

    ValueNameDescription
    0UNDER_WAYUnder way using engine.
    1AIS_NAV_ANCHORED
    2AIS_NAV_UN_COMMANDED
    3AIS_NAV_RESTRICTED_MANOEUVERABILITY
    4AIS_NAV_DRAUGHT_CONSTRAINED
    5AIS_NAV_MOORED
    6AIS_NAV_AGROUND
    7AIS_NAV_FISHING
    8AIS_NAV_SAILING
    9AIS_NAV_RESERVED_HSC
    10AIS_NAV_RESERVED_WIG
    11AIS_NAV_RESERVED_1
    12AIS_NAV_RESERVED_2
    13AIS_NAV_RESERVED_3
    14AIS_NAV_AIS_SARTSearch And Rescue Transponder.
    15AIS_NAV_UNKNOWNNot available (default).

    AIS_FLAGS ​

    (Bitmask) These flags are used in the AIS_VESSEL.fields bitmask to indicate validity of data in the other message fields. When set, the data is valid.

    ValueNameDescription
    1AIS_FLAGS_POSITION_ACCURACY1 = Position accuracy less than 10m, 0 = position accuracy greater than 10m.
    2AIS_FLAGS_VALID_COG
    4AIS_FLAGS_VALID_VELOCITY
    8AIS_FLAGS_HIGH_VELOCITY1 = Velocity over 52.5765m/s (102.2 knots)
    16AIS_FLAGS_VALID_TURN_RATE
    32AIS_FLAGS_TURN_RATE_SIGN_ONLYOnly the sign of the returned turn rate value is valid, either greater than 5deg/30s or less than -5deg/30s
    64AIS_FLAGS_VALID_DIMENSIONS
    128AIS_FLAGS_LARGE_BOW_DIMENSIONDistance to bow is larger than 511m
    256AIS_FLAGS_LARGE_STERN_DIMENSIONDistance to stern is larger than 511m
    512AIS_FLAGS_LARGE_PORT_DIMENSIONDistance to port side is larger than 63m
    1024AIS_FLAGS_LARGE_STARBOARD_DIMENSIONDistance to starboard side is larger than 63m
    2048AIS_FLAGS_VALID_CALLSIGN
    4096AIS_FLAGS_VALID_NAME

    FAILURE_UNIT ​

    List of possible units where failures can be injected.

    ValueNameDescription
    0FAILURE_UNIT_SENSOR_GYRO
    1FAILURE_UNIT_SENSOR_ACCEL
    2FAILURE_UNIT_SENSOR_MAG
    3FAILURE_UNIT_SENSOR_BARO
    4FAILURE_UNIT_SENSOR_GPS
    5FAILURE_UNIT_SENSOR_OPTICAL_FLOW
    6FAILURE_UNIT_SENSOR_VIO
    7FAILURE_UNIT_SENSOR_DISTANCE_SENSOR
    8FAILURE_UNIT_SENSOR_AIRSPEED
    100FAILURE_UNIT_SYSTEM_BATTERY
    101FAILURE_UNIT_SYSTEM_MOTOR
    102FAILURE_UNIT_SYSTEM_SERVO
    103FAILURE_UNIT_SYSTEM_AVOIDANCE
    104FAILURE_UNIT_SYSTEM_RC_SIGNAL
    105FAILURE_UNIT_SYSTEM_MAVLINK_SIGNAL

    FAILURE_TYPE ​

    List of possible failure type to inject.

    ValueNameDescription
    0FAILURE_TYPE_OKNo failure injected, used to reset a previous failure.
    1FAILURE_TYPE_OFFSets unit off, so completely non-responsive.
    2FAILURE_TYPE_STUCKUnit is stuck e.g. keeps reporting the same value.
    3FAILURE_TYPE_GARBAGEUnit is reporting complete garbage.
    4FAILURE_TYPE_WRONGUnit is consistently wrong.
    5FAILURE_TYPE_SLOWUnit is slow, so e.g. reporting at slower than expected rate.
    6FAILURE_TYPE_DELAYEDData of unit is delayed in time.
    7FAILURE_TYPE_INTERMITTENTUnit is sometimes working, sometimes not.
    ValueNameDescription
    0NAV_VTOL_LAND_OPTIONS_DEFAULTDefault autopilot landing behaviour.
    1NAV_VTOL_LAND_OPTIONS_FW_DESCENTDescend in fixed wing mode, transitioning to multicopter mode for vertical landing when close to the ground.
    The fixed wing descent pattern is at the discretion of the vehicle (e.g. transition altitude, loiter direction, radius, and speed, etc.).
    2NAV_VTOL_LAND_OPTIONS_HOVER_DESCENTLand in multicopter mode on reaching the landing coordinates (the whole landing is by "hover descent").

    MAV_WINCH_STATUS_FLAG ​

    (Bitmask) Winch status flags used in WINCH_STATUS

    ValueNameDescription
    1MAV_WINCH_STATUS_HEALTHYWinch is healthy
    2MAV_WINCH_STATUS_FULLY_RETRACTEDWinch line is fully retracted
    4MAV_WINCH_STATUS_MOVINGWinch motor is moving
    8MAV_WINCH_STATUS_CLUTCH_ENGAGEDWinch clutch is engaged allowing motor to move freely.
    16MAV_WINCH_STATUS_LOCKEDWinch is locked by locking mechanism.
    32MAV_WINCH_STATUS_DROPPINGWinch is gravity dropping payload.
    64MAV_WINCH_STATUS_ARRESTINGWinch is arresting payload descent.
    128MAV_WINCH_STATUS_GROUND_SENSEWinch is using torque measurements to sense the ground.
    256MAV_WINCH_STATUS_RETRACTINGWinch is returning to the fully retracted position.
    512MAV_WINCH_STATUS_REDELIVERWinch is redelivering the payload. This is a failover state if the line tension goes above a threshold during RETRACTING.
    1024MAV_WINCH_STATUS_ABANDON_LINEWinch is abandoning the line and possibly payload. Winch unspools the entire calculated line length. This is a failover state from REDELIVER if the number of attempts exceeds a threshold.
    2048MAV_WINCH_STATUS_LOCKINGWinch is engaging the locking mechanism.
    4096MAV_WINCH_STATUS_LOAD_LINEWinch is spooling on line.
    8192MAV_WINCH_STATUS_LOAD_PAYLOADWinch is loading a payload.

    MAG_CAL_STATUS ​

    ValueNameDescription
    0MAG_CAL_NOT_STARTED
    1MAG_CAL_WAITING_TO_START
    2MAG_CAL_RUNNING_STEP_ONE
    3MAG_CAL_RUNNING_STEP_TWO
    4MAG_CAL_SUCCESS
    5MAG_CAL_FAILED
    6MAG_CAL_BAD_ORIENTATION
    7MAG_CAL_BAD_RADIUS

    MAV_EVENT_ERROR_REASON ​

    Reason for an event error response.

    ValueNameDescription
    0MAV_EVENT_ERROR_REASON_UNAVAILABLEThe requested event is not available (anymore).

    MAV_EVENT_CURRENT_SEQUENCE_FLAGS ​

    Flags for CURRENT_EVENT_SEQUENCE.

    ValueNameDescription
    1MAV_EVENT_CURRENT_SEQUENCE_FLAGS_RESETA sequence reset has happened (e.g. vehicle reboot).

    HIL_SENSOR_UPDATED_FLAGS ​

    (Bitmask) Flags in the HIL_SENSOR message indicate which fields have updated since the last message

    ValueNameDescription
    0HIL_SENSOR_UPDATED_NONENone of the fields in HIL_SENSOR have been updated
    1HIL_SENSOR_UPDATED_XACCThe value in the xacc field has been updated
    2HIL_SENSOR_UPDATED_YACCThe value in the yacc field has been updated
    4HIL_SENSOR_UPDATED_ZACCThe value in the zacc field has been updated
    8HIL_SENSOR_UPDATED_XGYROThe value in the xgyro field has been updated
    16HIL_SENSOR_UPDATED_YGYROThe value in the ygyro field has been updated
    32HIL_SENSOR_UPDATED_ZGYROThe value in the zgyro field has been updated
    64HIL_SENSOR_UPDATED_XMAGThe value in the xmag field has been updated
    128HIL_SENSOR_UPDATED_YMAGThe value in the ymag field has been updated
    256HIL_SENSOR_UPDATED_ZMAGThe value in the zmag field has been updated
    512HIL_SENSOR_UPDATED_ABS_PRESSUREThe value in the abs_pressure field has been updated
    1024HIL_SENSOR_UPDATED_DIFF_PRESSUREThe value in the diff_pressure field has been updated
    2048HIL_SENSOR_UPDATED_PRESSURE_ALTThe value in the pressure_alt field has been updated
    4096HIL_SENSOR_UPDATED_TEMPERATUREThe value in the temperature field has been updated
    2147483648HIL_SENSOR_UPDATED_RESETFull reset of attitude/position/velocities/etc was performed in sim (Bit 31).

    HIGHRES_IMU_UPDATED_FLAGS ​

    (Bitmask) Flags in the HIGHRES_IMU message indicate which fields have updated since the last message

    ValueNameDescription
    0HIGHRES_IMU_UPDATED_NONENone of the fields in HIGHRES_IMU have been updated
    1HIGHRES_IMU_UPDATED_XACCThe value in the xacc field has been updated
    2HIGHRES_IMU_UPDATED_YACCThe value in the yacc field has been updated
    4HIGHRES_IMU_UPDATED_ZACCThe value in the zacc field has been updated since
    8HIGHRES_IMU_UPDATED_XGYROThe value in the xgyro field has been updated
    16HIGHRES_IMU_UPDATED_YGYROThe value in the ygyro field has been updated
    32HIGHRES_IMU_UPDATED_ZGYROThe value in the zgyro field has been updated
    64HIGHRES_IMU_UPDATED_XMAGThe value in the xmag field has been updated
    128HIGHRES_IMU_UPDATED_YMAGThe value in the ymag field has been updated
    256HIGHRES_IMU_UPDATED_ZMAGThe value in the zmag field has been updated
    512HIGHRES_IMU_UPDATED_ABS_PRESSUREThe value in the abs_pressure field has been updated
    1024HIGHRES_IMU_UPDATED_DIFF_PRESSUREThe value in the diff_pressure field has been updated
    2048HIGHRES_IMU_UPDATED_PRESSURE_ALTThe value in the pressure_alt field has been updated
    4096HIGHRES_IMU_UPDATED_TEMPERATUREThe value in the temperature field has been updated
    65535HIGHRES_IMU_UPDATED_ALLAll fields in HIGHRES_IMU have been updated.

    CAN_FILTER_OP ​

    ValueNameDescription
    0CAN_FILTER_REPLACE
    1CAN_FILTER_ADD
    2CAN_FILTER_REMOVE

    MAV_FTP_ERR ​

    MAV FTP error codes (https://mavlink.io/en/services/ftp.html)

    ValueNameDescription
    0MAV_FTP_ERR_NONENone: No error
    1MAV_FTP_ERR_FAILFail: Unknown failure
    2MAV_FTP_ERR_FAILERRNOFailErrno: Command failed, Err number sent back in PayloadHeader.data[1].
    This is a file-system error number understood by the server operating system.
    3MAV_FTP_ERR_INVALIDDATASIZEInvalidDataSize: Payload size is invalid
    4MAV_FTP_ERR_INVALIDSESSIONInvalidSession: Session is not currently open
    5MAV_FTP_ERR_NOSESSIONSAVAILABLENoSessionsAvailable: All available sessions are already in use
    6MAV_FTP_ERR_EOFEOF: Offset past end of file for ListDirectory and ReadFile commands
    7MAV_FTP_ERR_UNKNOWNCOMMANDUnknownCommand: Unknown command / opcode
    8MAV_FTP_ERR_FILEEXISTSFileExists: File/directory already exists
    9MAV_FTP_ERR_FILEPROTECTEDFileProtected: File/directory is write protected
    10MAV_FTP_ERR_FILENOTFOUNDFileNotFound: File/directory not found

    MAV_FTP_OPCODE ​

    MAV FTP opcodes: https://mavlink.io/en/services/ftp.html

    ValueNameDescription
    0MAV_FTP_OPCODE_NONENone. Ignored, always ACKed
    1MAV_FTP_OPCODE_TERMINATESESSIONTerminateSession: Terminates open Read session
    2MAV_FTP_OPCODE_RESETSESSIONResetSessions: Terminates all open read sessions
    3MAV_FTP_OPCODE_LISTDIRECTORYListDirectory. List files and directories in path from offset
    4MAV_FTP_OPCODE_OPENFILEROOpenFileRO: Opens file at path for reading, returns session
    5MAV_FTP_OPCODE_READFILEReadFile: Reads size bytes from offset in session
    6MAV_FTP_OPCODE_CREATEFILECreateFile: Creates file at path for writing, returns session
    7MAV_FTP_OPCODE_WRITEFILEWriteFile: Writes size bytes to offset in session
    8MAV_FTP_OPCODE_REMOVEFILERemoveFile: Remove file at path
    9MAV_FTP_OPCODE_CREATEDIRECTORYCreateDirectory: Creates directory at path
    10MAV_FTP_OPCODE_REMOVEDIRECTORYRemoveDirectory: Removes directory at path. The directory must be empty.
    11MAV_FTP_OPCODE_OPENFILEWOOpenFileWO: Opens file at path for writing, returns session
    12MAV_FTP_OPCODE_TRUNCATEFILETruncateFile: Truncate file at path to offset length
    13MAV_FTP_OPCODE_RENAMERename: Rename path1 to path2
    14MAV_FTP_OPCODE_CALCFILECRCCalcFileCRC32: Calculate CRC32 for file at path
    15MAV_FTP_OPCODE_BURSTREADFILEBurstReadFile: Burst download session file
    128MAV_FTP_OPCODE_ACKACK: ACK response
    129MAV_FTP_OPCODE_NAKNAK: NAK response

    MISSION_STATE ​

    States of the mission state machine. Note that these states are independent of whether the mission is in a mode that can execute mission items or not (is suspended). They may not all be relevant on all vehicles.

    ValueNameDescription
    0MISSION_STATE_UNKNOWNThe mission status reporting is not supported.
    1MISSION_STATE_NO_MISSIONNo mission on the vehicle.
    2MISSION_STATE_NOT_STARTEDMission has not started. This is the case after a mission has uploaded but not yet started executing.
    3MISSION_STATE_ACTIVEMission is active, and will execute mission items when in auto mode.
    4MISSION_STATE_PAUSEDMission is paused when in auto mode.
    5MISSION_STATE_COMPLETEMission has executed all mission items.

    SAFETY_SWITCH_STATE ​

    Possible safety switch states.

    ValueNameDescription
    0SAFETY_SWITCH_STATE_SAFESafety switch is engaged and vehicle should be safe to approach.
    1SAFETY_SWITCH_STATE_DANGEROUSSafety switch is NOT engaged and motors, propellers and other actuators should be considered active.

    ILLUMINATOR_MODE ​

    Modes of illuminator

    ValueNameDescription
    0ILLUMINATOR_MODE_UNKNOWNIlluminator mode is not specified/unknown
    1ILLUMINATOR_MODE_INTERNAL_CONTROLIlluminator behavior is controlled by MAV_CMD_DO_ILLUMINATOR_CONFIGURE settings
    2ILLUMINATOR_MODE_EXTERNAL_SYNCIlluminator behavior is controlled by external factors: e.g. an external hardware signal

    ILLUMINATOR_ERROR_FLAGS ​

    (Bitmask) Illuminator module error flags (bitmap, 0 means no error)

    ValueNameDescription
    1ILLUMINATOR_ERROR_FLAGS_THERMAL_THROTTLINGIlluminator thermal throttling error.
    2ILLUMINATOR_ERROR_FLAGS_OVER_TEMPERATURE_SHUTDOWNIlluminator over temperature shutdown error.
    4ILLUMINATOR_ERROR_FLAGS_THERMISTOR_FAILUREIlluminator thermistor failure.

    MAV_AUTOPILOT — [from: minimal] ​

    Micro air vehicle / autopilot classes. This identifies the individual model.

    ValueNameDescription
    0MAV_AUTOPILOT_GENERICGeneric autopilot, full support for everything
    1MAV_AUTOPILOT_RESERVEDReserved for future use.
    2MAV_AUTOPILOT_SLUGSSLUGS autopilot, http://slugsuav.soe.ucsc.edu
    3MAV_AUTOPILOT_ARDUPILOTMEGAArduPilot - Plane/Copter/Rover/Sub/Tracker, https://ardupilot.org
    4MAV_AUTOPILOT_OPENPILOTOpenPilot, http://openpilot.org
    5MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLYGeneric autopilot only supporting simple waypoints
    6MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLYGeneric autopilot supporting waypoints and other simple navigation commands
    7MAV_AUTOPILOT_GENERIC_MISSION_FULLGeneric autopilot supporting the full mission command set
    8MAV_AUTOPILOT_INVALIDNo valid autopilot, e.g. a GCS or other MAVLink component
    9MAV_AUTOPILOT_PPZPPZ UAV - http://nongnu.org/paparazzi
    10MAV_AUTOPILOT_UDBUAV Dev Board
    11MAV_AUTOPILOT_FPFlexiPilot
    12MAV_AUTOPILOT_PX4PX4 Autopilot - http://px4.io/
    13MAV_AUTOPILOT_SMACCMPILOTSMACCMPilot - http://smaccmpilot.org
    14MAV_AUTOPILOT_AUTOQUADAutoQuad -- http://autoquad.org
    15MAV_AUTOPILOT_ARMAZILAArmazila -- http://armazila.com
    16MAV_AUTOPILOT_AEROBAerob -- http://aerob.ru
    17MAV_AUTOPILOT_ASLUAVASLUAV autopilot -- http://www.asl.ethz.ch
    18MAV_AUTOPILOT_SMARTAPSmartAP Autopilot - http://sky-drones.com
    19MAV_AUTOPILOT_AIRRAILSAirRails - http://uaventure.com
    20MAV_AUTOPILOT_REFLEXFusion Reflex - https://fusion.engineering

    MAV_TYPE — [from: minimal] ​

    MAVLINK component type reported in HEARTBEAT message. Flight controllers must report the type of the vehicle on which they are mounted (e.g. MAV_TYPE_OCTOROTOR). All other components must report a value appropriate for their type (e.g. a camera must use MAV_TYPE_CAMERA).

    ValueNameDescription
    0MAV_TYPE_GENERICGeneric micro air vehicle
    1MAV_TYPE_FIXED_WINGFixed wing aircraft.
    2MAV_TYPE_QUADROTORQuadrotor
    3MAV_TYPE_COAXIALCoaxial helicopter
    4MAV_TYPE_HELICOPTERNormal helicopter with tail rotor.
    5MAV_TYPE_ANTENNA_TRACKERGround installation
    6MAV_TYPE_GCSOperator control unit / ground control station
    7MAV_TYPE_AIRSHIPAirship, controlled
    8MAV_TYPE_FREE_BALLOONFree balloon, uncontrolled
    9MAV_TYPE_ROCKETRocket
    10MAV_TYPE_GROUND_ROVERGround rover
    11MAV_TYPE_SURFACE_BOATSurface vessel, boat, ship
    12MAV_TYPE_SUBMARINESubmarine
    13MAV_TYPE_HEXAROTORHexarotor
    14MAV_TYPE_OCTOROTOROctorotor
    15MAV_TYPE_TRICOPTERTricopter
    16MAV_TYPE_FLAPPING_WINGFlapping wing
    17MAV_TYPE_KITEKite
    18MAV_TYPE_ONBOARD_CONTROLLEROnboard companion controller
    19MAV_TYPE_VTOL_TAILSITTER_DUOROTORTwo-rotor Tailsitter VTOL that additionally uses control surfaces in vertical operation. Note, value previously named MAV_TYPE_VTOL_DUOROTOR.
    20MAV_TYPE_VTOL_TAILSITTER_QUADROTORQuad-rotor Tailsitter VTOL using a V-shaped quad config in vertical operation. Note: value previously named MAV_TYPE_VTOL_QUADROTOR.
    21MAV_TYPE_VTOL_TILTROTORTiltrotor VTOL. Fuselage and wings stay (nominally) horizontal in all flight phases. It able to tilt (some) rotors to provide thrust in cruise flight.
    22MAV_TYPE_VTOL_FIXEDROTORVTOL with separate fixed rotors for hover and cruise flight. Fuselage and wings stay (nominally) horizontal in all flight phases.
    23MAV_TYPE_VTOL_TAILSITTERTailsitter VTOL. Fuselage and wings orientation changes depending on flight phase: vertical for hover, horizontal for cruise. Use more specific VTOL MAV_TYPE_VTOL_TAILSITTER_DUOROTOR or MAV_TYPE_VTOL_TAILSITTER_QUADROTOR if appropriate.
    24MAV_TYPE_VTOL_TILTWINGTiltwing VTOL. Fuselage stays horizontal in all flight phases. The whole wing, along with any attached engine, can tilt between vertical and horizontal mode.
    25MAV_TYPE_VTOL_RESERVED5VTOL reserved 5
    26MAV_TYPE_GIMBALGimbal
    27MAV_TYPE_ADSBADSB system
    28MAV_TYPE_PARAFOILSteerable, nonrigid airfoil
    29MAV_TYPE_DODECAROTORDodecarotor
    30MAV_TYPE_CAMERACamera
    31MAV_TYPE_CHARGING_STATIONCharging station
    32MAV_TYPE_FLARMFLARM collision avoidance system
    33MAV_TYPE_SERVOServo
    34MAV_TYPE_ODIDOpen Drone ID. See https://mavlink.io/en/services/opendroneid.html.
    35MAV_TYPE_DECAROTORDecarotor
    36MAV_TYPE_BATTERYBattery
    37MAV_TYPE_PARACHUTEParachute
    38MAV_TYPE_LOGLog
    39MAV_TYPE_OSDOSD
    40MAV_TYPE_IMUIMU
    41MAV_TYPE_GPSGPS
    42MAV_TYPE_WINCHWinch
    43MAV_TYPE_GENERIC_MULTIROTORGeneric multirotor that does not fit into a specific type or whose type is unknown
    44MAV_TYPE_ILLUMINATORIlluminator. An illuminator is a light source that is used for lighting up dark areas external to the sytstem: e.g. a torch or searchlight (as opposed to a light source for illuminating the system itself, e.g. an indicator light).

    MAV_MODE_FLAG — [from: minimal] ​

    (Bitmask) These flags encode the MAV mode.

    ValueNameDescription
    1MAV_MODE_FLAG_CUSTOM_MODE_ENABLED0b00000001 Reserved for future use.
    2MAV_MODE_FLAG_TEST_ENABLED0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations.
    4MAV_MODE_FLAG_AUTO_ENABLED0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation.
    8MAV_MODE_FLAG_GUIDED_ENABLED0b00001000 guided mode enabled, system flies waypoints / mission items.
    16MAV_MODE_FLAG_STABILIZE_ENABLED0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around.
    32MAV_MODE_FLAG_HIL_ENABLED0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational.
    64MAV_MODE_FLAG_MANUAL_INPUT_ENABLED0b01000000 remote control input is enabled.
    128MAV_MODE_FLAG_SAFETY_ARMED0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly. Additional note: this flag is to be ignore when sent in the command MAV_CMD_DO_SET_MODE and MAV_CMD_COMPONENT_ARM_DISARM shall be used instead. The flag can still be used to report the armed state.

    MAV_MODE_FLAG_DECODE_POSITION — [from: minimal] ​

    (Bitmask) These values encode the bit positions of the decode position. These values can be used to read the value of a flag bit by combining the base_mode variable with AND with the flag position value. The result will be either 0 or 1, depending on if the flag is set or not.

    ValueNameDescription
    1MAV_MODE_FLAG_DECODE_POSITION_CUSTOM_MODEEighth bit: 00000001
    2MAV_MODE_FLAG_DECODE_POSITION_TESTSeventh bit: 00000010
    4MAV_MODE_FLAG_DECODE_POSITION_AUTOSixth bit: 00000100
    8MAV_MODE_FLAG_DECODE_POSITION_GUIDEDFifth bit: 00001000
    16MAV_MODE_FLAG_DECODE_POSITION_STABILIZEFourth bit: 00010000
    32MAV_MODE_FLAG_DECODE_POSITION_HILThird bit: 00100000
    64MAV_MODE_FLAG_DECODE_POSITION_MANUALSecond bit: 01000000
    128MAV_MODE_FLAG_DECODE_POSITION_SAFETYFirst bit: 10000000

    MAV_STATE — [from: minimal] ​

    ValueNameDescription
    0MAV_STATE_UNINITUninitialized system, state is unknown.
    1MAV_STATE_BOOTSystem is booting up.
    2MAV_STATE_CALIBRATINGSystem is calibrating and not flight-ready.
    3MAV_STATE_STANDBYSystem is grounded and on standby. It can be launched any time.
    4MAV_STATE_ACTIVESystem is active and might be already airborne. Motors are engaged.
    5MAV_STATE_CRITICALSystem is in a non-normal flight mode (failsafe). It can however still navigate.
    6MAV_STATE_EMERGENCYSystem is in a non-normal flight mode (failsafe). It lost control over parts or over the whole airframe. It is in mayday and going down.
    7MAV_STATE_POWEROFFSystem just initialized its power-down sequence, will shut down now.
    8MAV_STATE_FLIGHT_TERMINATIONSystem is terminating itself (failsafe or commanded).

    MAV_COMPONENT — [from: minimal] ​

    Component ids (values) for the different types and instances of onboard hardware/software that might make up a MAVLink system (autopilot, cameras, servos, GPS systems, avoidance systems etc.).

    Components must use the appropriate ID in their source address when sending messages. Components can also use IDs to determine if they are the intended recipient of an incoming message. The MAV_COMP_ID_ALL value is used to indicate messages that must be processed by all components. When creating new entries, components that can have multiple instances (e.g. cameras, servos etc.) should be allocated sequential values. An appropriate number of values should be left free after these components to allow the number of instances to be expanded.

    ValueNameDescription
    0MAV_COMP_ID_ALLTarget id (target_component) used to broadcast messages to all components of the receiving system. Components should attempt to process messages with this component ID and forward to components on any other interfaces. Note: This is not a valid source component id for a message.
    1MAV_COMP_ID_AUTOPILOT1System flight controller component ("autopilot"). Only one autopilot is expected in a particular system.
    25MAV_COMP_ID_USER1Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    26MAV_COMP_ID_USER2Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    27MAV_COMP_ID_USER3Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    28MAV_COMP_ID_USER4Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    29MAV_COMP_ID_USER5Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    30MAV_COMP_ID_USER6Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    31MAV_COMP_ID_USER7Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    32MAV_COMP_ID_USER8Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    33MAV_COMP_ID_USER9Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    34MAV_COMP_ID_USER10Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    35MAV_COMP_ID_USER11Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    36MAV_COMP_ID_USER12Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    37MAV_COMP_ID_USER13Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    38MAV_COMP_ID_USER14Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    39MAV_COMP_ID_USER15Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    40MAV_COMP_ID_USER16Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    41MAV_COMP_ID_USER17Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    42MAV_COMP_ID_USER18Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    43MAV_COMP_ID_USER19Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    44MAV_COMP_ID_USER20Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    45MAV_COMP_ID_USER21Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    46MAV_COMP_ID_USER22Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    47MAV_COMP_ID_USER23Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    48MAV_COMP_ID_USER24Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    49MAV_COMP_ID_USER25Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    50MAV_COMP_ID_USER26Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    51MAV_COMP_ID_USER27Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    52MAV_COMP_ID_USER28Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    53MAV_COMP_ID_USER29Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    54MAV_COMP_ID_USER30Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    55MAV_COMP_ID_USER31Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    56MAV_COMP_ID_USER32Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    57MAV_COMP_ID_USER33Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    58MAV_COMP_ID_USER34Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    59MAV_COMP_ID_USER35Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    60MAV_COMP_ID_USER36Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    61MAV_COMP_ID_USER37Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    62MAV_COMP_ID_USER38Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    63MAV_COMP_ID_USER39Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    64MAV_COMP_ID_USER40Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    65MAV_COMP_ID_USER41Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    66MAV_COMP_ID_USER42Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    67MAV_COMP_ID_USER43Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    68MAV_COMP_ID_TELEMETRY_RADIOTelemetry radio (e.g. SiK radio, or other component that emits RADIO_STATUS messages).
    69MAV_COMP_ID_USER45Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    70MAV_COMP_ID_USER46Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    71MAV_COMP_ID_USER47Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    72MAV_COMP_ID_USER48Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    73MAV_COMP_ID_USER49Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    74MAV_COMP_ID_USER50Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    75MAV_COMP_ID_USER51Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    76MAV_COMP_ID_USER52Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    77MAV_COMP_ID_USER53Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    78MAV_COMP_ID_USER54Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    79MAV_COMP_ID_USER55Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    80MAV_COMP_ID_USER56Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    81MAV_COMP_ID_USER57Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    82MAV_COMP_ID_USER58Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    83MAV_COMP_ID_USER59Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    84MAV_COMP_ID_USER60Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    85MAV_COMP_ID_USER61Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    86MAV_COMP_ID_USER62Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    87MAV_COMP_ID_USER63Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    88MAV_COMP_ID_USER64Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    89MAV_COMP_ID_USER65Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    90MAV_COMP_ID_USER66Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    91MAV_COMP_ID_USER67Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    92MAV_COMP_ID_USER68Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    93MAV_COMP_ID_USER69Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    94MAV_COMP_ID_USER70Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    95MAV_COMP_ID_USER71Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    96MAV_COMP_ID_USER72Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    97MAV_COMP_ID_USER73Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    98MAV_COMP_ID_USER74Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    99MAV_COMP_ID_USER75Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    100MAV_COMP_ID_CAMERACamera #1.
    101MAV_COMP_ID_CAMERA2Camera #2.
    102MAV_COMP_ID_CAMERA3Camera #3.
    103MAV_COMP_ID_CAMERA4Camera #4.
    104MAV_COMP_ID_CAMERA5Camera #5.
    105MAV_COMP_ID_CAMERA6Camera #6.
    140MAV_COMP_ID_SERVO1Servo #1.
    141MAV_COMP_ID_SERVO2Servo #2.
    142MAV_COMP_ID_SERVO3Servo #3.
    143MAV_COMP_ID_SERVO4Servo #4.
    144MAV_COMP_ID_SERVO5Servo #5.
    145MAV_COMP_ID_SERVO6Servo #6.
    146MAV_COMP_ID_SERVO7Servo #7.
    147MAV_COMP_ID_SERVO8Servo #8.
    148MAV_COMP_ID_SERVO9Servo #9.
    149MAV_COMP_ID_SERVO10Servo #10.
    150MAV_COMP_ID_SERVO11Servo #11.
    151MAV_COMP_ID_SERVO12Servo #12.
    152MAV_COMP_ID_SERVO13Servo #13.
    153MAV_COMP_ID_SERVO14Servo #14.
    154MAV_COMP_ID_GIMBALGimbal #1.
    155MAV_COMP_ID_LOGLogging component.
    156MAV_COMP_ID_ADSBAutomatic Dependent Surveillance-Broadcast (ADS-B) component.
    157MAV_COMP_ID_OSDOn Screen Display (OSD) devices for video links.
    158MAV_COMP_ID_PERIPHERALGeneric autopilot peripheral component ID. Meant for devices that do not implement the parameter microservice.
    159MAV_COMP_ID_QX1_GIMBALGimbal ID for QX1.DEPRECATED: Replaced By MAV_COMP_ID_GIMBAL (2018-11) — All gimbals should use MAV_COMP_ID_GIMBAL.)
    160MAV_COMP_ID_FLARMFLARM collision alert component.
    161MAV_COMP_ID_PARACHUTEParachute component.
    169MAV_COMP_ID_WINCHWinch component.
    171MAV_COMP_ID_GIMBAL2Gimbal #2.
    172MAV_COMP_ID_GIMBAL3Gimbal #3.
    173MAV_COMP_ID_GIMBAL4Gimbal #4
    174MAV_COMP_ID_GIMBAL5Gimbal #5.
    175MAV_COMP_ID_GIMBAL6Gimbal #6.
    180MAV_COMP_ID_BATTERYBattery #1.
    181MAV_COMP_ID_BATTERY2Battery #2.
    189MAV_COMP_ID_MAVCANCAN over MAVLink client.
    190MAV_COMP_ID_MISSIONPLANNERComponent that can generate/supply a mission flight plan (e.g. GCS or developer API).
    191MAV_COMP_ID_ONBOARD_COMPUTERComponent that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
    192MAV_COMP_ID_ONBOARD_COMPUTER2Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
    193MAV_COMP_ID_ONBOARD_COMPUTER3Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
    194MAV_COMP_ID_ONBOARD_COMPUTER4Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
    195MAV_COMP_ID_PATHPLANNERComponent that finds an optimal path between points based on a certain constraint (e.g. minimum snap, shortest path, cost, etc.).
    196MAV_COMP_ID_OBSTACLE_AVOIDANCEComponent that plans a collision free path between two points.
    197MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRYComponent that provides position estimates using VIO techniques.
    198MAV_COMP_ID_PAIRING_MANAGERComponent that manages pairing of vehicle and GCS.
    200MAV_COMP_ID_IMUInertial Measurement Unit (IMU) #1.
    201MAV_COMP_ID_IMU_2Inertial Measurement Unit (IMU) #2.
    202MAV_COMP_ID_IMU_3Inertial Measurement Unit (IMU) #3.
    220MAV_COMP_ID_GPSGPS #1.
    221MAV_COMP_ID_GPS2GPS #2.
    236MAV_COMP_ID_ODID_TXRX_1Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
    237MAV_COMP_ID_ODID_TXRX_2Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
    238MAV_COMP_ID_ODID_TXRX_3Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
    240MAV_COMP_ID_UDP_BRIDGEComponent to bridge MAVLink to UDP (i.e. from a UART).
    241MAV_COMP_ID_UART_BRIDGEComponent to bridge to UART (i.e. from UDP).
    242MAV_COMP_ID_TUNNEL_NODEComponent handling TUNNEL messages (e.g. vendor specific GUI of a component).
    243MAV_COMP_ID_ILLUMINATORIlluminator
    250MAV_COMP_ID_SYSTEM_CONTROLDeprecated, don't use. Component for handling system messages (e.g. to ARM, takeoff, etc.).DEPRECATED: Replaced By MAV_COMP_ID_ALL (2018-11) — System control does not require a separate component ID. Instead, system commands should be sent with target_component=MAV_COMP_ID_ALL allowing the target component to use any appropriate component id.)

    Commands (MAV_CMD) ​

    MAV_CMD_NAV_WAYPOINT (16) ​

    Navigate to waypoint. This is intended for use in missions (for guided commands outside of missions use MAV_CMD_DO_REPOSITION).

    Param (Label)DescriptionValuesUnits
    1 (Hold)Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)min: 0s
    2 (Accept Radius)Acceptance radius (if the sphere with this radius is hit, the waypoint counts as reached)min: 0m
    3 (Pass Radius)0 to pass through the WP, if > 0 radius to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.m
    4 (Yaw)Desired yaw angle at waypoint (rotary wing). NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).deg
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7 (Altitude)Altitudem

    MAV_CMD_NAV_LOITER_UNLIM (17) ​

    Loiter around this waypoint an unlimited amount of time

    Param (Label)DescriptionUnits
    1Empty
    2Empty
    3 (Radius)Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, else counter-clockwisem
    4 (Yaw)Desired yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).deg
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7 (Altitude)Altitudem

    MAV_CMD_NAV_LOITER_TURNS (18) ​

    Loiter around this waypoint for X turns

    Param (Label)DescriptionValuesUnits
    1 (Turns)Number of turns.min: 0
    2 (Heading Required)Leave loiter circle only once heading towards the next waypoint (0 = False)min: 0 max: 1 inc: 1
    3 (Radius)Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, else counter-clockwisem
    4 (Xtrack Location)Loiter circle exit location and/or path to next waypoint ("xtrack") for forward-only moving vehicles (not multicopters). 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use the current system default xtrack behaviour.
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7 (Altitude)Altitudem

    MAV_CMD_NAV_LOITER_TIME (19) ​

    Loiter at the specified latitude, longitude and altitude for a certain amount of time. Multicopter vehicles stop at the point (within a vehicle-specific acceptance radius). Forward-only moving vehicles (e.g. fixed-wing) circle the point with the specified radius/direction. If the Heading Required parameter (2) is non-zero forward moving aircraft will only leave the loiter circle once heading towards the next waypoint.

    Param (Label)DescriptionValuesUnits
    1 (Time)Loiter time (only starts once Lat, Lon and Alt is reached).min: 0s
    2 (Heading Required)Leave loiter circle only once heading towards the next waypoint (0 = False)min: 0 max: 1 inc: 1
    3 (Radius)Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, else counter-clockwise.m
    4 (Xtrack Location)Loiter circle exit location and/or path to next waypoint ("xtrack") for forward-only moving vehicles (not multicopters). 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use the current system default xtrack behaviour.
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7 (Altitude)Altitudem

    MAV_CMD_NAV_RETURN_TO_LAUNCH (20) ​

    Return to launch location

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

    MAV_CMD_NAV_LAND (21) ​

    Land at location.

    Param (Label)DescriptionValuesUnits
    1 (Abort Alt)Minimum target altitude if landing is aborted (0 = undefined/use system default).m
    2 (Land Mode)Precision land mode.PRECISION_LAND_MODE
    3Empty.
    4 (Yaw Angle)Desired yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).deg
    5 (Latitude)Latitude.
    6 (Longitude)Longitude.
    7 (Altitude)Landing altitude (ground level in current frame).m

    MAV_CMD_NAV_TAKEOFF (22) ​

    Takeoff from ground / hand. Vehicles that support multiple takeoff modes (e.g. VTOL quadplane) should take off using the currently configured mode.

    Param (Label)DescriptionUnits
    1 (Pitch)Minimum pitch (if airspeed sensor present), desired pitch without sensordeg
    2Empty
    3Empty
    4 (Yaw)Yaw angle (if magnetometer present), ignored without magnetometer. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).deg
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7 (Altitude)Altitudem

    MAV_CMD_NAV_LAND_LOCAL (23) ​

    Land at local position (local frame only)

    Param (Label)DescriptionValuesUnits
    1 (Target)Landing target number (if available)min: 0 inc: 1
    2 (Offset)Maximum accepted offset from desired landing position - computed magnitude from spherical coordinates: d = sqrt(x^2 + y^2 + z^2), which gives the maximum accepted distance between the desired landing position and the position where the vehicle is about to landmin: 0m
    3 (Descend Rate)Landing descend ratem/s
    4 (Yaw)Desired yaw anglerad
    5 (Y Position)Y-axis positionm
    6 (X Position)X-axis positionm
    7 (Z Position)Z-axis / ground level positionm

    MAV_CMD_NAV_TAKEOFF_LOCAL (24) ​

    Takeoff from local position (local frame only)

    Param (Label)DescriptionUnits
    1 (Pitch)Minimum pitch (if airspeed sensor present), desired pitch without sensorrad
    2Empty
    3 (Ascend Rate)Takeoff ascend ratem/s
    4 (Yaw)Yaw angle (if magnetometer or another yaw estimation source present), ignored without one of theserad
    5 (Y Position)Y-axis positionm
    6 (X Position)X-axis positionm
    7 (Z Position)Z-axis positionm

    MAV_CMD_NAV_FOLLOW (25) ​

    Vehicle following, i.e. this waypoint represents the position of a moving vehicle

    Param (Label)DescriptionValuesUnits
    1 (Following)Following logic to use (e.g. loitering or sinusoidal following) - depends on specific autopilot implementationinc: 1
    2 (Ground Speed)Ground speed of vehicle to be followedm/s
    3 (Radius)Radius around waypoint. If positive loiter clockwise, else counter-clockwisem
    4 (Yaw)Desired yaw angle.deg
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7 (Altitude)Altitudem

    MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT (30) ​

    Continue on the current course and climb/descend to specified altitude. When the altitude is reached continue to the next command (i.e., don't proceed to the next command until the desired altitude is reached.

    Param (Label)DescriptionValuesUnits
    1 (Action)Climb or Descend (0 = Neutral, command completes when within 5m of this command's altitude, 1 = Climbing, command completes when at or above this command's altitude, 2 = Descending, command completes when at or below this command's altitude.min: 0 max: 2 inc: 1
    2Empty
    3Empty
    4Empty
    5Empty
    6Empty
    7 (Altitude)Desired altitudem

    MAV_CMD_NAV_LOITER_TO_ALT (31) ​

    Begin loiter at the specified Latitude and Longitude. If Lat=Lon=0, then loiter at the current position. Don't consider the navigation command complete (don't leave loiter) until the altitude has been reached. Additionally, if the Heading Required parameter is non-zero the aircraft will not leave the loiter until heading toward the next waypoint.

    Param (Label)DescriptionValuesUnits
    1 (Heading Required)Leave loiter circle only once heading towards the next waypoint (0 = False)min: 0 max: 1 inc: 1
    2 (Radius)Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, negative counter-clockwise, 0 means no change to standard loiter.m
    3Empty
    4 (Xtrack Location)Loiter circle exit location and/or path to next waypoint ("xtrack") for forward-only moving vehicles (not multicopters). 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use the current system default xtrack behaviour.min: 0 max: 1 inc: 1
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7 (Altitude)Altitudem

    MAV_CMD_DO_FOLLOW (32) ​

    Begin following a target

    Param (Label)DescriptionValuesUnits
    1 (System ID)System ID (of the FOLLOW_TARGET beacon). Send 0 to disable follow-me and return to the default position hold mode.min: 0 max: 255 inc: 1
    2Reserved
    3Reserved
    4 (Altitude Mode)Altitude mode: 0: Keep current altitude, 1: keep altitude difference to target, 2: go to a fixed altitude above home.min: 0 max: 2 inc: 1
    5 (Altitude)Altitude above home. (used if mode=2)m
    6Reserved
    7 (Time to Land)Time to land in which the MAV should go to the default position hold mode after a message RX timeout.min: 0s

    MAV_CMD_DO_FOLLOW_REPOSITION (33) ​

    Reposition the MAV after a follow target command has been sent

    Param (Label)DescriptionUnits
    1 (Camera Q1)Camera q1 (where 0 is on the ray from the camera to the tracking device)
    2 (Camera Q2)Camera q2
    3 (Camera Q3)Camera q3
    4 (Camera Q4)Camera q4
    5 (Altitude Offset)altitude offset from targetm
    6 (X Offset)X offset from targetm
    7 (Y Offset)Y offset from targetm

    MAV_CMD_DO_ORBIT (34) — [WIP] ​

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

    Start orbiting on the circumference of a circle defined by the parameters. Setting values to NaN/INT32_MAX (as appropriate) results in using defaults.

    Param (Label)DescriptionValuesUnits
    1 (Radius)Radius of the circle. Positive: orbit clockwise. Negative: orbit counter-clockwise. NaN: Use vehicle default radius, or current radius if already orbiting.m
    2 (Velocity)Tangential Velocity. NaN: Use vehicle default velocity, or current velocity if already orbiting.m/s
    3 (Yaw Behavior)Yaw behavior of the vehicle.ORBIT_YAW_BEHAVIOUR
    4 (Orbits)Orbit around the centre point for this many radians (i.e. for a three-quarter orbit set 270*Pi/180). 0: Orbit forever. NaN: Use vehicle default, or current value if already orbiting.min: 0rad
    5 (Latitude/X)Center point latitude (if no MAV_FRAME specified) / X coordinate according to MAV_FRAME. INT32_MAX (or NaN if sent in COMMAND_LONG): Use current vehicle position, or current center if already orbiting.
    6 (Longitude/Y)Center point longitude (if no MAV_FRAME specified) / Y coordinate according to MAV_FRAME. INT32_MAX (or NaN if sent in COMMAND_LONG): Use current vehicle position, or current center if already orbiting.
    7 (Altitude/Z)Center point altitude (MSL) (if no MAV_FRAME specified) / Z coordinate according to MAV_FRAME. NaN: Use current vehicle altitude.

    MAV_CMD_NAV_ROI (80) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_DO_SET_ROI_* (2018-01)

    Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras.

    Param (Label)DescriptionValues
    1 (ROI Mode)Region of interest mode.MAV_ROI
    2 (WP Index)Waypoint index/ target ID. (see MAV_ROI enum)min: 0 inc: 1
    3 (ROI Index)ROI index (allows a vehicle to manage multiple ROI's)min: 0 inc: 1
    4Empty
    5 (X)x the location of the fixed ROI (see MAV_FRAME)
    6 (Y)y
    7 (Z)z

    MAV_CMD_NAV_PATHPLANNING (81) ​

    Control autonomous path planning on the MAV.

    Param (Label)DescriptionValuesUnits
    1 (Local Ctrl)0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planningmin: 0 max: 2 inc: 1
    2 (Global Ctrl)0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy gridmin: 0 max: 3 inc: 1
    3Empty
    4 (Yaw)Yaw angle at goaldeg
    5 (Latitude/X)Latitude/X of goal
    6 (Longitude/Y)Longitude/Y of goal
    7 (Altitude/Z)Altitude/Z of goal

    MAV_CMD_NAV_SPLINE_WAYPOINT (82) ​

    Navigate to waypoint using a spline path.

    Param (Label)DescriptionValuesUnits
    1 (Hold)Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)min: 0s
    2Empty
    3Empty
    4Empty
    5 (Latitude/X)Latitude/X of goal
    6 (Longitude/Y)Longitude/Y of goal
    7 (Altitude/Z)Altitude/Z of goal

    MAV_CMD_NAV_VTOL_TAKEOFF (84) ​

    Takeoff from ground using VTOL mode, and transition to forward flight with specified heading. The command should be ignored by vehicles that dont support both VTOL and fixed-wing flight (multicopters, boats,etc.).

    Param (Label)DescriptionValuesUnits
    1Empty
    2 (Transition Heading)Front transition heading.VTOL_TRANSITION_HEADING
    3Empty
    4 (Yaw Angle)Yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).deg
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7 (Altitude)Altitudem

    MAV_CMD_NAV_VTOL_LAND (85) ​

    Land using VTOL mode

    Param (Label)DescriptionValuesUnits
    1 (Land Options)Landing behaviour.NAV_VTOL_LAND_OPTIONS
    2Empty
    3 (Approach Altitude)Approach altitude (with the same reference as the Altitude field). NaN if unspecified.m
    4 (Yaw)Yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).deg
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7 (Ground Altitude)Altitude (ground level) relative to the current coordinate frame. NaN to use system default landing altitude (ignore value).m

    MAV_CMD_NAV_GUIDED_ENABLE (92) ​

    hand control over to an external controller

    Param (Label)DescriptionValues
    1 (Enable)On / Off (> 0.5f on)min: 0 max: 1 inc: 1
    2Empty
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_NAV_DELAY (93) ​

    Delay the next navigation command a number of seconds or until a specified time

    Param (Label)DescriptionValuesUnits
    1 (Delay)Delay (-1 to enable time-of-day fields)min: -1 inc: 1s
    2 (Hour)hour (24h format, UTC, -1 to ignore)min: -1 max: 23 inc: 1
    3 (Minute)minute (24h format, UTC, -1 to ignore)min: -1 max: 59 inc: 1
    4 (Second)second (24h format, UTC, -1 to ignore)min: -1 max: 59 inc: 1
    5Empty
    6Empty
    7Empty

    MAV_CMD_NAV_PAYLOAD_PLACE (94) ​

    Descend and place payload. Vehicle moves to specified location, descends until it detects a hanging payload has reached the ground, and then releases the payload. If ground is not detected before the reaching the maximum descent value (param1), the command will complete without releasing the payload.

    Param (Label)DescriptionValuesUnits
    1 (Max Descent)Maximum distance to descend.min: 0m
    2Empty
    3Empty
    4Empty
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7 (Altitude)Altitudem

    MAV_CMD_NAV_LAST (95) ​

    NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration

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

    MAV_CMD_CONDITION_DELAY (112) ​

    Delay mission state machine.

    Param (Label)DescriptionValuesUnits
    1 (Delay)Delaymin: 0s
    2Empty
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_CONDITION_CHANGE_ALT (113) ​

    Ascend/descend to target altitude at specified rate. Delay mission state machine until desired altitude reached.

    Param (Label)DescriptionUnits
    1 (Rate)Descent / Ascend rate.m/s
    2Empty
    3Empty
    4Empty
    5Empty
    6Empty
    7 (Altitude)Target Altitudem

    MAV_CMD_CONDITION_DISTANCE (114) ​

    Delay mission state machine until within desired distance of next NAV point.

    Param (Label)DescriptionValuesUnits
    1 (Distance)Distance.min: 0m
    2Empty
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_CONDITION_YAW (115) ​

    Reach a certain target angle.

    Param (Label)DescriptionValuesUnits
    1 (Angle)target angle [0-360]. Absolute angles: 0 is north. Relative angle: 0 is initial yaw. Direction set by param3.min: 0 max: 360deg
    2 (Angular Speed)angular speedmin: 0deg/s
    3 (Direction)direction: -1: counter clockwise, 0: shortest direction, 1: clockwisemin: -1 max: 1 inc: 1
    4 (Relative)0: absolute angle, 1: relative offsetmin: 0 max: 1 inc: 1
    5Empty
    6Empty
    7Empty

    MAV_CMD_CONDITION_LAST (159) ​

    NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration

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

    MAV_CMD_DO_SET_MODE (176) ​

    Set system mode.

    Param (Label)DescriptionValues
    1 (Mode)ModeMAV_MODE
    2 (Custom Mode)Custom mode - this is system specific, please refer to the individual autopilot specifications for details.
    3 (Custom Submode)Custom sub mode - this is system specific, please refer to the individual autopilot specifications for details.
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_JUMP (177) ​

    Jump to the desired command in the mission list. Repeat this action only the specified number of times

    Param (Label)DescriptionValues
    1 (Number)Sequence numbermin: 0 inc: 1
    2 (Repeat)Repeat countmin: 0 inc: 1
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_CHANGE_SPEED (178) ​

    Change speed and/or throttle set points. The value persists until it is overridden or there is a mode change

    Param (Label)DescriptionValuesUnits
    1 (Speed Type)Speed type of value set in param2 (such as airspeed, ground speed, and so on)SPEED_TYPE
    2 (Speed)Speed (-1 indicates no change, -2 indicates return to default vehicle speed)min: -2m/s
    3 (Throttle)Throttle (-1 indicates no change, -2 indicates return to default vehicle throttle value)min: -2%
    4
    5
    6
    7

    MAV_CMD_DO_SET_HOME (179) ​

    Sets the home position to either to the current position or a specified position. The home position is the default position that the system will return to and land on. The position is set automatically by the system during the takeoff (and may also be set using this command). Note: the current home position may be emitted in a HOME_POSITION message on request (using MAV_CMD_REQUEST_MESSAGE with param1=242).

    Param (Label)DescriptionValuesUnits
    1 (Use Current)Use current (1=use current location, 0=use specified location)min: 0 max: 1 inc: 1
    2 (Roll)Roll angle (of surface). Range: -180..180 degrees. NAN or 0 means value not set. 0.01 indicates zero roll.min: -180 max: 180deg
    3 (Pitch)Pitch angle (of surface). Range: -90..90 degrees. NAN or 0 means value not set. 0.01 means zero pitch.min: -90 max: 90deg
    4 (Yaw)Yaw angle. NaN to use default heading. Range: -180..180 degrees.min: -180 max: 180deg
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7 (Altitude)Altitudem

    MAV_CMD_DO_SET_PARAMETER (180) — [DEP] ​

    DEPRECATED: Replaced By PARAM_SET (2024-04)

    Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter.

    Param (Label)DescriptionValues
    1 (Number)Parameter numbermin: 0 inc: 1
    2 (Value)Parameter value
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_SET_RELAY (181) ​

    Set a relay to a condition.

    Param (Label)DescriptionValues
    1 (Instance)Relay instance number.min: 0 inc: 1
    2 (Setting)Setting. (1=on, 0=off, others possible depending on system hardware)min: 0 inc: 1
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_REPEAT_RELAY (182) ​

    Cycle a relay on and off for a desired number of cycles with a desired period.

    Param (Label)DescriptionValuesUnits
    1 (Instance)Relay instance number.min: 0 inc: 1
    2 (Count)Cycle count.min: 1 inc: 1
    3 (Time)Cycle time.min: 0s
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_SET_SERVO (183) ​

    Set a servo to a desired PWM value.

    Param (Label)DescriptionValuesUnits
    1 (Instance)Servo instance number.min: 0 inc: 1
    2 (PWM)Pulse Width Modulation.min: 0 inc: 1us
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_REPEAT_SERVO (184) ​

    Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period.

    Param (Label)DescriptionValuesUnits
    1 (Instance)Servo instance number.min: 0 inc: 1
    2 (PWM)Pulse Width Modulation.min: 0 inc: 1us
    3 (Count)Cycle count.min: 1 inc: 1
    4 (Time)Cycle time.min: 0s
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_FLIGHTTERMINATION (185) ​

    Terminate flight immediately.

    Flight termination immediately and irreversibly terminates the current flight, returning the vehicle to ground. The vehicle will ignore RC or other input until it has been power-cycled. Termination may trigger safety measures, including: disabling motors and deployment of parachute on multicopters, and setting flight surfaces to initiate a landing pattern on fixed-wing). On multicopters without a parachute it may trigger a crash landing. Support for this command can be tested using the protocol bit: MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION. Support for this command can also be tested by sending the command with param1=0 (< 0.5); the ACK should be either MAV_RESULT_FAILED or MAV_RESULT_UNSUPPORTED.

    Param (Label)DescriptionValues
    1 (Terminate)Flight termination activated if > 0.5. Otherwise not activated and ACK with MAV_RESULT_FAILED.min: 0 max: 1 inc: 1
    2Empty
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_CHANGE_ALTITUDE (186) ​

    Change altitude set point.

    Param (Label)DescriptionValuesUnits
    1 (Altitude)Altitude.m
    2 (Frame)Frame of new altitude.MAV_FRAME
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_SET_ACTUATOR (187) ​

    Sets actuators (e.g. servos) to a desired value. The actuator numbers are mapped to specific outputs (e.g. on any MAIN or AUX PWM or UAVCAN) using a flight-stack specific mechanism (i.e. a parameter).

    Param (Label)DescriptionValues
    1 (Actuator 1)Actuator 1 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max: 1
    2 (Actuator 2)Actuator 2 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max: 1
    3 (Actuator 3)Actuator 3 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max: 1
    4 (Actuator 4)Actuator 4 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max: 1
    5 (Actuator 5)Actuator 5 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max: 1
    6 (Actuator 6)Actuator 6 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max: 1
    7 (Index)Index of actuator set (i.e if set to 1, Actuator 1 becomes Actuator 7)min: 0 inc: 1

    MAV_CMD_DO_RETURN_PATH_START (188) — [WIP] ​

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

    Mission item to specify the start of a failsafe/landing return-path segment (the end of the segment is the next MAV_CMD_DO_LAND_START item).

    A vehicle that is using missions for landing (e.g. in a return mode) will join the mission on the closest path of the return-path segment (instead of MAV_CMD_DO_LAND_START or the nearest waypoint). The main use case is to minimize the failsafe flight path in corridor missions, where the inbound/outbound paths are constrained (by geofences) to the same particular path. The MAV_CMD_NAV_RETURN_PATH_START would be placed at the start of the return path. If a failsafe occurs on the outbound path the vehicle will move to the nearest point on the return path (which is parallel for this kind of mission), effectively turning round and following the shortest path to landing. If a failsafe occurs on the inbound path the vehicle is already on the return segment and will continue to landing. The Latitude/Longitude/Altitude are optional, and may be set to 0 if not needed. If specified, the item defines the waypoint at which the return segment starts. If sent using as a command, the vehicle will perform a mission landing (using the land segment if defined) or reject the command if mission landings are not supported, or no mission landing is defined. When used as a command any position information in the command is ignored.

    Param (Label)DescriptionUnits
    1Empty
    2Empty
    3Empty
    4Empty
    5 (Latitude)Latitudee. 0: not used.
    6 (Longitude)Longitudee. 0: not used.
    7 (Altitude)Altitudee. 0: not used.m

    MAV_CMD_DO_LAND_START (189) ​

    Mission command to perform a landing. This is used as a marker in a mission to tell the autopilot where a sequence of mission items that represents a landing starts.

    It may also be sent via a COMMAND_LONG to trigger a landing, in which case the nearest (geographically) landing sequence in the mission will be used. The Latitude/Longitude/Altitude is optional, and may be set to 0 if not needed. If specified then it will be used to help find the closest landing sequence.

    Param (Label)DescriptionUnits
    1Empty
    2Empty
    3Empty
    4Empty
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7 (Altitude)Altitudem

    MAV_CMD_DO_RALLY_LAND (190) ​

    Mission command to perform a landing from a rally point.

    Param (Label)DescriptionUnits
    1 (Altitude)Break altitudem
    2 (Speed)Landing speedm/s
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_GO_AROUND (191) ​

    Mission command to safely abort an autonomous landing.

    Param (Label)DescriptionUnits
    1 (Altitude)Altitudem
    2Empty
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_REPOSITION (192) ​

    Reposition the vehicle to a specific WGS84 global position. This command is intended for guided commands (for missions use MAV_CMD_NAV_WAYPOINT instead).

    Param (Label)DescriptionValuesUnits
    1 (Speed)Ground speed, less than 0 (-1) for defaultmin: -1m/s
    2 (Bitmask)Bitmask of option flags.MAV_DO_REPOSITION_FLAGS
    3 (Radius)Loiter radius for planes. Positive values only, direction is controlled by Yaw value. A value of zero or NaN is ignored.m
    4 (Yaw)Yaw heading. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.). For planes indicates loiter direction (0: clockwise, 1: counter clockwise)deg
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7 (Altitude)Altitudem

    MAV_CMD_DO_PAUSE_CONTINUE (193) ​

    If in a GPS controlled position mode, hold the current position or continue.

    Param (Label)DescriptionValues
    1 (Continue)0: Pause current mission or reposition command, hold current position. 1: Continue mission. A VTOL capable vehicle should enter hover mode (multicopter and VTOL planes). A plane should loiter with the default loiter radius.min: 0 max: 1 inc: 1
    2Reserved
    3Reserved
    4Reserved
    5Reserved
    6Reserved
    7Reserved

    MAV_CMD_DO_SET_REVERSE (194) ​

    Set moving direction to forward or reverse.

    Param (Label)DescriptionValues
    1 (Reverse)Direction (0=Forward, 1=Reverse)min: 0 max: 1 inc: 1
    2Empty
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_SET_ROI_LOCATION (195) ​

    Sets the region of interest (ROI) to a location. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal is not to react to this message.

    Param (Label)DescriptionUnits
    1 (Gimbal device ID)Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).
    2Empty
    3Empty
    4Empty
    5 (Latitude)Latitude of ROI locationdegE7
    6 (Longitude)Longitude of ROI locationdegE7
    7 (Altitude)Altitude of ROI locationm

    MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET (196) ​

    Sets the region of interest (ROI) to be toward next waypoint, with optional pitch/roll/yaw offset. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message.

    Param (Label)DescriptionUnits
    1 (Gimbal device ID)Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).
    2Empty
    3Empty
    4Empty
    5 (Pitch Offset)Pitch offset from next waypoint, positive pitching updeg
    6 (Roll Offset)Roll offset from next waypoint, positive rolling to the rightdeg
    7 (Yaw Offset)Yaw offset from next waypoint, positive yawing to the rightdeg

    MAV_CMD_DO_SET_ROI_NONE (197) ​

    Cancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message. After this command the gimbal manager should go back to manual input if available, and otherwise assume a neutral position.

    Param (Label)Description
    1 (Gimbal device ID)Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).
    2Empty
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_SET_ROI_SYSID (198) ​

    Mount tracks system with specified system ID. Determination of target vehicle position may be done with GLOBAL_POSITION_INT or any other means. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message.

    Param (Label)DescriptionValues
    1 (System ID)System IDmin: 1 max: 255 inc: 1
    2 (Gimbal device ID)Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).

    MAV_CMD_DO_CONTROL_VIDEO (200) ​

    Control onboard camera system.

    Param (Label)DescriptionValuesUnits
    1 (ID)Camera ID (-1 for all)min: -1 inc: 1
    2 (Transmission)Transmission: 0: disabled, 1: enabled compressed, 2: enabled rawmin: 0 max: 2 inc: 1
    3 (Interval)Transmission mode: 0: video stream, >0: single images every n secondsmin: 0s
    4 (Recording)Recording: 0: disabled, 1: enabled compressed, 2: enabled rawmin: 0 max: 2 inc: 1
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_SET_ROI (201) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_DO_SET_ROI_* (2018-01)

    Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras.

    Param (Label)DescriptionValues
    1 (ROI Mode)Region of interest mode.MAV_ROI
    2 (WP Index)Waypoint index/ target ID (depends on param 1).min: 0 inc: 1
    3 (ROI Index)Region of interest index. (allows a vehicle to manage multiple ROI's)min: 0 inc: 1
    4Empty
    5MAV_ROI_WPNEXT: pitch offset from next waypoint, MAV_ROI_LOCATION: latitude
    6MAV_ROI_WPNEXT: roll offset from next waypoint, MAV_ROI_LOCATION: longitude
    7MAV_ROI_WPNEXT: yaw offset from next waypoint, MAV_ROI_LOCATION: altitude

    MAV_CMD_DO_DIGICAM_CONFIGURE (202) ​

    Configure digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ).

    Param (Label)DescriptionValuesUnits
    1 (Mode)Modes: P, TV, AV, M, Etc.min: 0 inc: 1
    2 (Shutter Speed)Shutter speed: Divisor number for one second.min: 0 inc: 1
    3 (Aperture)Aperture: F stop number.min: 0
    4 (ISO)ISO number e.g. 80, 100, 200, Etc.min: 0 inc: 1
    5 (Exposure)Exposure type enumerator.
    6 (Command Identity)Command Identity.
    7 (Engine Cut-off)Main engine cut-off time before camera trigger. (0 means no cut-off)min: 0 inc: 1ds

    MAV_CMD_DO_DIGICAM_CONTROL (203) ​

    Control digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ).

    Param (Label)Description
    1 (Session Control)Session control e.g. show/hide lens
    2 (Zoom Absolute)Zoom's absolute position
    3 (Zoom Relative)Zooming step value to offset zoom from the current position
    4 (Focus)Focus Locking, Unlocking or Re-locking
    5 (Shoot Command)Shooting Command
    6 (Command Identity)Command Identity
    7 (Shot ID)Test shot identifier. If set to 1, image will only be captured, but not counted towards internal frame count.

    MAV_CMD_DO_MOUNT_CONFIGURE (204) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE (2020-01) — This message has been superseded by MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE. The message can still be used to communicate with legacy gimbals implementing it.)

    Mission command to configure a camera or antenna mount

    Param (Label)DescriptionValues
    1 (Mode)Mount operation modeMAV_MOUNT_MODE
    2 (Stabilize Roll)stabilize roll? (1 = yes, 0 = no)min: 0 max: 1 inc: 1
    3 (Stabilize Pitch)stabilize pitch? (1 = yes, 0 = no)min: 0 max: 1 inc: 1
    4 (Stabilize Yaw)stabilize yaw? (1 = yes, 0 = no)min: 0 max: 1 inc: 1
    5 (Roll Input Mode)roll input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)
    6 (Pitch Input Mode)pitch input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)
    7 (Yaw Input Mode)yaw input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)

    MAV_CMD_DO_MOUNT_CONTROL (205) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (2020-01) — This message is ambiguous and inconsistent. It has been superseded by MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW and MAV_CMD_DO_SET_ROI_* variants. The message can still be used to communicate with legacy gimbals implementing it.)

    Mission command to control a camera or antenna mount

    Param (Label)DescriptionValuesUnits
    1 (Pitch)pitch depending on mount mode (degrees or degrees/second depending on pitch input).
    2 (Roll)roll depending on mount mode (degrees or degrees/second depending on roll input).
    3 (Yaw)yaw depending on mount mode (degrees or degrees/second depending on yaw input).
    4 (Altitude)altitude depending on mount mode.m
    5 (Latitude)latitude, set if appropriate mount mode.
    6 (Longitude)longitude, set if appropriate mount mode.
    7 (Mode)Mount mode.MAV_MOUNT_MODE

    MAV_CMD_DO_SET_CAM_TRIGG_DIST (206) ​

    Mission command to set camera trigger distance for this flight. The camera is triggered each time this distance is exceeded. This command can also be used to set the shutter integration time for the camera.

    Param (Label)DescriptionValuesUnits
    1 (Distance)Camera trigger distance. 0 to stop triggering.min: 0m
    2 (Shutter)Camera shutter integration time. -1 or 0 to ignoremin: -1 inc: 1ms
    3 (Trigger)Trigger camera once immediately. (0 = no trigger, 1 = trigger)min: 0 max: 1 inc: 1
    4 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_FENCE_ENABLE (207) ​

    Enable the geofence. This can be used in a mission or via the command protocol. The persistence/lifetime of the setting is undefined. Depending on flight stack implementation it may persist until superseded, or it may revert to a system default at the end of a mission. Flight stacks typically reset the setting to system defaults on reboot.

    Param (Label)DescriptionValues
    1 (Enable)enable? (0=disable, 1=enable, 2=disable_floor_only)min: 0 max: 2 inc: 1
    2 (Types)Fence types to enable or disable as a bitmask. A value of 0 indicates that all fences should be enabled or disabled. This parameter is ignored if param 1 has the value 2FENCE_TYPE
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_PARACHUTE (208) ​

    Mission item/command to release a parachute or enable/disable auto release.

    Param (Label)DescriptionValues
    1 (Action)ActionPARACHUTE_ACTION
    2Empty
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_MOTOR_TEST (209) ​

    Command to perform motor test.

    Param (Label)DescriptionValuesUnits
    1 (Instance)Motor instance number (from 1 to max number of motors on the vehicle).min: 1 inc: 1
    2 (Throttle Type)Throttle type (whether the Throttle Value in param3 is a percentage, PWM value, etc.)MOTOR_TEST_THROTTLE_TYPE
    3 (Throttle)Throttle value.
    4 (Timeout)Timeout between tests that are run in sequence.min: 0s
    5 (Motor Count)Motor count. Number of motors to test in sequence: 0/1=one motor, 2= two motors, etc. The Timeout (param4) is used between tests.min: 0 inc: 1
    6 (Test Order)Motor test order.MOTOR_TEST_ORDER
    7Empty

    MAV_CMD_DO_INVERTED_FLIGHT (210) ​

    Change to/from inverted flight.

    Param (Label)DescriptionValues
    1 (Inverted)Inverted flight. (0=normal, 1=inverted)min: 0 max: 1 inc: 1
    2Empty
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_GRIPPER (211) ​

    Mission command to operate a gripper.

    Param (Label)DescriptionValues
    1 (Instance)Gripper instance number.min: 1 inc: 1
    2 (Action)Gripper action to perform.GRIPPER_ACTIONS
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_AUTOTUNE_ENABLE (212) ​

    Enable/disable autotune.

    Param (Label)DescriptionValues
    1 (Enable)Enable (1: enable, 0:disable).min: 0 max: 1 inc: 1
    2 (Axis)Specify which axis are autotuned. 0 indicates autopilot default settings.AUTOTUNE_AXIS
    3Empty.
    4Empty.
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_NAV_SET_YAW_SPEED (213) ​

    Sets a desired vehicle turn angle and speed change.

    Param (Label)DescriptionValuesUnits
    1 (Yaw)Yaw angle to adjust steering by.deg
    2 (Speed)Speed.m/s
    3 (Angle)Final angle. (0=absolute, 1=relative)min: 0 max: 1 inc: 1
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL (214) ​

    Mission command to set camera trigger interval for this flight. If triggering is enabled, the camera is triggered each time this interval expires. This command can also be used to set the shutter integration time for the camera.

    Param (Label)DescriptionValuesUnits
    1 (Trigger Cycle)Camera trigger cycle time. -1 or 0 to ignore.min: -1 inc: 1ms
    2 (Shutter Integration)Camera shutter integration time. Should be less than trigger cycle time. -1 or 0 to ignore.min: -1 inc: 1ms
    3 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_MOUNT_CONTROL_QUAT (220) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (2020-01)

    Mission command to control a camera or antenna mount, using a quaternion as reference.

    Param (Label)Description
    1 (Q1)quaternion param q1, w (1 in null-rotation)
    2 (Q2)quaternion param q2, x (0 in null-rotation)
    3 (Q3)quaternion param q3, y (0 in null-rotation)
    4 (Q4)quaternion param q4, z (0 in null-rotation)
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_GUIDED_MASTER (221) ​

    set id of master controller

    Param (Label)DescriptionValues
    1 (System ID)System IDmin: 0 max: 255 inc: 1
    2 (Component ID)Component IDmin: 0 max: 255 inc: 1
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_GUIDED_LIMITS (222) ​

    Set limits for external control

    Param (Label)DescriptionValuesUnits
    1 (Timeout)Timeout - maximum time that external controller will be allowed to control vehicle. 0 means no timeout.min: 0s
    2 (Min Altitude)Altitude (MSL) min - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit.m
    3 (Max Altitude)Altitude (MSL) max - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit.m
    4 (Horiz. Move Limit)Horizontal move limit - if vehicle moves more than this distance from its location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal move limit.min: 0m
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_ENGINE_CONTROL (223) ​

    Control vehicle engine. This is interpreted by the vehicles engine controller to change the target engine state. It is intended for vehicles with internal combustion engines

    Param (Label)DescriptionValuesUnits
    1 (Start Engine)0: Stop engine, 1:Start Enginemin: 0 max: 1 inc: 1
    2 (Cold Start)0: Warm start, 1:Cold start. Controls use of choke where applicablemin: 0 max: 1 inc: 1
    3 (Height Delay)Height delay. This is for commanding engine start only after the vehicle has gained the specified height. Used in VTOL vehicles during takeoff to start engine after the aircraft is off the ground. Zero for no delay.min: 0m
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_SET_MISSION_CURRENT (224) ​

    Set the mission item with sequence number seq as the current item and emit MISSION_CURRENT (whether or not the mission number changed). If a mission is currently being executed, the system will continue to this new mission item on the shortest path, skipping any intermediate mission items. Note that mission jump repeat counters are not reset unless param2 is set (see MAV_CMD_DO_JUMP param2).

    This command may trigger a mission state-machine change on some systems: for example from MISSION_STATE_NOT_STARTED or MISSION_STATE_PAUSED to MISSION_STATE_ACTIVE. If the system is in mission mode, on those systems this command might therefore start, restart or resume the mission. If the system is not in mission mode this command must not trigger a switch to mission mode.

    The mission may be "reset" using param2. Resetting sets jump counters to initial values (to reset counters without changing the current mission item set the param1 to -1). Resetting also explicitly changes a mission state of MISSION_STATE_COMPLETE to MISSION_STATE_PAUSED or MISSION_STATE_ACTIVE, potentially allowing it to resume when it is (next) in a mission mode.

    The command will ACK with MAV_RESULT_FAILED if the sequence number is out of range (including if there is no mission item).

    Param (Label)DescriptionValues
    1 (Number)Mission sequence value to set. -1 for the current mission item (use to reset mission without changing current mission item).min: -1 inc: 1
    2 (Reset Mission)Resets mission. 1: true, 0: false. Resets jump counters to initial values and changes mission state "completed" to be "active" or "paused".min: 0 max: 1 inc: 1
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_LAST (240) ​

    NOP - This command is only used to mark the upper limit of the DO commands in the enumeration

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

    MAV_CMD_PREFLIGHT_CALIBRATION (241) ​

    Trigger calibration. This command will be only accepted if in pre-flight mode. Except for Temperature Calibration, only one sensor should be set in a single message and all others should be zero.

    Param (Label)DescriptionValues
    1 (Gyro Temperature)1: gyro calibration, 3: gyro temperature calibrationmin: 0 max: 3 inc: 1
    2 (Magnetometer)1: magnetometer calibrationmin: 0 max: 1 inc: 1
    3 (Ground Pressure)1: ground pressure calibrationmin: 0 max: 1 inc: 1
    4 (Remote Control)1: radio RC calibration, 2: RC trim calibrationmin: 0 max: 1 inc: 1
    5 (Accelerometer)1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature calibration, 4: simple accelerometer calibrationmin: 0 max: 4 inc: 1
    6 (Compmot or Airspeed)1: APM: compass/motor interference calibration (PX4: airspeed calibration, deprecated), 2: airspeed calibrationmin: 0 max: 2 inc: 1
    7 (ESC or Baro)1: ESC calibration, 3: barometer temperature calibrationmin: 0 max: 3 inc: 1

    MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS (242) ​

    Set sensor offsets. This command will be only accepted if in pre-flight mode.

    Param (Label)DescriptionValues
    1 (Sensor Type)Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow, 5: second magnetometer, 6: third magnetometermin: 0 max: 6 inc: 1
    2 (X Offset)X axis offset (or generic dimension 1), in the sensor's raw units
    3 (Y Offset)Y axis offset (or generic dimension 2), in the sensor's raw units
    4 (Z Offset)Z axis offset (or generic dimension 3), in the sensor's raw units
    5 (4th Dimension)Generic dimension 4, in the sensor's raw units
    6 (5th Dimension)Generic dimension 5, in the sensor's raw units
    7 (6th Dimension)Generic dimension 6, in the sensor's raw units

    MAV_CMD_PREFLIGHT_UAVCAN (243) ​

    Trigger UAVCAN configuration (actuator ID assignment and direction mapping). Note that this maps to the legacy UAVCAN v0 function UAVCAN_ENUMERATE, which is intended to be executed just once during initial vehicle configuration (it is not a normal pre-flight command and has been poorly named).

    Param (Label)Description
    1 (Actuator ID)1: Trigger actuator ID assignment and direction mapping. 0: Cancel command.
    2Reserved
    3Reserved
    4Reserved
    5Reserved
    6Reserved
    7Reserved

    MAV_CMD_PREFLIGHT_STORAGE (245) ​

    Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode.

    Param (Label)DescriptionValuesUnits
    1 (Parameter Storage)Action to perform on the persistent parameter storagePREFLIGHT_STORAGE_PARAMETER_ACTION
    2 (Mission Storage)Action to perform on the persistent mission storagePREFLIGHT_STORAGE_MISSION_ACTION
    3 (Logging Rate)Onboard logging: 0: Ignore, 1: Start default rate logging, -1: Stop logging, > 1: logging rate (e.g. set to 1000 for 1000 Hz logging)min: -1 inc: 1Hz
    4Reserved
    5Empty
    6Empty
    7Empty

    MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN (246) ​

    Request the reboot or shutdown of system components.

    Param (Label)DescriptionValues
    1 (Autopilot)0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot, 3: Reboot autopilot and keep it in the bootloader until upgraded.min: 0 max: 3 inc: 1
    2 (Companion)0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer, 3: Reboot onboard computer and keep it in the bootloader until upgraded.min: 0 max: 3 inc: 1
    3 (Component action)0: Do nothing for component, 1: Reboot component, 2: Shutdown component, 3: Reboot component and keep it in the bootloader until upgradedmin: 0 max: 3 inc: 1
    4 (Component ID)MAVLink Component ID targeted in param3 (0 for all components).min: 0 max: 255 inc: 1
    5Reserved (set to 0)
    6Reserved (set to 0)
    7WIP: ID (e.g. camera ID -1 for all IDs)

    MAV_CMD_OVERRIDE_GOTO (252) ​

    Override current mission with command to pause mission, pause mission and move to position, continue/resume mission. When param 1 indicates that the mission is paused (MAV_GOTO_DO_HOLD), param 2 defines whether it holds in place or moves to another position.

    Param (Label)DescriptionValuesUnits
    1 (Continue)MAV_GOTO_DO_HOLD: pause mission and either hold or move to specified position (depending on param2), MAV_GOTO_DO_CONTINUE: resume mission.MAV_GOTO
    2 (Position)MAV_GOTO_HOLD_AT_CURRENT_POSITION: hold at current position, MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position.MAV_GOTO
    3 (Frame)Coordinate frame of hold point.MAV_FRAME
    4 (Yaw)Desired yaw angle.deg
    5 (Latitude/X)Latitude/X position.
    6 (Longitude/Y)Longitude/Y position.
    7 (Altitude/Z)Altitude/Z position.

    MAV_CMD_OBLIQUE_SURVEY (260) ​

    Mission command to set a Camera Auto Mount Pivoting Oblique Survey (Replaces CAM_TRIGG_DIST for this purpose). The camera is triggered each time this distance is exceeded, then the mount moves to the next position. Params 4~6 set-up the angle limits and number of positions for oblique survey, where mount-enabled vehicles automatically roll the camera between shots to emulate an oblique camera setup (providing an increased HFOV). This command can also be used to set the shutter integration time for the camera.

    Param (Label)DescriptionValuesUnits
    1 (Distance)Camera trigger distance. 0 to stop triggering.min: 0m
    2 (Shutter)Camera shutter integration time. 0 to ignoremin: 0 inc: 1ms
    3 (Min Interval)The minimum interval in which the camera is capable of taking subsequent pictures repeatedly. 0 to ignore.min: 0 max: 10000 inc: 1ms
    4 (Positions)Total number of roll positions at which the camera will capture photos (images captures spread evenly across the limits defined by param5).min: 2 inc: 1
    5 (Roll Angle)Angle limits that the camera can be rolled to left and right of center.min: 0deg
    6 (Pitch Angle)Fixed pitch angle that the camera will hold in oblique mode if the mount is actuated in the pitch axis.min: -180 max: 180deg
    7Empty

    MAV_CMD_MISSION_START (300) ​

    start running a mission

    Param (Label)DescriptionValues
    1 (First Item)first_item: the first mission item to runmin: 0 inc: 1
    2 (Last Item)last_item: the last mission item to run (after this item is run, the mission ends)min: 0 inc: 1

    MAV_CMD_ACTUATOR_TEST (310) ​

    Actuator testing command. This is similar to MAV_CMD_DO_MOTOR_TEST but operates on the level of output functions, i.e. it is possible to test Motor1 independent from which output it is configured on. Autopilots typically refuse this command while armed.

    Param (Label)DescriptionValuesUnits
    1 (Value)Output value: 1 means maximum positive output, 0 to center servos or minimum motor thrust (expected to spin), -1 for maximum negative (if not supported by the motors, i.e. motor is not reversible, smaller than 0 maps to NaN). And NaN maps to disarmed (stop the motors).min: -1 max: 1
    2 (Timeout)Timeout after which the test command expires and the output is restored to the previous value. A timeout has to be set for safety reasons. A timeout of 0 means to restore the previous value immediately.min: 0 max: 3s
    3
    4
    5 (Output Function)Actuator Output functionACTUATOR_OUTPUT_FUNCTION
    6
    7

    MAV_CMD_CONFIGURE_ACTUATOR (311) ​

    Actuator configuration command.

    Param (Label)DescriptionValues
    1 (Configuration)Actuator configuration actionACTUATOR_CONFIGURATION
    2
    3
    4
    5 (Output Function)Actuator Output functionACTUATOR_OUTPUT_FUNCTION
    6
    7

    MAV_CMD_COMPONENT_ARM_DISARM (400) ​

    Arms / Disarms a component

    Param (Label)DescriptionValues
    1 (Arm)0: disarm, 1: armmin: 0 max: 1 inc: 1
    2 (Force)0: arm-disarm unless prevented by safety checks (i.e. when landed), 21196: force arming/disarming (e.g. allow arming to override preflight checks and disarming in flight)min: 0 max: 21196 inc: 21196

    MAV_CMD_RUN_PREARM_CHECKS (401) ​

    Instructs a target system to run pre-arm checks.

    This allows preflight checks to be run on demand, which may be useful on systems that normally run them at low rate, or which do not trigger checks when the armable state might have changed. This command should return MAV_RESULT_ACCEPTED if it will run the checks. The results of the checks are usually then reported in SYS_STATUS messages (this is system-specific). The command should return MAV_RESULT_TEMPORARILY_REJECTED if the system is already armed.

    Param (Label)Description

    MAV_CMD_ILLUMINATOR_ON_OFF (405) ​

    Turns illuminators ON/OFF. An illuminator is a light source that is used for lighting up dark areas external to the system: e.g. a torch or searchlight (as opposed to a light source for illuminating the system itself, e.g. an indicator light).

    Param (Label)DescriptionValues
    1 (Enable)0: Illuminators OFF, 1: Illuminators ONmin: 0 max: 1 inc: 1

    MAV_CMD_DO_ILLUMINATOR_CONFIGURE (406) ​

    Configures illuminator settings. An illuminator is a light source that is used for lighting up dark areas external to the system: e.g. a torch or searchlight (as opposed to a light source for illuminating the system itself, e.g. an indicator light).

    Param (Label)DescriptionValuesUnits
    1 (Mode)ModeILLUMINATOR_MODE
    2 (Brightness)0%: Off, 100%: Max Brightnessmin: 0 max: 100%
    3 (Strobe Period)Strobe period in seconds where 0 means strobing is not usedmin: 0s
    4 (Strobe Duty)Strobe duty cycle where 100% means it is on constantly and 0 means strobing is not usedmin: 0 max: 100%

    MAV_CMD_GET_HOME_POSITION (410) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2022-04)

    Request the home position from the vehicle.

    The vehicle will ACK the command and then emit the HOME_POSITION message.

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

    MAV_CMD_INJECT_FAILURE (420) ​

    Inject artificial failure for testing purposes. Note that autopilots should implement an additional protection before accepting this command such as a specific param setting.

    Param (Label)DescriptionValues
    1 (Failure unit)The unit which is affected by the failure.FAILURE_UNIT
    2 (Failure type)The type how the failure manifests itself.FAILURE_TYPE
    3 (Instance)Instance affected by failure (0 to signal all).

    MAV_CMD_START_RX_PAIR (500) ​

    Starts receiver pairing.

    Param (Label)DescriptionValues
    1 (RC Type)RC type.RC_TYPE
    2 (RC Sub Type)RC sub type.RC_SUB_TYPE

    MAV_CMD_GET_MESSAGE_INTERVAL (510) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2022-04)

    Request the interval between messages for a particular MAVLink message ID. The receiver should ACK the command and then emit its response in a MESSAGE_INTERVAL message.

    Param (Label)DescriptionValues
    1 (Message ID)The MAVLink message IDmin: 0 max: 16777215 inc: 1

    MAV_CMD_SET_MESSAGE_INTERVAL (511) ​

    Set the interval between messages for a particular MAVLink message ID. This interface replaces REQUEST_DATA_STREAM.

    Param (Label)DescriptionValuesUnits
    1 (Message ID)The MAVLink message IDmin: 0 max: 16777215 inc: 1
    2 (Interval)The interval between two messages. -1: disable. 0: request default rate (which may be zero).min: -1 inc: 1us
    3 (Req Param 3)Use for index ID, if required. Otherwise, the use of this parameter (if any) must be defined in the requested message. By default assumed not used (0).
    4 (Req Param 4)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
    5 (Req Param 5)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
    6 (Req Param 6)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
    7 (Response Target)Target address of message stream (if message has target address fields). 0: Flight-stack default (recommended), 1: address of requestor, 2: broadcast.min: 0 max: 2 inc: 1

    MAV_CMD_REQUEST_MESSAGE (512) ​

    Request the target system(s) emit a single instance of a specified message (i.e. a "one-shot" version of MAV_CMD_SET_MESSAGE_INTERVAL).

    Param (Label)DescriptionValues
    1 (Message ID)The MAVLink message ID of the requested message.min: 0 max: 16777215 inc: 1
    2 (Req Param 1)Use for index ID, if required. Otherwise, the use of this parameter (if any) must be defined in the requested message. By default assumed not used (0).
    3 (Req Param 2)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
    4 (Req Param 3)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
    5 (Req Param 4)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
    6 (Req Param 5)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
    7 (Response Target)Target address for requested message (if message has target address fields). 0: Flight-stack default, 1: address of requestor, 2: broadcast.min: 0 max: 2 inc: 1

    MAV_CMD_REQUEST_PROTOCOL_VERSION (519) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

    Request MAVLink protocol version compatibility. All receivers should ACK the command and then emit their capabilities in an PROTOCOL_VERSION message

    Param (Label)DescriptionValues
    1 (Protocol)1: Request supported protocol versions by all nodes on the networkmin: 0 max: 1 inc: 1
    2Reserved (all remaining params)

    MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES (520) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

    Request autopilot capabilities. The receiver should ACK the command and then emit its capabilities in an AUTOPILOT_VERSION message

    Param (Label)DescriptionValues
    1 (Version)1: Request autopilot versionmin: 0 max: 1 inc: 1
    2Reserved (all remaining params)

    MAV_CMD_REQUEST_CAMERA_INFORMATION (521) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

    Request camera information (CAMERA_INFORMATION).

    Param (Label)DescriptionValues
    1 (Capabilities)0: No action 1: Request camera capabilitiesmin: 0 max: 1 inc: 1
    2Reserved (all remaining params)

    MAV_CMD_REQUEST_CAMERA_SETTINGS (522) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

    Request camera settings (CAMERA_SETTINGS).

    Param (Label)DescriptionValues
    1 (Settings)0: No Action 1: Request camera settingsmin: 0 max: 1 inc: 1
    2Reserved (all remaining params)

    MAV_CMD_REQUEST_STORAGE_INFORMATION (525) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

    Request storage information (STORAGE_INFORMATION). Use the command's target_component to target a specific component's storage.

    Param (Label)DescriptionValues
    1 (Storage ID)Storage ID (0 for all, 1 for first, 2 for second, etc.)min: 0 inc: 1
    2 (Information)0: No Action 1: Request storage informationmin: 0 max: 1 inc: 1
    3Reserved (all remaining params)

    MAV_CMD_STORAGE_FORMAT (526) ​

    Format a storage medium. Once format is complete, a STORAGE_INFORMATION message is sent. Use the command's target_component to target a specific component's storage.

    Param (Label)DescriptionValues
    1 (Storage ID)Storage ID (1 for first, 2 for second, etc.)min: 0 inc: 1
    2 (Format)Format storage (and reset image log). 0: No action 1: Format storagemin: 0 max: 1 inc: 1
    3 (Reset Image Log)Reset Image Log (without formatting storage medium). This will reset CAMERA_CAPTURE_STATUS.image_count and CAMERA_IMAGE_CAPTURED.image_index. 0: No action 1: Reset Image Logmin: 0 max: 1 inc: 1
    4Reserved (all remaining params)

    MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS (527) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

    Request camera capture status (CAMERA_CAPTURE_STATUS)

    Param (Label)DescriptionValues
    1 (Capture Status)0: No Action 1: Request camera capture statusmin: 0 max: 1 inc: 1
    2Reserved (all remaining params)

    MAV_CMD_REQUEST_FLIGHT_INFORMATION (528) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

    Request flight information (FLIGHT_INFORMATION)

    Param (Label)DescriptionValues
    1 (Flight Information)1: Request flight informationmin: 0 max: 1 inc: 1
    2Reserved (all remaining params)

    MAV_CMD_RESET_CAMERA_SETTINGS (529) ​

    Reset all camera settings to Factory Default

    Param (Label)DescriptionValues
    1 (Reset)0: No Action 1: Reset all settingsmin: 0 max: 1 inc: 1
    2 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

    MAV_CMD_SET_CAMERA_MODE (530) ​

    Set camera running mode. Use NaN for reserved values. GCS will send a MAV_CMD_REQUEST_VIDEO_STREAM_STATUS command after a mode change if the camera supports video streaming.

    Param (Label)DescriptionValues
    1 (id)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
    2 (Camera Mode)Camera modeCAMERA_MODE
    3
    4
    7

    MAV_CMD_SET_CAMERA_ZOOM (531) ​

    Set camera zoom. Camera must respond with a CAMERA_SETTINGS message (on success).

    Param (Label)DescriptionValues
    1 (Zoom Type)Zoom typeCAMERA_ZOOM_TYPE
    2 (Zoom Value)Zoom value. The range of valid values depend on the zoom type.
    3 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
    4

    MAV_CMD_SET_CAMERA_FOCUS (532) ​

    Set camera focus. Camera must respond with a CAMERA_SETTINGS message (on success).

    Param (Label)DescriptionValues
    1 (Focus Type)Focus typeSET_FOCUS_TYPE
    2 (Focus Value)Focus value
    3 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
    4

    MAV_CMD_SET_STORAGE_USAGE (533) ​

    Set that a particular storage is the preferred location for saving photos, videos, and/or other media (e.g. to set that an SD card is used for storing videos).

    There can only be one preferred save location for each particular media type: setting a media usage flag will clear/reset that same flag if set on any other storage. If no flag is set the system should use its default storage. A target system can choose to always use default storage, in which case it should ACK the command with MAV_RESULT_UNSUPPORTED. A target system can choose to not allow a particular storage to be set as preferred storage, in which case it should ACK the command with MAV_RESULT_DENIED.

    Param (Label)DescriptionValues
    1 (Storage ID)Storage ID (1 for first, 2 for second, etc.)min: 0 inc: 1
    2 (Usage)Usage flagsSTORAGE_USAGE_FLAG

    MAV_CMD_SET_CAMERA_SOURCE (534) ​

    Set camera source. Changes the camera's active sources on cameras with multiple image sensors.

    Param (Label)DescriptionValues
    1 (device id)Component Id of camera to address or 1-6 for non-MAVLink cameras, 0 for all cameras.
    2 (primary source)Primary SourceCAMERA_SOURCE
    3 (secondary source)Secondary Source. If non-zero the second source will be displayed as picture-in-picture.CAMERA_SOURCE

    MAV_CMD_JUMP_TAG (600) ​

    Tagged jump target. Can be jumped to with MAV_CMD_DO_JUMP_TAG.

    Param (Label)DescriptionValues
    1 (Tag)Tag.min: 0 inc: 1

    MAV_CMD_DO_JUMP_TAG (601) ​

    Jump to the matching tag in the mission list. Repeat this action for the specified number of times. A mission should contain a single matching tag for each jump. If this is not the case then a jump to a missing tag should complete the mission, and a jump where there are multiple matching tags should always select the one with the lowest mission sequence number.

    Param (Label)DescriptionValues
    1 (Tag)Target tag to jump to.min: 0 inc: 1
    2 (Repeat)Repeat count.min: 0 inc: 1

    MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (1000) ​

    Set gimbal manager pitch/yaw setpoints (low rate command). It is possible to set combinations of the values below. E.g. an angle as well as a desired angular rate can be used to get to this angle at a certain angular rate, or an angular rate only will result in continuous turning. NaN is to be used to signal unset. Note: only the gimbal manager will react to this command - it will be ignored by a gimbal device. Use GIMBAL_MANAGER_SET_PITCHYAW if you need to stream pitch/yaw setpoints at higher rate.

    Param (Label)DescriptionValuesUnits
    1 (Pitch angle)Pitch angle (positive to pitch up, relative to vehicle for FOLLOW mode, relative to world horizon for LOCK mode).min: -180 max: 180deg
    2 (Yaw angle)Yaw angle (positive to yaw to the right, relative to vehicle for FOLLOW mode, absolute to North for LOCK mode).min: -180 max: 180deg
    3 (Pitch rate)Pitch rate (positive to pitch up).deg/s
    4 (Yaw rate)Yaw rate (positive to yaw to the right).deg/s
    5 (Gimbal manager flags)Gimbal manager flags to use.GIMBAL_MANAGER_FLAGS
    7 (Gimbal device ID)Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).

    MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE (1001) ​

    Gimbal configuration to set which sysid/compid is in primary and secondary control.

    Param (Label)Description
    1 (sysid primary control)Sysid for primary control (0: no one in control, -1: leave unchanged, -2: set itself in control (for missions where the own sysid is still unknown), -3: remove control if currently in control).
    2 (compid primary control)Compid for primary control (0: no one in control, -1: leave unchanged, -2: set itself in control (for missions where the own sysid is still unknown), -3: remove control if currently in control).
    3 (sysid secondary control)Sysid for secondary control (0: no one in control, -1: leave unchanged, -2: set itself in control (for missions where the own sysid is still unknown), -3: remove control if currently in control).
    4 (compid secondary control)Compid for secondary control (0: no one in control, -1: leave unchanged, -2: set itself in control (for missions where the own sysid is still unknown), -3: remove control if currently in control).
    7 (Gimbal device ID)Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).

    MAV_CMD_IMAGE_START_CAPTURE (2000) ​

    Start image capture sequence. CAMERA_IMAGE_CAPTURED must be emitted after each capture.

    Param1 (id) may be used to specify the target camera: 0: all cameras, 1 to 6: autopilot-connected cameras, 7-255: MAVLink camera component ID. It is needed in order to target specific cameras connected to the autopilot, or specific sensors in a multi-sensor camera (neither of which have a distinct MAVLink component ID). It is also needed to specify the target camera in missions.

    When used in a mission, an autopilot should execute the MAV_CMD for a specified local camera (param1 = 1-6), or resend it as a command if it is intended for a MAVLink camera (param1 = 7 - 255), setting the command's target_component as the param1 value (and setting param1 in the command to zero). If the param1 is 0 the autopilot should do both.

    When sent in a command the target MAVLink address is set using target_component. If addressed specifically to an autopilot: param1 should be used in the same way as it is for missions (though command should NACK with MAV_RESULT_DENIED if a specified local camera does not exist). If addressed to a MAVLink camera, param 1 can be used to address all cameras (0), or to separately address 1 to 7 individual sensors. Other values should be NACKed with MAV_RESULT_DENIED. If the command is broadcast (target_component is 0) then param 1 should be set to 0 (any other value should be NACKED with MAV_RESULT_DENIED). An autopilot would trigger any local cameras and forward the command to all channels.

    Param (Label)DescriptionValuesUnits
    1 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
    2 (Interval)Desired elapsed time between two consecutive pictures (in seconds). Minimum values depend on hardware (typically greater than 2 seconds).min: 0s
    3 (Total Images)Total number of images to capture. 0 to capture forever/until MAV_CMD_IMAGE_STOP_CAPTURE.min: 0 inc: 1
    4 (Sequence Number)Capture sequence number starting from 1. This is only valid for single-capture (param3 == 1), otherwise set to 0. Increment the capture ID for each capture command to prevent double captures when a command is re-transmitted.min: 1 inc: 1
    5
    6
    7

    MAV_CMD_IMAGE_STOP_CAPTURE (2001) ​

    Stop image capture sequence.

    Param1 (id) may be used to specify the target camera: 0: all cameras, 1 to 6: autopilot-connected cameras, 7-255: MAVLink camera component ID. It is needed in order to target specific cameras connected to the autopilot, or specific sensors in a multi-sensor camera (neither of which have a distinct MAVLink component ID). It is also needed to specify the target camera in missions.

    When used in a mission, an autopilot should execute the MAV_CMD for a specified local camera (param1 = 1-6), or resend it as a command if it is intended for a MAVLink camera (param1 = 7 - 255), setting the command's target_component as the param1 value (and setting param1 in the command to zero). If the param1 is 0 the autopilot should do both.

    When sent in a command the target MAVLink address is set using target_component. If addressed specifically to an autopilot: param1 should be used in the same way as it is for missions (though command should NACK with MAV_RESULT_DENIED if a specified local camera does not exist). If addressed to a MAVLink camera, param1 can be used to address all cameras (0), or to separately address 1 to 7 individual sensors. Other values should be NACKed with MAV_RESULT_DENIED. If the command is broadcast (target_component is 0) then param 1 should be set to 0 (any other value should be NACKED with MAV_RESULT_DENIED). An autopilot would trigger any local cameras and forward the command to all channels.

    Param (Label)DescriptionValues
    1 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
    2
    3
    4
    5
    6
    7

    MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE (2002) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

    Re-request a CAMERA_IMAGE_CAPTURED message.

    Param (Label)DescriptionValues
    1 (Number)Sequence number for missing CAMERA_IMAGE_CAPTURED messagemin: 0 inc: 1
    2
    3
    4
    5
    6
    7

    MAV_CMD_DO_TRIGGER_CONTROL (2003) ​

    Enable or disable on-board camera triggering system.

    Param (Label)DescriptionValues
    1 (Enable)Trigger enable/disable (0 for disable, 1 for start), -1 to ignoremin: -1 max: 1 inc: 1
    2 (Reset)1 to reset the trigger sequence, -1 or 0 to ignoremin: -1 max: 1 inc: 1
    3 (Pause)1 to pause triggering, but without switching the camera off or retracting it. -1 to ignoremin: -1 max: 1 inc: 2
    4 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

    MAV_CMD_CAMERA_TRACK_POINT (2004) ​

    If the camera supports point visual tracking (CAMERA_CAP_FLAGS_HAS_TRACKING_POINT is set), this command allows to initiate the tracking.

    Param (Label)DescriptionValues
    1 (Point x)Point to track x value (normalized 0..1, 0 is left, 1 is right).min: 0 max: 1
    2 (Point y)Point to track y value (normalized 0..1, 0 is top, 1 is bottom).min: 0 max: 1
    3 (Radius)Point radius (normalized 0..1, 0 is one pixel, 1 is full image width).min: 0 max: 1
    4 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

    MAV_CMD_CAMERA_TRACK_RECTANGLE (2005) ​

    If the camera supports rectangle visual tracking (CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLE is set), this command allows to initiate the tracking.

    Param (Label)DescriptionValues
    1 (Top left corner x)Top left corner of rectangle x value (normalized 0..1, 0 is left, 1 is right).min: 0 max: 1
    2 (Top left corner y)Top left corner of rectangle y value (normalized 0..1, 0 is top, 1 is bottom).min: 0 max: 1
    3 (Bottom right corner x)Bottom right corner of rectangle x value (normalized 0..1, 0 is left, 1 is right).min: 0 max: 1
    4 (Bottom right corner y)Bottom right corner of rectangle y value (normalized 0..1, 0 is top, 1 is bottom).min: 0 max: 1
    5 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

    MAV_CMD_CAMERA_STOP_TRACKING (2010) ​

    Stops ongoing tracking.

    Param (Label)DescriptionValues
    1 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

    MAV_CMD_VIDEO_START_CAPTURE (2500) ​

    Starts video capture (recording).

    Param (Label)DescriptionValuesUnits
    1 (Stream ID)Video Stream ID (0 for all streams)min: 0 inc: 1
    2 (Status Frequency)Frequency CAMERA_CAPTURE_STATUS messages should be sent while recording (0 for no messages, otherwise frequency)min: 0Hz
    3 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
    4
    5
    6
    7

    MAV_CMD_VIDEO_STOP_CAPTURE (2501) ​

    Stop the current video capture (recording).

    Param (Label)DescriptionValues
    1 (Stream ID)Video Stream ID (0 for all streams)min: 0 inc: 1
    2 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
    3
    4
    5
    6
    7

    MAV_CMD_VIDEO_START_STREAMING (2502) ​

    Start video streaming

    Param (Label)DescriptionValues
    1 (Stream ID)Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)min: 0 inc: 1
    2 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

    MAV_CMD_VIDEO_STOP_STREAMING (2503) ​

    Stop the given video stream

    Param (Label)DescriptionValues
    1 (Stream ID)Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)min: 0 inc: 1
    2 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

    MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION (2504) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

    Request video stream information (VIDEO_STREAM_INFORMATION)

    Param (Label)DescriptionValues
    1 (Stream ID)Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)min: 0 inc: 1

    MAV_CMD_REQUEST_VIDEO_STREAM_STATUS (2505) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

    Request video stream status (VIDEO_STREAM_STATUS)

    Param (Label)DescriptionValues
    1 (Stream ID)Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)min: 0 inc: 1

    MAV_CMD_LOGGING_START (2510) ​

    Request to start streaming logging data over MAVLink (see also LOGGING_DATA message)

    Param (Label)DescriptionValues
    1 (Format)Format: 0: ULogmin: 0 inc: 1
    2Reserved (set to 0)
    3Reserved (set to 0)
    4Reserved (set to 0)
    5Reserved (set to 0)
    6Reserved (set to 0)
    7Reserved (set to 0)

    MAV_CMD_LOGGING_STOP (2511) ​

    Request to stop streaming log data over MAVLink

    Param (Label)Description
    1Reserved (set to 0)
    2Reserved (set to 0)
    3Reserved (set to 0)
    4Reserved (set to 0)
    5Reserved (set to 0)
    6Reserved (set to 0)
    7Reserved (set to 0)

    MAV_CMD_AIRFRAME_CONFIGURATION (2520) ​

    Param (Label)DescriptionValues
    1 (Landing Gear ID)Landing gear ID (default: 0, -1 for all)min: -1 inc: 1
    2 (Landing Gear Position)Landing gear position (Down: 0, Up: 1, NaN for no change)
    3
    4
    5
    6
    7

    MAV_CMD_CONTROL_HIGH_LATENCY (2600) ​

    Request to start/stop transmitting over the high latency telemetry

    Param (Label)DescriptionValues
    1 (Enable)Control transmission over high latency telemetry (0: stop, 1: start)min: 0 max: 1 inc: 1
    2Empty
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_PANORAMA_CREATE (2800) ​

    Create a panorama at the current position

    Param (Label)DescriptionUnits
    1 (Horizontal Angle)Viewing angle horizontal of the panorama (+- 0.5 the total angle)deg
    2 (Vertical Angle)Viewing angle vertical of panorama.deg
    3 (Horizontal Speed)Speed of the horizontal rotation.deg/s
    4 (Vertical Speed)Speed of the vertical rotation.deg/s

    MAV_CMD_DO_VTOL_TRANSITION (3000) ​

    Request VTOL transition

    Param (Label)DescriptionValues
    1 (State)The target VTOL state. For normal transitions, only MAV_VTOL_STATE_MC and MAV_VTOL_STATE_FW can be used.MAV_VTOL_STATE
    2 (Immediate)Force immediate transition to the specified MAV_VTOL_STATE. 1: Force immediate, 0: normal transition. Can be used, for example, to trigger an emergency "Quadchute". Caution: Can be dangerous/damage vehicle, depending on autopilot implementation of this command.

    MAV_CMD_ARM_AUTHORIZATION_REQUEST (3001) ​

    Request authorization to arm the vehicle to a external entity, the arm authorizer is responsible to request all data that is needs from the vehicle before authorize or deny the request.

    If approved the COMMAND_ACK message progress field should be set with period of time that this authorization is valid in seconds. If the authorization is denied COMMAND_ACK.result_param2 should be set with one of the reasons in ARM_AUTH_DENIED_REASON.

    Param (Label)DescriptionValues
    1 (System ID)Vehicle system id, this way ground station can request arm authorization on behalf of any vehiclemin: 0 max: 255 inc: 1

    MAV_CMD_SET_GUIDED_SUBMODE_STANDARD (4000) ​

    This command sets the submode to standard guided when vehicle is in guided mode. The vehicle holds position and altitude and the user can input the desired velocities along all three axes.

    Param (Label)Description

    MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE (4001) ​

    This command sets submode circle when vehicle is in guided mode. Vehicle flies along a circle facing the center of the circle. The user can input the velocity along the circle and change the radius. If no input is given the vehicle will hold position.

    Param (Label)DescriptionUnits
    1 (Radius)Radius of desired circle in CIRCLE_MODEm
    2User defined
    3User defined
    4User defined
    5 (Latitude)Target latitude of center of circle in CIRCLE_MODEdegE7
    6 (Longitude)Target longitude of center of circle in CIRCLE_MODEdegE7

    MAV_CMD_CONDITION_GATE (4501) — [WIP] ​

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

    Delay mission state machine until gate has been reached.

    Param (Label)DescriptionValuesUnits
    1 (Geometry)Geometry: 0: orthogonal to path between previous and next waypoint.min: 0 inc: 1
    2 (UseAltitude)Altitude: 0: ignore altitudemin: 0 max: 1 inc: 1
    3Empty
    4Empty
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7 (Altitude)Altitudem

    MAV_CMD_NAV_FENCE_RETURN_POINT (5000) ​

    Fence return point (there can only be one such point in a geofence definition). If rally points are supported they should be used instead.

    Param (Label)DescriptionUnits
    1Reserved
    2Reserved
    3Reserved
    4Reserved
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7 (Altitude)Altitudem

    MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION (5001) ​

    Fence vertex for an inclusion polygon (the polygon must not be self-intersecting). The vehicle must stay within this area. Minimum of 3 vertices required.

    Param (Label)DescriptionValues
    1 (Vertex Count)Polygon vertex countmin: 3 inc: 1
    2 (Inclusion Group)Vehicle must be inside ALL inclusion zones in a single group, vehicle must be inside at least one group, must be the same for all points in each polygonmin: 0 inc: 1
    3Reserved
    4Reserved
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7Reserved

    MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION (5002) ​

    Fence vertex for an exclusion polygon (the polygon must not be self-intersecting). The vehicle must stay outside this area. Minimum of 3 vertices required.

    Param (Label)DescriptionValues
    1 (Vertex Count)Polygon vertex countmin: 3 inc: 1
    2Reserved
    3Reserved
    4Reserved
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7Reserved

    MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION (5003) ​

    Circular fence area. The vehicle must stay inside this area.

    Param (Label)DescriptionValuesUnits
    1 (Radius)Radius.m
    2 (Inclusion Group)Vehicle must be inside ALL inclusion zones in a single group, vehicle must be inside at least one groupmin: 0 inc: 1
    3Reserved
    4Reserved
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7Reserved

    MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION (5004) ​

    Circular fence area. The vehicle must stay outside this area.

    Param (Label)DescriptionUnits
    1 (Radius)Radius.m
    2Reserved
    3Reserved
    4Reserved
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7Reserved

    MAV_CMD_NAV_RALLY_POINT (5100) ​

    Rally point. You can have multiple rally points defined.

    Param (Label)DescriptionUnits
    1Reserved
    2Reserved
    3Reserved
    4Reserved
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7 (Altitude)Altitudem

    MAV_CMD_UAVCAN_GET_NODE_INFO (5200) ​

    Commands the vehicle to respond with a sequence of messages UAVCAN_NODE_INFO, one message per every UAVCAN node that is online. Note that some of the response messages can be lost, which the receiver can detect easily by checking whether every received UAVCAN_NODE_STATUS has a matching message UAVCAN_NODE_INFO received earlier; if not, this command should be sent again in order to request re-transmission of the node information messages.

    Param (Label)Description
    1Reserved (set to 0)
    2Reserved (set to 0)
    3Reserved (set to 0)
    4Reserved (set to 0)
    5Reserved (set to 0)
    6Reserved (set to 0)
    7Reserved (set to 0)

    MAV_CMD_DO_SET_SAFETY_SWITCH_STATE (5300) ​

    Change state of safety switch.

    Param (Label)DescriptionValues
    1 (Desired State)New safety switch state.SAFETY_SWITCH_STATE
    2Empty.
    3Empty.
    4Empty
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_DO_ADSB_OUT_IDENT (10001) ​

    Trigger the start of an ADSB-out IDENT. This should only be used when requested to do so by an Air Traffic Controller in controlled airspace. This starts the IDENT which is then typically held for 18 seconds by the hardware per the Mode A, C, and S transponder spec.

    Param (Label)Description
    1Reserved (set to 0)
    2Reserved (set to 0)
    3Reserved (set to 0)
    4Reserved (set to 0)
    5Reserved (set to 0)
    6Reserved (set to 0)
    7Reserved (set to 0)

    MAV_CMD_PAYLOAD_PREPARE_DEPLOY (30001) — [DEP] ​

    DEPRECATED:(2021-06)

    Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity.

    Param (Label)DescriptionValuesUnits
    1 (Operation Mode)Operation mode. 0: prepare single payload deploy (overwriting previous requests), but do not execute it. 1: execute payload deploy immediately (rejecting further deploy commands during execution, but allowing abort). 2: add payload deploy to existing deployment list.min: 0 max: 2 inc: 1
    2 (Approach Vector)Desired approach vector in compass heading. A negative value indicates the system can define the approach vector at will.min: -1 max: 360deg
    3 (Ground Speed)Desired ground speed at release time. This can be overridden by the airframe in case it needs to meet minimum airspeed. A negative value indicates the system can define the ground speed at will.min: -1
    4 (Altitude Clearance)Minimum altitude clearance to the release position. A negative value indicates the system can define the clearance at will.min: -1m
    5 (Latitude)Latitude.degE7
    6 (Longitude)Longitude.degE7
    7 (Altitude)Altitude (MSL)m

    MAV_CMD_PAYLOAD_CONTROL_DEPLOY (30002) — [DEP] ​

    DEPRECATED:(2021-06)

    Control the payload deployment.

    Param (Label)DescriptionValues
    1 (Operation Mode)Operation mode. 0: Abort deployment, continue normal mission. 1: switch to payload deployment mode. 100: delete first payload deployment request. 101: delete all payload deployment requests.min: 0 max: 101 inc: 1
    2Reserved
    3Reserved
    4Reserved
    5Reserved
    6Reserved
    7Reserved

    MAV_CMD_WAYPOINT_USER_1 (31000) ​

    User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

    Param (Label)DescriptionUnits
    1User defined
    2User defined
    3User defined
    4User defined
    5 (Latitude)Latitude unscaled
    6 (Longitude)Longitude unscaled
    7 (Altitude)Altitude (MSL)m

    MAV_CMD_WAYPOINT_USER_2 (31001) ​

    User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

    Param (Label)DescriptionUnits
    1User defined
    2User defined
    3User defined
    4User defined
    5 (Latitude)Latitude unscaled
    6 (Longitude)Longitude unscaled
    7 (Altitude)Altitude (MSL)m

    MAV_CMD_WAYPOINT_USER_3 (31002) ​

    User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

    Param (Label)DescriptionUnits
    1User defined
    2User defined
    3User defined
    4User defined
    5 (Latitude)Latitude unscaled
    6 (Longitude)Longitude unscaled
    7 (Altitude)Altitude (MSL)m

    MAV_CMD_WAYPOINT_USER_4 (31003) ​

    User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

    Param (Label)DescriptionUnits
    1User defined
    2User defined
    3User defined
    4User defined
    5 (Latitude)Latitude unscaled
    6 (Longitude)Longitude unscaled
    7 (Altitude)Altitude (MSL)m

    MAV_CMD_WAYPOINT_USER_5 (31004) ​

    User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

    Param (Label)DescriptionUnits
    1User defined
    2User defined
    3User defined
    4User defined
    5 (Latitude)Latitude unscaled
    6 (Longitude)Longitude unscaled
    7 (Altitude)Altitude (MSL)m

    MAV_CMD_SPATIAL_USER_1 (31005) ​

    User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

    Param (Label)DescriptionUnits
    1User defined
    2User defined
    3User defined
    4User defined
    5 (Latitude)Latitude unscaled
    6 (Longitude)Longitude unscaled
    7 (Altitude)Altitude (MSL)m

    MAV_CMD_SPATIAL_USER_2 (31006) ​

    User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

    Param (Label)DescriptionUnits
    1User defined
    2User defined
    3User defined
    4User defined
    5 (Latitude)Latitude unscaled
    6 (Longitude)Longitude unscaled
    7 (Altitude)Altitude (MSL)m

    MAV_CMD_SPATIAL_USER_3 (31007) ​

    User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

    Param (Label)DescriptionUnits
    1User defined
    2User defined
    3User defined
    4User defined
    5 (Latitude)Latitude unscaled
    6 (Longitude)Longitude unscaled
    7 (Altitude)Altitude (MSL)m

    MAV_CMD_SPATIAL_USER_4 (31008) ​

    User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

    Param (Label)DescriptionUnits
    1User defined
    2User defined
    3User defined
    4User defined
    5 (Latitude)Latitude unscaled
    6 (Longitude)Longitude unscaled
    7 (Altitude)Altitude (MSL)m

    MAV_CMD_SPATIAL_USER_5 (31009) ​

    User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

    Param (Label)DescriptionUnits
    1User defined
    2User defined
    3User defined
    4User defined
    5 (Latitude)Latitude unscaled
    6 (Longitude)Longitude unscaled
    7 (Altitude)Altitude (MSL)m

    MAV_CMD_USER_1 (31010) ​

    User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

    Param (Label)Description
    1User defined
    2User defined
    3User defined
    4User defined
    5User defined
    6User defined
    7User defined

    MAV_CMD_USER_2 (31011) ​

    User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

    Param (Label)Description
    1User defined
    2User defined
    3User defined
    4User defined
    5User defined
    6User defined
    7User defined

    MAV_CMD_USER_3 (31012) ​

    User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

    Param (Label)Description
    1User defined
    2User defined
    3User defined
    4User defined
    5User defined
    6User defined
    7User defined

    MAV_CMD_USER_4 (31013) ​

    User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

    Param (Label)Description
    1User defined
    2User defined
    3User defined
    4User defined
    5User defined
    6User defined
    7User defined

    MAV_CMD_USER_5 (31014) ​

    User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

    Param (Label)Description
    1User defined
    2User defined
    3User defined
    4User defined
    5User defined
    6User defined
    7User defined

    MAV_CMD_CAN_FORWARD (32000) ​

    Request forwarding of CAN packets from the given CAN bus to this component. CAN Frames are sent using CAN_FRAME and CANFD_FRAME messages

    Param (Label)Description
    1 (bus)Bus number (0 to disable forwarding, 1 for first bus, 2 for 2nd bus, 3 for 3rd bus).
    2Empty.
    3Empty.
    4Empty.
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_FIXED_MAG_CAL_YAW (42006) ​

    Magnetometer calibration based on provided known yaw. This allows for fast calibration using WMM field tables in the vehicle, given only the known yaw of the vehicle. If Latitude and longitude are both zero then use the current vehicle location.

    Param (Label)DescriptionUnits
    1 (Yaw)Yaw of vehicle in earth frame.deg
    2 (CompassMask)CompassMask, 0 for all.
    3 (Latitude)Latitude.deg
    4 (Longitude)Longitude.deg
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_DO_WINCH (42600) ​

    Command to operate winch.

    Param (Label)DescriptionValuesUnits
    1 (Instance)Winch instance number.min: 1 inc: 1
    2 (Action)Action to perform.WINCH_ACTIONS
    3 (Length)Length of line to release (negative to wind).m
    4 (Rate)Release rate (negative to wind).m/s
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_EXTERNAL_POSITION_ESTIMATE (43003) ​

    Provide an external position estimate for use when dead-reckoning. This is meant to be used for occasional position resets that may be provided by a external system such as a remote pilot using landmarks over a video link.

    Param (Label)DescriptionUnits
    1 (transmission_time)Timestamp that this message was sent as a time in the transmitters time domain. The sender should wrap this time back to zero based on required timing accuracy for the application and the limitations of a 32 bit float. For example, wrapping at 10 hours would give approximately 1ms accuracy. Recipient must handle time wrap in any timing jitter correction applied to this field. Wrap rollover time should not be at not more than 250 seconds, which would give approximately 10 microsecond accuracy.s
    2 (processing_time)The time spent in processing the sensor data that is the basis for this position. The recipient can use this to improve time alignment of the data. Set to zero if not known.s
    3 (accuracy)estimated one standard deviation accuracy of the measurement. Set to NaN if not known.
    4Empty
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7 (Altitude)Altitude, not used. Should be sent as NaN. May be supported in a future version of this message.m
    - + \ No newline at end of file diff --git a/en/messages/csAirLink.html b/en/messages/csAirLink.html index 1211e4272..da4a0f184 100644 --- a/en/messages/csAirLink.html +++ b/en/messages/csAirLink.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

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    Dialect: csAirLink ​

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

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

    Note

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

    Protocol version: 3

    None

    Summary ​

    TypeDefinedIncluded
    Messages60
    Enums50
    Commands00

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

    Messages ​

    Authorization package

    Field NameTypeDescription
    loginchar[50]Login
    passwordchar[50]Password

    Response to the authorization request

    Field NameTypeValuesDescription
    resp_typeuint8_tAIRLINK_AUTH_RESPONSE_TYPEResponse type

    Request to hole punching

    Field NameTypeValuesDescription
    resp_typeuint8_tAIRLINK_EYE_GS_HOLE_PUSH_RESP_TYPEHole push response type

    Response information about the connected device

    Field NameTypeValuesDescription
    resp_typeuint8_tAIRLINK_EYE_GS_HOLE_PUSH_RESP_TYPEHole push response type
    ip_versionuint8_tAIRLINK_EYE_IP_VERSIONip version
    ip_address_4uint8_t[4]ip 4 address
    ip_address_6uint8_t[16]ip 6 address
    ip_portuint32_tport

    A package with information about the hole punching status. It is used for constant sending to avoid NAT closing timeout.

    Field NameTypeValuesDescription
    resp_typeuint8_tAIRLINK_EYE_HOLE_PUSH_TYPEHole push response type

    Initializing the TURN protocol

    Field NameTypeValuesDescription
    resp_typeuint8_tAIRLINK_EYE_TURN_INIT_TYPETurn init type

    Enumerated Types ​

    ValueNameDescription
    0AIRLINK_ERROR_LOGIN_OR_PASSLogin or password error
    1AIRLINK_AUTH_OKAuth successful
    ValueNameDescription
    0AIRLINK_HPR_PARTNER_NOT_READY
    1AIRLINK_HPR_PARTNER_READY
    ValueNameDescription
    0AIRLINK_IP_V4
    1AIRLINK_IP_V6
    ValueNameDescription
    0AIRLINK_HP_NOT_PENETRATED
    1AIRLINK_HP_BROKEN
    ValueNameDescription
    0AIRLINK_TURN_INIT_START
    1AIRLINK_TURN_INIT_OK
    2AIRLINK_TURN_INIT_BAD
    - + \ No newline at end of file diff --git a/en/messages/cubepilot.html b/en/messages/cubepilot.html index a51ef51e7..2e05baeee 100644 --- a/en/messages/cubepilot.html +++ b/en/messages/cubepilot.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

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    Dialect: cubepilot ​

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

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

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

    Note

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

    Summary ​

    TypeDefinedIncluded
    Messages5226
    Enums0144
    Commands1640

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

    Messages ​

    CUBEPILOT_RAW_RC (50001) ​

    Raw RC Data

    Field NameTypeDescription
    rc_rawuint8_t[32]

    Information about video stream

    Field NameTypeUnitsDescription
    camera_iduint8_tVideo Stream ID (1 for first, 2 for second, etc.)
    statusuint8_tNumber of streams available.
    frameratefloatHzFrame rate.
    resolution_huint16_tpixHorizontal resolution.
    resolution_vuint16_tpixVertical resolution.
    bitrateuint32_tbits/sBit rate.
    rotationuint16_tdegVideo image rotation clockwise.
    urichar[230]Video stream URI (TCP or RTSP URI ground station should connect to) or port number (UDP port ground station should listen to).

    Herelink Telemetry

    Field NameTypeDescription
    rssiuint8_t
    snrint16_t
    rf_frequint32_t
    link_bwuint32_t
    link_rateuint32_t
    cpu_tempint16_t
    board_tempint16_t

    CUBEPILOT_FIRMWARE_UPDATE_START (50004) ​

    Start firmware update with encapsulated data.

    Field NameTypeUnitsDescription
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    sizeuint32_tbytesFW Size.
    crcuint32_tFW CRC.

    CUBEPILOT_FIRMWARE_UPDATE_RESP (50005) ​

    offset response to encapsulated data.

    Field NameTypeUnitsDescription
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    offsetuint32_tbytesFW Offset.

    Enumerated Types ​

    Commands (MAV_CMD) ​

    - + \ No newline at end of file diff --git a/en/messages/development.html b/en/messages/development.html index 134343404..f79cca921 100644 --- a/en/messages/development.html +++ b/en/messages/development.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

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    Dialect: development ​

    This dialect contains messages that are proposed for inclusion in the standard set, in order to ease development of prototype implementations. They should be considered a 'work in progress' and not included in production builds.

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

    Note

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

    Protocol dialect: 0

    Protocol version: 0

    Summary ​

    TypeDefinedIncluded
    Messages16226
    Enums15144
    Commands1730

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

    Messages ​

    PARAM_ACK_TRANSACTION (19) — [WIP] ​

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

    Response from a PARAM_SET message when it is used in a transaction.

    Field NameTypeValuesDescription
    target_systemuint8_tId of system that sent PARAM_SET message.
    target_componentuint8_tId of system that sent PARAM_SET message.
    param_idchar[16]Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
    param_valuefloatParameter value (new value if PARAM_ACCEPTED, current value otherwise)
    param_typeuint8_tMAV_PARAM_TYPEParameter type.
    param_resultuint8_tPARAM_ACKResult code.

    AIRSPEED (295) — [WIP] ​

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

    Airspeed information from a sensor.

    Field NameTypeUnitsValuesDescription
    iduint8_tSensor ID.
    Messages with same value are from the same source (instance).
    airspeedfloatm/sCalibrated airspeed (CAS).
    temperatureint16_tcdegCTemperature. INT16_MAX for value unknown/not supplied.
    raw_pressfloathPaRaw differential pressure. NaN for value unknown/not supplied.
    flagsuint8_tAIRSPEED_SENSOR_FLAGSAirspeed sensor flags.

    SET_VELOCITY_LIMITS (354) — [WIP] ​

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

    Set temporary maximum limits for horizontal speed, vertical speed and yaw rate.

    The consumer must stream the current limits in VELOCITY_LIMITS at 1 Hz or more (when limits are being set). The consumer should latch the limits until a new limit is received or the mode is changed.

    Field NameTypeUnitsDescription
    target_systemuint8_tSystem ID (0 for broadcast).
    target_componentuint8_tComponent ID (0 for broadcast).
    horizontal_speed_limitfloatm/sLimit for horizontal movement in MAV_FRAME_LOCAL_NED. NaN: Field not used (ignore)
    vertical_speed_limitfloatm/sLimit for vertical movement in MAV_FRAME_LOCAL_NED. NaN: Field not used (ignore)
    yaw_rate_limitfloatrad/sLimit for vehicle turn rate around its yaw axis. NaN: Field not used (ignore)

    VELOCITY_LIMITS (355) — [WIP] ​

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

    Current limits for horizontal speed, vertical speed and yaw rate, as set by SET_VELOCITY_LIMITS.

    Field NameTypeUnitsDescription
    horizontal_speed_limitfloatm/sLimit for horizontal movement in MAV_FRAME_LOCAL_NED. NaN: No limit applied
    vertical_speed_limitfloatm/sLimit for vertical movement in MAV_FRAME_LOCAL_NED. NaN: No limit applied
    yaw_rate_limitfloatrad/sLimit for vehicle turn rate around its yaw axis. NaN: No limit applied

    FIGURE_EIGHT_EXECUTION_STATUS (361) — [WIP] ​

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

    Vehicle status report that is sent out while figure eight execution is in progress (see MAV_CMD_DO_FIGURE_EIGHT). This may typically send at low rates: of the order of 2Hz.

    Field NameTypeUnitsValuesDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    major_radiusfloatmMajor axis radius of the figure eight. Positive: orbit the north circle clockwise. Negative: orbit the north circle counter-clockwise.
    minor_radiusfloatmMinor axis radius of the figure eight. Defines the radius of two circles that make up the figure.
    orientationfloatradOrientation of the figure eight major axis with respect to true north in [-pi,pi).
    frameuint8_tMAV_FRAMEThe coordinate system of the fields: x, y, z.
    xint32_tX coordinate of center point. Coordinate system depends on frame field.
    yint32_tY coordinate of center point. Coordinate system depends on frame field.
    zfloatmAltitude of center point. Coordinate system depends on frame field.

    BATTERY_STATUS_V2 (369) — [WIP] ​

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

    Battery dynamic information.

    This should be streamed (nominally at 1Hz). Static/invariant battery information is sent in BATTERY_INFO. Note that smart batteries should set the MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULL bit to indicate that supplied capacity values are relative to a battery that is known to be full. Power monitors would not set this bit, indicating that capacity_consumed is relative to drone power-on, and that other values are estimated based on the assumption that the battery was full on power-on.

    Field NameTypeUnitsValuesDescription
    iduint8_tBattery ID
    Messages with same value are from the same source (instance).
    temperatureint16_tcdegCinvalid:INT16_MAXTemperature of the whole battery pack (not internal electronics). INT16_MAX field not provided.
    voltagefloatVinvalid:NaNBattery voltage (total). NaN: field not provided.
    currentfloatAinvalid:NaNBattery current (through all cells/loads). Positive value when discharging and negative if charging. NaN: field not provided.
    capacity_consumedfloatAhinvalid:NaNConsumed charge. NaN: field not provided. This is either the consumption since power-on or since the battery was full, depending on the value of MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULL.
    capacity_remainingfloatAhinvalid:NaNRemaining charge (until empty). NaN: field not provided. Note: If MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULL is unset, this value is based on the assumption the battery was full when the system was powered.
    percent_remaininguint8_t%invalid:UINT8_MAXRemaining battery energy. Values: [0-100], UINT8_MAX: field not provided.
    status_flagsuint32_tMAV_BATTERY_STATUS_FLAGSFault, health, readiness, and other status indications.

    GROUP_START (414) — [WIP] ​

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

    Emitted during mission execution when control reaches MAV_CMD_GROUP_START.

    Field NameTypeUnitsDescription
    group_iduint32_tMission-unique group id (from MAV_CMD_GROUP_START).
    mission_checksumuint32_tCRC32 checksum of current plan for MAV_MISSION_TYPE_ALL. As defined in MISSION_CHECKSUM message.
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot).
    The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

    GROUP_END (415) — [WIP] ​

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

    Emitted during mission execution when control reaches MAV_CMD_GROUP_END.

    Field NameTypeUnitsDescription
    group_iduint32_tMission-unique group id (from MAV_CMD_GROUP_END).
    mission_checksumuint32_tCRC32 checksum of current plan for MAV_MISSION_TYPE_ALL. As defined in MISSION_CHECKSUM message.
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot).
    The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

    RADIO_RC_CHANNELS (420) — [WIP] ​

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

    RC channel outputs from a MAVLink RC receiver for input to a flight controller or other components (allows an RC receiver to connect via MAVLink instead of some other protocol such as PPM-Sum or S.BUS).

    Note that this is not intended to be an over-the-air format, and does not replace RC_CHANNELS and similar messages reported by the flight controller. The target_system field should normally be set to the system id of the system to control, typically the flight controller. The target_component field can normally be set to 0, so that all components of the system can receive the message. The channels array field can publish up to 32 channels; the number of channel items used in the array is specified in the count field. The time_last_update_ms field contains the timestamp of the last received valid channels data in the receiver's time domain. The count field indicates the first index of the channel array that is not used for channel data (this and later indexes are zero-filled). The RADIO_RC_CHANNELS_FLAGS_OUTDATED flag is set by the receiver if the channels data is not up-to-date (for example, if new data from the transmitter could not be validated so the last valid data is resent). The RADIO_RC_CHANNELS_FLAGS_FAILSAFE failsafe flag is set by the receiver if the receiver's failsafe condition is met (implementation dependent, e.g., connection to the RC radio is lost). In this case time_last_update_ms still contains the timestamp of the last valid channels data, but the content of the channels data is not defined by the protocol (it is up to the implementation of the receiver). For instance, the channels data could contain failsafe values configured in the receiver; the default is to carry the last valid data. Note: The RC channels fields are extensions to ensure that they are located at the end of the serialized payload and subject to MAVLink's trailing-zero trimming.

    Field NameTypeUnitsValuesDescription
    target_systemuint8_tSystem ID (ID of target system, normally flight controller).
    target_componentuint8_tComponent ID (normally 0 for broadcast).
    time_last_update_msuint32_tmsTime when the data in the channels field were last updated (time since boot in the receiver's time domain).
    flagsuint16_tRADIO_RC_CHANNELS_FLAGSRadio RC channels status flags.
    countuint8_tTotal number of RC channels being received. This can be larger than 32, indicating that more channels are available but not given in this message.
    channels ++int16_t[32]min:-4096 max:4096RC channels.
    Channel values are in centered 13 bit format. Range is -4096 to 4096, center is 0. Conversion to PWM is x * 5/32 + 1500.
    Channels with indexes equal or above count should be set to 0, to benefit from MAVLink's trailing-zero trimming.

    AVAILABLE_MODES (435) — [WIP] ​

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

    Get information about a particular flight modes.

    The message can be enumerated or requested for a particular mode using MAV_CMD_REQUEST_MESSAGE. Specify 0 in param2 to request that the message is emitted for all available modes or the specific index for just one mode. The modes must be available/settable for the current vehicle/frame type. Each modes should only be emitted once (even if it is both standard and custom).

    Field NameTypeValuesDescription
    number_modesuint8_tThe total number of available modes for the current vehicle type.
    mode_indexuint8_tThe current mode index within number_modes, indexed from 1.
    standard_modeuint8_tMAV_STANDARD_MODEStandard mode.
    custom_modeuint32_tA bitfield for use for autopilot-specific flags
    propertiesuint32_tMAV_MODE_PROPERTYMode properties.
    mode_namechar[35]Name of custom mode, with null termination character. Should be omitted for standard modes.

    CURRENT_MODE (436) — [WIP] ​

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

    Get the current mode.

    This should be emitted on any mode change, and broadcast at low rate (nominally 0.5 Hz). It may be requested using MAV_CMD_REQUEST_MESSAGE.

    Field NameTypeValuesDescription
    standard_modeuint8_tMAV_STANDARD_MODEStandard mode.
    custom_modeuint32_tA bitfield for use for autopilot-specific flags
    intended_custom_modeuint32_tinvalid:0The custom_mode of the mode that was last commanded by the user (for example, with MAV_CMD_DO_SET_STANDARD_MODE, MAV_CMD_DO_SET_MODE or via RC). This should usually be the same as custom_mode. It will be different if the vehicle is unable to enter the intended mode, or has left that mode due to a failsafe condition. 0 indicates the intended custom mode is unknown/not supplied

    AVAILABLE_MODES_MONITOR (437) — [WIP] ​

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

    A change to the sequence number indicates that the set of AVAILABLE_MODES has changed.

    A receiver must re-request all available modes whenever the sequence number changes. This is only emitted after the first change and should then be broadcast at low rate (nominally 0.3 Hz) and on change.

    Field NameTypeDescription
    sequint8_tSequence number. The value iterates sequentially whenever AVAILABLE_MODES changes (e.g. support for a new mode is added/removed dynamically).

    GNSS_INTEGRITY (441) — [WIP] ​

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

    Information about key components of GNSS receivers, like signal authentication, interference and system errors.

    Field NameTypeUnitsValuesDescription
    iduint8_tGNSS receiver id. Must match instance ids of other messages from same receiver.
    Messages with same value are from the same source (instance).
    system_errorsuint32_tGPS_SYSTEM_ERROR_FLAGSErrors in the GPS system.
    authentication_stateuint8_tGPS_AUTHENTICATION_STATESignal authentication state of the GPS system.
    jamming_stateuint8_tGPS_JAMMING_STATESignal jamming state of the GPS system.
    spoofing_stateuint8_tGPS_SPOOFING_STATESignal spoofing state of the GPS system.
    raim_stateuint8_tGPS_RAIM_STATEThe state of the RAIM processing.
    raim_hfomuint16_tcminvalid:UINT16_MAXHorizontal expected accuracy using satellites successfully validated using RAIM.
    raim_vfomuint16_tcminvalid:UINT16_MAXVertical expected accuracy using satellites successfully validated using RAIM.
    corrections_qualityuint8_tinvalid:UINT8_MAX min:0 max:10An abstract value representing the estimated quality of incoming corrections, or 255 if not available.
    system_status_summaryuint8_tinvalid:UINT8_MAX min:0 max:10An abstract value representing the overall status of the receiver, or 255 if not available.
    gnss_signal_qualityuint8_tinvalid:UINT8_MAX min:0 max:10An abstract value representing the quality of incoming GNSS signals, or 255 if not available.
    post_processing_qualityuint8_tinvalid:UINT8_MAX min:0 max:10An abstract value representing the estimated PPK quality, or 255 if not available.

    TARGET_ABSOLUTE (510) — [WIP] ​

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

    Current motion information from sensors on a target

    Field NameTypeUnitsValuesDescription
    timestampuint64_tusTimestamp (UNIX epoch time).
    iduint8_tThe ID of the target if multiple targets are present
    sensor_capabilitiesuint8_tTARGET_ABSOLUTE_SENSOR_CAPABILITY_FLAGSBitmap to indicate the sensor's reporting capabilities
    latint32_tdegE7Target's latitude (WGS84)
    lonint32_tdegE7Target's longitude (WGS84)
    altfloatmTarget's altitude (AMSL)
    velfloat[3]m/sinvalid:[0]Target's velocity in its body frame
    accfloat[3]m/s/sinvalid:[0]Linear target's acceleration in its body frame
    q_targetfloat[4]invalid:[0]Quaternion of the target's orientation from its body frame to the vehicle's NED frame.
    ratesfloat[3]rad/sinvalid:[0]Target's roll, pitch and yaw rates
    position_stdfloat[2]mStandard deviation of horizontal (eph) and vertical (epv) position errors
    vel_stdfloat[3]m/sStandard deviation of the target's velocity in its body frame
    acc_stdfloat[3]m/s/sStandard deviation of the target's acceleration in its body frame

    TARGET_RELATIVE (511) — [WIP] ​

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

    The location of a target measured by MAV's onboard sensors.

    Field NameTypeUnitsValuesDescription
    timestampuint64_tusTimestamp (UNIX epoch time)
    iduint8_tThe ID of the target if multiple targets are present
    Messages with same value are from the same source (instance).
    frameuint8_tTARGET_OBS_FRAMECoordinate frame used for following fields.
    xfloatmX Position of the target in TARGET_OBS_FRAME
    yfloatmY Position of the target in TARGET_OBS_FRAME
    zfloatmZ Position of the target in TARGET_OBS_FRAME
    pos_stdfloat[3]mStandard deviation of the target's position in TARGET_OBS_FRAME
    yaw_stdfloatradStandard deviation of the target's orientation in TARGET_OBS_FRAME
    q_targetfloat[4]Quaternion of the target's orientation from the target's frame to the TARGET_OBS_FRAME (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
    q_sensorfloat[4]Quaternion of the sensor's orientation from TARGET_OBS_FRAME to vehicle-carried NED. (Ignored if set to (0,0,0,0)) (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
    typeuint8_tLANDING_TARGET_TYPEType of target

    CONTROL_STATUS (512) — [WIP] ​

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

    Information about GCS in control of this MAV. This should be broadcast at low rate (nominally 1 Hz) and emitted when ownership or takeover status change. Control over MAV is requested using MAV_CMD_REQUEST_OPERATOR_CONTROL.

    Field NameTypeValuesDescription
    sysid_in_controluint8_tSystem ID of GCS MAVLink component in control (0: no GCS in control).
    flagsuint8_tGCS_CONTROL_STATUS_FLAGSControl status. For example, whether takeover is allowed, and whether this message instance defines the default controlling GCS for the whole system.

    Enumerated Types ​

    AIRSPEED_SENSOR_FLAGS — [WIP] ​

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

    (Bitmask) Airspeed sensor flags

    ValueNameDescription
    0AIRSPEED_SENSOR_UNHEALTHYAirspeed sensor is unhealthy
    1AIRSPEED_SENSOR_USINGTrue if the data from this sensor is being actively used by the flight controller for guidance, navigation or control.

    PARAM_TRANSACTION_TRANSPORT — [WIP] ​

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

    Possible transport layers to set and get parameters via mavlink during a parameter transaction.

    ValueNameDescription
    0PARAM_TRANSACTION_TRANSPORT_PARAMTransaction over param transport.
    1PARAM_TRANSACTION_TRANSPORT_PARAM_EXTTransaction over param_ext transport.

    PARAM_TRANSACTION_ACTION — [WIP] ​

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

    Possible parameter transaction actions.

    ValueNameDescription
    0PARAM_TRANSACTION_ACTION_STARTCommit the current parameter transaction.
    1PARAM_TRANSACTION_ACTION_COMMITCommit the current parameter transaction.
    2PARAM_TRANSACTION_ACTION_CANCELCancel the current parameter transaction.

    MAV_STANDARD_MODE — [WIP] ​

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

    Standard modes with a well understood meaning across flight stacks and vehicle types.

    For example, most flight stack have the concept of a "return" or "RTL" mode that takes a vehicle to safety, even though the precise mechanics of this mode may differ. Modes may be set using MAV_CMD_DO_SET_STANDARD_MODE.

    ValueNameDescription
    0MAV_STANDARD_MODE_NON_STANDARDNon standard mode.
    This may be used when reporting the mode if the current flight mode is not a standard mode.
    1MAV_STANDARD_MODE_POSITION_HOLDPosition mode (manual).
    Position-controlled and stabilized manual mode.
    When sticks are released vehicles return to their level-flight orientation and hold both position and altitude against wind and external forces.
    This mode can only be set by vehicles that can hold a fixed position.
    Multicopter (MC) vehicles actively brake and hold both position and altitude against wind and external forces.
    Hybrid MC/FW ("VTOL") vehicles first transition to multicopter mode (if needed) but otherwise behave in the same way as MC vehicles.
    Fixed-wing (FW) vehicles must not support this mode.
    Other vehicle types must not support this mode (this may be revisited through the PR process).
    2MAV_STANDARD_MODE_ORBITOrbit (manual).
    Position-controlled and stabilized manual mode.
    The vehicle circles around a fixed setpoint in the horizontal plane at a particular radius, altitude, and direction.
    Flight stacks may further allow manual control over the setpoint position, radius, direction, speed, and/or altitude of the circle, but this is not mandated.
    Flight stacks may support the MAV_CMD_DO_ORBIT for changing the orbit parameters.
    MC and FW vehicles may support this mode.
    Hybrid MC/FW ("VTOL") vehicles may support this mode in MC/FW or both modes; if the mode is not supported by the current configuration the vehicle should transition to the supported configuration.
    Other vehicle types must not support this mode (this may be revisited through the PR process).
    3MAV_STANDARD_MODE_CRUISECruise mode (manual).
    Position-controlled and stabilized manual mode.
    When sticks are released vehicles return to their level-flight orientation and hold their original track against wind and external forces.
    Fixed-wing (FW) vehicles level orientation and maintain current track and altitude against wind and external forces.
    Hybrid MC/FW ("VTOL") vehicles first transition to FW mode (if needed) but otherwise behave in the same way as MC vehicles.
    Multicopter (MC) vehicles must not support this mode.
    Other vehicle types must not support this mode (this may be revisited through the PR process).
    4MAV_STANDARD_MODE_ALTITUDE_HOLDAltitude hold (manual).
    Altitude-controlled and stabilized manual mode.
    When sticks are released vehicles return to their level-flight orientation and hold their altitude.
    MC vehicles continue with existing momentum and may move with wind (or other external forces).
    FW vehicles continue with current heading, but may be moved off-track by wind.
    Hybrid MC/FW ("VTOL") vehicles behave according to their current configuration/mode (FW or MC).
    Other vehicle types must not support this mode (this may be revisited through the PR process).
    5MAV_STANDARD_MODE_RETURN_HOMEReturn home mode (auto).
    Automatic mode that returns vehicle to home via a safe flight path.
    It may also automatically land the vehicle (i.e. RTL).
    The precise flight path and landing behaviour depend on vehicle configuration and type.
    6MAV_STANDARD_MODE_SAFE_RECOVERYSafe recovery mode (auto).
    Automatic mode that takes vehicle to a predefined safe location via a safe flight path (rally point or mission defined landing) .
    It may also automatically land the vehicle.
    The precise return location, flight path, and landing behaviour depend on vehicle configuration and type.
    7MAV_STANDARD_MODE_MISSIONMission mode (automatic).
    Automatic mode that executes MAVLink missions.
    Missions are executed from the current waypoint as soon as the mode is enabled.
    8MAV_STANDARD_MODE_LANDLand mode (auto).
    Automatic mode that lands the vehicle at the current location.
    The precise landing behaviour depends on vehicle configuration and type.
    9MAV_STANDARD_MODE_TAKEOFFTakeoff mode (auto).
    Automatic takeoff mode.
    The precise takeoff behaviour depends on vehicle configuration and type.

    MAV_MODE_PROPERTY — [WIP] ​

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

    (Bitmask) Mode properties.

    ValueNameDescription
    1MAV_MODE_PROPERTY_ADVANCEDIf set, this mode is an advanced mode.
    For example a rate-controlled manual mode might be advanced, whereas a position-controlled manual mode is not.
    A GCS can optionally use this flag to configure the UI for its intended users.
    2MAV_MODE_PROPERTY_NOT_USER_SELECTABLEIf set, this mode should not be added to the list of selectable modes.
    The mode might still be selected by the FC directly (for example as part of a failsafe).

    MAV_BATTERY_STATUS_FLAGS — [WIP] ​

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

    (Bitmask) Battery status flags for fault, health and state indication.

    ValueNameDescription
    1MAV_BATTERY_STATUS_FLAGS_NOT_READY_TO_USEThe battery is not ready to use (fly).
    Set if the battery has faults or other conditions that make it unsafe to fly with.
    Note: It will be the logical OR of other status bits (chosen by the manufacturer/integrator).
    2MAV_BATTERY_STATUS_FLAGS_CHARGINGBattery is charging.
    4MAV_BATTERY_STATUS_FLAGS_CELL_BALANCINGBattery is cell balancing (during charging).
    Not ready to use (MAV_BATTERY_STATUS_FLAGS_NOT_READY_TO_USE may be set).
    8MAV_BATTERY_STATUS_FLAGS_FAULT_CELL_IMBALANCEBattery cells are not balanced.
    Not ready to use.
    16MAV_BATTERY_STATUS_FLAGS_AUTO_DISCHARGINGBattery is auto discharging (towards storage level).
    Not ready to use (MAV_BATTERY_STATUS_FLAGS_NOT_READY_TO_USE would be set).
    32MAV_BATTERY_STATUS_FLAGS_REQUIRES_SERVICEBattery requires service (not safe to fly).
    This is set at vendor discretion.
    It is likely to be set for most faults, and may also be set according to a maintenance schedule (such as age, or number of recharge cycles, etc.).
    64MAV_BATTERY_STATUS_FLAGS_BAD_BATTERYBattery is faulty and cannot be repaired (not safe to fly).
    This is set at vendor discretion.
    The battery should be disposed of safely.
    128MAV_BATTERY_STATUS_FLAGS_PROTECTIONS_ENABLEDAutomatic battery protection monitoring is enabled.
    When enabled, the system will monitor for certain kinds of faults, such as cells being over-voltage.
    If a fault is triggered then and protections are enabled then a safety fault (MAV_BATTERY_STATUS_FLAGS_FAULT_PROTECTION_SYSTEM) will be set and power from the battery will be stopped.
    Note that battery protection monitoring should only be enabled when the vehicle is landed. Once the vehicle is armed, or starts moving, the protections should be disabled to prevent false positives from disabling the output.
    256MAV_BATTERY_STATUS_FLAGS_FAULT_PROTECTION_SYSTEMThe battery fault protection system had detected a fault and cut all power from the battery.
    This will only trigger if MAV_BATTERY_STATUS_FLAGS_PROTECTIONS_ENABLED is set.
    Other faults like MAV_BATTERY_STATUS_FLAGS_FAULT_OVER_VOLT may also be set, indicating the cause of the protection fault.
    512MAV_BATTERY_STATUS_FLAGS_FAULT_OVER_VOLTOne or more cells are above their maximum voltage rating.
    1024MAV_BATTERY_STATUS_FLAGS_FAULT_UNDER_VOLTOne or more cells are below their minimum voltage rating.
    A battery that had deep-discharged might be irrepairably damaged, and set both MAV_BATTERY_STATUS_FLAGS_FAULT_UNDER_VOLT and MAV_BATTERY_STATUS_FLAGS_BAD_BATTERY.
    2048MAV_BATTERY_STATUS_FLAGS_FAULT_OVER_TEMPERATUREOver-temperature fault.
    4096MAV_BATTERY_STATUS_FLAGS_FAULT_UNDER_TEMPERATUREUnder-temperature fault.
    8192MAV_BATTERY_STATUS_FLAGS_FAULT_OVER_CURRENTOver-current fault.
    16384MAV_BATTERY_STATUS_FLAGS_FAULT_SHORT_CIRCUITShort circuit event detected.
    The battery may or may not be safe to use (check other flags).
    32768MAV_BATTERY_STATUS_FLAGS_FAULT_INCOMPATIBLE_VOLTAGEVoltage not compatible with power rail voltage (batteries on same power rail should have similar voltage).
    65536MAV_BATTERY_STATUS_FLAGS_FAULT_INCOMPATIBLE_FIRMWAREBattery firmware is not compatible with current autopilot firmware.
    131072MAV_BATTERY_STATUS_FLAGS_FAULT_INCOMPATIBLE_CELLS_CONFIGURATIONBattery is not compatible due to cell configuration (e.g. 5s1p when vehicle requires 6s).
    262144MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULLBattery capacity_consumed and capacity_remaining values are relative to a full battery (they sum to the total capacity of the battery).
    This flag would be set for a smart battery that can accurately determine its remaining charge across vehicle reboots and discharge/recharge cycles.
    If unset the capacity_consumed indicates the consumption since vehicle power-on, as measured using a power monitor. The capacity_remaining, if provided, indicates the estimated remaining capacity on the assumption that the battery was full on vehicle boot.
    If unset a GCS is recommended to advise that users fully charge the battery on power on.
    4294967295MAV_BATTERY_STATUS_FLAGS_EXTENDEDReserved (not used). If set, this will indicate that an additional status field exists for higher status values.

    GCS_CONTROL_STATUS_FLAGS — [WIP] ​

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

    (Bitmask) CONTROL_STATUS flags.

    ValueNameDescription
    1GCS_CONTROL_STATUS_FLAGS_SYSTEM_MANAGERIf set, this CONTROL_STATUS publishes the controlling GCS for the whole system. If unset, the CONTROL_STATUS indicates the controlling GCS for just the component emitting the message. Note that to request control of the system a GCS should send MAV_CMD_REQUEST_OPERATOR_CONTROL to the component emitting CONTROL_STATUS with this flag set.
    2GCS_CONTROL_STATUS_FLAGS_TAKEOVER_ALLOWEDTakeover allowed (requests for control will be granted). If not set requests for control will be rejected, but the controlling GCS will be notified (and may release control or allow takeover).

    TARGET_ABSOLUTE_SENSOR_CAPABILITY_FLAGS — [WIP] ​

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

    (Bitmask) These flags indicate the sensor reporting capabilities for TARGET_ABSOLUTE.

    ValueNameDescription
    1TARGET_ABSOLUTE_SENSOR_CAPABILITY_POSITION
    2TARGET_ABSOLUTE_SENSOR_CAPABILITY_VELOCITY
    4TARGET_ABSOLUTE_SENSOR_CAPABILITY_ACCELERATION
    8TARGET_ABSOLUTE_SENSOR_CAPABILITY_ATTITUDE
    16TARGET_ABSOLUTE_SENSOR_CAPABILITY_RATES

    TARGET_OBS_FRAME — [WIP] ​

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

    The frame of a target observation from an onboard sensor.

    ValueNameDescription
    0TARGET_OBS_FRAME_LOCAL_NEDNED local tangent frame (x: North, y: East, z: Down) with origin fixed relative to earth.
    1TARGET_OBS_FRAME_BODY_FRDFRD local frame aligned to the vehicle's attitude (x: Forward, y: Right, z: Down) with an origin that travels with vehicle.
    2TARGET_OBS_FRAME_LOCAL_OFFSET_NEDNED local tangent frame (x: North, y: East, z: Down) with an origin that travels with vehicle.
    3TARGET_OBS_FRAME_OTHEROther sensor frame for target observations neither in local NED nor in body FRD.

    RADIO_RC_CHANNELS_FLAGS — [WIP] ​

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

    (Bitmask) RADIO_RC_CHANNELS flags (bitmask).

    ValueNameDescription
    1RADIO_RC_CHANNELS_FLAGS_FAILSAFEFailsafe is active. The content of the RC channels data in the RADIO_RC_CHANNELS message is implementation dependent.
    2RADIO_RC_CHANNELS_FLAGS_OUTDATEDChannel data may be out of date. This is set when the receiver is unable to validate incoming data from the transmitter and has therefore resent the last valid data it received.

    GPS_SYSTEM_ERROR_FLAGS — [WIP] ​

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

    (Bitmask) Flags indicating errors in a GPS receiver.

    ValueNameDescription
    1GPS_SYSTEM_ERROR_INCOMING_CORRECTIONSThere are problems with incoming correction streams.
    2GPS_SYSTEM_ERROR_CONFIGURATIONThere are problems with the configuration.
    4GPS_SYSTEM_ERROR_SOFTWAREThere are problems with the software on the GPS receiver.
    8GPS_SYSTEM_ERROR_ANTENNAThere are problems with an antenna connected to the GPS receiver.
    16GPS_SYSTEM_ERROR_EVENT_CONGESTIONThere are problems handling all incoming events.
    32GPS_SYSTEM_ERROR_CPU_OVERLOADThe GPS receiver CPU is overloaded.
    64GPS_SYSTEM_ERROR_OUTPUT_CONGESTIONThe GPS receiver is experiencing output congestion.

    GPS_AUTHENTICATION_STATE — [WIP] ​

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

    Signal authentication state in a GPS receiver.

    ValueNameDescription
    0GPS_AUTHENTICATION_STATE_UNKNOWNThe GPS receiver does not provide GPS signal authentication info.
    1GPS_AUTHENTICATION_STATE_INITIALIZINGThe GPS receiver is initializing signal authentication.
    2GPS_AUTHENTICATION_STATE_ERRORThe GPS receiver encountered an error while initializing signal authentication.
    3GPS_AUTHENTICATION_STATE_OKThe GPS receiver has correctly authenticated all signals.
    4GPS_AUTHENTICATION_STATE_DISABLEDGPS signal authentication is disabled on the receiver.

    GPS_JAMMING_STATE — [WIP] ​

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

    Signal jamming state in a GPS receiver.

    ValueNameDescription
    0GPS_JAMMING_STATE_UNKNOWNThe GPS receiver does not provide GPS signal jamming info.
    1GPS_JAMMING_STATE_OKThe GPS receiver detected no signal jamming.
    2GPS_JAMMING_STATE_MITIGATEDThe GPS receiver detected and mitigated signal jamming.
    3GPS_JAMMING_STATE_DETECTEDThe GPS receiver detected signal jamming.

    GPS_SPOOFING_STATE — [WIP] ​

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

    Signal spoofing state in a GPS receiver.

    ValueNameDescription
    0GPS_SPOOFING_STATE_UNKNOWNThe GPS receiver does not provide GPS signal spoofing info.
    1GPS_SPOOFING_STATE_OKThe GPS receiver detected no signal spoofing.
    2GPS_SPOOFING_STATE_MITIGATEDThe GPS receiver detected and mitigated signal spoofing.
    3GPS_SPOOFING_STATE_DETECTEDThe GPS receiver detected signal spoofing but still has a fix.

    GPS_RAIM_STATE — [WIP] ​

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

    State of RAIM processing.

    ValueNameDescription
    0GPS_RAIM_STATE_UNKNOWNRAIM capability is unknown.
    1GPS_RAIM_STATE_DISABLEDRAIM is disabled.
    2GPS_RAIM_STATE_OKRAIM integrity check was successful.
    3GPS_RAIM_STATE_FAILEDRAIM integrity check failed.

    Commands (MAV_CMD) ​

    MAV_CMD_DO_FIGURE_EIGHT (35) — [WIP] ​

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

    Fly a figure eight path as defined by the parameters.

    Set parameters to NaN/INT32_MAX (as appropriate) to use system-default values. The command is intended for fixed wing vehicles (and VTOL hybrids flying in fixed-wing mode), allowing POI tracking for gimbals that don't support infinite rotation. This command only defines the flight path. Speed should be set independently (use e.g. MAV_CMD_DO_CHANGE_SPEED). Yaw and other degrees of freedom are not specified, and will be flight-stack specific (on vehicles where they can be controlled independent of the heading).

    Param (Label)DescriptionUnits
    1 (Major Radius)Major axis radius of the figure eight. Positive: orbit the north circle clockwise. Negative: orbit the north circle counter-clockwise.
    NaN: The radius will be set to 2.5 times the minor radius and direction is clockwise.
    Must be greater or equal to two times the minor radius for feasible values.    		m
    2 (Minor Radius)Minor axis radius of the figure eight. Defines the radius of the two circles that make up the figure. Negative value has no effect.
    NaN: The radius will be set to the default loiter radius.    		m
    3
    4 (Orientation)Orientation of the figure eight major axis with respect to true north (range: [-pi,pi]). NaN: use default orientation aligned to true north.rad
    5 (Latitude/X)Center point latitude/X coordinate according to MAV_FRAME. If no MAV_FRAME specified, MAV_FRAME_GLOBAL is assumed.
    INT32_MAX or NaN: Use current vehicle position, or current center if already loitering.
    6 (Longitude/Y)Center point longitude/Y coordinate according to MAV_FRAME. If no MAV_FRAME specified, MAV_FRAME_GLOBAL is assumed.
    INT32_MAX or NaN: Use current vehicle position, or current center if already loitering.
    7 (Altitude/Z)Center point altitude MSL/Z coordinate according to MAV_FRAME. If no MAV_FRAME specified, MAV_FRAME_GLOBAL is assumed.
    INT32_MAX or NaN: Use current vehicle altitude.

    MAV_CMD_DO_UPGRADE (247) — [WIP] ​

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

    Request a target system to start an upgrade of one (or all) of its components.

    For example, the command might be sent to a companion computer to cause it to upgrade a connected flight controller. The system doing the upgrade will report progress using the normal command protocol sequence for a long running operation. Command protocol information: https://mavlink.io/en/services/command.html.

    Param (Label)DescriptionValues
    1 (Component ID)Component id of the component to be upgraded. If set to 0, all components should be upgraded.MAV_COMPONENT
    2 (Reboot)0: Do not reboot component after the action is executed, 1: Reboot component after the action is executed.min: 0 max: 1 inc: 1
    3Reserved
    4Reserved
    5Reserved
    6Reserved
    7WIP: upgrade progress report rate (can be used for more granular control).

    MAV_CMD_DO_SET_STANDARD_MODE (262) — [WIP] ​

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

    Enable the specified standard MAVLink mode.

    If the mode is not supported the vehicle should ACK with MAV_RESULT_FAILED.

    Param (Label)DescriptionValues
    1 (Standard Mode)The mode to set.MAV_STANDARD_MODE
    2
    3
    4
    5
    6
    7

    MAV_CMD_SET_AT_S_PARAM (550) — [WIP] ​

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

    Allows setting an AT S command of an SiK radio.

    Param (Label)Description
    1 (Radio instance)The radio instance, one-based, 0 for all.
    2 (Index)The Sx index, e.g. 3 for S3 which is NETID.
    3 (Value)The value to set it to, e.g. default 25 for NETID
    4
    5
    6
    7

    MAV_CMD_DO_SET_SYS_CMP_ID (610) — [WIP] ​

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

    Set system and component id. This allows moving of a system and all its components to a new system id, or moving a particular component to a new system/component id. Recipients must reject command addressed to broadcast system ID.

    Param (Label)DescriptionValues
    1 (System ID)New system ID for target component(s). 0: ignore and reject command (broadcast system ID not allowed).min: 1 max: 255 inc: 1
    2 (Component ID)New component ID for target component(s). 0: ignore (component IDs don't change).min: 0 max: 255 inc: 1
    3 (Reboot)Reboot components after ID change. Any non-zero value triggers the reboot.
    4

    MAV_CMD_PARAM_TRANSACTION (900) — [WIP] ​

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

    Request to start or end a parameter transaction. Multiple kinds of transport layers can be used to exchange parameters in the transaction (param, param_ext and mavftp). The command response can either be a success/failure or an in progress in case the receiving side takes some time to apply the parameters.

    Param (Label)DescriptionValues
    1 (Action)Action to be performed (start, commit, cancel, etc.)PARAM_TRANSACTION_ACTION
    2 (Transport)Possible transport layers to set and get parameters via mavlink during a parameter transaction.PARAM_TRANSACTION_TRANSPORT
    3 (Transaction ID)Identifier for a specific transaction.

    MAV_CMD_ODID_SET_EMERGENCY (12900) — [WIP] ​

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

    Used to manually set/unset emergency status for remote id.

    This is for compliance with MOC ASTM docs, specifically F358 section 7.7: "Emergency Status Indicator". The requirement can also be satisfied by automatic setting of the emergency status by flight stack, and that approach is preferred. See https://mavlink.io/en/services/opendroneid.html for more information.

    Param (Label)DescriptionValues
    1 (Number)Set/unset emergency 0: unset, 1: setmin: 0 inc: 1
    2
    3
    4Empty
    5Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_REQUEST_OPERATOR_CONTROL (32100) — [WIP] ​

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

    Request GCS control of a system (or of a specific component in a system).

    A controlled system should only accept MAVLink commands and command-like messages that are sent by its controlling GCS, or from other components with the same system id. Commands from other systems should be rejected with MAV_RESULT_FAILED (except for this command, which may be acknowledged with MAV_RESULT_ACCEPTED if control is granted). Command-like messages should be ignored (or rejected if that is supported by their associated protocol).

    GCS control of the whole system is managed via a single component that we will refer to here as the "system manager component". This component streams the CONTROL_STATUS message and sets the GCS_CONTROL_STATUS_FLAGS_SYSTEM_MANAGER flag. Other components in the system should monitor for the CONTROL_STATUS message with this flag, and set their controlling GCS to match its published system id. A GCS that wants to control the system should also monitor for the same message and flag, and address the MAV_CMD_REQUEST_OPERATOR_CONTROL to its component id. Note that integrators are required to ensure that there is only one system manager component in the system (i.e. one component emitting the message with GCS_CONTROL_STATUS_FLAGS_SYSTEM_MANAGER set).

    The MAV_CMD_REQUEST_OPERATOR_CONTROL command is sent by a GCS to the system manager component to request or release control of a system, specifying whether subsequent takeover requests from another GCS are automatically granted, or require permission.

    The system manager component should grant control to the GCS if the system does not require takeover permission (or is uncontrolled) and ACK the request with MAV_RESULT_ACCEPTED. The system manager component should then stream CONTROL_STATUS indicating its controlling system: all other components with the same system id should monitor this message and set their own controlling GCS to match that of the system manager component.

    If the system manager component cannot grant control (because takeover requires permission), the request should be rejected with MAV_RESULT_FAILED. The system manager component should then send this same command to the current owning GCS in order to notify of the request. The owning GCS would ACK with MAV_RESULT_ACCEPTED, and might choose to release control of the vehicle, or re-request control with the takeover bit set to allow permission. In case it choses to re-request control with takeover bit set to allow permission, requestor GCS will only have 10 seconds to get control, otherwise owning GCS will re-request control with takeover bit set to disallow permission, and requestor GCS will need repeat the request if still interested in getting control. Note that the pilots of both GCS should co-ordinate safe handover offline.

    Note that in most systems the only controlled component will be the "system manager component", and that will be the autopilot. However separate GCS control of a particular component is also permitted, if supported by the component. In this case the GCS will address MAV_CMD_REQUEST_OPERATOR_CONTROL to the specific component it wants to control. The component will then stream CONTROL_STATUS for its controlling GCS (it must not set GCS_CONTROL_STATUS_FLAGS_SYSTEM_MANAGER). The component should fall back to the system GCS (if any) when it is not directly controlled, and may stop emitting CONTROL_STATUS. The flow is otherwise the same as for requesting control over the whole system.

    Param (Label)DescriptionValuesUnits
    1 (Sysid requesting control)System ID of GCS requesting control. 0 when command sent from GCS to autopilot (autopilot determines requesting GCS sysid from message header). Sysid of GCS requesting control when command sent by autopilot to controlling GCS.
    2 (Action)0: Release control, 1: Request control.
    3 (Allow takeover)Enable automatic granting of ownership on request (by default reject request and notify current owner). 0: Ask current owner and reject request, 1: Allow automatic takeover.
    4 (Request timeout)Timeout in seconds before a request to a GCS to allow takeover is assumed to be rejected. This is used to display the timeout graphically on requestor and GCS in control.min: 3 max: 60s
    5Empty
    6Empty
    7Empty

    MAV_CMD_EXTERNAL_WIND_ESTIMATE (43004) — [WIP] ​

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

    Set an external estimate of wind direction and speed.

    This might be used to provide an initial wind estimate to the estimator (EKF) in the case where the vehicle is wind dead-reckoning, extending the time when operating without GPS before before position drift builds to an unsafe level. For this use case the command might reasonably be sent every few minutes when operating at altitude, and the value is cleared if the estimator resets itself.

    Param (Label)DescriptionValuesUnits
    1 (Wind speed)Horizontal wind speed.min: 0m/s
    2 (Wind speed accuracy)Estimated 1 sigma accuracy of wind speed. Set to NaN if unknown.m/s
    3 (Direction)Azimuth (relative to true north) from where the wind is blowing.min: 0 max: 360deg
    4 (Direction accuracy)Estimated 1 sigma accuracy of wind direction. Set to NaN if unknown.deg
    5Empty
    6Empty
    7Empty
    - + \ No newline at end of file diff --git a/en/messages/icarous.html b/en/messages/icarous.html index 364074262..8d49da09d 100644 --- a/en/messages/icarous.html +++ b/en/messages/icarous.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

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    Dialect: icarous ​

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

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

    Note

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

    None

    Summary ​

    TypeDefinedIncluded
    Messages20
    Enums20
    Commands00

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

    Messages ​

    ICAROUS_HEARTBEAT (42000) ​

    ICAROUS heartbeat

    Field NameTypeValuesDescription
    statusuint8_tICAROUS_FMS_STATESee the FMS_STATE enum.

    ICAROUS_KINEMATIC_BANDS (42001) ​

    Kinematic multi bands (track) output from Daidalus

    Field NameTypeUnitsValuesDescription
    numBandsint8_tNumber of track bands
    type1uint8_tICAROUS_TRACK_BAND_TYPESSee the TRACK_BAND_TYPES enum.
    min1floatdegmin angle (degrees)
    max1floatdegmax angle (degrees)
    type2uint8_tICAROUS_TRACK_BAND_TYPESSee the TRACK_BAND_TYPES enum.
    min2floatdegmin angle (degrees)
    max2floatdegmax angle (degrees)
    type3uint8_tICAROUS_TRACK_BAND_TYPESSee the TRACK_BAND_TYPES enum.
    min3floatdegmin angle (degrees)
    max3floatdegmax angle (degrees)
    type4uint8_tICAROUS_TRACK_BAND_TYPESSee the TRACK_BAND_TYPES enum.
    min4floatdegmin angle (degrees)
    max4floatdegmax angle (degrees)
    type5uint8_tICAROUS_TRACK_BAND_TYPESSee the TRACK_BAND_TYPES enum.
    min5floatdegmin angle (degrees)
    max5floatdegmax angle (degrees)

    Enumerated Types ​

    ICAROUS_TRACK_BAND_TYPES ​

    ValueNameDescription
    0ICAROUS_TRACK_BAND_TYPE_NONE
    1ICAROUS_TRACK_BAND_TYPE_NEAR
    2ICAROUS_TRACK_BAND_TYPE_RECOVERY

    ICAROUS_FMS_STATE ​

    ValueNameDescription
    0ICAROUS_FMS_STATE_IDLE
    1ICAROUS_FMS_STATE_TAKEOFF
    2ICAROUS_FMS_STATE_CLIMB
    3ICAROUS_FMS_STATE_CRUISE
    4ICAROUS_FMS_STATE_APPROACH
    5ICAROUS_FMS_STATE_LAND
    - + \ No newline at end of file diff --git a/en/messages/loweheiser.html b/en/messages/loweheiser.html index 140b9d6cf..7026ea949 100644 --- a/en/messages/loweheiser.html +++ b/en/messages/loweheiser.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

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    Dialect: loweheiser ​

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

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

    Note

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

    Summary ​

    TypeDefinedIncluded
    Messages12
    Enums06
    Commands10

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

    Messages ​

    LOWEHEISER_GOV_EFI (10151) ​

    Composite EFI and Governor data from Loweheiser equipment. This message is created by the EFI unit based on its own data and data received from a governor attached to that EFI unit.

    Field NameTypeUnitsDescription
    volt_battfloatVGenerator Battery voltage.
    curr_battfloatAGenerator Battery current.
    curr_genfloatACurrent being produced by generator.
    curr_rotfloatALoad current being consumed by the UAV (sum of curr_gen and curr_batt)
    fuel_levelfloatlGenerator fuel remaining in litres.
    throttlefloat%Throttle Output.
    runtimeuint32_tsSeconds this generator has run since it was rebooted.
    until_maintenanceint32_tsSeconds until this generator requires maintenance. A negative value indicates maintenance is past due.
    rectifier_tempfloatdegCThe Temperature of the rectifier.
    generator_tempfloatdegCThe temperature of the mechanical motor, fuel cell core or generator.
    efi_battfloatVEFI Supply Voltage.
    efi_rpmfloatrpmMotor RPM.
    efi_pwfloatmsInjector pulse-width in miliseconds.
    efi_fuel_flowfloatFuel flow rate in litres/hour.
    efi_fuel_consumedfloatlFuel consumed.
    efi_barofloatkPaAtmospheric pressure.
    efi_matfloatdegCManifold Air Temperature.
    efi_cltfloatdegCCylinder Head Temperature.
    efi_tpsfloat%Throttle Position.
    efi_exhaust_gas_temperaturefloatdegCExhaust gas temperature.
    efi_indexuint8_tEFI index.
    Messages with same value are from the same source (instance).
    generator_statusuint16_tGenerator status.
    efi_statusuint16_tEFI status.

    Enumerated Types ​

    Commands (MAV_CMD) ​

    MAV_CMD_LOWEHEISER_SET_STATE (10151) ​

    Set Loweheiser desired states

    Param (Label)Description
    1EFI Index
    2Desired Engine/EFI State (0: Power Off, 1:Running)
    3Desired Governor State (0:manual throttle, 1:Governed throttle)
    4Manual throttle level, 0% - 100%
    5Electronic Start up (0:Off, 1:On)
    6Empty
    7Empty
    - + \ No newline at end of file diff --git a/en/messages/matrixpilot.html b/en/messages/matrixpilot.html index 4c6d42f32..76dd633a4 100644 --- a/en/messages/matrixpilot.html +++ b/en/messages/matrixpilot.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

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    Dialect: matrixpilot ​

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

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

    Note

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

    Summary ​

    TypeDefinedIncluded
    Messages27226
    Enums1144
    Commands1650

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

    Messages ​

    FLEXIFUNCTION_SET (150) ​

    Depreciated but used as a compiler flag. Do not remove

    Field NameTypeDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID

    FLEXIFUNCTION_READ_REQ (151) ​

    Request reading of flexifunction data

    Field NameTypeDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    read_req_typeint16_tType of flexifunction data requested
    data_indexint16_tindex into data where needed

    FLEXIFUNCTION_BUFFER_FUNCTION (152) ​

    Flexifunction type and parameters for component at function index from buffer

    Field NameTypeDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    func_indexuint16_tFunction index
    func_countuint16_tTotal count of functions
    data_addressuint16_tAddress in the flexifunction data, Set to 0xFFFF to use address in target memory
    data_sizeuint16_tSize of the
    dataint8_t[48]Settings data

    FLEXIFUNCTION_BUFFER_FUNCTION_ACK (153) ​

    Flexifunction type and parameters for component at function index from buffer

    Field NameTypeDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    func_indexuint16_tFunction index
    resultuint16_tresult of acknowledge, 0=fail, 1=good

    FLEXIFUNCTION_DIRECTORY (155) ​

    Acknowldge success or failure of a flexifunction command

    Field NameTypeDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    directory_typeuint8_t0=inputs, 1=outputs
    start_indexuint8_tindex of first directory entry to write
    countuint8_tcount of directory entries to write
    directory_dataint8_t[48]Settings data

    FLEXIFUNCTION_DIRECTORY_ACK (156) ​

    Acknowldge success or failure of a flexifunction command

    Field NameTypeDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    directory_typeuint8_t0=inputs, 1=outputs
    start_indexuint8_tindex of first directory entry to write
    countuint8_tcount of directory entries to write
    resultuint16_tresult of acknowledge, 0=fail, 1=good

    FLEXIFUNCTION_COMMAND (157) ​

    Acknowldge success or failure of a flexifunction command

    Field NameTypeDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    command_typeuint8_tFlexifunction command type

    FLEXIFUNCTION_COMMAND_ACK (158) ​

    Acknowldge success or failure of a flexifunction command

    Field NameTypeDescription
    command_typeuint16_tCommand acknowledged
    resultuint16_tresult of acknowledge

    SERIAL_UDB_EXTRA_F2_A (170) ​

    Backwards compatible MAVLink version of SERIAL_UDB_EXTRA - F2: Format Part A

    Field NameTypeDescription
    sue_timeuint32_tSerial UDB Extra Time
    sue_statusuint8_tSerial UDB Extra Status
    sue_latitudeint32_tSerial UDB Extra Latitude
    sue_longitudeint32_tSerial UDB Extra Longitude
    sue_altitudeint32_tSerial UDB Extra Altitude
    sue_waypoint_indexuint16_tSerial UDB Extra Waypoint Index
    sue_rmat0int16_tSerial UDB Extra Rmat 0
    sue_rmat1int16_tSerial UDB Extra Rmat 1
    sue_rmat2int16_tSerial UDB Extra Rmat 2
    sue_rmat3int16_tSerial UDB Extra Rmat 3
    sue_rmat4int16_tSerial UDB Extra Rmat 4
    sue_rmat5int16_tSerial UDB Extra Rmat 5
    sue_rmat6int16_tSerial UDB Extra Rmat 6
    sue_rmat7int16_tSerial UDB Extra Rmat 7
    sue_rmat8int16_tSerial UDB Extra Rmat 8
    sue_coguint16_tSerial UDB Extra GPS Course Over Ground
    sue_sogint16_tSerial UDB Extra Speed Over Ground
    sue_cpu_loaduint16_tSerial UDB Extra CPU Load
    sue_air_speed_3DIMUuint16_tSerial UDB Extra 3D IMU Air Speed
    sue_estimated_wind_0int16_tSerial UDB Extra Estimated Wind 0
    sue_estimated_wind_1int16_tSerial UDB Extra Estimated Wind 1
    sue_estimated_wind_2int16_tSerial UDB Extra Estimated Wind 2
    sue_magFieldEarth0int16_tSerial UDB Extra Magnetic Field Earth 0
    sue_magFieldEarth1int16_tSerial UDB Extra Magnetic Field Earth 1
    sue_magFieldEarth2int16_tSerial UDB Extra Magnetic Field Earth 2
    sue_svsint16_tSerial UDB Extra Number of Satellites in View
    sue_hdopint16_tSerial UDB Extra GPS Horizontal Dilution of Precision

    SERIAL_UDB_EXTRA_F2_B (171) ​

    Backwards compatible version of SERIAL_UDB_EXTRA - F2: Part B

    Field NameTypeDescription
    sue_timeuint32_tSerial UDB Extra Time
    sue_pwm_input_1int16_tSerial UDB Extra PWM Input Channel 1
    sue_pwm_input_2int16_tSerial UDB Extra PWM Input Channel 2
    sue_pwm_input_3int16_tSerial UDB Extra PWM Input Channel 3
    sue_pwm_input_4int16_tSerial UDB Extra PWM Input Channel 4
    sue_pwm_input_5int16_tSerial UDB Extra PWM Input Channel 5
    sue_pwm_input_6int16_tSerial UDB Extra PWM Input Channel 6
    sue_pwm_input_7int16_tSerial UDB Extra PWM Input Channel 7
    sue_pwm_input_8int16_tSerial UDB Extra PWM Input Channel 8
    sue_pwm_input_9int16_tSerial UDB Extra PWM Input Channel 9
    sue_pwm_input_10int16_tSerial UDB Extra PWM Input Channel 10
    sue_pwm_input_11int16_tSerial UDB Extra PWM Input Channel 11
    sue_pwm_input_12int16_tSerial UDB Extra PWM Input Channel 12
    sue_pwm_output_1int16_tSerial UDB Extra PWM Output Channel 1
    sue_pwm_output_2int16_tSerial UDB Extra PWM Output Channel 2
    sue_pwm_output_3int16_tSerial UDB Extra PWM Output Channel 3
    sue_pwm_output_4int16_tSerial UDB Extra PWM Output Channel 4
    sue_pwm_output_5int16_tSerial UDB Extra PWM Output Channel 5
    sue_pwm_output_6int16_tSerial UDB Extra PWM Output Channel 6
    sue_pwm_output_7int16_tSerial UDB Extra PWM Output Channel 7
    sue_pwm_output_8int16_tSerial UDB Extra PWM Output Channel 8
    sue_pwm_output_9int16_tSerial UDB Extra PWM Output Channel 9
    sue_pwm_output_10int16_tSerial UDB Extra PWM Output Channel 10
    sue_pwm_output_11int16_tSerial UDB Extra PWM Output Channel 11
    sue_pwm_output_12int16_tSerial UDB Extra PWM Output Channel 12
    sue_imu_location_xint16_tSerial UDB Extra IMU Location X
    sue_imu_location_yint16_tSerial UDB Extra IMU Location Y
    sue_imu_location_zint16_tSerial UDB Extra IMU Location Z
    sue_location_error_earth_xint16_tSerial UDB Location Error Earth X
    sue_location_error_earth_yint16_tSerial UDB Location Error Earth Y
    sue_location_error_earth_zint16_tSerial UDB Location Error Earth Z
    sue_flagsuint32_tSerial UDB Extra Status Flags
    sue_osc_failsint16_tSerial UDB Extra Oscillator Failure Count
    sue_imu_velocity_xint16_tSerial UDB Extra IMU Velocity X
    sue_imu_velocity_yint16_tSerial UDB Extra IMU Velocity Y
    sue_imu_velocity_zint16_tSerial UDB Extra IMU Velocity Z
    sue_waypoint_goal_xint16_tSerial UDB Extra Current Waypoint Goal X
    sue_waypoint_goal_yint16_tSerial UDB Extra Current Waypoint Goal Y
    sue_waypoint_goal_zint16_tSerial UDB Extra Current Waypoint Goal Z
    sue_aero_xint16_tAeroforce in UDB X Axis
    sue_aero_yint16_tAeroforce in UDB Y Axis
    sue_aero_zint16_tAeroforce in UDB Z axis
    sue_barom_tempint16_tSUE barometer temperature
    sue_barom_pressint32_tSUE barometer pressure
    sue_barom_altint32_tSUE barometer altitude
    sue_bat_voltint16_tSUE battery voltage
    sue_bat_ampint16_tSUE battery current
    sue_bat_amp_hoursint16_tSUE battery milli amp hours used
    sue_desired_heightint16_tSue autopilot desired height
    sue_memory_stack_freeint16_tSerial UDB Extra Stack Memory Free

    SERIAL_UDB_EXTRA_F4 (172) ​

    Backwards compatible version of SERIAL_UDB_EXTRA F4: format

    Field NameTypeDescription
    sue_ROLL_STABILIZATION_AILERONSuint8_tSerial UDB Extra Roll Stabilization with Ailerons Enabled
    sue_ROLL_STABILIZATION_RUDDERuint8_tSerial UDB Extra Roll Stabilization with Rudder Enabled
    sue_PITCH_STABILIZATIONuint8_tSerial UDB Extra Pitch Stabilization Enabled
    sue_YAW_STABILIZATION_RUDDERuint8_tSerial UDB Extra Yaw Stabilization using Rudder Enabled
    sue_YAW_STABILIZATION_AILERONuint8_tSerial UDB Extra Yaw Stabilization using Ailerons Enabled
    sue_AILERON_NAVIGATIONuint8_tSerial UDB Extra Navigation with Ailerons Enabled
    sue_RUDDER_NAVIGATIONuint8_tSerial UDB Extra Navigation with Rudder Enabled
    sue_ALTITUDEHOLD_STABILIZEDuint8_tSerial UDB Extra Type of Alitude Hold when in Stabilized Mode
    sue_ALTITUDEHOLD_WAYPOINTuint8_tSerial UDB Extra Type of Alitude Hold when in Waypoint Mode
    sue_RACING_MODEuint8_tSerial UDB Extra Firmware racing mode enabled

    SERIAL_UDB_EXTRA_F5 (173) ​

    Backwards compatible version of SERIAL_UDB_EXTRA F5: format

    Field NameTypeDescription
    sue_YAWKP_AILERONfloatSerial UDB YAWKP_AILERON Gain for Proporional control of navigation
    sue_YAWKD_AILERONfloatSerial UDB YAWKD_AILERON Gain for Rate control of navigation
    sue_ROLLKPfloatSerial UDB Extra ROLLKP Gain for Proportional control of roll stabilization
    sue_ROLLKDfloatSerial UDB Extra ROLLKD Gain for Rate control of roll stabilization

    SERIAL_UDB_EXTRA_F6 (174) ​

    Backwards compatible version of SERIAL_UDB_EXTRA F6: format

    Field NameTypeDescription
    sue_PITCHGAINfloatSerial UDB Extra PITCHGAIN Proportional Control
    sue_PITCHKDfloatSerial UDB Extra Pitch Rate Control
    sue_RUDDER_ELEV_MIXfloatSerial UDB Extra Rudder to Elevator Mix
    sue_ROLL_ELEV_MIXfloatSerial UDB Extra Roll to Elevator Mix
    sue_ELEVATOR_BOOSTfloatGain For Boosting Manual Elevator control When Plane Stabilized

    SERIAL_UDB_EXTRA_F7 (175) ​

    Backwards compatible version of SERIAL_UDB_EXTRA F7: format

    Field NameTypeDescription
    sue_YAWKP_RUDDERfloatSerial UDB YAWKP_RUDDER Gain for Proporional control of navigation
    sue_YAWKD_RUDDERfloatSerial UDB YAWKD_RUDDER Gain for Rate control of navigation
    sue_ROLLKP_RUDDERfloatSerial UDB Extra ROLLKP_RUDDER Gain for Proportional control of roll stabilization
    sue_ROLLKD_RUDDERfloatSerial UDB Extra ROLLKD_RUDDER Gain for Rate control of roll stabilization
    sue_RUDDER_BOOSTfloatSERIAL UDB EXTRA Rudder Boost Gain to Manual Control when stabilized
    sue_RTL_PITCH_DOWNfloatSerial UDB Extra Return To Landing - Angle to Pitch Plane Down

    SERIAL_UDB_EXTRA_F8 (176) ​

    Backwards compatible version of SERIAL_UDB_EXTRA F8: format

    Field NameTypeDescription
    sue_HEIGHT_TARGET_MAXfloatSerial UDB Extra HEIGHT_TARGET_MAX
    sue_HEIGHT_TARGET_MINfloatSerial UDB Extra HEIGHT_TARGET_MIN
    sue_ALT_HOLD_THROTTLE_MINfloatSerial UDB Extra ALT_HOLD_THROTTLE_MIN
    sue_ALT_HOLD_THROTTLE_MAXfloatSerial UDB Extra ALT_HOLD_THROTTLE_MAX
    sue_ALT_HOLD_PITCH_MINfloatSerial UDB Extra ALT_HOLD_PITCH_MIN
    sue_ALT_HOLD_PITCH_MAXfloatSerial UDB Extra ALT_HOLD_PITCH_MAX
    sue_ALT_HOLD_PITCH_HIGHfloatSerial UDB Extra ALT_HOLD_PITCH_HIGH

    SERIAL_UDB_EXTRA_F13 (177) ​

    Backwards compatible version of SERIAL_UDB_EXTRA F13: format

    Field NameTypeDescription
    sue_week_noint16_tSerial UDB Extra GPS Week Number
    sue_lat_originint32_tSerial UDB Extra MP Origin Latitude
    sue_lon_originint32_tSerial UDB Extra MP Origin Longitude
    sue_alt_originint32_tSerial UDB Extra MP Origin Altitude Above Sea Level

    SERIAL_UDB_EXTRA_F14 (178) ​

    Backwards compatible version of SERIAL_UDB_EXTRA F14: format

    Field NameTypeDescription
    sue_WIND_ESTIMATIONuint8_tSerial UDB Extra Wind Estimation Enabled
    sue_GPS_TYPEuint8_tSerial UDB Extra Type of GPS Unit
    sue_DRuint8_tSerial UDB Extra Dead Reckoning Enabled
    sue_BOARD_TYPEuint8_tSerial UDB Extra Type of UDB Hardware
    sue_AIRFRAMEuint8_tSerial UDB Extra Type of Airframe
    sue_RCONint16_tSerial UDB Extra Reboot Register of DSPIC
    sue_TRAP_FLAGSint16_tSerial UDB Extra Last dspic Trap Flags
    sue_TRAP_SOURCEuint32_tSerial UDB Extra Type Program Address of Last Trap
    sue_osc_fail_countint16_tSerial UDB Extra Number of Ocillator Failures
    sue_CLOCK_CONFIGuint8_tSerial UDB Extra UDB Internal Clock Configuration
    sue_FLIGHT_PLAN_TYPEuint8_tSerial UDB Extra Type of Flight Plan

    SERIAL_UDB_EXTRA_F15 (179) ​

    Backwards compatible version of SERIAL_UDB_EXTRA F15 format

    Field NameTypeDescription
    sue_ID_VEHICLE_MODEL_NAMEuint8_t[40]Serial UDB Extra Model Name Of Vehicle
    sue_ID_VEHICLE_REGISTRATIONuint8_t[20]Serial UDB Extra Registraton Number of Vehicle

    SERIAL_UDB_EXTRA_F16 (180) ​

    Backwards compatible version of SERIAL_UDB_EXTRA F16 format

    Field NameTypeDescription
    sue_ID_LEAD_PILOTuint8_t[40]Serial UDB Extra Name of Expected Lead Pilot
    sue_ID_DIY_DRONES_URLuint8_t[70]Serial UDB Extra URL of Lead Pilot or Team

    ALTITUDES (181) ​

    The altitude measured by sensors and IMU

    Field NameTypeDescription
    time_boot_msuint32_tTimestamp (milliseconds since system boot)
    alt_gpsint32_tGPS altitude (MSL) in meters, expressed as * 1000 (millimeters)
    alt_imuint32_tIMU altitude above ground in meters, expressed as * 1000 (millimeters)
    alt_barometricint32_tbarometeric altitude above ground in meters, expressed as * 1000 (millimeters)
    alt_optical_flowint32_tOptical flow altitude above ground in meters, expressed as * 1000 (millimeters)
    alt_range_finderint32_tRangefinder Altitude above ground in meters, expressed as * 1000 (millimeters)
    alt_extraint32_tExtra altitude above ground in meters, expressed as * 1000 (millimeters)

    AIRSPEEDS (182) ​

    The airspeed measured by sensors and IMU

    Field NameTypeDescription
    time_boot_msuint32_tTimestamp (milliseconds since system boot)
    airspeed_imuint16_tAirspeed estimate from IMU, cm/s
    airspeed_pitotint16_tPitot measured forward airpseed, cm/s
    airspeed_hot_wireint16_tHot wire anenometer measured airspeed, cm/s
    airspeed_ultrasonicint16_tUltrasonic measured airspeed, cm/s
    aoaint16_tAngle of attack sensor, degrees * 10
    aoyint16_tYaw angle sensor, degrees * 10

    SERIAL_UDB_EXTRA_F17 (183) ​

    Backwards compatible version of SERIAL_UDB_EXTRA F17 format

    Field NameTypeDescription
    sue_feed_forwardfloatSUE Feed Forward Gain
    sue_turn_rate_navfloatSUE Max Turn Rate when Navigating
    sue_turn_rate_fbwfloatSUE Max Turn Rate in Fly By Wire Mode

    SERIAL_UDB_EXTRA_F18 (184) ​

    Backwards compatible version of SERIAL_UDB_EXTRA F18 format

    Field NameTypeDescription
    angle_of_attack_normalfloatSUE Angle of Attack Normal
    angle_of_attack_invertedfloatSUE Angle of Attack Inverted
    elevator_trim_normalfloatSUE Elevator Trim Normal
    elevator_trim_invertedfloatSUE Elevator Trim Inverted
    reference_speedfloatSUE reference_speed

    SERIAL_UDB_EXTRA_F19 (185) ​

    Backwards compatible version of SERIAL_UDB_EXTRA F19 format

    Field NameTypeDescription
    sue_aileron_output_channeluint8_tSUE aileron output channel
    sue_aileron_reverseduint8_tSUE aileron reversed
    sue_elevator_output_channeluint8_tSUE elevator output channel
    sue_elevator_reverseduint8_tSUE elevator reversed
    sue_throttle_output_channeluint8_tSUE throttle output channel
    sue_throttle_reverseduint8_tSUE throttle reversed
    sue_rudder_output_channeluint8_tSUE rudder output channel
    sue_rudder_reverseduint8_tSUE rudder reversed

    SERIAL_UDB_EXTRA_F20 (186) ​

    Backwards compatible version of SERIAL_UDB_EXTRA F20 format

    Field NameTypeDescription
    sue_number_of_inputsuint8_tSUE Number of Input Channels
    sue_trim_value_input_1int16_tSUE UDB PWM Trim Value on Input 1
    sue_trim_value_input_2int16_tSUE UDB PWM Trim Value on Input 2
    sue_trim_value_input_3int16_tSUE UDB PWM Trim Value on Input 3
    sue_trim_value_input_4int16_tSUE UDB PWM Trim Value on Input 4
    sue_trim_value_input_5int16_tSUE UDB PWM Trim Value on Input 5
    sue_trim_value_input_6int16_tSUE UDB PWM Trim Value on Input 6
    sue_trim_value_input_7int16_tSUE UDB PWM Trim Value on Input 7
    sue_trim_value_input_8int16_tSUE UDB PWM Trim Value on Input 8
    sue_trim_value_input_9int16_tSUE UDB PWM Trim Value on Input 9
    sue_trim_value_input_10int16_tSUE UDB PWM Trim Value on Input 10
    sue_trim_value_input_11int16_tSUE UDB PWM Trim Value on Input 11
    sue_trim_value_input_12int16_tSUE UDB PWM Trim Value on Input 12

    SERIAL_UDB_EXTRA_F21 (187) ​

    Backwards compatible version of SERIAL_UDB_EXTRA F21 format

    Field NameTypeDescription
    sue_accel_x_offsetint16_tSUE X accelerometer offset
    sue_accel_y_offsetint16_tSUE Y accelerometer offset
    sue_accel_z_offsetint16_tSUE Z accelerometer offset
    sue_gyro_x_offsetint16_tSUE X gyro offset
    sue_gyro_y_offsetint16_tSUE Y gyro offset
    sue_gyro_z_offsetint16_tSUE Z gyro offset

    SERIAL_UDB_EXTRA_F22 (188) ​

    Backwards compatible version of SERIAL_UDB_EXTRA F22 format

    Field NameTypeDescription
    sue_accel_x_at_calibrationint16_tSUE X accelerometer at calibration time
    sue_accel_y_at_calibrationint16_tSUE Y accelerometer at calibration time
    sue_accel_z_at_calibrationint16_tSUE Z accelerometer at calibration time
    sue_gyro_x_at_calibrationint16_tSUE X gyro at calibration time
    sue_gyro_y_at_calibrationint16_tSUE Y gyro at calibration time
    sue_gyro_z_at_calibrationint16_tSUE Z gyro at calibration time

    Enumerated Types ​

    MAV_PREFLIGHT_STORAGE_ACTION ​

    Action required when performing CMD_PREFLIGHT_STORAGE

    ValueNameDescription
    0MAV_PFS_CMD_READ_ALLRead all parameters from storage
    1MAV_PFS_CMD_WRITE_ALLWrite all parameters to storage
    2MAV_PFS_CMD_CLEAR_ALLClear all parameters in storage
    3MAV_PFS_CMD_READ_SPECIFICRead specific parameters from storage
    4MAV_PFS_CMD_WRITE_SPECIFICWrite specific parameters to storage
    5MAV_PFS_CMD_CLEAR_SPECIFICClear specific parameters in storage
    6MAV_PFS_CMD_DO_NOTHINGdo nothing

    Commands (MAV_CMD) ​

    MAV_CMD_PREFLIGHT_STORAGE_ADVANCED (0) ​

    Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode.

    Param (Label)Description
    1Storage action: Action defined by MAV_PREFLIGHT_STORAGE_ACTION_ADVANCED
    2Storage area as defined by parameter database
    3Storage flags as defined by parameter database
    4Empty
    5Empty
    6Empty
    7Empty
    - + \ No newline at end of file diff --git a/en/messages/minimal.html b/en/messages/minimal.html index 901901a6e..4f11d11c8 100644 --- a/en/messages/minimal.html +++ b/en/messages/minimal.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

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    MAVLink Minimal Set (minimal.xml) ​

    The MAVLink minimal set contains the minimal set of definitions for a viable MAVLink system.

    The message set is defined in minimal.xml and is managed by the MAVLink project.

    Tip The minimal set is included (imported into) other xml definition files, including the MAVLink Common Message Set (common.xml).

    Note

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

    Protocol version: 3

    None

    Summary ​

    TypeDefinedIncluded
    Messages20
    Enums60
    Commands00

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

    Messages ​

    HEARTBEAT (0) ​

    The heartbeat message shows that a system or component is present and responding. The type and autopilot fields (along with the message component id), allow the receiving system to treat further messages from this system appropriately (e.g. by laying out the user interface based on the autopilot). This microservice is documented at https://mavlink.io/en/services/heartbeat.html

    Field NameTypeValuesDescription
    typeuint8_tMAV_TYPEVehicle or component type. For a flight controller component the vehicle type (quadrotor, helicopter, etc.). For other components the component type (e.g. camera, gimbal, etc.). This should be used in preference to component id for identifying the component type.
    autopilotuint8_tMAV_AUTOPILOTAutopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers.
    base_modeuint8_tMAV_MODE_FLAGSystem mode bitmap.
    custom_modeuint32_tA bitfield for use for autopilot-specific flags
    system_statusuint8_tMAV_STATESystem status flag.
    mavlink_versionuint8_t_mavlink_versionMAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version

    PROTOCOL_VERSION (300) — [WIP] ​

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

    Version and capability of protocol version. This message can be requested with MAV_CMD_REQUEST_MESSAGE and is used as part of the handshaking to establish which MAVLink version should be used on the network. Every node should respond to a request for PROTOCOL_VERSION to enable the handshaking. Library implementers should consider adding this into the default decoding state machine to allow the protocol core to respond directly.

    Field NameTypeDescription
    versionuint16_tCurrently active MAVLink version number * 100: v1.0 is 100, v2.0 is 200, etc.
    min_versionuint16_tMinimum MAVLink version supported
    max_versionuint16_tMaximum MAVLink version supported (set to the same value as version by default)
    spec_version_hashuint8_t[8]The first 8 bytes (not characters printed in hex!) of the git hash.
    library_version_hashuint8_t[8]The first 8 bytes (not characters printed in hex!) of the git hash.

    Enumerated Types ​

    MAV_AUTOPILOT ​

    Micro air vehicle / autopilot classes. This identifies the individual model.

    ValueNameDescription
    0MAV_AUTOPILOT_GENERICGeneric autopilot, full support for everything
    1MAV_AUTOPILOT_RESERVEDReserved for future use.
    2MAV_AUTOPILOT_SLUGSSLUGS autopilot, http://slugsuav.soe.ucsc.edu
    3MAV_AUTOPILOT_ARDUPILOTMEGAArduPilot - Plane/Copter/Rover/Sub/Tracker, https://ardupilot.org
    4MAV_AUTOPILOT_OPENPILOTOpenPilot, http://openpilot.org
    5MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLYGeneric autopilot only supporting simple waypoints
    6MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLYGeneric autopilot supporting waypoints and other simple navigation commands
    7MAV_AUTOPILOT_GENERIC_MISSION_FULLGeneric autopilot supporting the full mission command set
    8MAV_AUTOPILOT_INVALIDNo valid autopilot, e.g. a GCS or other MAVLink component
    9MAV_AUTOPILOT_PPZPPZ UAV - http://nongnu.org/paparazzi
    10MAV_AUTOPILOT_UDBUAV Dev Board
    11MAV_AUTOPILOT_FPFlexiPilot
    12MAV_AUTOPILOT_PX4PX4 Autopilot - http://px4.io/
    13MAV_AUTOPILOT_SMACCMPILOTSMACCMPilot - http://smaccmpilot.org
    14MAV_AUTOPILOT_AUTOQUADAutoQuad -- http://autoquad.org
    15MAV_AUTOPILOT_ARMAZILAArmazila -- http://armazila.com
    16MAV_AUTOPILOT_AEROBAerob -- http://aerob.ru
    17MAV_AUTOPILOT_ASLUAVASLUAV autopilot -- http://www.asl.ethz.ch
    18MAV_AUTOPILOT_SMARTAPSmartAP Autopilot - http://sky-drones.com
    19MAV_AUTOPILOT_AIRRAILSAirRails - http://uaventure.com
    20MAV_AUTOPILOT_REFLEXFusion Reflex - https://fusion.engineering

    MAV_TYPE ​

    MAVLINK component type reported in HEARTBEAT message. Flight controllers must report the type of the vehicle on which they are mounted (e.g. MAV_TYPE_OCTOROTOR). All other components must report a value appropriate for their type (e.g. a camera must use MAV_TYPE_CAMERA).

    ValueNameDescription
    0MAV_TYPE_GENERICGeneric micro air vehicle
    1MAV_TYPE_FIXED_WINGFixed wing aircraft.
    2MAV_TYPE_QUADROTORQuadrotor
    3MAV_TYPE_COAXIALCoaxial helicopter
    4MAV_TYPE_HELICOPTERNormal helicopter with tail rotor.
    5MAV_TYPE_ANTENNA_TRACKERGround installation
    6MAV_TYPE_GCSOperator control unit / ground control station
    7MAV_TYPE_AIRSHIPAirship, controlled
    8MAV_TYPE_FREE_BALLOONFree balloon, uncontrolled
    9MAV_TYPE_ROCKETRocket
    10MAV_TYPE_GROUND_ROVERGround rover
    11MAV_TYPE_SURFACE_BOATSurface vessel, boat, ship
    12MAV_TYPE_SUBMARINESubmarine
    13MAV_TYPE_HEXAROTORHexarotor
    14MAV_TYPE_OCTOROTOROctorotor
    15MAV_TYPE_TRICOPTERTricopter
    16MAV_TYPE_FLAPPING_WINGFlapping wing
    17MAV_TYPE_KITEKite
    18MAV_TYPE_ONBOARD_CONTROLLEROnboard companion controller
    19MAV_TYPE_VTOL_TAILSITTER_DUOROTORTwo-rotor Tailsitter VTOL that additionally uses control surfaces in vertical operation. Note, value previously named MAV_TYPE_VTOL_DUOROTOR.
    20MAV_TYPE_VTOL_TAILSITTER_QUADROTORQuad-rotor Tailsitter VTOL using a V-shaped quad config in vertical operation. Note: value previously named MAV_TYPE_VTOL_QUADROTOR.
    21MAV_TYPE_VTOL_TILTROTORTiltrotor VTOL. Fuselage and wings stay (nominally) horizontal in all flight phases. It able to tilt (some) rotors to provide thrust in cruise flight.
    22MAV_TYPE_VTOL_FIXEDROTORVTOL with separate fixed rotors for hover and cruise flight. Fuselage and wings stay (nominally) horizontal in all flight phases.
    23MAV_TYPE_VTOL_TAILSITTERTailsitter VTOL. Fuselage and wings orientation changes depending on flight phase: vertical for hover, horizontal for cruise. Use more specific VTOL MAV_TYPE_VTOL_TAILSITTER_DUOROTOR or MAV_TYPE_VTOL_TAILSITTER_QUADROTOR if appropriate.
    24MAV_TYPE_VTOL_TILTWINGTiltwing VTOL. Fuselage stays horizontal in all flight phases. The whole wing, along with any attached engine, can tilt between vertical and horizontal mode.
    25MAV_TYPE_VTOL_RESERVED5VTOL reserved 5
    26MAV_TYPE_GIMBALGimbal
    27MAV_TYPE_ADSBADSB system
    28MAV_TYPE_PARAFOILSteerable, nonrigid airfoil
    29MAV_TYPE_DODECAROTORDodecarotor
    30MAV_TYPE_CAMERACamera
    31MAV_TYPE_CHARGING_STATIONCharging station
    32MAV_TYPE_FLARMFLARM collision avoidance system
    33MAV_TYPE_SERVOServo
    34MAV_TYPE_ODIDOpen Drone ID. See https://mavlink.io/en/services/opendroneid.html.
    35MAV_TYPE_DECAROTORDecarotor
    36MAV_TYPE_BATTERYBattery
    37MAV_TYPE_PARACHUTEParachute
    38MAV_TYPE_LOGLog
    39MAV_TYPE_OSDOSD
    40MAV_TYPE_IMUIMU
    41MAV_TYPE_GPSGPS
    42MAV_TYPE_WINCHWinch
    43MAV_TYPE_GENERIC_MULTIROTORGeneric multirotor that does not fit into a specific type or whose type is unknown
    44MAV_TYPE_ILLUMINATORIlluminator. An illuminator is a light source that is used for lighting up dark areas external to the sytstem: e.g. a torch or searchlight (as opposed to a light source for illuminating the system itself, e.g. an indicator light).

    MAV_MODE_FLAG ​

    (Bitmask) These flags encode the MAV mode.

    ValueNameDescription
    1MAV_MODE_FLAG_CUSTOM_MODE_ENABLED0b00000001 Reserved for future use.
    2MAV_MODE_FLAG_TEST_ENABLED0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations.
    4MAV_MODE_FLAG_AUTO_ENABLED0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation.
    8MAV_MODE_FLAG_GUIDED_ENABLED0b00001000 guided mode enabled, system flies waypoints / mission items.
    16MAV_MODE_FLAG_STABILIZE_ENABLED0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around.
    32MAV_MODE_FLAG_HIL_ENABLED0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational.
    64MAV_MODE_FLAG_MANUAL_INPUT_ENABLED0b01000000 remote control input is enabled.
    128MAV_MODE_FLAG_SAFETY_ARMED0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly. Additional note: this flag is to be ignore when sent in the command MAV_CMD_DO_SET_MODE and MAV_CMD_COMPONENT_ARM_DISARM shall be used instead. The flag can still be used to report the armed state.

    MAV_MODE_FLAG_DECODE_POSITION ​

    (Bitmask) These values encode the bit positions of the decode position. These values can be used to read the value of a flag bit by combining the base_mode variable with AND with the flag position value. The result will be either 0 or 1, depending on if the flag is set or not.

    ValueNameDescription
    1MAV_MODE_FLAG_DECODE_POSITION_CUSTOM_MODEEighth bit: 00000001
    2MAV_MODE_FLAG_DECODE_POSITION_TESTSeventh bit: 00000010
    4MAV_MODE_FLAG_DECODE_POSITION_AUTOSixth bit: 00000100
    8MAV_MODE_FLAG_DECODE_POSITION_GUIDEDFifth bit: 00001000
    16MAV_MODE_FLAG_DECODE_POSITION_STABILIZEFourth bit: 00010000
    32MAV_MODE_FLAG_DECODE_POSITION_HILThird bit: 00100000
    64MAV_MODE_FLAG_DECODE_POSITION_MANUALSecond bit: 01000000
    128MAV_MODE_FLAG_DECODE_POSITION_SAFETYFirst bit: 10000000

    MAV_STATE ​

    ValueNameDescription
    0MAV_STATE_UNINITUninitialized system, state is unknown.
    1MAV_STATE_BOOTSystem is booting up.
    2MAV_STATE_CALIBRATINGSystem is calibrating and not flight-ready.
    3MAV_STATE_STANDBYSystem is grounded and on standby. It can be launched any time.
    4MAV_STATE_ACTIVESystem is active and might be already airborne. Motors are engaged.
    5MAV_STATE_CRITICALSystem is in a non-normal flight mode (failsafe). It can however still navigate.
    6MAV_STATE_EMERGENCYSystem is in a non-normal flight mode (failsafe). It lost control over parts or over the whole airframe. It is in mayday and going down.
    7MAV_STATE_POWEROFFSystem just initialized its power-down sequence, will shut down now.
    8MAV_STATE_FLIGHT_TERMINATIONSystem is terminating itself (failsafe or commanded).

    MAV_COMPONENT ​

    Component ids (values) for the different types and instances of onboard hardware/software that might make up a MAVLink system (autopilot, cameras, servos, GPS systems, avoidance systems etc.).

    Components must use the appropriate ID in their source address when sending messages. Components can also use IDs to determine if they are the intended recipient of an incoming message. The MAV_COMP_ID_ALL value is used to indicate messages that must be processed by all components. When creating new entries, components that can have multiple instances (e.g. cameras, servos etc.) should be allocated sequential values. An appropriate number of values should be left free after these components to allow the number of instances to be expanded.

    ValueNameDescription
    0MAV_COMP_ID_ALLTarget id (target_component) used to broadcast messages to all components of the receiving system. Components should attempt to process messages with this component ID and forward to components on any other interfaces. Note: This is not a valid source component id for a message.
    1MAV_COMP_ID_AUTOPILOT1System flight controller component ("autopilot"). Only one autopilot is expected in a particular system.
    25MAV_COMP_ID_USER1Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    26MAV_COMP_ID_USER2Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    27MAV_COMP_ID_USER3Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    28MAV_COMP_ID_USER4Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    29MAV_COMP_ID_USER5Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    30MAV_COMP_ID_USER6Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    31MAV_COMP_ID_USER7Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    32MAV_COMP_ID_USER8Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    33MAV_COMP_ID_USER9Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    34MAV_COMP_ID_USER10Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    35MAV_COMP_ID_USER11Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    36MAV_COMP_ID_USER12Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    37MAV_COMP_ID_USER13Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    38MAV_COMP_ID_USER14Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    39MAV_COMP_ID_USER15Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    40MAV_COMP_ID_USER16Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    41MAV_COMP_ID_USER17Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    42MAV_COMP_ID_USER18Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    43MAV_COMP_ID_USER19Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    44MAV_COMP_ID_USER20Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    45MAV_COMP_ID_USER21Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    46MAV_COMP_ID_USER22Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    47MAV_COMP_ID_USER23Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    48MAV_COMP_ID_USER24Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    49MAV_COMP_ID_USER25Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    50MAV_COMP_ID_USER26Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    51MAV_COMP_ID_USER27Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    52MAV_COMP_ID_USER28Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    53MAV_COMP_ID_USER29Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    54MAV_COMP_ID_USER30Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    55MAV_COMP_ID_USER31Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    56MAV_COMP_ID_USER32Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    57MAV_COMP_ID_USER33Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    58MAV_COMP_ID_USER34Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    59MAV_COMP_ID_USER35Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    60MAV_COMP_ID_USER36Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    61MAV_COMP_ID_USER37Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    62MAV_COMP_ID_USER38Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    63MAV_COMP_ID_USER39Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    64MAV_COMP_ID_USER40Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    65MAV_COMP_ID_USER41Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    66MAV_COMP_ID_USER42Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    67MAV_COMP_ID_USER43Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    68MAV_COMP_ID_TELEMETRY_RADIOTelemetry radio (e.g. SiK radio, or other component that emits RADIO_STATUS messages).
    69MAV_COMP_ID_USER45Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    70MAV_COMP_ID_USER46Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    71MAV_COMP_ID_USER47Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    72MAV_COMP_ID_USER48Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    73MAV_COMP_ID_USER49Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    74MAV_COMP_ID_USER50Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    75MAV_COMP_ID_USER51Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    76MAV_COMP_ID_USER52Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    77MAV_COMP_ID_USER53Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    78MAV_COMP_ID_USER54Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    79MAV_COMP_ID_USER55Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    80MAV_COMP_ID_USER56Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    81MAV_COMP_ID_USER57Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    82MAV_COMP_ID_USER58Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    83MAV_COMP_ID_USER59Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    84MAV_COMP_ID_USER60Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    85MAV_COMP_ID_USER61Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    86MAV_COMP_ID_USER62Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    87MAV_COMP_ID_USER63Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    88MAV_COMP_ID_USER64Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    89MAV_COMP_ID_USER65Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    90MAV_COMP_ID_USER66Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    91MAV_COMP_ID_USER67Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    92MAV_COMP_ID_USER68Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    93MAV_COMP_ID_USER69Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    94MAV_COMP_ID_USER70Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    95MAV_COMP_ID_USER71Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    96MAV_COMP_ID_USER72Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    97MAV_COMP_ID_USER73Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    98MAV_COMP_ID_USER74Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    99MAV_COMP_ID_USER75Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    100MAV_COMP_ID_CAMERACamera #1.
    101MAV_COMP_ID_CAMERA2Camera #2.
    102MAV_COMP_ID_CAMERA3Camera #3.
    103MAV_COMP_ID_CAMERA4Camera #4.
    104MAV_COMP_ID_CAMERA5Camera #5.
    105MAV_COMP_ID_CAMERA6Camera #6.
    140MAV_COMP_ID_SERVO1Servo #1.
    141MAV_COMP_ID_SERVO2Servo #2.
    142MAV_COMP_ID_SERVO3Servo #3.
    143MAV_COMP_ID_SERVO4Servo #4.
    144MAV_COMP_ID_SERVO5Servo #5.
    145MAV_COMP_ID_SERVO6Servo #6.
    146MAV_COMP_ID_SERVO7Servo #7.
    147MAV_COMP_ID_SERVO8Servo #8.
    148MAV_COMP_ID_SERVO9Servo #9.
    149MAV_COMP_ID_SERVO10Servo #10.
    150MAV_COMP_ID_SERVO11Servo #11.
    151MAV_COMP_ID_SERVO12Servo #12.
    152MAV_COMP_ID_SERVO13Servo #13.
    153MAV_COMP_ID_SERVO14Servo #14.
    154MAV_COMP_ID_GIMBALGimbal #1.
    155MAV_COMP_ID_LOGLogging component.
    156MAV_COMP_ID_ADSBAutomatic Dependent Surveillance-Broadcast (ADS-B) component.
    157MAV_COMP_ID_OSDOn Screen Display (OSD) devices for video links.
    158MAV_COMP_ID_PERIPHERALGeneric autopilot peripheral component ID. Meant for devices that do not implement the parameter microservice.
    159MAV_COMP_ID_QX1_GIMBALGimbal ID for QX1.DEPRECATED: Replaced By MAV_COMP_ID_GIMBAL (2018-11) — All gimbals should use MAV_COMP_ID_GIMBAL.)
    160MAV_COMP_ID_FLARMFLARM collision alert component.
    161MAV_COMP_ID_PARACHUTEParachute component.
    169MAV_COMP_ID_WINCHWinch component.
    171MAV_COMP_ID_GIMBAL2Gimbal #2.
    172MAV_COMP_ID_GIMBAL3Gimbal #3.
    173MAV_COMP_ID_GIMBAL4Gimbal #4
    174MAV_COMP_ID_GIMBAL5Gimbal #5.
    175MAV_COMP_ID_GIMBAL6Gimbal #6.
    180MAV_COMP_ID_BATTERYBattery #1.
    181MAV_COMP_ID_BATTERY2Battery #2.
    189MAV_COMP_ID_MAVCANCAN over MAVLink client.
    190MAV_COMP_ID_MISSIONPLANNERComponent that can generate/supply a mission flight plan (e.g. GCS or developer API).
    191MAV_COMP_ID_ONBOARD_COMPUTERComponent that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
    192MAV_COMP_ID_ONBOARD_COMPUTER2Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
    193MAV_COMP_ID_ONBOARD_COMPUTER3Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
    194MAV_COMP_ID_ONBOARD_COMPUTER4Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
    195MAV_COMP_ID_PATHPLANNERComponent that finds an optimal path between points based on a certain constraint (e.g. minimum snap, shortest path, cost, etc.).
    196MAV_COMP_ID_OBSTACLE_AVOIDANCEComponent that plans a collision free path between two points.
    197MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRYComponent that provides position estimates using VIO techniques.
    198MAV_COMP_ID_PAIRING_MANAGERComponent that manages pairing of vehicle and GCS.
    200MAV_COMP_ID_IMUInertial Measurement Unit (IMU) #1.
    201MAV_COMP_ID_IMU_2Inertial Measurement Unit (IMU) #2.
    202MAV_COMP_ID_IMU_3Inertial Measurement Unit (IMU) #3.
    220MAV_COMP_ID_GPSGPS #1.
    221MAV_COMP_ID_GPS2GPS #2.
    236MAV_COMP_ID_ODID_TXRX_1Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
    237MAV_COMP_ID_ODID_TXRX_2Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
    238MAV_COMP_ID_ODID_TXRX_3Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
    240MAV_COMP_ID_UDP_BRIDGEComponent to bridge MAVLink to UDP (i.e. from a UART).
    241MAV_COMP_ID_UART_BRIDGEComponent to bridge to UART (i.e. from UDP).
    242MAV_COMP_ID_TUNNEL_NODEComponent handling TUNNEL messages (e.g. vendor specific GUI of a component).
    243MAV_COMP_ID_ILLUMINATORIlluminator
    250MAV_COMP_ID_SYSTEM_CONTROLDeprecated, don't use. Component for handling system messages (e.g. to ARM, takeoff, etc.).DEPRECATED: Replaced By MAV_COMP_ID_ALL (2018-11) — System control does not require a separate component ID. Instead, system commands should be sent with target_component=MAV_COMP_ID_ALL allowing the target component to use any appropriate component id.)
    - + \ No newline at end of file diff --git a/en/messages/paparazzi.html b/en/messages/paparazzi.html index 049aeb5c0..ec6cd94c1 100644 --- a/en/messages/paparazzi.html +++ b/en/messages/paparazzi.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

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    Dialect: paparazzi ​

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

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

    Note

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

    Protocol version: 3

    Summary ​

    TypeDefinedIncluded
    Messages5226
    Enums0144
    Commands1640

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

    Messages ​

    SCRIPT_ITEM (180) ​

    Message encoding a mission script item. This message is emitted upon a request for the next script item.

    Field NameTypeDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    sequint16_tSequence
    namechar[50]The name of the mission script, NULL terminated.

    SCRIPT_REQUEST (181) ​

    Request script item with the sequence number seq. The response of the system to this message should be a SCRIPT_ITEM message.

    Field NameTypeDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    sequint16_tSequence

    SCRIPT_REQUEST_LIST (182) ​

    Request the overall list of mission items from the system/component.

    Field NameTypeDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID

    SCRIPT_COUNT (183) ​

    This message is emitted as response to SCRIPT_REQUEST_LIST by the MAV to get the number of mission scripts.

    Field NameTypeDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    countuint16_tNumber of script items in the sequence

    SCRIPT_CURRENT (184) ​

    This message informs about the currently active SCRIPT.

    Field NameTypeDescription
    sequint16_tActive Sequence

    Enumerated Types ​

    Commands (MAV_CMD) ​

    - + \ No newline at end of file diff --git a/en/messages/python_array_test.html b/en/messages/python_array_test.html index da2c2d828..0c00697b5 100644 --- a/en/messages/python_array_test.html +++ b/en/messages/python_array_test.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

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    Dialect: python_array_test ​

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

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

    Note

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

    Summary ​

    TypeDefinedIncluded
    Messages8226
    Enums0144
    Commands1640

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

    Messages ​

    ARRAY_TEST_0 (17150) ​

    Array test #0.

    Field NameTypeDescription
    v1uint8_tStub field
    ar_i8int8_t[4]Value array
    ar_u8uint8_t[4]Value array
    ar_u16uint16_t[4]Value array
    ar_u32uint32_t[4]Value array

    ARRAY_TEST_1 (17151) ​

    Array test #1.

    Field NameTypeDescription
    ar_u32uint32_t[4]Value array

    ARRAY_TEST_3 (17153) ​

    Array test #3.

    Field NameTypeDescription
    vuint8_tStub field
    ar_u32uint32_t[4]Value array

    ARRAY_TEST_4 (17154) ​

    Array test #4.

    Field NameTypeDescription
    ar_u32uint32_t[4]Value array
    vuint8_tStub field

    ARRAY_TEST_5 (17155) ​

    Array test #5.

    Field NameTypeDescription
    c1char[5]Value array
    c2char[5]Value array

    ARRAY_TEST_6 (17156) ​

    Array test #6.

    Field NameTypeDescription
    v1uint8_tStub field
    v2uint16_tStub field
    v3uint32_tStub field
    ar_u32uint32_t[2]Value array
    ar_i32int32_t[2]Value array
    ar_u16uint16_t[2]Value array
    ar_i16int16_t[2]Value array
    ar_u8uint8_t[2]Value array
    ar_i8int8_t[2]Value array
    ar_cchar[32]Value array
    ar_ddouble[2]Value array
    ar_ffloat[2]Value array

    ARRAY_TEST_7 (17157) ​

    Array test #7.

    Field NameTypeDescription
    ar_ddouble[2]Value array
    ar_ffloat[2]Value array
    ar_u32uint32_t[2]Value array
    ar_i32int32_t[2]Value array
    ar_u16uint16_t[2]Value array
    ar_i16int16_t[2]Value array
    ar_u8uint8_t[2]Value array
    ar_i8int8_t[2]Value array
    ar_cchar[32]Value array

    ARRAY_TEST_8 (17158) ​

    Array test #8.

    Field NameTypeDescription
    v3uint32_tStub field
    ar_ddouble[2]Value array
    ar_u16uint16_t[2]Value array

    Enumerated Types ​

    Commands (MAV_CMD) ​

    - + \ No newline at end of file diff --git a/en/messages/standard.html b/en/messages/standard.html index 65532eb8a..c7e06ee51 100644 --- a/en/messages/standard.html +++ b/en/messages/standard.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

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    Dialect: MAVLINK Standard Message Set (standard.xml) ​

    The MAVLink standard message set contains standard definitions that are managed by the MAVLink project. The definitions are those that are expected to be implemented in all flight stacks/ground stations AND are likely to be implemented in a compatible way. The original definitions are defined in standard.xml.

    Note

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

    Protocol dialect: 0

    Summary ​

    TypeDefinedIncluded
    Messages02
    Enums06
    Commands00

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

    Messages ​

    Enumerated Types ​

    - + \ No newline at end of file diff --git a/en/messages/storm32.html b/en/messages/storm32.html index 12e62f14d..65c2f38a5 100644 --- a/en/messages/storm32.html +++ b/en/messages/storm32.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

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    Dialect: storm32 ​

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

    This topic is a human-readable form of the XML definition file: storm32.xml.

    Note

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

    Protocol dialect: 1

    Protocol version: 1

    Summary ​

    TypeDefinedIncluded
    Messages8315
    Enums8205
    Commands2000

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

    Messages ​

    STORM32_GIMBAL_MANAGER_INFORMATION (60010) ​

    Information about a gimbal manager. This message should be requested by a ground station using MAV_CMD_REQUEST_MESSAGE. It mirrors some fields of the GIMBAL_DEVICE_INFORMATION message, but not all. If the additional information is desired, also GIMBAL_DEVICE_INFORMATION should be requested.

    Field NameTypeUnitsValuesDescription
    gimbal_iduint8_tGimbal ID (component ID or 1-6 for non-MAVLink gimbal) that this gimbal manager is responsible for.
    Messages with same value are from the same source (instance).
    device_cap_flagsuint32_tGIMBAL_DEVICE_CAP_FLAGSGimbal device capability flags. Same flags as reported by GIMBAL_DEVICE_INFORMATION. The flag is only 16 bit wide, but stored in 32 bit, for backwards compatibility (high word is zero).
    manager_cap_flagsuint32_tMAV_STORM32_GIMBAL_MANAGER_CAP_FLAGSGimbal manager capability flags.
    roll_minfloatradinvalid:NaNHardware minimum roll angle (positive: roll to the right). NaN if unknown.
    roll_maxfloatradinvalid:NaNHardware maximum roll angle (positive: roll to the right). NaN if unknown.
    pitch_minfloatradinvalid:NaNHardware minimum pitch/tilt angle (positive: tilt up). NaN if unknown.
    pitch_maxfloatradinvalid:NaNHardware maximum pitch/tilt angle (positive: tilt up). NaN if unknown.
    yaw_minfloatradinvalid:NaNHardware minimum yaw/pan angle (positive: pan to the right, relative to the vehicle/gimbal base). NaN if unknown.
    yaw_maxfloatradinvalid:NaNHardware maximum yaw/pan angle (positive: pan to the right, relative to the vehicle/gimbal base). NaN if unknown.

    STORM32_GIMBAL_MANAGER_STATUS (60011) ​

    Message reporting the current status of a gimbal manager. This message should be broadcast at a low regular rate (e.g. 1 Hz, may be increase momentarily to e.g. 5 Hz for a period of 1 sec after a change).

    Field NameTypeValuesDescription
    gimbal_iduint8_tGimbal ID (component ID or 1-6 for non-MAVLink gimbal) that this gimbal manager is responsible for.
    Messages with same value are from the same source (instance).
    supervisoruint8_tMAV_STORM32_GIMBAL_MANAGER_CLIENTClient who is currently supervisor (0 = none).
    device_flagsuint16_tGIMBAL_DEVICE_FLAGSGimbal device flags currently applied. Same flags as reported by GIMBAL_DEVICE_ATTITUDE_STATUS.
    manager_flagsuint16_tMAV_STORM32_GIMBAL_MANAGER_FLAGSGimbal manager flags currently applied.
    profileuint8_tMAV_STORM32_GIMBAL_MANAGER_PROFILEProfile currently applied (0 = default).

    STORM32_GIMBAL_MANAGER_CONTROL (60012) ​

    Message to a gimbal manager to control the gimbal attitude. Angles and rates can be set to NaN according to use case. A gimbal device is never to react to this message.

    Field NameTypeUnitsValuesDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    gimbal_iduint8_tGimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals). Send command multiple times for more than one but not all gimbals.
    Messages with same value are from the same source (instance).
    clientuint8_tMAV_STORM32_GIMBAL_MANAGER_CLIENTClient which is contacting the gimbal manager (must be set).
    device_flagsuint16_tinvalid:UINT16_MAX GIMBAL_DEVICE_FLAGSGimbal device flags to be applied (UINT16_MAX to be ignored). Same flags as used in GIMBAL_DEVICE_SET_ATTITUDE.
    manager_flagsuint16_tinvalid:0 MAV_STORM32_GIMBAL_MANAGER_FLAGSGimbal manager flags to be applied (0 to be ignored).
    qfloat[4]invalid:[NaN:]Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation). Set first element to NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags.
    angular_velocity_xfloatrad/sinvalid:NaNX component of angular velocity (positive: roll to the right). NaN to be ignored.
    angular_velocity_yfloatrad/sinvalid:NaNY component of angular velocity (positive: tilt up). NaN to be ignored.
    angular_velocity_zfloatrad/sinvalid:NaNZ component of angular velocity (positive: pan to the right). NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags.

    STORM32_GIMBAL_MANAGER_CONTROL_PITCHYAW (60013) ​

    Message to a gimbal manager to control the gimbal tilt and pan angles. Angles and rates can be set to NaN according to use case. A gimbal device is never to react to this message.

    Field NameTypeUnitsValuesDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    gimbal_iduint8_tGimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals). Send command multiple times for more than one but not all gimbals.
    Messages with same value are from the same source (instance).
    clientuint8_tMAV_STORM32_GIMBAL_MANAGER_CLIENTClient which is contacting the gimbal manager (must be set).
    device_flagsuint16_tinvalid:UINT16_MAX GIMBAL_DEVICE_FLAGSGimbal device flags to be applied (UINT16_MAX to be ignored). Same flags as used in GIMBAL_DEVICE_SET_ATTITUDE.
    manager_flagsuint16_tinvalid:0 MAV_STORM32_GIMBAL_MANAGER_FLAGSGimbal manager flags to be applied (0 to be ignored).
    pitchfloatradinvalid:NaNPitch/tilt angle (positive: tilt up). NaN to be ignored.
    yawfloatradinvalid:NaNYaw/pan angle (positive: pan the right). NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags.
    pitch_ratefloatrad/sinvalid:NaNPitch/tilt angular rate (positive: tilt up). NaN to be ignored.
    yaw_ratefloatrad/sinvalid:NaNYaw/pan angular rate (positive: pan to the right). NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags.

    STORM32_GIMBAL_MANAGER_CORRECT_ROLL (60014) ​

    Message to a gimbal manager to correct the gimbal roll angle. This message is typically used to manually correct for a tilted horizon in operation. A gimbal device is never to react to this message.

    Field NameTypeUnitsValuesDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    gimbal_iduint8_tGimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals). Send command multiple times for more than one but not all gimbals.
    Messages with same value are from the same source (instance).
    clientuint8_tMAV_STORM32_GIMBAL_MANAGER_CLIENTClient which is contacting the gimbal manager (must be set).
    rollfloatradRoll angle (positive to roll to the right).

    QSHOT_STATUS (60020) — [WIP] ​

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

    Information about the shot operation.

    Field NameTypeValuesDescription
    modeuint16_tMAV_QSHOT_MODECurrent shot mode.
    shot_stateuint16_tCurrent state in the shot. States are specific to the selected shot mode.

    FRSKY_PASSTHROUGH_ARRAY (60040) ​

    Frsky SPort passthrough multi packet container.

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    countuint8_tNumber of passthrough packets in this message.
    packet_bufuint8_t[240]Passthrough packet buffer. A packet has 6 bytes: uint16_t id + uint32_t data. The array has space for 40 packets.

    PARAM_VALUE_ARRAY (60041) ​

    Parameter multi param value container.

    Field NameTypeDescription
    param_countuint16_tTotal number of onboard parameters.
    param_index_firstuint16_tIndex of the first onboard parameter in this array.
    param_array_lenuint8_tNumber of onboard parameters in this array.
    flagsuint16_tFlags.
    packet_bufuint8_t[248]Parameters buffer. Contains a series of variable length parameter blocks, one per parameter, with format as specifed elsewhere.

    Enumerated Types ​

    MAV_STORM32_TUNNEL_PAYLOAD_TYPE ​

    ValueNameDescription
    200MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH1_INRegistered for STorM32 gimbal controller. For communication with gimbal or camera.
    201MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH1_OUTRegistered for STorM32 gimbal controller. For communication with gimbal or camera.
    202MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH2_INRegistered for STorM32 gimbal controller. For communication with gimbal.
    203MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH2_OUTRegistered for STorM32 gimbal controller. For communication with gimbal.
    204MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH3_INRegistered for STorM32 gimbal controller. For communication with camera.
    205MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH3_OUTRegistered for STorM32 gimbal controller. For communication with camera.

    MAV_STORM32_GIMBAL_PREARM_FLAGS ​

    (Bitmask) STorM32 gimbal prearm check flags.

    ValueNameDescription
    1MAV_STORM32_GIMBAL_PREARM_FLAGS_IS_NORMALSTorM32 gimbal is in normal state.
    2MAV_STORM32_GIMBAL_PREARM_FLAGS_IMUS_WORKINGThe IMUs are healthy and working normally.
    4MAV_STORM32_GIMBAL_PREARM_FLAGS_MOTORS_WORKINGThe motors are active and working normally.
    8MAV_STORM32_GIMBAL_PREARM_FLAGS_ENCODERS_WORKINGThe encoders are healthy and working normally.
    16MAV_STORM32_GIMBAL_PREARM_FLAGS_VOLTAGE_OKA battery voltage is applied and is in range.
    32MAV_STORM32_GIMBAL_PREARM_FLAGS_VIRTUALCHANNELS_RECEIVINGVirtual input channels are receiving data.
    64MAV_STORM32_GIMBAL_PREARM_FLAGS_MAVLINK_RECEIVINGMavlink messages are being received.
    128MAV_STORM32_GIMBAL_PREARM_FLAGS_STORM32LINK_QFIXThe STorM32Link data indicates QFix.
    256MAV_STORM32_GIMBAL_PREARM_FLAGS_STORM32LINK_WORKINGThe STorM32Link is working.
    512MAV_STORM32_GIMBAL_PREARM_FLAGS_CAMERA_CONNECTEDThe camera has been found and is connected.
    1024MAV_STORM32_GIMBAL_PREARM_FLAGS_AUX0_LOWThe signal on the AUX0 input pin is low.
    2048MAV_STORM32_GIMBAL_PREARM_FLAGS_AUX1_LOWThe signal on the AUX1 input pin is low.
    4096MAV_STORM32_GIMBAL_PREARM_FLAGS_NTLOGGER_WORKINGThe NTLogger is working normally.

    MAV_STORM32_CAMERA_PREARM_FLAGS ​

    (Bitmask) STorM32 camera prearm check flags.

    ValueNameDescription
    1MAV_STORM32_CAMERA_PREARM_FLAGS_CONNECTEDThe camera has been found and is connected.

    MAV_STORM32_GIMBAL_MANAGER_CAP_FLAGS ​

    (Bitmask) Gimbal manager capability flags.

    ValueNameDescription
    1MAV_STORM32_GIMBAL_MANAGER_CAP_FLAGS_HAS_PROFILESThe gimbal manager supports several profiles.

    MAV_STORM32_GIMBAL_MANAGER_FLAGS ​

    (Bitmask) Flags for gimbal manager operation. Used for setting and reporting, unless specified otherwise. If a setting has been accepted by the gimbal manager is reported in the STORM32_GIMBAL_MANAGER_STATUS message.

    ValueNameDescription
    0MAV_STORM32_GIMBAL_MANAGER_FLAGS_NONE0 = ignore.
    1MAV_STORM32_GIMBAL_MANAGER_FLAGS_RC_ACTIVERequest to set RC input to active, or report RC input is active. Implies RC mixed. RC exclusive is achieved by setting all clients to inactive.
    2MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_ONBOARD_ACTIVERequest to set onboard/companion computer client to active, or report this client is active.
    4MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_AUTOPILOT_ACTIVERequest to set autopliot client to active, or report this client is active.
    8MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_GCS_ACTIVERequest to set GCS client to active, or report this client is active.
    16MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CAMERA_ACTIVERequest to set camera client to active, or report this client is active.
    32MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_GCS2_ACTIVERequest to set GCS2 client to active, or report this client is active.
    64MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CAMERA2_ACTIVERequest to set camera2 client to active, or report this client is active.
    128MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CUSTOM_ACTIVERequest to set custom client to active, or report this client is active.
    256MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CUSTOM2_ACTIVERequest to set custom2 client to active, or report this client is active.
    512MAV_STORM32_GIMBAL_MANAGER_FLAGS_SET_SUPERVISONRequest supervision. This flag is only for setting, it is not reported.
    1024MAV_STORM32_GIMBAL_MANAGER_FLAGS_SET_RELEASERelease supervision. This flag is only for setting, it is not reported.

    MAV_STORM32_GIMBAL_MANAGER_CLIENT ​

    Gimbal manager client ID. In a prioritizing profile, the priorities are determined by the implementation; they could e.g. be custom1 > onboard > GCS > autopilot/camera > GCS2 > custom2.

    ValueNameDescription
    0MAV_STORM32_GIMBAL_MANAGER_CLIENT_NONEFor convenience.
    1MAV_STORM32_GIMBAL_MANAGER_CLIENT_ONBOARDThis is the onboard/companion computer client.
    2MAV_STORM32_GIMBAL_MANAGER_CLIENT_AUTOPILOTThis is the autopilot client.
    3MAV_STORM32_GIMBAL_MANAGER_CLIENT_GCSThis is the GCS client.
    4MAV_STORM32_GIMBAL_MANAGER_CLIENT_CAMERAThis is the camera client.
    5MAV_STORM32_GIMBAL_MANAGER_CLIENT_GCS2This is the GCS2 client.
    6MAV_STORM32_GIMBAL_MANAGER_CLIENT_CAMERA2This is the camera2 client.
    7MAV_STORM32_GIMBAL_MANAGER_CLIENT_CUSTOMThis is the custom client.
    8MAV_STORM32_GIMBAL_MANAGER_CLIENT_CUSTOM2This is the custom2 client.

    MAV_STORM32_GIMBAL_MANAGER_PROFILE ​

    Gimbal manager profiles. Only standard profiles are defined. Any implementation can define its own profile(s) in addition, and should use enum values > 16.

    ValueNameDescription
    0MAV_STORM32_GIMBAL_MANAGER_PROFILE_DEFAULTDefault profile. Implementation specific.
    1MAV_STORM32_GIMBAL_MANAGER_PROFILE_CUSTOMNot supported/deprecated.
    2MAV_STORM32_GIMBAL_MANAGER_PROFILE_COOPERATIVEProfile with cooperative behavior.
    3MAV_STORM32_GIMBAL_MANAGER_PROFILE_EXCLUSIVEProfile with exclusive behavior.
    4MAV_STORM32_GIMBAL_MANAGER_PROFILE_PRIORITY_COOPERATIVEProfile with priority and cooperative behavior for equal priority.
    5MAV_STORM32_GIMBAL_MANAGER_PROFILE_PRIORITY_EXCLUSIVEProfile with priority and exclusive behavior for equal priority.

    MAV_QSHOT_MODE ​

    Enumeration of possible shot modes.

    ValueNameDescription
    0MAV_QSHOT_MODE_UNDEFINEDUndefined shot mode. Can be used to determine if qshots should be used or not.
    1MAV_QSHOT_MODE_DEFAULTStart normal gimbal operation. Is usually used to return back from a shot.
    2MAV_QSHOT_MODE_GIMBAL_RETRACTLoad and keep safe gimbal position and stop stabilization.
    3MAV_QSHOT_MODE_GIMBAL_NEUTRALLoad neutral gimbal position and keep it while stabilizing.
    4MAV_QSHOT_MODE_GIMBAL_MISSIONStart mission with gimbal control.
    5MAV_QSHOT_MODE_GIMBAL_RC_CONTROLStart RC gimbal control.
    6MAV_QSHOT_MODE_POI_TARGETINGStart gimbal tracking the point specified by Lat, Lon, Alt.
    7MAV_QSHOT_MODE_SYSID_TARGETINGStart gimbal tracking the system with specified system ID.
    8MAV_QSHOT_MODE_CABLECAM_2POINTStart 2-point cable cam quick shot.
    9MAV_QSHOT_MODE_HOME_TARGETINGStart gimbal tracking the home location.

    Commands (MAV_CMD) ​

    MAV_CMD_STORM32_DO_GIMBAL_MANAGER_CONTROL_PITCHYAW (60002) ​

    Command to a gimbal manager to control the gimbal tilt and pan angles. It is possible to set combinations of the values below. E.g. an angle as well as a desired angular rate can be used to get to this angle at a certain angular rate, or an angular rate only will result in continuous turning. NaN is to be used to signal unset. A gimbal device is never to react to this command.

    Param (Label)DescriptionValuesUnits
    1 (Pitch angle)Pitch/tilt angle (positive: tilt up). NaN to be ignored.min: -180 max: 180deg
    2 (Yaw angle)Yaw/pan angle (positive: pan to the right). NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags.min: -180 max: 180deg
    3 (Pitch rate)Pitch/tilt rate (positive: tilt up). NaN to be ignored.deg/s
    4 (Yaw rate)Yaw/pan rate (positive: pan to the right). NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags.deg/s
    5 (Gimbal device flags)Gimbal device flags to be applied.GIMBAL_DEVICE_FLAGS
    6 (Gimbal manager flags)Gimbal manager flags to be applied.MAV_STORM32_GIMBAL_MANAGER_FLAGS
    7 (Gimbal ID and client)Gimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals). Send command multiple times for more than one but not all gimbals. The client is copied into bits 8-15.

    MAV_CMD_STORM32_DO_GIMBAL_MANAGER_SETUP (60010) — [WIP] ​

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

    Command to configure a gimbal manager. A gimbal device is never to react to this command. The selected profile is reported in the STORM32_GIMBAL_MANAGER_STATUS message.

    Param (Label)DescriptionValues
    1 (Profile)Gimbal manager profile (0 = default).MAV_STORM32_GIMBAL_MANAGER_PROFILE
    7 (Gimbal ID)Gimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals). Send command multiple times for more than one but not all gimbals.

    MAV_CMD_QSHOT_DO_CONFIGURE (60020) — [WIP] ​

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

    Command to set the shot manager mode.

    Param (Label)DescriptionValues
    1 (Mode)Set shot mode.MAV_QSHOT_MODE
    2 (Shot state or command)Set shot state or command. The allowed values are specific to the selected shot mode.
    - + \ No newline at end of file diff --git a/en/messages/test.html b/en/messages/test.html index c281bcaea..3f1f28cff 100644 --- a/en/messages/test.html +++ b/en/messages/test.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

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    Dialect: test ​

    The test dialect is used for testing XML file parsing.

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

    Note

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

    Protocol version: 3

    None

    Summary ​

    TypeDefinedIncluded
    Messages10
    Enums00
    Commands00

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

    Messages ​

    TEST_TYPES (17000) ​

    Test all field types

    Field NameTypeDescription
    ccharchar
    schar[10]string
    u8uint8_tuint8_t
    u16uint16_tuint16_t
    u32uint32_tuint32_t
    u64uint64_tuint64_t
    s8int8_tint8_t
    s16int16_tint16_t
    s32int32_tint32_t
    s64int64_tint64_t
    ffloatfloat
    ddoubledouble
    u8_arrayuint8_t[3]uint8_t_array
    u16_arrayuint16_t[3]uint16_t_array
    u32_arrayuint32_t[3]uint32_t_array
    u64_arrayuint64_t[3]uint64_t_array
    s8_arrayint8_t[3]int8_t_array
    s16_arrayint16_t[3]int16_t_array
    s32_arrayint32_t[3]int32_t_array
    s64_arrayint64_t[3]int64_t_array
    f_arrayfloat[3]float_array
    d_arraydouble[3]double_array
    - + \ No newline at end of file diff --git a/en/messages/uAvionix.html b/en/messages/uAvionix.html index 85630ebcc..587e3529d 100644 --- a/en/messages/uAvionix.html +++ b/en/messages/uAvionix.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

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    Dialect: uAvionix ​

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

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

    Note

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

    Summary ​

    TypeDefinedIncluded
    Messages3226
    Enums8144
    Commands1640

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

    Messages ​

    UAVIONIX_ADSB_OUT_CFG (10001) ​

    Static data to configure the ADS-B transponder (send within 10 sec of a POR and every 10 sec thereafter)

    Field NameTypeUnitsValuesDescription
    ICAOuint32_tVehicle address (24 bit)
    callsignchar[9]Vehicle identifier (8 characters, null terminated, valid characters are A-Z, 0-9, " " only)
    emitterTypeuint8_tADSB_EMITTER_TYPETransmitting vehicle type. See ADSB_EMITTER_TYPE enum
    aircraftSizeuint8_tUAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZEAircraft length and width encoding (table 2-35 of DO-282B)
    gpsOffsetLatuint8_tUAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LATGPS antenna lateral offset (table 2-36 of DO-282B)
    gpsOffsetLonuint8_tUAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LONGPS antenna longitudinal offset from nose [if non-zero, take position (in meters) divide by 2 and add one] (table 2-37 DO-282B)
    stallSpeeduint16_tcm/sAircraft stall speed in cm/s
    rfSelectuint8_tUAVIONIX_ADSB_OUT_RF_SELECTADS-B transponder receiver and transmit enable flags

    UAVIONIX_ADSB_OUT_DYNAMIC (10002) ​

    Dynamic data used to generate ADS-B out transponder data (send at 5Hz)

    Field NameTypeUnitsValuesDescription
    utcTimeuint32_tsUTC time in seconds since GPS epoch (Jan 6, 1980). If unknown set to UINT32_MAX
    gpsLatint32_tdegE7Latitude WGS84 (deg * 1E7). If unknown set to INT32_MAX
    gpsLonint32_tdegE7Longitude WGS84 (deg * 1E7). If unknown set to INT32_MAX
    gpsAltint32_tmmAltitude (WGS84). UP +ve. If unknown set to INT32_MAX
    gpsFixuint8_tUAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX0-1: no fix, 2: 2D fix, 3: 3D fix, 4: DGPS, 5: RTK
    numSatsuint8_tNumber of satellites visible. If unknown set to UINT8_MAX
    baroAltMSLint32_tmbarBarometric pressure altitude (MSL) relative to a standard atmosphere of 1013.2 mBar and NOT bar corrected altitude (m * 1E-3). (up +ve). If unknown set to INT32_MAX
    accuracyHoruint32_tmmHorizontal accuracy in mm (m * 1E-3). If unknown set to UINT32_MAX
    accuracyVertuint16_tcmVertical accuracy in cm. If unknown set to UINT16_MAX
    accuracyVeluint16_tmm/sVelocity accuracy in mm/s (m * 1E-3). If unknown set to UINT16_MAX
    velVertint16_tcm/sGPS vertical speed in cm/s. If unknown set to INT16_MAX
    velNSint16_tcm/sNorth-South velocity over ground in cm/s North +ve. If unknown set to INT16_MAX
    VelEWint16_tcm/sEast-West velocity over ground in cm/s East +ve. If unknown set to INT16_MAX
    emergencyStatusuint8_tUAVIONIX_ADSB_EMERGENCY_STATUSEmergency status
    stateuint16_tUAVIONIX_ADSB_OUT_DYNAMIC_STATEADS-B transponder dynamic input state flags
    squawkuint16_tMode A code (typically 1200 [0x04B0] for VFR)

    UAVIONIX_ADSB_TRANSCEIVER_HEALTH_REPORT (10003) ​

    Transceiver heartbeat with health report (updated every 10s)

    Field NameTypeValuesDescription
    rfHealthuint8_tUAVIONIX_ADSB_RF_HEALTHADS-B transponder messages

    Enumerated Types ​

    UAVIONIX_ADSB_OUT_DYNAMIC_STATE ​

    (Bitmask) State flags for ADS-B transponder dynamic report

    ValueNameDescription
    1UAVIONIX_ADSB_OUT_DYNAMIC_STATE_INTENT_CHANGE
    2UAVIONIX_ADSB_OUT_DYNAMIC_STATE_AUTOPILOT_ENABLED
    4UAVIONIX_ADSB_OUT_DYNAMIC_STATE_NICBARO_CROSSCHECKED
    8UAVIONIX_ADSB_OUT_DYNAMIC_STATE_ON_GROUND
    16UAVIONIX_ADSB_OUT_DYNAMIC_STATE_IDENT

    UAVIONIX_ADSB_OUT_RF_SELECT ​

    (Bitmask) Transceiver RF control flags for ADS-B transponder dynamic reports

    ValueNameDescription
    0UAVIONIX_ADSB_OUT_RF_SELECT_STANDBY
    1UAVIONIX_ADSB_OUT_RF_SELECT_RX_ENABLED
    2UAVIONIX_ADSB_OUT_RF_SELECT_TX_ENABLED

    UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX ​

    Status for ADS-B transponder dynamic input

    ValueNameDescription
    0UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_NONE_0
    1UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_NONE_1
    2UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_2D
    3UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_3D
    4UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_DGPS
    5UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_RTK

    UAVIONIX_ADSB_RF_HEALTH ​

    (Bitmask) Status flags for ADS-B transponder dynamic output

    ValueNameDescription
    0UAVIONIX_ADSB_RF_HEALTH_INITIALIZING
    1UAVIONIX_ADSB_RF_HEALTH_OK
    2UAVIONIX_ADSB_RF_HEALTH_FAIL_TX
    16UAVIONIX_ADSB_RF_HEALTH_FAIL_RX

    UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE ​

    Definitions for aircraft size

    ValueNameDescription
    0UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_NO_DATA
    1UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L15M_W23M
    2UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L25M_W28P5M
    3UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L25_34M
    4UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L35_33M
    5UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L35_38M
    6UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L45_39P5M
    7UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L45_45M
    8UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L55_45M
    9UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L55_52M
    10UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L65_59P5M
    11UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L65_67M
    12UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L75_W72P5M
    13UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L75_W80M
    14UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L85_W80M
    15UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L85_W90M

    UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT ​

    GPS lataral offset encoding

    ValueNameDescription
    0UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_NO_DATA
    1UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_LEFT_2M
    2UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_LEFT_4M
    3UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_LEFT_6M
    4UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_RIGHT_0M
    5UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_RIGHT_2M
    6UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_RIGHT_4M
    7UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_RIGHT_6M

    UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LON ​

    GPS longitudinal offset encoding

    ValueNameDescription
    0UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LON_NO_DATA
    1UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LON_APPLIED_BY_SENSOR

    UAVIONIX_ADSB_EMERGENCY_STATUS ​

    Emergency status encoding

    ValueNameDescription
    0UAVIONIX_ADSB_OUT_NO_EMERGENCY
    1UAVIONIX_ADSB_OUT_GENERAL_EMERGENCY
    2UAVIONIX_ADSB_OUT_LIFEGUARD_EMERGENCY
    3UAVIONIX_ADSB_OUT_MINIMUM_FUEL_EMERGENCY
    4UAVIONIX_ADSB_OUT_NO_COMM_EMERGENCY
    5UAVIONIX_ADSB_OUT_UNLAWFUL_INTERFERANCE_EMERGENCY
    6UAVIONIX_ADSB_OUT_DOWNED_AIRCRAFT_EMERGENCY
    7UAVIONIX_ADSB_OUT_RESERVED

    Commands (MAV_CMD) ​

    - + \ No newline at end of file diff --git a/en/messages/ualberta.html b/en/messages/ualberta.html index 0c4e339be..7f9336da2 100644 --- a/en/messages/ualberta.html +++ b/en/messages/ualberta.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

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    Dialect: ualberta ​

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

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

    Note

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

    Summary ​

    TypeDefinedIncluded
    Messages3226
    Enums3144
    Commands1640

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

    Messages ​

    Accelerometer and Gyro biases from the navigation filter

    Field NameTypeDescription
    usecuint64_tTimestamp (microseconds)
    accel_0floatb_f[0]
    accel_1floatb_f[1]
    accel_2floatb_f[2]
    gyro_0floatb_f[0]
    gyro_1floatb_f[1]
    gyro_2floatb_f[2]

    RADIO_CALIBRATION (221) ​

    Complete set of calibration parameters for the radio

    Field NameTypeDescription
    aileronuint16_t[3]Aileron setpoints: left, center, right
    elevatoruint16_t[3]Elevator setpoints: nose down, center, nose up
    rudderuint16_t[3]Rudder setpoints: nose left, center, nose right
    gyrouint16_t[2]Tail gyro mode/gain setpoints: heading hold, rate mode
    pitchuint16_t[5]Pitch curve setpoints (every 25%)
    throttleuint16_t[5]Throttle curve setpoints (every 25%)

    UALBERTA_SYS_STATUS (222) ​

    System status specific to ualberta uav

    Field NameTypeDescription
    modeuint8_tSystem mode, see UALBERTA_AUTOPILOT_MODE ENUM
    nav_modeuint8_tNavigation mode, see UALBERTA_NAV_MODE ENUM
    pilotuint8_tPilot mode, see UALBERTA_PILOT_MODE

    Enumerated Types ​

    UALBERTA_AUTOPILOT_MODE ​

    Available autopilot modes for ualberta uav

    ValueNameDescription
    1MODE_MANUAL_DIRECTRaw input pulse widts sent to output
    2MODE_MANUAL_SCALEDInputs are normalized using calibration, the converted back to raw pulse widths for output
    3MODE_AUTO_PID_ATT
    4MODE_AUTO_PID_VEL
    5MODE_AUTO_PID_POS

    UALBERTA_NAV_MODE ​

    Navigation filter mode

    ValueNameDescription
    1NAV_AHRS_INIT
    2NAV_AHRSAHRS mode
    3NAV_INS_GPS_INITINS/GPS initialization mode
    4NAV_INS_GPSINS/GPS mode

    UALBERTA_PILOT_MODE ​

    Mode currently commanded by pilot

    ValueNameDescription
    1PILOT_MANUAL
    2PILOT_AUTO
    3PILOT_ROTORotomotion mode

    Commands (MAV_CMD) ​

    - + \ No newline at end of file diff --git a/en/services/arm_authorization.html b/en/services/arm_authorization.html index 2504afd4d..36435baae 100644 --- a/en/services/arm_authorization.html +++ b/en/services/arm_authorization.html @@ -9,9 +9,9 @@ - + - + @@ -29,7 +29,7 @@ result_param2=if result is ACCEPTED the it should be set with the time in seconds that this authorization is valid otherwise an aditional information about why it was denied should be set. example: for result_param1=MAV_ARM_AUTH_DENIED_REASON_INVALID_WAYPOINT or MAV_ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USE it may have the index of the waypoint that caused it to be denied. target_system=system id of the drone target_component=component id of the drone - + \ No newline at end of file diff --git a/en/services/battery.html b/en/services/battery.html index 3d97a6667..2d34471a4 100644 --- a/en/services/battery.html +++ b/en/services/battery.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

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    Battery Protocol ​

    MAVLink provides a number of messages for providing battery information:

    The messages should be sent individually for each battery in the system (the messages have an instance id field that is used to identify the corresponding battery). It is up to the GCS to provide an appropriate mechanism that allows the user to assess the aggregate battery status on systems that have multiple batteries.

    INFO

    There is no standardized mechanism to report the "aggregate" battery state on a multi-battery system. A GCS is expected to provide enough information from the individual battery reports to allow a user to make a reasonable assessment of vehicle battery status.

    Message/Enum Summary ​

    MessageDescription
    BATTERY_STATUSBattery message used for frequent status update - e.g. of current capacity, voltages, faults, etc.
    BATTERY_INFO (WIP)Battery message used for invariant or infrequently changing data - e.g. battery name, battery full/empty capacity and voltages etc.
    EnumDescription
    MAV_BATTERY_FAULTFault/health indications.
    MAV_BATTERY_MODEBattery mode.

    Battery Components ​

    Batteries that are connected to a flight controller via a non-MAVLink bus are treated as part of the flight controller component. Specifically, the battery messages are emitted with the autopilot system and component ids, and the MAV_TYPE for the type of vehicle.

    Batteries that are distinct components on the MAVLink network must:

    INFO

    Ground stations (and other components) that are interested in battery messages should differentiate batteries based on BATTERY_STATUS.id/BATTERY_INFO.id.

    A Note on SYS_STATUS ​

    SYS_STATUS contains three battery information fields: voltage_battery, current_battery, battery_remaining.

    On a single-battery system these usually provide the same information as the BATTERY_STATUS message.

    On multi-battery systems the values are not standardised, and depend on the flight stack and/or flight stack configuration. For example, a system may report the same information as the first BATTERY_STATUS, allow the user to configure which battery is reported (i.e. with a parameter), report the battery with the lowest remaining capacity.

    INFO

    GCS should not rely on the value of SYS_STATUS. However it cannot be removed because it is used for battery reporting on many legacy systems (e.g. On-screen displays).

    - + \ No newline at end of file diff --git a/en/services/camera.html b/en/services/camera.html index 0514ee45a..c7f4926dd 100644 --- a/en/services/camera.html +++ b/en/services/camera.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

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    Camera Protocol v2 ​

    The camera protocol v2 is used to configure camera payloads and request their status. It provides basic methods for photo capture, video capture and streaming, setting zoom and focus, querying and configuring camera storage, and selecting multiple cameras. It also defines a camera definition file format that allows a GCS to generate a configuration UI for setting any property of the camera using parameters.

    INFO

    This protocol supersedes Camera Protocol v1 (Simple Trigger Protocol). The older protocol enables camera triggering, but does not support other features or querying camera capabilities.

    WARNING

    We are transitioning from specific request commands to a single generic requestor. GCS and MAVLink SDKs/apps should support both approaches as we migrate to exclusive use of the new method (documented here). For more information see Migration Notes for GCS & Camera Servers.

    Camera Managers provide a MAVLink Camera protocol interface for cameras that don't directly implement MAVLink support. These generally run on a companion computer:

    These cameras have inbuilt support for MAVLink (but not necessarily camera protocol v2):

    Camera Addressing ​

    MAVLink cameras are identified and addressed by their system and component id.

    Components that have non-MAVLink cameras attached, such as companion computers, are expected expose each of them as a separate MAVLink camera component with its own HEARTBEAT.

    The exception is the autopilot component, which can "proxy" up to 6 attached non-MAVLink cameras: these are identified by a camera_device_id field in messages and Target Camera ID label in commands.

    Camera Messages ​

    All MAVLink components include their system id and component id fields in the MAVLink packet header when sending messages. As each MAVLink camera component (with HEARTBEAT.type=MAV_TYPE_CAMERA) represents just one camera, these ids can be used to uniquely identify the camera associated with a message.

    non-MAVLink cameras attached to the autopilot are identified first by the autopilot system/component id, and then by a camera_device_id field in the message payload (all camera messages should have an id field with this or a similar name). An autopilot should set this to the id of the associated camera device, and otherwise this should always be set to zero.

    Camera Addressing in Commands ​

    MAVLink cameras are sent commands addressed using their system and component ids (just as when addressing commands to any other component).

    To send commands to autopilot-attached cameras, the command should be send to the autopilot component. The device id of the target attached camera must further be set in the command's Target Camera ID parameter (the index and precise label of this parameter may vary). The autopilot is required to respond to the command with COMMAND_ACK, populating the COMMAND_ACK.result_param2 field with the id of the targeted autopilot connected camera, if any.

    Note that the Target Camera ID parameter should be set to 0 in order to target all cameras, or if targeting a MAVLink camera.

    Camera Addressing in Missions ​

    When using a camera MAV_CMD in a mission, the id parameter (if present) indicates the target camera:

    • 1 - 6 indicates a flight-stack connected camera
    • 7-255 is the component id of a MAVLink connected camera. Note that component ids 1-6 should never be used for MAVLink cameras!
    • 0 indicates "all connected cameras".

    When processing a camera item in a mission the autopilot should:

    • For Target Camera ID values of 1-6, perform the specified camera action on the connected camera if it exists, and otherwise log an error.
    • For other Target Camera ID values, re-emit the MAV_CMD using the command protocol, setting the target component id to the id set in the camera mission item. It should also log any errors from the returned COMMAND_ACK.

    INFO

    Flight stacks that predate using a camera id typically re-emit the mission command addressed either to the broadcast component id (0) or to MAV_COMP_ID_CAMERA. The former triggers all cameras on the system, while the later provides better command handling because there is only one COMMAND_ACK.

    Camera Discovery ​

    Connection ​

    MAVLink Camera components are expected to follow the Heartbeat/Connection Protocol and sent a constant flow of heartbeats (nominally at 1Hz). Cameras must set a HEARTBEAT.type of MAV_TYPE_CAMERA. Each camera must use a different pre-defined camera component ID. Values of MAV_COMP_ID_CAMERA to MAV_COMP_ID_CAMERA6 are recommended, but in theory any camera ID may be used except for 0 to 6 (which are reserved for cameras proxied by another component, such as the autopilot).

    A GCS should start the Camera Identification process the first time it detects a HEARTBEAT from a new:

    • MAVLink camera component.
    • Autopilot, in order to detect autopilot-connected cameras.

    INFO

    If a receiving system stops receiving heartbeats from the camera it is assumed to be disconnected, and should be removed from the list of available cameras. If heartbeats are again detected, the camera identification process below must be restarted from the beginning.

    INFO

    If a vehicle has more than one MAVLink camera, each camera will have a different component ID and send its own heartbeat. The vehicle autopilot might also have directly connected cameras, which are separately addressed by a camera device id. The GCS should create multiple instances of a camera controller based on the component ID of each camera, and also the component ID of the autopilot and each of its attached camera devices. All commands are sent to a specific camera by addressing the command to a specific component ID, and additionally the camera device id for autopilots.

    Camera Identification ​

    The camera identification operation identifies all the available cameras associated with a system and determines their capabilities. It is used to discover both MAVLink cameras and non-MAVLink cameras attached to the autopilot.

    The process involves requesting the CAMERA_INFORMATION message from autopilots and MAVLink cameras as they are discovered. CAMERA_INFORMATION.flags provides information about camera capabilities. It contains a bitmap of CAMERA_CAP_FLAGS values that tell the GCS if the camera supports still image capture, video capture, or video streaming, and if it needs to be in a certain mode for capture, etc.

    TIP

    Camera identification must be carried out before all other camera operations!

    The first time a heartbeat is received from a new camera component (HEARTBEAT.type=MAV_TYPE_CAMERA), the GCS should send it a MAV_CMD_REQUEST_MESSAGE message asking for CAMERA_INFORMATION (message id 259). The camera will then respond with the a COMMAND_ACK message containing a result. On success (result is MAV_RESULT_ACCEPTED) the camera component must then send a CAMERA_INFORMATION message.

    Mermaid Sequence: Camera Type

    The operation follows the normal Command Protocol rules for command/acknowledgment (if no COMMAND_ACK response is received for MAV_CMD_REQUEST_MESSAGE the command will be re-sent a number of times before failing). If CAMERA_INFORMATION is not received after receiving an ACK with MAV_RESULT_ACCEPTED, the protocol assumes the message was lost, and the cycle of sending MAV_CMD_REQUEST_MESSAGE is repeated. If CAMERA_INFORMATION is still not received after three cycle repeats, the GCS may assume that the camera is not supported.

    The first time a heartbeat is received from an autopilot, the GCS follow the same process to query for information about directly connected cameras. The only difference is that the autopilot should return a CAMERA_INFORMATION message for each connected camera, populated with its camera_device_id.

    Mermaid Sequence: Autopilot

    Additional Camera Information ​

    The CAMERA_INFORMATION response contains the bare minimum information about the camera and what it can or cannot do. This is sufficient for basic image and/or video capture.

    If a camera provides finer control over its settings CAMERA_INFORMATION.cam_definition_uri will include a URI to a Camera Definition File. If this URI exists, the GCS will request it, parse it and prepare the UI for the user to control the camera settings.

    The CAMERA_INFORMATION.cam_definition_version field should provide a version for the definition file, allowing the GCS to cache it. Once downloaded, it would only be requested again if the version number changes.

    INFO

    A GCS that implements this protocol is expected to support both HTTP (http://) and MAVLink FTP (mftp://) URIs for download of the camera definition file. If the camera provides an HTTP or MAVLink FTP interface, the definition file can be hosted on the camera itself. Otherwise, it can be hosted anywhere (on any reachable server).

    Basic Camera Operations ​

    Camera Modes ​

    Some cameras must be in a certain mode for still and/or video capture.

    The GCS can determine if it needs to make sure the camera is in the proper mode prior to sending a start capture (image or video) command by checking whether the CAMERA_CAP_FLAGS_HAS_MODES bit is set true in CAMERA_INFORMATION.flags.

    In addition, some cameras can capture images in any mode but with different resolutions. For example, a 20 megapixel camera would take a full resolution image when set to CAMERA_MODE_IMAGE but only at the current video resolution if it is set to CAMERA_MODE_VIDEO.

    To get the current mode, the GCS would send a MAV_CMD_REQUEST_MESSAGE command asking for CAMERA_SETTINGS. The camera component will then respond with the COMMAND_ACK message containing a result. On success (COMMAND_ACK.result is MAV_RESULT_ACCEPTED) the camera must then send a CAMERA_SETTINGS message. The current mode is the CAMERA_SETTINGS.mode_id field.

    The sequence is shown below:

    Camera Settings

    INFO

    Command acknowledgment and message resending is handled in the same way as for camera identification (if a successful ACK is received the camera will expect the CAMERA_SETTINGS message, and repeat the cycle - up to 3 times - until it is received).

    To set the camera to a specific mode, the GCS would send the MAV_CMD_SET_CAMERA_MODE command with the appropriate mode.

    The sequence is shown below:

    INFO

    The operation follows the normal Command Protocol rules for command/acknowledgment.

    Storage Status ​

    Before capturing images and/or videos, a GCS should query the storage status to determine if the camera has enough free space for these operations (and provide the user with feedback as to the current storage status). The GCS will send the MAV_CMD_REQUEST_MESSAGE command and it expects a COMMAND_ACK message back as well as a STORAGE_INFORMATION response. For formatting (or erasing depending on your implementation), the GCS will send a MAV_CMD_STORAGE_FORMAT command.

    Camera Capture Status ​

    In addition to querying about storage status, the GCS should also stream the Camera Capture Status in order to provide the user with proper UI indicators.

    This can be done by sending a MAV_CMD_SET_MESSAGE_INTERVAL command asking for CAMERA_CAPTURE_STATUS. The command it expects a COMMAND_ACK message back and then CAMERA_CAPTURE_STATUS should be streamed at the specified rate.

    Still Image Capture ​

    A camera supports still image capture if the CAMERA_CAP_FLAGS_CAPTURE_IMAGE bit is set in CAMERA_INFORMATION.flags.

    A GCS/MAVLink app uses the MAV_CMD_IMAGE_START_CAPTURE command to request that the camera capture a specified number of images (or forever), and the duration between them. The camera immediately returns the normal command acknowledgment (MAV_RESULT).

    Each time an image is captured, the camera broadcasts a CAMERA_IMAGE_CAPTURED message. This message not only tells the GCS the image was captured, it is also intended for geo-tagging.

    INFO

    The camera must iterate CAMERA_IMAGE_CAPTURED.image_index and the counter used in CAMERA_CAPTURE_STATUS.image_count for every new image capture (these values iterate until explicitly cleared using MAV_CMD_STORAGE_FORMAT). The index and total image count can be used to re-request missing images (e.g. images captured when the vehicle was out of telemetry range).

    The MAV_CMD_IMAGE_STOP_CAPTURE command can optionally be sent to stop an image capture sequence (this is needed if image capture has been set to continue forever).

    The still image capture message sequence for missions (as described above) is shown below:

    Mermaid Sequence: Image capture

    The message sequence for interactive user-initiated image capture through a GUI is slightly different. In this case the GCS should:

    The sequence is as shown below:

    Mermaid Sequence: Interactive user initiated image capture

    Request Lost CAMERA_IMAGE_CAPTURED Messages ​

    The camera broadcasts a CAMERA_IMAGE_CAPTURED every time a new image is captured, iterating both the current image index (CAMERA_IMAGE_CAPTURED.image_index) and the total image count (CAMERA_CAPTURE_STATUS.image_count).

    These messages can be lost during transmission; for example if the vehicle is out of data-link range of the ground stations.

    Lost image capture messages can be detected by comparing GCS and camera image counts. Individual entries can be requested using MAV_CMD_REQUEST_MESSAGE, where param1="MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED" and param2="the index of the missing image".

    The camera image log iterates "forever" (but may be explicitly reset using MAV_CMD_STORAGE_FORMAT.param3=1).

    Video Capture ​

    A camera supports video capture if the CAMERA_CAP_FLAGS_CAPTURE_VIDEO bit is set in CAMERA_INFORMATION.flags.

    To start recording videos, the GCS uses the MAV_CMD_VIDEO_START_CAPTURE command. If requested, the CAMERA_CAPTURE_STATUS message is sent to the GCS at a set interval.

    To stop recording, the GCS uses the MAV_CMD_VIDEO_STOP_CAPTURE command.

    Video Streaming ​

    INFO

    The GCS should already have identified all connected cameras by their heartbeat and followed the Camera Identification steps to get CAMERA_INFORMATION for every camera.

    A camera is capable of streaming video if it sets the CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM bit set in CAMERA_INFORMATION.flags.

    The sequence for requesting all video streams from a particular camera is shown below:

    Mermaid Sequence: Video stream info

    The steps are:

    1. GCS follows the Camera Identification steps to get CAMERA_INFORMATION for every camera.

    2. GCS checks if CAMERA_INFORMATION.flags contains the CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM flag.

    3. If so, the GCS sends the MAV_CMD_REQUEST_MESSAGE message to the camera requesting the video streaming configuration (param1=269) for all streams (param2=0).

      INFO

      A GCS can also request information for a particular stream by setting its id in param2.

    4. Camera returns a VIDEO_STREAM_INFORMATION message for the specified stream or all streams it supports.

    INFO

    If your camera only provides video streaming and nothing else (no camera features), the CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM flag is the only flag you need to set. The GCS will then provide video streaming support and skip camera control.

    Video Metadata ​

    The protocol provides some information about video streaming support in CAMERA_CAP_FLAGS, such as support for video streaming (CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM) and thermal range information (CAMERA_CAP_FLAGS_HAS_THERMAL_RANGE), In addition the VIDEO_STREAM_INFORMATION and VIDEO_STREAM_STATUS provide broad information about each stream, including its transport mechanism, encoding, resolution, frame rate, and status (VIDEO_STREAM_STATUS_FLAGS).

    MAVLink does not specify any mechanism for getting frame-synchronized video metadata, such as absolute thermal values of thermal video streams, text-tracks, and so on. The following sections outline some MAVLink-centric methods for getting "approximate" video-synchronized metadata.

    Camera absolute thermal range ​

    A thermal video stream is often coloured as a heatmap in order to highlight hotter and colder sections. This heatmap is relative to the hottest and coldest points on the frame, so the hot sections are not necessarily hot, they are just hotter than their surroundings. If you're searching for things that have a specific temperature, it can be useful to know the absolute temperatures represented by the image.

    The CAMERA_THERMAL_RANGE message can be streamed alongside a video stream to provide this information. The message includes the associated stream and camera id, along with the position and value of the maximum and minimum temperature in the video frame. That is sufficient to overlay the hottest and coldest points on a video, and in theory to determine the absolute temperature of all pixels.

    INFO

    The message is streamed alongside the video stream, but there is no precise mechanism to synchronize values to frames. The information is therefore an estimate/approximate.

    The message can be requested for a particular camera and stream using the MAV_CMD_SET_MESSAGE_INTERVAL, when the associated VIDEO_STREAM_STATUS.flag for the stream has bit VIDEO_STREAM_STATUS_FLAGS_THERMAL_RANGE_ENABLED set. Note that MAV_CMD_SET_MESSAGE_INTERVAL.param3 indicates the stream id of the current camera, or 0 for all streams, while param4 indicates the target camera_device_id for autopilot-attached cameras or 0 for MAVLink cameras.

    Camera Tracking ​

    A camera may support tracking a point and/or a rectangle. Information about the tracked point can be streamed during tracking, and may be passed to a gimbal in order to move the camera to track the target (or control vehicle attitude to track the target).

    Support for tracking different types of targets is indicated by the CAMERA_CAP_FLAGS_HAS_TRACKING_POINT and/or CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLE flags in CAMERA_INFORMATION.flags.

    To start camera tracking a GCS uses either the MAV_CMD_CAMERA_TRACK_POINT or MAV_CMD_CAMERA_TRACK_RECTANGLE command.

    After starting camera tracking you should call MAV_CMD_SET_MESSAGE_INTERVAL to start streaming the CAMERA_TRACKING_IMAGE_STATUS message at your desired rate. This message contains information about the tracked point/rectangle in an image, and may be used by the receiving system to determine the location of the target (alongside other information like the CAMERA_FOV_STATUS).

    If geo-tracking status information is supported (indicated by CAMERA_CAP_FLAGS_HAS_TRACKING_GEO_STATUS) you should also call MAV_CMD_SET_MESSAGE_INTERVAL to stream CAMERA_TRACKING_GEO_STATUS at your desired rate. This message provides the location of the target in physical co-ordinates that can be passed to a gimbal.

    To stop any kind of tracking, a GCS uses the MAV_CMD_CAMERA_STOP_TRACKING command. After stopping tracking you should call MAV_CMD_SET_MESSAGE_INTERVAL to stop streaming CAMERA_TRACKING_IMAGE_STATUS and CAMERA_TRACKING_GEO_STATUS (set their rates to 0).

    Camera tracking message sequence ​

    INFO

    The GCS should already have identified all connected cameras by their heartbeat and followed the Camera Identification steps to get CAMERA_INFORMATION for every camera.

    The sequence for tracking a point is shown below (tracking a rectangle is the same sequence but a different tracking command).

    Mermaid Sequence: tracking info

    The steps are:

    1. GCS follows the Camera Identification steps to get CAMERA_INFORMATION for every camera.
    2. GCS checks if CAMERA_INFORMATION.flags contains the CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLE, CAMERA_CAP_FLAGS_HAS_TRACKING_POINT, CAMERA_CAP_FLAGS_HAS_TRACKING_GEO_STATUS.
    3. If tracking is supported the GCS sends the command to start the type of tracking it wants to do: MAV_CMD_CAMERA_TRACK_POINT or MAV_CMD_CAMERA_TRACK_RECTANGLE. The sequence above just shows point tracking.
    4. Set the desired rates (intervals) for streaming the tracking status messages.
    5. Camera streams CAMERA_TRACKING_IMAGE_STATUS and/or CAMERA_TRACKING_GEO_STATUS. These are used to provide camera targetting information.
    6. To stop tracking, a GCS uses the MAV_CMD_CAMERA_STOP_TRACKING command. The streaming intervals must also be set to zero.

    Battery Status ​

    Camera components that are powered from their own battery should publish BATTERY_STATUS messages.

    Other components like a GCS will typically only use the camera BATTERY_STATUS.battery_remaining field (or possibly time_remaining); generally other fields can be set as "not supported".

    Message/Command/Enum Summary ​

    Messages ​

    MessageDescription
    CAMERA_INFORMATIONBasic information about camera including supported features and URI link to extended information (cam_definition_uri field).
    CAMERA_SETTINGSTimestamp and camera mode information.
    VIDEO_STREAM_INFORMATIONInformation defining a video stream configuration. If a camera has more than one video stream, it would send one of this for each video stream, with their specific configuration. Each stream must have its own, unique stream_id.
    VIDEO_STREAM_STATUSInformation updating a video stream configuration.
    STORAGE_INFORMATIONStorage information (e.g. number and type of storage devices, total/used/available capacity, read/write speeds).
    CAMERA_CAPTURE_STATUSCamera capture status, including current capture type (if any), capture interval, available capacity.
    CAMERA_IMAGE_CAPTUREDInformation about image captured (returned to GPS every time an image is captured).
    CAMERA_FOV_STATUSInformation about the field of view of a camera. Requested using MAV_CMD_REQUEST_MESSAGE.
    CAMERA_TRACKING_IMAGE_STATUSCamera tracking status, sent while in active tracking. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval.
    CAMERA_TRACKING_GEO_STATUSCamera tracking status, sent while in active tracking. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval.
    CAMERA_THERMAL_RANGECamera absolute thermal range. This provides value and position of max/min temperature in a video stream, allowing thermal range of video to be calibrated to absolute rather than relative temperature. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval for a particular camera and stream.

    Commands ​

    CommandDescription
    MAV_CMD_REQUEST_MESSAGESend command to request any message (used to request CAMERA_INFORMATION and the other messages above)
    MAV_CMD_SET_CAMERA_MODESend command to set CAMERA_MODE.
    MAV_CMD_SET_CAMERA_ZOOMSend command to set the camera zoom.
    MAV_CMD_SET_CAMERA_FOCUSSend command to set the camera focus.
    MAV_CMD_IMAGE_START_CAPTURESend command to start image capture, specifying the duration between captures and total number of images to capture.
    MAV_CMD_IMAGE_STOP_CAPTURESend command to stop image capture.
    MAV_CMD_VIDEO_START_CAPTURESend command to start video capture, specifying the frequency that CAMERA_CAPTURE_STATUS messages should be sent while recording.
    MAV_CMD_VIDEO_STOP_CAPTURESend command to stop video capture.
    MAV_CMD_VIDEO_START_STREAMINGSend command to start video streaming for the given Stream ID (stream_id.) This is mostly for streaming protocols that push a stream. If your camera uses a connection based streaming configuration (RTSP, TCP, etc.), you may ignore it if you don't need it but note that you still must ACK the command, like all MAV_CMD_XXX commands. When using a connection based streaming configuration, the GCS will connect the stream from its side. When a camera offers more than one stream and the user switches from one stream to another, the GCS will send a MAV_CMD_VIDEO_STOP_STREAMING command targeting the current Stream ID followed by a MAV_CMD_VIDEO_START_STREAMING targeting the newly selected Stream ID.
    MAV_CMD_VIDEO_STOP_STREAMINGSend command to stop video streaming for the given Stream ID (stream_id.) This is mostly for streaming protocols that push a stream. If your camera uses a connection based streaming configuration (RTSP, TCP, etc.), you may ignore it if you don't need it but note that you still must ACK the command, like all MAV_CMD_XXX commands. When using a connection based streaming configuration, the GCS will disconnect the stream from its side. When a camera offers more than one stream and the user switches from one stream to another, the GCS will send a MAV_CMD_VIDEO_STOP_STREAMING command targeting the current Stream ID followed by a MAV_CMD_VIDEO_START_STREAMING targeting the newly selected Stream ID.
    MAV_CMD_CAMERA_TRACK_POINTInitate visual point tracking, if supported by the camera (CAMERA_CAP_FLAGS_HAS_TRACKING_POINT is set).
    MAV_CMD_CAMERA_TRACK_RECTANGLEInitiate visual rectangle tracking, if supported by the camera (CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLE is set).
    MAV_CMD_CAMERA_STOP_TRACKINGStop camera tracking (as initiated using MAV_CMD_CAMERA_TRACK_POINT or MAV_CMD_CAMERA_TRACK_RECTANGLE).

    Deprecated Commands ​

    These commands have been deprecated, replaced by the generic requester command MAV_CMD_REQUEST_MESSAGE

    CommandDescription
    MAV_CMD_REQUEST_CAMERA_SETTINGSSend command to request CAMERA_SETTINGS.
    MAV_CMD_REQUEST_CAMERA_INFORMATIONSend command to request CAMERA_INFORMATION.
    MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATIONSend command to request VIDEO_STREAM_INFORMATION. This is sent once for each camera when a camera is detected and it has set the CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM flag within the CAMERA_INFORMATION message flags field.
    MAV_CMD_REQUEST_VIDEO_STREAM_STATUSSend command to request VIDEO_STREAM_STATUS. This is sent whenever there is a mode change (when MAV_CMD_SET_CAMERA_MODE is sent.) It allows the camera to update the stream configuration when a camera mode change occurs.
    MAV_CMD_REQUEST_STORAGE_INFORMATIONSend command to request STORAGE_INFORMATION.
    MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUSSend command to request CAMERA_CAPTURE_STATUS.

    Enum ​

    EnumDescription
    CAMERA_CAP_FLAGSCamera capability flags (Bitmap). For example: ability to capture images in video mode, support for survey mode etc. Received in CAMERA_INFORMATION.
    CAMERA_MODECamera mode (image, video, survey etc.). Received in CAMERA_SETTINGS.
    VIDEO_STREAM_TYPEType of stream - e.g. RTSP, MPEG. Received in VIDEO_STREAM_INFORMATION.
    VIDEO_STREAM_STATUS_FLAGSBitmap of stream status flags - e.g. zoom, thermal imaging, etc. Received in VIDEO_STREAM_INFORMATION.
    CAMERA_TRACKING_STATUS_FLAGSCurrent tracking status. Received in CAMERA_TRACKING_IMAGE_STATUS amd CAMERA_TRACKING_GEO_STATUS.
    CAMERA_TRACKING_MODECurrent tracking mode. Received in CAMERA_TRACKING_IMAGE_STATUS.
    CAMERA_TRACKING_TARGET_DATAIndicates how target data is encoded in image. Received in CAMERA_TRACKING_IMAGE_STATUS.

    The original definition of this protocol used specific commands to query for each type of information requested from the camera: MAV_CMD_REQUEST_CAMERA_INFORMATION (for CAMERA_INFORMATION), MAV_CMD_REQUEST_CAMERA_SETTINGS, MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS, MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION, MAV_CMD_REQUEST_STORAGE_INFORMATION.

    The latest version replaces all of these specific commands with the general requestor MAV_CMD_REQUEST_MESSAGE.

    The transition works like this:

    1. Cameras need to handle both approaches for now (i.e. support both new generic and old specific commands).
    2. Ground stations will move from using the old specific commands to using both. They can try the new one and if they don't get an answer within a timeout they need to fall back to the previous command.
    3. After the new commands have been established in server and ground stations, the old specific commands may be removed from the implementations.
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    Camera Protocol v1: Camera Triggering ​

    The MAVLink Camera Protocol v1 defines a set of commands for configuring a camera to capture images at a particular time or distance interval, and to start/stop/pause/reset triggering. It also includes commands to configure/control a video camera.

    INFO

    This API has been superseded by Camera Protocol v2, which provides a more natural set of commands for using a camera, along with a comprehensive API for querying camera capabilities. This API is used by some older MAVLink cameras, and can be supported in parallel with the new protocol.

    The protocol can be used to control cameras attached to autopilot outputs or standalone MAVLink cameras that support this protocol

    A standalone MAVLink camera that needs to interact with a ground station must be able to send and recieve MAVLink messages from the ground station. If the GCS and Camera are connected to the flight stack on different MAVLink channels then the flight stack will need to forward messages between them.

    If the MAVLink camera does not emit the CAMERA_TRIGGER message on image capture then the flight stack may need to do this on its behalf.

    When processing a mission, the flight stack should re-emit camera command items using the command protocol (in order to trigger a connected MAVLink camera). The commands should be addressed to the same system ID as the autopilot, and with MAV_COMP_ID_ALL as the component ID. This ensures that any and all MAVLink cameras associated with the system will be triggered.

    Note that setting the component ID to MAV_COMP_ID_CAMERA is not recommended, as a camera does not have to use this component ID.

    Flight Controller Connected Cameras ​

    The commands can be used to control a camera attached to autopilot outputs.

    A GCS should address the commands to the autopilot component, which will need to trigger the connected camera appropriately. The flight stack will also need to trigger the camera when the commands are found in a mission.

    Note that a flight stack implementation can generally trigger attached cameras and emit a MAVLink command in missions. If a connected camera and MAVLink camera are connected, both with be triggered.

    Message/Command Summary ​

    Image Capture ​

    CommandDescription
    MAV_CMD_DO_SET_CAM_TRIGG_INTERVALSet time interval between captures.
    MAV_CMD_DO_SET_CAM_TRIGG_DISTSet distance between image captures (or trigger once, immediately).
    MAV_CMD_DO_TRIGGER_CONTROLStart/stop capturing images (using distance or time, as defined using above messages).
    MAV_CMD_OBLIQUE_SURVEYStart/stop/configure an camera mount pivoting oblique survey.
    MessageDescription
    CAMERA_TRIGGERCamera-IMU triggering and synchronisation message. Should be emitted when an image is captured. Depending on the camera integration this might be when the camera is commanded to capture an image and or when the camera provides feedback that it has been triggered.

    Video Capture ​

    CommandDescription
    MAV_CMD_DO_DIGICAM_CONFIGUREConfigure digital camera features such as ISO, aperture, etc. Replaced by Camera Definition Files in Camera Protocol v2.
    MAV_CMD_DO_DIGICAM_CONTROLControl digital camera features such as zoom, focus, shooting. Replaced by basic camera commands and Camera Definition Files in Camera Protocol v2.
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    Command Protocol ​

    The MAVLink command protocol allows guaranteed delivery of MAVLink commands.

    Commands are values of MAV_CMD that define the values of up to 7 parameters. These parameters and the command id are encoded in COMMAND_INT or COMMAND_LONG for sending.

    The protocol provides reliable delivery by expecting a matching acknowledgement (COMMAND_ACK) from commands to indicate command arrival, and result. If no acknowledgement is received the command must be automatically re-sent.

    Message/Enum Summary ​

    MessageDescription
    COMMAND_INTMessage for encoding a command (MAV_CMD). The message encodes commands into up to 7 parameters: parameters 1-4, 7 are floats, and parameters 5,6 are scaled integers. The scaled integers are used for positional information (scaling depends on the actual command value). The coordinate frame of positional parameters is explicitly specified in a frame field. Commands that require float-only properties in parameters 5, 6 cannot be sent in this message (e.g. commands where NaN has an explicit meaning).
    COMMAND_LONGMessage for encoding a command (MAV_CMD). The mesage encodes commands into up to 7 float parameters. The coordinate frame used for positional co-ordinates is implementation dependent. Any command may be packaged in this message, but there may be some loss of precision for positional co-ordinates (latitude, longitude).
    COMMAND_ACKCommand acknowledgement. Includes result (success, failure, still in progress) and may include progress information and additional detail about failure reasons.
    COMMAND_CANCELCancel a long running command.
    EnumDescription
    MAV_CMDCommands to be executed/sent in the command messages.
    MAV_FRAMECoordinate frame. Used in COMMAND_INT to specify the co-ordinate frame of any positional parameters.
    MAV_RESULTResult of command, included in COMMAND_ACK.result.

    Use COMMAND_INT or COMMAND_LONG? ​

    COMMAND_INT should be used when sending commands that contain positional or navigation information, if supported by the flight stack for the particular command. This is because it allows the co-ordinate frame to be specified for location and altitude values, which may otherwise be "unspecified". In addition latitudes/longitudes can be sent with greater precision in a COMMAND_INT as scaled integers in params 5 and 6 (than when sent in float values in COMMAND_LONG).

    COMMAND_LONG must be used for sending MAV_CMD commands that send float properties in parameters 5 and 6, as these values would be truncated to integers if sent in COMMAND_INT.

    Commands that are not positional or that specify integers in params 5 and 6 can be used in either message, if supported by the flight stack.

    Flight stacks may support commands in either message COMMAND_INT or COMMAND_LONG or both, albeit with a loss of precision, rounding errors, and/or undefined frames of reference. However they are encouraged to only support positional commands in COMMAND_INT, and commands that have float values in param 5 and 6 in COMMAND_LONG. The flight stack can reject commands sent in the "wrong" message type using the COMMAND_ACK.result of MAV_RESULT_COMMAND_LONG_ONLY or MAV_RESULT_COMMAND_INT_ONLY, as appropriate. Flight stacks that only support a particular command in a particular message type can more generally use these result values to indicate the correct message type for a command.

    Sequences ​

    COMMAND_INT sequence ​

    Mermaid Sequence: Command INT

    The request is sent by the ground station encoded within a COMMAND_INT. The drone processes the request and responds quickly with a COMMAND_ACK indicating the result. The result is that the command has been accepted (COMMAND_ACK.result=MAV_RESULT_ACCEPTED), has been accepted and is in progress (MAV_RESULT_IN_PROGRESS) or it has been rejected with some reason code. Note that "accepted" means that the command is valid and the flight stack will attempt to act on it, not that the command has completed. Most commands just return "accepted" (they are not implemented as long running commands).

    COMMAND_ACK.result_param2 may also include additional information about the reason for command rejection in a command-specific enum.

    If no ACK is received the GCS will resend COMMAND_INT for a flight-specific number of times before giving up.

    COMMAND_LONG sequence ​

    Mermaid Sequence: Command Long

    If the command drops the sender should increase the confirmation field:

    Mermaid Sequence: increase confirmation field

    Long Running Commands ​

    Some commands are long running, and cannot complete immediately. The drone reports its progress by sending COMMMAND_ACK messages with COMMAND_ACK.result=MAV_RESULT_IN_PROGRESS and the progress as a percentage in COMMMAND_ACK.progress ([0-100] percent complete, 255 if progress not supplied). When the operation completes, the drone must terminate with a COMMMAND_ACK containing the final result of the operation: MAV_RESULT_ACCEPTED, MAV_RESULT_FAILED, MAV_RESULT_CANCELLED).

    Mermaid Sequence: MAV_RESULT_IN_PROGRESS

    Long running operations may be cancelled by sending the COMMAND_CANCEL message. The drone should cancel the operation and complete the sequence by sending COMMAND_ACK with COMMAND_ACK.result=MAV_RESULT_CANCELLED

    • If cancellation is not supported the drone can just continue to send progress updates until completion.
    • If the sequence has already completed (or is idle) the cancel command should be ignored.

    The rate at which progress messages are emitted is system-dependent. Generally though, the GCS should have a much increased timeout after receiving an ACK with MAV_RESULT_IN_PROGRESS.

    If a timeout is triggered when waiting for a progress or completion update, the GCS should terminate the sequence (return to the idle state) and notify the user if appropriate.

    Only one instance of a particular long running command can execute at a time; to restart a long running operation (i.e. with new parameters) it must first be cancelled! If the same command is recieved while the operation is in progress the new command should be ACKed with MAV_RESULT_TEMPORARILY_REJECTED (to indicate that the target is busy).

    The protocol allows for different long running commands to run in parallel, if supported by the state machine of the recieving flight stack. If a flight stack does not support multiple commands running in parallel it should ACK new commands with MAV_RESULT_TEMPORARILY_REJECTED (with the possible exception of the COMMAND_CANCEL, which might be used to cancel the first request).

    Location Commands and Frame Types ​

    Commands that contain a location or altitude should be sent in COMMAND_INT so that the frame can be specified in the COMMAND_INT.frame field (as outlined above). If sent in COMMAND_LONG the frame is arbitrary, and cannot be predicted.

    A flight stack that does not support the frame specified in a command (if required by command) should reject it with the MAV_RESULT of MAV_RESULT_COMMAND_UNSUPPORTED_MAV_FRAME. This allows consumers to attempt the same command with other frames. Flight stacks that return MAV_RESULT_COMMAND_UNSUPPORTED for this case should be updated to use MAV_RESULT_COMMAND_UNSUPPORTED_MAV_FRAME.

    Note that it is an error to ignore the specified frame and use some other arbitrary frame.

    Designing Commands ​

    Guidance for designing commands can be found in Defining XML Elements > Command values.

    At high level:

    • Commands that include location information should specify latitude in Param 5, Longitude in param 6, and Altitude in param 7. This allows them to be sent in COMMAND_INT with higher precision.
    • Otherwise it is desirable to be able to send commands in either command message. Therefore use param 5 and 6 for integers rather than floats if possible. If reserving values, then consider choosing to reserve params 5 and 6, and reserve them with a default value of 0.
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    Hosting Translations ​

    Any server can be used to host translations. The following example uses github.com, as it is easy to set up, automate, and download files.

    The example repository is https://github.com/PX4/PX4-Metadata-Translations:

    • metadata/ contains the untranslated metadata JSON files.
    • to_translate contains the TS files to translate. This is generated from the files in metadata/ using scripts/prepare_ts.py.
    • A translation service, such as crowdin can be used to translate the files
    • translated/ contains translated metadata TS files (in this case synced back from Crowdin)
    • scripts/update_summary.py is executed to update the summary JSON file with translation file locations and modification dates.

    Open Issues ​

    Schema Management ​

    Schema management has not yet been signed off.

    Guaranteed Availablility of Component Information ​

    There is a concern that vehicles reliant on internet-hosted component information files may stop working if the hosting ceases.

    This can generally be avoided by hosting the files compressed on-vehicle.

    We propose that manufacturers that use autopilots with limited flash (1MB or below) and do custom firmware development should host the files in github.

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    Events Interface (WIP) ​

    WARNING

    The Events Interface is a work in progress and may change. It has an initial implementation in PX4 and QGroundControl and is planned for ArduPilot.

    The information below is just an overview. Full details of the interface are provided in the: Events Interface Proposal

    The Events Interface is a generic and flexible mechanism that allows one component to reliably notify a GCS (or any other component) of sporadic events and state changes. For example, the interface might be used notifying of arming readiness, calibration completion, and reaching the target takeoff height.

    The interface provides for both common events that are shared by flight stacks or other components, and events that are specific to an implementation. MAVLink "common" events are defined in mavlink/libevents/events/common.json.

    INFO

    The events interface is intended to replace the widespread use of STATUSTEXT messages, which are not really fit for purpose.

    Key features ​

    The following key features are provided by the interface:

    • Reliable delivery with retransmission
    • Consistent interface to report system health and arming checks.
    • Minimized buffer requirements on the autopilot side.
    • Minimized binary message length
    • Generic: autopilot- and GCS-agnostic.
    • Long-term stable and extensible
    • Allows arguments to be attached to an event.
    • Possible types: uint8, int8, uint16, int16, uint32, int32, int64, uint64, float
    • Enums and bit fields can be built on top of these types
    • Enable automated processing (for example from a flight log containing events).
    • Minimize amount of auto-generated code for embedded implementations.
    • Events volume of <1 Hz on average (may scale with protocol parameters adjustments, like retransmission timeouts).
    • Events can be targeted or broadcast
    • Any component can send events, including cameras, companion computers, ground stations, etc.
    • Events have metadata, like a log level. They can also have a detailed, more extensive description, possibly with URLs.
    • Support for message text and message translation.

    Message/Enum Summary ​

    MessageDescription
    EVENTEvent message. Each new event from a particular component gets a new sequence number. The same message might be sent multiple times if (re-)requested. Most events are broadcast, some can be specific to a target component (as receivers keep track of the sequence for missed events, all events need to be broadcast. Thus we use destination_component instead of target_component).
    CURRENT_EVENT_SEQUENCERegular broadcast for the current latest event sequence number for a component. This is used to check for dropped events.
    REQUEST_EVENTRequest one or more events to be (re-)sent. If first_sequence==last_sequence, only a single event is requested. Note that first_sequence can be larger than last_sequence (because the sequence number can wrap). Each sequence will trigger an EVENT or EVENT_ERROR response.
    RESPONSE_EVENT_ERRORResponse to a REQUEST_EVENT if there is an error requesting an event, including the reason. The most common reason would be that the event is not longer available (has been discarded).
    EnumDescription
    MAV_EVENT_CURRENT_SEQUENCE_FLAGSFlags for CURRENT_EVENT_SEQUENCE. For exmaple, to indicate when the sequence has reset.
    MAV_EVENT_ERROR_REASONReasons for an error, as provided in RESPONSE_EVENT_ERROR. For example, common error would be that the event is not available (i.e. it has been discarded).

    Implementations ​

    Implementation PRs and other information is listed below. All of these should be considered prototypes/WIP.

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    File Transfer Protocol (FTP) ​

    The File Transfer Protocol (FTP) enables file transfer over MAVLink. It supports common FTP operations like: reading, truncating, writing, removing and creating files, listing and removing directories.

    INFO

    MAVLink FTP implementation closely follows the design of the original internet FTP protocol in terms of the message structure, sequences, and the supported opcodes/operations. Developers can read the Internet protocol RFCs to understand MAVLink FTP.

    The protocol follows a client-server pattern, where all commands are sent by the GCS (client), and the Drone (server) responds either with an ACK containing the requested information, or a NAK containing an error. The GCS sets a timeout after most commands, and may resend the command if it is triggered. The drone must re-send its response if a request with the same sequence number is received.

    All messages (commands, ACK, NAK) are exchanged inside FILE_TRANSFER_PROTOCOL messages. This message type definition is minimal, with fields for specifying the target network, system and component, and for an "arbitrary" variable-length payload.

    The different commands and other information required to implement the protocol are encoded within in the FILE_TRANSFER_PROTOCOL payload. This topic explains the encoding, packing format, commands and errors, and the order in which the commands are sent to implement the core FTP functionality.

    Protocol Discovery ​

    FTP (v1) is supported if the AUTOPILOT_VERSION.capability field has the MAV_PROTOCOL_CAPABILITY_FTP flag set.

    This flag should only be set by a MAVLink component that supports the specific version of the protocol defined in this document.

    INFO

    The encoding and content of the FILE_TRANSFER_PROTOCOL payload field are not mandated by the specification, and other encoding schemes might be used, for example, in private networks. If you have implemented a private encoding or different version you must not set the MAV_PROTOCOL_CAPABILITY_FTP flag.

    Payload Format ​

    The FILE_TRANSFER_PROTOCOL payload is encoded with the information required for the various FTP messages. This includes fields for holding the command that is being sent, the sequence number of the current FTP message (for multi-message data transfers), the size of information in the data part of the message etc.

    TIP

    Readers will note that the FTP payload format is very similar to the packet format used for serializing MAVLink itself.

    Below is the over-the-wire format for the payload part of the FILE_TRANSFER_PROTOCOL message on PX4/QGroundControl.

    FILE_TRANSFER_PROTOCOL Payload format - QGC

    Byte IndexC versionContentValueExplanation
    0 to 1uint16_t seq_numberSequence number for message0 - 65535All new messages between the GCS and drone iterate this number. Re-sent commands/ACK/NAK should use the previous response's sequence number.
    2uint8_t sessionSession id0 - 255Session id for read/write operations (the server may use this to reference the file handle and information about the progress of read/write operations).
    3uint8_t opcodeOpCode (id)0 - 255Ids for particular commands and ACK/NAK messages.
    4uint8_t sizeSize0 - 255Depends on OpCode. For Reads/Writes this is the size of the data transported. For NAK it is the number of bytes used for error information (1 or 2).
    5uint8_t req_opcodeRequest OpCode0 - 255OpCode (of original message) returned in an ACK or NAK response.
    6uint8_t burst_completeBurst complete0, 1Code to indicate if a burst is complete. 1: set of burst packets complete, 0: More burst packets coming.
    - Only used if req_opcode is BurstReadFile.
    7uint8_t paddingPadding32 bit alignment padding.
    8 to 11uint32_t offsetContent offsetOffsets into data to be sent for ListDirectory and ReadFile commands.
    12 to (max) 251uint8_t data[]DataCommand/response data. Varies by OpCode. This contains the path for operations that act on a file or directory. For an ACK for a read or write this is the requested information. For an ACK for a OpenFileRO operation this is the size of the file that was opened. For a NAK the first byte is the error code and the (optional) second byte may be an error number.

    OpCodes/Command ​

    The opcodes that may be sent by the GCS (client) to the drone (server) are listed below.

    OpcodeNameDescription
    0NoneIgnored, always ACKed
    1TerminateSessionTerminates open Read session.
    - Closes the file associated with (session) and frees the session ID for re-use.
    2ResetSessionsTerminates all open read sessions.
    - Clears all state held by the drone (server); closes all open files, etc.
    - Sends an ACK reply with no data.
    3ListDirectoryList directory entry information (files, folders etc.) in <path>, starting from a specified entry index (<offset>).
    - Response is an ACK packet with one or more entries on success, otherwise a NAK packet with an error code.
    - Completion is indicated by a NACK with EOF in response to a requested index (offset) beyond the list of entries.
    - The directory is closed after the operation, so this leaves no state on the server.
    4OpenFileROOpens file at <path> for reading, returns <session>
    - The path is stored in the payload data. The drone opens the file (path) and allocates a session number. The file must exist.
    - An ACK packet must include the allocated session and the data size of the file to be opened (size)
    - A NAK packet must contain error information . Typical error codes for this command are NoSessionsAvailable, FileExists.
    - The file remains open after the operation, and must eventually be closed by Reset or Terminate.
    5ReadFileReads <size> bytes from <offset> in <session>.
    - Seeks to (offset) in the file opened in (session) and reads (size) bytes into the result buffer.
    - Sends an ACK packet with the result buffer on success, otherwise a NAK packet with an error code. For short reads or reads beyond the end of a file, the (size) field in the ACK packet will indicate the actual number of bytes read.
    - Reads can be issued to any offset in the file for any number of bytes, so reconstructing portions of the file to deal with lost packets should be easy.
    - For best download performance, try to keep two Read packets in flight.
    6CreateFileCreates file at <path> for writing, returns <session>.
    - Creates the file (path) and allocates a session number. All parent directories must exist. If the file already existed, then this call will truncate it. Equivalent UNIX flags: (O_CREAT | O_TRUNC | O_WRONLY)
    - Sends an ACK packet with the allocated session number on success, or a NAK packet with an error code on error (i.e. FileExists if the path already exists).
    - The file remains open after the operation, and must eventually be closed by Reset or Terminate.
    7WriteFileWrites <size> bytes to <offset> in <session>.
    - Sends an ACK reply with no data on success, otherwise a NAK packet with an error code.
    8RemoveFileRemove file at <path>.
    - ACK reply with no data on success.
    - NAK packet with error information on failure.
    9CreateDirectoryCreates directory at <path>.
    - Sends an ACK reply with no data on success, otherwise a NAK packet with an error code.
    10RemoveDirectoryRemoves directory at <path>. The directory must be empty.
    - Sends an ACK reply with no data on success, otherwise a NAK packet with an error code.
    11OpenFileWOOpens file at <path> for writing, returns <session>.
    - Opens the file (path) and allocates a session number. The file will be created if it does not exist. Equivalent UNIX flags: (OCREAT | O_WRONLY)
    - Sends an ACK packet with the allocated _session number     on success, otherwise a NAK packet with an error code.
    - The file remains open after the operation, and must eventually be closed by Reset or Terminate.
    12TruncateFileTruncate file at <path> to <offset> length.
    - Sends an ACK reply with no data on success, otherwise a NAK packet with an error code.
    13RenameRename <path1> to <path2>.
    - Sends an ACK reply the no data on success, otherwise a NAK packet with an error code (i.e. if the source path does not exist).
    14CalcFileCRC32Calculate CRC32 for file at <path>.
    - Sends an ACK reply with the checksum on success, otherwise a NAK packet with an error code.
    15BurstReadFileBurst-read parts of a file. Messages in the burst are streamed (without ACK) until the burst is complete (as indicated by the field burst_complete being set to 1). Parts of a burst that are dropped may be fetched using ReadFile.

    The drone (server) will respond with/send the following opcodes for any of the above messages (ACK response on success or a NAK in the event of an error).

    OpcodeNameDescription
    128ACKACK response.
    129NAKNAK response.

    Notes:

    • An ACK response may additionally return requested data in the payload (e.g. OpenFileRO returns the session and file size, ReadFile returns the requested file data, etc.).
    • The NAK response includes error information in the payload data.

    NAK Error Information ​

    NAK responses must include one of the errors codes listed below in the payload data[0] field.

    An appropriate error code must be used if one is defined. If no appropriate error code exists, the Drone (server) may respond with Fail or FailErrno.

    If the error code is FailErrno, then data[1] must additionally contain an error number. This error number is a file-system specific error code (understood by the server).

    The payload size field must be set to either 1 or 2, depending on whether or not FailErrno is specified.

    INFO

    These are errors. Normally if the GCS receives an error it should not attempt to continue the FTP operation, but instead return to an idle state.

    ErrorNameDescription
    0NoneNo error
    1FailUnknown failure
    2FailErrnoCommand failed, Err number sent back in PayloadHeader.data[1]. This is a file-system error number understood by the server operating system.
    3InvalidDataSizePayload size is invalid
    4InvalidSessionSession is not currently open
    5NoSessionsAvailableAll available sessions are already in use.
    6EOFOffset past end of file for ListDirectory and ReadFile commands.
    7UnknownCommandUnknown command / opcode
    8FileExistsFile/directory already exists
    9FileProtectedFile/directory is write protected
    10FileNotFoundFile/directory not found

    Timeouts/Resending ​

    The GCS (client) starts a timeout after most commands are sent (these are cleared if an ACK/NAK is received).

    INFO

    Timeouts may not be set for some messages. For example, a timeout need not set for ResetSessions as the message should always succeed.

    If a timeout activates either the command or its response is assumed to have been lost, and the command should be re-sent with the same sequence number etc. A number of retries are allowed, after which the GCS should fail the whole download and reset to an idle state.

    If the drone (client) receives a message with the same sequence number then it assumes that its ACK/NAK response was lost. In this case it should resend the response (the sequence number is not iterated, because it is as though the previous response was not sent).

    The drone has no timeout mechanism; it only ever responds to commands and does not expect any responses.

    GCS recommended settings:

    • ACK/NAK timeout: 50 milliseconds
    • Command retries: 6

    FTP Operations ​

    Reading a File (ReadFile) ​

    After opening a file session, ReadFile is called to request a message sized chunk of the file, which is then returned to the client in an ACK message. The process is repeated at different offsets until the whole file has been retrieved. The file session is then closed.

    INFO

    Burst reading a file is a (generally) faster alternative to this approach.

    The sequence of operations for downloading (reading) a file using [ReadFile] is shown below. This assumes that there are no timeouts and all operations/requests succeed.

    Mermaid Sequence: Reading a File

    The sequence of operations is:

    1. GCS (client) sends OpenFileRO command specifying the file path to open.
      • The payload must specify: data[0]= file path string, size=length of file path string.
    2. Drone (server) responds with either
      • ACK on success. The payload must specify fields: session = file session id, size = 4, data = length of file that has been opened.
      • NAK with error information, e.g. NoSessionsAvailable, FileExists. The GCS may cancel the operation, depending on the error.
    3. GCS sends ReadFile commands to download a chunk of data from the file.
      • The payload must specify: session=current session, size=size of data to read, offset= position in data to start reading
    4. Drone responds to each message with either
      • ACK on success. The payload fields are: data = data chunk requested, size = size of data in the data field.
      • NAK on failure with error information.
    5. The ReadFile/ACK sequence above is repeated at different offsets to download the whole file.
      • Eventually the GCS will (must) request an offset past the end of the file.
      • The Drone will return a NAK with error code EOF. The GCS uses this message to recognise the download is complete.
    6. GCS sends TerminateSession to close the file. The drone should send an ACK/NAK, but this may (generally speaking) be ignored by the GCS.

    The GSC should create a timeout after OpenFileRO and ReadFile commands are sent and resend the messages as needed (and described above). A timeout is not set for TerminateSession (the server may ignore failure of the command or the ACK).

    Reading a File (BurstReadFile) ​

    After opening a file for reading, it is read in "bursts". Each burst delivers a part of the file as a stream of messages. The last message in the burst is indicated by setting burst_complete=1 (without any ACKs).

    The client tracks the recieved chunks. On completion of the burst (or the file), if there are any missing parts of the file it can request them using either another burst or using ReadFile.

    INFO

    Burst read is a (generally) faster alternative to using ReadFile to read a file. This is because fewer messages are sent and need to be waited on.

    The sequence of operations for a burst read is shown below (assuming there are no timeouts and all operations/requests succeed).

    Mermaid Sequence: Burst read file

    The sequence of operations is:

    1. GCS (client) sends OpenFileRO command specifying the file path to open.
      • The payload must specify: data[0]= file path string, size=length of file path string.
    2. Drone (server) responds with either
      • ACK on success. The payload must specify fields: session = file session id, size = 4, data = length of file that has been opened.
      • NAK with error information, e.g. NoSessionsAvailable, FileExists. The GCS may cancel the operation, depending on the error.
    3. Client (i.e. GCS) sends BurstReadFile command specifying the part of the file that it wants to get from an offset to the end, along with the default size of each burst payload.
      • The payload must specify: session: the current session id, offset = offset in file of start of burst, size= default length of payload in burst responses, data is ignored.
    4. Server (drone) responds with either
      • ACK on success. The payload must specify fields: session = file session id, size = 4, data = length of file in burst.
      • NAK with error information. The client may cancel the operation, depending on the error.
    5. Server sends stream of BurstReadFile data to client (without ACK) until the whole burst is sent, or a server-defined burst size limit is reached.
      • The payload must specify: session=current session, size=size of data to read per burst message (max equal to payload size = 239), offset= position in original data of current chunk.
      • The payload must specify burst_complete=0 for all chunks, except the last one, which must set burst_complete=1.
    6. The client must maintain its own record of the received (and missing) chunks. It may request any missing chunks at either the end of a burst or at the end of the file. Missing chunks can be requested using ReadFile.
    7. Client sends TerminateSession to close the file once all the chunks have been downloaded The server should send an ACK/NAK, but this may (generally speaking) be ignored by the client.

    The client should create a timeout while waiting for a new BurstReadFile, and on expiry may request missing parts of the file using either BurstReadFile or ReadFile A timeout is not set for TerminateSession (the server may ignore failure of the command or the ACK).

    Uploading a File ​

    The sequence of operations for uploading a file to the drone, assuming there are no timeouts and all operations/requests succeed, is shown below.

    Mermaid Sequence: Uploading a file

    The sequence of operations is:

    1. GCS (client) sends CreateFile command specifying the file path where the file is to be uploaded.
      • The payload must specify: data[0]= target file path string, size=length of file path string.
    2. Drone (server) attempts to create the file, and responds with either
      • ACK on success. The payload must specify fields: session = new file session id, size = 0.
      • NAK with error information.
        • The GCS should cancel the whole operation on error.
        • If there is a sequence error at this stage the GCS should send a command to ResetSessions
    3. GCS sends WriteFile commands to upload a chunk of data to the Drone.
      • The payload must specify: session=current session id, data=file chunk,size=length of data, offset= offset of data to write
    4. Drone responds to each message with either
      • ACK on success. The payload fields are: size = 0.
      • NAK on failure with error information.
        • The GCS should cancel the whole upload operation by sending a command to ResetSessions if there is an NAK.
    5. The WriteFile/ACK sequence above is repeated at different offsets to upload the whole file. Once the GCS determines that the upload is complete it moves to the next step.
    6. GCS sends TerminateSession to close the file. The drone should send an ACK/NAK, but this may (generally speaking) be ignored by the GCS.

    The GSC should create a timeout after CreateFile and WriteFile commands are sent, and resend the messages as needed (and described above). A timeout is not set for TerminateSession (the server may ignore failure of the command or the ACK).

    WARNING

    PX4 and QGroundControl implement this slightly differently than outlined above. The implementation only has a single session (id=0) so only a single operation can be active at a time. As a result, this operation should only be started if no other operation is active. The drone expects that the session id will be set to zero by the sender of CreateFile. Last of all, the GCS sends ResetSessions rather than TerminateSession. While you can send either if talking to PX4, if the protocol is implemented elsewhere calling ResetSessions may break other communications.

    Remove File ​

    INFO

    RemoveFile handling is implemented in PX4 but not in QGroundControl. GCS behaviour is therefore not fully defined/tested.

    The sequence of operations for removing a file is shown below (assuming there are no timeouts and all operations/requests succeed).

    Mermaid Sequence: Removing a file

    The sequence of operations is:

    1. GCS sends RemoveFile command specifying the full path of the file to be deleted.
      • The payload must specify: data[0]= file path string, size=length of file path string.
    2. Drone attempts to delete file, and responds to the message with either:
      • ACK on success, containing payload size=0 (i.e. no data).
      • NAK on failure, with error information.
      • The drone must clean up any resources associated with the request after sending the response.

    The GSC should create a timeout after the RemoveFile command is sent and resend the message as needed (and described above).

    Truncate File ​

    The sequence of operations for truncating a file is shown below (assuming there are no timeouts and all operations/requests succeed).

    INFO

    TruncateFile handling is implemented in PX4 but not in QGroundControl. GCS behaviour is therefore not fully defined/tested.

    Mermaid Sequence: Truncate file

    The sequence of operations is:

    1. GCS sends TruncateFile command specifying file to truncate and the offset for truncation.
      • The payload must specify: data[0]= file path string, size = length of file path string, offset = truncation point in file (amount of data to keep).
    2. Drone attempts to truncate file, and responds to the message with either:
      • ACK on success, containing payload size=0 (i.e. no data).
        • The request should succeed if the offset is the same as the file size, and may be attempted if the offset is zero (i.e. truncate whole file).
      • NAK on failure, with error information.
        • The request should fail if the offset is 0 (truncate whole file) and for normal file system errors.
      • The drone must clean up any resources associated with the request after sending the response.

    The GSC should create a timeout after the TruncateFile command is sent and resend the message as needed (and described above).

    List Directory ​

    The sequence of operations for getting a directory listing is shown below (assuming there are no timeouts and all operations/requests succeed).

    Mermaid Sequence: List Directory

    The sequence of operations is:

    1. GCS sends ListDirectory command specifying a directory path and the index of an entry.

      • The payload must specify:
        • data[0] = file path
        • size = length of path string
        • offset = The index of the first entry to get (0 for first entry, 1 for second, etc.).

    2. Drone responds with an ACK containing one or more entries (the first entry is the one specified in request offset field).

      • The payload must specify:
        • data[0] = Information for one or more (sequential) entries, starting at the requested entry index (offset). Each entry is separated with a null terminator (\0), and has the following format (where type is one of the letters F(ile), D(irectory), S(skip))
          <type><file_or_folder_name>\t<file_size_in_bytes>\0
          For example, given five files named TestFile1.xml to TestFile5.xml, the entries returned at offset 2 might look like: FTestFile3.xml\t223\0FTestFile4.xml\t755568\0FTestFile5.xml\t11111\0
        • size = The size of the data.

    3. The operation is then repeated at different offsets to download the whole directory listing.

      INFO

      The offset for each request will depend on how many entries were returned by the previous request(s).

    4. The operation completes when the GCS requests an entry index (offset) greater than or equal to the number of entries. In this case the drone responds with a NAK containing EOF (end of file).

    The GSC should create a timeout after the ListDirectory command is sent and resend the message as needed (and described above).

    The drone may also NAK with an unexpected error. Generally errors are unrecoverable, and the drone must clean up all resources (i.e. close file handles) associated with the request after sending the NAK.

    Create Directory ​

    The sequence of operations for creating a directory is shown below (assuming there are no timeouts and all operations/requests succeed). Note that this operation will fail if the directory is not empty.

    Mermaid Sequence: Create Directory

    The sequence of operations is:

    1. GCS sends CreateDirectory command specifying the full path of the directory to be created.
      • The payload must specify: data[0]= directory path string, size=length of directory path string.
    2. Drone attempts to create directory, and responds to the message with either:
      • ACK on success, containing payload size=0 (i.e. no data).
      • NAK on failure, with error information.
      • The drone must clean up any resources associated with the request after sending the response.

    The GSC should not create timeouts or handle the NAK case (other than to report an error to the user).

    Remove Directory ​

    INFO

    RemoveDirectory handling is implemented in PX4 but not in QGroundControl. GCS behaviour is therefore not fully defined/tested.

    The sequence of operations for removing a directory is shown below (assuming there are no timeouts and all operations/requests succeed). Note that this operation will fail if the directory is not empty.

    Mermaid Sequence: Remove directory

    The sequence of operations is:

    1. GCS sends RemoveDirectory command specifying the full path of the directory to be deleted.
      • The payload must specify: data[0]= directory path string, size=length of directory path string.
    2. Drone attempts to delete directory, and responds to the message with either:
      • ACK on success, containing payload size=0 (i.e. no data).
      • NAK on failure, with error information.
      • The drone must clean up any resources associated with the request after sending the response.

    The GSC should create a timeout after the RemoveDirectory command is sent and resend the message as needed (and described above).

    Implementations ​

    The FTP v1 Protocol has been implemented (at least) in PX4, ArduPilot, QGroundControl and MAVSDK. Those implementations can be used in your own code within the terms of their software licenses.

    PX4 Implementation:

    QGroundControl implementation:

    Everything is run by the master (QGC in this case); the slave simply responds to packets in order as they arrive. There’s buffering in the server for a little overlap (two packets in the queue at a time). This is a tradeoff between memory and link latency which may need to be reconsidered at some point.

    The MAVLink receiver thread copies an incoming request verbatim from the MAVLink buffer into a request queue, and queues a low-priority work item to handle the packet. This avoids trying to do file I/O on the MAVLink receiver thread, as well as avoiding yet another worker thread. The worker is responsible for directly queuing replies, which are sent with the same sequence number as the request.

    The implementation on PX4 only supports a single session.

    CRC32 Implementation ​

    The CRC32 algorithm used by MAVLink FTP is described in MAVLink CRCs.

    Resources to be downloaded using MAVLink FTP can be referenced using the following URL-like format:

    mftp://[;comp=<id>]<path>

    Where:

    • path: the location of the resource on the target component.
    • id: target component ID of the component hosting the resource. The [;comp=<id>] part is optional (if omitted, the resource is downloaded from the current component). It should be specified if the request must be redirected

    For example:

    • A GCS connected to an autopilot might download a file using the following URL:
      ## FTP resource 'camera.xml' from current component
 mftp://camera.xml
    • A GCS connected to an autopilot through a companion computer might host the metadata on the companion (e.g. due to lack of flash space, faster download or if there's a central MAVFTP server on the vehicle), so it would need to specify the component ID of the component running on the companion (e.g. 100 for the camera), so that the request is redirected:
      ## FTP resource '/info/version.json' from component with id 100
 mftp://[;comp=100]/info/version.json
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    Gimbal Configuration Protocol (v1) ​

    WARNING

    This service definition has been superseded by Gimbal Protocol v2 (gimbal manufacturers/GCSs/autopilots are expected to use the new API, but the old API is still in broad use, and there is no plan to for it to be removed).

    The gimbal configuration message set uses a number of commands and few special-purpose messages to configure a payload mount.

    By default the gimbal should be communicating with the component ID MAV_COMP_ID_GIMBAL.

    Commands to Configure and Control Gimbal ​

    The commands to use mavlink gimbals are MAV_CMD_DO_MOUNT_CONFIGURE and MAV_CMD_DO_MOUNT_CONTROL. MAV_CMD_DO_MOUNT_CONTROL_QUAT is also defined but does not seem to be implemented by any systems at time of writing.

    CommandDescription
    MAV_CMD_DO_MOUNT_CONFIGUREConfigure a camera or antenna mount
    MAV_CMD_DO_MOUNT_CONTROLControl mount
    MAV_CMD_DO_MOUNT_CONTROL_QUATControl a camera or antenna mount, using a quaternion as reference.
    EnumDescription
    MAV_MOUNT_MODEEnumeration of possible mount operation modes.

    Command to Reboot or Shutdown Gimbal ​

    To reboot or shut down a gimbal send the command MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN. The options to be set for the gimbal are found in param4.

    INFO

    This is the same message/process as for autopilot systems.

    Telemetry from Gimbal ​

    A gimbal (or mount) should send a HEARTBEAT (e.g. every second) just like any other MAVLink component. Additionally, it can send feedback about the angles it's pointing using the message MOUNT_ORIENTATION.

    Known Issues ​

    This version of the gimbal protocol (v1) has a number of known issues:

    • Unspecified signs in DO_MOUNT_CONTROL.
    • Confusing order of axes in DO_MOUNT_CONTROL.
    • Unclear “stabilize” flags in DO_MOUNT_CONFIGURE.
    • Confusing and unimplemented “absolute” flags in DO_MOUNT_CONFIGURE.
    • Unclear when to use DO_MOUNT_CONTROL or DO_MOUNT_CONFIGURE.
    • Too many overloaded params in DO_MOUNT_CONTROL depending on GPS or targetting.
    • Unusual param number for DO_MOUNT_CONTROL.
    • The GPS mode in DO_MOUNT_CONTROL conflicts with DO_SET_ROI_* commands.
    • MOUNT naming makes discovery hard.
    • Unused DO_MOUNT_CONTROL_QUAT.
    • Confusion and conflicts between gimbal commands used between ground station and gimbal messages between autopilot and gimbal.
    • Commands require acknowledgements back and are therefore not suitable for higher rate setpoint streams for manual control.
    • Control conflicts between different sources. It is not clear what takes precedence and how the deconfliction between different sources and commands should be implemented.

    If possible migrate to Gimbal Protocol v2 which addresses these issues.

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    Gimbal Protocol (v2) ​

    INFO

    This version supersedes Gimbal Protocol v1 Existing functionality is now fixed, but compatible changes may still be added.

    Introduction ​

    The gimbal protocol allows MAVLink control over the attitude/orientation of cameras (or other sensors) mounted on the drone. The orientation can be: controlled by the pilot in real time (e.g. using a joystick from a ground station), set as part of a mission, or moved based on camera tracking.

    The protocol also defines what status information is published for developers, configurators, as well as users of the drone. It additionally provides ways to assign control to different sources.

    The protocol supports a number of hardware setups, and enables gimbals with varying capabilities.

    INFO

    The original protocol design document can be found here.

    Concepts ​

    Gimbal Manager and Gimbal Device ​

    To accommodate gimbals with varying capabilities, and various hardware setups, "a gimbal" is conceptually split into two parts:

    • Gimbal Device: the actual gimbal device, hardware and software.
    • Gimbal Manager: software to deconflict gimbal messages and commands from different sources, and to abstract the capabilities of the Gimbal Device from gimbal users.

    The Gimbal Manager and Gimbal Device expose respective message sets that can be used for: gimbal manager/device discovery, querying capabilities, publishing status, and various types of orientation/attitude control.

    The key concept to understand is that a Gimbal Manager has a 1:1 relationship with a particular Gimbal Device, and is the only party on the MAVLink network that is allowed to directly command that device - it does so using the Gimbal Device message set.

    INFO

    The Gimbal Device must act only upon messages that come from the associated Gimbal Manager! The device will however broadcast its status to all parties on the network (not just its manager).

    MAVLink applications (ground stations, developer APIs like the MAVSDK, etc.), and any other software that wants to control a particular gimbal, must do so via its Gimbal Manager, using the Gimbal Manager message set.

    Note that the gimbal manager is (by default) implemented on the autopilot.

    Common Set-ups ​

    This section outlines the three most common hardware set-ups.

    Simple Gimbal Directly Connected to Autopilot ​

    In this (default) set-up the autopilot takes the role of the gimbal manager.

    Standalone Integrated Camera/Gimbal ​

    In this set-up the integrated camera/gimbal itself can be the Gimbal Manager.

    Therefore, the gimbal device interface is internal (no implementation is required).

    Onboard Computer with Camera and Gimbal Connected to Autopilot ​

    In this set-up the Gimbal Manager can be on the onboard computer.

    Commands from the GCS (etc.) are sent to the Gimbal Manager on the companion computer. Messages from the Gimbal Manager to the Gimbal Device need to be sent to/routed through the autopilot.

    Multiple Gimbals ​

    Multiple gimbals per drone are supported.

    Component IDs ​

    Multiple component IDs are reserved for MAVLink gimbal devices: MAV_COMP_ID_GIMBAL, MAV_COMP_ID_GIMBAL2, MAV_COMP_ID_GIMBAL3, MAV_COMP_ID_GIMBAL4, MAV_COMP_ID_GIMBAL5, MAV_COMP_ID_GIMBAL6.

    The listed component IDs should be used where possible. Ids 0-6 may not be used. Other ids may be used as long as the MAV_TYPE is correctly set to MAV_TYPE_GIMBAL.

    Mapping from Gimbal Managers to Gimbal Devices ​

    Every Gimbal Manager has a single associated Gimbal Device that it controls (there is a 1:1 relationship). A particular MAVLink component, such as an autopilot, can implement multiple gimbal managers in order to control two or more gimbal devices. The identity of a gimbal device and its associated manager, are represented by a "gimbal device id". This id is used to differentiate messages from different gimbal managers, and also to target a particular gimbal in commands/messages sent to the component that is hosting its gimbal manager.

    A Gimbal Manager publishes the id of its associated device in the gimbal_device_id field of the GIMBAL_MANAGER_INFORMATION message (this same field name is present in all gimbal manager messages so you can identify the source). Similarly, commands that can be sent to a gimbal manager include a parameter with label Gimbal device ID that indicates the particular gimbal manager (and device).

    • A system that wants to control a particular gimbal device will send messages to the component that has the manager(s), such as an autopilot, specifying the device id of the gimbal to be controlled.
    • A system that wants to control all gimbal devices managed by gimbal managers on a particular component, would send the command/message to that component and set the device id to 0.

    Addressing of Gimbal MAVLink Devices ​

    For MAVLink gimbal devices the gimbal device id (gimbal_device_id) is the MAVLink component ID of the gimbal device controlled by the gimbal manager.

    The gimbal manager processes commands for its associated device, sending appropriate/corresponding gimbal device commands to the MAVLink gimbal device.

    Non-MAVLink gimbal devices are gimbals that don't expose a MAVLink Gimbal Device (or manager) API, but instead are connected to the gimbal manager using some other protocol. For instance, this could be a PWM gimbal connected to an autopilot. Since the gimbal device is not a MAVLink component, it does not have a unique MAVLink component ID that can be used for the gimbal device id. Therefore you either have to make it into a MAVLink component (so it has an id) or assign it a particular non-MAVLink id.

    Autopilots are expected to implement gimbal managers for each attached gimbal and assign each a unique gimbal device id between 1 and 6 (which is why these values can't be used as MAVLink component IDs for gimbal devices). This id would then be used in gimbal manager messages sent by the autopilot, and for addressing the particular gimbal in commands. The autopilot would directly control attached gimbals in response to gimbal manager commands. In addition to sending gimbal manager messages when appropriate, it should also send/stream required gimbal device messages, such as GIMBAL_DEVICE_ATTITUDE_STATUS.

    All other hardware with attached gimbal devices, such as a companion computers, are expected to implement them as separate MAVLink components, with their own MAVLink component ID that can be used for addressing. For example, a companion computer with an attached gimbal would appear as two MAVLink components: a companion computer and a gimbal. The gimbal component would identify as a type MAV_TYPE_GIMBAL and assert that it implements the gimbal manager protocol. As with autopilot-attached cameras it would need to respond as a gimbal manager, and also stream required gimbal device messages.

    INFO

    Implementing each attached camera as a separate MAVLink component allows cameras attached to a companion computer to be separately addressed in missions executed on the autopilot.

    Implementation and Messages ​

    Messages between Ground Station and Gimbal Manager ​

    Discovery of Gimbal Manager ​

    A ground station should monitor for HEARTBEAT messages from all new components and check their capabilities by requesting AUTOPILOT_VERSION for autopilots and COMPONENT_INFORMATION_BASIC for other components (see HEARTBEAT/Connection protocol).

    If the capabilities field of the above message(s) has the flag MAV_PROTOCOL_CAPABILITY_COMPONENT_IMPLEMENTS_GIMBAL_MANAGER set:

    The GIMBAL_MANAGER_INFORMATION contains important information a particular gimbal, such as its capabilities (GIMBAL_MANAGER_CAP_FLAGS), maximum angles and angle rates, as well as the gimbal_device_id which identifies the specific gimbal device controlled by a particular Gimbal Manager.

    WARNING

    A GCS should always request GIMBAL_MANAGER_INFORMATION from autopilot components prior to: PX4 v1.16, ArduPilot-4.5 (when the protocol bit was added).

    Gimbal Manager Status ​

    A Gimbal Manager should send out GIMBAL_MANAGER_STATUS at a low regular rate (e.g. 5 Hz) to inform the ground station about its status.

    Starting / Configuring Gimbal Control ​

    It is possible for multiple components to want to control a gimbal at the same time, e.g.: a ground station, a companion computer, or the autopilot running a mission.

    In order to start controlling a gimbal, a component first needs to send the MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE command. This allows setting which MAVLink component (set by system ID and component ID) is in primary control and which one is in secondary control. The gimbal manager is to ignore any gimbal controls which come from MAVLink components that are not explicity set to "in control". This should prevent conflicts between various inputs as long as all components are fair/co-operative when using the configure command.

    To be co-operative entails the following rules:

    • Don't send the configure manager configure command continuously but only once to initiate and once to stop control again.
    • Check the GIMBAL_MANAGER_STATUS about who is in control first and - if possible - warn user about planned action. For example, if the autopilot is in control of the gimbal as part of a mission, the ground station should ask the user first (i.e. via a pop-up) if they really want to take over manual control.
    • Don't forget to release control when an action/task is finished and set the sysid/compid to 0.

    INFO

    It is possible to assign control to another component too, not just to itself. For example, a smart shot running on a companion computer can set itself to be in primary control but assign a ground station for secondary control to e.g. nudge during the smart shot.

    INFO

    The implementation of how primary and secondary control are combined or mixed is not defined by the protocol but up to the implementation. This allows flexibility for different use cases.

    A ground station can manually control a gimbal by sending GIMBAL_MANAGER_SET_MANUAL_CONTROL. This allows controlling the gimbal with either angles, or angular rates, using a normalized unit (-1..1). The gimbal device is responsible for translating the input based on angle, speed, and "smoothness" settings.

    This input can additionally be scaled by the gimbal manager depending on its state. For example, if the gimbal manager is on a camera and knows the current zoom level / focal length of the camera, it can scale the angular rate down to support smooth paning and tilting.

    A ground station, companion computer, or other MAVLink component can set the gimbal angle and/or angular rates using the messages GIMBAL_MANAGER_SET_ATTITUDE or GIMBAL_MANAGER_SET_PITCHYAW.

    Messages between Gimbal Manager and Gimbal Device ​

    Discovery of Gimbal Device ​

    The MAVlink node where the Gimbal Manager is implemented needs to discover Gimbal Devices by sending a broadcast MAV_CMD_REQUEST_MESSAGE for GIMBAL_DEVICE_INFORMATION. Every gimbal device should respond with GIMBAL_DEVICE_INFORMATION.

    The MAVLink node should then create as many Gimbal Manager instances as Gimbal Devices found.

    Control of a Gimbal Device ​

    To control the angle and/or angular rate of the Gimbal Device, use the message GIMBAL_DEVICE_SET_ATTITUDE. If the gimbal manager has multiple gimbal control inputs available it should deconflict them as explained below.

    Autopilot State for Gimbal Device ​

    The autopilot should also send the message AUTOPILOT_STATE_FOR_GIMBAL_DEVICE to the gimbal device. This data is required by the Gimbal Device attitude estimator (horizon compensation), as well as to anticipate the vehicle's movements (e.g. the feed forward angular velocity in z-axis, so the current yaw intention).

    Gimbal Device Broadcast/Status Messages ​

    The gimbal device should send out its attitude and status in GIMBAL_DEVICE_ATTITUDE_STATUS at a regular rate, e.g. 10 Hz.

    This message is a meant as broadcast, so it's set to the GCS, Gimbal Manager, and all parties on the network (not just Gimbal Manager, like all other messages).

    Custom Gimbal Device Settings ​

    Custom gimbal settings can be accomplished using the component information microservice which is based on a component information file (this is similar to the camera definition file).

    FAQ ​

    How to set the System ID of a gimbal device? ​

    The system ID of all components (e.g. autopilot, companion computer, camera, gimbal) on a drone/system must be the same. This needs to be either done manually by configuration, or alternatively, the components need to listen to the heartbeat of the autopilot and then adjust their system ID accordingly.

    When is Gimbal Device also a Gimbal Manager? ​

    The default case should be to use the Gimbal Manager in the autopilot. The only exception to this are integrated solutions containing a camera and gimbal for functionality like visual tracking.

    How to test Gimbal Device? ​

    A Gimbal Device can be tested by connecting it to an autopilot with a Gimbal Manager. To avoid having to do a full setup including autopilot, a direct test using MAVSDK is available.

    Gimbals that use the (old) Gimbal Protocol v1 should still be supported by autopilot software. Basically, the Gimbal Manager needs to translate the commands to the old protocol.

    Gimbals controlled using a protocol like PPM, PWM, SBUS or something proprietary can still be supported. The autopilot will have to act as the Gimbal Manager and provide the driver and translation to the respective protocol.

    The autopilot needs to be configured to either accept MAVLink input (so GIMBAL_MANAGER_SET_MANUAL_CONTROL) or RC control. In both cases, the autopilot can then calculate a gimbal angle or angular rate from the manual control input and send the resulting setpoint to the gimbal device.

    For RC control, the channels will have to be manually mapped/configured to control the gimbal. This is the same approach as is used for managing the input source for flying; it is up to the implementation to select either RC or MAVLink. The recommendation is to make it configurable using (for instance) a parameter.

    A non-MAVLink gimbal needs to be connected to a gimbal manager, which then takes care of sending the gimbal device messages. Since a non-MAVLink gimbal can't be addressed with a MAVLink component ID, the gimbal_device_id needs to be set to one of the magic values (1 to 6). This signals that the gimbal manager also is also acting as the gimbal device.

    Also see how to address non-MAVLink gimbal devices.

    How to interpret GIMBAL_DEVICE_ATTITUDE_STATUS yaw gimbal angle ​

    The GIMBAL_DEVICE_ATTITUDE_STATUS.flags field must report the frame used for reported yaw values as either:

    • GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME: Yaw is relative to vehicle.
    • GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME: Yaw is relative to north.

    For older devices, if neither of the flags above are set, the yaw frame must be inferred from the GIMBAL_DEVICE_FLAGS_YAW_LOCK. If it is set, the yaw is relative to North, otherwise to the front of the vehicle.

    INFO

    Manufacturers working on new gimbal devices should set either GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME or GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME. Components receiving the message should also handle GIMBAL_DEVICE_FLAGS_YAW_LOCK for backwards compatibility with older devices.

    Message/Command/Enum Summary ​

    Gimbal Manager Messages ​

    This is the set of messages/enums for communicating with the gimbal manager (by ground station, autopilot, etc.).

    MessageDescription
    GIMBAL_MANAGER_INFORMATIONInformation about a high level gimbal manager. This message should be requested by a ground station using MAV_CMD_REQUEST_MESSAGE.
    GIMBAL_MANAGER_STATUSCurrent status about a high level gimbal manager. This message should be broadcast at a low regular rate (e.g. 5Hz).
    GIMBAL_MANAGER_SET_ATTITUDEHigh level message to control a gimbal's attitude. This message is to be sent to the gimbal manager (e.g. from a ground station).
    GIMBAL_MANAGER_SET_MANUAL_CONTROLHigh level message to control a gimbal manually, so without units. The actual angles or angular rates will be produced by the gimbal manager based on settings. This message is to be sent to the gimbal manager (e.g. from a ground station). Angles and rates can be set to NaN according to use case.
    GIMBAL_MANAGER_SET_PITCHYAWHigh level message to control a gimbal's pitch and yaw angles. This message is to be sent to the gimbal manager (e.g. from a ground station). Angles and rates can be set to NaN according to use case.
    CommandDescription
    MAV_CMD_REQUEST_MESSAGERequest the target system(s) emit a single instance of a specified message. This is used to request GIMBAL_MANAGER_INFORMATION.
    MAV_CMD_DO_GIMBAL_MANAGER_CONFIGUREGimbal configuration to set which sysid/compid is in primary and secondary control.
    MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAWHigh level setpoint to be sent to a gimbal manager to set a gimbal attitude. Note: a gimbal is never to react to this command but only the gimbal manager.
    MAV_CMD_DO_SET_ROI_LOCATIONSets the region of interest (ROI) to a location. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal is not to react to this message.
    MAV_CMD_DO_SET_ROI_WPNEXT_OFFSETSets the region of interest (ROI) to be toward next waypoint, with optional pitch/roll/yaw offset. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message.
    MAV_CMD_DO_SET_ROI_SYSIDMount tracks system with specified system ID. Determination of target vehicle position may be done with GLOBAL_POSITION_INT or any other means. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message.
    MAV_CMD_DO_SET_ROI_NONECancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message. After this command the gimbal manager should go back to manual input if available, and otherwise assume a neutral position.
    MAV_CMD_DO_GIMBAL_MANAGER_TRACK_POINTIf the gimbal manager supports visual tracking (GIMBAL_MANAGER_CAP_FLAGS_HAS_TRACKING_POINT is set), this command allows to initiate the tracking. Such a tracking gimbal manager would usually be an integrated camera/gimbal, or alternatively a companion computer connected to a camera.
    MAV_CMD_DO_GIMBAL_MANAGER_TRACK_RECTANGLEIf the gimbal supports visual tracking (GIMBAL_MANAGER_CAP_FLAGS_HAS_TRACKING_RECTANGLE is set), this command allows to initiate the tracking. Such a tracking gimbal manager would usually be an integrated camera/gimbal, or alternatively a companion computer connected to a camera.
    EnumDescription
    GIMBAL_MANAGER_FLAGSFlags for high level gimbal manager operation.
    The first 16 bytes are identical to the GIMBAL_DEVICE_FLAGS. Used in MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW, GIMBAL_MANAGER_STATUS , GIMBAL_MANAGER_SET_ATTITUDE.
    GIMBAL_MANAGER_CAP_FLAGSGimbal manager high level capability flags (bitmap).
    The first 16 bits are identical to the GIMBAL_DEVICE_CAP_FLAGS which are identical with GIMBAL_DEVICE_FLAGS. However, the gimbal manager does not need to copy the flags from the gimbal but can also enhance the capabilities and thus add flags. Used in GIMBAL_MANAGER_INFORMATION

    Gimbal Device Messages ​

    This is the set of messages/enums for communication between gimbal manager and gimbal device.

    MessageDescription
    GIMBAL_DEVICE_INFORMATIONInformation about a low level gimbal. This message should be requested by the gimbal manager or a ground station using MAV_CMD_REQUEST_MESSAGE.
    GIMBAL_DEVICE_SET_ATTITUDELow level message to control a gimbal device's attitude. This message is to be sent from the gimbal manager to the gimbal device component. Angles and rates can be set to NaN according to use case.
    GIMBAL_DEVICE_ATTITUDE_STATUSMessage reporting the status of a gimbal device. This message should be broadcasted by a gimbal device component.
    CommandDescription
    MAV_CMD_REQUEST_MESSAGERequest the target system(s) emit a single instance of a specified message. This is used to request GIMBAL_DEVICE_INFORMATION.
    EnumDescription
    GIMBAL_DEVICE_CAP_FLAGSGimbal device (low level) capability flags (bitmap).
    Used in GIMBAL_DEVICE_INFORMATION.
    GIMBAL_DEVICE_FLAGSFlags for gimbal device (lower level) operation.
    Used in GIMBAL_DEVICE_ATTITUDE_STATUS and GIMBAL_DEVICE_SET_ATTITUDE.
    GIMBAL_DEVICE_ERROR_FLAGSGimbal device (low level) error flags (bitmap, 0 means no error).
    Used in GIMBAL_DEVICE_ATTITUDE_STATUS.

    Sequences ​

    Depicted below are message sequences for some common scenarious.

    Discovery ​

    This shows a possible sequence on startup. Note that the gimbal manager could already discover the gimbal device before the ground station asks for the information.

    Normal Manual Control ​

    During the normal manual control, all messages are streamed at a regular rate. Note that GIMBAL_DEVICE_ATTITUDE_STATUS is broadcast to anyone, so to the gimbal manager and also the ground station.

    ROI Initiated from Ground Station ​

    ROI can be started using a command and should also be stopped again with a command. The ROI command is translated to a gimbal attitude in the the gimbal manager.

    Attitude Set During Mission ​

    In this case the gimbal manager is implemented by the autopilot which "sends" the attitude command (for instance for a survey).

    How to Implement the Gimbal Device Interface ​

    Below is a short summary of all messages that a gimbal device should implement.

    INFO

    A Gimbal Device can be tested by connecting it to an autopilot with a Gimbal Manager. To avoid having to do a full setup including autopilot, a direct test using MAVSDK is available.

    Messages to Send ​

    The messages listed should be broadcast on the network/on all connections (sent to everyone).

    HEARTBEAT ​

    Heartbeats should always be sent (usually at 1 Hz).

    INFO

    Gimbals that set their sysid from the autopilot will need to wait for the autopilot's heartbeat before emitting their own (note that if the gimbal can receive heartbeats from multiple autopilots then the sysid must be explicitly/statically configured).

    • sysid: the same sysid as the autopilot (this can either be done by configuration, or by listening to the autopilot's heartbeat first and then copying the sysid, default: 1)
    • compid: MAV_COMP_ID_GIMBAL
    • type: MAV_TYPE_GIMBAL
    • autopilot: MAV_AUTOPILOT_INVALID
    • base_mode: 0
    • custom_mode: 0
    • system_status: MAV_STATE_UNINIT

    GIMBAL_DEVICE_ATTITUDE_STATUS ​

    The gimbal device should send out its attitude status at a regular rate, e.g. 10 Hz. The fields target_system and target_component can be set to 0 (broadcast) by default.

    GIMBAL_DEVICE_INFORMATION ​

    The static information about the gimbal device needs to be sent out when requested using MAV_CMD_REQUEST_MESSAGE.

    Messages to Listen To/Handle ​

    GIMBAL_DEVICE_SET_ATTITUDE ​

    This is the actual attitude setpoint that the gimbal device should follow. Note that the frame of the quaternion setpoint depends on the GIMBAL_DEVICE_FLAGS.

    AUTOPILOT_STATE_FOR_GIMBAL_DEVICE ​

    The gimbal device should be able to get all the information from the autopilot that it requires in this one message. If something is missing that should be streamed at a high rate, it should be added to this message.

    If this message is not sent by default by the autopilot, or the rate is not ok, the command MAV_CMD_SET_MESSAGE_INTERVAL can be used to request it at a certain rate.

    COMMAND_LONG ​

    The gimbal device needs to check for commands. See below which commands should get answered.

    Commands to Answer ​

    MAV_CMD_REQUEST_MESSAGE ​

    The gimbal device should send out messages when they get requested, e.g. GIMBAL_DEVICE_INFORMATION.

    MAV_CMD_SET_MESSAGE_INTERVAL ​

    The gimbal device should stream messages at the rate requested.

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    Heartbeat/Connection Protocol ​

    The heartbeat protocol is used to advertise the existence of a system on the MAVLink network, along with its system and component id, vehicle type, flight stack, component type, and flight mode.

    The heartbeat allows other components to:

    • discover systems that are connected to the network and infer when they have disconnected. A component is considered to be connected to the network if its HEARTBEAT message is regularly received, and disconnected if a number of expected messages are not received.
    • handle other messages from the component appropriately, based on component type and other properties (e.g. layout a GCS interface based on vehicle type).
    • route messages to systems on different interfaces.

    Message/Enum Summary ​

    MessageDescription
    HEARTBEATBroadcast that a MAVLink component is present and responding, along with its type (MAV_TYPE) and other properties.
    EnumDescription
    MAV_TYPEType of the component. Flight controllers must report the type of the vehicle on which they are mounted (e.g. MAV_TYPE_OCTOROTOR). All other components must report a value appropriate for their type (e.g. a camera must use MAV_TYPE_CAMERA).
    MAV_AUTOPILOTAutopilot type / class. Set to MAV_AUTOPILOT_INVALID for components that are not flight controllers (e.g. ground stations, gimbals, etc.).
    MAV_MODE_FLAGSystem mode bitmap.
    MAV_STATESystem status flag.

    HEARTBEAT Broadcast Frequency ​

    Components must regularly broadcast their HEARTBEAT and monitor for heartbeats from other components/systems.

    The rate at which the HEARTBEAT message must be broadcast, and how many messages may be "missed" before a system is considered to have timed out/disconnected from the network, depends on the channel (it is not defined by MAVLink). On RF telemetry links, components typically publish their heartbeat at 1 Hz and consider another system to have disconnected if four or five messages are not received.

    A component may choose not to send or broadcast information on a channel (other than the HEARTBEAT) if it does not detect another system, and it will continue to send messages to a system while it is receiving heartbeats. Therefore it is important that systems:

    • broadcast a heartbeat even when not commanding the remote system.
    • do not broadcast a heartbeat when they are in a faulted state (i.e. do not publish a heartbeat from a separate thread that is unaware of the state of the rest of the component).

    Connecting to a GCS or MAVLink API ​

    The HEARTBEAT may also used by GCS (or Developer API) to determine if it can connect to a vehicle in order to collect telemetry and send missions/commands.

    For example, QGroundControl will only connect to a vehicle system (i.e. not another GCS, gimbal, or onboard controller), and also checks that it has a non-zero system ID before displaying the vehicle connected message. QGC also uses the specific type of vehicle and other heartbeat information to control layout of the GUI.

    INFO

    The specific code for connecting to QGroundControl can be found in MultiVehicleManager.cc (see void MultiVehicleManager::_vehicleHeartbeatInfo).

    Component Identity ​

    The type of a component is obtained from its HEARTBEAT.type (MAV_TYPE) and HEARTBEAT.autopilot (MAV_AUTOPILOT) fields:

    • A flight controller component must use a MAV_TYPE corresponding to a particular vehicle (e.g. MAV_TYPE_FIXED_WING, MAV_TYPE_QUADROTOR etc.), and set HEARTBEAT.autopilot to a valid flight stack.
    • All other components must use a MAV_TYPE corresponding to the actual type (e.g.: MAV_TYPE_GIMBAL, MAV_TYPE_BATTERY, etc.), and should set HEARTBEAT.autopilot to MAV_AUTOPILOT_INVALID.

    TIP

    The recommended way to recognise an autopilot component is to check that HEARTBEAT.autopilot is not MAV_AUTOPILOT_INVALID.

    Every component must have a system-unique component id, which is used for routing and for identifying multiple instances of a particular component type.

    WARNING

    Historically the component id was also used to determine the component type. New code must not make any assumption about the type from the id used (type is determined from HEARTBEAT.type).

    MAVLink recommends that by default components use a type-appropriate component id from MAV_COMPONENT, and provide an interface to change the component id if needed. For example, a camera component might use any of the MAV_COMP_ID_CAMERAn ids, and should not use MAV_COMP_ID_GPS2.

    TIP

    Using type-specific component ids:

    • makes id clashes less likely "out of the box" (unless two components of the same type are present on the same system).
    • reduces the impact on legacy code that determines component type from the id.

    Component Capabilities ​

    The basic properties and capabilities of an autopilot can be determined by requesting the AUTOPILOT_VERSION message using MAV_CMD_REQUEST_MESSAGE, and for other components by requesting COMPONENT_INFORMATION_BASIC. This should normally be done on discovery of a new component, and the results cached.

    The information includes hardware and software versioning information, and also the capabilities, a bitmap of the MAVLink services/protocols (MAV_PROTOCOL_CAPABILITY) supported by the component.

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    High Latency Protocol ​

    High Latency (HL) links, for example made using the Iridium Satellite network, provide global connectivity, albeit with significant message latency (> 1 second) and high cost-per-message. Generally the cost and latency means that high-latency links are only used when there is no lower-latency alternative, and should only send essential information or commands.

    The protocol provides a heartbeat-like message (HIGH_LATENCY2) for transmitting just the most important telemetry at low rate, and a command (MAV_CMD_CONTROL_HIGH_LATENCY) for enabling/disabling the HL link when needed (i.e. when no lower-latency link is available).

    The GCS should carefully manage what data is sent to/requested from the autopilot on the HL link, in order to avoid congestion and minimize the cost of using the channel:

    • Ground stations should not upload or download missions, waypoints or geofences on the HL link (i.e. should not use the mission protocol).
    • Ground stations should not update or synchronise parameters over the HL channel (i.e. using the parameter protocol).
    • HEARTBEAT messages should not be sent over the HL channel (see the section below for more information).

    Typically the initial connection with a GCS is made over a low latency link (often before takeoff), so that the above data can be transferred before switching to the HL link.

    Heartbeat/Routing ​

    In order to reduce traffic to the bare minimum, some of the fundamental assumptions of MAVLink are explicitly broken:

    • HEARTBEAT messages are not emitted on the channel (either by the autopilot or GCS).

      INFO

      The heartbeat is used to build MAVLink routing tables between channels. Commands addressed specifically to the high latency component may not be routed from another channel (i.e. you can connect to the component from a GCS directly, but not via a MAVLink router).

    • Only the command protocol service messages and HIGH_LATENCY2 message should be sent over the high latency channel.

    The other rules are essentially the same but there are some implications of the above changes:

    • Messages from the high latency channel should be routed to other nodes on the network as usual. Note that this in reality most systems on a high latency network only send HIGH_LATENCY2.
    • Addressed messages should be sent over the high latency channel (in both directions) in accordance with the normal routing rules. In practice the lack of HEARTBEAT means that addressed messages are unlikely to arrive, and hence be sent.

    The implication is that while all components on a MAVLink network will get HIGH_LATENCY2 updates, only the directly connected GCS (or other component) will be able send command protocol messages to the vehicle.

    Message/Enum Summary ​

    MessageDescription
    HIGH_LATENCY2A heartbeat-like message that contains all the most important (but not time-sensitive) telemetry for sending over high latency links.
    CommandDescription
    MAV_CMD_CONTROL_HIGH_LATENCYCommand to start/stop transmitting high latency telemetry (HIGH_LATENCY2).
    EnumDescription
    HL_FAILURE_FLAGFlags to report failure cases over the high latency telemetry.

    Sequences ​

    A GCS should only upload/download missions, geofences, rally points, and parameters when connected over a low latency link. Generally a vehicle is connected to the GCS via a low latency link for initial synchronisation of parameters etc., and will reconnect whenever the low latency vehicle is available. When the link is not available it will switch to the high latency link and primarily just monitor the high latency telemetry.

    A typical flight sequence might therefore look like:

    • Vehicle is started and connects to ground station over low latency link (e.g. USB cable, Telemetry radio).
    • Ground station(s) download, check and sync all mission protocol items and parameter protocol items over the low latency link
    • Vehicle starts mission.
    • Ground station detects when low latency link is lost/available and enables/disables the high latency link appropriately.
      • While low latency link is active the mission and parameter protocols can be used.
      • While high latency link is active the vehicle provide telemetry updates but parameters and missions should not be updated.

    When the low latency link is lost, the GCS sends MAV_CMD_CONTROL_HIGH_LATENCY to the vehicle over the high latency channel to turn the high latency link on on (causing the vehicle to start emitting HIGH_LATENCY2 messages). When the low latency link is regained the GCS sends MAV_CMD_CONTROL_HIGH_LATENCY to stop the vehicle from broadcasting HIGH_LATENCY2 messages (usually this would be sent over the low latency link).

    The diagram below shows a GCS switching from a higher-latency primary link to a lower latency secondary link when one becomes available, and then back to the higher latency link when the primary link drops out.

    Explicit Handover ​

    A ground station may also support a handover model, where the high latency link is established before the low latency link is dropped (i.e. the high latency link may be enabled by sending MAV_CMD_CONTROL_HIGH_LATENCY over the low latency link prior to loss of coverage).

    This approach allows the GCS to verify that the high latency link is available before losing the low latency connection.

    If using this model the GCS and autopilot should be able to work with a mixed regime of low and high latency links. Specifically, this means that they should be able to handle the case where the same message is sent over different both channels.

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    Illuminator Protocol ​

    The illuminator protocol allows MAVLink control over the behaviour of lights, LEDs, and/or emitters mounted or integrated on the drone. The protocol currently allows for the following control: brightness, on/off, and a strobe feature.

    Along with this, the illuminator protocol also publishes status information for developers or users. The status messaging encompasses the current configuration of the illuminator and the health of the illuminator device.

    These illuminators have built-in MAVLink support:

    • Skydio Spotlight for X10

    Message/Command/Enum Summary ​

    MessageDescription
    COMPONENT_INFORMATION_BASICBasic illuminator information data. Should be requested using MAV_CMD_REQUEST_MESSAGE on startup, or when required.
    ILLUMINATOR_STATUSCurrent status of the illuminator. Recommended to publish this at a regular rate.
    CommandDescription
    MAV_CMD_ILLUMINATOR_ON_OFFTurns illuminators ON/OFF.
    MAV_CMD_DO_ILLUMINATOR_CONFIGUREConfigures illuminator settings.
    Enum ValuesDescription
    MAV_TYPE_ILLUMINATORType of the component (illuminator).
    MAV_COMP_ID_ILLUMINATORID of the component (illuminator).
    EnumDescription
    ILLUMINATOR_MODEIlluminator modes.
    ILLUMINATOR_ERROR_FLAGSFault/health indications.

    Implementation and Messages ​

    Illuminator Connection ​

    Illuminators are expected to follow the Heartbeat/Connection Protocol and send a constant flow of heartbeats (nominally at 1Hz). Illuminators are identified via their type MAV_TYPE_ILLUMINATOR. Individual illuminators are distinguished via their unique component ID, which by default should be MAV_COMP_ID_ILLUMINATOR (though this is not mandated and any ID may be used). Once a heartbeat is received, the drone can then send a MAV_CMD_REQUEST_MESSAGE command to the illuminator to receive information, set settings, or control the illuminator. An example below illustrates how a drone can request the status of the illuminator.

    COMPONENT_INFORMATION_BASIC ​

    While the MAV_TYPE and Component ID help identify the system and component, the COMPONENT_INFORMATION_BASIC command can be requested to retrieve component information data, which can help further identify the component being communicated with. This data includes time_boot_ms, MAV_PROTOCOL_CAPABILITY, vendor_name, model_name, software_version, hardware_version, and serial_number.

    ParameterDescription
    time_boot_msTime since system boot up in milliseconds.
    MAV_PROTOCOL_CAPABILITYBitmask detailing the component capability flags.
    vendor_nameName of the component vendor (optional).
    model_nameName of the component's model (optional).
    software_versionSoftware version on the module, recommended format is SEMVER: 'major.minor.patch' but any format can be used (24-character string) (optional).
    hardware_versionHardware version on the module, recommended format is SEMVER: 'major.minor.patch' but any format can be used (24-character string) (optional).
    serial_numberHardware's serial number (optional).

    Optional parameters can be left empty or set to zero.

    ON/OFF ​

    The MAV_CMD_ILLUMINATOR_ON_OFF command is used to enable/disable the illuminator. It's usage can be seen below:

    CONFIGURE ​

    The MAV_CMD_DO_ILLUMINATOR_CONFIGURE command controls the illuminator's settings. This will adjust how the illuminator behaves when enabled. The operation follows the normal Command Protocol rules for command/acknowledgment. The four parameters for this command are: Mode, Brightness, Strobe Period, Strobe Duty.

    Illuminators can be set in different modes which can change the behavior of the illuminator (described in a separate section, Modes). The brightness can be set via "Brightness" as a percentage value (0-100%). Illuminators may also have the functionality to strobe the light source. This behavior is configured via "Strobe Period" and "Strobe Duty". These parameters can be set to 0 when not used. "Strobe Period" is in seconds and "Strobe Duty" is a percentage value (indicating the % of time in the "Strobe Period" the illuminator is enabled).

    MODES ​

    If the mode is unknown, the mode parameter value will be set to 0.

    A mode value of 1 is ILLUMINATOR_MODE_INTERNAL_CONTROL, where the illuminator behavior is controlled by MAV_CMD_DO_ILLUMINATOR_CONFIGURE settings.

    When the value is set to 2, it indicates that the illuminator mode is ILLUMINATOR_MODE_EXTERNAL_SYNC. This mode is for instances where the illuminator behavior is controlled by external factors: e.g. an external hardware signal.

    STATUS ​

    The ILLUMINATOR_STATUS message can be requested to receive information about the status of the illuminator. This includes information such as uptime, errors, whether the illuminator is enabled via MAV_CMD_ILLUMINATOR_ON_OFF, current settings from the MAV_CMD_DO_ILLUMINATOR_CONFIGURE command, and the temperature of the illuminator.

    ILLUMINATOR_ERROR_FLAGS ​

    The ILLUMINATOR_ERROR_FLAGS can be used to indicate if there is any issue with the illuminator. At this time, there are three flags. If there is no error and the illuminator is behaving as normal, the ILLUMINATOR_ERROR_FLAGS bitmap will be 0. If ILLUMINATOR_ERROR_FLAGS is set to 1 or 2, this indicates an error related to the temperature of the illuminator.

    1 indicates ILLUMINATOR_ERROR_FLAGS_THERMAL_THROTTLING as in the illuminator is throttling its output due to a thermal issue. 2 indicates ILLUMINATOR_ERROR_FLAGS_OVER_TEMPERATURE_SHUTDOWN which means that the illuminator is shutting off due to passing some temperature threshold.

    The status message utilization can be seen below:

    Test Script ​

    Description ​

    The test suite included in assets/services/illuminators allows for testing both sides of the illuminator interaction.

    • illuminator.py emulates a standard illuminator module.
    • test_illuminator.py runs a standard test suite against the emulator, testing all commands listed in this document.

    Instructions ​

    1. Run simple illuminator emulator python3 illuminator.py
    2. Run test python3 -m unittest -v test_illuminator.py
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    Image Transmission Protocol ​

    WARNING

    The Camera Protocol and MAVLink FTP are recommended for sending images, video and files.

    This protocol is not intended for general image transmission use (it was originally designed as a simple protocol for transfering small images over a low bandwidth channel from an optical flow sensor to a GCS).

    The image transmission protocol uses MAVLink as the communication channel to transport any kind of image (raw images, Kinect data, etc.) from one MAVLink node to another. It basically takes a live camera image, splits it into small chunks and sends it over MAVLink.

    This topic describes how the image streaming functionality works and covers both the communication protocol and implementation details (for a vehicle and QGroundControl).

    Communication ​

    The image streaming component uses two MAVLink messages: a handshake message, DATA_TRANSMISSION_HANDSHAKE, to initiate image streaming and describe the image to be sent, and a data container message, ENCAPSULATED_DATA, to transport the image data.

    1. The communication is initiated by the QGroundControl with a DATA_TRANSMISSION_HANDSHAKE request to start the stream. The messages should specify:

      • type: any of the types in the enum MAVLINK_DATA_STREAM_TYPE in mavlink.h,
      • jpg_quality: Desired image quality (for lossy formats like JPEG).
      • All other fields must be zero in the initial request.

    2. When the targeted MAV receives the handshake request, it sends back a DATA_TRANSMISSION_HANDSHAKE. This acts provides acknowledgment of the request and information about the image that is about to be streamed:

      • type: Type of image to be streamed (same as requested type)
      • size: Image size in bytes.
      • width: Image width in pixels.
      • height: Image height in pixels.
      • packets: number of MAVLink ENCAPSULATED_DATA packets to be sent
      • payload: Size of the payload of each data packet (normally 252 bytes)
      • jpg_quality: Image quality (same as requested)

    3. The image data is then split into chunks to fit into ENCAPSULATED_DATA message and sent over MAVLink. Every packet contains a sequence number as well as the ID of the image stream it belongs to.

    4. The image streamer periodically sends new images without further interaction. Every new image comes with a new DATA_TRANSMISSION_HANDSHAKE ACK packet with updated image size, packets and payload fields. After this ACK packet, the new image arrives as a series of ENCAPSULATED_DATA packets.

      INFO

      The sequence number starts at 0 for every new image of the stream.

    5. To stop an image stream a GSC must send a new DATA_TRANSMISSION_HANDSHAKE request packet, with all 0 values. The MAVLink node will acknowledge this by sending back DATA_TRANSMISSION_HANDSHAKE also containing 0 values.

    Usage / Configuration ​

    To use the two modules on your MAV, you have to do the following steps:

    • Compile the mavconn middleware for your MAV: Guide, Github.

    • Start at least these components on the MAV:

      px_mavlink_bridge_udp &
 px_system_control --heartbeat &
 px_camera -o lcm &

    • Compile and start QGroundControl.

    • Start the image streaming component (you can add the -v flag to see some more output): px_imagestreamer.

    • Initiate the image stream: Open the HUD widget, right-click into the widget and choose Enable live Image Streaming.

    You should now be able to see the live video feed with one image per second (default, hardcoded at the moment).

    Developer ​

    Out-of-the-box, the image streaming component only implements JPEG streaming of the camera image. To implement your own image stream, you have to do the following:

    • Write a MAVLink handler, which handles requests to start image streams of your type of choice.
    • Write a data handler, which takes your desired data (i.e. a stereo camera image), encodes it into the format of your choice (i.e. rawimage, JPEG, BMP) and splits/sends the data over MAVLink.
    • Extend the data/message handler in the UAS component of QGroundControl to correctly handle your data (i.e. unpacking of the chosen format).
    • Write or extend a widget to display your data according to your wishes.
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    Microservices ​

    The MAVLink "microservices" define higher-level protocols that MAVLink systems can adopt in order to better inter-operate. For example, QGroundControl, ArduPilot and PX4 autopilots all share a common Command Protocol for sending point-to-point messages that require an acknowledgment.

    The microservices are used to exchange many types of data, including: parameters, missions, trajectories, images, other files. If the data can be far larger than can be fit into a single message, services will define how the data is split and re-assembled, and how to ensure that any lost data is re-transmitted. Other services provide command acknowledgment and/or error reporting.

    Most services use the client-server pattern, such that the GCS (client) initiates a request and the vehicle (server) responds with data.

    The main microservices are shown in the sidebar (most are listed below):

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    Landing Target Protocol ​

    The landing target services/message communicates the position of one or more targets from MAVLink positioning system(s) to an autopilot. A multicopter or VTOL system can use the message to land with far greater positional accuracy than provided by conventional GPS (GPS provides position within several meters while a landing-target system might reasonably provide centimetre-level precision landing).

    A positioning system might typically consist of an onboard companion computer with a vision system that can detect a light beacon or target image. Radio beacons and different types of visual markers and tags are also supported.

    Protocol Messages ​

    The message used by this protocol is LANDING_TARGET. This is broadcast by the positioning system to indicate the position of a particular target at a particular time.

    INFO

    The required broadcast rate depends on the landing speed and desired accuracy; start with rates between 10 Hz and 50 Hz and tune performance as needed.

    The original MAVLink 1 message was designed with the assumption that the target is captured from a downward facing camera, and provides fields that are relative to the captured image. MAVLink 2 extended the message to provide positional information in terms of standard frames (MAV_FRAME), a quaternion and the type of landing targets (LANDING_TARGET_TYPE). This allows more flexibility for the types of target that can be supported, simplifies the code required by the autopilot, and allows the autopilot to control both landing position and orientation on (some) targets.

    Different systems may support either (or presumably both) sets of fields. These are discussed below.

    Target Relative to Captured Image ​

    The LANDING_TARGET fields that are relative to a captured image are shown below:

    Field NameTypeUnitsValuesDescription
    angle_xfloatradX-axis angular offset of the target from the center of the image
    angle_yfloatradY-axis angular offset of the target from the center of the image
    distancefloatmDistance to the target from the vehicle
    size_xfloatradSize of target along x-axis
    size_yfloatradSize of target along y-axis

    The positional information can be interpreted as described below.

    Imagine a ray pointing from the camera's principal point to the target. The x angle (angle_x) is the angle spanned by that ray and the x-axis of the image plane. The same holds for the y angle (angle_y). In other words, the x angle is a function of the x pixel coordinate of the target (denoted by u̅ in the image below), the y angle is a function of the y pixel coordinate (denoted v in the image below). Using the angle rather than u̅/v̅ pixel coordinates has the advantage that the effect of the camera lens is already accounted for. Otherwise the receiver of the message would need to know the camera field of view etc.

    Landing Target Fields

    The sizes in x and y direction are analogous (size_x/size_y). They describe the angle between the smallest and biggest pixel in x/y direction respectively of the target as seen in the image.

    TIP

    ArduPilot supports messages with these fields if position_valid is 0.

    Target as Position/Quaternion (MAVLink 2 and later) ​

    The message fields that are used to provide target information as a position/quaternion are shown below. Field meaning and use is clear from the description.

    Field NameTypeUnitsValuesDescription
    frameuint8_tMAV_FRAMECoordinate frame used for following fields.
    xfloatmX Position of the landing target in MAV_FRAME
    yfloatmY Position of the landing target in MAV_FRAME
    zfloatmZ Position of the landing target in MAV_FRAME
    qfloat[4]Quaternion of landing target orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
    typeuint8_tLANDING_TARGET_TYPEType of landing target
    position_validuint8_tBoolean indicating whether these position field values are populated with valid position target information (1: valid, 0: invalid). The default is '0', so that if the fields are not populated the default-zero values are not interpreted as a valid target position.

    TIP

    • PX4 supports this form of positioning in MAV_FRAME_LOCAL_NED (only). The original (MAVLink 1) fields are ignored.
    • ArduPilot supports this form of positioning in MAV_FRAME_BODY_FRD (only). position_valid must be 1 and distance must be filled.
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    Manual Control Protocol (Joystick) ​

    The Manual Control Protocol enables controlling a system using a "standard joystick" (or joystick-like input device that supports the same axes nomenclature).

    The protocol is implemented with just the MANUAL_CONTROL message. It defines the target system to be controlled, the movement in four primary axes (x, y, z, r) and two extension axes (s, t), and two 16-bit fields to represent the states of up to 32 buttons (buttons, buttons2). Unused axes can be disabled, and the extension axes must be explicitly enabled using bits 0 and 1 of the enabled_extensions field.

    The protocol is by intent relatively simple and abstract, and provides a simple way of controlling the main motion of a vehicle, along with several arbitrary features that can be triggered using buttons.

    This allows GCS software to provide a simple level of control for many types of vehicles, and allows new vehicle types with unusual functions to operate with minimal (if any) changes to the MAVLink protocol or existing ground control station (GCS) software.

    Mapping Axes ​

    Manual control is performed in the vehicle-frame. All axis values are normalised to the range -1000 to 1000.

    Rotation-Focused Control ​

    The typical axis assignments for a thrust- and rotation-controlled vehicle (e.g. planes, multicopters) are listed below.

    fieldmotion axis+ve direction-ve direction
    xpitchforward/nose-downbackward/nose-up
    yrollright-downleft-down
    zthrustpositivenegative
    ryawcounter-clockwiseclockwise

    Directional Control ​

    Vehicles with direct control over vehicle translation directions (multicopters) typically use the following mappings.

    fieldmotion axis+ve direction-ve direction
    xforwardforwardbackward
    ylateralrightleft
    zverticalupdown
    ryawcounter-clockwiseclockwise
    spitchforward/nose-downbackward/nose-up
    trollright-downleft-down

    Mapping Buttons ​

    Button functions are vehicle/flight-stack dependent:

    • ArduPilot treats button values as user-configurable using firmware parameters (e.g. ArduCopter's BTN_FUNCn or ArduSub's BTNn_FUNCTION), through the Parameter or Extended Parameter protocols.
    • PX4 defines fixed meanings to some of the buttons values, and these are mapped to user-selected functions by the ground station.

    The buttons field is required, and corresponds to the first 16 buttons.

    buttons2 is an extension, and corresponds to the optional second set of 16 buttons.

    Alternatives ​

    Vehicles may alternatively be controlled by sending information as a set of up to 18 channel values using RC_CHANNELS_OVERRIDE. Channels can be mapped to firmware parameters using PARAM_MAP_RC, and the autopilot can use the current parameter values at each point in time to determine control actions.

    It's worth noting that the generality of RC channels control is a double-edged sword. It is incredibly versatile, and can be used to provide support for several arbitrary control axes, but the user-defined in-vehicle nature of the mapped parameters means additional setup is frequently required for compatibility with GCSs, and there are no guarantees that multiple vehicles running the same firmware will have the same channel-parameter mapping. This is a similar issue to the MANUAL_CONTROL buttons, so to minimise firmware complexity and maximise interoperability between a vehicle type and GCSs it's recommended to use targetted MAVLink commands where possible.

    Implementations ​

    The protocol has been implemented in various GCSs and vehicle firmwares. These implementations can be used in your own code within the terms of their software licenses.

    Ground Control Stations ​

    The protocol has been implemented in QGroundControl and Mission Planner.

    QGroundControl implementation:

    MissionPlanner implementation:

    Vehicle Firmwares ​

    The protocol has been implemented in PX4, and in the Copter, Plane, Rover, and Sub vehicle firmwares in ArduPilot.

    PX4 Implementation:

    ArduPilot Implementations:

    Future Extensions ​

    Future extensions are likely to be handled with additional targetted MAVLink commands rather than mapping functionality in the flight controller (i.e. handling more complex inputs in the GCS to reduce vehicle firmware complexity).

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    MAVLink Id Assignment ​

    A MAVLink system consists of one or more MAVLink components that all share the same system id, and that must each have a system-unique component id. This topic explains how you can ensure that your components are updated appropriately when the system id of the autopilot is changed, and how to ensure that they each have a unique component id.

    Overview ​

    Generally MAVLink flight stacks give the autopilot component a default system id of 1 and a component id of MAV_COMP_ID_AUTOPILOT1 (also 1).

    Other MAVLink components typically also have a default system id of 1, and a component id that is the default for the component's type (such as MAV_COMP_ID_CAMERA for a MAVLink camera). This ensures that they will often work with autopilots "out of the box" when setting up a system for the first time.

    In a more complex MAVLink system you will have multiple vehicles, so you will need to assign each vehicle a unique system id, and have a mechanism to change the associated components to that same id.

    In a single system you may also have multiple components of the same type. In this case you will need to ensure that each has a unique component id.

    The following section suggests a process to allow MAVLink components to automatically update themselves with the correct ids.

    System Id Assignment ​

    First change the system ID of the autopilot component. This is usually done with a flight-stack specific parameter such as MAV_SYS_ID (PX4) or SYSID_THISMAV (ArduCopter).

    INFO

    MAV_CMD_DO_SET_SYS_CMP_ID is a work-in-progress command for setting and changing system and command ids.

    Then reboot the vehicle off-network, so that the only autopilot visible to components should be the one on the vehicle (you can disconnect your telemetry radio, for example).

    On boot, components should look for autopilot HEARTBEAT messages.

    If HEARTBEAT messages are detected from:

    • Only one autopilot within 3 seconds of the first autopilot heartbeat being detected, the component should set its system id to match that of the autopilot.
    • Multiple autopilots within the first 3 seconds then the autopilot should keep its current system id. Note that this is true even if autopilot heartbeats from corresponding autopilot are not seen.
    • No autopilots then components should keep their current system id.

    This ensures that components will latch to an unambiguous system id if available, and otherwise keep their current system id.

    Component Id Assignment ​

    Component IDs should be manually assigned by the system integrator.

    In practise most components are factory-shipped using the first "allocated" component ID for their type from the MAV_COMPONENT enum, such as MAV_COMP_ID_CAMERA for cameras, and MAV_COMP_ID_GIMBAL for gimbals. If the vehicle has only one component of a particular type, then this is usually sufficient to avoid clashes.

    When there are multiple instances of a particular component, each will need a unique id. The easiest way to do this is to sequentially allocate component IDs from the allocated ranges, such as MAV_COMP_ID_CAMERA2. The mechanisms to set and change component ids are component-dependent (and some components may not allow the component id to be changed).

    Note that in theory any component can have any id. However associating components with their well-known component ids makes it easier to, for example, associate a gimbal with a camera, or capture an image using a particular camera.

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    Mission Protocol ​

    The mission sub-protocol allows a GCS or developer API to exchange mission (flight plan), geofence and safe point information with a drone/component.

    The protocol covers:

    • Operations to upload, download and clear missions, set/get the current mission item number, and get notification when the current mission item has changed.
    • Message type(s) and enumerations for exchanging mission items.
    • Mission Items ("MAVLink commands") that are common to most systems.

    The protocol supports re-request of messages that have not arrived, which allows missions to be reliably transferred over a lossy link.

    Mission Types ​

    MAVLink 2 supports three types of "missions": flight plans, geofences and rally/safe points. The protocol uses the same sequence of operations for all types (albeit with different types of Mission Items). The mission types must be stored and handled separately/independently.

    Mission protocol messages include the type of associated mission in the mission_type field (a MAVLink 2 message extension). The field takes one of the MAV_MISSION_TYPE enum values: MAV_MISSION_TYPE_MISSION, MAV_MISSION_TYPE_FENCE, MAV_MISSION_TYPE_RALLY.

    INFO

    MAVLink 1 supports only "regular" flight-plan missions (this is implied/not explicitly set).

    Mission items for all the mission types are defined in the MAV_CMD enum.

    INFO

    MAV_CMD is used to define commands that can be used in missions ("mission items") and commands that can be sent outside of a mission context (using the Command Protocol). Some MAV_CMD can be used with both mission and command protocols. Not all commands/mission items are supported on all systems (or for all flight modes).

    The items for the different types of mission are identified using a simple name prefix convention:

    Mission items (MAV_CMD) are transmitted/encoded in MISSION_ITEM_INT messages. This message includes fields to identify the particular mission item (command id) and up to 7 command-specific optional parameters.

    Field NameTypeValuesDescription
    commanduint16_tMAV_CMDCommand id, as defined in MAV_CMD.
    param1floatParam #1.
    param2floatParam #2.
    param3floatParam #3.
    param4floatParam #4.
    param5 (x)int32_tX coordinate (local frame) or latitude (global frame) for navigation commands (otherwise Param #5).
    param6 (y)int32_tY coordinate (local frame) or longitude (global frame) for navigation commands (otherwise Param #6).
    param7 (z)floatZ coordinate (local frame) or altitude (global - relative or absolute, depending on frame) (otherwise Param #7).

    The first four parameters (shown above) can be used for any purpose - this depends on the particular command. The last three parameters (x, y, z) are used for positional information in MAV_CMD_NAV_* commands, but can be used for any purpose in other commands.

    The remaining message fields are used for addressing, defining the mission type, specifying the reference frame used for x, y, z in MAV_CMD_NAV_* messages, etc.:

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    sequint16_tSequence number for item within mission (indexed from 0).
    frameuint8_tMAV_FRAMEThe coordinate system of the waypoint.
    ArduPilot and PX4 both only support global frames in MAVLink commands (local frames may be supported if the same command is sent via the command protocol).
    mission_typeuint8_tMAV_MISSION_TYPEMission type.
    currentuint8_tfalse:0, true:1When downloading, whether the item is the current mission item.
    autocontinueuint8_tAutocontinue to next waypoint when the command completes.

    Message/Enum Summary ​

    The following messages and enums are used by the service.

    MessageDescription
    MISSION_REQUEST_LISTInitiate mission download from a system by requesting the list of mission items.
    MISSION_COUNTSend the number of items in a mission. This is used to initiate mission upload or as a response to MISSION_REQUEST_LIST when downloading a mission.
    MISSION_REQUEST_INTRequest mission item data for a specific sequence number be sent by the recipient using a MISSION_ITEM_INT message. Used for mission upload and download.
    MISSION_ITEM_INTMessage encoding a mission item/command (defined in a MAV_CMD). Used for mission upload and download.
    MISSION_ACKAcknowledgment message when a system completes a mission operation (e.g. sent by autopilot after it has uploaded all mission items). The message includes a MAV_MISSION_RESULT indicating either success or the type of failure.
    MISSION_CURRENTMessage containing the current mission item sequence number, mission status, current mission ids, and other information. This is streamed and also emitted when the current mission item is set/changed.
    MISSION_SET_CURRENTSet the current mission item by sequence number (continue to this item on the shortest path).
    STATUSTEXTSent to notify systems when a request to set the current mission item fails.
    MISSION_CLEAR_ALLMessage sent to clear/delete all mission items stored on a system.
    MISSION_ITEM_REACHEDMessage emitted by system whenever it reaches a new waypoint. Used to monitor progress.
    CommandDescription
    MAV_CMD_DO_SET_MISSION_CURRENTSet current mission item and optionally reset mission counter. Supersedes MISSION_SET_CURRENT.
    EnumDescription
    MAV_MISSION_TYPEMission type for message (mission, geofence, rallypoints).
    MAV_MISSION_RESULTUsed to indicate the success or failure reason for an operation (e.g. to upload or download a mission). This is carried in a MISSION_ACK.
    MAV_FRAMECo-ordinate frame for position/velocity/acceleration data in the message.
    MAV_CMDMission Items (and MAVLink commands) sent in MISSION_ITEM_INT.

    Deprecated Types: MISSION_ITEM ​

    The legacy version of the protocol also supported MISSION_REQUEST for requesting that a mission be sent as a sequence of MISSION_ITEM messages.

    Both MISSION_REQUEST and MISSION_ITEM messages are now deprecated, and should no longer be sent. If MISSION_REQUEST is recieved the system should instead respond with MISSION_ITEM_INT items (as though it received MISSION_REQUEST_INT).

    Frames & Positional Information ​

    By convention, mission items use param5, param6, param7 for positional information when needed (and otherwise as "free use" parameters). The table below shows that the positional parameters can be local (x, y, z), global (latitude, longitude, altitude), and also the data type used to store the parameters in the MISSION_ITEM_INT message.

    paramtypeLocalGlobal
    param5int32_txLatitude
    param6int32_tyLongitude
    param7floatzAltitude (global - relative or absolute)

    The co-ordinate frame of positional parameters is defined in the MISSION_ITEM_INT.frame field using a MAV_FRAME value.

    The global frames are prefixed with MAV_FRAME_GLOBAL_*. Mission items should use frame variants that have the suffix _INT: e.g. MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, MAV_FRAME_GLOBAL_INT, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT. When using these frames, latitude and longitude values must be encoded by multiplying the degrees by 1E7 (e.g. the latitude 69.69000000 would be sent as 69.69000000x1E7 = 696900000). Using int32 of degrees * 10^7 has higher resolution than could be achieved with single floating point.

    A number of local frames are also specified. Local frame position values that are sent in integer field parameters must be encoded as position in meters x 1E4 (e.g. 5m would be encoded and sent as 50000). If sent in messages float parameter fields the value should be sent as-is.

    INFO

    Don't use the non-INT global frames in mission items (e.g. MAV_FRAME_GLOBAL_RELATIVE_ALT). These are intended to be used with messages that have float fields for positional information, e.g.: MISSION_ITEM (deprecated), COMMAND_LONG. If these frames are used, position values should be sent unencoded (i.e. no need to multiply by 1E7).

    INFO

    As above, in theory if a global non-INT frame variant is set for a MISSION_ITEM_INT the position value should be sent as-is (not encoded). This will result in the value being rounded when it is sent in the integer value, which will make the value unusable. In practice, many systems will assume you have encoded the value, but you should test this for your particular flight stack. Better just to use the correct frames!

    WARNING

    Don't use MAV_FRAME_MISSION for mission items that contain positional data; this does not correspond to any particular real frame, and so will be ambiguous. MAV_FRAME_MISSION should be used for mission items that use params5 and param6 for other purposes.

    Param 5, 6 For Non-Positional Data ​

    Param5, param6, param7 may also be used for non-positional information. In this case the MISSION_ITEM_INT.frame should be set to MAV_FRAME_MISSION (this is equivalent to say "the frame data is irrelevant").

    As param5 and param6 are sent in integer fields, generally you should design mission items/MAV_CMDs such that these only include integer data (and are sent as-is/unscaled). If these must be used for real numbers and scaling is required, then this must be noted in the mission item itself.

    Operations ​

    This section defines all the protocol operations.

    Detecting Mission/Plan Changes ​

    Mission upload and download can be expensive operations, in particular for large missions. A GCS can avoid unnecessary uploads and downloads by first checking whether it has a matching id(s) for the corresponding plan on the vehicle.

    The current id for different parts of the plan are streamed in MISSION_CURRENT message, using the appropriately named fields: mission_id, fence_id, rally_points_id. These values are 0 if there is no plan uploaded, or if detecting plan changes is not supported by the flight stack.

    The IDs are generated by the flight stack when a new mission, rally point, or geofence, is uploaded to the vehicle (at which point it also starts publishing the value in MISSION_CURRENT). MAVLink puts no particular requirements on how the "opaque_id" values are calculated by the flight stack (this is why they are named "opaque"). The only expectation is that the scheme used makes it unlikely that the GCS will incorrectly determine that it has a matching plan (a flight stack might use file hashes, plan checksums, pseudo-random numbers, or some other technique).

    On upload, the generated ID is sent to the GCS in the final part of the upload sequence in the MISSION_ACK.opaque_id field. On download, the stored ID is sent to the GCS in the MISSION_COUNT.opaque_id field.

    The GCS should store the value of the ID from the flight stack as the "current id" for whatever part of the plan was uploaded/download. It can then monitor MISSION_CURRENT, and check its cached values against the current plan ids to determine whether it has a matching mission, or needs to download the mission from the vehicle.

    Upload a Mission to the Vehicle ​

    The diagram below shows the communication sequence to upload a mission to a drone (assuming all operations succeed).

    WARNING

    Mission update must be robust! A new mission should be fully uploaded and accepted before the old mission is replaced/removed.

    ::: Mission upload/download can be bandwidth intensive and time consuming Check for plan changes before uploading (or downloading) a mission. :::

    Mission Upload Sequence

    In more detail, the sequence of operations is:

    1. GCS sends MISSION_COUNT including the number of mission items to be uploaded (count).
      • A timeout must be started for the GCS to wait on the response from Drone (MISSION_REQUEST_INT).
    2. Drone receives message and responds with MISSION_REQUEST_INT requesting the first mission item (seq==0).
      • A timeout must be started for the Drone to wait on the MISSION_ITEM_INT response from GCS.
    3. GCS receives MISSION_REQUEST_INT and responds with the requested mission item in a MISSION_ITEM_INT message.
    4. Drone and GCS repeat the MISSION_REQUEST_INT/MISSION_ITEM_INT cycle, iterating seq until all items are uploaded (seq==count-1).
    5. After receiving the last mission item the drone responds with MISSION_ACK with the type of MAV_MISSION_ACCEPTED indicating mission upload completion/success.
      • The drone should set the new mission to be the current mission, discarding the original data.
      • The drone considers the upload complete.
    6. GCS receives MISSION_ACK containing MAV_MISSION_ACCEPTED to indicate the operation is complete.
      • The GCS should store MISSION_ACK.opaque_id (the current id of the uploaded plan) and can use it later to check for plan changes.

    Notes:

    • A timeout is set for every message that requires a response (e.g. MISSION_REQUEST_INT). If the timeout expires without a response being received then the request must be resent.
    • Mission items must be received in order. If an item is received out-of-sequence the expected item should be re-requested by the vehicle (the out-of-sequence item is dropped).
    • An error can be signaled in response to any request using a MISSION_ACK message containing an error code. This must cancel the operation and restore the mission to its previous state. For example, the drone might respond to the MISSION_COUNT request with a MAV_MISSION_NO_SPACE if there isn't enough space to upload the mission.
    • The sequence above shows the mission items packaged in MISSION_ITEM_INT messages. Protocol implementations must also support MISSION_ITEM and MISSION_REQUEST in the same way.
    • Uploading an empty mission (MISSION_COUNT is 0) has the same effect as clearing the mission.

    Download a Mission from the Vehicle ​

    INFO

    Mission upload/download can also be bandwidth intensive and time consuming. Check for plan changes before downloading (or uploading) a mission.

    The diagram below shows the communication sequence to download a mission from a drone (assuming all operations succeed).

    Sequence: Download mission

    The sequence is similar to that for uploading a mission. The main difference is that the client (e.g. GCS) sends MISSION_REQUEST_LIST, which triggers the autopilot to respond with the current count of items (MISSION_COUNT). This starts a cycle where the GCS requests mission items, and the drone supplies them.

    Note:

    • The MISSION_COUNT.opaque_id is the stored ID of the part of the plan that is being uploaded from the vehicle. This should be stored by the GCS so that it can later check that its plan matches that on the vehicle.
    • A timeout is set for every message that requires a response (e.g. MISSION_REQUEST_INT). If the timeout expires without a response being received then the request must be resent.
    • Mission items must be received in order. If an item is received out-of-sequence the expected item should be re-requested by the GCS (the out-of-sequence item is dropped).
    • An error can be signaled in response to any request using a MISSION_ACK message containing an error code. This must cancel the operation.
    • The sequence above shows the mission items packaged in MISSION_ITEM_INT messages. Protocol implementations must also support MISSION_ITEM and MISSION_REQUEST in the same way.

    Set Current Mission Item ​

    The diagram below shows the communication sequence to set the current mission item.

    Mermaid Diagram: Set mission item

    In more detail, the sequence of operations is:

    1. GCS/App sends MAV_CMD_DO_SET_MISSION_CURRENT (or MISSION_SET_CURRENT), specifying the new sequence number (seq).
    2. Drone receives message and attempts to update the current mission sequence number.
      • On success, the Drone must broadcast a MISSION_CURRENT message containing the current sequence number (seq).
      • On failure, the Drone must broadcast a STATUSTEXT with a MAV_SEVERITY and a string stating the problem. This may be displayed in the UI of receiving systems.

    Notes:

    • There is no specific timeout on MISSION_SET_CURRENT message.
    • The acknowledgment of the message is via broadcast of mission/system status, which is not associated with the original message. This differs from error handling in other operations. This approach is used because the success/failure is relevant to all mission-handling clients.

    Monitor Mission Progress ​

    GCS/developer API can monitor progress by handling the appropriate messages sent by the drone:

    Clear Missions ​

    The diagram below shows the communication sequence to clear the mission from a drone (assuming all operations succeed).

    Mermaid Diagram: Clear Missions

    In more detail, the sequence of operations is:

    1. GCS/API sends MISSION_CLEAR_ALL
      • A timeout is started for the GCS to wait on MISSION_ACK from Drone.
    2. Drone receives the message, and clears the mission from storage.
    3. Drone responds with MISSION_ACK with result type of MAV_MISSION_ACCEPTEDMAV_MISSION_RESULT.
    4. GCS receives MISSION_ACK and clears its own stored information about the mission. The operation is now complete.

    Note:

    • A timeout is set for every message that requires a response (e.g. MISSION_CLEAR_ALL). If the timeout expires without a response being received then the request must be resent.
    • An error can be signaled in response to any request (in this case, just MISSION_CLEAR_ALL) using a MISSION_ACK message containing an error code. This must cancel the operation. The GCS record of the mission (if any) should be retained.

    Canceling Operations ​

    The above mission operations may be canceled by responding to any request (e.g. MISSION_REQUEST_INT) with a MISSION_ACK message containing the MAV_MISSION_OPERATION_CANCELLED error.

    Both systems should then return themselves to the idle state (if the system does not receive the cancellation message it will resend the request; the recipient will then be in the idle state and may respond with an appropriate error for that state).

    Operation Exceptions ​

    Timeouts and Retries ​

    A timeout should be set for all messages that require a response. If the expected response is not received before the timeout then the message must be resent. If no response is received after a number of retries then the client must cancel the operation and return to an idle state.

    The recommended timeout values before resending, and the number of retries are:

    • Timeout (default): 1500 ms
    • Timeout (mission items): 250 ms.
    • Retries (max): 5

    Errors/Completion ​

    All operations complete with a MISSION_ACK message containing the result of the operation (MAV_MISSION_RESULT) in the type field.

    On successful completion, the message must contain type of MAV_MISSION_ACCEPTED; this is sent by the system that is receiving the command/data (e.g. the drone for mission upload or the GCS for mission download).

    An operation may also complete with an error - MISSION_ACK.type set to MAV_MISSION_ERROR or some other error code in MAV_MISSION_RESULT. This can occur in response to any message/anywhere in the sequence.

    Errors are considered unrecoverable. In an error is sent, both ends of the system should reset themselves to the idle state and the current state of the mission on the vehicle should be unaltered.

    Note:

    • timeouts are not considered errors.
    • Out-of-sequence messages in mission upload/download are recoverable, and are not treated as errors.

    Mission File Formats ​

    The defacto standard file format for exchanging missions/plans is discussed in: File Formats > Mission Plain-Text File Format.

    Mission Command Detail ​

    This section is for clarifications and additional information about common mission items. In particular it is intended for cases that are difficult to document in the specification XML, or when images will much better describe expected behaviour.

    Loiter Commands (MAV_CMD_NAV_LOITER_*) ​

    Loiter commands are provided to allow a vehicle to hold at a location for a specified time or number of turns, until it reaches the specified altitude, or indefinitely. Multicopter vehicles stop at the specified point (within a vehicle-specific acceptance radius that is not set by the mission item). Forward-moving vehicles (e.g. fixed-wing) circle the point with the specified radius/direction.

    The commands are:

    The location and fixed-wing loiter radius parameters are common to all commands:

    Param (:Label)DescriptionUnits
    3: RadiusRadius around waypoint. If positive loiter clockwise, else counter-clockwisem
    5: LatitudeLatitude
    6: LongitudeLongitude
    7: AltitudeAltitudem

    The loiter time and turns are set in param 1 for the respective messages. The direction of loiter for MAV_CMD_NAV_LOITER_UNLIM can be set using param4 (Yaw).

    INFO

    The remaining parameters (xtrack and heading) apply only to forward flying aircraft (not multicopters!)

    Xtrack and heading define the location at which a forward flying (fixed wing) vehicle will exit the loiter circle, and its path to the next waypoint (these apply only to apply to only MAV_CMD_NAV_LOITER_TIME and MAV_CMD_NAV_LOITER_TURNS).

    Param (:Label)DescriptionUnits
    2: Heading RequiredLeave loiter circle only once heading towards the next waypoint (0 = False)min:0 max:1 increment:1
    4: Xtrack LocationSets xtrack path or exit location: 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use the current system default xtrack behaviour.

    The recommended values (and resulting paths) are those shown below.

    Loiter heading

    The vehicle leaves the loiter after it reaches the desired number of turns or time and based on both the heading required and xtrack params.

    A heading required of 1 prevents the vehicle from exiting the loiter unless it is heading towards the next waypoint (if 0 it can leave at any point provided the other conditions are met). With this setting the vehicle can leave at any point in the arc shown, provided it meets the other conditions (e.g. xtrack). If necessary (i.e. it is not in the arc when the other conditions are met), the vehicle will loop back around the loiter before it evaluates the xtrack condition.

    Loiter heading

    The Xtrack parameter independently defines the path and exit location:

    • xtrack=0: Exit the loiter circle and converge to the centre xtrack between this and the next waypoint.

      • If the heading required parameter is not set it will exit the loiter immediately.
      • Otherwise it will leave as soon as it is heading towards the next waypoint (which may also be immediately!)

    • xtrack=1: Exit the loiter circle and fly/converge to the straight line between the exit point and the centre of the next waypoint (i.e. don't converge to the centre xtrack).

      • If the heading required parameter is set it will exit the loiter as soon as it is heading towards the next waypoint (which may be immediately!).
      • If the heading required parameter is not set it will exit the loiter immediately (note that this exit path does not make much sense unless the heading parameter is set).

    • xtrack=NaN: Exit the loiter using "system specific default behaviour".

      • The vehicle must still respect the heading required param.
      • Usually this is synonymous with xtrack=0

    • xtrack=any other value: Exit the loiter when the vehicle heading (tangent) makes the specified angle in degrees to the center xtrack. Converge to the center xtrack. The vehicle must still respect the heading required param (some xtrack values may not be possible with this condition true). This allows callers to specify how quickly the vehicle converges to the center xtrack. For example, the image below shows the vehicle exiting the loiter at 30 degrees.

      Loiter angle

    Implementations ​

    PX4 ​

    The protocol has been implemented in C.

    Source code:

    The implementation status is (at time of writing):

    • Flight plan missions:
      • upload, download, clearing missions, and monitoring progress are supported as defined in this specification.
    • Geofence missions" are supported as defined in this specification.
    • Rally point "missions" are not supported on PX4.

    Mission operation cancellation works for mission download (sets system to idle). Mission operation cancellation does not work for mission uploading; PX4 resends MISSION_REQUEST_INT until the operation times out.

    Source code:

    QGroundControl ​

    The protocol has been implemented in C++.

    Source code:

    ArduPilot ​

    ArduPilot implements the mission protocol in C++.

    ArduPilot uses the same messages and message flow described in this specification. There are (anecdotally) some implementation differences that affect compatibility. These are documented below.

    Source:

    Flight Plan Missions ​

    Mission upload, download, clearing missions, and monitoring progress are supported.

    INFO

    ArduPilot implements also partial mission upload using MISSION_WRITE_PARTIAL_LIST, but not partial mission download (MISSION_REQUEST_PARTIAL_LIST). Partial mission upload/download is not an official/standardised part of the mission service.

    ArduPilot's implementation differs from this specification (non-exhaustively):

    • The first mission sequence number (seq==0) is populated with the home position of the vehicle instead of the first mission item.
    • Mission uploads are not "atomic". An upload that fails (or is canceled) part-way through will not match the pre-update state. Instead it may be a mix of the original and new mission.
    • Even if upload is successful, the vehicle mission may not match the version on the uploading system (and if the mission is then downloaded it will differ from the original).
      • There is rounding on some fields (and in some cases internal maximum possible values due to available storage space). Failures can occur if you do a straight comparison of the float params before/after upload.
    • A MISSION_ACK returning an error value (NACK) does not terminate the upload (i.e. it is not considered an unrecoverable error). As long as ArduPilot has not yet timed-out a system can retry the current mission item upload.
    • A mission cannot be cleared while it is being executed (i.e. while in Auto mode). Note that a new mission can be uploaded (even a zero-size mission - which is equivalent to clearing).
    • Explicit cancellation of operations is not supported. If one end stops communicating the other end will eventually timeout and reset itself to an idle/ready state.

    The following behaviour is not defined by the specification (but is still of interest):

    • ArduPilot performs some validation of fields when mission items are submitted. The validation code is common to all vehicles; mission items that are not understood by the vehicle type are accepted on upload but skipped during mission execution.
    • ArduPilot preforms some vehicle-specific validation at mission runtime (e.g. of jump targets).
    • A new mission can be uploaded while a mission is being executed. In this case the current waypoint will be executed to completion even if the waypoint sequence is different in the new mission (to get the new item you would need to reset the sequence or switch in/out of auto mode).
    • ArduPilot missions are not stored in an SD card and therefore have a vehicle/board-specific maximum mission size (as a benefit, on ArduPilot, missions can survive SD card failure in flight).

    Geofence & Rally Point Plans ​

    QGroundControl is the reference implementation for mission / rally point plans.

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    Offboard Control Interface ​

    The offboard control interface allows an external controller to send low-level attitude, position, velocity, and/or acceleration setpoints to the vehicle.

    This is commonly used to provide external control of a real-time flight stack from a companion/mission computer, for example, in order to implement features such as obstacle avoidance or collision prevention.

    Generally setpoints are only obeyed in a specific flight-stack mode. The flight stack requires the setpoints to be recieved for some time before it will allow the mode to be enabled, and will switch out of the mode if setpoints are no longer received.

    The particular types of setpoints that are supported, if any, depend on the vehicle type and flight stack.

    Message/Enum Summary ​

    MessageDescription
    SET_POSITION_TARGET_LOCAL_NEDSets a desired vehicle position, velocity, and/or accelaration setpoint in a local north-east-down coordinate frame.
    SET_POSITION_TARGET_GLOBAL_INTSets a desired vehicle position, velocity, and/or acceleration in a global coordinate system (WGS84)
    SET_ATTITUDE_TARGETSets a desired vehicle attitude.
    POSITION_TARGET_LOCAL_NEDPublishes current local NED target (set by SET_POSITION_TARGET_LOCAL_NED).
    POSITION_TARGET_GLOBAL_INTPublishes current global target (set by SET_POSITION_TARGET_GLOBAL_INT).
    ATTITUDE_TARGETPublishes current attitude target (set by SET_ATTITUDE_TARGET).
    EnumDescription
    MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NEDFlight stack supports SET_POSITION_TARGET_LOCAL_NED.
    MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INTFlight stack supports SET_POSITION_TARGET_LOCAL_NED.
    MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGETFlight stack supports SET_ATTITUDE_TARGET.

    Feature support ​

    Test for setter message support by checking AUTOPILOT_VERSION.capabilities for the associated protocol bit: MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NED, MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INT, MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGET.

    Note that support for the protocol/message does not imply that every vehicle will support every possible combination of parameters. This can only be inferred from the flight stack documentation.

    Implementations ​

    PX4 supports this protocol in Offboard mode. The allowed setpoints are documented at that link, and depend on the vehicle type.

    ArduPilot supports this protocol in Guided mode. The supported messages for each vehicle type are covered in:

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    Open Drone ID ​

    Direct Remote Identification (DRI) or Remote ID (RID) is/will be a mandatory technology for Unmanned Aircraft (UA) in Japan, the United States of America and the European Union. Data such as the UA real-time location/altitude, UA serial number, operator ID/location etc. are broadcast via either Wi-Fi or Bluetooth from the UA. Open Drone ID is an open source implementation of RID.

    The terms Remote ID and drone ID are used interchangeably in the text below.

    Relevant specifications ​

    The MAVLink messages defined for usage with Open Drone ID are compliant with the following standards:

    • ASTM F3411 Specification for Remote ID and Tracking
    • ASD-STAN prEN 4709-002 Direct Remote Identification

    For additional details, please see here. In general, the front page of the opendroneid core-c repository has lots of pointers to additional information and SW projects related to drone ID.

    Broadcast methods and impact on the message design ​

    Four different broadcast methods are defined:

    • Bluetooth Legacy Advertising (Bluetooth 4.x)
    • Bluetooth Long Range with Extended Advertising (Bluetooth 5.x)
    • Wi-Fi Neighbor-aware Network (Wi-Fi NaN)
    • Wi-Fi Beacon (vendor specific information element in the SSID beacon frame)

    The broadcast method used with Bluetooth Legacy Advertising signals impose a strict size limitation on the amount of data that can be transmitted in each radio burst. Therefore the relevant data is divided into different categories and each category is transmitted via its own message.

    The standards defines 6 such messages and an additional 7th message type for packing multiple messages together into a message pack (used when transmitting on Wi-Fi NaN, Wi-Fi Beacon or Bluetooth Long Range with Extended Advertising). To support easy data transfers to/from a Remote ID (RID) transmitter/receiver component, MAVLink messages supporting all the fields of the drone ID messages have been made available. See Messages below.

    Use case examples ​

    There are multiple possible use cases for the MAVLink drone ID messages:

    • A flight controller sends ID, location etc. data to an onboard Bluetooth/Wi-Fi RID transmitter component.
    • An onboard Bluetooth/Wi-Fi receiver picks up drone ID messages from surrounding aircraft, relays this information using MAVLink drone ID messages to the flight controller, which then uses the information e.g. for Detect And Avoid (DAA) calculations.
    • A drone sends MAVLink drone ID messages via its control link to the Ground Control Station (GCS). The GCS is connected via the Internet to a Remote ID server, which stores and publishes the drone's ID, location etc.
    • As above but in the other direction for DAA calculations.
    • A Remote ID Display application (RID) on the GCS listens to all drone ID data received from surrounding UAs and displays their position to the operator.

    Messages ​

    The ASTM, ASD-STAN and MAVLink messages are listed below.

    ASTMASD-STANMAVLinkPurpose
    Basic IDBasic IDOPEN_DRONE_ID_BASIC_IDProvides an ID for the UA, characterizes the type of ID and identifies the type of UA.
    LocationLocationOPEN_DRONE_ID_LOCATIONProvides location, altitude, direction, and speed of the UA.
    AuthenticationNot specified (reserved)OPEN_DRONE_ID_AUTHENTICATIONProvides authentication data for the UA.
    Self-IDSelf-IDOPEN_DRONE_ID_SELF_IDOptional plain text message that can be used by operators to identify themselves and the purpose of an operation. Can also be used to provide optional additional clarification in an emergency/remote ID system failure situation.
    SystemSystemOPEN_DRONE_ID_SYSTEMIncludes the operator location/altitude, multiple aircraft information (group/swarm, if applicable), full timestamp and possible category/class information.
    Operator IDOperator IDOPEN_DRONE_ID_OPERATOR_IDProvides the operator ID.
    Message PackMessage PackOPEN_DRONE_ID_MESSAGE_PACKA payload mechanism for combining the messages above into a single message pack. Used with Bluetooth Extended Advertising, Wi-Fi NaN and Wi-Fi Beacon.
    __OPEN_DRONE_ID_ARM_STATUSSent by RID transmitter/receiver components to indicate that the RID system is "ready to use". This should be used as an arming condition for the flight stack. Note that this differs from the HEARTBEAT which indicates that the component is "alive" but not necessarily ready to use.
    __OPEN_DRONE_ID_SYSTEM_UPDATEA subset of the OPEN_DRONE_ID_SYSTEM message, containing only the fields that must be updated at a high rate. Typically sent from the GCS to provide data to the RID transmitter component. If both OPEN_DRONE_ID_SYSTEM and OPEN_DRONE_ID_SYSTEM_UPDATE are used, the more efficient OPEN_DRONE_ID_SYSTEM_UPDATE will be used at a high rate and the full OPEN_DRONE_ID_SYSTEM at a low rate, to reduce the traffic on the control link.

    INFO

    The raw byte layout of the MAVLink messages is not exactly the same as what a RID Bluetooth/Wi-Fi transmitter component will broadcast over the air. Slight compression is applied. Example code for this conversion can be found in the project: Open Drone ID Core C Library.

    The Open Drone ID Core C Library contains code for decoding the MAVLink messages and "compressing" the data into data structures for broadcast over Bluetooth or Wi-Fi (or vice-versa for reception).

    The standards do not impose any requirements for a drone to be capable of receiving drone ID messages, nor any requirements for reacting to their content (requirements from local legislation might be different).

    An example Android receiver implementation for Bluetooth/Wi-Fi drone ID is available here (source codes).

    Code related to (Internet) Network Remote ID can be found in the InterUSS Project and https://github.com/uastech/standards (Unofficial reference for UAS-related APIs).

    Message update rates ​

    ASTM F3411 and ASD-STAN prEN 4709-002 (and possibly other standards) require that the LOCATION message is broadcast/published from the RID transmitter component at least once per second. The rest of the messages must be broadcast/published once per 3 seconds (the rules in some regions have tightened this requirement to 1 second for also the BASIC ID and the SYSTEM message. Please see here).

    Not all message types or fields within a message type are mandatory to broadcast/publish. The mandatory message set vary from region to region. Please see the summary.

    The standards require that the data contained in the LOCATION and the SYSTEM messages (on the air/internet) is not older than 1 second (the location data, timestamps etc.).

    To be compliant in different regions and receive certification acceptance, the UAS as a complete entity must obey the above timing restrictions. Although popular autopilot SW stacks will be verified to be capable of this, the compliance testing will have been done using a certain set of HW/SW components. Any deviation from this set, will require the integrator of the UAS to consider the combination of the above requirements when deciding the internal update rates for each component, in the MAVLink network, generating data for the RID transmitter component.

    It must be expected that there will be some delays from e.g. the GCS sending a SYSTEM message via the flight controller to the RID transmitter component. The RID transmitter component will gather this data plus data from other messages together and generate the final message data set, which is broadcast over the air. Each of these components will be running on their own update and forward/relay cycle and can thus introduce delays. I.e. running everything at exactly one second cycles, probably will lead to violations of the data "freshness" requirement. But going to the other extreme of forcing all messages to be at 10+ Hz would likely lead to unnecessary airwave noise on the (Command and Control) C2 link/Wi-Fi/Bluetooth spectrum. Components are expected to tune refresh rates to ensure compliance, without saturating internal communication links.

    RID broadcasting using Bluetooth 4 Legacy Advertising introduces additional complexity to this. For Bluetooth 5 or Wi-Fi Beacon/NaN, all messages are packed together and broadcast in a single advertisement by the RID transmitter component. Bluetooth 4 advertisements can only contain 25 bytes and thus can fit only a single message. Since typically at least three messages must be broadcast on the air per second, the BT4 RID transmitter component must advertise at least every 333 ms.

    Routing drone ID MAVLink messages inside the UAS ​

    There can be multiple MAVLink components in an UAS involved in the handling of drone ID data. An example is shown in the figure below. Certainly not all UAS will contain all of these components and the placement of some of them can be different from one system to another.

    drone ID conceptual overview

    All senders of MAVLink drone ID messages must fill the sysid field with the MAVLink system ID value that the MAVLink sender component belongs to and fill the compid field with the MAVLink component ID value of the sender.

    The MAVLink components or systems that will typically generate drone ID MAVLink messages are listed in the table below:

    Component/SystemDescription
    MAV_COMP_ID_AUTOPILOT1The flight controller/autopilot. Knows the ID of the UA, the current location, altitude, speed etc.
    Ground Control StationGCS with a human user interface for inputting the operator ID, text description of the flight purpose, method for obtaining the operator location etc.
    MAV_COMP_ID_ODID_TXRX_1A Remote ID transmitter/receiver component (Bluetooth/Wi-Fi/Internet).
    MAV_COMP_ID_ODID_TXRX_2A Remote ID transmitter/receiver component (Bluetooth/Wi-Fi/Internet).
    MAV_COMP_ID_ODID_TXRX_3A Remote ID transmitter/receiver component (Bluetooth/Wi-Fi/Internet).

    The autopilot/flight controller is typically the component that knows about the data needed for the BASIC ID and the LOCATION messages. It must stream MAVLink messages with this information to the RID transmitter component.

    The Ground Control Station system is the interface for the operator of the UAS. The operator must enter the data needed for the SELF_ID, the SYSTEM and the OPERATOR_ID, messages before the flight. The GCS must send this data via MAVLink messages to the RID transmitter component (possibly via the autopilot component). If the GCS is capable of regularly obtaining its own location, these updates are sent in the SYSTEM message together with a full timestamp.

    The UAS has one or more RID transmitter components for publishing the drone ID data to the rest of the world, either via Bluetooth or Wi-Fi broadcasts, or via an internet connection to an internet Remote ID server. The RID transmitter components will listen to the MAVLink messages from the flight controller and the GCS but must ignore MAVLink messages where the compid field is set to MAV_COMP_ID_ODID_TXRX_1, MAV_COMP_ID_ODID_TXRX_2 or MAV_COMP_ID_ODID_TXRX_3 (those MAVLink messages would have originated from a RID receiver component and would be the drone ID information from other UAs). The method for the RID transmitter components to identify MAVLink messages from the GCS, is described in the Heartbeat section below.

    The MAVLink components in the UAS involved in the drone ID MAVLink message exchange, must keep track of the HEARTBEAT MAVLink messages from the other MAVLink components. If the HEARTBEAT messages are not received within a required time interval, they must declare a malfunction of the Remote ID system and indicate this in the status field of the LOCATION message. This must also be indicated to the operator of the UAS.

    Similarly, the autopilot must listen to the ARM_STATUS from the RID transmitter component(s) and not allow the UA to be airborne before the RID transmitter component(s) is ready. During flight, if the arm status indicates a failure, similar action must be taken as for a lack of HEARTBEAT messages from the RemoteID. The ARM_STATUS message must also be routed to a GCS, if present, allowing it to provide more detailed information about RemoteID arming failures.

    INFO

    In addition to the above, there are multiple additional different scenarios that must result in the Location status field being set to Emergency or Remote ID System Failure. The exact strategy on how to avoid having multiple MAVLink components overwriting each-others emergency declarations is not yet fully defined. Some preliminary discussion can be found here.

    Optionally, further restrictions on which RID transmitter/receiver component must process a MAVLink message can be enforced if the sender fills the target_system and target_component fields of the MAVLink message. RID transmitter/receiver components must only listen to MAVLink messages that have these fields set to either zero (broadcast) or the component's own MAVLink system ID and component ID. This can be useful if e.g. there are two UA connected to a single GCS. The GCS can then direct information to specific MAV_COMP_ID_ODID_TXRX_x components on a specific UA. By default, all senders of drone ID MAVLink messages must fill the target_system and target_component fields with zero, to indicate a broadcast to all MAVLink components.

    Open Drone ID data from other UA(s) ​

    It is possible that the RID transmitter components also work as receivers, for obtaining drone ID data from surrounding UAs. When publishing the received drone ID data as internal MAVLink messages, they must set the compid field to their own MAV_COMP_ID_ODID_TXRX_n ID to make it possible to distinguish this data from the drone ID data of the UA itself. Also the systemid field must be set with the MAVLink system ID value that the RID receiver component belongs to.

    At least two possible consumers of drone ID data from surrounding aircraft are possible:

    • A Detect And Avoid (DAA) system that tracks the current and estimated future positions of other UAs and takes that into account when setting the flight path of the UA itself.
    • A Remote ID Display (RID) application that visually shows the surrounding UA's locations (and possibly past and estimated future flight paths) to the operator of the UA, in order for him/her to utilize this information when controlling the UA.

    See below on how to combine remote ID data from other UAs.

    Heartbeat ​

    Each component involved in the MAVLink message exchange, is required to regularly send out MAVLink HEARTBEAT messages in order to facilitate discovery and monitoring of the component in the UAS. Please see further details in the HEARTBEAT documentation.

    For RID transmitter/receiver components (with compids MAV_COMP_ID_ODID_TXRX_1, MAV_COMP_ID_ODID_TXRX_2 or MAV_COMP_ID_ODID_TXRX_3), the type field in the HEARTBEAT message must be filled with MAV_TYPE_ODID.

    The MAVLink HEARTBEAT message serves as the way for RID transmitter/receiver components to identify the sysid of the GCS. The GCS will send out MAVLink HEARTBEAT messages with its sysid field set to the GCS's MAVLink system ID and the type set to MAV_TYPE_GCS. The RID transmitter/receiver components must interpret all MAVLink Open Drone ID messages from that system ID, as coming from the GCS. There is no dedicated MAVLink component ID for GCSs, hence the MAVLink system ID must be used instead for identifying the GCS.

    Possible future improvements ​

    The current set of MAVLink drone ID messages do not provide any means for controlling some of the RID transmitter/receiver component details. The RID transmitter/receiver component must be hard-coded by the manufacturer to a certain configuration. Some discussion and proposal for this type of messages can be found here. It would be useful to control e.g. the following items:

    • Starting/stopping broadcast
    • Configure the broadcast method (BT4, BT5, Beacon, NaN)
    • Wi-Fi channel configuration for Beacon
    • Message update rates on the air

    No regions currently require drone ID publication via the internet (Network Remote ID). However, it is possible that in the future this will change from being optional to mandatory for some use cases/regions as a part of the UTM/USpace efforts. Currently there are no suitable MAVLink messages defined to configure a Network Remote ID transceiver. Messages to specify the server(s) to connect to, credentials etc. would be needed.

    Security of drone ID data is partly under definition. The Japan rule requires a signature of the drone ID data to be broadcasted in the AUTHENTICATION message. The details are in Japanese. No such requirement currently exists for the US and EU. It is possible that some use cases in the future might require more security related activities for drone ID data. Some additional protocol specification work is being drafted by the IETF in the DRIP working group.

    UAS with multiple RID transmitters and/or receiver components ​

    Since three different technologies for broadcasting/publishing drone ID data have been defined (Bluetooth, Wi-Fi and internet), it is quite possible for a UAS to support more than just a single type.

    For UASs that desire to listen to other UA's information, it would be desirable to include receivers for all three methods, in order to maximize the possibility of detecting all other surrounding UAs.

    Combining data from other UAs when receiving drone ID data ​

    For Drone ID data that is received from other UAs, the data of the message itself does not always identify exactly which UA the data originated from. E.g. for data received via Bluetooth Legacy Advertising (Bluetooth 4.x), many of the received messages will not contain the unique serial number/ID of the UA that broadcasted the data, due to the severe size limitation imposed by Legacy Advertising where only one 25 byte message can be broadcasted in one advertisement radio burst. The MAC address (possibly randomized) of the Bluetooth HW is the only way to associate these messages to the same UA. For Bluetooth 5.x and Wi-Fi, it is possible that the same can happen in certain specific situations (e.g. sending large amount of authentication data), although for the majority of normal usage this is unlikely, since the use of MESSAGE_PACKs is mandated. For data received via internet, the data packet will always contain the unique serial number/ID of the originating UA but no associated MAC address.

    In order to allow e.g. a DAA component to sort and identify which UA each data message has originated from, the RID receiver components must add, to the MAVLink message, either the MAC address or the ID number associated with the UA that originated the data message, before sending it on the internal UAS MAVLink network. This information must be added in the id_or_mac field of each MAVLink message.

    The serial/ID is copied directly from the uas_id field with NULLs in the unused portion. The MAC address must be entered in ASCII format with NULLs in the unused portion. Any separation characters must be removed. E.g. "30-65-EC-6F-C4-58" or "30:65:EC:6F:C4:58" must be represented as the ASCII string "3065EC6FC458". When not used for the above purpose, the id_or_mac field must be filled with NULLs.

    The MAVLink system/component listening to the MAVLink messages must be aware that it is possible to receive drone ID data from the same UA via multiple receive paths (e.g. Wi-Fi and internet). Filtering and merging of the data (and possible deletion of duplicates) will be needed and it must keep track of both a possible MAC address and the serial/ID of the other UAs. Additional filtering and sorting based on the timestamp in the LOCATION or SYSTEM messages can also be needed in order to generate a consistent flight path for the other UAs.

    - + \ No newline at end of file diff --git a/en/services/parameter.html b/en/services/parameter.html index 0b93f6fa0..b0cdc6135 100644 --- a/en/services/parameter.html +++ b/en/services/parameter.html @@ -9,9 +9,9 @@ - + - + @@ -28,7 +28,7 @@ // Then send the param by providing the float bytes to the send function mavlink_msg_param_set_send(xxx, xxx, param.param_float, param.type, xxx);

    Bytewise Encoding: Mavgen Python API ​

    Pymavlink does not include special support to byte-wise encode the non-float data types (unsurprisingly, because Python effectively "hides" low level data types from users). When working with a system that supports non-float parameters (e.g. PX4) you will need to do the encoding/decoding yourself when sending and receiving messages.

    There is a good example of how to do this in the Pymavlink mavparm.py module (see MAVParmDict.mavset()).

    Parameter Types ​

    The allowed parameter types are given in MAV_PARAM_TYPE.

    Note that not all types are supported: for example PX4 supports only INT32 and FLOAT. A GCS can infer the supported types from the parameters it is sent.

    Parameter Metadata ​

    Parameter metadata is additional information about a parameters that allow them to be safely used in a ground station. This might include a description and listing of possible values.

    The Component Information Protocol has been proposed as a mechanism for getting this information directly from a vehicle.

    Parameter Caching ​

    A GCS or other component may choose to maintain a cache of parameter values for connected components/systems, in order to reduce the time required to display values and reduce MAVLink traffic.

    The cache can be populated initially by first reading the full parameter list at least once, and then updated by monitoring for PARAM_VALUE messages (which are emitted whenever a parameter is written or otherwise changed).

    INFO

    Cache synchronisation is not guaranteed; a component may miss update messages due to parameter changes by other components.

    Multi-System and Multi-Component Support ​

    MAVLink supports multiple systems in parallel on the same link, and multiple MAVLink enabled components within a system.

    Requests to get and set parameters can be sent to individual systems or components. To get a complete parameter list from a system, send the request parameter message with target_component set to MAV_COMP_ID_ALL.

    All components must respond to parameter request messages addressed to their ID or the ID MAV_COMP_ID_ALL.

    TIP

    QGroundControl by default queries all components of the currently connected system (it sends ID MAV_COMP_ID_ALL).

    Limitations ​

    Parameters Table is Invariant ​

    The protocol requires that the parameter set does not change during normal operation/after parameters have been read.

    If a component can add parameters during (or after) initial synchronization the protocol cannot guarantee reliable/robust synchronization, because there is no way to notify that the parameter set has changed and a new sync is required.

    If working with a non-compliant component, the risk of problems when working with parameters can be reduced (but not removed) if:

    • The param_id is used to read parameters where possible (the mapping of param_index to a particular parameter might change on systems where parameters can be added/removed).
    • PARAM_VALUE.param_count is monitored and the parameter set re-sychronised on change.

    Parameter Synchronisation Can Fail ​

    A GCS (or other component) that wants to cache parameters with a component and keep them synchronised, should first get all parameters, and then track any new parameter changes by monitoring for PARAM_VALUE messages (updating their internal list appropriately).

    This works for the originator of a parameter change, which can resend the request if an expected PARAM_VALUE is not recieved. This approach may fail for components that did not originate the change, as they will not know about updates they do not receive (i.e. if messages are dropped).

    A component may mitigate this risk by, for example, sending the PARAM_VALUE multiple times after a parameter is changed.

    Parameter Operations ​

    This section defines the state machine/message sequences for all parameter operations.

    Read All Parameters ​

    The read-all operation is started by sending the PARAM_REQUEST_LIST message. The target component must start to broadcast the parameters individually in PARAM_VALUE messages after receiving this message. The drone should allow a pause after sending each parameter to ensure that the operation doesn't consume all of the available link bandwidth (30 - 50 percent of the bandwidth is reasonable).

    Mermaid sequence: Read all parameters

    The sequence of operations is:

    1. GCS (client) sends PARAM_REQUEST_LIST specifying a target system/component.
      • Broadcast addresses may be used. All targeted components should respond with parameters (or ignore the request if they have none).
      • The GCS is expected to accumulate parameters from all responding systems.
      • The timeout/retry behaviour is GSC dependent.
    2. The targeted component(s) should respond, sending all parameters individually in PARAM_VALUE messages.
      • Allow breaks between each message in order to avoid saturating the link.
      • Components with no parameters should ignore the request.
    3. GCS starts timeout after each PARAM_VALUE message in order to detect when parameters are no longer being sent (that the operation has completed).

    Notes:

    • The GCS/API may accumulate the received parameters for each component and can determine if any are missing/not received (PARAM_VALUE contains the total number of params and index of current param).
    • Handling of missing params is GCS-dependent. QGroundControl, for example, individually requests each missing parameter by index.
    • If a component does not any parameters then it will ignore a PARAM_REQUEST_LIST request. The sender should simply timeout (after resends) if no PARAM_VALUE is received.

    Read Single Parameter ​

    A single parameter can be read by sending the PARAM_REQUEST_READ message, as shown below:

    Mermaid sequence: Read single parameter

    The sequence of operations is:

    1. GCS (client) sends PARAM_REQUEST_READ specifying either the parameter id (name) or parameter index.
    2. GCS starts timeout waiting for acknowledgment (in the form of a PARAM_VALUE message).
    3. Drone responds with PARAM_VALUE containing the parameter value. This is a broadcast message (sent to all systems).

    The drone may restart the sequence if the PARAM_VALUE acknowledgment is not received within the timeout.

    INFO

    There is no formal way for the drone to signal when an invalid parameter is requested (i.e. for a parameter name or id that does not exist). In this case the drone should emit STATUS_TEXT. The GCS may monitor for the specific notification, but will otherwise fail the request after any timeout/resend cycle completes.

    Write Parameters ​

    Parameters can be written individually by sending the parameter name and value pair to the GCS, as shown:

    Mermaid Sequence: Write parameters

    The sequence of operations is:

    1. GCS (client) sends PARAM_SET specifying the param name to update and its new value (also target system/component and the param type).

    2. GCS starts timout waiting for acknowledgment (in the form of a PARAM_VALUE message).

    3. Drone writes parameter and responds by broadcasting a PARAM_VALUE containing the updated parameter value to all components/systems.

      INFO

      The Drone must acknowledge the PARAM_SET by broadcasting a PARAM_VALUE even if the write operation fails. In this case the PARAM_VALUE will be the current/unchanged parameter value.

    4. GCS should update the parameter cache (if used) with the new value.

    5. The GCS may restart the sequence if the expected PARAM_VALUE is not received within the timeout, or if the write operation fails (the value returned in PARAM_VALUE does not match the value set).

    INFO

    The command MAV_CMD_DO_SET_PARAMETER is not part of the parameter protocol. If implemented it can be used to set the value of a parameter using the enumeration of the parameter within the remote system is known (rather than the id). This has no particular advantage over the parameter protocol methods.

    Implementations ​

    PX4 ​

    PX4 is compatible with the specification:

    • Byte-wise encoding of parameters is supported. Note however that PX4 does not set MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISE (at time of writing - PX4 v1.12). See PX4-Autopilot/issues/19275
    • Only float and Int32 parameters are used.

    PX4 provides an addition off-spec mechanism that allows a GCS to cache parameters. This significantly reduces ready-to-use time for the GCS if parameters have not been changed since the previous parameter sync. The way that this mechanism works is that when the list of parameters is requested, PX4 first sends a PARAM_VALUE with the param_index of INT16_MAX (in code, referred to as PARAM_HASH) containing a hash of the parameter set.

    This hash is calculated by computing the MAVLink CRC32 over all param names and values (see the param_hash_check() in source here). If the GCS has a matching hash value it can immediately start using its cached parameters (rather than having to wait while all the rest of the parameters upload).

    Source files:

    ArduPilot ​

    ArduPilot implements a largely compatible version of this protocol.

    • C-style encoding of parameters is supported. Note however that ArduPilot does not set MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST.

    Off spec-behaviour:

    • PARAM_VALUE is not emitted after the parameter update with the new value (or the old value if update failed).

    Compatible differences:

    • Parameter sets can be enabled/disabled during operation. This can invalidate the set of synchronized parameters and make access to parameters by index unreliable.
    • PARAM_SET
      • param_type in the message is ignored. The data type is obtained by checking stored type info (via name lookup).
      • The data type is used to constrain and round the received value before it is stored (as a float).

    Source files:

    QGroundControl ​

    QGroundControl implements this protocol, and works with both ArduPilot and PX4.

    Source files:

    - + \ No newline at end of file diff --git a/en/services/parameter_ext.html b/en/services/parameter_ext.html index 44710d510..dd9f5eb3a 100644 --- a/en/services/parameter_ext.html +++ b/en/services/parameter_ext.html @@ -9,9 +9,9 @@ - + - + @@ -68,7 +68,7 @@ break; ... }

    QGroundControl provides real code examples here:

    Parameter Caching ​

    A GCS or other component may choose to maintain a cache of parameter values for connected components/systems, in order to reduce the time required to display values and reduce MAVLink traffic.

    The cache can be populated initially by first reading the full parameter list at least once, and then updated by monitoring for PARAM_EXT_ACK messages with PARAM_ACK_ACCEPTED (which are emitted whenever a parameter is successfully written/changed).

    A system may also monitor for PARAM_EXT_VALUE originating from other components/systems requesting parameter values.

    INFO

    Cache synchronisation is not guaranteed; a component may miss parameter update messages due to changes by other components.

    Limitations ​

    Parameters Table is Invariant ​

    The protocol requires that the parameter set does not change during normal operation/after parameters have been read.

    If a component can add parameters during (or after) initial synchronization the protocol cannot guarantee reliable/robust synchronization, because there is no way to notify that the parameter set has changed and a new sync is required.

    When requesting parameters from such a components, the risk of problems can be reduced (but not removed) if:

    • The param_id is used to read parameters where possible (the mapping of param_index to a particular parameter may change on systems where parameters can be added/removed).
    • PARAM_EXT_VALUE.param_count may be monitored. If this changes the parameter set should be re-sychronised.

    Parameter Synchronisation Can Fail ​

    A GCS (or other system) that wants to cache parameters from a component and keep them synchronised should first get all parameters, and then track changes by monitoring for PARAM_EXT_ACK messages (updating their internal list appropriately).

    This works for the originator of a parameter change, which can resend the request if an expected PARAM_EXT_ACK is not received. This approach may fail for components that did not originate the change, as they will not know about updates they do not receive (i.e. if messages are dropped).

    A component may mitigate this risk by, for example, sending the PARAM_EXT_ACK multiple times after a parameter is changed.

    Parameter Operations ​

    This section defines the state machine/message sequences for all parameter operations.

    Read All Parameters ​

    The read-all operation is started by sending the PARAM_EXT_REQUEST_LIST message. The target component must start to broadcast the parameters individually in PARAM_EXT_VALUE messages after receiving this message. The drone should allow a pause after sending each parameter to ensure that the operation doesn't consume all of the available link bandwidth (30 - 50 percent of the bandwidth is reasonable).

    The sequence of operations is:

    1. GCS (client) sends PARAM_EXT_REQUEST_LIST specifying a target system/component.
      • Broadcast addresses may be used. All targeted components should respond with parameters (or ignore the request if they have none).
      • The GCS is expected to accumulate parameters from all responding systems.
      • The timeout/retry behaviour is GSC dependent.
    2. The targeted component(s) should respond, sending all parameters individually in PARAM_EXT_VALUE messages.
      • Allow breaks between each message in order to avoid saturating the link.
      • Components with no parameters should ignore the request.
    3. GCS starts timeout after each PARAM_EXT_VALUE message in order to detect when parameters are no longer being sent (that the operation has completed).

    Notes:

    • The GCS/API may accumulate the received parameters for each component and can determine if any are missing/not received (PARAM_EXT_VALUE contains the total number of params and index of current param).
    • Handling of missing params is GCS-dependent. QGroundControl, for example, individually requests each missing parameter by index.
    • If a component does not any parameters then it will ignore a PARAM_EXT_REQUEST_LIST request. The sender should simply timeout (after resends) if no PARAM_EXT_VALUE is received.

    Read Single Parameter ​

    A single parameter can be read by sending the PARAM_EXT_REQUEST_READ message, as shown below:

    The sequence of operations is:

    1. GCS (client) sends PARAM_EXT_REQUEST_READ specifying either the parameter id (name) or parameter index.
    2. GCS starts timeout waiting for acknowledgment (in the form of a PARAM_EXT_VALUE message).
    3. Drone responds with PARAM_EXT_VALUE containing the parameter value. This is a broadcast message (sent to all systems).

    The drone may restart the sequence if the PARAM_EXT_VALUE acknowledgment is not received within the timeout.

    Write Parameters ​

    Parameters are written individually using PARAM_EXT_SET. The recipient will respond with PARAM_EXT_ACK indicating success, failure, or that the write is still in progress (PARAM_ACK_IN_PROGRESS). On receipt of PARAM_ACK_IN_PROGRESS the component setting the parameter will extend its timeout (PARAM_EXT_ACK will be re-sent when the write completes)

    Parameters can be written individually by sending the parameter name and value pair to the GCS, as shown:

    For long-running write operations drone may initially respond with PARAM_ACK_IN_PROGRESS:

    The sequence of operations is:

    1. GCS (client) sends PARAM_EXT_SET specifying the param name to update and its new value (also target system/component and the param type).
    2. GCS starts timout waiting for acknowledgment (in the form of a PARAM_EXT_ACK message).
    3. Drone (starts to) write parameter and responds by broadcasting a PARAM_EXT_ACK.
      • If the write succeeded the PARAM_EXT_ACK will contain a result of PARAM_ACK_ACCEPTED and the updated parameter value.
      • If the parameter was unknown or of an unsupported type PARAM_EXT_ACK will contain a result of PARAM_ACK_VALUE_UNSUPPORTED and the current parameter value will be XXXXX.
      • If the write failed for another reason then PARAM_EXT_ACK will contain a result of PARAM_ACK_FAILED and the current parameter value.
      • If the write operation is long-running the PARAM_EXT_ACK will contain a result of PARAM_ACK_IN_PROGRESS and the XXXX parameter value. In this case the recipient should increase their timeout and way for another PARAM_EXT_ACK. PARAM_EXT_ACK should be resent when the operation completes.
    4. GCS should update the parameter cache (if used) with the new value.
    5. The GCS may restart the sequence if an expected PARAM_EXT_ACK is not received within the timeout, or if the write operation fails.

    Implementations ​

    QGroundControl: QGCCameraIO.h, QGCCameraIO.cc

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    Payload Protocols ​

    MAVLink defines a number of commands for directly controlling particular types of payloads like winches and grippers, and for controlling generic payloads. In addition there are commands for payload placement in missions.

    INFO

    Camera and Gimbal payloads are covered in their own topics.

    Payload-Specific Commands ​

    MAVLink defines a number of commands for controlling specific types of payload hardware, including: winches, grippers, spotlights, etc. These commands may be used in both missions and commands, if supported by the target system.

    They should be used (where supported) in preference to generic payload commands, as generally they provide more "tailored" control over the payload, a better GCS user experience, and more informative logs.

    MessageDescription
    MAV_CMD_DO_GRIPPERCommand to engage and release a gripper.
    MAV_CMD_DO_WINCHCommand to operate a specified winch.
    MAV_CMD_ILLUMINATOR_ON_OFFCommand to turn illuminators ON/OFF. An illuminator is a light source that for lighting up dark areas external to the system, such as a headlight or searchlight.

    Generic Payload Commands ​

    MAVLink has a number of commands for setting actuator outputs. These can be used to control arbitrary/generic payloads.

    TIP

    Use the commands for known payload types where possible as they are more intuitive for users, and in logs.

    MessageDescription
    MAV_CMD_DO_SET_ACTUATORSets actuators (e.g. servos) to a desired value. The actuator numbers are mapped to specific outputs (e.g. on any MAIN or AUX PWM or UAVCAN) using a flight-stack specific mechanism (for example, parameters).
    MAV_CMD_DO_SET_SERVOSets a servo, identified by a specified instance number, to a specified PWM value.
    MAV_CMD_DO_SET_RELAYSet a specified relay instance on or off.
    MAV_CMD_DO_REPEAT_RELAYCycle a relay on and off for a desired number of cycles with a desired period.

    INFO

    Implementations:

    • MAV_CMD_DO_SET_ACTUATOR is more recent than MAV_CMD_DO_SET_SERVO, but has not yet been widely adopted.
      • Only implemented only on PX4 (June 2021). For more information see the PX4 User Guide.
    • MAV_CMD_DO_SET_SERVO is implemented on both ArduPilot and PX4 (Missions only). In both cases instance numbers map to corresponding AUX outputs.

    Payload Deployment Commands ​

    These commands can be used to deploy a payload at a specfic location, controlling the approach and land behaviour.

    MessageDescription
    MAV_CMD_NAV_PAYLOAD_PLACEMove to target location, descend and release payload.

    INFO

    Implementations:

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    PING Protocol ​

    The PING Protocol enables a system to measure system latencies on any connection: serial port, radio modem, UDP etc.

    The PING protocol is implemented with just the PING message. The message is sent with a timestamp and a sequence number that are returned by recipients, and can hence be used to determine the round-trip time.

    Ping Sequence ​

    A simplified sequence diagram is given below:

    Mermaid sequence: Ping

    The pinging system initially populates a PING message with:

    • time_usec: Current system timestamp.
    • seq: Current PING sequence number (n, n+1, ...). This should be iterated for every PING message sent and overflow back to zero.
    • target_system and target_component: 0 (indicates a PING request).
    • The message header automatically includes the sender system.

    The message may be received by multiple systems. All pinged systems should respond with another PING message where:

    • The original timestamp and sequence number from the receive PING are sent back in the response.
    • target_system and target_component are set to the ids of the pinging system from the incoming ping message header.

    The original pinging system:

    • Receives a PING message with target_system and target_component matching its address.

      TIP

      Any non-zero target system/component indicates a response message. The matching ids inform the system that it is the intended recipient.

    • The system calculates the latency from the current system time and the time in the response PING for the matching sequence number.

    • A system that is sending a single PING can use a timeout to detect a dropped packet. A system that is streaming (multiple) PING messages should not start detecting dropped packets until after the first responses have been received (to ensure that dropped packets are not just "late").

    C Implementation ​

    The protocol has been implemented in C by PX4 and QGroundControl. This implementation can be used in your own code within the terms of their software licenses.

    PX4 Implementation:

    QGroundControl implementation:

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    Standard Modes Protocol (WIP) ​

    WARNING

    This protocol is a work in progress and may change. It has an initial implementation in PX4 and QGroundControl (daily).

    The MAVLink standard modes protocol allows a GCS to construct a UI allowing selection and display of available flight modes without prior knowledge of the connected flight stack.

    The protocol provides:

    • Definitions of standard modes. These are modes that behave similarly enough across flight stacks that users can select and control them in the same way. For example, modes for taking off and landing, executing missions, holding position, and so on.

    • Enumeration of all flight modes supported by the flight stack, both standard and custom.

      The provided flight mode information includes:

      • Flags indicating whether particular custom modes can be selected or just displayed, and if they are displayed, whether they are advanced.
      • A name/metadata string that can either be used to fetch metadata for the mode (such as a name and description), or directly as the name for custom modes.

    • Notification of the current mode.

    • A command to set a standard mode.

    There are additional optional messages/features to allow:

    • Modes to be enabled and disabled dynamically.
    • Overriding of mode metadata (provide a metadata key).

    Background ​

    MAVLink previously only standardized very high level base modes (defined in MAV_MODE), which cover things like whether the vehicle is ready to fly, being tested, manually controlled, under GCS manual control, or executing a mission. More specific flight behaviour/modes are defined in custom modes, which are specific to each flight stack.

    Mechanisms are provided to set the base and custom modes (MAV_CMD_DO_SET_MODE), and the HEARTBEAT contains the current/active base_mode and custom_mode. However, prior to the addition of this service, there were no mechanisms query the available custom modes, so a GCS would have to know about a flight stack in advance in order to construct its mode display and setting UI.

    Most autopilots implement a set of custom flight modes that have very similar behaviour or intent, for example: position-hold mode, altitude-hold mode, mission mode, safety return/RTL. However because these are all identified by different custom mode identifiers on different flight stacks, there is no way to be sure what these "mean" without pre-existing knowledge.

    This service defines standard modes, allowing a GCS to provide baseline support for common flight behaviour and test behaviour without explicit customisation for each autopilot. This is therefore a big step towards MAVLink being capable of being truly autopilot-agnostic for a useful minimal set of functionality.

    For more information see MAVLink RFC0016 Standard modes.

    Message/Enum Summary ​

    Messages ​

    MessageDescription
    CURRENT_MODEGet information about the current active mode, including both its standard and custom mode identifiers (if defined). Also "the intended mode", to indicate the case where setting a mode failed.
    AVAILABLE_MODESGet information about all available modes (both standard and custom) allowing generation of a UI and setting of modes. Requested using MAV_CMD_REQUEST_MESSAGE (set param2=0 for all modes).
    AVAILABLE_MODES_MONITORProvides a sequence number that allows clients to determine if the set of available modes has changed, and hence whether the AVAILABLE_MODES must be re-requested. Sent on first mode change and subsequently streamed at low rate.

    Enums ​

    EnumDescription
    MAV_STANDARD_MODEIdentifiers for the standard modes (modes that have a well understood meaning across flight stacks and vehicle types). Used in AVAILABLE_MODES and CURRENT_MODE.
    MAV_MODE_PROPERTYProperties of a mode supplied in AVAILABLE_MODES, which may be used for GCS layout. For example MAV_MODE_PROPERTY_NOT_USER_SELECTABLE indicates that a GCS should not include the mode in UI elements that allow mode selection.

    Commands ​

    CommandDescription
    MAV_CMD_DO_SET_STANDARD_MODEEnable the specified standard MAVLink mode (MAV_STANDARD_MODE). ACK with MAV_RESULT_FAILED if the mode is not supported by the vehicle.
    MAV_CMD_REQUEST_MESSAGEUsed to request AVAILABLE_MODES message

    Operations ​

    Getting Available Modes ​

    All available modes can be enumerated by using MAV_CMD_REQUEST_MESSAGE to request the AVAILABLE_MODES (435) message. Each AVAILABLE_MODES message includes the total number of modes and the index of the current mode, so a GCS should first query for all modes (MAV_CMD_REQUEST_MESSAGE.param2=0), and then individually query for any AVAILABLE_MODES message that it missed (MAV_CMD_REQUEST_MESSAGE.param2="missing index number").

    Notes:

    • AVAILABLE_MODES includes the total number of modes and the index of the current mode. This indexing is provided to allow a GCS to confirm that all modes have been collected, and re-request any that are missing. It is internal and should not be relied upon to have any order between reboots or if the set of available modes changes.
    • The GCS can request this message using MAV_CMD_REQUEST_MESSAGE, specifying either "send all modes" or "send mode with this index".
    • The flight stack should only emit a single AVAILABLE_MODES for each mode on each request. If a mode is both custom and standard it should be emitted as a "standard mode" (this allows the GCS to list the "standard modes" and separately show the additional "custom modes").
    • The modes that are emitted depend on the current vehicle type. For example, "takeoff" would not be emitted for a rover type, but would for a copter.

    The sequence for requesting all modes is shown below:

    Mermaid Sequence: Requesting AVAILABLE MODES

    In addition to the fields for enumerating the available modes, AVAILABLE_MODES has the following fields:

    • standard_mode: The standard mode represented by this AVAILABLE_MODES (MAV_STANDARD_MODE). 0 for a custom mode that is not also a standard mode (MAV_STANDARD_MODE_NON_STANDARD).
    • custom_mode: The id of the custom mode represented by this AVAILABLE_MODES (if any).
    • properties: Flags indicating the UI properties of this mode. These provide hints about where the mode can/should appear in the UI. For example, MAV_MODE_PROPERTY_NOT_USER_SELECTABLE indicates that the mode should not be set by a user, and hence should not appear in selection lists, while MAV_MODE_PROPERTY_ADVANCED indicates a mode that is harder to fly, and might be visually separated from other modes in the UI.
    • mode_name: Mode metadata key or name, with null termination character.
      • The field can act as both a key for determining metadata associated with the mode, or as a fallback name to use for the mode if the GCS has no metadata.
      • It can be used to override metadata on existing modes, for example to enhance standard metadata with additional information about autopilot-specific behaviour, or can provide metadata for any other static or dynamic mode.
      • The field must be human readable and autopilot-unique.
      • Generally does not have to be set for standard modes, where the ground station might be expected to already have metadata (but if it is, it will be used as a metadata key).
      • For more information see Modes Metadata below.

    Setting Modes ​

    Standard modes can be set using the MAV_CMD_DO_SET_STANDARD_MODE command. This will ACK with MAV_RESULT_ACCEPTED if the mode can change, and MAV_RESULT_FAILED if the particular standard mode is not supported.

    Custom modes must be set with MAV_CMD_DO_SET_MODE.

    INFO

    If both standard_mode and custom_mode are set you can determine the mapping between modes and might therefore use MAV_CMD_DO_SET_MODE to set a standard mode. MAV_CMD_DO_SET_STANDARD_MODE is preferred for setting standard modes.

    Getting Current Active Mode ​

    The current active mode is provided in CURRENT_MODE, which has both standard mode and custom mode fields.

    This is streamed (nominally 0.5 Hz). A GCS can use it to configure the UI and display appropriate metadata for the current mode.

    The message also has an intended_custom_mode field, which indicates the last (custom) mode that was commanded. This should match the custom_mode but might not if a commanded mode cannot be entered, or if the mode is exited due to a failsafe.

    Note that the current custom mode is also published in the HEARTBEAT.

    Dynamic Mode Changes ​

    The AVAILABLE_MODES_MONITOR is an optional part of the protocol that allows a MAVLink system to dynamically change the set of modes it supports at runtime (for example, using Lua or other onboard scripting languages, or offboard from a companion computer).

    The message sequence number field is iterated sequentially whenever the set of available modes change. A GCS can detect this change and re-request the set of AVAILABLE_MODES.

    The message should be emitted when the set of available modes changes. After the set of modes changes the first time, it should also be streamed at low rate (nominally 0.1 Hz).

    Mode Metadata ​

    Mode metadata is the information that a ground station uses represent a mode in the UI. This includes the mode name, but might also include descriptions, translations and other information (mode metadata schema is yet to be defined).

    A GCS may already have knowledge of standard or custom modes and can provide this metadata based on the mode, or their might be particular "additional" information that it can provide. The mode_name can be used as a key for finding this metadata, or as a fallback string if the GCS has no metadata for the mode.

    Ground stations are expected to use the following "fallback" approach for matching modes to their metadata:

    1. mode_name field as a metadata key. If this field is defined and can be matched to metadata, the metadata should be used for the mode.
    2. standard_mode: Use metadata associated with this standard mode if no metadata can be matched using mode_name.
    3. custom_mode: Use metadata associated with the custom mode if no metadata can be matched using mode_name or standard_mode.
    4. mode_name field as a fallback mode name string. This should be used as the name if no other metadata can be mapped.

    This allows "full" autopilot-specific metadata to be provided for modes, including dynamic modes such as Lua scripts (where the custom_mode might be dynamically allocated). It also allows overriding of any existing metadata for any mode with vehicle-specific data. In the worse case, if there is no metadata for a custom mode, the mode_name string can still be used to represent the mode in the UI.

    Note that the mode_name must be human readable and unique for the autopilot.

    Implementations ​

    PX4 v1.15 and later supports this service, including the optional part (AVAILABLE_MODES_MONITOR) (this allows ROS2 modes added using the PX4 ROS 2 Interface Library to be dynamically updated in a GCS). At time of writing it only exposes the standard modes that are common to all vehicles as standard modes, such as takeoff and landing, and missions.

    QGC also uses this service to build the mode display/setting UI, when supported by the autopilot. This feature is supported in daily builds (at time of writing).

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    Terrain Protocol ​

    The Terrain Protocol provides a mechanism for a vehicle to get terrain information (tiles) from a ground station, and for a ground station to check the autopilot terrain cache for a tile at a particular location.

    Support for this protocol is indicated by AUTOPILOT_VERSION.capabilities by the MAV_PROTOCOL_CAPABILITY_TERRAIN flag.

    INFO

    A vehicle that supports this capability must also support terrain following in missions using the data. Note however that a vehicle may also support terrain handling in missions using a distance sensor, even if this protocol is not supported and capability flag is not set.

    Message/Enum Summary ​

    MessageDescription
    TERRAIN_REQUESTRequest from drone (to GCS) for terrain data. The message specifies a mask indicating what tiles are required, and the GCS responds by sending TERRAIN_DATA for each tile. The drone will also stream TERRAIN_REPORT messages to provide progress updates while it is waiting for data.
    TERRAIN_DATATerrain data from GCS for a particular tile (sent in response to a TERRAIN_REQUEST). The lat/lon and grid_spacing must be the same as the lat/lon from a TERRAIN_REQUEST.
    TERRAIN_REPORTThe drone will stream TERRAIN_REPORT to indicate progress of terrain download, and in response to a TERRAIN_CHECK.
    TERRAIN_CHECKRequest that the vehicle report terrain height at the given location (expected response is a TERRAIN_REPORT). Used by GCS to check if vehicle has all terrain data needed for a mission.

    Sequences ​

    Autopilot Terrain Map Request ​

    The sequence for a drone to update its terrain altitude information is entirely driven by the drone, and is shown below.

    In summary, the sequence is:

    1. Drone sends TERRAIN_REQUEST to the GCS to request a set of tiles (specified in a mask).
    2. The GCS responds by sending a TERRAIN_DATA for each tile set in the mask
    3. The drone also streams TERRAIN_REPORT messages back to the GCS indicating the current state of the download
      • TERRAIN_REPORT.pending and TERRAIN_REPORT.loaded indicate how many tiles are expected and have arrived, respectively.
      • TERRAIN_REPORT.lat, .lon, .terrain_height, while duplicated in other messages, are useful for debugging (a GCS can check its own internal terrain data against what the information).
    4. The drone must maintain its own record of what tiles have arrived/not arrived, and can re-request any that are missing using a further TERRAIN_REQUEST (with mask indicating just the missing tiles)

    The diagram below shows the way the data is encoded within the TERRAIN_REQUEST and TERRAIN_DATA.

    Terrain_report.mask data layout

    TERRAIN_REQUEST.mask is a 64-bit value that represents a row major 8x7 array of (4x4) tiles. The the lat, lon fields indicate the position of the South-West corner of first grid position (tile). The tiles are allocated sequentially in rows (West to East) starting from the lowest significant bit of mask, and then in columns (South to North).

    Each tile represents a 4x4 grid of altitude information. The spacing between the rows/columns in the tile is indicated by grid_spacing (the same value must be used in both request and data messages).

    GCS Terrain Tile Check ​

    The sequence for a GCS to check the autopilot terrain cache at a particular location is shown below.

    In summary, the sequence is:

    1. GCS sends TERRAIN_CHECK to the vehicle to request terrain information at a specific location.
    2. The drone responds with a TERRAIN_REPORT message containing the tile information it has for that location. If it does not have tile information for the specified location, then the request is ignored.
    3. GCS can verify that the terrain report matches a terrain check by comparing the latitude/longitude fields for both messages.

    INFO

    The protocol does not define how the ground station handles the case if no TERRAIN_REPORT is received (although it might resend the request after a timeout).

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    Time Synchronization Protocol v2 ​

    This protocol is used to synchronize clocks on MAVLink components by estimating their time offset.

    The protocol uses just one message TIMESYNC, which has two int64_t fields: tc1 and ts1. A component that wants to synchronize clocks sends out a TIMESYNC request with its current timestamp in ts1. A remote system that supports the protocol sends a TIMESYNC response, including both the original timestamp and its own timestamp. The original system can use this information to determine the round-trip time, and estimate the timestamp offset.

    This sequence is run multiple times and filtered/averaged to reduce the transient effects of the channel and processor usage on the offset calculation.

    INFO

    This version replaces Time Synchronization Protocol v1.

    Message/Enum Summary ​

    MessageDescription
    TIMESYNCTime synchronization message.

    Sequences ​

    Mermaid sequence: Time sync

    The sequence is:

    1. A component that needs time synchronization sends a TIMESYNC request that includes its current nanosecond timestamp in ts1 (and tc1 = 0, indicating it is a request). This message may be broadcast, or targeted to a particular component.

    2. A component that receives a TIMESYNC request (TIMESYNC.tc1 == 0) responds with a TIMESYNC response (tc1 ≠ 0) that includes the original timestamp from the request in ts1 (mirrored), and its own timestamp in tc1.

    3. When the synchronizing component gets a TIMESYNC response with its own target_system and target_component it knows it is a reply to a timesync request that it sent.

      From the message the system can:

      • determine the round trip time (by comparing its current timestamp with the original stamp that was returned in the message in ts1).
      • estimate the offset between system timestamps, using the round trip time and the timestamp sent back by the remote system.

      INFO

      TIMESYNC` responses to the broadcast address indicate that the remote system supports Time Synchronization Protocol v1. Synchronization may be unreliable if there are multiple synchronising components on the network (report/log an error and upgrade the remote system). The component should ignore responses to all other addresses.

    The offset is an estimate because the time spent, both inbound and outbound, will change over time based on things like link congestion and processing time. Therefore the above sequence might be run a significant number of times, and filtering used to remove outlying estimates.

    A graph showing the "noise" when estimating the offset is given below (from PX4).

    Timesync offsets

    Time Synchronization Protocol v1 ​

    Version 1 of the timesync protocol uses the same message and sequences as version 2.

    The difference is the TIMESYNC message in version 1 did not have target_system and target_component fields, and so the message was always broadcast. This could result in unreliable timesync if there are multiple synchronizing components on the network, because there is no way for a component to know whether a TIMESYNC response is to its request.

    INFO

    ArduPilot encodes the system id in TIMESYNC.ts1 of the request. This allows filtering of the response to a particular system (but not component), reducing the risk of clashes.

    INFO

    Version 2 makes adds the target address, so a syncing system can filter on just the responses to its requests.

    Implementations ​

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    Traffic Managment and Avoidance (UTM/ADSB) ​

    Air traffic management and avoidance systems enable vehicles to share their position and planned path or trajectory with other vehicles (and ground stations), allowing them to take appropriate action to avoid collisions.

    The approaches used to share information vary; some systems use transponders to detect and publish to local traffic, while others publish to/receive information from Internet services that aggregate the data from many vehicles. Some systems might use both approaches!

    The approaches used to handle potential collisions depend on the flight stack, and might include: warning the user, holding, landing, pausing a mission etc.

    There are two main traffic management systems supported by MAVLink:

    The two systems share significant overlap and have very similar messages. Both have a single message that encapsulates the vehicle position and trajectory: UTM_GLOBAL_POSITION and ADSB_VEHICLE. A flight controller will typically recieve these messages from the appropriate transponder or service, and may also publish them to a transponder or service.

    INFO

    The Open Drone ID service provides additional information about vehicle identity. This is still a "work in progress", and there are no known MAVLink implementations,

    Message/Enum Summary ​

    Unmanned Aircraft System Traffic Management (UTM) ​

    MessageDescription
    UTM_GLOBAL_POSITIONThe global position resulting from GPS and sensor fusion.
    EnumDescription
    UTM_FLIGHT_STATEFlight state of the vehicle: unknown, landed, flying, emergency etc.
    UTM_DATA_AVAIL_FLAGSFlags that indicate which of the fields in UTM_GLOBAL_POSITION contain valid data.

    Automatic Dependent Surveillance–Broadcast (ADS-B) ​

    MessageDescription
    ADSB_VEHICLEXXXXXX The global position resulting from GPS and sensor fusion.
    EnumDescription
    ADSB_ALTITUDE_TYPEThe source of altitude data - e.g. GNSS system or barometer.
    ADSB_EMITTER_TYPEADSB classification for the type of vehicle emitting the transponder signal (most drones will set ADSB_EMITTER_TYPE_UAV)
    ADSB_FLAGSFlags that indicate which of the fields in ADSB_VEHICLE contain valid data.
    IdsDescription
    MAV_TYPE_ADSBMAV_TYPE for a stand-alone MAVLink ADS-B transponder component (not part of an autopilot)
    MAV_COMP_ID_ADSBMAVLink reserved component id for a MAVLink ADS-B transponder component (not part of an autopilot)
    MAV_TYPE_ADSBMAV_TYPE for a stand-alone MAVLink Flarm transponder component (not part of an autopilot)
    MAV_COMP_ID_FLARMMAVLink reserved component id for a MAVLink Flarm transponder component (not part of an autopilot)

    Implementations ​

    PX4:

    ArduPilot:

    QGroundControl:

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    Path Planning Protocol (Trajectory Interface) ​

    The path planning protocol (a.k.a. trajectory interface) is a general-purpose protocol for a system to request dynamic path planning from another system (i.e. for an autopilot to request a path from a companion computer).

    The protocol is primarily intended for cases where constraints on the path to a destination are unknown or may change dynamically, but it can also be used for any other path management activities. Examples include: obstacle avoidance when following a preplanned mission, determining paths for self forming/healing swarms, offloading geofence management to a companion computer, etc.

    Overview ​

    The (autopilot) system that requires path-planning sends messages containing its current position and desired trajectory. The path planning system (companion computer) analyses the desired route, and sends back a stream of messages with setpoints for a new path.

    Mermaid Sequence: Trajectory

    When path planning is active, autopilots are expected to navigate using the most recent setpoint from the companion computer (and should have sensible behaviour if setpoints "run out").

    INFO

    The path planning system might send setpoints all the time, or only when a desired trajectory cannot be achieved (this depends on the specific service implementation).

    The protocol defines two messages:

    Either message may be used to represent both the desired trajectory and the target setpoint, and a system may support either or both messages.

    When specifying a desired path (using either message):

    • The first point (0th array index) always represents the current position/state of the vehicle.
      • For waypoint trajectories the current position usually needs either position or velocity fields, and either yaw or yaw_speed (not all of them)
    • It may not be necessary to specify a waypoint or curve point for every array index.
      • For waypoint trajectories you might only need to specify points for the current position, current waypoint, and the next waypoint.
    • It may not be necessary to set a value for every field in a waypoint.
    • Array indexes and field values that are not used should be set as NaN.

    When specifying a target setpoint, the values should be set in the first point of the message (0th array element). All other array fields should be set to NaN.

    The required message sending update rate depends on the speed of the vehicle and use case.

    Implementations ​

    Obstacle Avoidance in PX4 Mission Mode ​

    The protocol has been used to provide obstacle avoidance in PX4's mission mode. PX4 sends the current position, current waypoint, and next waypoint in a TRAJECTORY_REPRESENTATION_WAYPOINTS message (at 5Hz). The path planning software (a ROS node) sends setpoints for the duration of the mission. These navigate the vehicle in a straight line to each waypoint, navigating around obstacles as needed.

    For more information see: Obstacle Avoidance (PX4 User Guide).

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    Tunnel Protocol ​

    The Tunnel Protocol allows MAVLink to be used as a "dumb channel" to pass data in any format across, through or into a MAVLink network.

    WARNING

    Tunnels use is highly discouraged, as they lose most of the benefits of MAVLink in terms of efficiently and interoperability. You should almost always create "dedicated" MAVLink messages for communicating in a MAVLink system.

    An example where this protocol is useful is connecting a STorM32 gimbal to a computer for configuration/debugging (via a USB connection to the autopilot and using MAVLink to carry the native serial protocol between it and the gimbal). Normally you would connect the gimbal directly via USB, but when mounted on the drone the gimbal USB port may be hard to access. You might re-invent the native protocol in MAVLink, but that would be a lot of effort for little benefit in this case.

    The protocol consists of a single TUNNEL message that has fields for the destination, payload length, payload type and data. The format of the data is entirely defined by the sender, and is inferred from the TUNNEL.payload_type (a MAV_TUNNEL_PAYLOAD_TYPE).

    Vendors can use any value above 32767 for MAV_TUNNEL_PAYLOAD_TYPE in their own dialect during testing. For wider distribution they should register the payload type.

    Message/Enum Summary ​

    MessageDescription
    TUNNELMessage for transporting "arbitrary" variable-length data from one component to another (broadcast is not forbidden, but discouraged).
    EnumDescription
    MAV_TUNNEL_PAYLOAD_TYPEA code that identifies the format of the payload (0 for unknown, which is the default). You can use any value over 32768 for on private networks or register a payload type.

    Register a Payload Type ​

    The format of the tunnel message data is indicated by the value of TUNNEL.payload_type. Vendors can register their own formats in MAV_TUNNEL_PAYLOAD_TYPE by creating a PR to update the enum in common.xml.

    TIP

    If you register an enum value in common.xml the MAVLink toolchain will generate an error if other dialect attempts to define the same value (if the dialect includes common.xml).

    The rules for adding new MAV_TUNNEL_PAYLOAD_TYPE values are:

    1. Values 0-199 are reserved for MAVLink
    2. Enum values are "allocated" to vendors and/or specific hardware in blocks of 10:
      • New blocks must start on the decade boundary (e.g. 200-209, 210-219, etc.).
      • Blocks are allocated sequentially (in the previous point the next block is allocated at 220, not 430).
      • Vendors may reserve multiple sequential blocks if needed.
    3. Enum values in a block may be explicitly "reserved":
      • Values should be named using the format MAV_TUNNEL_PAYLOAD_TYPE_XXXX_RESERVEDYY, where XXXX indicates the vendor or software, and YY is an increasing number starting at 0. For example, the STorM32 gimbal might reserve a block of 10 values from MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED0 to MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED9.
      • You do not have to explicitly reserve unused values.
    4. Enum values that are in use should be (re)named to reflect the vendor/software and purpose (e.g. MAV_TUNNEL_PAYLOAD_TYPE_STORM32_CONFIG).
    - + \ No newline at end of file diff --git a/hashmap.json b/hashmap.json index e6851e352..88632c8f5 100644 --- a/hashmap.json +++ b/hashmap.json @@ -1 +1 @@ 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diff --git a/index.html b/index.html index ecffb5013..44c7348d6 100644 --- a/index.html +++ b/index.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

    Appearance

    MAVLink Guide

    Lightweight messaging protocol for drones and onboard drone components.

    Introduction
    Messages
    Services
    Guide
    Contributing
    Source code (GitHub)

    Efficient

    MAVLink 2 has just 14 bytes of overhead

    Reliable

    Works on high latency/noisy channels. Used in many different systems since 2009.

    Multiple languages/platforms

    Multipole language support generated from XML definitions runs on numerous OS and systems

    Many concurrent systems

    Up to 255 devices on a network

    Multiple vehicles

    Manage multiple vehicles and different types of vehicles

    Onboard and offboard support

    Used for communication between drones, and also for integrating components in drones.

    - + \ No newline at end of file diff --git a/ko/SUMMARY.html b/ko/SUMMARY.html index aebe6ec76..848ff2bcb 100644 --- a/ko/SUMMARY.html +++ b/ko/SUMMARY.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

    한국어 (Korean)

    English
    中文 (Chinese)

    한국어 (Korean)

    English
    中文 (Chinese)

    Appearance

    - + \ No newline at end of file diff --git a/ko/about/faq.html b/ko/about/faq.html index 82ea416d2..7a3914750 100644 --- a/ko/about/faq.html +++ b/ko/about/faq.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

    한국어 (Korean)

    English
    中文 (Chinese)

    한국어 (Korean)

    English
    中文 (Chinese)

    Appearance

    자주 묻는 질문 ​

    사용자 ​

    MAVLINK는 얼마나 효율적인가요?
    MAVLINK는 매우 효율적인 프로토콜입니다. MAVLink 1은 시작 부호와 패킷 손실 탐지 부분을 포함하여 패킷당 8바이트의 크기를 가집니다. Mavlink 2는 14 바이트(부호를 포함하는 경우, 27 바이트)의 오버헤드를 가지지만, 훨씬 더 확장성 있는 프로토콜입니다.
    MAVLINK가 지원하는 기기 댓수는 몇대인가요?
    1부터 255까지의 범위(0은 유효한 ID가 아닙니다)의 시스템 ID를 가지는 총 255개의 기기를 지원합니다.
    참고: 엄밀히 말하자면, MAVLINK는255개의 동시 시스템을 지원합니다. 이러한 시스템은 여러 기기의 혼합, 지상국(GCS, Ground Control Station), 안테나 트래커와 기타 하드웨어를 포함할 수 있습니다.
    MAVLINK는 어떤 장치에서 쓸 수 있나요?
    MAVLINK는 ARM7, ATMega, dsPic, STM32등의 마이크로컨트롤러와 Windows, Linux, MacOS, Android와 iOS등의 운영체제에서 작동하는 것으로 보입니다.
    MAVLINK를 얼마나 믿을 수 있나요?
    상당히 신뢰할 수 있습니다. MAVLink는 여건이 혹독한 다양한 통신 채널(높은 지연율/잡음) 환경에서 다양한 기체, 지상 관제국(및 타 노드)간의 통신 수행 목적으로 2009년부터 사용했습니다. MAVLINK는 패킷 손실 탐지와 패킷 결성 체크를 위해 잘 알려진 ITU X.25 체크섬 메서드를 사용합니다.
    MAVLINK는 얼마나 안전한가요?
    MAVLINK는 시스템이 신뢰할 수 있는 출처에서 오는 메시지임을 인증하도록 message signing을 사용합니다. MAVLINK는 메시지 암호화를 제공하지 않습니다.
    What version of MAVLink should I use?
    You should use the MAVLink 2 protocol where at all possible (it fixes a number of limitations of earlier versions). The MAVLink 2 libraries also support MAVLink 1, so you can use them to communicate with legacy systems if needed.
    How often is MAVLink updated/released?
    • The underlying over-the-wire format is rarely updated (we're only up to MAVLink 2, which was introduced in 2017).
    • New messages/microservices are frequently added. This is a backwards compatible change, and users are expected to regularly update their libraries to support new messages.
    • Messages are rarely modified (or removed) such that they would become incompatible. If this is needed the project will update the MAVLink minor version number and notify users through the mailing list (users can also query the version in code).

    개발자 ​

    MAVLINK를 소스 코드를 공개하지 않는 어플리케이션에서 저작권 문제 없이 사용할 수 있나요?
    어떠한 제한 없이 MAVLINK를 사용할 수 있습니다. The generated MAVLink library headers are made available under the *MIT license* (for more information see: Introduction > License).
    MAVLink는 어떻게 메시지를 감지하고 바이트 스트림으로 디코딩하나요?
    MAVLink는 패킷 시작 신호를 기다리다가 패킷의 길이를 읽습니다. 그리고 n 바이트 이후의 체크섬을 검사합니다. 만약 체크섬이 일치한다면, 디코딩된 패킷을 반환하고 다시 시작 신호를 기다립니다. 만약에 바이트가 변경되거나 손실되면, MAVLink는 현재 메시지 처리를 중단하고, 다음 메시지에서 디코딩을 계속합니다.
    MAVLink는 하나의 시작 신호만을 사용하는데, 두세개의 시작 신호를 사용하는 것보다 덜 안전하지 않나요?
    그렇지 않습니다. MAVLink는 CRC 체크를 통해 수신 메시지의 무결성을 판단합니다. 시작 신호를 추가로 사용하는 것은 시작 신호의 탐지율을 올릴 수 있지만, 메시지 유효성 관점에서는 단일 시작 신호에 비해 불확실성을 크게 줄이지 못합니다. 추가 시작 신호가 커뮤니케이션 링크의 바이트 수를 증가시키기 때문에, MAVLink는 단일 시작 신호를 사용하기로 결정했습니다.
    시스템 ID와 컴포넌트 ID는 어떤 용도인가요?
    시스템 ID는 특정 MAVLink system(vehicle, GCS, etc.)의 신원을 나타냅니다. MAVLink는 동시에 최대 255개의 시스템에서 함께 사용될 수 있습니다. 컴포넌트 ID는 더 큰 시스템의 요소를 나타냅니다. 예를 들면, 시스템은 autopilot, companion computer, 카메라 등 개별적으로 식별할 수 있는 장치를 포함할 수 있습니다. 따라서 컴포넌트 ID는 MAVLink가 온보드와 오프보드 통신 모두에서 사용되게 합니다.
    MAVLink 헤더의 시퀀스 넘버(Sequence number)는 왜 필요한가요?
    MAVLink는 무인 항공 시스템의 안전에 중요한 구성 요소의 일부입니다. 많은 패킷을 버리는 나쁜 통신 링크는 비행체의 안전을 위협할 수 있고, 모니터링이 필요합니다. 헤더에 시퀀스를 가지는 것은 MAVLink가 패킷 손실률에 관한 피드백을 지속적으로 제공할 수 있도록 하여 비행체나 관제국이 조치를 취할수 있도록 합니다.
    왜 CRC_EXTRA가 패킷 무결성 체크섬에 필요한가요?
    CRC_EXTRA의 CRC는 송수신자 각자가 지정 메시지의 유선 형식을 이해하는지 검증하는 용도로 활용합니다 (프로토콜 구조가 단순하여 메시지 구조에 페이로드가 들어있지 않기 때문에 필요함). MAVLink 0.9에서는 CRC를 사용하지 않았습니다(다만 길이 검사는 진행했습니다). 메시지를 설명하는 XML이 메시지 길이 변화 없이 변경되는 소수의 케이스가 있었는데, 이것은 메시지를 읽을 때 심각하게 손상된 필드로 이어졌습니다.
    디코딩/인코딩 루틴이나 다른 요소들을 개선하는데 도움을 주고 싶습니다. MAVLink가 바뀔 수도 있나요?
    매우 엄밀한 안전 테스트를 거치는 경우에 그럴 수 있습니다. MAVLink는 많은 autopilot 시스템에서 중요한 안전 요소로 사용되기 때문에 다년간의 시험을 거칩니다. Please suggest new features on the MAVLink support channels.
    How can I further reduce the generated C library size?
    On extremely resource-constrained systems you may be able to reduce the size of the generated library by setting MAVLINK_COMM_NUM_BUFFERS=1 and MAVLINK_MAX_PAYLOAD_LEN="size of your largest buffer" (assuming only one comm link and that your payload is less than the maximum supported by MAVLink). You should also make sure that any buffers you use to pass into MAVLink are also as small as possible (e.g. the one passed into mavlink_msg_to_send_buffer()).

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

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

    Autopilots ​

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

    Ground Stations ​

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

    The list here contains actively maintained implementations:

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

    Research Projects ​

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    C
    uint8_t signature[13];      ///< Signature which allows ensuring that the link is tamper-proof (optional)

    INFO

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

    직렬화 ​

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

    For more information and specific exceptions see Serialization.

    Multicast Streams vs. Guaranteed Delivery ​

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

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

    Topic Mode (publish-subscribe) ​

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

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

    Point-to-Point Mode ​

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

    Integrity Checks / Checksum ​

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

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    지원 ​

    Mailing List/Discussion ​

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

    Reporting Bugs & Issues ​

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

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

    Dev Call ​

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

    TIP

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

    Who should attend: ​

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

    Agenda ​

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

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

    Schedule ​

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

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

  • Push changes to your repo:

    git push origin mydescriptivebranchname

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

    • Dev Call ​

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

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    시작하기 ​

    Download or Generate MAVLink source files for your dialect:

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

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    Installing MAVLink Toolchain ​

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

    TIP

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

    Prerequisites ​

    The requirements for using the MAVLink generator are:

    • Python 3.3+
    • pip3 install future
    • TkInter (required to use the GUI tool), included as of Python 3.7.

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

    Installation ​

    To install the MAVLink toolchain:

    1. Install Python 3.6+:

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

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

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

    3. Install the required packages:

      sudo apt install python3-pip

    Now you are ready to Generate MAVLink Libraries.

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    ROS용 소스 코드 파일 생성하기 ​

    To add MAVlink messages/dialects while working with ROS:

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

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

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

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

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

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

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    MAVLink 라이브러리 사용법 ​

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

    INFO

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

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    MAVLink CRC ​

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

    INFO

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

    INFO

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

    CRC32 Algorithm ​

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

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

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

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

    구현 ​

    This implementation is currently used in:

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

    Command (Entry) Values ​

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

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

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

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

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

    TIP

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

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

    Entry Names ​

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

    • MAV_CMD_NAV_: NAV commands are used for navigation/movement commands (commands to go to a particular waypoint or move in a particular way).
    • MAV_CMD_DO_: DO commands are used for setting modes, changing altitude or speed etc.
    • MAV_CMD_CONDITION_: CONDITION_ commands are used to define conditions before the mission state machine will move to the next item (e.g. a time after reaching a waypoint before taking a picture).
    • MAV_CMD_REQUEST_: For requesting information from a system.

    TIP

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

    Parameters (param) ​

    Message data is encoded in the param values/attributes.

    Standard Mappings ​

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

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

    Data types ​

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

    Reserved/Undefined Parameters ​

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

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

    INFO

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

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

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

    WARNING

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

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

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

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

    GUI Param Attributes ​

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

    These attributes are used to better display params:

    • label - Label for param in GCS/UI. All words in label should be capitalised (e.g. "Hold Altitude").
    • units - SI units for the value.
    • decimalPlaces - Hint to a UI about how many decimal places to use if the parameter value is displayed.

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

    • enum - Enum containing possible values for the parameter (if applicable).
    • increment - Allowed increments for the parameter value.
    • minValue - Minimum value for param.
    • maxValue - Maximum value for the param.
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    범용 텔레메트리 ​

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

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    MAVLink 2 ​

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

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

    Features ​

    The key new features of MAVLink 2 are:

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

    TIP

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

    Version Handshaking/Negotiation ​

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

    C Implementation ​

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

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    MAVLink 버전 ​

    MAVLink has been deployed in a number of versions:

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

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

    INFO

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

    Determining Protocol/Message Version ​

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

    • AUTOPILOT_VERSION.capabilities can be checked against the MAV_PROTOCOL_CAPABILITY_MAVLINK2 flag to verify MAVLink 2 support.

    • PROTOCOL_VERSION.version contains the MAVLink version number multiplied by 100: v1.0 is 100, v2.3 is 203 etc.

    • HEARTBEAT.mavlink_version field contains the minor version number. This is the <version> field defined in the Message Definitions (version in common.xml for dialects that depend on the common message set).

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

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

      INFO

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

    TIP

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

    Version Handshaking ​

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

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

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

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

    The diagram below illustrates the complete sequence.

    Mermaid sequence: Request protocol version

    Semi-Transparent Legacy Radios ​

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

    Versions and Signing ​

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

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

    INFO

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

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

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

    Negotiating Versions ​

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

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

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

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

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

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

    Frame Format ​

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

    MAVLink 2 Signed

    INFO

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

    The 13 bytes of the signature are:

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

    See below for more information about the fields.

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

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

    (SystemID,ComponentID,LinkID)

    INFO

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

    Signature ​

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

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

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

    Timestamp Handling ​

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

    INFO

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

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

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

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

    • The current timestamp should be stored regularly in persistent storage (ideally at least once a minute)

    • The timestamp used on startup should be the maximum of the timestamp implied by the system clock and the stored timestamp

    • If the system does not have an RTC mechanism then it should update its timestamp when GPS lock is achieved. The maximum of the timestamp from the GPS and the stored timestamp should be used.

    • The timestamp should be incremented by one on each message sent from a particular link.

    • When a correctly signed message is decoded the timestamp should be replaced by the timestamp of the incoming message if that timestamp is greater than the current timestamp.

      INFO

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

    • The timestamp on incoming signed messages should be checked against the previous timestamp for the incoming (linkID,srcSystem,SrcComponent) tuple and the message rejected if it is smaller.

    • If there is no previous message with the given (linkID,srcSystem,SrcComponent) then the timestamp should be accepted if it not more than 6 million (one minute) behind the current timestamp.

    TIP

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

    Accepting Signed Packets ​

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

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

    Accepting Unsigned Packets ​

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

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

    INFO

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

    Some suggestions for when to accept unsigned packets:

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

    Accepting Incorrectly Signed Packets ​

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

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

    INFO

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

    Secret Key Management ​

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

    INFO

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

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

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

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

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

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

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

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

    TIP

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

    Logging ​

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

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

    Further Information ​

    The Message Signing Proposal contains additional information, including:

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

    INFO

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

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    Offboard Control Interface ​

    The offboard control interface allows to send low-level and high-level attitude, velocity or position commands to the vehicle.

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    Packet Loss Calculation ​

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

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

    It may not work in more complicated setups:

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

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

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

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

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

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

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    라우팅 ​

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

    개요 ​

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

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

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

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

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

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

    WARNING

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

    INFO

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

    Routing Detail ​

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

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

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

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

    INFO

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

    INFO

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

    Library Support ​

    C Library (mavgen) ​

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

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

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

    Routing Signed Packets ​

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

    In particular, a routing system should:

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

    Router Implementation ​

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

    Further Information ​

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    Pymavlink Scripts ​

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

    The scripts have the following requirements:

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

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

    python -m pymavlink.tools.mavlogdump test_run.mavlink

    INFO

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

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    INFO

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

    Checksum ​

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

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

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    UAVCAN 통신 ​

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

    Basics ​

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

    The text below will be referring to the following terms:

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

    UAVCAN Node Identification ​

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

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

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

    Node Status Reporting ​

    Node Status Messages ​

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

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

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

    Extended Node Information ​

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

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

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

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

    Configuration Parameter Management ​

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

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

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

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

    Internet Access Bridge ​

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

    - + \ No newline at end of file diff --git a/ko/guide/wireshark.html b/ko/guide/wireshark.html index 128ad584f..19da62a59 100644 --- a/ko/guide/wireshark.html +++ b/ko/guide/wireshark.html @@ -9,9 +9,9 @@ - + - + @@ -32,7 +32,7 @@ tcpdump -i eth0 -w mavlink-capture.pcap

    tcpdump must be installed on the remote machine.

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

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

    INFO

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

    1. mkfifo /tmp/mavlink Creates a named pipe that is used to stream the data.

    2. wireshark -k -i /tmp/mavlink & Start Wireshark, open the named pipe as input and start the capture immediately.

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

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

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

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

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

    - + \ No newline at end of file diff --git a/ko/guide/xml_schema.html b/ko/guide/xml_schema.html index b0373c5f3..0261dd407 100644 --- a/ko/guide/xml_schema.html +++ b/ko/guide/xml_schema.html @@ -9,9 +9,9 @@ - + - + @@ -86,7 +86,7 @@ <field type="uint32_t" name="fault_bitmask" display="bitmask" enum="MAV_BATTERY_FAULT">Fault/health indications. These should be set when charge_state is MAV_BATTERY_CHARGE_STATE_FAILED or MAV_BATTERY_CHARGE_STATE_UNHEALTHY (if not, fault reporting is not supported).</field> </message>

    The main message tags/fields are:

    • message: Each message is encapsulated by message tags, with the following attributes

      • id: The id attribute is the unique index number of this message (in the example above: 147).

        • For MAVLink 1:

          • Valid numbers range from 0 to 255.
          • The ids 0-149 and 230-255 are reserved for common.xml. Dialects can use 180-229 for custom messages (provided these are not used by other included dialects).

        • For MAVLink 2:

          • Valid numbers range from 0 to 16777215.

          • All numbers below 255 should be considered reserved unless messages are also intended for MAVLink 1.

            INFO

            IDs are precious in MAVLink 1!

      • name: The name attribute provides a human readable form for the message (ie "BATTERY_STATUS"). It is used for naming helper functions in generated libraries, but is not sent over the wire.

    • description: Human readable description of message, shown in user interfaces and in code comments. This should contain all information (and hyperlinks) to fully understand the message.

    • field: Encodes one field of the message. The field value is its name/text string used in GUI documentation (but not sent over the wire). Every message must have at least one field.

      • type: Similar to a field in a C struct - the size of the data required to store/represent the data type.

        • Fields can be signed/unsigned integers of size 8, 16, 23, 64 bits ({u)int8_t, (u)int16_t, (u)int32_t, (u)int64_t), single/double precision IEEE754 floating point numbers. They can also be arrays of the other types - e.g. uint16_t[10].

      • name: Name of the field (used in code).

      • enum (optional): Name of an enum defining possible values of the field (e.g. MAV_BATTERY_CHARGE_STATE).

      • units (optional): The units for message fields that take numeric values (not enums). These are defined in the schema (search on name="SI_Unit")

      • multiplier (optional) - Multiply by this value to get the unscaled original value. Allowed values are defined in the schema (search on name="factor"). For example, GPS_STATUS is a value in degrees (0-360) sent in a byte field (0-255). To get the original value, scale by multiplying the value with the multiplier (360/256). This is currently only used for values where scaling is not encoded in the units.

      • display (optional): This should be set as display="bitmask" for bitmask fields (hint to ground station that enum values must be displayed as checkboxes).

      • print_format (optional): TBD.

      • default (optional): TBD.

      • increment - Allowed increments for the increment value.

      • minValue - Minimum value for field.

      • maxValue - Maximum value for the field.

      • instance: If true, this indicates that the message contains the information for a particular sensor or battery (e.g. Battery 1, Battery 2, etc.) and that this field indicates which sensor. Default is false.

        INFO

        This field allows a recipient automatically associate messages for a particular sensor and plot them in the same series.

      • invalid: Specifies a value that can be set on a field to indicate that the data is invalid: the recipient should ignore the field if it has this value. For example, BATTERY_STATUS.current_battery specifies invalid="-1", so a battery that does not measure supplied current should set BATTERY_STATUS.current_battery to -1.

        Where possible the value that indicates the field is invalid should be selected to outside the expected/valid range of the field (0 is preferred if it is not an acceptable value for the field). For integers we usually select the largest possible value (i.e. UINT16_MAX, INT16_MAX, UINT8_MAX, UINT8_MAX). For floats we usually select invalid="NaN".

        Arrays represent multiple elements, some (or all) of which may need to be marked as invalid. The following notation is used to specify the values that indicate elements of the array are invalid:

        • invalid="[value]": Array elements that contain value are invalid.
        • invalid="[value:]": All array elements are invalid if the first array element is set to value.
        • invalid="[value1,,value3,]": Array elements are invalid if they contain the value specified in the corresponding position of the comma separated list. If the a position in the list is empty, there is no way to indicate the corresponding array element is invalid. The example above indicates that elements 1 and 3 are invalid if they contain value1 and value3, respectively. For element 2 and any elements >4 the invalid property of the field cannot be set.
        • invalid="[value1,]": The first array element is invalid if it contains value1: the invalid property cannot be set for all other elements.

    • deprecated / wip (optional): A tag indicating that the message is deprecated or "work in progress".

    • extensions (optional): This self-closing tag is used to indicate that subsequent fields apply to MAVLink 2 only.

      • The tag should be used for MAVLink 1 messages only (id < 256) that have been extended in MAVLink 2.

    Common Tags ​

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

    deprecated ​

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

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

    TIP

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

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

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

    The deprecated attributes are:

    • since: Year/month when deprecation started. Format: YYYY-MM.
    • replaced by: String of entity that supersedes this item.

    wip ​

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

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

    Most commonly, the tag is used as shown:

    xml
    <wip />
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    MAVLink 개발자 안내서 ​

    MAVLink는 매우 가벼운 드론(과 드론 구성 부품간 온보드) 통신용 메시지 프로토콜입니다.

    MAVLink는 임의송신-가입 방식 및 점대점 방식을 혼용한 최신 설계 규칙을 따릅니다. 데이터 스트림은 토픽으로 전송하는 방식이며, 미션 프로토콜 또는 매개변수 프로토콜과 같은 설정 하위 프로토콜은 재전송 기능을 지닌 점대점 방식입니다.

    Messages are defined within XML files. 각 XML 파일은 각 MAVLink 시스템에서 "고유 메시지"를 참조하는 식으로 지원하는 메시지 집합을 정의합니다. 대부분의 지상 관제 머신과 오토파일럿에서 구현한 참조 메시지 집합은 common.xml에 정의했습니다(대부분의 고유 메시지는 이 정의를 기반으로 구성 합니다).

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

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

    MAVLink는 2009년 초반 Lorenz Meier가 처음으로 출시했으며, 현재는 두드러지는 규모의 기여자가 있습니다.

    주요 기능 ​

    • 매우 효율적입니다. MAVLink 1은 시작 부호와 패킷 손실 탐지 부분을 포함하여 패킷당 8바이트의 크기를 가집니다. MAVLink 2는 14바이트의 크기를 가집니다(만, 더 안전하고 기능 확장에 용이합니다). MAVLink는 추가 프레이밍이 필요가 없기 때문에 통신 대역폭을 상당히 제한하는 여건에서도 프로그램에 매우 안성맞춤입니다.
    • 상당히 견고합니다. MAVLink는 여건이 혹독한 다양한 통신 채널(높은 지연율/잡음) 환경에서 다양한 기체, 지상 관제국(및 타 노드)간의 통신 수행 목적으로 2009년부터 사용했습니다. 패킷 손실, 손상, 인증 수단을 제공합니다.
    • Many different programming languages can be used, running on numerous microcontrollers/operating systems (including ARM7, ATMega, dsPic, STM32 and Windows, Linux, MacOS, Android and iOS).
    • 네트워크에서 최대 255대의 시스템(기체, 지상 관제국)을 동시에 운용할 수 있습니다.
    • 보드 내외간 통신이 가능합니다(GCS와 드론간의 통신, 드론 오토파일럿과 MAVLink 통신 기능을 갖춘 드론 카메라와의 통신).

    Language/Generator List ​

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

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

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

    External Generators/Languages ​

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

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

    미리 빌드한 MAVLink C 라이브러리 ​

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

    Using C Libraries explains how to use these libraries.

    지원 ​

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

    기여 ​

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

    라이선스 ​

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

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

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

    운영 ​

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

    Dronecode LogoLinux Foundation Logo

     
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    MAVLink C UART Interface Example ​

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

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

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

    - + \ No newline at end of file diff --git a/ko/mavgen_c/example_c_udp.html b/ko/mavgen_c/example_c_udp.html index 64a7308f1..97e4ef656 100644 --- a/ko/mavgen_c/example_c_udp.html +++ b/ko/mavgen_c/example_c_udp.html @@ -9,9 +9,9 @@ - + - + @@ -31,7 +31,7 @@ Received packet: SYS: 255, COMP: 0, LEN: 9, MSG ID: 0 ... - + \ No newline at end of file diff --git a/ko/mavgen_c/examples.html b/ko/mavgen_c/examples.html index 9ea24cf4e..4aa9475c9 100644 --- a/ko/mavgen_c/examples.html +++ b/ko/mavgen_c/examples.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

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    예제 ​

    • UART Interface: Simple C example of a MAVLink to UART interface for Unix-like systems.
    • UDP Example: Simple C example of a MAVLink UDP interface for Unix-like systems (Linux, MacOS, BSD, etc.).
    - + \ No newline at end of file diff --git a/ko/mavgen_c/index.html b/ko/mavgen_c/index.html index d0030b879..5a9ab4f80 100644 --- a/ko/mavgen_c/index.html +++ b/ko/mavgen_c/index.html @@ -9,9 +9,9 @@ - + - + @@ -92,7 +92,7 @@ chan_state->flags &= ~(MAVLINK_STATUS_FLAG_OUT_MAVLINK1); } }

    예제 ​

    The following examples show the use of the API.

    • UART Interface: Simple C example of a MAVLink to UART interface for Unix-like systems.
    • UDP Example: Simple C example of a MAVLink UDP interface for Unix-like systems (Linux, MacOS, BSD, etc.).

    In addition, the C library is used in numerous open source systems:

    - + \ No newline at end of file diff --git a/ko/mavgen_c/message_signing_c.html b/ko/mavgen_c/message_signing_c.html index 772427cdf..8ebbbe0ea 100644 --- a/ko/mavgen_c/message_signing_c.html +++ b/ko/mavgen_c/message_signing_c.html @@ -9,9 +9,9 @@ - + - + @@ -57,7 +57,7 @@ self.target_component == msg.get_srcComponent()): # change to link_id from incoming packet self.mav.signing.link_id = msg.get_link_id()

    What that says is that if the current link ID in use by MAVProxy is zero, and it receives a correctly signed packet with a non-zero link ID then it switches link ID to the one from the incoming packet.

    This has the effect of making the GCS slave its link ID to the link ID of the autopilot.

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    Other examples:

    Complex examples:

    • MAVProxy is a command line, console based UAV ground station software package for MAVLink based systems built on Pymavlink.
    - + \ No newline at end of file diff --git a/ko/mavgen_python/howto_requestmessages.html b/ko/mavgen_python/howto_requestmessages.html index ed31b3025..4f5910f84 100644 --- a/ko/mavgen_python/howto_requestmessages.html +++ b/ko/mavgen_python/howto_requestmessages.html @@ -9,9 +9,9 @@ - + - + @@ -60,7 +60,7 @@ print("Command accepted") else: print("Command failed") - + \ No newline at end of file diff --git a/ko/mavgen_python/index.html b/ko/mavgen_python/index.html index f7b5cd247..0041d8e54 100644 --- a/ko/mavgen_python/index.html +++ b/ko/mavgen_python/index.html @@ -9,9 +9,9 @@ - + - + @@ -85,7 +85,7 @@ # Send heartbeat from a MAVLink application. the_connection.mav.heartbeat_send(mavutil.mavlink.MAV_TYPE_ONBOARD_CONTROLLER, mavutil.mavlink.MAV_AUTOPILOT_INVALID, 0, 0, 0)

    INFO

    The various types used above come from enum in the dialect file.

    The rate at which the heartbeat should be sent depends on the channel, but is normally 1Hz.

    Generally it should be sent from the same thread as all other messages. This is in order to ensure that the heartbeat is only published when the thread is healthy.

    Message Signing ​

    Pymavlink supports Message Signing (authentication) when using MAVLink 2.

    The Pymavlink library already implements almost all of the expected behaviour for signing messages. All you need to do is provide a secret key and initial timestamp, optionally specify whether or not outgoing messages should be signed, a link id, and a callback for determining which unsigned messages (if any) will be accepted.

    For more information see Message Signing (Pymavlink).

    예제 ​

    See Examples (pymavlink)

    지원 ​

    Pymavlink questions can be raised in the normal MAVLink support channels.

    The Pymavlink Gitter channel also has an active support community.

    - + \ No newline at end of file diff --git a/ko/mavgen_python/message_signing.html b/ko/mavgen_python/message_signing.html index e9294940f..4bb47b9ba 100644 --- a/ko/mavgen_python/message_signing.html +++ b/ko/mavgen_python/message_signing.html @@ -9,9 +9,9 @@ - + - + @@ -45,7 +45,7 @@ # Pass the callback to the connection (here we also pass an arbitrary secret key) secret_key = chr(42)*32 the_connection.setup_signing(secret_key, sign_outgoing=True, allow_unsigned_callback=my_allow_unsigned_callback) - + \ No newline at end of file diff --git a/ko/messages/ASLUAV.html b/ko/messages/ASLUAV.html index b2d83cff1..2a28b7fc3 100644 --- a/ko/messages/ASLUAV.html +++ b/ko/messages/ASLUAV.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

    한국어 (Korean)

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    한국어 (Korean)

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    Dialect: ASLUAV ​

    Warning This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

    This topic is a human-readable form of the XML definition file: ASLUAV.xml.

    Note

    • MAVLink 2 extension fields are displayed in blue.
    • Entities from dialects are displayed only as headings (with link to original)

    목차 ​

    TypeDefinedIncluded
    Messages17226
    Enums2144
    Commands1660

    The following sections list all entities in the dialect (both included and defined in this file).

    Messages ​

    COMMAND_INT_STAMPED (223) ​

    Message encoding a command with parameters as scaled integers and additional metadata. Scaling depends on the actual command value.

    Field NameTypeValuesDescription
    utc_timeuint32_tUTC time, seconds elapsed since 01.01.1970
    vehicle_timestampuint64_tMicroseconds elapsed since vehicle boot
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    frameuint8_tMAV_FRAMEThe coordinate system of the COMMAND, as defined by MAV_FRAME enum
    commanduint16_tMAV_CMDThe scheduled action for the mission item, as defined by MAV_CMD enum
    currentuint8_tfalse:0, true:1
    autocontinueuint8_tautocontinue to next wp
    param1floatPARAM1, see MAV_CMD enum
    param2floatPARAM2, see MAV_CMD enum
    param3floatPARAM3, see MAV_CMD enum
    param4floatPARAM4, see MAV_CMD enum
    xint32_tPARAM5 / local: x position in meters * 1e4, global: latitude in degrees * 10^7
    yint32_tPARAM6 / local: y position in meters * 1e4, global: longitude in degrees * 10^7
    zfloatPARAM7 / z position: global: altitude in meters (MSL, WGS84, AGL or relative to home - depending on frame).

    COMMAND_LONG_STAMPED (224) ​

    Send a command with up to seven parameters to the MAV and additional metadata

    Field NameTypeValuesDescription
    utc_timeuint32_tUTC time, seconds elapsed since 01.01.1970
    vehicle_timestampuint64_tMicroseconds elapsed since vehicle boot
    target_systemuint8_tSystem which should execute the command
    target_componentuint8_tComponent which should execute the command, 0 for all components
    commanduint16_tMAV_CMDCommand ID, as defined by MAV_CMD enum.
    confirmationuint8_t0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
    param1floatParameter 1, as defined by MAV_CMD enum.
    param2floatParameter 2, as defined by MAV_CMD enum.
    param3floatParameter 3, as defined by MAV_CMD enum.
    param4floatParameter 4, as defined by MAV_CMD enum.
    param5floatParameter 5, as defined by MAV_CMD enum.
    param6floatParameter 6, as defined by MAV_CMD enum.
    param7floatParameter 7, as defined by MAV_CMD enum.

    SENS_POWER (8002) ​

    Voltage and current sensor data

    Field NameTypeUnitsDescription
    adc121_vspb_voltfloatVPower board voltage sensor reading
    adc121_cspb_ampfloatAPower board current sensor reading
    adc121_cs1_ampfloatABoard current sensor 1 reading
    adc121_cs2_ampfloatABoard current sensor 2 reading

    SENS_MPPT (8003) ​

    Maximum Power Point Tracker (MPPT) sensor data for solar module power performance tracking

    Field NameTypeUnitsDescription
    mppt_timestampuint64_tusMPPT last timestamp
    mppt1_voltfloatVMPPT1 voltage
    mppt1_ampfloatAMPPT1 current
    mppt1_pwmuint16_tusMPPT1 pwm
    mppt1_statusuint8_tMPPT1 status
    mppt2_voltfloatVMPPT2 voltage
    mppt2_ampfloatAMPPT2 current
    mppt2_pwmuint16_tusMPPT2 pwm
    mppt2_statusuint8_tMPPT2 status
    mppt3_voltfloatVMPPT3 voltage
    mppt3_ampfloatAMPPT3 current
    mppt3_pwmuint16_tusMPPT3 pwm
    mppt3_statusuint8_tMPPT3 status

    ASLCTRL_DATA (8004) ​

    ASL-fixed-wing controller data

    Field NameTypeUnitsDescription
    timestampuint64_tusTimestamp
    aslctrl_modeuint8_tASLCTRL control-mode (manual, stabilized, auto, etc...)
    hfloatSee sourcecode for a description of these values...
    hReffloat
    hRef_tfloat
    PitchAnglefloatdegPitch angle
    PitchAngleReffloatdegPitch angle reference
    qfloat
    qReffloat
    uElevfloat
    uThrotfloat
    uThrot2float
    nZfloat
    AirspeedReffloatm/sAirspeed reference
    SpoilersEngageduint8_t
    YawAnglefloatdegYaw angle
    YawAngleReffloatdegYaw angle reference
    RollAnglefloatdegRoll angle
    RollAngleReffloatdegRoll angle reference
    pfloat
    pReffloat
    rfloat
    rReffloat
    uAilfloat
    uRudfloat

    ASLCTRL_DEBUG (8005) ​

    ASL-fixed-wing controller debug data

    Field NameTypeDescription
    i32_1uint32_tDebug data
    i8_1uint8_tDebug data
    i8_2uint8_tDebug data
    f_1floatDebug data
    f_2floatDebug data
    f_3floatDebug data
    f_4floatDebug data
    f_5floatDebug data
    f_6floatDebug data
    f_7floatDebug data
    f_8floatDebug data

    ASLUAV_STATUS (8006) ​

    Extended state information for ASLUAVs

    Field NameTypeDescription
    LED_statusuint8_tStatus of the position-indicator LEDs
    SATCOM_statusuint8_tStatus of the IRIDIUM satellite communication system
    Servo_statusuint8_t[8]Status vector for up to 8 servos
    Motor_rpmfloatMotor RPM

    EKF_EXT (8007) ​

    Extended EKF state estimates for ASLUAVs

    Field NameTypeUnitsDescription
    timestampuint64_tusTime since system start
    Windspeedfloatm/sMagnitude of wind velocity (in lateral inertial plane)
    WindDirfloatradWind heading angle from North
    WindZfloatm/sZ (Down) component of inertial wind velocity
    Airspeedfloatm/sMagnitude of air velocity
    betafloatradSideslip angle
    alphafloatradAngle of attack

    ASL_OBCTRL (8008) ​

    Off-board controls/commands for ASLUAVs

    Field NameTypeUnitsDescription
    timestampuint64_tusTime since system start
    uElevfloatElevator command [~]
    uThrotfloatThrottle command [~]
    uThrot2floatThrottle 2 command [~]
    uAilLfloatLeft aileron command [~]
    uAilRfloatRight aileron command [~]
    uRudfloatRudder command [~]
    obctrl_statusuint8_tOff-board computer status

    SENS_ATMOS (8009) ​

    Atmospheric sensors (temperature, humidity, ...)

    Field NameTypeUnitsDescription
    timestampuint64_tusTime since system boot
    TempAmbientfloatdegCAmbient temperature
    Humidityfloat%Relative humidity

    SENS_BATMON (8010) ​

    Battery pack monitoring data for Li-Ion batteries

    Field NameTypeUnitsDescription
    batmon_timestampuint64_tusTime since system start
    temperaturefloatdegCBattery pack temperature
    voltageuint16_tmVBattery pack voltage
    currentint16_tmABattery pack current
    SoCuint8_tBattery pack state-of-charge
    batterystatusuint16_tBattery monitor status report bits in Hex
    serialnumberuint16_tBattery monitor serial number in Hex
    safetystatusuint32_tBattery monitor safetystatus report bits in Hex
    operationstatusuint32_tBattery monitor operation status report bits in Hex
    cellvoltage1uint16_tmVBattery pack cell 1 voltage
    cellvoltage2uint16_tmVBattery pack cell 2 voltage
    cellvoltage3uint16_tmVBattery pack cell 3 voltage
    cellvoltage4uint16_tmVBattery pack cell 4 voltage
    cellvoltage5uint16_tmVBattery pack cell 5 voltage
    cellvoltage6uint16_tmVBattery pack cell 6 voltage

    FW_SOARING_DATA (8011) ​

    Fixed-wing soaring (i.e. thermal seeking) data

    Field NameTypeUnitsDescription
    timestampuint64_tmsTimestamp
    timestampModeChangeduint64_tmsTimestamp since last mode change
    xWfloatm/sThermal core updraft strength
    xRfloatmThermal radius
    xLatfloatdegThermal center latitude
    xLonfloatdegThermal center longitude
    VarWfloatVariance W
    VarRfloatVariance R
    VarLatfloatVariance Lat
    VarLonfloatVariance Lon
    LoiterRadiusfloatmSuggested loiter radius
    LoiterDirectionfloatSuggested loiter direction
    DistToSoarPointfloatmDistance to soar point
    vSinkExpfloatm/sExpected sink rate at current airspeed, roll and throttle
    z1_LocalUpdraftSpeedfloatm/sMeasurement / updraft speed at current/local airplane position
    z2_DeltaRollfloatdegMeasurement / roll angle tracking error
    z1_expfloatExpected measurement 1
    z2_expfloatExpected measurement 2
    ThermalGSNorthfloatm/sThermal drift (from estimator prediction step only)
    ThermalGSEastfloatm/sThermal drift (from estimator prediction step only)
    TSE_dotfloatm/sTotal specific energy change (filtered)
    DebugVar1floatDebug variable 1
    DebugVar2floatDebug variable 2
    ControlModeuint8_tControl Mode [-]
    validuint8_tData valid [-]

    SENSORPOD_STATUS (8012) ​

    Monitoring of sensorpod status

    Field NameTypeUnitsDescription
    timestampuint64_tmsTimestamp in linuxtime (since 1.1.1970)
    visensor_rate_1uint8_tRate of ROS topic 1
    visensor_rate_2uint8_tRate of ROS topic 2
    visensor_rate_3uint8_tRate of ROS topic 3
    visensor_rate_4uint8_tRate of ROS topic 4
    recording_nodes_countuint8_tNumber of recording nodes
    cpu_tempuint8_tdegCTemperature of sensorpod CPU in
    free_spaceuint16_tFree space available in recordings directory in [Gb] * 1e2

    SENS_POWER_BOARD (8013) ​

    Monitoring of power board status

    Field NameTypeUnitsDescription
    timestampuint64_tusTimestamp
    pwr_brd_statusuint8_tPower board status register
    pwr_brd_led_statusuint8_tPower board leds status
    pwr_brd_system_voltfloatVPower board system voltage
    pwr_brd_servo_voltfloatVPower board servo voltage
    pwr_brd_digital_voltfloatVPower board digital voltage
    pwr_brd_mot_l_ampfloatAPower board left motor current sensor
    pwr_brd_mot_r_ampfloatAPower board right motor current sensor
    pwr_brd_analog_ampfloatAPower board analog current sensor
    pwr_brd_digital_ampfloatAPower board digital current sensor
    pwr_brd_ext_ampfloatAPower board extension current sensor
    pwr_brd_aux_ampfloatAPower board aux current sensor

    Status of GSM modem (connected to onboard computer)

    Field NameTypeUnitsValuesDescription
    timestampuint64_tusTimestamp (of OBC)
    gsm_modem_typeuint8_tGSM_MODEM_TYPEGSM modem used
    gsm_link_typeuint8_tGSM_LINK_TYPEGSM link type
    rssiuint8_tRSSI as reported by modem (unconverted)
    rsrp_rscpuint8_tRSRP (LTE) or RSCP (WCDMA) as reported by modem (unconverted)
    sinr_eciouint8_tSINR (LTE) or ECIO (WCDMA) as reported by modem (unconverted)
    rsrquint8_tRSRQ (LTE only) as reported by modem (unconverted)

    Status of the SatCom link

    Field NameTypeUnitsDescription
    timestampuint64_tusTimestamp
    last_heartbeatuint64_tusTimestamp of the last successful sbd session
    failed_sessionsuint16_tNumber of failed sessions
    successful_sessionsuint16_tNumber of successful sessions
    signal_qualityuint8_tSignal quality
    ring_pendinguint8_tRing call pending
    tx_session_pendinguint8_tTransmission session pending
    rx_session_pendinguint8_tReceiving session pending

    SENSOR_AIRFLOW_ANGLES (8016) ​

    Calibrated airflow angle measurements

    Field NameTypeUnitsDescription
    timestampuint64_tusTimestamp
    angleofattackfloatdegAngle of attack
    angleofattack_validuint8_tAngle of attack measurement valid
    sideslipfloatdegSideslip angle
    sideslip_validuint8_tSideslip angle measurement valid

    Enumerated Types ​

    ValueNameDescription
    0GSM_LINK_TYPE_NONEno service
    1GSM_LINK_TYPE_UNKNOWNlink type unknown
    2GSM_LINK_TYPE_2G2G (GSM/GRPS/EDGE) link
    3GSM_LINK_TYPE_3G3G link (WCDMA/HSDPA/HSPA)
    4GSM_LINK_TYPE_4G4G link (LTE)

    GSM_MODEM_TYPE ​

    ValueNameDescription
    0GSM_MODEM_TYPE_UNKNOWNnot specified
    1GSM_MODEM_TYPE_HUAWEI_E3372HUAWEI LTE USB Stick E3372

    Commands (MAV_CMD) ​

    MAV_CMD_RESET_MPPT (40001) ​

    Mission command to reset Maximum Power Point Tracker (MPPT)

    Param (Label)Description
    1MPPT number
    2Empty
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_PAYLOAD_CONTROL (40002) ​

    Mission command to perform a power cycle on payload

    Param (Label)Description
    1Complete power cycle
    2VISensor power cycle
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty
    - + \ No newline at end of file diff --git a/ko/messages/AVSSUAS.html b/ko/messages/AVSSUAS.html index c9aa4e49e..fe2835768 100644 --- a/ko/messages/AVSSUAS.html +++ b/ko/messages/AVSSUAS.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

    한국어 (Korean)

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    한국어 (Korean)

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    Dialect: AVSSUAS ​

    Warning This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

    This topic is a human-readable form of the XML definition file: AVSSUAS.xml.

    Note

    • MAVLink 2 extension fields are displayed in blue.
    • Entities from dialects are displayed only as headings (with link to original)

    Protocol dialect: 1

    Protocol version: 2

    목차 ​

    TypeDefinedIncluded
    Messages4226
    Enums3144
    Commands1710

    The following sections list all entities in the dialect (both included and defined in this file).

    Messages ​

    AVSS_PRS_SYS_STATUS (60050) ​

    AVSS PRS system status.

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since PRS boot).
    error_statusuint32_tPRS error statuses
    battery_statusuint32_tEstimated battery run-time without a remote connection and PRS battery voltage
    arm_statusuint8_tPRS arm statuses
    charge_statusuint8_tPRS battery charge statuses

    AVSS_DRONE_POSITION (60051) ​

    Drone position.

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since FC boot).
    latint32_tdegE7Latitude, expressed
    lonint32_tdegE7Longitude, expressed
    altint32_tmmAltitude (MSL). Note that virtually all GPS modules provide both WGS84 and MSL.
    ground_altfloatmAltitude above ground, This altitude is measured by a ultrasound, Laser rangefinder or millimeter-wave radar
    barometer_altfloatmThis altitude is measured by a barometer

    AVSS_DRONE_IMU (60052) ​

    Drone IMU data. Quaternion order is w, x, y, z and a zero rotation would be expressed as (1 0 0 0).

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since FC boot).
    q1floatQuaternion component 1, w (1 in null-rotation)
    q2floatQuaternion component 2, x (0 in null-rotation)
    q3floatQuaternion component 3, y (0 in null-rotation)
    q4floatQuaternion component 4, z (0 in null-rotation)
    xaccfloatm/s/sX acceleration
    yaccfloatm/s/sY acceleration
    zaccfloatm/s/sZ acceleration
    xgyrofloatrad/sAngular speed around X axis
    ygyrofloatrad/sAngular speed around Y axis
    zgyrofloatrad/sAngular speed around Z axis

    AVSS_DRONE_OPERATION_MODE (60053) ​

    Drone operation mode.

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since FC boot).
    M300_operation_modeuint8_tDJI M300 operation mode
    horsefly_operation_modeuint8_thorsefly operation mode

    Enumerated Types ​

    MAV_AVSS_COMMAND_FAILURE_REASON ​

    ValueNameDescription
    1PRS_NOT_STEADYAVSS defined command failure reason. PRS not steady.
    2PRS_DTM_NOT_ARMEDAVSS defined command failure reason. PRS DTM not armed.
    3PRS_OTM_NOT_ARMEDAVSS defined command failure reason. PRS OTM not armed.

    AVSS_M300_OPERATION_MODE ​

    ValueNameDescription
    0MODE_M300_MANUAL_CTRLIn manual control mode
    1MODE_M300_ATTITUDEIn attitude mode
    6MODE_M300_P_GPSIn GPS mode
    9MODE_M300_HOTPOINT_MODEIn hotpoint mode
    10MODE_M300_ASSISTED_TAKEOFFIn assisted takeoff mode
    11MODE_M300_AUTO_TAKEOFFIn auto takeoff mode
    12MODE_M300_AUTO_LANDINGIn auto landing mode
    15MODE_M300_NAVI_GO_HOMEIn go home mode
    17MODE_M300_NAVI_SDK_CTRLIn sdk control mode
    31MODE_M300_S_SPORTIn sport mode
    33MODE_M300_FORCE_AUTO_LANDINGIn force auto landing mode
    38MODE_M300_T_TRIPODIn tripod mode
    40MODE_M300_SEARCH_MODEIn search mode
    41MODE_M300_ENGINE_STARTIn engine mode

    AVSS_HORSEFLY_OPERATION_MODE ​

    ValueNameDescription
    0MODE_HORSEFLY_MANUAL_CTRLIn manual control mode
    1MODE_HORSEFLY_AUTO_TAKEOFFIn auto takeoff mode
    2MODE_HORSEFLY_AUTO_LANDINGIn auto landing mode
    3MODE_HORSEFLY_NAVI_GO_HOMEIn go home mode
    4MODE_HORSEFLY_DROPIn drop mode

    Commands (MAV_CMD) ​

    MAV_CMD_PRS_SET_ARM (60050) ​

    AVSS defined command. Set PRS arm statuses.

    Param (Label)Description
    1 (ARM status)PRS arm statuses
    2User defined
    3User defined
    4User defined
    5User defined
    6User defined
    7User defined

    MAV_CMD_PRS_GET_ARM (60051) ​

    AVSS defined command. Gets PRS arm statuses

    Param (Label)Description
    1User defined
    2User defined
    3User defined
    4User defined
    5User defined
    6User defined
    7User defined

    MAV_CMD_PRS_GET_BATTERY (60052) ​

    AVSS defined command. Get the PRS battery voltage in millivolts

    Param (Label)Description
    1User defined
    2User defined
    3User defined
    4User defined
    5User defined
    6User defined
    7User defined

    MAV_CMD_PRS_GET_ERR (60053) ​

    AVSS defined command. Get the PRS error statuses.

    Param (Label)Description
    1User defined
    2User defined
    3User defined
    4User defined
    5User defined
    6User defined
    7User defined

    MAV_CMD_PRS_SET_ARM_ALTI (60070) ​

    AVSS defined command. Set the ATS arming altitude in meters.

    Param (Label)DescriptionUnits
    1 (Altitude)ATS arming altitudem
    2User defined
    3User defined
    4User defined
    5User defined
    6User defined
    7User defined

    MAV_CMD_PRS_GET_ARM_ALTI (60071) ​

    AVSS defined command. Get the ATS arming altitude in meters.

    Param (Label)Description
    1User defined
    2User defined
    3User defined
    4User defined
    5User defined
    6User defined
    7User defined

    MAV_CMD_PRS_SHUTDOWN (60072) ​

    AVSS defined command. Shuts down the PRS system.

    Param (Label)Description
    1User defined
    2User defined
    3User defined
    4User defined
    5User defined
    6User defined
    7User defined
    - + \ No newline at end of file diff --git a/ko/messages/all.html b/ko/messages/all.html index 91a6b3da7..8143732a7 100644 --- a/ko/messages/all.html +++ b/ko/messages/all.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

    한국어 (Korean)

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    Dialect: all ​

    This dialect is intended to include all other dialects in the mavlink/mavlink repository (including external dialects).

    Dialects that are in all.xml are guaranteed to not have clashes in messages, enums, enum ids, and MAV_CMDs. This ensure that:

    • Systems based on these dialects can co-exist on the same MAVLink network.
    • A Ground Station might (optionally) use libraries generated from all.xml to communicate using any of the dialects.

    Warning

    • New dialect files in the official repository must be added to all.xml and restrict themselves to using ids in their own allocated range.
    • Dialects should push changes to mavlink/mavlink in order to avoid potential clashes from changes to other dialects.

    A few older dialects are not included because these operate in completely closed networks or because they are only used for tests.

    This topic is a human-readable form of the XML definition file: all.xml.

    Note

    • MAVLink 2 extension fields are displayed in blue.
    • Entities from dialects are displayed only as headings (with link to original)

    목차 ​

    TypeDefinedIncluded
    Messages0364
    Enums0235
    Commands2160

    The following sections list all entities in the dialect (both included and defined in this file).

    Messages ​

    Enumerated Types ​

    Commands (MAV_CMD) ​

    - + \ No newline at end of file diff --git a/ko/messages/ardupilotmega.html b/ko/messages/ardupilotmega.html index 607f87e59..e169c90b7 100644 --- a/ko/messages/ardupilotmega.html +++ b/ko/messages/ardupilotmega.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

    한국어 (Korean)

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    한국어 (Korean)

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    Dialect: ArduPilotMega ​

    Warning ardupilotmega.xml contains the accurate and up-to-date documentation for this dialect. The documentation below may not be accurate if the dialect owner has not pushed changes.

    These messages define the ArduPilot specific dialect (as pushed to the mavlink/mavlink GitHub repository by the dialect owner).

    This topic is a human-readable form of the XML definition file: ardupilotmega.xml.

    Note

    • MAVLink 2 extension fields are displayed in blue.
    • Entities from dialects are displayed only as headings (with link to original)

    Protocol dialect: 2

    목차 ​

    TypeDefinedIncluded
    Messages65242
    Enums45159
    Commands1950

    The following sections list all entities in the dialect (both included and defined in this file).

    Messages ​

    SENSOR_OFFSETS (150) ​

    Offsets and calibrations values for hardware sensors. This makes it easier to debug the calibration process.

    Field NameTypeUnitsDescription
    mag_ofs_xint16_tMagnetometer X offset.
    mag_ofs_yint16_tMagnetometer Y offset.
    mag_ofs_zint16_tMagnetometer Z offset.
    mag_declinationfloatradMagnetic declination.
    raw_pressint32_tRaw pressure from barometer.
    raw_tempint32_tRaw temperature from barometer.
    gyro_cal_xfloatGyro X calibration.
    gyro_cal_yfloatGyro Y calibration.
    gyro_cal_zfloatGyro Z calibration.
    accel_cal_xfloatAccel X calibration.
    accel_cal_yfloatAccel Y calibration.
    accel_cal_zfloatAccel Z calibration.

    SET_MAG_OFFSETS (151) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS (2014-07)

    Set the magnetometer offsets

    Field NameTypeDescription
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    mag_ofs_xint16_tMagnetometer X offset.
    mag_ofs_yint16_tMagnetometer Y offset.
    mag_ofs_zint16_tMagnetometer Z offset.

    MEMINFO (152) ​

    State of autopilot RAM.

    Field NameTypeUnitsDescription
    brkvaluint16_tHeap top.
    freememuint16_tbytesFree memory.
    freemem32 ++uint32_tbytesFree memory (32 bit).

    AP_ADC (153) ​

    Raw ADC output.

    Field NameTypeDescription
    adc1uint16_tADC output 1.
    adc2uint16_tADC output 2.
    adc3uint16_tADC output 3.
    adc4uint16_tADC output 4.
    adc5uint16_tADC output 5.
    adc6uint16_tADC output 6.

    DIGICAM_CONFIGURE (154) ​

    Configure on-board Camera Control System.

    Field NameTypeUnitsDescription
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    modeuint8_tMode enumeration from 1 to N //P, TV, AV, M, etc. (0 means ignore).
    shutter_speeduint16_tDivisor number //e.g. 1000 means 1/1000 (0 means ignore).
    apertureuint8_tF stop number x 10 //e.g. 28 means 2.8 (0 means ignore).
    isouint8_tISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore).
    exposure_typeuint8_tExposure type enumeration from 1 to N (0 means ignore).
    command_iduint8_tCommand Identity (incremental loop: 0 to 255). //A command sent multiple times will be executed or pooled just once.
    engine_cut_offuint8_tdsMain engine cut-off time before camera trigger (0 means no cut-off).
    extra_paramuint8_tExtra parameters enumeration (0 means ignore).
    extra_valuefloatCorrespondent value to given extra_param.

    DIGICAM_CONTROL (155) ​

    Control on-board Camera Control System to take shots.

    Field NameTypeDescription
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    sessionuint8_t0: stop, 1: start or keep it up //Session control e.g. show/hide lens.
    zoom_posuint8_t1 to N //Zoom's absolute position (0 means ignore).
    zoom_stepint8_t-100 to 100 //Zooming step value to offset zoom from the current position.
    focus_lockuint8_t0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus.
    shotuint8_t0: ignore, 1: shot or start filming.
    command_iduint8_tCommand Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once.
    extra_paramuint8_tExtra parameters enumeration (0 means ignore).
    extra_valuefloatCorrespondent value to given extra_param.

    MOUNT_CONFIGURE (156) ​

    Message to configure a camera mount, directional antenna, etc.

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    mount_modeuint8_tMAV_MOUNT_MODEMount operating mode.
    stab_rolluint8_t(1 = yes, 0 = no).
    stab_pitchuint8_t(1 = yes, 0 = no).
    stab_yawuint8_t(1 = yes, 0 = no).

    MOUNT_CONTROL (157) ​

    Message to control a camera mount, directional antenna, etc.

    Field NameTypeDescription
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    input_aint32_tPitch (centi-degrees) or lat (degE7), depending on mount mode.
    input_bint32_tRoll (centi-degrees) or lon (degE7) depending on mount mode.
    input_cint32_tYaw (centi-degrees) or alt (cm) depending on mount mode.
    save_positionuint8_tIf "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING).

    MOUNT_STATUS (158) ​

    Message with some status from autopilot to GCS about camera or antenna mount.

    Field NameTypeUnitsValuesDescription
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    pointing_aint32_tcdegPitch.
    pointing_bint32_tcdegRoll.
    pointing_cint32_tcdegYaw.
    mount_mode ++uint8_tMAV_MOUNT_MODEMount operating mode.

    FENCE_POINT (160) ​

    A fence point. Used to set a point when from GCS -> MAV. Also used to return a point from MAV -> GCS.

    Field NameTypeUnitsDescription
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    idxuint8_tPoint index (first point is 1, 0 is for return point).
    countuint8_tTotal number of points (for sanity checking).
    latfloatdegLatitude of point.
    lngfloatdegLongitude of point.

    FENCE_FETCH_POINT (161) ​

    Request a current fence point from MAV.

    Field NameTypeDescription
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    idxuint8_tPoint index (first point is 1, 0 is for return point).

    AHRS (163) ​

    Status of DCM attitude estimator.

    Field NameTypeUnitsDescription
    omegaIxfloatrad/sX gyro drift estimate.
    omegaIyfloatrad/sY gyro drift estimate.
    omegaIzfloatrad/sZ gyro drift estimate.
    accel_weightfloatAverage accel_weight.
    renorm_valfloatAverage renormalisation value.
    error_rpfloatAverage error_roll_pitch value.
    error_yawfloatAverage error_yaw value.

    SIMSTATE (164) ​

    Status of simulation environment, if used.

    Field NameTypeUnitsDescription
    rollfloatradRoll angle.
    pitchfloatradPitch angle.
    yawfloatradYaw angle.
    xaccfloatm/s/sX acceleration.
    yaccfloatm/s/sY acceleration.
    zaccfloatm/s/sZ acceleration.
    xgyrofloatrad/sAngular speed around X axis.
    ygyrofloatrad/sAngular speed around Y axis.
    zgyrofloatrad/sAngular speed around Z axis.
    latint32_tdegE7Latitude.
    lngint32_tdegE7Longitude.

    HWSTATUS (165) ​

    Status of key hardware.

    Field NameTypeUnitsDescription
    Vccuint16_tmVBoard voltage.
    I2Cerruint8_tI2C error count.

    RADIO (166) ​

    Status generated by radio.

    Field NameTypeUnitsDescription
    rssiuint8_tLocal signal strength.
    remrssiuint8_tRemote signal strength.
    txbufuint8_t%How full the tx buffer is.
    noiseuint8_tBackground noise level.
    remnoiseuint8_tRemote background noise level.
    rxerrorsuint16_tReceive errors.
    fixeduint16_tCount of error corrected packets.

    LIMITS_STATUS (167) ​

    Status of AP_Limits. Sent in extended status stream when AP_Limits is enabled.

    Field NameTypeUnitsValuesDescription
    limits_stateuint8_tLIMITS_STATEState of AP_Limits.
    last_triggeruint32_tmsTime (since boot) of last breach.
    last_actionuint32_tmsTime (since boot) of last recovery action.
    last_recoveryuint32_tmsTime (since boot) of last successful recovery.
    last_clearuint32_tmsTime (since boot) of last all-clear.
    breach_countuint16_tNumber of fence breaches.
    mods_enableduint8_tLIMIT_MODULEAP_Limit_Module bitfield of enabled modules.
    mods_requireduint8_tLIMIT_MODULEAP_Limit_Module bitfield of required modules.
    mods_triggereduint8_tLIMIT_MODULEAP_Limit_Module bitfield of triggered modules.

    WIND (168) ​

    Wind estimation.

    Field NameTypeUnitsDescription
    directionfloatdegWind direction (that wind is coming from).
    speedfloatm/sWind speed in ground plane.
    speed_zfloatm/sVertical wind speed.

    DATA16 (169) ​

    Data packet, size 16.

    Field NameTypeUnitsDescription
    typeuint8_tData type.
    lenuint8_tbytesData length.
    datauint8_t[16]Raw data.

    DATA32 (170) ​

    Data packet, size 32.

    Field NameTypeUnitsDescription
    typeuint8_tData type.
    lenuint8_tbytesData length.
    datauint8_t[32]Raw data.

    DATA64 (171) ​

    Data packet, size 64.

    Field NameTypeUnitsDescription
    typeuint8_tData type.
    lenuint8_tbytesData length.
    datauint8_t[64]Raw data.

    DATA96 (172) ​

    Data packet, size 96.

    Field NameTypeUnitsDescription
    typeuint8_tData type.
    lenuint8_tbytesData length.
    datauint8_t[96]Raw data.

    RANGEFINDER (173) ​

    Rangefinder reporting.

    Field NameTypeUnitsDescription
    distancefloatmDistance.
    voltagefloatVRaw voltage if available, zero otherwise.

    AIRSPEED_AUTOCAL (174) ​

    Airspeed auto-calibration.

    Field NameTypeUnitsDescription
    vxfloatm/sGPS velocity north.
    vyfloatm/sGPS velocity east.
    vzfloatm/sGPS velocity down.
    diff_pressurefloatPaDifferential pressure.
    EAS2TASfloatEstimated to true airspeed ratio.
    ratiofloatAirspeed ratio.
    state_xfloatEKF state x.
    state_yfloatEKF state y.
    state_zfloatEKF state z.
    PaxfloatEKF Pax.
    PbyfloatEKF Pby.
    PczfloatEKF Pcz.

    RALLY_POINT (175) ​

    A rally point. Used to set a point when from GCS -> MAV. Also used to return a point from MAV -> GCS.

    Field NameTypeUnitsValuesDescription
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    idxuint8_tPoint index (first point is 0).
    countuint8_tTotal number of points (for sanity checking).
    latint32_tdegE7Latitude of point.
    lngint32_tdegE7Longitude of point.
    altint16_tmTransit / loiter altitude relative to home.
    break_altint16_tmBreak altitude relative to home.
    land_diruint16_tcdegHeading to aim for when landing.
    flagsuint8_tRALLY_FLAGSConfiguration flags.

    RALLY_FETCH_POINT (176) ​

    Request a current rally point from MAV. MAV should respond with a RALLY_POINT message. MAV should not respond if the request is invalid.

    Field NameTypeDescription
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    idxuint8_tPoint index (first point is 0).

    COMPASSMOT_STATUS (177) ​

    Status of compassmot calibration.

    Field NameTypeUnitsDescription
    throttleuint16_td%Throttle.
    currentfloatACurrent.
    interferenceuint16_t%Interference.
    CompensationXfloatMotor Compensation X.
    CompensationYfloatMotor Compensation Y.
    CompensationZfloatMotor Compensation Z.

    AHRS2 (178) ​

    Status of secondary AHRS filter if available.

    Field NameTypeUnitsDescription
    rollfloatradRoll angle.
    pitchfloatradPitch angle.
    yawfloatradYaw angle.
    altitudefloatmAltitude (MSL).
    latint32_tdegE7Latitude.
    lngint32_tdegE7Longitude.

    CAMERA_STATUS (179) ​

    Camera Event.

    Field NameTypeUnitsValuesDescription
    time_usecuint64_tusImage timestamp (since UNIX epoch, according to camera clock).
    target_systemuint8_tSystem ID.
    cam_idxuint8_tCamera ID.
    img_idxuint16_tImage index.
    event_iduint8_tCAMERA_STATUS_TYPESEvent type.
    p1floatParameter 1 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).
    p2floatParameter 2 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).
    p3floatParameter 3 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).
    p4floatParameter 4 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).

    CAMERA_FEEDBACK (180) ​

    Camera Capture Feedback.

    Field NameTypeUnitsValuesDescription
    time_usecuint64_tusImage timestamp (since UNIX epoch), as passed in by CAMERA_STATUS message (or autopilot if no CCB).
    target_systemuint8_tSystem ID.
    cam_idxuint8_tCamera ID.
    img_idxuint16_tImage index.
    latint32_tdegE7Latitude.
    lngint32_tdegE7Longitude.
    alt_mslfloatmAltitude (MSL).
    alt_relfloatmAltitude (Relative to HOME location).
    rollfloatdegCamera Roll angle (earth frame, +-180).
    pitchfloatdegCamera Pitch angle (earth frame, +-180).
    yawfloatdegCamera Yaw (earth frame, 0-360, true).
    foc_lenfloatmmFocal Length.
    flagsuint8_tCAMERA_FEEDBACK_FLAGSFeedback flags.
    completed_captures ++uint16_tCompleted image captures.

    BATTERY2 (181) — [DEP] ​

    DEPRECATED: Replaced By BATTERY_STATUS (2017-04)

    2nd Battery status

    Field NameTypeUnitsDescription
    voltageuint16_tmVVoltage.
    current_batteryint16_tcABattery current, -1: autopilot does not measure the current.

    AHRS3 (182) ​

    Status of third AHRS filter if available. This is for ANU research group (Ali and Sean).

    Field NameTypeUnitsDescription
    rollfloatradRoll angle.
    pitchfloatradPitch angle.
    yawfloatradYaw angle.
    altitudefloatmAltitude (MSL).
    latint32_tdegE7Latitude.
    lngint32_tdegE7Longitude.
    v1floatTest variable1.
    v2floatTest variable2.
    v3floatTest variable3.
    v4floatTest variable4.

    AUTOPILOT_VERSION_REQUEST (183) ​

    Request the autopilot version from the system/component.

    Field NameTypeDescription
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.

    REMOTE_LOG_DATA_BLOCK (184) ​

    Send a block of log data to remote location.

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    seqnouint32_tMAV_REMOTE_LOG_DATA_BLOCK_COMMANDSLog data block sequence number.
    datauint8_t[200]Log data block.

    REMOTE_LOG_BLOCK_STATUS (185) ​

    Send Status of each log block that autopilot board might have sent.

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    seqnouint32_tLog data block sequence number.
    statusuint8_tMAV_REMOTE_LOG_DATA_BLOCK_STATUSESLog data block status.

    LED_CONTROL (186) ​

    Control vehicle LEDs.

    Field NameTypeDescription
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    instanceuint8_tInstance (LED instance to control or 255 for all LEDs).
    patternuint8_tPattern (see LED_PATTERN_ENUM).
    custom_lenuint8_tCustom Byte Length.
    custom_bytesuint8_t[24]Custom Bytes.

    MAG_CAL_PROGRESS (191) ​

    Reports progress of compass calibration.

    Field NameTypeUnitsValuesDescription
    compass_iduint8_tCompass being calibrated.
    Messages with same value are from the same source (instance).
    cal_maskuint8_tBitmask of compasses being calibrated.
    cal_statusuint8_tMAG_CAL_STATUSCalibration Status.
    attemptuint8_tAttempt number.
    completion_pctuint8_t%Completion percentage.
    completion_maskuint8_t[10]Bitmask of sphere sections (see http://en.wikipedia.org/wiki/Geodesic_grid).
    direction_xfloatBody frame direction vector for display.
    direction_yfloatBody frame direction vector for display.
    direction_zfloatBody frame direction vector for display.

    EKF_STATUS_REPORT (193) ​

    EKF Status message including flags and variances.

    Field NameTypeValuesDescription
    flagsuint16_tEKF_STATUS_FLAGSFlags.
    velocity_variancefloatVelocity variance.
    pos_horiz_variancefloatHorizontal Position variance.
    pos_vert_variancefloatVertical Position variance.
    compass_variancefloatCompass variance.
    terrain_alt_variancefloatTerrain Altitude variance.
    airspeed_variance ++floatAirspeed variance.

    PID_TUNING (194) ​

    PID tuning information.

    Field NameTypeValuesDescription
    axisuint8_tPID_TUNING_AXISAxis.
    Messages with same value are from the same source (instance).
    desiredfloatDesired rate.
    achievedfloatAchieved rate.
    FFfloatFF component.
    PfloatP component.
    IfloatI component.
    DfloatD component.
    SRate ++floatSlew rate.
    PDmod ++floatP/D oscillation modifier.

    DEEPSTALL (195) ​

    Deepstall path planning.

    Field NameTypeUnitsValuesDescription
    landing_latint32_tdegE7Landing latitude.
    landing_lonint32_tdegE7Landing longitude.
    path_latint32_tdegE7Final heading start point, latitude.
    path_lonint32_tdegE7Final heading start point, longitude.
    arc_entry_latint32_tdegE7Arc entry point, latitude.
    arc_entry_lonint32_tdegE7Arc entry point, longitude.
    altitudefloatmAltitude.
    expected_travel_distancefloatmDistance the aircraft expects to travel during the deepstall.
    cross_track_errorfloatmDeepstall cross track error (only valid when in DEEPSTALL_STAGE_LAND).
    stageuint8_tDEEPSTALL_STAGEDeepstall stage.

    GIMBAL_REPORT (200) ​

    3 axis gimbal measurements.

    Field NameTypeUnitsDescription
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    delta_timefloatsTime since last update.
    delta_angle_xfloatradDelta angle X.
    delta_angle_yfloatradDelta angle Y.
    delta_angle_zfloatradDelta angle X.
    delta_velocity_xfloatm/sDelta velocity X.
    delta_velocity_yfloatm/sDelta velocity Y.
    delta_velocity_zfloatm/sDelta velocity Z.
    joint_rollfloatradJoint ROLL.
    joint_elfloatradJoint EL.
    joint_azfloatradJoint AZ.

    GIMBAL_CONTROL (201) ​

    Control message for rate gimbal.

    Field NameTypeUnitsDescription
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    demanded_rate_xfloatrad/sDemanded angular rate X.
    demanded_rate_yfloatrad/sDemanded angular rate Y.
    demanded_rate_zfloatrad/sDemanded angular rate Z.

    GIMBAL_TORQUE_CMD_REPORT (214) ​

    100 Hz gimbal torque command telemetry.

    Field NameTypeDescription
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    rl_torque_cmdint16_tRoll Torque Command.
    el_torque_cmdint16_tElevation Torque Command.
    az_torque_cmdint16_tAzimuth Torque Command.

    GOPRO_HEARTBEAT (215) ​

    Heartbeat from a HeroBus attached GoPro.

    Field NameTypeValuesDescription
    statusuint8_tGOPRO_HEARTBEAT_STATUSStatus.
    capture_modeuint8_tGOPRO_CAPTURE_MODECurrent capture mode.
    flagsuint8_tGOPRO_HEARTBEAT_FLAGSAdditional status bits.

    GOPRO_GET_REQUEST (216) ​

    Request a GOPRO_COMMAND response from the GoPro.

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    cmd_iduint8_tGOPRO_COMMANDCommand ID.

    GOPRO_GET_RESPONSE (217) ​

    Response from a GOPRO_COMMAND get request.

    Field NameTypeValuesDescription
    cmd_iduint8_tGOPRO_COMMANDCommand ID.
    statusuint8_tGOPRO_REQUEST_STATUSStatus.
    valueuint8_t[4]Value.

    GOPRO_SET_REQUEST (218) ​

    Request to set a GOPRO_COMMAND with a desired.

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    cmd_iduint8_tGOPRO_COMMANDCommand ID.
    valueuint8_t[4]Value.

    GOPRO_SET_RESPONSE (219) ​

    Response from a GOPRO_COMMAND set request.

    Field NameTypeValuesDescription
    cmd_iduint8_tGOPRO_COMMANDCommand ID.
    statusuint8_tGOPRO_REQUEST_STATUSStatus.

    RPM (226) ​

    RPM sensor output.

    Field NameTypeDescription
    rpm1floatRPM Sensor1.
    rpm2floatRPM Sensor2.

    DEVICE_OP_READ (11000) ​

    Read registers for a device.

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    request_iduint32_tRequest ID - copied to reply.
    bustypeuint8_tDEVICE_OP_BUSTYPEThe bus type.
    busuint8_tBus number.
    addressuint8_tBus address.
    busnamechar[40]Name of device on bus (for SPI).
    regstartuint8_tFirst register to read.
    countuint8_tCount of registers to read.
    bank ++uint8_tBank number.

    DEVICE_OP_READ_REPLY (11001) ​

    Read registers reply.

    Field NameTypeDescription
    request_iduint32_tRequest ID - copied from request.
    resultuint8_t0 for success, anything else is failure code.
    regstartuint8_tStarting register.
    countuint8_tCount of bytes read.
    datauint8_t[128]Reply data.
    bank ++uint8_tBank number.

    DEVICE_OP_WRITE (11002) ​

    Write registers for a device.

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    request_iduint32_tRequest ID - copied to reply.
    bustypeuint8_tDEVICE_OP_BUSTYPEThe bus type.
    busuint8_tBus number.
    addressuint8_tBus address.
    busnamechar[40]Name of device on bus (for SPI).
    regstartuint8_tFirst register to write.
    countuint8_tCount of registers to write.
    datauint8_t[128]Write data.
    bank ++uint8_tBank number.

    DEVICE_OP_WRITE_REPLY (11003) ​

    Write registers reply.

    Field NameTypeDescription
    request_iduint32_tRequest ID - copied from request.
    resultuint8_t0 for success, anything else is failure code.

    ADAP_TUNING (11010) ​

    Adaptive Controller tuning information.

    Field NameTypeUnitsValuesDescription
    axisuint8_tPID_TUNING_AXISAxis.
    Messages with same value are from the same source (instance).
    desiredfloatdeg/sDesired rate.
    achievedfloatdeg/sAchieved rate.
    errorfloatError between model and vehicle.
    thetafloatTheta estimated state predictor.
    omegafloatOmega estimated state predictor.
    sigmafloatSigma estimated state predictor.
    theta_dotfloatTheta derivative.
    omega_dotfloatOmega derivative.
    sigma_dotfloatSigma derivative.
    ffloatProjection operator value.
    f_dotfloatProjection operator derivative.
    ufloatu adaptive controlled output command.

    VISION_POSITION_DELTA (11011) ​

    Camera vision based attitude and position deltas.

    Field NameTypeUnitsDescription
    time_usecuint64_tusTimestamp (synced to UNIX time or since system boot).
    time_delta_usecuint64_tusTime since the last reported camera frame.
    angle_deltafloat[3]radDefines a rotation vector [roll, pitch, yaw] to the current MAV_FRAME_BODY_FRD from the previous MAV_FRAME_BODY_FRD.
    position_deltafloat[3]mChange in position to the current MAV_FRAME_BODY_FRD from the previous FRAME_BODY_FRD rotated to the current MAV_FRAME_BODY_FRD.
    confidencefloat%Normalised confidence value from 0 to 100.

    AOA_SSA (11020) ​

    Angle of Attack and Side Slip Angle.

    Field NameTypeUnitsDescription
    time_usecuint64_tusTimestamp (since boot or Unix epoch).
    AOAfloatdegAngle of Attack.
    SSAfloatdegSide Slip Angle.

    ESC_TELEMETRY_1_TO_4 (11030) ​

    ESC Telemetry Data for ESCs 1 to 4, matching data sent by BLHeli ESCs.

    Field NameTypeUnitsDescription
    temperatureuint8_t[4]degCTemperature.
    voltageuint16_t[4]cVVoltage.
    currentuint16_t[4]cACurrent.
    totalcurrentuint16_t[4]mAhTotal current.
    rpmuint16_t[4]rpmRPM (eRPM).
    countuint16_t[4]count of telemetry packets received (wraps at 65535).

    ESC_TELEMETRY_5_TO_8 (11031) ​

    ESC Telemetry Data for ESCs 5 to 8, matching data sent by BLHeli ESCs.

    Field NameTypeUnitsDescription
    temperatureuint8_t[4]degCTemperature.
    voltageuint16_t[4]cVVoltage.
    currentuint16_t[4]cACurrent.
    totalcurrentuint16_t[4]mAhTotal current.
    rpmuint16_t[4]rpmRPM (eRPM).
    countuint16_t[4]count of telemetry packets received (wraps at 65535).

    ESC_TELEMETRY_9_TO_12 (11032) ​

    ESC Telemetry Data for ESCs 9 to 12, matching data sent by BLHeli ESCs.

    Field NameTypeUnitsDescription
    temperatureuint8_t[4]degCTemperature.
    voltageuint16_t[4]cVVoltage.
    currentuint16_t[4]cACurrent.
    totalcurrentuint16_t[4]mAhTotal current.
    rpmuint16_t[4]rpmRPM (eRPM).
    countuint16_t[4]count of telemetry packets received (wraps at 65535).

    OSD_PARAM_CONFIG (11033) ​

    Configure an OSD parameter slot.

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    request_iduint32_tRequest ID - copied to reply.
    osd_screenuint8_tOSD parameter screen index.
    osd_indexuint8_tOSD parameter display index.
    param_idchar[16]Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
    config_typeuint8_tOSD_PARAM_CONFIG_TYPEConfig type.
    min_valuefloatOSD parameter minimum value.
    max_valuefloatOSD parameter maximum value.
    incrementfloatOSD parameter increment.

    OSD_PARAM_CONFIG_REPLY (11034) ​

    Configure OSD parameter reply.

    Field NameTypeValuesDescription
    request_iduint32_tRequest ID - copied from request.
    resultuint8_tOSD_PARAM_CONFIG_ERRORConfig error type.

    OSD_PARAM_SHOW_CONFIG (11035) ​

    Read a configured an OSD parameter slot.

    Field NameTypeDescription
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    request_iduint32_tRequest ID - copied to reply.
    osd_screenuint8_tOSD parameter screen index.
    osd_indexuint8_tOSD parameter display index.

    OSD_PARAM_SHOW_CONFIG_REPLY (11036) ​

    Read configured OSD parameter reply.

    Field NameTypeValuesDescription
    request_iduint32_tRequest ID - copied from request.
    resultuint8_tOSD_PARAM_CONFIG_ERRORConfig error type.
    param_idchar[16]Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
    config_typeuint8_tOSD_PARAM_CONFIG_TYPEConfig type.
    min_valuefloatOSD parameter minimum value.
    max_valuefloatOSD parameter maximum value.
    incrementfloatOSD parameter increment.

    OBSTACLE_DISTANCE_3D (11037) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Obstacle located as a 3D vector.

    Field NameTypeUnitsValuesDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    sensor_typeuint8_tMAV_DISTANCE_SENSORClass id of the distance sensor type.
    frameuint8_tMAV_FRAMECoordinate frame of reference.
    obstacle_iduint16_tUnique ID given to each obstacle so that its movement can be tracked. Use UINT16_MAX if object ID is unknown or cannot be determined.
    Messages with same value are from the same source (instance).
    xfloatmX position of the obstacle.
    yfloatmY position of the obstacle.
    zfloatmZ position of the obstacle.
    min_distancefloatmMinimum distance the sensor can measure.
    max_distancefloatmMaximum distance the sensor can measure.

    WATER_DEPTH (11038) ​

    Water depth

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot)
    iduint8_tOnboard ID of the sensor
    Messages with same value are from the same source (instance).
    healthyuint8_tSensor data healthy (0=unhealthy, 1=healthy)
    latint32_tdegE7Latitude
    lngint32_tdegE7Longitude
    altfloatmAltitude (MSL) of vehicle
    rollfloatradRoll angle
    pitchfloatradPitch angle
    yawfloatradYaw angle
    distancefloatmDistance (uncorrected)
    temperaturefloatdegCWater temperature

    MCU_STATUS (11039) ​

    The MCU status, giving MCU temperature and voltage. The min and max voltages are to allow for detecting power supply instability.

    Field NameTypeUnitsDescription
    iduint8_tMCU instance
    Messages with same value are from the same source (instance).
    MCU_temperatureint16_tcdegCMCU Internal temperature
    MCU_voltageuint16_tmVMCU voltage
    MCU_voltage_minuint16_tmVMCU voltage minimum
    MCU_voltage_maxuint16_tmVMCU voltage maximum

    Enumerated Types ​

    ACCELCAL_VEHICLE_POS ​

    ValueNameDescription
    1ACCELCAL_VEHICLE_POS_LEVEL
    2ACCELCAL_VEHICLE_POS_LEFT
    3ACCELCAL_VEHICLE_POS_RIGHT
    4ACCELCAL_VEHICLE_POS_NOSEDOWN
    5ACCELCAL_VEHICLE_POS_NOSEUP
    6ACCELCAL_VEHICLE_POS_BACK
    16777215ACCELCAL_VEHICLE_POS_SUCCESS
    16777216ACCELCAL_VEHICLE_POS_FAILED

    HEADING_TYPE ​

    ValueNameDescription
    0HEADING_TYPE_COURSE_OVER_GROUND
    1HEADING_TYPE_HEADING

    SCRIPTING_CMD ​

    ValueNameDescription
    0SCRIPTING_CMD_REPL_STARTStart a REPL session.
    1SCRIPTING_CMD_REPL_STOPEnd a REPL session.
    2SCRIPTING_CMD_STOPStop execution of scripts.
    3SCRIPTING_CMD_STOP_AND_RESTARTStop execution of scripts and restart.

    LIMITS_STATE ​

    ValueNameDescription
    0LIMITS_INITPre-initialization.
    1LIMITS_DISABLEDDisabled.
    2LIMITS_ENABLEDChecking limits.
    3LIMITS_TRIGGEREDA limit has been breached.
    4LIMITS_RECOVERINGTaking action e.g. Return/RTL.
    5LIMITS_RECOVEREDWe're no longer in breach of a limit.

    LIMIT_MODULE ​

    (Bitmask)

    ValueNameDescription
    1LIMIT_GPSLOCKPre-initialization.
    2LIMIT_GEOFENCEDisabled.
    4LIMIT_ALTITUDEChecking limits.

    RALLY_FLAGS ​

    (Bitmask) Flags in RALLY_POINT message.

    ValueNameDescription
    1FAVORABLE_WINDFlag set when requiring favorable winds for landing.
    2LAND_IMMEDIATELYFlag set when plane is to immediately descend to break altitude and land without GCS intervention. Flag not set when plane is to loiter at Rally point until commanded to land.

    CAMERA_STATUS_TYPES ​

    ValueNameDescription
    0CAMERA_STATUS_TYPE_HEARTBEATCamera heartbeat, announce camera component ID at 1Hz.
    1CAMERA_STATUS_TYPE_TRIGGERCamera image triggered.
    2CAMERA_STATUS_TYPE_DISCONNECTCamera connection lost.
    3CAMERA_STATUS_TYPE_ERRORCamera unknown error.
    4CAMERA_STATUS_TYPE_LOWBATTCamera battery low. Parameter p1 shows reported voltage.
    5CAMERA_STATUS_TYPE_LOWSTORECamera storage low. Parameter p1 shows reported shots remaining.
    6CAMERA_STATUS_TYPE_LOWSTOREVCamera storage low. Parameter p1 shows reported video minutes remaining.

    CAMERA_FEEDBACK_FLAGS ​

    ValueNameDescription
    0CAMERA_FEEDBACK_PHOTOShooting photos, not video.
    1CAMERA_FEEDBACK_VIDEOShooting video, not stills.
    2CAMERA_FEEDBACK_BADEXPOSUREUnable to achieve requested exposure (e.g. shutter speed too low).
    3CAMERA_FEEDBACK_CLOSEDLOOPClosed loop feedback from camera, we know for sure it has successfully taken a picture.
    4CAMERA_FEEDBACK_OPENLOOPOpen loop camera, an image trigger has been requested but we can't know for sure it has successfully taken a picture.

    MAV_MODE_GIMBAL ​

    ValueNameDescription
    0MAV_MODE_GIMBAL_UNINITIALIZEDGimbal is powered on but has not started initializing yet.
    1MAV_MODE_GIMBAL_CALIBRATING_PITCHGimbal is currently running calibration on the pitch axis.
    2MAV_MODE_GIMBAL_CALIBRATING_ROLLGimbal is currently running calibration on the roll axis.
    3MAV_MODE_GIMBAL_CALIBRATING_YAWGimbal is currently running calibration on the yaw axis.
    4MAV_MODE_GIMBAL_INITIALIZEDGimbal has finished calibrating and initializing, but is relaxed pending reception of first rate command from copter.
    5MAV_MODE_GIMBAL_ACTIVEGimbal is actively stabilizing.
    6MAV_MODE_GIMBAL_RATE_CMD_TIMEOUTGimbal is relaxed because it missed more than 10 expected rate command messages in a row. Gimbal will move back to active mode when it receives a new rate command.

    GIMBAL_AXIS ​

    ValueNameDescription
    0GIMBAL_AXIS_YAWGimbal yaw axis.
    1GIMBAL_AXIS_PITCHGimbal pitch axis.
    2GIMBAL_AXIS_ROLLGimbal roll axis.

    GIMBAL_AXIS_CALIBRATION_STATUS ​

    ValueNameDescription
    0GIMBAL_AXIS_CALIBRATION_STATUS_IN_PROGRESSAxis calibration is in progress.
    1GIMBAL_AXIS_CALIBRATION_STATUS_SUCCEEDEDAxis calibration succeeded.
    2GIMBAL_AXIS_CALIBRATION_STATUS_FAILEDAxis calibration failed.

    GIMBAL_AXIS_CALIBRATION_REQUIRED ​

    ValueNameDescription
    0GIMBAL_AXIS_CALIBRATION_REQUIRED_UNKNOWNWhether or not this axis requires calibration is unknown at this time.
    1GIMBAL_AXIS_CALIBRATION_REQUIRED_TRUEThis axis requires calibration.
    2GIMBAL_AXIS_CALIBRATION_REQUIRED_FALSEThis axis does not require calibration.

    GOPRO_HEARTBEAT_STATUS ​

    ValueNameDescription
    0GOPRO_HEARTBEAT_STATUS_DISCONNECTEDNo GoPro connected.
    1GOPRO_HEARTBEAT_STATUS_INCOMPATIBLEThe detected GoPro is not HeroBus compatible.
    2GOPRO_HEARTBEAT_STATUS_CONNECTEDA HeroBus compatible GoPro is connected.
    3GOPRO_HEARTBEAT_STATUS_ERRORAn unrecoverable error was encountered with the connected GoPro, it may require a power cycle.

    GOPRO_HEARTBEAT_FLAGS ​

    (Bitmask)

    ValueNameDescription
    1GOPRO_FLAG_RECORDINGGoPro is currently recording.

    GOPRO_REQUEST_STATUS ​

    ValueNameDescription
    0GOPRO_REQUEST_SUCCESSThe write message with ID indicated succeeded.
    1GOPRO_REQUEST_FAILEDThe write message with ID indicated failed.

    GOPRO_COMMAND ​

    ValueNameDescription
    0GOPRO_COMMAND_POWER(Get/Set).
    1GOPRO_COMMAND_CAPTURE_MODE(Get/Set).
    2GOPRO_COMMAND_SHUTTER(___/Set).
    3GOPRO_COMMAND_BATTERY(Get/___).
    4GOPRO_COMMAND_MODEL(Get/___).
    5GOPRO_COMMAND_VIDEO_SETTINGS(Get/Set).
    6GOPRO_COMMAND_LOW_LIGHT(Get/Set).
    7GOPRO_COMMAND_PHOTO_RESOLUTION(Get/Set).
    8GOPRO_COMMAND_PHOTO_BURST_RATE(Get/Set).
    9GOPRO_COMMAND_PROTUNE(Get/Set).
    10GOPRO_COMMAND_PROTUNE_WHITE_BALANCE(Get/Set) Hero 3+ Only.
    11GOPRO_COMMAND_PROTUNE_COLOUR(Get/Set) Hero 3+ Only.
    12GOPRO_COMMAND_PROTUNE_GAIN(Get/Set) Hero 3+ Only.
    13GOPRO_COMMAND_PROTUNE_SHARPNESS(Get/Set) Hero 3+ Only.
    14GOPRO_COMMAND_PROTUNE_EXPOSURE(Get/Set) Hero 3+ Only.
    15GOPRO_COMMAND_TIME(Get/Set).
    16GOPRO_COMMAND_CHARGING(Get/Set).

    GOPRO_CAPTURE_MODE ​

    ValueNameDescription
    0GOPRO_CAPTURE_MODE_VIDEOVideo mode.
    1GOPRO_CAPTURE_MODE_PHOTOPhoto mode.
    2GOPRO_CAPTURE_MODE_BURSTBurst mode, Hero 3+ only.
    3GOPRO_CAPTURE_MODE_TIME_LAPSETime lapse mode, Hero 3+ only.
    4GOPRO_CAPTURE_MODE_MULTI_SHOTMulti shot mode, Hero 4 only.
    5GOPRO_CAPTURE_MODE_PLAYBACKPlayback mode, Hero 4 only, silver only except when LCD or HDMI is connected to black.
    6GOPRO_CAPTURE_MODE_SETUPPlayback mode, Hero 4 only.
    255GOPRO_CAPTURE_MODE_UNKNOWNMode not yet known.

    GOPRO_RESOLUTION ​

    ValueNameDescription
    0GOPRO_RESOLUTION_480p848 x 480 (480p).
    1GOPRO_RESOLUTION_720p1280 x 720 (720p).
    2GOPRO_RESOLUTION_960p1280 x 960 (960p).
    3GOPRO_RESOLUTION_1080p1920 x 1080 (1080p).
    4GOPRO_RESOLUTION_1440p1920 x 1440 (1440p).
    5GOPRO_RESOLUTION_2_7k_17_92704 x 1440 (2.7k-17:9).
    6GOPRO_RESOLUTION_2_7k_16_92704 x 1524 (2.7k-16:9).
    7GOPRO_RESOLUTION_2_7k_4_32704 x 2028 (2.7k-4:3).
    8GOPRO_RESOLUTION_4k_16_93840 x 2160 (4k-16:9).
    9GOPRO_RESOLUTION_4k_17_94096 x 2160 (4k-17:9).
    10GOPRO_RESOLUTION_720p_SUPERVIEW1280 x 720 (720p-SuperView).
    11GOPRO_RESOLUTION_1080p_SUPERVIEW1920 x 1080 (1080p-SuperView).
    12GOPRO_RESOLUTION_2_7k_SUPERVIEW2704 x 1520 (2.7k-SuperView).
    13GOPRO_RESOLUTION_4k_SUPERVIEW3840 x 2160 (4k-SuperView).

    GOPRO_FRAME_RATE ​

    ValueNameDescription
    0GOPRO_FRAME_RATE_1212 FPS.
    1GOPRO_FRAME_RATE_1515 FPS.
    2GOPRO_FRAME_RATE_2424 FPS.
    3GOPRO_FRAME_RATE_2525 FPS.
    4GOPRO_FRAME_RATE_3030 FPS.
    5GOPRO_FRAME_RATE_4848 FPS.
    6GOPRO_FRAME_RATE_5050 FPS.
    7GOPRO_FRAME_RATE_6060 FPS.
    8GOPRO_FRAME_RATE_8080 FPS.
    9GOPRO_FRAME_RATE_9090 FPS.
    10GOPRO_FRAME_RATE_100100 FPS.
    11GOPRO_FRAME_RATE_120120 FPS.
    12GOPRO_FRAME_RATE_240240 FPS.
    13GOPRO_FRAME_RATE_12_512.5 FPS.

    GOPRO_FIELD_OF_VIEW ​

    ValueNameDescription
    0GOPRO_FIELD_OF_VIEW_WIDE0x00: Wide.
    1GOPRO_FIELD_OF_VIEW_MEDIUM0x01: Medium.
    2GOPRO_FIELD_OF_VIEW_NARROW0x02: Narrow.

    GOPRO_VIDEO_SETTINGS_FLAGS ​

    (Bitmask)

    ValueNameDescription
    1GOPRO_VIDEO_SETTINGS_TV_MODE0=NTSC, 1=PAL.

    GOPRO_PHOTO_RESOLUTION ​

    ValueNameDescription
    0GOPRO_PHOTO_RESOLUTION_5MP_MEDIUM5MP Medium.
    1GOPRO_PHOTO_RESOLUTION_7MP_MEDIUM7MP Medium.
    2GOPRO_PHOTO_RESOLUTION_7MP_WIDE7MP Wide.
    3GOPRO_PHOTO_RESOLUTION_10MP_WIDE10MP Wide.
    4GOPRO_PHOTO_RESOLUTION_12MP_WIDE12MP Wide.

    GOPRO_PROTUNE_WHITE_BALANCE ​

    ValueNameDescription
    0GOPRO_PROTUNE_WHITE_BALANCE_AUTOAuto.
    1GOPRO_PROTUNE_WHITE_BALANCE_3000K3000K.
    2GOPRO_PROTUNE_WHITE_BALANCE_5500K5500K.
    3GOPRO_PROTUNE_WHITE_BALANCE_6500K6500K.
    4GOPRO_PROTUNE_WHITE_BALANCE_RAWCamera Raw.

    GOPRO_PROTUNE_COLOUR ​

    ValueNameDescription
    0GOPRO_PROTUNE_COLOUR_STANDARDAuto.
    1GOPRO_PROTUNE_COLOUR_NEUTRALNeutral.

    GOPRO_PROTUNE_GAIN ​

    ValueNameDescription
    0GOPRO_PROTUNE_GAIN_400ISO 400.
    1GOPRO_PROTUNE_GAIN_800ISO 800 (Only Hero 4).
    2GOPRO_PROTUNE_GAIN_1600ISO 1600.
    3GOPRO_PROTUNE_GAIN_3200ISO 3200 (Only Hero 4).
    4GOPRO_PROTUNE_GAIN_6400ISO 6400.

    GOPRO_PROTUNE_SHARPNESS ​

    ValueNameDescription
    0GOPRO_PROTUNE_SHARPNESS_LOWLow Sharpness.
    1GOPRO_PROTUNE_SHARPNESS_MEDIUMMedium Sharpness.
    2GOPRO_PROTUNE_SHARPNESS_HIGHHigh Sharpness.

    GOPRO_PROTUNE_EXPOSURE ​

    ValueNameDescription
    0GOPRO_PROTUNE_EXPOSURE_NEG_5_0-5.0 EV (Hero 3+ Only).
    1GOPRO_PROTUNE_EXPOSURE_NEG_4_5-4.5 EV (Hero 3+ Only).
    2GOPRO_PROTUNE_EXPOSURE_NEG_4_0-4.0 EV (Hero 3+ Only).
    3GOPRO_PROTUNE_EXPOSURE_NEG_3_5-3.5 EV (Hero 3+ Only).
    4GOPRO_PROTUNE_EXPOSURE_NEG_3_0-3.0 EV (Hero 3+ Only).
    5GOPRO_PROTUNE_EXPOSURE_NEG_2_5-2.5 EV (Hero 3+ Only).
    6GOPRO_PROTUNE_EXPOSURE_NEG_2_0-2.0 EV.
    7GOPRO_PROTUNE_EXPOSURE_NEG_1_5-1.5 EV.
    8GOPRO_PROTUNE_EXPOSURE_NEG_1_0-1.0 EV.
    9GOPRO_PROTUNE_EXPOSURE_NEG_0_5-0.5 EV.
    10GOPRO_PROTUNE_EXPOSURE_ZERO0.0 EV.
    11GOPRO_PROTUNE_EXPOSURE_POS_0_5+0.5 EV.
    12GOPRO_PROTUNE_EXPOSURE_POS_1_0+1.0 EV.
    13GOPRO_PROTUNE_EXPOSURE_POS_1_5+1.5 EV.
    14GOPRO_PROTUNE_EXPOSURE_POS_2_0+2.0 EV.
    15GOPRO_PROTUNE_EXPOSURE_POS_2_5+2.5 EV (Hero 3+ Only).
    16GOPRO_PROTUNE_EXPOSURE_POS_3_0+3.0 EV (Hero 3+ Only).
    17GOPRO_PROTUNE_EXPOSURE_POS_3_5+3.5 EV (Hero 3+ Only).
    18GOPRO_PROTUNE_EXPOSURE_POS_4_0+4.0 EV (Hero 3+ Only).
    19GOPRO_PROTUNE_EXPOSURE_POS_4_5+4.5 EV (Hero 3+ Only).
    20GOPRO_PROTUNE_EXPOSURE_POS_5_0+5.0 EV (Hero 3+ Only).

    GOPRO_CHARGING ​

    ValueNameDescription
    0GOPRO_CHARGING_DISABLEDCharging disabled.
    1GOPRO_CHARGING_ENABLEDCharging enabled.

    GOPRO_MODEL ​

    ValueNameDescription
    0GOPRO_MODEL_UNKNOWNUnknown gopro model.
    1GOPRO_MODEL_HERO_3_PLUS_SILVERHero 3+ Silver (HeroBus not supported by GoPro).
    2GOPRO_MODEL_HERO_3_PLUS_BLACKHero 3+ Black.
    3GOPRO_MODEL_HERO_4_SILVERHero 4 Silver.
    4GOPRO_MODEL_HERO_4_BLACKHero 4 Black.

    GOPRO_BURST_RATE ​

    ValueNameDescription
    0GOPRO_BURST_RATE_3_IN_1_SECOND3 Shots / 1 Second.
    1GOPRO_BURST_RATE_5_IN_1_SECOND5 Shots / 1 Second.
    2GOPRO_BURST_RATE_10_IN_1_SECOND10 Shots / 1 Second.
    3GOPRO_BURST_RATE_10_IN_2_SECOND10 Shots / 2 Second.
    4GOPRO_BURST_RATE_10_IN_3_SECOND10 Shots / 3 Second (Hero 4 Only).
    5GOPRO_BURST_RATE_30_IN_1_SECOND30 Shots / 1 Second.
    6GOPRO_BURST_RATE_30_IN_2_SECOND30 Shots / 2 Second.
    7GOPRO_BURST_RATE_30_IN_3_SECOND30 Shots / 3 Second.
    8GOPRO_BURST_RATE_30_IN_6_SECOND30 Shots / 6 Second.

    MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL ​

    ValueNameDescription
    0MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL_LOWSwitch Low.
    1MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL_MIDDLESwitch Middle.
    2MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL_HIGHSwitch High.

    LED_CONTROL_PATTERN ​

    ValueNameDescription
    0LED_CONTROL_PATTERN_OFFLED patterns off (return control to regular vehicle control).
    1LED_CONTROL_PATTERN_FIRMWAREUPDATELEDs show pattern during firmware update.
    255LED_CONTROL_PATTERN_CUSTOMCustom Pattern using custom bytes fields.

    EKF_STATUS_FLAGS ​

    (Bitmask) Flags in EKF_STATUS message.

    ValueNameDescription
    1EKF_ATTITUDESet if EKF's attitude estimate is good.
    2EKF_VELOCITY_HORIZSet if EKF's horizontal velocity estimate is good.
    4EKF_VELOCITY_VERTSet if EKF's vertical velocity estimate is good.
    8EKF_POS_HORIZ_RELSet if EKF's horizontal position (relative) estimate is good.
    16EKF_POS_HORIZ_ABSSet if EKF's horizontal position (absolute) estimate is good.
    32EKF_POS_VERT_ABSSet if EKF's vertical position (absolute) estimate is good.
    64EKF_POS_VERT_AGLSet if EKF's vertical position (above ground) estimate is good.
    128EKF_CONST_POS_MODEEKF is in constant position mode and does not know it's absolute or relative position.
    256EKF_PRED_POS_HORIZ_RELSet if EKF's predicted horizontal position (relative) estimate is good.
    512EKF_PRED_POS_HORIZ_ABSSet if EKF's predicted horizontal position (absolute) estimate is good.
    1024EKF_UNINITIALIZEDSet if EKF has never been healthy.

    PID_TUNING_AXIS ​

    ValueNameDescription
    1PID_TUNING_ROLL
    2PID_TUNING_PITCH
    3PID_TUNING_YAW
    4PID_TUNING_ACCZ
    5PID_TUNING_STEER
    6PID_TUNING_LANDING

    MAV_REMOTE_LOG_DATA_BLOCK_COMMANDS ​

    Special ACK block numbers control activation of dataflash log streaming.

    ValueNameDescription
    2147483645MAV_REMOTE_LOG_DATA_BLOCK_STOPUAV to stop sending DataFlash blocks.
    2147483646MAV_REMOTE_LOG_DATA_BLOCK_STARTUAV to start sending DataFlash blocks.

    MAV_REMOTE_LOG_DATA_BLOCK_STATUSES ​

    Possible remote log data block statuses.

    ValueNameDescription
    0MAV_REMOTE_LOG_DATA_BLOCK_NACKThis block has NOT been received.
    1MAV_REMOTE_LOG_DATA_BLOCK_ACKThis block has been received.

    DEVICE_OP_BUSTYPE ​

    Bus types for device operations.

    ValueNameDescription
    0DEVICE_OP_BUSTYPE_I2CI2C Device operation.
    1DEVICE_OP_BUSTYPE_SPISPI Device operation.

    DEEPSTALL_STAGE ​

    Deepstall flight stage.

    ValueNameDescription
    0DEEPSTALL_STAGE_FLY_TO_LANDINGFlying to the landing point.
    1DEEPSTALL_STAGE_ESTIMATE_WINDBuilding an estimate of the wind.
    2DEEPSTALL_STAGE_WAIT_FOR_BREAKOUTWaiting to breakout of the loiter to fly the approach.
    3DEEPSTALL_STAGE_FLY_TO_ARCFlying to the first arc point to turn around to the landing point.
    4DEEPSTALL_STAGE_ARCTurning around back to the deepstall landing point.
    5DEEPSTALL_STAGE_APPROACHApproaching the landing point.
    6DEEPSTALL_STAGE_LANDStalling and steering towards the land point.

    PLANE_MODE ​

    A mapping of plane flight modes for custom_mode field of heartbeat.

    ValueNameDescription
    0PLANE_MODE_MANUAL
    1PLANE_MODE_CIRCLE
    2PLANE_MODE_STABILIZE
    3PLANE_MODE_TRAINING
    4PLANE_MODE_ACRO
    5PLANE_MODE_FLY_BY_WIRE_A
    6PLANE_MODE_FLY_BY_WIRE_B
    7PLANE_MODE_CRUISE
    8PLANE_MODE_AUTOTUNE
    10PLANE_MODE_AUTO
    11PLANE_MODE_RTL
    12PLANE_MODE_LOITER
    13PLANE_MODE_TAKEOFF
    14PLANE_MODE_AVOID_ADSB
    15PLANE_MODE_GUIDED
    16PLANE_MODE_INITIALIZING
    17PLANE_MODE_QSTABILIZE
    18PLANE_MODE_QHOVER
    19PLANE_MODE_QLOITER
    20PLANE_MODE_QLAND
    21PLANE_MODE_QRTL
    22PLANE_MODE_QAUTOTUNE
    23PLANE_MODE_QACRO
    24PLANE_MODE_THERMAL

    COPTER_MODE ​

    A mapping of copter flight modes for custom_mode field of heartbeat.

    ValueNameDescription
    0COPTER_MODE_STABILIZE
    1COPTER_MODE_ACRO
    2COPTER_MODE_ALT_HOLD
    3COPTER_MODE_AUTO
    4COPTER_MODE_GUIDED
    5COPTER_MODE_LOITER
    6COPTER_MODE_RTL
    7COPTER_MODE_CIRCLE
    9COPTER_MODE_LAND
    11COPTER_MODE_DRIFT
    13COPTER_MODE_SPORT
    14COPTER_MODE_FLIP
    15COPTER_MODE_AUTOTUNE
    16COPTER_MODE_POSHOLD
    17COPTER_MODE_BRAKE
    18COPTER_MODE_THROW
    19COPTER_MODE_AVOID_ADSB
    20COPTER_MODE_GUIDED_NOGPS
    21COPTER_MODE_SMART_RTL
    22COPTER_MODE_FLOWHOLD
    23COPTER_MODE_FOLLOW
    24COPTER_MODE_ZIGZAG
    25COPTER_MODE_SYSTEMID
    26COPTER_MODE_AUTOROTATE
    27COPTER_MODE_AUTO_RTL

    SUB_MODE ​

    A mapping of sub flight modes for custom_mode field of heartbeat.

    ValueNameDescription
    0SUB_MODE_STABILIZE
    1SUB_MODE_ACRO
    2SUB_MODE_ALT_HOLD
    3SUB_MODE_AUTO
    4SUB_MODE_GUIDED
    7SUB_MODE_CIRCLE
    9SUB_MODE_SURFACE
    16SUB_MODE_POSHOLD
    19SUB_MODE_MANUAL

    ROVER_MODE ​

    A mapping of rover flight modes for custom_mode field of heartbeat.

    ValueNameDescription
    0ROVER_MODE_MANUAL
    1ROVER_MODE_ACRO
    3ROVER_MODE_STEERING
    4ROVER_MODE_HOLD
    5ROVER_MODE_LOITER
    6ROVER_MODE_FOLLOW
    7ROVER_MODE_SIMPLE
    10ROVER_MODE_AUTO
    11ROVER_MODE_RTL
    12ROVER_MODE_SMART_RTL
    15ROVER_MODE_GUIDED
    16ROVER_MODE_INITIALIZING

    TRACKER_MODE ​

    A mapping of antenna tracker flight modes for custom_mode field of heartbeat.

    ValueNameDescription
    0TRACKER_MODE_MANUAL
    1TRACKER_MODE_STOP
    2TRACKER_MODE_SCAN
    3TRACKER_MODE_SERVO_TEST
    10TRACKER_MODE_AUTO
    16TRACKER_MODE_INITIALIZING

    OSD_PARAM_CONFIG_TYPE ​

    The type of parameter for the OSD parameter editor.

    ValueNameDescription
    0OSD_PARAM_NONE
    1OSD_PARAM_SERIAL_PROTOCOL
    2OSD_PARAM_SERVO_FUNCTION
    3OSD_PARAM_AUX_FUNCTION
    4OSD_PARAM_FLIGHT_MODE
    5OSD_PARAM_FAILSAFE_ACTION
    6OSD_PARAM_FAILSAFE_ACTION_1
    7OSD_PARAM_FAILSAFE_ACTION_2
    8OSD_PARAM_NUM_TYPES

    OSD_PARAM_CONFIG_ERROR ​

    The error type for the OSD parameter editor.

    ValueNameDescription
    0OSD_PARAM_SUCCESS
    1OSD_PARAM_INVALID_SCREEN
    2OSD_PARAM_INVALID_PARAMETER_INDEX
    3OSD_PARAM_INVALID_PARAMETER

    Commands (MAV_CMD) ​

    MAV_CMD_NAV_ALTITUDE_WAIT (83) ​

    Mission command to wait for an altitude or downwards vertical speed. This is meant for high altitude balloon launches, allowing the aircraft to be idle until either an altitude is reached or a negative vertical speed is reached (indicating early balloon burst). The wiggle time is how often to wiggle the control surfaces to prevent them seizing up.

    Param (Label)DescriptionUnits
    1 (Altitude)Altitude.m
    2 (Descent Speed)Descent speed.m/s
    3 (Wiggle Time)How long to wiggle the control surfaces to prevent them seizing up.s
    4Empty.
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_DO_SET_RESUME_REPEAT_DIST (215) ​

    Set the distance to be repeated on mission resume

    Param (Label)DescriptionUnits
    1 (Distance)Distance.m
    2Empty.
    3Empty.
    4Empty.
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_DO_SPRAYER (216) ​

    Control attached liquid sprayer

    Param (Label)DescriptionValues
    1 (Sprayer Enable)0: disable sprayer. 1: enable sprayer.min: 0 max: 1 inc: 1
    2Empty.
    3Empty.
    4Empty.
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_DO_SEND_SCRIPT_MESSAGE (217) ​

    Pass instructions onto scripting, a script should be checking for a new command

    Param (Label)DescriptionValues
    1 (ID)uint16 ID value to be passed to scriptingmin: 0 max: 65535 inc: 1
    2 (param 1)float value to be passed to scripting
    3 (param 2)float value to be passed to scripting
    4 (param 3)float value to be passed to scripting
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_DO_AUX_FUNCTION (218) ​

    Execute auxiliary function

    Param (Label)DescriptionValues
    1 (AuxiliaryFunction)Auxiliary Function.
    2 (SwitchPosition)Switch Level.MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL
    3Empty.
    4Empty.
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_POWER_OFF_INITIATED (42000) ​

    A system wide power-off event has been initiated.

    Param (Label)Description
    1Empty.
    2Empty.
    3Empty.
    4Empty.
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_SOLO_BTN_FLY_CLICK (42001) ​

    FLY button has been clicked.

    Param (Label)Description
    1Empty.
    2Empty.
    3Empty.
    4Empty.
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_SOLO_BTN_FLY_HOLD (42002) ​

    FLY button has been held for 1.5 seconds.

    Param (Label)DescriptionUnits
    1 (Takeoff Altitude)Takeoff altitude.m
    2Empty.
    3Empty.
    4Empty.
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_SOLO_BTN_PAUSE_CLICK (42003) ​

    PAUSE button has been clicked.

    Param (Label)DescriptionValues
    1 (Shot Mode)1 if Solo is in a shot mode, 0 otherwise.min: 0 max: 1 inc: 1
    2Empty.
    3Empty.
    4Empty.
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_FIXED_MAG_CAL (42004) ​

    Magnetometer calibration based on fixed position

    in earth field given by inclination, declination and intensity.

    Param (Label)DescriptionUnits
    1 (Declination)Magnetic declination.deg
    2 (Inclination)Magnetic inclination.deg
    3 (Intensity)Magnetic intensity.mgauss
    4 (Yaw)Yaw.deg
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_FIXED_MAG_CAL_FIELD (42005) ​

    Magnetometer calibration based on fixed expected field values.

    Param (Label)DescriptionUnits
    1 (Field X)Field strength X.mgauss
    2 (Field Y)Field strength Y.mgauss
    3 (Field Z)Field strength Z.mgauss
    4Empty.
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_SET_EKF_SOURCE_SET (42007) ​

    Set EKF sensor source set.

    Param (Label)DescriptionValues
    1 (SourceSetId)Source Set Id.min: 1 max: 3 inc: 1
    2Empty.
    3Empty.
    4Empty.
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_DO_START_MAG_CAL (42424) ​

    Initiate a magnetometer calibration.

    Param (Label)DescriptionValuesUnits
    1 (Magnetometers Bitmask)Bitmask of magnetometers to calibrate. Use 0 to calibrate all sensors that can be started (sensors may not start if disabled, unhealthy, etc.). The command will NACK if calibration does not start for a sensor explicitly specified by the bitmask.min: 0 max: 255 inc: 1
    2 (Retry on Failure)Automatically retry on failure (0=no retry, 1=retry).min: 0 max: 1 inc: 1
    3 (Autosave)Save without user input (0=require input, 1=autosave).min: 0 max: 1 inc: 1
    4 (Delay)Delay.s
    5 (Autoreboot)Autoreboot (0=user reboot, 1=autoreboot).min: 0 max: 1 inc: 1
    6Empty.
    7Empty.

    MAV_CMD_DO_ACCEPT_MAG_CAL (42425) ​

    Accept a magnetometer calibration.

    Param (Label)DescriptionValues
    1 (Magnetometers Bitmask)Bitmask of magnetometers that calibration is accepted (0 means all).min: 0 max: 255 inc: 1
    2Empty.
    3Empty.
    4Empty.
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_DO_CANCEL_MAG_CAL (42426) ​

    Cancel a running magnetometer calibration.

    Param (Label)DescriptionValues
    1 (Magnetometers Bitmask)Bitmask of magnetometers to cancel a running calibration (0 means all).min: 0 max: 255 inc: 1
    2Empty.
    3Empty.
    4Empty.
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_SET_FACTORY_TEST_MODE (42427) ​

    Command autopilot to get into factory test/diagnostic mode.

    Param (Label)DescriptionValues
    1 (Test Mode)0: activate test mode, 1: exit test mode.min: 0 max: 1 inc: 1
    2Empty.
    3Empty.
    4Empty.
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_DO_SEND_BANNER (42428) ​

    Reply with the version banner.

    Param (Label)Description
    1Empty.
    2Empty.
    3Empty.
    4Empty.
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_ACCELCAL_VEHICLE_POS (42429) ​

    Used when doing accelerometer calibration. When sent to the GCS tells it what position to put the vehicle in. When sent to the vehicle says what position the vehicle is in.

    Param (Label)DescriptionValues
    1 (Position)Position.ACCELCAL_VEHICLE_POS
    2Empty.
    3Empty.
    4Empty.
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_GIMBAL_RESET (42501) ​

    Causes the gimbal to reset and boot as if it was just powered on.

    Param (Label)Description
    1Empty.
    2Empty.
    3Empty.
    4Empty.
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_GIMBAL_AXIS_CALIBRATION_STATUS (42502) ​

    Reports progress and success or failure of gimbal axis calibration procedure.

    Param (Label)DescriptionValuesUnits
    1 (Axis)Gimbal axis we're reporting calibration progress for.GIMBAL_AXIS
    2 (Progress)Current calibration progress for this axis.min: 0 max: 100%
    3 (Status)Status of the calibration.GIMBAL_AXIS_CALIBRATION_STATUS
    4Empty.
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_GIMBAL_REQUEST_AXIS_CALIBRATION (42503) ​

    Starts commutation calibration on the gimbal.

    Param (Label)Description
    1Empty.
    2Empty.
    3Empty.
    4Empty.
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_GIMBAL_FULL_RESET (42505) ​

    Erases gimbal application and parameters.

    Param (Label)Description
    1Magic number.
    2Magic number.
    3Magic number.
    4Magic number.
    5Magic number.
    6Magic number.
    7Magic number.

    MAV_CMD_FLASH_BOOTLOADER (42650) ​

    Update the bootloader

    Param (Label)DescriptionValues
    1Empty
    2Empty
    3Empty
    4Empty
    5 (Magic Number)Magic number - set to 290876 to actually flashinc: 1
    6Empty
    7Empty

    MAV_CMD_BATTERY_RESET (42651) ​

    Reset battery capacity for batteries that accumulate consumed battery via integration.

    Param (Label)DescriptionValues
    1 (battery mask)Bitmask of batteries to reset. Least significant bit is for the first battery.
    2 (percentage)Battery percentage remaining to set.min: 0 max: 100 inc: 1

    MAV_CMD_DEBUG_TRAP (42700) ​

    Issue a trap signal to the autopilot process, presumably to enter the debugger.

    Param (Label)Description
    1Magic number - set to 32451 to actually trap.
    2Empty.
    3Empty.
    4Empty.
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_SCRIPTING (42701) ​

    Control onboard scripting.

    Param (Label)DescriptionValues
    1Scripting command to executeSCRIPTING_CMD

    MAV_CMD_NAV_SCRIPT_TIME (42702) ​

    Scripting command as NAV command with wait for completion.

    Param (Label)DescriptionUnits
    1 (command)integer command number (0 to 255)
    2 (timeout)timeout for operation in seconds. Zero means no timeout (0 to 255)s
    3 (arg1)argument1.
    4 (arg2)argument2.
    5Empty
    6Empty
    7Empty

    MAV_CMD_NAV_ATTITUDE_TIME (42703) ​

    Maintain an attitude for a specified time.

    Param (Label)DescriptionUnits
    1 (time)Time to maintain specified attitude and climb rates
    2 (roll)Roll angle in degrees (positive is lean right, negative is lean left)deg
    3 (pitch)Pitch angle in degrees (positive is lean back, negative is lean forward)deg
    4 (yaw)Yaw angledeg
    5 (climb_rate)Climb ratem/s
    6Empty
    7Empty

    MAV_CMD_GUIDED_CHANGE_SPEED (43000) ​

    Change flight speed at a given rate. This slews the vehicle at a controllable rate between it's previous speed and the new one. (affects GUIDED only. Outside GUIDED, aircraft ignores these commands. Designed for onboard companion-computer command-and-control, not normally operator/GCS control.)

    Param (Label)DescriptionValuesUnits
    1 (speed type)Airspeed or groundspeed.SPEED_TYPE
    2 (speed target)Target Speedm/s
    3 (speed rate-of-change)Acceleration rate, 0 to take effect instantlym/s/s
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_GUIDED_CHANGE_ALTITUDE (43001) ​

    Change target altitude at a given rate. This slews the vehicle at a controllable rate between it's previous altitude and the new one. (affects GUIDED only. Outside GUIDED, aircraft ignores these commands. Designed for onboard companion-computer command-and-control, not normally operator/GCS control.)

    Param (Label)DescriptionValuesUnits
    1Empty
    2Empty
    3 (alt rate-of-change)Rate of change, toward new altitude. 0 for maximum rate change. Positive numbers only, as negative numbers will not converge on the new target alt.min: 0m/s/s
    4Empty
    5Empty
    6Empty
    7 (target alt)Target Altitudem

    MAV_CMD_GUIDED_CHANGE_HEADING (43002) ​

    Change to target heading at a given rate, overriding previous heading/s. This slews the vehicle at a controllable rate between it's previous heading and the new one. (affects GUIDED only. Exiting GUIDED returns aircraft to normal behaviour defined elsewhere. Designed for onboard companion-computer command-and-control, not normally operator/GCS control.)

    Param (Label)DescriptionValuesUnits
    1 (heading type)course-over-ground or raw vehicle heading.HEADING_TYPE
    2 (heading target)Target heading.min: 0 max: 359.99deg
    3 (heading rate-of-change)Maximum centripetal accelearation, ie rate of change, toward new heading.m/s/s
    4Empty
    5Empty
    6Empty
    7Empty
    - + \ No newline at end of file diff --git a/ko/messages/common.html b/ko/messages/common.html index a00a42443..dbb03f6cd 100644 --- a/ko/messages/common.html +++ b/ko/messages/common.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

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    MAVLINK Common Message Set (common.xml) ​

    The MAVLink common message set contains standard definitions that are managed by the MAVLink project. The definitions cover functionality that is considered useful to most ground control stations and autopilots. MAVLink-compatible systems are expected to use these definitions where possible (if an appropriate message exists) rather than rolling out variants in their own dialects.

    The original definitions are defined in common.xml.

    Note

    • MAVLink 2 extension fields are displayed in blue.
    • Entities from dialects are displayed only as headings (with link to original)

    Protocol dialect: 0

    Protocol version: 3

    목차 ​

    TypeDefinedIncluded
    Messages2242
    Enums1386
    Commands1640

    The following sections list all entities in the dialect (both included and defined in this file).

    Messages ​

    HEARTBEAT (0) — [from: minimal] ​

    The heartbeat message shows that a system or component is present and responding. The type and autopilot fields (along with the message component id), allow the receiving system to treat further messages from this system appropriately (e.g. by laying out the user interface based on the autopilot). This microservice is documented at https://mavlink.io/en/services/heartbeat.html

    Field NameTypeValuesDescription
    typeuint8_tMAV_TYPEVehicle or component type. For a flight controller component the vehicle type (quadrotor, helicopter, etc.). For other components the component type (e.g. camera, gimbal, etc.). This should be used in preference to component id for identifying the component type.
    autopilotuint8_tMAV_AUTOPILOTAutopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers.
    base_modeuint8_tMAV_MODE_FLAGSystem mode bitmap.
    custom_modeuint32_tA bitfield for use for autopilot-specific flags
    system_statusuint8_tMAV_STATESystem status flag.
    mavlink_versionuint8_t_mavlink_versionMAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version

    SYS_STATUS (1) ​

    The general system state. If the system is following the MAVLink standard, the system state is mainly defined by three orthogonal states/modes: The system mode, which is either LOCKED (motors shut down and locked), MANUAL (system under RC control), GUIDED (system with autonomous position control, position setpoint controlled manually) or AUTO (system guided by path/waypoint planner). The NAV_MODE defined the current flight state: LIFTOFF (often an open-loop maneuver), LANDING, WAYPOINTS or VECTOR. This represents the internal navigation state machine. The system status shows whether the system is currently active or not and if an emergency occurred. During the CRITICAL and EMERGENCY states the MAV is still considered to be active, but should start emergency procedures autonomously. After a failure occurred it should first move from active to critical to allow manual intervention and then move to emergency after a certain timeout.

    Field NameTypeUnitsValuesDescription
    onboard_control_sensors_presentuint32_tMAV_SYS_STATUS_SENSORBitmap showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present.
    onboard_control_sensors_enableduint32_tMAV_SYS_STATUS_SENSORBitmap showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled.
    onboard_control_sensors_healthuint32_tMAV_SYS_STATUS_SENSORBitmap showing which onboard controllers and sensors have an error (or are operational). Value of 0: error. Value of 1: healthy.
    loaduint16_td%Maximum usage in percent of the mainloop time. Values: [0-1000] - should always be below 1000
    voltage_batteryuint16_tmVinvalid:UINT16_MAXBattery voltage, UINT16_MAX: Voltage not sent by autopilot
    current_batteryint16_tcAinvalid:-1Battery current, -1: Current not sent by autopilot
    battery_remainingint8_t%invalid:-1Battery energy remaining, -1: Battery remaining energy not sent by autopilot
    drop_rate_commuint16_tc%Communication drop rate, (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
    errors_commuint16_tCommunication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
    errors_count1uint16_tAutopilot-specific errors
    errors_count2uint16_tAutopilot-specific errors
    errors_count3uint16_tAutopilot-specific errors
    errors_count4uint16_tAutopilot-specific errors
    onboard_control_sensors_present_extended ++uint32_tMAV_SYS_STATUS_SENSOR_EXTENDEDBitmap showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present.
    onboard_control_sensors_enabled_extended ++uint32_tMAV_SYS_STATUS_SENSOR_EXTENDEDBitmap showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled.
    onboard_control_sensors_health_extended ++uint32_tMAV_SYS_STATUS_SENSOR_EXTENDEDBitmap showing which onboard controllers and sensors have an error (or are operational). Value of 0: error. Value of 1: healthy.

    SYSTEM_TIME (2) ​

    The system time is the time of the master clock, typically the computer clock of the main onboard computer.

    Field NameTypeUnitsDescription
    time_unix_usecuint64_tusTimestamp (UNIX epoch time).
    time_boot_msuint32_tmsTimestamp (time since system boot).

    PING (4) — [DEP] ​

    DEPRECATED: Replaced By SYSTEM_TIME (2011-08) — to be removed / merged with SYSTEM_TIME)

    A ping message either requesting or responding to a ping. This allows to measure the system latencies, including serial port, radio modem and UDP connections. The ping microservice is documented at https://mavlink.io/en/services/ping.html

    Field NameTypeUnitsDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    sequint32_tPING sequence
    target_systemuint8_t0: request ping from all receiving systems. If greater than 0: message is a ping response and number is the system id of the requesting system
    target_componentuint8_t0: request ping from all receiving components. If greater than 0: message is a ping response and number is the component id of the requesting component.

    CHANGE_OPERATOR_CONTROL (5) ​

    Request to control this MAV

    Field NameTypeUnitsDescription
    target_systemuint8_tSystem the GCS requests control for
    control_requestuint8_t0: request control of this MAV, 1: Release control of this MAV
    versionuint8_trad0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch.
    passkeychar[25]Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"

    CHANGE_OPERATOR_CONTROL_ACK (6) ​

    Accept / deny control of this MAV

    Field NameTypeDescription
    gcs_system_iduint8_tID of the GCS this message
    control_requestuint8_t0: request control of this MAV, 1: Release control of this MAV
    ackuint8_t0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control

    AUTH_KEY (7) ​

    Emit an encrypted signature / key identifying this system. PLEASE NOTE: This protocol has been kept simple, so transmitting the key requires an encrypted channel for true safety.

    Field NameTypeDescription
    keychar[32]key

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Status generated in each node in the communication chain and injected into MAVLink stream.

    Field NameTypeUnitsDescription
    timestampuint64_tmsTimestamp (time since system boot).
    tx_bufuint8_t%Remaining free transmit buffer space
    rx_bufuint8_t%Remaining free receive buffer space
    tx_rateuint32_tbytes/sTransmit rate
    rx_rateuint32_tbytes/sReceive rate
    rx_parse_erruint16_tbytesNumber of bytes that could not be parsed correctly.
    tx_overflowsuint16_tbytesTransmit buffer overflows. This number wraps around as it reaches UINT16_MAX
    rx_overflowsuint16_tbytesReceive buffer overflows. This number wraps around as it reaches UINT16_MAX
    messages_sentuint32_tMessages sent
    messages_receiveduint32_tMessages received (estimated from counting seq)
    messages_lostuint32_tMessages lost (estimated from counting seq)

    SET_MODE (11) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_DO_SET_MODE (2015-12) — Use COMMAND_LONG with MAV_CMD_DO_SET_MODE instead)

    Set the system mode, as defined by enum MAV_MODE. There is no target component id as the mode is by definition for the overall aircraft, not only for one component.

    Field NameTypeValuesDescription
    target_systemuint8_tThe system setting the mode
    base_modeuint8_tMAV_MODEThe new base mode.
    custom_modeuint32_tThe new autopilot-specific mode. This field can be ignored by an autopilot.

    PARAM_REQUEST_READ (20) ​

    Request to read the onboard parameter with the param_id string id. Onboard parameters are stored as key[const char*] -> value[float]. This allows to send a parameter to any other component (such as the GCS) without the need of previous knowledge of possible parameter names. Thus the same GCS can store different parameters for different autopilots. See also https://mavlink.io/en/services/parameter.html for a full documentation of QGroundControl and IMU code.

    Field NameTypeDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    param_idchar[16]Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
    param_indexint16_tParameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored)

    PARAM_REQUEST_LIST (21) ​

    Request all parameters of this component. After this request, all parameters are emitted. The parameter microservice is documented at https://mavlink.io/en/services/parameter.html

    Field NameTypeDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID

    PARAM_VALUE (22) ​

    Emit the value of a onboard parameter. The inclusion of param_count and param_index in the message allows the recipient to keep track of received parameters and allows him to re-request missing parameters after a loss or timeout. The parameter microservice is documented at https://mavlink.io/en/services/parameter.html

    Field NameTypeValuesDescription
    param_idchar[16]Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
    param_valuefloatOnboard parameter value
    param_typeuint8_tMAV_PARAM_TYPEOnboard parameter type.
    param_countuint16_tTotal number of onboard parameters
    param_indexuint16_tIndex of this onboard parameter

    PARAM_SET (23) ​

    Set a parameter value (write new value to permanent storage).

    The receiving component should acknowledge the new parameter value by broadcasting a PARAM_VALUE message (broadcasting ensures that multiple GCS all have an up-to-date list of all parameters). If the sending GCS did not receive a PARAM_VALUE within its timeout time, it should re-send the PARAM_SET message. The parameter microservice is documented at https://mavlink.io/en/services/parameter.html. PARAM_SET may also be called within the context of a transaction (started with MAV_CMD_PARAM_TRANSACTION). Within a transaction the receiving component should respond with PARAM_ACK_TRANSACTION to the setter component (instead of broadcasting PARAM_VALUE), and PARAM_SET should be re-sent if this is ACK not received.

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    param_idchar[16]Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
    param_valuefloatOnboard parameter value
    param_typeuint8_tMAV_PARAM_TYPEOnboard parameter type.

    GPS_RAW_INT (24) ​

    The global position, as returned by the Global Positioning System (GPS). This is

    NOT the global position estimate of the system, but rather a RAW sensor value. See message GLOBAL_POSITION_INT for the global position estimate.

    Field NameTypeUnitsMultiplierValuesDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    fix_typeuint8_tGPS_FIX_TYPEGPS fix type.
    latint32_tdegE7Latitude (WGS84, EGM96 ellipsoid)
    lonint32_tdegE7Longitude (WGS84, EGM96 ellipsoid)
    altint32_tmmAltitude (MSL). Positive for up. Note that virtually all GPS modules provide the MSL altitude in addition to the WGS84 altitude.
    ephuint16_t1E-2invalid:UINT16_MAXGPS HDOP horizontal dilution of position (unitless * 100). If unknown, set to: UINT16_MAX
    epvuint16_t1E-2invalid:UINT16_MAXGPS VDOP vertical dilution of position (unitless * 100). If unknown, set to: UINT16_MAX
    veluint16_tcm/sinvalid:UINT16_MAXGPS ground speed. If unknown, set to: UINT16_MAX
    coguint16_tcdeginvalid:UINT16_MAXCourse over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
    satellites_visibleuint8_tinvalid:UINT8_MAXNumber of satellites visible. If unknown, set to UINT8_MAX
    alt_ellipsoid ++int32_tmmAltitude (above WGS84, EGM96 ellipsoid). Positive for up.
    h_acc ++uint32_tmmPosition uncertainty.
    v_acc ++uint32_tmmAltitude uncertainty.
    vel_acc ++uint32_tmm/sSpeed uncertainty.
    hdg_acc ++uint32_tdegE5Heading / track uncertainty
    yaw ++uint16_tcdeginvalid:0Yaw in earth frame from north. Use 0 if this GPS does not provide yaw. Use UINT16_MAX if this GPS is configured to provide yaw and is currently unable to provide it. Use 36000 for north.

    GPS_STATUS (25) ​

    The positioning status, as reported by GPS. This message is intended to display status information about each satellite visible to the receiver. See message GLOBAL_POSITION_INT for the global position estimate. This message can contain information for up to 20 satellites.

    Field NameTypeUnitsMultiplierDescription
    satellites_visibleuint8_tNumber of satellites visible
    satellite_prnuint8_t[20]Global satellite ID
    satellite_useduint8_t[20]0: Satellite not used, 1: used for localization
    satellite_elevationuint8_t[20]degElevation (0: right on top of receiver, 90: on the horizon) of satellite
    satellite_azimuthuint8_t[20]deg360/255Direction of satellite, 0: 0 deg, 255: 360 deg.
    satellite_snruint8_t[20]dBSignal to noise ratio of satellite

    SCALED_IMU (26) ​

    The RAW IMU readings for the usual 9DOF sensor setup. This message should contain the scaled values to the described units

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    xaccint16_tmGX acceleration
    yaccint16_tmGY acceleration
    zaccint16_tmGZ acceleration
    xgyroint16_tmrad/sAngular speed around X axis
    ygyroint16_tmrad/sAngular speed around Y axis
    zgyroint16_tmrad/sAngular speed around Z axis
    xmagint16_tmgaussX Magnetic field
    ymagint16_tmgaussY Magnetic field
    zmagint16_tmgaussZ Magnetic field
    temperature ++int16_tcdegCTemperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).

    RAW_IMU (27) ​

    The RAW IMU readings for a 9DOF sensor, which is identified by the id (default IMU1). This message should always contain the true raw values without any scaling to allow data capture and system debugging.

    Field NameTypeUnitsDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    xaccint16_tX acceleration (raw)
    yaccint16_tY acceleration (raw)
    zaccint16_tZ acceleration (raw)
    xgyroint16_tAngular speed around X axis (raw)
    ygyroint16_tAngular speed around Y axis (raw)
    zgyroint16_tAngular speed around Z axis (raw)
    xmagint16_tX Magnetic field (raw)
    ymagint16_tY Magnetic field (raw)
    zmagint16_tZ Magnetic field (raw)
    id ++uint8_tId. Ids are numbered from 0 and map to IMUs numbered from 1 (e.g. IMU1 will have a message with id=0)
    Messages with same value are from the same source (instance).
    temperature ++int16_tcdegCTemperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).

    RAW_PRESSURE (28) ​

    The RAW pressure readings for the typical setup of one absolute pressure and one differential pressure sensor. The sensor values should be the raw, UNSCALED ADC values.

    Field NameTypeUnitsDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    press_absint16_tAbsolute pressure (raw)
    press_diff1int16_tDifferential pressure 1 (raw, 0 if nonexistent)
    press_diff2int16_tDifferential pressure 2 (raw, 0 if nonexistent)
    temperatureint16_tRaw Temperature measurement (raw)

    SCALED_PRESSURE (29) ​

    The pressure readings for the typical setup of one absolute and differential pressure sensor. The units are as specified in each field.

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    press_absfloathPaAbsolute pressure
    press_difffloathPaDifferential pressure 1
    temperatureint16_tcdegCAbsolute pressure temperature
    temperature_press_diff ++int16_tcdegCDifferential pressure temperature (0, if not available). Report values of 0 (or 1) as 1 cdegC.

    ATTITUDE (30) ​

    The attitude in the aeronautical frame (right-handed, Z-down, Y-right, X-front, ZYX, intrinsic).

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    rollfloatradRoll angle (-pi..+pi)
    pitchfloatradPitch angle (-pi..+pi)
    yawfloatradYaw angle (-pi..+pi)
    rollspeedfloatrad/sRoll angular speed
    pitchspeedfloatrad/sPitch angular speed
    yawspeedfloatrad/sYaw angular speed

    ATTITUDE_QUATERNION (31) ​

    The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right), expressed as quaternion. Quaternion order is w, x, y, z and a zero rotation would be expressed as (1 0 0 0).

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    q1floatQuaternion component 1, w (1 in null-rotation)
    q2floatQuaternion component 2, x (0 in null-rotation)
    q3floatQuaternion component 3, y (0 in null-rotation)
    q4floatQuaternion component 4, z (0 in null-rotation)
    rollspeedfloatrad/sRoll angular speed
    pitchspeedfloatrad/sPitch angular speed
    yawspeedfloatrad/sYaw angular speed
    repr_offset_q ++float[4]Rotation offset by which the attitude quaternion and angular speed vector should be rotated for user display (quaternion with [w, x, y, z] order, zero-rotation is [1, 0, 0, 0], send [0, 0, 0, 0] if field not supported). This field is intended for systems in which the reference attitude may change during flight. For example, tailsitters VTOLs rotate their reference attitude by 90 degrees between hover mode and fixed wing mode, thus repr_offset_q is equal to [1, 0, 0, 0] in hover mode and equal to [0.7071, 0, 0.7071, 0] in fixed wing mode.

    LOCAL_POSITION_NED (32) ​

    The filtered local position (e.g. fused computer vision and accelerometers). Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention)

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    xfloatmX Position
    yfloatmY Position
    zfloatmZ Position
    vxfloatm/sX Speed
    vyfloatm/sY Speed
    vzfloatm/sZ Speed

    GLOBAL_POSITION_INT (33) ​

    The filtered global position (e.g. fused GPS and accelerometers). The position is in GPS-frame (right-handed, Z-up). It

    is designed as scaled integer message since the resolution of float is not sufficient.

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    latint32_tdegE7Latitude, expressed
    lonint32_tdegE7Longitude, expressed
    altint32_tmmAltitude (MSL). Note that virtually all GPS modules provide both WGS84 and MSL.
    relative_altint32_tmmAltitude above home
    vxint16_tcm/sGround X Speed (Latitude, positive north)
    vyint16_tcm/sGround Y Speed (Longitude, positive east)
    vzint16_tcm/sGround Z Speed (Altitude, positive down)
    hdguint16_tcdegVehicle heading (yaw angle), 0.0..359.99 degrees. If unknown, set to: UINT16_MAX

    RC_CHANNELS_SCALED (34) ​

    The scaled values of the RC channels received: (-100%) -10000, (0%) 0, (100%) 10000. Channels that are inactive should be set to INT16_MAX.

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    portuint8_tServo output port (set of 8 outputs = 1 port). Flight stacks running on Pixhawk should use: 0 = MAIN, 1 = AUX.
    chan1_scaledint16_tRC channel 1 value scaled.
    chan2_scaledint16_tRC channel 2 value scaled.
    chan3_scaledint16_tRC channel 3 value scaled.
    chan4_scaledint16_tRC channel 4 value scaled.
    chan5_scaledint16_tRC channel 5 value scaled.
    chan6_scaledint16_tRC channel 6 value scaled.
    chan7_scaledint16_tRC channel 7 value scaled.
    chan8_scaledint16_tRC channel 8 value scaled.
    rssiuint8_tReceive signal strength indicator in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.

    RC_CHANNELS_RAW (35) ​

    The RAW values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. A value of UINT16_MAX implies the channel is unused. Individual receivers/transmitters might violate this specification.

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    portuint8_tServo output port (set of 8 outputs = 1 port). Flight stacks running on Pixhawk should use: 0 = MAIN, 1 = AUX.
    chan1_rawuint16_tusRC channel 1 value.
    chan2_rawuint16_tusRC channel 2 value.
    chan3_rawuint16_tusRC channel 3 value.
    chan4_rawuint16_tusRC channel 4 value.
    chan5_rawuint16_tusRC channel 5 value.
    chan6_rawuint16_tusRC channel 6 value.
    chan7_rawuint16_tusRC channel 7 value.
    chan8_rawuint16_tusRC channel 8 value.
    rssiuint8_tReceive signal strength indicator in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.

    SERVO_OUTPUT_RAW (36) ​

    Superseded by ACTUATOR_OUTPUT_STATUS. The RAW values of the servo outputs (for RC input from the remote, use the RC_CHANNELS messages). The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%.

    Field NameTypeUnitsDescription
    time_usecuint32_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    portuint8_tServo output port (set of 8 outputs = 1 port). Flight stacks running on Pixhawk should use: 0 = MAIN, 1 = AUX.
    servo1_rawuint16_tusServo output 1 value
    servo2_rawuint16_tusServo output 2 value
    servo3_rawuint16_tusServo output 3 value
    servo4_rawuint16_tusServo output 4 value
    servo5_rawuint16_tusServo output 5 value
    servo6_rawuint16_tusServo output 6 value
    servo7_rawuint16_tusServo output 7 value
    servo8_rawuint16_tusServo output 8 value
    servo9_raw ++uint16_tusServo output 9 value
    servo10_raw ++uint16_tusServo output 10 value
    servo11_raw ++uint16_tusServo output 11 value
    servo12_raw ++uint16_tusServo output 12 value
    servo13_raw ++uint16_tusServo output 13 value
    servo14_raw ++uint16_tusServo output 14 value
    servo15_raw ++uint16_tusServo output 15 value
    servo16_raw ++uint16_tusServo output 16 value

    MISSION_REQUEST_PARTIAL_LIST (37) ​

    Request a partial list of mission items from the system/component. https://mavlink.io/en/services/mission.html. If start and end index are the same, just send one waypoint.

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    start_indexint16_tStart index
    end_indexint16_tEnd index, -1 by default (-1: send list to end). Else a valid index of the list
    mission_type ++uint8_tMAV_MISSION_TYPEMission type.

    MISSION_WRITE_PARTIAL_LIST (38) ​

    This message is sent to the MAV to write a partial list. If start index == end index, only one item will be transmitted / updated. If the start index is NOT 0 and above the current list size, this request should be REJECTED!

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    start_indexint16_tStart index. Must be smaller / equal to the largest index of the current onboard list.
    end_indexint16_tEnd index, equal or greater than start index.
    mission_type ++uint8_tMAV_MISSION_TYPEMission type.

    MISSION_ITEM (39) — [DEP] ​

    DEPRECATED: Replaced By MISSION_ITEM_INT (2020-06)

    Message encoding a mission item. This message is emitted to announce

    the presence of a mission item and to set a mission item on the system. The mission item can be either in x, y, z meters (type: LOCAL) or x:lat, y:lon, z:altitude. Local frame is Z-down, right handed (NED), global frame is Z-up, right handed (ENU). NaN may be used to indicate an optional/default value (e.g. to use the system's current latitude or yaw rather than a specific value). See also https://mavlink.io/en/services/mission.html.

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    sequint16_tSequence
    frameuint8_tMAV_FRAMEThe coordinate system of the waypoint.
    commanduint16_tMAV_CMDThe scheduled action for the waypoint.
    currentuint8_tfalse:0, true:1
    autocontinueuint8_tAutocontinue to next waypoint. 0: false, 1: true. Set false to pause mission after the item completes.
    param1floatPARAM1, see MAV_CMD enum
    param2floatPARAM2, see MAV_CMD enum
    param3floatPARAM3, see MAV_CMD enum
    param4floatPARAM4, see MAV_CMD enum
    xfloatPARAM5 / local: X coordinate, global: latitude
    yfloatPARAM6 / local: Y coordinate, global: longitude
    zfloatPARAM7 / local: Z coordinate, global: altitude (relative or absolute, depending on frame).
    mission_type ++uint8_tMAV_MISSION_TYPEMission type.

    MISSION_REQUEST (40) — [DEP] ​

    DEPRECATED: Replaced By MISSION_REQUEST_INT (2020-06) — A system that gets this request should respond with MISSION_ITEM_INT (as though MISSION_REQUEST_INT was received).)

    Request the information of the mission item with the sequence number seq. The response of the system to this message should be a MISSION_ITEM message. https://mavlink.io/en/services/mission.html

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    sequint16_tSequence
    mission_type ++uint8_tMAV_MISSION_TYPEMission type.

    MISSION_SET_CURRENT (41) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_DO_SET_MISSION_CURRENT (2022-08)

    Set the mission item with sequence number seq as the current item and emit MISSION_CURRENT (whether or not the mission number changed). If a mission is currently being executed, the system will continue to this new mission item on the shortest path, skipping any intermediate mission items. Note that mission jump repeat counters are not reset (see MAV_CMD_DO_JUMP param2).

    This message may trigger a mission state-machine change on some systems: for example from MISSION_STATE_NOT_STARTED or MISSION_STATE_PAUSED to MISSION_STATE_ACTIVE. If the system is in mission mode, on those systems this command might therefore start, restart or resume the mission. If the system is not in mission mode this message must not trigger a switch to mission mode.

    Field NameTypeDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    sequint16_tSequence

    MISSION_CURRENT (42) ​

    Message that announces the sequence number of the current target mission item (that the system will fly towards/execute when the mission is running). This message should be streamed all the time (nominally at 1Hz). This message should be emitted following a call to MAV_CMD_DO_SET_MISSION_CURRENT or SET_MISSION_CURRENT.

    Field NameTypeValuesDescription
    sequint16_tSequence
    total ++uint16_tinvalid:UINT16_MAXTotal number of mission items on vehicle (on last item, sequence == total). If the autopilot stores its home location as part of the mission this will be excluded from the total. 0: Not supported, UINT16_MAX if no mission is present on the vehicle.
    mission_state ++uint8_tinvalid:0 MISSION_STATEMission state machine state. MISSION_STATE_UNKNOWN if state reporting not supported.
    mission_mode ++uint8_tinvalid:0Vehicle is in a mode that can execute mission items or suspended. 0: Unknown, 1: In mission mode, 2: Suspended (not in mission mode).
    mission_id ++uint32_tinvalid:0Id of current on-vehicle mission plan, or 0 if IDs are not supported or there is no mission loaded. GCS can use this to track changes to the mission plan type. The same value is returned on mission upload (in the MISSION_ACK).
    fence_id ++uint32_tinvalid:0Id of current on-vehicle fence plan, or 0 if IDs are not supported or there is no fence loaded. GCS can use this to track changes to the fence plan type. The same value is returned on fence upload (in the MISSION_ACK).
    rally_points_id ++uint32_tinvalid:0Id of current on-vehicle rally point plan, or 0 if IDs are not supported or there are no rally points loaded. GCS can use this to track changes to the rally point plan type. The same value is returned on rally point upload (in the MISSION_ACK).

    MISSION_REQUEST_LIST (43) ​

    Request the overall list of mission items from the system/component.

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    mission_type ++uint8_tMAV_MISSION_TYPEMission type.

    MISSION_COUNT (44) ​

    This message is emitted as response to MISSION_REQUEST_LIST by the MAV and to initiate a write transaction. The GCS can then request the individual mission item based on the knowledge of the total number of waypoints.

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    countuint16_tNumber of mission items in the sequence
    mission_type ++uint8_tMAV_MISSION_TYPEMission type.
    opaque_id ++uint32_tinvalid:0Id of current on-vehicle mission, fence, or rally point plan (on download from vehicle).
    This field is used when downloading a plan from a vehicle to a GCS.
    0 on upload to the vehicle from GCS.
    0 if plan ids are not supported.
    The current on-vehicle plan ids are streamed in [MISSION_CURRENT](#MISSION_CURRENT), allowing a GCS to determine if any part of the plan has changed and needs to be re-uploaded.
    The ids are recalculated by the vehicle when any part of the on-vehicle plan changes (when a new plan is uploaded, the vehicle returns the new id to the GCS in MISSION_ACK).

    MISSION_CLEAR_ALL (45) ​

    Delete all mission items at once.

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    mission_type ++uint8_tMAV_MISSION_TYPEMission type.

    MISSION_ITEM_REACHED (46) ​

    A certain mission item has been reached. The system will either hold this position (or circle on the orbit) or (if the autocontinue on the WP was set) continue to the next waypoint.

    Field NameTypeDescription
    sequint16_tSequence

    MISSION_ACK (47) ​

    Acknowledgment message during waypoint handling. The type field states if this message is a positive ack (type=0) or if an error happened (type=non-zero).

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    typeuint8_tMAV_MISSION_RESULTMission result.
    mission_type ++uint8_tMAV_MISSION_TYPEMission type.
    opaque_id ++uint32_tinvalid:0Id of new on-vehicle mission, fence, or rally point plan (on upload to vehicle).
    The id is calculated and returned by a vehicle when a new plan is uploaded by a GCS.
    The only requirement on the id is that it must change when there is any change to the on-vehicle plan type (there is no requirement that the id be globally unique).
    0 on download from the vehicle to the GCS (on download the ID is set in MISSION_COUNT).
    0 if plan ids are not supported.
    The current on-vehicle plan ids are streamed in [MISSION_CURRENT](#MISSION_CURRENT), allowing a GCS to determine if any part of the plan has changed and needs to be re-uploaded.

    SET_GPS_GLOBAL_ORIGIN (48) ​

    Sets the GPS coordinates of the vehicle local origin (0,0,0) position. Vehicle should emit GPS_GLOBAL_ORIGIN irrespective of whether the origin is changed. This enables transform between the local coordinate frame and the global (GPS) coordinate frame, which may be necessary when (for example) indoor and outdoor settings are connected and the MAV should move from in- to outdoor.

    Field NameTypeUnitsDescription
    target_systemuint8_tSystem ID
    latitudeint32_tdegE7Latitude (WGS84)
    longitudeint32_tdegE7Longitude (WGS84)
    altitudeint32_tmmAltitude (MSL). Positive for up.
    time_usec ++uint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

    GPS_GLOBAL_ORIGIN (49) ​

    Publishes the GPS coordinates of the vehicle local origin (0,0,0) position. Emitted whenever a new GPS-Local position mapping is requested or set - e.g. following SET_GPS_GLOBAL_ORIGIN message.

    Field NameTypeUnitsDescription
    latitudeint32_tdegE7Latitude (WGS84)
    longitudeint32_tdegE7Longitude (WGS84)
    altitudeint32_tmmAltitude (MSL). Positive for up.
    time_usec ++uint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

    PARAM_MAP_RC (50) ​

    Bind a RC channel to a parameter. The parameter should change according to the RC channel value.

    Field NameTypeDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    param_idchar[16]Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
    param_indexint16_tParameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored), send -2 to disable any existing map for this rc_channel_index.
    parameter_rc_channel_indexuint8_tIndex of parameter RC channel. Not equal to the RC channel id. Typically corresponds to a potentiometer-knob on the RC.
    param_value0floatInitial parameter value
    scalefloatScale, maps the RC range [-1, 1] to a parameter value
    param_value_minfloatMinimum param value. The protocol does not define if this overwrites an onboard minimum value. (Depends on implementation)
    param_value_maxfloatMaximum param value. The protocol does not define if this overwrites an onboard maximum value. (Depends on implementation)

    MISSION_REQUEST_INT (51) ​

    Request the information of the mission item with the sequence number seq. The response of the system to this message should be a MISSION_ITEM_INT message. https://mavlink.io/en/services/mission.html

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    sequint16_tSequence
    mission_type ++uint8_tMAV_MISSION_TYPEMission type.

    SAFETY_SET_ALLOWED_AREA (54) ​

    Set a safety zone (volume), which is defined by two corners of a cube. This message can be used to tell the MAV which setpoints/waypoints to accept and which to reject. Safety areas are often enforced by national or competition regulations.

    Field NameTypeUnitsValuesDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    frameuint8_tMAV_FRAMECoordinate frame. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
    p1xfloatmx position 1 / Latitude 1
    p1yfloatmy position 1 / Longitude 1
    p1zfloatmz position 1 / Altitude 1
    p2xfloatmx position 2 / Latitude 2
    p2yfloatmy position 2 / Longitude 2
    p2zfloatmz position 2 / Altitude 2

    SAFETY_ALLOWED_AREA (55) ​

    Read out the safety zone the MAV currently assumes.

    Field NameTypeUnitsValuesDescription
    frameuint8_tMAV_FRAMECoordinate frame. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
    p1xfloatmx position 1 / Latitude 1
    p1yfloatmy position 1 / Longitude 1
    p1zfloatmz position 1 / Altitude 1
    p2xfloatmx position 2 / Latitude 2
    p2yfloatmy position 2 / Longitude 2
    p2zfloatmz position 2 / Altitude 2

    ATTITUDE_QUATERNION_COV (61) ​

    The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right), expressed as quaternion. Quaternion order is w, x, y, z and a zero rotation would be expressed as (1 0 0 0).

    Field NameTypeUnitsDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    qfloat[4]Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
    rollspeedfloatrad/sRoll angular speed
    pitchspeedfloatrad/sPitch angular speed
    yawspeedfloatrad/sYaw angular speed
    covariancefloat[9]Row-major representation of a 3x3 attitude covariance matrix (states: roll, pitch, yaw; first three entries are the first ROW, next three entries are the second row, etc.). If unknown, assign NaN value to first element in the array.

    The state of the navigation and position controller.

    Field NameTypeUnitsDescription
    nav_rollfloatdegCurrent desired roll
    nav_pitchfloatdegCurrent desired pitch
    nav_bearingint16_tdegCurrent desired heading
    target_bearingint16_tdegBearing to current waypoint/target
    wp_distuint16_tmDistance to active waypoint
    alt_errorfloatmCurrent altitude error
    aspd_errorfloatm/sCurrent airspeed error
    xtrack_errorfloatmCurrent crosstrack error on x-y plane

    GLOBAL_POSITION_INT_COV (63) ​

    The filtered global position (e.g. fused GPS and accelerometers). The position is in GPS-frame (right-handed, Z-up). It is designed as scaled integer message since the resolution of float is not sufficient. NOTE: This message is intended for onboard networks / companion computers and higher-bandwidth links and optimized for accuracy and completeness. Please use the GLOBAL_POSITION_INT message for a minimal subset.

    Field NameTypeUnitsValuesDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    estimator_typeuint8_tMAV_ESTIMATOR_TYPEClass id of the estimator this estimate originated from.
    latint32_tdegE7Latitude
    lonint32_tdegE7Longitude
    altint32_tmmAltitude in meters above MSL
    relative_altint32_tmmAltitude above ground
    vxfloatm/sGround X Speed (Latitude)
    vyfloatm/sGround Y Speed (Longitude)
    vzfloatm/sGround Z Speed (Altitude)
    covariancefloat[36]invalid:[NaN:]Row-major representation of a 6x6 position and velocity 6x6 cross-covariance matrix (states: lat, lon, alt, vx, vy, vz; first six entries are the first ROW, next six entries are the second row, etc.). If unknown, assign NaN value to first element in the array.

    LOCAL_POSITION_NED_COV (64) ​

    The filtered local position (e.g. fused computer vision and accelerometers). Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention)

    Field NameTypeUnitsValuesDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    estimator_typeuint8_tMAV_ESTIMATOR_TYPEClass id of the estimator this estimate originated from.
    xfloatmX Position
    yfloatmY Position
    zfloatmZ Position
    vxfloatm/sX Speed
    vyfloatm/sY Speed
    vzfloatm/sZ Speed
    axfloatm/s/sX Acceleration
    ayfloatm/s/sY Acceleration
    azfloatm/s/sZ Acceleration
    covariancefloat[45]invalid:[NaN:]Row-major representation of position, velocity and acceleration 9x9 cross-covariance matrix upper right triangle (states: x, y, z, vx, vy, vz, ax, ay, az; first nine entries are the first ROW, next eight entries are the second row, etc.). If unknown, assign NaN value to first element in the array.

    RC_CHANNELS (65) ​

    The PPM values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. A value of UINT16_MAX implies the channel is unused. Individual receivers/transmitters might violate this specification.

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    chancountuint8_tTotal number of RC channels being received. This can be larger than 18, indicating that more channels are available but not given in this message. This value should be 0 when no RC channels are available.
    chan1_rawuint16_tusRC channel 1 value.
    chan2_rawuint16_tusRC channel 2 value.
    chan3_rawuint16_tusRC channel 3 value.
    chan4_rawuint16_tusRC channel 4 value.
    chan5_rawuint16_tusRC channel 5 value.
    chan6_rawuint16_tusRC channel 6 value.
    chan7_rawuint16_tusRC channel 7 value.
    chan8_rawuint16_tusRC channel 8 value.
    chan9_rawuint16_tusRC channel 9 value.
    chan10_rawuint16_tusRC channel 10 value.
    chan11_rawuint16_tusRC channel 11 value.
    chan12_rawuint16_tusRC channel 12 value.
    chan13_rawuint16_tusRC channel 13 value.
    chan14_rawuint16_tusRC channel 14 value.
    chan15_rawuint16_tusRC channel 15 value.
    chan16_rawuint16_tusRC channel 16 value.
    chan17_rawuint16_tusRC channel 17 value.
    chan18_rawuint16_tusRC channel 18 value.
    rssiuint8_tReceive signal strength indicator in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.

    REQUEST_DATA_STREAM (66) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_SET_MESSAGE_INTERVAL (2015-08)

    Request a data stream.

    Field NameTypeUnitsDescription
    target_systemuint8_tThe target requested to send the message stream.
    target_componentuint8_tThe target requested to send the message stream.
    req_stream_iduint8_tThe ID of the requested data stream
    req_message_rateuint16_tHzThe requested message rate
    start_stopuint8_t1 to start sending, 0 to stop sending.

    DATA_STREAM (67) — [DEP] ​

    DEPRECATED: Replaced By MESSAGE_INTERVAL (2015-08)

    Data stream status information.

    Field NameTypeUnitsDescription
    stream_iduint8_tThe ID of the requested data stream
    message_rateuint16_tHzThe message rate
    on_offuint8_t1 stream is enabled, 0 stream is stopped.

    MANUAL_CONTROL (69) ​

    This message provides an API for manually controlling the vehicle using standard joystick axes nomenclature, along with a joystick-like input device. Unused axes can be disabled and buttons states are transmitted as individual on/off bits of a bitmask

    Field NameTypeDescription
    targetuint8_tThe system to be controlled.
    xint16_tX-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle.
    yint16_tY-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle.
    zint16_tZ-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle. Positive values are positive thrust, negative values are negative thrust.
    rint16_tR-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle.
    buttonsuint16_tA bitfield corresponding to the joystick buttons' 0-15 current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1.
    buttons2 ++uint16_tA bitfield corresponding to the joystick buttons' 16-31 current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 16.
    enabled_extensions ++uint8_tSet bits to 1 to indicate which of the following extension fields contain valid data: bit 0: pitch, bit 1: roll, bit 2: aux1, bit 3: aux2, bit 4: aux3, bit 5: aux4, bit 6: aux5, bit 7: aux6
    s ++int16_tPitch-only-axis, normalized to the range [-1000,1000]. Generally corresponds to pitch on vehicles with additional degrees of freedom. Valid if bit 0 of enabled_extensions field is set. Set to 0 if invalid.
    t ++int16_tRoll-only-axis, normalized to the range [-1000,1000]. Generally corresponds to roll on vehicles with additional degrees of freedom. Valid if bit 1 of enabled_extensions field is set. Set to 0 if invalid.
    aux1 ++int16_tAux continuous input field 1. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 2 of enabled_extensions field is set. 0 if bit 2 is unset.
    aux2 ++int16_tAux continuous input field 2. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 3 of enabled_extensions field is set. 0 if bit 3 is unset.
    aux3 ++int16_tAux continuous input field 3. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 4 of enabled_extensions field is set. 0 if bit 4 is unset.
    aux4 ++int16_tAux continuous input field 4. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 5 of enabled_extensions field is set. 0 if bit 5 is unset.
    aux5 ++int16_tAux continuous input field 5. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 6 of enabled_extensions field is set. 0 if bit 6 is unset.
    aux6 ++int16_tAux continuous input field 6. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 7 of enabled_extensions field is set. 0 if bit 7 is unset.

    RC_CHANNELS_OVERRIDE (70) ​

    The RAW values of the RC channels sent to the MAV to override info received from the RC radio. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. Individual receivers/transmitters might violate this specification. Note carefully the semantic differences between the first 8 channels and the subsequent channels

    Field NameTypeUnitsDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    chan1_rawuint16_tusRC channel 1 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
    chan2_rawuint16_tusRC channel 2 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
    chan3_rawuint16_tusRC channel 3 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
    chan4_rawuint16_tusRC channel 4 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
    chan5_rawuint16_tusRC channel 5 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
    chan6_rawuint16_tusRC channel 6 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
    chan7_rawuint16_tusRC channel 7 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
    chan8_rawuint16_tusRC channel 8 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
    chan9_raw ++uint16_tusRC channel 9 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
    chan10_raw ++uint16_tusRC channel 10 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
    chan11_raw ++uint16_tusRC channel 11 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
    chan12_raw ++uint16_tusRC channel 12 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
    chan13_raw ++uint16_tusRC channel 13 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
    chan14_raw ++uint16_tusRC channel 14 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
    chan15_raw ++uint16_tusRC channel 15 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
    chan16_raw ++uint16_tusRC channel 16 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
    chan17_raw ++uint16_tusRC channel 17 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
    chan18_raw ++uint16_tusRC channel 18 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.

    MISSION_ITEM_INT (73) ​

    Message encoding a mission item. This message is emitted to announce

    the presence of a mission item and to set a mission item on the system. The mission item can be either in x, y, z meters (type: LOCAL) or x:lat, y:lon, z:altitude. Local frame is Z-down, right handed (NED), global frame is Z-up, right handed (ENU). NaN or INT32_MAX may be used in float/integer params (respectively) to indicate optional/default values (e.g. to use the component's current latitude, yaw rather than a specific value). See also https://mavlink.io/en/services/mission.html.

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    sequint16_tWaypoint ID (sequence number). Starts at zero. Increases monotonically for each waypoint, no gaps in the sequence (0,1,2,3,4).
    frameuint8_tMAV_FRAMEThe coordinate system of the waypoint.
    commanduint16_tMAV_CMDThe scheduled action for the waypoint.
    currentuint8_tfalse:0, true:1
    autocontinueuint8_tAutocontinue to next waypoint. 0: false, 1: true. Set false to pause mission after the item completes.
    param1floatPARAM1, see MAV_CMD enum
    param2floatPARAM2, see MAV_CMD enum
    param3floatPARAM3, see MAV_CMD enum
    param4floatPARAM4, see MAV_CMD enum
    xint32_tPARAM5 / local: x position in meters * 1e4, global: latitude in degrees * 10^7
    yint32_tPARAM6 / y position: local: x position in meters * 1e4, global: longitude in degrees *10^7
    zfloatPARAM7 / z position: global: altitude in meters (relative or absolute, depending on frame.
    mission_type ++uint8_tMAV_MISSION_TYPEMission type.

    VFR_HUD (74) ​

    Metrics typically displayed on a HUD for fixed wing aircraft.

    Field NameTypeUnitsDescription
    airspeedfloatm/sVehicle speed in form appropriate for vehicle type. For standard aircraft this is typically calibrated airspeed (CAS) or indicated airspeed (IAS) - either of which can be used by a pilot to estimate stall speed.
    groundspeedfloatm/sCurrent ground speed.
    headingint16_tdegCurrent heading in compass units (0-360, 0=north).
    throttleuint16_t%Current throttle setting (0 to 100).
    altfloatmCurrent altitude (MSL).
    climbfloatm/sCurrent climb rate.

    COMMAND_INT (75) ​

    Send a command with up to seven parameters to the MAV, where params 5 and 6 are integers and the other values are floats. This is preferred over COMMAND_LONG as it allows the MAV_FRAME to be specified for interpreting positional information, such as altitude. COMMAND_INT is also preferred when sending latitude and longitude data in params 5 and 6, as it allows for greater precision. Param 5 and 6 encode positional data as scaled integers, where the scaling depends on the actual command value. NaN or INT32_MAX may be used in float/integer params (respectively) to indicate optional/default values (e.g. to use the component's current latitude, yaw rather than a specific value). The command microservice is documented at https://mavlink.io/en/services/command.html

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    frameuint8_tMAV_FRAMEThe coordinate system of the COMMAND.
    commanduint16_tMAV_CMDThe scheduled action for the mission item.
    currentuint8_tNot used.
    autocontinueuint8_tNot used (set 0).
    param1floatinvalid:NaNPARAM1, see MAV_CMD enum
    param2floatinvalid:NaNPARAM2, see MAV_CMD enum
    param3floatinvalid:NaNPARAM3, see MAV_CMD enum
    param4floatinvalid:NaNPARAM4, see MAV_CMD enum
    xint32_tinvalid:INT32_MAXPARAM5 / local: x position in meters * 1e4, global: latitude in degrees * 10^7
    yint32_tinvalid:INT32_MAXPARAM6 / local: y position in meters * 1e4, global: longitude in degrees * 10^7
    zfloatinvalid:NaNPARAM7 / z position: global: altitude in meters (relative or absolute, depending on frame).

    COMMAND_LONG (76) ​

    Send a command with up to seven parameters to the MAV. COMMAND_INT is generally preferred when sending MAV_CMD commands that include positional information; it offers higher precision and allows the MAV_FRAME to be specified (which may otherwise be ambiguous, particularly for altitude). The command microservice is documented at https://mavlink.io/en/services/command.html

    Field NameTypeValuesDescription
    target_systemuint8_tSystem which should execute the command
    target_componentuint8_tComponent which should execute the command, 0 for all components
    commanduint16_tMAV_CMDCommand ID (of command to send).
    confirmationuint8_t0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
    param1floatinvalid:NaNParameter 1 (for the specific command).
    param2floatinvalid:NaNParameter 2 (for the specific command).
    param3floatinvalid:NaNParameter 3 (for the specific command).
    param4floatinvalid:NaNParameter 4 (for the specific command).
    param5floatinvalid:NaNParameter 5 (for the specific command).
    param6floatinvalid:NaNParameter 6 (for the specific command).
    param7floatinvalid:NaNParameter 7 (for the specific command).

    COMMAND_ACK (77) ​

    Report status of a command. Includes feedback whether the command was executed. The command microservice is documented at https://mavlink.io/en/services/command.html

    Field NameTypeUnitsValuesDescription
    commanduint16_tMAV_CMDCommand ID (of acknowledged command).
    resultuint8_tMAV_RESULTResult of command.
    progress ++uint8_t%invalid:UINT8_MAXThe progress percentage when result is MAV_RESULT_IN_PROGRESS. Values: [0-100], or UINT8_MAX if the progress is unknown.
    result_param2 ++int32_tAdditional result information. Can be set with a command-specific enum containing command-specific error reasons for why the command might be denied. If used, the associated enum must be documented in the corresponding MAV_CMD (this enum should have a 0 value to indicate "unused" or "unknown").
    target_system ++uint8_tSystem ID of the target recipient. This is the ID of the system that sent the command for which this COMMAND_ACK is an acknowledgement.
    target_component ++uint8_tComponent ID of the target recipient. This is the ID of the system that sent the command for which this COMMAND_ACK is an acknowledgement.

    COMMAND_CANCEL (80) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Cancel a long running command. The target system should respond with a COMMAND_ACK to the original command with result=MAV_RESULT_CANCELLED if the long running process was cancelled. If it has already completed, the cancel action can be ignored. The cancel action can be retried until some sort of acknowledgement to the original command has been received. The command microservice is documented at https://mavlink.io/en/services/command.html

    Field NameTypeValuesDescription
    target_systemuint8_tSystem executing long running command. Should not be broadcast (0).
    target_componentuint8_tComponent executing long running command.
    commanduint16_tMAV_CMDCommand ID (of command to cancel).

    MANUAL_SETPOINT (81) ​

    Setpoint in roll, pitch, yaw and thrust from the operator

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    rollfloatrad/sDesired roll rate
    pitchfloatrad/sDesired pitch rate
    yawfloatrad/sDesired yaw rate
    thrustfloatCollective thrust, normalized to 0 .. 1
    mode_switchuint8_tFlight mode switch position, 0.. 255
    manual_override_switchuint8_tOverride mode switch position, 0.. 255

    SET_ATTITUDE_TARGET (82) ​

    Sets a desired vehicle attitude. Used by an external controller to command the vehicle (manual controller or other system).

    Field NameTypeUnitsValuesDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    type_maskuint8_tATTITUDE_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
    qfloat[4]Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0) from MAV_FRAME_LOCAL_NED to MAV_FRAME_BODY_FRD
    body_roll_ratefloatrad/sBody roll rate
    body_pitch_ratefloatrad/sBody pitch rate
    body_yaw_ratefloatrad/sBody yaw rate
    thrustfloatCollective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)
    thrust_body ++float[3]3D thrust setpoint in the body NED frame, normalized to -1 .. 1

    ATTITUDE_TARGET (83) ​

    Reports the current commanded attitude of the vehicle as specified by the autopilot. This should match the commands sent in a SET_ATTITUDE_TARGET message if the vehicle is being controlled this way.

    Field NameTypeUnitsValuesDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    type_maskuint8_tATTITUDE_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
    qfloat[4]Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
    body_roll_ratefloatrad/sBody roll rate
    body_pitch_ratefloatrad/sBody pitch rate
    body_yaw_ratefloatrad/sBody yaw rate
    thrustfloatCollective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)

    SET_POSITION_TARGET_LOCAL_NED (84) ​

    Sets a desired vehicle position in a local north-east-down coordinate frame. Used by an external controller to command the vehicle (manual controller or other system).

    Field NameTypeUnitsValuesDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    coordinate_frameuint8_tMAV_FRAMEValid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9
    type_maskuint16_tPOSITION_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
    xfloatmX Position in NED frame
    yfloatmY Position in NED frame
    zfloatmZ Position in NED frame (note, altitude is negative in NED)
    vxfloatm/sX velocity in NED frame
    vyfloatm/sY velocity in NED frame
    vzfloatm/sZ velocity in NED frame
    afxfloatm/s/sX acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
    afyfloatm/s/sY acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
    afzfloatm/s/sZ acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
    yawfloatradyaw setpoint
    yaw_ratefloatrad/syaw rate setpoint

    POSITION_TARGET_LOCAL_NED (85) ​

    Reports the current commanded vehicle position, velocity, and acceleration as specified by the autopilot. This should match the commands sent in SET_POSITION_TARGET_LOCAL_NED if the vehicle is being controlled this way.

    Field NameTypeUnitsValuesDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    coordinate_frameuint8_tMAV_FRAMEValid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9
    type_maskuint16_tPOSITION_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
    xfloatmX Position in NED frame
    yfloatmY Position in NED frame
    zfloatmZ Position in NED frame (note, altitude is negative in NED)
    vxfloatm/sX velocity in NED frame
    vyfloatm/sY velocity in NED frame
    vzfloatm/sZ velocity in NED frame
    afxfloatm/s/sX acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
    afyfloatm/s/sY acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
    afzfloatm/s/sZ acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
    yawfloatradyaw setpoint
    yaw_ratefloatrad/syaw rate setpoint

    SET_POSITION_TARGET_GLOBAL_INT (86) ​

    Sets a desired vehicle position, velocity, and/or acceleration in a global coordinate system (WGS84). Used by an external controller to command the vehicle (manual controller or other system).

    Field NameTypeUnitsValuesDescription
    time_boot_msuint32_tmsTimestamp (time since system boot). The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency.
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    coordinate_frameuint8_tMAV_FRAMEValid options are: MAV_FRAME_GLOBAL = 0, MAV_FRAME_GLOBAL_RELATIVE_ALT = 3, MAV_FRAME_GLOBAL_TERRAIN_ALT = 10 (MAV_FRAME_GLOBAL_INT, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT are allowed synonyms, but have been deprecated)
    type_maskuint16_tPOSITION_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
    lat_intint32_tdegE7Latitude in WGS84 frame
    lon_intint32_tdegE7Longitude in WGS84 frame
    altfloatmAltitude (MSL, Relative to home, or AGL - depending on frame)
    vxfloatm/sX velocity in NED frame
    vyfloatm/sY velocity in NED frame
    vzfloatm/sZ velocity in NED frame
    afxfloatm/s/sX acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
    afyfloatm/s/sY acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
    afzfloatm/s/sZ acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
    yawfloatradyaw setpoint
    yaw_ratefloatrad/syaw rate setpoint

    POSITION_TARGET_GLOBAL_INT (87) ​

    Reports the current commanded vehicle position, velocity, and acceleration as specified by the autopilot. This should match the commands sent in SET_POSITION_TARGET_GLOBAL_INT if the vehicle is being controlled this way.

    Field NameTypeUnitsValuesDescription
    time_boot_msuint32_tmsTimestamp (time since system boot). The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency.
    coordinate_frameuint8_tMAV_FRAMEValid options are: MAV_FRAME_GLOBAL = 0, MAV_FRAME_GLOBAL_RELATIVE_ALT = 3, MAV_FRAME_GLOBAL_TERRAIN_ALT = 10 (MAV_FRAME_GLOBAL_INT, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT are allowed synonyms, but have been deprecated)
    type_maskuint16_tPOSITION_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
    lat_intint32_tdegE7Latitude in WGS84 frame
    lon_intint32_tdegE7Longitude in WGS84 frame
    altfloatmAltitude (MSL, AGL or relative to home altitude, depending on frame)
    vxfloatm/sX velocity in NED frame
    vyfloatm/sY velocity in NED frame
    vzfloatm/sZ velocity in NED frame
    afxfloatm/s/sX acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
    afyfloatm/s/sY acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
    afzfloatm/s/sZ acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
    yawfloatradyaw setpoint
    yaw_ratefloatrad/syaw rate setpoint

    LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET (89) ​

    The offset in X, Y, Z and yaw between the LOCAL_POSITION_NED messages of MAV X and the global coordinate frame in NED coordinates. Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention)

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    xfloatmX Position
    yfloatmY Position
    zfloatmZ Position
    rollfloatradRoll
    pitchfloatradPitch
    yawfloatradYaw

    HIL_STATE (90) — [DEP] ​

    DEPRECATED: Replaced By HIL_STATE_QUATERNION (2013-07) — Suffers from missing airspeed fields and singularities due to Euler angles)

    Sent from simulation to autopilot. This packet is useful for high throughput applications such as hardware in the loop simulations.

    Field NameTypeUnitsDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    rollfloatradRoll angle
    pitchfloatradPitch angle
    yawfloatradYaw angle
    rollspeedfloatrad/sBody frame roll / phi angular speed
    pitchspeedfloatrad/sBody frame pitch / theta angular speed
    yawspeedfloatrad/sBody frame yaw / psi angular speed
    latint32_tdegE7Latitude
    lonint32_tdegE7Longitude
    altint32_tmmAltitude
    vxint16_tcm/sGround X Speed (Latitude)
    vyint16_tcm/sGround Y Speed (Longitude)
    vzint16_tcm/sGround Z Speed (Altitude)
    xaccint16_tmGX acceleration
    yaccint16_tmGY acceleration
    zaccint16_tmGZ acceleration

    HIL_CONTROLS (91) ​

    Sent from autopilot to simulation. Hardware in the loop control outputs

    Field NameTypeUnitsValuesDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    roll_aileronsfloatControl output -1 .. 1
    pitch_elevatorfloatControl output -1 .. 1
    yaw_rudderfloatControl output -1 .. 1
    throttlefloatThrottle 0 .. 1
    aux1floatAux 1, -1 .. 1
    aux2floatAux 2, -1 .. 1
    aux3floatAux 3, -1 .. 1
    aux4floatAux 4, -1 .. 1
    modeuint8_tMAV_MODESystem mode.
    nav_modeuint8_tNavigation mode (MAV_NAV_MODE)

    HIL_RC_INPUTS_RAW (92) ​

    Sent from simulation to autopilot. The RAW values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. Individual receivers/transmitters might violate this specification.

    Field NameTypeUnitsDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    chan1_rawuint16_tusRC channel 1 value
    chan2_rawuint16_tusRC channel 2 value
    chan3_rawuint16_tusRC channel 3 value
    chan4_rawuint16_tusRC channel 4 value
    chan5_rawuint16_tusRC channel 5 value
    chan6_rawuint16_tusRC channel 6 value
    chan7_rawuint16_tusRC channel 7 value
    chan8_rawuint16_tusRC channel 8 value
    chan9_rawuint16_tusRC channel 9 value
    chan10_rawuint16_tusRC channel 10 value
    chan11_rawuint16_tusRC channel 11 value
    chan12_rawuint16_tusRC channel 12 value
    rssiuint8_tReceive signal strength indicator in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.

    HIL_ACTUATOR_CONTROLS (93) ​

    Sent from autopilot to simulation. Hardware in the loop control outputs (replacement for HIL_CONTROLS)

    Field NameTypeUnitsValuesDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    controlsfloat[16]Control outputs -1 .. 1. Channel assignment depends on the simulated hardware.
    modeuint8_tMAV_MODE_FLAGSystem mode. Includes arming state.
    flagsuint64_tFlags as bitfield, 1: indicate simulation using lockstep.

    OPTICAL_FLOW (100) ​

    Optical flow from a flow sensor (e.g. optical mouse sensor)

    Field NameTypeUnitsDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    sensor_iduint8_tSensor ID
    flow_xint16_tdpixFlow in x-sensor direction
    flow_yint16_tdpixFlow in y-sensor direction
    flow_comp_m_xfloatm/sFlow in x-sensor direction, angular-speed compensated
    flow_comp_m_yfloatm/sFlow in y-sensor direction, angular-speed compensated
    qualityuint8_tOptical flow quality / confidence. 0: bad, 255: maximum quality
    ground_distancefloatmGround distance. Positive value: distance known. Negative value: Unknown distance
    flow_rate_x ++floatrad/sFlow rate about X axis
    flow_rate_y ++floatrad/sFlow rate about Y axis

    GLOBAL_VISION_POSITION_ESTIMATE (101) ​

    Global position/attitude estimate from a vision source.

    Field NameTypeUnitsDescription
    usecuint64_tusTimestamp (UNIX time or since system boot)
    xfloatmGlobal X position
    yfloatmGlobal Y position
    zfloatmGlobal Z position
    rollfloatradRoll angle
    pitchfloatradPitch angle
    yawfloatradYaw angle
    covariance ++float[21]Row-major representation of pose 6x6 cross-covariance matrix upper right triangle (states: x_global, y_global, z_global, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
    reset_counter ++uint8_tEstimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.

    VISION_POSITION_ESTIMATE (102) ​

    Local position/attitude estimate from a vision source.

    Field NameTypeUnitsDescription
    usecuint64_tusTimestamp (UNIX time or time since system boot)
    xfloatmLocal X position
    yfloatmLocal Y position
    zfloatmLocal Z position
    rollfloatradRoll angle
    pitchfloatradPitch angle
    yawfloatradYaw angle
    covariance ++float[21]Row-major representation of pose 6x6 cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
    reset_counter ++uint8_tEstimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.

    VISION_SPEED_ESTIMATE (103) ​

    Speed estimate from a vision source.

    Field NameTypeUnitsDescription
    usecuint64_tusTimestamp (UNIX time or time since system boot)
    xfloatm/sGlobal X speed
    yfloatm/sGlobal Y speed
    zfloatm/sGlobal Z speed
    covariance ++float[9]Row-major representation of 3x3 linear velocity covariance matrix (states: vx, vy, vz; 1st three entries - 1st row, etc.). If unknown, assign NaN value to first element in the array.
    reset_counter ++uint8_tEstimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.

    VICON_POSITION_ESTIMATE (104) ​

    Global position estimate from a Vicon motion system source.

    Field NameTypeUnitsDescription
    usecuint64_tusTimestamp (UNIX time or time since system boot)
    xfloatmGlobal X position
    yfloatmGlobal Y position
    zfloatmGlobal Z position
    rollfloatradRoll angle
    pitchfloatradPitch angle
    yawfloatradYaw angle
    covariance ++float[21]Row-major representation of 6x6 pose cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.

    HIGHRES_IMU (105) ​

    The IMU readings in SI units in NED body frame

    Field NameTypeUnitsValuesDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    xaccfloatm/s/sX acceleration
    yaccfloatm/s/sY acceleration
    zaccfloatm/s/sZ acceleration
    xgyrofloatrad/sAngular speed around X axis
    ygyrofloatrad/sAngular speed around Y axis
    zgyrofloatrad/sAngular speed around Z axis
    xmagfloatgaussX Magnetic field
    ymagfloatgaussY Magnetic field
    zmagfloatgaussZ Magnetic field
    abs_pressurefloathPaAbsolute pressure
    diff_pressurefloathPaDifferential pressure
    pressure_altfloatAltitude calculated from pressure
    temperaturefloatdegCTemperature
    fields_updateduint16_tHIGHRES_IMU_UPDATED_FLAGSBitmap for fields that have updated since last message
    id ++uint8_tId. Ids are numbered from 0 and map to IMUs numbered from 1 (e.g. IMU1 will have a message with id=0)
    Messages with same value are from the same source (instance).

    OPTICAL_FLOW_RAD (106) ​

    Optical flow from an angular rate flow sensor (e.g. PX4FLOW or mouse sensor)

    Field NameTypeUnitsDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    sensor_iduint8_tSensor ID
    Messages with same value are from the same source (instance).
    integration_time_usuint32_tusIntegration time. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the.
    integrated_xfloatradFlow around X axis (Sensor RH rotation about the X axis induces a positive flow. Sensor linear motion along the positive Y axis induces a negative flow.)
    integrated_yfloatradFlow around Y axis (Sensor RH rotation about the Y axis induces a positive flow. Sensor linear motion along the positive X axis induces a positive flow.)
    integrated_xgyrofloatradRH rotation around X axis
    integrated_ygyrofloatradRH rotation around Y axis
    integrated_zgyrofloatradRH rotation around Z axis
    temperatureint16_tcdegCTemperature
    qualityuint8_tOptical flow quality / confidence. 0: no valid flow, 255: maximum quality
    time_delta_distance_usuint32_tusTime since the distance was sampled.
    distancefloatmDistance to the center of the flow field. Positive value (including zero): distance known. Negative value: Unknown distance.

    HIL_SENSOR (107) ​

    The IMU readings in SI units in NED body frame

    Field NameTypeUnitsValuesDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    xaccfloatm/s/sX acceleration
    yaccfloatm/s/sY acceleration
    zaccfloatm/s/sZ acceleration
    xgyrofloatrad/sAngular speed around X axis in body frame
    ygyrofloatrad/sAngular speed around Y axis in body frame
    zgyrofloatrad/sAngular speed around Z axis in body frame
    xmagfloatgaussX Magnetic field
    ymagfloatgaussY Magnetic field
    zmagfloatgaussZ Magnetic field
    abs_pressurefloathPaAbsolute pressure
    diff_pressurefloathPaDifferential pressure (airspeed)
    pressure_altfloatAltitude calculated from pressure
    temperaturefloatdegCTemperature
    fields_updateduint32_tHIL_SENSOR_UPDATED_FLAGSBitmap for fields that have updated since last message
    id ++uint8_tSensor ID (zero indexed). Used for multiple sensor inputs

    SIM_STATE (108) ​

    Status of simulation environment, if used

    Field NameTypeUnitsDescription
    q1floatTrue attitude quaternion component 1, w (1 in null-rotation)
    q2floatTrue attitude quaternion component 2, x (0 in null-rotation)
    q3floatTrue attitude quaternion component 3, y (0 in null-rotation)
    q4floatTrue attitude quaternion component 4, z (0 in null-rotation)
    rollfloatradAttitude roll expressed as Euler angles, not recommended except for human-readable outputs
    pitchfloatradAttitude pitch expressed as Euler angles, not recommended except for human-readable outputs
    yawfloatradAttitude yaw expressed as Euler angles, not recommended except for human-readable outputs
    xaccfloatm/s/sX acceleration
    yaccfloatm/s/sY acceleration
    zaccfloatm/s/sZ acceleration
    xgyrofloatrad/sAngular speed around X axis
    ygyrofloatrad/sAngular speed around Y axis
    zgyrofloatrad/sAngular speed around Z axis
    latfloatdegLatitude (lower precision). Both this and the lat_int field should be set.
    lonfloatdegLongitude (lower precision). Both this and the lon_int field should be set.
    altfloatmAltitude
    std_dev_horzfloatHorizontal position standard deviation
    std_dev_vertfloatVertical position standard deviation
    vnfloatm/sTrue velocity in north direction in earth-fixed NED frame
    vefloatm/sTrue velocity in east direction in earth-fixed NED frame
    vdfloatm/sTrue velocity in down direction in earth-fixed NED frame
    lat_int ++int32_tdegE7Latitude (higher precision). If 0, recipients should use the lat field value (otherwise this field is preferred).
    lon_int ++int32_tdegE7Longitude (higher precision). If 0, recipients should use the lon field value (otherwise this field is preferred).

    RADIO_STATUS (109) ​

    Status generated by radio and injected into MAVLink stream.

    Field NameTypeUnitsDescription
    rssiuint8_tLocal (message sender) received signal strength indication in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.
    remrssiuint8_tRemote (message receiver) signal strength indication in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.
    txbufuint8_t%Remaining free transmitter buffer space.
    noiseuint8_tLocal background noise level. These are device dependent RSSI values (scale as approx 2x dB on SiK radios). Values: [0-254], UINT8_MAX: invalid/unknown.
    remnoiseuint8_tRemote background noise level. These are device dependent RSSI values (scale as approx 2x dB on SiK radios). Values: [0-254], UINT8_MAX: invalid/unknown.
    rxerrorsuint16_tCount of radio packet receive errors (since boot).
    fixeduint16_tCount of error corrected radio packets (since boot).

    FILE_TRANSFER_PROTOCOL (110) ​

    File transfer protocol message: https://mavlink.io/en/services/ftp.html.

    Field NameTypeDescription
    target_networkuint8_tNetwork ID (0 for broadcast)
    target_systemuint8_tSystem ID (0 for broadcast)
    target_componentuint8_tComponent ID (0 for broadcast)
    payloaduint8_t[251]Variable length payload. The length is defined by the remaining message length when subtracting the header and other fields. The content/format of this block is defined in https://mavlink.io/en/services/ftp.html.

    TIMESYNC (111) ​

    Time synchronization message. The message is used for both timesync requests and responses. The request is sent with ts1=syncing component timestamp and tc1=0, and may be broadcast or targeted to a specific system/component. The response is sent with ts1=syncing component timestamp (mirror back unchanged), and tc1=responding component timestamp, with the target_system and target_component set to ids of the original request. Systems can determine if they are receiving a request or response based on the value of tc. If the response has target_system==target_component==0 the remote system has not been updated to use the component IDs and cannot reliably timesync; the requestor may report an error. Timestamps are UNIX Epoch time or time since system boot in nanoseconds (the timestamp format can be inferred by checking for the magnitude of the number; generally it doesn't matter as only the offset is used). The message sequence is repeated numerous times with results being filtered/averaged to estimate the offset.

    Field NameTypeUnitsDescription
    tc1int64_tnsTime sync timestamp 1. Syncing: 0. Responding: Timestamp of responding component.
    ts1int64_tnsTime sync timestamp 2. Timestamp of syncing component (mirrored in response).
    target_system ++uint8_tTarget system id. Request: 0 (broadcast) or id of specific system. Response must contain system id of the requesting component.
    target_component ++uint8_tTarget component id. Request: 0 (broadcast) or id of specific component. Response must contain component id of the requesting component.

    CAMERA_TRIGGER (112) ​

    Camera-IMU triggering and synchronisation message.

    Field NameTypeUnitsDescription
    time_usecuint64_tusTimestamp for image frame (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    sequint32_tImage frame sequence

    HIL_GPS (113) ​

    The global position, as returned by the Global Positioning System (GPS). This is

    NOT the global position estimate of the system, but rather a RAW sensor value. See message GLOBAL_POSITION_INT for the global position estimate.

    Field NameTypeUnitsMultiplierDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    fix_typeuint8_t0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
    latint32_tdegE7Latitude (WGS84)
    lonint32_tdegE7Longitude (WGS84)
    altint32_tmmAltitude (MSL). Positive for up.
    ephuint16_t1E-2GPS HDOP horizontal dilution of position (unitless * 100). If unknown, set to: UINT16_MAX
    epvuint16_t1E-2GPS VDOP vertical dilution of position (unitless * 100). If unknown, set to: UINT16_MAX
    veluint16_tcm/sGPS ground speed. If unknown, set to: UINT16_MAX
    vnint16_tcm/sGPS velocity in north direction in earth-fixed NED frame
    veint16_tcm/sGPS velocity in east direction in earth-fixed NED frame
    vdint16_tcm/sGPS velocity in down direction in earth-fixed NED frame
    coguint16_tcdegCourse over ground (NOT heading, but direction of movement), 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
    satellites_visibleuint8_tNumber of satellites visible. If unknown, set to UINT8_MAX
    id ++uint8_tGPS ID (zero indexed). Used for multiple GPS inputs
    yaw ++uint16_tcdegYaw of vehicle relative to Earth's North, zero means not available, use 36000 for north

    HIL_OPTICAL_FLOW (114) ​

    Simulated optical flow from a flow sensor (e.g. PX4FLOW or optical mouse sensor)

    Field NameTypeUnitsDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    sensor_iduint8_tSensor ID
    integration_time_usuint32_tusIntegration time. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the.
    integrated_xfloatradFlow in radians around X axis (Sensor RH rotation about the X axis induces a positive flow. Sensor linear motion along the positive Y axis induces a negative flow.)
    integrated_yfloatradFlow in radians around Y axis (Sensor RH rotation about the Y axis induces a positive flow. Sensor linear motion along the positive X axis induces a positive flow.)
    integrated_xgyrofloatradRH rotation around X axis
    integrated_ygyrofloatradRH rotation around Y axis
    integrated_zgyrofloatradRH rotation around Z axis
    temperatureint16_tcdegCTemperature
    qualityuint8_tOptical flow quality / confidence. 0: no valid flow, 255: maximum quality
    time_delta_distance_usuint32_tusTime since the distance was sampled.
    distancefloatmDistance to the center of the flow field. Positive value (including zero): distance known. Negative value: Unknown distance.

    HIL_STATE_QUATERNION (115) ​

    Sent from simulation to autopilot, avoids in contrast to HIL_STATE singularities. This packet is useful for high throughput applications such as hardware in the loop simulations.

    Field NameTypeUnitsDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    attitude_quaternionfloat[4]Vehicle attitude expressed as normalized quaternion in w, x, y, z order (with 1 0 0 0 being the null-rotation)
    rollspeedfloatrad/sBody frame roll / phi angular speed
    pitchspeedfloatrad/sBody frame pitch / theta angular speed
    yawspeedfloatrad/sBody frame yaw / psi angular speed
    latint32_tdegE7Latitude
    lonint32_tdegE7Longitude
    altint32_tmmAltitude
    vxint16_tcm/sGround X Speed (Latitude)
    vyint16_tcm/sGround Y Speed (Longitude)
    vzint16_tcm/sGround Z Speed (Altitude)
    ind_airspeeduint16_tcm/sIndicated airspeed
    true_airspeeduint16_tcm/sTrue airspeed
    xaccint16_tmGX acceleration
    yaccint16_tmGY acceleration
    zaccint16_tmGZ acceleration

    SCALED_IMU2 (116) ​

    The RAW IMU readings for secondary 9DOF sensor setup. This message should contain the scaled values to the described units

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    xaccint16_tmGX acceleration
    yaccint16_tmGY acceleration
    zaccint16_tmGZ acceleration
    xgyroint16_tmrad/sAngular speed around X axis
    ygyroint16_tmrad/sAngular speed around Y axis
    zgyroint16_tmrad/sAngular speed around Z axis
    xmagint16_tmgaussX Magnetic field
    ymagint16_tmgaussY Magnetic field
    zmagint16_tmgaussZ Magnetic field
    temperature ++int16_tcdegCTemperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).

    LOG_REQUEST_LIST (117) ​

    Request a list of available logs. On some systems calling this may stop on-board logging until LOG_REQUEST_END is called. If there are no log files available this request shall be answered with one LOG_ENTRY message with id = 0 and num_logs = 0.

    Field NameTypeDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    startuint16_tFirst log id (0 for first available)
    enduint16_tLast log id (0xffff for last available)

    LOG_ENTRY (118) ​

    Reply to LOG_REQUEST_LIST

    Field NameTypeUnitsDescription
    iduint16_tLog id
    num_logsuint16_tTotal number of logs
    last_log_numuint16_tHigh log number
    time_utcuint32_tsUTC timestamp of log since 1970, or 0 if not available
    sizeuint32_tbytesSize of the log (may be approximate)

    LOG_REQUEST_DATA (119) ​

    Request a chunk of a log

    Field NameTypeUnitsDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    iduint16_tLog id (from LOG_ENTRY reply)
    ofsuint32_tOffset into the log
    countuint32_tbytesNumber of bytes

    LOG_DATA (120) ​

    Reply to LOG_REQUEST_DATA

    Field NameTypeUnitsDescription
    iduint16_tLog id (from LOG_ENTRY reply)
    ofsuint32_tOffset into the log
    countuint8_tbytesNumber of bytes (zero for end of log)
    datauint8_t[90]log data

    LOG_ERASE (121) ​

    Erase all logs

    Field NameTypeDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID

    LOG_REQUEST_END (122) ​

    Stop log transfer and resume normal logging

    Field NameTypeDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID

    GPS_INJECT_DATA (123) — [DEP] ​

    DEPRECATED: Replaced By GPS_RTCM_DATA (2022-05)

    Data for injecting into the onboard GPS (used for DGPS)

    Field NameTypeUnitsDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    lenuint8_tbytesData length
    datauint8_t[110]Raw data (110 is enough for 12 satellites of RTCMv2)

    GPS2_RAW (124) ​

    Second GPS data.

    Field NameTypeUnitsValuesDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    fix_typeuint8_tGPS_FIX_TYPEGPS fix type.
    latint32_tdegE7Latitude (WGS84)
    lonint32_tdegE7Longitude (WGS84)
    altint32_tmmAltitude (MSL). Positive for up.
    ephuint16_tinvalid:UINT16_MAXGPS HDOP horizontal dilution of position (unitless * 100). If unknown, set to: UINT16_MAX
    epvuint16_tinvalid:UINT16_MAXGPS VDOP vertical dilution of position (unitless * 100). If unknown, set to: UINT16_MAX
    veluint16_tcm/sinvalid:UINT16_MAXGPS ground speed. If unknown, set to: UINT16_MAX
    coguint16_tcdeginvalid:UINT16_MAXCourse over ground (NOT heading, but direction of movement): 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
    satellites_visibleuint8_tinvalid:UINT8_MAXNumber of satellites visible. If unknown, set to UINT8_MAX
    dgps_numchuint8_tNumber of DGPS satellites
    dgps_ageuint32_tmsAge of DGPS info
    yaw ++uint16_tcdeginvalid:0Yaw in earth frame from north. Use 0 if this GPS does not provide yaw. Use UINT16_MAX if this GPS is configured to provide yaw and is currently unable to provide it. Use 36000 for north.
    alt_ellipsoid ++int32_tmmAltitude (above WGS84, EGM96 ellipsoid). Positive for up.
    h_acc ++uint32_tmmPosition uncertainty.
    v_acc ++uint32_tmmAltitude uncertainty.
    vel_acc ++uint32_tmm/sSpeed uncertainty.
    hdg_acc ++uint32_tdegE5Heading / track uncertainty

    POWER_STATUS (125) ​

    Power supply status

    Field NameTypeUnitsValuesDescription
    Vccuint16_tmV5V rail voltage.
    Vservouint16_tmVServo rail voltage.
    flagsuint16_tMAV_POWER_STATUSBitmap of power supply status flags.

    SERIAL_CONTROL (126) ​

    Control a serial port. This can be used for raw access to an onboard serial peripheral such as a GPS or telemetry radio. It is designed to make it possible to update the devices firmware via MAVLink messages or change the devices settings. A message with zero bytes can be used to change just the baudrate.

    Field NameTypeUnitsValuesDescription
    deviceuint8_tSERIAL_CONTROL_DEVSerial control device type.
    flagsuint8_tSERIAL_CONTROL_FLAGBitmap of serial control flags.
    timeoutuint16_tmsTimeout for reply data
    baudrateuint32_tbits/sBaudrate of transfer. Zero means no change.
    countuint8_tbyteshow many bytes in this transfer
    datauint8_t[70]serial data
    target_system ++uint8_tSystem ID
    target_component ++uint8_tComponent ID

    GPS_RTK (127) ​

    RTK GPS data. Gives information on the relative baseline calculation the GPS is reporting

    Field NameTypeUnitsValuesDescription
    time_last_baseline_msuint32_tmsTime since boot of last baseline message received.
    rtk_receiver_iduint8_tIdentification of connected RTK receiver.
    wnuint16_tGPS Week Number of last baseline
    towuint32_tmsGPS Time of Week of last baseline
    rtk_healthuint8_tGPS-specific health report for RTK data.
    rtk_rateuint8_tHzRate of baseline messages being received by GPS
    nsatsuint8_tCurrent number of sats used for RTK calculation.
    baseline_coords_typeuint8_tRTK_BASELINE_COORDINATE_SYSTEMCoordinate system of baseline
    baseline_a_mmint32_tmmCurrent baseline in ECEF x or NED north component.
    baseline_b_mmint32_tmmCurrent baseline in ECEF y or NED east component.
    baseline_c_mmint32_tmmCurrent baseline in ECEF z or NED down component.
    accuracyuint32_tCurrent estimate of baseline accuracy.
    iar_num_hypothesesint32_tCurrent number of integer ambiguity hypotheses.

    GPS2_RTK (128) ​

    RTK GPS data. Gives information on the relative baseline calculation the GPS is reporting

    Field NameTypeUnitsValuesDescription
    time_last_baseline_msuint32_tmsTime since boot of last baseline message received.
    rtk_receiver_iduint8_tIdentification of connected RTK receiver.
    wnuint16_tGPS Week Number of last baseline
    towuint32_tmsGPS Time of Week of last baseline
    rtk_healthuint8_tGPS-specific health report for RTK data.
    rtk_rateuint8_tHzRate of baseline messages being received by GPS
    nsatsuint8_tCurrent number of sats used for RTK calculation.
    baseline_coords_typeuint8_tRTK_BASELINE_COORDINATE_SYSTEMCoordinate system of baseline
    baseline_a_mmint32_tmmCurrent baseline in ECEF x or NED north component.
    baseline_b_mmint32_tmmCurrent baseline in ECEF y or NED east component.
    baseline_c_mmint32_tmmCurrent baseline in ECEF z or NED down component.
    accuracyuint32_tCurrent estimate of baseline accuracy.
    iar_num_hypothesesint32_tCurrent number of integer ambiguity hypotheses.

    SCALED_IMU3 (129) ​

    The RAW IMU readings for 3rd 9DOF sensor setup. This message should contain the scaled values to the described units

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    xaccint16_tmGX acceleration
    yaccint16_tmGY acceleration
    zaccint16_tmGZ acceleration
    xgyroint16_tmrad/sAngular speed around X axis
    ygyroint16_tmrad/sAngular speed around Y axis
    zgyroint16_tmrad/sAngular speed around Z axis
    xmagint16_tmgaussX Magnetic field
    ymagint16_tmgaussY Magnetic field
    zmagint16_tmgaussZ Magnetic field
    temperature ++int16_tcdegCTemperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).

    DATA_TRANSMISSION_HANDSHAKE (130) ​

    Handshake message to initiate, control and stop image streaming when using the Image Transmission Protocol: https://mavlink.io/en/services/image_transmission.html.

    Field NameTypeUnitsValuesDescription
    typeuint8_tMAVLINK_DATA_STREAM_TYPEType of requested/acknowledged data.
    sizeuint32_tbytestotal data size (set on ACK only).
    widthuint16_tWidth of a matrix or image.
    heightuint16_tHeight of a matrix or image.
    packetsuint16_tNumber of packets being sent (set on ACK only).
    payloaduint8_tbytesPayload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only).
    jpg_qualityuint8_t%JPEG quality. Values: [1-100].

    ENCAPSULATED_DATA (131) ​

    Data packet for images sent using the Image Transmission Protocol: https://mavlink.io/en/services/image_transmission.html.

    Field NameTypeDescription
    seqnruint16_tsequence number (starting with 0 on every transmission)
    datauint8_t[253]image data bytes

    DISTANCE_SENSOR (132) ​

    Distance sensor information for an onboard rangefinder.

    Field NameTypeUnitsValuesDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    min_distanceuint16_tcmMinimum distance the sensor can measure
    max_distanceuint16_tcmMaximum distance the sensor can measure
    current_distanceuint16_tcmCurrent distance reading
    typeuint8_tMAV_DISTANCE_SENSORType of distance sensor.
    iduint8_tOnboard ID of the sensor
    Messages with same value are from the same source (instance).
    orientationuint8_tMAV_SENSOR_ORIENTATIONDirection the sensor faces. downward-facing: ROTATION_PITCH_270, upward-facing: ROTATION_PITCH_90, backward-facing: ROTATION_PITCH_180, forward-facing: ROTATION_NONE, left-facing: ROTATION_YAW_90, right-facing: ROTATION_YAW_270
    covarianceuint8_tcm^2invalid:UINT8_MAXMeasurement variance. Max standard deviation is 6cm. UINT8_MAX if unknown.
    horizontal_fov ++floatradinvalid:0Horizontal Field of View (angle) where the distance measurement is valid and the field of view is known. Otherwise this is set to 0.
    vertical_fov ++floatradinvalid:0Vertical Field of View (angle) where the distance measurement is valid and the field of view is known. Otherwise this is set to 0.
    quaternion ++float[4]invalid:[0]Quaternion of the sensor orientation in vehicle body frame (w, x, y, z order, zero-rotation is 1, 0, 0, 0). Zero-rotation is along the vehicle body x-axis. This field is required if the orientation is set to MAV_SENSOR_ROTATION_CUSTOM. Set it to 0 if invalid."
    signal_quality ++uint8_t%invalid:0Signal quality of the sensor. Specific to each sensor type, representing the relation of the signal strength with the target reflectivity, distance, size or aspect, but normalised as a percentage. 0 = unknown/unset signal quality, 1 = invalid signal, 100 = perfect signal.

    TERRAIN_REQUEST (133) ​

    Request for terrain data and terrain status. See terrain protocol docs: https://mavlink.io/en/services/terrain.html

    Field NameTypeUnitsDescription
    latint32_tdegE7Latitude of SW corner of first grid
    lonint32_tdegE7Longitude of SW corner of first grid
    grid_spacinguint16_tmGrid spacing
    maskuint64_tBitmask of requested 4x4 grids (row major 8x7 array of grids, 56 bits)

    TERRAIN_DATA (134) ​

    Terrain data sent from GCS. The lat/lon and grid_spacing must be the same as a lat/lon from a TERRAIN_REQUEST. See terrain protocol docs: https://mavlink.io/en/services/terrain.html

    Field NameTypeUnitsDescription
    latint32_tdegE7Latitude of SW corner of first grid
    lonint32_tdegE7Longitude of SW corner of first grid
    grid_spacinguint16_tmGrid spacing
    gridbituint8_tbit within the terrain request mask
    dataint16_t[16]mTerrain data MSL

    TERRAIN_CHECK (135) ​

    Request that the vehicle report terrain height at the given location (expected response is a TERRAIN_REPORT). Used by GCS to check if vehicle has all terrain data needed for a mission.

    Field NameTypeUnitsDescription
    latint32_tdegE7Latitude
    lonint32_tdegE7Longitude

    TERRAIN_REPORT (136) ​

    Streamed from drone to report progress of terrain map download (initiated by TERRAIN_REQUEST), or sent as a response to a TERRAIN_CHECK request. See terrain protocol docs: https://mavlink.io/en/services/terrain.html

    Field NameTypeUnitsDescription
    latint32_tdegE7Latitude
    lonint32_tdegE7Longitude
    spacinguint16_tgrid spacing (zero if terrain at this location unavailable)
    terrain_heightfloatmTerrain height MSL
    current_heightfloatmCurrent vehicle height above lat/lon terrain height
    pendinguint16_tNumber of 4x4 terrain blocks waiting to be received or read from disk
    loadeduint16_tNumber of 4x4 terrain blocks in memory

    SCALED_PRESSURE2 (137) ​

    Barometer readings for 2nd barometer

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    press_absfloathPaAbsolute pressure
    press_difffloathPaDifferential pressure
    temperatureint16_tcdegCAbsolute pressure temperature
    temperature_press_diff ++int16_tcdegCDifferential pressure temperature (0, if not available). Report values of 0 (or 1) as 1 cdegC.

    ATT_POS_MOCAP (138) ​

    Motion capture attitude and position

    Field NameTypeUnitsDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    qfloat[4]Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
    xfloatmX position (NED)
    yfloatmY position (NED)
    zfloatmZ position (NED)
    covariance ++float[21]Row-major representation of a pose 6x6 cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.

    SET_ACTUATOR_CONTROL_TARGET (139) ​

    Set the vehicle attitude and body angular rates.

    Field NameTypeUnitsDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    group_mlxuint8_tActuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    controlsfloat[8]Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.

    ACTUATOR_CONTROL_TARGET (140) ​

    Set the vehicle attitude and body angular rates.

    Field NameTypeUnitsDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    group_mlxuint8_tActuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.
    controlsfloat[8]Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.

    ALTITUDE (141) ​

    The current system altitude.

    Field NameTypeUnitsDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    altitude_monotonicfloatmThis altitude measure is initialized on system boot and monotonic (it is never reset, but represents the local altitude change). The only guarantee on this field is that it will never be reset and is consistent within a flight. The recommended value for this field is the uncorrected barometric altitude at boot time. This altitude will also drift and vary between flights.
    altitude_amslfloatmThis altitude measure is strictly above mean sea level and might be non-monotonic (it might reset on events like GPS lock or when a new QNH value is set). It should be the altitude to which global altitude waypoints are compared to. Note that it is not the GPS altitude, however, most GPS modules already output MSL by default and not the WGS84 altitude.
    altitude_localfloatmThis is the local altitude in the local coordinate frame. It is not the altitude above home, but in reference to the coordinate origin (0, 0, 0). It is up-positive.
    altitude_relativefloatmThis is the altitude above the home position. It resets on each change of the current home position.
    altitude_terrainfloatmThis is the altitude above terrain. It might be fed by a terrain database or an altimeter. Values smaller than -1000 should be interpreted as unknown.
    bottom_clearancefloatmThis is not the altitude, but the clear space below the system according to the fused clearance estimate. It generally should max out at the maximum range of e.g. the laser altimeter. It is generally a moving target. A negative value indicates no measurement available.

    RESOURCE_REQUEST (142) ​

    The autopilot is requesting a resource (file, binary, other type of data)

    Field NameTypeDescription
    request_iduint8_tRequest ID. This ID should be re-used when sending back URI contents
    uri_typeuint8_tThe type of requested URI. 0 = a file via URL. 1 = a UAVCAN binary
    uriuint8_t[120]The requested unique resource identifier (URI). It is not necessarily a straight domain name (depends on the URI type enum)
    transfer_typeuint8_tThe way the autopilot wants to receive the URI. 0 = MAVLink FTP. 1 = binary stream.
    storageuint8_t[120]The storage path the autopilot wants the URI to be stored in. Will only be valid if the transfer_type has a storage associated (e.g. MAVLink FTP).

    SCALED_PRESSURE3 (143) ​

    Barometer readings for 3rd barometer

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    press_absfloathPaAbsolute pressure
    press_difffloathPaDifferential pressure
    temperatureint16_tcdegCAbsolute pressure temperature
    temperature_press_diff ++int16_tcdegCDifferential pressure temperature (0, if not available). Report values of 0 (or 1) as 1 cdegC.

    FOLLOW_TARGET (144) ​

    Current motion information from a designated system

    Field NameTypeUnitsDescription
    timestampuint64_tmsTimestamp (time since system boot).
    est_capabilitiesuint8_tbit positions for tracker reporting capabilities (POS = 0, VEL = 1, ACCEL = 2, ATT + RATES = 3)
    latint32_tdegE7Latitude (WGS84)
    lonint32_tdegE7Longitude (WGS84)
    altfloatmAltitude (MSL)
    velfloat[3]m/starget velocity (0,0,0) for unknown
    accfloat[3]m/s/slinear target acceleration (0,0,0) for unknown
    attitude_qfloat[4](0 0 0 0 for unknown)
    ratesfloat[3](0 0 0 for unknown)
    position_covfloat[3]eph epv
    custom_stateuint64_tbutton states or switches of a tracker device

    CONTROL_SYSTEM_STATE (146) ​

    The smoothed, monotonic system state used to feed the control loops of the system.

    Field NameTypeUnitsDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    x_accfloatm/s/sX acceleration in body frame
    y_accfloatm/s/sY acceleration in body frame
    z_accfloatm/s/sZ acceleration in body frame
    x_velfloatm/sX velocity in body frame
    y_velfloatm/sY velocity in body frame
    z_velfloatm/sZ velocity in body frame
    x_posfloatmX position in local frame
    y_posfloatmY position in local frame
    z_posfloatmZ position in local frame
    airspeedfloatm/sAirspeed, set to -1 if unknown
    vel_variancefloat[3]Variance of body velocity estimate
    pos_variancefloat[3]Variance in local position
    qfloat[4]The attitude, represented as Quaternion
    roll_ratefloatrad/sAngular rate in roll axis
    pitch_ratefloatrad/sAngular rate in pitch axis
    yaw_ratefloatrad/sAngular rate in yaw axis

    BATTERY_STATUS (147) ​

    Battery information. Updates GCS with flight controller battery status. Smart batteries also use this message, but may additionally send BATTERY_INFO.

    Field NameTypeUnitsValuesDescription
    iduint8_tBattery ID
    Messages with same value are from the same source (instance).
    battery_functionuint8_tMAV_BATTERY_FUNCTIONFunction of the battery
    typeuint8_tMAV_BATTERY_TYPEType (chemistry) of the battery
    temperatureint16_tcdegCinvalid:INT16_MAXTemperature of the battery. INT16_MAX for unknown temperature.
    voltagesuint16_t[10]mVinvalid:[UINT16_MAX]Battery voltage of cells 1 to 10 (see voltages_ext for cells 11-14). Cells in this field above the valid cell count for this battery should have the UINT16_MAX value. If individual cell voltages are unknown or not measured for this battery, then the overall battery voltage should be filled in cell 0, with all others set to UINT16_MAX. If the voltage of the battery is greater than (UINT16_MAX - 1), then cell 0 should be set to (UINT16_MAX - 1), and cell 1 to the remaining voltage. This can be extended to multiple cells if the total voltage is greater than 2 * (UINT16_MAX - 1).
    current_batteryint16_tcAinvalid:-1Battery current, -1: autopilot does not measure the current
    current_consumedint32_tmAhinvalid:-1Consumed charge, -1: autopilot does not provide consumption estimate
    energy_consumedint32_thJinvalid:-1Consumed energy, -1: autopilot does not provide energy consumption estimate
    battery_remainingint8_t%invalid:-1Remaining battery energy. Values: [0-100], -1: autopilot does not estimate the remaining battery.
    time_remaining ++int32_tsinvalid:0Remaining battery time, 0: autopilot does not provide remaining battery time estimate
    charge_state ++uint8_tMAV_BATTERY_CHARGE_STATEState for extent of discharge, provided by autopilot for warning or external reactions
    voltages_ext ++uint16_t[4]mVinvalid:[0]Battery voltages for cells 11 to 14. Cells above the valid cell count for this battery should have a value of 0, where zero indicates not supported (note, this is different than for the voltages field and allows empty byte truncation). If the measured value is 0 then 1 should be sent instead.
    mode ++uint8_tMAV_BATTERY_MODESmart battery mode. Default (0) is that battery mode reporting is not supported or battery is in normal-use mode.
    fault_bitmask ++uint32_tMAV_BATTERY_FAULTFault/health indications. These should be set when charge_state is MAV_BATTERY_CHARGE_STATE_FAILED or MAV_BATTERY_CHARGE_STATE_UNHEALTHY (if not, fault reporting is not supported).

    AUTOPILOT_VERSION (148) ​

    Version and capability of autopilot software. This should be emitted in response to a request with MAV_CMD_REQUEST_MESSAGE.

    Field NameTypeValuesDescription
    capabilitiesuint64_tMAV_PROTOCOL_CAPABILITYBitmap of capabilities
    flight_sw_versionuint32_tFirmware version number
    middleware_sw_versionuint32_tMiddleware version number
    os_sw_versionuint32_tOperating system version number
    board_versionuint32_tHW / board version (last 8 bits should be silicon ID, if any). The first 16 bits of this field specify https://github.com/PX4/PX4-Bootloader/blob/master/board_types.txt
    flight_custom_versionuint8_t[8]Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.
    middleware_custom_versionuint8_t[8]Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.
    os_custom_versionuint8_t[8]Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.
    vendor_iduint16_tID of the board vendor
    product_iduint16_tID of the product
    uiduint64_tUID if provided by hardware (see uid2)
    uid2 ++uint8_t[18]UID if provided by hardware (supersedes the uid field. If this is non-zero, use this field, otherwise use uid)

    LANDING_TARGET (149) ​

    The location of a landing target. See: https://mavlink.io/en/services/landing_target.html

    Field NameTypeUnitsValuesDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    target_numuint8_tThe ID of the target if multiple targets are present
    frameuint8_tMAV_FRAMECoordinate frame used for following fields.
    angle_xfloatradX-axis angular offset of the target from the center of the image
    angle_yfloatradY-axis angular offset of the target from the center of the image
    distancefloatmDistance to the target from the vehicle
    size_xfloatradSize of target along x-axis
    size_yfloatradSize of target along y-axis
    x ++floatmX Position of the landing target in MAV_FRAME
    y ++floatmY Position of the landing target in MAV_FRAME
    z ++floatmZ Position of the landing target in MAV_FRAME
    q ++float[4]Quaternion of landing target orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
    type ++uint8_tLANDING_TARGET_TYPEType of landing target
    position_valid ++uint8_tinvalid:0Boolean indicating whether the position fields (x, y, z, q, type) contain valid target position information (valid: 1, invalid: 0). Default is 0 (invalid).

    FENCE_STATUS (162) ​

    Status of geo-fencing. Sent in extended status stream when fencing enabled.

    Field NameTypeUnitsValuesDescription
    breach_statusuint8_tBreach status (0 if currently inside fence, 1 if outside).
    breach_countuint16_tNumber of fence breaches.
    breach_typeuint8_tFENCE_BREACHLast breach type.
    breach_timeuint32_tmsTime (since boot) of last breach.
    breach_mitigation ++uint8_tFENCE_MITIGATEActive action to prevent fence breach

    MAG_CAL_REPORT (192) ​

    Reports results of completed compass calibration. Sent until MAG_CAL_ACK received.

    Field NameTypeUnitsValuesDescription
    compass_iduint8_tCompass being calibrated.
    Messages with same value are from the same source (instance).
    cal_maskuint8_tBitmask of compasses being calibrated.
    cal_statusuint8_tMAG_CAL_STATUSCalibration Status.
    autosaveduint8_t0=requires a MAV_CMD_DO_ACCEPT_MAG_CAL, 1=saved to parameters.
    fitnessfloatmgaussRMS milligauss residuals.
    ofs_xfloatX offset.
    ofs_yfloatY offset.
    ofs_zfloatZ offset.
    diag_xfloatX diagonal (matrix 11).
    diag_yfloatY diagonal (matrix 22).
    diag_zfloatZ diagonal (matrix 33).
    offdiag_xfloatX off-diagonal (matrix 12 and 21).
    offdiag_yfloatY off-diagonal (matrix 13 and 31).
    offdiag_zfloatZ off-diagonal (matrix 32 and 23).
    orientation_confidence ++floatConfidence in orientation (higher is better).
    old_orientation ++uint8_tMAV_SENSOR_ORIENTATIONorientation before calibration.
    new_orientation ++uint8_tMAV_SENSOR_ORIENTATIONorientation after calibration.
    scale_factor ++floatfield radius correction factor

    EFI_STATUS (225) ​

    EFI status output

    Field NameTypeUnitsDescription
    healthuint8_tEFI health status
    ecu_indexfloatECU index
    rpmfloatRPM
    fuel_consumedfloatcm^3Fuel consumed
    fuel_flowfloatcm^3/minFuel flow rate
    engine_loadfloat%Engine load
    throttle_positionfloat%Throttle position
    spark_dwell_timefloatmsSpark dwell time
    barometric_pressurefloatkPaBarometric pressure
    intake_manifold_pressurefloatkPaIntake manifold pressure(
    intake_manifold_temperaturefloatdegCIntake manifold temperature
    cylinder_head_temperaturefloatdegCCylinder head temperature
    ignition_timingfloatdegIgnition timing (Crank angle degrees)
    injection_timefloatmsInjection time
    exhaust_gas_temperaturefloatdegCExhaust gas temperature
    throttle_outfloat%Output throttle
    pt_compensationfloatPressure/temperature compensation
    ignition_voltage ++floatVSupply voltage to EFI sparking system. Zero in this value means "unknown", so if the supply voltage really is zero volts use 0.0001 instead.
    fuel_pressure ++floatkPaFuel pressure. Zero in this value means "unknown", so if the fuel pressure really is zero kPa use 0.0001 instead.

    ESTIMATOR_STATUS (230) ​

    Estimator status message including flags, innovation test ratios and estimated accuracies. The flags message is an integer bitmask containing information on which EKF outputs are valid. See the ESTIMATOR_STATUS_FLAGS enum definition for further information. The innovation test ratios show the magnitude of the sensor innovation divided by the innovation check threshold. Under normal operation the innovation test ratios should be below 0.5 with occasional values up to 1.0. Values greater than 1.0 should be rare under normal operation and indicate that a measurement has been rejected by the filter. The user should be notified if an innovation test ratio greater than 1.0 is recorded. Notifications for values in the range between 0.5 and 1.0 should be optional and controllable by the user.

    Field NameTypeUnitsValuesDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    flagsuint16_tESTIMATOR_STATUS_FLAGSBitmap indicating which EKF outputs are valid.
    vel_ratiofloatVelocity innovation test ratio
    pos_horiz_ratiofloatHorizontal position innovation test ratio
    pos_vert_ratiofloatVertical position innovation test ratio
    mag_ratiofloatMagnetometer innovation test ratio
    hagl_ratiofloatHeight above terrain innovation test ratio
    tas_ratiofloatTrue airspeed innovation test ratio
    pos_horiz_accuracyfloatmHorizontal position 1-STD accuracy relative to the EKF local origin
    pos_vert_accuracyfloatmVertical position 1-STD accuracy relative to the EKF local origin

    WIND_COV (231) ​

    Wind estimate from vehicle. Note that despite the name, this message does not actually contain any covariances but instead variability and accuracy fields in terms of standard deviation (1-STD).

    Field NameTypeUnitsDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    wind_xfloatm/sWind in North (NED) direction (NAN if unknown)
    wind_yfloatm/sWind in East (NED) direction (NAN if unknown)
    wind_zfloatm/sWind in down (NED) direction (NAN if unknown)
    var_horizfloatm/sVariability of wind in XY, 1-STD estimated from a 1 Hz lowpassed wind estimate (NAN if unknown)
    var_vertfloatm/sVariability of wind in Z, 1-STD estimated from a 1 Hz lowpassed wind estimate (NAN if unknown)
    wind_altfloatmAltitude (MSL) that this measurement was taken at (NAN if unknown)
    horiz_accuracyfloatm/sHorizontal speed 1-STD accuracy (0 if unknown)
    vert_accuracyfloatm/sVertical speed 1-STD accuracy (0 if unknown)

    GPS_INPUT (232) ​

    GPS sensor input message. This is a raw sensor value sent by the GPS. This is NOT the global position estimate of the system.

    Field NameTypeUnitsValuesDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    gps_iduint8_tID of the GPS for multiple GPS inputs
    Messages with same value are from the same source (instance).
    ignore_flagsuint16_tGPS_INPUT_IGNORE_FLAGSBitmap indicating which GPS input flags fields to ignore. All other fields must be provided.
    time_week_msuint32_tmsGPS time (from start of GPS week)
    time_weekuint16_tGPS week number
    fix_typeuint8_t0-1: no fix, 2: 2D fix, 3: 3D fix. 4: 3D with DGPS. 5: 3D with RTK
    latint32_tdegE7Latitude (WGS84)
    lonint32_tdegE7Longitude (WGS84)
    altfloatmAltitude (MSL). Positive for up.
    hdopfloatinvalid:UINT16_MAXGPS HDOP horizontal dilution of position (unitless). If unknown, set to: UINT16_MAX
    vdopfloatinvalid:UINT16_MAXGPS VDOP vertical dilution of position (unitless). If unknown, set to: UINT16_MAX
    vnfloatm/sGPS velocity in north direction in earth-fixed NED frame
    vefloatm/sGPS velocity in east direction in earth-fixed NED frame
    vdfloatm/sGPS velocity in down direction in earth-fixed NED frame
    speed_accuracyfloatm/sGPS speed accuracy
    horiz_accuracyfloatmGPS horizontal accuracy
    vert_accuracyfloatmGPS vertical accuracy
    satellites_visibleuint8_tNumber of satellites visible.
    yaw ++uint16_tcdegYaw of vehicle relative to Earth's North, zero means not available, use 36000 for north

    GPS_RTCM_DATA (233) ​

    RTCM message for injecting into the onboard GPS (used for DGPS)

    Field NameTypeUnitsDescription
    flagsuint8_tLSB: 1 means message is fragmented, next 2 bits are the fragment ID, the remaining 5 bits are used for the sequence ID. Messages are only to be flushed to the GPS when the entire message has been reconstructed on the autopilot. The fragment ID specifies which order the fragments should be assembled into a buffer, while the sequence ID is used to detect a mismatch between different buffers. The buffer is considered fully reconstructed when either all 4 fragments are present, or all the fragments before the first fragment with a non full payload is received. This management is used to ensure that normal GPS operation doesn't corrupt RTCM data, and to recover from a unreliable transport delivery order.
    lenuint8_tbytesdata length
    datauint8_t[180]RTCM message (may be fragmented)

    HIGH_LATENCY (234) — [DEP] ​

    DEPRECATED: Replaced By HIGH_LATENCY2 (2020-10)

    Message appropriate for high latency connections like Iridium

    Field NameTypeUnitsValuesDescription
    base_modeuint8_tMAV_MODE_FLAGBitmap of enabled system modes.
    custom_modeuint32_tA bitfield for use for autopilot-specific flags.
    landed_stateuint8_tMAV_LANDED_STATEThe landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.
    rollint16_tcdegroll
    pitchint16_tcdegpitch
    headinguint16_tcdegheading
    throttleint8_t%throttle (percentage)
    heading_spint16_tcdegheading setpoint
    latitudeint32_tdegE7Latitude
    longitudeint32_tdegE7Longitude
    altitude_amslint16_tmAltitude above mean sea level
    altitude_spint16_tmAltitude setpoint relative to the home position
    airspeeduint8_tm/sairspeed
    airspeed_spuint8_tm/sairspeed setpoint
    groundspeeduint8_tm/sgroundspeed
    climb_rateint8_tm/sclimb rate
    gps_nsatuint8_tinvalid:UINT8_MAXNumber of satellites visible. If unknown, set to UINT8_MAX
    gps_fix_typeuint8_tGPS_FIX_TYPEGPS Fix type.
    battery_remaininguint8_t%Remaining battery (percentage)
    temperatureint8_tdegCAutopilot temperature (degrees C)
    temperature_airint8_tdegCAir temperature (degrees C) from airspeed sensor
    failsafeuint8_tfailsafe (each bit represents a failsafe where 0=ok, 1=failsafe active (bit0:RC, bit1:batt, bit2:GPS, bit3:GCS, bit4:fence)
    wp_numuint8_tcurrent waypoint number
    wp_distanceuint16_tmdistance to target

    HIGH_LATENCY2 (235) ​

    Message appropriate for high latency connections like Iridium (version 2)

    Field NameTypeUnitsValuesDescription
    timestampuint32_tmsTimestamp (milliseconds since boot or Unix epoch)
    typeuint8_tMAV_TYPEType of the MAV (quadrotor, helicopter, etc.)
    autopilotuint8_tMAV_AUTOPILOTAutopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers.
    custom_modeuint16_tA bitfield for use for autopilot-specific flags (2 byte version).
    latitudeint32_tdegE7Latitude
    longitudeint32_tdegE7Longitude
    altitudeint16_tmAltitude above mean sea level
    target_altitudeint16_tmAltitude setpoint
    headinguint8_tdeg/2Heading
    target_headinguint8_tdeg/2Heading setpoint
    target_distanceuint16_tdamDistance to target waypoint or position
    throttleuint8_t%Throttle
    airspeeduint8_tm/s*5Airspeed
    airspeed_spuint8_tm/s*5Airspeed setpoint
    groundspeeduint8_tm/s*5Groundspeed
    windspeeduint8_tm/s*5Windspeed
    wind_headinguint8_tdeg/2Wind heading
    ephuint8_tdmMaximum error horizontal position since last message
    epvuint8_tdmMaximum error vertical position since last message
    temperature_airint8_tdegCAir temperature from airspeed sensor
    climb_rateint8_tdm/sMaximum climb rate magnitude since last message
    batteryint8_t%invalid:-1Battery level (-1 if field not provided).
    wp_numuint16_tCurrent waypoint number
    failure_flagsuint16_tHL_FAILURE_FLAGBitmap of failure flags.
    custom0int8_tField for custom payload.
    custom1int8_tField for custom payload.
    custom2int8_tField for custom payload.

    VIBRATION (241) ​

    Vibration levels and accelerometer clipping

    Field NameTypeUnitsDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    vibration_xfloatVibration levels on X-axis
    vibration_yfloatVibration levels on Y-axis
    vibration_zfloatVibration levels on Z-axis
    clipping_0uint32_tfirst accelerometer clipping count
    clipping_1uint32_tsecond accelerometer clipping count
    clipping_2uint32_tthird accelerometer clipping count

    HOME_POSITION (242) ​

    Contains the home position. The home position is the default position that the system will return to and land on. The position must be set automatically by the system during the takeoff, and may also be explicitly set using MAV_CMD_DO_SET_HOME. The global and local positions encode the position in the respective coordinate frames, while the q parameter encodes the orientation of the surface. Under normal conditions it describes the heading and terrain slope, which can be used by the aircraft to adjust the approach. The approach 3D vector describes the point to which the system should fly in normal flight mode and then perform a landing sequence along the vector. Note: this message can be requested by sending the MAV_CMD_REQUEST_MESSAGE with param1=242 (or the deprecated MAV_CMD_GET_HOME_POSITION command).

    Field NameTypeUnitsDescription
    latitudeint32_tdegE7Latitude (WGS84)
    longitudeint32_tdegE7Longitude (WGS84)
    altitudeint32_tmmAltitude (MSL). Positive for up.
    xfloatmLocal X position of this position in the local coordinate frame (NED)
    yfloatmLocal Y position of this position in the local coordinate frame (NED)
    zfloatmLocal Z position of this position in the local coordinate frame (NED: positive "down")
    qfloat[4]Quaternion indicating world-to-surface-normal and heading transformation of the takeoff position.
    Used to indicate the heading and slope of the ground.
    All fields should be set to NaN if an accurate quaternion for both heading and surface slope cannot be supplied.
    approach_xfloatmLocal X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
    approach_yfloatmLocal Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
    approach_zfloatmLocal Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
    time_usec ++uint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

    SET_HOME_POSITION (243) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_DO_SET_HOME (2022-02) — The command protocol version (MAV_CMD_DO_SET_HOME) allows a GCS to detect when setting the home position has failed.)

    Sets the home position. The home position is the default position that the system will return to and land on. The position is set automatically by the system during the takeoff (and may also be set using this message). The global and local positions encode the position in the respective coordinate frames, while the q parameter encodes the orientation of the surface. Under normal conditions it describes the heading and terrain slope, which can be used by the aircraft to adjust the approach. The approach 3D vector describes the point to which the system should fly in normal flight mode and then perform a landing sequence along the vector. Note: the current home position may be emitted in a HOME_POSITION message on request (using MAV_CMD_REQUEST_MESSAGE with param1=242).

    Field NameTypeUnitsDescription
    target_systemuint8_tSystem ID.
    latitudeint32_tdegE7Latitude (WGS84)
    longitudeint32_tdegE7Longitude (WGS84)
    altitudeint32_tmmAltitude (MSL). Positive for up.
    xfloatmLocal X position of this position in the local coordinate frame (NED)
    yfloatmLocal Y position of this position in the local coordinate frame (NED)
    zfloatmLocal Z position of this position in the local coordinate frame (NED: positive "down")
    qfloat[4]World to surface normal and heading transformation of the takeoff position. Used to indicate the heading and slope of the ground
    approach_xfloatmLocal X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
    approach_yfloatmLocal Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
    approach_zfloatmLocal Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
    time_usec ++uint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

    MESSAGE_INTERVAL (244) ​

    The interval between messages for a particular MAVLink message ID. This message is sent in response to the MAV_CMD_REQUEST_MESSAGE command with param1=244 (this message) and param2=message_id (the id of the message for which the interval is required). It may also be sent in response to MAV_CMD_GET_MESSAGE_INTERVAL. This interface replaces DATA_STREAM.

    Field NameTypeUnitsDescription
    message_iduint16_tThe ID of the requested MAVLink message. v1.0 is limited to 254 messages.
    interval_usint32_tusThe interval between two messages. A value of -1 indicates this stream is disabled, 0 indicates it is not available, > 0 indicates the interval at which it is sent.

    EXTENDED_SYS_STATE (245) ​

    Provides state for additional features

    Field NameTypeValuesDescription
    vtol_stateuint8_tMAV_VTOL_STATEThe VTOL state if applicable. Is set to MAV_VTOL_STATE_UNDEFINED if UAV is not in VTOL configuration.
    landed_stateuint8_tMAV_LANDED_STATEThe landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.

    ADSB_VEHICLE (246) ​

    The location and information of an ADSB vehicle

    Field NameTypeUnitsValuesDescription
    ICAO_addressuint32_tICAO address
    latint32_tdegE7Latitude
    lonint32_tdegE7Longitude
    altitude_typeuint8_tADSB_ALTITUDE_TYPEADSB altitude type.
    altitudeint32_tmmAltitude(ASL)
    headinguint16_tcdegCourse over ground
    hor_velocityuint16_tcm/sThe horizontal velocity
    ver_velocityint16_tcm/sThe vertical velocity. Positive is up
    callsignchar[9]The callsign, 8+null
    emitter_typeuint8_tADSB_EMITTER_TYPEADSB emitter type.
    tslcuint8_tsTime since last communication in seconds
    flagsuint16_tADSB_FLAGSBitmap to indicate various statuses including valid data fields
    squawkuint16_tSquawk code. Note that the code is in decimal: e.g. 7700 (general emergency) is encoded as binary 0b0001_1110_0001_0100, not(!) as 0b0000_111_111_000_000

    COLLISION (247) ​

    Information about a potential collision

    Field NameTypeUnitsValuesDescription
    srcuint8_tMAV_COLLISION_SRCCollision data source
    iduint32_tUnique identifier, domain based on src field
    actionuint8_tMAV_COLLISION_ACTIONAction that is being taken to avoid this collision
    threat_leveluint8_tMAV_COLLISION_THREAT_LEVELHow concerned the aircraft is about this collision
    time_to_minimum_deltafloatsEstimated time until collision occurs
    altitude_minimum_deltafloatmClosest vertical distance between vehicle and object
    horizontal_minimum_deltafloatmClosest horizontal distance between vehicle and object

    V2_EXTENSION (248) ​

    Message implementing parts of the V2 payload specs in V1 frames for transitional support.

    Field NameTypeDescription
    target_networkuint8_tNetwork ID (0 for broadcast)
    target_systemuint8_tSystem ID (0 for broadcast)
    target_componentuint8_tComponent ID (0 for broadcast)
    message_typeuint16_tA code that identifies the software component that understands this message (analogous to USB device classes or mime type strings). If this code is less than 32768, it is considered a 'registered' protocol extension and the corresponding entry should be added to https://github.com/mavlink/mavlink/definition_files/extension_message_ids.xml. Software creators can register blocks of message IDs as needed (useful for GCS specific metadata, etc...). Message_types greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase.
    payloaduint8_t[249]Variable length payload. The length must be encoded in the payload as part of the message_type protocol, e.g. by including the length as payload data, or by terminating the payload data with a non-zero marker. This is required in order to reconstruct zero-terminated payloads that are (or otherwise would be) trimmed by MAVLink 2 empty-byte truncation. The entire content of the payload block is opaque unless you understand the encoding message_type. The particular encoding used can be extension specific and might not always be documented as part of the MAVLink specification.

    MEMORY_VECT (249) ​

    Send raw controller memory. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output.

    Field NameTypeDescription
    addressuint16_tStarting address of the debug variables
    veruint8_tVersion code of the type variable. 0=unknown, type ignored and assumed int16_t. 1=as below
    typeuint8_tType code of the memory variables. for ver = 1: 0=16 x int16_t, 1=16 x uint16_t, 2=16 x Q15, 3=16 x 1Q14
    valueint8_t[32]Memory contents at specified address

    DEBUG_VECT (250) ​

    To debug something using a named 3D vector.

    Field NameTypeUnitsDescription
    namechar[10]Name
    Messages with same value are from the same source (instance).
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    xfloatx
    yfloaty
    zfloatz

    NAMED_VALUE_FLOAT (251) ​

    Send a key-value pair as float. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output.

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    namechar[10]Name of the debug variable
    Messages with same value are from the same source (instance).
    valuefloatFloating point value

    NAMED_VALUE_INT (252) ​

    Send a key-value pair as integer. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output.

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    namechar[10]Name of the debug variable
    Messages with same value are from the same source (instance).
    valueint32_tSigned integer value

    STATUSTEXT (253) ​

    Status text message. These messages are printed in yellow in the COMM console of QGroundControl. WARNING: They consume quite some bandwidth, so use only for important status and error messages. If implemented wisely, these messages are buffered on the MCU and sent only at a limited rate (e.g. 10 Hz).

    Field NameTypeValuesDescription
    severityuint8_tMAV_SEVERITYSeverity of status. Relies on the definitions within RFC-5424.
    textchar[50]Status text message, without null termination character
    id ++uint16_tUnique (opaque) identifier for this statustext message. May be used to reassemble a logical long-statustext message from a sequence of chunks. A value of zero indicates this is the only chunk in the sequence and the message can be emitted immediately.
    chunk_seq ++uint8_tThis chunk's sequence number; indexing is from zero. Any null character in the text field is taken to mean this was the last chunk.

    DEBUG (254) ​

    Send a debug value. The index is used to discriminate between values. These values show up in the plot of QGroundControl as DEBUG N.

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    induint8_tindex of debug variable
    valuefloatDEBUG value

    SETUP_SIGNING (256) ​

    Setup a MAVLink2 signing key. If called with secret_key of all zero and zero initial_timestamp will disable signing

    Field NameTypeDescription
    target_systemuint8_tsystem id of the target
    target_componentuint8_tcomponent ID of the target
    secret_keyuint8_t[32]signing key
    initial_timestampuint64_tinitial timestamp

    BUTTON_CHANGE (257) ​

    Report button state change.

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    last_change_msuint32_tmsTime of last change of button state.
    stateuint8_tBitmap for state of buttons.

    PLAY_TUNE (258) — [DEP] ​

    DEPRECATED: Replaced By PLAY_TUNE_V2 (2019-10) — New version explicitly defines format. More interoperable.)

    Control vehicle tone generation (buzzer).

    Field NameTypeDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    tunechar[30]tune in board specific format
    tune2 ++char[200]tune extension (appended to tune)

    CAMERA_INFORMATION (259) ​

    Information about a camera. Can be requested with a MAV_CMD_REQUEST_MESSAGE command.

    Field NameTypeUnitsValuesDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    vendor_nameuint8_t[32]Name of the camera vendor
    model_nameuint8_t[32]Name of the camera model
    firmware_versionuint32_tinvalid:0Version of the camera firmware, encoded as: (Dev & 0xff) << 24(Patch & 0xff) << 16(Minor & 0xff) << 8(Major & 0xff). Use 0 if not known.
    focal_lengthfloatmminvalid:NaNFocal length. Use NaN if not known.
    sensor_size_hfloatmminvalid:NaNImage sensor size horizontal. Use NaN if not known.
    sensor_size_vfloatmminvalid:NaNImage sensor size vertical. Use NaN if not known.
    resolution_huint16_tpixinvalid:0Horizontal image resolution. Use 0 if not known.
    resolution_vuint16_tpixinvalid:0Vertical image resolution. Use 0 if not known.
    lens_iduint8_tinvalid:0Reserved for a lens ID. Use 0 if not known.
    flagsuint32_tCAMERA_CAP_FLAGSBitmap of camera capability flags.
    cam_definition_versionuint16_tCamera definition version (iteration). Use 0 if not known.
    cam_definition_urichar[140]Camera definition URI (if any, otherwise only basic functions will be available). HTTP- (http://) and MAVLink FTP- (mavlinkftp://) formatted URIs are allowed (and both must be supported by any GCS that implements the Camera Protocol). The definition file may be xz compressed, which will be indicated by the file extension .xml.xz (a GCS that implements the protocol must support decompressing the file). The string needs to be zero terminated. Use a zero-length string if not known.
    gimbal_device_id ++uint8_tinvalid:0Gimbal id of a gimbal associated with this camera. This is the component id of the gimbal device, or 1-6 for non mavlink gimbals. Use 0 if no gimbal is associated with the camera.
    camera_device_id ++uint8_tdefault:0 min:0 max:6Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

    CAMERA_SETTINGS (260) ​

    Settings of a camera. Can be requested with a MAV_CMD_REQUEST_MESSAGE command.

    Field NameTypeUnitsValuesDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    mode_iduint8_tCAMERA_MODECamera mode
    zoomLevel ++floatinvalid:NaNCurrent zoom level as a percentage of the full range (0.0 to 100.0, NaN if not known)
    focusLevel ++floatinvalid:NaNCurrent focus level as a percentage of the full range (0.0 to 100.0, NaN if not known)
    camera_device_id ++uint8_tdefault:0 min:0 max:6Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

    STORAGE_INFORMATION (261) ​

    Information about a storage medium. This message is sent in response to a request with MAV_CMD_REQUEST_MESSAGE and whenever the status of the storage changes (STORAGE_STATUS). Use MAV_CMD_REQUEST_MESSAGE.param2 to indicate the index/id of requested storage: 0 for all, 1 for first, 2 for second, etc.

    Field NameTypeUnitsValuesDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    storage_iduint8_tStorage ID (1 for first, 2 for second, etc.)
    Messages with same value are from the same source (instance).
    storage_countuint8_tNumber of storage devices
    statusuint8_tSTORAGE_STATUSStatus of storage
    total_capacityfloatMiBTotal capacity. If storage is not ready (STORAGE_STATUS_READY) value will be ignored.
    used_capacityfloatMiBUsed capacity. If storage is not ready (STORAGE_STATUS_READY) value will be ignored.
    available_capacityfloatMiBAvailable storage capacity. If storage is not ready (STORAGE_STATUS_READY) value will be ignored.
    read_speedfloatMiB/sRead speed.
    write_speedfloatMiB/sWrite speed.
    type ++uint8_tSTORAGE_TYPEType of storage
    name ++char[32]Textual storage name to be used in UI (microSD 1, Internal Memory, etc.) This is a NULL terminated string. If it is exactly 32 characters long, add a terminating NULL. If this string is empty, the generic type is shown to the user.
    storage_usage ++uint8_tSTORAGE_USAGE_FLAGFlags indicating whether this instance is preferred storage for photos, videos, etc.
    Note: Implementations should initially set the flags on the system-default storage id used for saving media (if possible/supported).
    This setting can then be overridden using MAV_CMD_SET_STORAGE_USAGE.
    If the media usage flags are not set, a GCS may assume storage ID 1 is the default storage for all media types.

    CAMERA_CAPTURE_STATUS (262) ​

    Information about the status of a capture. Can be requested with a MAV_CMD_REQUEST_MESSAGE command.

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    image_statusuint8_tCurrent status of image capturing (0: idle, 1: capture in progress, 2: interval set but idle, 3: interval set and capture in progress)
    video_statusuint8_tCurrent status of video capturing (0: idle, 1: capture in progress)
    image_intervalfloatsImage capture interval
    recording_time_msuint32_tmsElapsed time since recording started (0: Not supported/available). A GCS should compute recording time and use non-zero values of this field to correct any discrepancy.
    available_capacityfloatMiBAvailable storage capacity.
    image_count ++int32_tTotal number of images captured ('forever', or until reset using MAV_CMD_STORAGE_FORMAT).
    camera_device_id ++uint8_tCamera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

    CAMERA_IMAGE_CAPTURED (263) ​

    Information about a captured image. This is emitted every time a message is captured.

    MAV_CMD_REQUEST_MESSAGE can be used to (re)request this message for a specific sequence number or range of sequence numbers: MAV_CMD_REQUEST_MESSAGE.param2 indicates the sequence number the first image to send, or set to -1 to send the message for all sequence numbers. MAV_CMD_REQUEST_MESSAGE.param3 is used to specify a range of messages to send: set to 0 (default) to send just the the message for the sequence number in param 2, set to -1 to send the message for the sequence number in param 2 and all the following sequence numbers, set to the sequence number of the final message in the range.

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    time_utcuint64_tusTimestamp (time since UNIX epoch) in UTC. 0 for unknown.
    camera_iduint8_tDeprecated/unused. Component IDs are used to differentiate multiple cameras.
    latint32_tdegE7Latitude where image was taken
    lonint32_tdegE7Longitude where capture was taken
    altint32_tmmAltitude (MSL) where image was taken
    relative_altint32_tmmAltitude above ground
    qfloat[4]Quaternion of camera orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
    image_indexint32_tZero based index of this image (i.e. a new image will have index CAMERA_CAPTURE_STATUS.image count -1)
    capture_resultint8_tBoolean indicating success (1) or failure (0) while capturing this image.
    file_urlchar[205]URL of image taken. Either local storage or http://foo.jpg if camera provides an HTTP interface.

    FLIGHT_INFORMATION (264) ​

    Flight information.

    This includes time since boot for arm, takeoff, and land, and a flight number. Takeoff and landing values reset to zero on arm. This can be requested using MAV_CMD_REQUEST_MESSAGE. Note, some fields are misnamed - timestamps are from boot (not UTC) and the flight_uuid is a sequence number.

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    arming_time_utcuint64_tusTimestamp at arming (since system boot). Set to 0 on boot. Set value on arming. Note, field is misnamed UTC.
    takeoff_time_utcuint64_tusTimestamp at takeoff (since system boot). Set to 0 at boot and on arming. Note, field is misnamed UTC.
    flight_uuiduint64_tFlight number. Note, field is misnamed UUID.
    landing_time ++uint32_tmsTimestamp at landing (in ms since system boot). Set to 0 at boot and on arming.

    MOUNT_ORIENTATION (265) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (2020-01) — This message is being superseded by MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW. The message can still be used to communicate with legacy gimbals implementing it.)

    Orientation of a mount

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    rollfloatdegRoll in global frame (set to NaN for invalid).
    pitchfloatdegPitch in global frame (set to NaN for invalid).
    yawfloatdegYaw relative to vehicle (set to NaN for invalid).
    yaw_absolute ++floatdegYaw in absolute frame relative to Earth's North, north is 0 (set to NaN for invalid).

    LOGGING_DATA (266) ​

    A message containing logged data (see also MAV_CMD_LOGGING_START)

    Field NameTypeUnitsDescription
    target_systemuint8_tsystem ID of the target
    target_componentuint8_tcomponent ID of the target
    sequenceuint16_tsequence number (can wrap)
    lengthuint8_tbytesdata length
    first_message_offsetuint8_tbytesoffset into data where first message starts. This can be used for recovery, when a previous message got lost (set to UINT8_MAX if no start exists).
    datauint8_t[249]logged data

    LOGGING_DATA_ACKED (267) ​

    A message containing logged data which requires a LOGGING_ACK to be sent back

    Field NameTypeUnitsDescription
    target_systemuint8_tsystem ID of the target
    target_componentuint8_tcomponent ID of the target
    sequenceuint16_tsequence number (can wrap)
    lengthuint8_tbytesdata length
    first_message_offsetuint8_tbytesoffset into data where first message starts. This can be used for recovery, when a previous message got lost (set to UINT8_MAX if no start exists).
    datauint8_t[249]logged data

    LOGGING_ACK (268) ​

    An ack for a LOGGING_DATA_ACKED message

    Field NameTypeDescription
    target_systemuint8_tsystem ID of the target
    target_componentuint8_tcomponent ID of the target
    sequenceuint16_tsequence number (must match the one in LOGGING_DATA_ACKED)

    VIDEO_STREAM_INFORMATION (269) ​

    Information about video stream. It may be requested using MAV_CMD_REQUEST_MESSAGE, where param2 indicates the video stream id: 0 for all streams, 1 for first, 2 for second, etc.

    Field NameTypeUnitsValuesDescription
    stream_iduint8_tVideo Stream ID (1 for first, 2 for second, etc.)
    Messages with same value are from the same source (instance).
    countuint8_tNumber of streams available.
    typeuint8_tVIDEO_STREAM_TYPEType of stream.
    flagsuint16_tVIDEO_STREAM_STATUS_FLAGSBitmap of stream status flags.
    frameratefloatHzFrame rate.
    resolution_huint16_tpixHorizontal resolution.
    resolution_vuint16_tpixVertical resolution.
    bitrateuint32_tbits/sBit rate.
    rotationuint16_tdegVideo image rotation clockwise.
    hfovuint16_tdegHorizontal Field of view.
    namechar[32]Stream name.
    urichar[160]Video stream URI (TCP or RTSP URI ground station should connect to) or port number (UDP port ground station should listen to).
    encoding ++uint8_tVIDEO_STREAM_ENCODINGEncoding of stream.
    camera_device_id ++uint8_tdefault:0 min:0 max:6Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

    VIDEO_STREAM_STATUS (270) ​

    Information about the status of a video stream. It may be requested using MAV_CMD_REQUEST_MESSAGE.

    Field NameTypeUnitsValuesDescription
    stream_iduint8_tVideo Stream ID (1 for first, 2 for second, etc.)
    Messages with same value are from the same source (instance).
    flagsuint16_tVIDEO_STREAM_STATUS_FLAGSBitmap of stream status flags
    frameratefloatHzFrame rate
    resolution_huint16_tpixHorizontal resolution
    resolution_vuint16_tpixVertical resolution
    bitrateuint32_tbits/sBit rate
    rotationuint16_tdegVideo image rotation clockwise
    hfovuint16_tdegHorizontal Field of view
    camera_device_id ++uint8_tdefault:0 min:0 max:6Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

    CAMERA_FOV_STATUS (271) ​

    Information about the field of view of a camera. Can be requested with a MAV_CMD_REQUEST_MESSAGE command.

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    lat_cameraint32_tdegE7Latitude of camera (INT32_MAX if unknown).
    lon_cameraint32_tdegE7Longitude of camera (INT32_MAX if unknown).
    alt_cameraint32_tmmAltitude (MSL) of camera (INT32_MAX if unknown).
    lat_imageint32_tdegE7Latitude of center of image (INT32_MAX if unknown, INT32_MIN if at infinity, not intersecting with horizon).
    lon_imageint32_tdegE7Longitude of center of image (INT32_MAX if unknown, INT32_MIN if at infinity, not intersecting with horizon).
    alt_imageint32_tmmAltitude (MSL) of center of image (INT32_MAX if unknown, INT32_MIN if at infinity, not intersecting with horizon).
    qfloat[4]Quaternion of camera orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
    hfovfloatdegHorizontal field of view (NaN if unknown).
    vfovfloatdegVertical field of view (NaN if unknown).
    camera_device_id ++uint8_tCamera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

    CAMERA_TRACKING_IMAGE_STATUS (275) ​

    Camera tracking status, sent while in active tracking. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval.

    Field NameTypeValuesDescription
    tracking_statusuint8_tCAMERA_TRACKING_STATUS_FLAGSCurrent tracking status
    tracking_modeuint8_tCAMERA_TRACKING_MODECurrent tracking mode
    target_datauint8_tCAMERA_TRACKING_TARGET_DATADefines location of target data
    point_xfloatinvalid:NaNCurrent tracked point x value if CAMERA_TRACKING_MODE_POINT (normalized 0..1, 0 is left, 1 is right), NAN if unknown
    point_yfloatinvalid:NaNCurrent tracked point y value if CAMERA_TRACKING_MODE_POINT (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown
    radiusfloatinvalid:NaNCurrent tracked radius if CAMERA_TRACKING_MODE_POINT (normalized 0..1, 0 is image left, 1 is image right), NAN if unknown
    rec_top_xfloatinvalid:NaNCurrent tracked rectangle top x value if CAMERA_TRACKING_MODE_RECTANGLE (normalized 0..1, 0 is left, 1 is right), NAN if unknown
    rec_top_yfloatinvalid:NaNCurrent tracked rectangle top y value if CAMERA_TRACKING_MODE_RECTANGLE (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown
    rec_bottom_xfloatinvalid:NaNCurrent tracked rectangle bottom x value if CAMERA_TRACKING_MODE_RECTANGLE (normalized 0..1, 0 is left, 1 is right), NAN if unknown
    rec_bottom_yfloatinvalid:NaNCurrent tracked rectangle bottom y value if CAMERA_TRACKING_MODE_RECTANGLE (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown
    camera_device_id ++uint8_tdefault:0 min:0 max:6Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

    CAMERA_TRACKING_GEO_STATUS (276) ​

    Camera tracking status, sent while in active tracking. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval.

    Field NameTypeUnitsValuesDescription
    tracking_statusuint8_tCAMERA_TRACKING_STATUS_FLAGSCurrent tracking status
    latint32_tdegE7Latitude of tracked object
    lonint32_tdegE7Longitude of tracked object
    altfloatmAltitude of tracked object(AMSL, WGS84)
    h_accfloatminvalid:NaNHorizontal accuracy. NAN if unknown
    v_accfloatminvalid:NaNVertical accuracy. NAN if unknown
    vel_nfloatm/sinvalid:NaNNorth velocity of tracked object. NAN if unknown
    vel_efloatm/sinvalid:NaNEast velocity of tracked object. NAN if unknown
    vel_dfloatm/sinvalid:NaNDown velocity of tracked object. NAN if unknown
    vel_accfloatm/sinvalid:NaNVelocity accuracy. NAN if unknown
    distfloatminvalid:NaNDistance between camera and tracked object. NAN if unknown
    hdgfloatradinvalid:NaNHeading in radians, in NED. NAN if unknown
    hdg_accfloatradinvalid:NaNAccuracy of heading, in NED. NAN if unknown
    camera_device_id ++uint8_tdefault:0 min:0 max:6Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

    CAMERA_THERMAL_RANGE (277) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Camera absolute thermal range. This can be streamed when the associated VIDEO_STREAM_STATUS flag field bit VIDEO_STREAM_STATUS_FLAGS_THERMAL_RANGE_ENABLED is set, but a GCS may choose to only request it for the current active stream. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval (param3 indicates the stream id of the current camera, or 0 for all streams, param4 indicates the target camera_device_id for autopilot-attached cameras or 0 for MAVLink cameras).

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    stream_iduint8_tVideo Stream ID (1 for first, 2 for second, etc.)
    Messages with same value are from the same source (instance).
    camera_device_iduint8_tCamera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).
    maxfloatdegCTemperature max.
    max_point_xfloatTemperature max point x value (normalized 0..1, 0 is left, 1 is right), NAN if unknown.
    max_point_yfloatTemperature max point y value (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown.
    minfloatdegCTemperature min.
    min_point_xfloatTemperature min point x value (normalized 0..1, 0 is left, 1 is right), NAN if unknown.
    min_point_yfloatTemperature min point y value (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown.

    GIMBAL_MANAGER_INFORMATION (280) ​

    Information about a high level gimbal manager. This message should be requested by a ground station using MAV_CMD_REQUEST_MESSAGE.

    Field NameTypeUnitsValuesDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    cap_flagsuint32_tGIMBAL_MANAGER_CAP_FLAGSBitmap of gimbal capability flags.
    gimbal_device_iduint8_tGimbal device ID that this gimbal manager is responsible for. Component ID of gimbal device (or 1-6 for non-MAVLink gimbal).
    Messages with same value are from the same source (instance).
    roll_minfloatradMinimum hardware roll angle (positive: rolling to the right, negative: rolling to the left)
    roll_maxfloatradMaximum hardware roll angle (positive: rolling to the right, negative: rolling to the left)
    pitch_minfloatradMinimum pitch angle (positive: up, negative: down)
    pitch_maxfloatradMaximum pitch angle (positive: up, negative: down)
    yaw_minfloatradMinimum yaw angle (positive: to the right, negative: to the left)
    yaw_maxfloatradMaximum yaw angle (positive: to the right, negative: to the left)

    GIMBAL_MANAGER_STATUS (281) ​

    Current status about a high level gimbal manager. This message should be broadcast at a low regular rate (e.g. 5Hz).

    Field NameTypeUnitsValuesDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    flagsuint32_tGIMBAL_MANAGER_FLAGSHigh level gimbal manager flags currently applied.
    gimbal_device_iduint8_tGimbal device ID that this gimbal manager is responsible for. Component ID of gimbal device (or 1-6 for non-MAVLink gimbal).
    Messages with same value are from the same source (instance).
    primary_control_sysiduint8_tSystem ID of MAVLink component with primary control, 0 for none.
    primary_control_compiduint8_tComponent ID of MAVLink component with primary control, 0 for none.
    secondary_control_sysiduint8_tSystem ID of MAVLink component with secondary control, 0 for none.
    secondary_control_compiduint8_tComponent ID of MAVLink component with secondary control, 0 for none.

    GIMBAL_MANAGER_SET_ATTITUDE (282) ​

    High level message to control a gimbal's attitude. This message is to be sent to the gimbal manager (e.g. from a ground station). Angles and rates can be set to NaN according to use case.

    Field NameTypeUnitsValuesDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    flagsuint32_tGIMBAL_MANAGER_FLAGSHigh level gimbal manager flags to use.
    gimbal_device_iduint8_tComponent ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).
    Messages with same value are from the same source (instance).
    qfloat[4]Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation, the frame is depends on whether the flag GIMBAL_MANAGER_FLAGS_YAW_LOCK is set)
    angular_velocity_xfloatrad/sinvalid:NaNX component of angular velocity, positive is rolling to the right, NaN to be ignored.
    angular_velocity_yfloatrad/sinvalid:NaNY component of angular velocity, positive is pitching up, NaN to be ignored.
    angular_velocity_zfloatrad/sinvalid:NaNZ component of angular velocity, positive is yawing to the right, NaN to be ignored.

    GIMBAL_DEVICE_INFORMATION (283) ​

    Information about a low level gimbal. This message should be requested by the gimbal manager or a ground station using MAV_CMD_REQUEST_MESSAGE. The maximum angles and rates are the limits by hardware. However, the limits by software used are likely different/smaller and dependent on mode/settings/etc..

    Field NameTypeUnitsValuesDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    vendor_namechar[32]Name of the gimbal vendor.
    model_namechar[32]Name of the gimbal model.
    custom_namechar[32]Custom name of the gimbal given to it by the user.
    firmware_versionuint32_tVersion of the gimbal firmware, encoded as: (Dev & 0xff) << 24(Patch & 0xff) << 16(Minor & 0xff) << 8(Major & 0xff).
    hardware_versionuint32_tVersion of the gimbal hardware, encoded as: (Dev & 0xff) << 24(Patch & 0xff) << 16(Minor & 0xff) << 8(Major & 0xff).
    uiduint64_tinvalid:0UID of gimbal hardware (0 if unknown).
    cap_flagsuint16_tGIMBAL_DEVICE_CAP_FLAGSBitmap of gimbal capability flags.
    custom_cap_flagsuint16_tBitmap for use for gimbal-specific capability flags.
    roll_minfloatradinvalid:NaNMinimum hardware roll angle (positive: rolling to the right, negative: rolling to the left). NAN if unknown.
    roll_maxfloatradinvalid:NaNMaximum hardware roll angle (positive: rolling to the right, negative: rolling to the left). NAN if unknown.
    pitch_minfloatradinvalid:NaNMinimum hardware pitch angle (positive: up, negative: down). NAN if unknown.
    pitch_maxfloatradinvalid:NaNMaximum hardware pitch angle (positive: up, negative: down). NAN if unknown.
    yaw_minfloatradinvalid:NaNMinimum hardware yaw angle (positive: to the right, negative: to the left). NAN if unknown.
    yaw_maxfloatradinvalid:NaNMaximum hardware yaw angle (positive: to the right, negative: to the left). NAN if unknown.
    gimbal_device_id ++uint8_tinvalid:0This field is to be used if the gimbal manager and the gimbal device are the same component and hence have the same component ID. This field is then set to a number between 1-6. If the component ID is separate, this field is not required and must be set to 0.

    GIMBAL_DEVICE_SET_ATTITUDE (284) ​

    Low level message to control a gimbal device's attitude.

    This message is to be sent from the gimbal manager to the gimbal device component. The quaternion and angular velocities can be set to NaN according to use case. For the angles encoded in the quaternion and the angular velocities holds: If the flag GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME is set, then they are relative to the vehicle heading (vehicle frame). If the flag GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME is set, then they are relative to absolute North (earth frame). If neither of these flags are set, then (for backwards compatibility) it holds: If the flag GIMBAL_DEVICE_FLAGS_YAW_LOCK is set, then they are relative to absolute North (earth frame), else they are relative to the vehicle heading (vehicle frame). Setting both GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME and GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME is not allowed. These rules are to ensure backwards compatibility. New implementations should always set either GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME or GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME.

    Field NameTypeUnitsValuesDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    flagsuint16_tGIMBAL_DEVICE_FLAGSLow level gimbal flags.
    qfloat[4]invalid:[NaN]Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation). The frame is described in the message description. Set fields to NaN to be ignored.
    angular_velocity_xfloatrad/sinvalid:NaNX component of angular velocity (positive: rolling to the right). The frame is described in the message description. NaN to be ignored.
    angular_velocity_yfloatrad/sinvalid:NaNY component of angular velocity (positive: pitching up). The frame is described in the message description. NaN to be ignored.
    angular_velocity_zfloatrad/sinvalid:NaNZ component of angular velocity (positive: yawing to the right). The frame is described in the message description. NaN to be ignored.

    GIMBAL_DEVICE_ATTITUDE_STATUS (285) ​

    Message reporting the status of a gimbal device.

    This message should be broadcast by a gimbal device component at a low regular rate (e.g. 5 Hz). For the angles encoded in the quaternion and the angular velocities holds: If the flag GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME is set, then they are relative to the vehicle heading (vehicle frame). If the flag GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME is set, then they are relative to absolute North (earth frame). If neither of these flags are set, then (for backwards compatibility) it holds: If the flag GIMBAL_DEVICE_FLAGS_YAW_LOCK is set, then they are relative to absolute North (earth frame), else they are relative to the vehicle heading (vehicle frame). Other conditions of the flags are not allowed. The quaternion and angular velocities in the other frame can be calculated from delta_yaw and delta_yaw_velocity as q_earth = q_delta_yaw * q_vehicle and w_earth = w_delta_yaw_velocity + w_vehicle (if not NaN). If neither the GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME nor the GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME flag is set, then (for backwards compatibility) the data in the delta_yaw and delta_yaw_velocity fields are to be ignored. New implementations should always set either GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME or GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME, and always should set delta_yaw and delta_yaw_velocity either to the proper value or NaN.

    Field NameTypeUnitsValuesDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    time_boot_msuint32_tmsTimestamp (time since system boot).
    flagsuint16_tGIMBAL_DEVICE_FLAGSCurrent gimbal flags set.
    qfloat[4]Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation). The frame is described in the message description.
    angular_velocity_xfloatrad/sinvalid:NaNX component of angular velocity (positive: rolling to the right). The frame is described in the message description. NaN if unknown.
    angular_velocity_yfloatrad/sinvalid:NaNY component of angular velocity (positive: pitching up). The frame is described in the message description. NaN if unknown.
    angular_velocity_zfloatrad/sinvalid:NaNZ component of angular velocity (positive: yawing to the right). The frame is described in the message description. NaN if unknown.
    failure_flagsuint32_tGIMBAL_DEVICE_ERROR_FLAGSFailure flags (0 for no failure)
    delta_yaw ++floatradinvalid:NANYaw angle relating the quaternions in earth and body frames (see message description). NaN if unknown.
    delta_yaw_velocity ++floatrad/sinvalid:NANYaw angular velocity relating the angular velocities in earth and body frames (see message description). NaN if unknown.
    gimbal_device_id ++uint8_tinvalid:0This field is to be used if the gimbal manager and the gimbal device are the same component and hence have the same component ID. This field is then set a number between 1-6. If the component ID is separate, this field is not required and must be set to 0.

    AUTOPILOT_STATE_FOR_GIMBAL_DEVICE (286) ​

    Low level message containing autopilot state relevant for a gimbal device. This message is to be sent from the autopilot to the gimbal device component. The data of this message are for the gimbal device's estimator corrections, in particular horizon compensation, as well as indicates autopilot control intentions, e.g. feed forward angular control in the z-axis.

    Field NameTypeUnitsValuesDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    time_boot_usuint64_tusTimestamp (time since system boot).
    qfloat[4]Quaternion components of autopilot attitude: w, x, y, z (1 0 0 0 is the null-rotation, Hamilton convention).
    q_estimated_delay_usuint32_tusinvalid:0Estimated delay of the attitude data. 0 if unknown.
    vxfloatm/sinvalid:NaNX Speed in NED (North, East, Down). NAN if unknown.
    vyfloatm/sinvalid:NaNY Speed in NED (North, East, Down). NAN if unknown.
    vzfloatm/sinvalid:NaNZ Speed in NED (North, East, Down). NAN if unknown.
    v_estimated_delay_usuint32_tusinvalid:0Estimated delay of the speed data. 0 if unknown.
    feed_forward_angular_velocity_zfloatrad/sinvalid:NaNFeed forward Z component of angular velocity (positive: yawing to the right). NaN to be ignored. This is to indicate if the autopilot is actively yawing.
    estimator_statusuint16_tESTIMATOR_STATUS_FLAGSBitmap indicating which estimator outputs are valid.
    landed_stateuint8_tinvalid:MAV_LANDED_STATE_UNDEFINED MAV_LANDED_STATEThe landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.
    angular_velocity_z ++floatrad/sinvalid:NaNZ component of angular velocity in NED (North, East, Down). NaN if unknown.

    GIMBAL_MANAGER_SET_PITCHYAW (287) ​

    Set gimbal manager pitch and yaw angles (high rate message). This message is to be sent to the gimbal manager (e.g. from a ground station) and will be ignored by gimbal devices. Angles and rates can be set to NaN according to use case. Use MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW for low-rate adjustments that require confirmation.

    Field NameTypeUnitsValuesDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    flagsuint32_tGIMBAL_MANAGER_FLAGSHigh level gimbal manager flags to use.
    gimbal_device_iduint8_tComponent ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).
    Messages with same value are from the same source (instance).
    pitchfloatradinvalid:NaNPitch angle (positive: up, negative: down, NaN to be ignored).
    yawfloatradinvalid:NaNYaw angle (positive: to the right, negative: to the left, NaN to be ignored).
    pitch_ratefloatrad/sinvalid:NaNPitch angular rate (positive: up, negative: down, NaN to be ignored).
    yaw_ratefloatrad/sinvalid:NaNYaw angular rate (positive: to the right, negative: to the left, NaN to be ignored).

    GIMBAL_MANAGER_SET_MANUAL_CONTROL (288) ​

    High level message to control a gimbal manually. The angles or angular rates are unitless; the actual rates will depend on internal gimbal manager settings/configuration (e.g. set by parameters). This message is to be sent to the gimbal manager (e.g. from a ground station). Angles and rates can be set to NaN according to use case.

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    flagsuint32_tGIMBAL_MANAGER_FLAGSHigh level gimbal manager flags.
    gimbal_device_iduint8_tComponent ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).
    Messages with same value are from the same source (instance).
    pitchfloatinvalid:NaNPitch angle unitless (-1..1, positive: up, negative: down, NaN to be ignored).
    yawfloatinvalid:NaNYaw angle unitless (-1..1, positive: to the right, negative: to the left, NaN to be ignored).
    pitch_ratefloatinvalid:NaNPitch angular rate unitless (-1..1, positive: up, negative: down, NaN to be ignored).
    yaw_ratefloatinvalid:NaNYaw angular rate unitless (-1..1, positive: to the right, negative: to the left, NaN to be ignored).

    ESC_INFO (290) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    ESC information for lower rate streaming. Recommended streaming rate 1Hz. See ESC_STATUS for higher-rate ESC data.

    Field NameTypeUnitsValuesDescription
    indexuint8_tIndex of the first ESC in this message. minValue = 0, maxValue = 60, increment = 4.
    Messages with same value are from the same source (instance).
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
    counteruint16_tCounter of data packets received.
    countuint8_tTotal number of ESCs in all messages of this type. Message fields with an index higher than this should be ignored because they contain invalid data.
    connection_typeuint8_tESC_CONNECTION_TYPEConnection type protocol for all ESC.
    infouint8_tInformation regarding online/offline status of each ESC.
    failure_flagsuint16_t[4]ESC_FAILURE_FLAGSBitmap of ESC failure flags.
    error_countuint32_t[4]Number of reported errors by each ESC since boot.
    temperatureint16_t[4]cdegCinvalid:[INT16_MAX]Temperature of each ESC. INT16_MAX: if data not supplied by ESC.

    ESC_STATUS (291) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    ESC information for higher rate streaming. Recommended streaming rate is ~10 Hz. Information that changes more slowly is sent in ESC_INFO. It should typically only be streamed on high-bandwidth links (i.e. to a companion computer).

    Field NameTypeUnitsDescription
    indexuint8_tIndex of the first ESC in this message. minValue = 0, maxValue = 60, increment = 4.
    Messages with same value are from the same source (instance).
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
    rpmint32_t[4]rpmReported motor RPM from each ESC (negative for reverse rotation).
    voltagefloat[4]VVoltage measured from each ESC.
    currentfloat[4]ACurrent measured from each ESC.

    WIFI_CONFIG_AP (299) ​

    Configure WiFi AP SSID, password, and mode. This message is re-emitted as an acknowledgement by the AP. The message may also be explicitly requested using MAV_CMD_REQUEST_MESSAGE

    Field NameTypeValuesDescription
    ssidchar[32]Name of Wi-Fi network (SSID). Blank to leave it unchanged when setting. Current SSID when sent back as a response.
    passwordchar[64]Password. Blank for an open AP. MD5 hash when message is sent back as a response.
    mode ++int8_tWIFI_CONFIG_AP_MODEWiFi Mode.
    response ++int8_tWIFI_CONFIG_AP_RESPONSEMessage acceptance response (sent back to GS).

    PROTOCOL_VERSION (300) — [from: minimal] [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Version and capability of protocol version. This message can be requested with MAV_CMD_REQUEST_MESSAGE and is used as part of the handshaking to establish which MAVLink version should be used on the network. Every node should respond to a request for PROTOCOL_VERSION to enable the handshaking. Library implementers should consider adding this into the default decoding state machine to allow the protocol core to respond directly.

    Field NameTypeDescription
    versionuint16_tCurrently active MAVLink version number * 100: v1.0 is 100, v2.0 is 200, etc.
    min_versionuint16_tMinimum MAVLink version supported
    max_versionuint16_tMaximum MAVLink version supported (set to the same value as version by default)
    spec_version_hashuint8_t[8]The first 8 bytes (not characters printed in hex!) of the git hash.
    library_version_hashuint8_t[8]The first 8 bytes (not characters printed in hex!) of the git hash.

    AIS_VESSEL (301) ​

    The location and information of an AIS vessel

    Field NameTypeUnitsValuesDescription
    MMSIuint32_tMobile Marine Service Identifier, 9 decimal digits
    latint32_tdegE7Latitude
    lonint32_tdegE7Longitude
    COGuint16_tcdegCourse over ground
    headinguint16_tcdegTrue heading
    velocityuint16_tcm/sSpeed over ground
    turn_rateint8_tcdeg/sTurn rate
    navigational_statusuint8_tAIS_NAV_STATUSNavigational status
    typeuint8_tAIS_TYPEType of vessels
    dimension_bowuint16_tmDistance from lat/lon location to bow
    dimension_sternuint16_tmDistance from lat/lon location to stern
    dimension_portuint8_tmDistance from lat/lon location to port side
    dimension_starboarduint8_tmDistance from lat/lon location to starboard side
    callsignchar[7]The vessel callsign
    namechar[20]The vessel name
    tslcuint16_tsTime since last communication in seconds
    flagsuint16_tAIS_FLAGSBitmask to indicate various statuses including valid data fields

    UAVCAN_NODE_STATUS (310) ​

    General status information of an UAVCAN node. Please refer to the definition of the UAVCAN message "uavcan.protocol.NodeStatus" for the background information. The UAVCAN specification is available at http://uavcan.org.

    Field NameTypeUnitsValuesDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    uptime_secuint32_tsTime since the start-up of the node.
    healthuint8_tUAVCAN_NODE_HEALTHGeneralized node health status.
    modeuint8_tUAVCAN_NODE_MODEGeneralized operating mode.
    sub_modeuint8_tNot used currently.
    vendor_specific_status_codeuint16_tVendor-specific status information.

    UAVCAN_NODE_INFO (311) ​

    General information describing a particular UAVCAN node. Please refer to the definition of the UAVCAN service "uavcan.protocol.GetNodeInfo" for the background information. This message should be emitted by the system whenever a new node appears online, or an existing node reboots. Additionally, it can be emitted upon request from the other end of the MAVLink channel (see MAV_CMD_UAVCAN_GET_NODE_INFO). It is also not prohibited to emit this message unconditionally at a low frequency. The UAVCAN specification is available at http://uavcan.org.

    Field NameTypeUnitsDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    uptime_secuint32_tsTime since the start-up of the node.
    namechar[80]Node name string. For example, "sapog.px4.io".
    hw_version_majoruint8_tHardware major version number.
    hw_version_minoruint8_tHardware minor version number.
    hw_unique_iduint8_t[16]Hardware unique 128-bit ID.
    sw_version_majoruint8_tSoftware major version number.
    sw_version_minoruint8_tSoftware minor version number.
    sw_vcs_commituint32_tVersion control system (VCS) revision identifier (e.g. git short commit hash). 0 if unknown.

    PARAM_EXT_REQUEST_READ (320) ​

    Request to read the value of a parameter with either the param_id string id or param_index. PARAM_EXT_VALUE should be emitted in response.

    Field NameTypeDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    param_idchar[16]Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
    param_indexint16_tParameter index. Set to -1 to use the Parameter ID field as identifier (else param_id will be ignored)

    PARAM_EXT_REQUEST_LIST (321) ​

    Request all parameters of this component. All parameters should be emitted in response as PARAM_EXT_VALUE.

    Field NameTypeDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID

    PARAM_EXT_VALUE (322) ​

    Emit the value of a parameter. The inclusion of param_count and param_index in the message allows the recipient to keep track of received parameters and allows them to re-request missing parameters after a loss or timeout.

    Field NameTypeValuesDescription
    param_idchar[16]Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
    param_valuechar[128]Parameter value
    param_typeuint8_tMAV_PARAM_EXT_TYPEParameter type.
    param_countuint16_tTotal number of parameters
    param_indexuint16_tIndex of this parameter

    PARAM_EXT_SET (323) ​

    Set a parameter value. In order to deal with message loss (and retransmission of PARAM_EXT_SET), when setting a parameter value and the new value is the same as the current value, you will immediately get a PARAM_ACK_ACCEPTED response. If the current state is PARAM_ACK_IN_PROGRESS, you will accordingly receive a PARAM_ACK_IN_PROGRESS in response.

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    param_idchar[16]Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
    param_valuechar[128]Parameter value
    param_typeuint8_tMAV_PARAM_EXT_TYPEParameter type.

    PARAM_EXT_ACK (324) ​

    Response from a PARAM_EXT_SET message.

    Field NameTypeValuesDescription
    param_idchar[16]Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
    param_valuechar[128]Parameter value (new value if PARAM_ACK_ACCEPTED, current value otherwise)
    param_typeuint8_tMAV_PARAM_EXT_TYPEParameter type.
    param_resultuint8_tPARAM_ACKResult code.

    OBSTACLE_DISTANCE (330) ​

    Obstacle distances in front of the sensor, starting from the left in increment degrees to the right

    Field NameTypeUnitsValuesDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    sensor_typeuint8_tMAV_DISTANCE_SENSORClass id of the distance sensor type.
    distancesuint16_t[72]cminvalid:[UINT16_MAX]Distance of obstacles around the vehicle with index 0 corresponding to north + angle_offset, unless otherwise specified in the frame. A value of 0 is valid and means that the obstacle is practically touching the sensor. A value of max_distance +1 means no obstacle is present. A value of UINT16_MAX for unknown/not used. In a array element, one unit corresponds to 1cm.
    incrementuint8_tdegAngular width in degrees of each array element. Increment direction is clockwise. This field is ignored if increment_f is non-zero.
    min_distanceuint16_tcmMinimum distance the sensor can measure.
    max_distanceuint16_tcmMaximum distance the sensor can measure.
    increment_f ++floatdegAngular width in degrees of each array element as a float. If non-zero then this value is used instead of the uint8_t increment field. Positive is clockwise direction, negative is counter-clockwise.
    angle_offset ++floatdegRelative angle offset of the 0-index element in the distances array. Value of 0 corresponds to forward. Positive is clockwise direction, negative is counter-clockwise.
    frame ++uint8_tMAV_FRAMECoordinate frame of reference for the yaw rotation and offset of the sensor data. Defaults to MAV_FRAME_GLOBAL, which is north aligned. For body-mounted sensors use MAV_FRAME_BODY_FRD, which is vehicle front aligned.

    ODOMETRY (331) ​

    Odometry message to communicate odometry information with an external interface. Fits ROS REP 147 standard for aerial vehicles (http://www.ros.org/reps/rep-0147.html).

    Field NameTypeUnitsValuesDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    frame_iduint8_tMAV_FRAMECoordinate frame of reference for the pose data.
    child_frame_iduint8_tMAV_FRAMECoordinate frame of reference for the velocity in free space (twist) data.
    xfloatmX Position
    yfloatmY Position
    zfloatmZ Position
    qfloat[4]Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
    vxfloatm/sX linear speed
    vyfloatm/sY linear speed
    vzfloatm/sZ linear speed
    rollspeedfloatrad/sRoll angular speed
    pitchspeedfloatrad/sPitch angular speed
    yawspeedfloatrad/sYaw angular speed
    pose_covariancefloat[21]invalid:[NaN:]Row-major representation of a 6x6 pose cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
    velocity_covariancefloat[21]invalid:[NaN:]Row-major representation of a 6x6 velocity cross-covariance matrix upper right triangle (states: vx, vy, vz, rollspeed, pitchspeed, yawspeed; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
    reset_counter ++uint8_tEstimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.
    estimator_type ++uint8_tMAV_ESTIMATOR_TYPEType of estimator that is providing the odometry.
    quality ++int8_t%invalid:0Optional odometry quality metric as a percentage. -1 = odometry has failed, 0 = unknown/unset quality, 1 = worst quality, 100 = best quality

    TRAJECTORY_REPRESENTATION_WAYPOINTS (332) ​

    Describe a trajectory using an array of up-to 5 waypoints in the local frame (MAV_FRAME_LOCAL_NED).

    Field NameTypeUnitsValuesDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    valid_pointsuint8_tNumber of valid points (up-to 5 waypoints are possible)
    pos_xfloat[5]minvalid:[NaN]X-coordinate of waypoint, set to NaN if not being used
    pos_yfloat[5]minvalid:[NaN]Y-coordinate of waypoint, set to NaN if not being used
    pos_zfloat[5]minvalid:[NaN]Z-coordinate of waypoint, set to NaN if not being used
    vel_xfloat[5]m/sinvalid:[NaN]X-velocity of waypoint, set to NaN if not being used
    vel_yfloat[5]m/sinvalid:[NaN]Y-velocity of waypoint, set to NaN if not being used
    vel_zfloat[5]m/sinvalid:[NaN]Z-velocity of waypoint, set to NaN if not being used
    acc_xfloat[5]m/s/sinvalid:[NaN]X-acceleration of waypoint, set to NaN if not being used
    acc_yfloat[5]m/s/sinvalid:[NaN]Y-acceleration of waypoint, set to NaN if not being used
    acc_zfloat[5]m/s/sinvalid:[NaN]Z-acceleration of waypoint, set to NaN if not being used
    pos_yawfloat[5]radinvalid:[NaN]Yaw angle, set to NaN if not being used
    vel_yawfloat[5]rad/sinvalid:[NaN]Yaw rate, set to NaN if not being used
    commanduint16_t[5]invalid:[UINT16_MAX] MAV_CMDMAV_CMD command id of waypoint, set to UINT16_MAX if not being used.

    TRAJECTORY_REPRESENTATION_BEZIER (333) ​

    Describe a trajectory using an array of up-to 5 bezier control points in the local frame (MAV_FRAME_LOCAL_NED).

    Field NameTypeUnitsDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    valid_pointsuint8_tNumber of valid control points (up-to 5 points are possible)
    pos_xfloat[5]mX-coordinate of bezier control points. Set to NaN if not being used
    pos_yfloat[5]mY-coordinate of bezier control points. Set to NaN if not being used
    pos_zfloat[5]mZ-coordinate of bezier control points. Set to NaN if not being used
    deltafloat[5]sBezier time horizon. Set to NaN if velocity/acceleration should not be incorporated
    pos_yawfloat[5]radYaw. Set to NaN for unchanged

    CELLULAR_STATUS (334) ​

    Report current used cellular network status

    Field NameTypeValuesDescription
    statusuint8_tCELLULAR_STATUS_FLAGCellular modem status
    failure_reasonuint8_tCELLULAR_NETWORK_FAILED_REASONFailure reason when status in in CELLULAR_STATUS_FLAG_FAILED
    typeuint8_tCELLULAR_NETWORK_RADIO_TYPECellular network radio type: gsm, cdma, lte...
    qualityuint8_tinvalid:UINT8_MAXSignal quality in percent. If unknown, set to UINT8_MAX
    mccuint16_tinvalid:UINT16_MAXMobile country code. If unknown, set to UINT16_MAX
    mncuint16_tinvalid:UINT16_MAXMobile network code. If unknown, set to UINT16_MAX
    lacuint16_tinvalid:0Location area code. If unknown, set to 0

    Status of the Iridium SBD link.

    Field NameTypeUnitsDescription
    timestampuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    last_heartbeatuint64_tusTimestamp of the last successful sbd session. The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    failed_sessionsuint16_tNumber of failed SBD sessions.
    successful_sessionsuint16_tNumber of successful SBD sessions.
    signal_qualityuint8_tSignal quality equal to the number of bars displayed on the ISU signal strength indicator. Range is 0 to 5, where 0 indicates no signal and 5 indicates maximum signal strength.
    ring_pendinguint8_t1: Ring call pending, 0: No call pending.
    tx_session_pendinguint8_t1: Transmission session pending, 0: No transmission session pending.
    rx_session_pendinguint8_t1: Receiving session pending, 0: No receiving session pending.

    CELLULAR_CONFIG (336) ​

    Configure cellular modems.

    This message is re-emitted as an acknowledgement by the modem. The message may also be explicitly requested using MAV_CMD_REQUEST_MESSAGE.

    Field NameTypeValuesDescription
    enable_lteuint8_tEnable/disable LTE. 0: setting unchanged, 1: disabled, 2: enabled. Current setting when sent back as a response.
    enable_pinuint8_tEnable/disable PIN on the SIM card. 0: setting unchanged, 1: disabled, 2: enabled. Current setting when sent back as a response.
    pinchar[16]PIN sent to the SIM card. Blank when PIN is disabled. Empty when message is sent back as a response.
    new_pinchar[16]New PIN when changing the PIN. Blank to leave it unchanged. Empty when message is sent back as a response.
    apnchar[32]Name of the cellular APN. Blank to leave it unchanged. Current APN when sent back as a response.
    pukchar[16]Required PUK code in case the user failed to authenticate 3 times with the PIN. Empty when message is sent back as a response.
    roaminguint8_tEnable/disable roaming. 0: setting unchanged, 1: disabled, 2: enabled. Current setting when sent back as a response.
    responseuint8_tCELLULAR_CONFIG_RESPONSEMessage acceptance response (sent back to GS).

    RAW_RPM (339) ​

    RPM sensor data message.

    Field NameTypeUnitsDescription
    indexuint8_tIndex of this RPM sensor (0-indexed)
    frequencyfloatrpmIndicated rate

    UTM_GLOBAL_POSITION (340) ​

    The global position resulting from GPS and sensor fusion.

    Field NameTypeUnitsValuesDescription
    timeuint64_tusTime of applicability of position (microseconds since UNIX epoch).
    uas_iduint8_t[18]Unique UAS ID.
    latint32_tdegE7Latitude (WGS84)
    lonint32_tdegE7Longitude (WGS84)
    altint32_tmmAltitude (WGS84)
    relative_altint32_tmmAltitude above ground
    vxint16_tcm/sGround X speed (latitude, positive north)
    vyint16_tcm/sGround Y speed (longitude, positive east)
    vzint16_tcm/sGround Z speed (altitude, positive down)
    h_accuint16_tmmHorizontal position uncertainty (standard deviation)
    v_accuint16_tmmAltitude uncertainty (standard deviation)
    vel_accuint16_tcm/sSpeed uncertainty (standard deviation)
    next_latint32_tdegE7Next waypoint, latitude (WGS84)
    next_lonint32_tdegE7Next waypoint, longitude (WGS84)
    next_altint32_tmmNext waypoint, altitude (WGS84)
    update_rateuint16_tcsinvalid:0Time until next update. Set to 0 if unknown or in data driven mode.
    flight_stateuint8_tUTM_FLIGHT_STATEFlight state
    flagsuint8_tUTM_DATA_AVAIL_FLAGSBitwise OR combination of the data available flags.

    DEBUG_FLOAT_ARRAY (350) ​

    Large debug/prototyping array. The message uses the maximum available payload for data. The array_id and name fields are used to discriminate between messages in code and in user interfaces (respectively). Do not use in production code.

    Field NameTypeUnitsDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    namechar[10]Name, for human-friendly display in a Ground Control Station
    array_iduint16_tUnique ID used to discriminate between arrays
    Messages with same value are from the same source (instance).
    data ++float[58]data

    ORBIT_EXECUTION_STATUS (360) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Vehicle status report that is sent out while orbit execution is in progress (see MAV_CMD_DO_ORBIT).

    Field NameTypeUnitsValuesDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    radiusfloatmRadius of the orbit circle. Positive values orbit clockwise, negative values orbit counter-clockwise.
    frameuint8_tMAV_FRAMEThe coordinate system of the fields: x, y, z.
    xint32_tX coordinate of center point. Coordinate system depends on frame field: local = x position in meters * 1e4, global = latitude in degrees * 1e7.
    yint32_tY coordinate of center point. Coordinate system depends on frame field: local = x position in meters * 1e4, global = latitude in degrees * 1e7.
    zfloatmAltitude of center point. Coordinate system depends on frame field.

    SMART_BATTERY_INFO (370) — [DEP] ​

    DEPRECATED: Replaced By BATTERY_INFO (2024-02) — The BATTERY_INFO message is better aligned with UAVCAN messages, and in any case is useful even if a battery is not "smart".)

    Smart Battery information (static/infrequent update). Use for updates from: smart battery to flight stack, flight stack to GCS. Use BATTERY_STATUS for the frequent battery updates.

    Field NameTypeUnitsValuesDescription
    iduint8_tBattery ID
    Messages with same value are from the same source (instance).
    battery_functionuint8_tMAV_BATTERY_FUNCTIONFunction of the battery
    typeuint8_tMAV_BATTERY_TYPEType (chemistry) of the battery
    capacity_full_specificationint32_tmAhinvalid:-1Capacity when full according to manufacturer, -1: field not provided.
    capacity_fullint32_tmAhinvalid:-1Capacity when full (accounting for battery degradation), -1: field not provided.
    cycle_countuint16_tinvalid:UINT16_MAXCharge/discharge cycle count. UINT16_MAX: field not provided.
    serial_numberchar[16]invalid:[0]Serial number in ASCII characters, 0 terminated. All 0: field not provided.
    device_namechar[50]invalid:[0]Static device name in ASCII characters, 0 terminated. All 0: field not provided. Encode as manufacturer name then product name separated using an underscore.
    weightuint16_tginvalid:0Battery weight. 0: field not provided.
    discharge_minimum_voltageuint16_tmVinvalid:UINT16_MAXMinimum per-cell voltage when discharging. If not supplied set to UINT16_MAX value.
    charging_minimum_voltageuint16_tmVinvalid:UINT16_MAXMinimum per-cell voltage when charging. If not supplied set to UINT16_MAX value.
    resting_minimum_voltageuint16_tmVinvalid:UINT16_MAXMinimum per-cell voltage when resting. If not supplied set to UINT16_MAX value.
    charging_maximum_voltage ++uint16_tmVinvalid:0Maximum per-cell voltage when charged. 0: field not provided.
    cells_in_series ++uint8_tinvalid:0Number of battery cells in series. 0: field not provided.
    discharge_maximum_current ++uint32_tmAinvalid:0Maximum pack discharge current. 0: field not provided.
    discharge_maximum_burst_current ++uint32_tmAinvalid:0Maximum pack discharge burst current. 0: field not provided.
    manufacture_date ++char[11]invalid:[0]Manufacture date (DD/MM/YYYY) in ASCII characters, 0 terminated. All 0: field not provided.

    FUEL_STATUS (371) ​

    Fuel status.

    This message provides "generic" fuel level information for display in a GCS and for triggering failsafes in an autopilot. The fuel type and associated units for fields in this message are defined in the enum MAV_FUEL_TYPE.

    The reported consumed_fuel and remaining_fuel must only be supplied if measured: they must not be inferred from the maximum_fuel and the other value. A recipient can assume that if these fields are supplied they are accurate. If not provided, the recipient can infer remaining_fuel from maximum_fuel and consumed_fuel on the assumption that the fuel was initially at its maximum (this is what battery monitors assume). Note however that this is an assumption, and the UI should prompt the user appropriately (i.e. notify user that they should fill the tank before boot).

    This kind of information may also be sent in fuel-specific messages such as BATTERY_STATUS_V2. If both messages are sent for the same fuel system, the ids and corresponding information must match.

    This should be streamed (nominally at 0.1 Hz).

    Field NameTypeUnitsValuesDescription
    iduint8_tFuel ID. Must match ID of other messages for same fuel system, such as BATTERY_STATUS_V2.
    Messages with same value are from the same source (instance).
    maximum_fuelfloatCapacity when full. Must be provided.
    consumed_fuelfloatinvalid:NaNConsumed fuel (measured). This value should not be inferred: if not measured set to NaN. NaN: field not provided.
    remaining_fuelfloatinvalid:NaNRemaining fuel until empty (measured). The value should not be inferred: if not measured set to NaN. NaN: field not provided.
    percent_remaininguint8_t%invalid:UINT8_MAXPercentage of remaining fuel, relative to full. Values: [0-100], UINT8_MAX: field not provided.
    flow_ratefloatinvalid:NaNPositive value when emptying/using, and negative if filling/replacing. NaN: field not provided.
    temperaturefloatKinvalid:NaNFuel temperature. NaN: field not provided.
    fuel_typeuint32_tMAV_FUEL_TYPEFuel type. Defines units for fuel capacity and consumption fields above.

    BATTERY_INFO (372) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Battery information that is static, or requires infrequent update. This message should requested using MAV_CMD_REQUEST_MESSAGE and/or streamed at very low rate. BATTERY_STATUS_V2 is used for higher-rate battery status information.

    Field NameTypeUnitsValuesDescription
    iduint8_tBattery ID
    Messages with same value are from the same source (instance).
    battery_functionuint8_tMAV_BATTERY_FUNCTIONFunction of the battery.
    typeuint8_tMAV_BATTERY_TYPEType (chemistry) of the battery.
    state_of_healthuint8_t%invalid:UINT8_MAXState of Health (SOH) estimate. Typically 100% at the time of manufacture and will decrease over time and use. -1: field not provided.
    cells_in_seriesuint8_tinvalid:0Number of battery cells in series. 0: field not provided.
    cycle_countuint16_tinvalid:UINT16_MAXLifetime count of the number of charge/discharge cycles (https://en.wikipedia.org/wiki/Charge_cycle). UINT16_MAX: field not provided.
    weightuint16_tginvalid:0Battery weight. 0: field not provided.
    discharge_minimum_voltagefloatVinvalid:0Minimum per-cell voltage when discharging. 0: field not provided.
    charging_minimum_voltagefloatVinvalid:0Minimum per-cell voltage when charging. 0: field not provided.
    resting_minimum_voltagefloatVinvalid:0Minimum per-cell voltage when resting. 0: field not provided.
    charging_maximum_voltagefloatVinvalid:0Maximum per-cell voltage when charged. 0: field not provided.
    charging_maximum_currentfloatAinvalid:0Maximum pack continuous charge current. 0: field not provided.
    nominal_voltagefloatVinvalid:0Battery nominal voltage. Used for conversion between Wh and Ah. 0: field not provided.
    discharge_maximum_currentfloatAinvalid:0Maximum pack discharge current. 0: field not provided.
    discharge_maximum_burst_currentfloatAinvalid:0Maximum pack discharge burst current. 0: field not provided.
    design_capacityfloatAhinvalid:0Fully charged design capacity. 0: field not provided.
    full_charge_capacityfloatAhinvalid:NaNPredicted battery capacity when fully charged (accounting for battery degradation). NAN: field not provided.
    manufacture_datechar[9]invalid:[0]Manufacture date (DDMMYYYY) in ASCII characters, 0 terminated. All 0: field not provided.
    serial_numberchar[32]invalid:[0]Serial number in ASCII characters, 0 terminated. All 0: field not provided.
    namechar[50]invalid:[0]Battery device name. Formatted as manufacturer name then product name, separated with an underscore (in ASCII characters), 0 terminated. All 0: field not provided.

    GENERATOR_STATUS (373) ​

    Telemetry of power generation system. Alternator or mechanical generator.

    Field NameTypeUnitsValuesDescription
    statusuint64_tMAV_GENERATOR_STATUS_FLAGStatus flags.
    generator_speeduint16_trpminvalid:UINT16_MAXSpeed of electrical generator or alternator. UINT16_MAX: field not provided.
    battery_currentfloatAinvalid:NaNCurrent into/out of battery. Positive for out. Negative for in. NaN: field not provided.
    load_currentfloatAinvalid:NaNCurrent going to the UAV. If battery current not available this is the DC current from the generator. Positive for out. Negative for in. NaN: field not provided
    power_generatedfloatWinvalid:NaNThe power being generated. NaN: field not provided
    bus_voltagefloatVVoltage of the bus seen at the generator, or battery bus if battery bus is controlled by generator and at a different voltage to main bus.
    rectifier_temperatureint16_tdegCinvalid:INT16_MAXThe temperature of the rectifier or power converter. INT16_MAX: field not provided.
    bat_current_setpointfloatAinvalid:NaNThe target battery current. Positive for out. Negative for in. NaN: field not provided
    generator_temperatureint16_tdegCinvalid:INT16_MAXThe temperature of the mechanical motor, fuel cell core or generator. INT16_MAX: field not provided.
    runtimeuint32_tsinvalid:UINT32_MAXSeconds this generator has run since it was rebooted. UINT32_MAX: field not provided.
    time_until_maintenanceint32_tsinvalid:INT32_MAXSeconds until this generator requires maintenance. A negative value indicates maintenance is past-due. INT32_MAX: field not provided.

    ACTUATOR_OUTPUT_STATUS (375) ​

    The raw values of the actuator outputs (e.g. on Pixhawk, from MAIN, AUX ports). This message supersedes SERVO_OUTPUT_RAW.

    Field NameTypeUnitsDescription
    time_usecuint64_tusTimestamp (since system boot).
    activeuint32_tActive outputs
    actuatorfloat[32]Servo / motor output array values. Zero values indicate unused channels.

    TIME_ESTIMATE_TO_TARGET (380) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Time/duration estimates for various events and actions given the current vehicle state and position.

    Field NameTypeUnitsDescription
    safe_returnint32_tsEstimated time to complete the vehicle's configured "safe return" action from its current position (e.g. RTL, Smart RTL, etc.). -1 indicates that the vehicle is landed, or that no time estimate available.
    landint32_tsEstimated time for vehicle to complete the LAND action from its current position. -1 indicates that the vehicle is landed, or that no time estimate available.
    mission_next_itemint32_tsEstimated time for reaching/completing the currently active mission item. -1 means no time estimate available.
    mission_endint32_tsEstimated time for completing the current mission. -1 means no mission active and/or no estimate available.
    commanded_actionint32_tsEstimated time for completing the current commanded action (i.e. Go To, Takeoff, Land, etc.). -1 means no action active and/or no estimate available.

    TUNNEL (385) ​

    Message for transporting "arbitrary" variable-length data from one component to another (broadcast is not forbidden, but discouraged). The encoding of the data is usually extension specific, i.e. determined by the source, and is usually not documented as part of the MAVLink specification.

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID (can be 0 for broadcast, but this is discouraged)
    target_componentuint8_tComponent ID (can be 0 for broadcast, but this is discouraged)
    payload_typeuint16_tMAV_TUNNEL_PAYLOAD_TYPEA code that identifies the content of the payload (0 for unknown, which is the default). If this code is less than 32768, it is a 'registered' payload type and the corresponding code should be added to the MAV_TUNNEL_PAYLOAD_TYPE enum. Software creators can register blocks of types as needed. Codes greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase.
    payload_lengthuint8_tLength of the data transported in payload
    payloaduint8_t[128]Variable length payload. The payload length is defined by payload_length. The entire content of this block is opaque unless you understand the encoding specified by payload_type.

    CAN_FRAME (386) ​

    A forwarded CAN frame as requested by MAV_CMD_CAN_FORWARD.

    Field NameTypeDescription
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    busuint8_tBus number
    lenuint8_tFrame length
    iduint32_tFrame ID
    datauint8_t[8]Frame data

    CANFD_FRAME (387) ​

    A forwarded CANFD frame as requested by MAV_CMD_CAN_FORWARD. These are separated from CAN_FRAME as they need different handling (eg. TAO handling)

    Field NameTypeDescription
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    busuint8_tbus number
    lenuint8_tFrame length
    iduint32_tFrame ID
    datauint8_t[64]Frame data

    CAN_FILTER_MODIFY (388) ​

    Modify the filter of what CAN messages to forward over the mavlink. This can be used to make CAN forwarding work well on low bandwidth links. The filtering is applied on bits 8 to 24 of the CAN id (2nd and 3rd bytes) which corresponds to the DroneCAN message ID for DroneCAN. Filters with more than 16 IDs can be constructed by sending multiple CAN_FILTER_MODIFY messages.

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    busuint8_tbus number
    operationuint8_tCAN_FILTER_OPwhat operation to perform on the filter list. See CAN_FILTER_OP enum.
    num_idsuint8_tnumber of IDs in filter list
    idsuint16_t[16]filter IDs, length num_ids

    ONBOARD_COMPUTER_STATUS (390) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Hardware status sent by an onboard computer.

    Field NameTypeUnitsDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    uptimeuint32_tmsTime since system boot.
    typeuint8_tType of the onboard computer: 0: Mission computer primary, 1: Mission computer backup 1, 2: Mission computer backup 2, 3: Compute node, 4-5: Compute spares, 6-9: Payload computers.
    cpu_coresuint8_t[8]CPU usage on the component in percent (100 - idle). A value of UINT8_MAX implies the field is unused.
    cpu_combineduint8_t[10]Combined CPU usage as the last 10 slices of 100 MS (a histogram). This allows to identify spikes in load that max out the system, but only for a short amount of time. A value of UINT8_MAX implies the field is unused.
    gpu_coresuint8_t[4]GPU usage on the component in percent (100 - idle). A value of UINT8_MAX implies the field is unused.
    gpu_combineduint8_t[10]Combined GPU usage as the last 10 slices of 100 MS (a histogram). This allows to identify spikes in load that max out the system, but only for a short amount of time. A value of UINT8_MAX implies the field is unused.
    temperature_boardint8_tdegCTemperature of the board. A value of INT8_MAX implies the field is unused.
    temperature_coreint8_t[8]degCTemperature of the CPU core. A value of INT8_MAX implies the field is unused.
    fan_speedint16_t[4]rpmFan speeds. A value of INT16_MAX implies the field is unused.
    ram_usageuint32_tMiBAmount of used RAM on the component system. A value of UINT32_MAX implies the field is unused.
    ram_totaluint32_tMiBTotal amount of RAM on the component system. A value of UINT32_MAX implies the field is unused.
    storage_typeuint32_t[4]Storage type: 0: HDD, 1: SSD, 2: EMMC, 3: SD card (non-removable), 4: SD card (removable). A value of UINT32_MAX implies the field is unused.
    storage_usageuint32_t[4]MiBAmount of used storage space on the component system. A value of UINT32_MAX implies the field is unused.
    storage_totaluint32_t[4]MiBTotal amount of storage space on the component system. A value of UINT32_MAX implies the field is unused.
    link_typeuint32_t[6]Link type: 0-9: UART, 10-19: Wired network, 20-29: Wifi, 30-39: Point-to-point proprietary, 40-49: Mesh proprietary
    link_tx_rateuint32_t[6]KiB/sNetwork traffic from the component system. A value of UINT32_MAX implies the field is unused.
    link_rx_rateuint32_t[6]KiB/sNetwork traffic to the component system. A value of UINT32_MAX implies the field is unused.
    link_tx_maxuint32_t[6]KiB/sNetwork capacity from the component system. A value of UINT32_MAX implies the field is unused.
    link_rx_maxuint32_t[6]KiB/sNetwork capacity to the component system. A value of UINT32_MAX implies the field is unused.

    COMPONENT_INFORMATION (395) — [DEP] ​

    DEPRECATED: Replaced By COMPONENT_METADATA (2022-04)

    Component information message, which may be requested using MAV_CMD_REQUEST_MESSAGE.

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    general_metadata_file_crcuint32_tCRC32 of the general metadata file (general_metadata_uri).
    general_metadata_urichar[100]MAVLink FTP URI for the general metadata file (COMP_METADATA_TYPE_GENERAL), which may be compressed with xz. The file contains general component metadata, and may contain URI links for additional metadata (see COMP_METADATA_TYPE). The information is static from boot, and may be generated at compile time. The string needs to be zero terminated.
    peripherals_metadata_file_crcuint32_tCRC32 of peripherals metadata file (peripherals_metadata_uri).
    peripherals_metadata_urichar[100](Optional) MAVLink FTP URI for the peripherals metadata file (COMP_METADATA_TYPE_PERIPHERALS), which may be compressed with xz. This contains data about "attached components" such as UAVCAN nodes. The peripherals are in a separate file because the information must be generated dynamically at runtime. The string needs to be zero terminated.

    COMPONENT_INFORMATION_BASIC (396) ​

    Basic component information data. Should be requested using MAV_CMD_REQUEST_MESSAGE on startup, or when required.

    Field NameTypeUnitsValuesDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    capabilitiesuint64_tMAV_PROTOCOL_CAPABILITYComponent capability flags
    time_manufacture_suint32_tsinvalid:0Date of manufacture as a UNIX Epoch time (since 1.1.1970) in seconds.
    vendor_namechar[32]Name of the component vendor. Needs to be zero terminated. The field is optional and can be empty/all zeros.
    model_namechar[32]Name of the component model. Needs to be zero terminated. The field is optional and can be empty/all zeros.
    software_versionchar[24]Software version. The recommended format is SEMVER: 'major.minor.patch' (any format may be used). The field must be zero terminated if it has a value. The field is optional and can be empty/all zeros.
    hardware_versionchar[24]Hardware version. The recommended format is SEMVER: 'major.minor.patch' (any format may be used). The field must be zero terminated if it has a value. The field is optional and can be empty/all zeros.
    serial_numberchar[32]Hardware serial number. The field must be zero terminated if it has a value. The field is optional and can be empty/all zeros.

    COMPONENT_METADATA (397) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Component metadata message, which may be requested using MAV_CMD_REQUEST_MESSAGE.

    This contains the MAVLink FTP URI and CRC for the component's general metadata file. The file must be hosted on the component, and may be xz compressed. The file CRC can be used for file caching.

    The general metadata file can be read to get the locations of other metadata files (COMP_METADATA_TYPE) and translations, which may be hosted either on the vehicle or the internet. For more information see: https://mavlink.io/en/services/component_information.html.

    Note: Camera components should use CAMERA_INFORMATION instead, and autopilots may use both this message and AUTOPILOT_VERSION.

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    file_crcuint32_tCRC32 of the general metadata file.
    urichar[100]MAVLink FTP URI for the general metadata file (COMP_METADATA_TYPE_GENERAL), which may be compressed with xz. The file contains general component metadata, and may contain URI links for additional metadata (see COMP_METADATA_TYPE). The information is static from boot, and may be generated at compile time. The string needs to be zero terminated.

    PLAY_TUNE_V2 (400) ​

    Play vehicle tone/tune (buzzer). Supersedes message PLAY_TUNE.

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    formatuint32_tTUNE_FORMATTune format
    tunechar[248]Tune definition as a NULL-terminated string.

    SUPPORTED_TUNES (401) ​

    Tune formats supported by vehicle. This should be emitted as response to MAV_CMD_REQUEST_MESSAGE.

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    formatuint32_tTUNE_FORMATBitfield of supported tune formats.

    EVENT (410) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Event message. Each new event from a particular component gets a new sequence number. The same message might be sent multiple times if (re-)requested. Most events are broadcast, some can be specific to a target component (as receivers keep track of the sequence for missed events, all events need to be broadcast. Thus we use destination_component instead of target_component).

    Field NameTypeUnitsDescription
    destination_componentuint8_tComponent ID
    destination_systemuint8_tSystem ID
    iduint32_tEvent ID (as defined in the component metadata)
    event_time_boot_msuint32_tmsTimestamp (time since system boot when the event happened).
    sequenceuint16_tSequence number.
    log_levelsuint8_tLog levels: 4 bits MSB: internal (for logging purposes), 4 bits LSB: external. Levels: Emergency = 0, Alert = 1, Critical = 2, Error = 3, Warning = 4, Notice = 5, Info = 6, Debug = 7, Protocol = 8, Disabled = 9
    argumentsuint8_t[40]Arguments (depend on event ID).

    CURRENT_EVENT_SEQUENCE (411) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Regular broadcast for the current latest event sequence number for a component. This is used to check for dropped events.

    Field NameTypeValuesDescription
    sequenceuint16_tSequence number.
    flagsuint8_tMAV_EVENT_CURRENT_SEQUENCE_FLAGSFlag bitset.

    REQUEST_EVENT (412) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Request one or more events to be (re-)sent. If first_sequence==last_sequence, only a single event is requested. Note that first_sequence can be larger than last_sequence (because the sequence number can wrap). Each sequence will trigger an EVENT or EVENT_ERROR response.

    Field NameTypeDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    first_sequenceuint16_tFirst sequence number of the requested event.
    last_sequenceuint16_tLast sequence number of the requested event.

    RESPONSE_EVENT_ERROR (413) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Response to a REQUEST_EVENT in case of an error (e.g. the event is not available anymore).

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    sequenceuint16_tSequence number.
    sequence_oldest_availableuint16_tOldest Sequence number that is still available after the sequence set in REQUEST_EVENT.
    reasonuint8_tMAV_EVENT_ERROR_REASONError reason.

    ILLUMINATOR_STATUS (440) ​

    Illuminator status

    Field NameTypeUnitsValuesDescription
    uptime_msuint32_tmsTime since the start-up of the illuminator in ms
    enableuint8_t0: Illuminators OFF, 1: Illuminators ON
    mode_bitmaskuint8_tILLUMINATOR_MODESupported illuminator modes
    error_statusuint32_tILLUMINATOR_ERROR_FLAGSErrors
    modeuint8_tILLUMINATOR_MODEIlluminator mode
    brightnessfloat%Illuminator brightness
    strobe_periodfloatsIlluminator strobing period in seconds
    strobe_duty_cyclefloat%Illuminator strobing duty cycle
    temp_cfloatTemperature in Celsius
    min_strobe_periodfloatsMinimum strobing period in seconds
    max_strobe_periodfloatsMaximum strobing period in seconds

    WHEEL_DISTANCE (9000) ​

    Cumulative distance traveled for each reported wheel.

    Field NameTypeUnitsDescription
    time_usecuint64_tusTimestamp (synced to UNIX time or since system boot).
    countuint8_tNumber of wheels reported.
    distancedouble[16]mDistance reported by individual wheel encoders. Forward rotations increase values, reverse rotations decrease them. Not all wheels will necessarily have wheel encoders; the mapping of encoders to wheel positions must be agreed/understood by the endpoints.

    WINCH_STATUS (9005) ​

    Winch status.

    Field NameTypeUnitsValuesDescription
    time_usecuint64_tusTimestamp (synced to UNIX time or since system boot).
    line_lengthfloatminvalid:NaNLength of line released. NaN if unknown
    speedfloatm/sinvalid:NaNSpeed line is being released or retracted. Positive values if being released, negative values if being retracted, NaN if unknown
    tensionfloatkginvalid:NaNTension on the line. NaN if unknown
    voltagefloatVinvalid:NaNVoltage of the battery supplying the winch. NaN if unknown
    currentfloatAinvalid:NaNCurrent draw from the winch. NaN if unknown
    temperatureint16_tdegCinvalid:INT16_MAXTemperature of the motor. INT16_MAX if unknown
    statusuint32_tMAV_WINCH_STATUS_FLAGStatus flags

    OPEN_DRONE_ID_BASIC_ID (12900) ​

    Data for filling the OpenDroneID Basic ID message. This and the below messages are primarily meant for feeding data to/from an OpenDroneID implementation. E.g. https://github.com/opendroneid/opendroneid-core-c. These messages are compatible with the ASTM F3411 Remote ID standard and the ASD-STAN prEN 4709-002 Direct Remote ID standard. Additional information and usage of these messages is documented at https://mavlink.io/en/services/opendroneid.html.

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID (0 for broadcast).
    target_componentuint8_tComponent ID (0 for broadcast).
    id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
    id_typeuint8_tMAV_ODID_ID_TYPEIndicates the format for the uas_id field of this message.
    ua_typeuint8_tMAV_ODID_UA_TYPEIndicates the type of UA (Unmanned Aircraft).
    uas_iduint8_t[20]UAS (Unmanned Aircraft System) ID following the format specified by id_type. Shall be filled with nulls in the unused portion of the field.

    OPEN_DRONE_ID_LOCATION (12901) ​

    Data for filling the OpenDroneID Location message. The float data types are 32-bit IEEE 754. The Location message provides the location, altitude, direction and speed of the aircraft.

    Field NameTypeUnitsValuesDescription
    target_systemuint8_tSystem ID (0 for broadcast).
    target_componentuint8_tComponent ID (0 for broadcast).
    id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
    statusuint8_tMAV_ODID_STATUSIndicates whether the unmanned aircraft is on the ground or in the air.
    directionuint16_tcdeginvalid:36100Direction over ground (not heading, but direction of movement) measured clockwise from true North: 0 - 35999 centi-degrees. If unknown: 36100 centi-degrees.
    speed_horizontaluint16_tcm/sGround speed. Positive only. If unknown: 25500 cm/s. If speed is larger than 25425 cm/s, use 25425 cm/s.
    speed_verticalint16_tcm/sThe vertical speed. Up is positive. If unknown: 6300 cm/s. If speed is larger than 6200 cm/s, use 6200 cm/s. If lower than -6200 cm/s, use -6200 cm/s.
    latitudeint32_tdegE7invalid:0Current latitude of the unmanned aircraft. If unknown: 0 (both Lat/Lon).
    longitudeint32_tdegE7invalid:0Current longitude of the unmanned aircraft. If unknown: 0 (both Lat/Lon).
    altitude_barometricfloatminvalid:-1000The altitude calculated from the barometric pressue. Reference is against 29.92inHg or 1013.2mb. If unknown: -1000 m.
    altitude_geodeticfloatminvalid:-1000The geodetic altitude as defined by WGS84. If unknown: -1000 m.
    height_referenceuint8_tMAV_ODID_HEIGHT_REFIndicates the reference point for the height field.
    heightfloatminvalid:-1000The current height of the unmanned aircraft above the take-off location or the ground as indicated by height_reference. If unknown: -1000 m.
    horizontal_accuracyuint8_tMAV_ODID_HOR_ACCThe accuracy of the horizontal position.
    vertical_accuracyuint8_tMAV_ODID_VER_ACCThe accuracy of the vertical position.
    barometer_accuracyuint8_tMAV_ODID_VER_ACCThe accuracy of the barometric altitude.
    speed_accuracyuint8_tMAV_ODID_SPEED_ACCThe accuracy of the horizontal and vertical speed.
    timestampfloatsinvalid:0xFFFFSeconds after the full hour with reference to UTC time. Typically the GPS outputs a time-of-week value in milliseconds. First convert that to UTC and then convert for this field using ((float) (time_week_ms % (60_60_1000))) / 1000. If unknown: 0xFFFF.
    timestamp_accuracyuint8_tMAV_ODID_TIME_ACCThe accuracy of the timestamps.

    OPEN_DRONE_ID_AUTHENTICATION (12902) ​

    Data for filling the OpenDroneID Authentication message. The Authentication Message defines a field that can provide a means of authenticity for the identity of the UAS (Unmanned Aircraft System). The Authentication message can have two different formats. For data page 0, the fields PageCount, Length and TimeStamp are present and AuthData is only 17 bytes. For data page 1 through 15, PageCount, Length and TimeStamp are not present and the size of AuthData is 23 bytes.

    Field NameTypeUnitsValuesDescription
    target_systemuint8_tSystem ID (0 for broadcast).
    target_componentuint8_tComponent ID (0 for broadcast).
    id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
    authentication_typeuint8_tMAV_ODID_AUTH_TYPEIndicates the type of authentication.
    data_pageuint8_tAllowed range is 0 - 15.
    last_page_indexuint8_tThis field is only present for page 0. Allowed range is 0 - 15. See the description of struct ODID_Auth_data at https://github.com/opendroneid/opendroneid-core-c/blob/master/libopendroneid/opendroneid.h.
    lengthuint8_tbytesThis field is only present for page 0. Total bytes of authentication_data from all data pages. See the description of struct ODID_Auth_data at https://github.com/opendroneid/opendroneid-core-c/blob/master/libopendroneid/opendroneid.h.
    timestampuint32_tsThis field is only present for page 0. 32 bit Unix Timestamp in seconds since 00:00:00 01/01/2019.
    authentication_datauint8_t[23]Opaque authentication data. For page 0, the size is only 17 bytes. For other pages, the size is 23 bytes. Shall be filled with nulls in the unused portion of the field.

    OPEN_DRONE_ID_SELF_ID (12903) ​

    Data for filling the OpenDroneID Self ID message. The Self ID Message is an opportunity for the operator to (optionally) declare their identity and purpose of the flight. This message can provide additional information that could reduce the threat profile of a UA (Unmanned Aircraft) flying in a particular area or manner. This message can also be used to provide optional additional clarification in an emergency/remote ID system failure situation.

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID (0 for broadcast).
    target_componentuint8_tComponent ID (0 for broadcast).
    id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
    description_typeuint8_tMAV_ODID_DESC_TYPEIndicates the type of the description field.
    descriptionchar[23]Text description or numeric value expressed as ASCII characters. Shall be filled with nulls in the unused portion of the field.

    OPEN_DRONE_ID_SYSTEM (12904) ​

    Data for filling the OpenDroneID System message. The System Message contains general system information including the operator location/altitude and possible aircraft group and/or category/class information.

    Field NameTypeUnitsValuesDescription
    target_systemuint8_tSystem ID (0 for broadcast).
    target_componentuint8_tComponent ID (0 for broadcast).
    id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
    operator_location_typeuint8_tMAV_ODID_OPERATOR_LOCATION_TYPESpecifies the operator location type.
    classification_typeuint8_tMAV_ODID_CLASSIFICATION_TYPESpecifies the classification type of the UA.
    operator_latitudeint32_tdegE7invalid:0Latitude of the operator. If unknown: 0 (both Lat/Lon).
    operator_longitudeint32_tdegE7invalid:0Longitude of the operator. If unknown: 0 (both Lat/Lon).
    area_countuint16_tNumber of aircraft in the area, group or formation (default 1). Used only for swarms/multiple UA.
    area_radiusuint16_tmRadius of the cylindrical area of the group or formation (default 0). Used only for swarms/multiple UA.
    area_ceilingfloatminvalid:-1000Area Operations Ceiling relative to WGS84. If unknown: -1000 m. Used only for swarms/multiple UA.
    area_floorfloatminvalid:-1000Area Operations Floor relative to WGS84. If unknown: -1000 m. Used only for swarms/multiple UA.
    category_euuint8_tMAV_ODID_CATEGORY_EUWhen classification_type is MAV_ODID_CLASSIFICATION_TYPE_EU, specifies the category of the UA.
    class_euuint8_tMAV_ODID_CLASS_EUWhen classification_type is MAV_ODID_CLASSIFICATION_TYPE_EU, specifies the class of the UA.
    operator_altitude_geofloatminvalid:-1000Geodetic altitude of the operator relative to WGS84. If unknown: -1000 m.
    timestampuint32_ts32 bit Unix Timestamp in seconds since 00:00:00 01/01/2019.

    OPEN_DRONE_ID_OPERATOR_ID (12905) ​

    Data for filling the OpenDroneID Operator ID message, which contains the CAA (Civil Aviation Authority) issued operator ID.

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID (0 for broadcast).
    target_componentuint8_tComponent ID (0 for broadcast).
    id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
    operator_id_typeuint8_tMAV_ODID_OPERATOR_ID_TYPEIndicates the type of the operator_id field.
    operator_idchar[20]Text description or numeric value expressed as ASCII characters. Shall be filled with nulls in the unused portion of the field.

    OPEN_DRONE_ID_MESSAGE_PACK (12915) ​

    An OpenDroneID message pack is a container for multiple encoded OpenDroneID messages (i.e. not in the format given for the above message descriptions but after encoding into the compressed OpenDroneID byte format). Used e.g. when transmitting on Bluetooth 5.0 Long Range/Extended Advertising or on WiFi Neighbor Aware Networking or on WiFi Beacon.

    Field NameTypeUnitsDescription
    target_systemuint8_tSystem ID (0 for broadcast).
    target_componentuint8_tComponent ID (0 for broadcast).
    id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
    single_message_sizeuint8_tbytesThis field must currently always be equal to 25 (bytes), since all encoded OpenDroneID messages are specified to have this length.
    msg_pack_sizeuint8_tNumber of encoded messages in the pack (not the number of bytes). Allowed range is 1 - 9.
    messagesuint8_t[225]Concatenation of encoded OpenDroneID messages. Shall be filled with nulls in the unused portion of the field.

    OPEN_DRONE_ID_ARM_STATUS (12918) ​

    Transmitter (remote ID system) is enabled and ready to start sending location and other required information. This is streamed by transmitter. A flight controller uses it as a condition to arm.

    Field NameTypeValuesDescription
    statusuint8_tMAV_ODID_ARM_STATUSStatus level indicating if arming is allowed.
    errorchar[50]Text error message, should be empty if status is good to arm. Fill with nulls in unused portion.

    OPEN_DRONE_ID_SYSTEM_UPDATE (12919) ​

    Update the data in the OPEN_DRONE_ID_SYSTEM message with new location information. This can be sent to update the location information for the operator when no other information in the SYSTEM message has changed. This message allows for efficient operation on radio links which have limited uplink bandwidth while meeting requirements for update frequency of the operator location.

    Field NameTypeUnitsDescription
    target_systemuint8_tSystem ID (0 for broadcast).
    target_componentuint8_tComponent ID (0 for broadcast).
    operator_latitudeint32_tdegE7Latitude of the operator. If unknown: 0 (both Lat/Lon).
    operator_longitudeint32_tdegE7Longitude of the operator. If unknown: 0 (both Lat/Lon).
    operator_altitude_geofloatmGeodetic altitude of the operator relative to WGS84. If unknown: -1000 m.
    timestampuint32_ts32 bit Unix Timestamp in seconds since 00:00:00 01/01/2019.

    HYGROMETER_SENSOR (12920) ​

    Temperature and humidity from hygrometer.

    Field NameTypeUnitsDescription
    iduint8_tHygrometer ID
    Messages with same value are from the same source (instance).
    temperatureint16_tcdegCTemperature
    humidityuint16_tc%Humidity

    Enumerated Types ​

    FIRMWARE_VERSION_TYPE ​

    These values define the type of firmware release. These values indicate the first version or release of this type. For example the first alpha release would be 64, the second would be 65.

    ValueNameDescription
    0FIRMWARE_VERSION_TYPE_DEVdevelopment release
    64FIRMWARE_VERSION_TYPE_ALPHAalpha release
    128FIRMWARE_VERSION_TYPE_BETAbeta release
    192FIRMWARE_VERSION_TYPE_RCrelease candidate
    255FIRMWARE_VERSION_TYPE_OFFICIALofficial stable release

    HL_FAILURE_FLAG ​

    (Bitmask) Flags to report failure cases over the high latency telemetry.

    ValueNameDescription
    1HL_FAILURE_FLAG_GPSGPS failure.
    2HL_FAILURE_FLAG_DIFFERENTIAL_PRESSUREDifferential pressure sensor failure.
    4HL_FAILURE_FLAG_ABSOLUTE_PRESSUREAbsolute pressure sensor failure.
    8HL_FAILURE_FLAG_3D_ACCELAccelerometer sensor failure.
    16HL_FAILURE_FLAG_3D_GYROGyroscope sensor failure.
    32HL_FAILURE_FLAG_3D_MAGMagnetometer sensor failure.
    64HL_FAILURE_FLAG_TERRAINTerrain subsystem failure.
    128HL_FAILURE_FLAG_BATTERYBattery failure/critical low battery.
    256HL_FAILURE_FLAG_RC_RECEIVERRC receiver failure/no RC connection.
    512HL_FAILURE_FLAG_OFFBOARD_LINKOffboard link failure.
    1024HL_FAILURE_FLAG_ENGINEEngine failure.
    2048HL_FAILURE_FLAG_GEOFENCEGeofence violation.
    4096HL_FAILURE_FLAG_ESTIMATOREstimator failure, for example measurement rejection or large variances.
    8192HL_FAILURE_FLAG_MISSIONMission failure.

    MAV_GOTO ​

    Actions that may be specified in MAV_CMD_OVERRIDE_GOTO to override mission execution.

    ValueNameDescription
    0MAV_GOTO_DO_HOLDHold at the current position.
    1MAV_GOTO_DO_CONTINUEContinue with the next item in mission execution.
    2MAV_GOTO_HOLD_AT_CURRENT_POSITIONHold at the current position of the system
    3MAV_GOTO_HOLD_AT_SPECIFIED_POSITIONHold at the position specified in the parameters of the DO_HOLD action

    MAV_MODE ​

    These defines are predefined OR-combined mode flags. There is no need to use values from this enum, but it

    simplifies the use of the mode flags. Note that manual input is enabled in all modes as a safety override.

    ValueNameDescription
    0MAV_MODE_PREFLIGHTSystem is not ready to fly, booting, calibrating, etc. No flag is set.
    64MAV_MODE_MANUAL_DISARMEDSystem is allowed to be active, under manual (RC) control, no stabilization
    66MAV_MODE_TEST_DISARMEDUNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only.
    80MAV_MODE_STABILIZE_DISARMEDSystem is allowed to be active, under assisted RC control.
    88MAV_MODE_GUIDED_DISARMEDSystem is allowed to be active, under autonomous control, manual setpoint
    92MAV_MODE_AUTO_DISARMEDSystem is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by waypoints)
    192MAV_MODE_MANUAL_ARMEDSystem is allowed to be active, under manual (RC) control, no stabilization
    194MAV_MODE_TEST_ARMEDUNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only.
    208MAV_MODE_STABILIZE_ARMEDSystem is allowed to be active, under assisted RC control.
    216MAV_MODE_GUIDED_ARMEDSystem is allowed to be active, under autonomous control, manual setpoint
    220MAV_MODE_AUTO_ARMEDSystem is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by waypoints)

    MAV_SYS_STATUS_SENSOR ​

    (Bitmask) These encode the sensors whose status is sent as part of the SYS_STATUS message.

    ValueNameDescription
    1MAV_SYS_STATUS_SENSOR_3D_GYRO0x01 3D gyro
    2MAV_SYS_STATUS_SENSOR_3D_ACCEL0x02 3D accelerometer
    4MAV_SYS_STATUS_SENSOR_3D_MAG0x04 3D magnetometer
    8MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE0x08 absolute pressure
    16MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE0x10 differential pressure
    32MAV_SYS_STATUS_SENSOR_GPS0x20 GPS
    64MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW0x40 optical flow
    128MAV_SYS_STATUS_SENSOR_VISION_POSITION0x80 computer vision position
    256MAV_SYS_STATUS_SENSOR_LASER_POSITION0x100 laser based position
    512MAV_SYS_STATUS_SENSOR_EXTERNAL_GROUND_TRUTH0x200 external ground truth (Vicon or Leica)
    1024MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL0x400 3D angular rate control
    2048MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION0x800 attitude stabilization
    4096MAV_SYS_STATUS_SENSOR_YAW_POSITION0x1000 yaw position
    8192MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL0x2000 z/altitude control
    16384MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL0x4000 x/y position control
    32768MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS0x8000 motor outputs / control
    65536MAV_SYS_STATUS_SENSOR_RC_RECEIVER0x10000 RC receiver
    131072MAV_SYS_STATUS_SENSOR_3D_GYRO20x20000 2nd 3D gyro
    262144MAV_SYS_STATUS_SENSOR_3D_ACCEL20x40000 2nd 3D accelerometer
    524288MAV_SYS_STATUS_SENSOR_3D_MAG20x80000 2nd 3D magnetometer
    1048576MAV_SYS_STATUS_GEOFENCE0x100000 geofence
    2097152MAV_SYS_STATUS_AHRS0x200000 AHRS subsystem health
    4194304MAV_SYS_STATUS_TERRAIN0x400000 Terrain subsystem health
    8388608MAV_SYS_STATUS_REVERSE_MOTOR0x800000 Motors are reversed
    16777216MAV_SYS_STATUS_LOGGING0x1000000 Logging
    33554432MAV_SYS_STATUS_SENSOR_BATTERY0x2000000 Battery
    67108864MAV_SYS_STATUS_SENSOR_PROXIMITY0x4000000 Proximity
    134217728MAV_SYS_STATUS_SENSOR_SATCOM0x8000000 Satellite Communication
    268435456MAV_SYS_STATUS_PREARM_CHECK0x10000000 pre-arm check status. Always healthy when armed
    536870912MAV_SYS_STATUS_OBSTACLE_AVOIDANCE0x20000000 Avoidance/collision prevention
    1073741824MAV_SYS_STATUS_SENSOR_PROPULSION0x40000000 propulsion (actuator, esc, motor or propellor)
    2147483648MAV_SYS_STATUS_EXTENSION_USED0x80000000 Extended bit-field are used for further sensor status bits (needs to be set in onboard_control_sensors_present only)

    MAV_SYS_STATUS_SENSOR_EXTENDED ​

    (Bitmask) These encode the sensors whose status is sent as part of the SYS_STATUS message in the extended fields.

    ValueNameDescription
    1MAV_SYS_STATUS_RECOVERY_SYSTEM0x01 Recovery system (parachute, balloon, retracts etc)

    MAV_FRAME ​

    Coordinate frames used by MAVLink. Not all frames are supported by all commands, messages, or vehicles.

    Global frames use the following naming conventions:

    • "GLOBAL": Global coordinate frame with WGS84 latitude/longitude and altitude positive over mean sea level (MSL) by default. The following modifiers may be used with "GLOBAL":
    • "RELATIVE_ALT": Altitude is relative to the vehicle home position rather than MSL.
    • "TERRAIN_ALT": Altitude is relative to ground level rather than MSL.
    • "INT": Latitude/longitude (in degrees) are scaled by multiplying by 1E7.

    Local frames use the following naming conventions:

    • "LOCAL": Origin of local frame is fixed relative to earth. Unless otherwise specified this origin is the origin of the vehicle position-estimator ("EKF").
    • "BODY": Origin of local frame travels with the vehicle. NOTE, "BODY" does NOT indicate alignment of frame axis with vehicle attitude.
    • "OFFSET": Deprecated synonym for "BODY" (origin travels with the vehicle). Not to be used for new frames.

    Some deprecated frames do not follow these conventions (e.g. MAV_FRAME_BODY_NED and MAV_FRAME_BODY_OFFSET_NED).

    ValueNameDescription
    0MAV_FRAME_GLOBALGlobal (WGS84) coordinate frame + altitude relative to mean sea level (MSL).
    1MAV_FRAME_LOCAL_NEDNED local tangent frame (x: North, y: East, z: Down) with origin fixed relative to earth.
    2MAV_FRAME_MISSIONNOT a coordinate frame, indicates a mission command.
    3MAV_FRAME_GLOBAL_RELATIVE_ALTGlobal (WGS84) coordinate frame + altitude relative to the home position.
    4MAV_FRAME_LOCAL_ENUENU local tangent frame (x: East, y: North, z: Up) with origin fixed relative to earth.
    5MAV_FRAME_GLOBAL_INTGlobal (WGS84) coordinate frame (scaled) + altitude relative to mean sea level (MSL).DEPRECATED: Replaced By MAV_FRAME_GLOBAL (2024-03) — Use MAV_FRAME_GLOBAL in COMMAND_INT (and elsewhere) as a synonymous replacement.)
    6MAV_FRAME_GLOBAL_RELATIVE_ALT_INTGlobal (WGS84) coordinate frame (scaled) + altitude relative to the home position.DEPRECATED: Replaced By MAV_FRAME_GLOBAL_RELATIVE_ALT (2024-03) — Use MAV_FRAME_GLOBAL_RELATIVE_ALT in COMMAND_INT (and elsewhere) as a synonymous replacement.)
    7MAV_FRAME_LOCAL_OFFSET_NEDNED local tangent frame (x: North, y: East, z: Down) with origin that travels with the vehicle.
    8MAV_FRAME_BODY_NEDSame as MAV_FRAME_LOCAL_NED when used to represent position values. Same as MAV_FRAME_BODY_FRD when used with velocity/acceleration values.DEPRECATED: Replaced By MAV_FRAME_BODY_FRD (2019-08)
    9MAV_FRAME_BODY_OFFSET_NEDThis is the same as MAV_FRAME_BODY_FRD.DEPRECATED: Replaced By MAV_FRAME_BODY_FRD (2019-08)
    10MAV_FRAME_GLOBAL_TERRAIN_ALTGlobal (WGS84) coordinate frame with AGL altitude (altitude at ground level).
    11MAV_FRAME_GLOBAL_TERRAIN_ALT_INTGlobal (WGS84) coordinate frame (scaled) with AGL altitude (altitude at ground level).DEPRECATED: Replaced By MAV_FRAME_GLOBAL_TERRAIN_ALT (2024-03) — Use MAV_FRAME_GLOBAL_TERRAIN_ALT in COMMAND_INT (and elsewhere) as a synonymous replacement.)
    12MAV_FRAME_BODY_FRDFRD local frame aligned to the vehicle's attitude (x: Forward, y: Right, z: Down) with an origin that travels with vehicle.
    13MAV_FRAME_RESERVED_13MAV_FRAME_BODY_FLU - Body fixed frame of reference, Z-up (x: Forward, y: Left, z: Up).DEPRECATED:(2019-04)
    14MAV_FRAME_RESERVED_14MAV_FRAME_MOCAP_NED - Odometry local coordinate frame of data given by a motion capture system, Z-down (x: North, y: East, z: Down).DEPRECATED: Replaced By MAV_FRAME_LOCAL_FRD (2019-04)
    15MAV_FRAME_RESERVED_15MAV_FRAME_MOCAP_ENU - Odometry local coordinate frame of data given by a motion capture system, Z-up (x: East, y: North, z: Up).DEPRECATED: Replaced By MAV_FRAME_LOCAL_FLU (2019-04)
    16MAV_FRAME_RESERVED_16MAV_FRAME_VISION_NED - Odometry local coordinate frame of data given by a vision estimation system, Z-down (x: North, y: East, z: Down).DEPRECATED: Replaced By MAV_FRAME_LOCAL_FRD (2019-04)
    17MAV_FRAME_RESERVED_17MAV_FRAME_VISION_ENU - Odometry local coordinate frame of data given by a vision estimation system, Z-up (x: East, y: North, z: Up).DEPRECATED: Replaced By MAV_FRAME_LOCAL_FLU (2019-04)
    18MAV_FRAME_RESERVED_18MAV_FRAME_ESTIM_NED - Odometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-down (x: North, y: East, z: Down).DEPRECATED: Replaced By MAV_FRAME_LOCAL_FRD (2019-04)
    19MAV_FRAME_RESERVED_19MAV_FRAME_ESTIM_ENU - Odometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-up (x: East, y: North, z: Up).DEPRECATED: Replaced By MAV_FRAME_LOCAL_FLU (2019-04)
    20MAV_FRAME_LOCAL_FRDFRD local tangent frame (x: Forward, y: Right, z: Down) with origin fixed relative to earth. The forward axis is aligned to the front of the vehicle in the horizontal plane.
    21MAV_FRAME_LOCAL_FLUFLU local tangent frame (x: Forward, y: Left, z: Up) with origin fixed relative to earth. The forward axis is aligned to the front of the vehicle in the horizontal plane.
    ValueNameDescription
    0MAVLINK_DATA_STREAM_IMG_JPEG
    1MAVLINK_DATA_STREAM_IMG_BMP
    2MAVLINK_DATA_STREAM_IMG_RAW8U
    3MAVLINK_DATA_STREAM_IMG_RAW32U
    4MAVLINK_DATA_STREAM_IMG_PGM
    5MAVLINK_DATA_STREAM_IMG_PNG

    FENCE_ACTION ​

    Actions following geofence breach.

    ValueNameDescription
    0FENCE_ACTION_NONEDisable fenced mode. If used in a plan this would mean the next fence is disabled.
    1FENCE_ACTION_GUIDEDFly to geofence MAV_CMD_NAV_FENCE_RETURN_POINT in GUIDED mode. Note: This action is only supported by ArduPlane, and may not be supported in all versions.
    2FENCE_ACTION_REPORTReport fence breach, but don't take action
    3FENCE_ACTION_GUIDED_THR_PASSFly to geofence MAV_CMD_NAV_FENCE_RETURN_POINT with manual throttle control in GUIDED mode. Note: This action is only supported by ArduPlane, and may not be supported in all versions.
    4FENCE_ACTION_RTLReturn/RTL mode.
    5FENCE_ACTION_HOLDHold at current location.
    6FENCE_ACTION_TERMINATETermination failsafe. Motors are shut down (some flight stacks may trigger other failsafe actions).
    7FENCE_ACTION_LANDLand at current location.

    FENCE_BREACH ​

    ValueNameDescription
    0FENCE_BREACH_NONENo last fence breach
    1FENCE_BREACH_MINALTBreached minimum altitude
    2FENCE_BREACH_MAXALTBreached maximum altitude
    3FENCE_BREACH_BOUNDARYBreached fence boundary

    FENCE_MITIGATE ​

    Actions being taken to mitigate/prevent fence breach

    ValueNameDescription
    0FENCE_MITIGATE_UNKNOWNUnknown
    1FENCE_MITIGATE_NONENo actions being taken
    2FENCE_MITIGATE_VEL_LIMITVelocity limiting active to prevent breach

    FENCE_TYPE ​

    (Bitmask)

    ValueNameDescription
    0FENCE_TYPE_ALLAll fence types
    1FENCE_TYPE_ALT_MAXMaximum altitude fence
    2FENCE_TYPE_CIRCLECircle fence
    4FENCE_TYPE_POLYGONPolygon fence
    8FENCE_TYPE_ALT_MINMinimum altitude fence

    MAV_MOUNT_MODE — [DEP] ​

    DEPRECATED: Replaced By GIMBAL_MANAGER_FLAGS (2020-01)

    Enumeration of possible mount operation modes. This message is used by obsolete/deprecated gimbal messages.

    ValueNameDescription
    0MAV_MOUNT_MODE_RETRACTLoad and keep safe position (Roll,Pitch,Yaw) from permanent memory and stop stabilization
    1MAV_MOUNT_MODE_NEUTRALLoad and keep neutral position (Roll,Pitch,Yaw) from permanent memory.
    2MAV_MOUNT_MODE_MAVLINK_TARGETINGLoad neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization
    3MAV_MOUNT_MODE_RC_TARGETINGLoad neutral position and start RC Roll,Pitch,Yaw control with stabilization
    4MAV_MOUNT_MODE_GPS_POINTLoad neutral position and start to point to Lat,Lon,Alt
    5MAV_MOUNT_MODE_SYSID_TARGETGimbal tracks system with specified system ID
    6MAV_MOUNT_MODE_HOME_LOCATIONGimbal tracks home position

    GIMBAL_DEVICE_CAP_FLAGS ​

    (Bitmask) Gimbal device (low level) capability flags (bitmap).

    ValueNameDescription
    1GIMBAL_DEVICE_CAP_FLAGS_HAS_RETRACTGimbal device supports a retracted position.
    2GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRALGimbal device supports a horizontal, forward looking position, stabilized.
    4GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_AXISGimbal device supports rotating around roll axis.
    8GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_FOLLOWGimbal device supports to follow a roll angle relative to the vehicle.
    16GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCKGimbal device supports locking to a roll angle (generally that's the default with roll stabilized).
    32GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXISGimbal device supports rotating around pitch axis.
    64GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_FOLLOWGimbal device supports to follow a pitch angle relative to the vehicle.
    128GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCKGimbal device supports locking to a pitch angle (generally that's the default with pitch stabilized).
    256GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXISGimbal device supports rotating around yaw axis.
    512GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOWGimbal device supports to follow a yaw angle relative to the vehicle (generally that's the default).
    1024GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCKGimbal device supports locking to an absolute heading, i.e., yaw angle relative to North (earth frame, often this is an option available).
    2048GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_INFINITE_YAWGimbal device supports yawing/panning infinitely (e.g. using slip disk).
    4096GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_YAW_IN_EARTH_FRAMEGimbal device supports yaw angles and angular velocities relative to North (earth frame). This usually requires support by an autopilot via AUTOPILOT_STATE_FOR_GIMBAL_DEVICE. Support can go on and off during runtime, which is reported by the flag GIMBAL_DEVICE_FLAGS_CAN_ACCEPT_YAW_IN_EARTH_FRAME.
    8192GIMBAL_DEVICE_CAP_FLAGS_HAS_RC_INPUTSGimbal device supports radio control inputs as an alternative input for controlling the gimbal orientation.

    GIMBAL_MANAGER_CAP_FLAGS ​

    (Bitmask) Gimbal manager high level capability flags (bitmap). The first 16 bits are identical to the GIMBAL_DEVICE_CAP_FLAGS. However, the gimbal manager does not need to copy the flags from the gimbal but can also enhance the capabilities and thus add flags.

    ValueNameDescription
    1GIMBAL_MANAGER_CAP_FLAGS_HAS_RETRACTBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_RETRACT.
    2GIMBAL_MANAGER_CAP_FLAGS_HAS_NEUTRALBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRAL.
    4GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_AXISBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_AXIS.
    8GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_FOLLOWBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_FOLLOW.
    16GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_LOCKBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCK.
    32GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_AXISBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXIS.
    64GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_FOLLOWBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_FOLLOW.
    128GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_LOCKBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCK.
    256GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_AXISBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXIS.
    512GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_FOLLOWBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOW.
    1024GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_LOCKBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCK.
    2048GIMBAL_MANAGER_CAP_FLAGS_SUPPORTS_INFINITE_YAWBased on GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_INFINITE_YAW.
    4096GIMBAL_MANAGER_CAP_FLAGS_SUPPORTS_YAW_IN_EARTH_FRAMEBased on GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_YAW_IN_EARTH_FRAME.
    8192GIMBAL_MANAGER_CAP_FLAGS_HAS_RC_INPUTSBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_RC_INPUTS.
    65536GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_LOCALGimbal manager supports to point to a local position.
    131072GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_GLOBALGimbal manager supports to point to a global latitude, longitude, altitude position.

    GIMBAL_DEVICE_FLAGS ​

    (Bitmask) Flags for gimbal device (lower level) operation.

    ValueNameDescription
    1GIMBAL_DEVICE_FLAGS_RETRACTSet to retracted safe position (no stabilization), takes precedence over all other flags.
    2GIMBAL_DEVICE_FLAGS_NEUTRALSet to neutral/default position, taking precedence over all other flags except RETRACT. Neutral is commonly forward-facing and horizontal (roll=pitch=yaw=0) but may be any orientation.
    4GIMBAL_DEVICE_FLAGS_ROLL_LOCKLock roll angle to absolute angle relative to horizon (not relative to vehicle). This is generally the default with a stabilizing gimbal.
    8GIMBAL_DEVICE_FLAGS_PITCH_LOCKLock pitch angle to absolute angle relative to horizon (not relative to vehicle). This is generally the default with a stabilizing gimbal.
    16GIMBAL_DEVICE_FLAGS_YAW_LOCKLock yaw angle to absolute angle relative to North (not relative to vehicle). If this flag is set, the yaw angle and z component of angular velocity are relative to North (earth frame, x-axis pointing North), else they are relative to the vehicle heading (vehicle frame, earth frame rotated so that the x-axis is pointing forward).
    32GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAMEYaw angle and z component of angular velocity are relative to the vehicle heading (vehicle frame, earth frame rotated such that the x-axis is pointing forward).
    64GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAMEYaw angle and z component of angular velocity are relative to North (earth frame, x-axis is pointing North).
    128GIMBAL_DEVICE_FLAGS_ACCEPTS_YAW_IN_EARTH_FRAMEGimbal device can accept yaw angle inputs relative to North (earth frame). This flag is only for reporting (attempts to set this flag are ignored).
    256GIMBAL_DEVICE_FLAGS_RC_EXCLUSIVEThe gimbal orientation is set exclusively by the RC signals feed to the gimbal's radio control inputs. MAVLink messages for setting the gimbal orientation (GIMBAL_DEVICE_SET_ATTITUDE) are ignored.
    512GIMBAL_DEVICE_FLAGS_RC_MIXEDThe gimbal orientation is determined by combining/mixing the RC signals feed to the gimbal's radio control inputs and the MAVLink messages for setting the gimbal orientation (GIMBAL_DEVICE_SET_ATTITUDE). How these two controls are combined or mixed is not defined by the protocol but is up to the implementation.

    GIMBAL_MANAGER_FLAGS ​

    (Bitmask) Flags for high level gimbal manager operation The first 16 bits are identical to the GIMBAL_DEVICE_FLAGS.

    ValueNameDescription
    1GIMBAL_MANAGER_FLAGS_RETRACTBased on GIMBAL_DEVICE_FLAGS_RETRACT.
    2GIMBAL_MANAGER_FLAGS_NEUTRALBased on GIMBAL_DEVICE_FLAGS_NEUTRAL.
    4GIMBAL_MANAGER_FLAGS_ROLL_LOCKBased on GIMBAL_DEVICE_FLAGS_ROLL_LOCK.
    8GIMBAL_MANAGER_FLAGS_PITCH_LOCKBased on GIMBAL_DEVICE_FLAGS_PITCH_LOCK.
    16GIMBAL_MANAGER_FLAGS_YAW_LOCKBased on GIMBAL_DEVICE_FLAGS_YAW_LOCK.
    32GIMBAL_MANAGER_FLAGS_YAW_IN_VEHICLE_FRAMEBased on GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME.
    64GIMBAL_MANAGER_FLAGS_YAW_IN_EARTH_FRAMEBased on GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME.
    128GIMBAL_MANAGER_FLAGS_ACCEPTS_YAW_IN_EARTH_FRAMEBased on GIMBAL_DEVICE_FLAGS_ACCEPTS_YAW_IN_EARTH_FRAME.
    256GIMBAL_MANAGER_FLAGS_RC_EXCLUSIVEBased on GIMBAL_DEVICE_FLAGS_RC_EXCLUSIVE.
    512GIMBAL_MANAGER_FLAGS_RC_MIXEDBased on GIMBAL_DEVICE_FLAGS_RC_MIXED.

    GIMBAL_DEVICE_ERROR_FLAGS ​

    (Bitmask) Gimbal device (low level) error flags (bitmap, 0 means no error)

    ValueNameDescription
    1GIMBAL_DEVICE_ERROR_FLAGS_AT_ROLL_LIMITGimbal device is limited by hardware roll limit.
    2GIMBAL_DEVICE_ERROR_FLAGS_AT_PITCH_LIMITGimbal device is limited by hardware pitch limit.
    4GIMBAL_DEVICE_ERROR_FLAGS_AT_YAW_LIMITGimbal device is limited by hardware yaw limit.
    8GIMBAL_DEVICE_ERROR_FLAGS_ENCODER_ERRORThere is an error with the gimbal encoders.
    16GIMBAL_DEVICE_ERROR_FLAGS_POWER_ERRORThere is an error with the gimbal power source.
    32GIMBAL_DEVICE_ERROR_FLAGS_MOTOR_ERRORThere is an error with the gimbal motors.
    64GIMBAL_DEVICE_ERROR_FLAGS_SOFTWARE_ERRORThere is an error with the gimbal's software.
    128GIMBAL_DEVICE_ERROR_FLAGS_COMMS_ERRORThere is an error with the gimbal's communication.
    256GIMBAL_DEVICE_ERROR_FLAGS_CALIBRATION_RUNNINGGimbal device is currently calibrating.
    512GIMBAL_DEVICE_ERROR_FLAGS_NO_MANAGERGimbal device is not assigned to a gimbal manager.

    GRIPPER_ACTIONS ​

    Gripper actions.

    ValueNameDescription
    0GRIPPER_ACTION_RELEASEGripper release cargo.
    1GRIPPER_ACTION_GRABGripper grab onto cargo.

    WINCH_ACTIONS ​

    Winch actions.

    ValueNameDescription
    0WINCH_RELAXEDAllow motor to freewheel.
    1WINCH_RELATIVE_LENGTH_CONTROLWind or unwind specified length of line, optionally using specified rate.
    2WINCH_RATE_CONTROLWind or unwind line at specified rate.
    3WINCH_LOCKPerform the locking sequence to relieve motor while in the fully retracted position. Only action and instance command parameters are used, others are ignored.
    4WINCH_DELIVERSequence of drop, slow down, touch down, reel up, lock. Only action and instance command parameters are used, others are ignored.
    5WINCH_HOLDEngage motor and hold current position. Only action and instance command parameters are used, others are ignored.
    6WINCH_RETRACTReturn the reel to the fully retracted position. Only action and instance command parameters are used, others are ignored.
    7WINCH_LOAD_LINELoad the reel with line. The winch will calculate the total loaded length and stop when the tension exceeds a threshold. Only action and instance command parameters are used, others are ignored.
    8WINCH_ABANDON_LINESpool out the entire length of the line. Only action and instance command parameters are used, others are ignored.
    9WINCH_LOAD_PAYLOADSpools out just enough to present the hook to the user to load the payload. Only action and instance command parameters are used, others are ignored

    UAVCAN_NODE_HEALTH ​

    Generalized UAVCAN node health

    ValueNameDescription
    0UAVCAN_NODE_HEALTH_OKThe node is functioning properly.
    1UAVCAN_NODE_HEALTH_WARNINGA critical parameter went out of range or the node has encountered a minor failure.
    2UAVCAN_NODE_HEALTH_ERRORThe node has encountered a major failure.
    3UAVCAN_NODE_HEALTH_CRITICALThe node has suffered a fatal malfunction.

    UAVCAN_NODE_MODE ​

    Generalized UAVCAN node mode

    ValueNameDescription
    0UAVCAN_NODE_MODE_OPERATIONALThe node is performing its primary functions.
    1UAVCAN_NODE_MODE_INITIALIZATIONThe node is initializing; this mode is entered immediately after startup.
    2UAVCAN_NODE_MODE_MAINTENANCEThe node is under maintenance.
    3UAVCAN_NODE_MODE_SOFTWARE_UPDATEThe node is in the process of updating its software.
    7UAVCAN_NODE_MODE_OFFLINEThe node is no longer available online.

    ESC_CONNECTION_TYPE ​

    Indicates the ESC connection type.

    ValueNameDescription
    0ESC_CONNECTION_TYPE_PPMTraditional PPM ESC.
    1ESC_CONNECTION_TYPE_SERIALSerial Bus connected ESC.
    2ESC_CONNECTION_TYPE_ONESHOTOne Shot PPM ESC.
    3ESC_CONNECTION_TYPE_I2CI2C ESC.
    4ESC_CONNECTION_TYPE_CANCAN-Bus ESC.
    5ESC_CONNECTION_TYPE_DSHOTDShot ESC.

    ESC_FAILURE_FLAGS ​

    (Bitmask) Flags to report ESC failures.

    ValueNameDescription
    0ESC_FAILURE_NONENo ESC failure.
    1ESC_FAILURE_OVER_CURRENTOver current failure.
    2ESC_FAILURE_OVER_VOLTAGEOver voltage failure.
    4ESC_FAILURE_OVER_TEMPERATUREOver temperature failure.
    8ESC_FAILURE_OVER_RPMOver RPM failure.
    16ESC_FAILURE_INCONSISTENT_CMDInconsistent command failure i.e. out of bounds.
    32ESC_FAILURE_MOTOR_STUCKMotor stuck failure.
    64ESC_FAILURE_GENERICGeneric ESC failure.

    STORAGE_STATUS ​

    Flags to indicate the status of camera storage.

    ValueNameDescription
    0STORAGE_STATUS_EMPTYStorage is missing (no microSD card loaded for example.)
    1STORAGE_STATUS_UNFORMATTEDStorage present but unformatted.
    2STORAGE_STATUS_READYStorage present and ready.
    3STORAGE_STATUS_NOT_SUPPORTEDCamera does not supply storage status information. Capacity information in STORAGE_INFORMATION fields will be ignored.

    STORAGE_TYPE ​

    Flags to indicate the type of storage.

    ValueNameDescription
    0STORAGE_TYPE_UNKNOWNStorage type is not known.
    1STORAGE_TYPE_USB_STICKStorage type is USB device.
    2STORAGE_TYPE_SDStorage type is SD card.
    3STORAGE_TYPE_MICROSDStorage type is microSD card.
    4STORAGE_TYPE_CFStorage type is CFast.
    5STORAGE_TYPE_CFEStorage type is CFexpress.
    6STORAGE_TYPE_XQDStorage type is XQD.
    7STORAGE_TYPE_HDStorage type is HD mass storage type.
    254STORAGE_TYPE_OTHERStorage type is other, not listed type.

    STORAGE_USAGE_FLAG ​

    Flags to indicate usage for a particular storage (see STORAGE_INFORMATION.storage_usage and MAV_CMD_SET_STORAGE_USAGE).

    ValueNameDescription
    1STORAGE_USAGE_FLAG_SETAlways set to 1 (indicates STORAGE_INFORMATION.storage_usage is supported).
    2STORAGE_USAGE_FLAG_PHOTOStorage for saving photos.
    4STORAGE_USAGE_FLAG_VIDEOStorage for saving videos.
    8STORAGE_USAGE_FLAG_LOGSStorage for saving logs.

    ORBIT_YAW_BEHAVIOUR ​

    Yaw behaviour during orbit flight.

    ValueNameDescription
    0ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTERVehicle front points to the center (default).
    1ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADINGVehicle front holds heading when message received.
    2ORBIT_YAW_BEHAVIOUR_UNCONTROLLEDYaw uncontrolled.
    3ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLEVehicle front follows flight path (tangential to circle).
    4ORBIT_YAW_BEHAVIOUR_RC_CONTROLLEDYaw controlled by RC input.
    5ORBIT_YAW_BEHAVIOUR_UNCHANGEDVehicle uses current yaw behaviour (unchanged). The vehicle-default yaw behaviour is used if this value is specified when orbit is first commanded.

    WIFI_CONFIG_AP_RESPONSE ​

    Possible responses from a WIFI_CONFIG_AP message.

    ValueNameDescription
    0WIFI_CONFIG_AP_RESPONSE_UNDEFINEDUndefined response. Likely an indicative of a system that doesn't support this request.
    1WIFI_CONFIG_AP_RESPONSE_ACCEPTEDChanges accepted.
    2WIFI_CONFIG_AP_RESPONSE_REJECTEDChanges rejected.
    3WIFI_CONFIG_AP_RESPONSE_MODE_ERRORInvalid Mode.
    4WIFI_CONFIG_AP_RESPONSE_SSID_ERRORInvalid SSID.
    5WIFI_CONFIG_AP_RESPONSE_PASSWORD_ERRORInvalid Password.

    CELLULAR_CONFIG_RESPONSE ​

    Possible responses from a CELLULAR_CONFIG message.

    ValueNameDescription
    0CELLULAR_CONFIG_RESPONSE_ACCEPTEDChanges accepted.
    1CELLULAR_CONFIG_RESPONSE_APN_ERRORInvalid APN.
    2CELLULAR_CONFIG_RESPONSE_PIN_ERRORInvalid PIN.
    3CELLULAR_CONFIG_RESPONSE_REJECTEDChanges rejected.
    4CELLULAR_CONFIG_BLOCKED_PUK_REQUIREDPUK is required to unblock SIM card.

    WIFI_CONFIG_AP_MODE ​

    WiFi Mode.

    ValueNameDescription
    0WIFI_CONFIG_AP_MODE_UNDEFINEDWiFi mode is undefined.
    1WIFI_CONFIG_AP_MODE_APWiFi configured as an access point.
    2WIFI_CONFIG_AP_MODE_STATIONWiFi configured as a station connected to an existing local WiFi network.
    3WIFI_CONFIG_AP_MODE_DISABLEDWiFi disabled.

    COMP_METADATA_TYPE ​

    Supported component metadata types. These are used in the "general" metadata file returned by COMPONENT_METADATA to provide information about supported metadata types. The types are not used directly in MAVLink messages.

    ValueNameDescription
    0COMP_METADATA_TYPE_GENERALGeneral information about the component. General metadata includes information about other metadata types supported by the component. Files of this type must be supported, and must be downloadable from vehicle using a MAVLink FTP URI.
    1COMP_METADATA_TYPE_PARAMETERParameter meta data.
    2COMP_METADATA_TYPE_COMMANDSMeta data that specifies which commands and command parameters the vehicle supports. (WIP)
    3COMP_METADATA_TYPE_PERIPHERALSMeta data that specifies external non-MAVLink peripherals.
    4COMP_METADATA_TYPE_EVENTSMeta data for the events interface.
    5COMP_METADATA_TYPE_ACTUATORSMeta data for actuator configuration (motors, servos and vehicle geometry) and testing.

    ACTUATOR_CONFIGURATION ​

    Actuator configuration, used to change a setting on an actuator. Component information metadata can be used to know which outputs support which commands.

    ValueNameDescription
    0ACTUATOR_CONFIGURATION_NONEDo nothing.
    1ACTUATOR_CONFIGURATION_BEEPCommand the actuator to beep now.
    2ACTUATOR_CONFIGURATION_3D_MODE_ONPermanently set the actuator (ESC) to 3D mode (reversible thrust).
    3ACTUATOR_CONFIGURATION_3D_MODE_OFFPermanently set the actuator (ESC) to non 3D mode (non-reversible thrust).
    4ACTUATOR_CONFIGURATION_SPIN_DIRECTION1Permanently set the actuator (ESC) to spin direction 1 (which can be clockwise or counter-clockwise).
    5ACTUATOR_CONFIGURATION_SPIN_DIRECTION2Permanently set the actuator (ESC) to spin direction 2 (opposite of direction 1).

    ACTUATOR_OUTPUT_FUNCTION ​

    Actuator output function. Values greater or equal to 1000 are autopilot-specific.

    ValueNameDescription
    0ACTUATOR_OUTPUT_FUNCTION_NONENo function (disabled).
    1ACTUATOR_OUTPUT_FUNCTION_MOTOR1Motor 1
    2ACTUATOR_OUTPUT_FUNCTION_MOTOR2Motor 2
    3ACTUATOR_OUTPUT_FUNCTION_MOTOR3Motor 3
    4ACTUATOR_OUTPUT_FUNCTION_MOTOR4Motor 4
    5ACTUATOR_OUTPUT_FUNCTION_MOTOR5Motor 5
    6ACTUATOR_OUTPUT_FUNCTION_MOTOR6Motor 6
    7ACTUATOR_OUTPUT_FUNCTION_MOTOR7Motor 7
    8ACTUATOR_OUTPUT_FUNCTION_MOTOR8Motor 8
    9ACTUATOR_OUTPUT_FUNCTION_MOTOR9Motor 9
    10ACTUATOR_OUTPUT_FUNCTION_MOTOR10Motor 10
    11ACTUATOR_OUTPUT_FUNCTION_MOTOR11Motor 11
    12ACTUATOR_OUTPUT_FUNCTION_MOTOR12Motor 12
    13ACTUATOR_OUTPUT_FUNCTION_MOTOR13Motor 13
    14ACTUATOR_OUTPUT_FUNCTION_MOTOR14Motor 14
    15ACTUATOR_OUTPUT_FUNCTION_MOTOR15Motor 15
    16ACTUATOR_OUTPUT_FUNCTION_MOTOR16Motor 16
    33ACTUATOR_OUTPUT_FUNCTION_SERVO1Servo 1
    34ACTUATOR_OUTPUT_FUNCTION_SERVO2Servo 2
    35ACTUATOR_OUTPUT_FUNCTION_SERVO3Servo 3
    36ACTUATOR_OUTPUT_FUNCTION_SERVO4Servo 4
    37ACTUATOR_OUTPUT_FUNCTION_SERVO5Servo 5
    38ACTUATOR_OUTPUT_FUNCTION_SERVO6Servo 6
    39ACTUATOR_OUTPUT_FUNCTION_SERVO7Servo 7
    40ACTUATOR_OUTPUT_FUNCTION_SERVO8Servo 8
    41ACTUATOR_OUTPUT_FUNCTION_SERVO9Servo 9
    42ACTUATOR_OUTPUT_FUNCTION_SERVO10Servo 10
    43ACTUATOR_OUTPUT_FUNCTION_SERVO11Servo 11
    44ACTUATOR_OUTPUT_FUNCTION_SERVO12Servo 12
    45ACTUATOR_OUTPUT_FUNCTION_SERVO13Servo 13
    46ACTUATOR_OUTPUT_FUNCTION_SERVO14Servo 14
    47ACTUATOR_OUTPUT_FUNCTION_SERVO15Servo 15
    48ACTUATOR_OUTPUT_FUNCTION_SERVO16Servo 16

    AUTOTUNE_AXIS ​

    (Bitmask) Enable axes that will be tuned via autotuning. Used in MAV_CMD_DO_AUTOTUNE_ENABLE.

    ValueNameDescription
    0AUTOTUNE_AXIS_DEFAULTFlight stack tunes axis according to its default settings.
    1AUTOTUNE_AXIS_ROLLAutotune roll axis.
    2AUTOTUNE_AXIS_PITCHAutotune pitch axis.
    4AUTOTUNE_AXIS_YAWAutotune yaw axis.

    PREFLIGHT_STORAGE_PARAMETER_ACTION ​

    Actions for reading/writing parameters between persistent and volatile storage when using MAV_CMD_PREFLIGHT_STORAGE. (Commonly parameters are loaded from persistent storage (flash/EEPROM) into volatile storage (RAM) on startup and written back when they are changed.)

    ValueNameDescription
    0PARAM_READ_PERSISTENTRead all parameters from persistent storage. Replaces values in volatile storage.
    1PARAM_WRITE_PERSISTENTWrite all parameter values to persistent storage (flash/EEPROM)
    2PARAM_RESET_CONFIG_DEFAULTReset all user configurable parameters to their default value (including airframe selection, sensor calibration data, safety settings, and so on). Does not reset values that contain operation counters and vehicle computed statistics.
    3PARAM_RESET_SENSOR_DEFAULTReset only sensor calibration parameters to factory defaults (or firmware default if not available)
    4PARAM_RESET_ALL_DEFAULTReset all parameters, including operation counters, to default values

    PREFLIGHT_STORAGE_MISSION_ACTION ​

    Actions for reading and writing plan information (mission, rally points, geofence) between persistent and volatile storage when using MAV_CMD_PREFLIGHT_STORAGE. (Commonly missions are loaded from persistent storage (flash/EEPROM) into volatile storage (RAM) on startup and written back when they are changed.)

    ValueNameDescription
    0MISSION_READ_PERSISTENTRead current mission data from persistent storage
    1MISSION_WRITE_PERSISTENTWrite current mission data to persistent storage
    2MISSION_RESET_DEFAULTErase all mission data stored on the vehicle (both persistent and volatile storage)

    MAV_DATA_STREAM — [DEP] ​

    DEPRECATED: Replaced By MESSAGE_INTERVAL (2015-06)

    A data stream is not a fixed set of messages, but rather a

    recommendation to the autopilot software. Individual autopilots may or may not obey the recommended messages.

    ValueNameDescription
    0MAV_DATA_STREAM_ALLEnable all data streams
    1MAV_DATA_STREAM_RAW_SENSORSEnable IMU_RAW, GPS_RAW, GPS_STATUS packets.
    2MAV_DATA_STREAM_EXTENDED_STATUSEnable GPS_STATUS, CONTROL_STATUS, AUX_STATUS
    3MAV_DATA_STREAM_RC_CHANNELSEnable RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW
    4MAV_DATA_STREAM_RAW_CONTROLLEREnable ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT, NAV_CONTROLLER_OUTPUT.
    6MAV_DATA_STREAM_POSITIONEnable LOCAL_POSITION, GLOBAL_POSITION_INT messages.
    10MAV_DATA_STREAM_EXTRA1Dependent on the autopilot
    11MAV_DATA_STREAM_EXTRA2Dependent on the autopilot
    12MAV_DATA_STREAM_EXTRA3Dependent on the autopilot

    MAV_ROI — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_DO_SET_ROI_* (2018-01)

    The ROI (region of interest) for the vehicle. This can be

    be used by the vehicle for camera/vehicle attitude alignment (see MAV_CMD_NAV_ROI).

    ValueNameDescription
    0MAV_ROI_NONENo region of interest.
    1MAV_ROI_WPNEXTPoint toward next waypoint, with optional pitch/roll/yaw offset.
    2MAV_ROI_WPINDEXPoint toward given waypoint.
    3MAV_ROI_LOCATIONPoint toward fixed location.
    4MAV_ROI_TARGETPoint toward of given id.

    MAV_PARAM_TYPE ​

    Specifies the datatype of a MAVLink parameter.

    ValueNameDescription
    1MAV_PARAM_TYPE_UINT88-bit unsigned integer
    2MAV_PARAM_TYPE_INT88-bit signed integer
    3MAV_PARAM_TYPE_UINT1616-bit unsigned integer
    4MAV_PARAM_TYPE_INT1616-bit signed integer
    5MAV_PARAM_TYPE_UINT3232-bit unsigned integer
    6MAV_PARAM_TYPE_INT3232-bit signed integer
    7MAV_PARAM_TYPE_UINT6464-bit unsigned integer
    8MAV_PARAM_TYPE_INT6464-bit signed integer
    9MAV_PARAM_TYPE_REAL3232-bit floating-point
    10MAV_PARAM_TYPE_REAL6464-bit floating-point

    MAV_PARAM_EXT_TYPE ​

    Specifies the datatype of a MAVLink extended parameter.

    ValueNameDescription
    1MAV_PARAM_EXT_TYPE_UINT88-bit unsigned integer
    2MAV_PARAM_EXT_TYPE_INT88-bit signed integer
    3MAV_PARAM_EXT_TYPE_UINT1616-bit unsigned integer
    4MAV_PARAM_EXT_TYPE_INT1616-bit signed integer
    5MAV_PARAM_EXT_TYPE_UINT3232-bit unsigned integer
    6MAV_PARAM_EXT_TYPE_INT3232-bit signed integer
    7MAV_PARAM_EXT_TYPE_UINT6464-bit unsigned integer
    8MAV_PARAM_EXT_TYPE_INT6464-bit signed integer
    9MAV_PARAM_EXT_TYPE_REAL3232-bit floating-point
    10MAV_PARAM_EXT_TYPE_REAL6464-bit floating-point
    11MAV_PARAM_EXT_TYPE_CUSTOMCustom Type

    MAV_RESULT ​

    Result from a MAVLink command (MAV_CMD)

    ValueNameDescription
    0MAV_RESULT_ACCEPTEDCommand is valid (is supported and has valid parameters), and was executed.
    1MAV_RESULT_TEMPORARILY_REJECTEDCommand is valid, but cannot be executed at this time. This is used to indicate a problem that should be fixed just by waiting (e.g. a state machine is busy, can't arm because have not got GPS lock, etc.). Retrying later should work.
    2MAV_RESULT_DENIEDCommand is invalid (is supported but has invalid parameters). Retrying same command and parameters will not work.
    3MAV_RESULT_UNSUPPORTEDCommand is not supported (unknown).
    4MAV_RESULT_FAILEDCommand is valid, but execution has failed. This is used to indicate any non-temporary or unexpected problem, i.e. any problem that must be fixed before the command can succeed/be retried. For example, attempting to write a file when out of memory, attempting to arm when sensors are not calibrated, etc.
    5MAV_RESULT_IN_PROGRESSCommand is valid and is being executed. This will be followed by further progress updates, i.e. the component may send further COMMAND_ACK messages with result MAV_RESULT_IN_PROGRESS (at a rate decided by the implementation), and must terminate by sending a COMMAND_ACK message with final result of the operation. The COMMAND_ACK.progress field can be used to indicate the progress of the operation.
    6MAV_RESULT_CANCELLEDCommand has been cancelled (as a result of receiving a COMMAND_CANCEL message).
    7MAV_RESULT_COMMAND_LONG_ONLYCommand is only accepted when sent as a COMMAND_LONG.
    8MAV_RESULT_COMMAND_INT_ONLYCommand is only accepted when sent as a COMMAND_INT.
    9MAV_RESULT_COMMAND_UNSUPPORTED_MAV_FRAMECommand is invalid because a frame is required and the specified frame is not supported.

    MAV_MISSION_RESULT ​

    Result of mission operation (in a MISSION_ACK message).

    ValueNameDescription
    0MAV_MISSION_ACCEPTEDmission accepted OK
    1MAV_MISSION_ERRORGeneric error / not accepting mission commands at all right now.
    2MAV_MISSION_UNSUPPORTED_FRAMECoordinate frame is not supported.
    3MAV_MISSION_UNSUPPORTEDCommand is not supported.
    4MAV_MISSION_NO_SPACEMission items exceed storage space.
    5MAV_MISSION_INVALIDOne of the parameters has an invalid value.
    6MAV_MISSION_INVALID_PARAM1param1 has an invalid value.
    7MAV_MISSION_INVALID_PARAM2param2 has an invalid value.
    8MAV_MISSION_INVALID_PARAM3param3 has an invalid value.
    9MAV_MISSION_INVALID_PARAM4param4 has an invalid value.
    10MAV_MISSION_INVALID_PARAM5_Xx / param5 has an invalid value.
    11MAV_MISSION_INVALID_PARAM6_Yy / param6 has an invalid value.
    12MAV_MISSION_INVALID_PARAM7z / param7 has an invalid value.
    13MAV_MISSION_INVALID_SEQUENCEMission item received out of sequence
    14MAV_MISSION_DENIEDNot accepting any mission commands from this communication partner.
    15MAV_MISSION_OPERATION_CANCELLEDCurrent mission operation cancelled (e.g. mission upload, mission download).

    MAV_SEVERITY ​

    Indicates the severity level, generally used for status messages to indicate their relative urgency. Based on RFC-5424 using expanded definitions at: http://www.kiwisyslog.com/kb/info:-syslog-message-levels/.

    ValueNameDescription
    0MAV_SEVERITY_EMERGENCYSystem is unusable. This is a "panic" condition.
    1MAV_SEVERITY_ALERTAction should be taken immediately. Indicates error in non-critical systems.
    2MAV_SEVERITY_CRITICALAction must be taken immediately. Indicates failure in a primary system.
    3MAV_SEVERITY_ERRORIndicates an error in secondary/redundant systems.
    4MAV_SEVERITY_WARNINGIndicates about a possible future error if this is not resolved within a given timeframe. Example would be a low battery warning.
    5MAV_SEVERITY_NOTICEAn unusual event has occurred, though not an error condition. This should be investigated for the root cause.
    6MAV_SEVERITY_INFONormal operational messages. Useful for logging. No action is required for these messages.
    7MAV_SEVERITY_DEBUGUseful non-operational messages that can assist in debugging. These should not occur during normal operation.

    MAV_POWER_STATUS ​

    (Bitmask) Power supply status flags (bitmask)

    ValueNameDescription
    1MAV_POWER_STATUS_BRICK_VALIDmain brick power supply valid
    2MAV_POWER_STATUS_SERVO_VALIDmain servo power supply valid for FMU
    4MAV_POWER_STATUS_USB_CONNECTEDUSB power is connected
    8MAV_POWER_STATUS_PERIPH_OVERCURRENTperipheral supply is in over-current state
    16MAV_POWER_STATUS_PERIPH_HIPOWER_OVERCURRENThi-power peripheral supply is in over-current state
    32MAV_POWER_STATUS_CHANGEDPower status has changed since boot

    SERIAL_CONTROL_DEV ​

    SERIAL_CONTROL device types

    ValueNameDescription
    0SERIAL_CONTROL_DEV_TELEM1First telemetry port
    1SERIAL_CONTROL_DEV_TELEM2Second telemetry port
    2SERIAL_CONTROL_DEV_GPS1First GPS port
    3SERIAL_CONTROL_DEV_GPS2Second GPS port
    10SERIAL_CONTROL_DEV_SHELLsystem shell
    100SERIAL_CONTROL_SERIAL0SERIAL0
    101SERIAL_CONTROL_SERIAL1SERIAL1
    102SERIAL_CONTROL_SERIAL2SERIAL2
    103SERIAL_CONTROL_SERIAL3SERIAL3
    104SERIAL_CONTROL_SERIAL4SERIAL4
    105SERIAL_CONTROL_SERIAL5SERIAL5
    106SERIAL_CONTROL_SERIAL6SERIAL6
    107SERIAL_CONTROL_SERIAL7SERIAL7
    108SERIAL_CONTROL_SERIAL8SERIAL8
    109SERIAL_CONTROL_SERIAL9SERIAL9

    SERIAL_CONTROL_FLAG ​

    (Bitmask) SERIAL_CONTROL flags (bitmask)

    ValueNameDescription
    1SERIAL_CONTROL_FLAG_REPLYSet if this is a reply
    2SERIAL_CONTROL_FLAG_RESPONDSet if the sender wants the receiver to send a response as another SERIAL_CONTROL message
    4SERIAL_CONTROL_FLAG_EXCLUSIVESet if access to the serial port should be removed from whatever driver is currently using it, giving exclusive access to the SERIAL_CONTROL protocol. The port can be handed back by sending a request without this flag set
    8SERIAL_CONTROL_FLAG_BLOCKINGBlock on writes to the serial port
    16SERIAL_CONTROL_FLAG_MULTISend multiple replies until port is drained

    MAV_DISTANCE_SENSOR ​

    Enumeration of distance sensor types

    ValueNameDescription
    0MAV_DISTANCE_SENSOR_LASERLaser rangefinder, e.g. LightWare SF02/F or PulsedLight units
    1MAV_DISTANCE_SENSOR_ULTRASOUNDUltrasound rangefinder, e.g. MaxBotix units
    2MAV_DISTANCE_SENSOR_INFRAREDInfrared rangefinder, e.g. Sharp units
    3MAV_DISTANCE_SENSOR_RADARRadar type, e.g. uLanding units
    4MAV_DISTANCE_SENSOR_UNKNOWNBroken or unknown type, e.g. analog units

    MAV_SENSOR_ORIENTATION ​

    Enumeration of sensor orientation, according to its rotations

    ValueNameDescription
    0MAV_SENSOR_ROTATION_NONERoll: 0, Pitch: 0, Yaw: 0
    1MAV_SENSOR_ROTATION_YAW_45Roll: 0, Pitch: 0, Yaw: 45
    2MAV_SENSOR_ROTATION_YAW_90Roll: 0, Pitch: 0, Yaw: 90
    3MAV_SENSOR_ROTATION_YAW_135Roll: 0, Pitch: 0, Yaw: 135
    4MAV_SENSOR_ROTATION_YAW_180Roll: 0, Pitch: 0, Yaw: 180
    5MAV_SENSOR_ROTATION_YAW_225Roll: 0, Pitch: 0, Yaw: 225
    6MAV_SENSOR_ROTATION_YAW_270Roll: 0, Pitch: 0, Yaw: 270
    7MAV_SENSOR_ROTATION_YAW_315Roll: 0, Pitch: 0, Yaw: 315
    8MAV_SENSOR_ROTATION_ROLL_180Roll: 180, Pitch: 0, Yaw: 0
    9MAV_SENSOR_ROTATION_ROLL_180_YAW_45Roll: 180, Pitch: 0, Yaw: 45
    10MAV_SENSOR_ROTATION_ROLL_180_YAW_90Roll: 180, Pitch: 0, Yaw: 90
    11MAV_SENSOR_ROTATION_ROLL_180_YAW_135Roll: 180, Pitch: 0, Yaw: 135
    12MAV_SENSOR_ROTATION_PITCH_180Roll: 0, Pitch: 180, Yaw: 0
    13MAV_SENSOR_ROTATION_ROLL_180_YAW_225Roll: 180, Pitch: 0, Yaw: 225
    14MAV_SENSOR_ROTATION_ROLL_180_YAW_270Roll: 180, Pitch: 0, Yaw: 270
    15MAV_SENSOR_ROTATION_ROLL_180_YAW_315Roll: 180, Pitch: 0, Yaw: 315
    16MAV_SENSOR_ROTATION_ROLL_90Roll: 90, Pitch: 0, Yaw: 0
    17MAV_SENSOR_ROTATION_ROLL_90_YAW_45Roll: 90, Pitch: 0, Yaw: 45
    18MAV_SENSOR_ROTATION_ROLL_90_YAW_90Roll: 90, Pitch: 0, Yaw: 90
    19MAV_SENSOR_ROTATION_ROLL_90_YAW_135Roll: 90, Pitch: 0, Yaw: 135
    20MAV_SENSOR_ROTATION_ROLL_270Roll: 270, Pitch: 0, Yaw: 0
    21MAV_SENSOR_ROTATION_ROLL_270_YAW_45Roll: 270, Pitch: 0, Yaw: 45
    22MAV_SENSOR_ROTATION_ROLL_270_YAW_90Roll: 270, Pitch: 0, Yaw: 90
    23MAV_SENSOR_ROTATION_ROLL_270_YAW_135Roll: 270, Pitch: 0, Yaw: 135
    24MAV_SENSOR_ROTATION_PITCH_90Roll: 0, Pitch: 90, Yaw: 0
    25MAV_SENSOR_ROTATION_PITCH_270Roll: 0, Pitch: 270, Yaw: 0
    26MAV_SENSOR_ROTATION_PITCH_180_YAW_90Roll: 0, Pitch: 180, Yaw: 90
    27MAV_SENSOR_ROTATION_PITCH_180_YAW_270Roll: 0, Pitch: 180, Yaw: 270
    28MAV_SENSOR_ROTATION_ROLL_90_PITCH_90Roll: 90, Pitch: 90, Yaw: 0
    29MAV_SENSOR_ROTATION_ROLL_180_PITCH_90Roll: 180, Pitch: 90, Yaw: 0
    30MAV_SENSOR_ROTATION_ROLL_270_PITCH_90Roll: 270, Pitch: 90, Yaw: 0
    31MAV_SENSOR_ROTATION_ROLL_90_PITCH_180Roll: 90, Pitch: 180, Yaw: 0
    32MAV_SENSOR_ROTATION_ROLL_270_PITCH_180Roll: 270, Pitch: 180, Yaw: 0
    33MAV_SENSOR_ROTATION_ROLL_90_PITCH_270Roll: 90, Pitch: 270, Yaw: 0
    34MAV_SENSOR_ROTATION_ROLL_180_PITCH_270Roll: 180, Pitch: 270, Yaw: 0
    35MAV_SENSOR_ROTATION_ROLL_270_PITCH_270Roll: 270, Pitch: 270, Yaw: 0
    36MAV_SENSOR_ROTATION_ROLL_90_PITCH_180_YAW_90Roll: 90, Pitch: 180, Yaw: 90
    37MAV_SENSOR_ROTATION_ROLL_90_YAW_270Roll: 90, Pitch: 0, Yaw: 270
    38MAV_SENSOR_ROTATION_ROLL_90_PITCH_68_YAW_293Roll: 90, Pitch: 68, Yaw: 293
    39MAV_SENSOR_ROTATION_PITCH_315Pitch: 315
    40MAV_SENSOR_ROTATION_ROLL_90_PITCH_315Roll: 90, Pitch: 315
    100MAV_SENSOR_ROTATION_CUSTOMCustom orientation

    MAV_PROTOCOL_CAPABILITY ​

    (Bitmask) Bitmask of (optional) autopilot capabilities (64 bit). If a bit is set, the autopilot supports this capability.

    ValueNameDescription
    1MAV_PROTOCOL_CAPABILITY_MISSION_FLOATAutopilot supports the MISSION_ITEM float message type.
    Note that MISSION_ITEM is deprecated, and autopilots should use MISSION_INT instead.
    2MAV_PROTOCOL_CAPABILITY_PARAM_FLOATAutopilot supports the new param float message type.DEPRECATED: Replaced By MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST (2022-03)
    4MAV_PROTOCOL_CAPABILITY_MISSION_INTAutopilot supports MISSION_ITEM_INT scaled integer message type.
    Note that this flag must always be set if missions are supported, because missions must always use MISSION_ITEM_INT (rather than MISSION_ITEM, which is deprecated).
    8MAV_PROTOCOL_CAPABILITY_COMMAND_INTAutopilot supports COMMAND_INT scaled integer message type.
    16MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISEParameter protocol uses byte-wise encoding of parameter values into param_value (float) fields: https://mavlink.io/en/services/parameter.html#parameter-encoding.
    Note that either this flag or MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST should be set if the parameter protocol is supported.
    32MAV_PROTOCOL_CAPABILITY_FTPAutopilot supports the File Transfer Protocol v1: https://mavlink.io/en/services/ftp.html.
    64MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGETAutopilot supports commanding attitude offboard.
    128MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NEDAutopilot supports commanding position and velocity targets in local NED frame.
    256MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INTAutopilot supports commanding position and velocity targets in global scaled integers.
    512MAV_PROTOCOL_CAPABILITY_TERRAINAutopilot supports terrain protocol / data handling.
    1024MAV_PROTOCOL_CAPABILITY_RESERVED3Reserved for future use.
    2048MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATIONAutopilot supports the MAV_CMD_DO_FLIGHTTERMINATION command (flight termination).
    4096MAV_PROTOCOL_CAPABILITY_COMPASS_CALIBRATIONAutopilot supports onboard compass calibration.
    8192MAV_PROTOCOL_CAPABILITY_MAVLINK2Autopilot supports MAVLink version 2.
    16384MAV_PROTOCOL_CAPABILITY_MISSION_FENCEAutopilot supports mission fence protocol.
    32768MAV_PROTOCOL_CAPABILITY_MISSION_RALLYAutopilot supports mission rally point protocol.
    65536MAV_PROTOCOL_CAPABILITY_RESERVED2Reserved for future use.
    131072MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CASTParameter protocol uses C-cast of parameter values to set the param_value (float) fields: https://mavlink.io/en/services/parameter.html#parameter-encoding.
    Note that either this flag or MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISE should be set if the parameter protocol is supported.
    262144MAV_PROTOCOL_CAPABILITY_COMPONENT_IMPLEMENTS_GIMBAL_MANAGERThis component implements/is a gimbal manager. This means the GIMBAL_MANAGER_INFORMATION, and other messages can be requested.
    524288MAV_PROTOCOL_CAPABILITY_COMPONENT_ACCEPTS_GCS_CONTROLComponent supports locking control to a particular GCS independent of its system (via MAV_CMD_REQUEST_OPERATOR_CONTROL).

    MAV_MISSION_TYPE ​

    Type of mission items being requested/sent in mission protocol.

    ValueNameDescription
    0MAV_MISSION_TYPE_MISSIONItems are mission commands for main mission.
    1MAV_MISSION_TYPE_FENCESpecifies GeoFence area(s). Items are MAV_CMD_NAV_FENCE_ GeoFence items.
    2MAV_MISSION_TYPE_RALLYSpecifies the rally points for the vehicle. Rally points are alternative RTL points. Items are MAV_CMD_NAV_RALLY_POINT rally point items.
    255MAV_MISSION_TYPE_ALLOnly used in MISSION_CLEAR_ALL to clear all mission types.

    MAV_ESTIMATOR_TYPE ​

    Enumeration of estimator types

    ValueNameDescription
    0MAV_ESTIMATOR_TYPE_UNKNOWNUnknown type of the estimator.
    1MAV_ESTIMATOR_TYPE_NAIVEThis is a naive estimator without any real covariance feedback.
    2MAV_ESTIMATOR_TYPE_VISIONComputer vision based estimate. Might be up to scale.
    3MAV_ESTIMATOR_TYPE_VIOVisual-inertial estimate.
    4MAV_ESTIMATOR_TYPE_GPSPlain GPS estimate.
    5MAV_ESTIMATOR_TYPE_GPS_INSEstimator integrating GPS and inertial sensing.
    6MAV_ESTIMATOR_TYPE_MOCAPEstimate from external motion capturing system.
    7MAV_ESTIMATOR_TYPE_LIDAREstimator based on lidar sensor input.
    8MAV_ESTIMATOR_TYPE_AUTOPILOTEstimator on autopilot.

    MAV_BATTERY_TYPE ​

    Enumeration of battery types

    ValueNameDescription
    0MAV_BATTERY_TYPE_UNKNOWNNot specified.
    1MAV_BATTERY_TYPE_LIPOLithium polymer battery
    2MAV_BATTERY_TYPE_LIFELithium-iron-phosphate battery
    3MAV_BATTERY_TYPE_LIONLithium-ION battery
    4MAV_BATTERY_TYPE_NIMHNickel metal hydride battery

    MAV_BATTERY_FUNCTION ​

    Enumeration of battery functions

    ValueNameDescription
    0MAV_BATTERY_FUNCTION_UNKNOWNBattery function is unknown
    1MAV_BATTERY_FUNCTION_ALLBattery supports all flight systems
    2MAV_BATTERY_FUNCTION_PROPULSIONBattery for the propulsion system
    3MAV_BATTERY_FUNCTION_AVIONICSAvionics battery
    4MAV_BATTERY_FUNCTION_PAYLOADPayload battery

    MAV_BATTERY_CHARGE_STATE ​

    Enumeration for battery charge states.

    ValueNameDescription
    0MAV_BATTERY_CHARGE_STATE_UNDEFINEDLow battery state is not provided
    1MAV_BATTERY_CHARGE_STATE_OKBattery is not in low state. Normal operation.
    2MAV_BATTERY_CHARGE_STATE_LOWBattery state is low, warn and monitor close.
    3MAV_BATTERY_CHARGE_STATE_CRITICALBattery state is critical, return or abort immediately.
    4MAV_BATTERY_CHARGE_STATE_EMERGENCYBattery state is too low for ordinary abort sequence. Perform fastest possible emergency stop to prevent damage.
    5MAV_BATTERY_CHARGE_STATE_FAILEDBattery failed, damage unavoidable. Possible causes (faults) are listed in MAV_BATTERY_FAULT.
    6MAV_BATTERY_CHARGE_STATE_UNHEALTHYBattery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in MAV_BATTERY_FAULT.
    7MAV_BATTERY_CHARGE_STATE_CHARGINGBattery is charging.

    MAV_BATTERY_MODE ​

    Smart battery mode. Note, the normal operation mode (i.e. when flying) should be reported as MAV_BATTERY_MODE_UNKNOWN to allow message trimming in normal flight.

    ValueNameDescription
    0MAV_BATTERY_MODE_UNKNOWNBattery mode not supported/unknown battery mode/normal operation.
    1MAV_BATTERY_MODE_AUTO_DISCHARGINGBattery is auto discharging (towards storage level).
    2MAV_BATTERY_MODE_HOT_SWAPBattery in hot-swap mode (current limited to prevent spikes that might damage sensitive electrical circuits).

    MAV_BATTERY_FAULT ​

    (Bitmask) Smart battery supply status/fault flags (bitmask) for health indication. The battery must also report either MAV_BATTERY_CHARGE_STATE_FAILED or MAV_BATTERY_CHARGE_STATE_UNHEALTHY if any of these are set.

    ValueNameDescription
    1MAV_BATTERY_FAULT_DEEP_DISCHARGEBattery has deep discharged.
    2MAV_BATTERY_FAULT_SPIKESVoltage spikes.
    4MAV_BATTERY_FAULT_CELL_FAILOne or more cells have failed. Battery should also report MAV_BATTERY_CHARGE_STATE_FAILE (and should not be used).
    8MAV_BATTERY_FAULT_OVER_CURRENTOver-current fault.
    16MAV_BATTERY_FAULT_OVER_TEMPERATUREOver-temperature fault.
    32MAV_BATTERY_FAULT_UNDER_TEMPERATUREUnder-temperature fault.
    64MAV_BATTERY_FAULT_INCOMPATIBLE_VOLTAGEVehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage).
    128MAV_BATTERY_FAULT_INCOMPATIBLE_FIRMWAREBattery firmware is not compatible with current autopilot firmware.
    256BATTERY_FAULT_INCOMPATIBLE_CELLS_CONFIGURATIONBattery is not compatible due to cell configuration (e.g. 5s1p when vehicle requires 6s).

    MAV_FUEL_TYPE ​

    Fuel types for use in FUEL_TYPE. Fuel types specify the units for the maximum, available and consumed fuel, and for the flow rates.

    ValueNameDescription
    0MAV_FUEL_TYPE_UNKNOWNNot specified. Fuel levels are normalized (i.e. maximum is 1, and other levels are relative to 1).
    1MAV_FUEL_TYPE_LIQUIDA generic liquid fuel. Fuel levels are in millilitres (ml). Fuel rates are in millilitres/second.
    2MAV_FUEL_TYPE_GASA gas tank. Fuel levels are in kilo-Pascal (kPa), and flow rates are in milliliters per second (ml/s).

    MAV_GENERATOR_STATUS_FLAG ​

    (Bitmask) Flags to report status/failure cases for a power generator (used in GENERATOR_STATUS). Note that FAULTS are conditions that cause the generator to fail. Warnings are conditions that require attention before the next use (they indicate the system is not operating properly).

    ValueNameDescription
    1MAV_GENERATOR_STATUS_FLAG_OFFGenerator is off.
    2MAV_GENERATOR_STATUS_FLAG_READYGenerator is ready to start generating power.
    4MAV_GENERATOR_STATUS_FLAG_GENERATINGGenerator is generating power.
    8MAV_GENERATOR_STATUS_FLAG_CHARGINGGenerator is charging the batteries (generating enough power to charge and provide the load).
    16MAV_GENERATOR_STATUS_FLAG_REDUCED_POWERGenerator is operating at a reduced maximum power.
    32MAV_GENERATOR_STATUS_FLAG_MAXPOWERGenerator is providing the maximum output.
    64MAV_GENERATOR_STATUS_FLAG_OVERTEMP_WARNINGGenerator is near the maximum operating temperature, cooling is insufficient.
    128MAV_GENERATOR_STATUS_FLAG_OVERTEMP_FAULTGenerator hit the maximum operating temperature and shutdown.
    256MAV_GENERATOR_STATUS_FLAG_ELECTRONICS_OVERTEMP_WARNINGPower electronics are near the maximum operating temperature, cooling is insufficient.
    512MAV_GENERATOR_STATUS_FLAG_ELECTRONICS_OVERTEMP_FAULTPower electronics hit the maximum operating temperature and shutdown.
    1024MAV_GENERATOR_STATUS_FLAG_ELECTRONICS_FAULTPower electronics experienced a fault and shutdown.
    2048MAV_GENERATOR_STATUS_FLAG_POWERSOURCE_FAULTThe power source supplying the generator failed e.g. mechanical generator stopped, tether is no longer providing power, solar cell is in shade, hydrogen reaction no longer happening.
    4096MAV_GENERATOR_STATUS_FLAG_COMMUNICATION_WARNINGGenerator controller having communication problems.
    8192MAV_GENERATOR_STATUS_FLAG_COOLING_WARNINGPower electronic or generator cooling system error.
    16384MAV_GENERATOR_STATUS_FLAG_POWER_RAIL_FAULTGenerator controller power rail experienced a fault.
    32768MAV_GENERATOR_STATUS_FLAG_OVERCURRENT_FAULTGenerator controller exceeded the overcurrent threshold and shutdown to prevent damage.
    65536MAV_GENERATOR_STATUS_FLAG_BATTERY_OVERCHARGE_CURRENT_FAULTGenerator controller detected a high current going into the batteries and shutdown to prevent battery damage.
    131072MAV_GENERATOR_STATUS_FLAG_OVERVOLTAGE_FAULTGenerator controller exceeded it's overvoltage threshold and shutdown to prevent it exceeding the voltage rating.
    262144MAV_GENERATOR_STATUS_FLAG_BATTERY_UNDERVOLT_FAULTBatteries are under voltage (generator will not start).
    524288MAV_GENERATOR_STATUS_FLAG_START_INHIBITEDGenerator start is inhibited by e.g. a safety switch.
    1048576MAV_GENERATOR_STATUS_FLAG_MAINTENANCE_REQUIREDGenerator requires maintenance.
    2097152MAV_GENERATOR_STATUS_FLAG_WARMING_UPGenerator is not ready to generate yet.
    4194304MAV_GENERATOR_STATUS_FLAG_IDLEGenerator is idle.

    MAV_VTOL_STATE ​

    Enumeration of VTOL states

    ValueNameDescription
    0MAV_VTOL_STATE_UNDEFINEDMAV is not configured as VTOL
    1MAV_VTOL_STATE_TRANSITION_TO_FWVTOL is in transition from multicopter to fixed-wing
    2MAV_VTOL_STATE_TRANSITION_TO_MCVTOL is in transition from fixed-wing to multicopter
    3MAV_VTOL_STATE_MCVTOL is in multicopter state
    4MAV_VTOL_STATE_FWVTOL is in fixed-wing state

    MAV_LANDED_STATE ​

    Enumeration of landed detector states

    ValueNameDescription
    0MAV_LANDED_STATE_UNDEFINEDMAV landed state is unknown
    1MAV_LANDED_STATE_ON_GROUNDMAV is landed (on ground)
    2MAV_LANDED_STATE_IN_AIRMAV is in air
    3MAV_LANDED_STATE_TAKEOFFMAV currently taking off
    4MAV_LANDED_STATE_LANDINGMAV currently landing

    ADSB_ALTITUDE_TYPE ​

    Enumeration of the ADSB altimeter types

    ValueNameDescription
    0ADSB_ALTITUDE_TYPE_PRESSURE_QNHAltitude reported from a Baro source using QNH reference
    1ADSB_ALTITUDE_TYPE_GEOMETRICAltitude reported from a GNSS source

    ADSB_EMITTER_TYPE ​

    ADSB classification for the type of vehicle emitting the transponder signal

    ValueNameDescription
    0ADSB_EMITTER_TYPE_NO_INFO
    1ADSB_EMITTER_TYPE_LIGHT
    2ADSB_EMITTER_TYPE_SMALL
    3ADSB_EMITTER_TYPE_LARGE
    4ADSB_EMITTER_TYPE_HIGH_VORTEX_LARGE
    5ADSB_EMITTER_TYPE_HEAVY
    6ADSB_EMITTER_TYPE_HIGHLY_MANUV
    7ADSB_EMITTER_TYPE_ROTOCRAFT
    8ADSB_EMITTER_TYPE_UNASSIGNED
    9ADSB_EMITTER_TYPE_GLIDER
    10ADSB_EMITTER_TYPE_LIGHTER_AIR
    11ADSB_EMITTER_TYPE_PARACHUTE
    12ADSB_EMITTER_TYPE_ULTRA_LIGHT
    13ADSB_EMITTER_TYPE_UNASSIGNED2
    14ADSB_EMITTER_TYPE_UAV
    15ADSB_EMITTER_TYPE_SPACE
    16ADSB_EMITTER_TYPE_UNASSGINED3
    17ADSB_EMITTER_TYPE_EMERGENCY_SURFACE
    18ADSB_EMITTER_TYPE_SERVICE_SURFACE
    19ADSB_EMITTER_TYPE_POINT_OBSTACLE

    ADSB_FLAGS ​

    (Bitmask) These flags indicate status such as data validity of each data source. Set = data valid

    ValueNameDescription
    1ADSB_FLAGS_VALID_COORDS
    2ADSB_FLAGS_VALID_ALTITUDE
    4ADSB_FLAGS_VALID_HEADING
    8ADSB_FLAGS_VALID_VELOCITY
    16ADSB_FLAGS_VALID_CALLSIGN
    32ADSB_FLAGS_VALID_SQUAWK
    64ADSB_FLAGS_SIMULATED
    128ADSB_FLAGS_VERTICAL_VELOCITY_VALID
    256ADSB_FLAGS_BARO_VALID
    32768ADSB_FLAGS_SOURCE_UAT

    MAV_DO_REPOSITION_FLAGS ​

    (Bitmask) Bitmap of options for the MAV_CMD_DO_REPOSITION

    ValueNameDescription
    1MAV_DO_REPOSITION_FLAGS_CHANGE_MODEThe aircraft should immediately transition into guided. This should not be set for follow me applications

    SPEED_TYPE ​

    Speed setpoint types used in MAV_CMD_DO_CHANGE_SPEED

    ValueNameDescription
    0SPEED_TYPE_AIRSPEEDAirspeed
    1SPEED_TYPE_GROUNDSPEEDGroundspeed
    2SPEED_TYPE_CLIMB_SPEEDClimb speed
    3SPEED_TYPE_DESCENT_SPEEDDescent speed

    ESTIMATOR_STATUS_FLAGS ​

    (Bitmask) Flags in ESTIMATOR_STATUS message

    ValueNameDescription
    1ESTIMATOR_ATTITUDETrue if the attitude estimate is good
    2ESTIMATOR_VELOCITY_HORIZTrue if the horizontal velocity estimate is good
    4ESTIMATOR_VELOCITY_VERTTrue if the vertical velocity estimate is good
    8ESTIMATOR_POS_HORIZ_RELTrue if the horizontal position (relative) estimate is good
    16ESTIMATOR_POS_HORIZ_ABSTrue if the horizontal position (absolute) estimate is good
    32ESTIMATOR_POS_VERT_ABSTrue if the vertical position (absolute) estimate is good
    64ESTIMATOR_POS_VERT_AGLTrue if the vertical position (above ground) estimate is good
    128ESTIMATOR_CONST_POS_MODETrue if the EKF is in a constant position mode and is not using external measurements (eg GPS or optical flow)
    256ESTIMATOR_PRED_POS_HORIZ_RELTrue if the EKF has sufficient data to enter a mode that will provide a (relative) position estimate
    512ESTIMATOR_PRED_POS_HORIZ_ABSTrue if the EKF has sufficient data to enter a mode that will provide a (absolute) position estimate
    1024ESTIMATOR_GPS_GLITCHTrue if the EKF has detected a GPS glitch
    2048ESTIMATOR_ACCEL_ERRORTrue if the EKF has detected bad accelerometer data

    MOTOR_TEST_ORDER ​

    Sequence that motors are tested when using MAV_CMD_DO_MOTOR_TEST.

    ValueNameDescription
    0MOTOR_TEST_ORDER_DEFAULTDefault autopilot motor test method.
    1MOTOR_TEST_ORDER_SEQUENCEMotor numbers are specified as their index in a predefined vehicle-specific sequence.
    2MOTOR_TEST_ORDER_BOARDMotor numbers are specified as the output as labeled on the board.

    MOTOR_TEST_THROTTLE_TYPE ​

    Defines how throttle value is represented in MAV_CMD_DO_MOTOR_TEST.

    ValueNameDescription
    0MOTOR_TEST_THROTTLE_PERCENTThrottle as a percentage (0 ~ 100)
    1MOTOR_TEST_THROTTLE_PWMThrottle as an absolute PWM value (normally in range of 1000~2000).
    2MOTOR_TEST_THROTTLE_PILOTThrottle pass-through from pilot's transmitter.
    3MOTOR_TEST_COMPASS_CALPer-motor compass calibration test.

    GPS_INPUT_IGNORE_FLAGS ​

    (Bitmask)

    ValueNameDescription
    1GPS_INPUT_IGNORE_FLAG_ALTignore altitude field
    2GPS_INPUT_IGNORE_FLAG_HDOPignore hdop field
    4GPS_INPUT_IGNORE_FLAG_VDOPignore vdop field
    8GPS_INPUT_IGNORE_FLAG_VEL_HORIZignore horizontal velocity field (vn and ve)
    16GPS_INPUT_IGNORE_FLAG_VEL_VERTignore vertical velocity field (vd)
    32GPS_INPUT_IGNORE_FLAG_SPEED_ACCURACYignore speed accuracy field
    64GPS_INPUT_IGNORE_FLAG_HORIZONTAL_ACCURACYignore horizontal accuracy field
    128GPS_INPUT_IGNORE_FLAG_VERTICAL_ACCURACYignore vertical accuracy field

    MAV_COLLISION_ACTION ​

    Possible actions an aircraft can take to avoid a collision.

    ValueNameDescription
    0MAV_COLLISION_ACTION_NONEIgnore any potential collisions
    1MAV_COLLISION_ACTION_REPORTReport potential collision
    2MAV_COLLISION_ACTION_ASCEND_OR_DESCENDAscend or Descend to avoid threat
    3MAV_COLLISION_ACTION_MOVE_HORIZONTALLYMove horizontally to avoid threat
    4MAV_COLLISION_ACTION_MOVE_PERPENDICULARAircraft to move perpendicular to the collision's velocity vector
    5MAV_COLLISION_ACTION_RTLAircraft to fly directly back to its launch point
    6MAV_COLLISION_ACTION_HOVERAircraft to stop in place

    MAV_COLLISION_THREAT_LEVEL ​

    Aircraft-rated danger from this threat.

    ValueNameDescription
    0MAV_COLLISION_THREAT_LEVEL_NONENot a threat
    1MAV_COLLISION_THREAT_LEVEL_LOWCraft is mildly concerned about this threat
    2MAV_COLLISION_THREAT_LEVEL_HIGHCraft is panicking, and may take actions to avoid threat

    MAV_COLLISION_SRC ​

    Source of information about this collision.

    ValueNameDescription
    0MAV_COLLISION_SRC_ADSBID field references ADSB_VEHICLE packets
    1MAV_COLLISION_SRC_MAVLINK_GPS_GLOBAL_INTID field references MAVLink SRC ID

    GPS_FIX_TYPE ​

    Type of GPS fix

    ValueNameDescription
    0GPS_FIX_TYPE_NO_GPSNo GPS connected
    1GPS_FIX_TYPE_NO_FIXNo position information, GPS is connected
    2GPS_FIX_TYPE_2D_FIX2D position
    3GPS_FIX_TYPE_3D_FIX3D position
    4GPS_FIX_TYPE_DGPSDGPS/SBAS aided 3D position
    5GPS_FIX_TYPE_RTK_FLOATRTK float, 3D position
    6GPS_FIX_TYPE_RTK_FIXEDRTK Fixed, 3D position
    7GPS_FIX_TYPE_STATICStatic fixed, typically used for base stations
    8GPS_FIX_TYPE_PPPPPP, 3D position.

    RTK_BASELINE_COORDINATE_SYSTEM ​

    RTK GPS baseline coordinate system, used for RTK corrections

    ValueNameDescription
    0RTK_BASELINE_COORDINATE_SYSTEM_ECEFEarth-centered, Earth-fixed
    1RTK_BASELINE_COORDINATE_SYSTEM_NEDRTK basestation centered, north, east, down

    LANDING_TARGET_TYPE ​

    Type of landing target

    ValueNameDescription
    0LANDING_TARGET_TYPE_LIGHT_BEACONLanding target signaled by light beacon (ex: IR-LOCK)
    1LANDING_TARGET_TYPE_RADIO_BEACONLanding target signaled by radio beacon (ex: ILS, NDB)
    2LANDING_TARGET_TYPE_VISION_FIDUCIALLanding target represented by a fiducial marker (ex: ARTag)
    3LANDING_TARGET_TYPE_VISION_OTHERLanding target represented by a pre-defined visual shape/feature (ex: X-marker, H-marker, square)

    VTOL_TRANSITION_HEADING ​

    Direction of VTOL transition

    ValueNameDescription
    0VTOL_TRANSITION_HEADING_VEHICLE_DEFAULTRespect the heading configuration of the vehicle.
    1VTOL_TRANSITION_HEADING_NEXT_WAYPOINTUse the heading pointing towards the next waypoint.
    2VTOL_TRANSITION_HEADING_TAKEOFFUse the heading on takeoff (while sitting on the ground).
    3VTOL_TRANSITION_HEADING_SPECIFIEDUse the specified heading in parameter 4.
    4VTOL_TRANSITION_HEADING_ANYUse the current heading when reaching takeoff altitude (potentially facing the wind when weather-vaning is active).

    CAMERA_CAP_FLAGS ​

    (Bitmask) Camera capability flags (Bitmap)

    ValueNameDescription
    1CAMERA_CAP_FLAGS_CAPTURE_VIDEOCamera is able to record video
    2CAMERA_CAP_FLAGS_CAPTURE_IMAGECamera is able to capture images
    4CAMERA_CAP_FLAGS_HAS_MODESCamera has separate Video and Image/Photo modes (MAV_CMD_SET_CAMERA_MODE)
    8CAMERA_CAP_FLAGS_CAN_CAPTURE_IMAGE_IN_VIDEO_MODECamera can capture images while in video mode
    16CAMERA_CAP_FLAGS_CAN_CAPTURE_VIDEO_IN_IMAGE_MODECamera can capture videos while in Photo/Image mode
    32CAMERA_CAP_FLAGS_HAS_IMAGE_SURVEY_MODECamera has image survey mode (MAV_CMD_SET_CAMERA_MODE)
    64CAMERA_CAP_FLAGS_HAS_BASIC_ZOOMCamera has basic zoom control (MAV_CMD_SET_CAMERA_ZOOM)
    128CAMERA_CAP_FLAGS_HAS_BASIC_FOCUSCamera has basic focus control (MAV_CMD_SET_CAMERA_FOCUS)
    256CAMERA_CAP_FLAGS_HAS_VIDEO_STREAMCamera has video streaming capabilities (request VIDEO_STREAM_INFORMATION with MAV_CMD_REQUEST_MESSAGE for video streaming info)
    512CAMERA_CAP_FLAGS_HAS_TRACKING_POINTCamera supports tracking of a point on the camera view.
    1024CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLECamera supports tracking of a selection rectangle on the camera view.
    2048CAMERA_CAP_FLAGS_HAS_TRACKING_GEO_STATUSCamera supports tracking geo status (CAMERA_TRACKING_GEO_STATUS).
    4096CAMERA_CAP_FLAGS_HAS_THERMAL_RANGECamera supports absolute thermal range (request CAMERA_THERMAL_RANGE with MAV_CMD_REQUEST_MESSAGE) (WIP).

    VIDEO_STREAM_STATUS_FLAGS ​

    (Bitmask) Stream status flags (Bitmap)

    ValueNameDescription
    1VIDEO_STREAM_STATUS_FLAGS_RUNNINGStream is active (running)
    2VIDEO_STREAM_STATUS_FLAGS_THERMALStream is thermal imaging
    4VIDEO_STREAM_STATUS_FLAGS_THERMAL_RANGE_ENABLEDStream can report absolute thermal range (see CAMERA_THERMAL_RANGE). (WIP).

    VIDEO_STREAM_TYPE ​

    Video stream types

    ValueNameDescription
    0VIDEO_STREAM_TYPE_RTSPStream is RTSP
    1VIDEO_STREAM_TYPE_RTPUDPStream is RTP UDP (URI gives the port number)
    2VIDEO_STREAM_TYPE_TCP_MPEGStream is MPEG on TCP
    3VIDEO_STREAM_TYPE_MPEG_TSStream is MPEG TS (URI gives the port number)

    VIDEO_STREAM_ENCODING ​

    Video stream encodings

    ValueNameDescription
    0VIDEO_STREAM_ENCODING_UNKNOWNStream encoding is unknown
    1VIDEO_STREAM_ENCODING_H264Stream encoding is H.264
    2VIDEO_STREAM_ENCODING_H265Stream encoding is H.265

    CAMERA_TRACKING_STATUS_FLAGS ​

    Camera tracking status flags

    ValueNameDescription
    0CAMERA_TRACKING_STATUS_FLAGS_IDLECamera is not tracking
    1CAMERA_TRACKING_STATUS_FLAGS_ACTIVECamera is tracking
    2CAMERA_TRACKING_STATUS_FLAGS_ERRORCamera tracking in error state

    CAMERA_TRACKING_MODE ​

    Camera tracking modes

    ValueNameDescription
    0CAMERA_TRACKING_MODE_NONENot tracking
    1CAMERA_TRACKING_MODE_POINTTarget is a point
    2CAMERA_TRACKING_MODE_RECTANGLETarget is a rectangle

    CAMERA_TRACKING_TARGET_DATA ​

    (Bitmask) Camera tracking target data (shows where tracked target is within image)

    ValueNameDescription
    0CAMERA_TRACKING_TARGET_DATA_NONENo target data
    1CAMERA_TRACKING_TARGET_DATA_EMBEDDEDTarget data embedded in image data (proprietary)
    2CAMERA_TRACKING_TARGET_DATA_RENDEREDTarget data rendered in image
    4CAMERA_TRACKING_TARGET_DATA_IN_STATUSTarget data within status message (Point or Rectangle)

    CAMERA_ZOOM_TYPE ​

    Zoom types for MAV_CMD_SET_CAMERA_ZOOM

    ValueNameDescription
    0ZOOM_TYPE_STEPZoom one step increment (-1 for wide, 1 for tele)
    1ZOOM_TYPE_CONTINUOUSContinuous zoom up/down until stopped (-1 for wide, 1 for tele, 0 to stop zooming)
    2ZOOM_TYPE_RANGEZoom value as proportion of full camera range (a percentage value between 0.0 and 100.0)
    3ZOOM_TYPE_FOCAL_LENGTHZoom value/variable focal length in millimetres. Note that there is no message to get the valid zoom range of the camera, so this can type can only be used for cameras where the zoom range is known (implying that this cannot reliably be used in a GCS for an arbitrary camera)
    4ZOOM_TYPE_HORIZONTAL_FOVZoom value as horizontal field of view in degrees.

    SET_FOCUS_TYPE ​

    Focus types for MAV_CMD_SET_CAMERA_FOCUS

    ValueNameDescription
    0FOCUS_TYPE_STEPFocus one step increment (-1 for focusing in, 1 for focusing out towards infinity).
    1FOCUS_TYPE_CONTINUOUSContinuous focus up/down until stopped (-1 for focusing in, 1 for focusing out towards infinity, 0 to stop focusing)
    2FOCUS_TYPE_RANGEFocus value as proportion of full camera focus range (a value between 0.0 and 100.0)
    3FOCUS_TYPE_METERSFocus value in metres. Note that there is no message to get the valid focus range of the camera, so this can type can only be used for cameras where the range is known (implying that this cannot reliably be used in a GCS for an arbitrary camera).
    4FOCUS_TYPE_AUTOFocus automatically.
    5FOCUS_TYPE_AUTO_SINGLESingle auto focus. Mainly used for still pictures. Usually abbreviated as AF-S.
    6FOCUS_TYPE_AUTO_CONTINUOUSContinuous auto focus. Mainly used for dynamic scenes. Abbreviated as AF-C.

    CAMERA_SOURCE ​

    Camera sources for MAV_CMD_SET_CAMERA_SOURCE

    ValueNameDescription
    0CAMERA_SOURCE_DEFAULTDefault camera source.
    1CAMERA_SOURCE_RGBRGB camera source.
    2CAMERA_SOURCE_IRIR camera source.
    3CAMERA_SOURCE_NDVINDVI camera source.

    PARAM_ACK ​

    Result from PARAM_EXT_SET message (or a PARAM_SET within a transaction).

    ValueNameDescription
    0PARAM_ACK_ACCEPTEDParameter value ACCEPTED and SET
    1PARAM_ACK_VALUE_UNSUPPORTEDParameter value UNKNOWN/UNSUPPORTED
    2PARAM_ACK_FAILEDParameter failed to set
    3PARAM_ACK_IN_PROGRESSParameter value received but not yet set/accepted. A subsequent PARAM_ACK_TRANSACTION or PARAM_EXT_ACK with the final result will follow once operation is completed. This is returned immediately for parameters that take longer to set, indicating that the the parameter was received and does not need to be resent.

    CAMERA_MODE ​

    Camera Modes.

    ValueNameDescription
    0CAMERA_MODE_IMAGECamera is in image/photo capture mode.
    1CAMERA_MODE_VIDEOCamera is in video capture mode.
    2CAMERA_MODE_IMAGE_SURVEYCamera is in image survey capture mode. It allows for camera controller to do specific settings for surveys.

    MAV_ARM_AUTH_DENIED_REASON ​

    ValueNameDescription
    0MAV_ARM_AUTH_DENIED_REASON_GENERICNot a specific reason
    1MAV_ARM_AUTH_DENIED_REASON_NONEAuthorizer will send the error as string to GCS
    2MAV_ARM_AUTH_DENIED_REASON_INVALID_WAYPOINTAt least one waypoint have a invalid value
    3MAV_ARM_AUTH_DENIED_REASON_TIMEOUTTimeout in the authorizer process(in case it depends on network)
    4MAV_ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USEAirspace of the mission in use by another vehicle, second result parameter can have the waypoint id that caused it to be denied.
    5MAV_ARM_AUTH_DENIED_REASON_BAD_WEATHERWeather is not good to fly

    RC_TYPE ​

    RC type. Used in MAV_CMD_START_RX_PAIR.

    ValueNameDescription
    0RC_TYPE_SPEKTRUMSpektrum
    1RC_TYPE_CRSFCRSF

    RC_SUB_TYPE ​

    RC sub-type of types defined in RC_TYPE. Used in MAV_CMD_START_RX_PAIR. Ignored if value does not correspond to the set RC_TYPE.

    ValueNameDescription
    0RC_SUB_TYPE_SPEKTRUM_DSM2Spektrum DSM2
    1RC_SUB_TYPE_SPEKTRUM_DSMXSpektrum DSMX
    2RC_SUB_TYPE_SPEKTRUM_DSMX8Spektrum DSMX8

    POSITION_TARGET_TYPEMASK ​

    (Bitmask) Bitmap to indicate which dimensions should be ignored by the vehicle: a value of 0b0000000000000000 or 0b0000001000000000 indicates that none of the setpoint dimensions should be ignored. If bit 9 is set the floats afx afy afz should be interpreted as force instead of acceleration.

    ValueNameDescription
    1POSITION_TARGET_TYPEMASK_X_IGNOREIgnore position x
    2POSITION_TARGET_TYPEMASK_Y_IGNOREIgnore position y
    4POSITION_TARGET_TYPEMASK_Z_IGNOREIgnore position z
    8POSITION_TARGET_TYPEMASK_VX_IGNOREIgnore velocity x
    16POSITION_TARGET_TYPEMASK_VY_IGNOREIgnore velocity y
    32POSITION_TARGET_TYPEMASK_VZ_IGNOREIgnore velocity z
    64POSITION_TARGET_TYPEMASK_AX_IGNOREIgnore acceleration x
    128POSITION_TARGET_TYPEMASK_AY_IGNOREIgnore acceleration y
    256POSITION_TARGET_TYPEMASK_AZ_IGNOREIgnore acceleration z
    512POSITION_TARGET_TYPEMASK_FORCE_SETUse force instead of acceleration
    1024POSITION_TARGET_TYPEMASK_YAW_IGNOREIgnore yaw
    2048POSITION_TARGET_TYPEMASK_YAW_RATE_IGNOREIgnore yaw rate

    ATTITUDE_TARGET_TYPEMASK ​

    (Bitmask) Bitmap to indicate which dimensions should be ignored by the vehicle: a value of 0b00000000 indicates that none of the setpoint dimensions should be ignored.

    ValueNameDescription
    1ATTITUDE_TARGET_TYPEMASK_BODY_ROLL_RATE_IGNOREIgnore body roll rate
    2ATTITUDE_TARGET_TYPEMASK_BODY_PITCH_RATE_IGNOREIgnore body pitch rate
    4ATTITUDE_TARGET_TYPEMASK_BODY_YAW_RATE_IGNOREIgnore body yaw rate
    32ATTITUDE_TARGET_TYPEMASK_THRUST_BODY_SETUse 3D body thrust setpoint instead of throttle
    64ATTITUDE_TARGET_TYPEMASK_THROTTLE_IGNOREIgnore throttle
    128ATTITUDE_TARGET_TYPEMASK_ATTITUDE_IGNOREIgnore attitude

    UTM_FLIGHT_STATE ​

    Airborne status of UAS.

    ValueNameDescription
    1UTM_FLIGHT_STATE_UNKNOWNThe flight state can't be determined.
    2UTM_FLIGHT_STATE_GROUNDUAS on ground.
    3UTM_FLIGHT_STATE_AIRBORNEUAS airborne.
    16UTM_FLIGHT_STATE_EMERGENCYUAS is in an emergency flight state.
    32UTM_FLIGHT_STATE_NOCTRLUAS has no active controls.

    UTM_DATA_AVAIL_FLAGS ​

    (Bitmask) Flags for the global position report.

    ValueNameDescription
    1UTM_DATA_AVAIL_FLAGS_TIME_VALIDThe field time contains valid data.
    2UTM_DATA_AVAIL_FLAGS_UAS_ID_AVAILABLEThe field uas_id contains valid data.
    4UTM_DATA_AVAIL_FLAGS_POSITION_AVAILABLEThe fields lat, lon and h_acc contain valid data.
    8UTM_DATA_AVAIL_FLAGS_ALTITUDE_AVAILABLEThe fields alt and v_acc contain valid data.
    16UTM_DATA_AVAIL_FLAGS_RELATIVE_ALTITUDE_AVAILABLEThe field relative_alt contains valid data.
    32UTM_DATA_AVAIL_FLAGS_HORIZONTAL_VELO_AVAILABLEThe fields vx and vy contain valid data.
    64UTM_DATA_AVAIL_FLAGS_VERTICAL_VELO_AVAILABLEThe field vz contains valid data.
    128UTM_DATA_AVAIL_FLAGS_NEXT_WAYPOINT_AVAILABLEThe fields next_lat, next_lon and next_alt contain valid data.

    CELLULAR_STATUS_FLAG ​

    These flags encode the cellular network status

    ValueNameDescription
    0CELLULAR_STATUS_FLAG_UNKNOWNState unknown or not reportable.
    1CELLULAR_STATUS_FLAG_FAILEDModem is unusable
    2CELLULAR_STATUS_FLAG_INITIALIZINGModem is being initialized
    3CELLULAR_STATUS_FLAG_LOCKEDModem is locked
    4CELLULAR_STATUS_FLAG_DISABLEDModem is not enabled and is powered down
    5CELLULAR_STATUS_FLAG_DISABLINGModem is currently transitioning to the CELLULAR_STATUS_FLAG_DISABLED state
    6CELLULAR_STATUS_FLAG_ENABLINGModem is currently transitioning to the CELLULAR_STATUS_FLAG_ENABLED state
    7CELLULAR_STATUS_FLAG_ENABLEDModem is enabled and powered on but not registered with a network provider and not available for data connections
    8CELLULAR_STATUS_FLAG_SEARCHINGModem is searching for a network provider to register
    9CELLULAR_STATUS_FLAG_REGISTEREDModem is registered with a network provider, and data connections and messaging may be available for use
    10CELLULAR_STATUS_FLAG_DISCONNECTINGModem is disconnecting and deactivating the last active packet data bearer. This state will not be entered if more than one packet data bearer is active and one of the active bearers is deactivated
    11CELLULAR_STATUS_FLAG_CONNECTINGModem is activating and connecting the first packet data bearer. Subsequent bearer activations when another bearer is already active do not cause this state to be entered
    12CELLULAR_STATUS_FLAG_CONNECTEDOne or more packet data bearers is active and connected

    CELLULAR_NETWORK_FAILED_REASON ​

    These flags are used to diagnose the failure state of CELLULAR_STATUS

    ValueNameDescription
    0CELLULAR_NETWORK_FAILED_REASON_NONENo error
    1CELLULAR_NETWORK_FAILED_REASON_UNKNOWNError state is unknown
    2CELLULAR_NETWORK_FAILED_REASON_SIM_MISSINGSIM is required for the modem but missing
    3CELLULAR_NETWORK_FAILED_REASON_SIM_ERRORSIM is available, but not usable for connection

    CELLULAR_NETWORK_RADIO_TYPE ​

    Cellular network radio type

    ValueNameDescription
    0CELLULAR_NETWORK_RADIO_TYPE_NONE
    1CELLULAR_NETWORK_RADIO_TYPE_GSM
    2CELLULAR_NETWORK_RADIO_TYPE_CDMA
    3CELLULAR_NETWORK_RADIO_TYPE_WCDMA
    4CELLULAR_NETWORK_RADIO_TYPE_LTE

    PRECISION_LAND_MODE ​

    Precision land modes (used in MAV_CMD_NAV_LAND).

    ValueNameDescription
    0PRECISION_LAND_MODE_DISABLEDNormal (non-precision) landing.
    1PRECISION_LAND_MODE_OPPORTUNISTICUse precision landing if beacon detected when land command accepted, otherwise land normally.
    2PRECISION_LAND_MODE_REQUIREDUse precision landing, searching for beacon if not found when land command accepted (land normally if beacon cannot be found).

    PARACHUTE_ACTION ​

    Parachute actions. Trigger release and enable/disable auto-release.

    ValueNameDescription
    0PARACHUTE_DISABLEDisable auto-release of parachute (i.e. release triggered by crash detectors).
    1PARACHUTE_ENABLEEnable auto-release of parachute.
    2PARACHUTE_RELEASERelease parachute and kill motors.

    MAV_TUNNEL_PAYLOAD_TYPE ​

    ValueNameDescription
    0MAV_TUNNEL_PAYLOAD_TYPE_UNKNOWNEncoding of payload unknown.
    200MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED0Registered for STorM32 gimbal controller.
    201MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED1Registered for STorM32 gimbal controller.
    202MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED2Registered for STorM32 gimbal controller.
    203MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED3Registered for STorM32 gimbal controller.
    204MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED4Registered for STorM32 gimbal controller.
    205MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED5Registered for STorM32 gimbal controller.
    206MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED6Registered for STorM32 gimbal controller.
    207MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED7Registered for STorM32 gimbal controller.
    208MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED8Registered for STorM32 gimbal controller.
    209MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED9Registered for STorM32 gimbal controller.

    MAV_ODID_ID_TYPE ​

    ValueNameDescription
    0MAV_ODID_ID_TYPE_NONENo type defined.
    1MAV_ODID_ID_TYPE_SERIAL_NUMBERManufacturer Serial Number (ANSI/CTA-2063 format).
    2MAV_ODID_ID_TYPE_CAA_REGISTRATION_IDCAA (Civil Aviation Authority) registered ID. Format: [ICAO Country Code].[CAA Assigned ID].
    3MAV_ODID_ID_TYPE_UTM_ASSIGNED_UUIDUTM (Unmanned Traffic Management) assigned UUID (RFC4122).
    4MAV_ODID_ID_TYPE_SPECIFIC_SESSION_IDA 20 byte ID for a specific flight/session. The exact ID type is indicated by the first byte of uas_id and these type values are managed by ICAO.

    MAV_ODID_UA_TYPE ​

    ValueNameDescription
    0MAV_ODID_UA_TYPE_NONENo UA (Unmanned Aircraft) type defined.
    1MAV_ODID_UA_TYPE_AEROPLANEAeroplane/Airplane. Fixed wing.
    2MAV_ODID_UA_TYPE_HELICOPTER_OR_MULTIROTORHelicopter or multirotor.
    3MAV_ODID_UA_TYPE_GYROPLANEGyroplane.
    4MAV_ODID_UA_TYPE_HYBRID_LIFTVTOL (Vertical Take-Off and Landing). Fixed wing aircraft that can take off vertically.
    5MAV_ODID_UA_TYPE_ORNITHOPTEROrnithopter.
    6MAV_ODID_UA_TYPE_GLIDERGlider.
    7MAV_ODID_UA_TYPE_KITEKite.
    8MAV_ODID_UA_TYPE_FREE_BALLOONFree Balloon.
    9MAV_ODID_UA_TYPE_CAPTIVE_BALLOONCaptive Balloon.
    10MAV_ODID_UA_TYPE_AIRSHIPAirship. E.g. a blimp.
    11MAV_ODID_UA_TYPE_FREE_FALL_PARACHUTEFree Fall/Parachute (unpowered).
    12MAV_ODID_UA_TYPE_ROCKETRocket.
    13MAV_ODID_UA_TYPE_TETHERED_POWERED_AIRCRAFTTethered powered aircraft.
    14MAV_ODID_UA_TYPE_GROUND_OBSTACLEGround Obstacle.
    15MAV_ODID_UA_TYPE_OTHEROther type of aircraft not listed earlier.

    MAV_ODID_STATUS ​

    ValueNameDescription
    0MAV_ODID_STATUS_UNDECLAREDThe status of the (UA) Unmanned Aircraft is undefined.
    1MAV_ODID_STATUS_GROUNDThe UA is on the ground.
    2MAV_ODID_STATUS_AIRBORNEThe UA is in the air.
    3MAV_ODID_STATUS_EMERGENCYThe UA is having an emergency.
    4MAV_ODID_STATUS_REMOTE_ID_SYSTEM_FAILUREThe remote ID system is failing or unreliable in some way.

    MAV_ODID_HEIGHT_REF ​

    ValueNameDescription
    0MAV_ODID_HEIGHT_REF_OVER_TAKEOFFThe height field is relative to the take-off location.
    1MAV_ODID_HEIGHT_REF_OVER_GROUNDThe height field is relative to ground.

    MAV_ODID_HOR_ACC ​

    ValueNameDescription
    0MAV_ODID_HOR_ACC_UNKNOWNThe horizontal accuracy is unknown.
    1MAV_ODID_HOR_ACC_10NMThe horizontal accuracy is smaller than 10 Nautical Miles. 18.52 km.
    2MAV_ODID_HOR_ACC_4NMThe horizontal accuracy is smaller than 4 Nautical Miles. 7.408 km.
    3MAV_ODID_HOR_ACC_2NMThe horizontal accuracy is smaller than 2 Nautical Miles. 3.704 km.
    4MAV_ODID_HOR_ACC_1NMThe horizontal accuracy is smaller than 1 Nautical Miles. 1.852 km.
    5MAV_ODID_HOR_ACC_0_5NMThe horizontal accuracy is smaller than 0.5 Nautical Miles. 926 m.
    6MAV_ODID_HOR_ACC_0_3NMThe horizontal accuracy is smaller than 0.3 Nautical Miles. 555.6 m.
    7MAV_ODID_HOR_ACC_0_1NMThe horizontal accuracy is smaller than 0.1 Nautical Miles. 185.2 m.
    8MAV_ODID_HOR_ACC_0_05NMThe horizontal accuracy is smaller than 0.05 Nautical Miles. 92.6 m.
    9MAV_ODID_HOR_ACC_30_METERThe horizontal accuracy is smaller than 30 meter.
    10MAV_ODID_HOR_ACC_10_METERThe horizontal accuracy is smaller than 10 meter.
    11MAV_ODID_HOR_ACC_3_METERThe horizontal accuracy is smaller than 3 meter.
    12MAV_ODID_HOR_ACC_1_METERThe horizontal accuracy is smaller than 1 meter.

    MAV_ODID_VER_ACC ​

    ValueNameDescription
    0MAV_ODID_VER_ACC_UNKNOWNThe vertical accuracy is unknown.
    1MAV_ODID_VER_ACC_150_METERThe vertical accuracy is smaller than 150 meter.
    2MAV_ODID_VER_ACC_45_METERThe vertical accuracy is smaller than 45 meter.
    3MAV_ODID_VER_ACC_25_METERThe vertical accuracy is smaller than 25 meter.
    4MAV_ODID_VER_ACC_10_METERThe vertical accuracy is smaller than 10 meter.
    5MAV_ODID_VER_ACC_3_METERThe vertical accuracy is smaller than 3 meter.
    6MAV_ODID_VER_ACC_1_METERThe vertical accuracy is smaller than 1 meter.

    MAV_ODID_SPEED_ACC ​

    ValueNameDescription
    0MAV_ODID_SPEED_ACC_UNKNOWNThe speed accuracy is unknown.
    1MAV_ODID_SPEED_ACC_10_METERS_PER_SECONDThe speed accuracy is smaller than 10 meters per second.
    2MAV_ODID_SPEED_ACC_3_METERS_PER_SECONDThe speed accuracy is smaller than 3 meters per second.
    3MAV_ODID_SPEED_ACC_1_METERS_PER_SECONDThe speed accuracy is smaller than 1 meters per second.
    4MAV_ODID_SPEED_ACC_0_3_METERS_PER_SECONDThe speed accuracy is smaller than 0.3 meters per second.

    MAV_ODID_TIME_ACC ​

    ValueNameDescription
    0MAV_ODID_TIME_ACC_UNKNOWNThe timestamp accuracy is unknown.
    1MAV_ODID_TIME_ACC_0_1_SECONDThe timestamp accuracy is smaller than or equal to 0.1 second.
    2MAV_ODID_TIME_ACC_0_2_SECONDThe timestamp accuracy is smaller than or equal to 0.2 second.
    3MAV_ODID_TIME_ACC_0_3_SECONDThe timestamp accuracy is smaller than or equal to 0.3 second.
    4MAV_ODID_TIME_ACC_0_4_SECONDThe timestamp accuracy is smaller than or equal to 0.4 second.
    5MAV_ODID_TIME_ACC_0_5_SECONDThe timestamp accuracy is smaller than or equal to 0.5 second.
    6MAV_ODID_TIME_ACC_0_6_SECONDThe timestamp accuracy is smaller than or equal to 0.6 second.
    7MAV_ODID_TIME_ACC_0_7_SECONDThe timestamp accuracy is smaller than or equal to 0.7 second.
    8MAV_ODID_TIME_ACC_0_8_SECONDThe timestamp accuracy is smaller than or equal to 0.8 second.
    9MAV_ODID_TIME_ACC_0_9_SECONDThe timestamp accuracy is smaller than or equal to 0.9 second.
    10MAV_ODID_TIME_ACC_1_0_SECONDThe timestamp accuracy is smaller than or equal to 1.0 second.
    11MAV_ODID_TIME_ACC_1_1_SECONDThe timestamp accuracy is smaller than or equal to 1.1 second.
    12MAV_ODID_TIME_ACC_1_2_SECONDThe timestamp accuracy is smaller than or equal to 1.2 second.
    13MAV_ODID_TIME_ACC_1_3_SECONDThe timestamp accuracy is smaller than or equal to 1.3 second.
    14MAV_ODID_TIME_ACC_1_4_SECONDThe timestamp accuracy is smaller than or equal to 1.4 second.
    15MAV_ODID_TIME_ACC_1_5_SECONDThe timestamp accuracy is smaller than or equal to 1.5 second.

    MAV_ODID_AUTH_TYPE ​

    ValueNameDescription
    0MAV_ODID_AUTH_TYPE_NONENo authentication type is specified.
    1MAV_ODID_AUTH_TYPE_UAS_ID_SIGNATURESignature for the UAS (Unmanned Aircraft System) ID.
    2MAV_ODID_AUTH_TYPE_OPERATOR_ID_SIGNATURESignature for the Operator ID.
    3MAV_ODID_AUTH_TYPE_MESSAGE_SET_SIGNATURESignature for the entire message set.
    4MAV_ODID_AUTH_TYPE_NETWORK_REMOTE_IDAuthentication is provided by Network Remote ID.
    5MAV_ODID_AUTH_TYPE_SPECIFIC_AUTHENTICATIONThe exact authentication type is indicated by the first byte of authentication_data and these type values are managed by ICAO.

    MAV_ODID_DESC_TYPE ​

    ValueNameDescription
    0MAV_ODID_DESC_TYPE_TEXTOptional free-form text description of the purpose of the flight.
    1MAV_ODID_DESC_TYPE_EMERGENCYOptional additional clarification when status == MAV_ODID_STATUS_EMERGENCY.
    2MAV_ODID_DESC_TYPE_EXTENDED_STATUSOptional additional clarification when status != MAV_ODID_STATUS_EMERGENCY.

    MAV_ODID_OPERATOR_LOCATION_TYPE ​

    ValueNameDescription
    0MAV_ODID_OPERATOR_LOCATION_TYPE_TAKEOFFThe location/altitude of the operator is the same as the take-off location.
    1MAV_ODID_OPERATOR_LOCATION_TYPE_LIVE_GNSSThe location/altitude of the operator is dynamic. E.g. based on live GNSS data.
    2MAV_ODID_OPERATOR_LOCATION_TYPE_FIXEDThe location/altitude of the operator are fixed values.

    MAV_ODID_CLASSIFICATION_TYPE ​

    ValueNameDescription
    0MAV_ODID_CLASSIFICATION_TYPE_UNDECLAREDThe classification type for the UA is undeclared.
    1MAV_ODID_CLASSIFICATION_TYPE_EUThe classification type for the UA follows EU (European Union) specifications.

    MAV_ODID_CATEGORY_EU ​

    ValueNameDescription
    0MAV_ODID_CATEGORY_EU_UNDECLAREDThe category for the UA, according to the EU specification, is undeclared.
    1MAV_ODID_CATEGORY_EU_OPENThe category for the UA, according to the EU specification, is the Open category.
    2MAV_ODID_CATEGORY_EU_SPECIFICThe category for the UA, according to the EU specification, is the Specific category.
    3MAV_ODID_CATEGORY_EU_CERTIFIEDThe category for the UA, according to the EU specification, is the Certified category.

    MAV_ODID_CLASS_EU ​

    ValueNameDescription
    0MAV_ODID_CLASS_EU_UNDECLAREDThe class for the UA, according to the EU specification, is undeclared.
    1MAV_ODID_CLASS_EU_CLASS_0The class for the UA, according to the EU specification, is Class 0.
    2MAV_ODID_CLASS_EU_CLASS_1The class for the UA, according to the EU specification, is Class 1.
    3MAV_ODID_CLASS_EU_CLASS_2The class for the UA, according to the EU specification, is Class 2.
    4MAV_ODID_CLASS_EU_CLASS_3The class for the UA, according to the EU specification, is Class 3.
    5MAV_ODID_CLASS_EU_CLASS_4The class for the UA, according to the EU specification, is Class 4.
    6MAV_ODID_CLASS_EU_CLASS_5The class for the UA, according to the EU specification, is Class 5.
    7MAV_ODID_CLASS_EU_CLASS_6The class for the UA, according to the EU specification, is Class 6.

    MAV_ODID_OPERATOR_ID_TYPE ​

    ValueNameDescription
    0MAV_ODID_OPERATOR_ID_TYPE_CAACAA (Civil Aviation Authority) registered operator ID.

    MAV_ODID_ARM_STATUS ​

    ValueNameDescription
    0MAV_ODID_ARM_STATUS_GOOD_TO_ARMPassing arming checks.
    1MAV_ODID_ARM_STATUS_PRE_ARM_FAIL_GENERICGeneric arming failure, see error string for details.

    TUNE_FORMAT ​

    Tune formats (used for vehicle buzzer/tone generation).

    ValueNameDescription
    1TUNE_FORMAT_QBASIC1_1Format is QBasic 1.1 Play: https://www.qbasic.net/en/reference/qb11/Statement/PLAY-006.htm.
    2TUNE_FORMAT_MML_MODERNFormat is Modern Music Markup Language (MML): https://en.wikipedia.org/wiki/Music_Macro_Language#Modern_MML.

    AIS_TYPE ​

    Type of AIS vessel, enum duplicated from AIS standard, https://gpsd.gitlab.io/gpsd/AIVDM.html

    ValueNameDescription
    0AIS_TYPE_UNKNOWNNot available (default).
    1AIS_TYPE_RESERVED_1
    2AIS_TYPE_RESERVED_2
    3AIS_TYPE_RESERVED_3
    4AIS_TYPE_RESERVED_4
    5AIS_TYPE_RESERVED_5
    6AIS_TYPE_RESERVED_6
    7AIS_TYPE_RESERVED_7
    8AIS_TYPE_RESERVED_8
    9AIS_TYPE_RESERVED_9
    10AIS_TYPE_RESERVED_10
    11AIS_TYPE_RESERVED_11
    12AIS_TYPE_RESERVED_12
    13AIS_TYPE_RESERVED_13
    14AIS_TYPE_RESERVED_14
    15AIS_TYPE_RESERVED_15
    16AIS_TYPE_RESERVED_16
    17AIS_TYPE_RESERVED_17
    18AIS_TYPE_RESERVED_18
    19AIS_TYPE_RESERVED_19
    20AIS_TYPE_WIGWing In Ground effect.
    21AIS_TYPE_WIG_HAZARDOUS_A
    22AIS_TYPE_WIG_HAZARDOUS_B
    23AIS_TYPE_WIG_HAZARDOUS_C
    24AIS_TYPE_WIG_HAZARDOUS_D
    25AIS_TYPE_WIG_RESERVED_1
    26AIS_TYPE_WIG_RESERVED_2
    27AIS_TYPE_WIG_RESERVED_3
    28AIS_TYPE_WIG_RESERVED_4
    29AIS_TYPE_WIG_RESERVED_5
    30AIS_TYPE_FISHING
    31AIS_TYPE_TOWING
    32AIS_TYPE_TOWING_LARGETowing: length exceeds 200m or breadth exceeds 25m.
    33AIS_TYPE_DREDGINGDredging or other underwater ops.
    34AIS_TYPE_DIVING
    35AIS_TYPE_MILITARY
    36AIS_TYPE_SAILING
    37AIS_TYPE_PLEASURE
    38AIS_TYPE_RESERVED_20
    39AIS_TYPE_RESERVED_21
    40AIS_TYPE_HSCHigh Speed Craft.
    41AIS_TYPE_HSC_HAZARDOUS_A
    42AIS_TYPE_HSC_HAZARDOUS_B
    43AIS_TYPE_HSC_HAZARDOUS_C
    44AIS_TYPE_HSC_HAZARDOUS_D
    45AIS_TYPE_HSC_RESERVED_1
    46AIS_TYPE_HSC_RESERVED_2
    47AIS_TYPE_HSC_RESERVED_3
    48AIS_TYPE_HSC_RESERVED_4
    49AIS_TYPE_HSC_UNKNOWN
    50AIS_TYPE_PILOT
    51AIS_TYPE_SARSearch And Rescue vessel.
    52AIS_TYPE_TUG
    53AIS_TYPE_PORT_TENDER
    54AIS_TYPE_ANTI_POLLUTIONAnti-pollution equipment.
    55AIS_TYPE_LAW_ENFORCEMENT
    56AIS_TYPE_SPARE_LOCAL_1
    57AIS_TYPE_SPARE_LOCAL_2
    58AIS_TYPE_MEDICAL_TRANSPORT
    59AIS_TYPE_NONECOMBATANTNoncombatant ship according to RR Resolution No. 18.
    60AIS_TYPE_PASSENGER
    61AIS_TYPE_PASSENGER_HAZARDOUS_A
    62AIS_TYPE_PASSENGER_HAZARDOUS_B
    63AIS_TYPE_PASSENGER_HAZARDOUS_C
    64AIS_TYPE_PASSENGER_HAZARDOUS_D
    65AIS_TYPE_PASSENGER_RESERVED_1
    66AIS_TYPE_PASSENGER_RESERVED_2
    67AIS_TYPE_PASSENGER_RESERVED_3
    68AIS_TYPE_PASSENGER_RESERVED_4
    69AIS_TYPE_PASSENGER_UNKNOWN
    70AIS_TYPE_CARGO
    71AIS_TYPE_CARGO_HAZARDOUS_A
    72AIS_TYPE_CARGO_HAZARDOUS_B
    73AIS_TYPE_CARGO_HAZARDOUS_C
    74AIS_TYPE_CARGO_HAZARDOUS_D
    75AIS_TYPE_CARGO_RESERVED_1
    76AIS_TYPE_CARGO_RESERVED_2
    77AIS_TYPE_CARGO_RESERVED_3
    78AIS_TYPE_CARGO_RESERVED_4
    79AIS_TYPE_CARGO_UNKNOWN
    80AIS_TYPE_TANKER
    81AIS_TYPE_TANKER_HAZARDOUS_A
    82AIS_TYPE_TANKER_HAZARDOUS_B
    83AIS_TYPE_TANKER_HAZARDOUS_C
    84AIS_TYPE_TANKER_HAZARDOUS_D
    85AIS_TYPE_TANKER_RESERVED_1
    86AIS_TYPE_TANKER_RESERVED_2
    87AIS_TYPE_TANKER_RESERVED_3
    88AIS_TYPE_TANKER_RESERVED_4
    89AIS_TYPE_TANKER_UNKNOWN
    90AIS_TYPE_OTHER
    91AIS_TYPE_OTHER_HAZARDOUS_A
    92AIS_TYPE_OTHER_HAZARDOUS_B
    93AIS_TYPE_OTHER_HAZARDOUS_C
    94AIS_TYPE_OTHER_HAZARDOUS_D
    95AIS_TYPE_OTHER_RESERVED_1
    96AIS_TYPE_OTHER_RESERVED_2
    97AIS_TYPE_OTHER_RESERVED_3
    98AIS_TYPE_OTHER_RESERVED_4
    99AIS_TYPE_OTHER_UNKNOWN

    AIS_NAV_STATUS ​

    Navigational status of AIS vessel, enum duplicated from AIS standard, https://gpsd.gitlab.io/gpsd/AIVDM.html

    ValueNameDescription
    0UNDER_WAYUnder way using engine.
    1AIS_NAV_ANCHORED
    2AIS_NAV_UN_COMMANDED
    3AIS_NAV_RESTRICTED_MANOEUVERABILITY
    4AIS_NAV_DRAUGHT_CONSTRAINED
    5AIS_NAV_MOORED
    6AIS_NAV_AGROUND
    7AIS_NAV_FISHING
    8AIS_NAV_SAILING
    9AIS_NAV_RESERVED_HSC
    10AIS_NAV_RESERVED_WIG
    11AIS_NAV_RESERVED_1
    12AIS_NAV_RESERVED_2
    13AIS_NAV_RESERVED_3
    14AIS_NAV_AIS_SARTSearch And Rescue Transponder.
    15AIS_NAV_UNKNOWNNot available (default).

    AIS_FLAGS ​

    (Bitmask) These flags are used in the AIS_VESSEL.fields bitmask to indicate validity of data in the other message fields. When set, the data is valid.

    ValueNameDescription
    1AIS_FLAGS_POSITION_ACCURACY1 = Position accuracy less than 10m, 0 = position accuracy greater than 10m.
    2AIS_FLAGS_VALID_COG
    4AIS_FLAGS_VALID_VELOCITY
    8AIS_FLAGS_HIGH_VELOCITY1 = Velocity over 52.5765m/s (102.2 knots)
    16AIS_FLAGS_VALID_TURN_RATE
    32AIS_FLAGS_TURN_RATE_SIGN_ONLYOnly the sign of the returned turn rate value is valid, either greater than 5deg/30s or less than -5deg/30s
    64AIS_FLAGS_VALID_DIMENSIONS
    128AIS_FLAGS_LARGE_BOW_DIMENSIONDistance to bow is larger than 511m
    256AIS_FLAGS_LARGE_STERN_DIMENSIONDistance to stern is larger than 511m
    512AIS_FLAGS_LARGE_PORT_DIMENSIONDistance to port side is larger than 63m
    1024AIS_FLAGS_LARGE_STARBOARD_DIMENSIONDistance to starboard side is larger than 63m
    2048AIS_FLAGS_VALID_CALLSIGN
    4096AIS_FLAGS_VALID_NAME

    FAILURE_UNIT ​

    List of possible units where failures can be injected.

    ValueNameDescription
    0FAILURE_UNIT_SENSOR_GYRO
    1FAILURE_UNIT_SENSOR_ACCEL
    2FAILURE_UNIT_SENSOR_MAG
    3FAILURE_UNIT_SENSOR_BARO
    4FAILURE_UNIT_SENSOR_GPS
    5FAILURE_UNIT_SENSOR_OPTICAL_FLOW
    6FAILURE_UNIT_SENSOR_VIO
    7FAILURE_UNIT_SENSOR_DISTANCE_SENSOR
    8FAILURE_UNIT_SENSOR_AIRSPEED
    100FAILURE_UNIT_SYSTEM_BATTERY
    101FAILURE_UNIT_SYSTEM_MOTOR
    102FAILURE_UNIT_SYSTEM_SERVO
    103FAILURE_UNIT_SYSTEM_AVOIDANCE
    104FAILURE_UNIT_SYSTEM_RC_SIGNAL
    105FAILURE_UNIT_SYSTEM_MAVLINK_SIGNAL

    FAILURE_TYPE ​

    List of possible failure type to inject.

    ValueNameDescription
    0FAILURE_TYPE_OKNo failure injected, used to reset a previous failure.
    1FAILURE_TYPE_OFFSets unit off, so completely non-responsive.
    2FAILURE_TYPE_STUCKUnit is stuck e.g. keeps reporting the same value.
    3FAILURE_TYPE_GARBAGEUnit is reporting complete garbage.
    4FAILURE_TYPE_WRONGUnit is consistently wrong.
    5FAILURE_TYPE_SLOWUnit is slow, so e.g. reporting at slower than expected rate.
    6FAILURE_TYPE_DELAYEDData of unit is delayed in time.
    7FAILURE_TYPE_INTERMITTENTUnit is sometimes working, sometimes not.
    ValueNameDescription
    0NAV_VTOL_LAND_OPTIONS_DEFAULTDefault autopilot landing behaviour.
    1NAV_VTOL_LAND_OPTIONS_FW_DESCENTDescend in fixed wing mode, transitioning to multicopter mode for vertical landing when close to the ground.
    The fixed wing descent pattern is at the discretion of the vehicle (e.g. transition altitude, loiter direction, radius, and speed, etc.).
    2NAV_VTOL_LAND_OPTIONS_HOVER_DESCENTLand in multicopter mode on reaching the landing coordinates (the whole landing is by "hover descent").

    MAV_WINCH_STATUS_FLAG ​

    (Bitmask) Winch status flags used in WINCH_STATUS

    ValueNameDescription
    1MAV_WINCH_STATUS_HEALTHYWinch is healthy
    2MAV_WINCH_STATUS_FULLY_RETRACTEDWinch line is fully retracted
    4MAV_WINCH_STATUS_MOVINGWinch motor is moving
    8MAV_WINCH_STATUS_CLUTCH_ENGAGEDWinch clutch is engaged allowing motor to move freely.
    16MAV_WINCH_STATUS_LOCKEDWinch is locked by locking mechanism.
    32MAV_WINCH_STATUS_DROPPINGWinch is gravity dropping payload.
    64MAV_WINCH_STATUS_ARRESTINGWinch is arresting payload descent.
    128MAV_WINCH_STATUS_GROUND_SENSEWinch is using torque measurements to sense the ground.
    256MAV_WINCH_STATUS_RETRACTINGWinch is returning to the fully retracted position.
    512MAV_WINCH_STATUS_REDELIVERWinch is redelivering the payload. This is a failover state if the line tension goes above a threshold during RETRACTING.
    1024MAV_WINCH_STATUS_ABANDON_LINEWinch is abandoning the line and possibly payload. Winch unspools the entire calculated line length. This is a failover state from REDELIVER if the number of attempts exceeds a threshold.
    2048MAV_WINCH_STATUS_LOCKINGWinch is engaging the locking mechanism.
    4096MAV_WINCH_STATUS_LOAD_LINEWinch is spooling on line.
    8192MAV_WINCH_STATUS_LOAD_PAYLOADWinch is loading a payload.

    MAG_CAL_STATUS ​

    ValueNameDescription
    0MAG_CAL_NOT_STARTED
    1MAG_CAL_WAITING_TO_START
    2MAG_CAL_RUNNING_STEP_ONE
    3MAG_CAL_RUNNING_STEP_TWO
    4MAG_CAL_SUCCESS
    5MAG_CAL_FAILED
    6MAG_CAL_BAD_ORIENTATION
    7MAG_CAL_BAD_RADIUS

    MAV_EVENT_ERROR_REASON ​

    Reason for an event error response.

    ValueNameDescription
    0MAV_EVENT_ERROR_REASON_UNAVAILABLEThe requested event is not available (anymore).

    MAV_EVENT_CURRENT_SEQUENCE_FLAGS ​

    Flags for CURRENT_EVENT_SEQUENCE.

    ValueNameDescription
    1MAV_EVENT_CURRENT_SEQUENCE_FLAGS_RESETA sequence reset has happened (e.g. vehicle reboot).

    HIL_SENSOR_UPDATED_FLAGS ​

    (Bitmask) Flags in the HIL_SENSOR message indicate which fields have updated since the last message

    ValueNameDescription
    0HIL_SENSOR_UPDATED_NONENone of the fields in HIL_SENSOR have been updated
    1HIL_SENSOR_UPDATED_XACCThe value in the xacc field has been updated
    2HIL_SENSOR_UPDATED_YACCThe value in the yacc field has been updated
    4HIL_SENSOR_UPDATED_ZACCThe value in the zacc field has been updated
    8HIL_SENSOR_UPDATED_XGYROThe value in the xgyro field has been updated
    16HIL_SENSOR_UPDATED_YGYROThe value in the ygyro field has been updated
    32HIL_SENSOR_UPDATED_ZGYROThe value in the zgyro field has been updated
    64HIL_SENSOR_UPDATED_XMAGThe value in the xmag field has been updated
    128HIL_SENSOR_UPDATED_YMAGThe value in the ymag field has been updated
    256HIL_SENSOR_UPDATED_ZMAGThe value in the zmag field has been updated
    512HIL_SENSOR_UPDATED_ABS_PRESSUREThe value in the abs_pressure field has been updated
    1024HIL_SENSOR_UPDATED_DIFF_PRESSUREThe value in the diff_pressure field has been updated
    2048HIL_SENSOR_UPDATED_PRESSURE_ALTThe value in the pressure_alt field has been updated
    4096HIL_SENSOR_UPDATED_TEMPERATUREThe value in the temperature field has been updated
    2147483648HIL_SENSOR_UPDATED_RESETFull reset of attitude/position/velocities/etc was performed in sim (Bit 31).

    HIGHRES_IMU_UPDATED_FLAGS ​

    (Bitmask) Flags in the HIGHRES_IMU message indicate which fields have updated since the last message

    ValueNameDescription
    0HIGHRES_IMU_UPDATED_NONENone of the fields in HIGHRES_IMU have been updated
    1HIGHRES_IMU_UPDATED_XACCThe value in the xacc field has been updated
    2HIGHRES_IMU_UPDATED_YACCThe value in the yacc field has been updated
    4HIGHRES_IMU_UPDATED_ZACCThe value in the zacc field has been updated since
    8HIGHRES_IMU_UPDATED_XGYROThe value in the xgyro field has been updated
    16HIGHRES_IMU_UPDATED_YGYROThe value in the ygyro field has been updated
    32HIGHRES_IMU_UPDATED_ZGYROThe value in the zgyro field has been updated
    64HIGHRES_IMU_UPDATED_XMAGThe value in the xmag field has been updated
    128HIGHRES_IMU_UPDATED_YMAGThe value in the ymag field has been updated
    256HIGHRES_IMU_UPDATED_ZMAGThe value in the zmag field has been updated
    512HIGHRES_IMU_UPDATED_ABS_PRESSUREThe value in the abs_pressure field has been updated
    1024HIGHRES_IMU_UPDATED_DIFF_PRESSUREThe value in the diff_pressure field has been updated
    2048HIGHRES_IMU_UPDATED_PRESSURE_ALTThe value in the pressure_alt field has been updated
    4096HIGHRES_IMU_UPDATED_TEMPERATUREThe value in the temperature field has been updated
    65535HIGHRES_IMU_UPDATED_ALLAll fields in HIGHRES_IMU have been updated.

    CAN_FILTER_OP ​

    ValueNameDescription
    0CAN_FILTER_REPLACE
    1CAN_FILTER_ADD
    2CAN_FILTER_REMOVE

    MAV_FTP_ERR ​

    MAV FTP error codes (https://mavlink.io/en/services/ftp.html)

    ValueNameDescription
    0MAV_FTP_ERR_NONENone: No error
    1MAV_FTP_ERR_FAILFail: Unknown failure
    2MAV_FTP_ERR_FAILERRNOFailErrno: Command failed, Err number sent back in PayloadHeader.data[1].
    This is a file-system error number understood by the server operating system.
    3MAV_FTP_ERR_INVALIDDATASIZEInvalidDataSize: Payload size is invalid
    4MAV_FTP_ERR_INVALIDSESSIONInvalidSession: Session is not currently open
    5MAV_FTP_ERR_NOSESSIONSAVAILABLENoSessionsAvailable: All available sessions are already in use
    6MAV_FTP_ERR_EOFEOF: Offset past end of file for ListDirectory and ReadFile commands
    7MAV_FTP_ERR_UNKNOWNCOMMANDUnknownCommand: Unknown command / opcode
    8MAV_FTP_ERR_FILEEXISTSFileExists: File/directory already exists
    9MAV_FTP_ERR_FILEPROTECTEDFileProtected: File/directory is write protected
    10MAV_FTP_ERR_FILENOTFOUNDFileNotFound: File/directory not found

    MAV_FTP_OPCODE ​

    MAV FTP opcodes: https://mavlink.io/en/services/ftp.html

    ValueNameDescription
    0MAV_FTP_OPCODE_NONENone. Ignored, always ACKed
    1MAV_FTP_OPCODE_TERMINATESESSIONTerminateSession: Terminates open Read session
    2MAV_FTP_OPCODE_RESETSESSIONResetSessions: Terminates all open read sessions
    3MAV_FTP_OPCODE_LISTDIRECTORYListDirectory. List files and directories in path from offset
    4MAV_FTP_OPCODE_OPENFILEROOpenFileRO: Opens file at path for reading, returns session
    5MAV_FTP_OPCODE_READFILEReadFile: Reads size bytes from offset in session
    6MAV_FTP_OPCODE_CREATEFILECreateFile: Creates file at path for writing, returns session
    7MAV_FTP_OPCODE_WRITEFILEWriteFile: Writes size bytes to offset in session
    8MAV_FTP_OPCODE_REMOVEFILERemoveFile: Remove file at path
    9MAV_FTP_OPCODE_CREATEDIRECTORYCreateDirectory: Creates directory at path
    10MAV_FTP_OPCODE_REMOVEDIRECTORYRemoveDirectory: Removes directory at path. The directory must be empty.
    11MAV_FTP_OPCODE_OPENFILEWOOpenFileWO: Opens file at path for writing, returns session
    12MAV_FTP_OPCODE_TRUNCATEFILETruncateFile: Truncate file at path to offset length
    13MAV_FTP_OPCODE_RENAMERename: Rename path1 to path2
    14MAV_FTP_OPCODE_CALCFILECRCCalcFileCRC32: Calculate CRC32 for file at path
    15MAV_FTP_OPCODE_BURSTREADFILEBurstReadFile: Burst download session file
    128MAV_FTP_OPCODE_ACKACK: ACK response
    129MAV_FTP_OPCODE_NAKNAK: NAK response

    MISSION_STATE ​

    States of the mission state machine. Note that these states are independent of whether the mission is in a mode that can execute mission items or not (is suspended). They may not all be relevant on all vehicles.

    ValueNameDescription
    0MISSION_STATE_UNKNOWNThe mission status reporting is not supported.
    1MISSION_STATE_NO_MISSIONNo mission on the vehicle.
    2MISSION_STATE_NOT_STARTEDMission has not started. This is the case after a mission has uploaded but not yet started executing.
    3MISSION_STATE_ACTIVEMission is active, and will execute mission items when in auto mode.
    4MISSION_STATE_PAUSEDMission is paused when in auto mode.
    5MISSION_STATE_COMPLETEMission has executed all mission items.

    SAFETY_SWITCH_STATE ​

    Possible safety switch states.

    ValueNameDescription
    0SAFETY_SWITCH_STATE_SAFESafety switch is engaged and vehicle should be safe to approach.
    1SAFETY_SWITCH_STATE_DANGEROUSSafety switch is NOT engaged and motors, propellers and other actuators should be considered active.

    ILLUMINATOR_MODE ​

    Modes of illuminator

    ValueNameDescription
    0ILLUMINATOR_MODE_UNKNOWNIlluminator mode is not specified/unknown
    1ILLUMINATOR_MODE_INTERNAL_CONTROLIlluminator behavior is controlled by MAV_CMD_DO_ILLUMINATOR_CONFIGURE settings
    2ILLUMINATOR_MODE_EXTERNAL_SYNCIlluminator behavior is controlled by external factors: e.g. an external hardware signal

    ILLUMINATOR_ERROR_FLAGS ​

    (Bitmask) Illuminator module error flags (bitmap, 0 means no error)

    ValueNameDescription
    1ILLUMINATOR_ERROR_FLAGS_THERMAL_THROTTLINGIlluminator thermal throttling error.
    2ILLUMINATOR_ERROR_FLAGS_OVER_TEMPERATURE_SHUTDOWNIlluminator over temperature shutdown error.
    4ILLUMINATOR_ERROR_FLAGS_THERMISTOR_FAILUREIlluminator thermistor failure.

    MAV_AUTOPILOT — [from: minimal] ​

    Micro air vehicle / autopilot classes. This identifies the individual model.

    ValueNameDescription
    0MAV_AUTOPILOT_GENERICGeneric autopilot, full support for everything
    1MAV_AUTOPILOT_RESERVEDReserved for future use.
    2MAV_AUTOPILOT_SLUGSSLUGS autopilot, http://slugsuav.soe.ucsc.edu
    3MAV_AUTOPILOT_ARDUPILOTMEGAArduPilot - Plane/Copter/Rover/Sub/Tracker, https://ardupilot.org
    4MAV_AUTOPILOT_OPENPILOTOpenPilot, http://openpilot.org
    5MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLYGeneric autopilot only supporting simple waypoints
    6MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLYGeneric autopilot supporting waypoints and other simple navigation commands
    7MAV_AUTOPILOT_GENERIC_MISSION_FULLGeneric autopilot supporting the full mission command set
    8MAV_AUTOPILOT_INVALIDNo valid autopilot, e.g. a GCS or other MAVLink component
    9MAV_AUTOPILOT_PPZPPZ UAV - http://nongnu.org/paparazzi
    10MAV_AUTOPILOT_UDBUAV Dev Board
    11MAV_AUTOPILOT_FPFlexiPilot
    12MAV_AUTOPILOT_PX4PX4 Autopilot - http://px4.io/
    13MAV_AUTOPILOT_SMACCMPILOTSMACCMPilot - http://smaccmpilot.org
    14MAV_AUTOPILOT_AUTOQUADAutoQuad -- http://autoquad.org
    15MAV_AUTOPILOT_ARMAZILAArmazila -- http://armazila.com
    16MAV_AUTOPILOT_AEROBAerob -- http://aerob.ru
    17MAV_AUTOPILOT_ASLUAVASLUAV autopilot -- http://www.asl.ethz.ch
    18MAV_AUTOPILOT_SMARTAPSmartAP Autopilot - http://sky-drones.com
    19MAV_AUTOPILOT_AIRRAILSAirRails - http://uaventure.com
    20MAV_AUTOPILOT_REFLEXFusion Reflex - https://fusion.engineering

    MAV_TYPE — [from: minimal] ​

    MAVLINK component type reported in HEARTBEAT message. Flight controllers must report the type of the vehicle on which they are mounted (e.g. MAV_TYPE_OCTOROTOR). All other components must report a value appropriate for their type (e.g. a camera must use MAV_TYPE_CAMERA).

    ValueNameDescription
    0MAV_TYPE_GENERICGeneric micro air vehicle
    1MAV_TYPE_FIXED_WINGFixed wing aircraft.
    2MAV_TYPE_QUADROTORQuadrotor
    3MAV_TYPE_COAXIALCoaxial helicopter
    4MAV_TYPE_HELICOPTERNormal helicopter with tail rotor.
    5MAV_TYPE_ANTENNA_TRACKERGround installation
    6MAV_TYPE_GCSOperator control unit / ground control station
    7MAV_TYPE_AIRSHIPAirship, controlled
    8MAV_TYPE_FREE_BALLOONFree balloon, uncontrolled
    9MAV_TYPE_ROCKETRocket
    10MAV_TYPE_GROUND_ROVERGround rover
    11MAV_TYPE_SURFACE_BOATSurface vessel, boat, ship
    12MAV_TYPE_SUBMARINESubmarine
    13MAV_TYPE_HEXAROTORHexarotor
    14MAV_TYPE_OCTOROTOROctorotor
    15MAV_TYPE_TRICOPTERTricopter
    16MAV_TYPE_FLAPPING_WINGFlapping wing
    17MAV_TYPE_KITEKite
    18MAV_TYPE_ONBOARD_CONTROLLEROnboard companion controller
    19MAV_TYPE_VTOL_TAILSITTER_DUOROTORTwo-rotor Tailsitter VTOL that additionally uses control surfaces in vertical operation. Note, value previously named MAV_TYPE_VTOL_DUOROTOR.
    20MAV_TYPE_VTOL_TAILSITTER_QUADROTORQuad-rotor Tailsitter VTOL using a V-shaped quad config in vertical operation. Note: value previously named MAV_TYPE_VTOL_QUADROTOR.
    21MAV_TYPE_VTOL_TILTROTORTiltrotor VTOL. Fuselage and wings stay (nominally) horizontal in all flight phases. It able to tilt (some) rotors to provide thrust in cruise flight.
    22MAV_TYPE_VTOL_FIXEDROTORVTOL with separate fixed rotors for hover and cruise flight. Fuselage and wings stay (nominally) horizontal in all flight phases.
    23MAV_TYPE_VTOL_TAILSITTERTailsitter VTOL. Fuselage and wings orientation changes depending on flight phase: vertical for hover, horizontal for cruise. Use more specific VTOL MAV_TYPE_VTOL_TAILSITTER_DUOROTOR or MAV_TYPE_VTOL_TAILSITTER_QUADROTOR if appropriate.
    24MAV_TYPE_VTOL_TILTWINGTiltwing VTOL. Fuselage stays horizontal in all flight phases. The whole wing, along with any attached engine, can tilt between vertical and horizontal mode.
    25MAV_TYPE_VTOL_RESERVED5VTOL reserved 5
    26MAV_TYPE_GIMBALGimbal
    27MAV_TYPE_ADSBADSB system
    28MAV_TYPE_PARAFOILSteerable, nonrigid airfoil
    29MAV_TYPE_DODECAROTORDodecarotor
    30MAV_TYPE_CAMERACamera
    31MAV_TYPE_CHARGING_STATIONCharging station
    32MAV_TYPE_FLARMFLARM collision avoidance system
    33MAV_TYPE_SERVOServo
    34MAV_TYPE_ODIDOpen Drone ID. See https://mavlink.io/en/services/opendroneid.html.
    35MAV_TYPE_DECAROTORDecarotor
    36MAV_TYPE_BATTERYBattery
    37MAV_TYPE_PARACHUTEParachute
    38MAV_TYPE_LOGLog
    39MAV_TYPE_OSDOSD
    40MAV_TYPE_IMUIMU
    41MAV_TYPE_GPSGPS
    42MAV_TYPE_WINCHWinch
    43MAV_TYPE_GENERIC_MULTIROTORGeneric multirotor that does not fit into a specific type or whose type is unknown
    44MAV_TYPE_ILLUMINATORIlluminator. An illuminator is a light source that is used for lighting up dark areas external to the sytstem: e.g. a torch or searchlight (as opposed to a light source for illuminating the system itself, e.g. an indicator light).

    MAV_MODE_FLAG — [from: minimal] ​

    (Bitmask) These flags encode the MAV mode.

    ValueNameDescription
    1MAV_MODE_FLAG_CUSTOM_MODE_ENABLED0b00000001 Reserved for future use.
    2MAV_MODE_FLAG_TEST_ENABLED0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations.
    4MAV_MODE_FLAG_AUTO_ENABLED0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation.
    8MAV_MODE_FLAG_GUIDED_ENABLED0b00001000 guided mode enabled, system flies waypoints / mission items.
    16MAV_MODE_FLAG_STABILIZE_ENABLED0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around.
    32MAV_MODE_FLAG_HIL_ENABLED0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational.
    64MAV_MODE_FLAG_MANUAL_INPUT_ENABLED0b01000000 remote control input is enabled.
    128MAV_MODE_FLAG_SAFETY_ARMED0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly. Additional note: this flag is to be ignore when sent in the command MAV_CMD_DO_SET_MODE and MAV_CMD_COMPONENT_ARM_DISARM shall be used instead. The flag can still be used to report the armed state.

    MAV_MODE_FLAG_DECODE_POSITION — [from: minimal] ​

    (Bitmask) These values encode the bit positions of the decode position. These values can be used to read the value of a flag bit by combining the base_mode variable with AND with the flag position value. The result will be either 0 or 1, depending on if the flag is set or not.

    ValueNameDescription
    1MAV_MODE_FLAG_DECODE_POSITION_CUSTOM_MODEEighth bit: 00000001
    2MAV_MODE_FLAG_DECODE_POSITION_TESTSeventh bit: 00000010
    4MAV_MODE_FLAG_DECODE_POSITION_AUTOSixth bit: 00000100
    8MAV_MODE_FLAG_DECODE_POSITION_GUIDEDFifth bit: 00001000
    16MAV_MODE_FLAG_DECODE_POSITION_STABILIZEFourth bit: 00010000
    32MAV_MODE_FLAG_DECODE_POSITION_HILThird bit: 00100000
    64MAV_MODE_FLAG_DECODE_POSITION_MANUALSecond bit: 01000000
    128MAV_MODE_FLAG_DECODE_POSITION_SAFETYFirst bit: 10000000

    MAV_STATE — [from: minimal] ​

    ValueNameDescription
    0MAV_STATE_UNINITUninitialized system, state is unknown.
    1MAV_STATE_BOOTSystem is booting up.
    2MAV_STATE_CALIBRATINGSystem is calibrating and not flight-ready.
    3MAV_STATE_STANDBYSystem is grounded and on standby. It can be launched any time.
    4MAV_STATE_ACTIVESystem is active and might be already airborne. Motors are engaged.
    5MAV_STATE_CRITICALSystem is in a non-normal flight mode (failsafe). It can however still navigate.
    6MAV_STATE_EMERGENCYSystem is in a non-normal flight mode (failsafe). It lost control over parts or over the whole airframe. It is in mayday and going down.
    7MAV_STATE_POWEROFFSystem just initialized its power-down sequence, will shut down now.
    8MAV_STATE_FLIGHT_TERMINATIONSystem is terminating itself (failsafe or commanded).

    MAV_COMPONENT — [from: minimal] ​

    Component ids (values) for the different types and instances of onboard hardware/software that might make up a MAVLink system (autopilot, cameras, servos, GPS systems, avoidance systems etc.).

    Components must use the appropriate ID in their source address when sending messages. Components can also use IDs to determine if they are the intended recipient of an incoming message. The MAV_COMP_ID_ALL value is used to indicate messages that must be processed by all components. When creating new entries, components that can have multiple instances (e.g. cameras, servos etc.) should be allocated sequential values. An appropriate number of values should be left free after these components to allow the number of instances to be expanded.

    ValueNameDescription
    0MAV_COMP_ID_ALLTarget id (target_component) used to broadcast messages to all components of the receiving system. Components should attempt to process messages with this component ID and forward to components on any other interfaces. Note: This is not a valid source component id for a message.
    1MAV_COMP_ID_AUTOPILOT1System flight controller component ("autopilot"). Only one autopilot is expected in a particular system.
    25MAV_COMP_ID_USER1Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    26MAV_COMP_ID_USER2Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    27MAV_COMP_ID_USER3Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    28MAV_COMP_ID_USER4Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    29MAV_COMP_ID_USER5Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    30MAV_COMP_ID_USER6Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    31MAV_COMP_ID_USER7Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    32MAV_COMP_ID_USER8Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    33MAV_COMP_ID_USER9Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    34MAV_COMP_ID_USER10Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    35MAV_COMP_ID_USER11Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    36MAV_COMP_ID_USER12Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    37MAV_COMP_ID_USER13Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    38MAV_COMP_ID_USER14Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    39MAV_COMP_ID_USER15Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    40MAV_COMP_ID_USER16Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    41MAV_COMP_ID_USER17Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    42MAV_COMP_ID_USER18Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    43MAV_COMP_ID_USER19Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    44MAV_COMP_ID_USER20Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    45MAV_COMP_ID_USER21Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    46MAV_COMP_ID_USER22Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    47MAV_COMP_ID_USER23Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    48MAV_COMP_ID_USER24Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    49MAV_COMP_ID_USER25Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    50MAV_COMP_ID_USER26Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    51MAV_COMP_ID_USER27Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    52MAV_COMP_ID_USER28Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    53MAV_COMP_ID_USER29Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    54MAV_COMP_ID_USER30Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    55MAV_COMP_ID_USER31Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    56MAV_COMP_ID_USER32Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    57MAV_COMP_ID_USER33Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    58MAV_COMP_ID_USER34Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    59MAV_COMP_ID_USER35Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    60MAV_COMP_ID_USER36Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    61MAV_COMP_ID_USER37Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    62MAV_COMP_ID_USER38Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    63MAV_COMP_ID_USER39Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    64MAV_COMP_ID_USER40Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    65MAV_COMP_ID_USER41Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    66MAV_COMP_ID_USER42Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    67MAV_COMP_ID_USER43Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    68MAV_COMP_ID_TELEMETRY_RADIOTelemetry radio (e.g. SiK radio, or other component that emits RADIO_STATUS messages).
    69MAV_COMP_ID_USER45Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    70MAV_COMP_ID_USER46Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    71MAV_COMP_ID_USER47Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    72MAV_COMP_ID_USER48Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    73MAV_COMP_ID_USER49Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    74MAV_COMP_ID_USER50Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    75MAV_COMP_ID_USER51Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    76MAV_COMP_ID_USER52Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    77MAV_COMP_ID_USER53Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    78MAV_COMP_ID_USER54Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    79MAV_COMP_ID_USER55Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    80MAV_COMP_ID_USER56Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    81MAV_COMP_ID_USER57Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    82MAV_COMP_ID_USER58Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    83MAV_COMP_ID_USER59Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    84MAV_COMP_ID_USER60Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    85MAV_COMP_ID_USER61Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    86MAV_COMP_ID_USER62Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    87MAV_COMP_ID_USER63Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    88MAV_COMP_ID_USER64Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    89MAV_COMP_ID_USER65Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    90MAV_COMP_ID_USER66Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    91MAV_COMP_ID_USER67Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    92MAV_COMP_ID_USER68Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    93MAV_COMP_ID_USER69Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    94MAV_COMP_ID_USER70Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    95MAV_COMP_ID_USER71Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    96MAV_COMP_ID_USER72Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    97MAV_COMP_ID_USER73Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    98MAV_COMP_ID_USER74Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    99MAV_COMP_ID_USER75Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    100MAV_COMP_ID_CAMERACamera #1.
    101MAV_COMP_ID_CAMERA2Camera #2.
    102MAV_COMP_ID_CAMERA3Camera #3.
    103MAV_COMP_ID_CAMERA4Camera #4.
    104MAV_COMP_ID_CAMERA5Camera #5.
    105MAV_COMP_ID_CAMERA6Camera #6.
    140MAV_COMP_ID_SERVO1Servo #1.
    141MAV_COMP_ID_SERVO2Servo #2.
    142MAV_COMP_ID_SERVO3Servo #3.
    143MAV_COMP_ID_SERVO4Servo #4.
    144MAV_COMP_ID_SERVO5Servo #5.
    145MAV_COMP_ID_SERVO6Servo #6.
    146MAV_COMP_ID_SERVO7Servo #7.
    147MAV_COMP_ID_SERVO8Servo #8.
    148MAV_COMP_ID_SERVO9Servo #9.
    149MAV_COMP_ID_SERVO10Servo #10.
    150MAV_COMP_ID_SERVO11Servo #11.
    151MAV_COMP_ID_SERVO12Servo #12.
    152MAV_COMP_ID_SERVO13Servo #13.
    153MAV_COMP_ID_SERVO14Servo #14.
    154MAV_COMP_ID_GIMBALGimbal #1.
    155MAV_COMP_ID_LOGLogging component.
    156MAV_COMP_ID_ADSBAutomatic Dependent Surveillance-Broadcast (ADS-B) component.
    157MAV_COMP_ID_OSDOn Screen Display (OSD) devices for video links.
    158MAV_COMP_ID_PERIPHERALGeneric autopilot peripheral component ID. Meant for devices that do not implement the parameter microservice.
    159MAV_COMP_ID_QX1_GIMBALGimbal ID for QX1.DEPRECATED: Replaced By MAV_COMP_ID_GIMBAL (2018-11) — All gimbals should use MAV_COMP_ID_GIMBAL.)
    160MAV_COMP_ID_FLARMFLARM collision alert component.
    161MAV_COMP_ID_PARACHUTEParachute component.
    169MAV_COMP_ID_WINCHWinch component.
    171MAV_COMP_ID_GIMBAL2Gimbal #2.
    172MAV_COMP_ID_GIMBAL3Gimbal #3.
    173MAV_COMP_ID_GIMBAL4Gimbal #4
    174MAV_COMP_ID_GIMBAL5Gimbal #5.
    175MAV_COMP_ID_GIMBAL6Gimbal #6.
    180MAV_COMP_ID_BATTERYBattery #1.
    181MAV_COMP_ID_BATTERY2Battery #2.
    189MAV_COMP_ID_MAVCANCAN over MAVLink client.
    190MAV_COMP_ID_MISSIONPLANNERComponent that can generate/supply a mission flight plan (e.g. GCS or developer API).
    191MAV_COMP_ID_ONBOARD_COMPUTERComponent that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
    192MAV_COMP_ID_ONBOARD_COMPUTER2Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
    193MAV_COMP_ID_ONBOARD_COMPUTER3Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
    194MAV_COMP_ID_ONBOARD_COMPUTER4Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
    195MAV_COMP_ID_PATHPLANNERComponent that finds an optimal path between points based on a certain constraint (e.g. minimum snap, shortest path, cost, etc.).
    196MAV_COMP_ID_OBSTACLE_AVOIDANCEComponent that plans a collision free path between two points.
    197MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRYComponent that provides position estimates using VIO techniques.
    198MAV_COMP_ID_PAIRING_MANAGERComponent that manages pairing of vehicle and GCS.
    200MAV_COMP_ID_IMUInertial Measurement Unit (IMU) #1.
    201MAV_COMP_ID_IMU_2Inertial Measurement Unit (IMU) #2.
    202MAV_COMP_ID_IMU_3Inertial Measurement Unit (IMU) #3.
    220MAV_COMP_ID_GPSGPS #1.
    221MAV_COMP_ID_GPS2GPS #2.
    236MAV_COMP_ID_ODID_TXRX_1Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
    237MAV_COMP_ID_ODID_TXRX_2Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
    238MAV_COMP_ID_ODID_TXRX_3Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
    240MAV_COMP_ID_UDP_BRIDGEComponent to bridge MAVLink to UDP (i.e. from a UART).
    241MAV_COMP_ID_UART_BRIDGEComponent to bridge to UART (i.e. from UDP).
    242MAV_COMP_ID_TUNNEL_NODEComponent handling TUNNEL messages (e.g. vendor specific GUI of a component).
    243MAV_COMP_ID_ILLUMINATORIlluminator
    250MAV_COMP_ID_SYSTEM_CONTROLDeprecated, don't use. Component for handling system messages (e.g. to ARM, takeoff, etc.).DEPRECATED: Replaced By MAV_COMP_ID_ALL (2018-11) — System control does not require a separate component ID. Instead, system commands should be sent with target_component=MAV_COMP_ID_ALL allowing the target component to use any appropriate component id.)

    Commands (MAV_CMD) ​

    MAV_CMD_NAV_WAYPOINT (16) ​

    Navigate to waypoint. This is intended for use in missions (for guided commands outside of missions use MAV_CMD_DO_REPOSITION).

    Param (Label)DescriptionValuesUnits
    1 (Hold)Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)min: 0s
    2 (Accept Radius)Acceptance radius (if the sphere with this radius is hit, the waypoint counts as reached)min: 0m
    3 (Pass Radius)0 to pass through the WP, if > 0 radius to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.m
    4 (Yaw)Desired yaw angle at waypoint (rotary wing). NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).deg
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7 (Altitude)Altitudem

    MAV_CMD_NAV_LOITER_UNLIM (17) ​

    Loiter around this waypoint an unlimited amount of time

    Param (Label)DescriptionUnits
    1Empty
    2Empty
    3 (Radius)Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, else counter-clockwisem
    4 (Yaw)Desired yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).deg
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7 (Altitude)Altitudem

    MAV_CMD_NAV_LOITER_TURNS (18) ​

    Loiter around this waypoint for X turns

    Param (Label)DescriptionValuesUnits
    1 (Turns)Number of turns.min: 0
    2 (Heading Required)Leave loiter circle only once heading towards the next waypoint (0 = False)min: 0 max: 1 inc: 1
    3 (Radius)Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, else counter-clockwisem
    4 (Xtrack Location)Loiter circle exit location and/or path to next waypoint ("xtrack") for forward-only moving vehicles (not multicopters). 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use the current system default xtrack behaviour.
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7 (Altitude)Altitudem

    MAV_CMD_NAV_LOITER_TIME (19) ​

    Loiter at the specified latitude, longitude and altitude for a certain amount of time. Multicopter vehicles stop at the point (within a vehicle-specific acceptance radius). Forward-only moving vehicles (e.g. fixed-wing) circle the point with the specified radius/direction. If the Heading Required parameter (2) is non-zero forward moving aircraft will only leave the loiter circle once heading towards the next waypoint.

    Param (Label)DescriptionValuesUnits
    1 (Time)Loiter time (only starts once Lat, Lon and Alt is reached).min: 0s
    2 (Heading Required)Leave loiter circle only once heading towards the next waypoint (0 = False)min: 0 max: 1 inc: 1
    3 (Radius)Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, else counter-clockwise.m
    4 (Xtrack Location)Loiter circle exit location and/or path to next waypoint ("xtrack") for forward-only moving vehicles (not multicopters). 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use the current system default xtrack behaviour.
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7 (Altitude)Altitudem

    MAV_CMD_NAV_RETURN_TO_LAUNCH (20) ​

    Return to launch location

    Param (Label)Description
    1Empty
    2Empty
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_NAV_LAND (21) ​

    Land at location.

    Param (Label)DescriptionValuesUnits
    1 (Abort Alt)Minimum target altitude if landing is aborted (0 = undefined/use system default).m
    2 (Land Mode)Precision land mode.PRECISION_LAND_MODE
    3Empty.
    4 (Yaw Angle)Desired yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).deg
    5 (Latitude)Latitude.
    6 (Longitude)Longitude.
    7 (Altitude)Landing altitude (ground level in current frame).m

    MAV_CMD_NAV_TAKEOFF (22) ​

    Takeoff from ground / hand. Vehicles that support multiple takeoff modes (e.g. VTOL quadplane) should take off using the currently configured mode.

    Param (Label)DescriptionUnits
    1 (Pitch)Minimum pitch (if airspeed sensor present), desired pitch without sensordeg
    2Empty
    3Empty
    4 (Yaw)Yaw angle (if magnetometer present), ignored without magnetometer. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).deg
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7 (Altitude)Altitudem

    MAV_CMD_NAV_LAND_LOCAL (23) ​

    Land at local position (local frame only)

    Param (Label)DescriptionValuesUnits
    1 (Target)Landing target number (if available)min: 0 inc: 1
    2 (Offset)Maximum accepted offset from desired landing position - computed magnitude from spherical coordinates: d = sqrt(x^2 + y^2 + z^2), which gives the maximum accepted distance between the desired landing position and the position where the vehicle is about to landmin: 0m
    3 (Descend Rate)Landing descend ratem/s
    4 (Yaw)Desired yaw anglerad
    5 (Y Position)Y-axis positionm
    6 (X Position)X-axis positionm
    7 (Z Position)Z-axis / ground level positionm

    MAV_CMD_NAV_TAKEOFF_LOCAL (24) ​

    Takeoff from local position (local frame only)

    Param (Label)DescriptionUnits
    1 (Pitch)Minimum pitch (if airspeed sensor present), desired pitch without sensorrad
    2Empty
    3 (Ascend Rate)Takeoff ascend ratem/s
    4 (Yaw)Yaw angle (if magnetometer or another yaw estimation source present), ignored without one of theserad
    5 (Y Position)Y-axis positionm
    6 (X Position)X-axis positionm
    7 (Z Position)Z-axis positionm

    MAV_CMD_NAV_FOLLOW (25) ​

    Vehicle following, i.e. this waypoint represents the position of a moving vehicle

    Param (Label)DescriptionValuesUnits
    1 (Following)Following logic to use (e.g. loitering or sinusoidal following) - depends on specific autopilot implementationinc: 1
    2 (Ground Speed)Ground speed of vehicle to be followedm/s
    3 (Radius)Radius around waypoint. If positive loiter clockwise, else counter-clockwisem
    4 (Yaw)Desired yaw angle.deg
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7 (Altitude)Altitudem

    MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT (30) ​

    Continue on the current course and climb/descend to specified altitude. When the altitude is reached continue to the next command (i.e., don't proceed to the next command until the desired altitude is reached.

    Param (Label)DescriptionValuesUnits
    1 (Action)Climb or Descend (0 = Neutral, command completes when within 5m of this command's altitude, 1 = Climbing, command completes when at or above this command's altitude, 2 = Descending, command completes when at or below this command's altitude.min: 0 max: 2 inc: 1
    2Empty
    3Empty
    4Empty
    5Empty
    6Empty
    7 (Altitude)Desired altitudem

    MAV_CMD_NAV_LOITER_TO_ALT (31) ​

    Begin loiter at the specified Latitude and Longitude. If Lat=Lon=0, then loiter at the current position. Don't consider the navigation command complete (don't leave loiter) until the altitude has been reached. Additionally, if the Heading Required parameter is non-zero the aircraft will not leave the loiter until heading toward the next waypoint.

    Param (Label)DescriptionValuesUnits
    1 (Heading Required)Leave loiter circle only once heading towards the next waypoint (0 = False)min: 0 max: 1 inc: 1
    2 (Radius)Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, negative counter-clockwise, 0 means no change to standard loiter.m
    3Empty
    4 (Xtrack Location)Loiter circle exit location and/or path to next waypoint ("xtrack") for forward-only moving vehicles (not multicopters). 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use the current system default xtrack behaviour.min: 0 max: 1 inc: 1
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7 (Altitude)Altitudem

    MAV_CMD_DO_FOLLOW (32) ​

    Begin following a target

    Param (Label)DescriptionValuesUnits
    1 (System ID)System ID (of the FOLLOW_TARGET beacon). Send 0 to disable follow-me and return to the default position hold mode.min: 0 max: 255 inc: 1
    2Reserved
    3Reserved
    4 (Altitude Mode)Altitude mode: 0: Keep current altitude, 1: keep altitude difference to target, 2: go to a fixed altitude above home.min: 0 max: 2 inc: 1
    5 (Altitude)Altitude above home. (used if mode=2)m
    6Reserved
    7 (Time to Land)Time to land in which the MAV should go to the default position hold mode after a message RX timeout.min: 0s

    MAV_CMD_DO_FOLLOW_REPOSITION (33) ​

    Reposition the MAV after a follow target command has been sent

    Param (Label)DescriptionUnits
    1 (Camera Q1)Camera q1 (where 0 is on the ray from the camera to the tracking device)
    2 (Camera Q2)Camera q2
    3 (Camera Q3)Camera q3
    4 (Camera Q4)Camera q4
    5 (Altitude Offset)altitude offset from targetm
    6 (X Offset)X offset from targetm
    7 (Y Offset)Y offset from targetm

    MAV_CMD_DO_ORBIT (34) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Start orbiting on the circumference of a circle defined by the parameters. Setting values to NaN/INT32_MAX (as appropriate) results in using defaults.

    Param (Label)DescriptionValuesUnits
    1 (Radius)Radius of the circle. Positive: orbit clockwise. Negative: orbit counter-clockwise. NaN: Use vehicle default radius, or current radius if already orbiting.m
    2 (Velocity)Tangential Velocity. NaN: Use vehicle default velocity, or current velocity if already orbiting.m/s
    3 (Yaw Behavior)Yaw behavior of the vehicle.ORBIT_YAW_BEHAVIOUR
    4 (Orbits)Orbit around the centre point for this many radians (i.e. for a three-quarter orbit set 270*Pi/180). 0: Orbit forever. NaN: Use vehicle default, or current value if already orbiting.min: 0rad
    5 (Latitude/X)Center point latitude (if no MAV_FRAME specified) / X coordinate according to MAV_FRAME. INT32_MAX (or NaN if sent in COMMAND_LONG): Use current vehicle position, or current center if already orbiting.
    6 (Longitude/Y)Center point longitude (if no MAV_FRAME specified) / Y coordinate according to MAV_FRAME. INT32_MAX (or NaN if sent in COMMAND_LONG): Use current vehicle position, or current center if already orbiting.
    7 (Altitude/Z)Center point altitude (MSL) (if no MAV_FRAME specified) / Z coordinate according to MAV_FRAME. NaN: Use current vehicle altitude.

    MAV_CMD_NAV_ROI (80) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_DO_SET_ROI_* (2018-01)

    Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras.

    Param (Label)DescriptionValues
    1 (ROI Mode)Region of interest mode.MAV_ROI
    2 (WP Index)Waypoint index/ target ID. (see MAV_ROI enum)min: 0 inc: 1
    3 (ROI Index)ROI index (allows a vehicle to manage multiple ROI's)min: 0 inc: 1
    4Empty
    5 (X)x the location of the fixed ROI (see MAV_FRAME)
    6 (Y)y
    7 (Z)z

    MAV_CMD_NAV_PATHPLANNING (81) ​

    Control autonomous path planning on the MAV.

    Param (Label)DescriptionValuesUnits
    1 (Local Ctrl)0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planningmin: 0 max: 2 inc: 1
    2 (Global Ctrl)0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy gridmin: 0 max: 3 inc: 1
    3Empty
    4 (Yaw)Yaw angle at goaldeg
    5 (Latitude/X)Latitude/X of goal
    6 (Longitude/Y)Longitude/Y of goal
    7 (Altitude/Z)Altitude/Z of goal

    MAV_CMD_NAV_SPLINE_WAYPOINT (82) ​

    Navigate to waypoint using a spline path.

    Param (Label)DescriptionValuesUnits
    1 (Hold)Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)min: 0s
    2Empty
    3Empty
    4Empty
    5 (Latitude/X)Latitude/X of goal
    6 (Longitude/Y)Longitude/Y of goal
    7 (Altitude/Z)Altitude/Z of goal

    MAV_CMD_NAV_VTOL_TAKEOFF (84) ​

    Takeoff from ground using VTOL mode, and transition to forward flight with specified heading. The command should be ignored by vehicles that dont support both VTOL and fixed-wing flight (multicopters, boats,etc.).

    Param (Label)DescriptionValuesUnits
    1Empty
    2 (Transition Heading)Front transition heading.VTOL_TRANSITION_HEADING
    3Empty
    4 (Yaw Angle)Yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).deg
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7 (Altitude)Altitudem

    MAV_CMD_NAV_VTOL_LAND (85) ​

    Land using VTOL mode

    Param (Label)DescriptionValuesUnits
    1 (Land Options)Landing behaviour.NAV_VTOL_LAND_OPTIONS
    2Empty
    3 (Approach Altitude)Approach altitude (with the same reference as the Altitude field). NaN if unspecified.m
    4 (Yaw)Yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).deg
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7 (Ground Altitude)Altitude (ground level) relative to the current coordinate frame. NaN to use system default landing altitude (ignore value).m

    MAV_CMD_NAV_GUIDED_ENABLE (92) ​

    hand control over to an external controller

    Param (Label)DescriptionValues
    1 (Enable)On / Off (> 0.5f on)min: 0 max: 1 inc: 1
    2Empty
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_NAV_DELAY (93) ​

    Delay the next navigation command a number of seconds or until a specified time

    Param (Label)DescriptionValuesUnits
    1 (Delay)Delay (-1 to enable time-of-day fields)min: -1 inc: 1s
    2 (Hour)hour (24h format, UTC, -1 to ignore)min: -1 max: 23 inc: 1
    3 (Minute)minute (24h format, UTC, -1 to ignore)min: -1 max: 59 inc: 1
    4 (Second)second (24h format, UTC, -1 to ignore)min: -1 max: 59 inc: 1
    5Empty
    6Empty
    7Empty

    MAV_CMD_NAV_PAYLOAD_PLACE (94) ​

    Descend and place payload. Vehicle moves to specified location, descends until it detects a hanging payload has reached the ground, and then releases the payload. If ground is not detected before the reaching the maximum descent value (param1), the command will complete without releasing the payload.

    Param (Label)DescriptionValuesUnits
    1 (Max Descent)Maximum distance to descend.min: 0m
    2Empty
    3Empty
    4Empty
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7 (Altitude)Altitudem

    MAV_CMD_NAV_LAST (95) ​

    NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration

    Param (Label)Description
    1Empty
    2Empty
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_CONDITION_DELAY (112) ​

    Delay mission state machine.

    Param (Label)DescriptionValuesUnits
    1 (Delay)Delaymin: 0s
    2Empty
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_CONDITION_CHANGE_ALT (113) ​

    Ascend/descend to target altitude at specified rate. Delay mission state machine until desired altitude reached.

    Param (Label)DescriptionUnits
    1 (Rate)Descent / Ascend rate.m/s
    2Empty
    3Empty
    4Empty
    5Empty
    6Empty
    7 (Altitude)Target Altitudem

    MAV_CMD_CONDITION_DISTANCE (114) ​

    Delay mission state machine until within desired distance of next NAV point.

    Param (Label)DescriptionValuesUnits
    1 (Distance)Distance.min: 0m
    2Empty
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_CONDITION_YAW (115) ​

    Reach a certain target angle.

    Param (Label)DescriptionValuesUnits
    1 (Angle)target angle [0-360]. Absolute angles: 0 is north. Relative angle: 0 is initial yaw. Direction set by param3.min: 0 max: 360deg
    2 (Angular Speed)angular speedmin: 0deg/s
    3 (Direction)direction: -1: counter clockwise, 0: shortest direction, 1: clockwisemin: -1 max: 1 inc: 1
    4 (Relative)0: absolute angle, 1: relative offsetmin: 0 max: 1 inc: 1
    5Empty
    6Empty
    7Empty

    MAV_CMD_CONDITION_LAST (159) ​

    NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration

    Param (Label)Description
    1Empty
    2Empty
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_SET_MODE (176) ​

    Set system mode.

    Param (Label)DescriptionValues
    1 (Mode)ModeMAV_MODE
    2 (Custom Mode)Custom mode - this is system specific, please refer to the individual autopilot specifications for details.
    3 (Custom Submode)Custom sub mode - this is system specific, please refer to the individual autopilot specifications for details.
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_JUMP (177) ​

    Jump to the desired command in the mission list. Repeat this action only the specified number of times

    Param (Label)DescriptionValues
    1 (Number)Sequence numbermin: 0 inc: 1
    2 (Repeat)Repeat countmin: 0 inc: 1
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_CHANGE_SPEED (178) ​

    Change speed and/or throttle set points. The value persists until it is overridden or there is a mode change

    Param (Label)DescriptionValuesUnits
    1 (Speed Type)Speed type of value set in param2 (such as airspeed, ground speed, and so on)SPEED_TYPE
    2 (Speed)Speed (-1 indicates no change, -2 indicates return to default vehicle speed)min: -2m/s
    3 (Throttle)Throttle (-1 indicates no change, -2 indicates return to default vehicle throttle value)min: -2%
    4
    5
    6
    7

    MAV_CMD_DO_SET_HOME (179) ​

    Sets the home position to either to the current position or a specified position. The home position is the default position that the system will return to and land on. The position is set automatically by the system during the takeoff (and may also be set using this command). Note: the current home position may be emitted in a HOME_POSITION message on request (using MAV_CMD_REQUEST_MESSAGE with param1=242).

    Param (Label)DescriptionValuesUnits
    1 (Use Current)Use current (1=use current location, 0=use specified location)min: 0 max: 1 inc: 1
    2 (Roll)Roll angle (of surface). Range: -180..180 degrees. NAN or 0 means value not set. 0.01 indicates zero roll.min: -180 max: 180deg
    3 (Pitch)Pitch angle (of surface). Range: -90..90 degrees. NAN or 0 means value not set. 0.01 means zero pitch.min: -90 max: 90deg
    4 (Yaw)Yaw angle. NaN to use default heading. Range: -180..180 degrees.min: -180 max: 180deg
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7 (Altitude)Altitudem

    MAV_CMD_DO_SET_PARAMETER (180) — [DEP] ​

    DEPRECATED: Replaced By PARAM_SET (2024-04)

    Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter.

    Param (Label)DescriptionValues
    1 (Number)Parameter numbermin: 0 inc: 1
    2 (Value)Parameter value
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_SET_RELAY (181) ​

    Set a relay to a condition.

    Param (Label)DescriptionValues
    1 (Instance)Relay instance number.min: 0 inc: 1
    2 (Setting)Setting. (1=on, 0=off, others possible depending on system hardware)min: 0 inc: 1
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_REPEAT_RELAY (182) ​

    Cycle a relay on and off for a desired number of cycles with a desired period.

    Param (Label)DescriptionValuesUnits
    1 (Instance)Relay instance number.min: 0 inc: 1
    2 (Count)Cycle count.min: 1 inc: 1
    3 (Time)Cycle time.min: 0s
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_SET_SERVO (183) ​

    Set a servo to a desired PWM value.

    Param (Label)DescriptionValuesUnits
    1 (Instance)Servo instance number.min: 0 inc: 1
    2 (PWM)Pulse Width Modulation.min: 0 inc: 1us
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_REPEAT_SERVO (184) ​

    Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period.

    Param (Label)DescriptionValuesUnits
    1 (Instance)Servo instance number.min: 0 inc: 1
    2 (PWM)Pulse Width Modulation.min: 0 inc: 1us
    3 (Count)Cycle count.min: 1 inc: 1
    4 (Time)Cycle time.min: 0s
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_FLIGHTTERMINATION (185) ​

    Terminate flight immediately.

    Flight termination immediately and irreversibly terminates the current flight, returning the vehicle to ground. The vehicle will ignore RC or other input until it has been power-cycled. Termination may trigger safety measures, including: disabling motors and deployment of parachute on multicopters, and setting flight surfaces to initiate a landing pattern on fixed-wing). On multicopters without a parachute it may trigger a crash landing. Support for this command can be tested using the protocol bit: MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION. Support for this command can also be tested by sending the command with param1=0 (< 0.5); the ACK should be either MAV_RESULT_FAILED or MAV_RESULT_UNSUPPORTED.

    Param (Label)DescriptionValues
    1 (Terminate)Flight termination activated if > 0.5. Otherwise not activated and ACK with MAV_RESULT_FAILED.min: 0 max: 1 inc: 1
    2Empty
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_CHANGE_ALTITUDE (186) ​

    Change altitude set point.

    Param (Label)DescriptionValuesUnits
    1 (Altitude)Altitude.m
    2 (Frame)Frame of new altitude.MAV_FRAME
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_SET_ACTUATOR (187) ​

    Sets actuators (e.g. servos) to a desired value. The actuator numbers are mapped to specific outputs (e.g. on any MAIN or AUX PWM or UAVCAN) using a flight-stack specific mechanism (i.e. a parameter).

    Param (Label)DescriptionValues
    1 (Actuator 1)Actuator 1 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max: 1
    2 (Actuator 2)Actuator 2 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max: 1
    3 (Actuator 3)Actuator 3 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max: 1
    4 (Actuator 4)Actuator 4 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max: 1
    5 (Actuator 5)Actuator 5 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max: 1
    6 (Actuator 6)Actuator 6 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max: 1
    7 (Index)Index of actuator set (i.e if set to 1, Actuator 1 becomes Actuator 7)min: 0 inc: 1

    MAV_CMD_DO_RETURN_PATH_START (188) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Mission item to specify the start of a failsafe/landing return-path segment (the end of the segment is the next MAV_CMD_DO_LAND_START item).

    A vehicle that is using missions for landing (e.g. in a return mode) will join the mission on the closest path of the return-path segment (instead of MAV_CMD_DO_LAND_START or the nearest waypoint). The main use case is to minimize the failsafe flight path in corridor missions, where the inbound/outbound paths are constrained (by geofences) to the same particular path. The MAV_CMD_NAV_RETURN_PATH_START would be placed at the start of the return path. If a failsafe occurs on the outbound path the vehicle will move to the nearest point on the return path (which is parallel for this kind of mission), effectively turning round and following the shortest path to landing. If a failsafe occurs on the inbound path the vehicle is already on the return segment and will continue to landing. The Latitude/Longitude/Altitude are optional, and may be set to 0 if not needed. If specified, the item defines the waypoint at which the return segment starts. If sent using as a command, the vehicle will perform a mission landing (using the land segment if defined) or reject the command if mission landings are not supported, or no mission landing is defined. When used as a command any position information in the command is ignored.

    Param (Label)DescriptionUnits
    1Empty
    2Empty
    3Empty
    4Empty
    5 (Latitude)Latitudee. 0: not used.
    6 (Longitude)Longitudee. 0: not used.
    7 (Altitude)Altitudee. 0: not used.m

    MAV_CMD_DO_LAND_START (189) ​

    Mission command to perform a landing. This is used as a marker in a mission to tell the autopilot where a sequence of mission items that represents a landing starts.

    It may also be sent via a COMMAND_LONG to trigger a landing, in which case the nearest (geographically) landing sequence in the mission will be used. The Latitude/Longitude/Altitude is optional, and may be set to 0 if not needed. If specified then it will be used to help find the closest landing sequence.

    Param (Label)DescriptionUnits
    1Empty
    2Empty
    3Empty
    4Empty
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7 (Altitude)Altitudem

    MAV_CMD_DO_RALLY_LAND (190) ​

    Mission command to perform a landing from a rally point.

    Param (Label)DescriptionUnits
    1 (Altitude)Break altitudem
    2 (Speed)Landing speedm/s
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_GO_AROUND (191) ​

    Mission command to safely abort an autonomous landing.

    Param (Label)DescriptionUnits
    1 (Altitude)Altitudem
    2Empty
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_REPOSITION (192) ​

    Reposition the vehicle to a specific WGS84 global position. This command is intended for guided commands (for missions use MAV_CMD_NAV_WAYPOINT instead).

    Param (Label)DescriptionValuesUnits
    1 (Speed)Ground speed, less than 0 (-1) for defaultmin: -1m/s
    2 (Bitmask)Bitmask of option flags.MAV_DO_REPOSITION_FLAGS
    3 (Radius)Loiter radius for planes. Positive values only, direction is controlled by Yaw value. A value of zero or NaN is ignored.m
    4 (Yaw)Yaw heading. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.). For planes indicates loiter direction (0: clockwise, 1: counter clockwise)deg
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7 (Altitude)Altitudem

    MAV_CMD_DO_PAUSE_CONTINUE (193) ​

    If in a GPS controlled position mode, hold the current position or continue.

    Param (Label)DescriptionValues
    1 (Continue)0: Pause current mission or reposition command, hold current position. 1: Continue mission. A VTOL capable vehicle should enter hover mode (multicopter and VTOL planes). A plane should loiter with the default loiter radius.min: 0 max: 1 inc: 1
    2Reserved
    3Reserved
    4Reserved
    5Reserved
    6Reserved
    7Reserved

    MAV_CMD_DO_SET_REVERSE (194) ​

    Set moving direction to forward or reverse.

    Param (Label)DescriptionValues
    1 (Reverse)Direction (0=Forward, 1=Reverse)min: 0 max: 1 inc: 1
    2Empty
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_SET_ROI_LOCATION (195) ​

    Sets the region of interest (ROI) to a location. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal is not to react to this message.

    Param (Label)DescriptionUnits
    1 (Gimbal device ID)Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).
    2Empty
    3Empty
    4Empty
    5 (Latitude)Latitude of ROI locationdegE7
    6 (Longitude)Longitude of ROI locationdegE7
    7 (Altitude)Altitude of ROI locationm

    MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET (196) ​

    Sets the region of interest (ROI) to be toward next waypoint, with optional pitch/roll/yaw offset. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message.

    Param (Label)DescriptionUnits
    1 (Gimbal device ID)Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).
    2Empty
    3Empty
    4Empty
    5 (Pitch Offset)Pitch offset from next waypoint, positive pitching updeg
    6 (Roll Offset)Roll offset from next waypoint, positive rolling to the rightdeg
    7 (Yaw Offset)Yaw offset from next waypoint, positive yawing to the rightdeg

    MAV_CMD_DO_SET_ROI_NONE (197) ​

    Cancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message. After this command the gimbal manager should go back to manual input if available, and otherwise assume a neutral position.

    Param (Label)Description
    1 (Gimbal device ID)Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).
    2Empty
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_SET_ROI_SYSID (198) ​

    Mount tracks system with specified system ID. Determination of target vehicle position may be done with GLOBAL_POSITION_INT or any other means. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message.

    Param (Label)DescriptionValues
    1 (System ID)System IDmin: 1 max: 255 inc: 1
    2 (Gimbal device ID)Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).

    MAV_CMD_DO_CONTROL_VIDEO (200) ​

    Control onboard camera system.

    Param (Label)DescriptionValuesUnits
    1 (ID)Camera ID (-1 for all)min: -1 inc: 1
    2 (Transmission)Transmission: 0: disabled, 1: enabled compressed, 2: enabled rawmin: 0 max: 2 inc: 1
    3 (Interval)Transmission mode: 0: video stream, >0: single images every n secondsmin: 0s
    4 (Recording)Recording: 0: disabled, 1: enabled compressed, 2: enabled rawmin: 0 max: 2 inc: 1
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_SET_ROI (201) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_DO_SET_ROI_* (2018-01)

    Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras.

    Param (Label)DescriptionValues
    1 (ROI Mode)Region of interest mode.MAV_ROI
    2 (WP Index)Waypoint index/ target ID (depends on param 1).min: 0 inc: 1
    3 (ROI Index)Region of interest index. (allows a vehicle to manage multiple ROI's)min: 0 inc: 1
    4Empty
    5MAV_ROI_WPNEXT: pitch offset from next waypoint, MAV_ROI_LOCATION: latitude
    6MAV_ROI_WPNEXT: roll offset from next waypoint, MAV_ROI_LOCATION: longitude
    7MAV_ROI_WPNEXT: yaw offset from next waypoint, MAV_ROI_LOCATION: altitude

    MAV_CMD_DO_DIGICAM_CONFIGURE (202) ​

    Configure digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ).

    Param (Label)DescriptionValuesUnits
    1 (Mode)Modes: P, TV, AV, M, Etc.min: 0 inc: 1
    2 (Shutter Speed)Shutter speed: Divisor number for one second.min: 0 inc: 1
    3 (Aperture)Aperture: F stop number.min: 0
    4 (ISO)ISO number e.g. 80, 100, 200, Etc.min: 0 inc: 1
    5 (Exposure)Exposure type enumerator.
    6 (Command Identity)Command Identity.
    7 (Engine Cut-off)Main engine cut-off time before camera trigger. (0 means no cut-off)min: 0 inc: 1ds

    MAV_CMD_DO_DIGICAM_CONTROL (203) ​

    Control digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ).

    Param (Label)Description
    1 (Session Control)Session control e.g. show/hide lens
    2 (Zoom Absolute)Zoom's absolute position
    3 (Zoom Relative)Zooming step value to offset zoom from the current position
    4 (Focus)Focus Locking, Unlocking or Re-locking
    5 (Shoot Command)Shooting Command
    6 (Command Identity)Command Identity
    7 (Shot ID)Test shot identifier. If set to 1, image will only be captured, but not counted towards internal frame count.

    MAV_CMD_DO_MOUNT_CONFIGURE (204) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE (2020-01) — This message has been superseded by MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE. The message can still be used to communicate with legacy gimbals implementing it.)

    Mission command to configure a camera or antenna mount

    Param (Label)DescriptionValues
    1 (Mode)Mount operation modeMAV_MOUNT_MODE
    2 (Stabilize Roll)stabilize roll? (1 = yes, 0 = no)min: 0 max: 1 inc: 1
    3 (Stabilize Pitch)stabilize pitch? (1 = yes, 0 = no)min: 0 max: 1 inc: 1
    4 (Stabilize Yaw)stabilize yaw? (1 = yes, 0 = no)min: 0 max: 1 inc: 1
    5 (Roll Input Mode)roll input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)
    6 (Pitch Input Mode)pitch input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)
    7 (Yaw Input Mode)yaw input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)

    MAV_CMD_DO_MOUNT_CONTROL (205) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (2020-01) — This message is ambiguous and inconsistent. It has been superseded by MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW and MAV_CMD_DO_SET_ROI_* variants. The message can still be used to communicate with legacy gimbals implementing it.)

    Mission command to control a camera or antenna mount

    Param (Label)DescriptionValuesUnits
    1 (Pitch)pitch depending on mount mode (degrees or degrees/second depending on pitch input).
    2 (Roll)roll depending on mount mode (degrees or degrees/second depending on roll input).
    3 (Yaw)yaw depending on mount mode (degrees or degrees/second depending on yaw input).
    4 (Altitude)altitude depending on mount mode.m
    5 (Latitude)latitude, set if appropriate mount mode.
    6 (Longitude)longitude, set if appropriate mount mode.
    7 (Mode)Mount mode.MAV_MOUNT_MODE

    MAV_CMD_DO_SET_CAM_TRIGG_DIST (206) ​

    Mission command to set camera trigger distance for this flight. The camera is triggered each time this distance is exceeded. This command can also be used to set the shutter integration time for the camera.

    Param (Label)DescriptionValuesUnits
    1 (Distance)Camera trigger distance. 0 to stop triggering.min: 0m
    2 (Shutter)Camera shutter integration time. -1 or 0 to ignoremin: -1 inc: 1ms
    3 (Trigger)Trigger camera once immediately. (0 = no trigger, 1 = trigger)min: 0 max: 1 inc: 1
    4 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_FENCE_ENABLE (207) ​

    Enable the geofence. This can be used in a mission or via the command protocol. The persistence/lifetime of the setting is undefined. Depending on flight stack implementation it may persist until superseded, or it may revert to a system default at the end of a mission. Flight stacks typically reset the setting to system defaults on reboot.

    Param (Label)DescriptionValues
    1 (Enable)enable? (0=disable, 1=enable, 2=disable_floor_only)min: 0 max: 2 inc: 1
    2 (Types)Fence types to enable or disable as a bitmask. A value of 0 indicates that all fences should be enabled or disabled. This parameter is ignored if param 1 has the value 2FENCE_TYPE
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_PARACHUTE (208) ​

    Mission item/command to release a parachute or enable/disable auto release.

    Param (Label)DescriptionValues
    1 (Action)ActionPARACHUTE_ACTION
    2Empty
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_MOTOR_TEST (209) ​

    Command to perform motor test.

    Param (Label)DescriptionValuesUnits
    1 (Instance)Motor instance number (from 1 to max number of motors on the vehicle).min: 1 inc: 1
    2 (Throttle Type)Throttle type (whether the Throttle Value in param3 is a percentage, PWM value, etc.)MOTOR_TEST_THROTTLE_TYPE
    3 (Throttle)Throttle value.
    4 (Timeout)Timeout between tests that are run in sequence.min: 0s
    5 (Motor Count)Motor count. Number of motors to test in sequence: 0/1=one motor, 2= two motors, etc. The Timeout (param4) is used between tests.min: 0 inc: 1
    6 (Test Order)Motor test order.MOTOR_TEST_ORDER
    7Empty

    MAV_CMD_DO_INVERTED_FLIGHT (210) ​

    Change to/from inverted flight.

    Param (Label)DescriptionValues
    1 (Inverted)Inverted flight. (0=normal, 1=inverted)min: 0 max: 1 inc: 1
    2Empty
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_GRIPPER (211) ​

    Mission command to operate a gripper.

    Param (Label)DescriptionValues
    1 (Instance)Gripper instance number.min: 1 inc: 1
    2 (Action)Gripper action to perform.GRIPPER_ACTIONS
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_AUTOTUNE_ENABLE (212) ​

    Enable/disable autotune.

    Param (Label)DescriptionValues
    1 (Enable)Enable (1: enable, 0:disable).min: 0 max: 1 inc: 1
    2 (Axis)Specify which axis are autotuned. 0 indicates autopilot default settings.AUTOTUNE_AXIS
    3Empty.
    4Empty.
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_NAV_SET_YAW_SPEED (213) ​

    Sets a desired vehicle turn angle and speed change.

    Param (Label)DescriptionValuesUnits
    1 (Yaw)Yaw angle to adjust steering by.deg
    2 (Speed)Speed.m/s
    3 (Angle)Final angle. (0=absolute, 1=relative)min: 0 max: 1 inc: 1
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL (214) ​

    Mission command to set camera trigger interval for this flight. If triggering is enabled, the camera is triggered each time this interval expires. This command can also be used to set the shutter integration time for the camera.

    Param (Label)DescriptionValuesUnits
    1 (Trigger Cycle)Camera trigger cycle time. -1 or 0 to ignore.min: -1 inc: 1ms
    2 (Shutter Integration)Camera shutter integration time. Should be less than trigger cycle time. -1 or 0 to ignore.min: -1 inc: 1ms
    3 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_MOUNT_CONTROL_QUAT (220) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (2020-01)

    Mission command to control a camera or antenna mount, using a quaternion as reference.

    Param (Label)Description
    1 (Q1)quaternion param q1, w (1 in null-rotation)
    2 (Q2)quaternion param q2, x (0 in null-rotation)
    3 (Q3)quaternion param q3, y (0 in null-rotation)
    4 (Q4)quaternion param q4, z (0 in null-rotation)
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_GUIDED_MASTER (221) ​

    set id of master controller

    Param (Label)DescriptionValues
    1 (System ID)System IDmin: 0 max: 255 inc: 1
    2 (Component ID)Component IDmin: 0 max: 255 inc: 1
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_GUIDED_LIMITS (222) ​

    Set limits for external control

    Param (Label)DescriptionValuesUnits
    1 (Timeout)Timeout - maximum time that external controller will be allowed to control vehicle. 0 means no timeout.min: 0s
    2 (Min Altitude)Altitude (MSL) min - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit.m
    3 (Max Altitude)Altitude (MSL) max - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit.m
    4 (Horiz. Move Limit)Horizontal move limit - if vehicle moves more than this distance from its location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal move limit.min: 0m
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_ENGINE_CONTROL (223) ​

    Control vehicle engine. This is interpreted by the vehicles engine controller to change the target engine state. It is intended for vehicles with internal combustion engines

    Param (Label)DescriptionValuesUnits
    1 (Start Engine)0: Stop engine, 1:Start Enginemin: 0 max: 1 inc: 1
    2 (Cold Start)0: Warm start, 1:Cold start. Controls use of choke where applicablemin: 0 max: 1 inc: 1
    3 (Height Delay)Height delay. This is for commanding engine start only after the vehicle has gained the specified height. Used in VTOL vehicles during takeoff to start engine after the aircraft is off the ground. Zero for no delay.min: 0m
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_SET_MISSION_CURRENT (224) ​

    Set the mission item with sequence number seq as the current item and emit MISSION_CURRENT (whether or not the mission number changed). If a mission is currently being executed, the system will continue to this new mission item on the shortest path, skipping any intermediate mission items. Note that mission jump repeat counters are not reset unless param2 is set (see MAV_CMD_DO_JUMP param2).

    This command may trigger a mission state-machine change on some systems: for example from MISSION_STATE_NOT_STARTED or MISSION_STATE_PAUSED to MISSION_STATE_ACTIVE. If the system is in mission mode, on those systems this command might therefore start, restart or resume the mission. If the system is not in mission mode this command must not trigger a switch to mission mode.

    The mission may be "reset" using param2. Resetting sets jump counters to initial values (to reset counters without changing the current mission item set the param1 to -1). Resetting also explicitly changes a mission state of MISSION_STATE_COMPLETE to MISSION_STATE_PAUSED or MISSION_STATE_ACTIVE, potentially allowing it to resume when it is (next) in a mission mode.

    The command will ACK with MAV_RESULT_FAILED if the sequence number is out of range (including if there is no mission item).

    Param (Label)DescriptionValues
    1 (Number)Mission sequence value to set. -1 for the current mission item (use to reset mission without changing current mission item).min: -1 inc: 1
    2 (Reset Mission)Resets mission. 1: true, 0: false. Resets jump counters to initial values and changes mission state "completed" to be "active" or "paused".min: 0 max: 1 inc: 1
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_LAST (240) ​

    NOP - This command is only used to mark the upper limit of the DO commands in the enumeration

    Param (Label)Description
    1Empty
    2Empty
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_PREFLIGHT_CALIBRATION (241) ​

    Trigger calibration. This command will be only accepted if in pre-flight mode. Except for Temperature Calibration, only one sensor should be set in a single message and all others should be zero.

    Param (Label)DescriptionValues
    1 (Gyro Temperature)1: gyro calibration, 3: gyro temperature calibrationmin: 0 max: 3 inc: 1
    2 (Magnetometer)1: magnetometer calibrationmin: 0 max: 1 inc: 1
    3 (Ground Pressure)1: ground pressure calibrationmin: 0 max: 1 inc: 1
    4 (Remote Control)1: radio RC calibration, 2: RC trim calibrationmin: 0 max: 1 inc: 1
    5 (Accelerometer)1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature calibration, 4: simple accelerometer calibrationmin: 0 max: 4 inc: 1
    6 (Compmot or Airspeed)1: APM: compass/motor interference calibration (PX4: airspeed calibration, deprecated), 2: airspeed calibrationmin: 0 max: 2 inc: 1
    7 (ESC or Baro)1: ESC calibration, 3: barometer temperature calibrationmin: 0 max: 3 inc: 1

    MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS (242) ​

    Set sensor offsets. This command will be only accepted if in pre-flight mode.

    Param (Label)DescriptionValues
    1 (Sensor Type)Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow, 5: second magnetometer, 6: third magnetometermin: 0 max: 6 inc: 1
    2 (X Offset)X axis offset (or generic dimension 1), in the sensor's raw units
    3 (Y Offset)Y axis offset (or generic dimension 2), in the sensor's raw units
    4 (Z Offset)Z axis offset (or generic dimension 3), in the sensor's raw units
    5 (4th Dimension)Generic dimension 4, in the sensor's raw units
    6 (5th Dimension)Generic dimension 5, in the sensor's raw units
    7 (6th Dimension)Generic dimension 6, in the sensor's raw units

    MAV_CMD_PREFLIGHT_UAVCAN (243) ​

    Trigger UAVCAN configuration (actuator ID assignment and direction mapping). Note that this maps to the legacy UAVCAN v0 function UAVCAN_ENUMERATE, which is intended to be executed just once during initial vehicle configuration (it is not a normal pre-flight command and has been poorly named).

    Param (Label)Description
    1 (Actuator ID)1: Trigger actuator ID assignment and direction mapping. 0: Cancel command.
    2Reserved
    3Reserved
    4Reserved
    5Reserved
    6Reserved
    7Reserved

    MAV_CMD_PREFLIGHT_STORAGE (245) ​

    Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode.

    Param (Label)DescriptionValuesUnits
    1 (Parameter Storage)Action to perform on the persistent parameter storagePREFLIGHT_STORAGE_PARAMETER_ACTION
    2 (Mission Storage)Action to perform on the persistent mission storagePREFLIGHT_STORAGE_MISSION_ACTION
    3 (Logging Rate)Onboard logging: 0: Ignore, 1: Start default rate logging, -1: Stop logging, > 1: logging rate (e.g. set to 1000 for 1000 Hz logging)min: -1 inc: 1Hz
    4Reserved
    5Empty
    6Empty
    7Empty

    MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN (246) ​

    Request the reboot or shutdown of system components.

    Param (Label)DescriptionValues
    1 (Autopilot)0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot, 3: Reboot autopilot and keep it in the bootloader until upgraded.min: 0 max: 3 inc: 1
    2 (Companion)0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer, 3: Reboot onboard computer and keep it in the bootloader until upgraded.min: 0 max: 3 inc: 1
    3 (Component action)0: Do nothing for component, 1: Reboot component, 2: Shutdown component, 3: Reboot component and keep it in the bootloader until upgradedmin: 0 max: 3 inc: 1
    4 (Component ID)MAVLink Component ID targeted in param3 (0 for all components).min: 0 max: 255 inc: 1
    5Reserved (set to 0)
    6Reserved (set to 0)
    7WIP: ID (e.g. camera ID -1 for all IDs)

    MAV_CMD_OVERRIDE_GOTO (252) ​

    Override current mission with command to pause mission, pause mission and move to position, continue/resume mission. When param 1 indicates that the mission is paused (MAV_GOTO_DO_HOLD), param 2 defines whether it holds in place or moves to another position.

    Param (Label)DescriptionValuesUnits
    1 (Continue)MAV_GOTO_DO_HOLD: pause mission and either hold or move to specified position (depending on param2), MAV_GOTO_DO_CONTINUE: resume mission.MAV_GOTO
    2 (Position)MAV_GOTO_HOLD_AT_CURRENT_POSITION: hold at current position, MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position.MAV_GOTO
    3 (Frame)Coordinate frame of hold point.MAV_FRAME
    4 (Yaw)Desired yaw angle.deg
    5 (Latitude/X)Latitude/X position.
    6 (Longitude/Y)Longitude/Y position.
    7 (Altitude/Z)Altitude/Z position.

    MAV_CMD_OBLIQUE_SURVEY (260) ​

    Mission command to set a Camera Auto Mount Pivoting Oblique Survey (Replaces CAM_TRIGG_DIST for this purpose). The camera is triggered each time this distance is exceeded, then the mount moves to the next position. Params 4~6 set-up the angle limits and number of positions for oblique survey, where mount-enabled vehicles automatically roll the camera between shots to emulate an oblique camera setup (providing an increased HFOV). This command can also be used to set the shutter integration time for the camera.

    Param (Label)DescriptionValuesUnits
    1 (Distance)Camera trigger distance. 0 to stop triggering.min: 0m
    2 (Shutter)Camera shutter integration time. 0 to ignoremin: 0 inc: 1ms
    3 (Min Interval)The minimum interval in which the camera is capable of taking subsequent pictures repeatedly. 0 to ignore.min: 0 max: 10000 inc: 1ms
    4 (Positions)Total number of roll positions at which the camera will capture photos (images captures spread evenly across the limits defined by param5).min: 2 inc: 1
    5 (Roll Angle)Angle limits that the camera can be rolled to left and right of center.min: 0deg
    6 (Pitch Angle)Fixed pitch angle that the camera will hold in oblique mode if the mount is actuated in the pitch axis.min: -180 max: 180deg
    7Empty

    MAV_CMD_MISSION_START (300) ​

    start running a mission

    Param (Label)DescriptionValues
    1 (First Item)first_item: the first mission item to runmin: 0 inc: 1
    2 (Last Item)last_item: the last mission item to run (after this item is run, the mission ends)min: 0 inc: 1

    MAV_CMD_ACTUATOR_TEST (310) ​

    Actuator testing command. This is similar to MAV_CMD_DO_MOTOR_TEST but operates on the level of output functions, i.e. it is possible to test Motor1 independent from which output it is configured on. Autopilots typically refuse this command while armed.

    Param (Label)DescriptionValuesUnits
    1 (Value)Output value: 1 means maximum positive output, 0 to center servos or minimum motor thrust (expected to spin), -1 for maximum negative (if not supported by the motors, i.e. motor is not reversible, smaller than 0 maps to NaN). And NaN maps to disarmed (stop the motors).min: -1 max: 1
    2 (Timeout)Timeout after which the test command expires and the output is restored to the previous value. A timeout has to be set for safety reasons. A timeout of 0 means to restore the previous value immediately.min: 0 max: 3s
    3
    4
    5 (Output Function)Actuator Output functionACTUATOR_OUTPUT_FUNCTION
    6
    7

    MAV_CMD_CONFIGURE_ACTUATOR (311) ​

    Actuator configuration command.

    Param (Label)DescriptionValues
    1 (Configuration)Actuator configuration actionACTUATOR_CONFIGURATION
    2
    3
    4
    5 (Output Function)Actuator Output functionACTUATOR_OUTPUT_FUNCTION
    6
    7

    MAV_CMD_COMPONENT_ARM_DISARM (400) ​

    Arms / Disarms a component

    Param (Label)DescriptionValues
    1 (Arm)0: disarm, 1: armmin: 0 max: 1 inc: 1
    2 (Force)0: arm-disarm unless prevented by safety checks (i.e. when landed), 21196: force arming/disarming (e.g. allow arming to override preflight checks and disarming in flight)min: 0 max: 21196 inc: 21196

    MAV_CMD_RUN_PREARM_CHECKS (401) ​

    Instructs a target system to run pre-arm checks.

    This allows preflight checks to be run on demand, which may be useful on systems that normally run them at low rate, or which do not trigger checks when the armable state might have changed. This command should return MAV_RESULT_ACCEPTED if it will run the checks. The results of the checks are usually then reported in SYS_STATUS messages (this is system-specific). The command should return MAV_RESULT_TEMPORARILY_REJECTED if the system is already armed.

    Param (Label)Description

    MAV_CMD_ILLUMINATOR_ON_OFF (405) ​

    Turns illuminators ON/OFF. An illuminator is a light source that is used for lighting up dark areas external to the system: e.g. a torch or searchlight (as opposed to a light source for illuminating the system itself, e.g. an indicator light).

    Param (Label)DescriptionValues
    1 (Enable)0: Illuminators OFF, 1: Illuminators ONmin: 0 max: 1 inc: 1

    MAV_CMD_DO_ILLUMINATOR_CONFIGURE (406) ​

    Configures illuminator settings. An illuminator is a light source that is used for lighting up dark areas external to the system: e.g. a torch or searchlight (as opposed to a light source for illuminating the system itself, e.g. an indicator light).

    Param (Label)DescriptionValuesUnits
    1 (Mode)ModeILLUMINATOR_MODE
    2 (Brightness)0%: Off, 100%: Max Brightnessmin: 0 max: 100%
    3 (Strobe Period)Strobe period in seconds where 0 means strobing is not usedmin: 0s
    4 (Strobe Duty)Strobe duty cycle where 100% means it is on constantly and 0 means strobing is not usedmin: 0 max: 100%

    MAV_CMD_GET_HOME_POSITION (410) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2022-04)

    Request the home position from the vehicle.

    The vehicle will ACK the command and then emit the HOME_POSITION message.

    Param (Label)Description
    1Reserved
    2Reserved
    3Reserved
    4Reserved
    5Reserved
    6Reserved
    7Reserved

    MAV_CMD_INJECT_FAILURE (420) ​

    Inject artificial failure for testing purposes. Note that autopilots should implement an additional protection before accepting this command such as a specific param setting.

    Param (Label)DescriptionValues
    1 (Failure unit)The unit which is affected by the failure.FAILURE_UNIT
    2 (Failure type)The type how the failure manifests itself.FAILURE_TYPE
    3 (Instance)Instance affected by failure (0 to signal all).

    MAV_CMD_START_RX_PAIR (500) ​

    Starts receiver pairing.

    Param (Label)DescriptionValues
    1 (RC Type)RC type.RC_TYPE
    2 (RC Sub Type)RC sub type.RC_SUB_TYPE

    MAV_CMD_GET_MESSAGE_INTERVAL (510) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2022-04)

    Request the interval between messages for a particular MAVLink message ID. The receiver should ACK the command and then emit its response in a MESSAGE_INTERVAL message.

    Param (Label)DescriptionValues
    1 (Message ID)The MAVLink message IDmin: 0 max: 16777215 inc: 1

    MAV_CMD_SET_MESSAGE_INTERVAL (511) ​

    Set the interval between messages for a particular MAVLink message ID. This interface replaces REQUEST_DATA_STREAM.

    Param (Label)DescriptionValuesUnits
    1 (Message ID)The MAVLink message IDmin: 0 max: 16777215 inc: 1
    2 (Interval)The interval between two messages. -1: disable. 0: request default rate (which may be zero).min: -1 inc: 1us
    3 (Req Param 3)Use for index ID, if required. Otherwise, the use of this parameter (if any) must be defined in the requested message. By default assumed not used (0).
    4 (Req Param 4)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
    5 (Req Param 5)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
    6 (Req Param 6)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
    7 (Response Target)Target address of message stream (if message has target address fields). 0: Flight-stack default (recommended), 1: address of requestor, 2: broadcast.min: 0 max: 2 inc: 1

    MAV_CMD_REQUEST_MESSAGE (512) ​

    Request the target system(s) emit a single instance of a specified message (i.e. a "one-shot" version of MAV_CMD_SET_MESSAGE_INTERVAL).

    Param (Label)DescriptionValues
    1 (Message ID)The MAVLink message ID of the requested message.min: 0 max: 16777215 inc: 1
    2 (Req Param 1)Use for index ID, if required. Otherwise, the use of this parameter (if any) must be defined in the requested message. By default assumed not used (0).
    3 (Req Param 2)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
    4 (Req Param 3)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
    5 (Req Param 4)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
    6 (Req Param 5)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
    7 (Response Target)Target address for requested message (if message has target address fields). 0: Flight-stack default, 1: address of requestor, 2: broadcast.min: 0 max: 2 inc: 1

    MAV_CMD_REQUEST_PROTOCOL_VERSION (519) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

    Request MAVLink protocol version compatibility. All receivers should ACK the command and then emit their capabilities in an PROTOCOL_VERSION message

    Param (Label)DescriptionValues
    1 (Protocol)1: Request supported protocol versions by all nodes on the networkmin: 0 max: 1 inc: 1
    2Reserved (all remaining params)

    MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES (520) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

    Request autopilot capabilities. The receiver should ACK the command and then emit its capabilities in an AUTOPILOT_VERSION message

    Param (Label)DescriptionValues
    1 (Version)1: Request autopilot versionmin: 0 max: 1 inc: 1
    2Reserved (all remaining params)

    MAV_CMD_REQUEST_CAMERA_INFORMATION (521) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

    Request camera information (CAMERA_INFORMATION).

    Param (Label)DescriptionValues
    1 (Capabilities)0: No action 1: Request camera capabilitiesmin: 0 max: 1 inc: 1
    2Reserved (all remaining params)

    MAV_CMD_REQUEST_CAMERA_SETTINGS (522) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

    Request camera settings (CAMERA_SETTINGS).

    Param (Label)DescriptionValues
    1 (Settings)0: No Action 1: Request camera settingsmin: 0 max: 1 inc: 1
    2Reserved (all remaining params)

    MAV_CMD_REQUEST_STORAGE_INFORMATION (525) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

    Request storage information (STORAGE_INFORMATION). Use the command's target_component to target a specific component's storage.

    Param (Label)DescriptionValues
    1 (Storage ID)Storage ID (0 for all, 1 for first, 2 for second, etc.)min: 0 inc: 1
    2 (Information)0: No Action 1: Request storage informationmin: 0 max: 1 inc: 1
    3Reserved (all remaining params)

    MAV_CMD_STORAGE_FORMAT (526) ​

    Format a storage medium. Once format is complete, a STORAGE_INFORMATION message is sent. Use the command's target_component to target a specific component's storage.

    Param (Label)DescriptionValues
    1 (Storage ID)Storage ID (1 for first, 2 for second, etc.)min: 0 inc: 1
    2 (Format)Format storage (and reset image log). 0: No action 1: Format storagemin: 0 max: 1 inc: 1
    3 (Reset Image Log)Reset Image Log (without formatting storage medium). This will reset CAMERA_CAPTURE_STATUS.image_count and CAMERA_IMAGE_CAPTURED.image_index. 0: No action 1: Reset Image Logmin: 0 max: 1 inc: 1
    4Reserved (all remaining params)

    MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS (527) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

    Request camera capture status (CAMERA_CAPTURE_STATUS)

    Param (Label)DescriptionValues
    1 (Capture Status)0: No Action 1: Request camera capture statusmin: 0 max: 1 inc: 1
    2Reserved (all remaining params)

    MAV_CMD_REQUEST_FLIGHT_INFORMATION (528) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

    Request flight information (FLIGHT_INFORMATION)

    Param (Label)DescriptionValues
    1 (Flight Information)1: Request flight informationmin: 0 max: 1 inc: 1
    2Reserved (all remaining params)

    MAV_CMD_RESET_CAMERA_SETTINGS (529) ​

    Reset all camera settings to Factory Default

    Param (Label)DescriptionValues
    1 (Reset)0: No Action 1: Reset all settingsmin: 0 max: 1 inc: 1
    2 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

    MAV_CMD_SET_CAMERA_MODE (530) ​

    Set camera running mode. Use NaN for reserved values. GCS will send a MAV_CMD_REQUEST_VIDEO_STREAM_STATUS command after a mode change if the camera supports video streaming.

    Param (Label)DescriptionValues
    1 (id)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
    2 (Camera Mode)Camera modeCAMERA_MODE
    3
    4
    7

    MAV_CMD_SET_CAMERA_ZOOM (531) ​

    Set camera zoom. Camera must respond with a CAMERA_SETTINGS message (on success).

    Param (Label)DescriptionValues
    1 (Zoom Type)Zoom typeCAMERA_ZOOM_TYPE
    2 (Zoom Value)Zoom value. The range of valid values depend on the zoom type.
    3 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
    4

    MAV_CMD_SET_CAMERA_FOCUS (532) ​

    Set camera focus. Camera must respond with a CAMERA_SETTINGS message (on success).

    Param (Label)DescriptionValues
    1 (Focus Type)Focus typeSET_FOCUS_TYPE
    2 (Focus Value)Focus value
    3 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
    4

    MAV_CMD_SET_STORAGE_USAGE (533) ​

    Set that a particular storage is the preferred location for saving photos, videos, and/or other media (e.g. to set that an SD card is used for storing videos).

    There can only be one preferred save location for each particular media type: setting a media usage flag will clear/reset that same flag if set on any other storage. If no flag is set the system should use its default storage. A target system can choose to always use default storage, in which case it should ACK the command with MAV_RESULT_UNSUPPORTED. A target system can choose to not allow a particular storage to be set as preferred storage, in which case it should ACK the command with MAV_RESULT_DENIED.

    Param (Label)DescriptionValues
    1 (Storage ID)Storage ID (1 for first, 2 for second, etc.)min: 0 inc: 1
    2 (Usage)Usage flagsSTORAGE_USAGE_FLAG

    MAV_CMD_SET_CAMERA_SOURCE (534) ​

    Set camera source. Changes the camera's active sources on cameras with multiple image sensors.

    Param (Label)DescriptionValues
    1 (device id)Component Id of camera to address or 1-6 for non-MAVLink cameras, 0 for all cameras.
    2 (primary source)Primary SourceCAMERA_SOURCE
    3 (secondary source)Secondary Source. If non-zero the second source will be displayed as picture-in-picture.CAMERA_SOURCE

    MAV_CMD_JUMP_TAG (600) ​

    Tagged jump target. Can be jumped to with MAV_CMD_DO_JUMP_TAG.

    Param (Label)DescriptionValues
    1 (Tag)Tag.min: 0 inc: 1

    MAV_CMD_DO_JUMP_TAG (601) ​

    Jump to the matching tag in the mission list. Repeat this action for the specified number of times. A mission should contain a single matching tag for each jump. If this is not the case then a jump to a missing tag should complete the mission, and a jump where there are multiple matching tags should always select the one with the lowest mission sequence number.

    Param (Label)DescriptionValues
    1 (Tag)Target tag to jump to.min: 0 inc: 1
    2 (Repeat)Repeat count.min: 0 inc: 1

    MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (1000) ​

    Set gimbal manager pitch/yaw setpoints (low rate command). It is possible to set combinations of the values below. E.g. an angle as well as a desired angular rate can be used to get to this angle at a certain angular rate, or an angular rate only will result in continuous turning. NaN is to be used to signal unset. Note: only the gimbal manager will react to this command - it will be ignored by a gimbal device. Use GIMBAL_MANAGER_SET_PITCHYAW if you need to stream pitch/yaw setpoints at higher rate.

    Param (Label)DescriptionValuesUnits
    1 (Pitch angle)Pitch angle (positive to pitch up, relative to vehicle for FOLLOW mode, relative to world horizon for LOCK mode).min: -180 max: 180deg
    2 (Yaw angle)Yaw angle (positive to yaw to the right, relative to vehicle for FOLLOW mode, absolute to North for LOCK mode).min: -180 max: 180deg
    3 (Pitch rate)Pitch rate (positive to pitch up).deg/s
    4 (Yaw rate)Yaw rate (positive to yaw to the right).deg/s
    5 (Gimbal manager flags)Gimbal manager flags to use.GIMBAL_MANAGER_FLAGS
    7 (Gimbal device ID)Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).

    MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE (1001) ​

    Gimbal configuration to set which sysid/compid is in primary and secondary control.

    Param (Label)Description
    1 (sysid primary control)Sysid for primary control (0: no one in control, -1: leave unchanged, -2: set itself in control (for missions where the own sysid is still unknown), -3: remove control if currently in control).
    2 (compid primary control)Compid for primary control (0: no one in control, -1: leave unchanged, -2: set itself in control (for missions where the own sysid is still unknown), -3: remove control if currently in control).
    3 (sysid secondary control)Sysid for secondary control (0: no one in control, -1: leave unchanged, -2: set itself in control (for missions where the own sysid is still unknown), -3: remove control if currently in control).
    4 (compid secondary control)Compid for secondary control (0: no one in control, -1: leave unchanged, -2: set itself in control (for missions where the own sysid is still unknown), -3: remove control if currently in control).
    7 (Gimbal device ID)Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).

    MAV_CMD_IMAGE_START_CAPTURE (2000) ​

    Start image capture sequence. CAMERA_IMAGE_CAPTURED must be emitted after each capture.

    Param1 (id) may be used to specify the target camera: 0: all cameras, 1 to 6: autopilot-connected cameras, 7-255: MAVLink camera component ID. It is needed in order to target specific cameras connected to the autopilot, or specific sensors in a multi-sensor camera (neither of which have a distinct MAVLink component ID). It is also needed to specify the target camera in missions.

    When used in a mission, an autopilot should execute the MAV_CMD for a specified local camera (param1 = 1-6), or resend it as a command if it is intended for a MAVLink camera (param1 = 7 - 255), setting the command's target_component as the param1 value (and setting param1 in the command to zero). If the param1 is 0 the autopilot should do both.

    When sent in a command the target MAVLink address is set using target_component. If addressed specifically to an autopilot: param1 should be used in the same way as it is for missions (though command should NACK with MAV_RESULT_DENIED if a specified local camera does not exist). If addressed to a MAVLink camera, param 1 can be used to address all cameras (0), or to separately address 1 to 7 individual sensors. Other values should be NACKed with MAV_RESULT_DENIED. If the command is broadcast (target_component is 0) then param 1 should be set to 0 (any other value should be NACKED with MAV_RESULT_DENIED). An autopilot would trigger any local cameras and forward the command to all channels.

    Param (Label)DescriptionValuesUnits
    1 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
    2 (Interval)Desired elapsed time between two consecutive pictures (in seconds). Minimum values depend on hardware (typically greater than 2 seconds).min: 0s
    3 (Total Images)Total number of images to capture. 0 to capture forever/until MAV_CMD_IMAGE_STOP_CAPTURE.min: 0 inc: 1
    4 (Sequence Number)Capture sequence number starting from 1. This is only valid for single-capture (param3 == 1), otherwise set to 0. Increment the capture ID for each capture command to prevent double captures when a command is re-transmitted.min: 1 inc: 1
    5
    6
    7

    MAV_CMD_IMAGE_STOP_CAPTURE (2001) ​

    Stop image capture sequence.

    Param1 (id) may be used to specify the target camera: 0: all cameras, 1 to 6: autopilot-connected cameras, 7-255: MAVLink camera component ID. It is needed in order to target specific cameras connected to the autopilot, or specific sensors in a multi-sensor camera (neither of which have a distinct MAVLink component ID). It is also needed to specify the target camera in missions.

    When used in a mission, an autopilot should execute the MAV_CMD for a specified local camera (param1 = 1-6), or resend it as a command if it is intended for a MAVLink camera (param1 = 7 - 255), setting the command's target_component as the param1 value (and setting param1 in the command to zero). If the param1 is 0 the autopilot should do both.

    When sent in a command the target MAVLink address is set using target_component. If addressed specifically to an autopilot: param1 should be used in the same way as it is for missions (though command should NACK with MAV_RESULT_DENIED if a specified local camera does not exist). If addressed to a MAVLink camera, param1 can be used to address all cameras (0), or to separately address 1 to 7 individual sensors. Other values should be NACKed with MAV_RESULT_DENIED. If the command is broadcast (target_component is 0) then param 1 should be set to 0 (any other value should be NACKED with MAV_RESULT_DENIED). An autopilot would trigger any local cameras and forward the command to all channels.

    Param (Label)DescriptionValues
    1 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
    2
    3
    4
    5
    6
    7

    MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE (2002) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

    Re-request a CAMERA_IMAGE_CAPTURED message.

    Param (Label)DescriptionValues
    1 (Number)Sequence number for missing CAMERA_IMAGE_CAPTURED messagemin: 0 inc: 1
    2
    3
    4
    5
    6
    7

    MAV_CMD_DO_TRIGGER_CONTROL (2003) ​

    Enable or disable on-board camera triggering system.

    Param (Label)DescriptionValues
    1 (Enable)Trigger enable/disable (0 for disable, 1 for start), -1 to ignoremin: -1 max: 1 inc: 1
    2 (Reset)1 to reset the trigger sequence, -1 or 0 to ignoremin: -1 max: 1 inc: 1
    3 (Pause)1 to pause triggering, but without switching the camera off or retracting it. -1 to ignoremin: -1 max: 1 inc: 2
    4 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

    MAV_CMD_CAMERA_TRACK_POINT (2004) ​

    If the camera supports point visual tracking (CAMERA_CAP_FLAGS_HAS_TRACKING_POINT is set), this command allows to initiate the tracking.

    Param (Label)DescriptionValues
    1 (Point x)Point to track x value (normalized 0..1, 0 is left, 1 is right).min: 0 max: 1
    2 (Point y)Point to track y value (normalized 0..1, 0 is top, 1 is bottom).min: 0 max: 1
    3 (Radius)Point radius (normalized 0..1, 0 is one pixel, 1 is full image width).min: 0 max: 1
    4 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

    MAV_CMD_CAMERA_TRACK_RECTANGLE (2005) ​

    If the camera supports rectangle visual tracking (CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLE is set), this command allows to initiate the tracking.

    Param (Label)DescriptionValues
    1 (Top left corner x)Top left corner of rectangle x value (normalized 0..1, 0 is left, 1 is right).min: 0 max: 1
    2 (Top left corner y)Top left corner of rectangle y value (normalized 0..1, 0 is top, 1 is bottom).min: 0 max: 1
    3 (Bottom right corner x)Bottom right corner of rectangle x value (normalized 0..1, 0 is left, 1 is right).min: 0 max: 1
    4 (Bottom right corner y)Bottom right corner of rectangle y value (normalized 0..1, 0 is top, 1 is bottom).min: 0 max: 1
    5 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

    MAV_CMD_CAMERA_STOP_TRACKING (2010) ​

    Stops ongoing tracking.

    Param (Label)DescriptionValues
    1 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

    MAV_CMD_VIDEO_START_CAPTURE (2500) ​

    Starts video capture (recording).

    Param (Label)DescriptionValuesUnits
    1 (Stream ID)Video Stream ID (0 for all streams)min: 0 inc: 1
    2 (Status Frequency)Frequency CAMERA_CAPTURE_STATUS messages should be sent while recording (0 for no messages, otherwise frequency)min: 0Hz
    3 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
    4
    5
    6
    7

    MAV_CMD_VIDEO_STOP_CAPTURE (2501) ​

    Stop the current video capture (recording).

    Param (Label)DescriptionValues
    1 (Stream ID)Video Stream ID (0 for all streams)min: 0 inc: 1
    2 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
    3
    4
    5
    6
    7

    MAV_CMD_VIDEO_START_STREAMING (2502) ​

    Start video streaming

    Param (Label)DescriptionValues
    1 (Stream ID)Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)min: 0 inc: 1
    2 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

    MAV_CMD_VIDEO_STOP_STREAMING (2503) ​

    Stop the given video stream

    Param (Label)DescriptionValues
    1 (Stream ID)Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)min: 0 inc: 1
    2 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

    MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION (2504) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

    Request video stream information (VIDEO_STREAM_INFORMATION)

    Param (Label)DescriptionValues
    1 (Stream ID)Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)min: 0 inc: 1

    MAV_CMD_REQUEST_VIDEO_STREAM_STATUS (2505) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

    Request video stream status (VIDEO_STREAM_STATUS)

    Param (Label)DescriptionValues
    1 (Stream ID)Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)min: 0 inc: 1

    MAV_CMD_LOGGING_START (2510) ​

    Request to start streaming logging data over MAVLink (see also LOGGING_DATA message)

    Param (Label)DescriptionValues
    1 (Format)Format: 0: ULogmin: 0 inc: 1
    2Reserved (set to 0)
    3Reserved (set to 0)
    4Reserved (set to 0)
    5Reserved (set to 0)
    6Reserved (set to 0)
    7Reserved (set to 0)

    MAV_CMD_LOGGING_STOP (2511) ​

    Request to stop streaming log data over MAVLink

    Param (Label)Description
    1Reserved (set to 0)
    2Reserved (set to 0)
    3Reserved (set to 0)
    4Reserved (set to 0)
    5Reserved (set to 0)
    6Reserved (set to 0)
    7Reserved (set to 0)

    MAV_CMD_AIRFRAME_CONFIGURATION (2520) ​

    Param (Label)DescriptionValues
    1 (Landing Gear ID)Landing gear ID (default: 0, -1 for all)min: -1 inc: 1
    2 (Landing Gear Position)Landing gear position (Down: 0, Up: 1, NaN for no change)
    3
    4
    5
    6
    7

    MAV_CMD_CONTROL_HIGH_LATENCY (2600) ​

    Request to start/stop transmitting over the high latency telemetry

    Param (Label)DescriptionValues
    1 (Enable)Control transmission over high latency telemetry (0: stop, 1: start)min: 0 max: 1 inc: 1
    2Empty
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_PANORAMA_CREATE (2800) ​

    Create a panorama at the current position

    Param (Label)DescriptionUnits
    1 (Horizontal Angle)Viewing angle horizontal of the panorama (+- 0.5 the total angle)deg
    2 (Vertical Angle)Viewing angle vertical of panorama.deg
    3 (Horizontal Speed)Speed of the horizontal rotation.deg/s
    4 (Vertical Speed)Speed of the vertical rotation.deg/s

    MAV_CMD_DO_VTOL_TRANSITION (3000) ​

    Request VTOL transition

    Param (Label)DescriptionValues
    1 (State)The target VTOL state. For normal transitions, only MAV_VTOL_STATE_MC and MAV_VTOL_STATE_FW can be used.MAV_VTOL_STATE
    2 (Immediate)Force immediate transition to the specified MAV_VTOL_STATE. 1: Force immediate, 0: normal transition. Can be used, for example, to trigger an emergency "Quadchute". Caution: Can be dangerous/damage vehicle, depending on autopilot implementation of this command.

    MAV_CMD_ARM_AUTHORIZATION_REQUEST (3001) ​

    Request authorization to arm the vehicle to a external entity, the arm authorizer is responsible to request all data that is needs from the vehicle before authorize or deny the request.

    If approved the COMMAND_ACK message progress field should be set with period of time that this authorization is valid in seconds. If the authorization is denied COMMAND_ACK.result_param2 should be set with one of the reasons in ARM_AUTH_DENIED_REASON.

    Param (Label)DescriptionValues
    1 (System ID)Vehicle system id, this way ground station can request arm authorization on behalf of any vehiclemin: 0 max: 255 inc: 1

    MAV_CMD_SET_GUIDED_SUBMODE_STANDARD (4000) ​

    This command sets the submode to standard guided when vehicle is in guided mode. The vehicle holds position and altitude and the user can input the desired velocities along all three axes.

    Param (Label)Description

    MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE (4001) ​

    This command sets submode circle when vehicle is in guided mode. Vehicle flies along a circle facing the center of the circle. The user can input the velocity along the circle and change the radius. If no input is given the vehicle will hold position.

    Param (Label)DescriptionUnits
    1 (Radius)Radius of desired circle in CIRCLE_MODEm
    2User defined
    3User defined
    4User defined
    5 (Latitude)Target latitude of center of circle in CIRCLE_MODEdegE7
    6 (Longitude)Target longitude of center of circle in CIRCLE_MODEdegE7

    MAV_CMD_CONDITION_GATE (4501) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Delay mission state machine until gate has been reached.

    Param (Label)DescriptionValuesUnits
    1 (Geometry)Geometry: 0: orthogonal to path between previous and next waypoint.min: 0 inc: 1
    2 (UseAltitude)Altitude: 0: ignore altitudemin: 0 max: 1 inc: 1
    3Empty
    4Empty
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7 (Altitude)Altitudem

    MAV_CMD_NAV_FENCE_RETURN_POINT (5000) ​

    Fence return point (there can only be one such point in a geofence definition). If rally points are supported they should be used instead.

    Param (Label)DescriptionUnits
    1Reserved
    2Reserved
    3Reserved
    4Reserved
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7 (Altitude)Altitudem

    MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION (5001) ​

    Fence vertex for an inclusion polygon (the polygon must not be self-intersecting). The vehicle must stay within this area. Minimum of 3 vertices required.

    Param (Label)DescriptionValues
    1 (Vertex Count)Polygon vertex countmin: 3 inc: 1
    2 (Inclusion Group)Vehicle must be inside ALL inclusion zones in a single group, vehicle must be inside at least one group, must be the same for all points in each polygonmin: 0 inc: 1
    3Reserved
    4Reserved
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7Reserved

    MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION (5002) ​

    Fence vertex for an exclusion polygon (the polygon must not be self-intersecting). The vehicle must stay outside this area. Minimum of 3 vertices required.

    Param (Label)DescriptionValues
    1 (Vertex Count)Polygon vertex countmin: 3 inc: 1
    2Reserved
    3Reserved
    4Reserved
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7Reserved

    MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION (5003) ​

    Circular fence area. The vehicle must stay inside this area.

    Param (Label)DescriptionValuesUnits
    1 (Radius)Radius.m
    2 (Inclusion Group)Vehicle must be inside ALL inclusion zones in a single group, vehicle must be inside at least one groupmin: 0 inc: 1
    3Reserved
    4Reserved
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7Reserved

    MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION (5004) ​

    Circular fence area. The vehicle must stay outside this area.

    Param (Label)DescriptionUnits
    1 (Radius)Radius.m
    2Reserved
    3Reserved
    4Reserved
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7Reserved

    MAV_CMD_NAV_RALLY_POINT (5100) ​

    Rally point. You can have multiple rally points defined.

    Param (Label)DescriptionUnits
    1Reserved
    2Reserved
    3Reserved
    4Reserved
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7 (Altitude)Altitudem

    MAV_CMD_UAVCAN_GET_NODE_INFO (5200) ​

    Commands the vehicle to respond with a sequence of messages UAVCAN_NODE_INFO, one message per every UAVCAN node that is online. Note that some of the response messages can be lost, which the receiver can detect easily by checking whether every received UAVCAN_NODE_STATUS has a matching message UAVCAN_NODE_INFO received earlier; if not, this command should be sent again in order to request re-transmission of the node information messages.

    Param (Label)Description
    1Reserved (set to 0)
    2Reserved (set to 0)
    3Reserved (set to 0)
    4Reserved (set to 0)
    5Reserved (set to 0)
    6Reserved (set to 0)
    7Reserved (set to 0)

    MAV_CMD_DO_SET_SAFETY_SWITCH_STATE (5300) ​

    Change state of safety switch.

    Param (Label)DescriptionValues
    1 (Desired State)New safety switch state.SAFETY_SWITCH_STATE
    2Empty.
    3Empty.
    4Empty
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_DO_ADSB_OUT_IDENT (10001) ​

    Trigger the start of an ADSB-out IDENT. This should only be used when requested to do so by an Air Traffic Controller in controlled airspace. This starts the IDENT which is then typically held for 18 seconds by the hardware per the Mode A, C, and S transponder spec.

    Param (Label)Description
    1Reserved (set to 0)
    2Reserved (set to 0)
    3Reserved (set to 0)
    4Reserved (set to 0)
    5Reserved (set to 0)
    6Reserved (set to 0)
    7Reserved (set to 0)

    MAV_CMD_PAYLOAD_PREPARE_DEPLOY (30001) — [DEP] ​

    DEPRECATED:(2021-06)

    Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity.

    Param (Label)DescriptionValuesUnits
    1 (Operation Mode)Operation mode. 0: prepare single payload deploy (overwriting previous requests), but do not execute it. 1: execute payload deploy immediately (rejecting further deploy commands during execution, but allowing abort). 2: add payload deploy to existing deployment list.min: 0 max: 2 inc: 1
    2 (Approach Vector)Desired approach vector in compass heading. A negative value indicates the system can define the approach vector at will.min: -1 max: 360deg
    3 (Ground Speed)Desired ground speed at release time. This can be overridden by the airframe in case it needs to meet minimum airspeed. A negative value indicates the system can define the ground speed at will.min: -1
    4 (Altitude Clearance)Minimum altitude clearance to the release position. A negative value indicates the system can define the clearance at will.min: -1m
    5 (Latitude)Latitude.degE7
    6 (Longitude)Longitude.degE7
    7 (Altitude)Altitude (MSL)m

    MAV_CMD_PAYLOAD_CONTROL_DEPLOY (30002) — [DEP] ​

    DEPRECATED:(2021-06)

    Control the payload deployment.

    Param (Label)DescriptionValues
    1 (Operation Mode)Operation mode. 0: Abort deployment, continue normal mission. 1: switch to payload deployment mode. 100: delete first payload deployment request. 101: delete all payload deployment requests.min: 0 max: 101 inc: 1
    2Reserved
    3Reserved
    4Reserved
    5Reserved
    6Reserved
    7Reserved

    MAV_CMD_WAYPOINT_USER_1 (31000) ​

    User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

    Param (Label)DescriptionUnits
    1User defined
    2User defined
    3User defined
    4User defined
    5 (Latitude)Latitude unscaled
    6 (Longitude)Longitude unscaled
    7 (Altitude)Altitude (MSL)m

    MAV_CMD_WAYPOINT_USER_2 (31001) ​

    User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

    Param (Label)DescriptionUnits
    1User defined
    2User defined
    3User defined
    4User defined
    5 (Latitude)Latitude unscaled
    6 (Longitude)Longitude unscaled
    7 (Altitude)Altitude (MSL)m

    MAV_CMD_WAYPOINT_USER_3 (31002) ​

    User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

    Param (Label)DescriptionUnits
    1User defined
    2User defined
    3User defined
    4User defined
    5 (Latitude)Latitude unscaled
    6 (Longitude)Longitude unscaled
    7 (Altitude)Altitude (MSL)m

    MAV_CMD_WAYPOINT_USER_4 (31003) ​

    User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

    Param (Label)DescriptionUnits
    1User defined
    2User defined
    3User defined
    4User defined
    5 (Latitude)Latitude unscaled
    6 (Longitude)Longitude unscaled
    7 (Altitude)Altitude (MSL)m

    MAV_CMD_WAYPOINT_USER_5 (31004) ​

    User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

    Param (Label)DescriptionUnits
    1User defined
    2User defined
    3User defined
    4User defined
    5 (Latitude)Latitude unscaled
    6 (Longitude)Longitude unscaled
    7 (Altitude)Altitude (MSL)m

    MAV_CMD_SPATIAL_USER_1 (31005) ​

    User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

    Param (Label)DescriptionUnits
    1User defined
    2User defined
    3User defined
    4User defined
    5 (Latitude)Latitude unscaled
    6 (Longitude)Longitude unscaled
    7 (Altitude)Altitude (MSL)m

    MAV_CMD_SPATIAL_USER_2 (31006) ​

    User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

    Param (Label)DescriptionUnits
    1User defined
    2User defined
    3User defined
    4User defined
    5 (Latitude)Latitude unscaled
    6 (Longitude)Longitude unscaled
    7 (Altitude)Altitude (MSL)m

    MAV_CMD_SPATIAL_USER_3 (31007) ​

    User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

    Param (Label)DescriptionUnits
    1User defined
    2User defined
    3User defined
    4User defined
    5 (Latitude)Latitude unscaled
    6 (Longitude)Longitude unscaled
    7 (Altitude)Altitude (MSL)m

    MAV_CMD_SPATIAL_USER_4 (31008) ​

    User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

    Param (Label)DescriptionUnits
    1User defined
    2User defined
    3User defined
    4User defined
    5 (Latitude)Latitude unscaled
    6 (Longitude)Longitude unscaled
    7 (Altitude)Altitude (MSL)m

    MAV_CMD_SPATIAL_USER_5 (31009) ​

    User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

    Param (Label)DescriptionUnits
    1User defined
    2User defined
    3User defined
    4User defined
    5 (Latitude)Latitude unscaled
    6 (Longitude)Longitude unscaled
    7 (Altitude)Altitude (MSL)m

    MAV_CMD_USER_1 (31010) ​

    User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

    Param (Label)Description
    1User defined
    2User defined
    3User defined
    4User defined
    5User defined
    6User defined
    7User defined

    MAV_CMD_USER_2 (31011) ​

    User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

    Param (Label)Description
    1User defined
    2User defined
    3User defined
    4User defined
    5User defined
    6User defined
    7User defined

    MAV_CMD_USER_3 (31012) ​

    User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

    Param (Label)Description
    1User defined
    2User defined
    3User defined
    4User defined
    5User defined
    6User defined
    7User defined

    MAV_CMD_USER_4 (31013) ​

    User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

    Param (Label)Description
    1User defined
    2User defined
    3User defined
    4User defined
    5User defined
    6User defined
    7User defined

    MAV_CMD_USER_5 (31014) ​

    User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

    Param (Label)Description
    1User defined
    2User defined
    3User defined
    4User defined
    5User defined
    6User defined
    7User defined

    MAV_CMD_CAN_FORWARD (32000) ​

    Request forwarding of CAN packets from the given CAN bus to this component. CAN Frames are sent using CAN_FRAME and CANFD_FRAME messages

    Param (Label)Description
    1 (bus)Bus number (0 to disable forwarding, 1 for first bus, 2 for 2nd bus, 3 for 3rd bus).
    2Empty.
    3Empty.
    4Empty.
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_FIXED_MAG_CAL_YAW (42006) ​

    Magnetometer calibration based on provided known yaw. This allows for fast calibration using WMM field tables in the vehicle, given only the known yaw of the vehicle. If Latitude and longitude are both zero then use the current vehicle location.

    Param (Label)DescriptionUnits
    1 (Yaw)Yaw of vehicle in earth frame.deg
    2 (CompassMask)CompassMask, 0 for all.
    3 (Latitude)Latitude.deg
    4 (Longitude)Longitude.deg
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_DO_WINCH (42600) ​

    Command to operate winch.

    Param (Label)DescriptionValuesUnits
    1 (Instance)Winch instance number.min: 1 inc: 1
    2 (Action)Action to perform.WINCH_ACTIONS
    3 (Length)Length of line to release (negative to wind).m
    4 (Rate)Release rate (negative to wind).m/s
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_EXTERNAL_POSITION_ESTIMATE (43003) ​

    Provide an external position estimate for use when dead-reckoning. This is meant to be used for occasional position resets that may be provided by a external system such as a remote pilot using landmarks over a video link.

    Param (Label)DescriptionUnits
    1 (transmission_time)Timestamp that this message was sent as a time in the transmitters time domain. The sender should wrap this time back to zero based on required timing accuracy for the application and the limitations of a 32 bit float. For example, wrapping at 10 hours would give approximately 1ms accuracy. Recipient must handle time wrap in any timing jitter correction applied to this field. Wrap rollover time should not be at not more than 250 seconds, which would give approximately 10 microsecond accuracy.s
    2 (processing_time)The time spent in processing the sensor data that is the basis for this position. The recipient can use this to improve time alignment of the data. Set to zero if not known.s
    3 (accuracy)estimated one standard deviation accuracy of the measurement. Set to NaN if not known.
    4Empty
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7 (Altitude)Altitude, not used. Should be sent as NaN. May be supported in a future version of this message.m
    - + \ No newline at end of file diff --git a/ko/messages/csAirLink.html b/ko/messages/csAirLink.html index a6cabb640..94445fa25 100644 --- a/ko/messages/csAirLink.html +++ b/ko/messages/csAirLink.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

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    Dialect: csAirLink ​

    Warning This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

    This topic is a human-readable form of the XML definition file: csAirLink.xml.

    Note

    • MAVLink 2 extension fields are displayed in blue.
    • Entities from dialects are displayed only as headings (with link to original)

    Protocol version: 3

    None

    목차 ​

    TypeDefinedIncluded
    Messages60
    Enums50
    Commands00

    The following sections list all entities in the dialect (both included and defined in this file).

    Messages ​

    Authorization package

    Field NameTypeDescription
    loginchar[50]Login
    passwordchar[50]Password

    Response to the authorization request

    Field NameTypeValuesDescription
    resp_typeuint8_tAIRLINK_AUTH_RESPONSE_TYPEResponse type

    Request to hole punching

    Field NameTypeValuesDescription
    resp_typeuint8_tAIRLINK_EYE_GS_HOLE_PUSH_RESP_TYPEHole push response type

    Response information about the connected device

    Field NameTypeValuesDescription
    resp_typeuint8_tAIRLINK_EYE_GS_HOLE_PUSH_RESP_TYPEHole push response type
    ip_versionuint8_tAIRLINK_EYE_IP_VERSIONip version
    ip_address_4uint8_t[4]ip 4 address
    ip_address_6uint8_t[16]ip 6 address
    ip_portuint32_tport

    A package with information about the hole punching status. It is used for constant sending to avoid NAT closing timeout.

    Field NameTypeValuesDescription
    resp_typeuint8_tAIRLINK_EYE_HOLE_PUSH_TYPEHole push response type

    Initializing the TURN protocol

    Field NameTypeValuesDescription
    resp_typeuint8_tAIRLINK_EYE_TURN_INIT_TYPETurn init type

    Enumerated Types ​

    ValueNameDescription
    0AIRLINK_ERROR_LOGIN_OR_PASSLogin or password error
    1AIRLINK_AUTH_OKAuth successful
    ValueNameDescription
    0AIRLINK_HPR_PARTNER_NOT_READY
    1AIRLINK_HPR_PARTNER_READY
    ValueNameDescription
    0AIRLINK_IP_V4
    1AIRLINK_IP_V6
    ValueNameDescription
    0AIRLINK_HP_NOT_PENETRATED
    1AIRLINK_HP_BROKEN
    ValueNameDescription
    0AIRLINK_TURN_INIT_START
    1AIRLINK_TURN_INIT_OK
    2AIRLINK_TURN_INIT_BAD
    - + \ No newline at end of file diff --git a/ko/messages/cubepilot.html b/ko/messages/cubepilot.html index 7a7e811ea..711478ae0 100644 --- a/ko/messages/cubepilot.html +++ b/ko/messages/cubepilot.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

    한국어 (Korean)

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    Dialect: cubepilot ​

    Warning cubepilot.xml contains the accurate and up-to-date documentation for this dialect. The documentation below may not be accurate if the dialect owner has not pushed changes.

    These messages define the CubePilot specific dialect (as pushed to the mavlink/mavlink GitHub repository by the dialect owner).

    This topic is a human-readable form of the XML definition file: cubepilot.xml.

    Note

    • MAVLink 2 extension fields are displayed in blue.
    • Entities from dialects are displayed only as headings (with link to original)

    목차 ​

    TypeDefinedIncluded
    Messages5226
    Enums0144
    Commands1640

    The following sections list all entities in the dialect (both included and defined in this file).

    Messages ​

    CUBEPILOT_RAW_RC (50001) ​

    Raw RC Data

    Field NameTypeDescription
    rc_rawuint8_t[32]

    Information about video stream

    Field NameTypeUnitsDescription
    camera_iduint8_tVideo Stream ID (1 for first, 2 for second, etc.)
    statusuint8_tNumber of streams available.
    frameratefloatHzFrame rate.
    resolution_huint16_tpixHorizontal resolution.
    resolution_vuint16_tpixVertical resolution.
    bitrateuint32_tbits/sBit rate.
    rotationuint16_tdegVideo image rotation clockwise.
    urichar[230]Video stream URI (TCP or RTSP URI ground station should connect to) or port number (UDP port ground station should listen to).

    Herelink Telemetry

    Field NameTypeDescription
    rssiuint8_t
    snrint16_t
    rf_frequint32_t
    link_bwuint32_t
    link_rateuint32_t
    cpu_tempint16_t
    board_tempint16_t

    CUBEPILOT_FIRMWARE_UPDATE_START (50004) ​

    Start firmware update with encapsulated data.

    Field NameTypeUnitsDescription
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    sizeuint32_tbytesFW Size.
    crcuint32_tFW CRC.

    CUBEPILOT_FIRMWARE_UPDATE_RESP (50005) ​

    offset response to encapsulated data.

    Field NameTypeUnitsDescription
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    offsetuint32_tbytesFW Offset.

    Enumerated Types ​

    Commands (MAV_CMD) ​

    - + \ No newline at end of file diff --git a/ko/messages/development.html b/ko/messages/development.html index 3c8b08e48..294f8b178 100644 --- a/ko/messages/development.html +++ b/ko/messages/development.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

    한국어 (Korean)

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    한국어 (Korean)

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    Dialect: development ​

    This dialect contains messages that are proposed for inclusion in the standard set, in order to ease development of prototype implementations. They should be considered a 'work in progress' and not included in production builds.

    This topic is a human-readable form of the XML definition file: development.xml.

    Note

    • MAVLink 2 extension fields are displayed in blue.
    • Entities from dialects are displayed only as headings (with link to original)

    Protocol dialect: 0

    Protocol version: 0

    목차 ​

    TypeDefinedIncluded
    Messages16226
    Enums15144
    Commands1730

    The following sections list all entities in the dialect (both included and defined in this file).

    Messages ​

    PARAM_ACK_TRANSACTION (19) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Response from a PARAM_SET message when it is used in a transaction.

    Field NameTypeValuesDescription
    target_systemuint8_tId of system that sent PARAM_SET message.
    target_componentuint8_tId of system that sent PARAM_SET message.
    param_idchar[16]Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
    param_valuefloatParameter value (new value if PARAM_ACCEPTED, current value otherwise)
    param_typeuint8_tMAV_PARAM_TYPEParameter type.
    param_resultuint8_tPARAM_ACKResult code.

    AIRSPEED (295) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Airspeed information from a sensor.

    Field NameTypeUnitsValuesDescription
    iduint8_tSensor ID.
    Messages with same value are from the same source (instance).
    airspeedfloatm/sCalibrated airspeed (CAS).
    temperatureint16_tcdegCTemperature. INT16_MAX for value unknown/not supplied.
    raw_pressfloathPaRaw differential pressure. NaN for value unknown/not supplied.
    flagsuint8_tAIRSPEED_SENSOR_FLAGSAirspeed sensor flags.

    SET_VELOCITY_LIMITS (354) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Set temporary maximum limits for horizontal speed, vertical speed and yaw rate.

    The consumer must stream the current limits in VELOCITY_LIMITS at 1 Hz or more (when limits are being set). The consumer should latch the limits until a new limit is received or the mode is changed.

    Field NameTypeUnitsDescription
    target_systemuint8_tSystem ID (0 for broadcast).
    target_componentuint8_tComponent ID (0 for broadcast).
    horizontal_speed_limitfloatm/sLimit for horizontal movement in MAV_FRAME_LOCAL_NED. NaN: Field not used (ignore)
    vertical_speed_limitfloatm/sLimit for vertical movement in MAV_FRAME_LOCAL_NED. NaN: Field not used (ignore)
    yaw_rate_limitfloatrad/sLimit for vehicle turn rate around its yaw axis. NaN: Field not used (ignore)

    VELOCITY_LIMITS (355) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Current limits for horizontal speed, vertical speed and yaw rate, as set by SET_VELOCITY_LIMITS.

    Field NameTypeUnitsDescription
    horizontal_speed_limitfloatm/sLimit for horizontal movement in MAV_FRAME_LOCAL_NED. NaN: No limit applied
    vertical_speed_limitfloatm/sLimit for vertical movement in MAV_FRAME_LOCAL_NED. NaN: No limit applied
    yaw_rate_limitfloatrad/sLimit for vehicle turn rate around its yaw axis. NaN: No limit applied

    FIGURE_EIGHT_EXECUTION_STATUS (361) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Vehicle status report that is sent out while figure eight execution is in progress (see MAV_CMD_DO_FIGURE_EIGHT). This may typically send at low rates: of the order of 2Hz.

    Field NameTypeUnitsValuesDescription
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    major_radiusfloatmMajor axis radius of the figure eight. Positive: orbit the north circle clockwise. Negative: orbit the north circle counter-clockwise.
    minor_radiusfloatmMinor axis radius of the figure eight. Defines the radius of two circles that make up the figure.
    orientationfloatradOrientation of the figure eight major axis with respect to true north in [-pi,pi).
    frameuint8_tMAV_FRAMEThe coordinate system of the fields: x, y, z.
    xint32_tX coordinate of center point. Coordinate system depends on frame field.
    yint32_tY coordinate of center point. Coordinate system depends on frame field.
    zfloatmAltitude of center point. Coordinate system depends on frame field.

    BATTERY_STATUS_V2 (369) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Battery dynamic information.

    This should be streamed (nominally at 1Hz). Static/invariant battery information is sent in BATTERY_INFO. Note that smart batteries should set the MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULL bit to indicate that supplied capacity values are relative to a battery that is known to be full. Power monitors would not set this bit, indicating that capacity_consumed is relative to drone power-on, and that other values are estimated based on the assumption that the battery was full on power-on.

    Field NameTypeUnitsValuesDescription
    iduint8_tBattery ID
    Messages with same value are from the same source (instance).
    temperatureint16_tcdegCinvalid:INT16_MAXTemperature of the whole battery pack (not internal electronics). INT16_MAX field not provided.
    voltagefloatVinvalid:NaNBattery voltage (total). NaN: field not provided.
    currentfloatAinvalid:NaNBattery current (through all cells/loads). Positive value when discharging and negative if charging. NaN: field not provided.
    capacity_consumedfloatAhinvalid:NaNConsumed charge. NaN: field not provided. This is either the consumption since power-on or since the battery was full, depending on the value of MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULL.
    capacity_remainingfloatAhinvalid:NaNRemaining charge (until empty). NaN: field not provided. Note: If MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULL is unset, this value is based on the assumption the battery was full when the system was powered.
    percent_remaininguint8_t%invalid:UINT8_MAXRemaining battery energy. Values: [0-100], UINT8_MAX: field not provided.
    status_flagsuint32_tMAV_BATTERY_STATUS_FLAGSFault, health, readiness, and other status indications.

    GROUP_START (414) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Emitted during mission execution when control reaches MAV_CMD_GROUP_START.

    Field NameTypeUnitsDescription
    group_iduint32_tMission-unique group id (from MAV_CMD_GROUP_START).
    mission_checksumuint32_tCRC32 checksum of current plan for MAV_MISSION_TYPE_ALL. As defined in MISSION_CHECKSUM message.
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot).
    The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

    GROUP_END (415) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Emitted during mission execution when control reaches MAV_CMD_GROUP_END.

    Field NameTypeUnitsDescription
    group_iduint32_tMission-unique group id (from MAV_CMD_GROUP_END).
    mission_checksumuint32_tCRC32 checksum of current plan for MAV_MISSION_TYPE_ALL. As defined in MISSION_CHECKSUM message.
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot).
    The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

    RADIO_RC_CHANNELS (420) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    RC channel outputs from a MAVLink RC receiver for input to a flight controller or other components (allows an RC receiver to connect via MAVLink instead of some other protocol such as PPM-Sum or S.BUS).

    Note that this is not intended to be an over-the-air format, and does not replace RC_CHANNELS and similar messages reported by the flight controller. The target_system field should normally be set to the system id of the system to control, typically the flight controller. The target_component field can normally be set to 0, so that all components of the system can receive the message. The channels array field can publish up to 32 channels; the number of channel items used in the array is specified in the count field. The time_last_update_ms field contains the timestamp of the last received valid channels data in the receiver's time domain. The count field indicates the first index of the channel array that is not used for channel data (this and later indexes are zero-filled). The RADIO_RC_CHANNELS_FLAGS_OUTDATED flag is set by the receiver if the channels data is not up-to-date (for example, if new data from the transmitter could not be validated so the last valid data is resent). The RADIO_RC_CHANNELS_FLAGS_FAILSAFE failsafe flag is set by the receiver if the receiver's failsafe condition is met (implementation dependent, e.g., connection to the RC radio is lost). In this case time_last_update_ms still contains the timestamp of the last valid channels data, but the content of the channels data is not defined by the protocol (it is up to the implementation of the receiver). For instance, the channels data could contain failsafe values configured in the receiver; the default is to carry the last valid data. Note: The RC channels fields are extensions to ensure that they are located at the end of the serialized payload and subject to MAVLink's trailing-zero trimming.

    Field NameTypeUnitsValuesDescription
    target_systemuint8_tSystem ID (ID of target system, normally flight controller).
    target_componentuint8_tComponent ID (normally 0 for broadcast).
    time_last_update_msuint32_tmsTime when the data in the channels field were last updated (time since boot in the receiver's time domain).
    flagsuint16_tRADIO_RC_CHANNELS_FLAGSRadio RC channels status flags.
    countuint8_tTotal number of RC channels being received. This can be larger than 32, indicating that more channels are available but not given in this message.
    channels ++int16_t[32]min:-4096 max:4096RC channels.
    Channel values are in centered 13 bit format. Range is -4096 to 4096, center is 0. Conversion to PWM is x * 5/32 + 1500.
    Channels with indexes equal or above count should be set to 0, to benefit from MAVLink's trailing-zero trimming.

    AVAILABLE_MODES (435) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Get information about a particular flight modes.

    The message can be enumerated or requested for a particular mode using MAV_CMD_REQUEST_MESSAGE. Specify 0 in param2 to request that the message is emitted for all available modes or the specific index for just one mode. The modes must be available/settable for the current vehicle/frame type. Each modes should only be emitted once (even if it is both standard and custom).

    Field NameTypeValuesDescription
    number_modesuint8_tThe total number of available modes for the current vehicle type.
    mode_indexuint8_tThe current mode index within number_modes, indexed from 1.
    standard_modeuint8_tMAV_STANDARD_MODEStandard mode.
    custom_modeuint32_tA bitfield for use for autopilot-specific flags
    propertiesuint32_tMAV_MODE_PROPERTYMode properties.
    mode_namechar[35]Name of custom mode, with null termination character. Should be omitted for standard modes.

    CURRENT_MODE (436) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Get the current mode.

    This should be emitted on any mode change, and broadcast at low rate (nominally 0.5 Hz). It may be requested using MAV_CMD_REQUEST_MESSAGE.

    Field NameTypeValuesDescription
    standard_modeuint8_tMAV_STANDARD_MODEStandard mode.
    custom_modeuint32_tA bitfield for use for autopilot-specific flags
    intended_custom_modeuint32_tinvalid:0The custom_mode of the mode that was last commanded by the user (for example, with MAV_CMD_DO_SET_STANDARD_MODE, MAV_CMD_DO_SET_MODE or via RC). This should usually be the same as custom_mode. It will be different if the vehicle is unable to enter the intended mode, or has left that mode due to a failsafe condition. 0 indicates the intended custom mode is unknown/not supplied

    AVAILABLE_MODES_MONITOR (437) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    A change to the sequence number indicates that the set of AVAILABLE_MODES has changed.

    A receiver must re-request all available modes whenever the sequence number changes. This is only emitted after the first change and should then be broadcast at low rate (nominally 0.3 Hz) and on change.

    Field NameTypeDescription
    sequint8_tSequence number. The value iterates sequentially whenever AVAILABLE_MODES changes (e.g. support for a new mode is added/removed dynamically).

    GNSS_INTEGRITY (441) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Information about key components of GNSS receivers, like signal authentication, interference and system errors.

    Field NameTypeUnitsValuesDescription
    iduint8_tGNSS receiver id. Must match instance ids of other messages from same receiver.
    Messages with same value are from the same source (instance).
    system_errorsuint32_tGPS_SYSTEM_ERROR_FLAGSErrors in the GPS system.
    authentication_stateuint8_tGPS_AUTHENTICATION_STATESignal authentication state of the GPS system.
    jamming_stateuint8_tGPS_JAMMING_STATESignal jamming state of the GPS system.
    spoofing_stateuint8_tGPS_SPOOFING_STATESignal spoofing state of the GPS system.
    raim_stateuint8_tGPS_RAIM_STATEThe state of the RAIM processing.
    raim_hfomuint16_tcminvalid:UINT16_MAXHorizontal expected accuracy using satellites successfully validated using RAIM.
    raim_vfomuint16_tcminvalid:UINT16_MAXVertical expected accuracy using satellites successfully validated using RAIM.
    corrections_qualityuint8_tinvalid:UINT8_MAX min:0 max:10An abstract value representing the estimated quality of incoming corrections, or 255 if not available.
    system_status_summaryuint8_tinvalid:UINT8_MAX min:0 max:10An abstract value representing the overall status of the receiver, or 255 if not available.
    gnss_signal_qualityuint8_tinvalid:UINT8_MAX min:0 max:10An abstract value representing the quality of incoming GNSS signals, or 255 if not available.
    post_processing_qualityuint8_tinvalid:UINT8_MAX min:0 max:10An abstract value representing the estimated PPK quality, or 255 if not available.

    TARGET_ABSOLUTE (510) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Current motion information from sensors on a target

    Field NameTypeUnitsValuesDescription
    timestampuint64_tusTimestamp (UNIX epoch time).
    iduint8_tThe ID of the target if multiple targets are present
    sensor_capabilitiesuint8_tTARGET_ABSOLUTE_SENSOR_CAPABILITY_FLAGSBitmap to indicate the sensor's reporting capabilities
    latint32_tdegE7Target's latitude (WGS84)
    lonint32_tdegE7Target's longitude (WGS84)
    altfloatmTarget's altitude (AMSL)
    velfloat[3]m/sinvalid:[0]Target's velocity in its body frame
    accfloat[3]m/s/sinvalid:[0]Linear target's acceleration in its body frame
    q_targetfloat[4]invalid:[0]Quaternion of the target's orientation from its body frame to the vehicle's NED frame.
    ratesfloat[3]rad/sinvalid:[0]Target's roll, pitch and yaw rates
    position_stdfloat[2]mStandard deviation of horizontal (eph) and vertical (epv) position errors
    vel_stdfloat[3]m/sStandard deviation of the target's velocity in its body frame
    acc_stdfloat[3]m/s/sStandard deviation of the target's acceleration in its body frame

    TARGET_RELATIVE (511) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    The location of a target measured by MAV's onboard sensors.

    Field NameTypeUnitsValuesDescription
    timestampuint64_tusTimestamp (UNIX epoch time)
    iduint8_tThe ID of the target if multiple targets are present
    Messages with same value are from the same source (instance).
    frameuint8_tTARGET_OBS_FRAMECoordinate frame used for following fields.
    xfloatmX Position of the target in TARGET_OBS_FRAME
    yfloatmY Position of the target in TARGET_OBS_FRAME
    zfloatmZ Position of the target in TARGET_OBS_FRAME
    pos_stdfloat[3]mStandard deviation of the target's position in TARGET_OBS_FRAME
    yaw_stdfloatradStandard deviation of the target's orientation in TARGET_OBS_FRAME
    q_targetfloat[4]Quaternion of the target's orientation from the target's frame to the TARGET_OBS_FRAME (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
    q_sensorfloat[4]Quaternion of the sensor's orientation from TARGET_OBS_FRAME to vehicle-carried NED. (Ignored if set to (0,0,0,0)) (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
    typeuint8_tLANDING_TARGET_TYPEType of target

    CONTROL_STATUS (512) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Information about GCS in control of this MAV. This should be broadcast at low rate (nominally 1 Hz) and emitted when ownership or takeover status change. Control over MAV is requested using MAV_CMD_REQUEST_OPERATOR_CONTROL.

    Field NameTypeValuesDescription
    sysid_in_controluint8_tSystem ID of GCS MAVLink component in control (0: no GCS in control).
    flagsuint8_tGCS_CONTROL_STATUS_FLAGSControl status. For example, whether takeover is allowed, and whether this message instance defines the default controlling GCS for the whole system.

    Enumerated Types ​

    AIRSPEED_SENSOR_FLAGS — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    (Bitmask) Airspeed sensor flags

    ValueNameDescription
    0AIRSPEED_SENSOR_UNHEALTHYAirspeed sensor is unhealthy
    1AIRSPEED_SENSOR_USINGTrue if the data from this sensor is being actively used by the flight controller for guidance, navigation or control.

    PARAM_TRANSACTION_TRANSPORT — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Possible transport layers to set and get parameters via mavlink during a parameter transaction.

    ValueNameDescription
    0PARAM_TRANSACTION_TRANSPORT_PARAMTransaction over param transport.
    1PARAM_TRANSACTION_TRANSPORT_PARAM_EXTTransaction over param_ext transport.

    PARAM_TRANSACTION_ACTION — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Possible parameter transaction actions.

    ValueNameDescription
    0PARAM_TRANSACTION_ACTION_STARTCommit the current parameter transaction.
    1PARAM_TRANSACTION_ACTION_COMMITCommit the current parameter transaction.
    2PARAM_TRANSACTION_ACTION_CANCELCancel the current parameter transaction.

    MAV_STANDARD_MODE — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Standard modes with a well understood meaning across flight stacks and vehicle types.

    For example, most flight stack have the concept of a "return" or "RTL" mode that takes a vehicle to safety, even though the precise mechanics of this mode may differ. Modes may be set using MAV_CMD_DO_SET_STANDARD_MODE.

    ValueNameDescription
    0MAV_STANDARD_MODE_NON_STANDARDNon standard mode.
    This may be used when reporting the mode if the current flight mode is not a standard mode.
    1MAV_STANDARD_MODE_POSITION_HOLDPosition mode (manual).
    Position-controlled and stabilized manual mode.
    When sticks are released vehicles return to their level-flight orientation and hold both position and altitude against wind and external forces.
    This mode can only be set by vehicles that can hold a fixed position.
    Multicopter (MC) vehicles actively brake and hold both position and altitude against wind and external forces.
    Hybrid MC/FW ("VTOL") vehicles first transition to multicopter mode (if needed) but otherwise behave in the same way as MC vehicles.
    Fixed-wing (FW) vehicles must not support this mode.
    Other vehicle types must not support this mode (this may be revisited through the PR process).
    2MAV_STANDARD_MODE_ORBITOrbit (manual).
    Position-controlled and stabilized manual mode.
    The vehicle circles around a fixed setpoint in the horizontal plane at a particular radius, altitude, and direction.
    Flight stacks may further allow manual control over the setpoint position, radius, direction, speed, and/or altitude of the circle, but this is not mandated.
    Flight stacks may support the MAV_CMD_DO_ORBIT for changing the orbit parameters.
    MC and FW vehicles may support this mode.
    Hybrid MC/FW ("VTOL") vehicles may support this mode in MC/FW or both modes; if the mode is not supported by the current configuration the vehicle should transition to the supported configuration.
    Other vehicle types must not support this mode (this may be revisited through the PR process).
    3MAV_STANDARD_MODE_CRUISECruise mode (manual).
    Position-controlled and stabilized manual mode.
    When sticks are released vehicles return to their level-flight orientation and hold their original track against wind and external forces.
    Fixed-wing (FW) vehicles level orientation and maintain current track and altitude against wind and external forces.
    Hybrid MC/FW ("VTOL") vehicles first transition to FW mode (if needed) but otherwise behave in the same way as MC vehicles.
    Multicopter (MC) vehicles must not support this mode.
    Other vehicle types must not support this mode (this may be revisited through the PR process).
    4MAV_STANDARD_MODE_ALTITUDE_HOLDAltitude hold (manual).
    Altitude-controlled and stabilized manual mode.
    When sticks are released vehicles return to their level-flight orientation and hold their altitude.
    MC vehicles continue with existing momentum and may move with wind (or other external forces).
    FW vehicles continue with current heading, but may be moved off-track by wind.
    Hybrid MC/FW ("VTOL") vehicles behave according to their current configuration/mode (FW or MC).
    Other vehicle types must not support this mode (this may be revisited through the PR process).
    5MAV_STANDARD_MODE_RETURN_HOMEReturn home mode (auto).
    Automatic mode that returns vehicle to home via a safe flight path.
    It may also automatically land the vehicle (i.e. RTL).
    The precise flight path and landing behaviour depend on vehicle configuration and type.
    6MAV_STANDARD_MODE_SAFE_RECOVERYSafe recovery mode (auto).
    Automatic mode that takes vehicle to a predefined safe location via a safe flight path (rally point or mission defined landing) .
    It may also automatically land the vehicle.
    The precise return location, flight path, and landing behaviour depend on vehicle configuration and type.
    7MAV_STANDARD_MODE_MISSIONMission mode (automatic).
    Automatic mode that executes MAVLink missions.
    Missions are executed from the current waypoint as soon as the mode is enabled.
    8MAV_STANDARD_MODE_LANDLand mode (auto).
    Automatic mode that lands the vehicle at the current location.
    The precise landing behaviour depends on vehicle configuration and type.
    9MAV_STANDARD_MODE_TAKEOFFTakeoff mode (auto).
    Automatic takeoff mode.
    The precise takeoff behaviour depends on vehicle configuration and type.

    MAV_MODE_PROPERTY — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    (Bitmask) Mode properties.

    ValueNameDescription
    1MAV_MODE_PROPERTY_ADVANCEDIf set, this mode is an advanced mode.
    For example a rate-controlled manual mode might be advanced, whereas a position-controlled manual mode is not.
    A GCS can optionally use this flag to configure the UI for its intended users.
    2MAV_MODE_PROPERTY_NOT_USER_SELECTABLEIf set, this mode should not be added to the list of selectable modes.
    The mode might still be selected by the FC directly (for example as part of a failsafe).

    MAV_BATTERY_STATUS_FLAGS — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    (Bitmask) Battery status flags for fault, health and state indication.

    ValueNameDescription
    1MAV_BATTERY_STATUS_FLAGS_NOT_READY_TO_USEThe battery is not ready to use (fly).
    Set if the battery has faults or other conditions that make it unsafe to fly with.
    Note: It will be the logical OR of other status bits (chosen by the manufacturer/integrator).
    2MAV_BATTERY_STATUS_FLAGS_CHARGINGBattery is charging.
    4MAV_BATTERY_STATUS_FLAGS_CELL_BALANCINGBattery is cell balancing (during charging).
    Not ready to use (MAV_BATTERY_STATUS_FLAGS_NOT_READY_TO_USE may be set).
    8MAV_BATTERY_STATUS_FLAGS_FAULT_CELL_IMBALANCEBattery cells are not balanced.
    Not ready to use.
    16MAV_BATTERY_STATUS_FLAGS_AUTO_DISCHARGINGBattery is auto discharging (towards storage level).
    Not ready to use (MAV_BATTERY_STATUS_FLAGS_NOT_READY_TO_USE would be set).
    32MAV_BATTERY_STATUS_FLAGS_REQUIRES_SERVICEBattery requires service (not safe to fly).
    This is set at vendor discretion.
    It is likely to be set for most faults, and may also be set according to a maintenance schedule (such as age, or number of recharge cycles, etc.).
    64MAV_BATTERY_STATUS_FLAGS_BAD_BATTERYBattery is faulty and cannot be repaired (not safe to fly).
    This is set at vendor discretion.
    The battery should be disposed of safely.
    128MAV_BATTERY_STATUS_FLAGS_PROTECTIONS_ENABLEDAutomatic battery protection monitoring is enabled.
    When enabled, the system will monitor for certain kinds of faults, such as cells being over-voltage.
    If a fault is triggered then and protections are enabled then a safety fault (MAV_BATTERY_STATUS_FLAGS_FAULT_PROTECTION_SYSTEM) will be set and power from the battery will be stopped.
    Note that battery protection monitoring should only be enabled when the vehicle is landed. Once the vehicle is armed, or starts moving, the protections should be disabled to prevent false positives from disabling the output.
    256MAV_BATTERY_STATUS_FLAGS_FAULT_PROTECTION_SYSTEMThe battery fault protection system had detected a fault and cut all power from the battery.
    This will only trigger if MAV_BATTERY_STATUS_FLAGS_PROTECTIONS_ENABLED is set.
    Other faults like MAV_BATTERY_STATUS_FLAGS_FAULT_OVER_VOLT may also be set, indicating the cause of the protection fault.
    512MAV_BATTERY_STATUS_FLAGS_FAULT_OVER_VOLTOne or more cells are above their maximum voltage rating.
    1024MAV_BATTERY_STATUS_FLAGS_FAULT_UNDER_VOLTOne or more cells are below their minimum voltage rating.
    A battery that had deep-discharged might be irrepairably damaged, and set both MAV_BATTERY_STATUS_FLAGS_FAULT_UNDER_VOLT and MAV_BATTERY_STATUS_FLAGS_BAD_BATTERY.
    2048MAV_BATTERY_STATUS_FLAGS_FAULT_OVER_TEMPERATUREOver-temperature fault.
    4096MAV_BATTERY_STATUS_FLAGS_FAULT_UNDER_TEMPERATUREUnder-temperature fault.
    8192MAV_BATTERY_STATUS_FLAGS_FAULT_OVER_CURRENTOver-current fault.
    16384MAV_BATTERY_STATUS_FLAGS_FAULT_SHORT_CIRCUITShort circuit event detected.
    The battery may or may not be safe to use (check other flags).
    32768MAV_BATTERY_STATUS_FLAGS_FAULT_INCOMPATIBLE_VOLTAGEVoltage not compatible with power rail voltage (batteries on same power rail should have similar voltage).
    65536MAV_BATTERY_STATUS_FLAGS_FAULT_INCOMPATIBLE_FIRMWAREBattery firmware is not compatible with current autopilot firmware.
    131072MAV_BATTERY_STATUS_FLAGS_FAULT_INCOMPATIBLE_CELLS_CONFIGURATIONBattery is not compatible due to cell configuration (e.g. 5s1p when vehicle requires 6s).
    262144MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULLBattery capacity_consumed and capacity_remaining values are relative to a full battery (they sum to the total capacity of the battery).
    This flag would be set for a smart battery that can accurately determine its remaining charge across vehicle reboots and discharge/recharge cycles.
    If unset the capacity_consumed indicates the consumption since vehicle power-on, as measured using a power monitor. The capacity_remaining, if provided, indicates the estimated remaining capacity on the assumption that the battery was full on vehicle boot.
    If unset a GCS is recommended to advise that users fully charge the battery on power on.
    4294967295MAV_BATTERY_STATUS_FLAGS_EXTENDEDReserved (not used). If set, this will indicate that an additional status field exists for higher status values.

    GCS_CONTROL_STATUS_FLAGS — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    (Bitmask) CONTROL_STATUS flags.

    ValueNameDescription
    1GCS_CONTROL_STATUS_FLAGS_SYSTEM_MANAGERIf set, this CONTROL_STATUS publishes the controlling GCS for the whole system. If unset, the CONTROL_STATUS indicates the controlling GCS for just the component emitting the message. Note that to request control of the system a GCS should send MAV_CMD_REQUEST_OPERATOR_CONTROL to the component emitting CONTROL_STATUS with this flag set.
    2GCS_CONTROL_STATUS_FLAGS_TAKEOVER_ALLOWEDTakeover allowed (requests for control will be granted). If not set requests for control will be rejected, but the controlling GCS will be notified (and may release control or allow takeover).

    TARGET_ABSOLUTE_SENSOR_CAPABILITY_FLAGS — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    (Bitmask) These flags indicate the sensor reporting capabilities for TARGET_ABSOLUTE.

    ValueNameDescription
    1TARGET_ABSOLUTE_SENSOR_CAPABILITY_POSITION
    2TARGET_ABSOLUTE_SENSOR_CAPABILITY_VELOCITY
    4TARGET_ABSOLUTE_SENSOR_CAPABILITY_ACCELERATION
    8TARGET_ABSOLUTE_SENSOR_CAPABILITY_ATTITUDE
    16TARGET_ABSOLUTE_SENSOR_CAPABILITY_RATES

    TARGET_OBS_FRAME — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    The frame of a target observation from an onboard sensor.

    ValueNameDescription
    0TARGET_OBS_FRAME_LOCAL_NEDNED local tangent frame (x: North, y: East, z: Down) with origin fixed relative to earth.
    1TARGET_OBS_FRAME_BODY_FRDFRD local frame aligned to the vehicle's attitude (x: Forward, y: Right, z: Down) with an origin that travels with vehicle.
    2TARGET_OBS_FRAME_LOCAL_OFFSET_NEDNED local tangent frame (x: North, y: East, z: Down) with an origin that travels with vehicle.
    3TARGET_OBS_FRAME_OTHEROther sensor frame for target observations neither in local NED nor in body FRD.

    RADIO_RC_CHANNELS_FLAGS — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    (Bitmask) RADIO_RC_CHANNELS flags (bitmask).

    ValueNameDescription
    1RADIO_RC_CHANNELS_FLAGS_FAILSAFEFailsafe is active. The content of the RC channels data in the RADIO_RC_CHANNELS message is implementation dependent.
    2RADIO_RC_CHANNELS_FLAGS_OUTDATEDChannel data may be out of date. This is set when the receiver is unable to validate incoming data from the transmitter and has therefore resent the last valid data it received.

    GPS_SYSTEM_ERROR_FLAGS — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    (Bitmask) Flags indicating errors in a GPS receiver.

    ValueNameDescription
    1GPS_SYSTEM_ERROR_INCOMING_CORRECTIONSThere are problems with incoming correction streams.
    2GPS_SYSTEM_ERROR_CONFIGURATIONThere are problems with the configuration.
    4GPS_SYSTEM_ERROR_SOFTWAREThere are problems with the software on the GPS receiver.
    8GPS_SYSTEM_ERROR_ANTENNAThere are problems with an antenna connected to the GPS receiver.
    16GPS_SYSTEM_ERROR_EVENT_CONGESTIONThere are problems handling all incoming events.
    32GPS_SYSTEM_ERROR_CPU_OVERLOADThe GPS receiver CPU is overloaded.
    64GPS_SYSTEM_ERROR_OUTPUT_CONGESTIONThe GPS receiver is experiencing output congestion.

    GPS_AUTHENTICATION_STATE — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Signal authentication state in a GPS receiver.

    ValueNameDescription
    0GPS_AUTHENTICATION_STATE_UNKNOWNThe GPS receiver does not provide GPS signal authentication info.
    1GPS_AUTHENTICATION_STATE_INITIALIZINGThe GPS receiver is initializing signal authentication.
    2GPS_AUTHENTICATION_STATE_ERRORThe GPS receiver encountered an error while initializing signal authentication.
    3GPS_AUTHENTICATION_STATE_OKThe GPS receiver has correctly authenticated all signals.
    4GPS_AUTHENTICATION_STATE_DISABLEDGPS signal authentication is disabled on the receiver.

    GPS_JAMMING_STATE — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Signal jamming state in a GPS receiver.

    ValueNameDescription
    0GPS_JAMMING_STATE_UNKNOWNThe GPS receiver does not provide GPS signal jamming info.
    1GPS_JAMMING_STATE_OKThe GPS receiver detected no signal jamming.
    2GPS_JAMMING_STATE_MITIGATEDThe GPS receiver detected and mitigated signal jamming.
    3GPS_JAMMING_STATE_DETECTEDThe GPS receiver detected signal jamming.

    GPS_SPOOFING_STATE — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Signal spoofing state in a GPS receiver.

    ValueNameDescription
    0GPS_SPOOFING_STATE_UNKNOWNThe GPS receiver does not provide GPS signal spoofing info.
    1GPS_SPOOFING_STATE_OKThe GPS receiver detected no signal spoofing.
    2GPS_SPOOFING_STATE_MITIGATEDThe GPS receiver detected and mitigated signal spoofing.
    3GPS_SPOOFING_STATE_DETECTEDThe GPS receiver detected signal spoofing but still has a fix.

    GPS_RAIM_STATE — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    State of RAIM processing.

    ValueNameDescription
    0GPS_RAIM_STATE_UNKNOWNRAIM capability is unknown.
    1GPS_RAIM_STATE_DISABLEDRAIM is disabled.
    2GPS_RAIM_STATE_OKRAIM integrity check was successful.
    3GPS_RAIM_STATE_FAILEDRAIM integrity check failed.

    Commands (MAV_CMD) ​

    MAV_CMD_DO_FIGURE_EIGHT (35) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Fly a figure eight path as defined by the parameters.

    Set parameters to NaN/INT32_MAX (as appropriate) to use system-default values. The command is intended for fixed wing vehicles (and VTOL hybrids flying in fixed-wing mode), allowing POI tracking for gimbals that don't support infinite rotation. This command only defines the flight path. Speed should be set independently (use e.g. MAV_CMD_DO_CHANGE_SPEED). Yaw and other degrees of freedom are not specified, and will be flight-stack specific (on vehicles where they can be controlled independent of the heading).

    Param (Label)DescriptionUnits
    1 (Major Radius)Major axis radius of the figure eight. Positive: orbit the north circle clockwise. Negative: orbit the north circle counter-clockwise.
    NaN: The radius will be set to 2.5 times the minor radius and direction is clockwise.
    Must be greater or equal to two times the minor radius for feasible values.    		m
    2 (Minor Radius)Minor axis radius of the figure eight. Defines the radius of the two circles that make up the figure. Negative value has no effect.
    NaN: The radius will be set to the default loiter radius.    		m
    3
    4 (Orientation)Orientation of the figure eight major axis with respect to true north (range: [-pi,pi]). NaN: use default orientation aligned to true north.rad
    5 (Latitude/X)Center point latitude/X coordinate according to MAV_FRAME. If no MAV_FRAME specified, MAV_FRAME_GLOBAL is assumed.
    INT32_MAX or NaN: Use current vehicle position, or current center if already loitering.
    6 (Longitude/Y)Center point longitude/Y coordinate according to MAV_FRAME. If no MAV_FRAME specified, MAV_FRAME_GLOBAL is assumed.
    INT32_MAX or NaN: Use current vehicle position, or current center if already loitering.
    7 (Altitude/Z)Center point altitude MSL/Z coordinate according to MAV_FRAME. If no MAV_FRAME specified, MAV_FRAME_GLOBAL is assumed.
    INT32_MAX or NaN: Use current vehicle altitude.

    MAV_CMD_DO_UPGRADE (247) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Request a target system to start an upgrade of one (or all) of its components.

    For example, the command might be sent to a companion computer to cause it to upgrade a connected flight controller. The system doing the upgrade will report progress using the normal command protocol sequence for a long running operation. Command protocol information: https://mavlink.io/en/services/command.html.

    Param (Label)DescriptionValues
    1 (Component ID)Component id of the component to be upgraded. If set to 0, all components should be upgraded.MAV_COMPONENT
    2 (Reboot)0: Do not reboot component after the action is executed, 1: Reboot component after the action is executed.min: 0 max: 1 inc: 1
    3Reserved
    4Reserved
    5Reserved
    6Reserved
    7WIP: upgrade progress report rate (can be used for more granular control).

    MAV_CMD_DO_SET_STANDARD_MODE (262) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Enable the specified standard MAVLink mode.

    If the mode is not supported the vehicle should ACK with MAV_RESULT_FAILED.

    Param (Label)DescriptionValues
    1 (Standard Mode)The mode to set.MAV_STANDARD_MODE
    2
    3
    4
    5
    6
    7

    MAV_CMD_SET_AT_S_PARAM (550) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Allows setting an AT S command of an SiK radio.

    Param (Label)Description
    1 (Radio instance)The radio instance, one-based, 0 for all.
    2 (Index)The Sx index, e.g. 3 for S3 which is NETID.
    3 (Value)The value to set it to, e.g. default 25 for NETID
    4
    5
    6
    7

    MAV_CMD_DO_SET_SYS_CMP_ID (610) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Set system and component id. This allows moving of a system and all its components to a new system id, or moving a particular component to a new system/component id. Recipients must reject command addressed to broadcast system ID.

    Param (Label)DescriptionValues
    1 (System ID)New system ID for target component(s). 0: ignore and reject command (broadcast system ID not allowed).min: 1 max: 255 inc: 1
    2 (Component ID)New component ID for target component(s). 0: ignore (component IDs don't change).min: 0 max: 255 inc: 1
    3 (Reboot)Reboot components after ID change. Any non-zero value triggers the reboot.
    4

    MAV_CMD_PARAM_TRANSACTION (900) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Request to start or end a parameter transaction. Multiple kinds of transport layers can be used to exchange parameters in the transaction (param, param_ext and mavftp). The command response can either be a success/failure or an in progress in case the receiving side takes some time to apply the parameters.

    Param (Label)DescriptionValues
    1 (Action)Action to be performed (start, commit, cancel, etc.)PARAM_TRANSACTION_ACTION
    2 (Transport)Possible transport layers to set and get parameters via mavlink during a parameter transaction.PARAM_TRANSACTION_TRANSPORT
    3 (Transaction ID)Identifier for a specific transaction.

    MAV_CMD_ODID_SET_EMERGENCY (12900) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Used to manually set/unset emergency status for remote id.

    This is for compliance with MOC ASTM docs, specifically F358 section 7.7: "Emergency Status Indicator". The requirement can also be satisfied by automatic setting of the emergency status by flight stack, and that approach is preferred. See https://mavlink.io/en/services/opendroneid.html for more information.

    Param (Label)DescriptionValues
    1 (Number)Set/unset emergency 0: unset, 1: setmin: 0 inc: 1
    2
    3
    4Empty
    5Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_REQUEST_OPERATOR_CONTROL (32100) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Request GCS control of a system (or of a specific component in a system).

    A controlled system should only accept MAVLink commands and command-like messages that are sent by its controlling GCS, or from other components with the same system id. Commands from other systems should be rejected with MAV_RESULT_FAILED (except for this command, which may be acknowledged with MAV_RESULT_ACCEPTED if control is granted). Command-like messages should be ignored (or rejected if that is supported by their associated protocol).

    GCS control of the whole system is managed via a single component that we will refer to here as the "system manager component". This component streams the CONTROL_STATUS message and sets the GCS_CONTROL_STATUS_FLAGS_SYSTEM_MANAGER flag. Other components in the system should monitor for the CONTROL_STATUS message with this flag, and set their controlling GCS to match its published system id. A GCS that wants to control the system should also monitor for the same message and flag, and address the MAV_CMD_REQUEST_OPERATOR_CONTROL to its component id. Note that integrators are required to ensure that there is only one system manager component in the system (i.e. one component emitting the message with GCS_CONTROL_STATUS_FLAGS_SYSTEM_MANAGER set).

    The MAV_CMD_REQUEST_OPERATOR_CONTROL command is sent by a GCS to the system manager component to request or release control of a system, specifying whether subsequent takeover requests from another GCS are automatically granted, or require permission.

    The system manager component should grant control to the GCS if the system does not require takeover permission (or is uncontrolled) and ACK the request with MAV_RESULT_ACCEPTED. The system manager component should then stream CONTROL_STATUS indicating its controlling system: all other components with the same system id should monitor this message and set their own controlling GCS to match that of the system manager component.

    If the system manager component cannot grant control (because takeover requires permission), the request should be rejected with MAV_RESULT_FAILED. The system manager component should then send this same command to the current owning GCS in order to notify of the request. The owning GCS would ACK with MAV_RESULT_ACCEPTED, and might choose to release control of the vehicle, or re-request control with the takeover bit set to allow permission. In case it choses to re-request control with takeover bit set to allow permission, requestor GCS will only have 10 seconds to get control, otherwise owning GCS will re-request control with takeover bit set to disallow permission, and requestor GCS will need repeat the request if still interested in getting control. Note that the pilots of both GCS should co-ordinate safe handover offline.

    Note that in most systems the only controlled component will be the "system manager component", and that will be the autopilot. However separate GCS control of a particular component is also permitted, if supported by the component. In this case the GCS will address MAV_CMD_REQUEST_OPERATOR_CONTROL to the specific component it wants to control. The component will then stream CONTROL_STATUS for its controlling GCS (it must not set GCS_CONTROL_STATUS_FLAGS_SYSTEM_MANAGER). The component should fall back to the system GCS (if any) when it is not directly controlled, and may stop emitting CONTROL_STATUS. The flow is otherwise the same as for requesting control over the whole system.

    Param (Label)DescriptionValuesUnits
    1 (Sysid requesting control)System ID of GCS requesting control. 0 when command sent from GCS to autopilot (autopilot determines requesting GCS sysid from message header). Sysid of GCS requesting control when command sent by autopilot to controlling GCS.
    2 (Action)0: Release control, 1: Request control.
    3 (Allow takeover)Enable automatic granting of ownership on request (by default reject request and notify current owner). 0: Ask current owner and reject request, 1: Allow automatic takeover.
    4 (Request timeout)Timeout in seconds before a request to a GCS to allow takeover is assumed to be rejected. This is used to display the timeout graphically on requestor and GCS in control.min: 3 max: 60s
    5Empty
    6Empty
    7Empty

    MAV_CMD_EXTERNAL_WIND_ESTIMATE (43004) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Set an external estimate of wind direction and speed.

    This might be used to provide an initial wind estimate to the estimator (EKF) in the case where the vehicle is wind dead-reckoning, extending the time when operating without GPS before before position drift builds to an unsafe level. For this use case the command might reasonably be sent every few minutes when operating at altitude, and the value is cleared if the estimator resets itself.

    Param (Label)DescriptionValuesUnits
    1 (Wind speed)Horizontal wind speed.min: 0m/s
    2 (Wind speed accuracy)Estimated 1 sigma accuracy of wind speed. Set to NaN if unknown.m/s
    3 (Direction)Azimuth (relative to true north) from where the wind is blowing.min: 0 max: 360deg
    4 (Direction accuracy)Estimated 1 sigma accuracy of wind direction. Set to NaN if unknown.deg
    5Empty
    6Empty
    7Empty
    - + \ No newline at end of file diff --git a/ko/messages/icarous.html b/ko/messages/icarous.html index 9d926f150..29283e474 100644 --- a/ko/messages/icarous.html +++ b/ko/messages/icarous.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

    한국어 (Korean)

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    Dialect: icarous ​

    Warning This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

    This topic is a human-readable form of the XML definition file: icarous.xml.

    Note

    • MAVLink 2 extension fields are displayed in blue.
    • Entities from dialects are displayed only as headings (with link to original)

    None

    목차 ​

    TypeDefinedIncluded
    Messages20
    Enums20
    Commands00

    The following sections list all entities in the dialect (both included and defined in this file).

    Messages ​

    ICAROUS_HEARTBEAT (42000) ​

    ICAROUS heartbeat

    Field NameTypeValuesDescription
    statusuint8_tICAROUS_FMS_STATESee the FMS_STATE enum.

    ICAROUS_KINEMATIC_BANDS (42001) ​

    Kinematic multi bands (track) output from Daidalus

    Field NameTypeUnitsValuesDescription
    numBandsint8_tNumber of track bands
    type1uint8_tICAROUS_TRACK_BAND_TYPESSee the TRACK_BAND_TYPES enum.
    min1floatdegmin angle (degrees)
    max1floatdegmax angle (degrees)
    type2uint8_tICAROUS_TRACK_BAND_TYPESSee the TRACK_BAND_TYPES enum.
    min2floatdegmin angle (degrees)
    max2floatdegmax angle (degrees)
    type3uint8_tICAROUS_TRACK_BAND_TYPESSee the TRACK_BAND_TYPES enum.
    min3floatdegmin angle (degrees)
    max3floatdegmax angle (degrees)
    type4uint8_tICAROUS_TRACK_BAND_TYPESSee the TRACK_BAND_TYPES enum.
    min4floatdegmin angle (degrees)
    max4floatdegmax angle (degrees)
    type5uint8_tICAROUS_TRACK_BAND_TYPESSee the TRACK_BAND_TYPES enum.
    min5floatdegmin angle (degrees)
    max5floatdegmax angle (degrees)

    Enumerated Types ​

    ICAROUS_TRACK_BAND_TYPES ​

    ValueNameDescription
    0ICAROUS_TRACK_BAND_TYPE_NONE
    1ICAROUS_TRACK_BAND_TYPE_NEAR
    2ICAROUS_TRACK_BAND_TYPE_RECOVERY

    ICAROUS_FMS_STATE ​

    ValueNameDescription
    0ICAROUS_FMS_STATE_IDLE
    1ICAROUS_FMS_STATE_TAKEOFF
    2ICAROUS_FMS_STATE_CLIMB
    3ICAROUS_FMS_STATE_CRUISE
    4ICAROUS_FMS_STATE_APPROACH
    5ICAROUS_FMS_STATE_LAND
    - + \ No newline at end of file diff --git a/ko/messages/index.html b/ko/messages/index.html index 99fca75f3..91f1a9d8a 100644 --- a/ko/messages/index.html +++ b/ko/messages/index.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

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    XML Definition Files & Dialects ​

    MAVLink definitions files can be found in mavlink/message definitions. These can roughly be divided into:

    Standard Definitions ​

    The following XML definition files are considered standard/core (i.e. not dialects):

    • minimal.xml - the minimum set of entities (messages, enums, MAV_CMD) required to set up a MAVLink network.
    • standard.xml - the standard set of entities that are implemented by almost all flight stacks (at least 2, in a compatible way). This includes minimal.xml.
    • common.xml - the set of entities that have been implemented in at least one core flight stack. This includes standard.xml

    Note We are still working towards moving the truly standard entities from common.xml to standard.xml Currently you should include common.xml

    In addition:

    • development.xml - XML definitions that are proposed for inclusion in the standard definitions. These are work in progress.

    Test Definitions ​

    The following definitions are used for testing and dialect validation:

    • all.xml - This includes all other XML files, and is used to verify that there are no ID clashes (and can potentially be used by GCS to communicate with any core dialect).
    • test.xml - Test XML definition file.

    Dialects ​

    MAVLink dialects are XML definition files that define protocol- and vendor-specific messages, enums and commands.

    Note Vendor forks of MAVLink may contain XML entities that have not yet been pushed into the main repository (and will not be documented).

    Dialects may include other MAVLink XML files, which may in turn contain other XML files (up to 5 levels of XML file nesting are allowed - see MAXIMUM_INCLUDE_FILE_NESTING in mavgen.py). A typical pattern is for a dialect to include common.xml (containing the MAVLink standard definitions), extending it with vendor or protocol specific messages.

    The dialect definitions are:

    - + \ No newline at end of file diff --git a/ko/messages/matrixpilot.html b/ko/messages/matrixpilot.html index ad11ddad8..ebd1fe568 100644 --- a/ko/messages/matrixpilot.html +++ b/ko/messages/matrixpilot.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

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    Dialect: matrixpilot ​

    Warning This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

    This topic is a human-readable form of the XML definition file: matrixpilot.xml.

    Note

    • MAVLink 2 extension fields are displayed in blue.
    • Entities from dialects are displayed only as headings (with link to original)

    목차 ​

    TypeDefinedIncluded
    Messages27226
    Enums1144
    Commands1650

    The following sections list all entities in the dialect (both included and defined in this file).

    Messages ​

    FLEXIFUNCTION_SET (150) ​

    Depreciated but used as a compiler flag. Do not remove

    Field NameTypeDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID

    FLEXIFUNCTION_READ_REQ (151) ​

    Request reading of flexifunction data

    Field NameTypeDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    read_req_typeint16_tType of flexifunction data requested
    data_indexint16_tindex into data where needed

    FLEXIFUNCTION_BUFFER_FUNCTION (152) ​

    Flexifunction type and parameters for component at function index from buffer

    Field NameTypeDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    func_indexuint16_tFunction index
    func_countuint16_tTotal count of functions
    data_addressuint16_tAddress in the flexifunction data, Set to 0xFFFF to use address in target memory
    data_sizeuint16_tSize of the
    dataint8_t[48]Settings data

    FLEXIFUNCTION_BUFFER_FUNCTION_ACK (153) ​

    Flexifunction type and parameters for component at function index from buffer

    Field NameTypeDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    func_indexuint16_tFunction index
    resultuint16_tresult of acknowledge, 0=fail, 1=good

    FLEXIFUNCTION_DIRECTORY (155) ​

    Acknowldge success or failure of a flexifunction command

    Field NameTypeDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    directory_typeuint8_t0=inputs, 1=outputs
    start_indexuint8_tindex of first directory entry to write
    countuint8_tcount of directory entries to write
    directory_dataint8_t[48]Settings data

    FLEXIFUNCTION_DIRECTORY_ACK (156) ​

    Acknowldge success or failure of a flexifunction command

    Field NameTypeDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    directory_typeuint8_t0=inputs, 1=outputs
    start_indexuint8_tindex of first directory entry to write
    countuint8_tcount of directory entries to write
    resultuint16_tresult of acknowledge, 0=fail, 1=good

    FLEXIFUNCTION_COMMAND (157) ​

    Acknowldge success or failure of a flexifunction command

    Field NameTypeDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    command_typeuint8_tFlexifunction command type

    FLEXIFUNCTION_COMMAND_ACK (158) ​

    Acknowldge success or failure of a flexifunction command

    Field NameTypeDescription
    command_typeuint16_tCommand acknowledged
    resultuint16_tresult of acknowledge

    SERIAL_UDB_EXTRA_F2_A (170) ​

    Backwards compatible MAVLink version of SERIAL_UDB_EXTRA - F2: Format Part A

    Field NameTypeDescription
    sue_timeuint32_tSerial UDB Extra Time
    sue_statusuint8_tSerial UDB Extra Status
    sue_latitudeint32_tSerial UDB Extra Latitude
    sue_longitudeint32_tSerial UDB Extra Longitude
    sue_altitudeint32_tSerial UDB Extra Altitude
    sue_waypoint_indexuint16_tSerial UDB Extra Waypoint Index
    sue_rmat0int16_tSerial UDB Extra Rmat 0
    sue_rmat1int16_tSerial UDB Extra Rmat 1
    sue_rmat2int16_tSerial UDB Extra Rmat 2
    sue_rmat3int16_tSerial UDB Extra Rmat 3
    sue_rmat4int16_tSerial UDB Extra Rmat 4
    sue_rmat5int16_tSerial UDB Extra Rmat 5
    sue_rmat6int16_tSerial UDB Extra Rmat 6
    sue_rmat7int16_tSerial UDB Extra Rmat 7
    sue_rmat8int16_tSerial UDB Extra Rmat 8
    sue_coguint16_tSerial UDB Extra GPS Course Over Ground
    sue_sogint16_tSerial UDB Extra Speed Over Ground
    sue_cpu_loaduint16_tSerial UDB Extra CPU Load
    sue_air_speed_3DIMUuint16_tSerial UDB Extra 3D IMU Air Speed
    sue_estimated_wind_0int16_tSerial UDB Extra Estimated Wind 0
    sue_estimated_wind_1int16_tSerial UDB Extra Estimated Wind 1
    sue_estimated_wind_2int16_tSerial UDB Extra Estimated Wind 2
    sue_magFieldEarth0int16_tSerial UDB Extra Magnetic Field Earth 0
    sue_magFieldEarth1int16_tSerial UDB Extra Magnetic Field Earth 1
    sue_magFieldEarth2int16_tSerial UDB Extra Magnetic Field Earth 2
    sue_svsint16_tSerial UDB Extra Number of Satellites in View
    sue_hdopint16_tSerial UDB Extra GPS Horizontal Dilution of Precision

    SERIAL_UDB_EXTRA_F2_B (171) ​

    Backwards compatible version of SERIAL_UDB_EXTRA - F2: Part B

    Field NameTypeDescription
    sue_timeuint32_tSerial UDB Extra Time
    sue_pwm_input_1int16_tSerial UDB Extra PWM Input Channel 1
    sue_pwm_input_2int16_tSerial UDB Extra PWM Input Channel 2
    sue_pwm_input_3int16_tSerial UDB Extra PWM Input Channel 3
    sue_pwm_input_4int16_tSerial UDB Extra PWM Input Channel 4
    sue_pwm_input_5int16_tSerial UDB Extra PWM Input Channel 5
    sue_pwm_input_6int16_tSerial UDB Extra PWM Input Channel 6
    sue_pwm_input_7int16_tSerial UDB Extra PWM Input Channel 7
    sue_pwm_input_8int16_tSerial UDB Extra PWM Input Channel 8
    sue_pwm_input_9int16_tSerial UDB Extra PWM Input Channel 9
    sue_pwm_input_10int16_tSerial UDB Extra PWM Input Channel 10
    sue_pwm_input_11int16_tSerial UDB Extra PWM Input Channel 11
    sue_pwm_input_12int16_tSerial UDB Extra PWM Input Channel 12
    sue_pwm_output_1int16_tSerial UDB Extra PWM Output Channel 1
    sue_pwm_output_2int16_tSerial UDB Extra PWM Output Channel 2
    sue_pwm_output_3int16_tSerial UDB Extra PWM Output Channel 3
    sue_pwm_output_4int16_tSerial UDB Extra PWM Output Channel 4
    sue_pwm_output_5int16_tSerial UDB Extra PWM Output Channel 5
    sue_pwm_output_6int16_tSerial UDB Extra PWM Output Channel 6
    sue_pwm_output_7int16_tSerial UDB Extra PWM Output Channel 7
    sue_pwm_output_8int16_tSerial UDB Extra PWM Output Channel 8
    sue_pwm_output_9int16_tSerial UDB Extra PWM Output Channel 9
    sue_pwm_output_10int16_tSerial UDB Extra PWM Output Channel 10
    sue_pwm_output_11int16_tSerial UDB Extra PWM Output Channel 11
    sue_pwm_output_12int16_tSerial UDB Extra PWM Output Channel 12
    sue_imu_location_xint16_tSerial UDB Extra IMU Location X
    sue_imu_location_yint16_tSerial UDB Extra IMU Location Y
    sue_imu_location_zint16_tSerial UDB Extra IMU Location Z
    sue_location_error_earth_xint16_tSerial UDB Location Error Earth X
    sue_location_error_earth_yint16_tSerial UDB Location Error Earth Y
    sue_location_error_earth_zint16_tSerial UDB Location Error Earth Z
    sue_flagsuint32_tSerial UDB Extra Status Flags
    sue_osc_failsint16_tSerial UDB Extra Oscillator Failure Count
    sue_imu_velocity_xint16_tSerial UDB Extra IMU Velocity X
    sue_imu_velocity_yint16_tSerial UDB Extra IMU Velocity Y
    sue_imu_velocity_zint16_tSerial UDB Extra IMU Velocity Z
    sue_waypoint_goal_xint16_tSerial UDB Extra Current Waypoint Goal X
    sue_waypoint_goal_yint16_tSerial UDB Extra Current Waypoint Goal Y
    sue_waypoint_goal_zint16_tSerial UDB Extra Current Waypoint Goal Z
    sue_aero_xint16_tAeroforce in UDB X Axis
    sue_aero_yint16_tAeroforce in UDB Y Axis
    sue_aero_zint16_tAeroforce in UDB Z axis
    sue_barom_tempint16_tSUE barometer temperature
    sue_barom_pressint32_tSUE barometer pressure
    sue_barom_altint32_tSUE barometer altitude
    sue_bat_voltint16_tSUE battery voltage
    sue_bat_ampint16_tSUE battery current
    sue_bat_amp_hoursint16_tSUE battery milli amp hours used
    sue_desired_heightint16_tSue autopilot desired height
    sue_memory_stack_freeint16_tSerial UDB Extra Stack Memory Free

    SERIAL_UDB_EXTRA_F4 (172) ​

    Backwards compatible version of SERIAL_UDB_EXTRA F4: format

    Field NameTypeDescription
    sue_ROLL_STABILIZATION_AILERONSuint8_tSerial UDB Extra Roll Stabilization with Ailerons Enabled
    sue_ROLL_STABILIZATION_RUDDERuint8_tSerial UDB Extra Roll Stabilization with Rudder Enabled
    sue_PITCH_STABILIZATIONuint8_tSerial UDB Extra Pitch Stabilization Enabled
    sue_YAW_STABILIZATION_RUDDERuint8_tSerial UDB Extra Yaw Stabilization using Rudder Enabled
    sue_YAW_STABILIZATION_AILERONuint8_tSerial UDB Extra Yaw Stabilization using Ailerons Enabled
    sue_AILERON_NAVIGATIONuint8_tSerial UDB Extra Navigation with Ailerons Enabled
    sue_RUDDER_NAVIGATIONuint8_tSerial UDB Extra Navigation with Rudder Enabled
    sue_ALTITUDEHOLD_STABILIZEDuint8_tSerial UDB Extra Type of Alitude Hold when in Stabilized Mode
    sue_ALTITUDEHOLD_WAYPOINTuint8_tSerial UDB Extra Type of Alitude Hold when in Waypoint Mode
    sue_RACING_MODEuint8_tSerial UDB Extra Firmware racing mode enabled

    SERIAL_UDB_EXTRA_F5 (173) ​

    Backwards compatible version of SERIAL_UDB_EXTRA F5: format

    Field NameTypeDescription
    sue_YAWKP_AILERONfloatSerial UDB YAWKP_AILERON Gain for Proporional control of navigation
    sue_YAWKD_AILERONfloatSerial UDB YAWKD_AILERON Gain for Rate control of navigation
    sue_ROLLKPfloatSerial UDB Extra ROLLKP Gain for Proportional control of roll stabilization
    sue_ROLLKDfloatSerial UDB Extra ROLLKD Gain for Rate control of roll stabilization

    SERIAL_UDB_EXTRA_F6 (174) ​

    Backwards compatible version of SERIAL_UDB_EXTRA F6: format

    Field NameTypeDescription
    sue_PITCHGAINfloatSerial UDB Extra PITCHGAIN Proportional Control
    sue_PITCHKDfloatSerial UDB Extra Pitch Rate Control
    sue_RUDDER_ELEV_MIXfloatSerial UDB Extra Rudder to Elevator Mix
    sue_ROLL_ELEV_MIXfloatSerial UDB Extra Roll to Elevator Mix
    sue_ELEVATOR_BOOSTfloatGain For Boosting Manual Elevator control When Plane Stabilized

    SERIAL_UDB_EXTRA_F7 (175) ​

    Backwards compatible version of SERIAL_UDB_EXTRA F7: format

    Field NameTypeDescription
    sue_YAWKP_RUDDERfloatSerial UDB YAWKP_RUDDER Gain for Proporional control of navigation
    sue_YAWKD_RUDDERfloatSerial UDB YAWKD_RUDDER Gain for Rate control of navigation
    sue_ROLLKP_RUDDERfloatSerial UDB Extra ROLLKP_RUDDER Gain for Proportional control of roll stabilization
    sue_ROLLKD_RUDDERfloatSerial UDB Extra ROLLKD_RUDDER Gain for Rate control of roll stabilization
    sue_RUDDER_BOOSTfloatSERIAL UDB EXTRA Rudder Boost Gain to Manual Control when stabilized
    sue_RTL_PITCH_DOWNfloatSerial UDB Extra Return To Landing - Angle to Pitch Plane Down

    SERIAL_UDB_EXTRA_F8 (176) ​

    Backwards compatible version of SERIAL_UDB_EXTRA F8: format

    Field NameTypeDescription
    sue_HEIGHT_TARGET_MAXfloatSerial UDB Extra HEIGHT_TARGET_MAX
    sue_HEIGHT_TARGET_MINfloatSerial UDB Extra HEIGHT_TARGET_MIN
    sue_ALT_HOLD_THROTTLE_MINfloatSerial UDB Extra ALT_HOLD_THROTTLE_MIN
    sue_ALT_HOLD_THROTTLE_MAXfloatSerial UDB Extra ALT_HOLD_THROTTLE_MAX
    sue_ALT_HOLD_PITCH_MINfloatSerial UDB Extra ALT_HOLD_PITCH_MIN
    sue_ALT_HOLD_PITCH_MAXfloatSerial UDB Extra ALT_HOLD_PITCH_MAX
    sue_ALT_HOLD_PITCH_HIGHfloatSerial UDB Extra ALT_HOLD_PITCH_HIGH

    SERIAL_UDB_EXTRA_F13 (177) ​

    Backwards compatible version of SERIAL_UDB_EXTRA F13: format

    Field NameTypeDescription
    sue_week_noint16_tSerial UDB Extra GPS Week Number
    sue_lat_originint32_tSerial UDB Extra MP Origin Latitude
    sue_lon_originint32_tSerial UDB Extra MP Origin Longitude
    sue_alt_originint32_tSerial UDB Extra MP Origin Altitude Above Sea Level

    SERIAL_UDB_EXTRA_F14 (178) ​

    Backwards compatible version of SERIAL_UDB_EXTRA F14: format

    Field NameTypeDescription
    sue_WIND_ESTIMATIONuint8_tSerial UDB Extra Wind Estimation Enabled
    sue_GPS_TYPEuint8_tSerial UDB Extra Type of GPS Unit
    sue_DRuint8_tSerial UDB Extra Dead Reckoning Enabled
    sue_BOARD_TYPEuint8_tSerial UDB Extra Type of UDB Hardware
    sue_AIRFRAMEuint8_tSerial UDB Extra Type of Airframe
    sue_RCONint16_tSerial UDB Extra Reboot Register of DSPIC
    sue_TRAP_FLAGSint16_tSerial UDB Extra Last dspic Trap Flags
    sue_TRAP_SOURCEuint32_tSerial UDB Extra Type Program Address of Last Trap
    sue_osc_fail_countint16_tSerial UDB Extra Number of Ocillator Failures
    sue_CLOCK_CONFIGuint8_tSerial UDB Extra UDB Internal Clock Configuration
    sue_FLIGHT_PLAN_TYPEuint8_tSerial UDB Extra Type of Flight Plan

    SERIAL_UDB_EXTRA_F15 (179) ​

    Backwards compatible version of SERIAL_UDB_EXTRA F15 format

    Field NameTypeDescription
    sue_ID_VEHICLE_MODEL_NAMEuint8_t[40]Serial UDB Extra Model Name Of Vehicle
    sue_ID_VEHICLE_REGISTRATIONuint8_t[20]Serial UDB Extra Registraton Number of Vehicle

    SERIAL_UDB_EXTRA_F16 (180) ​

    Backwards compatible version of SERIAL_UDB_EXTRA F16 format

    Field NameTypeDescription
    sue_ID_LEAD_PILOTuint8_t[40]Serial UDB Extra Name of Expected Lead Pilot
    sue_ID_DIY_DRONES_URLuint8_t[70]Serial UDB Extra URL of Lead Pilot or Team

    ALTITUDES (181) ​

    The altitude measured by sensors and IMU

    Field NameTypeDescription
    time_boot_msuint32_tTimestamp (milliseconds since system boot)
    alt_gpsint32_tGPS altitude (MSL) in meters, expressed as * 1000 (millimeters)
    alt_imuint32_tIMU altitude above ground in meters, expressed as * 1000 (millimeters)
    alt_barometricint32_tbarometeric altitude above ground in meters, expressed as * 1000 (millimeters)
    alt_optical_flowint32_tOptical flow altitude above ground in meters, expressed as * 1000 (millimeters)
    alt_range_finderint32_tRangefinder Altitude above ground in meters, expressed as * 1000 (millimeters)
    alt_extraint32_tExtra altitude above ground in meters, expressed as * 1000 (millimeters)

    AIRSPEEDS (182) ​

    The airspeed measured by sensors and IMU

    Field NameTypeDescription
    time_boot_msuint32_tTimestamp (milliseconds since system boot)
    airspeed_imuint16_tAirspeed estimate from IMU, cm/s
    airspeed_pitotint16_tPitot measured forward airpseed, cm/s
    airspeed_hot_wireint16_tHot wire anenometer measured airspeed, cm/s
    airspeed_ultrasonicint16_tUltrasonic measured airspeed, cm/s
    aoaint16_tAngle of attack sensor, degrees * 10
    aoyint16_tYaw angle sensor, degrees * 10

    SERIAL_UDB_EXTRA_F17 (183) ​

    Backwards compatible version of SERIAL_UDB_EXTRA F17 format

    Field NameTypeDescription
    sue_feed_forwardfloatSUE Feed Forward Gain
    sue_turn_rate_navfloatSUE Max Turn Rate when Navigating
    sue_turn_rate_fbwfloatSUE Max Turn Rate in Fly By Wire Mode

    SERIAL_UDB_EXTRA_F18 (184) ​

    Backwards compatible version of SERIAL_UDB_EXTRA F18 format

    Field NameTypeDescription
    angle_of_attack_normalfloatSUE Angle of Attack Normal
    angle_of_attack_invertedfloatSUE Angle of Attack Inverted
    elevator_trim_normalfloatSUE Elevator Trim Normal
    elevator_trim_invertedfloatSUE Elevator Trim Inverted
    reference_speedfloatSUE reference_speed

    SERIAL_UDB_EXTRA_F19 (185) ​

    Backwards compatible version of SERIAL_UDB_EXTRA F19 format

    Field NameTypeDescription
    sue_aileron_output_channeluint8_tSUE aileron output channel
    sue_aileron_reverseduint8_tSUE aileron reversed
    sue_elevator_output_channeluint8_tSUE elevator output channel
    sue_elevator_reverseduint8_tSUE elevator reversed
    sue_throttle_output_channeluint8_tSUE throttle output channel
    sue_throttle_reverseduint8_tSUE throttle reversed
    sue_rudder_output_channeluint8_tSUE rudder output channel
    sue_rudder_reverseduint8_tSUE rudder reversed

    SERIAL_UDB_EXTRA_F20 (186) ​

    Backwards compatible version of SERIAL_UDB_EXTRA F20 format

    Field NameTypeDescription
    sue_number_of_inputsuint8_tSUE Number of Input Channels
    sue_trim_value_input_1int16_tSUE UDB PWM Trim Value on Input 1
    sue_trim_value_input_2int16_tSUE UDB PWM Trim Value on Input 2
    sue_trim_value_input_3int16_tSUE UDB PWM Trim Value on Input 3
    sue_trim_value_input_4int16_tSUE UDB PWM Trim Value on Input 4
    sue_trim_value_input_5int16_tSUE UDB PWM Trim Value on Input 5
    sue_trim_value_input_6int16_tSUE UDB PWM Trim Value on Input 6
    sue_trim_value_input_7int16_tSUE UDB PWM Trim Value on Input 7
    sue_trim_value_input_8int16_tSUE UDB PWM Trim Value on Input 8
    sue_trim_value_input_9int16_tSUE UDB PWM Trim Value on Input 9
    sue_trim_value_input_10int16_tSUE UDB PWM Trim Value on Input 10
    sue_trim_value_input_11int16_tSUE UDB PWM Trim Value on Input 11
    sue_trim_value_input_12int16_tSUE UDB PWM Trim Value on Input 12

    SERIAL_UDB_EXTRA_F21 (187) ​

    Backwards compatible version of SERIAL_UDB_EXTRA F21 format

    Field NameTypeDescription
    sue_accel_x_offsetint16_tSUE X accelerometer offset
    sue_accel_y_offsetint16_tSUE Y accelerometer offset
    sue_accel_z_offsetint16_tSUE Z accelerometer offset
    sue_gyro_x_offsetint16_tSUE X gyro offset
    sue_gyro_y_offsetint16_tSUE Y gyro offset
    sue_gyro_z_offsetint16_tSUE Z gyro offset

    SERIAL_UDB_EXTRA_F22 (188) ​

    Backwards compatible version of SERIAL_UDB_EXTRA F22 format

    Field NameTypeDescription
    sue_accel_x_at_calibrationint16_tSUE X accelerometer at calibration time
    sue_accel_y_at_calibrationint16_tSUE Y accelerometer at calibration time
    sue_accel_z_at_calibrationint16_tSUE Z accelerometer at calibration time
    sue_gyro_x_at_calibrationint16_tSUE X gyro at calibration time
    sue_gyro_y_at_calibrationint16_tSUE Y gyro at calibration time
    sue_gyro_z_at_calibrationint16_tSUE Z gyro at calibration time

    Enumerated Types ​

    MAV_PREFLIGHT_STORAGE_ACTION ​

    Action required when performing CMD_PREFLIGHT_STORAGE

    ValueNameDescription
    0MAV_PFS_CMD_READ_ALLRead all parameters from storage
    1MAV_PFS_CMD_WRITE_ALLWrite all parameters to storage
    2MAV_PFS_CMD_CLEAR_ALLClear all parameters in storage
    3MAV_PFS_CMD_READ_SPECIFICRead specific parameters from storage
    4MAV_PFS_CMD_WRITE_SPECIFICWrite specific parameters to storage
    5MAV_PFS_CMD_CLEAR_SPECIFICClear specific parameters in storage
    6MAV_PFS_CMD_DO_NOTHINGdo nothing

    Commands (MAV_CMD) ​

    MAV_CMD_PREFLIGHT_STORAGE_ADVANCED (0) ​

    Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode.

    Param (Label)Description
    1Storage action: Action defined by MAV_PREFLIGHT_STORAGE_ACTION_ADVANCED
    2Storage area as defined by parameter database
    3Storage flags as defined by parameter database
    4Empty
    5Empty
    6Empty
    7Empty
    - + \ No newline at end of file diff --git a/ko/messages/minimal.html b/ko/messages/minimal.html index 0b382b6cd..445bcb25a 100644 --- a/ko/messages/minimal.html +++ b/ko/messages/minimal.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

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    MAVLink Minimal Set ​

    The MAVLink minimal set contains the minimal set of definitions for a viable MAVLink system.

    The message set is defined in minimal.xml and is managed by the MAVLink project.

    Tip The minimal set is included (imported into) other xml definition files, including the MAVLink Common Message Set (common.xml).

    Note

    • MAVLink 2 extension fields are displayed in blue.
    • Entities from dialects are displayed only as headings (with link to original)

    Protocol version: 3

    None

    목차 ​

    TypeDefinedIncluded
    Messages20
    Enums60
    Commands00

    The following sections list all entities in the dialect (both included and defined in this file).

    Messages ​

    HEARTBEAT (0) ​

    The heartbeat message shows that a system or component is present and responding. The type and autopilot fields (along with the message component id), allow the receiving system to treat further messages from this system appropriately (e.g. by laying out the user interface based on the autopilot). This microservice is documented at https://mavlink.io/en/services/heartbeat.html

    Field NameTypeValuesDescription
    typeuint8_tMAV_TYPEVehicle or component type. For a flight controller component the vehicle type (quadrotor, helicopter, etc.). For other components the component type (e.g. camera, gimbal, etc.). This should be used in preference to component id for identifying the component type.
    autopilotuint8_tMAV_AUTOPILOTAutopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers.
    base_modeuint8_tMAV_MODE_FLAGSystem mode bitmap.
    custom_modeuint32_tA bitfield for use for autopilot-specific flags
    system_statusuint8_tMAV_STATESystem status flag.
    mavlink_versionuint8_t_mavlink_versionMAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version

    PROTOCOL_VERSION (300) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Version and capability of protocol version. This message can be requested with MAV_CMD_REQUEST_MESSAGE and is used as part of the handshaking to establish which MAVLink version should be used on the network. Every node should respond to a request for PROTOCOL_VERSION to enable the handshaking. Library implementers should consider adding this into the default decoding state machine to allow the protocol core to respond directly.

    Field NameTypeDescription
    versionuint16_tCurrently active MAVLink version number * 100: v1.0 is 100, v2.0 is 200, etc.
    min_versionuint16_tMinimum MAVLink version supported
    max_versionuint16_tMaximum MAVLink version supported (set to the same value as version by default)
    spec_version_hashuint8_t[8]The first 8 bytes (not characters printed in hex!) of the git hash.
    library_version_hashuint8_t[8]The first 8 bytes (not characters printed in hex!) of the git hash.

    Enumerated Types ​

    MAV_AUTOPILOT ​

    Micro air vehicle / autopilot classes. This identifies the individual model.

    ValueNameDescription
    0MAV_AUTOPILOT_GENERICGeneric autopilot, full support for everything
    1MAV_AUTOPILOT_RESERVEDReserved for future use.
    2MAV_AUTOPILOT_SLUGSSLUGS autopilot, http://slugsuav.soe.ucsc.edu
    3MAV_AUTOPILOT_ARDUPILOTMEGAArduPilot - Plane/Copter/Rover/Sub/Tracker, https://ardupilot.org
    4MAV_AUTOPILOT_OPENPILOTOpenPilot, http://openpilot.org
    5MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLYGeneric autopilot only supporting simple waypoints
    6MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLYGeneric autopilot supporting waypoints and other simple navigation commands
    7MAV_AUTOPILOT_GENERIC_MISSION_FULLGeneric autopilot supporting the full mission command set
    8MAV_AUTOPILOT_INVALIDNo valid autopilot, e.g. a GCS or other MAVLink component
    9MAV_AUTOPILOT_PPZPPZ UAV - http://nongnu.org/paparazzi
    10MAV_AUTOPILOT_UDBUAV Dev Board
    11MAV_AUTOPILOT_FPFlexiPilot
    12MAV_AUTOPILOT_PX4PX4 Autopilot - http://px4.io/
    13MAV_AUTOPILOT_SMACCMPILOTSMACCMPilot - http://smaccmpilot.org
    14MAV_AUTOPILOT_AUTOQUADAutoQuad -- http://autoquad.org
    15MAV_AUTOPILOT_ARMAZILAArmazila -- http://armazila.com
    16MAV_AUTOPILOT_AEROBAerob -- http://aerob.ru
    17MAV_AUTOPILOT_ASLUAVASLUAV autopilot -- http://www.asl.ethz.ch
    18MAV_AUTOPILOT_SMARTAPSmartAP Autopilot - http://sky-drones.com
    19MAV_AUTOPILOT_AIRRAILSAirRails - http://uaventure.com
    20MAV_AUTOPILOT_REFLEXFusion Reflex - https://fusion.engineering

    MAV_TYPE ​

    MAVLINK component type reported in HEARTBEAT message. Flight controllers must report the type of the vehicle on which they are mounted (e.g. MAV_TYPE_OCTOROTOR). All other components must report a value appropriate for their type (e.g. a camera must use MAV_TYPE_CAMERA).

    ValueNameDescription
    0MAV_TYPE_GENERICGeneric micro air vehicle
    1MAV_TYPE_FIXED_WINGFixed wing aircraft.
    2MAV_TYPE_QUADROTORQuadrotor
    3MAV_TYPE_COAXIALCoaxial helicopter
    4MAV_TYPE_HELICOPTERNormal helicopter with tail rotor.
    5MAV_TYPE_ANTENNA_TRACKERGround installation
    6MAV_TYPE_GCSOperator control unit / ground control station
    7MAV_TYPE_AIRSHIPAirship, controlled
    8MAV_TYPE_FREE_BALLOONFree balloon, uncontrolled
    9MAV_TYPE_ROCKETRocket
    10MAV_TYPE_GROUND_ROVERGround rover
    11MAV_TYPE_SURFACE_BOATSurface vessel, boat, ship
    12MAV_TYPE_SUBMARINESubmarine
    13MAV_TYPE_HEXAROTORHexarotor
    14MAV_TYPE_OCTOROTOROctorotor
    15MAV_TYPE_TRICOPTERTricopter
    16MAV_TYPE_FLAPPING_WINGFlapping wing
    17MAV_TYPE_KITEKite
    18MAV_TYPE_ONBOARD_CONTROLLEROnboard companion controller
    19MAV_TYPE_VTOL_TAILSITTER_DUOROTORTwo-rotor Tailsitter VTOL that additionally uses control surfaces in vertical operation. Note, value previously named MAV_TYPE_VTOL_DUOROTOR.
    20MAV_TYPE_VTOL_TAILSITTER_QUADROTORQuad-rotor Tailsitter VTOL using a V-shaped quad config in vertical operation. Note: value previously named MAV_TYPE_VTOL_QUADROTOR.
    21MAV_TYPE_VTOL_TILTROTORTiltrotor VTOL. Fuselage and wings stay (nominally) horizontal in all flight phases. It able to tilt (some) rotors to provide thrust in cruise flight.
    22MAV_TYPE_VTOL_FIXEDROTORVTOL with separate fixed rotors for hover and cruise flight. Fuselage and wings stay (nominally) horizontal in all flight phases.
    23MAV_TYPE_VTOL_TAILSITTERTailsitter VTOL. Fuselage and wings orientation changes depending on flight phase: vertical for hover, horizontal for cruise. Use more specific VTOL MAV_TYPE_VTOL_TAILSITTER_DUOROTOR or MAV_TYPE_VTOL_TAILSITTER_QUADROTOR if appropriate.
    24MAV_TYPE_VTOL_TILTWINGTiltwing VTOL. Fuselage stays horizontal in all flight phases. The whole wing, along with any attached engine, can tilt between vertical and horizontal mode.
    25MAV_TYPE_VTOL_RESERVED5VTOL reserved 5
    26MAV_TYPE_GIMBALGimbal
    27MAV_TYPE_ADSBADSB system
    28MAV_TYPE_PARAFOILSteerable, nonrigid airfoil
    29MAV_TYPE_DODECAROTORDodecarotor
    30MAV_TYPE_CAMERACamera
    31MAV_TYPE_CHARGING_STATIONCharging station
    32MAV_TYPE_FLARMFLARM collision avoidance system
    33MAV_TYPE_SERVOServo
    34MAV_TYPE_ODIDOpen Drone ID. See https://mavlink.io/en/services/opendroneid.html.
    35MAV_TYPE_DECAROTORDecarotor
    36MAV_TYPE_BATTERYBattery
    37MAV_TYPE_PARACHUTEParachute
    38MAV_TYPE_LOGLog
    39MAV_TYPE_OSDOSD
    40MAV_TYPE_IMUIMU
    41MAV_TYPE_GPSGPS
    42MAV_TYPE_WINCHWinch
    43MAV_TYPE_GENERIC_MULTIROTORGeneric multirotor that does not fit into a specific type or whose type is unknown
    44MAV_TYPE_ILLUMINATORIlluminator. An illuminator is a light source that is used for lighting up dark areas external to the sytstem: e.g. a torch or searchlight (as opposed to a light source for illuminating the system itself, e.g. an indicator light).

    MAV_MODE_FLAG ​

    (Bitmask) These flags encode the MAV mode.

    ValueNameDescription
    1MAV_MODE_FLAG_CUSTOM_MODE_ENABLED0b00000001 Reserved for future use.
    2MAV_MODE_FLAG_TEST_ENABLED0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations.
    4MAV_MODE_FLAG_AUTO_ENABLED0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation.
    8MAV_MODE_FLAG_GUIDED_ENABLED0b00001000 guided mode enabled, system flies waypoints / mission items.
    16MAV_MODE_FLAG_STABILIZE_ENABLED0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around.
    32MAV_MODE_FLAG_HIL_ENABLED0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational.
    64MAV_MODE_FLAG_MANUAL_INPUT_ENABLED0b01000000 remote control input is enabled.
    128MAV_MODE_FLAG_SAFETY_ARMED0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly. Additional note: this flag is to be ignore when sent in the command MAV_CMD_DO_SET_MODE and MAV_CMD_COMPONENT_ARM_DISARM shall be used instead. The flag can still be used to report the armed state.

    MAV_MODE_FLAG_DECODE_POSITION ​

    (Bitmask) These values encode the bit positions of the decode position. These values can be used to read the value of a flag bit by combining the base_mode variable with AND with the flag position value. The result will be either 0 or 1, depending on if the flag is set or not.

    ValueNameDescription
    1MAV_MODE_FLAG_DECODE_POSITION_CUSTOM_MODEEighth bit: 00000001
    2MAV_MODE_FLAG_DECODE_POSITION_TESTSeventh bit: 00000010
    4MAV_MODE_FLAG_DECODE_POSITION_AUTOSixth bit: 00000100
    8MAV_MODE_FLAG_DECODE_POSITION_GUIDEDFifth bit: 00001000
    16MAV_MODE_FLAG_DECODE_POSITION_STABILIZEFourth bit: 00010000
    32MAV_MODE_FLAG_DECODE_POSITION_HILThird bit: 00100000
    64MAV_MODE_FLAG_DECODE_POSITION_MANUALSecond bit: 01000000
    128MAV_MODE_FLAG_DECODE_POSITION_SAFETYFirst bit: 10000000

    MAV_STATE ​

    ValueNameDescription
    0MAV_STATE_UNINITUninitialized system, state is unknown.
    1MAV_STATE_BOOTSystem is booting up.
    2MAV_STATE_CALIBRATINGSystem is calibrating and not flight-ready.
    3MAV_STATE_STANDBYSystem is grounded and on standby. It can be launched any time.
    4MAV_STATE_ACTIVESystem is active and might be already airborne. Motors are engaged.
    5MAV_STATE_CRITICALSystem is in a non-normal flight mode (failsafe). It can however still navigate.
    6MAV_STATE_EMERGENCYSystem is in a non-normal flight mode (failsafe). It lost control over parts or over the whole airframe. It is in mayday and going down.
    7MAV_STATE_POWEROFFSystem just initialized its power-down sequence, will shut down now.
    8MAV_STATE_FLIGHT_TERMINATIONSystem is terminating itself (failsafe or commanded).

    MAV_COMPONENT ​

    Component ids (values) for the different types and instances of onboard hardware/software that might make up a MAVLink system (autopilot, cameras, servos, GPS systems, avoidance systems etc.).

    Components must use the appropriate ID in their source address when sending messages. Components can also use IDs to determine if they are the intended recipient of an incoming message. The MAV_COMP_ID_ALL value is used to indicate messages that must be processed by all components. When creating new entries, components that can have multiple instances (e.g. cameras, servos etc.) should be allocated sequential values. An appropriate number of values should be left free after these components to allow the number of instances to be expanded.

    ValueNameDescription
    0MAV_COMP_ID_ALLTarget id (target_component) used to broadcast messages to all components of the receiving system. Components should attempt to process messages with this component ID and forward to components on any other interfaces. Note: This is not a valid source component id for a message.
    1MAV_COMP_ID_AUTOPILOT1System flight controller component ("autopilot"). Only one autopilot is expected in a particular system.
    25MAV_COMP_ID_USER1Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    26MAV_COMP_ID_USER2Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    27MAV_COMP_ID_USER3Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    28MAV_COMP_ID_USER4Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    29MAV_COMP_ID_USER5Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    30MAV_COMP_ID_USER6Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    31MAV_COMP_ID_USER7Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    32MAV_COMP_ID_USER8Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    33MAV_COMP_ID_USER9Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    34MAV_COMP_ID_USER10Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    35MAV_COMP_ID_USER11Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    36MAV_COMP_ID_USER12Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    37MAV_COMP_ID_USER13Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    38MAV_COMP_ID_USER14Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    39MAV_COMP_ID_USER15Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    40MAV_COMP_ID_USER16Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    41MAV_COMP_ID_USER17Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    42MAV_COMP_ID_USER18Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    43MAV_COMP_ID_USER19Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    44MAV_COMP_ID_USER20Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    45MAV_COMP_ID_USER21Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    46MAV_COMP_ID_USER22Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    47MAV_COMP_ID_USER23Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    48MAV_COMP_ID_USER24Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    49MAV_COMP_ID_USER25Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    50MAV_COMP_ID_USER26Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    51MAV_COMP_ID_USER27Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    52MAV_COMP_ID_USER28Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    53MAV_COMP_ID_USER29Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    54MAV_COMP_ID_USER30Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    55MAV_COMP_ID_USER31Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    56MAV_COMP_ID_USER32Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    57MAV_COMP_ID_USER33Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    58MAV_COMP_ID_USER34Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    59MAV_COMP_ID_USER35Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    60MAV_COMP_ID_USER36Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    61MAV_COMP_ID_USER37Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    62MAV_COMP_ID_USER38Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    63MAV_COMP_ID_USER39Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    64MAV_COMP_ID_USER40Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    65MAV_COMP_ID_USER41Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    66MAV_COMP_ID_USER42Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    67MAV_COMP_ID_USER43Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    68MAV_COMP_ID_TELEMETRY_RADIOTelemetry radio (e.g. SiK radio, or other component that emits RADIO_STATUS messages).
    69MAV_COMP_ID_USER45Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    70MAV_COMP_ID_USER46Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    71MAV_COMP_ID_USER47Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    72MAV_COMP_ID_USER48Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    73MAV_COMP_ID_USER49Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    74MAV_COMP_ID_USER50Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    75MAV_COMP_ID_USER51Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    76MAV_COMP_ID_USER52Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    77MAV_COMP_ID_USER53Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    78MAV_COMP_ID_USER54Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    79MAV_COMP_ID_USER55Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    80MAV_COMP_ID_USER56Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    81MAV_COMP_ID_USER57Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    82MAV_COMP_ID_USER58Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    83MAV_COMP_ID_USER59Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    84MAV_COMP_ID_USER60Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    85MAV_COMP_ID_USER61Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    86MAV_COMP_ID_USER62Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    87MAV_COMP_ID_USER63Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    88MAV_COMP_ID_USER64Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    89MAV_COMP_ID_USER65Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    90MAV_COMP_ID_USER66Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    91MAV_COMP_ID_USER67Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    92MAV_COMP_ID_USER68Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    93MAV_COMP_ID_USER69Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    94MAV_COMP_ID_USER70Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    95MAV_COMP_ID_USER71Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    96MAV_COMP_ID_USER72Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    97MAV_COMP_ID_USER73Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    98MAV_COMP_ID_USER74Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    99MAV_COMP_ID_USER75Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    100MAV_COMP_ID_CAMERACamera #1.
    101MAV_COMP_ID_CAMERA2Camera #2.
    102MAV_COMP_ID_CAMERA3Camera #3.
    103MAV_COMP_ID_CAMERA4Camera #4.
    104MAV_COMP_ID_CAMERA5Camera #5.
    105MAV_COMP_ID_CAMERA6Camera #6.
    140MAV_COMP_ID_SERVO1Servo #1.
    141MAV_COMP_ID_SERVO2Servo #2.
    142MAV_COMP_ID_SERVO3Servo #3.
    143MAV_COMP_ID_SERVO4Servo #4.
    144MAV_COMP_ID_SERVO5Servo #5.
    145MAV_COMP_ID_SERVO6Servo #6.
    146MAV_COMP_ID_SERVO7Servo #7.
    147MAV_COMP_ID_SERVO8Servo #8.
    148MAV_COMP_ID_SERVO9Servo #9.
    149MAV_COMP_ID_SERVO10Servo #10.
    150MAV_COMP_ID_SERVO11Servo #11.
    151MAV_COMP_ID_SERVO12Servo #12.
    152MAV_COMP_ID_SERVO13Servo #13.
    153MAV_COMP_ID_SERVO14Servo #14.
    154MAV_COMP_ID_GIMBALGimbal #1.
    155MAV_COMP_ID_LOGLogging component.
    156MAV_COMP_ID_ADSBAutomatic Dependent Surveillance-Broadcast (ADS-B) component.
    157MAV_COMP_ID_OSDOn Screen Display (OSD) devices for video links.
    158MAV_COMP_ID_PERIPHERALGeneric autopilot peripheral component ID. Meant for devices that do not implement the parameter microservice.
    159MAV_COMP_ID_QX1_GIMBALGimbal ID for QX1.DEPRECATED: Replaced By MAV_COMP_ID_GIMBAL (2018-11) — All gimbals should use MAV_COMP_ID_GIMBAL.)
    160MAV_COMP_ID_FLARMFLARM collision alert component.
    161MAV_COMP_ID_PARACHUTEParachute component.
    169MAV_COMP_ID_WINCHWinch component.
    171MAV_COMP_ID_GIMBAL2Gimbal #2.
    172MAV_COMP_ID_GIMBAL3Gimbal #3.
    173MAV_COMP_ID_GIMBAL4Gimbal #4
    174MAV_COMP_ID_GIMBAL5Gimbal #5.
    175MAV_COMP_ID_GIMBAL6Gimbal #6.
    180MAV_COMP_ID_BATTERYBattery #1.
    181MAV_COMP_ID_BATTERY2Battery #2.
    189MAV_COMP_ID_MAVCANCAN over MAVLink client.
    190MAV_COMP_ID_MISSIONPLANNERComponent that can generate/supply a mission flight plan (e.g. GCS or developer API).
    191MAV_COMP_ID_ONBOARD_COMPUTERComponent that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
    192MAV_COMP_ID_ONBOARD_COMPUTER2Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
    193MAV_COMP_ID_ONBOARD_COMPUTER3Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
    194MAV_COMP_ID_ONBOARD_COMPUTER4Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
    195MAV_COMP_ID_PATHPLANNERComponent that finds an optimal path between points based on a certain constraint (e.g. minimum snap, shortest path, cost, etc.).
    196MAV_COMP_ID_OBSTACLE_AVOIDANCEComponent that plans a collision free path between two points.
    197MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRYComponent that provides position estimates using VIO techniques.
    198MAV_COMP_ID_PAIRING_MANAGERComponent that manages pairing of vehicle and GCS.
    200MAV_COMP_ID_IMUInertial Measurement Unit (IMU) #1.
    201MAV_COMP_ID_IMU_2Inertial Measurement Unit (IMU) #2.
    202MAV_COMP_ID_IMU_3Inertial Measurement Unit (IMU) #3.
    220MAV_COMP_ID_GPSGPS #1.
    221MAV_COMP_ID_GPS2GPS #2.
    236MAV_COMP_ID_ODID_TXRX_1Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
    237MAV_COMP_ID_ODID_TXRX_2Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
    238MAV_COMP_ID_ODID_TXRX_3Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
    240MAV_COMP_ID_UDP_BRIDGEComponent to bridge MAVLink to UDP (i.e. from a UART).
    241MAV_COMP_ID_UART_BRIDGEComponent to bridge to UART (i.e. from UDP).
    242MAV_COMP_ID_TUNNEL_NODEComponent handling TUNNEL messages (e.g. vendor specific GUI of a component).
    243MAV_COMP_ID_ILLUMINATORIlluminator
    250MAV_COMP_ID_SYSTEM_CONTROLDeprecated, don't use. Component for handling system messages (e.g. to ARM, takeoff, etc.).DEPRECATED: Replaced By MAV_COMP_ID_ALL (2018-11) — System control does not require a separate component ID. Instead, system commands should be sent with target_component=MAV_COMP_ID_ALL allowing the target component to use any appropriate component id.)
    - + \ No newline at end of file diff --git a/ko/messages/paparazzi.html b/ko/messages/paparazzi.html index 1c874a239..44b42d88e 100644 --- a/ko/messages/paparazzi.html +++ b/ko/messages/paparazzi.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

    한국어 (Korean)

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    한국어 (Korean)

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    Dialect: paparazzi ​

    Warning This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

    This topic is a human-readable form of the XML definition file: paparazzi.xml.

    Note

    • MAVLink 2 extension fields are displayed in blue.
    • Entities from dialects are displayed only as headings (with link to original)

    Protocol version: 3

    목차 ​

    TypeDefinedIncluded
    Messages5226
    Enums0144
    Commands1640

    The following sections list all entities in the dialect (both included and defined in this file).

    Messages ​

    SCRIPT_ITEM (180) ​

    Message encoding a mission script item. This message is emitted upon a request for the next script item.

    Field NameTypeDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    sequint16_tSequence
    namechar[50]The name of the mission script, NULL terminated.

    SCRIPT_REQUEST (181) ​

    Request script item with the sequence number seq. The response of the system to this message should be a SCRIPT_ITEM message.

    Field NameTypeDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    sequint16_tSequence

    SCRIPT_REQUEST_LIST (182) ​

    Request the overall list of mission items from the system/component.

    Field NameTypeDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID

    SCRIPT_COUNT (183) ​

    This message is emitted as response to SCRIPT_REQUEST_LIST by the MAV to get the number of mission scripts.

    Field NameTypeDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    countuint16_tNumber of script items in the sequence

    SCRIPT_CURRENT (184) ​

    This message informs about the currently active SCRIPT.

    Field NameTypeDescription
    sequint16_tActive Sequence

    Enumerated Types ​

    Commands (MAV_CMD) ​

    - + \ No newline at end of file diff --git a/ko/messages/python_array_test.html b/ko/messages/python_array_test.html index f0f51142e..907716753 100644 --- a/ko/messages/python_array_test.html +++ b/ko/messages/python_array_test.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

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    한국어 (Korean)

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    Dialect: python_array_test ​

    Warning This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

    This topic is a human-readable form of the XML definition file: python_array_test.xml.

    Note

    • MAVLink 2 extension fields are displayed in blue.
    • Entities from dialects are displayed only as headings (with link to original)

    목차 ​

    TypeDefinedIncluded
    Messages8226
    Enums0144
    Commands1640

    The following sections list all entities in the dialect (both included and defined in this file).

    Messages ​

    ARRAY_TEST_0 (17150) ​

    Array test #0.

    Field NameTypeDescription
    v1uint8_tStub field
    ar_i8int8_t[4]Value array
    ar_u8uint8_t[4]Value array
    ar_u16uint16_t[4]Value array
    ar_u32uint32_t[4]Value array

    ARRAY_TEST_1 (17151) ​

    Array test #1.

    Field NameTypeDescription
    ar_u32uint32_t[4]Value array

    ARRAY_TEST_3 (17153) ​

    Array test #3.

    Field NameTypeDescription
    vuint8_tStub field
    ar_u32uint32_t[4]Value array

    ARRAY_TEST_4 (17154) ​

    Array test #4.

    Field NameTypeDescription
    ar_u32uint32_t[4]Value array
    vuint8_tStub field

    ARRAY_TEST_5 (17155) ​

    Array test #5.

    Field NameTypeDescription
    c1char[5]Value array
    c2char[5]Value array

    ARRAY_TEST_6 (17156) ​

    Array test #6.

    Field NameTypeDescription
    v1uint8_tStub field
    v2uint16_tStub field
    v3uint32_tStub field
    ar_u32uint32_t[2]Value array
    ar_i32int32_t[2]Value array
    ar_u16uint16_t[2]Value array
    ar_i16int16_t[2]Value array
    ar_u8uint8_t[2]Value array
    ar_i8int8_t[2]Value array
    ar_cchar[32]Value array
    ar_ddouble[2]Value array
    ar_ffloat[2]Value array

    ARRAY_TEST_7 (17157) ​

    Array test #7.

    Field NameTypeDescription
    ar_ddouble[2]Value array
    ar_ffloat[2]Value array
    ar_u32uint32_t[2]Value array
    ar_i32int32_t[2]Value array
    ar_u16uint16_t[2]Value array
    ar_i16int16_t[2]Value array
    ar_u8uint8_t[2]Value array
    ar_i8int8_t[2]Value array
    ar_cchar[32]Value array

    ARRAY_TEST_8 (17158) ​

    Array test #8.

    Field NameTypeDescription
    v3uint32_tStub field
    ar_ddouble[2]Value array
    ar_u16uint16_t[2]Value array

    Enumerated Types ​

    Commands (MAV_CMD) ​

    - + \ No newline at end of file diff --git a/ko/messages/standard.html b/ko/messages/standard.html index ed2c17dae..3e96c36cb 100644 --- a/ko/messages/standard.html +++ b/ko/messages/standard.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

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    Dialect: MAVLINK Standard Message Set (standard.xml) ​

    The MAVLink standard message set contains standard definitions that are managed by the MAVLink project. The definitions are those that are expected to be implemented in all flight stacks/ground stations AND are likely to be implemented in a compatible way. The original definitions are defined in standard.xml.

    Note

    • MAVLink 2 extension fields are displayed in blue.
    • Entities from dialects are displayed only as headings (with link to original)

    Protocol dialect: 0

    목차 ​

    TypeDefinedIncluded
    Messages02
    Enums06
    Commands00

    The following sections list all entities in the dialect (both included and defined in this file).

    Messages ​

    Enumerated Types ​

    - + \ No newline at end of file diff --git a/ko/messages/storm32.html b/ko/messages/storm32.html index d8c65b55a..8c1c5ec0e 100644 --- a/ko/messages/storm32.html +++ b/ko/messages/storm32.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

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    Dialect: storm32 ​

    Warning This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

    This topic is a human-readable form of the XML definition file: storm32.xml.

    Note

    • MAVLink 2 extension fields are displayed in blue.
    • Entities from dialects are displayed only as headings (with link to original)

    Protocol dialect: 1

    Protocol version: 1

    목차 ​

    TypeDefinedIncluded
    Messages8307
    Enums8204
    Commands1980

    The following sections list all entities in the dialect (both included and defined in this file).

    Messages ​

    STORM32_GIMBAL_MANAGER_INFORMATION (60010) ​

    Information about a gimbal manager. This message should be requested by a ground station using MAV_CMD_REQUEST_MESSAGE. It mirrors some fields of the GIMBAL_DEVICE_INFORMATION message, but not all. If the additional information is desired, also GIMBAL_DEVICE_INFORMATION should be requested.

    Field NameTypeUnitsValuesDescription
    gimbal_iduint8_tGimbal ID (component ID or 1-6 for non-MAVLink gimbal) that this gimbal manager is responsible for.
    Messages with same value are from the same source (instance).
    device_cap_flagsuint32_tGIMBAL_DEVICE_CAP_FLAGSGimbal device capability flags. Same flags as reported by GIMBAL_DEVICE_INFORMATION. The flag is only 16 bit wide, but stored in 32 bit, for backwards compatibility (high word is zero).
    manager_cap_flagsuint32_tMAV_STORM32_GIMBAL_MANAGER_CAP_FLAGSGimbal manager capability flags.
    roll_minfloatradinvalid:NaNHardware minimum roll angle (positive: roll to the right). NaN if unknown.
    roll_maxfloatradinvalid:NaNHardware maximum roll angle (positive: roll to the right). NaN if unknown.
    pitch_minfloatradinvalid:NaNHardware minimum pitch/tilt angle (positive: tilt up). NaN if unknown.
    pitch_maxfloatradinvalid:NaNHardware maximum pitch/tilt angle (positive: tilt up). NaN if unknown.
    yaw_minfloatradinvalid:NaNHardware minimum yaw/pan angle (positive: pan to the right, relative to the vehicle/gimbal base). NaN if unknown.
    yaw_maxfloatradinvalid:NaNHardware maximum yaw/pan angle (positive: pan to the right, relative to the vehicle/gimbal base). NaN if unknown.

    STORM32_GIMBAL_MANAGER_STATUS (60011) ​

    Message reporting the current status of a gimbal manager. This message should be broadcast at a low regular rate (e.g. 1 Hz, may be increase momentarily to e.g. 5 Hz for a period of 1 sec after a change).

    Field NameTypeValuesDescription
    gimbal_iduint8_tGimbal ID (component ID or 1-6 for non-MAVLink gimbal) that this gimbal manager is responsible for.
    Messages with same value are from the same source (instance).
    supervisoruint8_tMAV_STORM32_GIMBAL_MANAGER_CLIENTClient who is currently supervisor (0 = none).
    device_flagsuint16_tGIMBAL_DEVICE_FLAGSGimbal device flags currently applied. Same flags as reported by GIMBAL_DEVICE_ATTITUDE_STATUS.
    manager_flagsuint16_tMAV_STORM32_GIMBAL_MANAGER_FLAGSGimbal manager flags currently applied.
    profileuint8_tMAV_STORM32_GIMBAL_MANAGER_PROFILEProfile currently applied (0 = default).

    STORM32_GIMBAL_MANAGER_CONTROL (60012) ​

    Message to a gimbal manager to control the gimbal attitude. Angles and rates can be set to NaN according to use case. A gimbal device is never to react to this message.

    Field NameTypeUnitsValuesDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    gimbal_iduint8_tGimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals). Send command multiple times for more than one but not all gimbals.
    Messages with same value are from the same source (instance).
    clientuint8_tMAV_STORM32_GIMBAL_MANAGER_CLIENTClient which is contacting the gimbal manager (must be set).
    device_flagsuint16_tinvalid:UINT16_MAX GIMBAL_DEVICE_FLAGSGimbal device flags to be applied (UINT16_MAX to be ignored). Same flags as used in GIMBAL_DEVICE_SET_ATTITUDE.
    manager_flagsuint16_tinvalid:0 MAV_STORM32_GIMBAL_MANAGER_FLAGSGimbal manager flags to be applied (0 to be ignored).
    qfloat[4]invalid:[NaN:]Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation). Set first element to NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags.
    angular_velocity_xfloatrad/sinvalid:NaNX component of angular velocity (positive: roll to the right). NaN to be ignored.
    angular_velocity_yfloatrad/sinvalid:NaNY component of angular velocity (positive: tilt up). NaN to be ignored.
    angular_velocity_zfloatrad/sinvalid:NaNZ component of angular velocity (positive: pan to the right). NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags.

    STORM32_GIMBAL_MANAGER_CONTROL_PITCHYAW (60013) ​

    Message to a gimbal manager to control the gimbal tilt and pan angles. Angles and rates can be set to NaN according to use case. A gimbal device is never to react to this message.

    Field NameTypeUnitsValuesDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    gimbal_iduint8_tGimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals). Send command multiple times for more than one but not all gimbals.
    Messages with same value are from the same source (instance).
    clientuint8_tMAV_STORM32_GIMBAL_MANAGER_CLIENTClient which is contacting the gimbal manager (must be set).
    device_flagsuint16_tinvalid:UINT16_MAX GIMBAL_DEVICE_FLAGSGimbal device flags to be applied (UINT16_MAX to be ignored). Same flags as used in GIMBAL_DEVICE_SET_ATTITUDE.
    manager_flagsuint16_tinvalid:0 MAV_STORM32_GIMBAL_MANAGER_FLAGSGimbal manager flags to be applied (0 to be ignored).
    pitchfloatradinvalid:NaNPitch/tilt angle (positive: tilt up). NaN to be ignored.
    yawfloatradinvalid:NaNYaw/pan angle (positive: pan the right). NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags.
    pitch_ratefloatrad/sinvalid:NaNPitch/tilt angular rate (positive: tilt up). NaN to be ignored.
    yaw_ratefloatrad/sinvalid:NaNYaw/pan angular rate (positive: pan to the right). NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags.

    STORM32_GIMBAL_MANAGER_CORRECT_ROLL (60014) ​

    Message to a gimbal manager to correct the gimbal roll angle. This message is typically used to manually correct for a tilted horizon in operation. A gimbal device is never to react to this message.

    Field NameTypeUnitsValuesDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    gimbal_iduint8_tGimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals). Send command multiple times for more than one but not all gimbals.
    Messages with same value are from the same source (instance).
    clientuint8_tMAV_STORM32_GIMBAL_MANAGER_CLIENTClient which is contacting the gimbal manager (must be set).
    rollfloatradRoll angle (positive to roll to the right).

    QSHOT_STATUS (60020) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Information about the shot operation.

    Field NameTypeValuesDescription
    modeuint16_tMAV_QSHOT_MODECurrent shot mode.
    shot_stateuint16_tCurrent state in the shot. States are specific to the selected shot mode.

    FRSKY_PASSTHROUGH_ARRAY (60040) ​

    Frsky SPort passthrough multi packet container.

    Field NameTypeUnitsDescription
    time_boot_msuint32_tmsTimestamp (time since system boot).
    countuint8_tNumber of passthrough packets in this message.
    packet_bufuint8_t[240]Passthrough packet buffer. A packet has 6 bytes: uint16_t id + uint32_t data. The array has space for 40 packets.

    PARAM_VALUE_ARRAY (60041) ​

    Parameter multi param value container.

    Field NameTypeDescription
    param_countuint16_tTotal number of onboard parameters.
    param_index_firstuint16_tIndex of the first onboard parameter in this array.
    param_array_lenuint8_tNumber of onboard parameters in this array.
    flagsuint16_tFlags.
    packet_bufuint8_t[248]Parameters buffer. Contains a series of variable length parameter blocks, one per parameter, with format as specifed elsewhere.

    Enumerated Types ​

    MAV_STORM32_TUNNEL_PAYLOAD_TYPE ​

    ValueNameDescription
    200MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH1_INRegistered for STorM32 gimbal controller. For communication with gimbal or camera.
    201MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH1_OUTRegistered for STorM32 gimbal controller. For communication with gimbal or camera.
    202MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH2_INRegistered for STorM32 gimbal controller. For communication with gimbal.
    203MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH2_OUTRegistered for STorM32 gimbal controller. For communication with gimbal.
    204MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH3_INRegistered for STorM32 gimbal controller. For communication with camera.
    205MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH3_OUTRegistered for STorM32 gimbal controller. For communication with camera.

    MAV_STORM32_GIMBAL_PREARM_FLAGS ​

    (Bitmask) STorM32 gimbal prearm check flags.

    ValueNameDescription
    1MAV_STORM32_GIMBAL_PREARM_FLAGS_IS_NORMALSTorM32 gimbal is in normal state.
    2MAV_STORM32_GIMBAL_PREARM_FLAGS_IMUS_WORKINGThe IMUs are healthy and working normally.
    4MAV_STORM32_GIMBAL_PREARM_FLAGS_MOTORS_WORKINGThe motors are active and working normally.
    8MAV_STORM32_GIMBAL_PREARM_FLAGS_ENCODERS_WORKINGThe encoders are healthy and working normally.
    16MAV_STORM32_GIMBAL_PREARM_FLAGS_VOLTAGE_OKA battery voltage is applied and is in range.
    32MAV_STORM32_GIMBAL_PREARM_FLAGS_VIRTUALCHANNELS_RECEIVINGVirtual input channels are receiving data.
    64MAV_STORM32_GIMBAL_PREARM_FLAGS_MAVLINK_RECEIVINGMavlink messages are being received.
    128MAV_STORM32_GIMBAL_PREARM_FLAGS_STORM32LINK_QFIXThe STorM32Link data indicates QFix.
    256MAV_STORM32_GIMBAL_PREARM_FLAGS_STORM32LINK_WORKINGThe STorM32Link is working.
    512MAV_STORM32_GIMBAL_PREARM_FLAGS_CAMERA_CONNECTEDThe camera has been found and is connected.
    1024MAV_STORM32_GIMBAL_PREARM_FLAGS_AUX0_LOWThe signal on the AUX0 input pin is low.
    2048MAV_STORM32_GIMBAL_PREARM_FLAGS_AUX1_LOWThe signal on the AUX1 input pin is low.
    4096MAV_STORM32_GIMBAL_PREARM_FLAGS_NTLOGGER_WORKINGThe NTLogger is working normally.

    MAV_STORM32_CAMERA_PREARM_FLAGS ​

    (Bitmask) STorM32 camera prearm check flags.

    ValueNameDescription
    1MAV_STORM32_CAMERA_PREARM_FLAGS_CONNECTEDThe camera has been found and is connected.

    MAV_STORM32_GIMBAL_MANAGER_CAP_FLAGS ​

    (Bitmask) Gimbal manager capability flags.

    ValueNameDescription
    1MAV_STORM32_GIMBAL_MANAGER_CAP_FLAGS_HAS_PROFILESThe gimbal manager supports several profiles.

    MAV_STORM32_GIMBAL_MANAGER_FLAGS ​

    (Bitmask) Flags for gimbal manager operation. Used for setting and reporting, unless specified otherwise. If a setting has been accepted by the gimbal manager is reported in the STORM32_GIMBAL_MANAGER_STATUS message.

    ValueNameDescription
    0MAV_STORM32_GIMBAL_MANAGER_FLAGS_NONE0 = ignore.
    1MAV_STORM32_GIMBAL_MANAGER_FLAGS_RC_ACTIVERequest to set RC input to active, or report RC input is active. Implies RC mixed. RC exclusive is achieved by setting all clients to inactive.
    2MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_ONBOARD_ACTIVERequest to set onboard/companion computer client to active, or report this client is active.
    4MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_AUTOPILOT_ACTIVERequest to set autopliot client to active, or report this client is active.
    8MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_GCS_ACTIVERequest to set GCS client to active, or report this client is active.
    16MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CAMERA_ACTIVERequest to set camera client to active, or report this client is active.
    32MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_GCS2_ACTIVERequest to set GCS2 client to active, or report this client is active.
    64MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CAMERA2_ACTIVERequest to set camera2 client to active, or report this client is active.
    128MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CUSTOM_ACTIVERequest to set custom client to active, or report this client is active.
    256MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CUSTOM2_ACTIVERequest to set custom2 client to active, or report this client is active.
    512MAV_STORM32_GIMBAL_MANAGER_FLAGS_SET_SUPERVISONRequest supervision. This flag is only for setting, it is not reported.
    1024MAV_STORM32_GIMBAL_MANAGER_FLAGS_SET_RELEASERelease supervision. This flag is only for setting, it is not reported.

    MAV_STORM32_GIMBAL_MANAGER_CLIENT ​

    Gimbal manager client ID. In a prioritizing profile, the priorities are determined by the implementation; they could e.g. be custom1 > onboard > GCS > autopilot/camera > GCS2 > custom2.

    ValueNameDescription
    0MAV_STORM32_GIMBAL_MANAGER_CLIENT_NONEFor convenience.
    1MAV_STORM32_GIMBAL_MANAGER_CLIENT_ONBOARDThis is the onboard/companion computer client.
    2MAV_STORM32_GIMBAL_MANAGER_CLIENT_AUTOPILOTThis is the autopilot client.
    3MAV_STORM32_GIMBAL_MANAGER_CLIENT_GCSThis is the GCS client.
    4MAV_STORM32_GIMBAL_MANAGER_CLIENT_CAMERAThis is the camera client.
    5MAV_STORM32_GIMBAL_MANAGER_CLIENT_GCS2This is the GCS2 client.
    6MAV_STORM32_GIMBAL_MANAGER_CLIENT_CAMERA2This is the camera2 client.
    7MAV_STORM32_GIMBAL_MANAGER_CLIENT_CUSTOMThis is the custom client.
    8MAV_STORM32_GIMBAL_MANAGER_CLIENT_CUSTOM2This is the custom2 client.

    MAV_STORM32_GIMBAL_MANAGER_PROFILE ​

    Gimbal manager profiles. Only standard profiles are defined. Any implementation can define its own profile(s) in addition, and should use enum values > 16.

    ValueNameDescription
    0MAV_STORM32_GIMBAL_MANAGER_PROFILE_DEFAULTDefault profile. Implementation specific.
    1MAV_STORM32_GIMBAL_MANAGER_PROFILE_CUSTOMNot supported/deprecated.
    2MAV_STORM32_GIMBAL_MANAGER_PROFILE_COOPERATIVEProfile with cooperative behavior.
    3MAV_STORM32_GIMBAL_MANAGER_PROFILE_EXCLUSIVEProfile with exclusive behavior.
    4MAV_STORM32_GIMBAL_MANAGER_PROFILE_PRIORITY_COOPERATIVEProfile with priority and cooperative behavior for equal priority.
    5MAV_STORM32_GIMBAL_MANAGER_PROFILE_PRIORITY_EXCLUSIVEProfile with priority and exclusive behavior for equal priority.

    MAV_QSHOT_MODE ​

    Enumeration of possible shot modes.

    ValueNameDescription
    0MAV_QSHOT_MODE_UNDEFINEDUndefined shot mode. Can be used to determine if qshots should be used or not.
    1MAV_QSHOT_MODE_DEFAULTStart normal gimbal operation. Is usually used to return back from a shot.
    2MAV_QSHOT_MODE_GIMBAL_RETRACTLoad and keep safe gimbal position and stop stabilization.
    3MAV_QSHOT_MODE_GIMBAL_NEUTRALLoad neutral gimbal position and keep it while stabilizing.
    4MAV_QSHOT_MODE_GIMBAL_MISSIONStart mission with gimbal control.
    5MAV_QSHOT_MODE_GIMBAL_RC_CONTROLStart RC gimbal control.
    6MAV_QSHOT_MODE_POI_TARGETINGStart gimbal tracking the point specified by Lat, Lon, Alt.
    7MAV_QSHOT_MODE_SYSID_TARGETINGStart gimbal tracking the system with specified system ID.
    8MAV_QSHOT_MODE_CABLECAM_2POINTStart 2-point cable cam quick shot.
    9MAV_QSHOT_MODE_HOME_TARGETINGStart gimbal tracking the home location.

    Commands (MAV_CMD) ​

    MAV_CMD_STORM32_DO_GIMBAL_MANAGER_CONTROL_PITCHYAW (60002) ​

    Command to a gimbal manager to control the gimbal tilt and pan angles. It is possible to set combinations of the values below. E.g. an angle as well as a desired angular rate can be used to get to this angle at a certain angular rate, or an angular rate only will result in continuous turning. NaN is to be used to signal unset. A gimbal device is never to react to this command.

    Param (Label)DescriptionValuesUnits
    1 (Pitch angle)Pitch/tilt angle (positive: tilt up). NaN to be ignored.min: -180 max: 180deg
    2 (Yaw angle)Yaw/pan angle (positive: pan to the right). NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags.min: -180 max: 180deg
    3 (Pitch rate)Pitch/tilt rate (positive: tilt up). NaN to be ignored.deg/s
    4 (Yaw rate)Yaw/pan rate (positive: pan to the right). NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags.deg/s
    5 (Gimbal device flags)Gimbal device flags to be applied.GIMBAL_DEVICE_FLAGS
    6 (Gimbal manager flags)Gimbal manager flags to be applied.MAV_STORM32_GIMBAL_MANAGER_FLAGS
    7 (Gimbal ID and client)Gimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals). Send command multiple times for more than one but not all gimbals. The client is copied into bits 8-15.

    MAV_CMD_STORM32_DO_GIMBAL_MANAGER_SETUP (60010) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Command to configure a gimbal manager. A gimbal device is never to react to this command. The selected profile is reported in the STORM32_GIMBAL_MANAGER_STATUS message.

    Param (Label)DescriptionValues
    1 (Profile)Gimbal manager profile (0 = default).MAV_STORM32_GIMBAL_MANAGER_PROFILE
    7 (Gimbal ID)Gimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals). Send command multiple times for more than one but not all gimbals.

    MAV_CMD_QSHOT_DO_CONFIGURE (60020) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Command to set the shot manager mode.

    Param (Label)DescriptionValues
    1 (Mode)Set shot mode.MAV_QSHOT_MODE
    2 (Shot state or command)Set shot state or command. The allowed values are specific to the selected shot mode.
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    Dialect: test ​

    The test dialect is used for testing XML file parsing.

    This topic is a human-readable form of the XML definition file: test.xml.

    Note

    • MAVLink 2 extension fields are displayed in blue.
    • Entities from dialects are displayed only as headings (with link to original)

    Protocol version: 3

    None

    목차 ​

    TypeDefinedIncluded
    Messages10
    Enums00
    Commands00

    The following sections list all entities in the dialect (both included and defined in this file).

    Messages ​

    TEST_TYPES (17000) ​

    Test all field types

    Field NameTypeDescription
    ccharchar
    schar[10]string
    u8uint8_tuint8_t
    u16uint16_tuint16_t
    u32uint32_tuint32_t
    u64uint64_tuint64_t
    s8int8_tint8_t
    s16int16_tint16_t
    s32int32_tint32_t
    s64int64_tint64_t
    ffloatfloat
    ddoubledouble
    u8_arrayuint8_t[3]uint8_t_array
    u16_arrayuint16_t[3]uint16_t_array
    u32_arrayuint32_t[3]uint32_t_array
    u64_arrayuint64_t[3]uint64_t_array
    s8_arrayint8_t[3]int8_t_array
    s16_arrayint16_t[3]int16_t_array
    s32_arrayint32_t[3]int32_t_array
    s64_arrayint64_t[3]int64_t_array
    f_arrayfloat[3]float_array
    d_arraydouble[3]double_array
    - + \ No newline at end of file diff --git a/ko/messages/uAvionix.html b/ko/messages/uAvionix.html index 05c05cb43..2ae7be8fd 100644 --- a/ko/messages/uAvionix.html +++ b/ko/messages/uAvionix.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

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    Dialect: uAvionix ​

    Warning This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

    This topic is a human-readable form of the XML definition file: uAvionix.xml.

    Note

    • MAVLink 2 extension fields are displayed in blue.
    • Entities from dialects are displayed only as headings (with link to original)

    목차 ​

    TypeDefinedIncluded
    Messages3226
    Enums8144
    Commands1640

    The following sections list all entities in the dialect (both included and defined in this file).

    Messages ​

    UAVIONIX_ADSB_OUT_CFG (10001) ​

    Static data to configure the ADS-B transponder (send within 10 sec of a POR and every 10 sec thereafter)

    Field NameTypeUnitsValuesDescription
    ICAOuint32_tVehicle address (24 bit)
    callsignchar[9]Vehicle identifier (8 characters, null terminated, valid characters are A-Z, 0-9, " " only)
    emitterTypeuint8_tADSB_EMITTER_TYPETransmitting vehicle type. See ADSB_EMITTER_TYPE enum
    aircraftSizeuint8_tUAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZEAircraft length and width encoding (table 2-35 of DO-282B)
    gpsOffsetLatuint8_tUAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LATGPS antenna lateral offset (table 2-36 of DO-282B)
    gpsOffsetLonuint8_tUAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LONGPS antenna longitudinal offset from nose [if non-zero, take position (in meters) divide by 2 and add one] (table 2-37 DO-282B)
    stallSpeeduint16_tcm/sAircraft stall speed in cm/s
    rfSelectuint8_tUAVIONIX_ADSB_OUT_RF_SELECTADS-B transponder receiver and transmit enable flags

    UAVIONIX_ADSB_OUT_DYNAMIC (10002) ​

    Dynamic data used to generate ADS-B out transponder data (send at 5Hz)

    Field NameTypeUnitsValuesDescription
    utcTimeuint32_tsUTC time in seconds since GPS epoch (Jan 6, 1980). If unknown set to UINT32_MAX
    gpsLatint32_tdegE7Latitude WGS84 (deg * 1E7). If unknown set to INT32_MAX
    gpsLonint32_tdegE7Longitude WGS84 (deg * 1E7). If unknown set to INT32_MAX
    gpsAltint32_tmmAltitude (WGS84). UP +ve. If unknown set to INT32_MAX
    gpsFixuint8_tUAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX0-1: no fix, 2: 2D fix, 3: 3D fix, 4: DGPS, 5: RTK
    numSatsuint8_tNumber of satellites visible. If unknown set to UINT8_MAX
    baroAltMSLint32_tmbarBarometric pressure altitude (MSL) relative to a standard atmosphere of 1013.2 mBar and NOT bar corrected altitude (m * 1E-3). (up +ve). If unknown set to INT32_MAX
    accuracyHoruint32_tmmHorizontal accuracy in mm (m * 1E-3). If unknown set to UINT32_MAX
    accuracyVertuint16_tcmVertical accuracy in cm. If unknown set to UINT16_MAX
    accuracyVeluint16_tmm/sVelocity accuracy in mm/s (m * 1E-3). If unknown set to UINT16_MAX
    velVertint16_tcm/sGPS vertical speed in cm/s. If unknown set to INT16_MAX
    velNSint16_tcm/sNorth-South velocity over ground in cm/s North +ve. If unknown set to INT16_MAX
    VelEWint16_tcm/sEast-West velocity over ground in cm/s East +ve. If unknown set to INT16_MAX
    emergencyStatusuint8_tUAVIONIX_ADSB_EMERGENCY_STATUSEmergency status
    stateuint16_tUAVIONIX_ADSB_OUT_DYNAMIC_STATEADS-B transponder dynamic input state flags
    squawkuint16_tMode A code (typically 1200 [0x04B0] for VFR)

    UAVIONIX_ADSB_TRANSCEIVER_HEALTH_REPORT (10003) ​

    Transceiver heartbeat with health report (updated every 10s)

    Field NameTypeValuesDescription
    rfHealthuint8_tUAVIONIX_ADSB_RF_HEALTHADS-B transponder messages

    Enumerated Types ​

    UAVIONIX_ADSB_OUT_DYNAMIC_STATE ​

    (Bitmask) State flags for ADS-B transponder dynamic report

    ValueNameDescription
    1UAVIONIX_ADSB_OUT_DYNAMIC_STATE_INTENT_CHANGE
    2UAVIONIX_ADSB_OUT_DYNAMIC_STATE_AUTOPILOT_ENABLED
    4UAVIONIX_ADSB_OUT_DYNAMIC_STATE_NICBARO_CROSSCHECKED
    8UAVIONIX_ADSB_OUT_DYNAMIC_STATE_ON_GROUND
    16UAVIONIX_ADSB_OUT_DYNAMIC_STATE_IDENT

    UAVIONIX_ADSB_OUT_RF_SELECT ​

    (Bitmask) Transceiver RF control flags for ADS-B transponder dynamic reports

    ValueNameDescription
    0UAVIONIX_ADSB_OUT_RF_SELECT_STANDBY
    1UAVIONIX_ADSB_OUT_RF_SELECT_RX_ENABLED
    2UAVIONIX_ADSB_OUT_RF_SELECT_TX_ENABLED

    UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX ​

    Status for ADS-B transponder dynamic input

    ValueNameDescription
    0UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_NONE_0
    1UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_NONE_1
    2UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_2D
    3UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_3D
    4UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_DGPS
    5UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_RTK

    UAVIONIX_ADSB_RF_HEALTH ​

    (Bitmask) Status flags for ADS-B transponder dynamic output

    ValueNameDescription
    0UAVIONIX_ADSB_RF_HEALTH_INITIALIZING
    1UAVIONIX_ADSB_RF_HEALTH_OK
    2UAVIONIX_ADSB_RF_HEALTH_FAIL_TX
    16UAVIONIX_ADSB_RF_HEALTH_FAIL_RX

    UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE ​

    Definitions for aircraft size

    ValueNameDescription
    0UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_NO_DATA
    1UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L15M_W23M
    2UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L25M_W28P5M
    3UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L25_34M
    4UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L35_33M
    5UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L35_38M
    6UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L45_39P5M
    7UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L45_45M
    8UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L55_45M
    9UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L55_52M
    10UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L65_59P5M
    11UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L65_67M
    12UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L75_W72P5M
    13UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L75_W80M
    14UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L85_W80M
    15UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L85_W90M

    UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT ​

    GPS lataral offset encoding

    ValueNameDescription
    0UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_NO_DATA
    1UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_LEFT_2M
    2UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_LEFT_4M
    3UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_LEFT_6M
    4UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_RIGHT_0M
    5UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_RIGHT_2M
    6UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_RIGHT_4M
    7UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_RIGHT_6M

    UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LON ​

    GPS longitudinal offset encoding

    ValueNameDescription
    0UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LON_NO_DATA
    1UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LON_APPLIED_BY_SENSOR

    UAVIONIX_ADSB_EMERGENCY_STATUS ​

    Emergency status encoding

    ValueNameDescription
    0UAVIONIX_ADSB_OUT_NO_EMERGENCY
    1UAVIONIX_ADSB_OUT_GENERAL_EMERGENCY
    2UAVIONIX_ADSB_OUT_LIFEGUARD_EMERGENCY
    3UAVIONIX_ADSB_OUT_MINIMUM_FUEL_EMERGENCY
    4UAVIONIX_ADSB_OUT_NO_COMM_EMERGENCY
    5UAVIONIX_ADSB_OUT_UNLAWFUL_INTERFERANCE_EMERGENCY
    6UAVIONIX_ADSB_OUT_DOWNED_AIRCRAFT_EMERGENCY
    7UAVIONIX_ADSB_OUT_RESERVED

    Commands (MAV_CMD) ​

    - + \ No newline at end of file diff --git a/ko/messages/ualberta.html b/ko/messages/ualberta.html index da25c630b..f78333c24 100644 --- a/ko/messages/ualberta.html +++ b/ko/messages/ualberta.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

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    Dialect: ualberta ​

    Warning This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

    This topic is a human-readable form of the XML definition file: ualberta.xml.

    Note

    • MAVLink 2 extension fields are displayed in blue.
    • Entities from dialects are displayed only as headings (with link to original)

    목차 ​

    TypeDefinedIncluded
    Messages3226
    Enums3144
    Commands1640

    The following sections list all entities in the dialect (both included and defined in this file).

    Messages ​

    Accelerometer and Gyro biases from the navigation filter

    Field NameTypeDescription
    usecuint64_tTimestamp (microseconds)
    accel_0floatb_f[0]
    accel_1floatb_f[1]
    accel_2floatb_f[2]
    gyro_0floatb_f[0]
    gyro_1floatb_f[1]
    gyro_2floatb_f[2]

    RADIO_CALIBRATION (221) ​

    Complete set of calibration parameters for the radio

    Field NameTypeDescription
    aileronuint16_t[3]Aileron setpoints: left, center, right
    elevatoruint16_t[3]Elevator setpoints: nose down, center, nose up
    rudderuint16_t[3]Rudder setpoints: nose left, center, nose right
    gyrouint16_t[2]Tail gyro mode/gain setpoints: heading hold, rate mode
    pitchuint16_t[5]Pitch curve setpoints (every 25%)
    throttleuint16_t[5]Throttle curve setpoints (every 25%)

    UALBERTA_SYS_STATUS (222) ​

    System status specific to ualberta uav

    Field NameTypeDescription
    modeuint8_tSystem mode, see UALBERTA_AUTOPILOT_MODE ENUM
    nav_modeuint8_tNavigation mode, see UALBERTA_NAV_MODE ENUM
    pilotuint8_tPilot mode, see UALBERTA_PILOT_MODE

    Enumerated Types ​

    UALBERTA_AUTOPILOT_MODE ​

    Available autopilot modes for ualberta uav

    ValueNameDescription
    1MODE_MANUAL_DIRECTRaw input pulse widts sent to output
    2MODE_MANUAL_SCALEDInputs are normalized using calibration, the converted back to raw pulse widths for output
    3MODE_AUTO_PID_ATT
    4MODE_AUTO_PID_VEL
    5MODE_AUTO_PID_POS

    UALBERTA_NAV_MODE ​

    Navigation filter mode

    ValueNameDescription
    1NAV_AHRS_INIT
    2NAV_AHRSAHRS mode
    3NAV_INS_GPS_INITINS/GPS initialization mode
    4NAV_INS_GPSINS/GPS mode

    UALBERTA_PILOT_MODE ​

    Mode currently commanded by pilot

    ValueNameDescription
    1PILOT_MANUAL
    2PILOT_AUTO
    3PILOT_ROTORotomotion mode

    Commands (MAV_CMD) ​

    - + \ No newline at end of file diff --git a/ko/protocol/heartbeat.html b/ko/protocol/heartbeat.html index f24691940..7312040c2 100644 --- a/ko/protocol/heartbeat.html +++ b/ko/protocol/heartbeat.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

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    Heartbeat/Connection Protocol ​

    The heartbeat protocol is used to determine whether a system is connected, and to detect when it has disconnected.

    Connection/Disconnection ​

    A MAVLink component considers itself connected to another system/component if it regularly receives their HEARTBEAT message (and disconnected if expected messages are not received). Therefore, to set up a "connection" every component must regularly broadcast its HEARTBEAT and monitor for heartbeats from other components/systems.

    The rate at which the HEARTBEAT message must be broadcast, and how many messages may be "missed" before the connection is considered to be broken depends on the channel (it is not defined by MAVLink). On RF telemetry links, components typically publish their heartbeat at 1 Hz and consider another system to have disconnected if four or five messages are not received.

    A system may choose not to broadcast information if it does not detect another system, and it will continue to send messages to a system while it is receiving heartbeats. Therefore it is important that systems:

    • broadcast a heartbeat even when not commanding the remote system.
    • do not broadcast a heartbeat when they are in a faulted state (i.e. do not publish a heartbeat from a separate thread that is unaware of the state of the rest of the component).

    Ground Control Station (GCS) Connections ​

    In addition using the heartbeat to establish connection/disconnection, a GCS may not report that an autopilot is connected until its parameters have been downloaded.

    - + \ No newline at end of file diff --git a/ko/protocol/landing_target.html b/ko/protocol/landing_target.html index 8eeb4af7a..5f4a11637 100644 --- a/ko/protocol/landing_target.html +++ b/ko/protocol/landing_target.html @@ -9,9 +9,9 @@ - + - + @@ -23,7 +23,7 @@

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    Landing Target Protocol ​

    The landing target protocol/message communicates the position of one or more targets from MAVLink positioning system(s) to an autopilot. A multicopter or VTOL system can use the message to land with far greater positional accuracy than provided by conventional GPS (GPS provides position within several meters while a landing-target system might reasonably provide centimetre-level precision landing).

    A positioning system might typically consist of an onboard companion computer with a vision system that can detect a light beacon or target image. Radio beacons and different types of visual markers and tags are also supported.

    Protocol Messages ​

    The message used by this protocol is LANDING_TARGET. This is broadcast by the positioning system to indicate the position of a particular target at a particular time.

    Note The required broadcast rate depends on the landing speed and desired accuracy; start with rates between 10 Hz and 50 Hz and tune performance as needed.

    The original MAVLink 1 message was designed with the assumption that the target is captured from a downward facing camera, and provides fields that are relative to the captured image. MAVLink 2 extended the message to provide positional information in terms of standard frames (MAV_FRAME), a quaternion and the type of landing targets (LANDING_TARGET_TYPE). This allows more flexibility for the types of target that can be supported, simplifies the code required by the autopilot, and allows the autopilot to control both landing position and orientation on (some) targets.

    Different systems may support either (or presumably both) sets of fields. These are discussed below.

    Target Relative to Captured Image ​

    The LANDING_TARGET fields that are relative to a captured image are shown below:

    Field NameTypeUnitsValuesDescription
    angle_xfloatradX-axis angular offset of the target from the center of the image
    angle_yfloatradY-axis angular offset of the target from the center of the image
    distancefloatmDistance to the target from the vehicle
    size_xfloatradSize of target along x-axis
    size_yfloatradSize of target along y-axis

    The positional information can be interpreted as described below.

    Imagine a ray pointing from the camera's principal point to the target. The x angle (angle_x) is the angle spanned by that ray and the x-axis of the image plane. The same holds for the y angle (angle_y). In other words, the x angle is a function of the x pixel coordinate of the target (denoted by u̅ in the image below), the y angle is a function of the y pixel coordinate (denoted v in the image below). Using the angle rather than u̅/v̅ pixel coordinates has the advantage that the effect of the camera lens is already accounted for. Otherwise the receiver of the message would need to know the camera field of view etc.

    Landing Target Fields

    The sizes in x and y direction are analogous (size_x/size_y). They describe the angle between the smallest and biggest pixel in x/y direction respectively of the target as seen in the image.

    Tip ArduPilot supports messages with these fields only (at time of writing). The MAVLink 2 extension fields are ignored.

    Target as Position/Quaternion (MAVLink 2 and later) ​

    The message fields that are used to provide target information as a position/quaternion are shown below. Field meaning and use is clear from the description.

    Field NameTypeUnitsValuesDescription
    frameuint8_tMAV_FRAMECoordinate frame used for following fields.
    xfloatmX Position of the landing target in MAV_FRAME
    yfloatmY Position of the landing target in MAV_FRAME
    zfloatmZ Position of the landing target in MAV_FRAME
    qfloat[4]Quaternion of landing target orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
    typeuint8_tLANDING_TARGET_TYPEType of landing target
    position_validuint8_tBoolean indicating whether these position field values are populated with valid position target information (1: valid, 0: invalid). The default is '0', so that if the fields are not populated the default-zero values are not interpreted as a valid target position.

    Tip PX4 supports this form of positioning in MAV_FRAME_LOCAL_NED (only). The original (MAVLink 1) fields are ignored.

    - + \ No newline at end of file diff --git a/ko/services/arm_authorization.html b/ko/services/arm_authorization.html index d83bedbd1..fc9a5d785 100644 --- a/ko/services/arm_authorization.html +++ b/ko/services/arm_authorization.html @@ -9,9 +9,9 @@ - + - + @@ -29,7 +29,7 @@ result_param2=if result is ACCEPTED the it should be set with the time in seconds that this authorization is valid otherwise an aditional information about why it was denied should be set. example: for result_param1=MAV_ARM_AUTH_DENIED_REASON_INVALID_WAYPOINT or MAV_ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USE it may have the index of the waypoint that caused it to be denied. target_system=system id of the drone target_component=component id of the drone - + \ No newline at end of file diff --git a/ko/services/battery.html b/ko/services/battery.html index c1cdbab05..be6ac559f 100644 --- a/ko/services/battery.html +++ b/ko/services/battery.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

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    Battery Protocol ​

    MAVLink provides a number of messages for providing battery information:

    The messages should be sent individually for each battery in the system (the messages have an instance id field that is used to identify the corresponding battery). It is up to the GCS to provide an appropriate mechanism that allows the user to assess the aggregate battery status on systems that have multiple batteries.

    INFO

    There is no standardized mechanism to report the "aggregate" battery state on a multi-battery system. A GCS is expected to provide enough information from the individual battery reports to allow a user to make a reasonable assessment of vehicle battery status.

    Message/Enum Summary ​

    MessageDescription
    BATTERY_STATUSBattery message used for frequent status update - e.g. of current capacity, voltages, faults, etc.
    BATTERY_INFO (WIP)Smart battery message used for invariant or infrequently changing data - e.g. battery name, battery full/empty capacity and voltages etc.
    EnumDescription
    MAV_BATTERY_FAULTFault/health indications.
    MAV_BATTERY_MODESmart battery mode.

    Battery Components ​

    Batteries that are connected to a flight controller via a non-MAVLink bus are treated as part of the flight controller component. Specifically, the battery messages are emitted with the autopilot system and component ids, and the MAV_TYPE for the type of vehicle.

    Smart batteries that are distinct components on the MAVLink network must:

    INFO

    Ground stations (and other components) that are interested in battery messages should differentiate batteries based on BATTERY_STATUS.id/BATTERY_INFO.id.

    A Note on SYS_STATUS ​

    SYS_STATUS contains three battery information fields: voltage_battery, current_battery, battery_remaining.

    On a single-battery system these usually provide the same information as the BATTERY_STATUS message.

    On multi-battery systems the values are not standardised, and depend on the flight stack and/or flight stack configuration. For example, a system may report the same information as the first BATTERY_STATUS, allow the user to configure which battery is reported (i.e. with a parameter), report the battery with the lowest remaining capacity.

    INFO

    GCS should not rely on the value of SYS_STATUS. However it cannot be removed because it is used for battery reporting on many legacy systems (e.g. On-screen displays).

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    Camera Protocol ​

    The camera protocol is used to configure camera payloads and request their status. It supports photo capture, and video capture and streaming. It also includes messages to query and configure the onboard camera storage.

    INFO

    This protocol supersedes Camera Protocol v1 (Simple Trigger Protocol). The older protocol enables camera triggering, but does not support other features or querying camera capabilities.

    WARNING

    We are transitioning from specific request commands to a single generic requestor. GCS and MAVLink SDKs/apps should support both approaches as we migrate to exclusive use of the new method (documented here). For more information see Migration Notes for GCS & Camera Servers.

    Camera Connection ​

    Camera Managers provide a MAVLink Camera protocol interface for cameras that don't directly implement MAVLink support. These generally run on a companion computer:

    These cameras have inbuilt support for MAVLink (but not necessarily camera protocol v2):

    Camera Addressing ​

    MAVLink cameras are identified and addressed by their system and component id.

    Components that have non-MAVLink cameras attached, such as companion computers, are expected expose each of them as a separate MAVLink camera component with its own HEARTBEAT.

    The exception is the autopilot component, which can "proxy" up to 6 attached non-MAVLink cameras: these are identified by a camera_device_id field in messages and Target Camera ID label in commands.

    Camera Messages ​

    All MAVLink components include their system id and component id fields in the MAVLink packet header when sending messages. As each MAVLink camera component (with HEARTBEAT.type=MAV_TYPE_CAMERA) represents just one camera, these ids can be used to uniquely identify the camera associated with a message.

    non-MAVLink cameras attached to the autopilot are identified first by the autopilot system/component id, and then by a camera_device_id field in the message payload (all camera messages should have an id field with this or a similar name). An autopilot should set this to the id of the associated camera device, and otherwise this should always be set to zero.

    Camera Addressing in Commands ​

    MAVLink cameras are sent commands addressed using their system and component ids (just as when addressing commands to any other component).

    To send commands to autopilot-attached cameras, the command should be send to the autopilot component. The device id of the target attached camera must further be set in the command's Target Camera ID parameter (the index and precise label of this parameter may vary). The autopilot is required to respond to the command with COMMAND_ACK, populating the COMMAND_ACK.result_param2 field with the id of the targeted autopilot connected camera, if any.

    Note that the Target Camera ID parameter should be set to 0 in order to target all cameras, or if targeting a MAVLink camera.

    Camera Addressing in Missions ​

    When using a camera MAV_CMD in a mission, the id parameter (if present) indicates the target camera:

    • 1 - 6 indicates a flight-stack connected camera
    • 7-255 is the component id of a MAVLink connected camera. Note that component ids 1-6 should never be used for MAVLink cameras!
    • 0 indicates "all connected cameras".

    When processing a camera item in a mission the autopilot should:

    • For Target Camera ID values of 1-6, perform the specified camera action on the connected camera if it exists, and otherwise log an error.
    • For other Target Camera ID values, re-emit the MAV_CMD using the command protocol, setting the target component id to the id set in the camera mission item. It should also log any errors from the returned COMMAND_ACK.

    INFO

    Flight stacks that predate using a camera id typically re-emit the mission command addressed either to the broadcast component id (0) or to MAV_COMP_ID_CAMERA. The former triggers all cameras on the system, while the later provides better command handling because there is only one COMMAND_ACK.

    Camera Discovery ​

    Connection ​

    MAVLink Camera components are expected to follow the Heartbeat/Connection Protocol and sent a constant flow of heartbeats (nominally at 1Hz). Cameras must set a HEARTBEAT.type of MAV_TYPE_CAMERA. Each camera must use a different pre-defined camera component ID. Values of MAV_COMP_ID_CAMERA to MAV_COMP_ID_CAMERA6 are recommended, but in theory any camera ID may be used except for 0 to 6 (which are reserved for cameras proxied by another component, such as the autopilot).

    A GCS should start the Camera Identification process the first time it detects a HEARTBEAT from a new:

    • MAVLink camera component.
    • Autopilot, in order to detect autopilot-connected cameras.

    INFO

    If a receiving system stops receiving heartbeats from the camera it is assumed to be disconnected, and should be removed from the list of available cameras. If heartbeats are again detected, the camera identification process below must be restarted from the beginning.

    INFO

    If a vehicle has more than one MAVLink camera, each camera will have a different component ID and send its own heartbeat. The vehicle autopilot might also have directly connected cameras, which are separately addressed by a camera device id. The GCS should create multiple instances of a camera controller based on the component ID of each camera, and also the component ID of the autopilot and each of its attached camera devices. All commands are sent to a specific camera by addressing the command to a specific component ID, and additionally the camera device id for autopilots.

    Camera Identification ​

    The camera identification operation identifies all the available cameras associated with a system and determines their capabilities. It is used to discover both MAVLink cameras and non-MAVLink cameras attached to the autopilot.

    The process involves requesting the CAMERA_INFORMATION message from autopilots and MAVLink cameras as they are discovered. CAMERA_INFORMATION.flags provides information about camera capabilities. It contains a bitmap of CAMERA_CAP_FLAGS values that tell the GCS if the camera supports still image capture, video capture, or video streaming, and if it needs to be in a certain mode for capture, etc.

    TIP

    Camera identification must be carried out before all other camera operations!

    The first time a heartbeat is received from a new camera component (HEARTBEAT.type=MAV_TYPE_CAMERA), the GCS should send it a MAV_CMD_REQUEST_MESSAGE message asking for CAMERA_INFORMATION (message id 259). The camera will then respond with the a COMMAND_ACK message containing a result. On success (result is MAV_RESULT_ACCEPTED) the camera component must then send a CAMERA_INFORMATION message.

    Mermaid Sequence: Camera Type

    The operation follows the normal Command Protocol rules for command/acknowledgment (if no COMMAND_ACK response is received for MAV_CMD_REQUEST_MESSAGE the command will be re-sent a number of times before failing). If CAMERA_INFORMATION is not received after receiving an ACK with MAV_RESULT_ACCEPTED, the protocol assumes the message was lost, and the cycle of sending MAV_CMD_REQUEST_MESSAGE is repeated. If CAMERA_INFORMATION is still not received after three cycle repeats, the GCS may assume that the camera is not supported.

    The first time a heartbeat is received from an autopilot, the GCS follow the same process to query for information about directly connected cameras. The only difference is that the autopilot should return a CAMERA_INFORMATION message for each connected camera, populated with its camera_device_id.

    Mermaid Sequence: Autopilot

    Additional Camera Information ​

    The CAMERA_INFORMATION response contains the bare minimum information about the camera and what it can or cannot do. This is sufficient for basic image and/or video capture.

    If a camera provides finer control over its settings CAMERA_INFORMATION.cam_definition_uri will include a URI to a Camera Definition File. If this URI exists, the GCS will request it, parse it and prepare the UI for the user to control the camera settings.

    The CAMERA_INFORMATION.cam_definition_version field should provide a version for the definition file, allowing the GCS to cache it. Once downloaded, it would only be requested again if the version number changes.

    INFO

    A GCS that implements this protocol is expected to support both HTTP (http://) and MAVLink FTP (mftp://) URIs for download of the camera definition file. If the camera provides an HTTP or MAVLink FTP interface, the definition file can be hosted on the camera itself. Otherwise, it can be hosted anywhere (on any reachable server).

    Basic Camera Operations ​

    Camera Modes ​

    Some cameras must be in a certain mode for still and/or video capture.

    The GCS can determine if it needs to make sure the camera is in the proper mode prior to sending a start capture (image or video) command by checking whether the CAMERA_CAP_FLAGS_HAS_MODES bit is set true in CAMERA_INFORMATION.flags.

    In addition, some cameras can capture images in any mode but with different resolutions. For example, a 20 megapixel camera would take a full resolution image when set to CAMERA_MODE_IMAGE but only at the current video resolution if it is set to CAMERA_MODE_VIDEO.

    To get the current mode, the GCS would send a MAV_CMD_REQUEST_MESSAGE command asking for CAMERA_SETTINGS. The camera component will then respond with the COMMAND_ACK message containing a result. On success (COMMAND_ACK.result is MAV_RESULT_ACCEPTED) the camera must then send a CAMERA_SETTINGS message. The current mode is the CAMERA_SETTINGS.mode_id field.

    The sequence is shown below:

    Camera Settings

    INFO

    Command acknowledgment and message resending is handled in the same way as for camera identification (if a successful ACK is received the camera will expect the CAMERA_SETTINGS message, and repeat the cycle - up to 3 times - until it is received).

    To set the camera to a specific mode, the GCS would send the MAV_CMD_SET_CAMERA_MODE command with the appropriate mode.

    The sequence is shown below:

    INFO

    The operation follows the normal Command Protocol rules for command/acknowledgment.

    Storage Status ​

    Before capturing images and/or videos, a GCS should query the storage status to determine if the camera has enough free space for these operations (and provide the user with feedback as to the current storage status). The GCS will send the MAV_CMD_REQUEST_MESSAGE command and it expects a COMMAND_ACK message back as well as a STORAGE_INFORMATION response. For formatting (or erasing depending on your implementation), the GCS will send a MAV_CMD_STORAGE_FORMAT command.

    Camera Capture Status ​

    In addition to querying about storage status, the GCS should also stream the Camera Capture Status in order to provide the user with proper UI indicators.

    This can be done by sending a MAV_CMD_SET_MESSAGE_INTERVAL command asking for CAMERA_CAPTURE_STATUS. The command it expects a COMMAND_ACK message back and then CAMERA_CAPTURE_STATUS should be streamed at the specified rate.

    Still Image Capture ​

    A camera supports still image capture if the CAMERA_CAP_FLAGS_CAPTURE_IMAGE bit is set in CAMERA_INFORMATION.flags.

    A GCS/MAVLink app uses the MAV_CMD_IMAGE_START_CAPTURE command to request that the camera capture a specified number of images (or forever), and the duration between them. The camera immediately returns the normal command acknowledgment (MAV_RESULT).

    Each time an image is captured, the camera broadcasts a CAMERA_IMAGE_CAPTURED message. This message not only tells the GCS the image was captured, it is also intended for geo-tagging.

    INFO

    The camera must iterate CAMERA_IMAGE_CAPTURED.image_index and the counter used in CAMERA_CAPTURE_STATUS.image_count for every new image capture (these values iterate until explicitly cleared using MAV_CMD_STORAGE_FORMAT). The index and total image count can be used to re-request missing images (e.g. images captured when the vehicle was out of telemetry range).

    The MAV_CMD_IMAGE_STOP_CAPTURE command can optionally be sent to stop an image capture sequence (this is needed if image capture has been set to continue forever).

    The still image capture message sequence for missions (as described above) is shown below:

    Mermaid Sequence: Image capture

    The message sequence for interactive user-initiated image capture through a GUI is slightly different. In this case the GCS should:

    The sequence is as shown below:

    Mermaid Sequence: Interactive user initiated image capture

    Request Lost CAMERA_IMAGE_CAPTURED Messages ​

    The camera broadcasts a CAMERA_IMAGE_CAPTURED every time a new image is captured, iterating both the current image index (CAMERA_IMAGE_CAPTURED.image_index) and the total image count (CAMERA_CAPTURE_STATUS.image_count).

    These messages can be lost during transmission; for example if the vehicle is out of data-link range of the ground stations.

    Lost image capture messages can be detected by comparing GCS and camera image counts. Individual entries can be requested using MAV_CMD_REQUEST_MESSAGE, where param1="MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED" and param2="the index of the missing image".

    The camera image log iterates "forever" (but may be explicitly reset using MAV_CMD_STORAGE_FORMAT.param3=1).

    Video Capture ​

    A camera supports video capture if the CAMERA_CAP_FLAGS_CAPTURE_VIDEO bit is set in CAMERA_INFORMATION.flags.

    To start recording videos, the GCS uses the MAV_CMD_VIDEO_START_CAPTURE command. If requested, the CAMERA_CAPTURE_STATUS message is sent to the GCS at a set interval.

    To stop recording, the GCS uses the MAV_CMD_VIDEO_STOP_CAPTURE command.

    Video Streaming ​

    INFO

    The GCS should already have identified all connected cameras by their heartbeat and followed the Camera Identification steps to get CAMERA_INFORMATION for every camera.

    A camera is capable of streaming video if it sets the CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM bit set in CAMERA_INFORMATION.flags.

    The sequence for requesting all video streams from a particular camera is shown below:

    Mermaid Sequence: Video stream info

    The steps are:

    1. GCS follows the Camera Identification steps to get CAMERA_INFORMATION for every camera.

    2. GCS checks if CAMERA_INFORMATION.flags contains the CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM flag.

    3. If so, the GCS sends the MAV_CMD_REQUEST_MESSAGE message to the camera requesting the video streaming configuration (param1=269) for all streams (param2=0).

      INFO

      A GCS can also request information for a particular stream by setting its id in param2.

    4. Camera returns a VIDEO_STREAM_INFORMATION message for the specified stream or all streams it supports.

    INFO

    If your camera only provides video streaming and nothing else (no camera features), the CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM flag is the only flag you need to set. The GCS will then provide video streaming support and skip camera control.

    Video Metadata ​

    The protocol provides some information about video streaming support in CAMERA_CAP_FLAGS, such as support for video streaming (CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM) and thermal range information (CAMERA_CAP_FLAGS_HAS_THERMAL_RANGE), In addition the VIDEO_STREAM_INFORMATION and VIDEO_STREAM_STATUS provide broad information about each stream, including its transport mechanism, encoding, resolution, frame rate, and status (VIDEO_STREAM_STATUS_FLAGS).

    MAVLink does not specify any mechanism for getting frame-synchronized video metadata, such as absolute thermal values of thermal video streams, text-tracks, and so on. The following sections outline some MAVLink-centric methods for getting "approximate" video-synchronized metadata.

    Camera absolute thermal range ​

    A thermal video stream is often coloured as a heatmap in order to highlight hotter and colder sections. This heatmap is relative to the hottest and coldest points on the frame, so the hot sections are not necessarily hot, they are just hotter than their surroundings. If you're searching for things that have a specific temperature, it can be useful to know the absolute temperatures represented by the image.

    The CAMERA_THERMAL_RANGE message can be streamed alongside a video stream to provide this information. The message includes the associated stream and camera id, along with the position and value of the maximum and minimum temperature in the video frame. That is sufficient to overlay the hottest and coldest points on a video, and in theory to determine the absolute temperature of all pixels.

    INFO

    The message is streamed alongside the video stream, but there is no precise mechanism to synchronize values to frames. The information is therefore an estimate/approximate.

    The message can be requested for a particular camera and stream using the MAV_CMD_SET_MESSAGE_INTERVAL, when the associated VIDEO_STREAM_STATUS.flag for the stream has bit VIDEO_STREAM_STATUS_FLAGS_THERMAL_RANGE_ENABLED set. Note that MAV_CMD_SET_MESSAGE_INTERVAL.param3 indicates the stream id of the current camera, or 0 for all streams, while param4 indicates the target camera_device_id for autopilot-attached cameras or 0 for MAVLink cameras.

    Camera Tracking ​

    A camera may support tracking a point and/or a rectangle. Information about the tracked point can be streamed during tracking, and may be passed to a gimbal in order to move the camera to track the target (or control vehicle attitude to track the target).

    Support for tracking different types of targets is indicated by the CAMERA_CAP_FLAGS_HAS_TRACKING_POINT and/or CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLE flags in CAMERA_INFORMATION.flags.

    To start camera tracking a GCS uses either the MAV_CMD_CAMERA_TRACK_POINT or MAV_CMD_CAMERA_TRACK_RECTANGLE command.

    After starting camera tracking you should call MAV_CMD_SET_MESSAGE_INTERVAL to start streaming the CAMERA_TRACKING_IMAGE_STATUS message at your desired rate. This message contains information about the tracked point/rectangle in an image, and may be used by the receiving system to determine the location of the target (alongside other information like the CAMERA_FOV_STATUS).

    If geo-tracking status information is supported (indicated by CAMERA_CAP_FLAGS_HAS_TRACKING_GEO_STATUS) you should also call MAV_CMD_SET_MESSAGE_INTERVAL to stream CAMERA_TRACKING_GEO_STATUS at your desired rate. This message provides the location of the target in physical co-ordinates that can be passed to a gimbal.

    To stop any kind of tracking, a GCS uses the MAV_CMD_CAMERA_STOP_TRACKING command. After stopping tracking you should call MAV_CMD_SET_MESSAGE_INTERVAL to stop streaming CAMERA_TRACKING_IMAGE_STATUS and CAMERA_TRACKING_GEO_STATUS (set their rates to 0).

    Camera tracking message sequence ​

    INFO

    The GCS should already have identified all connected cameras by their heartbeat and followed the Camera Identification steps to get CAMERA_INFORMATION for every camera.

    The sequence for tracking a point is shown below (tracking a rectangle is the same sequence but a different tracking command).

    Mermaid Sequence: tracking info

    The steps are:

    1. GCS follows the Camera Identification steps to get CAMERA_INFORMATION for every camera.
    2. GCS checks if CAMERA_INFORMATION.flags contains the CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLE, CAMERA_CAP_FLAGS_HAS_TRACKING_POINT, CAMERA_CAP_FLAGS_HAS_TRACKING_GEO_STATUS.
    3. If tracking is supported the GCS sends the command to start the type of tracking it wants to do: MAV_CMD_CAMERA_TRACK_POINT or MAV_CMD_CAMERA_TRACK_RECTANGLE. The sequence above just shows point tracking.
    4. Set the desired rates (intervals) for streaming the tracking status messages.
    5. Camera streams CAMERA_TRACKING_IMAGE_STATUS and/or CAMERA_TRACKING_GEO_STATUS. These are used to provide camera targetting information.
    6. To stop tracking, a GCS uses the MAV_CMD_CAMERA_STOP_TRACKING command. The streaming intervals must also be set to zero.

    Battery Status ​

    Camera components that are powered from their own battery should publish BATTERY_STATUS messages.

    Other components like a GCS will typically only use the camera BATTERY_STATUS.battery_remaining field (or possibly time_remaining); generally other fields can be set as "not supported".

    Message/Command/Enum Summary ​

    Messages ​

    MessageDescription
    CAMERA_INFORMATIONBasic information about camera including supported features and URI link to extended information (cam_definition_uri field).
    CAMERA_SETTINGSTimestamp and camera mode information.
    VIDEO_STREAM_INFORMATIONInformation defining a video stream configuration. If a camera has more than one video stream, it would send one of this for each video stream, with their specific configuration. Each stream must have its own, unique stream_id.
    VIDEO_STREAM_STATUSInformation updating a video stream configuration.
    STORAGE_INFORMATIONStorage information (e.g. number and type of storage devices, total/used/available capacity, read/write speeds).
    CAMERA_CAPTURE_STATUSCamera capture status, including current capture type (if any), capture interval, available capacity.
    CAMERA_IMAGE_CAPTUREDInformation about image captured (returned to GPS every time an image is captured).
    CAMERA_FOV_STATUSInformation about the field of view of a camera. Requested using MAV_CMD_REQUEST_MESSAGE.
    CAMERA_TRACKING_IMAGE_STATUSCamera tracking status, sent while in active tracking. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval.
    CAMERA_TRACKING_GEO_STATUSCamera tracking status, sent while in active tracking. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval.
    CAMERA_THERMAL_RANGECamera absolute thermal range. This provides value and position of max/min temperature in a video stream, allowing thermal range of video to be calibrated to absolute rather than relative temperature. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval for a particular camera and stream.

    Commands ​

    CommandDescription
    MAV_CMD_REQUEST_MESSAGESend command to request any message (used to request CAMERA_INFORMATION and the other messages above)
    MAV_CMD_SET_CAMERA_MODESend command to set CAMERA_MODE.
    MAV_CMD_SET_CAMERA_ZOOMSend command to set the camera zoom.
    MAV_CMD_SET_CAMERA_FOCUSSend command to set the camera focus.
    MAV_CMD_IMAGE_START_CAPTURESend command to start image capture, specifying the duration between captures and total number of images to capture.
    MAV_CMD_IMAGE_STOP_CAPTURESend command to stop image capture.
    MAV_CMD_VIDEO_START_CAPTURESend command to start video capture, specifying the frequency that CAMERA_CAPTURE_STATUS messages should be sent while recording.
    MAV_CMD_VIDEO_STOP_CAPTURESend command to stop video capture.
    MAV_CMD_VIDEO_START_STREAMINGSend command to start video streaming for the given Stream ID (stream_id.) This is mostly for streaming protocols that push a stream. If your camera uses a connection based streaming configuration (RTSP, TCP, etc.), you may ignore it if you don't need it but note that you still must ACK the command, like all MAV_CMD_XXX commands. When using a connection based streaming configuration, the GCS will connect the stream from its side. When a camera offers more than one stream and the user switches from one stream to another, the GCS will send a MAV_CMD_VIDEO_STOP_STREAMING command targeting the current Stream ID followed by a MAV_CMD_VIDEO_START_STREAMING targeting the newly selected Stream ID.
    MAV_CMD_VIDEO_STOP_STREAMINGSend command to stop video streaming for the given Stream ID (stream_id.) This is mostly for streaming protocols that push a stream. If your camera uses a connection based streaming configuration (RTSP, TCP, etc.), you may ignore it if you don't need it but note that you still must ACK the command, like all MAV_CMD_XXX commands. When using a connection based streaming configuration, the GCS will disconnect the stream from its side. When a camera offers more than one stream and the user switches from one stream to another, the GCS will send a MAV_CMD_VIDEO_STOP_STREAMING command targeting the current Stream ID followed by a MAV_CMD_VIDEO_START_STREAMING targeting the newly selected Stream ID.
    MAV_CMD_CAMERA_TRACK_POINTInitate visual point tracking, if supported by the camera (CAMERA_CAP_FLAGS_HAS_TRACKING_POINT is set).
    MAV_CMD_CAMERA_TRACK_RECTANGLEInitiate visual rectangle tracking, if supported by the camera (CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLE is set).
    MAV_CMD_CAMERA_STOP_TRACKINGStop camera tracking (as initiated using MAV_CMD_CAMERA_TRACK_POINT or MAV_CMD_CAMERA_TRACK_RECTANGLE).

    Deprecated Commands ​

    These commands have been deprecated, replaced by the generic requester command MAV_CMD_REQUEST_MESSAGE

    CommandDescription
    MAV_CMD_REQUEST_CAMERA_SETTINGSSend command to request CAMERA_SETTINGS.
    MAV_CMD_REQUEST_CAMERA_INFORMATIONSend command to request CAMERA_INFORMATION.
    MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATIONSend command to request VIDEO_STREAM_INFORMATION. This is sent once for each camera when a camera is detected and it has set the CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM flag within the CAMERA_INFORMATION message flags field.
    MAV_CMD_REQUEST_VIDEO_STREAM_STATUSSend command to request VIDEO_STREAM_STATUS. This is sent whenever there is a mode change (when MAV_CMD_SET_CAMERA_MODE is sent.) It allows the camera to update the stream configuration when a camera mode change occurs.
    MAV_CMD_REQUEST_STORAGE_INFORMATIONSend command to request STORAGE_INFORMATION.
    MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUSSend command to request CAMERA_CAPTURE_STATUS.

    Enum ​

    EnumDescription
    CAMERA_CAP_FLAGSCamera capability flags (Bitmap). For example: ability to capture images in video mode, support for survey mode etc. Received in CAMERA_INFORMATION.
    CAMERA_MODECamera mode (image, video, survey etc.). Received in CAMERA_SETTINGS.
    VIDEO_STREAM_TYPEType of stream - e.g. RTSP, MPEG. Received in VIDEO_STREAM_INFORMATION.
    VIDEO_STREAM_STATUS_FLAGSBitmap of stream status flags - e.g. zoom, thermal imaging, etc. Received in VIDEO_STREAM_INFORMATION.
    CAMERA_TRACKING_STATUS_FLAGSCurrent tracking status. Received in CAMERA_TRACKING_IMAGE_STATUS amd CAMERA_TRACKING_GEO_STATUS.
    CAMERA_TRACKING_MODECurrent tracking mode. Received in CAMERA_TRACKING_IMAGE_STATUS.
    CAMERA_TRACKING_TARGET_DATAIndicates how target data is encoded in image. Received in CAMERA_TRACKING_IMAGE_STATUS.

    The original definition of this protocol used specific commands to query for each type of information requested from the camera: MAV_CMD_REQUEST_CAMERA_INFORMATION (for CAMERA_INFORMATION), MAV_CMD_REQUEST_CAMERA_SETTINGS, MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS, MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION, MAV_CMD_REQUEST_STORAGE_INFORMATION.

    The latest version replaces all of these specific commands with the general requestor MAV_CMD_REQUEST_MESSAGE.

    The transition works like this:

    1. Cameras need to handle both approaches for now (i.e. support both new generic and old specific commands).
    2. Ground stations will move from using the old specific commands to using both. They can try the new one and if they don't get an answer within a timeout they need to fall back to the previous command.
    3. After the new commands have been established in server and ground stations, the old specific commands may be removed from the implementations.
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    Camera Protocol v1: Camera Triggering ​

    The MAVLink Camera Protocol v1 defines a set of commands for configuring a camera to capture images at a particular time or distance interval, and to start/stop/pause/reset triggering. It also includes commands to configure/control a video camera.

    INFO

    This API has been superseded by Camera Protocol v2, which provides a more natural set of commands for using a camera, along with a comprehensive API for querying camera capabilities. This API is used by some older MAVLink cameras, and can be supported in parallel with the new protocol.

    The protocol can be used to control cameras attached to autopilot outputs or standalone MAVLink cameras that support this protocol

    A standalone MAVLink camera that needs to interact with a ground station must be able to send and recieve MAVLink messages from the ground station. If the GCS and Camera are connected to the flight stack on different MAVLink channels then the flight stack will need to forward messages between them.

    If the MAVLink camera does not emit the CAMERA_TRIGGER message on image capture then the flight stack may need to do this on its behalf.

    When processing a mission, the flight stack should re-emit camera command items using the command protocol (in order to trigger a connected MAVLink camera). The commands should be addressed to the same system ID as the autopilot, and with MAV_COMP_ID_ALL as the component ID. This ensures that any and all MAVLink cameras associated with the system will be triggered.

    Note that setting the component ID to MAV_COMP_ID_CAMERA is not recommended, as a camera does not have to use this component ID.

    Flight Controller Connected Cameras ​

    The commands can be used to control a camera attached to autopilot outputs.

    A GCS should address the commands to the autopilot component, which will need to trigger the connected camera appropriately. The flight stack will also need to trigger the camera when the commands are found in a mission.

    Note that a flight stack implementation can generally trigger attached cameras and emit a MAVLink command in missions. If a connected camera and MAVLink camera are connected, both with be triggered.

    Message/Command Summary ​

    Image Capture ​

    CommandDescription
    MAV_CMD_DO_SET_CAM_TRIGG_INTERVALSet time interval between captures.
    MAV_CMD_DO_SET_CAM_TRIGG_DISTSet distance between image captures (or trigger once, immediately).
    MAV_CMD_DO_TRIGGER_CONTROLStart/stop capturing images (using distance or time, as defined using above messages).
    MAV_CMD_OBLIQUE_SURVEYStart/stop/configure an camera mount pivoting oblique survey.
    MessageDescription
    CAMERA_TRIGGERCamera-IMU triggering and synchronisation message. Should be emitted when an image is captured. Depending on the camera integration this might be when the camera is commanded to capture an image and or when the camera provides feedback that it has been triggered.

    Video Capture ​

    CommandDescription
    MAV_CMD_DO_DIGICAM_CONFIGUREConfigure digital camera features such as ISO, aperture, etc. Replaced by Camera Definition Files in Camera Protocol v2.
    MAV_CMD_DO_DIGICAM_CONTROLControl digital camera features such as zoom, focus, shooting. Replaced by basic camera commands and Camera Definition Files in Camera Protocol v2.
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    Command Protocol ​

    The MAVLink command protocol allows guaranteed delivery of MAVLink commands.

    Commands are values of MAV_CMD that define the values of up to 7 parameters. These parameters and the command id are encoded in COMMAND_INT or COMMAND_LONG for sending.

    The protocol provides reliable delivery by expecting a matching acknowledgement (COMMAND_ACK) from commands to indicate command arrival, and result. If no acknowledgement is received the command must be automatically re-sent.

    Message/Enum Summary ​

    MessageDescription
    COMMAND_INTMessage for encoding a command (MAV_CMD). The message encodes commands into up to 7 parameters: parameters 1-4, 7 are floats, and parameters 5,6 are scaled integers. The scaled integers are used for positional information (scaling depends on the actual command value). The coordinate frame of positional parameters is explicitly specified in a frame field. Commands that require float-only properties in parameters 5, 6 cannot be sent in this message (e.g. commands where NaN has an explicit meaning).
    COMMAND_LONGMessage for encoding a command (MAV_CMD). The mesage encodes commands into up to 7 float parameters. The coordinate frame used for positional co-ordinates is implementation dependent. Any command may be packaged in this message, but there may be some loss of precision for positional co-ordinates (latitude, longitude).
    COMMAND_ACKCommand acknowledgement. Includes result (success, failure, still in progress) and may include progress information and additional detail about failure reasons.
    COMMAND_CANCELCancel a long running command.
    EnumDescription
    MAV_CMDCommands to be executed/sent in the command messages.
    MAV_FRAMECoordinate frame. Used in COMMAND_INT to specify the co-ordinate frame of any positional parameters.
    MAV_RESULTResult of command, included in COMMAND_ACK.result.

    Use COMMAND_INT or COMMAND_LONG? ​

    COMMAND_INT should be used when sending commands that contain positional or navigation information, if supported by the flight stack for the particular command. This is because it allows the co-ordinate frame to be specified for location and altitude values, which may otherwise be "unspecified". In addition latitudes/longitudes can be sent with greater precision in a COMMAND_INT as scaled integers in params 5 and 6 (than when sent in float values in COMMAND_LONG).

    COMMAND_LONG must be used for sending MAV_CMD commands that send float properties in parameters 5 and 6, as these values would be truncated to integers if sent in COMMAND_INT.

    Commands that are not positional or that specify integers in params 5 and 6 can be used in either message, if supported by the flight stack.

    Flight stacks may support commands in either message COMMAND_INT or COMMAND_LONG or both, albeit with a loss of precision, rounding errors, and/or undefined frames of reference. However they are encouraged to only support positional commands in COMMAND_INT, and commands that have float values in param 5 and 6 in COMMAND_LONG. The flight stack can reject commands sent in the "wrong" message type using the COMMAND_ACK.result of MAV_RESULT_COMMAND_LONG_ONLY or MAV_RESULT_COMMAND_INT_ONLY, as appropriate. Flight stacks that only support a particular command in a particular message type can more generally use these result values to indicate the correct message type for a command.

    Sequences ​

    COMMAND_INT sequence ​

    Mermaid Sequence: Command INT

    The request is sent by the ground station encoded within a COMMAND_INT. The drone processes the request and responds quickly with a COMMAND_ACK indicating the result. The result is that the command has been accepted (COMMAND_ACK.result=MAV_RESULT_ACCEPTED), has been accepted and is in progress (MAV_RESULT_IN_PROGRESS) or it has been rejected with some reason code. Note that "accepted" means that the command is valid and the flight stack will attempt to act on it, not that the command has completed. Most commands just return "accepted" (they are not implemented as long running commands).

    COMMAND_ACK.result_param2 may also include additional information about the reason for command rejection in a command-specific enum.

    If no ACK is received the GCS will resend COMMAND_INT for a flight-specific number of times before giving up.

    COMMAND_LONG sequence ​

    Mermaid Sequence: Command Long

    If the command drops the sender should increase the confirmation field:

    Mermaid Sequence: increase confirmation field

    Long Running Commands ​

    Some commands are long running, and cannot complete immediately. The drone reports its progress by sending COMMMAND_ACK messages with COMMAND_ACK.result=MAV_RESULT_IN_PROGRESS and the progress as a percentage in COMMMAND_ACK.progress ([0-100] percent complete, 255 if progress not supplied). When the operation completes, the drone must terminate with a COMMMAND_ACK containing the final result of the operation: MAV_RESULT_ACCEPTED, MAV_RESULT_FAILED, MAV_RESULT_CANCELLED).

    Mermaid Sequence: MAVRESULTINPROGRESS

    Long running operations may be cancelled by sending the COMMAND_CANCEL message. The drone should cancel the operation and complete the sequence by sending COMMAND_ACK with COMMAND_ACK.result=MAV_RESULT_CANCELLED

    • If cancellation is not supported the drone can just continue to send progress updates until completion.
    • If the sequence has already completed (or is idle) the cancel command should be ignored.

    The rate at which progress messages are emitted is system-dependent. Generally though, the GCS should have a much increased timeout after receiving an ACK with MAV_RESULT_IN_PROGRESS.

    If a timeout is triggered when waiting for a progress or completion update, the GCS should terminate the sequence (return to the idle state) and notify the user if appropriate.

    Only one instance of a particular long running command can execute at a time; to restart a long running operation (i.e. with new parameters) it must first be cancelled! If the same command is recieved while the operation is in progress the new command should be ACKed with MAV_RESULT_TEMPORARILY_REJECTED (to indicate that the target is busy).

    The protocol allows for different long running commands to run in parallel, if supported by the state machine of the recieving flight stack. If a flight stack does not support multiple commands running in parallel it should ACK new commands with MAV_RESULT_TEMPORARILY_REJECTED (with the possible exception of the COMMAND_CANCEL, which might be used to cancel the first request).

    Location Commands and Frame Types ​

    Commands that contain a location or altitude should be sent in COMMAND_INT so that the frame can be specified in the COMMAND_INT.frame field (as outlined above). If sent in COMMAND_LONG the frame is arbitrary, and cannot be predicted.

    A flight stack that does not support the frame specified in a command (if required by command) should reject it with the MAV_RESULT of MAV_RESULT_COMMAND_UNSUPPORTED_MAV_FRAME. This allows consumers to attempt the same command with other frames. Flight stacks that return MAV_RESULT_COMMAND_UNSUPPORTED for this case should be updated to use MAV_RESULT_COMMAND_UNSUPPORTED_MAV_FRAME.

    Note that it is an error to ignore the specified frame and use some other arbitrary frame.

    Designing Commands ​

    Guidance for designing commands can be found in Defining XML Elements > Command values.

    At high level:

    • Commands that include location information should specify latitude in Param 5, Longitude in param 6, and Altitude in param 7. This allows them to be sent in COMMAND_INT with higher precision.
    • Otherwise it is desirable to be able to send commands in either command message. Therefore use param 5 and 6 for integers rather than floats if possible. If reserving values, then consider choosing to reserve params 5 and 6, and reserve them with a default value of 0.
    - + \ No newline at end of file diff --git a/ko/services/component_def.html b/ko/services/component_def.html index c4b87abbe..454f92984 100644 --- a/ko/services/component_def.html +++ b/ko/services/component_def.html @@ -9,9 +9,9 @@ - + - + @@ -37,7 +37,7 @@ </locale> </localization <mavlinkcomponent>

    Parameter ​

    For the example above, the parameter MAX_PAN_RATE can be set using the PARAM_EXT parameter protocol (for more information, check the camera definition).

    File Compression ​

    In order to save flash space on the component and during transfer, the file can be compressed using gzip. If the URL of the definition file ends with .xml.gz it is the gzip compressed stream of the text file.

    Note The file stream is compressed but it is not an archive like .zip or .tar.gz (so there is no folder structure).

    - + \ No newline at end of file diff --git a/ko/services/component_information.html b/ko/services/component_information.html index a75a5b068..00b46468d 100644 --- a/ko/services/component_information.html +++ b/ko/services/component_information.html @@ -9,9 +9,9 @@ - + - + @@ -37,7 +37,7 @@ "last-modified": "2023-03-22T06:15:59.199476+00:00" } }

    General metadata will contain the location of translation file URIs, but not their CRC. ​

    Any server can be used to host translations. The following example uses github.com, as it is easy to set up, automate, and download files.

    The example repository is https://github.com/PX4/PX4-Metadata-Translations:

    • metadata/ contains the untranslated metadata JSON files.
    • to_translate contains the TS files to translate. This is generated from the files in metadata/ using scripts/prepare_ts.py.
    • A translation service, such as crowdin can be used to translate the files
    • translated/ contains translated metadata TS files (in this case synced back from Crowdin)
    • scripts/update_summary.py is executed to update the summary JSON file with translation file locations and modification dates.

    Open Issues ​

    Schema Management ​

    Schema management has not yet been signed off.

    Guaranteed Availablility of Component Information ​

    There is a concern that vehicles reliant on internet-hosted component information files may stop working if the hosting ceases.

    This can generally be avoided by hosting the files compressed on-vehicle.

    We propose that manufacturers that use autopilots with limited flash (1MB or below) and do custom firmware development should host the files in github.

    - + \ No newline at end of file diff --git a/ko/services/events.html b/ko/services/events.html index 680d9ecaa..14cbf8872 100644 --- a/ko/services/events.html +++ b/ko/services/events.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

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    Events Interface (WIP) ​

    WARNING

    The Events Interface is a work in progress and may change. It has an initial implementation in PX4 and QGroundControl and is planned for ArduPilot.

    The information below is just an overview. Full details of the interface are provided in the: Events Interface Proposal

    The Events Interface is a generic and flexible mechanism that allows one component to reliably notify a GCS (or any other component) of sporadic events and state changes. For example, the interface might be used notifying of arming readiness, calibration completion, and reaching the target takeoff height.

    The interface provides for both common events that are shared by flight stacks or other components, and events that are specific to an implementation. MAVLink "common" events are defined in mavlink/libevents/events/common.json.

    INFO

    The events interface is intended to replace the widespread use of STATUSTEXT messages, which are not really fit for purpose.

    Key features ​

    The following key features are provided by the interface:

    • Reliable delivery with retransmission
    • Consistent interface to report system health and arming checks.
    • Minimized buffer requirements on the autopilot side.
    • Minimized binary message length
    • Generic: autopilot- and GCS-agnostic.
    • Long-term stable and extensible
    • Allows arguments to be attached to an event.
    • Possible types: uint8, int8, uint16, int16, uint32, int32, int64, uint64, float
    • Enums and bit fields can be built on top of these types
    • Enable automated processing (for example from a flight log containing events).
    • Minimize amount of auto-generated code for embedded implementations.
    • Events volume of <1 Hz on average (may scale with protocol parameters adjustments, like retransmission timeouts).
    • Events can be targeted or broadcast
    • Any component can send events, including cameras, companion computers, ground stations, etc.
    • Events have metadata, like a log level. They can also have a detailed, more extensive description, possibly with URLs.
    • Support for message text and message translation.

    Message/Enum Summary ​

    MessageDescription
    EVENTEvent message. Each new event from a particular component gets a new sequence number. The same message might be sent multiple times if (re-)requested. Most events are broadcast, some can be specific to a target component (as receivers keep track of the sequence for missed events, all events need to be broadcast. Thus we use destination_component instead of target_component).
    CURRENT_EVENT_SEQUENCERegular broadcast for the current latest event sequence number for a component. This is used to check for dropped events.
    REQUEST_EVENTRequest one or more events to be (re-)sent. If first_sequence==last_sequence, only a single event is requested. Note that first_sequence can be larger than last_sequence (because the sequence number can wrap). Each sequence will trigger an EVENT or EVENT_ERROR response.
    RESPONSE_EVENT_ERRORResponse to a REQUEST_EVENT if there is an error requesting an event, including the reason. The most common reason would be that the event is not longer available (has been discarded).
    EnumDescription
    MAV_EVENT_CURRENT_SEQUENCE_FLAGSFlags for CURRENT_EVENT_SEQUENCE. For exmaple, to indicate when the sequence has reset.
    MAV_EVENT_ERROR_REASONReasons for an error, as provided in RESPONSE_EVENT_ERROR. For example, common error would be that the event is not available (i.e. it has been discarded).

    구현 ​

    Implementation PRs and other information is listed below. All of these should be considered prototypes/WIP.

    - + \ No newline at end of file diff --git a/ko/services/ftp.html b/ko/services/ftp.html index faf0e55bc..db588a388 100644 --- a/ko/services/ftp.html +++ b/ko/services/ftp.html @@ -9,9 +9,9 @@ - + - + @@ -24,7 +24,7 @@

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    File Transfer Protocol (FTP) ​

    Developers can read the Internet protocol RFCs to understand MAVLink FTP. Note MAVLink FTP implementation closely follows the design of the original internet FTP protocol in terms of the message structure, sequences, and the supported opcodes/operations.

    INFO

    MAVLink FTP implementation closely follows the design of the original internet FTP protocol in terms of the message structure, sequences, and the supported opcodes/operations. Developers can read the Internet protocol RFCs to understand MAVLink FTP.

    The protocol follows a client-server pattern, where all commands are sent by the GCS (client), and the Drone (server) responds either with an ACK containing the requested information, or a NAK containing an error. The GCS sets a timeout after most commands, and may resend the command if it is triggered. The drone must re-send its response if a request with the same sequence number is received.

    All messages (commands, ACK, NAK) are exchanged inside FILE_TRANSFER_PROTOCOL messages. This message type definition is minimal, with fields for specifying the target network, system and component, and for an "arbitrary" variable-length payload.

    The different commands and other information required to implement the protocol are encoded within in the FILE_TRANSFER_PROTOCOL payload. This topic explains the encoding, packing format, commands and errors, and the order in which the commands are sent to implement the core FTP functionality.

    Protocol Discovery ​

    FTP (v1) is supported if the AUTOPILOT_VERSION.capability field has the MAV_PROTOCOL_CAPABILITY_FTP flag set.

    This flag should only be set by a MAVLink component that supports the specific version of the protocol defined in this document.

    INFO

    The encoding and content of the FILE_TRANSFER_PROTOCOL payload field are not mandated by the specification, and other encoding schemes might be used, for example, in private networks. If you have implemented a private encoding or different version you must not set the MAV_PROTOCOL_CAPABILITY_FTP flag.

    Payload Format ​

    The FILE_TRANSFER_PROTOCOL payload is encoded with the information required for the various FTP messages. This includes fields for holding the command that is being sent, the sequence number of the current FTP message (for multi-message data transfers), the size of information in the data part of the message etc.

    TIP

    Readers will note that the FTP payload format is very similar to the packet format used for serializing MAVLink itself.

    Below is the over-the-wire format for the payload part of the FILE_TRANSFER_PROTOCOL message on PX4/QGroundControl.

    FILETRANSFERPROTOCOL Payload format - QGC

    Byte IndexC versionContentValueExplanation
    0 to 1uint16_t seq_numberSequence number for message0&nbsp;-&nbsp;65535All new messages between the GCS and drone iterate this number. Re-sent commands/ACK/NAK should use the previous response's sequence number.
    2uint8_t sessionSession id0 - 255Session id for read/write operations (the server may use this to reference the file handle and information about the progress of read/write operations).
    3uint8_t opcodeOpCode (id)0 - 255Ids for particular commands and ACK/NAK messages.
    4uint8_t sizeSize0 - 255Depends on OpCode. For Reads/Writes this is the size of the data transported. For NAK it is the number of bytes used for error information (1 or 2).
    5uint8_t req_opcodeRequest OpCode0 - 255OpCode (of original message) returned in an ACK or NAK response.
    6uint8_t burst_completeBurst complete0, 1Code to indicate if a burst is complete. 1: set of burst packets complete, 0: More burst packets coming.
    - Only used if req_opcode is BurstReadFile.
    7uint8_t paddingPadding32 bit alignment padding.
    8 to 11uint32_t offsetContent offsetOffsets into data to be sent for ListDirectory and ReadFile commands.
    12 to (max) 251uint8_t data[]DataCommand/response data. Varies by OpCode. This contains the path for operations that act on a file or directory. For an ACK for a read or write this is the requested information. For an ACK for a OpenFileRO operation this is the size of the file that was opened. For a NAK the first byte is the error code and the (optional) second byte may be an error number.

    OpCodes/Command ​

    The opcodes that may be sent by the GCS (client) to the drone (server) are listed below.

    OpcodeNameDescription
    0NoneIgnored, always ACKed
    1TerminateSessionTerminates open Read session.
    - Closes the file associated with (session) and frees the session ID for re-use.
    2ResetSessionsTerminates all open read sessions.
    - Clears all state held by the drone (server); closes all open files, etc.
    - Sends an ACK reply with no data.
    3ListDirectoryList directory entry information (files, folders etc.) in <path>, starting from a specified entry index (<offset>).
    - Response is an ACK packet with one or more entries on success, otherwise a NAK packet with an error code.
    - Completion is indicated by a NACK with EOF in response to a requested index (offset) beyond the list of entries.
    - The directory is closed after the operation, so this leaves no state on the server.
    4OpenFileROOpens file at <path> for reading, returns <session>
    - The path is stored in the payload data. The drone opens the file (path) and allocates a session number. The file must exist.
    - An ACK packet must include the allocated session and the data size of the file to be opened (size)
    - A NAK packet must contain error information . Typical error codes for this command are NoSessionsAvailable, FileExists.
    - The file remains open after the operation, and must eventually be closed by Reset or Terminate.
    5ReadFileReads <size> bytes from <offset> in <session>.
    - Seeks to (offset) in the file opened in (session) and reads (size) bytes into the result buffer.
    - Sends an ACK packet with the result buffer on success, otherwise a NAK packet with an error code. For short reads or reads beyond the end of a file, the (size) field in the ACK packet will indicate the actual number of bytes read.
    - Reads can be issued to any offset in the file for any number of bytes, so reconstructing portions of the file to deal with lost packets should be easy.
    - For best download performance, try to keep two Read packets in flight.
    6CreateFileCreates file at <path> for writing, returns <session>.
    - Creates the file (path) and allocates a session number. All parent directories must exist. If the file already existed, then this call will truncate it. Equivalent UNIX flags: (O_CREAT | O_TRUNC | O_WRONLY)
    - Sends an ACK packet with the allocated session number on success, or a NAK packet with an error code on error (i.e. FileExists if the path already exists).
    - The file remains open after the operation, and must eventually be closed by Reset or Terminate.
    7WriteFileWrites <size> bytes to <offset> in <session>.
    - Sends an ACK reply with no data on success, otherwise a NAK packet with an error code.
    8RemoveFileRemove file at <path>.
    - ACK reply with no data on success.
    - NAK packet with error information on failure.
    9CreateDirectoryCreates directory at <path>.
    - Sends an ACK reply with no data on success, otherwise a NAK packet with an error code.
    10RemoveDirectoryRemoves directory at <path>. The directory must be empty. Sends an ACK reply with no data on success, otherwise a NAK packet with an error code.
    11OpenFileWOOpens file at <path> for writing, returns <session>.
    - Opens the file (path) and allocates a session number. The file will be created if it does not exist. Equivalent UNIX flags: (O_CREAT | O_WRONLY)
    - Sends an ACK packet with the allocated _session number_ on success, otherwise a NAK packet with an error code.
    - The file remains open after the operation, and must eventually be closed by Reset or Terminate.
    12TruncateFileTruncate file at <path> to <offset> length.
    - Sends an ACK reply with no data on success, otherwise a NAK packet with an error code.
    13RenameRename <path1> to <path2>.
    - Sends an ACK reply the no data on success, otherwise a NAK packet with an error code (i.e. if the source path does not exist).
    14| | 14 | CalcFileCRC32 | Calculate CRC32 for file at <path>.Calculate CRC32 for file at <path>.
    - Sends an ACK reply with the checksum on success, otherwise a NAK packet with an error code.
    15BurstReadFile| | 15 | BurstReadFile | Burst-read parts of a file. Messages in the burst are streamed (without ACK) until the burst is complete (as indicated by the field burst_complete being set to 1). Parts of a burst that are dropped may be fetched using ReadFile.

    The drone (server) will respond with/send the following opcodes for any of the above messages (ACK response on success or a NAK in the event of an error).

    OpcodeNameDescription
    128ACKACK response.
    129NAKNAK response.

    Notes:

    • An ACK response may additionally return requested data in the payload (e.g. OpenFileRO returns the session and file size, ReadFile returns the requested file data, etc.).
    • The NAK response includes error information in the payload data.

    NAK Error Information ​

    NAK responses must include one of the errors codes listed below in the payload data[0] field.

    An appropriate error code must be used if one is defined. If no appropriate error code exists, the Drone (server) may respond with Fail or FailErrno.

    If the error code is FailErrno, then data[1] must additionally contain an error number. This error number is a file-system specific error code (understood by the server).

    The payload size field must be set to either 1 or 2, depending on whether or not FailErrno is specified.

    INFO

    These are errors. Normally if the GCS receives an error it should not attempt to continue the FTP operation, but instead return to an idle state.

    ErrorNameDescription
    0NoneNo error
    1FailUnknown failure
    2FailErrnoCommand failed, Err number sent back in PayloadHeader.data[1]. This is a file-system error number understood by the server operating system.
    3InvalidDataSizePayload size is invalid
    4InvalidSessionSession is not currently open
    5NoSessionsAvailableAll available sessions are already in use.
    6EOFOffset past end of file for ListDirectory and ReadFile commands.
    7UnknownCommandUnknown command / opcode
    8FileExistsFile/directory already exists
    9FileProtectedFile/directory is write protected
    10FileNotFoundFile/directory not found

    Timeouts/Resending ​

    The GCS (client) starts a timeout after most commands are sent (these are cleared if an ACK/NAK is received).

    INFO

    Timeouts may not be set for some messages. For example, a timeout need not set for ResetSessions as the message should always succeed.

    If a timeout activates either the command or its response is assumed to have been lost, and the command should be re-sent with the same sequence number etc. A number of retries are allowed, after which the GCS should fail the whole download and reset to an idle state.

    If the drone (client) receives a message with the same sequence number then it assumes that its ACK/NAK response was lost. In this case it should resend the response (the sequence number is not iterated, because it is as though the previous response was not sent).

    The drone has no timeout mechanism; it only ever responds to commands and does not expect any responses.

    GCS recommended settings:

    • ACK/NAK timeout: 50 milliseconds
    • Command retries: 6

    FTP Operations ​

    Reading a File (ReadFile) ​

    After opening a file session, ReadFile is called to request a message sized chunk of the file, which is then returned to the client in an ACK message. The process is repeated at different offsets until the whole file has been retrieved. The file session is then closed.

    INFO

    Burst reading a file is a (generally) faster alternative to this approach.

    The sequence of operations for downloading (reading) a file using [ReadFile] is shown below. This assumes that there are no timeouts and all operations/requests succeed.

    Mermaid Sequence: Reading a File

    The sequence of operations is:

    1. GCS (client) sends OpenFileRO command specifying the file path to open.
      • The payload must specify: data[0]= file path string, size=length of file path string.
    2. Drone (server) responds with either
      • ACK on success. The payload must specify fields: session = file session id, size = 4, data = length of file that has been opened.
      • NAK with error information, e.g. NoSessionsAvailable, FileExists. The GCS may cancel the operation, depending on the error.
    3. GCS sends ReadFile commands to download a chunk of data from the file.
      • The payload must specify: session=current session, size=size of data to read, offset= position in data to start reading
    4. Drone responds to each message with either
      • ACK on success. The payload fields are: data = data chunk requested, size = size of data in the data field.
      • NAK on failure with error information.
    5. The ReadFile/ACK sequence above is repeated at different offsets to download the whole file.
      • Eventually the GCS will (must) request an offset past the end of the file.
      • The Drone will return a NAK with error code EOF. The GCS uses this message to recognise the download is complete.
    6. GCS sends TerminateSession to close the file. The drone should send an ACK/NAK, but this may (generally speaking) be ignored by the GCS.

    The GSC should create a timeout after OpenFileRO and ReadFile commands are sent and resend the messages as needed (and described above). A timeout is not set for TerminateSession (the server may ignore failure of the command or the ACK).

    Reading a File (BurstReadFile) ​

    After opening a file for reading, it is read in "bursts". Each burst delivers a part of the file as a stream of messages. The last message in the burst is indicated by setting burst_complete=1 (without any ACKs).

    The client tracks the recieved chunks. On completion of the burst (or the file), if there are any missing parts of the file it can request them using either another burst or using ReadFile.

    INFO

    Burst read is a (generally) faster alternative to using ReadFile to read a file. This is because fewer messages are sent and need to be waited on.

    The sequence of operations for a burst read is shown below (assuming there are no timeouts and all operations/requests succeed).

    Mermaid Sequence: Burst read file

    The sequence of operations is:

    1. GCS (client) sends OpenFileRO command specifying the file path to open.
      • The payload must specify: data[0]= file path string, size=length of file path string.
    2. Drone (server) responds with either
      • ACK on success. The payload must specify fields: session = file session id, size = 4, data = length of file that has been opened.
      • NAK with error information, e.g. NoSessionsAvailable, FileExists. The GCS may cancel the operation, depending on the error.
    3. Client (i.e. GCS) sends BurstReadFile command specifying the part of the file that it wants to get from an offset to the end, along with the default size of each burst payload.
      • The payload must specify: session: the current session id, offset = offset in file of start of burst, size= default length of payload in burst responses, data is ignored.
    4. Server (drone) responds with either
      • ACK on success. The payload must specify fields: session = file session id, size = 4, data = length of file in burst.
      • NAK with error information. The client may cancel the operation, depending on the error.
    5. Server sends stream of BurstReadFile data to client (without ACK) until the whole burst is sent, or a server-defined burst size limit is reached.
      • The payload must specify: session=current session, size=size of data to read per burst message (max equal to payload size = 239), offset= position in original data of current chunk.
      • The payload must specify burst_complete=0 for all chunks, except the last one, which must set burst_complete=1.
    6. The client must maintain its own record of the received (and missing) chunks. It may request any missing chunks at either the end of a burst or at the end of the file. Missing chunks can be requested using ReadFile.
    7. Client sends TerminateSession to close the file once all the chunks have been downloaded The server should send an ACK/NAK, but this may (generally speaking) be ignored by the client.

    The client should create a timeout while waiting for a new BurstReadFile, and on expiry may request missing parts of the file using either BurstReadFile or ReadFile A timeout is not set for TerminateSession (the server may ignore failure of the command or the ACK).

    Uploading a File ​

    The sequence of operations for uploading a file to the drone, assuming there are no timeouts and all operations/requests succeed, is shown below.

    Mermaid Sequence: Uploading a file

    The sequence of operations is:

    1. GCS (client) sends CreateFile command specifying the file path where the file is to be uploaded.
      • The payload must specify: data[0]= target file path string, size=length of file path string.
    2. Drone (server) attempts to create the file, and responds with either
      • ACK on success. The payload must specify fields: session = new file session id, size = 0.
      • NAK with error information.
        • The GCS should cancel the whole operation on error.
        • If there is a sequence error at this stage the GCS should send a command to ResetSessions
    3. GCS sends WriteFile commands to upload a chunk of data to the Drone.
      • The payload must specify: session=current session id, data=file chunk,size=length of data, offset= offset of data to write
    4. Drone responds to each message with either
      • ACK on success. The payload fields are: size = 0.
      • NAK on failure with error information.
        • The GCS should cancel the whole upload operation by sending a command to ResetSessions if there is an NAK.
    5. The WriteFile/ACK sequence above is repeated at different offsets to upload the whole file. Once the GCS determines that the upload is complete it moves to the next step.
    6. GCS sends TerminateSession to close the file. The drone should send an ACK/NAK, but this may (generally speaking) be ignored by the GCS.

    The GSC should create a timeout after CreateFile and WriteFile commands are sent, and resend the messages as needed (and described above). A timeout is not set for TerminateSession (the server may ignore failure of the command or the ACK).

    WARNING

    PX4 and QGroundControl implement this slightly differently than outlined above. The implementation only has a single session (id=0) so only a single operation can be active at a time. As a result, this operation should only be started if no other operation is active. The drone expects that the session id will be set to zero by the sender of CreateFile. Last of all, the GCS sends ResetSessions rather than TerminateSession. While you can send either if talking to PX4, if the protocol is implemented elsewhere calling ResetSessions may break other communications.

    Remove File ​

    INFO

    RemoveFile handling is implemented in PX4 but not in QGroundControl. GCS behaviour is therefore not fully defined/tested.

    The sequence of operations for removing a file is shown below (assuming there are no timeouts and all operations/requests succeed).

    Mermaid Sequence: Removing a file

    The sequence of operations is:

    1. GCS sends RemoveFile command specifying the full path of the file to be deleted.
      • The payload must specify: data[0]= file path string, size=length of file path string.
    2. Drone attempts to delete file, and responds to the message with either:
      • ACK on success, containing payload size=0 (i.e. no data).
      • NAK on failure, with error information.
      • The drone must clean up any resources associated with the request after sending the response.

    The GSC should create a timeout after the RemoveFile command is sent and resend the message as needed (and described above).

    Truncate File ​

    The sequence of operations for truncating a file is shown below (assuming there are no timeouts and all operations/requests succeed).

    INFO

    TruncateFile handling is implemented in PX4 but not in QGroundControl. GCS behaviour is therefore not fully defined/tested.

    Mermaid Sequence: Truncate file

    The sequence of operations is:

    1. GCS sends TruncateFile command specifying file to truncate and the offset for truncation.
      • The payload must specify: data[0]= file path string, size = length of file path string, offset = truncation point in file (amount of data to keep).
    2. Drone attempts to truncate file, and responds to the message with either:
      • ACK on success, containing payload size=0 (i.e. no data).
        • The request should succeed if the offset is the same as the file size, and may be attempted if the offset is zero (i.e. truncate whole file).
      • NAK on failure, with error information.
        • The request should fail if the offset is 0 (truncate whole file) and for normal file system errors.
      • The drone must clean up any resources associated with the request after sending the response.

    The GSC should create a timeout after the TruncateFile command is sent and resend the message as needed (and described above).

    List Directory ​

    The sequence of operations for getting a directory listing is shown below (assuming there are no timeouts and all operations/requests succeed).

    Mermaid Sequence: List Directory

    The sequence of operations is:

    1. GCS sends ListDirectory command specifying a directory path and the index of an entry.

      • The payload must specify:
        • data[0] = file path
        • size = length of path string
        • offset = The index of the first entry to get (0 for first entry, 1 for second, etc.).

    2. Drone responds with an ACK containing one or more entries (the first entry is the one specified in request offset field).

      • The payload must specify:
        • data[0] = Information for one or more (sequential) entries, starting at the requested entry index (offset). Each entry is separated with a null terminator (\0), and has the following format (where type is one of the letters F(ile), D(irectory), S(skip))
          <type><file_or_folder_name>\t<file_size_in_bytes>\0
          For example, given five files named TestFile1.xml to TestFile5.xml, the entries returned at offset 2 might look like: FTestFile3.xml\t223\0FTestFile4.xml\t755568\0FTestFile5.xml\t11111\0
        • size = The size of the data.

    3. The operation is then repeated at different offsets to download the whole directory listing.

      INFO

      The offset for each request will depend on how many entries were returned by the previous request(s).

    4. The operation completes when the GCS requests an entry index (offset) greater than or equal to the number of entries. In this case the drone responds with a NAK containing EOF (end of file).

    The GSC should create a timeout after the ListDirectory command is sent and resend the message as needed (and described above).

    The drone may also NAK with an unexpected error. Generally errors are unrecoverable, and the drone must clean up all resources (i.e. close file handles) associated with the request after sending the NAK.

    Create Directory ​

    The sequence of operations for creating a directory is shown below (assuming there are no timeouts and all operations/requests succeed). Note that this operation will fail if the directory is not empty.

    Mermaid Sequence: Create Directory

    The sequence of operations is:

    1. GCS sends CreateDirectory command specifying the full path of the directory to be created.
      • The payload must specify: data[0]= directory path string, size=length of directory path string.
    2. Drone attempts to create directory, and responds to the message with either:
      • ACK on success, containing payload size=0 (i.e. no data).
      • NAK on failure, with error information.
      • The drone must clean up any resources associated with the request after sending the response.

    The GSC should not create timeouts or handle the NAK case (other than to report an error to the user).

    Remove Directory ​

    INFO

    RemoveDirectory handling is implemented in PX4 but not in QGroundControl. GCS behaviour is therefore not fully defined/tested.

    The sequence of operations for removing a directory is shown below (assuming there are no timeouts and all operations/requests succeed). Note that this operation will fail if the directory is not empty.

    Mermaid Sequence: Remove directory

    The sequence of operations is:

    1. GCS sends RemoveDirectory command specifying the full path of the directory to be deleted.
      • The payload must specify: data[0]= directory path string, size=length of directory path string.
    2. Drone attempts to delete directory, and responds to the message with either:
      • ACK on success, containing payload size=0 (i.e. no data).
      • NAK on failure, with error information.
      • The drone must clean up any resources associated with the request after sending the response.

    The GSC should create a timeout after the RemoveDirectory command is sent and resend the message as needed (and described above).

    구현 ​

    The FTP v1 Protocol has been implemented (at least) in PX4, ArduPilot, QGroundControl and MAVSDK. Those implementations can be used in your own code within the terms of their software licenses.

    PX4 Implementation:

    QGroundControl implementation:

    Everything is run by the master (QGC in this case); the slave simply responds to packets in order as they arrive. There’s buffering in the server for a little overlap (two packets in the queue at a time). This is a tradeoff between memory and link latency which may need to be reconsidered at some point.

    The MAVLink receiver thread copies an incoming request verbatim from the MAVLink buffer into a request queue, and queues a low-priority work item to handle the packet. This avoids trying to do file I/O on the MAVLink receiver thread, as well as avoiding yet another worker thread. The worker is responsible for directly queuing replies, which are sent with the same sequence number as the request.

    The implementation on PX4 only supports a single session.

    CRC32 Implementation ​

    The CRC32 algorithm used by MAVLink FTP is described in MAVLink CRCs.

    Resources to be downloaded using MAVLink FTP can be referenced using the following URL-like format:

    mftp://[;comp=<id>]<path>

    Where:

    • path: the location of the resource on the target component.
    • id: target component ID of the component hosting the resource. The [;comp=<id>] part is optional (if omitted, the resource is downloaded from the current component). It should be specified if the request must be redirected

    For example:

    • A GCS connected to an autopilot might download a file using the following URL: ## FTP resource 'camera.xml' from current component mftp://camera.xml
      https://mermaid-js.github.io/mermaid-live-editor/edit/#pako:eNqtVE2P0zAQ_Ssjn1Ipu-pKnAKtBIW9ILFSy42iyE0mjYVjB3tCtaz2vzOOk34stKxYemgSz7x58549fhCFLVFkwuP3Dk2B75XcOtm8XhvgXysdqUK10hAstEJDv6-v0P1AF9c_WUKw_DlkpzGYwV2LBiqlEZLKOth0zhM4lKUy28kR1qltTWCrAZ_BMvTFuXYsEJNj-Go-Hwl6hluOL-8SKCXJL9Ovs1ZSnYJXP3Gm0SThcwIDXQRecYmR6u3iYwIevVfWDKhXaV-rRwfyPfqs0CVrAqoxilUmSvWQOGxREow-wwa13QGvGNyx4Moj-Wc5cfCu34aQsudLmJBq5aGQHkPxWHg2nZyz7V2oFpoO3h3JH4FH9gUncmXyvoF_9_GkDJw6qrHqBY3txSd4YrmN72sET4u6M9980KdMwSHPp2j0EHaK6mhSXtim1Ug4m57r9VT-vumn8D_6semqCt0k3R-3YeF_cb0pOucYmfM30vwFzNfX1xdMvuWB1JL3ouGW5PZwankT6Wl7Ny9Td3NQF58sLg_k-ZAYdvb5Ui-PoTT30Cjfn44wKh66_v2kVUj2Iyk3XGoCbMcY_AvLQlses0Er7GoMf1YPw1hYrbEgLM_N3md0jTKScBUrjK5dnCwOilQ0DJWq5Iv7ISSvBV8BDa5Fxq8lVrLTtBZr88ipXcvW4YdSkXUiq6T2mArZkV3dm0Jk5Dock4bLf8h6_AUnGRvv
    • A GCS connected to an autopilot through a companion computer might host the metadata on the companion (e.g. due to lack of flash space, faster download or if there's a central MAVFTP server on the vehicle), so it would need to specify the component ID of the component running on the companion (e.g. 100 for the camera), so that the request is redirected: ## FTP resource '/info/version.json' from component with id 100 mftp://[;comp=100]/info/version.json
      ## FTP resource '/info/version.json' from component with id 100
 mftp://[;comp=100]/info/version.json
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    Gimbal Configuration Protocol (v1) ​

    WARNING

    This service definition has been superseded by Gimbal Protocol v2 (gimbal manufacturers/GCSs/autopilots are expected to use the new API, but the old API is still in broad use, and there is no plan to for it to be removed).

    The gimbal configuration message set uses a number of commands and few special-purpose messages to configure a payload mount.

    By default the gimbal should be communicating with the component ID MAV_COMP_ID_GIMBAL.

    Commands to Configure and Control Gimbal ​

    The commands to use mavlink gimbals are MAV_CMD_DO_MOUNT_CONFIGURE and MAV_CMD_DO_MOUNT_CONTROL. MAV_CMD_DO_MOUNT_CONTROL_QUAT is also defined but does not seem to be implemented by any systems at time of writing.

    CommandDescription
    MAV_CMD_DO_MOUNT_CONFIGUREConfigure a camera or antenna mount
    MAV_CMD_DO_MOUNT_CONTROLControl mount
    MAV_CMD_DO_MOUNT_CONTROL_QUATControl a camera or antenna mount, using a quaternion as reference.
    EnumDescription
    MAV_MOUNT_MODEEnumeration of possible mount operation modes.

    Command to Reboot or Shutdown Gimbal ​

    To reboot or shut down a gimbal send the command MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN. The options to be set for the gimbal are found in param4.

    INFO

    This is the same message/process as for autopilot systems.

    Telemetry from Gimbal ​

    A gimbal (or mount) should send a HEARTBEAT (e.g. every second) just like any other MAVLink component. Additionally, it can send feedback about the angles it's pointing using the message MOUNT_ORIENTATION.

    Known Issues ​

    This version of the gimbal protocol (v1) has a number of known issues:

    • Unspecified signs in DO_MOUNT_CONTROL.
    • Confusing order of axes in DO_MOUNT_CONTROL.
    • Unclear “stabilize” flags in DO_MOUNT_CONFIGURE.
    • Confusing and unimplemented “absolute” flags in DO_MOUNT_CONFIGURE.
    • Unclear when to use DO_MOUNT_CONTROL or DO_MOUNT_CONFIGURE.
    • Too many overloaded params in DO_MOUNT_CONTROL depending on GPS or targetting.
    • Unusual param number for DO_MOUNT_CONTROL.
    • The GPS mode in DO_MOUNT_CONTROL conflicts with DO_SET_ROI_* commands.
    • MOUNT naming makes discovery hard.
    • Unused DO_MOUNT_CONTROL_QUAT.
    • Confusion and conflicts between gimbal commands used between ground station and gimbal messages between autopilot and gimbal.
    • Commands require acknowledgements back and are therefore not suitable for higher rate setpoint streams for manual control.
    • Control conflicts between different sources. It is not clear what takes precedence and how the deconfliction between different sources and commands should be implemented.

    If possible migrate to Gimbal Protocol v2 which addresses these issues.

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    Gimbal Protocol (v2) ​

    INFO

    This version supersedes Gimbal Protocol v1 Existing functionality is now fixed, but compatible changes may still be added.

    소개 ​

    The gimbal protocol allows MAVLink control over the attitude/orientation of cameras (or other sensors) mounted on the drone. The orientation can be: controlled by the pilot in real time (e.g. using a joystick from a ground station), set as part of a mission, or moved based on camera tracking.

    The protocol also defines what status information is published for developers, configurators, as well as users of the drone. It additionally provides ways to assign control to different sources.

    The protocol supports a number of hardware setups, and enables gimbals with varying capabilities.

    INFO

    The original protocol design document can be found here.

    Concepts ​

    Gimbal Manager and Gimbal Device ​

    To accommodate gimbals with varying capabilities, and various hardware setups, "a gimbal" is conceptually split into two parts:

    • Gimbal Device: the actual gimbal device, hardware and software.
    • Gimbal Manager: software to deconflict gimbal messages and commands from different sources, and to abstract the capabilities of the Gimbal Device from gimbal users.

    The Gimbal Manager and Gimbal Device expose respective message sets that can be used for: gimbal manager/device discovery, querying capabilities, publishing status, and various types of orientation/attitude control.

    The key concept to understand is that a Gimbal Manager has a 1:1 relationship with a particular Gimbal Device, and is the only party on the MAVLink network that is allowed to directly command that device - it does so using the Gimbal Device message set.

    INFO

    The Gimbal Device must act only upon messages that come from the associated Gimbal Manager! The device will however broadcast its status to all parties on the network (not just its manager).

    MAVLink applications (ground stations, developer APIs like the MAVSDK, etc.), and any other software that wants to control a particular gimbal, must do so via its Gimbal Manager, using the Gimbal Manager message set.

    Note that the gimbal manager is (by default) implemented on the autopilot.

    Common Set-ups ​

    This section outlines the three most common hardware set-ups.

    Simple Gimbal Directly Connected to Autopilot ​

    In this (default) set-up the autopilot takes the role of the gimbal manager.

    Standalone Integrated Camera/Gimbal ​

    In this set-up the integrated camera/gimbal itself can be the Gimbal Manager.

    Therefore, the gimbal device interface is internal (no implementation is required).

    Onboard Computer with Camera and Gimbal Connected to Autopilot ​

    In this set-up the Gimbal Manager can be on the onboard computer.

    Commands from the GCS (etc.) are sent to the Gimbal Manager on the companion computer. Messages from the Gimbal Manager to the Gimbal Device need to be sent to/routed through the autopilot.

    Multiple Gimbals ​

    Multiple gimbals per drone are supported.

    Component IDs ​

    Multiple component IDs are reserved for MAVLink gimbal devices: MAV_COMP_ID_GIMBAL, MAV_COMP_ID_GIMBAL2, MAV_COMP_ID_GIMBAL3, MAV_COMP_ID_GIMBAL4, MAV_COMP_ID_GIMBAL5, MAV_COMP_ID_GIMBAL6.

    The listed component IDs should be used where possible. Ids 0-6 may not be used. Other ids may be used as long as the MAV_TYPE is correctly set to MAV_TYPE_GIMBAL.

    Mapping from Gimbal Managers to Gimbal Devices ​

    Every Gimbal Manager has a single associated Gimbal Device that it controls (there is a 1:1 relationship). A particular MAVLink component, such as an autopilot, can implement multiple gimbal managers in order to control two or more gimbal devices. The identity of a gimbal device and its associated manager, are represented by a "gimbal device id". This id is used to differentiate messages from different gimbal managers, and also to target a particular gimbal in commands/messages sent to the component that is hosting its gimbal manager.

    A Gimbal Manager publishes the id of its associated device in the gimbal_device_id field of the GIMBAL_MANAGER_INFORMATION message (this same field name is present in all gimbal manager messages so you can identify the source). Similarly, commands that can be sent to a gimbal manager include a parameter with label Gimbal device ID that indicates the particular gimbal manager (and device).

    • A system that wants to control a particular gimbal device will send messages to the component that has the manager(s), such as an autopilot, specifying the device id of the gimbal to be controlled.
    • A system that wants to control all gimbal devices managed by gimbal managers on a particular component, would send the command/message to that component and set the device id to 0.

    Addressing of Gimbal MAVLink Devices ​

    For MAVLink gimbal devices the gimbal device id (gimbal_device_id) is the MAVLink component ID of the gimbal device controlled by the gimbal manager.

    The gimbal manager processes commands for its associated device, sending appropriate/corresponding gimbal device commands to the MAVLink gimbal device.

    Non-MAVLink gimbal devices are gimbals that don't expose a MAVLink Gimbal Device (or manager) API, but instead are connected to the gimbal manager using some other protocol. For instance, this could be a PWM gimbal connected to an autopilot. Since the gimbal device is not a MAVLink component, it does not have a unique MAVLink component ID that can be used for the gimbal device id. Therefore you either have to make it into a MAVLink component (so it has an id) or assign it a particular non-MAVLink id.

    Autopilots are expected to implement gimbal managers for each attached gimbal and assign each a unique gimbal device id between 1 and 6 (which is why these values can't be used as MAVLink component IDs for gimbal devices). This id would then be used in gimbal manager messages sent by the autopilot, and for addressing the particular gimbal in commands. The autopilot would directly control attached gimbals in response to gimbal manager commands. In addition to sending gimbal manager messages when appropriate, it should also send/stream required gimbal device messages, such as GIMBAL_DEVICE_ATTITUDE_STATUS.

    All other hardware with attached gimbal devices, such as a companion computers, are expected to implement them as separate MAVLink components, with their own MAVLink component ID that can be used for addressing. For example, a companion computer with an attached gimbal would appear as two MAVLink components: a companion computer and a gimbal. The gimbal component would identify as a type MAV_TYPE_GIMBAL and assert that it implements the gimbal manager protocol. As with autopilot-attached cameras it would need to respond as a gimbal manager, and also stream required gimbal device messages.

    INFO

    Implementing each attached camera as a separate MAVLink component allows cameras attached to a companion computer to be separately addressed in missions executed on the autopilot.

    Implementation and Messages ​

    Messages between Ground Station and Gimbal Manager ​

    Discovery of Gimbal Manager ​

    A ground station should monitor for HEARTBEAT messages from all new components and check their capabilities by requesting AUTOPILOT_VERSION for autopilots and COMPONENT_INFORMATION_BASIC for other components (see HEARTBEAT/Connection protocol).

    If the capabilities field of the above message(s) has the flag MAV_PROTOCOL_CAPABILITY_COMPONENT_IMPLEMENTS_GIMBAL_MANAGER set:

    The GIMBAL_MANAGER_INFORMATION contains important information a particular gimbal, such as its capabilities (GIMBAL_MANAGER_CAP_FLAGS), maximum angles and angle rates, as well as the gimbal_device_id which identifies the specific gimbal device controlled by a particular Gimbal Manager.

    WARNING

    A GCS should always request GIMBAL_MANAGER_INFORMATION from autopilot components prior to: PX4 v1.16, ArduPilot-4.5 (when the protocol bit was added).

    Gimbal Manager Status ​

    A Gimbal Manager should send out GIMBAL_MANAGER_STATUS at a low regular rate (e.g. 5 Hz) to inform the ground station about its status.

    Starting / Configuring Gimbal Control ​

    It is possible for multiple components to want to control a gimbal at the same time, e.g.: a ground station, a companion computer, or the autopilot running a mission.

    In order to start controlling a gimbal, a component first needs to send the MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE command. This allows setting which MAVLink component (set by system ID and component ID) is in primary control and which one is in secondary control. The gimbal manager is to ignore any gimbal controls which come from MAVLink components that are not explicity set to "in control". This should prevent conflicts between various inputs as long as all components are fair/co-operative when using the configure command.

    To be co-operative entails the following rules:

    • Don't send the configure manager configure command continuously but only once to initiate and once to stop control again.
    • Check the GIMBAL_MANAGER_STATUS about who is in control first and - if possible - warn user about planned action. For example, if the autopilot is in control of the gimbal as part of a mission, the ground station should ask the user first (i.e. via a pop-up) if they really want to take over manual control.
    • Don't forget to release control when an action/task is finished and set the sysid/compid to 0.

    INFO

    It is possible to assign control to another component too, not just to itself. For example, a smart shot running on a companion computer can set itself to be in primary control but assign a ground station for secondary control to e.g. nudge during the smart shot.

    INFO

    The implementation of how primary and secondary control are combined or mixed is not defined by the protocol but up to the implementation. This allows flexibility for different use cases.

    A ground station can manually control a gimbal by sending GIMBAL_MANAGER_SET_MANUAL_CONTROL. This allows controlling the gimbal with either angles, or angular rates, using a normalized unit (-1..1). The gimbal device is responsible for translating the input based on angle, speed, and "smoothness" settings.

    This input can additionally be scaled by the gimbal manager depending on its state. For example, if the gimbal manager is on a camera and knows the current zoom level / focal length of the camera, it can scale the angular rate down to support smooth paning and tilting.

    A ground station, companion computer, or other MAVLink component can set the gimbal angle and/or angular rates using the messages GIMBAL_MANAGER_SET_ATTITUDE or GIMBAL_MANAGER_SET_PITCHYAW.

    Messages between Gimbal Manager and Gimbal Device ​

    Discovery of Gimbal Device ​

    The MAVlink node where the Gimbal Manager is implemented needs to discover Gimbal Devices by sending a broadcast MAV_CMD_REQUEST_MESSAGE for GIMBAL_DEVICE_INFORMATION. Every gimbal device should respond with GIMBAL_DEVICE_INFORMATION.

    The MAVLink node should then create as many Gimbal Manager instances as Gimbal Devices found.

    Control of a Gimbal Device ​

    To control the angle and/or angular rate of the Gimbal Device, use the message GIMBAL_DEVICE_SET_ATTITUDE. If the gimbal manager has multiple gimbal control inputs available it should deconflict them as explained below.

    Autopilot State for Gimbal Device ​

    The autopilot should also send the message AUTOPILOT_STATE_FOR_GIMBAL_DEVICE to the gimbal device. This data is required by the Gimbal Device attitude estimator (horizon compensation), as well as to anticipate the vehicle's movements (e.g. the feed forward angular velocity in z-axis, so the current yaw intention).

    Gimbal Device Broadcast/Status Messages ​

    The gimbal device should send out its attitude and status in GIMBAL_DEVICE_ATTITUDE_STATUS at a regular rate, e.g. 10 Hz.

    This message is a meant as broadcast, so it's set to the GCS, Gimbal Manager, and all parties on the network (not just Gimbal Manager, like all other messages).

    Custom Gimbal Device Settings ​

    Custom gimbal settings can be accomplished using the component information microservice which is based on a component information file (this is similar to the camera definition file).

    자주 묻는 질문 ​

    How to set the System ID of a gimbal device? ​

    The system ID of all components (e.g. autopilot, companion computer, camera, gimbal) on a drone/system must be the same. This needs to be either done manually by configuration, or alternatively, the components need to listen to the heartbeat of the autopilot and then adjust their system ID accordingly.

    When is Gimbal Device also a Gimbal Manager? ​

    The default case should be to use the Gimbal Manager in the autopilot. The only exception to this are integrated solutions containing a camera and gimbal for functionality like visual tracking.

    How to test Gimbal Device? ​

    A Gimbal Device can be tested by connecting it to an autopilot with a Gimbal Manager. To avoid having to do a full setup including autopilot, a direct test using MAVSDK is available.

    Gimbals that use the (old) Gimbal Protocol v1 should still be supported by autopilot software. Basically, the Gimbal Manager needs to translate the commands to the old protocol.

    Gimbals controlled using a protocol like PPM, PWM, SBUS or something proprietary can still be supported. The autopilot will have to act as the Gimbal Manager and provide the driver and translation to the respective protocol.

    The autopilot needs to be configured to either accept MAVLink input (so GIMBAL_MANAGER_SET_MANUAL_CONTROL) or RC control. In both cases, the autopilot can then calculate a gimbal angle or angular rate from the manual control input and send the resulting setpoint to the gimbal device.

    For RC control, the channels will have to be manually mapped/configured to control the gimbal. This is the same approach as is used for managing the input source for flying; it is up to the implementation to select either RC or MAVLink. The recommendation is to make it configurable using (for instance) a parameter.

    A non-MAVLink gimbal needs to be connected to a gimbal manager, which then takes care of sending the gimbal device messages. Since a non-MAVLink gimbal can't be addressed with a MAVLink component ID, the gimbal_device_id needs to be set to one of the magic values (1 to 6). This signals that the gimbal manager also is also acting as the gimbal device.

    Also see how to address non-MAVLink gimbal devices.

    How to interpret GIMBAL_DEVICE_ATTITUDE_STATUS yaw gimbal angle ​

    The GIMBAL_DEVICE_ATTITUDE_STATUS.flags field must report the frame used for reported yaw values as either:

    • GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME: Yaw is relative to vehicle.
    • GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME: Yaw is relative to north.

    For older devices, if neither of the flags above are set, the yaw frame must be inferred from the GIMBAL_DEVICE_FLAGS_YAW_LOCK. If it is set, the yaw is relative to North, otherwise to the front of the vehicle.

    INFO

    Manufacturers working on new gimbal devices should set either GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME or GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME. Components receiving the message should also handle GIMBAL_DEVICE_FLAGS_YAW_LOCK for backwards compatibility with older devices.

    Message/Command/Enum Summary ​

    Gimbal Manager Messages ​

    This is the set of messages/enums for communicating with the gimbal manager (by ground station, autopilot, etc.).

    MessageDescription
    GIMBAL_MANAGER_INFORMATIONInformation about a high level gimbal manager. This message should be requested by a ground station using MAV_CMD_REQUEST_MESSAGE.
    GIMBAL_MANAGER_STATUSCurrent status about a high level gimbal manager. This message should be broadcast at a low regular rate (e.g. 5Hz).
    GIMBAL_MANAGER_SET_ATTITUDEHigh level message to control a gimbal's attitude. This message is to be sent to the gimbal manager (e.g. from a ground station).
    GIMBAL_MANAGER_SET_MANUAL_CONTROLHigh level message to control a gimbal manually, so without units. The actual angles or angular rates will be produced by the gimbal manager based on settings. This message is to be sent to the gimbal manager (e.g. from a ground station). Angles and rates can be set to NaN according to use case.
    GIMBAL_MANAGER_SET_PITCHYAWHigh level message to control a gimbal's pitch and yaw angles. This message is to be sent to the gimbal manager (e.g. from a ground station). Angles and rates can be set to NaN according to use case.
    CommandDescription
    MAV_CMD_REQUEST_MESSAGERequest the target system(s) emit a single instance of a specified message. This is used to request GIMBAL_MANAGER_INFORMATION.
    MAV_CMD_DO_GIMBAL_MANAGER_CONFIGUREGimbal configuration to set which sysid/compid is in primary and secondary control.
    MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAWHigh level setpoint to be sent to a gimbal manager to set a gimbal attitude. Note: a gimbal is never to react to this command but only the gimbal manager.
    MAV_CMD_DO_SET_ROI_LOCATIONSets the region of interest (ROI) to a location. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal is not to react to this message.
    MAV_CMD_DO_SET_ROI_WPNEXT_OFFSETSets the region of interest (ROI) to be toward next waypoint, with optional pitch/roll/yaw offset. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message.
    MAV_CMD_DO_SET_ROI_SYSIDMount tracks system with specified system ID. Determination of target vehicle position may be done with GLOBAL_POSITION_INT or any other means. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message.
    MAV_CMD_DO_SET_ROI_NONECancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message. After this command the gimbal manager should go back to manual input if available, and otherwise assume a neutral position.
    MAV_CMD_DO_GIMBAL_MANAGER_TRACK_POINTIf the gimbal manager supports visual tracking (GIMBAL_MANAGER_CAP_FLAGS_HAS_TRACKING_POINT is set), this command allows to initiate the tracking. Such a tracking gimbal manager would usually be an integrated camera/gimbal, or alternatively a companion computer connected to a camera.
    MAV_CMD_DO_GIMBAL_MANAGER_TRACK_RECTANGLEIf the gimbal supports visual tracking (GIMBAL_MANAGER_CAP_FLAGS_HAS_TRACKING_RECTANGLE is set), this command allows to initiate the tracking. Such a tracking gimbal manager would usually be an integrated camera/gimbal, or alternatively a companion computer connected to a camera.
    EnumDescription
    GIMBAL_MANAGER_FLAGSFlags for high level gimbal manager operation.
    The first 16 bytes are identical to the GIMBAL_DEVICE_FLAGS. Used in MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW, GIMBAL_MANAGER_STATUS , GIMBAL_MANAGER_SET_ATTITUDE.
    GIMBAL_MANAGER_CAP_FLAGSGimbal manager high level capability flags (bitmap).
    The first 16 bits are identical to the GIMBAL_DEVICE_CAP_FLAGS which are identical with GIMBAL_DEVICE_FLAGS. However, the gimbal manager does not need to copy the flags from the gimbal but can also enhance the capabilities and thus add flags. Used in GIMBAL_MANAGER_INFORMATION

    Gimbal Device Messages ​

    This is the set of messages/enums for communication between gimbal manager and gimbal device.

    MessageDescription
    GIMBAL_DEVICE_INFORMATIONInformation about a low level gimbal. This message should be requested by the gimbal manager or a ground station using MAV_CMD_REQUEST_MESSAGE.
    GIMBAL_DEVICE_SET_ATTITUDELow level message to control a gimbal device's attitude. This message is to be sent from the gimbal manager to the gimbal device component. Angles and rates can be set to NaN according to use case.
    GIMBAL_DEVICE_ATTITUDE_STATUSMessage reporting the status of a gimbal device. This message should be broadcasted by a gimbal device component.
    CommandDescription
    MAV_CMD_REQUEST_MESSAGERequest the target system(s) emit a single instance of a specified message. This is used to request GIMBAL_DEVICE_INFORMATION.
    EnumDescription
    GIMBAL_DEVICE_CAP_FLAGSGimbal device (low level) capability flags (bitmap).
    Used in GIMBAL_DEVICE_INFORMATION.
    GIMBAL_DEVICE_FLAGSFlags for gimbal device (lower level) operation.
    Used in GIMBAL_DEVICE_ATTITUDE_STATUS and GIMBAL_DEVICE_SET_ATTITUDE.
    GIMBAL_DEVICE_ERROR_FLAGSGimbal device (low level) error flags (bitmap, 0 means no error).
    Used in GIMBAL_DEVICE_ATTITUDE_STATUS.

    Sequences ​

    Depicted below are message sequences for some common scenarious.

    Discovery ​

    This shows a possible sequence on startup. Note that the gimbal manager could already discover the gimbal device before the ground station asks for the information.

    Normal Manual Control ​

    During the normal manual control, all messages are streamed at a regular rate. Note that GIMBAL_DEVICE_ATTITUDE_STATUS is broadcast to anyone, so to the gimbal manager and also the ground station.

    ROI Initiated from Ground Station ​

    ROI can be started using a command and should also be stopped again with a command. The ROI command is translated to a gimbal attitude in the the gimbal manager.

    Attitude Set During Mission ​

    In this case the gimbal manager is implemented by the autopilot which "sends" the attitude command (for instance for a survey).

    How to Implement the Gimbal Device Interface ​

    Below is a short summary of all messages that a gimbal device should implement.

    INFO

    A Gimbal Device can be tested by connecting it to an autopilot with a Gimbal Manager. To avoid having to do a full setup including autopilot, a direct test using MAVSDK is available.

    Messages to Send ​

    The messages listed should be broadcast on the network/on all connections (sent to everyone).

    HEARTBEAT ​

    Heartbeats should always be sent (usually at 1 Hz).

    INFO

    Gimbals that set their sysid from the autopilot will need to wait for the autopilot's heartbeat before emitting their own (note that if the gimbal can receive heartbeats from multiple autopilots then the sysid must be explicitly/statically configured).

    • sysid: the same sysid as the autopilot (this can either be done by configuration, or by listening to the autopilot's heartbeat first and then copying the sysid, default: 1)
    • compid: MAV_COMP_ID_GIMBAL
    • type: MAV_TYPE_GIMBAL
    • autopilot: MAV_AUTOPILOT_INVALID
    • base_mode: 0
    • custom_mode: 0
    • system_status: MAV_STATE_UNINIT

    GIMBAL_DEVICE_ATTITUDE_STATUS ​

    The gimbal device should send out its attitude status at a regular rate, e.g. 10 Hz. The fields target_system and target_component can be set to 0 (broadcast) by default.

    GIMBAL_DEVICE_INFORMATION ​

    The static information about the gimbal device needs to be sent out when requested using MAV_CMD_REQUEST_MESSAGE.

    Messages to Listen To/Handle ​

    GIMBAL_DEVICE_SET_ATTITUDE ​

    This is the actual attitude setpoint that the gimbal device should follow. Note that the frame of the quaternion setpoint depends on the GIMBAL_DEVICE_FLAGS.

    AUTOPILOT_STATE_FOR_GIMBAL_DEVICE ​

    The gimbal device should be able to get all the information from the autopilot that it requires in this one message. If something is missing that should be streamed at a high rate, it should be added to this message.

    If this message is not sent by default by the autopilot, or the rate is not ok, the command MAV_CMD_SET_MESSAGE_INTERVAL can be used to request it at a certain rate.

    COMMAND_LONG ​

    The gimbal device needs to check for commands. See below which commands should get answered.

    Commands to Answer ​

    MAV_CMD_REQUEST_MESSAGE ​

    The gimbal device should send out messages when they get requested, e.g. GIMBAL_DEVICE_INFORMATION.

    MAV_CMD_SET_MESSAGE_INTERVAL ​

    The gimbal device should stream messages at the rate requested.

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    주기 신호/연결 프로토콜 ​

    The heartbeat protocol is used to advertise the existence of a system on the MAVLink network, along with its system and component id, vehicle type, flight stack, component type, and flight mode.

    The heartbeat allows other components to:

    • discover systems that are connected to the network and infer when they have disconnected. A component is considered to be connected to the network if its HEARTBEAT message is regularly received, and disconnected if a number of expected messages are not received.
    • handle other messages from the component appropriately, based on component type and other properties (e.g. layout a GCS interface based on vehicle type).
    • route messages to systems on different interfaces.

    Message/Enum Summary ​

    MessageDescription
    HEARTBEATBroadcast that a MAVLink component is present and responding, along with its type (MAV_TYPE) and other properties.
    EnumDescription
    MAV_TYPEType of the component. Flight controllers must report the type of the vehicle on which they are mounted (e.g. MAV_TYPE_OCTOROTOR). All other components must report a value appropriate for their type (e.g. a camera must use MAV_TYPE_CAMERA).
    MAV_AUTOPILOTAutopilot type / class. Set to MAV_AUTOPILOT_INVALID for components that are not flight controllers (e.g. ground stations, gimbals, etc.).
    MAV_MODE_FLAGSystem mode bitmap.
    MAV_STATESystem status flag.

    HEARTBEAT Broadcast Frequency ​

    Components must regularly broadcast their HEARTBEAT and monitor for heartbeats from other components/systems.

    The rate at which the HEARTBEAT message must be broadcast, and how many messages may be "missed" before a system is considered to have timed out/disconnected from the network, depends on the channel (it is not defined by MAVLink). On RF telemetry links, components typically publish their heartbeat at 1 Hz and consider another system to have disconnected if four or five messages are not received.

    A component may choose not to send or broadcast information on a channel (other than the HEARTBEAT) if it does not detect another system, and it will continue to send messages to a system while it is receiving heartbeats. Therefore it is important that systems:

    • broadcast a heartbeat even when not commanding the remote system.
    • do not broadcast a heartbeat when they are in a faulted state (i.e. do not publish a heartbeat from a separate thread that is unaware of the state of the rest of the component).

    Connecting to a GCS or MAVLink API ​

    The HEARTBEAT may also used by GCS (or Developer API) to determine if it can connect to a vehicle in order to collect telemetry and send missions/commands.

    For example, QGroundControl will only connect to a vehicle system (i.e. not another GCS, gimbal, or onboard controller), and also checks that it has a non-zero system ID before displaying the vehicle connected message. QGC also uses the specific type of vehicle and other heartbeat information to control layout of the GUI.

    INFO

    The specific code for connecting to QGroundControl can be found in MultiVehicleManager.cc (see void MultiVehicleManager::_vehicleHeartbeatInfo).

    Component Identity ​

    The type of a component is obtained from its HEARTBEAT.type (MAV_TYPE) and HEARTBEAT.autopilot (MAV_AUTOPILOT) fields:

    • A flight controller component must use a MAV_TYPE corresponding to a particular vehicle (e.g. MAV_TYPE_FIXED_WING, MAV_TYPE_QUADROTOR etc.), and set HEARTBEAT.autopilot to a valid flight stack.
    • All other components must use a MAV_TYPE corresponding to the actual type (e.g.: MAV_TYPE_GIMBAL, MAV_TYPE_BATTERY, etc.), and should set HEARTBEAT.autopilot to MAV_AUTOPILOT_INVALID.

    TIP

    The recommended way to recognise an autopilot component is to check that HEARTBEAT.autopilot is not MAV_AUTOPILOT_INVALID.

    Every component must have a system-unique component id, which is used for routing and for identifying multiple instances of a particular component type.

    WARNING

    Historically the component id was also used to determine the component type. New code must not make any assumption about the type from the id used (type is determined from HEARTBEAT.type).

    MAVLink recommends that by default components use a type-appropriate component id from MAV_COMPONENT, and provide an interface to change the component id if needed. For example, a camera component might use any of the MAV_COMP_ID_CAMERAn ids, and should not use MAV_COMP_ID_GPS2.

    TIP

    Using type-specific component ids:

    • makes id clashes less likely "out of the box" (unless two components of the same type are present on the same system).
    • reduces the impact on legacy code that determines component type from the id.

    Component Capabilities ​

    The basic properties and capabilities of an autopilot can be determined by requesting the AUTOPILOT_VERSION message using MAV_CMD_REQUEST_MESSAGE, and for other components by requesting COMPONENT_INFORMATION_BASIC. This should normally be done on discovery of a new component, and the results cached.

    The information includes hardware and software versioning information, and also the capabilities, a bitmap of the MAVLink services/protocols (MAV_PROTOCOL_CAPABILITY) supported by the component.

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    High Latency Protocol ​

    High Latency (HL) links, for example made using the Iridium Satellite network, provide global connectivity, albeit with significant message latency (> 1 second) and high cost-per-message. Generally the cost and latency means that high-latency links are only used when there is no lower-latency alternative, and should only send essential information or commands.

    The protocol provides a heartbeat-like message (HIGH_LATENCY2) for transmitting just the most important telemetry at low rate, and a command (MAV_CMD_CONTROL_HIGH_LATENCY) for enabling/disabling the HL link when needed (i.e. when no lower-latency link is available).

    The GCS should carefully manage what data is sent to/requested from the autopilot on the HL link, in order to avoid congestion and minimize the cost of using the channel:

    • Ground stations should not upload or download missions, waypoints or geofences on the HL link (i.e. should not use the mission protocol).
    • Ground stations should not update or synchronise parameters over the HL channel (i.e. using the parameter protocol).
    • HEARTBEAT messages should not be sent over the HL channel (see the section below for more information).

    Typically the initial connection with a GCS is made over a low latency link (often before takeoff), so that the above data can be transferred before switching to the HL link.

    Heartbeat/Routing ​

    In order to reduce traffic to the bare minimum, some of the fundamental assumptions of MAVLink are explicitly broken:

    • HEARTBEAT messages are not emitted on the channel (either by the autopilot or GCS).

      INFO

      The heartbeat is used to build MAVLink routing tables between channels. Commands addressed specifically to the high latency component may not be routed from another channel (i.e. you can connect to the component from a GCS directly, but not via a MAVLink router).

    • Only the command protocol service messages and HIGH_LATENCY2 message should be sent over the high latency channel.

    The other rules are essentially the same but there are some implications of the above changes:

    • Messages from the high latency channel should be routed to other nodes on the network as usual. Note that this in reality most systems on a high latency network only send HIGH_LATENCY2.
    • Addressed messages should be sent over the high latency channel (in both directions) in accordance with the normal routing rules. In practice the lack of HEARTBEAT means that addressed messages are unlikely to arrive, and hence be sent.

    The implication is that while all components on a MAVLink network will get HIGH_LATENCY2 updates, only the directly connected GCS (or other component) will be able send command protocol messages to the vehicle.

    Message/Enum Summary ​

    MessageDescription
    HIGH_LATENCY2A heartbeat-like message that contains all the most important (but not time-sensitive) telemetry for sending over high latency links.
    CommandDescription
    MAV_CMD_CONTROL_HIGH_LATENCYCommand to start/stop transmitting high latency telemetry (HIGH_LATENCY2).
    EnumDescription
    HL_FAILURE_FLAGFlags to report failure cases over the high latency telemetry.

    Sequences ​

    A GCS should only upload/download missions, geofences, rally points, and parameters when connected over a low latency link. Generally a vehicle is connected to the GCS via a low latency link for initial synchronisation of parameters etc., and will reconnect whenever the low latency vehicle is available. When the link is not available it will switch to the high latency link and primarily just monitor the high latency telemetry.

    A typical flight sequence might therefore look like:

    • Vehicle is started and connects to ground station over low latency link (e.g. USB cable, Telemetry radio).
    • Ground station(s) download, check and sync all mission protocol items and parameter protocol items over the low latency link
    • Vehicle starts mission.
    • Ground station detects when low latency link is lost/available and enables/disables the high latency link appropriately.
      • While low latency link is active the mission and parameter protocols can be used.
      • While high latency link is active the vehicle provide telemetry updates but parameters and missions should not be updated.

    When the low latency link is lost, the GCS sends MAV_CMD_CONTROL_HIGH_LATENCY to the vehicle over the high latency channel to turn the high latency link on on (causing the vehicle to start emitting HIGH_LATENCY2 messages). When the low latency link is regained the GCS sends MAV_CMD_CONTROL_HIGH_LATENCY to stop the vehicle from broadcasting HIGH_LATENCY2 messages (usually this would be sent over the low latency link).

    The diagram below shows a GCS switching from a higher-latency primary link to a lower latency secondary link when one becomes available, and then back to the higher latency link when the primary link drops out.

    Explicit Handover ​

    A ground station may also support a handover model, where the high latency link is established before the low latency link is dropped (i.e. the high latency link may be enabled by sending MAV_CMD_CONTROL_HIGH_LATENCY over the low latency link prior to loss of coverage).

    This approach allows the GCS to verify that the high latency link is available before losing the low latency connection.

    If using this model the GCS and autopilot should be able to work with a mixed regime of low and high latency links. Specifically, this means that they should be able to handle the case where the same message is sent over different both channels.

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    Illuminator Protocol ​

    The illuminator protocol allows MAVLink control over the behaviour of lights, LEDs, and/or emitters mounted or integrated on the drone. The protocol currently allows for the following control: brightness, on/off, and a strobe feature.

    Along with this, the illuminator protocol also publishes status information for developers or users. The status messaging encompasses the current configuration of the illuminator and the health of the illuminator device.

    These illuminators have built-in MAVLink support:

    • Skydio Spotlight for X10

    Message/Command/Enum Summary ​

    MessageDescription
    COMPONENT_INFORMATION_BASICBasic illuminator information data. Should be requested using MAV_CMD_REQUEST_MESSAGE on startup, or when required.
    ILLUMINATOR_STATUSCurrent status of the illuminator. Recommended to publish this at a regular rate.
    CommandDescription
    MAV_CMD_ILLUMINATOR_ON_OFFTurns illuminators ON/OFF.
    MAV_CMD_DO_ILLUMINATOR_CONFIGUREConfigures illuminator settings.
    Enum ValuesDescription
    MAV_TYPE_ILLUMINATORType of the component (illuminator).
    MAV_COMP_ID_ILLUMINATORID of the component (illuminator).
    EnumDescription
    ILLUMINATOR_MODEIlluminator modes.
    ILLUMINATOR_ERROR_FLAGSFault/health indications.

    Implementation and Messages ​

    Illuminator Connection ​

    Illuminators are expected to follow the Heartbeat/Connection Protocol and send a constant flow of heartbeats (nominally at 1Hz). Illuminators are identified via their type MAV_TYPE_ILLUMINATOR. Individual illuminators are distinguished via their unique component ID, which by default should be MAV_COMP_ID_ILLUMINATOR (though this is not mandated and any ID may be used). Once a heartbeat is received, the drone can then send a MAV_CMD_REQUEST_MESSAGE command to the illuminator to receive information, set settings, or control the illuminator. An example below illustrates how a drone can request the status of the illuminator.

    COMPONENT_INFORMATION_BASIC ​

    While the MAV_TYPE and Component ID help identify the system and component, the COMPONENT_INFORMATION_BASIC command can be requested to retrieve component information data, which can help further identify the component being communicated with. This data includes time_boot_ms, MAV_PROTOCOL_CAPABILITY, vendor_name, model_name, software_version, hardware_version, and serial_number.

    ParameterDescription
    time_boot_msTime since system boot up in milliseconds.
    MAV_PROTOCOL_CAPABILITYBitmask detailing the component capability flags.
    vendor_nameName of the component vendor (optional).
    model_nameName of the component's model (optional).
    software_versionSoftware version on the module, recommended format is SEMVER: 'major.minor.patch' but any format can be used (24-character string) (optional).
    hardware_versionHardware version on the module, recommended format is SEMVER: 'major.minor.patch' but any format can be used (24-character string) (optional).
    serial_numberHardware's serial number (optional).

    Optional parameters can be left empty or set to zero.

    ON/OFF ​

    The MAV_CMD_ILLUMINATOR_ON_OFF command is used to enable/disable the illuminator. It's usage can be seen below:

    CONFIGURE ​

    The MAV_CMD_DO_ILLUMINATOR_CONFIGURE command controls the illuminator's settings. This will adjust how the illuminator behaves when enabled. The operation follows the normal Command Protocol rules for command/acknowledgment. The four parameters for this command are: Mode, Brightness, Strobe Period, Strobe Duty.

    Illuminators can be set in different modes which can change the behavior of the illuminator (described in a separate section, Modes). The brightness can be set via "Brightness" as a percentage value (0-100%). Illuminators may also have the functionality to strobe the light source. This behavior is configured via "Strobe Period" and "Strobe Duty". These parameters can be set to 0 when not used. "Strobe Period" is in seconds and "Strobe Duty" is a percentage value (indicating the % of time in the "Strobe Period" the illuminator is enabled).

    MODES ​

    If the mode is unknown, the mode parameter value will be set to 0.

    A mode value of 1 is ILLUMINATOR_MODE_INTERNAL_CONTROL, where the illuminator behavior is controlled by MAV_CMD_DO_ILLUMINATOR_CONFIGURE settings.

    When the value is set to 2, it indicates that the illuminator mode is ILLUMINATOR_MODE_EXTERNAL_SYNC. This mode is for instances where the illuminator behavior is controlled by external factors: e.g. an external hardware signal.

    STATUS ​

    The ILLUMINATOR_STATUS message can be requested to receive information about the status of the illuminator. This includes information such as uptime, errors, whether the illuminator is enabled via MAV_CMD_ILLUMINATOR_ON_OFF, current settings from the MAV_CMD_DO_ILLUMINATOR_CONFIGURE command, and the temperature of the illuminator.

    ILLUMINATOR_ERROR_FLAGS ​

    The ILLUMINATOR_ERROR_FLAGS can be used to indicate if there is any issue with the illuminator. At this time, there are three flags. If there is no error and the illuminator is behaving as normal, the ILLUMINATOR_ERROR_FLAGS bitmap will be 0. If ILLUMINATOR_ERROR_FLAGS is set to 1 or 2, this indicates an error related to the temperature of the illuminator.

    1 indicates ILLUMINATOR_ERROR_FLAGS_THERMAL_THROTTLING as in the illuminator is throttling its output due to a thermal issue. 2 indicates ILLUMINATOR_ERROR_FLAGS_OVER_TEMPERATURE_SHUTDOWN which means that the illuminator is shutting off due to passing some temperature threshold.

    The status message utilization can be seen below:

    Test Script ​

    Description ​

    The test suite included in assets/services/illuminators allows for testing both sides of the illuminator interaction.

    • illuminator.py emulates a standard illuminator module.
    • test_illuminator.py runs a standard test suite against the emulator, testing all commands listed in this document.

    Instructions ​

    1. Run simple illuminator emulator python3 illuminator.py
    2. Run test python3 -m unittest -v test_illuminator.py
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    Image Transmission Protocol ​

    WARNING

    The Camera Protocol and MAVLink FTP are recommended for sending images, video and files.

    This protocol is not intended for general image transmission use (it was originally designed as a simple protocol for transfering small images over a low bandwidth channel from an optical flow sensor to a GCS).

    The image transmission protocol uses MAVLink as the communication channel to transport any kind of image (raw images, Kinect data, etc.) from one MAVLink node to another. It basically takes a live camera image, splits it into small chunks and sends it over MAVLink.

    This topic describes how the image streaming functionality works and covers both the communication protocol and implementation details (for a vehicle and QGroundControl).

    Communication ​

    The image streaming component uses two MAVLink messages: a handshake message, DATA_TRANSMISSION_HANDSHAKE, to initiate image streaming and describe the image to be sent, and a data container message, ENCAPSULATED_DATA, to transport the image data.

    1. The communication is initiated by the QGroundControl with a DATA_TRANSMISSION_HANDSHAKE request to start the stream. The messages should specify:

      • type: any of the types in the enum MAVLINK_DATA_STREAM_TYPE in mavlink.h,
      • jpg_quality: Desired image quality (for lossy formats like JPEG).
      • All other fields must be zero in the initial request.

    2. When the targeted MAV receives the handshake request, it sends back a DATA_TRANSMISSION_HANDSHAKE. This acts provides acknowledgment of the request and information about the image that is about to be streamed:

      • type: Type of image to be streamed (same as requested type)
      • size: Image size in bytes.
      • width: Image width in pixels.
      • height: Image height in pixels.
      • packets: number of MAVLink ENCAPSULATED_DATA packets to be sent
      • payload: Size of the payload of each data packet (normally 252 bytes)
      • jpg_quality: Image quality (same as requested)

    3. The image data is then split into chunks to fit into ENCAPSULATED_DATA message and sent over MAVLink. Every packet contains a sequence number as well as the ID of the image stream it belongs to.

    4. The image streamer periodically sends new images without further interaction. Every new image comes with a new DATA_TRANSMISSION_HANDSHAKE ACK packet with updated image size, packets and payload fields. After this ACK packet, the new image arrives as a series of ENCAPSULATED_DATA packets.

      INFO

      The sequence number starts at 0 for every new image of the stream.

    5. To stop an image stream a GSC must send a new DATA_TRANSMISSION_HANDSHAKE request packet, with all 0 values. The MAVLink node will acknowledge this by sending back DATA_TRANSMISSION_HANDSHAKE also containing 0 values.

    Usage / Configuration ​

    To use the two modules on your MAV, you have to do the following steps:

    • Compile the mavconn middleware for your MAV: Guide, Github.

    • Start at least these components on the MAV:

      px_mavlink_bridge_udp &
 px_system_control --heartbeat &
 px_camera -o lcm &

    • Compile and start QGroundControl.

    • Start the image streaming component (you can add the -v flag to see some more output): px_imagestreamer.

    • Initiate the image stream: Open the HUD widget, right-click into the widget and choose Enable live Image Streaming.

    You should now be able to see the live video feed with one image per second (default, hardcoded at the moment).

    Developer ​

    Out-of-the-box, the image streaming component only implements JPEG streaming of the camera image. To implement your own image stream, you have to do the following:

    • Write a MAVLink handler, which handles requests to start image streams of your type of choice.
    • Write a data handler, which takes your desired data (i.e. a stereo camera image), encodes it into the format of your choice (i.e. rawimage, JPEG, BMP) and splits/sends the data over MAVLink.
    • Extend the data/message handler in the UAS component of QGroundControl to correctly handle your data (i.e. unpacking of the chosen format).
    • Write or extend a widget to display your data according to your wishes.
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    Microservices ​

    The MAVLink "microservices" define higher-level protocols that MAVLink systems can adopt in order to better inter-operate. For example, QGroundControl, ArduPilot and PX4 autopilots all share a common Command Protocol for sending point-to-point messages that require an acknowledgment.

    The microservices are used to exchange many types of data, including: parameters, missions, trajectories, images, other files. If the data can be far larger than can be fit into a single message, services will define how the data is split and re-assembled, and how to ensure that any lost data is re-transmitted. Other services provide command acknowledgment and/or error reporting.

    Most services use the client-server pattern, such that the GCS (client) initiates a request and the vehicle (server) responds with data.

    The main microservices are shown in the sidebar (most are listed below):

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    Landing Target Protocol ​

    The landing target services/message communicates the position of one or more targets from MAVLink positioning system(s) to an autopilot. A multicopter or VTOL system can use the message to land with far greater positional accuracy than provided by conventional GPS (GPS provides position within several meters while a landing-target system might reasonably provide centimetre-level precision landing).

    A positioning system might typically consist of an onboard companion computer with a vision system that can detect a light beacon or target image. Radio beacons and different types of visual markers and tags are also supported.

    Protocol Messages ​

    The message used by this protocol is LANDING_TARGET. This is broadcast by the positioning system to indicate the position of a particular target at a particular time.

    INFO

    The required broadcast rate depends on the landing speed and desired accuracy; start with rates between 10 Hz and 50 Hz and tune performance as needed.

    The original MAVLink 1 message was designed with the assumption that the target is captured from a downward facing camera, and provides fields that are relative to the captured image. MAVLink 2 extended the message to provide positional information in terms of standard frames (MAV_FRAME), a quaternion and the type of landing targets (LANDING_TARGET_TYPE). This allows more flexibility for the types of target that can be supported, simplifies the code required by the autopilot, and allows the autopilot to control both landing position and orientation on (some) targets.

    Different systems may support either (or presumably both) sets of fields. These are discussed below.

    Target Relative to Captured Image ​

    The LANDING_TARGET fields that are relative to a captured image are shown below:

    Field NameTypeUnitsValuesDescription
    angle_xfloatradX-axis angular offset of the target from the center of the image
    angle_yfloatradY-axis angular offset of the target from the center of the image
    distancefloatmDistance to the target from the vehicle
    size_xfloatradSize of target along x-axis
    size_yfloatradSize of target along y-axis

    The positional information can be interpreted as described below.

    Imagine a ray pointing from the camera's principal point to the target. The x angle (angle_x) is the angle spanned by that ray and the x-axis of the image plane. The same holds for the y angle (angle_y). In other words, the x angle is a function of the x pixel coordinate of the target (denoted by u̅ in the image below), the y angle is a function of the y pixel coordinate (denoted v in the image below). Using the angle rather than u̅/v̅ pixel coordinates has the advantage that the effect of the camera lens is already accounted for. Using the angle rather than u̅/v̅ pixel coordinates has the advantage that the effect of the camera lens is already accounted for.

    Landing Target Fields

    The sizes in x and y direction are analogous (size_x/size_y). They describe the angle between the smallest and biggest pixel in x/y direction respectively of the target as seen in the image.

    TIP

    ArduPilot supports messages with these fields if position_valid is 0.

    Target as Position/Quaternion (MAVLink 2 and later) ​

    The message fields that are used to provide target information as a position/quaternion are shown below. Field meaning and use is clear from the description.

    Field NameTypeUnitsValuesDescription
    frameuint8_tMAV_FRAMECoordinate frame used for following fields.
    xfloatmX Position of the landing target in MAV_FRAME
    yfloatmY Position of the landing target in MAV_FRAME
    zfloatmZ Position of the landing target in MAV_FRAME
    qfloat[4]Quaternion of landing target orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
    typeuint8_tLANDING_TARGET_TYPEType of landing target
    position_validuint8_tBoolean indicating whether these position field values are populated with valid position target information (1: valid, 0: invalid). The default is '0', so that if the fields are not populated the default-zero values are not interpreted as a valid target position.

    TIP

    • PX4 supports this form of positioning in MAV_FRAME_LOCAL_NED (only). The original (MAVLink 1) fields are ignored.
    • ArduPilot supports this form of positioning in MAV_FRAME_BODY_FRD (only). position_valid must be 1 and distance must be filled.
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    Manual Control Protocol (Joystick) ​

    The Manual Control Protocol enables controlling a system using a "standard joystick" (or joystick-like input device that supports the same axes nomenclature).

    The protocol is implemented with just the MANUAL_CONTROL message. It defines the target system to be controlled, the movement in four primary axes (x, y, z, r) and two extension axes (s, t), and two 16-bit fields to represent the states of up to 32 buttons (buttons, buttons2). Unused axes can be disabled, and the extension axes must be explicitly enabled using bits 0 and 1 of the enabled_extensions field.

    The protocol is by intent relatively simple and abstract, and provides a simple way of controlling the main motion of a vehicle, along with several arbitrary features that can be triggered using buttons.

    This allows GCS software to provide a simple level of control for many types of vehicles, and allows new vehicle types with unusual functions to operate with minimal (if any) changes to the MAVLink protocol or existing ground control station (GCS) software.

    Mapping Axes ​

    Manual control is performed in the vehicle-frame. All axis values are normalised to the range -1000 to 1000.

    Rotation-Focused Control ​

    The typical axis assignments for a thrust- and rotation-controlled vehicle (e.g. planes, multicopters) are listed below.

    fieldmotion axis+ve direction-ve direction
    xpitchforward/nose-downbackward/nose-up
    yrollright-downleft-down
    zthrustpositivenegative
    ryawcounter-clockwiseclockwise

    Directional Control ​

    Vehicles with direct control over vehicle translation directions (multicopters) typically use the following mappings.

    fieldmotion axis+ve direction-ve direction
    xforwardforwardbackward
    ylateralrightleft
    zverticalupdown
    ryawcounter-clockwiseclockwise
    spitchforward/nose-downbackward/nose-up
    trollright-downleft-down

    Mapping Buttons ​

    Button functions are vehicle/flight-stack dependent:

    • ArduPilot treats button values as user-configurable using firmware parameters (e.g. ArduCopter's BTN_FUNCn or ArduSub's BTNn_FUNCTION), through the Parameter or Extended Parameter protocols.
    • PX4 defines fixed meanings to some of the buttons values, and these are mapped to user-selected functions by the ground station.

    The buttons field is required, and corresponds to the first 16 buttons.

    buttons2 is an extension, and corresponds to the optional second set of 16 buttons.

    Alternatives ​

    Vehicles may alternatively be controlled by sending information as a set of up to 18 channel values using RC_CHANNELS_OVERRIDE. Channels can be mapped to firmware parameters using PARAM_MAP_RC, and the autopilot can use the current parameter values at each point in time to determine control actions.

    It's worth noting that the generality of RC channels control is a double-edged sword. It is incredibly versatile, and can be used to provide support for several arbitrary control axes, but the user-defined in-vehicle nature of the mapped parameters means additional setup is frequently required for compatibility with GCSs, and there are no guarantees that multiple vehicles running the same firmware will have the same channel-parameter mapping. This is a similar issue to the MANUAL_CONTROL buttons, so to minimise firmware complexity and maximise interoperability between a vehicle type and GCSs it's recommended to use targetted MAVLink commands where possible.

    구현 ​

    The protocol has been implemented in various GCSs and vehicle firmwares. These implementations can be used in your own code within the terms of their software licenses.

    Ground Control Stations ​

    The protocol has been implemented in QGroundControl and Mission Planner.

    QGroundControl implementation:

    MissionPlanner implementation:

    Vehicle Firmwares ​

    The protocol has been implemented in PX4, and in the Copter, Plane, Rover, and Sub vehicle firmwares in ArduPilot.

    PX4 Implementation:

    ArduPilot Implementations:

    Future Extensions ​

    Future extensions are likely to be handled with additional targetted MAVLink commands rather than mapping functionality in the flight controller (i.e. handling more complex inputs in the GCS to reduce vehicle firmware complexity).

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    MAVLink Id Assignment ​

    A MAVLink system consists of one or more MAVLink components that all share the same system id, and that must each have a system-unique component id. This topic explains how you can ensure that your components are updated appropriately when the system id of the autopilot is changed, and how to ensure that they each have a unique component id.

    개요 ​

    Generally MAVLink flight stacks give the autopilot component a default system id of 1 and a component id of MAV_COMP_ID_AUTOPILOT1 (also 1).

    Other MAVLink components typically also have a default system id of 1, and a component id that is the default for the component's type (such as MAV_COMP_ID_CAMERA for a MAVLink camera). This ensures that they will often work with autopilots "out of the box" when setting up a system for the first time.

    In a more complex MAVLink system you will have multiple vehicles, so you will need to assign each vehicle a unique system id, and have a mechanism to change the associated components to that same id.

    In a single system you may also have multiple components of the same type. In this case you will need to ensure that each has a unique component id.

    The following section suggests a process to allow MAVLink components to automatically update themselves with the correct ids.

    System Id Assignment ​

    First change the system ID of the autopilot component. This is usually done with a flight-stack specific parameter such as MAV_SYS_ID (PX4) or SYSID_THISMAV (ArduCopter).

    INFO

    MAV_CMD_DO_SET_SYS_CMP_ID is a work-in-progress command for setting and changing system and command ids.

    Then reboot the vehicle off-network, so that the only autopilot visible to components should be the one on the vehicle (you can disconnect your telemetry radio, for example).

    On boot, components should look for autopilot HEARTBEAT messages.

    If HEARTBEAT messages are detected from:

    • Only one autopilot within 3 seconds of the first autopilot heartbeat being detected, the component should set its system id to match that of the autopilot.
    • Multiple autopilots within the first 3 seconds then the autopilot should keep its current system id. Note that this is true even if autopilot heartbeats from corresponding autopilot are not seen.
    • No autopilots then components should keep their current system id.

    This ensures that components will latch to an unambiguous system id if available, and otherwise keep their current system id.

    Component Id Assignment ​

    Component IDs should be manually assigned by the system integrator.

    In practise most components are factory-shipped using the first "allocated" component ID for their type from the MAV_COMPONENT enum, such as MAV_COMP_ID_CAMERA for cameras, and MAV_COMP_ID_GIMBAL for gimbals. If the vehicle has only one component of a particular type, then this is usually sufficient to avoid clashes.

    When there are multiple instances of a particular component, each will need a unique id. The easiest way to do this is to sequentially allocate component IDs from the allocated ranges, such as MAV_COMP_ID_CAMERA2. The mechanisms to set and change component ids are component-dependent (and some components may not allow the component id to be changed).

    Note that in theory any component can have any id. However associating components with their well-known component ids makes it easier to, for example, associate a gimbal with a camera, or capture an image using a particular camera.

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    미션 프로토콜 ​

    The mission sub-protocol allows a GCS or developer API to exchange mission (flight plan), geofence and safe point information with a drone/component.

    The protocol covers:

    • Operations to upload, download and clear missions, set/get the current mission item number, and get notification when the current mission item has changed.
    • Message type(s) and enumerations for exchanging mission items.
    • Mission Items ("MAVLink commands") that are common to most systems.

    The protocol supports re-request of messages that have not arrived, which allows missions to be reliably transferred over a lossy link.

    Mission Types ​

    MAVLink 2 supports three types of "missions": flight plans, geofences and rally/safe points. The protocol uses the same sequence of operations for all types (albeit with different types of Mission Items). The mission types must be stored and handled separately/independently.

    Mission protocol messages include the type of associated mission in the mission_type field (a MAVLink 2 message extension). The field takes one of the MAV_MISSION_TYPE enum values: MAV_MISSION_TYPE_MISSION, MAV_MISSION_TYPE_FENCE, MAV_MISSION_TYPE_RALLY.

    INFO

    MAVLink 1 supports only "regular" flight-plan missions (this is implied/not explicitly set).

    Mission items for all the mission types are defined in the MAV_CMD enum.

    INFO

    MAV_CMD is used to define commands that can be used in missions ("mission items") and commands that can be sent outside of a mission context (using the Command Protocol). Some MAV_CMD can be used with both mission and command protocols. Not all commands/mission items are supported on all systems (or for all flight modes).

    The items for the different types of mission are identified using a simple name prefix convention:

    Mission items (MAV_CMD) are transmitted/encoded in MISSION_ITEM_INT messages. This message includes fields to identify the particular mission item (command id) and up to 7 command-specific optional parameters.

    Field NameTypeValuesDescription
    commanduint16_tMAV_CMDCommand id, as defined in MAV_CMD.
    param1floatParam #1.
    param2floatParam #2.
    param3floatParam #3.
    param4floatParam #4.
    param5 (x)int32_tX coordinate (local frame) or latitude (global frame) for navigation commands (otherwise Param #5).
    param6 (y)int32_tY coordinate (local frame) or longitude (global frame) for navigation commands (otherwise Param #6).
    param7 (z)floatZ coordinate (local frame) or altitude (global - relative or absolute, depending on frame) (otherwise Param #7).

    The first four parameters (shown above) can be used for any purpose - this depends on the particular command. The last three parameters (x, y, z) are used for positional information in MAV_CMD_NAV_* commands, but can be used for any purpose in other commands.

    The remaining message fields are used for addressing, defining the mission type, specifying the reference frame used for x, y, z in MAV_CMD_NAV_* messages, etc.:

    Field NameTypeValuesDescription
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    sequint16_tSequence number for item within mission (indexed from 0).
    frameuint8_tMAV_FRAME| | frame | uint8_t | MAV_FRAME | The coordinate system of the waypoint.
    ArduPilot and PX4 both only support global frames in MAVLink commands (local frames may be supported if the same command is sent via the command protocol).
    mission_typeuint8_tMAV_MISSION_TYPEMission type.
    currentuint8_tfalse:0, true:1When downloading, whether the item is the current mission item.
    autocontinueuint8_tAutocontinue to next waypoint when the command completes.

    Message/Enum Summary ​

    The following messages and enums are used by the service.

    MessageDescription
    MISSION_REQUEST_LISTInitiate mission download from a system by requesting the list of mission items.
    MISSION_COUNTSend the number of items in a mission. This is used to initiate mission upload or as a response to MISSION_REQUEST_LIST when downloading a mission.
    MISSION_REQUEST_INTRequest mission item data for a specific sequence number be sent by the recipient using a MISSION_ITEM_INT message. Used for mission upload and download.
    MISSION_ITEM_INTMessage encoding a mission item/command (defined in a MAV_CMD). Used for mission upload and download.
    MISSION_ACKAcknowledgment message when a system completes a mission operation (e.g. sent by autopilot after it has uploaded all mission items). The message includes a MAV_MISSION_RESULT indicating either success or the type of failure.
    MISSION_CURRENTMessage containing the current mission item sequence number. This is streamed and also emitted when the current mission item is set/changed.
    MISSION_SET_CURRENTSet the current mission item by sequence number (continue to this item on the shortest path).
    STATUSTEXTSent to notify systems when a request to set the current mission item fails.
    MISSION_CLEAR_ALLMessage sent to clear/delete all mission items stored on a system.
    MISSION_ITEM_REACHEDMessage emitted by system whenever it reaches a new waypoint. Used to monitor progress.
    CommandDescription
    MAV_CMD_DO_SET_MISSION_CURRENTSet current mission item and optionally reset mission counter. Supersedes MISSION_SET_CURRENT.
    EnumDescription
    MAV_MISSION_TYPEMission type for message (mission, geofence, rallypoints).
    MAV_MISSION_RESULTUsed to indicate the success or failure reason for an operation (e.g. to upload or download a mission). This is carried in a MISSION_ACK.
    MAV_FRAMECo-ordinate frame for position/velocity/acceleration data in the message.
    MAV_CMDMission Items (and MAVLink commands) sent in MISSION_ITEM_INT.

    Deprecated Types: MISSION_ITEM ​

    The legacy version of the protocol also supported MISSION_REQUEST for requesting that a mission be sent as a sequence of MISSION_ITEM messages.

    Both MISSION_REQUEST and MISSION_ITEM messages are now deprecated, and should no longer be sent. If MISSION_REQUEST is recieved the system should instead respond with MISSION_ITEM_INT items (as though it received MISSION_REQUEST_INT).

    Frames & Positional Information ​

    By convention, mission items use param5, param6, param7 for positional information when needed (and otherwise as "free use" parameters). The table below shows that the positional parameters can be local (x, y, z), global (latitude, longitude, altitude), and also the data type used to store the parameters in the MISSION_ITEM_INT message.

    paramtypeLocalGlobal
    param5int32_txLatitude
    param6int32_tyLongitude
    param7floatzAltitude (global - relative or absolute)

    The co-ordinate frame of positional parameters is defined in the MISSION_ITEM_INT.frame field using a MAV_FRAME value.

    The global frames are prefixed with MAV_FRAME_GLOBAL_*. Mission items should use frame variants that have the suffix _INT: e.g. MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, MAV_FRAME_GLOBAL_INT, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT. When using these frames, latitude and longitude values must be encoded by multiplying the degrees by 1E7 (e.g. the latitude 69.69000000 would be sent as 69.69000000x1E7 = 696900000). Using int32 of degrees * 10^7 has higher resolution than could be achieved with single floating point.

    A number of local frames are also specified. Local frame position values that are sent in integer field parameters must be encoded as position in meters x 1E4 (e.g. 5m would be encoded and sent as 50000). If sent in messages float parameter fields the value should be sent as-is.

    INFO

    Don't use the non-INT global frames in mission items (e.g. MAV_FRAME_GLOBAL_RELATIVE_ALT). These are intended to be used with messages that have float fields for positional information, e.g.: MISSION_ITEM (deprecated), COMMAND_LONG. If these frames are used, position values should be sent unencoded (i.e. no need to multiply by 1E7).

    INFO

    As above, in theory if a global non-INT frame variant is set for a MISSION_ITEM_INT the position value should be sent as-is (not encoded). This will result in the value being rounded when it is sent in the integer value, which will make the value unusable. In practice, many systems will assume you have encoded the value, but you should test this for your particular flight stack. Better just to use the correct frames!

    WARNING

    Don't use MAV_FRAME_MISSION for mission items that contain positional data; this does not correspond to any particular real frame, and so will be ambiguous. MAV_FRAME_MISSION should be used for mission items that use params5 and param6 for other purposes.

    Param 5, 6 For Non-Positional Data ​

    Param5, param6, param7 may also be used for non-positional information. In this case the MISSION_ITEM_INT.frame should be set to MAV_FRAME_MISSION (this is equivalent to say "the frame data is irrelevant").

    As param5 and param6 are sent in integer fields, generally you should design mission items/MAV_CMDs such that these only include integer data (and are sent as-is/unscaled). If these must be used for real numbers and scaling is required, then this must be noted in the mission item itself.

    Operations ​

    This section defines all the protocol operations.

    Detecting Mission/Plan Changes ​

    Mission upload and download can be expensive operations, in particular for large missions. A GCS can avoid unnecessary uploads and downloads by first checking whether it has a matching id(s) for the corresponding plan on the vehicle.

    The current id for different parts of the plan are streamed in MISSION_CURRENT message, using the appropriately named fields: mission_id, fence_id, rally_points_id. These values are 0 if there is no plan uploaded, or if detecting plan changes is not supported by the flight stack.

    The IDs are generated by the flight stack when a new mission, rally point, or geofence, is uploaded to the vehicle (at which point it also starts publishing the value in MISSION_CURRENT). MAVLink puts no particular requirements on how the "opaque_id" values are calculated by the flight stack (this is why they are named "opaque"). The only expectation is that the scheme used makes it unlikely that the GCS will incorrectly determine that it has a matching plan (a flight stack might use file hashes, plan checksums, pseudo-random numbers, or some other technique).

    On upload, the generated ID is sent to the GCS in the final part of the upload sequence in the MISSION_ACK.opaque_id field. On download, the stored ID is sent to the GCS in the MISSION_COUNT.opaque_id field.

    The GCS should store the value of the ID from the flight stack as the "current id" for whatever part of the plan was uploaded/download. It can then monitor MISSION_CURRENT, and check its cached values against the current plan ids to determine whether it has a matching mission, or needs to download the mission from the vehicle.

    Upload a Mission to the Vehicle ​

    The diagram below shows the communication sequence to upload a mission to a drone (assuming all operations succeed).

    WARNING

    Mission update must be robust! A new mission should be fully uploaded and accepted before the old mission is replaced/removed.

    ::: Mission upload/download can be bandwidth intensive and time consuming Check for plan changes before uploading (or downloading) a mission. :::

    Mission Upload Sequence

    In more detail, the sequence of operations is:

    1. GCS sends MISSION_COUNT including the number of mission items to be uploaded (count).
      • A timeout must be started for the GCS to wait on the response from Drone (MISSION_REQUEST_INT).
    2. Drone receives message and responds with MISSION_REQUEST_INT requesting the first mission item (seq==0).
      • A timeout must be started for the Drone to wait on the MISSION_ITEM_INT response from GCS.
    3. GCS receives MISSION_REQUEST_INT and responds with the requested mission item in a MISSION_ITEM_INT message.
    4. Drone and GCS repeat the MISSION_REQUEST_INT/MISSION_ITEM_INT cycle, iterating seq until all items are uploaded (seq==count-1).
    5. After receiving the last mission item the drone responds with MISSION_ACK with the type of MAV_MISSION_ACCEPTED indicating mission upload completion/success.
      • The drone should set the new mission to be the current mission, discarding the original data.
      • The drone considers the upload complete.
    6. GCS receives MISSION_ACK containing MAV_MISSION_ACCEPTED to indicate the operation is complete.
      • The GCS should store MISSION_ACK.opaque_id (the current id of the uploaded plan) and can use it later to check for plan changes.

    Notes:

    • A timeout is set for every message that requires a response (e.g. MISSION_REQUEST_INT). If the timeout expires without a response being received then the request must be resent.
    • Mission items must be received in order. If an item is received out-of-sequence the expected item should be re-requested by the vehicle (the out-of-sequence item is dropped).
    • An error can be signaled in response to any request using a MISSION_ACK message containing an error code. This must cancel the operation and restore the mission to its previous state. For example, the drone might respond to the MISSION_COUNT request with a MAV_MISSION_NO_SPACE if there isn't enough space to upload the mission.
    • The sequence above shows the mission items packaged in MISSION_ITEM_INT messages. Protocol implementations must also support MISSION_ITEM and MISSION_REQUEST in the same way.
    • Uploading an empty mission (MISSION_COUNT is 0) has the same effect as clearing the mission.

    Download a Mission from the Vehicle ​

    INFO

    Mission upload/download can also be bandwidth intensive and time consuming. Check for plan changes before downloading (or uploading) a mission.

    The diagram below shows the communication sequence to download a mission from a drone (assuming all operations succeed).

    Sequence: Download mission

    The sequence is similar to that for uploading a mission. The main difference is that the client (e.g. GCS) sends MISSION_REQUEST_LIST, which triggers the autopilot to respond with the current count of items (MISSION_COUNT). This starts a cycle where the GCS requests mission items, and the drone supplies them.

    Note:

    • The MISSION_COUNT.opaque_id is the stored ID of the part of the plan that is being uploaded from the vehicle. This should be stored by the GCS so that it can later check that its plan matches that on the vehicle.
    • A timeout is set for every message that requires a response (e.g. MISSION_REQUEST_INT). If the timeout expires without a response being received then the request must be resent.
    • Mission items must be received in order. If an item is received out-of-sequence the expected item should be re-requested by the GCS (the out-of-sequence item is dropped).
    • An error can be signaled in response to any request using a MISSION_ACK message containing an error code. This must cancel the operation.
    • The sequence above shows the mission items packaged in MISSION_ITEM_INT messages. Protocol implementations must also support MISSION_ITEM and MISSION_REQUEST in the same way.

    Set Current Mission Item ​

    The diagram below shows the communication sequence to set the current mission item.

    Mermaid Diagram: Set mission item

    In more detail, the sequence of operations is:

    1. GCS/App sends MAV_CMD_DO_SET_MISSION_CURRENT (or MISSION_SET_CURRENT), specifying the new sequence number (seq).
    2. Drone receives message and attempts to update the current mission sequence number.
      • On success, the Drone must broadcast a MISSION_CURRENT message containing the current sequence number (seq).
      • On failure, the Drone must broadcast a STATUSTEXT with a MAV_SEVERITY and a string stating the problem. This may be displayed in the UI of receiving systems.

    Notes:

    • There is no specific timeout on MISSION_SET_CURRENT message.
    • The acknowledgment of the message is via broadcast of mission/system status, which is not associated with the original message. This differs from error handling in other operations. This approach is used because the success/failure is relevant to all mission-handling clients.

    Monitor Mission Progress ​

    GCS/developer API can monitor progress by handling the appropriate messages sent by the drone:

    Clear Missions ​

    The diagram below shows the communication sequence to clear the mission from a drone (assuming all operations succeed).

    Mermaid Diagram: Clear Missions

    In more detail, the sequence of operations is:

    1. GCS/API sends MISSION_CLEAR_ALL
      • A timeout is started for the GCS to wait on MISSION_ACK from Drone.
    2. Drone receives the message, and clears the mission from storage.
    3. Drone responds with MISSION_ACK with result type of MAV_MISSION_ACCEPTEDMAV_MISSION_RESULT.
    4. GCS receives MISSION_ACK and clears its own stored information about the mission. The operation is now complete.

    Note:

    • A timeout is set for every message that requires a response (e.g. MISSION_CLEAR_ALL). If the timeout expires without a response being received then the request must be resent.
    • An error can be signaled in response to any request (in this case, just MISSION_CLEAR_ALL) using a MISSION_ACK message containing an error code. This must cancel the operation. The GCS record of the mission (if any) should be retained.

    Canceling Operations ​

    The above mission operations may be canceled by responding to any request (e.g. MISSION_REQUEST_INT) with a MISSION_ACK message containing the MAV_MISSION_OPERATION_CANCELLED error.

    Both systems should then return themselves to the idle state (if the system does not receive the cancellation message it will resend the request; the recipient will then be in the idle state and may respond with an appropriate error for that state).

    Operation Exceptions ​

    Timeouts and Retries ​

    A timeout should be set for all messages that require a response. If the expected response is not received before the timeout then the message must be resent. If no response is received after a number of retries then the client must cancel the operation and return to an idle state.

    The recommended timeout values before resending, and the number of retries are:

    • Timeout (default): 1500 ms
    • Timeout (mission items): 250 ms.
    • Retries (max): 5

    Errors/Completion ​

    All operations complete with a MISSION_ACK message containing the result of the operation (MAV_MISSION_RESULT) in the type field.

    On successful completion, the message must contain type of MAV_MISSION_ACCEPTED; this is sent by the system that is receiving the command/data (e.g. the drone for mission upload or the GCS for mission download).

    An operation may also complete with an error - MISSION_ACK.type set to MAV_MISSION_ERROR or some other error code in MAV_MISSION_RESULT. This can occur in response to any message/anywhere in the sequence.

    Errors are considered unrecoverable. In an error is sent, both ends of the system should reset themselves to the idle state and the current state of the mission on the vehicle should be unaltered.

    Note:

    • timeouts are not considered errors.
    • Out-of-sequence messages in mission upload/download are recoverable, and are not treated as errors.

    Mission File Formats ​

    The defacto standard file format for exchanging missions/plans is discussed in: File Formats > Mission Plain-Text File Format.

    Mission Command Detail ​

    This section is for clarifications and additional information about common mission items. In particular it is intended for cases that are difficult to document in the specification XML, or when images will much better describe expected behaviour.

    Loiter Commands (MAV_CMD_NAV_LOITER_*) ​

    Loiter commands are provided to allow a vehicle to hold at a location for a specified time or number of turns, until it reaches the specified altitude, or indefinitely. Multicopter vehicles stop at the specified point (within a vehicle-specific acceptance radius that is not set by the mission item). Forward-moving vehicles (e.g. fixed-wing) circle the point with the specified radius/direction.

    The commands are:

    The location and fixed-wing loiter radius parameters are common to all commands:

    Param (:Label)DescriptionUnits
    3: RadiusRadius around waypoint. If positive loiter clockwise, else counter-clockwisem
    5: LatitudeLatitude
    6: LongitudeLongitude
    7: AltitudeAltitudem

    The loiter time and turns are set in param 1 for the respective messages. The direction of loiter for MAV_CMD_NAV_LOITER_UNLIM can be set using param4 (Yaw).

    INFO

    The remaining parameters (xtrack and heading) apply only to forward flying aircraft (not multicopters!)

    Xtrack and heading define the location at which a forward flying (fixed wing) vehicle will exit the loiter circle, and its path to the next waypoint (these apply only to apply to only MAV_CMD_NAV_LOITER_TIME and MAV_CMD_NAV_LOITER_TURNS).

    Param (:Label)DescriptionUnits
    2: Heading RequiredLeave loiter circle only once heading towards the next waypoint (0 = False)min:0 max:1 increment:1
    4: Xtrack LocationSets xtrack path or exit location: 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use the current system default xtrack behaviour.

    The recommended values (and resulting paths) are those shown below.

    Loiter heading

    The vehicle leaves the loiter after it reaches the desired number of turns or time and based on both the heading required and xtrack params.

    A heading required of 1 prevents the vehicle from exiting the loiter unless it is heading towards the next waypoint (if 0 it can leave at any point provided the other conditions are met). With this setting the vehicle can leave at any point in the arc shown, provided it meets the other conditions (e.g. xtrack). If necessary (i.e. it is not in the arc when the other conditions are met), the vehicle will loop back around the loiter before it evaluates the xtrack condition.

    Loiter heading

    The Xtrack parameter independently defines the path and exit location:

    • xtrack=0: Exit the loiter circle and converge to the centre xtrack between this and the next waypoint.

      • If the heading required parameter is not set it will exit the loiter immediately.
      • Otherwise it will leave as soon as it is heading towards the next waypoint (which may also be immediately!)

    • xtrack=1: Exit the loiter circle and fly/converge to the straight line between the exit point and the centre of the next waypoint (i.e. don't converge to the centre xtrack).

      • If the heading required parameter is set it will exit the loiter as soon as it is heading towards the next waypoint (which may be immediately!).
      • If the heading required parameter is not set it will exit the loiter immediately (note that this exit path does not make much sense unless the heading parameter is set).

    • xtrack=NaN: Exit the loiter using "system specific default behaviour".

      • The vehicle must still respect the heading required param.
      • Usually this is synonymous with xtrack=0

    • xtrack=any other value: Exit the loiter when the vehicle heading (tangent) makes the specified angle in degrees to the center xtrack. Converge to the center xtrack. The vehicle must still respect the heading required param (some xtrack values may not be possible with this condition true). This allows callers to specify how quickly the vehicle converges to the center xtrack. For example, the image below shows the vehicle exiting the loiter at 30 degrees.

      Loiter angle

    구현 ​

    PX4 ​

    The protocol has been implemented in C.

    Source code:

    The implementation status is (at time of writing):

    • Flight plan missions:
      • upload, download, clearing missions, and monitoring progress are supported as defined in this specification.
    • Geofence missions" are supported as defined in this specification.
    • Rally point "missions" are not supported on PX4.

    Mission operation cancellation works for mission download (sets system to idle). Mission operation cancellation does not work for mission uploading; PX4 resends MISSION_REQUEST_INT until the operation times out.

    Source code:

    QGroundControl ​

    The protocol has been implemented in C++.

    Source code:

    ArduPilot ​

    ArduPilot implements the mission protocol in C++.

    ArduPilot uses the same messages and message flow described in this specification. There are (anecdotally) some implementation differences that affect compatibility. These are documented below.

    Source:

    Flight Plan Missions ​

    Mission upload, download, clearing missions, and monitoring progress are supported.

    INFO

    ArduPilot implements also partial mission upload using MISSION_WRITE_PARTIAL_LIST, but not partial mission download (MISSION_REQUEST_PARTIAL_LIST). Partial mission upload/download is not an official/standardised part of the mission service.

    ArduPilot's implementation differs from this specification (non-exhaustively):

    • The first mission sequence number (seq==0) is populated with the home position of the vehicle instead of the first mission item.
    • Mission uploads are not "atomic". An upload that fails (or is canceled) part-way through will not match the pre-update state. Instead it may be a mix of the original and new mission.
    • Even if upload is successful, the vehicle mission may not match the version on the uploading system (and if the mission is then downloaded it will differ from the original).
      • There is rounding on some fields (and in some cases internal maximum possible values due to available storage space). Failures can occur if you do a straight comparison of the float params before/after upload.
    • A MISSION_ACK returning an error value (NACK) does not terminate the upload (i.e. it is not considered an unrecoverable error). As long as ArduPilot has not yet timed-out a system can retry the current mission item upload.
    • A mission cannot be cleared while it is being executed (i.e. while in Auto mode). Note that a new mission can be uploaded (even a zero-size mission - which is equivalent to clearing).
    • Explicit cancellation of operations is not supported. If one end stops communicating the other end will eventually timeout and reset itself to an idle/ready state.

    The following behaviour is not defined by the specification (but is still of interest):

    • ArduPilot performs some validation of fields when mission items are submitted. The validation code is common to all vehicles; mission items that are not understood by the vehicle type are accepted on upload but skipped during mission execution.
    • ArduPilot preforms some vehicle-specific validation at mission runtime (e.g. of jump targets).
    • A new mission can be uploaded while a mission is being executed. In this case the current waypoint will be executed to completion even if the waypoint sequence is different in the new mission (to get the new item you would need to reset the sequence or switch in/out of auto mode).
    • ArduPilot missions are not stored in an SD card and therefore have a vehicle/board-specific maximum mission size (as a benefit, on ArduPilot, missions can survive SD card failure in flight).

    Geofence & Rally Point Plans ​

    QGroundControl is the reference implementation for mission / rally point plans.

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    Offboard Control Interface ​

    The offboard control interface allows an external controller to send low-level attitude, position, velocity, and/or acceleration setpoints to the vehicle.

    This is commonly used to provide external control of a real-time flight stack from a companion/mission computer, for example, in order to implement features such as obstacle avoidance or collision prevention.

    Generally setpoints are only obeyed in a specific flight-stack mode. The flight stack requires the setpoints to be recieved for some time before it will allow the mode to be enabled, and will switch out of the mode if setpoints are no longer received.

    The particular types of setpoints that are supported, if any, depend on the vehicle type and flight stack.

    Message/Enum Summary ​

    MessageDescription
    SET_POSITION_TARGET_LOCAL_NEDSets a desired vehicle position, velocity, and/or accelaration setpoint in a local north-east-down coordinate frame.
    SET_POSITION_TARGET_GLOBAL_INTSets a desired vehicle position, velocity, and/or acceleration in a global coordinate system (WGS84)
    SET_ATTITUDE_TARGETSets a desired vehicle attitude.
    POSITION_TARGET_LOCAL_NEDPublishes current local NED target (set by SET_POSITION_TARGET_LOCAL_NED).
    POSITION_TARGET_GLOBAL_INTPublishes current global target (set by SET_POSITION_TARGET_GLOBAL_INT).
    ATTITUDE_TARGETPublishes current attitude target (set by SET_ATTITUDE_TARGET).
    EnumDescription
    MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NEDFlight stack supports SET_POSITION_TARGET_LOCAL_NED.
    MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INTFlight stack supports SET_POSITION_TARGET_LOCAL_NED.
    MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGETFlight stack supports SET_ATTITUDE_TARGET.

    Feature support ​

    Test for setter message support by checking AUTOPILOT_VERSION.capabilities for the associated protocol bit: MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NED, MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INT, MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGET.

    Note that support for the protocol/message does not imply that every vehicle will support every possible combination of parameters. This can only be inferred from the flight stack documentation.

    구현 ​

    PX4 supports this protocol in Offboard mode. The allowed setpoints are documented at that link, and depend on the vehicle type.

    ArduPilot supports this protocol in Guided mode. The supported messages for each vehicle type are covered in:

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    Open Drone ID ​

    Direct Remote Identification (DRI) or Remote ID (RID) is/will be a mandatory technology for Unmanned Aircraft (UA) in Japan, the United States of America and the European Union. Data such as the UA real-time location/altitude, UA serial number, operator ID/location etc. are broadcast via either Wi-Fi or Bluetooth from the UA. Open Drone ID is an open source implementation of RID.

    The terms Remote ID and drone ID are used interchangeably in the text below.

    Relevant specifications ​

    The MAVLink messages defined for usage with Open Drone ID are compliant with the following standards:

    • ASTM F3411 Specification for Remote ID and Tracking
    • ASD-STAN prEN 4709-002 Direct Remote Identification

    For additional details, please see here. In general, the front page of the opendroneid core-c repository has lots of pointers to additional information and SW projects related to drone ID.

    Broadcast methods and impact on the message design ​

    Four different broadcast methods are defined:

    • Bluetooth Legacy Advertising (Bluetooth 4.x)
    • Bluetooth Long Range with Extended Advertising (Bluetooth 5.x)
    • Wi-Fi Neighbor-aware Network (Wi-Fi NaN)
    • Wi-Fi Beacon (vendor specific information element in the SSID beacon frame)

    The broadcast method used with Bluetooth Legacy Advertising signals impose a strict size limitation on the amount of data that can be transmitted in each radio burst. Therefore the relevant data is divided into different categories and each category is transmitted via its own message.

    The standards defines 6 such messages and an additional 7th message type for packing multiple messages together into a message pack (used when transmitting on Wi-Fi NaN, Wi-Fi Beacon or Bluetooth Long Range with Extended Advertising). To support easy data transfers to/from a Remote ID (RID) transmitter/receiver component, MAVLink messages supporting all the fields of the drone ID messages have been made available. See Messages below.

    Use case examples ​

    There are multiple possible use cases for the MAVLink drone ID messages:

    • A flight controller sends ID, location etc. data to an onboard Bluetooth/Wi-Fi RID transmitter component.
    • An onboard Bluetooth/Wi-Fi receiver picks up drone ID messages from surrounding aircraft, relays this information using MAVLink drone ID messages to the flight controller, which then uses the information e.g. for Detect And Avoid (DAA) calculations.
    • A drone sends MAVLink drone ID messages via its control link to the Ground Control Station (GCS). The GCS is connected via the Internet to a Remote ID server, which stores and publishes the drone's ID, location etc.
    • As above but in the other direction for DAA calculations.
    • A Remote ID Display application (RID) on the GCS listens to all drone ID data received from surrounding UAs and displays their position to the operator.

    Messages ​

    The ASTM, ASD-STAN and MAVLink messages are listed below.

    ASTMASD-STANMAVLinkPurpose
    Basic IDBasic IDOPEN_DRONE_ID_BASIC_IDProvides an ID for the UA, characterizes the type of ID and identifies the type of UA.
    LocationLocationOPEN_DRONE_ID_LOCATIONProvides location, altitude, direction, and speed of the UA.
    AuthenticationNot specified (reserved)OPEN_DRONE_ID_AUTHENTICATIONProvides authentication data for the UA.
    Self-IDSelf-IDOPEN_DRONE_ID_SELF_IDOptional plain text message that can be used by operators to identify themselves and the purpose of an operation. Can also be used to provide optional additional clarification in an emergency/remote ID system failure situation.
    SystemSystemOPEN_DRONE_ID_SYSTEMIncludes the operator location/altitude, multiple aircraft information (group/swarm, if applicable), full timestamp and possible category/class information.
    Operator IDOperator IDOPEN_DRONE_ID_OPERATOR_IDProvides the operator ID.
    Message PackMessage PackOPEN_DRONE_ID_MESSAGE_PACKA payload mechanism for combining the messages above into a single message pack. Used with Bluetooth Extended Advertising, Wi-Fi NaN and Wi-Fi Beacon.
    __OPEN_DRONE_ID_ARM_STATUSSent by RID transmitter/receiver components to indicate that the RID system is "ready to use". This should be used as an arming condition for the flight stack. Note that this differs from the HEARTBEAT which indicates that the component is "alive" but not necessarily ready to use.
    __OPEN_DRONE_ID_SYSTEM_UPDATEA subset of the OPEN_DRONE_ID_SYSTEM message, containing only the fields that must be updated at a high rate. Typically sent from the GCS to provide data to the RID transmitter component. If both OPEN_DRONE_ID_SYSTEM and OPEN_DRONE_ID_SYSTEM_UPDATE are used, the more efficient OPEN_DRONE_ID_SYSTEM_UPDATE will be used at a high rate and the full OPEN_DRONE_ID_SYSTEM at a low rate, to reduce the traffic on the control link.

    INFO

    The raw byte layout of the MAVLink messages is not exactly the same as what a RID Bluetooth/Wi-Fi transmitter component will broadcast over the air. Slight compression is applied. Example code for this conversion can be found in the project: Open Drone ID Core C Library.

    The Open Drone ID Core C Library contains code for decoding the MAVLink messages and "compressing" the data into data structures for broadcast over Bluetooth or Wi-Fi (or vice-versa for reception).

    The standards do not impose any requirements for a drone to be capable of receiving drone ID messages, nor any requirements for reacting to their content (requirements from local legislation might be different).

    An example Android receiver implementation for Bluetooth/Wi-Fi drone ID is available here (source codes).

    Code related to (Internet) Network Remote ID can be found in the InterUSS Project and https://github.com/uastech/standards (Unofficial reference for UAS-related APIs).

    Message update rates ​

    ASTM F3411 and ASD-STAN prEN 4709-002 (and possibly other standards) require that the LOCATION message is broadcast/published from the RID transmitter component at least once per second. The rest of the messages must be broadcast/published once per 3 seconds (the rules in some regions have tightened this requirement to 1 second for also the BASIC ID and the SYSTEM message. Please see here).

    Not all message types or fields within a message type are mandatory to broadcast/publish. The mandatory message set vary from region to region. Please see the summary.

    The standards require that the data contained in the LOCATION and the SYSTEM messages (on the air/internet) is not older than 1 second (the location data, timestamps etc.).

    To be compliant in different regions and receive certification acceptance, the UAS as a complete entity must obey the above timing restrictions. Although popular autopilot SW stacks will be verified to be capable of this, the compliance testing will have been done using a certain set of HW/SW components. Any deviation from this set, will require the integrator of the UAS to consider the combination of the above requirements when deciding the internal update rates for each component, in the MAVLink network, generating data for the RID transmitter component.

    It must be expected that there will be some delays from e.g. the GCS sending a SYSTEM message via the flight controller to the RID transmitter component. The RID transmitter component will gather this data plus data from other messages together and generate the final message data set, which is broadcast over the air. Each of these components will be running on their own update and forward/relay cycle and can thus introduce delays. I.e. running everything at exactly one second cycles, probably will lead to violations of the data "freshness" requirement. But going to the other extreme of forcing all messages to be at 10+ Hz would likely lead to unnecessary airwave noise on the (Command and Control) C2 link/Wi-Fi/Bluetooth spectrum. Components are expected to tune refresh rates to ensure compliance, without saturating internal communication links.

    RID broadcasting using Bluetooth 4 Legacy Advertising introduces additional complexity to this. For Bluetooth 5 or Wi-Fi Beacon/NaN, all messages are packed together and broadcast in a single advertisement by the RID transmitter component. Bluetooth 4 advertisements can only contain 25 bytes and thus can fit only a single message. Since typically at least three messages must be broadcast on the air per second, the BT4 RID transmitter component must advertise at least every 333 ms.

    Routing drone ID MAVLink messages inside the UAS ​

    There can be multiple MAVLink components in an UAS involved in the handling of drone ID data. An example is shown in the figure below. Certainly not all UAS will contain all of these components and the placement of some of them can be different from one system to another.

    drone ID conceptual overview

    All senders of MAVLink drone ID messages must fill the sysid field with the MAVLink system ID value that the MAVLink sender component belongs to and fill the compid field with the MAVLink component ID value of the sender.

    The MAVLink components or systems that will typically generate drone ID MAVLink messages are listed in the table below:

    Component/SystemDescription
    MAV_COMP_ID_AUTOPILOT1The flight controller/autopilot. Knows the ID of the UA, the current location, altitude, speed etc.
    Ground Control StationGCS with a human user interface for inputting the operator ID, text description of the flight purpose, method for obtaining the operator location etc.
    MAV_COMP_ID_ODID_TXRX_1A Remote ID transmitter/receiver component (Bluetooth/Wi-Fi/Internet).
    MAV_COMP_ID_ODID_TXRX_2A Remote ID transmitter/receiver component (Bluetooth/Wi-Fi/Internet).
    MAV_COMP_ID_ODID_TXRX_3A Remote ID transmitter/receiver component (Bluetooth/Wi-Fi/Internet).

    The autopilot/flight controller is typically the component that knows about the data needed for the BASIC ID and the LOCATION messages. It must stream MAVLink messages with this information to the RID transmitter component.

    The Ground Control Station system is the interface for the operator of the UAS. The operator must enter the data needed for the SELF_ID, the SYSTEM and the OPERATOR_ID, messages before the flight. The GCS must send this data via MAVLink messages to the RID transmitter component (possibly via the autopilot component). If the GCS is capable of regularly obtaining its own location, these updates are sent in the SYSTEM message together with a full timestamp.

    The UAS has one or more RID transmitter components for publishing the drone ID data to the rest of the world, either via Bluetooth or Wi-Fi broadcasts, or via an internet connection to an internet Remote ID server. The RID transmitter components will listen to the MAVLink messages from the flight controller and the GCS but must ignore MAVLink messages where the compid field is set to MAV_COMP_ID_ODID_TXRX_1, MAV_COMP_ID_ODID_TXRX_2 or MAV_COMP_ID_ODID_TXRX_3 (those MAVLink messages would have originated from a RID receiver component and would be the drone ID information from other UAs). The method for the RID transmitter components to identify MAVLink messages from the GCS, is described in the Heartbeat section below.

    The MAVLink components in the UAS involved in the drone ID MAVLink message exchange, must keep track of the HEARTBEAT MAVLink messages from the other MAVLink components. If the HEARTBEAT messages are not received within a required time interval, they must declare a malfunction of the Remote ID system and indicate this in the status field of the LOCATION message. This must also be indicated to the operator of the UAS.

    Similarly, the autopilot must listen to the ARM_STATUS from the RID transmitter component(s) and not allow the UA to be airborne before the RID transmitter component(s) is ready. During flight, if the arm status indicates a failure, similar action must be taken as for a lack of HEARTBEAT messages from the RemoteID. The ARM_STATUS message must also be routed to a GCS, if present, allowing it to provide more detailed information about RemoteID arming failures.

    INFO

    In addition to the above, there are multiple additional different scenarios that must result in the Location status field being set to Emergency or Remote ID System Failure. The exact strategy on how to avoid having multiple MAVLink components overwriting each-others emergency declarations is not yet fully defined. Some preliminary discussion can be found here.

    Optionally, further restrictions on which RID transmitter/receiver component must process a MAVLink message can be enforced if the sender fills the target_system and target_component fields of the MAVLink message. RID transmitter/receiver components must only listen to MAVLink messages that have these fields set to either zero (broadcast) or the component's own MAVLink system ID and component ID. This can be useful if e.g. there are two UA connected to a single GCS. The GCS can then direct information to specific MAV_COMP_ID_ODID_TXRX_x components on a specific UA. By default, all senders of drone ID MAVLink messages must fill the target_system and target_component fields with zero, to indicate a broadcast to all MAVLink components.

    Open Drone ID data from other UA(s) ​

    It is possible that the RID transmitter components also work as receivers, for obtaining drone ID data from surrounding UAs. When publishing the received drone ID data as internal MAVLink messages, they must set the compid field to their own MAV_COMP_ID_ODID_TXRX_n ID to make it possible to distinguish this data from the drone ID data of the UA itself. Also the systemid field must be set with the MAVLink system ID value that the RID receiver component belongs to.

    At least two possible consumers of drone ID data from surrounding aircraft are possible:

    • A Detect And Avoid (DAA) system that tracks the current and estimated future positions of other UAs and takes that into account when setting the flight path of the UA itself.
    • A Remote ID Display (RID) application that visually shows the surrounding UA's locations (and possibly past and estimated future flight paths) to the operator of the UA, in order for him/her to utilize this information when controlling the UA.

    See below on how to combine remote ID data from other UAs.

    Heartbeat ​

    Each component involved in the MAVLink message exchange, is required to regularly send out MAVLink HEARTBEAT messages in order to facilitate discovery and monitoring of the component in the UAS. Please see further details in the HEARTBEAT documentation.

    For RID transmitter/receiver components (with compids MAV_COMP_ID_ODID_TXRX_1, MAV_COMP_ID_ODID_TXRX_2 or MAV_COMP_ID_ODID_TXRX_3), the type field in the HEARTBEAT message must be filled with MAV_TYPE_ODID.

    The MAVLink HEARTBEAT message serves as the way for RID transmitter/receiver components to identify the sysid of the GCS. The GCS will send out MAVLink HEARTBEAT messages with its sysid field set to the GCS's MAVLink system ID and the type set to MAV_TYPE_GCS. The RID transmitter/receiver components must interpret all MAVLink Open Drone ID messages from that system ID, as coming from the GCS. There is no dedicated MAVLink component ID for GCSs, hence the MAVLink system ID must be used instead for identifying the GCS.

    Possible future improvements ​

    The current set of MAVLink drone ID messages do not provide any means for controlling some of the RID transmitter/receiver component details. The RID transmitter/receiver component must be hard-coded by the manufacturer to a certain configuration. Some discussion and proposal for this type of messages can be found here. It would be useful to control e.g. the following items:

    • Starting/stopping broadcast
    • Configure the broadcast method (BT4, BT5, Beacon, NaN)
    • Wi-Fi channel configuration for Beacon
    • Message update rates on the air

    No regions currently require drone ID publication via the internet (Network Remote ID). However, it is possible that in the future this will change from being optional to mandatory for some use cases/regions as a part of the UTM/USpace efforts. Currently there are no suitable MAVLink messages defined to configure a Network Remote ID transceiver. Messages to specify the server(s) to connect to, credentials etc. would be needed.

    Security of drone ID data is partly under definition. The Japan rule requires a signature of the drone ID data to be broadcasted in the AUTHENTICATION message. The details are in Japanese. No such requirement currently exists for the US and EU. It is possible that some use cases in the future might require more security related activities for drone ID data. Some additional protocol specification work is being drafted by the IETF in the DRIP working group.

    UAS with multiple RID transmitters and/or receiver components ​

    Since three different technologies for broadcasting/publishing drone ID data have been defined (Bluetooth, Wi-Fi and internet), it is quite possible for a UAS to support more than just a single type.

    For UASs that desire to listen to other UA's information, it would be desirable to include receivers for all three methods, in order to maximize the possibility of detecting all other surrounding UAs.

    Combining data from other UAs when receiving drone ID data ​

    For Drone ID data that is received from other UAs, the data of the message itself does not always identify exactly which UA the data originated from. E.g. for data received via Bluetooth Legacy Advertising (Bluetooth 4.x), many of the received messages will not contain the unique serial number/ID of the UA that broadcasted the data, due to the severe size limitation imposed by Legacy Advertising where only one 25 byte message can be broadcasted in one advertisement radio burst. The MAC address (possibly randomized) of the Bluetooth HW is the only way to associate these messages to the same UA. For Bluetooth 5.x and Wi-Fi, it is possible that the same can happen in certain specific situations (e.g. sending large amount of authentication data), although for the majority of normal usage this is unlikely, since the use of MESSAGE_PACKs is mandated. For data received via internet, the data packet will always contain the unique serial number/ID of the originating UA but no associated MAC address.

    In order to allow e.g. a DAA component to sort and identify which UA each data message has originated from, the RID receiver components must add, to the MAVLink message, either the MAC address or the ID number associated with the UA that originated the data message, before sending it on the internal UAS MAVLink network. This information must be added in the id_or_mac field of each MAVLink message.

    The serial/ID is copied directly from the uas_id field with NULLs in the unused portion. The MAC address must be entered in ASCII format with NULLs in the unused portion. Any separation characters must be removed. E.g. "30-65-EC-6F-C4-58" or "30:65:EC:6F:C4:58" must be represented as the ASCII string "3065EC6FC458". When not used for the above purpose, the id_or_mac field must be filled with NULLs.

    The MAVLink system/component listening to the MAVLink messages must be aware that it is possible to receive drone ID data from the same UA via multiple receive paths (e.g. Wi-Fi and internet). Filtering and merging of the data (and possible deletion of duplicates) will be needed and it must keep track of both a possible MAC address and the serial/ID of the other UAs. Additional filtering and sorting based on the timestamp in the LOCATION or SYSTEM messages can also be needed in order to generate a consistent flight path for the other UAs.

    - + \ No newline at end of file diff --git a/ko/services/parameter.html b/ko/services/parameter.html index 7d50e8f1a..7651e3048 100644 --- a/ko/services/parameter.html +++ b/ko/services/parameter.html @@ -9,9 +9,9 @@ - + - + @@ -28,7 +28,7 @@ // Then send the param by providing the float bytes to the send function mavlink_msg_param_set_send(xxx, xxx, param.param_float, param.type, xxx);

    Bytewise Encoding: Mavgen Python API ​

    Pymavlink does not include special support to byte-wise encode the non-float data types (unsurprisingly, because Python effectively "hides" low level data types from users). When working with a system that supports non-float parameters (e.g. PX4) you will need to do the encoding/decoding yourself when sending and receiving messages.

    There is a good example of how to do this in the Pymavlink mavparm.py module (see MAVParmDict.mavset()).

    Parameter Types ​

    The allowed parameter types are given in MAV_PARAM_TYPE.

    Note that not all types are supported: for example PX4 supports only INT32 and FLOAT. A GCS can infer the supported types from the parameters it is sent.

    Parameter Metadata ​

    Parameter metadata is additional information about a parameters that allow them to be safely used in a ground station. This might include a description and listing of possible values.

    The Component Information Protocol has been proposed as a mechanism for getting this information directly from a vehicle.

    Parameter Caching ​

    A GCS or other component may choose to maintain a cache of parameter values for connected components/systems, in order to reduce the time required to display values and reduce MAVLink traffic.

    The cache can be populated initially by first reading the full parameter list at least once, and then updated by monitoring for PARAM_VALUE messages (which are emitted whenever a parameter is written or otherwise changed).

    INFO

    Cache synchronisation is not guaranteed; a component may miss update messages due to parameter changes by other components.

    Multi-System and Multi-Component Support ​

    MAVLink supports multiple systems in parallel on the same link, and multiple MAVLink enabled components within a system.

    Requests to get and set parameters can be sent to individual systems or components. To get a complete parameter list from a system, send the request parameter message with target_component set to MAV_COMP_ID_ALL.

    All components must respond to parameter request messages addressed to their ID or the ID MAV_COMP_ID_ALL.

    TIP

    QGroundControl by default queries all components of the currently connected system (it sends ID MAV_COMP_ID_ALL).

    Limitations ​

    Parameters Table is Invariant ​

    The protocol requires that the parameter set does not change during normal operation/after parameters have been read.

    If a component can add parameters during (or after) initial synchronization the protocol cannot guarantee reliable/robust synchronization, because there is no way to notify that the parameter set has changed and a new sync is required.

    If working with a non-compliant component, the risk of problems when working with parameters can be reduced (but not removed) if:

    • The param_id is used to read parameters where possible (the mapping of param_index to a particular parameter might change on systems where parameters can be added/removed).
    • PARAM_VALUE.param_count is monitored and the parameter set re-sychronised on change.

    Parameter Synchronisation Can Fail ​

    A GCS (or other component) that wants to cache parameters with a component and keep them synchronised, should first get all parameters, and then track any new parameter changes by monitoring for PARAM_VALUE messages (updating their internal list appropriately).

    This works for the originator of a parameter change, which can resend the request if an expected PARAM_VALUE is not recieved. This approach may fail for components that did not originate the change, as they will not know about updates they do not receive (i.e. if messages are dropped).

    A component may mitigate this risk by, for example, sending the PARAM_VALUE multiple times after a parameter is changed.

    Parameter Operations ​

    This section defines the state machine/message sequences for all parameter operations.

    Read All Parameters ​

    The read-all operation is started by sending the PARAM_REQUEST_LIST message. The target component must start to broadcast the parameters individually in PARAM_VALUE messages after receiving this message. The drone should allow a pause after sending each parameter to ensure that the operation doesn't consume all of the available link bandwidth (30 - 50 percent of the bandwidth is reasonable).

    Mermaid sequence: Read all parameters

    The sequence of operations is:

    1. GCS (client) sends PARAM_REQUEST_LIST specifying a target system/component.
      • Broadcast addresses may be used. All targeted components should respond with parameters (or ignore the request if they have none).
      • The GCS is expected to accumulate parameters from all responding systems.
      • The timeout/retry behaviour is GSC dependent.
    2. The targeted component(s) should respond, sending all parameters individually in PARAM_VALUE messages.
      • Allow breaks between each message in order to avoid saturating the link.
      • Components with no parameters should ignore the request.
    3. GCS starts timeout after each PARAM_VALUE message in order to detect when parameters are no longer being sent (that the operation has completed).

    Notes:

    • The GCS/API may accumulate the received parameters for each component and can determine if any are missing/not received (PARAM_VALUE contains the total number of params and index of current param).
    • Handling of missing params is GCS-dependent. QGroundControl, for example, individually requests each missing parameter by index.
    • If a component does not any parameters then it will ignore a PARAM_REQUEST_LIST request. The sender should simply timeout (after resends) if no PARAM_VALUE is received.

    Read Single Parameter ​

    A single parameter can be read by sending the PARAM_REQUEST_READ message, as shown below:

    Mermaid sequence: Read single parameter

    The sequence of operations is:

    1. GCS (client) sends PARAM_REQUEST_READ specifying either the parameter id (name) or parameter index.
    2. GCS starts timeout waiting for acknowledgment (in the form of a PARAM_VALUE message).
    3. Drone responds with PARAM_VALUE containing the parameter value. This is a broadcast message (sent to all systems).

    The drone may restart the sequence if the PARAM_VALUE acknowledgment is not received within the timeout.

    INFO

    There is no formal way for the drone to signal when an invalid parameter is requested (i.e. for a parameter name or id that does not exist). In this case the drone should emit STATUS_TEXT. The GCS may monitor for the specific notification, but will otherwise fail the request after any timeout/resend cycle completes.

    Write Parameters ​

    Parameters can be written individually by sending the parameter name and value pair to the GCS, as shown:

    Mermaid Sequence: Write parameters

    The sequence of operations is:

    1. GCS (client) sends PARAM_SET specifying the param name to update and its new value (also target system/component and the param type).

    2. GCS starts timout waiting for acknowledgment (in the form of a PARAM_VALUE message).

    3. Drone writes parameter and responds by broadcasting a PARAM_VALUE containing the updated parameter value to all components/systems.

      INFO

      The Drone must acknowledge the PARAM_SET by broadcasting a PARAM_VALUE even if the write operation fails. In this case the PARAM_VALUE will be the current/unchanged parameter value.

    4. GCS should update the parameter cache (if used) with the new value.

    5. The GCS may restart the sequence if the expected PARAM_VALUE is not received within the timeout, or if the write operation fails (the value returned in PARAM_VALUE does not match the value set).

    INFO

    The command MAV_CMD_DO_SET_PARAMETER is not part of the parameter protocol. If implemented it can be used to set the value of a parameter using the enumeration of the parameter within the remote system is known (rather than the id). This has no particular advantage over the parameter protocol methods.

    구현 ​

    PX4 ​

    PX4 is compatible with the specification:

    • Byte-wise encoding of parameters is supported. Note however that PX4 does not set MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISE (at time of writing - PX4 v1.12). See PX4-Autopilot/issues/19275
    • Only float and Int32 parameters are used.

    PX4 provides an addition off-spec mechanism that allows a GCS to cache parameters. This significantly reduces ready-to-use time for the GCS if parameters have not been changed since the previous parameter sync. The way that this mechanism works is that when the list of parameters is requested, PX4 first sends a PARAM_VALUE with the param_index of INT16_MAX (in code, referred to as PARAM_HASH) containing a hash of the parameter set.

    This hash is calculated by computing the MAVLink CRC32 over all param names and values (see the param_hash_check() in source here). If the GCS has a matching hash value it can immediately start using its cached parameters (rather than having to wait while all the rest of the parameters upload).

    Source files:

    ArduPilot ​

    ArduPilot implements a largely compatible version of this protocol.

    • C-style encoding of parameters is supported. Note however that ArduPilot does not set MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST.

    Off spec-behaviour:

    • PARAM_VALUE is not emitted after the parameter update with the new value (or the old value if update failed).

    Compatible differences:

    • Parameter sets can be enabled/disabled during operation. This can invalidate the set of synchronized parameters and make access to parameters by index unreliable.
    • PARAM_SET
      • param_type in the message is ignored. The data type is obtained by checking stored type info (via name lookup).
      • The data type is used to constrain and round the received value before it is stored (as a float).

    Source files:

    QGroundControl ​

    QGroundControl implements this protocol, and works with both ArduPilot and PX4.

    Source files:

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    QGroundControl provides real code examples here:

    Parameter Caching ​

    A GCS or other component may choose to maintain a cache of parameter values for connected components/systems, in order to reduce the time required to display values and reduce MAVLink traffic.

    The cache can be populated initially by first reading the full parameter list at least once, and then updated by monitoring for PARAM_EXT_ACK messages with PARAM_ACK_ACCEPTED (which are emitted whenever a parameter is successfully written/changed).

    A system may also monitor for PARAM_EXT_VALUE originating from other components/systems requesting parameter values.

    INFO

    Cache synchronisation is not guaranteed; a component may miss parameter update messages due to changes by other components.

    Limitations ​

    Parameters Table is Invariant ​

    The protocol requires that the parameter set does not change during normal operation/after parameters have been read.

    If a component can add parameters during (or after) initial synchronization the protocol cannot guarantee reliable/robust synchronization, because there is no way to notify that the parameter set has changed and a new sync is required.

    When requesting parameters from such a components, the risk of problems can be reduced (but not removed) if:

    • The param_id is used to read parameters where possible (the mapping of param_index to a particular parameter may change on systems where parameters can be added/removed).
    • PARAM_EXT_VALUE.param_count may be monitored. If this changes the parameter set should be re-sychronised.

    Parameter Synchronisation Can Fail ​

    A GCS (or other system) that wants to cache parameters from a component and keep them synchronised should first get all parameters, and then track changes by monitoring for PARAM_EXT_ACK messages (updating their internal list appropriately).

    This works for the originator of a parameter change, which can resend the request if an expected PARAM_EXT_ACK is not received. This approach may fail for components that did not originate the change, as they will not know about updates they do not receive (i.e. if messages are dropped).

    A component may mitigate this risk by, for example, sending the PARAM_EXT_ACK multiple times after a parameter is changed.

    Parameter Operations ​

    This section defines the state machine/message sequences for all parameter operations.

    Read All Parameters ​

    The read-all operation is started by sending the PARAM_EXT_REQUEST_LIST message. The target component must start to broadcast the parameters individually in PARAM_EXT_VALUE messages after receiving this message. The drone should allow a pause after sending each parameter to ensure that the operation doesn't consume all of the available link bandwidth (30 - 50 percent of the bandwidth is reasonable).

    The sequence of operations is:

    1. GCS (client) sends PARAM_EXT_REQUEST_LIST specifying a target system/component.
      • Broadcast addresses may be used. All targeted components should respond with parameters (or ignore the request if they have none).
      • The GCS is expected to accumulate parameters from all responding systems.
      • The timeout/retry behaviour is GSC dependent.
    2. The targeted component(s) should respond, sending all parameters individually in PARAM_EXT_VALUE messages.
      • Allow breaks between each message in order to avoid saturating the link.
      • Components with no parameters should ignore the request.
    3. GCS starts timeout after each PARAM_EXT_VALUE message in order to detect when parameters are no longer being sent (that the operation has completed).

    Notes:

    • The GCS/API may accumulate the received parameters for each component and can determine if any are missing/not received (PARAM_EXT_VALUE contains the total number of params and index of current param).
    • Handling of missing params is GCS-dependent. QGroundControl, for example, individually requests each missing parameter by index.
    • If a component does not any parameters then it will ignore a PARAM_EXT_REQUEST_LIST request. The sender should simply timeout (after resends) if no PARAM_EXT_VALUE is received.

    Read Single Parameter ​

    A single parameter can be read by sending the PARAM_EXT_REQUEST_READ message, as shown below:

    The sequence of operations is:

    1. GCS (client) sends PARAM_EXT_REQUEST_READ specifying either the parameter id (name) or parameter index.
    2. GCS starts timeout waiting for acknowledgment (in the form of a PARAM_EXT_VALUE message).
    3. Drone responds with PARAM_EXT_VALUE containing the parameter value. This is a broadcast message (sent to all systems).

    The drone may restart the sequence if the PARAM_EXT_VALUE acknowledgment is not received within the timeout.

    Write Parameters ​

    Parameters are written individually using PARAM_EXT_SET. The recipient will respond with PARAM_EXT_ACK indicating success, failure, or that the write is still in progress (PARAM_ACK_IN_PROGRESS). On receipt of PARAM_ACK_IN_PROGRESS the component setting the parameter will extend its timeout (PARAM_EXT_ACK will be re-sent when the write completes)

    Parameters can be written individually by sending the parameter name and value pair to the GCS, as shown:

    For long-running write operations drone may initially respond with PARAM_ACK_IN_PROGRESS:

    The sequence of operations is:

    1. GCS (client) sends PARAM_EXT_SET specifying the param name to update and its new value (also target system/component and the param type).
    2. GCS starts timout waiting for acknowledgment (in the form of a PARAM_EXT_ACK message).
    3. Drone (starts to) write parameter and responds by broadcasting a PARAM_EXT_ACK.
      • If the write succeeded the PARAM_EXT_ACK will contain a result of PARAM_ACK_ACCEPTED and the updated parameter value.
      • If the parameter was unknown or of an unsupported type PARAM_EXT_ACK will contain a result of PARAM_ACK_VALUE_UNSUPPORTED and the current parameter value will be XXXXX.
      • If the write failed for another reason then PARAM_EXT_ACK will contain a result of PARAM_ACK_FAILED and the current parameter value.
      • If the write operation is long-running the PARAM_EXT_ACK will contain a result of PARAM_ACK_IN_PROGRESS and the XXXX parameter value. In this case the recipient should increase their timeout and way for another PARAM_EXT_ACK. PARAM_EXT_ACK should be resent when the operation completes.
    4. GCS should update the parameter cache (if used) with the new value.
    5. The GCS may restart the sequence if an expected PARAM_EXT_ACK is not received within the timeout, or if the write operation fails.

    구현 ​

    QGroundControl: QGCCameraIO.h, QGCCameraIO.cc

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    Payload Protocols ​

    MAVLink defines a number of commands for directly controlling particular types of payloads like winches and grippers, and for controlling generic payloads. In addition there are commands for payload placement in missions.

    Camera and Gimbal payloads are covered in their own topics. :::

    Payload-Specific Commands ​

    MAVLink defines a number of commands for controlling specific types of payload hardware, including: winches, grippers, spotlights, etc. These commands may be used in both missions and commands, if supported by the target system.

    They should be used (where supported) in preference to generic payload commands, as generally they provide more "tailored" control over the payload, a better GCS user experience, and more informative logs.

    MessageDescription
    MAV_CMD_DO_GRIPPERCommand to engage and release a gripper.
    MAV_CMD_DO_WINCHCommand to operate a specified winch.
    MAV_CMD_ILLUMINATOR_ON_OFFCommand to turn illuminators ON/OFF. An illuminator is a light source that for lighting up dark areas external to the system, such as a headlight or searchlight.

    Generic Payload Commands ​

    MAVLink has a number of commands for setting actuator outputs. These can be used to control arbitrary/generic payloads.

    Use the commands for known payload types where possible as they are more intuitive for users, and in logs. :::

    MessageDescription
    MAV_CMD_DO_SET_ACTUATORSets actuators (e.g. servos) to a desired value. The actuator numbers are mapped to specific outputs (e.g. on any MAIN or AUX PWM or UAVCAN) using a flight-stack specific mechanism (for example, parameters).
    MAV_CMD_DO_SET_SERVOSets a servo, identified by a specified instance number, to a specified PWM value.
    MAV_CMD_DO_SET_RELAYSet a specified relay instance on or off.
    MAV_CMD_DO_REPEAT_RELAYCycle a relay on and off for a desired number of cycles with a desired period.

    Implementations:

    • MAV_CMD_DO_SET_ACTUATOR is more recent than MAV_CMD_DO_SET_SERVO, but has not yet been widely adopted.
      • Only implemented only on PX4 (June 2021). For more information see the PX4 User Guide.
    • MAV_CMD_DO_SET_SERVO is implemented on both ArduPilot and PX4 (Missions only). In both cases instance numbers map to corresponding AUX outputs.

    Payload Deployment Commands ​

    These commands can be used to deploy a payload at a specfic location, controlling the approach and land behaviour.

    MessageDescription
    MAV_CMD_NAV_PAYLOAD_PLACEMove to target location, descend and release payload.

    Implementations:

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    PING Protocol ​

    The PING Protocol enables a system to measure system latencies on any connection: serial port, radio modem, UDP etc.

    The PING protocol is implemented with just the PING message. The message is sent with a timestamp and a sequence number that are returned by recipients, and can hence be used to determine the round-trip time.

    Ping Sequence ​

    A simplified sequence diagram is given below:

    Mermaid sequence: Ping

    The pinging system initially populates a PING message with:

    • time_usec: Current system timestamp.
    • seq: Current PING sequence number (n, n+1, ...). This should be iterated for every PING message sent and overflow back to zero.
    • target_system and target_component: 0 (indicates a PING request).
    • The message header automatically includes the sender system.

    The message may be received by multiple systems. All pinged systems should respond with another PING message where:

    • The original timestamp and sequence number from the receive PING are sent back in the response.
    • target_system and target_component are set to the ids of the pinging system from the incoming ping message header.

    The original pinging system:

    • Receives a PING message with target_system and target_component matching its address.

      TIP

      Any non-zero target system/component indicates a response message. The matching ids inform the system that it is the intended recipient.

    • The system calculates the latency from the current system time and the time in the response PING for the matching sequence number.

    • A system that is sending a single PING can use a timeout to detect a dropped packet. A system that is streaming (multiple) PING messages should not start detecting dropped packets until after the first responses have been received (to ensure that dropped packets are not just "late").

    C Implementation ​

    The protocol has been implemented in C by PX4 and QGroundControl. This implementation can be used in your own code within the terms of their software licenses.

    PX4 Implementation:

    QGroundControl implementation:

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    Smart Battery Protocol (WIP) ​

    Note The Smart Battery messages are tagged in the definition file as "work in progress". They may still change and should not be used in production environments.

    The Smart Battery "protocol" consists of two broadcast messages:

    • SMART_BATTERY_INFO contains information about the battery that changes rarely, if ever (e.g. device name). It should be emitted on connection and/or when requested (using MAV_CMD_REQUEST_MESSAGE).
    • SMART_BATTERY_STATUS contains battery status information that changes frequently (it is equivalent to BATTERY_STATUS for smart batteries). It should be emitted regularly - e.g.: 0.5Hz.

    The messages may be sent from a smart battery to the flight stack and/or GCS. It is also possible that a flight stack may re-emit smart battery information after updating some fields.

    Message/Enum Summary ​

    MessageDescription
    SMART_BATTERY_INFOSmart battery message used for invariant or infrequently changing data - e.g. battery name, battery full/empty capacity and voltages etc.
    SMART_BATTERY_STATUSSmart battery message used for frequent status update - e.g. of current capacity, voltages, faults, etc.
    EnumDescription
    MAV_SMART_BATTERY_FAULTFault/health indications.
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    Standard Modes Protocol (WIP) ​

    WARNING

    This protocol is a work in progress and may change. It has an initial implementation in PX4 and QGroundControl (daily).

    The MAVLink standard modes protocol allows a GCS to construct a UI allowing selection and display of available flight modes without prior knowledge of the connected flight stack.

    The protocol provides:

    • Definitions of standard modes. These are modes that behave similarly enough across flight stacks that users can select and control them in the same way. For example, modes for taking off and landing, executing missions, holding position, and so on.

    • Enumeration of all flight modes supported by the flight stack, both standard and custom.

      The provided flight mode information includes:

      • Flags indicating whether particular custom modes can be selected or just displayed, and if they are displayed, whether they are advanced.
      • A name/metadata string that can either be used to fetch metadata for the mode (such as a name and description), or directly as the name for custom modes.

    • Notification of the current mode.

    • A command to set a standard mode.

    There are additional optional messages/features to allow:

    • Modes to be enabled and disabled dynamically.
    • Overriding of mode metadata (provide a metadata key).

    Background ​

    MAVLink previously only standardized very high level base modes (defined in MAV_MODE), which cover things like whether the vehicle is ready to fly, being tested, manually controlled, under GCS manual control, or executing a mission. More specific flight behaviour/modes are defined in custom modes, which are specific to each flight stack.

    Mechanisms are provided to set the base and custom modes (MAV_CMD_DO_SET_MODE), and the HEARTBEAT contains the current/active base_mode and custom_mode. However, prior to the addition of this service, there were no mechanisms query the available custom modes, so a GCS would have to know about a flight stack in advance in order to construct its mode display and setting UI.

    Most autopilots implement a set of custom flight modes that have very similar behaviour or intent, for example: position-hold mode, altitude-hold mode, mission mode, safety return/RTL. However because these are all identified by different custom mode identifiers on different flight stacks, there is no way to be sure what these "mean" without pre-existing knowledge.

    This service defines standard modes, allowing a GCS to provide baseline support for common flight behaviour and test behaviour without explicit customisation for each autopilot. This is therefore a big step towards MAVLink being capable of being truly autopilot-agnostic for a useful minimal set of functionality.

    For more information see MAVLink RFC0016 Standard modes.

    Message/Enum Summary ​

    Messages ​

    MessageDescription
    CURRENT_MODEGet information about the current active mode, including both its standard and custom mode identifiers (if defined). Also "the intended mode", to indicate the case where setting a mode failed.
    AVAILABLE_MODESGet information about all available modes (both standard and custom) allowing generation of a UI and setting of modes. Requested using MAV_CMD_REQUEST_MESSAGE (set param2=0 for all modes).
    AVAILABLE_MODES_MONITORProvides a sequence number that allows clients to determine if the set of available modes has changed, and hence whether the AVAILABLE_MODES must be re-requested. Sent on first mode change and subsequently streamed at low rate.

    Enums ​

    EnumDescription
    MAV_STANDARD_MODEIdentifiers for the standard modes (modes that have a well understood meaning across flight stacks and vehicle types). Used in AVAILABLE_MODES and CURRENT_MODE.
    MAV_MODE_PROPERTYProperties of a mode supplied in AVAILABLE_MODES, which may be used for GCS layout. For example MAV_MODE_PROPERTY_NOT_USER_SELECTABLE indicates that a GCS should not include the mode in UI elements that allow mode selection.

    Commands ​

    CommandDescription
    MAV_CMD_DO_SET_STANDARD_MODEEnable the specified standard MAVLink mode (MAV_STANDARD_MODE). ACK with MAV_RESULT_FAILED if the mode is not supported by the vehicle.
    MAV_CMD_REQUEST_MESSAGEUsed to request AVAILABLE_MODES message

    Operations ​

    Getting Available Modes ​

    All available modes can be enumerated by using MAV_CMD_REQUEST_MESSAGE to request the AVAILABLE_MODES (435) message. Each AVAILABLE_MODES message includes the total number of modes and the index of the current mode, so a GCS should first query for all modes (MAV_CMD_REQUEST_MESSAGE.param2=0), and then individually query for any AVAILABLE_MODES message that it missed (MAV_CMD_REQUEST_MESSAGE.param2="missing index number").

    Notes:

    • AVAILABLE_MODES includes the total number of modes and the index of the current mode. This indexing is provided to allow a GCS to confirm that all modes have been collected, and re-request any that are missing. It is internal and should not be relied upon to have any order between reboots or if the set of available modes changes.
    • The GCS can request this message using MAV_CMD_REQUEST_MESSAGE, specifying either "send all modes" or "send mode with this index".
    • The flight stack should only emit a single AVAILABLE_MODES for each mode on each request. If a mode is both custom and standard it should be emitted as a "standard mode" (this allows the GCS to list the "standard modes" and separately show the additional "custom modes").
    • The modes that are emitted depend on the current vehicle type. For example, "takeoff" would not be emitted for a rover type, but would for a copter.

    The sequence for requesting all modes is shown below:

    Mermaid Sequence: Requesting AVAILABLE MODES

    In addition to the fields for enumerating the available modes, AVAILABLE_MODES has the following fields:

    • standard_mode: The standard mode represented by this AVAILABLE_MODES (MAV_STANDARD_MODE). 0 for a custom mode that is not also a standard mode (MAV_STANDARD_MODE_NON_STANDARD).
    • custom_mode: The id of the custom mode represented by this AVAILABLE_MODES (if any).
    • properties: Flags indicating the UI properties of this mode. These provide hints about where the mode can/should appear in the UI. For example, MAV_MODE_PROPERTY_NOT_USER_SELECTABLE indicates that the mode should not be set by a user, and hence should not appear in selection lists, while MAV_MODE_PROPERTY_ADVANCED indicates a mode that is harder to fly, and might be visually separated from other modes in the UI.
    • mode_name: Mode metadata key or name, with null termination character.
      • The field can act as both a key for determining metadata associated with the mode, or as a fallback name to use for the mode if the GCS has no metadata.
      • It can be used to override metadata on existing modes, for example to enhance standard metadata with additional information about autopilot-specific behaviour, or can provide metadata for any other static or dynamic mode.
      • The field must be human readable and autopilot-unique.
      • Generally does not have to be set for standard modes, where the ground station might be expected to already have metadata (but if it is, it will be used as a metadata key).
      • For more information see Modes Metadata below.

    Setting Modes ​

    Standard modes can be set using the MAV_CMD_DO_SET_STANDARD_MODE command. This will ACK with MAV_RESULT_ACCEPTED if the mode can change, and MAV_RESULT_FAILED if the particular standard mode is not supported.

    Custom modes must be set with MAV_CMD_DO_SET_MODE.

    INFO

    If both standard_mode and custom_mode are set you can determine the mapping between modes and might therefore use MAV_CMD_DO_SET_MODE to set a standard mode. MAV_CMD_DO_SET_STANDARD_MODE is preferred for setting standard modes.

    Getting Current Active Mode ​

    The current active mode is provided in CURRENT_MODE, which has both standard mode and custom mode fields.

    This is streamed (nominally 0.5 Hz). A GCS can use it to configure the UI and display appropriate metadata for the current mode.

    The message also has an intended_custom_mode field, which indicates the last (custom) mode that was commanded. This should match the custom_mode but might not if a commanded mode cannot be entered, or if the mode is exited due to a failsafe.

    Note that the current custom mode is also published in the HEARTBEAT.

    Dynamic Mode Changes ​

    The AVAILABLE_MODES_MONITOR is an optional part of the protocol that allows a MAVLink system to dynamically change the set of modes it supports at runtime (for example, using Lua or other onboard scripting languages, or offboard from a companion computer).

    The message sequence number field is iterated sequentially whenever the set of available modes change. A GCS can detect this change and re-request the set of AVAILABLE_MODES.

    The message should be emitted when the set of available modes changes. After the set of modes changes the first time, it should also be streamed at low rate (nominally 0.1 Hz).

    Mode Metadata ​

    Mode metadata is the information that a ground station uses represent a mode in the UI. This includes the mode name, but might also include descriptions, translations and other information (mode metadata schema is yet to be defined).

    A GCS may already have knowledge of standard or custom modes and can provide this metadata based on the mode, or their might be particular "additional" information that it can provide. The mode_name can be used as a key for finding this metadata, or as a fallback string if the GCS has no metadata for the mode.

    Ground stations are expected to use the following "fallback" approach for matching modes to their metadata:

    1. mode_name field as a metadata key. If this field is defined and can be matched to metadata, the metadata should be used for the mode.
    2. standard_mode: Use metadata associated with this standard mode if no metadata can be matched using mode_name.
    3. custom_mode: Use metadata associated with the custom mode if no metadata can be matched using mode_name or standard_mode.
    4. mode_name field as a fallback mode name string. This should be used as the name if no other metadata can be mapped.

    This allows "full" autopilot-specific metadata to be provided for modes, including dynamic modes such as Lua scripts (where the custom_mode might be dynamically allocated). It also allows overriding of any existing metadata for any mode with vehicle-specific data. In the worse case, if there is no metadata for a custom mode, the mode_name string can still be used to represent the mode in the UI.

    Note that the mode_name must be human readable and unique for the autopilot.

    구현 ​

    PX4 v1.15 and later supports this service, including the optional part (AVAILABLE_MODES_MONITOR) (this allows ROS2 modes added using the PX4 ROS 2 Interface Library to be dynamically updated in a GCS). At time of writing it only exposes the standard modes that are common to all vehicles as standard modes, such as takeoff and landing, and missions.

    QGC also uses this service to build the mode display/setting UI, when supported by the autopilot. This feature is supported in daily builds (at time of writing).

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    Terrain Protocol ​

    The Terrain Protocol provides a mechanism for a vehicle to get terrain information (tiles) from a ground station, and for a ground station to check the autopilot terrain cache for a tile at a particular location.

    Support for this protocol is indicated by AUTOPILOT_VERSION.capabilities by the MAV_PROTOCOL_CAPABILITY_TERRAIN flag.

    INFO

    A vehicle that supports this capability must also support terrain following in missions using the data. Note however that a vehicle may also support terrain handling in missions using a distance sensor, even if this protocol is not supported and capability flag is not set.

    Message/Enum Summary ​

    MessageDescription
    TERRAIN_REQUESTRequest from drone (to GCS) for terrain data. The message specifies a mask indicating what tiles are required, and the GCS responds by sending TERRAIN_DATA for each tile. The drone will also stream TERRAIN_REPORT messages to provide progress updates while it is waiting for data.
    TERRAIN_DATATerrain data from GCS for a particular tile (sent in response to a TERRAIN_REQUEST). The lat/lon and grid_spacing must be the same as the lat/lon from a TERRAIN_REQUEST.
    TERRAIN_REPORTThe drone will stream TERRAIN_REPORT to indicate progress of terrain download, and in response to a TERRAIN_CHECK.
    TERRAIN_CHECKRequest that the vehicle report terrain height at the given location (expected response is a TERRAIN_REPORT). Used by GCS to check if vehicle has all terrain data needed for a mission.

    Sequences ​

    Autopilot Terrain Map Request ​

    The sequence for a drone to update its terrain altitude information is entirely driven by the drone, and is shown below.

    In summary, the sequence is:

    1. Drone sends TERRAIN_REQUEST to the GCS to request a set of tiles (specified in a mask).
    2. The GCS responds by sending a TERRAIN_DATA for each tile set in the mask
    3. The drone also streams TERRAIN_REPORT messages back to the GCS indicating the current state of the download
      • TERRAIN_REPORT.pending and TERRAIN_REPORT.loaded indicate how many tiles are expected and have arrived, respectively.
      • TERRAIN_REPORT.lat, .lon, .terrain_height, while duplicated in other messages, are useful for debugging (a GCS can check its own internal terrain data against what the information).
    4. The drone must maintain its own record of what tiles have arrived/not arrived, and can re-request any that are missing using a further TERRAIN_REQUEST (with mask indicating just the missing tiles)

    The diagram below shows the way the data is encoded within the TERRAIN_REQUEST and TERRAIN_DATA.

    Terrainreport.mask data layout

    TERRAIN_REQUEST.mask is a 64-bit value that represents a row major 8x7 array of (4x4) tiles. The the lat, lon fields indicate the position of the South-West corner of first grid position (tile). The tiles are allocated sequentially in rows (West to East) starting from the lowest significant bit of mask, and then in columns (South to North).

    Each tile represents a 4x4 grid of altitude information. The spacing between the rows/columns in the tile is indicated by grid_spacing (the same value must be used in both request and data messages).

    GCS Terrain Tile Check ​

    The sequence for a GCS to check the autopilot terrain cache at a particular location is shown below.

    In summary, the sequence is:

    1. GCS sends TERRAIN_CHECK to the vehicle to request terrain information at a specific location.
    2. The drone responds with a TERRAIN_REPORT message containing the tile information it has for that location. If it does not have tile information for the specified location, then the request is ignored.
    3. GCS can verify that the terrain report matches a terrain check by comparing the latitude/longitude fields for both messages.

    INFO

    The protocol does not define how the ground station handles the case if no TERRAIN_REPORT is received (although it might resend the request after a timeout).

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    Time Synchronization Protocol v2 ​

    This protocol is used to synchronize clocks on MAVLink components by estimating their time offset.

    The protocol uses just one message TIMESYNC, which has two int64_t fields: tc1 and ts1. A component that wants to synchronize clocks sends out a TIMESYNC request with its current timestamp in ts1. A remote system that supports the protocol sends a TIMESYNC response, including both the original timestamp and its own timestamp. The original system can use this information to determine the round-trip time, and estimate the timestamp offset.

    This sequence is run multiple times and filtered/averaged to reduce the transient effects of the channel and processor usage on the offset calculation.

    INFO

    This version replaces Time Synchronization Protocol v1.

    Message/Enum Summary ​

    MessageDescription
    TIMESYNCTime synchronization message.

    Sequences ​

    Mermaid sequence: Time sync

    The sequence is:

    1. A component that needs time synchronization sends a TIMESYNC request that includes its current nanosecond timestamp in ts1 (and tc1 = 0, indicating it is a request). This message may be broadcast, or targeted to a particular component.

    2. A component that receives a TIMESYNC request (TIMESYNC.tc1 == 0) responds with a TIMESYNC response (tc1 ≠ 0) that includes the original timestamp from the request in ts1 (mirrored), and its own timestamp in tc1.

    3. When the synchronizing component gets a TIMESYNC response with its own target_system and target_component it knows it is a reply to a timesync request that it sent.

      From the message the system can:

      • determine the round trip time (by comparing its current timestamp with the original stamp that was returned in the message in ts1).
      • estimate the offset between system timestamps, using the round trip time and the timestamp sent back by the remote system.

      INFO

      TIMESYNC` responses to the broadcast address indicate that the remote system supports Time Synchronization Protocol v1. Synchronization may be unreliable if there are multiple synchronising components on the network (report/log an error and upgrade the remote system). The component should ignore responses to all other addresses.

    The offset is an estimate because the time spent, both inbound and outbound, will change over time based on things like link congestion and processing time. Therefore the above sequence might be run a significant number of times, and filtering used to remove outlying estimates.

    A graph showing the "noise" when estimating the offset is given below (from PX4).

    Timesync offsets

    Time Synchronization Protocol v1 ​

    Version 1 of the timesync protocol uses the same message and sequences as version 2.

    The difference is the TIMESYNC message in version 1 did not have target_system and target_component fields, and so the message was always broadcast. This could result in unreliable timesync if there are multiple synchronizing components on the network, because there is no way for a component to know whether a TIMESYNC response is to its request.

    INFO

    ArduPilot encodes the system id in TIMESYNC.ts1 of the request. This allows filtering of the response to a particular system (but not component), reducing the risk of clashes.

    INFO

    Version 2 makes adds the target address, so a syncing system can filter on just the responses to its requests.

    구현 ​

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    Traffic Managment and Avoidance (UTM/ADSB) ​

    Air traffic management and avoidance systems enable vehicles to share their position and planned path or trajectory with other vehicles (and ground stations), allowing them to take appropriate action to avoid collisions.

    The approaches used to share information vary; some systems use transponders to detect and publish to local traffic, while others publish to/receive information from Internet services that aggregate the data from many vehicles. Some systems might use both approaches!

    The approaches used to handle potential collisions depend on the flight stack, and might include: warning the user, holding, landing, pausing a mission etc.

    There are two main traffic management systems supported by MAVLink:

    FLARM is a transponder-based system that integrates with MAVLink using the ADS-B messages. :::

    The two systems share significant overlap and have very similar messages. Both have a single message that encapsulates the vehicle position and trajectory: UTM_GLOBAL_POSITION and ADSB_VEHICLE. A flight controller will typically recieve these messages from the appropriate transponder or service, and may also publish them to a transponder or service.

    The Open Drone ID service provides additional information about vehicle identity. This is still a "work in progress", and there are no known MAVLink implementations, :::

    Message/Enum Summary ​

    Unmanned Aircraft System Traffic Management (UTM) ​

    MessageDescription
    UTM_GLOBAL_POSITIONThe global position resulting from GPS and sensor fusion.
    EnumDescription
    UTM_FLIGHT_STATEFlight state of the vehicle: unknown, landed, flying, emergency etc.
    UTM_DATA_AVAIL_FLAGSFlags that indicate which of the fields in UTM_GLOBAL_POSITION contain valid data.

    Automatic Dependent Surveillance–Broadcast (ADS-B) ​

    MessageDescription
    ADSB_VEHICLEXXXXXX The global position resulting from GPS and sensor fusion.
    EnumDescription
    ADSB_ALTITUDE_TYPEThe source of altitude data - e.g. GNSS system or barometer.
    ADSB_EMITTER_TYPEADSB classification for the type of vehicle emitting the transponder signal (most drones will set ADSB_EMITTER_TYPE_UAV)
    ADSB_FLAGSFlags that indicate which of the fields in ADSB_VEHICLE contain valid data.
    IdsDescription
    MAV_TYPE_ADSBMAV_TYPE for a stand-alone MAVLink ADS-B transponder component (not part of an autopilot)
    MAV_COMP_ID_ADSBMAVLink reserved component id for a MAVLink ADS-B transponder component (not part of an autopilot)
    MAV_TYPE_ADSBMAV_TYPE for a stand-alone MAVLink Flarm transponder component (not part of an autopilot)
    MAV_COMP_ID_FLARMMAVLink reserved component id for a MAVLink Flarm transponder component (not part of an autopilot)

    구현 ​

    PX4:

    ArduPilot:

    QGroundControl:

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    Path Planning Protocol (Trajectory Interface) ​

    The path planning protocol (a.k.a. trajectory interface) is a general-purpose protocol for a system to request dynamic path planning from another system (i.e. for an autopilot to request a path from a companion computer).

    The protocol is primarily intended for cases where constraints on the path to a destination are unknown or may change dynamically, but it can also be used for any other path management activities. Examples include: obstacle avoidance when following a preplanned mission, determining paths for self forming/healing swarms, offloading geofence management to a companion computer, etc.

    개요 ​

    The (autopilot) system that requires path-planning sends messages containing its current position and desired trajectory. The path planning system (companion computer) analyses the desired route, and sends back a stream of messages with setpoints for a new path.

    Mermaid Sequence: Trajectory

    When path planning is active, autopilots are expected to navigate using the most recent setpoint from the companion computer (and should have sensible behaviour if setpoints "run out").

    INFO

    The path planning system might send setpoints all the time, or only when a desired trajectory cannot be achieved (this depends on the specific service implementation).

    The protocol defines two messages:

    Either message may be used to represent both the desired trajectory and the target setpoint, and a system may support either or both messages.

    When specifying a desired path (using either message):

    • The first point (0th array index) always represents the current position/state of the vehicle.
      • For waypoint trajectories the current position usually needs either position or velocity fields, and either yaw or yaw_speed (not all of them)
    • It may not be necessary to specify a waypoint or curve point for every array index.
      • For waypoint trajectories you might only need to specify points for the current position, current waypoint, and the next waypoint.
    • It may not be necessary to set a value for every field in a waypoint.
    • Array indexes and field values that are not used should be set as NaN.

    When specifying a target setpoint, the values should be set in the first point of the message (0th array element). All other array fields should be set to NaN.

    The required message sending update rate depends on the speed of the vehicle and use case.

    구현 ​

    Obstacle Avoidance in PX4 Mission Mode ​

    The protocol has been used to provide obstacle avoidance in PX4's mission mode. PX4 sends the current position, current waypoint, and next waypoint in a TRAJECTORY_REPRESENTATION_WAYPOINTS message (at 5Hz). The path planning software (a ROS node) sends setpoints for the duration of the mission. These navigate the vehicle in a straight line to each waypoint, navigating around obstacles as needed.

    For more information see: Obstacle Avoidance (PX4 User Guide).

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    Tunnel Protocol ​

    The Tunnel Protocol allows MAVLink to be used as a "dumb channel" to pass data in any format across, through or into a MAVLink network.

    WARNING

    Tunnels use is highly discouraged, as they lose most of the benefits of MAVLink in terms of efficiently and interoperability. You should almost always create "dedicated" MAVLink messages for communicating in a MAVLink system.

    An example where this protocol is useful is connecting a STorM32 gimbal to a computer for configuration/debugging (via a USB connection to the autopilot and using MAVLink to carry the native serial protocol between it and the gimbal). Normally you would connect the gimbal directly via USB, but when mounted on the drone the gimbal USB port may be hard to access. You might re-invent the native protocol in MAVLink, but that would be a lot of effort for little benefit in this case.

    The protocol consists of a single TUNNEL message that has fields for the destination, payload length, payload type and data. The format of the data is entirely defined by the sender, and is inferred from the TUNNEL.payload_type (a MAV_TUNNEL_PAYLOAD_TYPE).

    Vendors can use any value above 32767 for MAV_TUNNEL_PAYLOAD_TYPE in their own dialect during testing. For wider distribution they should register the payload type.

    Message/Enum Summary ​

    MessageDescription
    TUNNELMessage for transporting "arbitrary" variable-length data from one component to another (broadcast is not forbidden, but discouraged).
    EnumDescription
    MAV_TUNNEL_PAYLOAD_TYPEA code that identifies the format of the payload (0 for unknown, which is the default). You can use any value over 32768 for on private networks or register a payload type.

    Register a Payload Type ​

    The format of the tunnel message data is indicated by the value of TUNNEL.payload_type. Vendors can register their own formats in MAV_TUNNEL_PAYLOAD_TYPE by creating a PR to update the enum in common.xml.

    TIP

    If you register an enum value in common.xml the MAVLink toolchain will generate an error if other dialect attempts to define the same value (if the dialect includes common.xml).

    The rules for adding new MAV_TUNNEL_PAYLOAD_TYPE values are:

    1. Values 0-199 are reserved for MAVLink
    2. Enum values are "allocated" to vendors and/or specific hardware in blocks of 10:
      • New blocks must start on the decade boundary (e.g. 200-209, 210-219, etc.).
      • Blocks are allocated sequentially (in the previous point the next block is allocated at 220, not 430).
      • Vendors may reserve multiple sequential blocks if needed.
    3. Enum values in a block may be explicitly "reserved":
      • Values should be named using the format MAV_TUNNEL_PAYLOAD_TYPE_XXXX_RESERVEDYY, where XXXX indicates the vendor or software, and YY is an increasing number starting at 0. For example, the STorM32 gimbal might reserve a block of 10 values from MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED0 to MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED9.
      • You do not have to explicitly reserve unused values.
    4. Enum values that are in use should be (re)named to reflect the vendor/software and purpose (e.g. MAV_TUNNEL_PAYLOAD_TYPE_STORM32_CONFIG).
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    常见问题（FAQ） ​

    用户 ​

    MAVLink 的传输效率如何？
    MAVLink 是一种高效率的传输协议。 包含起始签名字节和丢包检测在内，MAVLink 1 版本的每个数据包中只有8个字节的额外开销。 MAVLink 2 版本只有14个字节的额外开销（如果使用签名字节的话为27个），但是现已成为可扩展的协议。 MAVLink 1每个数据包只有8个字节的开销, 包括起始标志和数据包丢弃检测。 MAVLink 2 版本只有14个字节的额外开销（如果使用签名字节的话为27个），但是现已成为可扩展的协议。
    MAVLink 可同时支持多少个运载器？
    255个运动载体，其 ID 号从1到255（0号 ID 为无效 ID）。
    Note: 严格说来，MAVLink 可同时支持 255 个系统, 它们中可以是运动载体，GCS ，天线云台和其它硬件。
    MAVLink 可用于哪里？
    它可用于多个微控制器和操作系统上， 包括 arm7、atmega、dspic、stm32 等微控制器和 windows、linux、macos、android 和 ios 等操作系统。
    MAVLink 的可靠性如何？
    很可靠。 自2009年以来, MAVLink一直被用于多种载具、地面站 (和其他节点) 之间的通信，而这些通信信道中，不乏各种挑战性(如高延迟、噪声) 。 它具有丢包检测功能，并使用完善的 ITU X.25 算法进行坏包检测。
    MAVLink 的安全性如何？
    MAVLink 提供了 消息签名，系统可用其来验证是否来源于可信的消息源。 MAVLink 并不对消息进行加密处理。 MAVLink 并不对消息进行加密处理。
    MAVLink版本如何选择？
    应该尽可能使用 MAVLink 2 协议(它修复了早期版本的一些限制)。 MAVLink 2 库也支持 MAVLink 1，所以也可以在需要时使用它们与旧系统通信。
    MAVLink更新/发布周期？
    • The underlying over-the-wire format is rarely updated (we're only up to MAVLink 2, which was introduced in 2017).
    • New messages/microservices are frequently added. 这些更新是后向兼容，用户可定期更新其使用的库以支持新的消息。
    • 消息很少被修改(或删除)，以防止它们变得不兼容。 如果需要更新，项目将通过更新MAVLink次要版本号，并通过 邮件列表 通知用户(用户也可以在代码中查询版本)。

    开发者 ​

    我可以将 MAVLink 用于封闭的源程序且不用考虑版权问题吗？
    可以，没有任何使用限制。 The generated MAVLink library headers are made available under the *MIT license* (for more information see: Introduction > License).
    MAVLink 如何检测数据流中的各类消息并进行解码？
    MAVLink 先等待数据包的起始签名，然后读入数据包的长度并计算其后 n 个字节的校验和。 如果校验和相匹配，则返回解码后的数据包并等待下一个起始签名。 如果某些字节被改变或丢失的话，它将丢弃当前消息，继续尝试解码以后的消息。 如果校验和相匹配，则返回解码后的数据包并等待下一个起始签名。 如果某些字节被改变或丢失的话，它将丢弃当前消息，继续尝试解码以后的消息。
    MAVLink 中只使用了一个起始签名，使用两个或三个起始签名不是更安全吗？
    不是这样的。 我们使用 CRC 来检测是否可靠接收到一个完整的消息。 使用更多的起始签名可以有更大的可能性检测到起始点，但是并不能增加有效消息的确定性。 因为额外的签名将增加通信负载，所以我们不使用它。
    系统 ID 和组件 ID 是干什么用的？
    系统 ID 用来识别特定的 MAVLink 系统（运载器， GCS 等）。 MAVLink 可同时用于 255 个系统。 组件 ID 用于区分一个大系统中的组件，系统中可以包含自动驾驶仪，协处理计算机或照相机，其中每个都可被单独寻址。 MAVLink 可使用组件 ID 用于板间或板外通信。 MAVLink 可同时用于 255 个系统。 组件 ID 用于区分一个大系统中的组件，系统中可以包含自动驾驶仪，协处理计算机或照相机，其中每个都可被单独寻址。 MAVLink 可使用组件 ID 用于板间或板外通信。
    为什么在 MAVLink 数据包头中要使用序列号？
    MAVLink 是无人飞行器中对安全至关重要的一部分。 较差的通信链路会丢失好多数据包，这会将所监视的飞机置于不安全的状态。 MAVLink 使用数据包头中的序列号来计算丢包率并将其反馈给另一方，使得飞行器或地面站能采取相应措施。
    为什么要在数据包的校验和中使用 CRC_EXTRA 呢？
    CRC_EXTRA CRC 用来验证发送者和接收者是否都对链路上的消息格式有同样地解释（对于轻量级协议时必须的，因为消息结构信息并不包含在有效载荷中）。

    在 MAVLink 0.9 版中没有使用 CRC（尽管检查了数据包的长度）。 如果 XML 所描述的消息内容偶尔被改变而长度没有改变，这样就会破坏消息中的数据域。
    我可以帮助编解码子程序或增加其它功能吗？ 我可以帮助编解码子程序或增加其它功能吗？ 可以更改 MAVLink 吗？
    可以，在安全测试时必须十分小心。 可以，在安全测试时必须十分小心。 作为多个自动驾驶仪中对安全至关重要的组件，MAVLink 已经经历了多年的测试。 请向MAVLink的技术支持推荐你所想到的新功能。 Please suggest new features on the MAVLink support channels.
    如何进一步减少生成的 C 库大小？
    在资源极受限制的系统中，您可以通过设置 MAVLINK_COMM_NUM_BUFFERS=1 和 MAVLINK_MAX_PAYLOAD_LEN="可提供最大缓冲区大小" (假设仅有一个普通链路并且你的有效载荷小于MAVLink支持的最大值)。 您还应确保您用来传递到 MAVLink 的任何缓冲区也尽可能小(例如：传递到 mavlink_msg_to_send_buffer()的缓冲区)。

    Another alternative is to use one of the other generators. 例如， fastMavlink 生成它比mavgen可以生成更小和更有效率的库(这尚未被 MAVLink 项目验证)。
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    MAVLink 的应用 ​

    MAVLink 已经用于许多自动驾驶仪及地面站中，并已集成于API，工程及软件包中。 此工程的部分用户及贡献者如下： 此工程的部分用户及贡献者如下：

    自动驾驶仪 ​

    以下自动驾驶仪都支持 MAVLink ，且正在持续改进 （距上一次发布还不到一年）。

    地面站 ​

    A number of higher level APIs have been written to simplify interacting with MAVLink autopilots, cameras, ground stations, etc. (MAVLink is a relatively low-level API). These wrappers typically provide implementations of the main microservices and simple/specific interfaces for sending commands and accessing vehicle information.

    The list here contains actively maintained implementations:

    These projects have some activity but are not as well maintained:

    研究项目： ​

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    C
    uint8_t signature[13];      ///< Signature which allows ensuring that the link is tamper-proof (optional)

    INFO

    The MAVLink 1 packet format is similar, but omits incompat_flags, compat_flags and signature, and only has a single byte for the message address. For more information see Serialization > Packet Format.

    串行化 ​

    MAVLink 链路上的数据包格式是专为资源受限优化过的，所以其中数据域的次序与 XML 规则中的次序不一致。 The over-the-wire generator sorts all fields of the message according to size, with the largest fields (uint64_t) first, then down to smaller fields. The sorting is done using a stable sorting algorithm, which ensures that any fields that do not need to be reordered stay in the same relative order. 这也可以避免编解码时的对齐问题，使打包/解包算法更高效。

    For more information and specific exceptions see Serialization.

    Multicast Streams vs. Guaranteed Delivery ​

    Mavlink 是为混合网络系统构建的。在这些网络中，高速数据流从数据源（通常是无人机）流向数据接收器 （通常是地面站），但是它与确保是发送的数据流是混合在一起的。 The key insight is that for most telemetry streams there is not a known or single recipient: Instead, typically an onboard computer, a ground control station and a cloud system all need the same data stream.

    On the other hand configuring the onboard mission or changing the system configuration with onboard parameters requires point-to-point communication with guaranteed delivery. 通过使用多种发送方式，MAVLink 可达到很高的效率。

    主题模式（发布-订阅式） ​

    在主题模式下，协议将不会为了节省带宽而省略掉目标系统及组件的 ID 号。 所有自动驾驶仪的数据流如位置、姿态都是这种通信模式的例子。

    这种广播式通信的优点是没有额外的数据包头，且多个订阅者都可接收此数据。

    点对点式通信 ​

    在点对点式通信中，MAVLink 使用目标系统的 ID 号和组件的 ID 号。 在使用这些域（任务，参数，命令）的多数情况下，子协议也可以保证采用确保式发送。

    完整性检查/校验和 ​

    MAVLink implements two integrity checks: The first check is on the integrity of the packet during transmission using the CRC-16/MCRF4XX checksum. 但是这只能保证数据没被链路改变，不能保证数据定义的一致性。 The second integrity check is on the data description to ensure that two messages with the same ID are indeed containing the same information. 为了达到此目的，数据定义本身也进行了 CRC-16-CCITT ，结果用作此数据包 CRC 的种子。 Most reference implementations store this constant in an array named CRC_EXTRA.

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    支持 ​

    邮件表/讨论组 ​

    The core development team and community are active on the mailing list.

    Reporting Bugs & Issues ​

    If you have any problems using MAVLink first post them on the mailing list.

    If directed by the development team, issues may be raised on Github here.

    Dev Call ​

    MAVLink developers, adopting companies and the surrounding community of users meet regularly to help define the direction of the project, discuss RFCs, Issues and have a Q&A session.

    TIP

    The call is open to anyone who wants to contribute to the ongoing development of the project (not just the dev team). This is a great opportunity to meet the team.

    Who should attend: ​

    • 核心项目维护者
    • 组件维护者
    • Dronecode 成员
    • 社区成员
    • 任何对开发 MAVLink感兴趣的人

    日程 ​

    Meeting agenda (and historical meeting minutes) are available on the MAVLink wiki here.

    • 增加你想要讨论的内容及想要解决的问题。
    • Nominate Issues and PRs for the call with the Dev Call label on Github.

    Schedule ​

    每逢双周热线会覆盖亚欧地区（当需要时，会为欧美 PST 时区的用户预留通话时间）。

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  • 测试您的更改 \ (我们可能会要求您在您的 pr 中提供测试结果 )。

  • 将更改推送到您的存储库:

    git 推送来源 mydescriptisbranchname

  • Send a pull request to merge changes in the branch.

    • Dev Call ​

    We have a regular dev call that is open to anyone who is interested in contributing to the project!

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    Getting Started ​

    Download or Generate MAVLink source files for your dialect:

    以下内容将说明，如何将生成的相关文件包含在项目中，并使用 MAVLink:

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    安装MAVLink工具链 ​

    This topic explains how to install the MAVLink toolchain. The toolchain includes the XML message definitions as well as the the GUI/command line tools that use the definitions to Generate MAVLink Source Files.

    TIP

    You do not need to install or generate the source files if you are using the C programming language and a standard dialect. Just get the prebuilt libraries and then jump to Using C Libraries.

    先决条件 ​

    The requirements for using the MAVLink generator are:

    • Python 3.3+
    • pip3 install future
    • TkInter (required to use the GUI tool), included as of Python 3.7.

    如果您要创建新的XML定义，您还应该安装lxml和libxml2以进行XML的验证和格式化。

    安装 ​

    安装MAVLink工具链：

    1. Install Python 3.6+:

      • Windows: Download from Python for Windows
      • Ubuntu Linux Make sure Python and Pip are both installed:
        sudo apt install python3-tk

    2. Clone the official mavlink repo or your fork with your custom dialect:

      git clone https://github.com/mavlink/mavlink.git --recursive

    3. Install the required packages:

      sudo apt install python3-pip

    Now you are ready to Generate MAVLink Libraries.

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    针对ROS 生成源文件 ​

    To add MAVlink messages/dialects while working with ROS:

    1. Follow the MAVROS source install instructions to install the mavlink-gbp-release which is the MAVlink library released for ROS.

    2. Uninstall the MAVlink package for ROS if previously installed.

      sh
      sudo apt-get remove ros-${rosversion -d}-mavlink

      or source devel/setup.bash of your catkin workspace to override the library directory.

    3. In the mavlink-gbp-release, add the new MAVlink message to common.xml or add the new dialect dialect_name.xml in the message definitions. Do not checkout your MAVlink branch because it is not the version synced with ROS.

    4. Generate the MAVlink headers catkin build mavlink. You can find the headers in ~/catkin_ws/build/mavlink/include/.

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    使用 MAVLink 库 ​

    以下链接文档解释了如何将 mavlink 库用于不同的编程语言 (通过不同的代码生成器生成)。

    INFO

    Not all of the libraries are documented. If you have experience with the other libraries, please help us update those sections!

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    MAVLink CRC ​

    MAVLink services that need to use a Cyclic Redundancy Check (CRC) should choose the CRC32 algorithm described below.

    INFO

    Using the same CRC implementation for all cases means that only one implementation is required. Do not introduce another unless there without a compelling technical reason.

    INFO

    This CRC is used for higher level services (it is not related to the CRC16 used for the checksum in MAVLink serialization).

    CRC32 Algorithm ​

    The CRC32 algorithm used by MAVLink is similar to (but different from) the ISO 3309 standard based on the polygon 0x04C11DB7. It is commonly referred to as "the CRC32 based on Gary Brown's work". It is commonly referred to as "the CRC32 based on Gary Brown's work".

    The difference of MAVLink's implementation versus the standard are:

    • Start at 0 instead of 0xFFFFFFFF.
    • Missing final XOR out operation with 0xFFFFFFFF.

    The effects of the initial value and final XOR operation are documented in this brief tutorial on CRC computation of the Linux kernel.

    Implementations ​

    This implementation is currently used in:

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    The rules for MAVLink commands are exactly the same as for other enums. There are a few of additional conventions.

    Command (Entry) Values ​

    All mission command entries must have a value (this is not enforced by the toolchain but, as for other enums, it reduces the chance of values unintentionally changing and breaking other systems).

    Each dialect is allocated a specific range from which entry ids can be selected. This ensures that any dialect can include any commands from any other dialect (or common.xml) without clashes. It also means that messages can move from a dialect to common.xml without any code needing to change.

    Dialects can choose any values within their range for any message. However we recommend that all related commands be kept in the same block of ids, and if there are likely to be more similar commands in future then spaces might be left for new commands.

    The allocated ranges are listed below (a more complete list is provided in the comments in all.xml):

    语支范围
    Common.xml0 - 39999
    asluav.xml40001 - 41999
    ArduPilotMega.xml42000 - 42999

    TIP

    If you are creating a new public dialect, create an issue to request your own command id range. For private dialects, you can use whatever range you like.

    There are a number of common and ArduPilot commands that are outside the ranges (e.g. 16, 200, etc.). Generally you would only use these these ranges in order to give a new command an id that is close to related to that of related commands. This can be done provided that the command id value is not used by any other XML file in the mavlink/mavlink repo.

    Entry Names ​

    As with other enums, enum entry names should be prefixed with the enum name (i.e. MAV_CMD_). In addition, there are some other "standard" prefixes which are used for common types of commands:

    • MAV_CMD_NAV_: NAV commands are used for navigation/movement commands (commands to go to a particular waypoint or move in a particular way).
    • MAV_CMD_DO_: DO commands are used for setting modes, changing altitude or speed etc.
    • MAV_CMD_CONDITION_: CONDITION_ commands are used to define conditions before the mission state machine will move to the next item (e.g. a time after reaching a waypoint before taking a picture).
    • MAV_CMD_REQUEST_: For requesting information from a system.

    TIP

    The rules for the above prefixes are flexible; some DO commands might reasonably be NAV commands. In some cases a request for information might be a MAV_CMD_REQUEST_ and in others it might be a stand alone message.

    Parameters (param) ​

    Message data is encoded in the param values/attributes.

    标准映射 ​

    Parameters (params) must have an index from 1 to 7.

    Where a command contains position information, this is always stored in: Param 5 (x / latitude), Param 6 (y / longitude), Param 7 (z, altitude). Whether the value is local (x,y,z) or global (latitude, longitude, altitude) depends on the command and the frame used (frame often defined in the parent message).

    数据类型 ​

    The param data for index 1-4, 7 are always exchanged in a field with size float, while index 5, 6 may also be sent as an int32 (depending on the message used). The implication is that index 5 and 6 should not be used for data that may need to be sent in a floating point value (like a NaN).

    Reserved/Undefined Parameters ​

    Many commands do not need seven (or any) param values. These unused parameters can be treated as reserved, allowing them to be reused later if the command needs to be extended.

    A reserved param must always be sent with a (default) value of either 0 or NaN (which will be interpreted by recipient as "no action" or "not supported"). If the param is reused the original default value must still mean "no action", so that an updated system can still interact with a system that has not been updated.

    INFO

    Unfortunately this means that a reserved param must have its default value decided when the command is declared! The default value cannot later be changed from NaN to 0 (or visa versa) without potential compatibility issues.

    To declare a param as reserved with default value of NaN you should use the following syntax.

    <param index="3" reserved="true" default="NaN" />

    WARNING

    Params with index values 5 and 6 should not be given a default of NaN , because if these are sent in a COMMAND_INT or MISSION_INT these parameters are integers (and hence there is no way to represent an NaN).

    To declare a param as reserved with default value of 0 simply omit the param from the definition. This is the default - it is equivalent to:

    xml
    <param index="3" reserved="true" default="0" />

    If you have just one unused param we recommend you simply don't declare it. If you have more than one, you may wish to explicitly define it with default of NaN so that you can extend your command later with either default.

    GUI Param Attributes ​

    A number of param attributes are provided as "GUI hints".

    These attributes are used to better display params:

    • label - Label for param in GCS/UI. All words in label should be capitalised (e.g. "Hold Altitude").
    • units - SI units for the value.
    • decimalPlaces - Hint to a UI about how many decimal places to use if the parameter value is displayed.

    These attributes help a GCS customise the editing experience (e.g. controls can choose to only offer allowed values).

    • enum - Enum containing possible values for the parameter (if applicable).
    • increment - Allowed increments for the parameter value.
    • minValue - Minimum value for param.
    • maxValue - Maximum value for the param.
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    通用遥测 ​

    MAVLink 旨在支持发送连续的遥测流, 包括无人机的位置、速度、姿态和类似的关键状态。

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    MAVLink 2 ​

    MAVLink 2 is a backward-compatible update to the MAVLink protocol that has been designed to bring more flexibility and security to MAVLink communication. MAVLink 2 bindings have been developed for C, C++11 and Python (see Supported Languages).

    此主题与 MAVLink 2 的主要新功能链接，以及如何使用。

    特性 ​

    The key new features of MAVLink 2 are:

    • 24 位消息 ID - 允许 16 000多万枚独特的信息定义(MAVLink 1 仅限256)
    • Packet signing - Authenticate that messages were sent by trusted systems.
    • Message extensions - Add new fields to existing MAVLink message definitions without breaking binary compatibility for receivers that have not updated.
    • Empty-byte payload truncation - Empty (zero-filled) bytes at the end of the serialized payload must be removed before sending (All bytes were sent in MAVLink 1, regardless of content).
    • Compatibility Flags/Incompatibility Flags - Allow for backwards compatible evolution of the protocol by indicating frames that must be handled in a special/non-standard way (packets with compatibility flags can still be handled in the standard way, while packets with incompatibility flags must be dropped if the flage is not supported).

    TIP

    The MAVLink 2 design document provides additional background information about the changes.

    版本对接/谈判 ​

    MAVLink Versions explains the handshaking used to determine the supported MAVLink version of either end of the channel, and how to negotiate the version to use.

    C Implementation ​

    MAVLink 2 C库向下兼容 MAVLink 1。 Information on how to upgrade the library and work with MAVLink 1 is covered in Using C MAVLink Libraries (mavgen).

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    MAVLink 版本 ​

    MAVLink 已部署在若干版本中：

    • MAVLink 2.0: Current/recommended major version. 2017年初被主要用户采用。
    • MAVLink v1.0: Widely adopted around 2013. 仍被许多传统的外围设备使用。

    The MAVLink 2.0 C/C++ and Python libraries are backwards compatible with MAVLink 1.0 (support both protocols). Version Handshaking and Negotiating Versions explain how to choose which version is used.

    INFO

    MAVLink v0.9 is a pre-release version that is no longer supported. The associated message set deleted in August 2018. Legacy code may be present in generator and test code.

    确定协议/消息版本 ​

    库的 MAVLink 支持可以通过多种方式来确定:

    • AUTOPILOT_VERSION.capabilities can be checked against the MAV_PROTOCOL_CAPABILITY_MAVLINK2 flag to verify MAVLink 2 support.

    • PROTOCOL_VERSION.version contains the MAVLink version number multiplied by 100: v1.0 is 100, v2.3 is 203 etc.

    • HEARTBEAT.mavlink_version field contains the minor version number. This is the <version> field defined in the Message Definitions (version in common.xml for dialects that depend on the common message set).

    • 主要版本可以从数据包起始标记字节中确定:

      • MAVLink 1: 0xFE
      • MAVLink 2: 0xFD

      INFO

      A MAVLink library that does not support a protocol version will not recognise the protocol start marker; so no messages will even be detected (see Serialization).

    TIP

    While messages do not contain version information, an extra CRC is used to ensure that a library will only process compatible messages (see Serialization > CRC_EXTRA).

    Version Handshaking ​

    Support for MAVLink 2 is indicated in the AUTOPILOT_VERSION message by the MAV_PROTOCOL_CAPABILITY_MAVLINK2 flag.

    如果自动驾驶仪和 gcs 之间的通信链接是完全透明的, 这就足够了。 但是, 大多数通信链路并不完全透明, 因为它们要么包括路由, 要么在数据化上固定长度的无线实现的情况下。 In order to also test the link, the MAVLink 2 handshake protocol sends a MAVLink 2 frame to test the complete communication chain.

    To do so, the GCS sends a COMMAND_LONG or COMMAND_INT message with the command ID MAV_CMD_REQUEST_PROTOCOL_VERSION.

    If the system supports MAVLink 2 and the handshake it will respond with PROTOCOL_VERSION encoded as MAVLink 2 packet. If it does not support MAVLink 2 it should NACK the command. 如果命令接口未得到适当执行，GCS应返回超时。

    下表显示完整顺序。

    Mermaid sequence: Request protocol version

    半透明的传输 ​

    Some popular legacy radios (e.g. the SiK radio series) operate in semi-transparent mode by injecting RADIO_STATUS messages into the MAVLink message stream. Per MAVLink spec these should actually emit a heartbeat with the same system ID and a different component ID than the autopilot to be discoverable. However, an additional heartbeat could be an issue for deployed systems. Therefore these radios can alternatively confirm their MAVLink 2 compliance by emitting RADIO_STATUS in v2 message format after receiving the first MAVLink v2 frame.

    版本和签名 ​

    The supported MAVLink library implementations enable different MAVLink versions on a per-channel basis, where a channel refers to a particular link in/out of a MAVLink system or component (e.g. a serial port or UDP port).

    As a result, all connections to other components over a particular channel must share the same MAVLink version. If a system is using signing, then all connections via the same channel must also be signing messages with the same key.

    INFO

    A system cannot use a single channel to connect to signed MAVLink 2 systems, unsigned MAVLink 2 systems, and/or MAVLink 1 components.

    Currently most MAVLink networks are configured to use unsigned MAVLink 2 messages. MAVLink 1 is primarily used to allow autopilots to connect to legacy MAVLink peripherals, and this is done via a separate channel. Signed networks will need to use a further separate channel to connect to other signed systems.

    The next section explains how a system/channel should negotiate the version to use.

    Negotiating Versions ​

    Vehicle and GCS implementations will support both MAVLink 1 and MAVLink 2 for quite some time. We would like most users to receive the benefit of MAVLink 2, while still supporting implementations that don't yet support MAVLink 2.

    The following is meant to capture best practice for vehicle firmware and GCS authors:

    • Vehicle implementations should have a way to enable/disable the sending of MAVLink 2 messages. This should preferably be on a per-link (channel) basis to allow for some peripherals to be MAVLink 1 while others are MAVLink 2. 此选项要求重新启动飞行控制器才能生效是可以接受的。
    • If signing is enabled then the vehicle should immediately start sending signed MAVLink 2 on startup.
    • If signing is not enabled and MAVLink 2 is enabled then the vehicle may choose to start by sending MAVLink 1 and switch to MAVLink 2 on a link when it first receives a MAVLink 2 message on the link.
    • Vehicles should set the MAV_PROTOCOL_CAPABILITY_MAVLINK2 capability flag in the AUTOPILOT_VERSION message if MAVLink 2 is available on a link. This should be set in the case where the link is currently sending MAVLink 1 packets but MAVLink 2 packets will be accepted and will cause a switch to MAVLink 2.
    • GCS implementations can choose to either automatically switch to MAVLink 2 where available or to have a configuration option for MAVLink 2.
    • If the GCS chooses to use a configuration option then when the option is enabled it should send MAVLink 2 on starting the link.
    • If the GCS chooses to use automatic switching then it should switch to sending MAVLink 2 if either it receives a MAVLink 2 message on the link or by asking for the AUTOPILOT_VERSION message to be sent and seeing the MAV_PROTOCOL_CAPABILITY_MAVLINK2 flag is set.
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    消息签名 (身份验证) ​

    MAVLink 2 adds support for message signing, which allows a MAVLink system to verify that messages originate from a trusted source.

    本主题提供消息签名的概述, 这对于使用现有 MAVLink 库的开发人员和新的 MAVLink 代码生成器的编写者都很有用。 它解释了系统如何确定报文是否已签名、签名是否有效、如何允许接受未签名的报文以及如何创建和共享用于创建签名的 secret。 It explains how a system can determine if a message is signed and whether the signature is valid, how to allow unsigned messages to be accepted, and how to create and share the secret used to create the signature.

    有关使用现有 mavlink 库的开发人员的更多详细信息, 请参见:

    帧格式 ​

    For a signed packet the 0x01 bit of the incompatibility flag field is set true and an additional 13 bytes of "signature" data appended to the packet. 签名的数据包格式如下。

    MAVLink 2 Signed

    INFO

    The incompatibility flags in the packet header are used to indicate that the MAVLink library must reject the packet if it does not understand or cannot handle the flag. In other words, a MAVLink library that does not support signing must drop signed packets. The C library uses MAVLINK_IFLAG_SIGNED to represent the "supports message signing" bit.

    签字的13字节为：

    数据描述
    linkID (8&nbsp;bits)发送数据包的链接ID。 通常与channel相同。 Normally this is the same as the channel.
    timestamp (48 bits)2015年1月1日GMT时间以来的10个微秒时间戳。 This must monotonically increase for every message on a particular link. 请注意，如果数据包平均每秒100,000多个数据包，那么时间戳可能早于实际时间。
    signature (48 bits)基于完整的数据包、时间戳和秘密密钥，数据包有48位签名。

    见下文关于字段的更多信息。

    提供了8位链接ID，以确保签名系统对多链接 MAVLink 系统足够强大。 每个执行都应该指定一个链接ID，指定它启用的 MAVLink 通信渠道，并将此ID置于链接ID字段中。 链接 ID 特别重要，因为不同链接（如WiFi，加上遥控无线电广播）之间可能存在巨大的潜在差异。 每个执行都应该指定一个链接ID，指定它启用的 MAVLink 通信渠道，并将此ID置于链接ID字段中。 链接 ID 特别重要，因为不同链接（如WiFi，加上遥控无线电广播）之间可能存在巨大的潜在差异。

    The monotonically increasing timestamp rule is applied separately for each logical stream, where a stream is defined by the tuple:

    (系统 id、组件 id、链接 id)

    INFO

    For more information see C Message Signing > Handling Link IDs.

    Signature ​

    The 48 bit (6 byte) signature is the first 48 bits of a SHA-256 hash of the complete packet (without the signature, but including the timestamp) appended to the secret key. 密钥是 MAVLink 通道（即自动试验、地面站或 MAVLink API）两个终端储存的二进制数据的32字节。

    This is shown below, where + represents concatenation and sha256_48() is a sha256 implementation which returns the first 48 bits of the normal sha256 output:

    signature = sha256_48(secret_key + header + payload + CRC + link-ID + timestamp)

    Timestamp Handling ​

    时间戳是48位，从2015年1月1日起，单位为10微秒。 对于1/1/1970年以来可用的系统（unexpoch），你可以在 14200004 秒内使用抵消。

    INFO

    This is a loose definition, as the various update mechanisms detailed below may result in the timestamp being significantly different from actual GMT time.

    All timestamps generated must be at least 1 more than the previous timestamp sent in the same session for the same link/(SystemID, ComponentID, LinkID) tuple. 如果数据包以每秒100 000多包的速度破裂，时间戳可能提前 GMT 时间。

    MAVLink 启用的设备可能不知道当前的 GMT 时间，例如，如果没有可靠的时间源，或者，如果它刚刚启动，并且尚未从GPS 或其他系统中获得时间。

    系统应当执行以下规则，以获得可靠的时间戳：

    • 当前时间戳应定期储存在持久性储存中(最好至少每分钟一次)

    • 启动时使用的时间戳应该是系统时钟和存储时间戳所隐含的时间戳的最大值

    • 如果该系统没有一个 RTC 机制，则应当更新其在全球定位系统锁定时时的时间戳。 应该使用全球定位系统和存储时间戳的最大时间戳。 应该使用全球定位系统和存储时间戳的最大时间戳。

    • 从特定链接发送的每个消息中，时间戳应增加一个。

    • When a correctly signed message is decoded the timestamp should be replaced by the timestamp of the incoming message if that timestamp is greater than the current timestamp.

      INFO

      The link timestamp must never be updated with the timestamp from an incorrectly signed packet (even if these are being accepted).

    • The timestamp on incoming signed messages should be checked against the previous timestamp for the incoming (linkID,srcSystem,SrcComponent) tuple and the message rejected if it is smaller.

    • If there is no previous message with the given (linkID,srcSystem,SrcComponent) then the timestamp should be accepted if it not more than 6 million (one minute) behind the current timestamp.

    TIP

    For devices that store the timestamp in persistent storage, implementations can prevent race conditions by storing two timestamp values. 在写入时, 应更新两个值中较小的值。 在读取时, 应使用两个值中较大的值。

    Accepting Signed Packets ​

    当签名的数据包到达时, 如果出现以下情况, 则应将其丢弃:

    • Timestamp is older than the previous packet from the same logical stream - where a logical stream is defined as the sequence of MAVLink packets with the same (SystemID, ComponentID, LinkID) tuple.
    • 计算的48位签名与数据包中包含的签名不匹配。
    • 时间戳在本地系统的时间戳后面超过 1分钟 (6, 000, 000)。

    Accepting Unsigned Packets ​

    MAVLink libraries should provide a mechanism that allows a system to conditionally accept unsigned packets.

    接受这些数据包的规则将是特定于实现的, 但可以基于参数设置、传输类型、消息类型、(in) 兼容性标志等的组合。

    INFO

    All packets that do not meet the system-specific unsigned packet acceptance rules must be rejected (otherwise there is no benefit gained from signing/authentication).

    关于何时接受未签名数据包的一些建议:

    • 接受基于系统特定参数的所有未签名数据包。
    • 如果连接是通过 "安全通道" (例如本地 usb 电缆或本地有线以太网电缆), 则接受所有未签名的数据包。
    • RADIO_STATUS packets are always accepted without signing (to make life easier for telemetry radios).
    • 在 "无签名模式" (可能由启动时按下的硬件按钮触发) 时接受所有未签名的数据包。
    • 接受所有未签名的数据包, 直到 (无条件地) 收到已签名的数据包, 然后移动到上面更受限制的签名规则。

    Accepting Incorrectly Signed Packets ​

    MAVLink 库应该提供一种机制, 允许系统有条件地接受签名不正确的数据包。

    此功能可能有助于查找带有损坏的密钥的失联飞机 (gcs 可以选择仍然显示位置信息, 尽管理想情况下使用不同的 "不受信任" 图标)。

    INFO

    A system that is accepting incorrectly signed packets should provide a highly conspicuous indication that the connection is unsafe/insecure. 格式错误的签名数据包表示配置错误、传输失败、协议失败或恶意操作。

    Secret Key Management ​

    密钥是32字节的二进制数据, 用于创建可由密钥的其他持有者验证的消息签名。 密钥应在网络中的一个系统 (通常是 GCS) 上创建, 并通过安全通道共享到其他受信任的设备。 系统必须具有共享密钥才能进行通信。 密钥应在网络中的一个系统 (通常是 GCS) 上创建, 并通过安全通道共享到其他受信任的设备。 系统必须具有共享密钥才能进行通信。

    INFO

    The mavgen C and Python libraries support only one key per link. 这是库的选择, 而不是协议的限制/要求。 相反, 实现可以存储一个密钥池, 并/或在每个连接的基础上管理密钥。

    密钥应存储在持久存储设备中, 并且不得通过任何可公开访问的通信协议公开。 密钥应存储在持久存储设备中, 并且不得通过任何可公开访问的通信协议公开。 特别是, 密钥不得在可以用于公共日志分析的 MAVLink 参数、MAVLink 日志文件或数据闪存日志文件中公开。

    生成密钥的方法取决于实现。 例如, 它可以通过以下方式生成:

    • 用户输入的字符串, 然后通过 sha-256 运行。
    • 随机密钥生成器。

    The secret key may be shared to other devices using the SETUP_SIGNING message. The message should only ever be sent over a secure link (e.g. USB or wired Ethernet) as a direct message to each connected system_id/component_id. 必须设置接收系统来处理消息, 并将接收到的密钥存储到相应的永久存储中。

    The same secure method can be used to both set and reset a system's key (reseting a key does not have to be "more secure" than setting it in the first place).

    The SETUP_SIGNING message should never be broadcast, and received SETUP_SIGNING messages must never be automatically forwarded to other active MAVLink devices/streams/channels. 这是为了避免通过安全链接 (如 usb) 收到的密钥通过不安全的链接 (例如 wifi) 自动转发到另一个系统的情况。

    不通过 USB 提供 MAVLink 的自动驾驶仪可能会创建一个模块, 可以从命令行界面 (例如 nsh) 设置密钥。

    TIP

    We recommend that GCS implementations should generate the secret key and share this with connected systems over a secure link (e.g. USB). The receiving system may be configured to ignore message signatures on the secure channel (i.e. accept all signed, unsigned or incorrectly signed packets), so that it is possible to reset a key that has been lost or corrupted.

    日志记录 ​

    In order to avoid leaking the secret key used for signing, systems should omit SETUP_SIGNING messages from logs (or replace the secret with 32 0xFF bytes in the logged message).

    Similarly, signed packets should have the signature incompatibility bit cleared and the signature block removed before being put into telemetry log files. 这使得潜在攻击者更难以收集大量签名数据来攻击系统。

    更多信息 ​

    The Message Signing Proposal contains additional information, including:

    • 设计决定背后的原因。
    • 评价安全效力，包括抵制重播和脱机攻击。
    • 假设。

    INFO

    Much of this content is derived from the Message Signing Proposal (Google Doc).

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    远程控制接口 ​

    远程控制界面允许向飞机发送低级和高级姿态、速度或位置命令。

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    Packet Loss Calculation ​

    MAVLink packet loss is calculated from the packet sequence number, an 8 bit field that is incremented each time a message is emitted on a channel. The recipient of the message can track the last recieved/next expected sequence number, and if a packet sequence number is bigger than expected, any intermediate packets between the sequence numbers are assumed to have been lost. The sequence number will wrap around at 255, and the recipient is expected to compensate for this.

    This approach works if all messages sent on a channel are routed to the system calculating packet loss, and if messages from only one channel are received by the system calculating packet loss. This is true in simple setups, in particular those where a GCS and autopilot communicate over a single telemetry radio.

    It may not work in more complicated setups:

    • Companion computer setups may use routers to redirect some packets from the autopilot to specific components, and don't necessarily forward all of them to the ground station that is calculating packet loss. The packets that don't reach the ground station will be detected as packet loss, even though they were received by the router.
    • Setups with redundant links may merge the channels before passing to a GCS. The sequence numbers from the messages sent on different channels will not match, and any differences are detected as packet loss.
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    Redundancy and Message/Command De-duplication ​

    A MAVLink network may include redundant links. For example, a vehicle might have two telemetry radios for connecting to a ground station, or a telemetry radio for near-communication and a satellite connection for long range communication. In these cases, the same message or command may reach the receiver by several paths. Further, even on a single channel, it is possible that the same command is sent (and received) multiple times, due to loss of the original acknowledgement.

    MAVLink has no in-built mechanism for deconflicting messages received from multiple channels. The packet sequence number cannot be used, for example, because each channel has its own sequence counter.

    To mitigate this problem, commands are designed (where possible) to be idempotent, such that it doesn't matter if the same command is received when the vehicle is acting/has already acted on the same command. For example, a command to ARM or TAKEOFF when the vehicle is already armed or flying should immediately be acknowledged with a COMMAND_ACK.result of MAV_RESULT_ACCEPTED.

    Another approach to mitigate this kind of problem is to only accept data on a primary channel, and fall back to the secondary channel if the first channel fails.

    When using multiple channels you may still run into problems, in particular when working with very high latency links. The appropriate actions in these cases need to be considered on a case-by-case basis.

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    路由 ​

    这个主题解释了如何由 MAVLink 系统路由信息。

    综述 ​

    一个 MAVLINK 网络由多种系统组成（无人机、地面站、天线追踪器等），这些系统可能由一个或多个组件（自动试验、相机、服务器等）组成。

    Each system has a network-unique system id, and each component has a system-unique component id that can be used for addressing/routing:

    • The system id has a value between 1 and 255.
      • 默认自动试验系统 id通常是 1。 用户应在添加新的自动驾驶仪到网络时分配独特增加的 id 值。 用户应在添加新的自动驾驶仪到网络时分配独特增加的 id 值。
      • GCS 系统和开发者API 通常在数值范围顶部使用ID，以减少ID冲突(例如：255)。 它们的系统ID经常可用于允许多GCS系统。 它们的系统ID经常可用于允许多GCS系统。
    • The component id is allocated by type and number from MAV_COMPONENT.

    消息可用于所有系统、特定系统、系统中的所有组件或系统内的特定组件。 协议界定了在报文有效载荷中能够(可选) 指定的两个8位字段，以表明发送/路由。 If the ids are omitted or set to zero then the message is considered a broadcast (intended for all systems/components).

    • target_system: System that should execute the command
    • target_component: Component that should execute the command (requires target_system).

    MAVLink组件预计将处理具有匹配系统/组件id和广播信息的信息。 预计他们将转发/重发其他(或所有)收件人的消息，前往其他活动频道（即MAVLink系统可以连接不同的运输系统，连接到连接信息的路线）。 广播消息已转发给所有尚未看到消息的通道。 地址消息在新频道 ff上重新发送，系统以前从该频道的目标中看到了一条消息， (如果收件人不知道，或在原始/接入频道，信息不会重新发送)。 They are expected to route/resend messages that are intended for other (or all) recipients to other active channels (i.e. MAVLink systems may be connected across different transports, connected by a MAVLink system that routes the messages). 广播消息已转发给所有尚未看到消息的通道。 Addressed messages are resent on a new channel iff the system has previously seen a message from the target on that channel (messages are not resent if the addressee is not known or is on the original/incoming channel).

    WARNING

    Forwarded messages must not be changed/repackaged by the forwarding system (the original message is passed to the new link).

    INFO

    Systems should, where possible, forward messages according to the routing rules even if they are unable to process them (e.g. signed messages that cannot be authenticated). Messages that are not supported/understood by the library should be forwarded as though they were broadcast messages (in this case the target system/component ids cannot be read).

    路由详细信息 ​

    Systems/components should process a message locally if any of these conditions hold:

    • It is a broadcast message (target_system field omitted or zero).
    • The target_system matches its system id and target_component is broadcast (target_component omitted or zero).
    • The target_system matches its system id and has the component's target_component
    • The target_system matches its system id and the component is unknown (i.e. this component has not seen any messages on any link that have the message's target_system/target_component).

    Systems should forward messages to another link if any of these conditions hold:

    • It is a broadcast message (target_system field omitted or zero).
    • The target_system does not match the system id and the system knows the link of the target system (i.e. it has previously seen a message from target_system on the link).
    • The target_system matches its system id and has a target_component field, and the system has seen a message from the target_system/target_component combination on the link.

    INFO

    Non-broadcast messages must only be sent (or forwarded) to known destinations (i.e. a system must previously have received a message from the target system/component).

    INFO

    Systems should also check for SYSTEM_TIME messages with a decrease in time_boot_ms, as this indicates that the system has rebooted. In this case it should clear stored routing information (and might perform other actions that are useful following a reboot - e.g. re-fetching parameters and home position etc.).

    库支持 ​

    C 库 (mavgen) ​

    The generated code for the MAVLink v1 C Library has no specific support for routing or working with target_system and target_component. To extract this information you will need to use the normal methods provided for reading payload fields, and match on the field names.

    The MAVLink v2 generator for the C library has been updated to make it easier to get the destination system and component ID from the payload (when these are assigned). Specifically, the mavlink_msg_entry_t structure contains flags to tell you if the message contains target system/component information (FLAG_HAVE_TARGET_SYSTEM, FLAG_HAVE_TARGET_COMPONENT) and offsets into the payload that you can use to get these ids (target_system_ofs and target_component_ofs, respectively). The MAVLink helper method const mavlink_msg_entry_t* mavlink_get_msg_entry(uint32_t msgid) can be used to get this structure from the message id.

    Unsigned MAVLink 2 packets are routed in the same way as MAVLink 1 packets.

    Routing Signed Packets ​

    Signed packets should be routed in the same way as any other packet.

    In particular, a routing system should:

    • 不以任何方式更改电文(包括替换原始签字)。
    • 即使不能被验证(甚至理解)，因此不能在当地加以处理，也按照正常规则提交信息。

    路由接口 ​

    The MAVLink Router can be used to mix-and-match different IP protocols with serial ports in order to route MAVLink traffic.

    更多信息 ​

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    Pymavlink 脚本 ​

    This MAVLink library also comes with supporting libraries and scripts for using, manipulating, and parsing MAVLink streams within the pymavlink, pymavlink/tools, and pymavlink/examples directories.

    这些脚本具有以下要求:

    • Python 2.7+ 和3.3+
    • PYTHONPATH specifies the directory path that contains the mavlink repository.
    • Write access to the entire mavlink folder.
    • Your dialect's XML file is in message_definitions/*/

    The scripts can be executed by running Python with the -m switch, which indicates that the given script exists on the PYTHONPATH. The following code runs mavlogdump.py in /pymavlink/tools/ on the recorded MAVLink stream test_run.mavlink (other scripts in /tools and /scripts can be run in a similar fashion):

    python -m pymavlink.tools.mavlogdump test_run.mavlink

    INFO

    Using the -m switch is the proper way to run Python scripts that are part of a library as per PEP-328 (and the rejected PEP-3122).

    - + \ No newline at end of file diff --git a/zh/guide/serialization.html b/zh/guide/serialization.html index a378e852e..2c952aa22 100644 --- a/zh/guide/serialization.html +++ b/zh/guide/serialization.html @@ -9,9 +9,9 @@ - + - + @@ -38,7 +38,7 @@ if f.array_length: crc.accumulate([f.array_length]) return (crc.crc&0xFF) ^ (crc.crc>>8)

    INFO

    This uses the same CRC-16/MCRF4XX checksum that is used at runtime. It calculates a CRC over the message name (such as “RAW_IMU”) followed by the type and name of each field, space separated. The order of the fields is the order they are sent over the wire. For arrays, the array length is also added.

    Checksum ​

    The packet format includes a 2-byte CRC-16/MCRF4XX to allow detection of message corruption. See the MAVLink source code for the documented C-implementation.

    The CRC covers the whole message, excluding magic byte and the signature (if present). The CRC includes the CRC_EXTRA byte, which is used to ensure that the sending and receiving systems share a common understanding of the message definition.

    - + \ No newline at end of file diff --git a/zh/guide/uavcan_interaction.html b/zh/guide/uavcan_interaction.html index 137ab2467..a103a772e 100644 --- a/zh/guide/uavcan_interaction.html +++ b/zh/guide/uavcan_interaction.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

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    UAVCAN 介绍 ​

    本章描述 MAVLink 命令和信息，以便利操作者的设备与板载 UAVCAN 之间的数据交互。 主要目的是使用户能够通过现有的 MAVLink 连接，配置、监测和控制机上的 UCAVAN 节点。 主要目的是使用户能够通过现有的 MAVLink 连接，配置、监测和控制机上的 UCAVAN 节点。

    概况 ​

    The general description and specification of UAVCAN is available at http://uavcan.org.

    文章将提及以下术语：

    • Bridge node - the piece of on-board equipment that bridges the on-board UAVCAN bus and the MAVLink connection. 这一功能常常由飞行管理单元控制，例如 Pixwik 执行。
    • Remote equipment - the other end of the MAVLink channel, e.g. the ground control station.

    UCAN Node 识别 ​

    每个 UAVCAN 节点都有一个称为“node ID”的总线上唯一的标识符。 节点 id 是间隔 [1, 127] 中的整数, 其中值1通常由自动驾驶仪或其他类型的中央控制单元使用, 和值126和127通常由调试或监视设备使用。 节点 id 是间隔 [1, 127] 中的整数, 其中值1通常由自动驾驶仪或其他类型的中央控制单元使用, 和值126和127通常由调试或监视设备使用。

    每个能够通过 MAVLink 和 UAVCAN 通信的单位必须使用相同的数字，用于 MAVLink 组件ID 和 UCAN Node ID，否则可能会出现严重的不一致之处。 通常情况下, 如果有一个非冗余自动驾驶仪, 其 UAVCAN 节点 id 和 MAVLink 组件 id 将设置为 1 (1)。 通常情况下, 如果有一个非冗余自动驾驶仪, 其 UAVCAN 节点 id 和 MAVLink 组件 id 将设置为 1 (1)。

    与给定 UAVCAN 节点相关的每个输出/传入的 MAVLink 消息/命令都将其字段 组件 id 设置为与所述 UAVCAN 节点的节点 id 相同的值。

    节点状态报告 ​

    节点状态消息 ​

    In UAVCAN, the abstract node status information is represented by the standard message type uavcan.protocol.NodeStatus. Its MAVLink counterpart is UAVCAN_NODE_STATUS.

    The bridge node should emit the MAVLink message UAVCAN_NODE_STATUS every time it receives a UAVCAN node status message. 允许桥节点对节点状态消息流进行抽取, 以避免 MAVLink 通道的拥塞, 但所产生的状态消息发射频率不应低于每个节点 1 hz。

    远程设备可以通过跟踪自上次接收每个在线节点的节点状态消息以来经过的时间来监控 UAVCAN 节点的联机状态。 如果该节点的最后一个状态消息超过5秒未到达, 则应将该节点视为离线。 如果该节点的最后一个状态消息超过5秒未到达, 则应将该节点视为离线。

    扩展节点信息 ​

    UAVCAN nodes are typically able to report some static information that identifies their type, purpose, vendor, revision, and such, via the standard service type uavcan.protocol.GetNodeInfo. 在此上下文中, "静态" 表示在节点运行时数据没有更改。 这种信息对于许多重要的使用案例至关重要。

    The corresponding MAVLink message is UAVCAN_NODE_INFO. Its fields are direct mappings of the corresponding fields in the service type uavcan.protocol.GetNodeInfo.

    The bridge node must emit the message UAVCAN_NODE_INFO in the following cases:

    • Reception of a service response of type uavcan.protocol.GetNodeInfo. In turn, this service must be invoked when the following conditions are observed on the bus (please read the UAVCAN specification for a more detailed description of the principles of bus monitoring):
      • 一个新的节点在线出现。
      • 已知节点已重新启动。
    • Reception of the MAVLink command MAV_CMD_UAVCAN_GET_NODE_INFO. In this case, the bridge node is required to emit UAVCAN_NODE_INFO once for every known node.
    • It is also allowed, but not required, to unconditionally emit messages UAVCAN_NODE_INFO at a very low rate, in order to guarantee that the remote equipment always has a valid model of the on-board UAVCAN bus.

    配置参数管理 ​

    UAVCAN定义了一套标准服务类型，以便利配置参数管理在 UCAVAN 节点上。 相关的数据类型定义可在命名空间 uavcen.protocol.made 中找到。 The respective data type definitions can be found in the namespace uavcan.protocol.param.

    UAVCAN-MAVLink 桥没有为配置参数管理定义任何额外信息。 相反，以下标准信息经常使用： 相反，以下标准信息经常使用：

    • PARAM_REQUEST_LIST - used to request the list of configuration parameters from the specified UAVCAN node. 记住，UAVCAN 节点是通过字段组件ID指定的。
    • PARAM_VALUE - used by the bridge node to report the value of a configuration parameter. 节点ID已反映在字段组件ID中。
    • PARAM_SET - used by the remote equipment to set the value of a configuration parameter. 节点ID已反映在字段组件ID中。

    请注意，配置参数名称的最大长度在 UAVCAN 和 MAVLink 中定义不同。 在 MAVLink 中，最大长度为16个字符，而在 UAVCAN 中，限制是92个字符。 如果桥节点遇到超过 MAVLink 限制的长期配置参数名称，应该尽力减少 MAVLink 侧名称长度，同时避免歧义。 UAVCAN 网络节点的设计者应避免使用配置参数名称超过 16 个字符，直到 MAVLink 协议的这一缺陷被修复。 在 MAVLink 中，最大长度为16个字符，而在 UAVCAN 中，限制是92个字符。 如果桥节点遇到超过 MAVLink 限制的长期配置参数名称，应该尽力减少 MAVLink 侧名称长度，同时避免歧义。 UAVCAN 网络节点的设计者应避免使用配置参数名称超过 16 个字符，直到 MAVLink 协议的这一缺陷被修复。

    互联网访问桥 ​

    UAVCAN定义了一套标准信息，以便利 UAVCAN 节点与远程主机在互联网或 LAN 之间进行通信。 The tentative specification can be viewed on GitHub. 今后，应该扩展 MAVLink 信息，以便通过远程设备(例如地面控制站)传输的桥梁节点与互联网之间的数据包。 If you're interested in this feature, please report to the UAVCAN mailing list.

    - + \ No newline at end of file diff --git a/zh/guide/wireshark.html b/zh/guide/wireshark.html index 7c2c160f8..320060c63 100644 --- a/zh/guide/wireshark.html +++ b/zh/guide/wireshark.html @@ -9,9 +9,9 @@ - + - + @@ -32,7 +32,7 @@ tcpdump -i eth0 -w mavlink-capture.pcap

    tcpdump must be installed on the remote machine.

    When you can access the remote machine with SSH you can stream the tcpdump to your local machine instead of logging it to a file. Wireshark can open this stream and show the decoded MAVLink messages using the tools and filters from above. Wireshark can open this stream and show the decoded MAVLink messages using the tools and filters from above.

    mkfifo /tmp/mavlink;
 wireshark -k -i /tmp/mavlink &
 ssh root@10.41.1.1 -p 33333 "tcpdump -s 0 -U -n -w - -i lo not port 33333" > /tmp/mavlink;

    INFO

    Username, IP and port above have to be adjusted to the configuration on the remote machine.

    1. mkfifo /tmp/mavlink Creates a named pipe that is used to stream the data.

    2. wireshark -k -i /tmp/mavlink & Start Wireshark, open the named pipe as input and start the capture immediately.

    3. Start the data stream on the remote machine and pipe it into the named pipe on your local machine.

      • -s 0 Set snapshot length to default
      • -U Stream packet output packet-buffered, don’t wait for a full buffer
      • -n Don't convert addresses (i.e., host addresses, port numbers, etc.) to names
      • -w - Write raw data to standard output (piped to the local machine)
      • -i lo Define which interface to listen on. -i lo Define which interface to listen on. This will listen to the loopback interface, you can change this to the Ethernet, USB or modem interface.
      • not port 33333 Don’t capture the data created by the SSH session. You can add more filters to tcpdump to reduce the streamed data.

    After the plugin is setup in Wireshark and you have started to capture a stream you can use the Wireshark IO graphs to monitor message rates for either the whole stream or just specific messages.

    To do this you need to go to Statistics > I/O Graphs and you will get a new window. Now you will a plot of the data rate of all packets you are analyzing. You can filter for the usual Wireshark filters and the new MAVLink ones introduced by the LUA script.

    We recommend changing the y axis to bits or bytes and to reduce the x axis to 10ms or faster to get meaningful plots.

    - + \ No newline at end of file diff --git a/zh/guide/xml_schema.html b/zh/guide/xml_schema.html index 8ad7f1835..308fe0717 100644 --- a/zh/guide/xml_schema.html +++ b/zh/guide/xml_schema.html @@ -9,9 +9,9 @@ - + - + @@ -86,7 +86,7 @@ <field type="uint32_t" name="fault_bitmask" display="bitmask" enum="MAV_BATTERY_FAULT">Fault/health indications. These should be set when charge_state is MAV_BATTERY_CHARGE_STATE_FAILED or MAV_BATTERY_CHARGE_STATE_UNHEALTHY (if not, fault reporting is not supported).</field> </message>

    主要消息标签/字段是：

    • message: Each message is encapsulated by message tags, with the following attributes

      • id: The id attribute is the unique index number of this message (in the example above: 147).

        • 对于 MAVLink 1:

          • 有效数字介于 0 到 255。
          • The ids 0-149 and 230-255 are reserved for common.xml. Dialects can use 180-229 for custom messages (provided these are not used by other included dialects).

        • For MAVLink 2:

          • 有效数字介于0-1677215。

          • All numbers below 255 should be considered reserved unless messages are also intended for MAVLink 1.

            INFO

            IDs are precious in MAVLink 1!

      • name: The name attribute provides a human readable form for the message (ie "BATTERY_STATUS"). 它用于在生成的库命名辅助功能，但并没有通过总线发送。

    • description: Human readable description of message, shown in user interfaces and in code comments. 这应当包含所有信息（以及超链接），以便充分了解信息。

    • field: Encodes one field of the message. The field value is its name/text string used in GUI documentation (but not sent over the wire). Every message must have at least one field.

      • type: Similar to a field in a C struct - the size of the data required to store/represent the data type.

        • Fields can be signed/unsigned integers of size 8, 16, 23, 64 bits ({u)int8_t, (u)int16_t, (u)int32_t, (u)int64_t), single/double precision IEEE754 floating point numbers. They can also be arrays of the other types - e.g. uint16_t[10].

      • name: Name of the field (used in code).

      • enum (optional): Name of an enum defining possible values of the field (e.g. MAV_BATTERY_CHARGE_STATE).

      • units (optional): The units for message fields that take numeric values (not enums). These are defined in the schema (search on name="SI_Unit")

      • multiplier (optional) - Multiply by this value to get the unscaled original value. Allowed values are defined in the schema (search on name="factor"). For example, GPS_STATUS is a value in degrees (0-360) sent in a byte field (0-255). To get the original value, scale by multiplying the value with the multiplier (360/256). This is currently only used for values where scaling is not encoded in the units.

      • display (optional): This should be set as display="bitmask" for bitmask fields (hint to ground station that enum values must be displayed as checkboxes).

      • print_format (optional): TBD.

      • default (optional): TBD.

      • increment - Allowed increments for the increment value.

      • minValue - Minimum value for field.

      • maxValue - Maximum value for the field.

      • instance: If true, this indicates that the message contains the information for a particular sensor or battery (e.g. Battery 1, Battery 2, etc.) and that this field indicates which sensor. Default is false.

        INFO

        This field allows a recipient automatically associate messages for a particular sensor and plot them in the same series.

      • invalid: Specifies a value that can be set on a field to indicate that the data is invalid: the recipient should ignore the field if it has this value. For example, BATTERY_STATUS.current_battery specifies invalid="-1", so a battery that does not measure supplied current should set BATTERY_STATUS.current_battery to -1.

        Where possible the value that indicates the field is invalid should be selected to outside the expected/valid range of the field (0 is preferred if it is not an acceptable value for the field). For integers we usually select the largest possible value (i.e. UINT16_MAX, INT16_MAX, UINT8_MAX, UINT8_MAX). For floats we usually select invalid="NaN".

        Arrays represent multiple elements, some (or all) of which may need to be marked as invalid. The following notation is used to specify the values that indicate elements of the array are invalid:

        • invalid="[value]": Array elements that contain value are invalid.
        • invalid="[value:]": All array elements are invalid if the first array element is set to value.
        • invalid="[value1,,value3,]": Array elements are invalid if they contain the value specified in the corresponding position of the comma separated list. If the a position in the list is empty, there is no way to indicate the corresponding array element is invalid. The example above indicates that elements 1 and 3 are invalid if they contain value1 and value3, respectively. For element 2 and any elements >4 the invalid property of the field cannot be set.
        • invalid="[value1,]": The first array element is invalid if it contains value1: the invalid property cannot be set for all other elements.

    • deprecated / wip (optional): A tag indicating that the message is deprecated or "work in progress".

    • extensions (optional): This self-closing tag is used to indicate that subsequent fields apply to MAVLink 2 only.

      • 标记应该用于MAVLink 1 信息 (id < 256) 已扩展到MAVLink2。

    常用标签 ​

    本节列出一些标签可用于若干其他类型，例如消息和数字。

    deprecated ​

    The <deprecated> tag can be used in an enum, enum entry (value) or message to indicate that the item has been superseded. 标签属性显示废弃时间和替代项目，而元素(可选) 可以包含一个字符串，其中载有关于废弃物的补充信息。

    The generator toolchain can be configured to conditionally build messages omitting the deprecated entries.

    TIP

    An entity should be marked as deprecated only when the main users have had an opportunity to update to the new method.

    As a concrete example, below we see that SET_MODE is deprecated and replaced by MAV_CMD_DO_SET_MODE on 2015-12.

    xml
        <message id="11" name="SET_MODE">
       <deprecated since="2015-12" replaced_by="MAV_CMD_DO_SET_MODE">Use COMMAND_LONG with MAV_CMD_DO_SET_MODE instead</deprecated>

    The deprecated attributes are:

    • since: Year/month when deprecation started. Format: YYYY-MM.
    • replaced by: String of entity that supersedes this item.

    wip ​

    The <wip> tag can be used in an enum entry (value) or message to indicate that the item is a "work in progress". 元素可以(可选) 包含一个字符串，其中载有关于新项目的补充信息。

    The generator toolchain can be configured to conditionally build messages omitting the wip entries.

    最常见的是，标签被显示：

    xml
    <wip />
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    MAVLink 开发人员指南 ​

    MAVLink是一种非常轻量级的消息传输协议, 用于地面控制终端（地面站）与无人机之间 (以及机载无人机组件之间) 进行通信。

    Mavlink 遵循现代混合发布-订阅和点对点设计模式: 数据流作为 topics 发送/发布的, 而配置子协议 (如 路径点协议 或 参数协议）是基于重传机制的点对点模式。

    Messages are defined within XML files. 每个xml文件对应一个特定的MAVLink系统，并为该系统定义了专属的消息集（亦被称之为“语支dialect”）。 大部分 地面站和自动驾驶仪所采用的“通用消息集”定义于 common.xml中 (大多数“语支”均是基于“通用消息集“构建 的：即，大多数“语支”所对应的xml文件里，均包含了common.xml) 。

    Code generators create software libraries for specific programming languages from these XML message definitions, which can then be used by drones, ground control stations, and other MAVLink systems to communicate. The generated libraries are typically MIT-licensed, and can therefore be used without limits in any closed-source application without publishing the source code of the closed-source application.

    The C reference implementation is a header-only library that is highly optimized for resource-constrained systems with limited RAM and flash memory. It is field-proven and deployed in many products where it serves as interoperability interface between components of different manufacturers. :::

    MAVLink于2009年初由Lorenz Meier首次发布, 目前为止，已拥有数量可观的贡献者。

    主要特性 ​

    • 高效性。 MAVLink 1每个数据包只有8个字节的开销, 包括起始标志和数据包丢弃检测。 MAVLink 2只有14个字节的开销 (但它是一个更安全且可扩展的协议)。 因为MAVLink不需要任何额外的帧, 所以它非常适合通信带宽非常有限的应用程序。
    • 可靠性。 自2009年以来, MAVLink一直被用于多种载具、地面站 (和其他节点) 之间的通信，而这些通信信道中，不乏各种挑战性(如高延迟、噪声) 。 同时，Mavlink也具备检测数据包丢失、损坏和数据包身份验证的功能。
    • Many different programming languages can be used, running on numerous microcontrollers/operating systems (including ARM7, ATMega, dsPic, STM32 and Windows, Linux, MacOS, Android and iOS).
    • 单个网络上最多可容纳255个并行系统 (载具、地面站等)。
    • 支持offboard和 onboard通信 (例如，地面站和无人机之间的通信（offboard）, 以及无人机自动驾驶仪与启用MAVLink的无人机摄像头之间的通信（onboard）)。

    Language/Generator List ​

    The sections below lists MAVLink generators and their associated programming languages.

    The MAVLink organisation provides (and supports) the mavgen, mavgenerate and rust-mavlink tools.

    语言生成器MAVLink v1MAVLink 2Signing备注
    Cmavgen✓✓✓MAVLink project reference implementation. 可基于两个协议版本发布相应的生成库。
    C++11mavgen✓✓✓
    Python (2.7+, 3.3+)mavgen✓✓✓Python bindings. Library also available on PyPi: pymavlink.
    C#mavgen✓✓
    Objective Cmavgen✓
    Javamavgen✓✓Dronefleet offers a more idiomatic generated library
    JavaScript (Stable)mavgen✓✓✗Old mavgen JavaScript binding (has known bugs and no test suite).
    JavaScript (NextGen)mavgen✓✓✓New mavgen JavaScript library. Full test suite, resulting library produces binary compatible output compared to C bindings. Slightly incompatible with previous version, but not hard to migrate.
    TypeScript/JavaScriptmavgen✓✓✗TypeScript classes which can be used with node-mavlink.
    Luamavgen✓✓✗Lua library. Does not support zero trimming of MAVLink 2 messages.
    WLua (Wireshark Lua bindings)mavgen✓✓NAAllow MAVLink-aware packet inspection in Wireshark. Generated lua scripts should be copied to the Wireshark plugin directory (e.g. wireshark/plugins/mavlink.lua).
    Swiftmavgen✓
    Rustrust-mavlink✓✓Rust MAVLink generated code. Has tests and docs.
    Adamavgen✓

    External Generators/Languages ​

    The following generators are delivered by independent projects (and supported by those projects).

    语言生成器MAVLink v1MAVLink 2Signing备注
    CfastMavlink✓✓✗Highly efficient C library with python code generators. Has docs, examples, test, support for routing and mavgen mimicry.
    Clojureclj-mavlink✓✓✓Clojure MAVLink Bindings.
    Dartdart_mavlink✓✓✗MAVLink library for Dart.
    Gogomavlib✓✓✓Go library with support for MAVLink 1, 2 and signing, test suite, and documentation
    Gogo-mavlink1✓✗✗Golang MAVLink v1
    HaskellHaskMavlink✗✓✗
    Javadronefleet/mavlink✓✓✓Idiomatic Java SDK/API for MAVLink. Provides a gradle plugin for the code generator.
    TypeScript/JavaScript/npmnode-mavlink✓✓✓TypeScript code generator for data classes with tools to receive and send messages. Getting started guide and inline JSDoc, along with some examples.
    Kotlinmavlink-kotlin✓✓✓Uses codegen instead of reflection for performance with Coroutines, RxJava2 and RxJava3 support. Provides a code generator Gradle plugin.

    预建的基于C语言的MAVLink库 ​

    C MAVLink Source Files (only) are auto-generated for the latest versions of all message specifications/dialects (for both MAVLink 1 and 2):

    Using C Libraries explains how to use these libraries.

    支持 ​

    The Support topic contains information about the mailing list, reporting bugs/issues, and joining the dev call.

    参与贡献 ​

    The Contributing Guide explains the contribution model and the main areas where you can help.

    许可证 ​

    The message definition XML files and the generated C-language version of MAVLink (a header-only library) are made available under the MIT-licence. MAVLink can therefore be used in any closed-source application without publishing the source code of the closed-source application. See the COPYING file for more information.

    The MAVLink generator toolchain is licensed under the terms of the Lesser General Public License (version 3) of the Free Software Foundation (LGPLv3).

    This documentation is licensed under CC BY 4.0 (Human readable overview | LICENSE).

    管理 ​

    The MAVLink protocol is hosted under the governance of the Dronecode Project.

    Dronecode LogoLinux Foundation Logo

     
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    MAVLink C UART 接口示例 ​

    The C-UART Interface Example is a simple C example of a MAVLink to UART interface for Unix-like systems.

    The example source code demonstrates how to set up serial communication between Pixhawk and an offboard computer via USB or a telemetry radio, how to put the vehicle in offboard mode, and how to send and receive MAVLink messages over the interface.

    Source code and instructions for how to run the example can be found in the Github repo: mavlink/c_uart_interface_example

    - + \ No newline at end of file diff --git a/zh/mavgen_c/example_c_udp.html b/zh/mavgen_c/example_c_udp.html index 78b1df71f..ffcd182d0 100644 --- a/zh/mavgen_c/example_c_udp.html +++ b/zh/mavgen_c/example_c_udp.html @@ -9,9 +9,9 @@ - + - + @@ -31,7 +31,7 @@ Received packet: SYS: 255, COMP: 0, LEN: 9, MSG ID: 0 ... - + \ No newline at end of file diff --git a/zh/mavgen_c/examples.html b/zh/mavgen_c/examples.html index e5d14a31b..6f5e7334c 100644 --- a/zh/mavgen_c/examples.html +++ b/zh/mavgen_c/examples.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

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    Examples ​

    • UART Interface: Simple C example of a MAVLink to UART interface for Unix-like systems.
    • UDP Example: Simple C example of a MAVLink UDP interface for Unix-like systems (Linux, MacOS, BSD, etc.).
    - + \ No newline at end of file diff --git a/zh/mavgen_c/index.html b/zh/mavgen_c/index.html index 715599039..3d7346a30 100644 --- a/zh/mavgen_c/index.html +++ b/zh/mavgen_c/index.html @@ -9,9 +9,9 @@ - + - + @@ -92,7 +92,7 @@ chan_state->flags &= ~(MAVLINK_STATUS_FLAG_OUT_MAVLINK1); } }

    Examples ​

    The following examples show the use of the API.

    • UART Interface: Simple C example of a MAVLink to UART interface for Unix-like systems.
    • UDP Example: Simple C example of a MAVLink UDP interface for Unix-like systems (Linux, MacOS, BSD, etc.).

    In addition, the C library is used in numerous open source systems:

    - + \ No newline at end of file diff --git a/zh/mavgen_c/message_signing_c.html b/zh/mavgen_c/message_signing_c.html index 94f4ca3d9..8b844ed52 100644 --- a/zh/mavgen_c/message_signing_c.html +++ b/zh/mavgen_c/message_signing_c.html @@ -9,9 +9,9 @@ - + - + @@ -57,7 +57,7 @@ self.target_component == msg.get_srcComponent()): # change to link_id from incoming packet self.mav.signing.link_id = msg.get_link_id()

    这就是说，如果 MAVProx 使用的当前链接ID为零，它收到一个与非零链接ID的正确签名数据包，那么它将链接ID切换到接收的数据包。

    这将使 GCS 从链接ID与自动试验器的链接ID具有影响。

    - + \ No newline at end of file diff --git a/zh/mavgen_python/examples.html b/zh/mavgen_python/examples.html index 0bcba4bec..52ce397df 100644 --- a/zh/mavgen_python/examples.html +++ b/zh/mavgen_python/examples.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

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    Other examples:

    Complex examples:

    • MAVProxy is a command line, console based UAV ground station software package for MAVLink based systems built on Pymavlink.
    - + \ No newline at end of file diff --git a/zh/mavgen_python/howto_requestmessages.html b/zh/mavgen_python/howto_requestmessages.html index e299e8be9..e9883c7db 100644 --- a/zh/mavgen_python/howto_requestmessages.html +++ b/zh/mavgen_python/howto_requestmessages.html @@ -9,9 +9,9 @@ - + - + @@ -60,7 +60,7 @@ print("Command accepted") else: print("Command failed") - + \ No newline at end of file diff --git a/zh/mavgen_python/index.html b/zh/mavgen_python/index.html index 2a482eb8c..e37df9c35 100644 --- a/zh/mavgen_python/index.html +++ b/zh/mavgen_python/index.html @@ -9,9 +9,9 @@ - + - + @@ -85,7 +85,7 @@ # Send heartbeat from a MAVLink application. the_connection.mav.heartbeat_send(mavutil.mavlink.MAV_TYPE_ONBOARD_CONTROLLER, mavutil.mavlink.MAV_AUTOPILOT_INVALID, 0, 0, 0)

    INFO

    The various types used above come from enum in the dialect file.

    The rate at which the heartbeat should be sent depends on the channel, but is normally 1Hz.

    Generally it should be sent from the same thread as all other messages. This is in order to ensure that the heartbeat is only published when the thread is healthy.

    Message Signing ​

    Pymavlink supports Message Signing (authentication) when using MAVLink 2.

    The Pymavlink library already implements almost all of the expected behaviour for signing messages. All you need to do is provide a secret key and initial timestamp, optionally specify whether or not outgoing messages should be signed, a link id, and a callback for determining which unsigned messages (if any) will be accepted.

    For more information see Message Signing (Pymavlink).

    Examples ​

    See Examples (pymavlink)

    支持 ​

    Pymavlink questions can be raised in the normal MAVLink support channels.

    The Pymavlink Gitter channel also has an active support community.

    - + \ No newline at end of file diff --git a/zh/mavgen_python/message_signing.html b/zh/mavgen_python/message_signing.html index fc99546de..314ed8fac 100644 --- a/zh/mavgen_python/message_signing.html +++ b/zh/mavgen_python/message_signing.html @@ -9,9 +9,9 @@ - + - + @@ -45,7 +45,7 @@ # Pass the callback to the connection (here we also pass an arbitrary secret key) secret_key = chr(42)*32 the_connection.setup_signing(secret_key, sign_outgoing=True, allow_unsigned_callback=my_allow_unsigned_callback) - + \ No newline at end of file diff --git a/zh/messages/ASLUAV.html b/zh/messages/ASLUAV.html index 08c560055..1d10d6440 100644 --- a/zh/messages/ASLUAV.html +++ b/zh/messages/ASLUAV.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

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    方言：ASLUAV ​

    Warning This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

    This topic is a human-readable form of the XML definition file: ASLUAV.xml.

    Note

    • MAVLink 2 extension fields are displayed in blue.
    • Entities from dialects are displayed only as headings (with link to original)

    概览 ​

    TypeDefinedIncluded
    Messages17226
    Enums2144
    Commands1660

    The following sections list all entities in the dialect (both included and defined in this file).

    消息 ​

    COMMAND_INT_STAMPED (223) ​

    Message encoding a command with parameters as scaled integers and additional metadata. Scaling depends on the actual command value.

    Field NameType值描述
    utc_timeuint32_tUTC time, seconds elapsed since 01.01.1970
    vehicle_timestampuint64_tMicroseconds elapsed since vehicle boot
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    frameuint8_tMAV_FRAMEThe coordinate system of the COMMAND, as defined by MAV_FRAME enum
    commanduint16_tMAV_CMDThe scheduled action for the mission item, as defined by MAV_CMD enum
    currentuint8_tfalse:0, true:1
    autocontinueuint8_tautocontinue to next wp
    param1floatPARAM1, see MAV_CMD enum
    param2floatPARAM2, see MAV_CMD enum
    param3floatPARAM3, see MAV_CMD enum
    param4floatPARAM4, see MAV_CMD enum
    xint32_tPARAM5 / local: x position in meters * 1e4, global: latitude in degrees * 10^7
    yint32_tPARAM6 / local: y position in meters * 1e4, global: longitude in degrees * 10^7
    zfloatPARAM7 / z position: global: altitude in meters (MSL, WGS84, AGL or relative to home - depending on frame).

    COMMAND_LONG_STAMPED (224) ​

    Send a command with up to seven parameters to the MAV and additional metadata

    Field NameType值描述
    utc_timeuint32_tUTC time, seconds elapsed since 01.01.1970
    vehicle_timestampuint64_tMicroseconds elapsed since vehicle boot
    target_systemuint8_tSystem which should execute the command
    target_componentuint8_tComponent which should execute the command, 0 for all components
    commanduint16_tMAV_CMDCommand ID, as defined by MAV_CMD enum.
    confirmationuint8_t0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
    param1floatParameter 1, as defined by MAV_CMD enum.
    param2floatParameter 2, as defined by MAV_CMD enum.
    param3floatParameter 3, as defined by MAV_CMD enum.
    param4floatParameter 4, as defined by MAV_CMD enum.
    param5floatParameter 5, as defined by MAV_CMD enum.
    param6floatParameter 6, as defined by MAV_CMD enum.
    param7floatParameter 7, as defined by MAV_CMD enum.

    SENS_POWER (8002) ​

    Voltage and current sensor data

    Field NameTypeUnits描述
    adc121_vspb_voltfloatVPower board voltage sensor reading
    adc121_cspb_ampfloatAPower board current sensor reading
    adc121_cs1_ampfloatABoard current sensor 1 reading
    adc121_cs2_ampfloatABoard current sensor 2 reading

    SENS_MPPT (8003) ​

    Maximum Power Point Tracker (MPPT) sensor data for solar module power performance tracking

    Field NameTypeUnits描述
    mppt_timestampuint64_tusMPPT last timestamp
    mppt1_voltfloatVMPPT1 voltage
    mppt1_ampfloatAMPPT1 current
    mppt1_pwmuint16_tusMPPT1 pwm
    mppt1_statusuint8_tMPPT1 status
    mppt2_voltfloatVMPPT2 voltage
    mppt2_ampfloatAMPPT2 current
    mppt2_pwmuint16_tusMPPT2 pwm
    mppt2_statusuint8_tMPPT2 status
    mppt3_voltfloatVMPPT3 voltage
    mppt3_ampfloatAMPPT3 current
    mppt3_pwmuint16_tusMPPT3 pwm
    mppt3_statusuint8_tMPPT3 status

    ASLCTRL_DATA (8004) ​

    ASL-fixed-wing controller data

    Field NameTypeUnits描述
    timestampuint64_tusTimestamp
    aslctrl_modeuint8_tASLCTRL control-mode (manual, stabilized, auto, etc...)
    hfloatSee sourcecode for a description of these values...
    hReffloat
    hRef_tfloat
    PitchAnglefloat度Pitch angle
    PitchAngleReffloat度Pitch angle reference
    qfloat
    qReffloat
    uElevfloat
    uThrotfloat
    uThrot2float
    nZfloat
    AirspeedReffloatm/sAirspeed reference
    SpoilersEngageduint8_t
    YawAnglefloat度Yaw angle
    YawAngleReffloat度Yaw angle reference
    RollAnglefloat度Roll angle
    RollAngleReffloat度Roll angle reference
    pfloat
    pReffloat
    rfloat
    rReffloat
    uAilfloat
    uRudfloat

    ASLCTRL_DEBUG (8005) ​

    ASL-fixed-wing controller debug data

    Field NameType描述
    i32_1uint32_tDebug data
    i8_1uint8_tDebug data
    i8_2uint8_tDebug data
    f_1floatDebug data
    f_2floatDebug data
    f_3floatDebug data
    f_4floatDebug data
    f_5floatDebug data
    f_6floatDebug data
    f_7floatDebug data
    f_8floatDebug data

    ASLUAV_STATUS (8006) ​

    Extended state information for ASLUAVs

    Field NameType描述
    LED_statusuint8_tStatus of the position-indicator LEDs
    SATCOM_statusuint8_tStatus of the IRIDIUM satellite communication system
    Servo_statusuint8_t[8]Status vector for up to 8 servos
    Motor_rpmfloatMotor RPM

    EKF_EXT (8007) ​

    Extended EKF state estimates for ASLUAVs

    Field NameTypeUnits描述
    timestampuint64_tusTime since system start
    Windspeedfloatm/sMagnitude of wind velocity (in lateral inertial plane)
    WindDirfloatradWind heading angle from North
    WindZfloatm/sZ (Down) component of inertial wind velocity
    Airspeedfloatm/sMagnitude of air velocity
    betafloatradSideslip angle
    alphafloatradAngle of attack

    ASL_OBCTRL (8008) ​

    Off-board controls/commands for ASLUAVs

    Field NameTypeUnits描述
    timestampuint64_tusTime since system start
    uElevfloatElevator command [~]
    uThrotfloatThrottle command [~]
    uThrot2floatThrottle 2 command [~]
    uAilLfloatLeft aileron command [~]
    uAilRfloatRight aileron command [~]
    uRudfloatRudder command [~]
    obctrl_statusuint8_tOff-board computer status

    SENS_ATMOS (8009) ​

    Atmospheric sensors (temperature, humidity, ...)

    Field NameTypeUnits描述
    timestampuint64_tusTime since system boot
    TempAmbientfloatdegCAmbient temperature
    Humidityfloat%Relative humidity

    SENS_BATMON (8010) ​

    Battery pack monitoring data for Li-Ion batteries

    Field NameTypeUnits描述
    batmon_timestampuint64_tusTime since system start
    temperaturefloatdegCBattery pack temperature
    voltageuint16_tmVBattery pack voltage
    currentint16_tmABattery pack current
    SoCuint8_tBattery pack state-of-charge
    batterystatusuint16_tBattery monitor status report bits in Hex
    serialnumberuint16_tBattery monitor serial number in Hex
    safetystatusuint32_tBattery monitor safetystatus report bits in Hex
    operationstatusuint32_tBattery monitor operation status report bits in Hex
    cellvoltage1uint16_tmVBattery pack cell 1 voltage
    cellvoltage2uint16_tmVBattery pack cell 2 voltage
    cellvoltage3uint16_tmVBattery pack cell 3 voltage
    cellvoltage4uint16_tmVBattery pack cell 4 voltage
    cellvoltage5uint16_tmVBattery pack cell 5 voltage
    cellvoltage6uint16_tmVBattery pack cell 6 voltage

    FW_SOARING_DATA (8011) ​

    Fixed-wing soaring (i.e. thermal seeking) data

    Field NameTypeUnits描述
    timestampuint64_tmsTimestamp
    timestampModeChangeduint64_tmsTimestamp since last mode change
    xWfloatm/sThermal core updraft strength
    xRfloatmThermal radius
    xLatfloat度Thermal center latitude
    xLonfloat度Thermal center longitude
    VarWfloatVariance W
    VarRfloatVariance R
    VarLatfloatVariance Lat
    VarLonfloatVariance Lon
    LoiterRadiusfloatmSuggested loiter radius
    LoiterDirectionfloatSuggested loiter direction
    DistToSoarPointfloatmDistance to soar point
    vSinkExpfloatm/sExpected sink rate at current airspeed, roll and throttle
    z1_LocalUpdraftSpeedfloatm/sMeasurement / updraft speed at current/local airplane position
    z2_DeltaRollfloat度Measurement / roll angle tracking error
    z1_expfloatExpected measurement 1
    z2_expfloatExpected measurement 2
    ThermalGSNorthfloatm/sThermal drift (from estimator prediction step only)
    ThermalGSEastfloatm/sThermal drift (from estimator prediction step only)
    TSE_dotfloatm/sTotal specific energy change (filtered)
    DebugVar1floatDebug variable 1
    DebugVar2floatDebug variable 2
    ControlModeuint8_tControl Mode [-]
    validuint8_tData valid [-]

    SENSORPOD_STATUS (8012) ​

    Monitoring of sensorpod status

    Field NameTypeUnits描述
    timestampuint64_tmsTimestamp in linuxtime (since 1.1.1970)
    visensor_rate_1uint8_tRate of ROS topic 1
    visensor_rate_2uint8_tRate of ROS topic 2
    visensor_rate_3uint8_tRate of ROS topic 3
    visensor_rate_4uint8_tRate of ROS topic 4
    recording_nodes_countuint8_tNumber of recording nodes
    cpu_tempuint8_tdegCTemperature of sensorpod CPU in
    free_spaceuint16_tFree space available in recordings directory in [Gb] * 1e2

    SENS_POWER_BOARD (8013) ​

    Monitoring of power board status

    Field NameTypeUnits描述
    timestampuint64_tusTimestamp
    pwr_brd_statusuint8_tPower board status register
    pwr_brd_led_statusuint8_tPower board leds status
    pwr_brd_system_voltfloatVPower board system voltage
    pwr_brd_servo_voltfloatVPower board servo voltage
    pwr_brd_digital_voltfloatVPower board digital voltage
    pwr_brd_mot_l_ampfloatAPower board left motor current sensor
    pwr_brd_mot_r_ampfloatAPower board right motor current sensor
    pwr_brd_analog_ampfloatAPower board analog current sensor
    pwr_brd_digital_ampfloatAPower board digital current sensor
    pwr_brd_ext_ampfloatAPower board extension current sensor
    pwr_brd_aux_ampfloatAPower board aux current sensor

    Status of GSM modem (connected to onboard computer)

    Field NameTypeUnits值描述
    timestampuint64_tusTimestamp (of OBC)
    gsm_modem_typeuint8_tGSM_MODEM_TYPEGSM modem used
    gsm_link_typeuint8_tGSM_LINK_TYPEGSM link type
    rssiuint8_tRSSI as reported by modem (unconverted)
    rsrp_rscpuint8_tRSRP (LTE) or RSCP (WCDMA) as reported by modem (unconverted)
    sinr_eciouint8_tSINR (LTE) or ECIO (WCDMA) as reported by modem (unconverted)
    rsrquint8_tRSRQ (LTE only) as reported by modem (unconverted)

    Status of the SatCom link

    Field NameTypeUnits描述
    timestampuint64_tusTimestamp
    last_heartbeatuint64_tusTimestamp of the last successful sbd session
    failed_sessionsuint16_tNumber of failed sessions
    successful_sessionsuint16_tNumber of successful sessions
    signal_qualityuint8_tSignal quality
    ring_pendinguint8_tRing call pending
    tx_session_pendinguint8_tTransmission session pending
    rx_session_pendinguint8_tReceiving session pending

    SENSOR_AIRFLOW_ANGLES (8016) ​

    Calibrated airflow angle measurements

    Field NameTypeUnits描述
    timestampuint64_tusTimestamp
    angleofattackfloat度Angle of attack
    angleofattack_validuint8_tAngle of attack measurement valid
    sideslipfloat度Sideslip angle
    sideslip_validuint8_tSideslip angle measurement valid

    Enumerated Types ​

    值Name描述
    0GSM_LINK_TYPE_NONEno service
    1GSM_LINK_TYPE_UNKNOWNlink type unknown
    2GSM_LINK_TYPE_2G2G (GSM/GRPS/EDGE) link
    3GSM_LINK_TYPE_3G3G link (WCDMA/HSDPA/HSPA)
    4GSM_LINK_TYPE_4G4G link (LTE)

    GSM_MODEM_TYPE ​

    值Name描述
    0GSM_MODEM_TYPE_UNKNOWNnot specified
    1GSM_MODEM_TYPE_HUAWEI_E3372HUAWEI LTE USB Stick E3372

    Commands (MAV_CMD) ​

    MAV_CMD_RESET_MPPT (40001) ​

    Mission command to reset Maximum Power Point Tracker (MPPT)

    Param (Label)描述
    1MPPT number
    2Empty
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_PAYLOAD_CONTROL (40002) ​

    Mission command to perform a power cycle on payload

    Param (Label)描述
    1Complete power cycle
    2VISensor power cycle
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty
    - + \ No newline at end of file diff --git a/zh/messages/AVSSUAS.html b/zh/messages/AVSSUAS.html index 21863ee80..49c73ad4a 100644 --- a/zh/messages/AVSSUAS.html +++ b/zh/messages/AVSSUAS.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

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    Dialect: AVSSUAS ​

    Warning This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

    This topic is a human-readable form of the XML definition file: AVSSUAS.xml.

    Note

    • MAVLink 2 extension fields are displayed in blue.
    • Entities from dialects are displayed only as headings (with link to original)

    Protocol dialect: 1

    Protocol version: 2

    概览 ​

    TypeDefinedIncluded
    Messages4226
    Enums3144
    Commands1710

    The following sections list all entities in the dialect (both included and defined in this file).

    消息 ​

    AVSS_PRS_SYS_STATUS (60050) ​

    AVSS PRS system status.

    Field NameTypeUnits描述
    time_boot_msuint32_tmsTimestamp (time since PRS boot).
    error_statusuint32_tPRS error statuses
    battery_statusuint32_tEstimated battery run-time without a remote connection and PRS battery voltage
    arm_statusuint8_tPRS arm statuses
    charge_statusuint8_tPRS battery charge statuses

    AVSS_DRONE_POSITION (60051) ​

    Drone position.

    Field NameTypeUnits描述
    time_boot_msuint32_tmsTimestamp (time since FC boot).
    latint32_tdegE7Latitude, expressed
    lonint32_tdegE7Longitude, expressed
    altint32_t毫米Altitude (MSL). Note that virtually all GPS modules provide both WGS84 and MSL.
    ground_altfloatmAltitude above ground, This altitude is measured by a ultrasound, Laser rangefinder or millimeter-wave radar
    barometer_altfloatmThis altitude is measured by a barometer

    AVSS_DRONE_IMU (60052) ​

    Drone IMU data. Quaternion order is w, x, y, z and a zero rotation would be expressed as (1 0 0 0).

    Field NameTypeUnits描述
    time_boot_msuint32_tmsTimestamp (time since FC boot).
    q1floatQuaternion component 1, w (1 in null-rotation)
    q2floatQuaternion component 2, x (0 in null-rotation)
    q3floatQuaternion component 3, y (0 in null-rotation)
    q4floatQuaternion component 4, z (0 in null-rotation)
    xaccfloatm/s/sX acceleration
    yaccfloatm/s/sY acceleration
    zaccfloatm/s/sZ acceleration
    xgyrofloatrad/sAngular speed around X axis
    ygyrofloatrad/sAngular speed around Y axis
    zgyrofloatrad/sAngular speed around Z axis

    AVSS_DRONE_OPERATION_MODE (60053) ​

    Drone operation mode.

    Field NameTypeUnits描述
    time_boot_msuint32_tmsTimestamp (time since FC boot).
    M300_operation_modeuint8_tDJI M300 operation mode
    horsefly_operation_modeuint8_thorsefly operation mode

    Enumerated Types ​

    MAV_AVSS_COMMAND_FAILURE_REASON ​

    值Name描述
    1PRS_NOT_STEADYAVSS defined command failure reason. PRS not steady.
    2PRS_DTM_NOT_ARMEDAVSS defined command failure reason. PRS DTM not armed.
    3PRS_OTM_NOT_ARMEDAVSS defined command failure reason. PRS OTM not armed.

    AVSS_M300_OPERATION_MODE ​

    值Name描述
    0MODE_M300_MANUAL_CTRLIn manual control mode
    1MODE_M300_ATTITUDEIn attitude mode
    6MODE_M300_P_GPSIn GPS mode
    9MODE_M300_HOTPOINT_MODEIn hotpoint mode
    10MODE_M300_ASSISTED_TAKEOFFIn assisted takeoff mode
    11MODE_M300_AUTO_TAKEOFFIn auto takeoff mode
    12MODE_M300_AUTO_LANDINGIn auto landing mode
    15MODE_M300_NAVI_GO_HOMEIn go home mode
    17MODE_M300_NAVI_SDK_CTRLIn sdk control mode
    31MODE_M300_S_SPORTIn sport mode
    33MODE_M300_FORCE_AUTO_LANDINGIn force auto landing mode
    38MODE_M300_T_TRIPODIn tripod mode
    40MODE_M300_SEARCH_MODEIn search mode
    41MODE_M300_ENGINE_STARTIn engine mode

    AVSS_HORSEFLY_OPERATION_MODE ​

    值Name描述
    0MODE_HORSEFLY_MANUAL_CTRLIn manual control mode
    1MODE_HORSEFLY_AUTO_TAKEOFFIn auto takeoff mode
    2MODE_HORSEFLY_AUTO_LANDINGIn auto landing mode
    3MODE_HORSEFLY_NAVI_GO_HOMEIn go home mode
    4MODE_HORSEFLY_DROPIn drop mode

    Commands (MAV_CMD) ​

    MAV_CMD_PRS_SET_ARM (60050) ​

    AVSS defined command. Set PRS arm statuses.

    Param (Label)描述
    1 (ARM status)PRS arm statuses
    2User defined
    3User defined
    4User defined
    5User defined
    6User defined
    7User defined

    MAV_CMD_PRS_GET_ARM (60051) ​

    AVSS defined command. Gets PRS arm statuses

    Param (Label)描述
    1User defined
    2User defined
    3User defined
    4User defined
    5User defined
    6User defined
    7User defined

    MAV_CMD_PRS_GET_BATTERY (60052) ​

    AVSS defined command. Get the PRS battery voltage in millivolts

    Param (Label)描述
    1User defined
    2User defined
    3User defined
    4User defined
    5User defined
    6User defined
    7User defined

    MAV_CMD_PRS_GET_ERR (60053) ​

    AVSS defined command. Get the PRS error statuses.

    Param (Label)描述
    1User defined
    2User defined
    3User defined
    4User defined
    5User defined
    6User defined
    7User defined

    MAV_CMD_PRS_SET_ARM_ALTI (60070) ​

    AVSS defined command. Set the ATS arming altitude in meters.

    Param (Label)描述Units
    1 (Altitude)ATS arming altitudem
    2User defined
    3User defined
    4User defined
    5User defined
    6User defined
    7User defined

    MAV_CMD_PRS_GET_ARM_ALTI (60071) ​

    AVSS defined command. Get the ATS arming altitude in meters.

    Param (Label)描述
    1User defined
    2User defined
    3User defined
    4User defined
    5User defined
    6User defined
    7User defined

    MAV_CMD_PRS_SHUTDOWN (60072) ​

    AVSS defined command. Shuts down the PRS system.

    Param (Label)描述
    1User defined
    2User defined
    3User defined
    4User defined
    5User defined
    6User defined
    7User defined
    - + \ No newline at end of file diff --git a/zh/messages/all.html b/zh/messages/all.html index 8bb2fef93..ce37f62c8 100644 --- a/zh/messages/all.html +++ b/zh/messages/all.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

    中文 (Chinese)

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    中文 (Chinese)

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    Appearance

    Dialect: all ​

    This dialect is intended to include all other dialects in the mavlink/mavlink repository (including external dialects).

    Dialects that are in all.xml are guaranteed to not have clashes in messages, enums, enum ids, and MAV_CMDs. This ensure that:

    • Systems based on these dialects can co-exist on the same MAVLink network.
    • A Ground Station might (optionally) use libraries generated from all.xml to communicate using any of the dialects.

    Warning

    • New dialect files in the official repository must be added to all.xml and restrict themselves to using ids in their own allocated range.
    • Dialects should push changes to mavlink/mavlink in order to avoid potential clashes from changes to other dialects.

    A few older dialects are not included because these operate in completely closed networks or because they are only used for tests.

    This topic is a human-readable form of the XML definition file: all.xml.

    Note

    • MAVLink 2 extension fields are displayed in blue.
    • Entities from dialects are displayed only as headings (with link to original)

    概览 ​

    TypeDefinedIncluded
    Messages0364
    Enums0235
    Commands2160

    The following sections list all entities in the dialect (both included and defined in this file).

    消息 ​

    Enumerated Types ​

    Commands (MAV_CMD) ​

    - + \ No newline at end of file diff --git a/zh/messages/ardupilotmega.html b/zh/messages/ardupilotmega.html index 912b7a5a0..6f11df018 100644 --- a/zh/messages/ardupilotmega.html +++ b/zh/messages/ardupilotmega.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

    中文 (Chinese)

    English
    한국어 (Korean)

    中文 (Chinese)

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    한국어 (Korean)

    Appearance

    方言：ArduPilotMega ​

    Warning ardupilotmega.xml contains the accurate and up-to-date documentation for this dialect. The documentation below may not be accurate if the dialect owner has not pushed changes.

    These messages define the ArduPilot specific dialect (as pushed to the mavlink/mavlink GitHub repository by the dialect owner).

    This topic is a human-readable form of the XML definition file: ardupilotmega.xml.

    Note

    • MAVLink 2 extension fields are displayed in blue.
    • Entities from dialects are displayed only as headings (with link to original)

    Protocol dialect: 2

    概览 ​

    TypeDefinedIncluded
    Messages65242
    Enums45159
    Commands1950

    The following sections list all entities in the dialect (both included and defined in this file).

    消息 ​

    SENSOR_OFFSETS (150) ​

    Offsets and calibrations values for hardware sensors. This makes it easier to debug the calibration process.

    Field NameTypeUnits描述
    mag_ofs_xint16_tMagnetometer X offset.
    mag_ofs_yint16_tMagnetometer Y offset.
    mag_ofs_zint16_tMagnetometer Z offset.
    mag_declinationfloatradMagnetic declination.
    raw_pressint32_tRaw pressure from barometer.
    raw_tempint32_tRaw temperature from barometer.
    gyro_cal_xfloatGyro X calibration.
    gyro_cal_yfloatGyro Y calibration.
    gyro_cal_zfloatGyro Z calibration.
    accel_cal_xfloatAccel X calibration.
    accel_cal_yfloatAccel Y calibration.
    accel_cal_zfloatAccel Z calibration.

    SET_MAG_OFFSETS (151) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS (2014-07)

    Set the magnetometer offsets

    Field NameType描述
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    mag_ofs_xint16_tMagnetometer X offset.
    mag_ofs_yint16_tMagnetometer Y offset.
    mag_ofs_zint16_tMagnetometer Z offset.

    MEMINFO (152) ​

    State of autopilot RAM.

    Field NameTypeUnits描述
    brkvaluint16_tHeap top.
    freememuint16_tbytesFree memory.
    freemem32 ++uint32_tbytesFree memory (32 bit).

    AP_ADC (153) ​

    Raw ADC output.

    Field NameType描述
    adc1uint16_tADC output 1.
    adc2uint16_tADC output 2.
    adc3uint16_tADC output 3.
    adc4uint16_tADC output 4.
    adc5uint16_tADC output 5.
    adc6uint16_tADC output 6.

    DIGICAM_CONFIGURE (154) ​

    Configure on-board Camera Control System.

    Field NameTypeUnits描述
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    模式uint8_tMode enumeration from 1 to N //P, TV, AV, M, etc. (0 means ignore).
    shutter_speeduint16_tDivisor number //e.g. 1000 means 1/1000 (0 means ignore).
    apertureuint8_tF stop number x 10 //e.g. 28 means 2.8 (0 means ignore).
    isouint8_tISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore).
    exposure_typeuint8_tExposure type enumeration from 1 to N (0 means ignore).
    command_iduint8_tCommand Identity (incremental loop: 0 to 255). //A command sent multiple times will be executed or pooled just once.
    engine_cut_offuint8_tdsMain engine cut-off time before camera trigger (0 means no cut-off).
    extra_paramuint8_tExtra parameters enumeration (0 means ignore).
    extra_valuefloatCorrespondent value to given extra_param.

    DIGICAM_CONTROL (155) ​

    Control on-board Camera Control System to take shots.

    Field NameType描述
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    sessionuint8_t0: stop, 1: start or keep it up //Session control e.g. show/hide lens.
    zoom_posuint8_t1 to N //Zoom's absolute position (0 means ignore).
    zoom_stepint8_t-100 to 100 //Zooming step value to offset zoom from the current position.
    focus_lockuint8_t0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus.
    shotuint8_t0: ignore, 1: shot or start filming.
    command_iduint8_tCommand Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once.
    extra_paramuint8_tExtra parameters enumeration (0 means ignore).
    extra_valuefloatCorrespondent value to given extra_param.

    MOUNT_CONFIGURE (156) ​

    Message to configure a camera mount, directional antenna, etc.

    Field NameType值描述
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    mount_modeuint8_tMAV_MOUNT_MODEMount operating mode.
    stab_rolluint8_t(1 = yes, 0 = no).
    stab_pitchuint8_t(1 = yes, 0 = no).
    stab_yawuint8_t(1 = yes, 0 = no).

    MOUNT_CONTROL (157) ​

    Message to control a camera mount, directional antenna, etc.

    Field NameType描述
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    input_aint32_tPitch (centi-degrees) or lat (degE7), depending on mount mode.
    input_bint32_tRoll (centi-degrees) or lon (degE7) depending on mount mode.
    input_cint32_tYaw (centi-degrees) or alt (cm) depending on mount mode.
    save_positionuint8_tIf "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING).

    MOUNT_STATUS (158) ​

    Message with some status from autopilot to GCS about camera or antenna mount.

    Field NameTypeUnits值描述
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    pointing_aint32_tcdegPitch.
    pointing_bint32_tcdegRoll.
    pointing_cint32_tcdegYaw.
    mount_mode ++uint8_tMAV_MOUNT_MODEMount operating mode.

    FENCE_POINT (160) ​

    A fence point. Used to set a point when from GCS -> MAV. Also used to return a point from MAV -> GCS.

    Field NameTypeUnits描述
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    idxuint8_tPoint index (first point is 1, 0 is for return point).
    countuint8_tTotal number of points (for sanity checking).
    latfloat度Latitude of point.
    lngfloat度Longitude of point.

    FENCE_FETCH_POINT (161) ​

    Request a current fence point from MAV.

    Field NameType描述
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    idxuint8_tPoint index (first point is 1, 0 is for return point).

    AHRS (163) ​

    Status of DCM attitude estimator.

    Field NameTypeUnits描述
    omegaIxfloatrad/sX gyro drift estimate.
    omegaIyfloatrad/sY gyro drift estimate.
    omegaIzfloatrad/sZ gyro drift estimate.
    accel_weightfloatAverage accel_weight.
    renorm_valfloatAverage renormalisation value.
    error_rpfloatAverage error_roll_pitch value.
    error_yawfloatAverage error_yaw value.

    SIMSTATE (164) ​

    Status of simulation environment, if used.

    Field NameTypeUnits描述
    rollfloatradRoll angle.
    俯仰角floatradPitch angle.
    yawfloatradYaw angle.
    xaccfloatm/s/sX acceleration.
    yaccfloatm/s/sY acceleration.
    zaccfloatm/s/sZ acceleration.
    xgyrofloatrad/sAngular speed around X axis.
    ygyrofloatrad/sAngular speed around Y axis.
    zgyrofloatrad/sAngular speed around Z axis.
    latint32_tdegE7Latitude.
    lngint32_tdegE7Longitude.

    HWSTATUS (165) ​

    Status of key hardware.

    Field NameTypeUnits描述
    Vccuint16_tmVBoard voltage.
    I2Cerruint8_tI2C error count.

    RADIO (166) ​

    Status generated by radio.

    Field NameTypeUnits描述
    rssiuint8_tLocal signal strength.
    remrssiuint8_tRemote signal strength.
    txbufuint8_t%How full the tx buffer is.
    noiseuint8_tBackground noise level.
    remnoiseuint8_tRemote background noise level.
    rxerrorsuint16_tReceive errors.
    fixeduint16_tCount of error corrected packets.

    LIMITS_STATUS (167) ​

    Status of AP_Limits. Sent in extended status stream when AP_Limits is enabled.

    Field NameTypeUnits值描述
    limits_stateuint8_tLIMITS_STATEState of AP_Limits.
    last_triggeruint32_tmsTime (since boot) of last breach.
    last_actionuint32_tmsTime (since boot) of last recovery action.
    last_recoveryuint32_tmsTime (since boot) of last successful recovery.
    last_clearuint32_tmsTime (since boot) of last all-clear.
    breach_countuint16_tNumber of fence breaches.
    mods_enableduint8_tLIMIT_MODULEAP_Limit_Module bitfield of enabled modules.
    mods_requireduint8_tLIMIT_MODULEAP_Limit_Module bitfield of required modules.
    mods_triggereduint8_tLIMIT_MODULEAP_Limit_Module bitfield of triggered modules.

    WIND (168) ​

    Wind estimation.

    Field NameTypeUnits描述
    directionfloat度Wind direction (that wind is coming from).
    speedfloatm/sWind speed in ground plane.
    speed_zfloatm/sVertical wind speed.

    DATA16 (169) ​

    Data packet, size 16.

    Field NameTypeUnits描述
    typeuint8_tData type.
    lenuint8_tbytesData length.
    datauint8_t[16]Raw data.

    DATA32 (170) ​

    Data packet, size 32.

    Field NameTypeUnits描述
    typeuint8_tData type.
    lenuint8_tbytesData length.
    datauint8_t[32]Raw data.

    DATA64 (171) ​

    Data packet, size 64.

    Field NameTypeUnits描述
    typeuint8_tData type.
    lenuint8_tbytesData length.
    datauint8_t[64]Raw data.

    DATA96 (172) ​

    Data packet, size 96.

    Field NameTypeUnits描述
    typeuint8_tData type.
    lenuint8_tbytesData length.
    datauint8_t[96]Raw data.

    RANGEFINDER (173) ​

    Rangefinder reporting.

    Field NameTypeUnits描述
    distancefloatmDistance.
    voltagefloatVRaw voltage if available, zero otherwise.

    AIRSPEED_AUTOCAL (174) ​

    Airspeed auto-calibration.

    Field NameTypeUnits描述
    vxfloatm/sGPS velocity north.
    vyfloatm/sGPS velocity east.
    vzfloatm/sGPS velocity down.
    diff_pressurefloatPaDifferential pressure.
    EAS2TASfloatEstimated to true airspeed ratio.
    ratiofloatAirspeed ratio.
    state_xfloatEKF state x.
    state_yfloatEKF state y.
    state_zfloatEKF state z.
    PaxfloatEKF Pax.
    PbyfloatEKF Pby.
    PczfloatEKF Pcz.

    RALLY_POINT (175) ​

    A rally point. Used to set a point when from GCS -> MAV. Also used to return a point from MAV -> GCS.

    Field NameTypeUnits值描述
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    idxuint8_tPoint index (first point is 0).
    countuint8_tTotal number of points (for sanity checking).
    latint32_tdegE7Latitude of point.
    lngint32_tdegE7Longitude of point.
    altint16_tmTransit / loiter altitude relative to home.
    break_altint16_tmBreak altitude relative to home.
    land_diruint16_tcdegHeading to aim for when landing.
    flagsuint8_tRALLY_FLAGSConfiguration flags.

    RALLY_FETCH_POINT (176) ​

    Request a current rally point from MAV. MAV should respond with a RALLY_POINT message. MAV should not respond if the request is invalid.

    Field NameType描述
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    idxuint8_tPoint index (first point is 0).

    COMPASSMOT_STATUS (177) ​

    Status of compassmot calibration.

    Field NameTypeUnits描述
    油门uint16_td%Throttle.
    currentfloatACurrent.
    interferenceuint16_t%Interference.
    CompensationXfloatMotor Compensation X.
    CompensationYfloatMotor Compensation Y.
    CompensationZfloatMotor Compensation Z.

    AHRS2 (178) ​

    Status of secondary AHRS filter if available.

    Field NameTypeUnits描述
    rollfloatradRoll angle.
    俯仰角floatradPitch angle.
    yawfloatradYaw angle.
    altitudefloatmAltitude (MSL).
    latint32_tdegE7Latitude.
    lngint32_tdegE7Longitude.

    CAMERA_STATUS (179) ​

    Camera Event.

    Field NameTypeUnits值描述
    time_usecuint64_tusImage timestamp (since UNIX epoch, according to camera clock).
    target_systemuint8_tSystem ID.
    cam_idxuint8_tCamera ID.
    img_idxuint16_tImage index.
    event_iduint8_tCAMERA_STATUS_TYPESEvent type.
    p1floatParameter 1 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).
    p2floatParameter 2 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).
    p3floatParameter 3 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).
    p4floatParameter 4 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).

    CAMERA_FEEDBACK (180) ​

    Camera Capture Feedback.

    Field NameTypeUnits值描述
    time_usecuint64_tusImage timestamp (since UNIX epoch), as passed in by CAMERA_STATUS message (or autopilot if no CCB).
    target_systemuint8_tSystem ID.
    cam_idxuint8_tCamera ID.
    img_idxuint16_tImage index.
    latint32_tdegE7Latitude.
    lngint32_tdegE7Longitude.
    alt_mslfloatmAltitude (MSL).
    alt_relfloatmAltitude (Relative to HOME location).
    rollfloat度Camera Roll angle (earth frame, +-180).
    俯仰角float度Camera Pitch angle (earth frame, +-180).
    yawfloat度Camera Yaw (earth frame, 0-360, true).
    foc_lenfloat毫米Focal Length.
    flagsuint8_tCAMERA_FEEDBACK_FLAGSFeedback flags.
    completed_captures ++uint16_tCompleted image captures.

    BATTERY2 (181) — [DEP] ​

    DEPRECATED: Replaced By BATTERY_STATUS (2017-04)

    2nd Battery status

    Field NameTypeUnits描述
    voltageuint16_tmVVoltage.
    current_batteryint16_tcABattery current, -1: autopilot does not measure the current.

    AHRS3 (182) ​

    Status of third AHRS filter if available. This is for ANU research group (Ali and Sean).

    Field NameTypeUnits描述
    rollfloatradRoll angle.
    俯仰角floatradPitch angle.
    yawfloatradYaw angle.
    altitudefloatmAltitude (MSL).
    latint32_tdegE7Latitude.
    lngint32_tdegE7Longitude.
    v1floatTest variable1.
    v2floatTest variable2.
    v3floatTest variable3.
    v4floatTest variable4.

    AUTOPILOT_VERSION_REQUEST (183) ​

    Request the autopilot version from the system/component.

    Field NameType描述
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.

    REMOTE_LOG_DATA_BLOCK (184) ​

    Send a block of log data to remote location.

    Field NameType值描述
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    seqnouint32_tMAV_REMOTE_LOG_DATA_BLOCK_COMMANDSLog data block sequence number.
    datauint8_t[200]Log data block.

    REMOTE_LOG_BLOCK_STATUS (185) ​

    Send Status of each log block that autopilot board might have sent.

    Field NameType值描述
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    seqnouint32_tLog data block sequence number.
    statusuint8_tMAV_REMOTE_LOG_DATA_BLOCK_STATUSESLog data block status.

    LED_CONTROL (186) ​

    Control vehicle LEDs.

    Field NameType描述
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    instanceuint8_tInstance (LED instance to control or 255 for all LEDs).
    patternuint8_tPattern (see LED_PATTERN_ENUM).
    custom_lenuint8_tCustom Byte Length.
    custom_bytesuint8_t[24]Custom Bytes.

    MAG_CAL_PROGRESS (191) ​

    Reports progress of compass calibration.

    Field NameTypeUnits值描述
    compass_iduint8_tCompass being calibrated.
    Messages with same value are from the same source (instance).
    cal_maskuint8_tBitmask of compasses being calibrated.
    cal_statusuint8_tMAG_CAL_STATUSCalibration Status.
    attemptuint8_tAttempt number.
    completion_pctuint8_t%Completion percentage.
    completion_maskuint8_t[10]Bitmask of sphere sections (see http://en.wikipedia.org/wiki/Geodesic_grid).
    direction_xfloatBody frame direction vector for display.
    direction_yfloatBody frame direction vector for display.
    direction_zfloatBody frame direction vector for display.

    EKF_STATUS_REPORT (193) ​

    EKF Status message including flags and variances.

    Field NameType值描述
    flagsuint16_tEKF_STATUS_FLAGSFlags.
    velocity_variancefloatVelocity variance.
    pos_horiz_variancefloatHorizontal Position variance.
    pos_vert_variancefloatVertical Position variance.
    compass_variancefloatCompass variance.
    terrain_alt_variancefloatTerrain Altitude variance.
    airspeed_variance ++floatAirspeed variance.

    PID_TUNING (194) ​

    PID tuning information.

    Field NameType值描述
    axisuint8_tPID_TUNING_AXISAxis.
    Messages with same value are from the same source (instance).
    desiredfloatDesired rate.
    achievedfloatAchieved rate.
    FFfloatFF component.
    PfloatP component.
    IfloatI component.
    DfloatD component.
    SRate ++floatSlew rate.
    PDmod ++floatP/D oscillation modifier.

    DEEPSTALL (195) ​

    Deepstall path planning.

    Field NameTypeUnits值描述
    landing_latint32_tdegE7Landing latitude.
    landing_lonint32_tdegE7Landing longitude.
    path_latint32_tdegE7Final heading start point, latitude.
    path_lonint32_tdegE7Final heading start point, longitude.
    arc_entry_latint32_tdegE7Arc entry point, latitude.
    arc_entry_lonint32_tdegE7Arc entry point, longitude.
    altitudefloatmAltitude.
    expected_travel_distancefloatmDistance the aircraft expects to travel during the deepstall.
    cross_track_errorfloatmDeepstall cross track error (only valid when in DEEPSTALL_STAGE_LAND).
    stageuint8_tDEEPSTALL_STAGEDeepstall stage.

    GIMBAL_REPORT (200) ​

    3 axis gimbal measurements.

    Field NameTypeUnits描述
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    delta_timefloatsTime since last update.
    delta_angle_xfloatradDelta angle X.
    delta_angle_yfloatradDelta angle Y.
    delta_angle_zfloatradDelta angle X.
    delta_velocity_xfloatm/sDelta velocity X.
    delta_velocity_yfloatm/sDelta velocity Y.
    delta_velocity_zfloatm/sDelta velocity Z.
    joint_rollfloatradJoint ROLL.
    joint_elfloatradJoint EL.
    joint_azfloatradJoint AZ.

    GIMBAL_CONTROL (201) ​

    Control message for rate gimbal.

    Field NameTypeUnits描述
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    demanded_rate_xfloatrad/sDemanded angular rate X.
    demanded_rate_yfloatrad/sDemanded angular rate Y.
    demanded_rate_zfloatrad/sDemanded angular rate Z.

    GIMBAL_TORQUE_CMD_REPORT (214) ​

    100 Hz gimbal torque command telemetry.

    Field NameType描述
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    rl_torque_cmdint16_tRoll Torque Command.
    el_torque_cmdint16_tElevation Torque Command.
    az_torque_cmdint16_tAzimuth Torque Command.

    GOPRO_HEARTBEAT (215) ​

    Heartbeat from a HeroBus attached GoPro.

    Field NameType值描述
    statusuint8_tGOPRO_HEARTBEAT_STATUSStatus.
    capture_modeuint8_tGOPRO_CAPTURE_MODECurrent capture mode.
    flagsuint8_tGOPRO_HEARTBEAT_FLAGSAdditional status bits.

    GOPRO_GET_REQUEST (216) ​

    Request a GOPRO_COMMAND response from the GoPro.

    Field NameType值描述
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    cmd_iduint8_tGOPRO_COMMANDCommand ID.

    GOPRO_GET_RESPONSE (217) ​

    Response from a GOPRO_COMMAND get request.

    Field NameType值描述
    cmd_iduint8_tGOPRO_COMMANDCommand ID.
    statusuint8_tGOPRO_REQUEST_STATUSStatus.
    valueuint8_t[4]Value.

    GOPRO_SET_REQUEST (218) ​

    Request to set a GOPRO_COMMAND with a desired.

    Field NameType值描述
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    cmd_iduint8_tGOPRO_COMMANDCommand ID.
    valueuint8_t[4]Value.

    GOPRO_SET_RESPONSE (219) ​

    Response from a GOPRO_COMMAND set request.

    Field NameType值描述
    cmd_iduint8_tGOPRO_COMMANDCommand ID.
    statusuint8_tGOPRO_REQUEST_STATUSStatus.

    RPM (226) ​

    RPM sensor output.

    Field NameType描述
    rpm1floatRPM Sensor1.
    rpm2floatRPM Sensor2.

    DEVICE_OP_READ (11000) ​

    Read registers for a device.

    Field NameType值描述
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    request_iduint32_tRequest ID - copied to reply.
    bustypeuint8_tDEVICE_OP_BUSTYPEThe bus type.
    busuint8_tBus number.
    addressuint8_tBus address.
    busnamechar[40]Name of device on bus (for SPI).
    regstartuint8_tFirst register to read.
    countuint8_tCount of registers to read.
    bank ++uint8_tBank number.

    DEVICE_OP_READ_REPLY (11001) ​

    Read registers reply.

    Field NameType描述
    request_iduint32_tRequest ID - copied from request.
    resultuint8_t0 for success, anything else is failure code.
    regstartuint8_tStarting register.
    countuint8_tCount of bytes read.
    datauint8_t[128]Reply data.
    bank ++uint8_tBank number.

    DEVICE_OP_WRITE (11002) ​

    Write registers for a device.

    Field NameType值描述
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    request_iduint32_tRequest ID - copied to reply.
    bustypeuint8_tDEVICE_OP_BUSTYPEThe bus type.
    busuint8_tBus number.
    addressuint8_tBus address.
    busnamechar[40]Name of device on bus (for SPI).
    regstartuint8_tFirst register to write.
    countuint8_tCount of registers to write.
    datauint8_t[128]Write data.
    bank ++uint8_tBank number.

    DEVICE_OP_WRITE_REPLY (11003) ​

    Write registers reply.

    Field NameType描述
    request_iduint32_tRequest ID - copied from request.
    resultuint8_t0 for success, anything else is failure code.

    ADAP_TUNING (11010) ​

    Adaptive Controller tuning information.

    Field NameTypeUnits值描述
    axisuint8_tPID_TUNING_AXISAxis.
    Messages with same value are from the same source (instance).
    desiredfloatdeg/sDesired rate.
    achievedfloatdeg/sAchieved rate.
    errorfloatError between model and vehicle.
    thetafloatTheta estimated state predictor.
    omegafloatOmega estimated state predictor.
    sigmafloatSigma estimated state predictor.
    theta_dotfloatTheta derivative.
    omega_dotfloatOmega derivative.
    sigma_dotfloatSigma derivative.
    ffloatProjection operator value.
    f_dotfloatProjection operator derivative.
    ufloatu adaptive controlled output command.

    VISION_POSITION_DELTA (11011) ​

    Camera vision based attitude and position deltas.

    Field NameTypeUnits描述
    time_usecuint64_tusTimestamp (synced to UNIX time or since system boot).
    time_delta_usecuint64_tusTime since the last reported camera frame.
    angle_deltafloat[3]radDefines a rotation vector [roll, pitch, yaw] to the current MAV_FRAME_BODY_FRD from the previous MAV_FRAME_BODY_FRD.
    position_deltafloat[3]mChange in position to the current MAV_FRAME_BODY_FRD from the previous FRAME_BODY_FRD rotated to the current MAV_FRAME_BODY_FRD.
    confidencefloat%Normalised confidence value from 0 to 100.

    AOA_SSA (11020) ​

    Angle of Attack and Side Slip Angle.

    Field NameTypeUnits描述
    time_usecuint64_tusTimestamp (since boot or Unix epoch).
    AOAfloat度Angle of Attack.
    SSAfloat度Side Slip Angle.

    ESC_TELEMETRY_1_TO_4 (11030) ​

    ESC Telemetry Data for ESCs 1 to 4, matching data sent by BLHeli ESCs.

    Field NameTypeUnits描述
    temperatureuint8_t[4]degCTemperature.
    voltageuint16_t[4]cVVoltage.
    currentuint16_t[4]cACurrent.
    totalcurrentuint16_t[4]mAhTotal current.
    rpmuint16_t[4]rpmRPM (eRPM).
    countuint16_t[4]count of telemetry packets received (wraps at 65535).

    ESC_TELEMETRY_5_TO_8 (11031) ​

    ESC Telemetry Data for ESCs 5 to 8, matching data sent by BLHeli ESCs.

    Field NameTypeUnits描述
    temperatureuint8_t[4]degCTemperature.
    voltageuint16_t[4]cVVoltage.
    currentuint16_t[4]cACurrent.
    totalcurrentuint16_t[4]mAhTotal current.
    rpmuint16_t[4]rpmRPM (eRPM).
    countuint16_t[4]count of telemetry packets received (wraps at 65535).

    ESC_TELEMETRY_9_TO_12 (11032) ​

    ESC Telemetry Data for ESCs 9 to 12, matching data sent by BLHeli ESCs.

    Field NameTypeUnits描述
    temperatureuint8_t[4]degCTemperature.
    voltageuint16_t[4]cVVoltage.
    currentuint16_t[4]cACurrent.
    totalcurrentuint16_t[4]mAhTotal current.
    rpmuint16_t[4]rpmRPM (eRPM).
    countuint16_t[4]count of telemetry packets received (wraps at 65535).

    OSD_PARAM_CONFIG (11033) ​

    Configure an OSD parameter slot.

    Field NameType值描述
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    request_iduint32_tRequest ID - copied to reply.
    osd_screenuint8_tOSD parameter screen index.
    osd_indexuint8_tOSD parameter display index.
    param_idchar[16]Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
    config_typeuint8_tOSD_PARAM_CONFIG_TYPEConfig type.
    min_valuefloatOSD parameter minimum value.
    max_valuefloatOSD parameter maximum value.
    incrementfloatOSD parameter increment.

    OSD_PARAM_CONFIG_REPLY (11034) ​

    Configure OSD parameter reply.

    Field NameType值描述
    request_iduint32_tRequest ID - copied from request.
    resultuint8_tOSD_PARAM_CONFIG_ERRORConfig error type.

    OSD_PARAM_SHOW_CONFIG (11035) ​

    Read a configured an OSD parameter slot.

    Field NameType描述
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    request_iduint32_tRequest ID - copied to reply.
    osd_screenuint8_tOSD parameter screen index.
    osd_indexuint8_tOSD parameter display index.

    OSD_PARAM_SHOW_CONFIG_REPLY (11036) ​

    Read configured OSD parameter reply.

    Field NameType值描述
    request_iduint32_tRequest ID - copied from request.
    resultuint8_tOSD_PARAM_CONFIG_ERRORConfig error type.
    param_idchar[16]Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
    config_typeuint8_tOSD_PARAM_CONFIG_TYPEConfig type.
    min_valuefloatOSD parameter minimum value.
    max_valuefloatOSD parameter maximum value.
    incrementfloatOSD parameter increment.

    OBSTACLE_DISTANCE_3D (11037) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Obstacle located as a 3D vector.

    Field NameTypeUnits值描述
    time_boot_msuint32_tmsTimestamp (time since system boot).
    sensor_typeuint8_tMAV_DISTANCE_SENSORClass id of the distance sensor type.
    frameuint8_tMAV_FRAMECoordinate frame of reference.
    obstacle_iduint16_tUnique ID given to each obstacle so that its movement can be tracked. Use UINT16_MAX if object ID is unknown or cannot be determined.
    Messages with same value are from the same source (instance).
    xfloatmX position of the obstacle.
    yfloatmY position of the obstacle.
    zfloatmZ position of the obstacle.
    min_distancefloatmMinimum distance the sensor can measure.
    max_distancefloatmMaximum distance the sensor can measure.

    WATER_DEPTH (11038) ​

    Water depth

    Field NameTypeUnits描述
    time_boot_msuint32_tmsTimestamp (time since system boot)
    iduint8_tOnboard ID of the sensor
    Messages with same value are from the same source (instance).
    healthyuint8_tSensor data healthy (0=unhealthy, 1=healthy)
    latint32_tdegE7Latitude
    lngint32_tdegE7Longitude
    altfloatmAltitude (MSL) of vehicle
    rollfloatradRoll angle
    俯仰角floatradPitch angle
    yawfloatradYaw angle
    distancefloatmDistance (uncorrected)
    temperaturefloatdegCWater temperature

    MCU_STATUS (11039) ​

    The MCU status, giving MCU temperature and voltage. The min and max voltages are to allow for detecting power supply instability.

    Field NameTypeUnits描述
    iduint8_tMCU instance
    Messages with same value are from the same source (instance).
    MCU_temperatureint16_tcdegCMCU Internal temperature
    MCU_voltageuint16_tmVMCU voltage
    MCU_voltage_minuint16_tmVMCU voltage minimum
    MCU_voltage_maxuint16_tmVMCU voltage maximum

    Enumerated Types ​

    ACCELCAL_VEHICLE_POS ​

    值Name描述
    1ACCELCAL_VEHICLE_POS_LEVEL
    2ACCELCAL_VEHICLE_POS_LEFT
    3ACCELCAL_VEHICLE_POS_RIGHT
    4ACCELCAL_VEHICLE_POS_NOSEDOWN
    5ACCELCAL_VEHICLE_POS_NOSEUP
    6ACCELCAL_VEHICLE_POS_BACK
    16777215ACCELCAL_VEHICLE_POS_SUCCESS
    16777216ACCELCAL_VEHICLE_POS_FAILED

    HEADING_TYPE ​

    值Name描述
    0HEADING_TYPE_COURSE_OVER_GROUND
    1HEADING_TYPE_HEADING

    SCRIPTING_CMD ​

    值Name描述
    0SCRIPTING_CMD_REPL_STARTStart a REPL session.
    1SCRIPTING_CMD_REPL_STOPEnd a REPL session.
    2SCRIPTING_CMD_STOPStop execution of scripts.
    3SCRIPTING_CMD_STOP_AND_RESTARTStop execution of scripts and restart.

    LIMITS_STATE ​

    值Name描述
    0LIMITS_INITPre-initialization.
    1LIMITS_DISABLEDDisabled.
    2LIMITS_ENABLEDChecking limits.
    3LIMITS_TRIGGEREDA limit has been breached.
    4LIMITS_RECOVERINGTaking action e.g. Return/RTL.
    5LIMITS_RECOVEREDWe're no longer in breach of a limit.

    LIMIT_MODULE ​

    (Bitmask)

    值Name描述
    1LIMIT_GPSLOCKPre-initialization.
    2LIMIT_GEOFENCEDisabled.
    4LIMIT_ALTITUDEChecking limits.

    RALLY_FLAGS ​

    (Bitmask) Flags in RALLY_POINT message.

    值Name描述
    1FAVORABLE_WINDFlag set when requiring favorable winds for landing.
    2LAND_IMMEDIATELYFlag set when plane is to immediately descend to break altitude and land without GCS intervention. Flag not set when plane is to loiter at Rally point until commanded to land.

    CAMERA_STATUS_TYPES ​

    值Name描述
    0CAMERA_STATUS_TYPE_HEARTBEATCamera heartbeat, announce camera component ID at 1Hz.
    1CAMERA_STATUS_TYPE_TRIGGERCamera image triggered.
    2CAMERA_STATUS_TYPE_DISCONNECTCamera connection lost.
    3CAMERA_STATUS_TYPE_ERRORCamera unknown error.
    4CAMERA_STATUS_TYPE_LOWBATTCamera battery low. Parameter p1 shows reported voltage.
    5CAMERA_STATUS_TYPE_LOWSTORECamera storage low. Parameter p1 shows reported shots remaining.
    6CAMERA_STATUS_TYPE_LOWSTOREVCamera storage low. Parameter p1 shows reported video minutes remaining.

    CAMERA_FEEDBACK_FLAGS ​

    值Name描述
    0CAMERA_FEEDBACK_PHOTOShooting photos, not video.
    1CAMERA_FEEDBACK_VIDEOShooting video, not stills.
    2CAMERA_FEEDBACK_BADEXPOSUREUnable to achieve requested exposure (e.g. shutter speed too low).
    3CAMERA_FEEDBACK_CLOSEDLOOPClosed loop feedback from camera, we know for sure it has successfully taken a picture.
    4CAMERA_FEEDBACK_OPENLOOPOpen loop camera, an image trigger has been requested but we can't know for sure it has successfully taken a picture.

    MAV_MODE_GIMBAL ​

    值Name描述
    0MAV_MODE_GIMBAL_UNINITIALIZEDGimbal is powered on but has not started initializing yet.
    1MAV_MODE_GIMBAL_CALIBRATING_PITCHGimbal is currently running calibration on the pitch axis.
    2MAV_MODE_GIMBAL_CALIBRATING_ROLLGimbal is currently running calibration on the roll axis.
    3MAV_MODE_GIMBAL_CALIBRATING_YAWGimbal is currently running calibration on the yaw axis.
    4MAV_MODE_GIMBAL_INITIALIZEDGimbal has finished calibrating and initializing, but is relaxed pending reception of first rate command from copter.
    5MAV_MODE_GIMBAL_ACTIVEGimbal is actively stabilizing.
    6MAV_MODE_GIMBAL_RATE_CMD_TIMEOUTGimbal is relaxed because it missed more than 10 expected rate command messages in a row. Gimbal will move back to active mode when it receives a new rate command.

    GIMBAL_AXIS ​

    值Name描述
    0GIMBAL_AXIS_YAWGimbal yaw axis.
    1GIMBAL_AXIS_PITCHGimbal pitch axis.
    2GIMBAL_AXIS_ROLLGimbal roll axis.

    GIMBAL_AXIS_CALIBRATION_STATUS ​

    值Name描述
    0GIMBAL_AXIS_CALIBRATION_STATUS_IN_PROGRESSAxis calibration is in progress.
    1GIMBAL_AXIS_CALIBRATION_STATUS_SUCCEEDEDAxis calibration succeeded.
    2GIMBAL_AXIS_CALIBRATION_STATUS_FAILEDAxis calibration failed.

    GIMBAL_AXIS_CALIBRATION_REQUIRED ​

    值Name描述
    0GIMBAL_AXIS_CALIBRATION_REQUIRED_UNKNOWNWhether or not this axis requires calibration is unknown at this time.
    1GIMBAL_AXIS_CALIBRATION_REQUIRED_TRUEThis axis requires calibration.
    2GIMBAL_AXIS_CALIBRATION_REQUIRED_FALSEThis axis does not require calibration.

    GOPRO_HEARTBEAT_STATUS ​

    值Name描述
    0GOPRO_HEARTBEAT_STATUS_DISCONNECTEDNo GoPro connected.
    1GOPRO_HEARTBEAT_STATUS_INCOMPATIBLEThe detected GoPro is not HeroBus compatible.
    2GOPRO_HEARTBEAT_STATUS_CONNECTEDA HeroBus compatible GoPro is connected.
    3GOPRO_HEARTBEAT_STATUS_ERRORAn unrecoverable error was encountered with the connected GoPro, it may require a power cycle.

    GOPRO_HEARTBEAT_FLAGS ​

    (Bitmask)

    值Name描述
    1GOPRO_FLAG_RECORDINGGoPro is currently recording.

    GOPRO_REQUEST_STATUS ​

    值Name描述
    0GOPRO_REQUEST_SUCCESSThe write message with ID indicated succeeded.
    1GOPRO_REQUEST_FAILEDThe write message with ID indicated failed.

    GOPRO_COMMAND ​

    值Name描述
    0GOPRO_COMMAND_POWER(Get/Set).
    1GOPRO_COMMAND_CAPTURE_MODE(Get/Set).
    2GOPRO_COMMAND_SHUTTER(___/Set).
    3GOPRO_COMMAND_BATTERY(Get/___).
    4GOPRO_COMMAND_MODEL(Get/___).
    5GOPRO_COMMAND_VIDEO_SETTINGS(Get/Set).
    6GOPRO_COMMAND_LOW_LIGHT(Get/Set).
    7GOPRO_COMMAND_PHOTO_RESOLUTION(Get/Set).
    8GOPRO_COMMAND_PHOTO_BURST_RATE(Get/Set).
    9GOPRO_COMMAND_PROTUNE(Get/Set).
    10GOPRO_COMMAND_PROTUNE_WHITE_BALANCE(Get/Set) Hero 3+ Only.
    11GOPRO_COMMAND_PROTUNE_COLOUR(Get/Set) Hero 3+ Only.
    12GOPRO_COMMAND_PROTUNE_GAIN(Get/Set) Hero 3+ Only.
    13GOPRO_COMMAND_PROTUNE_SHARPNESS(Get/Set) Hero 3+ Only.
    14GOPRO_COMMAND_PROTUNE_EXPOSURE(Get/Set) Hero 3+ Only.
    15GOPRO_COMMAND_TIME(Get/Set).
    16GOPRO_COMMAND_CHARGING(Get/Set).

    GOPRO_CAPTURE_MODE ​

    值Name描述
    0GOPRO_CAPTURE_MODE_VIDEOVideo mode.
    1GOPRO_CAPTURE_MODE_PHOTOPhoto mode.
    2GOPRO_CAPTURE_MODE_BURSTBurst mode, Hero 3+ only.
    3GOPRO_CAPTURE_MODE_TIME_LAPSETime lapse mode, Hero 3+ only.
    4GOPRO_CAPTURE_MODE_MULTI_SHOTMulti shot mode, Hero 4 only.
    5GOPRO_CAPTURE_MODE_PLAYBACKPlayback mode, Hero 4 only, silver only except when LCD or HDMI is connected to black.
    6GOPRO_CAPTURE_MODE_SETUPPlayback mode, Hero 4 only.
    255GOPRO_CAPTURE_MODE_UNKNOWNMode not yet known.

    GOPRO_RESOLUTION ​

    值Name描述
    0GOPRO_RESOLUTION_480p848 x 480 (480p).
    1GOPRO_RESOLUTION_720p1280 x 720 (720p).
    2GOPRO_RESOLUTION_960p1280 x 960 (960p).
    3GOPRO_RESOLUTION_1080p1920 x 1080 (1080p).
    4GOPRO_RESOLUTION_1440p1920 x 1440 (1440p).
    5GOPRO_RESOLUTION_2_7k_17_92704 x 1440 (2.7k-17:9).
    6GOPRO_RESOLUTION_2_7k_16_92704 x 1524 (2.7k-16:9).
    7GOPRO_RESOLUTION_2_7k_4_32704 x 2028 (2.7k-4:3).
    8GOPRO_RESOLUTION_4k_16_93840 x 2160 (4k-16:9).
    9GOPRO_RESOLUTION_4k_17_94096 x 2160 (4k-17:9).
    10GOPRO_RESOLUTION_720p_SUPERVIEW1280 x 720 (720p-SuperView).
    11GOPRO_RESOLUTION_1080p_SUPERVIEW1920 x 1080 (1080p-SuperView).
    12GOPRO_RESOLUTION_2_7k_SUPERVIEW2704 x 1520 (2.7k-SuperView).
    13GOPRO_RESOLUTION_4k_SUPERVIEW3840 x 2160 (4k-SuperView).

    GOPRO_FRAME_RATE ​

    值Name描述
    0GOPRO_FRAME_RATE_1212 FPS.
    1GOPRO_FRAME_RATE_1515 FPS.
    2GOPRO_FRAME_RATE_2424 FPS.
    3GOPRO_FRAME_RATE_2525 FPS.
    4GOPRO_FRAME_RATE_3030 FPS.
    5GOPRO_FRAME_RATE_4848 FPS.
    6GOPRO_FRAME_RATE_5050 FPS.
    7GOPRO_FRAME_RATE_6060 FPS.
    8GOPRO_FRAME_RATE_8080 FPS.
    9GOPRO_FRAME_RATE_9090 FPS.
    10GOPRO_FRAME_RATE_100100 FPS.
    11GOPRO_FRAME_RATE_120120 FPS.
    12GOPRO_FRAME_RATE_240240 FPS.
    13GOPRO_FRAME_RATE_12_512.5 FPS.

    GOPRO_FIELD_OF_VIEW ​

    值Name描述
    0GOPRO_FIELD_OF_VIEW_WIDE0x00: Wide.
    1GOPRO_FIELD_OF_VIEW_MEDIUM0x01: Medium.
    2GOPRO_FIELD_OF_VIEW_NARROW0x02: Narrow.

    GOPRO_VIDEO_SETTINGS_FLAGS ​

    (Bitmask)

    值Name描述
    1GOPRO_VIDEO_SETTINGS_TV_MODE0=NTSC, 1=PAL.

    GOPRO_PHOTO_RESOLUTION ​

    值Name描述
    0GOPRO_PHOTO_RESOLUTION_5MP_MEDIUM5MP Medium.
    1GOPRO_PHOTO_RESOLUTION_7MP_MEDIUM7MP Medium.
    2GOPRO_PHOTO_RESOLUTION_7MP_WIDE7MP Wide.
    3GOPRO_PHOTO_RESOLUTION_10MP_WIDE10MP Wide.
    4GOPRO_PHOTO_RESOLUTION_12MP_WIDE12MP Wide.

    GOPRO_PROTUNE_WHITE_BALANCE ​

    值Name描述
    0GOPRO_PROTUNE_WHITE_BALANCE_AUTOAuto.
    1GOPRO_PROTUNE_WHITE_BALANCE_3000K3000K.
    2GOPRO_PROTUNE_WHITE_BALANCE_5500K5500K.
    3GOPRO_PROTUNE_WHITE_BALANCE_6500K6500K.
    4GOPRO_PROTUNE_WHITE_BALANCE_RAWCamera Raw.

    GOPRO_PROTUNE_COLOUR ​

    值Name描述
    0GOPRO_PROTUNE_COLOUR_STANDARDAuto.
    1GOPRO_PROTUNE_COLOUR_NEUTRALNeutral.

    GOPRO_PROTUNE_GAIN ​

    值Name描述
    0GOPRO_PROTUNE_GAIN_400ISO 400.
    1GOPRO_PROTUNE_GAIN_800ISO 800 (Only Hero 4).
    2GOPRO_PROTUNE_GAIN_1600ISO 1600.
    3GOPRO_PROTUNE_GAIN_3200ISO 3200 (Only Hero 4).
    4GOPRO_PROTUNE_GAIN_6400ISO 6400.

    GOPRO_PROTUNE_SHARPNESS ​

    值Name描述
    0GOPRO_PROTUNE_SHARPNESS_LOWLow Sharpness.
    1GOPRO_PROTUNE_SHARPNESS_MEDIUMMedium Sharpness.
    2GOPRO_PROTUNE_SHARPNESS_HIGHHigh Sharpness.

    GOPRO_PROTUNE_EXPOSURE ​

    值Name描述
    0GOPRO_PROTUNE_EXPOSURE_NEG_5_0-5.0 EV (Hero 3+ Only).
    1GOPRO_PROTUNE_EXPOSURE_NEG_4_5-4.5 EV (Hero 3+ Only).
    2GOPRO_PROTUNE_EXPOSURE_NEG_4_0-4.0 EV (Hero 3+ Only).
    3GOPRO_PROTUNE_EXPOSURE_NEG_3_5-3.5 EV (Hero 3+ Only).
    4GOPRO_PROTUNE_EXPOSURE_NEG_3_0-3.0 EV (Hero 3+ Only).
    5GOPRO_PROTUNE_EXPOSURE_NEG_2_5-2.5 EV (Hero 3+ Only).
    6GOPRO_PROTUNE_EXPOSURE_NEG_2_0-2.0 EV.
    7GOPRO_PROTUNE_EXPOSURE_NEG_1_5-1.5 EV.
    8GOPRO_PROTUNE_EXPOSURE_NEG_1_0-1.0 EV.
    9GOPRO_PROTUNE_EXPOSURE_NEG_0_5-0.5 EV.
    10GOPRO_PROTUNE_EXPOSURE_ZERO0.0 EV.
    11GOPRO_PROTUNE_EXPOSURE_POS_0_5+0.5 EV.
    12GOPRO_PROTUNE_EXPOSURE_POS_1_0+1.0 EV.
    13GOPRO_PROTUNE_EXPOSURE_POS_1_5+1.5 EV.
    14GOPRO_PROTUNE_EXPOSURE_POS_2_0+2.0 EV.
    15GOPRO_PROTUNE_EXPOSURE_POS_2_5+2.5 EV (Hero 3+ Only).
    16GOPRO_PROTUNE_EXPOSURE_POS_3_0+3.0 EV (Hero 3+ Only).
    17GOPRO_PROTUNE_EXPOSURE_POS_3_5+3.5 EV (Hero 3+ Only).
    18GOPRO_PROTUNE_EXPOSURE_POS_4_0+4.0 EV (Hero 3+ Only).
    19GOPRO_PROTUNE_EXPOSURE_POS_4_5+4.5 EV (Hero 3+ Only).
    20GOPRO_PROTUNE_EXPOSURE_POS_5_0+5.0 EV (Hero 3+ Only).

    GOPRO_CHARGING ​

    值Name描述
    0GOPRO_CHARGING_DISABLEDCharging disabled.
    1GOPRO_CHARGING_ENABLEDCharging enabled.

    GOPRO_MODEL ​

    值Name描述
    0GOPRO_MODEL_UNKNOWNUnknown gopro model.
    1GOPRO_MODEL_HERO_3_PLUS_SILVERHero 3+ Silver (HeroBus not supported by GoPro).
    2GOPRO_MODEL_HERO_3_PLUS_BLACKHero 3+ Black.
    3GOPRO_MODEL_HERO_4_SILVERHero 4 Silver.
    4GOPRO_MODEL_HERO_4_BLACKHero 4 Black.

    GOPRO_BURST_RATE ​

    值Name描述
    0GOPRO_BURST_RATE_3_IN_1_SECOND3 Shots / 1 Second.
    1GOPRO_BURST_RATE_5_IN_1_SECOND5 Shots / 1 Second.
    2GOPRO_BURST_RATE_10_IN_1_SECOND10 Shots / 1 Second.
    3GOPRO_BURST_RATE_10_IN_2_SECOND10 Shots / 2 Second.
    4GOPRO_BURST_RATE_10_IN_3_SECOND10 Shots / 3 Second (Hero 4 Only).
    5GOPRO_BURST_RATE_30_IN_1_SECOND30 Shots / 1 Second.
    6GOPRO_BURST_RATE_30_IN_2_SECOND30 Shots / 2 Second.
    7GOPRO_BURST_RATE_30_IN_3_SECOND30 Shots / 3 Second.
    8GOPRO_BURST_RATE_30_IN_6_SECOND30 Shots / 6 Second.

    MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL ​

    值Name描述
    0MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL_LOWSwitch Low.
    1MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL_MIDDLESwitch Middle.
    2MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL_HIGHSwitch High.

    LED_CONTROL_PATTERN ​

    值Name描述
    0LED_CONTROL_PATTERN_OFFLED patterns off (return control to regular vehicle control).
    1LED_CONTROL_PATTERN_FIRMWAREUPDATELEDs show pattern during firmware update.
    255LED_CONTROL_PATTERN_CUSTOMCustom Pattern using custom bytes fields.

    EKF_STATUS_FLAGS ​

    (Bitmask) Flags in EKF_STATUS message.

    值Name描述
    1EKF_ATTITUDESet if EKF's attitude estimate is good.
    2EKF_VELOCITY_HORIZSet if EKF's horizontal velocity estimate is good.
    4EKF_VELOCITY_VERTSet if EKF's vertical velocity estimate is good.
    8EKF_POS_HORIZ_RELSet if EKF's horizontal position (relative) estimate is good.
    16EKF_POS_HORIZ_ABSSet if EKF's horizontal position (absolute) estimate is good.
    32EKF_POS_VERT_ABSSet if EKF's vertical position (absolute) estimate is good.
    64EKF_POS_VERT_AGLSet if EKF's vertical position (above ground) estimate is good.
    128EKF_CONST_POS_MODEEKF is in constant position mode and does not know it's absolute or relative position.
    256EKF_PRED_POS_HORIZ_RELSet if EKF's predicted horizontal position (relative) estimate is good.
    512EKF_PRED_POS_HORIZ_ABSSet if EKF's predicted horizontal position (absolute) estimate is good.
    1024EKF_UNINITIALIZEDSet if EKF has never been healthy.

    PID_TUNING_AXIS ​

    值Name描述
    1PID_TUNING_ROLL
    2PID_TUNING_PITCH
    3PID_TUNING_YAW
    4PID_TUNING_ACCZ
    5PID_TUNING_STEER
    6PID_TUNING_LANDING

    MAV_REMOTE_LOG_DATA_BLOCK_COMMANDS ​

    Special ACK block numbers control activation of dataflash log streaming.

    值Name描述
    2147483645MAV_REMOTE_LOG_DATA_BLOCK_STOPUAV to stop sending DataFlash blocks.
    2147483646MAV_REMOTE_LOG_DATA_BLOCK_STARTUAV to start sending DataFlash blocks.

    MAV_REMOTE_LOG_DATA_BLOCK_STATUSES ​

    Possible remote log data block statuses.

    值Name描述
    0MAV_REMOTE_LOG_DATA_BLOCK_NACKThis block has NOT been received.
    1MAV_REMOTE_LOG_DATA_BLOCK_ACKThis block has been received.

    DEVICE_OP_BUSTYPE ​

    Bus types for device operations.

    值Name描述
    0DEVICE_OP_BUSTYPE_I2CI2C Device operation.
    1DEVICE_OP_BUSTYPE_SPISPI Device operation.

    DEEPSTALL_STAGE ​

    Deepstall flight stage.

    值Name描述
    0DEEPSTALL_STAGE_FLY_TO_LANDINGFlying to the landing point.
    1DEEPSTALL_STAGE_ESTIMATE_WINDBuilding an estimate of the wind.
    2DEEPSTALL_STAGE_WAIT_FOR_BREAKOUTWaiting to breakout of the loiter to fly the approach.
    3DEEPSTALL_STAGE_FLY_TO_ARCFlying to the first arc point to turn around to the landing point.
    4DEEPSTALL_STAGE_ARCTurning around back to the deepstall landing point.
    5DEEPSTALL_STAGE_APPROACHApproaching the landing point.
    6DEEPSTALL_STAGE_LANDStalling and steering towards the land point.

    PLANE_MODE ​

    A mapping of plane flight modes for custom_mode field of heartbeat.

    值Name描述
    0PLANE_MODE_MANUAL
    1PLANE_MODE_CIRCLE
    2PLANE_MODE_STABILIZE
    3PLANE_MODE_TRAINING
    4PLANE_MODE_ACRO
    5PLANE_MODE_FLY_BY_WIRE_A
    6PLANE_MODE_FLY_BY_WIRE_B
    7PLANE_MODE_CRUISE
    8PLANE_MODE_AUTOTUNE
    10PLANE_MODE_AUTO
    11PLANE_MODE_RTL
    12PLANE_MODE_LOITER
    13PLANE_MODE_TAKEOFF
    14PLANE_MODE_AVOID_ADSB
    15PLANE_MODE_GUIDED
    16PLANE_MODE_INITIALIZING
    17PLANE_MODE_QSTABILIZE
    18PLANE_MODE_QHOVER
    19PLANE_MODE_QLOITER
    20PLANE_MODE_QLAND
    21PLANE_MODE_QRTL
    22PLANE_MODE_QAUTOTUNE
    23PLANE_MODE_QACRO
    24PLANE_MODE_THERMAL

    COPTER_MODE ​

    A mapping of copter flight modes for custom_mode field of heartbeat.

    值Name描述
    0COPTER_MODE_STABILIZE
    1COPTER_MODE_ACRO
    2COPTER_MODE_ALT_HOLD
    3COPTER_MODE_AUTO
    4COPTER_MODE_GUIDED
    5COPTER_MODE_LOITER
    6COPTER_MODE_RTL
    7COPTER_MODE_CIRCLE
    9COPTER_MODE_LAND
    11COPTER_MODE_DRIFT
    13COPTER_MODE_SPORT
    14COPTER_MODE_FLIP
    15COPTER_MODE_AUTOTUNE
    16COPTER_MODE_POSHOLD
    17COPTER_MODE_BRAKE
    18COPTER_MODE_THROW
    19COPTER_MODE_AVOID_ADSB
    20COPTER_MODE_GUIDED_NOGPS
    21COPTER_MODE_SMART_RTL
    22COPTER_MODE_FLOWHOLD
    23COPTER_MODE_FOLLOW
    24COPTER_MODE_ZIGZAG
    25COPTER_MODE_SYSTEMID
    26COPTER_MODE_AUTOROTATE
    27COPTER_MODE_AUTO_RTL

    SUB_MODE ​

    A mapping of sub flight modes for custom_mode field of heartbeat.

    值Name描述
    0SUB_MODE_STABILIZE
    1SUB_MODE_ACRO
    2SUB_MODE_ALT_HOLD
    3SUB_MODE_AUTO
    4SUB_MODE_GUIDED
    7SUB_MODE_CIRCLE
    9SUB_MODE_SURFACE
    16SUB_MODE_POSHOLD
    19SUB_MODE_MANUAL

    ROVER_MODE ​

    A mapping of rover flight modes for custom_mode field of heartbeat.

    值Name描述
    0ROVER_MODE_MANUAL
    1ROVER_MODE_ACRO
    3ROVER_MODE_STEERING
    4ROVER_MODE_HOLD
    5ROVER_MODE_LOITER
    6ROVER_MODE_FOLLOW
    7ROVER_MODE_SIMPLE
    10ROVER_MODE_AUTO
    11ROVER_MODE_RTL
    12ROVER_MODE_SMART_RTL
    15ROVER_MODE_GUIDED
    16ROVER_MODE_INITIALIZING

    TRACKER_MODE ​

    A mapping of antenna tracker flight modes for custom_mode field of heartbeat.

    值Name描述
    0TRACKER_MODE_MANUAL
    1TRACKER_MODE_STOP
    2TRACKER_MODE_SCAN
    3TRACKER_MODE_SERVO_TEST
    10TRACKER_MODE_AUTO
    16TRACKER_MODE_INITIALIZING

    OSD_PARAM_CONFIG_TYPE ​

    The type of parameter for the OSD parameter editor.

    值Name描述
    0OSD_PARAM_NONE
    1OSD_PARAM_SERIAL_PROTOCOL
    2OSD_PARAM_SERVO_FUNCTION
    3OSD_PARAM_AUX_FUNCTION
    4OSD_PARAM_FLIGHT_MODE
    5OSD_PARAM_FAILSAFE_ACTION
    6OSD_PARAM_FAILSAFE_ACTION_1
    7OSD_PARAM_FAILSAFE_ACTION_2
    8OSD_PARAM_NUM_TYPES

    OSD_PARAM_CONFIG_ERROR ​

    The error type for the OSD parameter editor.

    值Name描述
    0OSD_PARAM_SUCCESS
    1OSD_PARAM_INVALID_SCREEN
    2OSD_PARAM_INVALID_PARAMETER_INDEX
    3OSD_PARAM_INVALID_PARAMETER

    Commands (MAV_CMD) ​

    MAV_CMD_NAV_ALTITUDE_WAIT (83) ​

    Mission command to wait for an altitude or downwards vertical speed. This is meant for high altitude balloon launches, allowing the aircraft to be idle until either an altitude is reached or a negative vertical speed is reached (indicating early balloon burst). The wiggle time is how often to wiggle the control surfaces to prevent them seizing up.

    Param (Label)描述Units
    1 (Altitude)Altitude.m
    2 (Descent Speed)Descent speed.m/s
    3 (Wiggle Time)How long to wiggle the control surfaces to prevent them seizing up.s
    4Empty.
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_DO_SET_RESUME_REPEAT_DIST (215) ​

    Set the distance to be repeated on mission resume

    Param (Label)描述Units
    1 (Distance)Distance.m
    2Empty.
    3Empty.
    4Empty.
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_DO_SPRAYER (216) ​

    Control attached liquid sprayer

    Param (Label)描述值
    1 (Sprayer Enable)0: disable sprayer. 1: enable sprayer.min: 0 max: 1 inc: 1
    2Empty.
    3Empty.
    4Empty.
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_DO_SEND_SCRIPT_MESSAGE (217) ​

    Pass instructions onto scripting, a script should be checking for a new command

    Param (Label)描述值
    1 (ID)uint16 ID value to be passed to scriptingmin: 0 max: 65535 inc: 1
    2 (param 1)float value to be passed to scripting
    3 (param 2)float value to be passed to scripting
    4 (param 3)float value to be passed to scripting
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_DO_AUX_FUNCTION (218) ​

    Execute auxiliary function

    Param (Label)描述值
    1 (AuxiliaryFunction)Auxiliary Function.
    2 (SwitchPosition)Switch Level.MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL
    3Empty.
    4Empty.
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_POWER_OFF_INITIATED (42000) ​

    A system wide power-off event has been initiated.

    Param (Label)描述
    1Empty.
    2Empty.
    3Empty.
    4Empty.
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_SOLO_BTN_FLY_CLICK (42001) ​

    FLY button has been clicked.

    Param (Label)描述
    1Empty.
    2Empty.
    3Empty.
    4Empty.
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_SOLO_BTN_FLY_HOLD (42002) ​

    FLY button has been held for 1.5 seconds.

    Param (Label)描述Units
    1 (Takeoff Altitude)Takeoff altitude.m
    2Empty.
    3Empty.
    4Empty.
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_SOLO_BTN_PAUSE_CLICK (42003) ​

    PAUSE button has been clicked.

    Param (Label)描述值
    1 (Shot Mode)1 if Solo is in a shot mode, 0 otherwise.min: 0 max: 1 inc: 1
    2Empty.
    3Empty.
    4Empty.
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_FIXED_MAG_CAL (42004) ​

    Magnetometer calibration based on fixed position

    in earth field given by inclination, declination and intensity.

    Param (Label)描述Units
    1 (Declination)Magnetic declination.度
    2 (Inclination)Magnetic inclination.度
    3 (Intensity)Magnetic intensity.mgauss
    4 (Yaw)Yaw.度
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_FIXED_MAG_CAL_FIELD (42005) ​

    Magnetometer calibration based on fixed expected field values.

    Param (Label)描述Units
    1 (Field X)Field strength X.mgauss
    2 (Field Y)Field strength Y.mgauss
    3 (Field Z)Field strength Z.mgauss
    4Empty.
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_SET_EKF_SOURCE_SET (42007) ​

    Set EKF sensor source set.

    Param (Label)描述值
    1 (SourceSetId)Source Set Id.min: 1 max: 3 inc: 1
    2Empty.
    3Empty.
    4Empty.
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_DO_START_MAG_CAL (42424) ​

    Initiate a magnetometer calibration.

    Param (Label)描述值Units
    1 (Magnetometers Bitmask)Bitmask of magnetometers to calibrate. Use 0 to calibrate all sensors that can be started (sensors may not start if disabled, unhealthy, etc.). The command will NACK if calibration does not start for a sensor explicitly specified by the bitmask.min: 0 max: 255 inc: 1
    2 (Retry on Failure)Automatically retry on failure (0=no retry, 1=retry).min: 0 max: 1 inc: 1
    3 (Autosave)Save without user input (0=require input, 1=autosave).min: 0 max: 1 inc: 1
    4 (Delay)Delay.s
    5 (Autoreboot)Autoreboot (0=user reboot, 1=autoreboot).min: 0 max: 1 inc: 1
    6Empty.
    7Empty.

    MAV_CMD_DO_ACCEPT_MAG_CAL (42425) ​

    Accept a magnetometer calibration.

    Param (Label)描述值
    1 (Magnetometers Bitmask)Bitmask of magnetometers that calibration is accepted (0 means all).min: 0 max: 255 inc: 1
    2Empty.
    3Empty.
    4Empty.
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_DO_CANCEL_MAG_CAL (42426) ​

    Cancel a running magnetometer calibration.

    Param (Label)描述值
    1 (Magnetometers Bitmask)Bitmask of magnetometers to cancel a running calibration (0 means all).min: 0 max: 255 inc: 1
    2Empty.
    3Empty.
    4Empty.
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_SET_FACTORY_TEST_MODE (42427) ​

    Command autopilot to get into factory test/diagnostic mode.

    Param (Label)描述值
    1 (Test Mode)0: activate test mode, 1: exit test mode.min: 0 max: 1 inc: 1
    2Empty.
    3Empty.
    4Empty.
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_DO_SEND_BANNER (42428) ​

    Reply with the version banner.

    Param (Label)描述
    1Empty.
    2Empty.
    3Empty.
    4Empty.
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_ACCELCAL_VEHICLE_POS (42429) ​

    Used when doing accelerometer calibration. When sent to the GCS tells it what position to put the vehicle in. When sent to the vehicle says what position the vehicle is in.

    Param (Label)描述值
    1 (Position)Position.ACCELCAL_VEHICLE_POS
    2Empty.
    3Empty.
    4Empty.
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_GIMBAL_RESET (42501) ​

    Causes the gimbal to reset and boot as if it was just powered on.

    Param (Label)描述
    1Empty.
    2Empty.
    3Empty.
    4Empty.
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_GIMBAL_AXIS_CALIBRATION_STATUS (42502) ​

    Reports progress and success or failure of gimbal axis calibration procedure.

    Param (Label)描述值Units
    1 (Axis)Gimbal axis we're reporting calibration progress for.GIMBAL_AXIS
    2 (Progress)Current calibration progress for this axis.min: 0 max: 100%
    3 (Status)Status of the calibration.GIMBAL_AXIS_CALIBRATION_STATUS
    4Empty.
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_GIMBAL_REQUEST_AXIS_CALIBRATION (42503) ​

    Starts commutation calibration on the gimbal.

    Param (Label)描述
    1Empty.
    2Empty.
    3Empty.
    4Empty.
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_GIMBAL_FULL_RESET (42505) ​

    Erases gimbal application and parameters.

    Param (Label)描述
    1Magic number.
    2Magic number.
    3Magic number.
    4Magic number.
    5Magic number.
    6Magic number.
    7Magic number.

    MAV_CMD_FLASH_BOOTLOADER (42650) ​

    Update the bootloader

    Param (Label)描述值
    1Empty
    2Empty
    3Empty
    4Empty
    5 (Magic Number)Magic number - set to 290876 to actually flashinc: 1
    6Empty
    7Empty

    MAV_CMD_BATTERY_RESET (42651) ​

    Reset battery capacity for batteries that accumulate consumed battery via integration.

    Param (Label)描述值
    1 (battery mask)Bitmask of batteries to reset. Least significant bit is for the first battery.
    2 (percentage)Battery percentage remaining to set.min: 0 max: 100 inc: 1

    MAV_CMD_DEBUG_TRAP (42700) ​

    Issue a trap signal to the autopilot process, presumably to enter the debugger.

    Param (Label)描述
    1Magic number - set to 32451 to actually trap.
    2Empty.
    3Empty.
    4Empty.
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_SCRIPTING (42701) ​

    Control onboard scripting.

    Param (Label)描述值
    1Scripting command to executeSCRIPTING_CMD

    MAV_CMD_NAV_SCRIPT_TIME (42702) ​

    Scripting command as NAV command with wait for completion.

    Param (Label)描述Units
    1 (command)integer command number (0 to 255)
    2 (timeout)timeout for operation in seconds. Zero means no timeout (0 to 255)s
    3 (arg1)argument1.
    4 (arg2)argument2.
    5Empty
    6Empty
    7Empty

    MAV_CMD_NAV_ATTITUDE_TIME (42703) ​

    Maintain an attitude for a specified time.

    Param (Label)描述Units
    1 (time)Time to maintain specified attitude and climb rates
    2 (roll)Roll angle in degrees (positive is lean right, negative is lean left)度
    3 (pitch)Pitch angle in degrees (positive is lean back, negative is lean forward)度
    4 (yaw)Yaw angle度
    5 (climb_rate)Climb ratem/s
    6Empty
    7Empty

    MAV_CMD_GUIDED_CHANGE_SPEED (43000) ​

    Change flight speed at a given rate. This slews the vehicle at a controllable rate between it's previous speed and the new one. (affects GUIDED only. Outside GUIDED, aircraft ignores these commands. Designed for onboard companion-computer command-and-control, not normally operator/GCS control.)

    Param (Label)描述值Units
    1 (speed type)Airspeed or groundspeed.SPEED_TYPE
    2 (speed target)Target Speedm/s
    3 (speed rate-of-change)Acceleration rate, 0 to take effect instantlym/s/s
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_GUIDED_CHANGE_ALTITUDE (43001) ​

    Change target altitude at a given rate. This slews the vehicle at a controllable rate between it's previous altitude and the new one. (affects GUIDED only. Outside GUIDED, aircraft ignores these commands. Designed for onboard companion-computer command-and-control, not normally operator/GCS control.)

    Param (Label)描述值Units
    1Empty
    2Empty
    3 (alt rate-of-change)Rate of change, toward new altitude. 0 for maximum rate change. Positive numbers only, as negative numbers will not converge on the new target alt.min: 0m/s/s
    4Empty
    5Empty
    6Empty
    7 (target alt)Target Altitudem

    MAV_CMD_GUIDED_CHANGE_HEADING (43002) ​

    Change to target heading at a given rate, overriding previous heading/s. This slews the vehicle at a controllable rate between it's previous heading and the new one. (affects GUIDED only. Exiting GUIDED returns aircraft to normal behaviour defined elsewhere. Designed for onboard companion-computer command-and-control, not normally operator/GCS control.)

    Param (Label)描述值Units
    1 (heading type)course-over-ground or raw vehicle heading.HEADING_TYPE
    2 (heading target)Target heading.min: 0 max: 359.99度
    3 (heading rate-of-change)Maximum centripetal accelearation, ie rate of change, toward new heading.m/s/s
    4Empty
    5Empty
    6Empty
    7Empty
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    MAVLINK Common Message Set (common.xml) ​

    The MAVLink common message set contains standard definitions that are managed by the MAVLink project. The definitions cover functionality that is considered useful to most ground control stations and autopilots. MAVLink-compatible systems are expected to use these definitions where possible (if an appropriate message exists) rather than rolling out variants in their own dialects.

    The original definitions are defined in common.xml.

    Note

    • MAVLink 2 extension fields are displayed in blue.
    • Entities from dialects are displayed only as headings (with link to original)

    Protocol dialect: 0

    Protocol version: 3

    概览 ​

    TypeDefinedIncluded
    Messages2242
    Enums1386
    Commands1640

    The following sections list all entities in the dialect (both included and defined in this file).

    消息 ​

    HEARTBEAT (0) — [from: minimal] ​

    The heartbeat message shows that a system or component is present and responding. The type and autopilot fields (along with the message component id), allow the receiving system to treat further messages from this system appropriately (e.g. by laying out the user interface based on the autopilot). This microservice is documented at https://mavlink.io/en/services/heartbeat.html

    Field NameType值描述
    typeuint8_tMAV_TYPEVehicle or component type. For a flight controller component the vehicle type (quadrotor, helicopter, etc.). For other components the component type (e.g. camera, gimbal, etc.). This should be used in preference to component id for identifying the component type.
    autopilotuint8_tMAV_AUTOPILOTAutopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers.
    base_modeuint8_tMAV_MODE_FLAGSystem mode bitmap.
    custom_modeuint32_tA bitfield for use for autopilot-specific flags
    system_statusuint8_tMAV_STATESystem status flag.
    mavlink_versionuint8_t_mavlink_versionMAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version

    SYS_STATUS (1) ​

    The general system state. If the system is following the MAVLink standard, the system state is mainly defined by three orthogonal states/modes: The system mode, which is either LOCKED (motors shut down and locked), MANUAL (system under RC control), GUIDED (system with autonomous position control, position setpoint controlled manually) or AUTO (system guided by path/waypoint planner). The NAV_MODE defined the current flight state: LIFTOFF (often an open-loop maneuver), LANDING, WAYPOINTS or VECTOR. This represents the internal navigation state machine. The system status shows whether the system is currently active or not and if an emergency occurred. During the CRITICAL and EMERGENCY states the MAV is still considered to be active, but should start emergency procedures autonomously. After a failure occurred it should first move from active to critical to allow manual intervention and then move to emergency after a certain timeout.

    Field NameTypeUnits值描述
    onboard_control_sensors_presentuint32_tMAV_SYS_STATUS_SENSORBitmap showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present.
    onboard_control_sensors_enableduint32_tMAV_SYS_STATUS_SENSORBitmap showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled.
    onboard_control_sensors_healthuint32_tMAV_SYS_STATUS_SENSORBitmap showing which onboard controllers and sensors have an error (or are operational). Value of 0: error. Value of 1: healthy.
    loaduint16_td%Maximum usage in percent of the mainloop time. Values: [0-1000] - should always be below 1000
    voltage_batteryuint16_tmVinvalid:UINT16_MAXBattery voltage, UINT16_MAX: Voltage not sent by autopilot
    current_batteryint16_tcAinvalid:-1Battery current, -1: Current not sent by autopilot
    battery_remainingint8_t%invalid:-1Battery energy remaining, -1: Battery remaining energy not sent by autopilot
    drop_rate_commuint16_tc%Communication drop rate, (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
    errors_commuint16_tCommunication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
    errors_count1uint16_tAutopilot-specific errors
    errors_count2uint16_tAutopilot-specific errors
    errors_count3uint16_tAutopilot-specific errors
    errors_count4uint16_tAutopilot-specific errors
    onboard_control_sensors_present_extended ++uint32_tMAV_SYS_STATUS_SENSOR_EXTENDEDBitmap showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present.
    onboard_control_sensors_enabled_extended ++uint32_tMAV_SYS_STATUS_SENSOR_EXTENDEDBitmap showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled.
    onboard_control_sensors_health_extended ++uint32_tMAV_SYS_STATUS_SENSOR_EXTENDEDBitmap showing which onboard controllers and sensors have an error (or are operational). Value of 0: error. Value of 1: healthy.

    SYSTEM_TIME (2) ​

    The system time is the time of the master clock, typically the computer clock of the main onboard computer.

    Field NameTypeUnits描述
    time_unix_usecuint64_tusTimestamp (UNIX epoch time).
    time_boot_msuint32_tmsTimestamp (time since system boot).

    PING (4) — [DEP] ​

    DEPRECATED: Replaced By SYSTEM_TIME (2011-08) — to be removed / merged with SYSTEM_TIME)

    A ping message either requesting or responding to a ping. This allows to measure the system latencies, including serial port, radio modem and UDP connections. The ping microservice is documented at https://mavlink.io/en/services/ping.html

    Field NameTypeUnits描述
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    sequint32_tPING sequence
    target_systemuint8_t0: request ping from all receiving systems. If greater than 0: message is a ping response and number is the system id of the requesting system
    target_componentuint8_t0: request ping from all receiving components. If greater than 0: message is a ping response and number is the component id of the requesting component.

    CHANGE_OPERATOR_CONTROL (5) ​

    Request to control this MAV

    Field NameTypeUnits描述
    target_systemuint8_tSystem the GCS requests control for
    control_requestuint8_t0: request control of this MAV, 1: Release control of this MAV
    versionuint8_trad0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch.
    passkeychar[25]Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"

    CHANGE_OPERATOR_CONTROL_ACK (6) ​

    Accept / deny control of this MAV

    Field NameType描述
    gcs_system_iduint8_tID of the GCS this message
    control_requestuint8_t0: request control of this MAV, 1: Release control of this MAV
    ackuint8_t0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control

    AUTH_KEY (7) ​

    Emit an encrypted signature / key identifying this system. PLEASE NOTE: This protocol has been kept simple, so transmitting the key requires an encrypted channel for true safety.

    Field NameType描述
    keychar[32]key

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Status generated in each node in the communication chain and injected into MAVLink stream.

    Field NameTypeUnits描述
    timestampuint64_tmsTimestamp (time since system boot).
    tx_bufuint8_t%Remaining free transmit buffer space
    rx_bufuint8_t%Remaining free receive buffer space
    tx_rateuint32_tbytes/sTransmit rate
    rx_rateuint32_tbytes/sReceive rate
    rx_parse_erruint16_tbytesNumber of bytes that could not be parsed correctly.
    tx_overflowsuint16_tbytesTransmit buffer overflows. This number wraps around as it reaches UINT16_MAX
    rx_overflowsuint16_tbytesReceive buffer overflows. This number wraps around as it reaches UINT16_MAX
    messages_sentuint32_tMessages sent
    messages_receiveduint32_tMessages received (estimated from counting seq)
    messages_lostuint32_tMessages lost (estimated from counting seq)

    SET_MODE (11) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_DO_SET_MODE (2015-12) — Use COMMAND_LONG with MAV_CMD_DO_SET_MODE instead)

    Set the system mode, as defined by enum MAV_MODE. There is no target component id as the mode is by definition for the overall aircraft, not only for one component.

    Field NameType值描述
    target_systemuint8_tThe system setting the mode
    base_modeuint8_tMAV_MODEThe new base mode.
    custom_modeuint32_tThe new autopilot-specific mode. This field can be ignored by an autopilot.

    PARAM_REQUEST_READ (20) ​

    Request to read the onboard parameter with the param_id string id. Onboard parameters are stored as key[const char*] -> value[float]. This allows to send a parameter to any other component (such as the GCS) without the need of previous knowledge of possible parameter names. Thus the same GCS can store different parameters for different autopilots. See also https://mavlink.io/en/services/parameter.html for a full documentation of QGroundControl and IMU code.

    Field NameType描述
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    param_idchar[16]Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
    param_indexint16_tParameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored)

    PARAM_REQUEST_LIST (21) ​

    Request all parameters of this component. After this request, all parameters are emitted. The parameter microservice is documented at https://mavlink.io/en/services/parameter.html

    Field NameType描述
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID

    PARAM_VALUE (22) ​

    Emit the value of a onboard parameter. The inclusion of param_count and param_index in the message allows the recipient to keep track of received parameters and allows him to re-request missing parameters after a loss or timeout. The parameter microservice is documented at https://mavlink.io/en/services/parameter.html

    Field NameType值描述
    param_idchar[16]Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
    param_valuefloatOnboard parameter value
    param_typeuint8_tMAV_PARAM_TYPEOnboard parameter type.
    param_countuint16_tTotal number of onboard parameters
    param_indexuint16_tIndex of this onboard parameter

    PARAM_SET (23) ​

    Set a parameter value (write new value to permanent storage).

    The receiving component should acknowledge the new parameter value by broadcasting a PARAM_VALUE message (broadcasting ensures that multiple GCS all have an up-to-date list of all parameters). If the sending GCS did not receive a PARAM_VALUE within its timeout time, it should re-send the PARAM_SET message. The parameter microservice is documented at https://mavlink.io/en/services/parameter.html. PARAM_SET may also be called within the context of a transaction (started with MAV_CMD_PARAM_TRANSACTION). Within a transaction the receiving component should respond with PARAM_ACK_TRANSACTION to the setter component (instead of broadcasting PARAM_VALUE), and PARAM_SET should be re-sent if this is ACK not received.

    Field NameType值描述
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    param_idchar[16]Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
    param_valuefloatOnboard parameter value
    param_typeuint8_tMAV_PARAM_TYPEOnboard parameter type.

    GPS_RAW_INT (24) ​

    The global position, as returned by the Global Positioning System (GPS). This is

    NOT the global position estimate of the system, but rather a RAW sensor value. See message GLOBAL_POSITION_INT for the global position estimate.

    Field NameTypeUnitsMultiplier值描述
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    fix_typeuint8_tGPS_FIX_TYPEGPS fix type.
    latint32_tdegE7Latitude (WGS84, EGM96 ellipsoid)
    lonint32_tdegE7Longitude (WGS84, EGM96 ellipsoid)
    altint32_t毫米Altitude (MSL). Positive for up. Note that virtually all GPS modules provide the MSL altitude in addition to the WGS84 altitude.
    ephuint16_t1E-2invalid:UINT16_MAXGPS HDOP horizontal dilution of position (unitless * 100). If unknown, set to: UINT16_MAX
    epvuint16_t1E-2invalid:UINT16_MAXGPS VDOP vertical dilution of position (unitless * 100). If unknown, set to: UINT16_MAX
    veluint16_t厘米/秒invalid:UINT16_MAXGPS ground speed. If unknown, set to: UINT16_MAX
    coguint16_tcdeginvalid:UINT16_MAXCourse over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
    satellites_visibleuint8_tinvalid:UINT8_MAX可见卫星数量。 If unknown, set to UINT8_MAX
    alt_ellipsoid ++int32_t毫米Altitude (above WGS84, EGM96 ellipsoid). Positive for up.
    h_acc ++uint32_t毫米Position uncertainty.
    v_acc ++uint32_t毫米Altitude uncertainty.
    vel_acc ++uint32_t毫米/秒Speed uncertainty.
    hdg_acc ++uint32_tdegE5Heading / track uncertainty
    yaw ++uint16_tcdeginvalid:0Yaw in earth frame from north. Use 0 if this GPS does not provide yaw. Use UINT16_MAX if this GPS is configured to provide yaw and is currently unable to provide it. Use 36000 for north.

    GPS_STATUS (25) ​

    The positioning status, as reported by GPS. This message is intended to display status information about each satellite visible to the receiver. See message GLOBAL_POSITION_INT for the global position estimate. This message can contain information for up to 20 satellites.

    Field NameTypeUnitsMultiplier描述
    satellites_visibleuint8_tNumber of satellites visible
    satellite_prnuint8_t[20]Global satellite ID
    satellite_useduint8_t[20]0: Satellite not used, 1: used for localization
    satellite_elevationuint8_t[20]度Elevation (0: right on top of receiver, 90: on the horizon) of satellite
    satellite_azimuthuint8_t[20]度360/255Direction of satellite, 0: 0 deg, 255: 360 deg.
    satellite_snruint8_t[20]dBSignal to noise ratio of satellite

    SCALED_IMU (26) ​

    The RAW IMU readings for the usual 9DOF sensor setup. This message should contain the scaled values to the described units

    Field NameTypeUnits描述
    time_boot_msuint32_tmsTimestamp (time since system boot).
    xaccint16_tmGX acceleration
    yaccint16_tmGY acceleration
    zaccint16_tmGZ acceleration
    xgyroint16_tmrad/sAngular speed around X axis
    ygyroint16_tmrad/sAngular speed around Y axis
    zgyroint16_tmrad/sAngular speed around Z axis
    xmagint16_tmgaussX Magnetic field
    ymagint16_tmgaussY Magnetic field
    zmagint16_tmgaussZ Magnetic field
    temperature ++int16_tcdegCTemperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).

    RAW_IMU (27) ​

    The RAW IMU readings for a 9DOF sensor, which is identified by the id (default IMU1). This message should always contain the true raw values without any scaling to allow data capture and system debugging.

    Field NameTypeUnits描述
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    xaccint16_tX acceleration (raw)
    yaccint16_tY acceleration (raw)
    zaccint16_tZ acceleration (raw)
    xgyroint16_tAngular speed around X axis (raw)
    ygyroint16_tAngular speed around Y axis (raw)
    zgyroint16_tAngular speed around Z axis (raw)
    xmagint16_tX Magnetic field (raw)
    ymagint16_tY Magnetic field (raw)
    zmagint16_tZ Magnetic field (raw)
    id ++uint8_tId. Ids are numbered from 0 and map to IMUs numbered from 1 (e.g. IMU1 will have a message with id=0)
    Messages with same value are from the same source (instance).
    temperature ++int16_tcdegCTemperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).

    RAW_PRESSURE (28) ​

    The RAW pressure readings for the typical setup of one absolute pressure and one differential pressure sensor. The sensor values should be the raw, UNSCALED ADC values.

    Field NameTypeUnits描述
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    press_absint16_tAbsolute pressure (raw)
    press_diff1int16_tDifferential pressure 1 (raw, 0 if nonexistent)
    press_diff2int16_tDifferential pressure 2 (raw, 0 if nonexistent)
    temperatureint16_tRaw Temperature measurement (raw)

    SCALED_PRESSURE (29) ​

    The pressure readings for the typical setup of one absolute and differential pressure sensor. The units are as specified in each field.

    Field NameTypeUnits描述
    time_boot_msuint32_tmsTimestamp (time since system boot).
    press_absfloathPaAbsolute pressure
    press_difffloathPaDifferential pressure 1
    temperatureint16_tcdegCAbsolute pressure temperature
    temperature_press_diff ++int16_tcdegCDifferential pressure temperature (0, if not available). Report values of 0 (or 1) as 1 cdegC.

    ATTITUDE (30) ​

    The attitude in the aeronautical frame (right-handed, Z-down, Y-right, X-front, ZYX, intrinsic).

    Field NameTypeUnits描述
    time_boot_msuint32_tmsTimestamp (time since system boot).
    rollfloatradRoll angle (-pi..+pi)
    俯仰角floatradPitch angle (-pi..+pi)
    yawfloatradYaw angle (-pi..+pi)
    rollspeedfloatrad/sRoll angular speed
    pitchspeedfloatrad/sPitch angular speed
    yawspeedfloatrad/sYaw angular speed

    ATTITUDE_QUATERNION (31) ​

    The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right), expressed as quaternion. Quaternion order is w, x, y, z and a zero rotation would be expressed as (1 0 0 0).

    Field NameTypeUnits描述
    time_boot_msuint32_tmsTimestamp (time since system boot).
    q1floatQuaternion component 1, w (1 in null-rotation)
    q2floatQuaternion component 2, x (0 in null-rotation)
    q3floatQuaternion component 3, y (0 in null-rotation)
    q4floatQuaternion component 4, z (0 in null-rotation)
    rollspeedfloatrad/sRoll angular speed
    pitchspeedfloatrad/sPitch angular speed
    yawspeedfloatrad/sYaw angular speed
    repr_offset_q ++float[4]Rotation offset by which the attitude quaternion and angular speed vector should be rotated for user display (quaternion with [w, x, y, z] order, zero-rotation is [1, 0, 0, 0], send [0, 0, 0, 0] if field not supported). This field is intended for systems in which the reference attitude may change during flight. For example, tailsitters VTOLs rotate their reference attitude by 90 degrees between hover mode and fixed wing mode, thus repr_offset_q is equal to [1, 0, 0, 0] in hover mode and equal to [0.7071, 0, 0.7071, 0] in fixed wing mode.

    LOCAL_POSITION_NED (32) ​

    The filtered local position (e.g. fused computer vision and accelerometers). Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention)

    Field NameTypeUnits描述
    time_boot_msuint32_tmsTimestamp (time since system boot).
    xfloatmX Position
    yfloatmY Position
    zfloatmZ Position
    vxfloatm/sX Speed
    vyfloatm/sY Speed
    vzfloatm/sZ Speed

    GLOBAL_POSITION_INT (33) ​

    The filtered global position (e.g. fused GPS and accelerometers). The position is in GPS-frame (right-handed, Z-up). It

    is designed as scaled integer message since the resolution of float is not sufficient.

    Field NameTypeUnits描述
    time_boot_msuint32_tmsTimestamp (time since system boot).
    latint32_tdegE7Latitude, expressed
    lonint32_tdegE7Longitude, expressed
    altint32_t毫米Altitude (MSL). Note that virtually all GPS modules provide both WGS84 and MSL.
    relative_altint32_t毫米Altitude above home
    vxint16_t厘米/秒Ground X Speed (Latitude, positive north)
    vyint16_t厘米/秒Ground Y Speed (Longitude, positive east)
    vzint16_t厘米/秒Ground Z Speed (Altitude, positive down)
    hdguint16_tcdegVehicle heading (yaw angle), 0.0..359.99 degrees. If unknown, set to: UINT16_MAX

    RC_CHANNELS_SCALED (34) ​

    The scaled values of the RC channels received: (-100%) -10000, (0%) 0, (100%) 10000. Channels that are inactive should be set to INT16_MAX.

    Field NameTypeUnits描述
    time_boot_msuint32_tmsTimestamp (time since system boot).
    portuint8_tServo output port (set of 8 outputs = 1 port). Flight stacks running on Pixhawk should use: 0 = MAIN, 1 = AUX.
    chan1_scaledint16_tRC channel 1 value scaled.
    chan2_scaledint16_tRC channel 2 value scaled.
    chan3_scaledint16_tRC channel 3 value scaled.
    chan4_scaledint16_tRC channel 4 value scaled.
    chan5_scaledint16_tRC channel 5 value scaled.
    chan6_scaledint16_tRC channel 6 value scaled.
    chan7_scaledint16_tRC channel 7 value scaled.
    chan8_scaledint16_tRC channel 8 value scaled.
    rssiuint8_tReceive signal strength indicator in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.

    RC_CHANNELS_RAW (35) ​

    The RAW values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. A value of UINT16_MAX implies the channel is unused. Individual receivers/transmitters might violate this specification.

    Field NameTypeUnits描述
    time_boot_msuint32_tmsTimestamp (time since system boot).
    portuint8_tServo output port (set of 8 outputs = 1 port). Flight stacks running on Pixhawk should use: 0 = MAIN, 1 = AUX.
    chan1_rawuint16_tusRC channel 1 value.
    chan2_rawuint16_tusRC channel 2 value.
    chan3_rawuint16_tusRC channel 3 value.
    chan4_rawuint16_tusRC channel 4 value.
    chan5_rawuint16_tusRC channel 5 value.
    chan6_rawuint16_tusRC channel 6 value.
    chan7_rawuint16_tusRC channel 7 value.
    chan8_rawuint16_tusRC channel 8 value.
    rssiuint8_tReceive signal strength indicator in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.

    SERVO_OUTPUT_RAW (36) ​

    Superseded by ACTUATOR_OUTPUT_STATUS. The RAW values of the servo outputs (for RC input from the remote, use the RC_CHANNELS messages). The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%.

    Field NameTypeUnits描述
    time_usecuint32_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    portuint8_tServo output port (set of 8 outputs = 1 port). Flight stacks running on Pixhawk should use: 0 = MAIN, 1 = AUX.
    servo1_rawuint16_tusServo output 1 value
    servo2_rawuint16_tusServo output 2 value
    servo3_rawuint16_tusServo output 3 value
    servo4_rawuint16_tusServo output 4 value
    servo5_rawuint16_tusServo output 5 value
    servo6_rawuint16_tusServo output 6 value
    servo7_rawuint16_tusServo output 7 value
    servo8_rawuint16_tusServo output 8 value
    servo9_raw ++uint16_tusServo output 9 value
    servo10_raw ++uint16_tusServo output 10 value
    servo11_raw ++uint16_tusServo output 11 value
    servo12_raw ++uint16_tusServo output 12 value
    servo13_raw ++uint16_tusServo output 13 value
    servo14_raw ++uint16_tusServo output 14 value
    servo15_raw ++uint16_tusServo output 15 value
    servo16_raw ++uint16_tusServo output 16 value

    MISSION_REQUEST_PARTIAL_LIST (37) ​

    Request a partial list of mission items from the system/component. https://mavlink.io/en/services/mission.html. If start and end index are the same, just send one waypoint.

    Field NameType值描述
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    start_indexint16_tStart index
    end_indexint16_tEnd index, -1 by default (-1: send list to end). Else a valid index of the list
    mission_type ++uint8_tMAV_MISSION_TYPEMission type.

    MISSION_WRITE_PARTIAL_LIST (38) ​

    This message is sent to the MAV to write a partial list. If start index == end index, only one item will be transmitted / updated. If the start index is NOT 0 and above the current list size, this request should be REJECTED!

    Field NameType值描述
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    start_indexint16_tStart index. Must be smaller / equal to the largest index of the current onboard list.
    end_indexint16_tEnd index, equal or greater than start index.
    mission_type ++uint8_tMAV_MISSION_TYPEMission type.

    MISSION_ITEM (39) — [DEP] ​

    DEPRECATED: Replaced By MISSION_ITEM_INT (2020-06)

    Message encoding a mission item. This message is emitted to announce

    the presence of a mission item and to set a mission item on the system. The mission item can be either in x, y, z meters (type: LOCAL) or x:lat, y:lon, z:altitude. Local frame is Z-down, right handed (NED), global frame is Z-up, right handed (ENU). NaN may be used to indicate an optional/default value (e.g. to use the system's current latitude or yaw rather than a specific value). See also https://mavlink.io/en/services/mission.html.

    Field NameType值描述
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    sequint16_t序列
    frameuint8_tMAV_FRAMEThe coordinate system of the waypoint.
    commanduint16_tMAV_CMDThe scheduled action for the waypoint.
    currentuint8_tfalse:0, true:1
    autocontinueuint8_tAutocontinue to next waypoint. 0: false, 1: true. Set false to pause mission after the item completes.
    param1floatPARAM1, see MAV_CMD enum
    param2floatPARAM2, see MAV_CMD enum
    param3floatPARAM3, see MAV_CMD enum
    param4floatPARAM4, see MAV_CMD enum
    xfloatPARAM5 / local: X coordinate, global: latitude
    yfloatPARAM6 / local: Y coordinate, global: longitude
    zfloatPARAM7 / local: Z coordinate, global: altitude (relative or absolute, depending on frame).
    mission_type ++uint8_tMAV_MISSION_TYPEMission type.

    MISSION_REQUEST (40) — [DEP] ​

    DEPRECATED: Replaced By MISSION_REQUEST_INT (2020-06) — A system that gets this request should respond with MISSION_ITEM_INT (as though MISSION_REQUEST_INT was received).)

    Request the information of the mission item with the sequence number seq. The response of the system to this message should be a MISSION_ITEM message. https://mavlink.io/en/services/mission.html

    Field NameType值描述
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    sequint16_t序列
    mission_type ++uint8_tMAV_MISSION_TYPEMission type.

    MISSION_SET_CURRENT (41) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_DO_SET_MISSION_CURRENT (2022-08)

    Set the mission item with sequence number seq as the current item and emit MISSION_CURRENT (whether or not the mission number changed). If a mission is currently being executed, the system will continue to this new mission item on the shortest path, skipping any intermediate mission items. Note that mission jump repeat counters are not reset (see MAV_CMD_DO_JUMP param2).

    This message may trigger a mission state-machine change on some systems: for example from MISSION_STATE_NOT_STARTED or MISSION_STATE_PAUSED to MISSION_STATE_ACTIVE. If the system is in mission mode, on those systems this command might therefore start, restart or resume the mission. If the system is not in mission mode this message must not trigger a switch to mission mode.

    Field NameType描述
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    sequint16_t序列

    MISSION_CURRENT (42) ​

    Message that announces the sequence number of the current target mission item (that the system will fly towards/execute when the mission is running). This message should be streamed all the time (nominally at 1Hz). This message should be emitted following a call to MAV_CMD_DO_SET_MISSION_CURRENT or SET_MISSION_CURRENT.

    Field NameType值描述
    sequint16_t序列
    total ++uint16_tinvalid:UINT16_MAXTotal number of mission items on vehicle (on last item, sequence == total). If the autopilot stores its home location as part of the mission this will be excluded from the total. 0: Not supported, UINT16_MAX if no mission is present on the vehicle.
    mission_state ++uint8_tinvalid:0 MISSION_STATEMission state machine state. MISSION_STATE_UNKNOWN if state reporting not supported.
    mission_mode ++uint8_tinvalid:0Vehicle is in a mode that can execute mission items or suspended. 0: Unknown, 1: In mission mode, 2: Suspended (not in mission mode).
    mission_id ++uint32_tinvalid:0Id of current on-vehicle mission plan, or 0 if IDs are not supported or there is no mission loaded. GCS can use this to track changes to the mission plan type. The same value is returned on mission upload (in the MISSION_ACK).
    fence_id ++uint32_tinvalid:0Id of current on-vehicle fence plan, or 0 if IDs are not supported or there is no fence loaded. GCS can use this to track changes to the fence plan type. The same value is returned on fence upload (in the MISSION_ACK).
    rally_points_id ++uint32_tinvalid:0Id of current on-vehicle rally point plan, or 0 if IDs are not supported or there are no rally points loaded. GCS can use this to track changes to the rally point plan type. The same value is returned on rally point upload (in the MISSION_ACK).

    MISSION_REQUEST_LIST (43) ​

    Request the overall list of mission items from the system/component.

    Field NameType值描述
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    mission_type ++uint8_tMAV_MISSION_TYPEMission type.

    MISSION_COUNT (44) ​

    This message is emitted as response to MISSION_REQUEST_LIST by the MAV and to initiate a write transaction. The GCS can then request the individual mission item based on the knowledge of the total number of waypoints.

    Field NameType值描述
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    countuint16_tNumber of mission items in the sequence
    mission_type ++uint8_tMAV_MISSION_TYPEMission type.
    opaque_id ++uint32_tinvalid:0Id of current on-vehicle mission, fence, or rally point plan (on download from vehicle).
    This field is used when downloading a plan from a vehicle to a GCS.
    0 on upload to the vehicle from GCS.
    0 if plan ids are not supported.
    The current on-vehicle plan ids are streamed in [MISSION_CURRENT](#MISSION_CURRENT), allowing a GCS to determine if any part of the plan has changed and needs to be re-uploaded.
    The ids are recalculated by the vehicle when any part of the on-vehicle plan changes (when a new plan is uploaded, the vehicle returns the new id to the GCS in MISSION_ACK).

    MISSION_CLEAR_ALL (45) ​

    Delete all mission items at once.

    Field NameType值描述
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    mission_type ++uint8_tMAV_MISSION_TYPEMission type.

    MISSION_ITEM_REACHED (46) ​

    A certain mission item has been reached. The system will either hold this position (or circle on the orbit) or (if the autocontinue on the WP was set) continue to the next waypoint.

    Field NameType描述
    sequint16_t序列

    MISSION_ACK (47) ​

    Acknowledgment message during waypoint handling. The type field states if this message is a positive ack (type=0) or if an error happened (type=non-zero).

    Field NameType值描述
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    typeuint8_tMAV_MISSION_RESULTMission result.
    mission_type ++uint8_tMAV_MISSION_TYPEMission type.
    opaque_id ++uint32_tinvalid:0Id of new on-vehicle mission, fence, or rally point plan (on upload to vehicle).
    The id is calculated and returned by a vehicle when a new plan is uploaded by a GCS.
    The only requirement on the id is that it must change when there is any change to the on-vehicle plan type (there is no requirement that the id be globally unique).
    0 on download from the vehicle to the GCS (on download the ID is set in MISSION_COUNT).
    0 if plan ids are not supported.
    The current on-vehicle plan ids are streamed in [MISSION_CURRENT](#MISSION_CURRENT), allowing a GCS to determine if any part of the plan has changed and needs to be re-uploaded.

    SET_GPS_GLOBAL_ORIGIN (48) ​

    Sets the GPS coordinates of the vehicle local origin (0,0,0) position. Vehicle should emit GPS_GLOBAL_ORIGIN irrespective of whether the origin is changed. This enables transform between the local coordinate frame and the global (GPS) coordinate frame, which may be necessary when (for example) indoor and outdoor settings are connected and the MAV should move from in- to outdoor.

    Field NameTypeUnits描述
    target_systemuint8_tSystem ID
    latitudeint32_tdegE7Latitude (WGS84)
    longitudeint32_tdegE7Longitude (WGS84)
    altitudeint32_t毫米Altitude (MSL). Positive for up.
    time_usec ++uint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

    GPS_GLOBAL_ORIGIN (49) ​

    Publishes the GPS coordinates of the vehicle local origin (0,0,0) position. Emitted whenever a new GPS-Local position mapping is requested or set - e.g. following SET_GPS_GLOBAL_ORIGIN message.

    Field NameTypeUnits描述
    latitudeint32_tdegE7Latitude (WGS84)
    longitudeint32_tdegE7Longitude (WGS84)
    altitudeint32_t毫米Altitude (MSL). Positive for up.
    time_usec ++uint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

    PARAM_MAP_RC (50) ​

    Bind a RC channel to a parameter. The parameter should change according to the RC channel value.

    Field NameType描述
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    param_idchar[16]Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
    param_indexint16_tParameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored), send -2 to disable any existing map for this rc_channel_index.
    parameter_rc_channel_indexuint8_tIndex of parameter RC channel. Not equal to the RC channel id. Typically corresponds to a potentiometer-knob on the RC.
    param_value0floatInitial parameter value
    scalefloatScale, maps the RC range [-1, 1] to a parameter value
    param_value_minfloatMinimum param value. The protocol does not define if this overwrites an onboard minimum value. (Depends on implementation)
    param_value_maxfloatMaximum param value. The protocol does not define if this overwrites an onboard maximum value. (Depends on implementation)

    MISSION_REQUEST_INT (51) ​

    Request the information of the mission item with the sequence number seq. The response of the system to this message should be a MISSION_ITEM_INT message. https://mavlink.io/en/services/mission.html

    Field NameType值描述
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    sequint16_t序列
    mission_type ++uint8_tMAV_MISSION_TYPEMission type.

    SAFETY_SET_ALLOWED_AREA (54) ​

    Set a safety zone (volume), which is defined by two corners of a cube. This message can be used to tell the MAV which setpoints/waypoints to accept and which to reject. Safety areas are often enforced by national or competition regulations.

    Field NameTypeUnits值描述
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    frameuint8_tMAV_FRAMECoordinate frame. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
    p1xfloatmx position 1 / Latitude 1
    p1yfloatmy position 1 / Longitude 1
    p1zfloatmz position 1 / Altitude 1
    p2xfloatmx position 2 / Latitude 2
    p2yfloatmy position 2 / Longitude 2
    p2zfloatmz position 2 / Altitude 2

    SAFETY_ALLOWED_AREA (55) ​

    Read out the safety zone the MAV currently assumes.

    Field NameTypeUnits值描述
    frameuint8_tMAV_FRAMECoordinate frame. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
    p1xfloatmx position 1 / Latitude 1
    p1yfloatmy position 1 / Longitude 1
    p1zfloatmz position 1 / Altitude 1
    p2xfloatmx position 2 / Latitude 2
    p2yfloatmy position 2 / Longitude 2
    p2zfloatmz position 2 / Altitude 2

    ATTITUDE_QUATERNION_COV (61) ​

    The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right), expressed as quaternion. Quaternion order is w, x, y, z and a zero rotation would be expressed as (1 0 0 0).

    Field NameTypeUnits描述
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    qfloat[4]Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
    rollspeedfloatrad/sRoll angular speed
    pitchspeedfloatrad/sPitch angular speed
    yawspeedfloatrad/sYaw angular speed
    covariancefloat[9]Row-major representation of a 3x3 attitude covariance matrix (states: roll, pitch, yaw; first three entries are the first ROW, next three entries are the second row, etc.). If unknown, assign NaN value to first element in the array.

    The state of the navigation and position controller.

    Field NameTypeUnits描述
    nav_rollfloat度Current desired roll
    nav_pitchfloat度Current desired pitch
    nav_bearingint16_t度Current desired heading
    target_bearingint16_t度Bearing to current waypoint/target
    wp_distuint16_tmDistance to active waypoint
    alt_errorfloatmCurrent altitude error
    aspd_errorfloatm/sCurrent airspeed error
    xtrack_errorfloatmCurrent crosstrack error on x-y plane

    GLOBAL_POSITION_INT_COV (63) ​

    The filtered global position (e.g. fused GPS and accelerometers). The position is in GPS-frame (right-handed, Z-up). It is designed as scaled integer message since the resolution of float is not sufficient. NOTE: This message is intended for onboard networks / companion computers and higher-bandwidth links and optimized for accuracy and completeness. Please use the GLOBAL_POSITION_INT message for a minimal subset.

    Field NameTypeUnits值描述
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    estimator_typeuint8_tMAV_ESTIMATOR_TYPEClass id of the estimator this estimate originated from.
    latint32_tdegE7Latitude
    lonint32_tdegE7Longitude
    altint32_t毫米Altitude in meters above MSL
    relative_altint32_t毫米Altitude above ground
    vxfloatm/sGround X Speed (Latitude)
    vyfloatm/sGround Y Speed (Longitude)
    vzfloatm/sGround Z Speed (Altitude)
    covariancefloat[36]invalid:[NaN:]Row-major representation of a 6x6 position and velocity 6x6 cross-covariance matrix (states: lat, lon, alt, vx, vy, vz; first six entries are the first ROW, next six entries are the second row, etc.). If unknown, assign NaN value to first element in the array.

    LOCAL_POSITION_NED_COV (64) ​

    The filtered local position (e.g. fused computer vision and accelerometers). Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention)

    Field NameTypeUnits值描述
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    estimator_typeuint8_tMAV_ESTIMATOR_TYPEClass id of the estimator this estimate originated from.
    xfloatmX Position
    yfloatmY Position
    zfloatmZ Position
    vxfloatm/sX Speed
    vyfloatm/sY Speed
    vzfloatm/sZ Speed
    axfloatm/s/sX Acceleration
    ayfloatm/s/sY Acceleration
    azfloatm/s/sZ Acceleration
    covariancefloat[45]invalid:[NaN:]Row-major representation of position, velocity and acceleration 9x9 cross-covariance matrix upper right triangle (states: x, y, z, vx, vy, vz, ax, ay, az; first nine entries are the first ROW, next eight entries are the second row, etc.). If unknown, assign NaN value to first element in the array.

    RC_CHANNELS (65) ​

    The PPM values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. A value of UINT16_MAX implies the channel is unused. Individual receivers/transmitters might violate this specification.

    Field NameTypeUnits描述
    time_boot_msuint32_tmsTimestamp (time since system boot).
    chancountuint8_tTotal number of RC channels being received. This can be larger than 18, indicating that more channels are available but not given in this message. This value should be 0 when no RC channels are available.
    chan1_rawuint16_tusRC channel 1 value.
    chan2_rawuint16_tusRC channel 2 value.
    chan3_rawuint16_tusRC channel 3 value.
    chan4_rawuint16_tusRC channel 4 value.
    chan5_rawuint16_tusRC channel 5 value.
    chan6_rawuint16_tusRC channel 6 value.
    chan7_rawuint16_tusRC channel 7 value.
    chan8_rawuint16_tusRC channel 8 value.
    chan9_rawuint16_tusRC channel 9 value.
    chan10_rawuint16_tusRC channel 10 value.
    chan11_rawuint16_tusRC channel 11 value.
    chan12_rawuint16_tusRC channel 12 value.
    chan13_rawuint16_tusRC channel 13 value.
    chan14_rawuint16_tusRC channel 14 value.
    chan15_rawuint16_tusRC channel 15 value.
    chan16_rawuint16_tusRC channel 16 value.
    chan17_rawuint16_tusRC channel 17 value.
    chan18_rawuint16_tusRC channel 18 value.
    rssiuint8_tReceive signal strength indicator in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.

    REQUEST_DATA_STREAM (66) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_SET_MESSAGE_INTERVAL (2015-08)

    Request a data stream.

    Field NameTypeUnits描述
    target_systemuint8_tThe target requested to send the message stream.
    target_componentuint8_tThe target requested to send the message stream.
    req_stream_iduint8_tThe ID of the requested data stream
    req_message_rateuint16_tHzThe requested message rate
    start_stopuint8_t1 to start sending, 0 to stop sending.

    DATA_STREAM (67) — [DEP] ​

    DEPRECATED: Replaced By MESSAGE_INTERVAL (2015-08)

    Data stream status information.

    Field NameTypeUnits描述
    stream_iduint8_tThe ID of the requested data stream
    message_rateuint16_tHzThe message rate
    on_offuint8_t1 stream is enabled, 0 stream is stopped.

    MANUAL_CONTROL (69) ​

    This message provides an API for manually controlling the vehicle using standard joystick axes nomenclature, along with a joystick-like input device. Unused axes can be disabled and buttons states are transmitted as individual on/off bits of a bitmask

    Field NameType描述
    targetuint8_tThe system to be controlled.
    xint16_tX-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle.
    yint16_tY-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle.
    zint16_tZ-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle. Positive values are positive thrust, negative values are negative thrust.
    rint16_tR-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle.
    buttonsuint16_tA bitfield corresponding to the joystick buttons' 0-15 current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1.
    buttons2 ++uint16_tA bitfield corresponding to the joystick buttons' 16-31 current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 16.
    enabled_extensions ++uint8_tSet bits to 1 to indicate which of the following extension fields contain valid data: bit 0: pitch, bit 1: roll, bit 2: aux1, bit 3: aux2, bit 4: aux3, bit 5: aux4, bit 6: aux5, bit 7: aux6
    s ++int16_tPitch-only-axis, normalized to the range [-1000,1000]. Generally corresponds to pitch on vehicles with additional degrees of freedom. Valid if bit 0 of enabled_extensions field is set. Set to 0 if invalid.
    t ++int16_tRoll-only-axis, normalized to the range [-1000,1000]. Generally corresponds to roll on vehicles with additional degrees of freedom. Valid if bit 1 of enabled_extensions field is set. Set to 0 if invalid.
    aux1 ++int16_tAux continuous input field 1. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 2 of enabled_extensions field is set. 0 if bit 2 is unset.
    aux2 ++int16_tAux continuous input field 2. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 3 of enabled_extensions field is set. 0 if bit 3 is unset.
    aux3 ++int16_tAux continuous input field 3. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 4 of enabled_extensions field is set. 0 if bit 4 is unset.
    aux4 ++int16_tAux continuous input field 4. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 5 of enabled_extensions field is set. 0 if bit 5 is unset.
    aux5 ++int16_tAux continuous input field 5. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 6 of enabled_extensions field is set. 0 if bit 6 is unset.
    aux6 ++int16_tAux continuous input field 6. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 7 of enabled_extensions field is set. 0 if bit 7 is unset.

    RC_CHANNELS_OVERRIDE (70) ​

    The RAW values of the RC channels sent to the MAV to override info received from the RC radio. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. Individual receivers/transmitters might violate this specification. Note carefully the semantic differences between the first 8 channels and the subsequent channels

    Field NameTypeUnits描述
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    chan1_rawuint16_tusRC channel 1 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
    chan2_rawuint16_tusRC channel 2 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
    chan3_rawuint16_tusRC channel 3 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
    chan4_rawuint16_tusRC channel 4 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
    chan5_rawuint16_tusRC channel 5 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
    chan6_rawuint16_tusRC channel 6 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
    chan7_rawuint16_tusRC channel 7 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
    chan8_rawuint16_tusRC channel 8 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
    chan9_raw ++uint16_tusRC channel 9 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
    chan10_raw ++uint16_tusRC channel 10 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
    chan11_raw ++uint16_tusRC channel 11 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
    chan12_raw ++uint16_tusRC channel 12 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
    chan13_raw ++uint16_tusRC channel 13 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
    chan14_raw ++uint16_tusRC channel 14 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
    chan15_raw ++uint16_tusRC channel 15 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
    chan16_raw ++uint16_tusRC channel 16 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
    chan17_raw ++uint16_tusRC channel 17 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
    chan18_raw ++uint16_tusRC channel 18 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.

    MISSION_ITEM_INT (73) ​

    Message encoding a mission item. This message is emitted to announce

    the presence of a mission item and to set a mission item on the system. The mission item can be either in x, y, z meters (type: LOCAL) or x:lat, y:lon, z:altitude. Local frame is Z-down, right handed (NED), global frame is Z-up, right handed (ENU). NaN or INT32_MAX may be used in float/integer params (respectively) to indicate optional/default values (e.g. to use the component's current latitude, yaw rather than a specific value). See also https://mavlink.io/en/services/mission.html.

    Field NameType值描述
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    sequint16_tWaypoint ID (sequence number). Starts at zero. Increases monotonically for each waypoint, no gaps in the sequence (0,1,2,3,4).
    frameuint8_tMAV_FRAMEThe coordinate system of the waypoint.
    commanduint16_tMAV_CMDThe scheduled action for the waypoint.
    currentuint8_tfalse:0, true:1
    autocontinueuint8_tAutocontinue to next waypoint. 0: false, 1: true. Set false to pause mission after the item completes.
    param1floatPARAM1, see MAV_CMD enum
    param2floatPARAM2, see MAV_CMD enum
    param3floatPARAM3, see MAV_CMD enum
    param4floatPARAM4, see MAV_CMD enum
    xint32_tPARAM5 / local: x position in meters * 1e4, global: latitude in degrees * 10^7
    yint32_tPARAM6 / y position: local: x position in meters * 1e4, global: longitude in degrees *10^7
    zfloatPARAM7 / z position: global: altitude in meters (relative or absolute, depending on frame.
    mission_type ++uint8_tMAV_MISSION_TYPEMission type.

    VFR_HUD (74) ​

    Metrics typically displayed on a HUD for fixed wing aircraft.

    Field NameTypeUnits描述
    airspeedfloatm/sVehicle speed in form appropriate for vehicle type. For standard aircraft this is typically calibrated airspeed (CAS) or indicated airspeed (IAS) - either of which can be used by a pilot to estimate stall speed.
    groundspeedfloatm/sCurrent ground speed.
    headingint16_t度Current heading in compass units (0-360, 0=north).
    油门uint16_t%Current throttle setting (0 to 100).
    altfloatmCurrent altitude (MSL).
    climbfloatm/sCurrent climb rate.

    COMMAND_INT (75) ​

    Send a command with up to seven parameters to the MAV, where params 5 and 6 are integers and the other values are floats. This is preferred over COMMAND_LONG as it allows the MAV_FRAME to be specified for interpreting positional information, such as altitude. COMMAND_INT is also preferred when sending latitude and longitude data in params 5 and 6, as it allows for greater precision. Param 5 and 6 encode positional data as scaled integers, where the scaling depends on the actual command value. NaN or INT32_MAX may be used in float/integer params (respectively) to indicate optional/default values (e.g. to use the component's current latitude, yaw rather than a specific value). The command microservice is documented at https://mavlink.io/en/services/command.html

    Field NameType值描述
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    frameuint8_tMAV_FRAMEThe coordinate system of the COMMAND.
    commanduint16_tMAV_CMDThe scheduled action for the mission item.
    currentuint8_tNot used.
    autocontinueuint8_tNot used (set 0).
    param1floatinvalid:NaNPARAM1, see MAV_CMD enum
    param2floatinvalid:NaNPARAM2, see MAV_CMD enum
    param3floatinvalid:NaNPARAM3, see MAV_CMD enum
    param4floatinvalid:NaNPARAM4, see MAV_CMD enum
    xint32_tinvalid:INT32_MAXPARAM5 / local: x position in meters * 1e4, global: latitude in degrees * 10^7
    yint32_tinvalid:INT32_MAXPARAM6 / local: y position in meters * 1e4, global: longitude in degrees * 10^7
    zfloatinvalid:NaNPARAM7 / z position: global: altitude in meters (relative or absolute, depending on frame).

    COMMAND_LONG (76) ​

    Send a command with up to seven parameters to the MAV. COMMAND_INT is generally preferred when sending MAV_CMD commands that include positional information; it offers higher precision and allows the MAV_FRAME to be specified (which may otherwise be ambiguous, particularly for altitude). The command microservice is documented at https://mavlink.io/en/services/command.html

    Field NameType值描述
    target_systemuint8_tSystem which should execute the command
    target_componentuint8_tComponent which should execute the command, 0 for all components
    commanduint16_tMAV_CMDCommand ID (of command to send).
    confirmationuint8_t0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
    param1floatinvalid:NaNParameter 1 (for the specific command).
    param2floatinvalid:NaNParameter 2 (for the specific command).
    param3floatinvalid:NaNParameter 3 (for the specific command).
    param4floatinvalid:NaNParameter 4 (for the specific command).
    param5floatinvalid:NaNParameter 5 (for the specific command).
    param6floatinvalid:NaNParameter 6 (for the specific command).
    param7floatinvalid:NaNParameter 7 (for the specific command).

    COMMAND_ACK (77) ​

    Report status of a command. Includes feedback whether the command was executed. The command microservice is documented at https://mavlink.io/en/services/command.html

    Field NameTypeUnits值描述
    commanduint16_tMAV_CMDCommand ID (of acknowledged command).
    resultuint8_tMAV_RESULTResult of command.
    progress ++uint8_t%invalid:UINT8_MAXThe progress percentage when result is MAV_RESULT_IN_PROGRESS. Values: [0-100], or UINT8_MAX if the progress is unknown.
    result_param2 ++int32_tAdditional result information. Can be set with a command-specific enum containing command-specific error reasons for why the command might be denied. If used, the associated enum must be documented in the corresponding MAV_CMD (this enum should have a 0 value to indicate "unused" or "unknown").
    target_system ++uint8_tSystem ID of the target recipient. This is the ID of the system that sent the command for which this COMMAND_ACK is an acknowledgement.
    target_component ++uint8_tComponent ID of the target recipient. This is the ID of the system that sent the command for which this COMMAND_ACK is an acknowledgement.

    COMMAND_CANCEL (80) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Cancel a long running command. The target system should respond with a COMMAND_ACK to the original command with result=MAV_RESULT_CANCELLED if the long running process was cancelled. If it has already completed, the cancel action can be ignored. The cancel action can be retried until some sort of acknowledgement to the original command has been received. The command microservice is documented at https://mavlink.io/en/services/command.html

    Field NameType值描述
    target_systemuint8_tSystem executing long running command. Should not be broadcast (0).
    target_componentuint8_tComponent executing long running command.
    commanduint16_tMAV_CMDCommand ID (of command to cancel).

    MANUAL_SETPOINT (81) ​

    Setpoint in roll, pitch, yaw and thrust from the operator

    Field NameTypeUnits描述
    time_boot_msuint32_tmsTimestamp (time since system boot).
    rollfloatrad/sDesired roll rate
    俯仰角floatrad/sDesired pitch rate
    yawfloatrad/sDesired yaw rate
    thrustfloatCollective thrust, normalized to 0 .. 1
    mode_switchuint8_tFlight mode switch position, 0.. 255
    manual_override_switchuint8_tOverride mode switch position, 0.. 255

    SET_ATTITUDE_TARGET (82) ​

    Sets a desired vehicle attitude. Used by an external controller to command the vehicle (manual controller or other system).

    Field NameTypeUnits值描述
    time_boot_msuint32_tmsTimestamp (time since system boot).
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    type_maskuint8_tATTITUDE_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
    qfloat[4]Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0) from MAV_FRAME_LOCAL_NED to MAV_FRAME_BODY_FRD
    body_roll_ratefloatrad/sBody roll rate
    body_pitch_ratefloatrad/sBody pitch rate
    body_yaw_ratefloatrad/sBody yaw rate
    thrustfloatCollective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)
    thrust_body ++float[3]3D thrust setpoint in the body NED frame, normalized to -1 .. 1

    ATTITUDE_TARGET (83) ​

    Reports the current commanded attitude of the vehicle as specified by the autopilot. This should match the commands sent in a SET_ATTITUDE_TARGET message if the vehicle is being controlled this way.

    Field NameTypeUnits值描述
    time_boot_msuint32_tmsTimestamp (time since system boot).
    type_maskuint8_tATTITUDE_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
    qfloat[4]Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
    body_roll_ratefloatrad/sBody roll rate
    body_pitch_ratefloatrad/sBody pitch rate
    body_yaw_ratefloatrad/sBody yaw rate
    thrustfloatCollective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)

    SET_POSITION_TARGET_LOCAL_NED (84) ​

    Sets a desired vehicle position in a local north-east-down coordinate frame. Used by an external controller to command the vehicle (manual controller or other system).

    Field NameTypeUnits值描述
    time_boot_msuint32_tmsTimestamp (time since system boot).
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    coordinate_frameuint8_tMAV_FRAMEValid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9
    type_maskuint16_tPOSITION_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
    xfloatmX Position in NED frame
    yfloatmY Position in NED frame
    zfloatmZ Position in NED frame (note, altitude is negative in NED)
    vxfloatm/sX velocity in NED frame
    vyfloatm/sY velocity in NED frame
    vzfloatm/sZ velocity in NED frame
    afxfloatm/s/sX acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
    afyfloatm/s/sY acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
    afzfloatm/s/sZ acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
    yawfloatradyaw setpoint
    yaw_ratefloatrad/syaw rate setpoint

    POSITION_TARGET_LOCAL_NED (85) ​

    Reports the current commanded vehicle position, velocity, and acceleration as specified by the autopilot. This should match the commands sent in SET_POSITION_TARGET_LOCAL_NED if the vehicle is being controlled this way.

    Field NameTypeUnits值描述
    time_boot_msuint32_tmsTimestamp (time since system boot).
    coordinate_frameuint8_tMAV_FRAMEValid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9
    type_maskuint16_tPOSITION_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
    xfloatmX Position in NED frame
    yfloatmY Position in NED frame
    zfloatmZ Position in NED frame (note, altitude is negative in NED)
    vxfloatm/sX velocity in NED frame
    vyfloatm/sY velocity in NED frame
    vzfloatm/sZ velocity in NED frame
    afxfloatm/s/sX acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
    afyfloatm/s/sY acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
    afzfloatm/s/sZ acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
    yawfloatradyaw setpoint
    yaw_ratefloatrad/syaw rate setpoint

    SET_POSITION_TARGET_GLOBAL_INT (86) ​

    Sets a desired vehicle position, velocity, and/or acceleration in a global coordinate system (WGS84). Used by an external controller to command the vehicle (manual controller or other system).

    Field NameTypeUnits值描述
    time_boot_msuint32_tmsTimestamp (time since system boot). The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency.
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    coordinate_frameuint8_tMAV_FRAMEValid options are: MAV_FRAME_GLOBAL = 0, MAV_FRAME_GLOBAL_RELATIVE_ALT = 3, MAV_FRAME_GLOBAL_TERRAIN_ALT = 10 (MAV_FRAME_GLOBAL_INT, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT are allowed synonyms, but have been deprecated)
    type_maskuint16_tPOSITION_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
    lat_intint32_tdegE7Latitude in WGS84 frame
    lon_intint32_tdegE7Longitude in WGS84 frame
    altfloatmAltitude (MSL, Relative to home, or AGL - depending on frame)
    vxfloatm/sX velocity in NED frame
    vyfloatm/sY velocity in NED frame
    vzfloatm/sZ velocity in NED frame
    afxfloatm/s/sX acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
    afyfloatm/s/sY acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
    afzfloatm/s/sZ acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
    yawfloatradyaw setpoint
    yaw_ratefloatrad/syaw rate setpoint

    POSITION_TARGET_GLOBAL_INT (87) ​

    Reports the current commanded vehicle position, velocity, and acceleration as specified by the autopilot. This should match the commands sent in SET_POSITION_TARGET_GLOBAL_INT if the vehicle is being controlled this way.

    Field NameTypeUnits值描述
    time_boot_msuint32_tmsTimestamp (time since system boot). The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency.
    coordinate_frameuint8_tMAV_FRAMEValid options are: MAV_FRAME_GLOBAL = 0, MAV_FRAME_GLOBAL_RELATIVE_ALT = 3, MAV_FRAME_GLOBAL_TERRAIN_ALT = 10 (MAV_FRAME_GLOBAL_INT, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT are allowed synonyms, but have been deprecated)
    type_maskuint16_tPOSITION_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
    lat_intint32_tdegE7Latitude in WGS84 frame
    lon_intint32_tdegE7Longitude in WGS84 frame
    altfloatmAltitude (MSL, AGL or relative to home altitude, depending on frame)
    vxfloatm/sX velocity in NED frame
    vyfloatm/sY velocity in NED frame
    vzfloatm/sZ velocity in NED frame
    afxfloatm/s/sX acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
    afyfloatm/s/sY acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
    afzfloatm/s/sZ acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
    yawfloatradyaw setpoint
    yaw_ratefloatrad/syaw rate setpoint

    LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET (89) ​

    The offset in X, Y, Z and yaw between the LOCAL_POSITION_NED messages of MAV X and the global coordinate frame in NED coordinates. Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention)

    Field NameTypeUnits描述
    time_boot_msuint32_tmsTimestamp (time since system boot).
    xfloatmX Position
    yfloatmY Position
    zfloatmZ Position
    rollfloatradRoll
    俯仰角floatradPitch
    yawfloatradYaw

    HIL_STATE (90) — [DEP] ​

    DEPRECATED: Replaced By HIL_STATE_QUATERNION (2013-07) — Suffers from missing airspeed fields and singularities due to Euler angles)

    Sent from simulation to autopilot. This packet is useful for high throughput applications such as hardware in the loop simulations.

    Field NameTypeUnits描述
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    rollfloatradRoll angle
    俯仰角floatradPitch angle
    yawfloatradYaw angle
    rollspeedfloatrad/sBody frame roll / phi angular speed
    pitchspeedfloatrad/sBody frame pitch / theta angular speed
    yawspeedfloatrad/sBody frame yaw / psi angular speed
    latint32_tdegE7Latitude
    lonint32_tdegE7Longitude
    altint32_t毫米Altitude
    vxint16_t厘米/秒Ground X Speed (Latitude)
    vyint16_t厘米/秒Ground Y Speed (Longitude)
    vzint16_t厘米/秒Ground Z Speed (Altitude)
    xaccint16_tmGX acceleration
    yaccint16_tmGY acceleration
    zaccint16_tmGZ acceleration

    HIL_CONTROLS (91) ​

    Sent from autopilot to simulation. Hardware in the loop control outputs

    Field NameTypeUnits值描述
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    roll_aileronsfloatControl output -1 .. 1
    pitch_elevatorfloatControl output -1 .. 1
    yaw_rudderfloatControl output -1 .. 1
    油门floatThrottle 0 .. 1
    aux1floatAux 1, -1 .. 1
    aux2floatAux 2, -1 .. 1
    aux3floatAux 3, -1 .. 1
    aux4floatAux 4, -1 .. 1
    模式uint8_tMAV_MODESystem mode.
    导航模式uint8_tNavigation mode (MAV_NAV_MODE)

    HIL_RC_INPUTS_RAW (92) ​

    Sent from simulation to autopilot. The RAW values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. Individual receivers/transmitters might violate this specification.

    Field NameTypeUnits描述
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    chan1_rawuint16_tusRC channel 1 value
    chan2_rawuint16_tusRC channel 2 value
    chan3_rawuint16_tusRC channel 3 value
    chan4_rawuint16_tusRC channel 4 value
    chan5_rawuint16_tusRC channel 5 value
    chan6_rawuint16_tusRC channel 6 value
    chan7_rawuint16_tusRC channel 7 value
    chan8_rawuint16_tusRC channel 8 value
    chan9_rawuint16_tusRC channel 9 value
    chan10_rawuint16_tusRC channel 10 value
    chan11_rawuint16_tusRC channel 11 value
    chan12_rawuint16_tusRC channel 12 value
    rssiuint8_tReceive signal strength indicator in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.

    HIL_ACTUATOR_CONTROLS (93) ​

    Sent from autopilot to simulation. Hardware in the loop control outputs (replacement for HIL_CONTROLS)

    Field NameTypeUnits值描述
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    controlsfloat[16]Control outputs -1 .. 1. Channel assignment depends on the simulated hardware.
    模式uint8_tMAV_MODE_FLAGSystem mode. Includes arming state.
    flagsuint64_tFlags as bitfield, 1: indicate simulation using lockstep.

    OPTICAL_FLOW (100) ​

    Optical flow from a flow sensor (e.g. optical mouse sensor)

    Field NameTypeUnits描述
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    sensor_iduint8_tSensor ID
    flow_xint16_tdpixFlow in x-sensor direction
    flow_yint16_tdpixFlow in y-sensor direction
    flow_comp_m_xfloatm/sFlow in x-sensor direction, angular-speed compensated
    flow_comp_m_yfloatm/sFlow in y-sensor direction, angular-speed compensated
    qualityuint8_tOptical flow quality / confidence. 0: bad, 255: maximum quality
    ground_distancefloatmGround distance. Positive value: distance known. Negative value: Unknown distance
    flow_rate_x ++floatrad/sFlow rate about X axis
    flow_rate_y ++floatrad/sFlow rate about Y axis

    GLOBAL_VISION_POSITION_ESTIMATE (101) ​

    Global position/attitude estimate from a vision source.

    Field NameTypeUnits描述
    usecuint64_tusTimestamp (UNIX time or since system boot)
    xfloatmGlobal X position
    yfloatmGlobal Y position
    zfloatmGlobal Z position
    rollfloatradRoll angle
    俯仰角floatradPitch angle
    yawfloatradYaw angle
    covariance ++float[21]Row-major representation of pose 6x6 cross-covariance matrix upper right triangle (states: x_global, y_global, z_global, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
    reset_counter ++uint8_tEstimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.

    VISION_POSITION_ESTIMATE (102) ​

    Local position/attitude estimate from a vision source.

    Field NameTypeUnits描述
    usecuint64_tusTimestamp (UNIX time or time since system boot)
    xfloatmLocal X position
    yfloatmLocal Y position
    zfloatmLocal Z position
    rollfloatradRoll angle
    俯仰角floatradPitch angle
    yawfloatradYaw angle
    covariance ++float[21]Row-major representation of pose 6x6 cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
    reset_counter ++uint8_tEstimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.

    VISION_SPEED_ESTIMATE (103) ​

    Speed estimate from a vision source.

    Field NameTypeUnits描述
    usecuint64_tusTimestamp (UNIX time or time since system boot)
    xfloatm/sGlobal X speed
    yfloatm/sGlobal Y speed
    zfloatm/sGlobal Z speed
    covariance ++float[9]Row-major representation of 3x3 linear velocity covariance matrix (states: vx, vy, vz; 1st three entries - 1st row, etc.). If unknown, assign NaN value to first element in the array.
    reset_counter ++uint8_tEstimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.

    VICON_POSITION_ESTIMATE (104) ​

    Global position estimate from a Vicon motion system source.

    Field NameTypeUnits描述
    usecuint64_tusTimestamp (UNIX time or time since system boot)
    xfloatmGlobal X position
    yfloatmGlobal Y position
    zfloatmGlobal Z position
    rollfloatradRoll angle
    俯仰角floatradPitch angle
    yawfloatradYaw angle
    covariance ++float[21]Row-major representation of 6x6 pose cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.

    HIGHRES_IMU (105) ​

    The IMU readings in SI units in NED body frame

    Field NameTypeUnits值描述
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    xaccfloatm/s/sX acceleration
    yaccfloatm/s/sY acceleration
    zaccfloatm/s/sZ acceleration
    xgyrofloatrad/sAngular speed around X axis
    ygyrofloatrad/sAngular speed around Y axis
    zgyrofloatrad/sAngular speed around Z axis
    xmagfloatgaussX Magnetic field
    ymagfloatgaussY Magnetic field
    zmagfloatgaussZ Magnetic field
    abs_pressurefloathPaAbsolute pressure
    diff_pressurefloathPaDifferential pressure
    pressure_altfloatAltitude calculated from pressure
    temperaturefloatdegCTemperature
    fields_updateduint16_tHIGHRES_IMU_UPDATED_FLAGSBitmap for fields that have updated since last message
    id ++uint8_tId. Ids are numbered from 0 and map to IMUs numbered from 1 (e.g. IMU1 will have a message with id=0)
    Messages with same value are from the same source (instance).

    OPTICAL_FLOW_RAD (106) ​

    Optical flow from an angular rate flow sensor (e.g. PX4FLOW or mouse sensor)

    Field NameTypeUnits描述
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    sensor_iduint8_tSensor ID
    Messages with same value are from the same source (instance).
    integration_time_usuint32_tusIntegration time. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the.
    integrated_xfloatradFlow around X axis (Sensor RH rotation about the X axis induces a positive flow. Sensor linear motion along the positive Y axis induces a negative flow.)
    integrated_yfloatradFlow around Y axis (Sensor RH rotation about the Y axis induces a positive flow. Sensor linear motion along the positive X axis induces a positive flow.)
    integrated_xgyrofloatradRH rotation around X axis
    integrated_ygyrofloatradRH rotation around Y axis
    integrated_zgyrofloatradRH rotation around Z axis
    temperatureint16_tcdegCTemperature
    qualityuint8_tOptical flow quality / confidence. 0: no valid flow, 255: maximum quality
    time_delta_distance_usuint32_tusTime since the distance was sampled.
    distancefloatmDistance to the center of the flow field. Positive value (including zero): distance known. Negative value: Unknown distance.

    HIL_SENSOR (107) ​

    The IMU readings in SI units in NED body frame

    Field NameTypeUnits值描述
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    xaccfloatm/s/sX acceleration
    yaccfloatm/s/sY acceleration
    zaccfloatm/s/sZ acceleration
    xgyrofloatrad/sAngular speed around X axis in body frame
    ygyrofloatrad/sAngular speed around Y axis in body frame
    zgyrofloatrad/sAngular speed around Z axis in body frame
    xmagfloatgaussX Magnetic field
    ymagfloatgaussY Magnetic field
    zmagfloatgaussZ Magnetic field
    abs_pressurefloathPaAbsolute pressure
    diff_pressurefloathPaDifferential pressure (airspeed)
    pressure_altfloatAltitude calculated from pressure
    temperaturefloatdegCTemperature
    fields_updateduint32_tHIL_SENSOR_UPDATED_FLAGSBitmap for fields that have updated since last message
    id ++uint8_tSensor ID (zero indexed). Used for multiple sensor inputs

    SIM_STATE (108) ​

    Status of simulation environment, if used

    Field NameTypeUnits描述
    q1floatTrue attitude quaternion component 1, w (1 in null-rotation)
    q2floatTrue attitude quaternion component 2, x (0 in null-rotation)
    q3floatTrue attitude quaternion component 3, y (0 in null-rotation)
    q4floatTrue attitude quaternion component 4, z (0 in null-rotation)
    rollfloatradAttitude roll expressed as Euler angles, not recommended except for human-readable outputs
    俯仰角floatradAttitude pitch expressed as Euler angles, not recommended except for human-readable outputs
    yawfloatradAttitude yaw expressed as Euler angles, not recommended except for human-readable outputs
    xaccfloatm/s/sX acceleration
    yaccfloatm/s/sY acceleration
    zaccfloatm/s/sZ acceleration
    xgyrofloatrad/sAngular speed around X axis
    ygyrofloatrad/sAngular speed around Y axis
    zgyrofloatrad/sAngular speed around Z axis
    latfloat度Latitude (lower precision). Both this and the lat_int field should be set.
    lonfloat度Longitude (lower precision). Both this and the lon_int field should be set.
    altfloatmAltitude
    std_dev_horzfloatHorizontal position standard deviation
    std_dev_vertfloatVertical position standard deviation
    vnfloatm/sTrue velocity in north direction in earth-fixed NED frame
    vefloatm/sTrue velocity in east direction in earth-fixed NED frame
    vdfloatm/sTrue velocity in down direction in earth-fixed NED frame
    lat_int ++int32_tdegE7Latitude (higher precision). If 0, recipients should use the lat field value (otherwise this field is preferred).
    lon_int ++int32_tdegE7Longitude (higher precision). If 0, recipients should use the lon field value (otherwise this field is preferred).

    RADIO_STATUS (109) ​

    Status generated by radio and injected into MAVLink stream.

    Field NameTypeUnits描述
    rssiuint8_tLocal (message sender) received signal strength indication in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.
    remrssiuint8_tRemote (message receiver) signal strength indication in device-dependent units/scale. Values: [0-254], UINT8_MAX: invalid/unknown.
    txbufuint8_t%Remaining free transmitter buffer space.
    noiseuint8_tLocal background noise level. These are device dependent RSSI values (scale as approx 2x dB on SiK radios). Values: [0-254], UINT8_MAX: invalid/unknown.
    remnoiseuint8_tRemote background noise level. These are device dependent RSSI values (scale as approx 2x dB on SiK radios). Values: [0-254], UINT8_MAX: invalid/unknown.
    rxerrorsuint16_tCount of radio packet receive errors (since boot).
    fixeduint16_tCount of error corrected radio packets (since boot).

    FILE_TRANSFER_PROTOCOL (110) ​

    File transfer protocol message: https://mavlink.io/en/services/ftp.html.

    Field NameType描述
    target_networkuint8_tNetwork ID (0 for broadcast)
    target_systemuint8_tSystem ID (0 for broadcast)
    target_componentuint8_tComponent ID (0 for broadcast)
    payloaduint8_t[251]Variable length payload. The length is defined by the remaining message length when subtracting the header and other fields. The content/format of this block is defined in https://mavlink.io/en/services/ftp.html.

    TIMESYNC (111) ​

    Time synchronization message. The message is used for both timesync requests and responses. The request is sent with ts1=syncing component timestamp and tc1=0, and may be broadcast or targeted to a specific system/component. The response is sent with ts1=syncing component timestamp (mirror back unchanged), and tc1=responding component timestamp, with the target_system and target_component set to ids of the original request. Systems can determine if they are receiving a request or response based on the value of tc. If the response has target_system==target_component==0 the remote system has not been updated to use the component IDs and cannot reliably timesync; the requestor may report an error. Timestamps are UNIX Epoch time or time since system boot in nanoseconds (the timestamp format can be inferred by checking for the magnitude of the number; generally it doesn't matter as only the offset is used). The message sequence is repeated numerous times with results being filtered/averaged to estimate the offset.

    Field NameTypeUnits描述
    tc1int64_tnsTime sync timestamp 1. Syncing: 0. Responding: Timestamp of responding component.
    ts1int64_tnsTime sync timestamp 2. Timestamp of syncing component (mirrored in response).
    target_system ++uint8_tTarget system id. Request: 0 (broadcast) or id of specific system. Response must contain system id of the requesting component.
    target_component ++uint8_tTarget component id. Request: 0 (broadcast) or id of specific component. Response must contain component id of the requesting component.

    CAMERA_TRIGGER (112) ​

    Camera-IMU triggering and synchronisation message.

    Field NameTypeUnits描述
    time_usecuint64_tusTimestamp for image frame (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    sequint32_tImage frame sequence

    HIL_GPS (113) ​

    The global position, as returned by the Global Positioning System (GPS). This is

    NOT the global position estimate of the system, but rather a RAW sensor value. See message GLOBAL_POSITION_INT for the global position estimate.

    Field NameTypeUnitsMultiplier描述
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    fix_typeuint8_t0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
    latint32_tdegE7Latitude (WGS84)
    lonint32_tdegE7Longitude (WGS84)
    altint32_t毫米Altitude (MSL). Positive for up.
    ephuint16_t1E-2GPS HDOP horizontal dilution of position (unitless * 100). If unknown, set to: UINT16_MAX
    epvuint16_t1E-2GPS VDOP vertical dilution of position (unitless * 100). If unknown, set to: UINT16_MAX
    veluint16_t厘米/秒GPS ground speed. If unknown, set to: UINT16_MAX
    vnint16_t厘米/秒GPS velocity in north direction in earth-fixed NED frame
    veint16_t厘米/秒GPS velocity in east direction in earth-fixed NED frame
    vdint16_t厘米/秒GPS velocity in down direction in earth-fixed NED frame
    coguint16_tcdegCourse over ground (NOT heading, but direction of movement), 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
    satellites_visibleuint8_t可见卫星数量。 If unknown, set to UINT8_MAX
    id ++uint8_tGPS ID (zero indexed). Used for multiple GPS inputs
    yaw ++uint16_tcdegYaw of vehicle relative to Earth's North, zero means not available, use 36000 for north

    HIL_OPTICAL_FLOW (114) ​

    Simulated optical flow from a flow sensor (e.g. PX4FLOW or optical mouse sensor)

    Field NameTypeUnits描述
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    sensor_iduint8_tSensor ID
    integration_time_usuint32_tusIntegration time. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the.
    integrated_xfloatradFlow in radians around X axis (Sensor RH rotation about the X axis induces a positive flow. Sensor linear motion along the positive Y axis induces a negative flow.)
    integrated_yfloatradFlow in radians around Y axis (Sensor RH rotation about the Y axis induces a positive flow. Sensor linear motion along the positive X axis induces a positive flow.)
    integrated_xgyrofloatradRH rotation around X axis
    integrated_ygyrofloatradRH rotation around Y axis
    integrated_zgyrofloatradRH rotation around Z axis
    temperatureint16_tcdegCTemperature
    qualityuint8_tOptical flow quality / confidence. 0: no valid flow, 255: maximum quality
    time_delta_distance_usuint32_tusTime since the distance was sampled.
    distancefloatmDistance to the center of the flow field. Positive value (including zero): distance known. Negative value: Unknown distance.

    HIL_STATE_QUATERNION (115) ​

    Sent from simulation to autopilot, avoids in contrast to HIL_STATE singularities. This packet is useful for high throughput applications such as hardware in the loop simulations.

    Field NameTypeUnits描述
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    attitude_quaternionfloat[4]Vehicle attitude expressed as normalized quaternion in w, x, y, z order (with 1 0 0 0 being the null-rotation)
    rollspeedfloatrad/sBody frame roll / phi angular speed
    pitchspeedfloatrad/sBody frame pitch / theta angular speed
    yawspeedfloatrad/sBody frame yaw / psi angular speed
    latint32_tdegE7Latitude
    lonint32_tdegE7Longitude
    altint32_t毫米Altitude
    vxint16_t厘米/秒Ground X Speed (Latitude)
    vyint16_t厘米/秒Ground Y Speed (Longitude)
    vzint16_t厘米/秒Ground Z Speed (Altitude)
    ind_airspeeduint16_t厘米/秒Indicated airspeed
    true_airspeeduint16_t厘米/秒True airspeed
    xaccint16_tmGX acceleration
    yaccint16_tmGY acceleration
    zaccint16_tmGZ acceleration

    SCALED_IMU2 (116) ​

    The RAW IMU readings for secondary 9DOF sensor setup. This message should contain the scaled values to the described units

    Field NameTypeUnits描述
    time_boot_msuint32_tmsTimestamp (time since system boot).
    xaccint16_tmGX acceleration
    yaccint16_tmGY acceleration
    zaccint16_tmGZ acceleration
    xgyroint16_tmrad/sAngular speed around X axis
    ygyroint16_tmrad/sAngular speed around Y axis
    zgyroint16_tmrad/sAngular speed around Z axis
    xmagint16_tmgaussX Magnetic field
    ymagint16_tmgaussY Magnetic field
    zmagint16_tmgaussZ Magnetic field
    temperature ++int16_tcdegCTemperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).

    LOG_REQUEST_LIST (117) ​

    Request a list of available logs. On some systems calling this may stop on-board logging until LOG_REQUEST_END is called. If there are no log files available this request shall be answered with one LOG_ENTRY message with id = 0 and num_logs = 0.

    Field NameType描述
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    startuint16_tFirst log id (0 for first available)
    enduint16_tLast log id (0xffff for last available)

    LOG_ENTRY (118) ​

    Reply to LOG_REQUEST_LIST

    Field NameTypeUnits描述
    iduint16_tLog id
    num_logsuint16_tTotal number of logs
    last_log_numuint16_tHigh log number
    time_utcuint32_tsUTC timestamp of log since 1970, or 0 if not available
    sizeuint32_tbytesSize of the log (may be approximate)

    LOG_REQUEST_DATA (119) ​

    Request a chunk of a log

    Field NameTypeUnits描述
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    iduint16_tLog id (from LOG_ENTRY reply)
    ofsuint32_tOffset into the log
    countuint32_tbytesNumber of bytes

    LOG_DATA (120) ​

    Reply to LOG_REQUEST_DATA

    Field NameTypeUnits描述
    iduint16_tLog id (from LOG_ENTRY reply)
    ofsuint32_tOffset into the log
    countuint8_tbytesNumber of bytes (zero for end of log)
    datauint8_t[90]log data

    LOG_ERASE (121) ​

    Erase all logs

    Field NameType描述
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID

    LOG_REQUEST_END (122) ​

    Stop log transfer and resume normal logging

    Field NameType描述
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID

    GPS_INJECT_DATA (123) — [DEP] ​

    DEPRECATED: Replaced By GPS_RTCM_DATA (2022-05)

    Data for injecting into the onboard GPS (used for DGPS)

    Field NameTypeUnits描述
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    lenuint8_tbytesData length
    datauint8_t[110]Raw data (110 is enough for 12 satellites of RTCMv2)

    GPS2_RAW (124) ​

    Second GPS data.

    Field NameTypeUnits值描述
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    fix_typeuint8_tGPS_FIX_TYPEGPS fix type.
    latint32_tdegE7Latitude (WGS84)
    lonint32_tdegE7Longitude (WGS84)
    altint32_t毫米Altitude (MSL). Positive for up.
    ephuint16_tinvalid:UINT16_MAXGPS HDOP horizontal dilution of position (unitless * 100). If unknown, set to: UINT16_MAX
    epvuint16_tinvalid:UINT16_MAXGPS VDOP vertical dilution of position (unitless * 100). If unknown, set to: UINT16_MAX
    veluint16_t厘米/秒invalid:UINT16_MAXGPS ground speed. If unknown, set to: UINT16_MAX
    coguint16_tcdeginvalid:UINT16_MAXCourse over ground (NOT heading, but direction of movement): 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
    satellites_visibleuint8_tinvalid:UINT8_MAX可见卫星数量。 If unknown, set to UINT8_MAX
    dgps_numchuint8_tNumber of DGPS satellites
    dgps_ageuint32_tmsAge of DGPS info
    yaw ++uint16_tcdeginvalid:0Yaw in earth frame from north. Use 0 if this GPS does not provide yaw. Use UINT16_MAX if this GPS is configured to provide yaw and is currently unable to provide it. Use 36000 for north.
    alt_ellipsoid ++int32_t毫米Altitude (above WGS84, EGM96 ellipsoid). Positive for up.
    h_acc ++uint32_t毫米Position uncertainty.
    v_acc ++uint32_t毫米Altitude uncertainty.
    vel_acc ++uint32_t毫米/秒Speed uncertainty.
    hdg_acc ++uint32_tdegE5Heading / track uncertainty

    POWER_STATUS (125) ​

    Power supply status

    Field NameTypeUnits值描述
    Vccuint16_tmV5V rail voltage.
    Vservouint16_tmVServo rail voltage.
    flagsuint16_tMAV_POWER_STATUSBitmap of power supply status flags.

    SERIAL_CONTROL (126) ​

    Control a serial port. This can be used for raw access to an onboard serial peripheral such as a GPS or telemetry radio. It is designed to make it possible to update the devices firmware via MAVLink messages or change the devices settings. A message with zero bytes can be used to change just the baudrate.

    Field NameTypeUnits值描述
    deviceuint8_tSERIAL_CONTROL_DEVSerial control device type.
    flagsuint8_tSERIAL_CONTROL_FLAGBitmap of serial control flags.
    timeoutuint16_tmsTimeout for reply data
    baudrateuint32_tbits/sBaudrate of transfer. Zero means no change.
    countuint8_tbyteshow many bytes in this transfer
    datauint8_t[70]serial data
    target_system ++uint8_tSystem ID
    target_component ++uint8_tComponent ID

    GPS_RTK (127) ​

    RTK GPS data. Gives information on the relative baseline calculation the GPS is reporting

    Field NameTypeUnits值描述
    time_last_baseline_msuint32_tmsTime since boot of last baseline message received.
    rtk_receiver_iduint8_tIdentification of connected RTK receiver.
    wnuint16_tGPS Week Number of last baseline
    towuint32_tmsGPS Time of Week of last baseline
    rtk_healthuint8_tGPS-specific health report for RTK data.
    rtk_rateuint8_tHzRate of baseline messages being received by GPS
    nsatsuint8_tCurrent number of sats used for RTK calculation.
    baseline_coords_typeuint8_tRTK_BASELINE_COORDINATE_SYSTEMCoordinate system of baseline
    baseline_a_mmint32_t毫米Current baseline in ECEF x or NED north component.
    baseline_b_mmint32_t毫米Current baseline in ECEF y or NED east component.
    baseline_c_mmint32_t毫米Current baseline in ECEF z or NED down component.
    accuracyuint32_tCurrent estimate of baseline accuracy.
    iar_num_hypothesesint32_tCurrent number of integer ambiguity hypotheses.

    GPS2_RTK (128) ​

    RTK GPS data. Gives information on the relative baseline calculation the GPS is reporting

    Field NameTypeUnits值描述
    time_last_baseline_msuint32_tmsTime since boot of last baseline message received.
    rtk_receiver_iduint8_tIdentification of connected RTK receiver.
    wnuint16_tGPS Week Number of last baseline
    towuint32_tmsGPS Time of Week of last baseline
    rtk_healthuint8_tGPS-specific health report for RTK data.
    rtk_rateuint8_tHzRate of baseline messages being received by GPS
    nsatsuint8_tCurrent number of sats used for RTK calculation.
    baseline_coords_typeuint8_tRTK_BASELINE_COORDINATE_SYSTEMCoordinate system of baseline
    baseline_a_mmint32_t毫米Current baseline in ECEF x or NED north component.
    baseline_b_mmint32_t毫米Current baseline in ECEF y or NED east component.
    baseline_c_mmint32_t毫米Current baseline in ECEF z or NED down component.
    accuracyuint32_tCurrent estimate of baseline accuracy.
    iar_num_hypothesesint32_tCurrent number of integer ambiguity hypotheses.

    SCALED_IMU3 (129) ​

    The RAW IMU readings for 3rd 9DOF sensor setup. This message should contain the scaled values to the described units

    Field NameTypeUnits描述
    time_boot_msuint32_tmsTimestamp (time since system boot).
    xaccint16_tmGX acceleration
    yaccint16_tmGY acceleration
    zaccint16_tmGZ acceleration
    xgyroint16_tmrad/sAngular speed around X axis
    ygyroint16_tmrad/sAngular speed around Y axis
    zgyroint16_tmrad/sAngular speed around Z axis
    xmagint16_tmgaussX Magnetic field
    ymagint16_tmgaussY Magnetic field
    zmagint16_tmgaussZ Magnetic field
    temperature ++int16_tcdegCTemperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).

    DATA_TRANSMISSION_HANDSHAKE (130) ​

    Handshake message to initiate, control and stop image streaming when using the Image Transmission Protocol: https://mavlink.io/en/services/image_transmission.html.

    Field NameTypeUnits值描述
    typeuint8_tMAVLINK_DATA_STREAM_TYPEType of requested/acknowledged data.
    sizeuint32_tbytestotal data size (set on ACK only).
    widthuint16_tWidth of a matrix or image.
    heightuint16_tHeight of a matrix or image.
    packetsuint16_tNumber of packets being sent (set on ACK only).
    payloaduint8_tbytesPayload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only).
    jpg_qualityuint8_t%JPEG quality. Values: [1-100].

    ENCAPSULATED_DATA (131) ​

    Data packet for images sent using the Image Transmission Protocol: https://mavlink.io/en/services/image_transmission.html.

    Field NameType描述
    seqnruint16_tsequence number (starting with 0 on every transmission)
    datauint8_t[253]image data bytes

    DISTANCE_SENSOR (132) ​

    Distance sensor information for an onboard rangefinder.

    Field NameTypeUnits值描述
    time_boot_msuint32_tmsTimestamp (time since system boot).
    min_distanceuint16_t厘米Minimum distance the sensor can measure
    max_distanceuint16_t厘米Maximum distance the sensor can measure
    current_distanceuint16_t厘米Current distance reading
    typeuint8_tMAV_DISTANCE_SENSORType of distance sensor.
    iduint8_tOnboard ID of the sensor
    Messages with same value are from the same source (instance).
    orientationuint8_tMAV_SENSOR_ORIENTATIONDirection the sensor faces. downward-facing: ROTATION_PITCH_270, upward-facing: ROTATION_PITCH_90, backward-facing: ROTATION_PITCH_180, forward-facing: ROTATION_NONE, left-facing: ROTATION_YAW_90, right-facing: ROTATION_YAW_270
    covarianceuint8_tcm^2invalid:UINT8_MAXMeasurement variance. Max standard deviation is 6cm. UINT8_MAX if unknown.
    horizontal_fov ++floatradinvalid:0Horizontal Field of View (angle) where the distance measurement is valid and the field of view is known. Otherwise this is set to 0.
    vertical_fov ++floatradinvalid:0Vertical Field of View (angle) where the distance measurement is valid and the field of view is known. Otherwise this is set to 0.
    quaternion ++float[4]invalid:[0]Quaternion of the sensor orientation in vehicle body frame (w, x, y, z order, zero-rotation is 1, 0, 0, 0). Zero-rotation is along the vehicle body x-axis. This field is required if the orientation is set to MAV_SENSOR_ROTATION_CUSTOM. Set it to 0 if invalid."
    signal_quality ++uint8_t%invalid:0Signal quality of the sensor. Specific to each sensor type, representing the relation of the signal strength with the target reflectivity, distance, size or aspect, but normalised as a percentage. 0 = unknown/unset signal quality, 1 = invalid signal, 100 = perfect signal.

    TERRAIN_REQUEST (133) ​

    Request for terrain data and terrain status. See terrain protocol docs: https://mavlink.io/en/services/terrain.html

    Field NameTypeUnits描述
    latint32_tdegE7Latitude of SW corner of first grid
    lonint32_tdegE7Longitude of SW corner of first grid
    grid_spacinguint16_tmGrid spacing
    maskuint64_tBitmask of requested 4x4 grids (row major 8x7 array of grids, 56 bits)

    TERRAIN_DATA (134) ​

    Terrain data sent from GCS. The lat/lon and grid_spacing must be the same as a lat/lon from a TERRAIN_REQUEST. See terrain protocol docs: https://mavlink.io/en/services/terrain.html

    Field NameTypeUnits描述
    latint32_tdegE7Latitude of SW corner of first grid
    lonint32_tdegE7Longitude of SW corner of first grid
    grid_spacinguint16_tmGrid spacing
    gridbituint8_tbit within the terrain request mask
    dataint16_t[16]mTerrain data MSL

    TERRAIN_CHECK (135) ​

    Request that the vehicle report terrain height at the given location (expected response is a TERRAIN_REPORT). Used by GCS to check if vehicle has all terrain data needed for a mission.

    Field NameTypeUnits描述
    latint32_tdegE7Latitude
    lonint32_tdegE7Longitude

    TERRAIN_REPORT (136) ​

    Streamed from drone to report progress of terrain map download (initiated by TERRAIN_REQUEST), or sent as a response to a TERRAIN_CHECK request. See terrain protocol docs: https://mavlink.io/en/services/terrain.html

    Field NameTypeUnits描述
    latint32_tdegE7Latitude
    lonint32_tdegE7Longitude
    spacinguint16_tgrid spacing (zero if terrain at this location unavailable)
    terrain_heightfloatmTerrain height MSL
    current_heightfloatmCurrent vehicle height above lat/lon terrain height
    pendinguint16_tNumber of 4x4 terrain blocks waiting to be received or read from disk
    loadeduint16_tNumber of 4x4 terrain blocks in memory

    SCALED_PRESSURE2 (137) ​

    Barometer readings for 2nd barometer

    Field NameTypeUnits描述
    time_boot_msuint32_tmsTimestamp (time since system boot).
    press_absfloathPaAbsolute pressure
    press_difffloathPaDifferential pressure
    temperatureint16_tcdegCAbsolute pressure temperature
    temperature_press_diff ++int16_tcdegCDifferential pressure temperature (0, if not available). Report values of 0 (or 1) as 1 cdegC.

    ATT_POS_MOCAP (138) ​

    Motion capture attitude and position

    Field NameTypeUnits描述
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    qfloat[4]Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
    xfloatmX position (NED)
    yfloatmY position (NED)
    zfloatmZ position (NED)
    covariance ++float[21]Row-major representation of a pose 6x6 cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.

    SET_ACTUATOR_CONTROL_TARGET (139) ​

    Set the vehicle attitude and body angular rates.

    Field NameTypeUnits描述
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    group_mlxuint8_tActuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    controlsfloat[8]Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.

    ACTUATOR_CONTROL_TARGET (140) ​

    Set the vehicle attitude and body angular rates.

    Field NameTypeUnits描述
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    group_mlxuint8_tActuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.
    controlsfloat[8]Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.

    ALTITUDE (141) ​

    The current system altitude.

    Field NameTypeUnits描述
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    altitude_monotonicfloatmThis altitude measure is initialized on system boot and monotonic (it is never reset, but represents the local altitude change). The only guarantee on this field is that it will never be reset and is consistent within a flight. The recommended value for this field is the uncorrected barometric altitude at boot time. This altitude will also drift and vary between flights.
    altitude_amslfloatmThis altitude measure is strictly above mean sea level and might be non-monotonic (it might reset on events like GPS lock or when a new QNH value is set). It should be the altitude to which global altitude waypoints are compared to. Note that it is not the GPS altitude, however, most GPS modules already output MSL by default and not the WGS84 altitude.
    altitude_localfloatmThis is the local altitude in the local coordinate frame. It is not the altitude above home, but in reference to the coordinate origin (0, 0, 0). It is up-positive.
    altitude_relativefloatmThis is the altitude above the home position. It resets on each change of the current home position.
    altitude_terrainfloatmThis is the altitude above terrain. It might be fed by a terrain database or an altimeter. Values smaller than -1000 should be interpreted as unknown.
    bottom_clearancefloatmThis is not the altitude, but the clear space below the system according to the fused clearance estimate. It generally should max out at the maximum range of e.g. the laser altimeter. It is generally a moving target. A negative value indicates no measurement available.

    RESOURCE_REQUEST (142) ​

    The autopilot is requesting a resource (file, binary, other type of data)

    Field NameType描述
    request_iduint8_tRequest ID. This ID should be re-used when sending back URI contents
    uri_typeuint8_tThe type of requested URI. 0 = a file via URL. 1 = a UAVCAN binary
    uriuint8_t[120]The requested unique resource identifier (URI). It is not necessarily a straight domain name (depends on the URI type enum)
    transfer_typeuint8_tThe way the autopilot wants to receive the URI. 0 = MAVLink FTP. 1 = binary stream.
    storageuint8_t[120]The storage path the autopilot wants the URI to be stored in. Will only be valid if the transfer_type has a storage associated (e.g. MAVLink FTP).

    SCALED_PRESSURE3 (143) ​

    Barometer readings for 3rd barometer

    Field NameTypeUnits描述
    time_boot_msuint32_tmsTimestamp (time since system boot).
    press_absfloathPaAbsolute pressure
    press_difffloathPaDifferential pressure
    temperatureint16_tcdegCAbsolute pressure temperature
    temperature_press_diff ++int16_tcdegCDifferential pressure temperature (0, if not available). Report values of 0 (or 1) as 1 cdegC.

    FOLLOW_TARGET (144) ​

    Current motion information from a designated system

    Field NameTypeUnits描述
    timestampuint64_tmsTimestamp (time since system boot).
    est_capabilitiesuint8_tbit positions for tracker reporting capabilities (POS = 0, VEL = 1, ACCEL = 2, ATT + RATES = 3)
    latint32_tdegE7Latitude (WGS84)
    lonint32_tdegE7Longitude (WGS84)
    altfloatmAltitude (MSL)
    velfloat[3]m/starget velocity (0,0,0) for unknown
    accfloat[3]m/s/slinear target acceleration (0,0,0) for unknown
    attitude_qfloat[4](0 0 0 0 for unknown)
    ratesfloat[3](0 0 0 for unknown)
    position_covfloat[3]eph epv
    custom_stateuint64_tbutton states or switches of a tracker device

    CONTROL_SYSTEM_STATE (146) ​

    The smoothed, monotonic system state used to feed the control loops of the system.

    Field NameTypeUnits描述
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    x_accfloatm/s/sX acceleration in body frame
    y_accfloatm/s/sY acceleration in body frame
    z_accfloatm/s/sZ acceleration in body frame
    x_velfloatm/sX velocity in body frame
    y_velfloatm/sY velocity in body frame
    z_velfloatm/sZ velocity in body frame
    x_posfloatmX position in local frame
    y_posfloatmY position in local frame
    z_posfloatmZ position in local frame
    airspeedfloatm/sAirspeed, set to -1 if unknown
    vel_variancefloat[3]Variance of body velocity estimate
    pos_variancefloat[3]Variance in local position
    qfloat[4]The attitude, represented as Quaternion
    roll_ratefloatrad/sAngular rate in roll axis
    pitch_ratefloatrad/sAngular rate in pitch axis
    yaw_ratefloatrad/sAngular rate in yaw axis

    BATTERY_STATUS (147) ​

    Battery information. Updates GCS with flight controller battery status. Smart batteries also use this message, but may additionally send BATTERY_INFO.

    Field NameTypeUnits值描述
    iduint8_tBattery ID
    Messages with same value are from the same source (instance).
    battery_functionuint8_tMAV_BATTERY_FUNCTIONFunction of the battery
    typeuint8_tMAV_BATTERY_TYPEType (chemistry) of the battery
    temperatureint16_tcdegCinvalid:INT16_MAXTemperature of the battery. INT16_MAX for unknown temperature.
    voltagesuint16_t[10]mVinvalid:[UINT16_MAX]Battery voltage of cells 1 to 10 (see voltages_ext for cells 11-14). Cells in this field above the valid cell count for this battery should have the UINT16_MAX value. If individual cell voltages are unknown or not measured for this battery, then the overall battery voltage should be filled in cell 0, with all others set to UINT16_MAX. If the voltage of the battery is greater than (UINT16_MAX - 1), then cell 0 should be set to (UINT16_MAX - 1), and cell 1 to the remaining voltage. This can be extended to multiple cells if the total voltage is greater than 2 * (UINT16_MAX - 1).
    current_batteryint16_tcAinvalid:-1Battery current, -1: autopilot does not measure the current
    current_consumedint32_tmAhinvalid:-1Consumed charge, -1: autopilot does not provide consumption estimate
    energy_consumedint32_thJinvalid:-1Consumed energy, -1: autopilot does not provide energy consumption estimate
    battery_remainingint8_t%invalid:-1Remaining battery energy. Values: [0-100], -1: autopilot does not estimate the remaining battery.
    time_remaining ++int32_tsinvalid:0Remaining battery time, 0: autopilot does not provide remaining battery time estimate
    charge_state ++uint8_tMAV_BATTERY_CHARGE_STATEState for extent of discharge, provided by autopilot for warning or external reactions
    voltages_ext ++uint16_t[4]mVinvalid:[0]Battery voltages for cells 11 to 14. Cells above the valid cell count for this battery should have a value of 0, where zero indicates not supported (note, this is different than for the voltages field and allows empty byte truncation). If the measured value is 0 then 1 should be sent instead.
    mode ++uint8_tMAV_BATTERY_MODESmart battery mode. Default (0) is that battery mode reporting is not supported or battery is in normal-use mode.
    fault_bitmask ++uint32_tMAV_BATTERY_FAULTFault/health indications. These should be set when charge_state is MAV_BATTERY_CHARGE_STATE_FAILED or MAV_BATTERY_CHARGE_STATE_UNHEALTHY (if not, fault reporting is not supported).

    AUTOPILOT_VERSION (148) ​

    Version and capability of autopilot software. This should be emitted in response to a request with MAV_CMD_REQUEST_MESSAGE.

    Field NameType值描述
    capabilitiesuint64_tMAV_PROTOCOL_CAPABILITYBitmap of capabilities
    flight_sw_versionuint32_tFirmware version number
    middleware_sw_versionuint32_tMiddleware version number
    os_sw_versionuint32_tOperating system version number
    board_versionuint32_tHW / board version (last 8 bits should be silicon ID, if any). The first 16 bits of this field specify https://github.com/PX4/PX4-Bootloader/blob/master/board_types.txt
    flight_custom_versionuint8_t[8]Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.
    middleware_custom_versionuint8_t[8]Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.
    os_custom_versionuint8_t[8]Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.
    vendor_iduint16_tID of the board vendor
    product_iduint16_tID of the product
    uiduint64_tUID if provided by hardware (see uid2)
    uid2 ++uint8_t[18]UID if provided by hardware (supersedes the uid field. If this is non-zero, use this field, otherwise use uid)

    LANDING_TARGET (149) ​

    The location of a landing target. See: https://mavlink.io/en/services/landing_target.html

    Field NameTypeUnits值描述
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    target_numuint8_tThe ID of the target if multiple targets are present
    frameuint8_tMAV_FRAMECoordinate frame used for following fields.
    angle_xfloatradX-axis angular offset of the target from the center of the image
    angle_yfloatradY-axis angular offset of the target from the center of the image
    distancefloatmDistance to the target from the vehicle
    size_xfloatradSize of target along x-axis
    size_yfloatradSize of target along y-axis
    x ++floatmX Position of the landing target in MAV_FRAME
    y ++floatmY Position of the landing target in MAV_FRAME
    z ++floatmZ Position of the landing target in MAV_FRAME
    q ++float[4]Quaternion of landing target orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
    type ++uint8_tLANDING_TARGET_TYPEType of landing target
    position_valid ++uint8_tinvalid:0Boolean indicating whether the position fields (x, y, z, q, type) contain valid target position information (valid: 1, invalid: 0). Default is 0 (invalid).

    FENCE_STATUS (162) ​

    Status of geo-fencing. Sent in extended status stream when fencing enabled.

    Field NameTypeUnits值描述
    breach_statusuint8_tBreach status (0 if currently inside fence, 1 if outside).
    breach_countuint16_tNumber of fence breaches.
    breach_typeuint8_tFENCE_BREACHLast breach type.
    breach_timeuint32_tmsTime (since boot) of last breach.
    breach_mitigation ++uint8_tFENCE_MITIGATEActive action to prevent fence breach

    MAG_CAL_REPORT (192) ​

    Reports results of completed compass calibration. Sent until MAG_CAL_ACK received.

    Field NameTypeUnits值描述
    compass_iduint8_tCompass being calibrated.
    Messages with same value are from the same source (instance).
    cal_maskuint8_tBitmask of compasses being calibrated.
    cal_statusuint8_tMAG_CAL_STATUSCalibration Status.
    autosaveduint8_t0=requires a MAV_CMD_DO_ACCEPT_MAG_CAL, 1=saved to parameters.
    fitnessfloatmgaussRMS milligauss residuals.
    ofs_xfloatX offset.
    ofs_yfloatY offset.
    ofs_zfloatZ offset.
    diag_xfloatX diagonal (matrix 11).
    diag_yfloatY diagonal (matrix 22).
    diag_zfloatZ diagonal (matrix 33).
    offdiag_xfloatX off-diagonal (matrix 12 and 21).
    offdiag_yfloatY off-diagonal (matrix 13 and 31).
    offdiag_zfloatZ off-diagonal (matrix 32 and 23).
    orientation_confidence ++floatConfidence in orientation (higher is better).
    old_orientation ++uint8_tMAV_SENSOR_ORIENTATIONorientation before calibration.
    new_orientation ++uint8_tMAV_SENSOR_ORIENTATIONorientation after calibration.
    scale_factor ++floatfield radius correction factor

    EFI_STATUS (225) ​

    EFI status output

    Field NameTypeUnits描述
    healthuint8_tEFI health status
    ecu_indexfloatECU index
    rpmfloatRPM
    fuel_consumedfloatcm^3Fuel consumed
    fuel_flowfloatcm^3/minFuel flow rate
    engine_loadfloat%Engine load
    throttle_positionfloat%Throttle position
    spark_dwell_timefloatmsSpark dwell time
    barometric_pressurefloatkPaBarometric pressure
    intake_manifold_pressurefloatkPaIntake manifold pressure(
    intake_manifold_temperaturefloatdegCIntake manifold temperature
    cylinder_head_temperaturefloatdegCCylinder head temperature
    ignition_timingfloat度Ignition timing (Crank angle degrees)
    injection_timefloatmsInjection time
    exhaust_gas_temperaturefloatdegCExhaust gas temperature
    throttle_outfloat%Output throttle
    pt_compensationfloatPressure/temperature compensation
    ignition_voltage ++floatVSupply voltage to EFI sparking system. Zero in this value means "unknown", so if the supply voltage really is zero volts use 0.0001 instead.
    fuel_pressure ++floatkPaFuel pressure. Zero in this value means "unknown", so if the fuel pressure really is zero kPa use 0.0001 instead.

    ESTIMATOR_STATUS (230) ​

    Estimator status message including flags, innovation test ratios and estimated accuracies. The flags message is an integer bitmask containing information on which EKF outputs are valid. See the ESTIMATOR_STATUS_FLAGS enum definition for further information. The innovation test ratios show the magnitude of the sensor innovation divided by the innovation check threshold. Under normal operation the innovation test ratios should be below 0.5 with occasional values up to 1.0. Values greater than 1.0 should be rare under normal operation and indicate that a measurement has been rejected by the filter. The user should be notified if an innovation test ratio greater than 1.0 is recorded. Notifications for values in the range between 0.5 and 1.0 should be optional and controllable by the user.

    Field NameTypeUnits值描述
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    flagsuint16_tESTIMATOR_STATUS_FLAGSBitmap indicating which EKF outputs are valid.
    vel_ratiofloatVelocity innovation test ratio
    pos_horiz_ratiofloatHorizontal position innovation test ratio
    pos_vert_ratiofloatVertical position innovation test ratio
    mag_ratiofloatMagnetometer innovation test ratio
    hagl_ratiofloatHeight above terrain innovation test ratio
    tas_ratiofloatTrue airspeed innovation test ratio
    pos_horiz_accuracyfloatmHorizontal position 1-STD accuracy relative to the EKF local origin
    pos_vert_accuracyfloatmVertical position 1-STD accuracy relative to the EKF local origin

    WIND_COV (231) ​

    Wind estimate from vehicle. Note that despite the name, this message does not actually contain any covariances but instead variability and accuracy fields in terms of standard deviation (1-STD).

    Field NameTypeUnits描述
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    wind_xfloatm/sWind in North (NED) direction (NAN if unknown)
    wind_yfloatm/sWind in East (NED) direction (NAN if unknown)
    wind_zfloatm/sWind in down (NED) direction (NAN if unknown)
    var_horizfloatm/sVariability of wind in XY, 1-STD estimated from a 1 Hz lowpassed wind estimate (NAN if unknown)
    var_vertfloatm/sVariability of wind in Z, 1-STD estimated from a 1 Hz lowpassed wind estimate (NAN if unknown)
    wind_altfloatmAltitude (MSL) that this measurement was taken at (NAN if unknown)
    horiz_accuracyfloatm/sHorizontal speed 1-STD accuracy (0 if unknown)
    vert_accuracyfloatm/sVertical speed 1-STD accuracy (0 if unknown)

    GPS_INPUT (232) ​

    GPS sensor input message. This is a raw sensor value sent by the GPS. This is NOT the global position estimate of the system.

    Field NameTypeUnits值描述
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    gps_iduint8_tID of the GPS for multiple GPS inputs
    Messages with same value are from the same source (instance).
    ignore_flagsuint16_tGPS_INPUT_IGNORE_FLAGSBitmap indicating which GPS input flags fields to ignore. All other fields must be provided.
    time_week_msuint32_tmsGPS time (from start of GPS week)
    time_weekuint16_tGPS week number
    fix_typeuint8_t0-1: no fix, 2: 2D fix, 3: 3D fix. 4: 3D with DGPS. 5: 3D with RTK
    latint32_tdegE7Latitude (WGS84)
    lonint32_tdegE7Longitude (WGS84)
    altfloatmAltitude (MSL). Positive for up.
    hdopfloatinvalid:UINT16_MAXGPS HDOP horizontal dilution of position (unitless). If unknown, set to: UINT16_MAX
    vdopfloatinvalid:UINT16_MAXGPS VDOP vertical dilution of position (unitless). If unknown, set to: UINT16_MAX
    vnfloatm/sGPS velocity in north direction in earth-fixed NED frame
    vefloatm/sGPS velocity in east direction in earth-fixed NED frame
    vdfloatm/sGPS velocity in down direction in earth-fixed NED frame
    speed_accuracyfloatm/sGPS speed accuracy
    horiz_accuracyfloatmGPS horizontal accuracy
    vert_accuracyfloatmGPS vertical accuracy
    satellites_visibleuint8_t可见卫星数量。
    yaw ++uint16_tcdegYaw of vehicle relative to Earth's North, zero means not available, use 36000 for north

    GPS_RTCM_DATA (233) ​

    RTCM message for injecting into the onboard GPS (used for DGPS)

    Field NameTypeUnits描述
    flagsuint8_tLSB: 1 means message is fragmented, next 2 bits are the fragment ID, the remaining 5 bits are used for the sequence ID. Messages are only to be flushed to the GPS when the entire message has been reconstructed on the autopilot. The fragment ID specifies which order the fragments should be assembled into a buffer, while the sequence ID is used to detect a mismatch between different buffers. The buffer is considered fully reconstructed when either all 4 fragments are present, or all the fragments before the first fragment with a non full payload is received. This management is used to ensure that normal GPS operation doesn't corrupt RTCM data, and to recover from a unreliable transport delivery order.
    lenuint8_tbytesdata length
    datauint8_t[180]RTCM message (may be fragmented)

    HIGH_LATENCY (234) — [DEP] ​

    DEPRECATED: Replaced By HIGH_LATENCY2 (2020-10)

    Message appropriate for high latency connections like Iridium

    Field NameTypeUnits值描述
    base_modeuint8_tMAV_MODE_FLAGBitmap of enabled system modes.
    custom_modeuint32_tA bitfield for use for autopilot-specific flags.
    landed_stateuint8_tMAV_LANDED_STATEThe landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.
    rollint16_tcdegroll
    俯仰角int16_tcdeg俯仰角
    headinguint16_tcdegheading
    油门int8_t%throttle (percentage)
    heading_spint16_tcdegheading setpoint
    latitudeint32_tdegE7Latitude
    longitudeint32_tdegE7Longitude
    altitude_amslint16_tmAltitude above mean sea level
    altitude_spint16_tmAltitude setpoint relative to the home position
    airspeeduint8_tm/sairspeed
    airspeed_spuint8_tm/sairspeed setpoint
    groundspeeduint8_tm/sgroundspeed
    climb_rateint8_tm/sclimb rate
    gps_nsatuint8_tinvalid:UINT8_MAX可见卫星数量。 If unknown, set to UINT8_MAX
    gps_fix_typeuint8_tGPS_FIX_TYPEGPS Fix type.
    battery_remaininguint8_t%Remaining battery (percentage)
    temperatureint8_tdegCAutopilot temperature (degrees C)
    temperature_airint8_tdegCAir temperature (degrees C) from airspeed sensor
    failsafeuint8_tfailsafe (each bit represents a failsafe where 0=ok, 1=failsafe active (bit0:RC, bit1:batt, bit2:GPS, bit3:GCS, bit4:fence)
    wp_numuint8_tcurrent waypoint number
    wp_distanceuint16_tmdistance to target

    HIGH_LATENCY2 (235) ​

    Message appropriate for high latency connections like Iridium (version 2)

    Field NameTypeUnits值描述
    timestampuint32_tmsTimestamp (milliseconds since boot or Unix epoch)
    typeuint8_tMAV_TYPEType of the MAV (quadrotor, helicopter, etc.)
    autopilotuint8_tMAV_AUTOPILOTAutopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers.
    custom_modeuint16_tA bitfield for use for autopilot-specific flags (2 byte version).
    latitudeint32_tdegE7Latitude
    longitudeint32_tdegE7Longitude
    altitudeint16_tmAltitude above mean sea level
    target_altitudeint16_tmAltitude setpoint
    headinguint8_tdeg/2Heading
    target_headinguint8_tdeg/2Heading setpoint
    target_distanceuint16_tdamDistance to target waypoint or position
    油门uint8_t%Throttle
    airspeeduint8_tm/s*5Airspeed
    airspeed_spuint8_tm/s*5Airspeed setpoint
    groundspeeduint8_tm/s*5Groundspeed
    windspeeduint8_tm/s*5Windspeed
    wind_headinguint8_tdeg/2Wind heading
    ephuint8_tdmMaximum error horizontal position since last message
    epvuint8_tdmMaximum error vertical position since last message
    temperature_airint8_tdegCAir temperature from airspeed sensor
    climb_rateint8_tdm/sMaximum climb rate magnitude since last message
    batteryint8_t%invalid:-1Battery level (-1 if field not provided).
    wp_numuint16_tCurrent waypoint number
    failure_flagsuint16_tHL_FAILURE_FLAGBitmap of failure flags.
    custom0int8_tField for custom payload.
    custom1int8_tField for custom payload.
    custom2int8_tField for custom payload.

    VIBRATION (241) ​

    Vibration levels and accelerometer clipping

    Field NameTypeUnits描述
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    vibration_xfloatVibration levels on X-axis
    vibration_yfloatVibration levels on Y-axis
    vibration_zfloatVibration levels on Z-axis
    clipping_0uint32_tfirst accelerometer clipping count
    clipping_1uint32_tsecond accelerometer clipping count
    clipping_2uint32_tthird accelerometer clipping count

    HOME_POSITION (242) ​

    Contains the home position. The home position is the default position that the system will return to and land on. The position must be set automatically by the system during the takeoff, and may also be explicitly set using MAV_CMD_DO_SET_HOME. The global and local positions encode the position in the respective coordinate frames, while the q parameter encodes the orientation of the surface. Under normal conditions it describes the heading and terrain slope, which can be used by the aircraft to adjust the approach. The approach 3D vector describes the point to which the system should fly in normal flight mode and then perform a landing sequence along the vector. Note: this message can be requested by sending the MAV_CMD_REQUEST_MESSAGE with param1=242 (or the deprecated MAV_CMD_GET_HOME_POSITION command).

    Field NameTypeUnits描述
    latitudeint32_tdegE7Latitude (WGS84)
    longitudeint32_tdegE7Longitude (WGS84)
    altitudeint32_t毫米Altitude (MSL). Positive for up.
    xfloatmLocal X position of this position in the local coordinate frame (NED)
    yfloatmLocal Y position of this position in the local coordinate frame (NED)
    zfloatmLocal Z position of this position in the local coordinate frame (NED: positive "down")
    qfloat[4]Quaternion indicating world-to-surface-normal and heading transformation of the takeoff position.
    Used to indicate the heading and slope of the ground.
    All fields should be set to NaN if an accurate quaternion for both heading and surface slope cannot be supplied.
    approach_xfloatmLocal X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
    approach_yfloatmLocal Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
    approach_zfloatmLocal Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
    time_usec ++uint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

    SET_HOME_POSITION (243) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_DO_SET_HOME (2022-02) — The command protocol version (MAV_CMD_DO_SET_HOME) allows a GCS to detect when setting the home position has failed.)

    Sets the home position. The home position is the default position that the system will return to and land on. The position is set automatically by the system during the takeoff (and may also be set using this message). The global and local positions encode the position in the respective coordinate frames, while the q parameter encodes the orientation of the surface. Under normal conditions it describes the heading and terrain slope, which can be used by the aircraft to adjust the approach. The approach 3D vector describes the point to which the system should fly in normal flight mode and then perform a landing sequence along the vector. Note: the current home position may be emitted in a HOME_POSITION message on request (using MAV_CMD_REQUEST_MESSAGE with param1=242).

    Field NameTypeUnits描述
    target_systemuint8_tSystem ID.
    latitudeint32_tdegE7Latitude (WGS84)
    longitudeint32_tdegE7Longitude (WGS84)
    altitudeint32_t毫米Altitude (MSL). Positive for up.
    xfloatmLocal X position of this position in the local coordinate frame (NED)
    yfloatmLocal Y position of this position in the local coordinate frame (NED)
    zfloatmLocal Z position of this position in the local coordinate frame (NED: positive "down")
    qfloat[4]World to surface normal and heading transformation of the takeoff position. Used to indicate the heading and slope of the ground
    approach_xfloatmLocal X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
    approach_yfloatmLocal Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
    approach_zfloatmLocal Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
    time_usec ++uint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

    MESSAGE_INTERVAL (244) ​

    The interval between messages for a particular MAVLink message ID. This message is sent in response to the MAV_CMD_REQUEST_MESSAGE command with param1=244 (this message) and param2=message_id (the id of the message for which the interval is required). It may also be sent in response to MAV_CMD_GET_MESSAGE_INTERVAL. This interface replaces DATA_STREAM.

    Field NameTypeUnits描述
    message_iduint16_tThe ID of the requested MAVLink message. v1.0 is limited to 254 messages.
    interval_usint32_tusThe interval between two messages. A value of -1 indicates this stream is disabled, 0 indicates it is not available, > 0 indicates the interval at which it is sent.

    EXTENDED_SYS_STATE (245) ​

    Provides state for additional features

    Field NameType值描述
    vtol_stateuint8_tMAV_VTOL_STATEThe VTOL state if applicable. Is set to MAV_VTOL_STATE_UNDEFINED if UAV is not in VTOL configuration.
    landed_stateuint8_tMAV_LANDED_STATEThe landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.

    ADSB_VEHICLE (246) ​

    The location and information of an ADSB vehicle

    Field NameTypeUnits值描述
    ICAO_addressuint32_tICAO address
    latint32_tdegE7Latitude
    lonint32_tdegE7Longitude
    altitude_typeuint8_tADSB_ALTITUDE_TYPEADSB altitude type.
    altitudeint32_t毫米Altitude(ASL)
    headinguint16_tcdegCourse over ground
    hor_velocityuint16_t厘米/秒The horizontal velocity
    ver_velocityint16_t厘米/秒The vertical velocity. Positive is up
    callsignchar[9]The callsign, 8+null
    emitter_typeuint8_tADSB_EMITTER_TYPEADSB emitter type.
    tslcuint8_tsTime since last communication in seconds
    flagsuint16_tADSB_FLAGSBitmap to indicate various statuses including valid data fields
    squawkuint16_tSquawk code. Note that the code is in decimal: e.g. 7700 (general emergency) is encoded as binary 0b0001_1110_0001_0100, not(!) as 0b0000_111_111_000_000

    COLLISION (247) ​

    Information about a potential collision

    Field NameTypeUnits值描述
    srcuint8_tMAV_COLLISION_SRCCollision data source
    iduint32_tUnique identifier, domain based on src field
    actionuint8_tMAV_COLLISION_ACTIONAction that is being taken to avoid this collision
    threat_leveluint8_tMAV_COLLISION_THREAT_LEVELHow concerned the aircraft is about this collision
    time_to_minimum_deltafloatsEstimated time until collision occurs
    altitude_minimum_deltafloatmClosest vertical distance between vehicle and object
    horizontal_minimum_deltafloatmClosest horizontal distance between vehicle and object

    V2_EXTENSION (248) ​

    Message implementing parts of the V2 payload specs in V1 frames for transitional support.

    Field NameType描述
    target_networkuint8_tNetwork ID (0 for broadcast)
    target_systemuint8_tSystem ID (0 for broadcast)
    target_componentuint8_tComponent ID (0 for broadcast)
    message_typeuint16_tA code that identifies the software component that understands this message (analogous to USB device classes or mime type strings). If this code is less than 32768, it is considered a 'registered' protocol extension and the corresponding entry should be added to https://github.com/mavlink/mavlink/definition_files/extension_message_ids.xml. Software creators can register blocks of message IDs as needed (useful for GCS specific metadata, etc...). Message_types greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase.
    payloaduint8_t[249]Variable length payload. The length must be encoded in the payload as part of the message_type protocol, e.g. by including the length as payload data, or by terminating the payload data with a non-zero marker. This is required in order to reconstruct zero-terminated payloads that are (or otherwise would be) trimmed by MAVLink 2 empty-byte truncation. The entire content of the payload block is opaque unless you understand the encoding message_type. The particular encoding used can be extension specific and might not always be documented as part of the MAVLink specification.

    MEMORY_VECT (249) ​

    Send raw controller memory. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output.

    Field NameType描述
    addressuint16_tStarting address of the debug variables
    veruint8_tVersion code of the type variable. 0=unknown, type ignored and assumed int16_t. 1=as below
    typeuint8_tType code of the memory variables. for ver = 1: 0=16 x int16_t, 1=16 x uint16_t, 2=16 x Q15, 3=16 x 1Q14
    valueint8_t[32]Memory contents at specified address

    DEBUG_VECT (250) ​

    To debug something using a named 3D vector.

    Field NameTypeUnits描述
    namechar[10]Name
    Messages with same value are from the same source (instance).
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    xfloatx
    yfloaty
    zfloatz

    NAMED_VALUE_FLOAT (251) ​

    Send a key-value pair as float. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output.

    Field NameTypeUnits描述
    time_boot_msuint32_tmsTimestamp (time since system boot).
    namechar[10]Name of the debug variable
    Messages with same value are from the same source (instance).
    valuefloatFloating point value

    NAMED_VALUE_INT (252) ​

    Send a key-value pair as integer. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output.

    Field NameTypeUnits描述
    time_boot_msuint32_tmsTimestamp (time since system boot).
    namechar[10]Name of the debug variable
    Messages with same value are from the same source (instance).
    valueint32_tSigned integer value

    STATUSTEXT (253) ​

    Status text message. These messages are printed in yellow in the COMM console of QGroundControl. WARNING: They consume quite some bandwidth, so use only for important status and error messages. If implemented wisely, these messages are buffered on the MCU and sent only at a limited rate (e.g. 10 Hz).

    Field NameType值描述
    severityuint8_tMAV_SEVERITYSeverity of status. Relies on the definitions within RFC-5424.
    textchar[50]Status text message, without null termination character
    id ++uint16_tUnique (opaque) identifier for this statustext message. May be used to reassemble a logical long-statustext message from a sequence of chunks. A value of zero indicates this is the only chunk in the sequence and the message can be emitted immediately.
    chunk_seq ++uint8_tThis chunk's sequence number; indexing is from zero. Any null character in the text field is taken to mean this was the last chunk.

    DEBUG (254) ​

    Send a debug value. The index is used to discriminate between values. These values show up in the plot of QGroundControl as DEBUG N.

    Field NameTypeUnits描述
    time_boot_msuint32_tmsTimestamp (time since system boot).
    induint8_tindex of debug variable
    valuefloatDEBUG value

    SETUP_SIGNING (256) ​

    Setup a MAVLink2 signing key. If called with secret_key of all zero and zero initial_timestamp will disable signing

    Field NameType描述
    target_systemuint8_tsystem id of the target
    target_componentuint8_tcomponent ID of the target
    secret_keyuint8_t[32]signing key
    initial_timestampuint64_tinitial timestamp

    BUTTON_CHANGE (257) ​

    Report button state change.

    Field NameTypeUnits描述
    time_boot_msuint32_tmsTimestamp (time since system boot).
    last_change_msuint32_tmsTime of last change of button state.
    stateuint8_tBitmap for state of buttons.

    PLAY_TUNE (258) — [DEP] ​

    DEPRECATED: Replaced By PLAY_TUNE_V2 (2019-10) — New version explicitly defines format. More interoperable.)

    Control vehicle tone generation (buzzer).

    Field NameType描述
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    tunechar[30]tune in board specific format
    tune2 ++char[200]tune extension (appended to tune)

    CAMERA_INFORMATION (259) ​

    Information about a camera. Can be requested with a MAV_CMD_REQUEST_MESSAGE command.

    Field NameTypeUnits值描述
    time_boot_msuint32_tmsTimestamp (time since system boot).
    vendor_nameuint8_t[32]Name of the camera vendor
    model_nameuint8_t[32]Name of the camera model
    firmware_versionuint32_tinvalid:0Version of the camera firmware, encoded as: (Dev & 0xff) << 24(Patch & 0xff) << 16(Minor & 0xff) << 8(Major & 0xff). Use 0 if not known.
    focal_lengthfloat毫米invalid:NaNFocal length. Use NaN if not known.
    sensor_size_hfloat毫米invalid:NaNImage sensor size horizontal. Use NaN if not known.
    sensor_size_vfloat毫米invalid:NaNImage sensor size vertical. Use NaN if not known.
    resolution_huint16_tpixinvalid:0Horizontal image resolution. Use 0 if not known.
    resolution_vuint16_tpixinvalid:0Vertical image resolution. Use 0 if not known.
    lens_iduint8_tinvalid:0Reserved for a lens ID. Use 0 if not known.
    flagsuint32_tCAMERA_CAP_FLAGSBitmap of camera capability flags.
    cam_definition_versionuint16_tCamera definition version (iteration). Use 0 if not known.
    cam_definition_urichar[140]Camera definition URI (if any, otherwise only basic functions will be available). HTTP- (http://) and MAVLink FTP- (mavlinkftp://) formatted URIs are allowed (and both must be supported by any GCS that implements the Camera Protocol). The definition file may be xz compressed, which will be indicated by the file extension .xml.xz (a GCS that implements the protocol must support decompressing the file). The string needs to be zero terminated. Use a zero-length string if not known.
    gimbal_device_id ++uint8_tinvalid:0Gimbal id of a gimbal associated with this camera. This is the component id of the gimbal device, or 1-6 for non mavlink gimbals. Use 0 if no gimbal is associated with the camera.
    camera_device_id ++uint8_tdefault:0 min:0 max:6Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

    CAMERA_SETTINGS (260) ​

    Settings of a camera. Can be requested with a MAV_CMD_REQUEST_MESSAGE command.

    Field NameTypeUnits值描述
    time_boot_msuint32_tmsTimestamp (time since system boot).
    mode_iduint8_tCAMERA_MODECamera mode
    zoomLevel ++floatinvalid:NaNCurrent zoom level as a percentage of the full range (0.0 to 100.0, NaN if not known)
    focusLevel ++floatinvalid:NaNCurrent focus level as a percentage of the full range (0.0 to 100.0, NaN if not known)
    camera_device_id ++uint8_tdefault:0 min:0 max:6Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

    STORAGE_INFORMATION (261) ​

    Information about a storage medium. This message is sent in response to a request with MAV_CMD_REQUEST_MESSAGE and whenever the status of the storage changes (STORAGE_STATUS). Use MAV_CMD_REQUEST_MESSAGE.param2 to indicate the index/id of requested storage: 0 for all, 1 for first, 2 for second, etc.

    Field NameTypeUnits值描述
    time_boot_msuint32_tmsTimestamp (time since system boot).
    storage_iduint8_tStorage ID (1 for first, 2 for second, etc.)
    Messages with same value are from the same source (instance).
    storage_countuint8_tNumber of storage devices
    statusuint8_tSTORAGE_STATUSStatus of storage
    total_capacityfloatMiBTotal capacity. If storage is not ready (STORAGE_STATUS_READY) value will be ignored.
    used_capacityfloatMiBUsed capacity. If storage is not ready (STORAGE_STATUS_READY) value will be ignored.
    available_capacityfloatMiBAvailable storage capacity. If storage is not ready (STORAGE_STATUS_READY) value will be ignored.
    read_speedfloatMiB/sRead speed.
    write_speedfloatMiB/sWrite speed.
    type ++uint8_tSTORAGE_TYPEType of storage
    name ++char[32]Textual storage name to be used in UI (microSD 1, Internal Memory, etc.) This is a NULL terminated string. If it is exactly 32 characters long, add a terminating NULL. If this string is empty, the generic type is shown to the user.
    storage_usage ++uint8_tSTORAGE_USAGE_FLAGFlags indicating whether this instance is preferred storage for photos, videos, etc.
    Note: Implementations should initially set the flags on the system-default storage id used for saving media (if possible/supported).
    This setting can then be overridden using MAV_CMD_SET_STORAGE_USAGE.
    If the media usage flags are not set, a GCS may assume storage ID 1 is the default storage for all media types.

    CAMERA_CAPTURE_STATUS (262) ​

    Information about the status of a capture. Can be requested with a MAV_CMD_REQUEST_MESSAGE command.

    Field NameTypeUnits描述
    time_boot_msuint32_tmsTimestamp (time since system boot).
    image_statusuint8_tCurrent status of image capturing (0: idle, 1: capture in progress, 2: interval set but idle, 3: interval set and capture in progress)
    video_statusuint8_tCurrent status of video capturing (0: idle, 1: capture in progress)
    image_intervalfloatsImage capture interval
    recording_time_msuint32_tmsElapsed time since recording started (0: Not supported/available). A GCS should compute recording time and use non-zero values of this field to correct any discrepancy.
    available_capacityfloatMiBAvailable storage capacity.
    image_count ++int32_tTotal number of images captured ('forever', or until reset using MAV_CMD_STORAGE_FORMAT).
    camera_device_id ++uint8_tCamera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

    CAMERA_IMAGE_CAPTURED (263) ​

    Information about a captured image. This is emitted every time a message is captured.

    MAV_CMD_REQUEST_MESSAGE can be used to (re)request this message for a specific sequence number or range of sequence numbers: MAV_CMD_REQUEST_MESSAGE.param2 indicates the sequence number the first image to send, or set to -1 to send the message for all sequence numbers. MAV_CMD_REQUEST_MESSAGE.param3 is used to specify a range of messages to send: set to 0 (default) to send just the the message for the sequence number in param 2, set to -1 to send the message for the sequence number in param 2 and all the following sequence numbers, set to the sequence number of the final message in the range.

    Field NameTypeUnits描述
    time_boot_msuint32_tmsTimestamp (time since system boot).
    time_utcuint64_tusTimestamp (time since UNIX epoch) in UTC. 0 for unknown.
    camera_iduint8_tDeprecated/unused. Component IDs are used to differentiate multiple cameras.
    latint32_tdegE7Latitude where image was taken
    lonint32_tdegE7Longitude where capture was taken
    altint32_t毫米Altitude (MSL) where image was taken
    relative_altint32_t毫米Altitude above ground
    qfloat[4]Quaternion of camera orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
    image_indexint32_tZero based index of this image (i.e. a new image will have index CAMERA_CAPTURE_STATUS.image count -1)
    capture_resultint8_tBoolean indicating success (1) or failure (0) while capturing this image.
    file_urlchar[205]URL of image taken. Either local storage or http://foo.jpg if camera provides an HTTP interface.

    FLIGHT_INFORMATION (264) ​

    Flight information.

    This includes time since boot for arm, takeoff, and land, and a flight number. Takeoff and landing values reset to zero on arm. This can be requested using MAV_CMD_REQUEST_MESSAGE. Note, some fields are misnamed - timestamps are from boot (not UTC) and the flight_uuid is a sequence number.

    Field NameTypeUnits描述
    time_boot_msuint32_tmsTimestamp (time since system boot).
    arming_time_utcuint64_tusTimestamp at arming (since system boot). Set to 0 on boot. Set value on arming. Note, field is misnamed UTC.
    takeoff_time_utcuint64_tusTimestamp at takeoff (since system boot). Set to 0 at boot and on arming. Note, field is misnamed UTC.
    flight_uuiduint64_tFlight number. Note, field is misnamed UUID.
    landing_time ++uint32_tmsTimestamp at landing (in ms since system boot). Set to 0 at boot and on arming.

    MOUNT_ORIENTATION (265) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (2020-01) — This message is being superseded by MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW. The message can still be used to communicate with legacy gimbals implementing it.)

    Orientation of a mount

    Field NameTypeUnits描述
    time_boot_msuint32_tmsTimestamp (time since system boot).
    rollfloat度Roll in global frame (set to NaN for invalid).
    俯仰角float度Pitch in global frame (set to NaN for invalid).
    yawfloat度Yaw relative to vehicle (set to NaN for invalid).
    yaw_absolute ++float度Yaw in absolute frame relative to Earth's North, north is 0 (set to NaN for invalid).

    LOGGING_DATA (266) ​

    A message containing logged data (see also MAV_CMD_LOGGING_START)

    Field NameTypeUnits描述
    target_systemuint8_tsystem ID of the target
    target_componentuint8_tcomponent ID of the target
    sequenceuint16_tsequence number (can wrap)
    lengthuint8_tbytesdata length
    first_message_offsetuint8_tbytesoffset into data where first message starts. This can be used for recovery, when a previous message got lost (set to UINT8_MAX if no start exists).
    datauint8_t[249]logged data

    LOGGING_DATA_ACKED (267) ​

    A message containing logged data which requires a LOGGING_ACK to be sent back

    Field NameTypeUnits描述
    target_systemuint8_tsystem ID of the target
    target_componentuint8_tcomponent ID of the target
    sequenceuint16_tsequence number (can wrap)
    lengthuint8_tbytesdata length
    first_message_offsetuint8_tbytesoffset into data where first message starts. This can be used for recovery, when a previous message got lost (set to UINT8_MAX if no start exists).
    datauint8_t[249]logged data

    LOGGING_ACK (268) ​

    An ack for a LOGGING_DATA_ACKED message

    Field NameType描述
    target_systemuint8_tsystem ID of the target
    target_componentuint8_tcomponent ID of the target
    sequenceuint16_tsequence number (must match the one in LOGGING_DATA_ACKED)

    VIDEO_STREAM_INFORMATION (269) ​

    Information about video stream. It may be requested using MAV_CMD_REQUEST_MESSAGE, where param2 indicates the video stream id: 0 for all streams, 1 for first, 2 for second, etc.

    Field NameTypeUnits值描述
    stream_iduint8_tVideo Stream ID (1 for first, 2 for second, etc.)
    Messages with same value are from the same source (instance).
    countuint8_tNumber of streams available.
    typeuint8_tVIDEO_STREAM_TYPEType of stream.
    flagsuint16_tVIDEO_STREAM_STATUS_FLAGSBitmap of stream status flags.
    frameratefloatHzFrame rate.
    resolution_huint16_tpixHorizontal resolution.
    resolution_vuint16_tpixVertical resolution.
    bitrateuint32_tbits/sBit rate.
    rotationuint16_t度Video image rotation clockwise.
    hfovuint16_t度Horizontal Field of view.
    namechar[32]Stream name.
    urichar[160]Video stream URI (TCP or RTSP URI ground station should connect to) or port number (UDP port ground station should listen to).
    encoding ++uint8_tVIDEO_STREAM_ENCODINGEncoding of stream.
    camera_device_id ++uint8_tdefault:0 min:0 max:6Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

    VIDEO_STREAM_STATUS (270) ​

    Information about the status of a video stream. It may be requested using MAV_CMD_REQUEST_MESSAGE.

    Field NameTypeUnits值描述
    stream_iduint8_tVideo Stream ID (1 for first, 2 for second, etc.)
    Messages with same value are from the same source (instance).
    flagsuint16_tVIDEO_STREAM_STATUS_FLAGSBitmap of stream status flags
    frameratefloatHzFrame rate
    resolution_huint16_tpixHorizontal resolution
    resolution_vuint16_tpixVertical resolution
    bitrateuint32_tbits/sBit rate
    rotationuint16_t度Video image rotation clockwise
    hfovuint16_t度Horizontal Field of view
    camera_device_id ++uint8_tdefault:0 min:0 max:6Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

    CAMERA_FOV_STATUS (271) ​

    Information about the field of view of a camera. Can be requested with a MAV_CMD_REQUEST_MESSAGE command.

    Field NameTypeUnits描述
    time_boot_msuint32_tmsTimestamp (time since system boot).
    lat_cameraint32_tdegE7Latitude of camera (INT32_MAX if unknown).
    lon_cameraint32_tdegE7Longitude of camera (INT32_MAX if unknown).
    alt_cameraint32_t毫米Altitude (MSL) of camera (INT32_MAX if unknown).
    lat_imageint32_tdegE7Latitude of center of image (INT32_MAX if unknown, INT32_MIN if at infinity, not intersecting with horizon).
    lon_imageint32_tdegE7Longitude of center of image (INT32_MAX if unknown, INT32_MIN if at infinity, not intersecting with horizon).
    alt_imageint32_t毫米Altitude (MSL) of center of image (INT32_MAX if unknown, INT32_MIN if at infinity, not intersecting with horizon).
    qfloat[4]Quaternion of camera orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
    hfovfloat度Horizontal field of view (NaN if unknown).
    vfovfloat度Vertical field of view (NaN if unknown).
    camera_device_id ++uint8_tCamera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

    CAMERA_TRACKING_IMAGE_STATUS (275) ​

    Camera tracking status, sent while in active tracking. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval.

    Field NameType值描述
    tracking_statusuint8_tCAMERA_TRACKING_STATUS_FLAGSCurrent tracking status
    tracking_modeuint8_tCAMERA_TRACKING_MODECurrent tracking mode
    target_datauint8_tCAMERA_TRACKING_TARGET_DATADefines location of target data
    point_xfloatinvalid:NaNCurrent tracked point x value if CAMERA_TRACKING_MODE_POINT (normalized 0..1, 0 is left, 1 is right), NAN if unknown
    point_yfloatinvalid:NaNCurrent tracked point y value if CAMERA_TRACKING_MODE_POINT (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown
    radiusfloatinvalid:NaNCurrent tracked radius if CAMERA_TRACKING_MODE_POINT (normalized 0..1, 0 is image left, 1 is image right), NAN if unknown
    rec_top_xfloatinvalid:NaNCurrent tracked rectangle top x value if CAMERA_TRACKING_MODE_RECTANGLE (normalized 0..1, 0 is left, 1 is right), NAN if unknown
    rec_top_yfloatinvalid:NaNCurrent tracked rectangle top y value if CAMERA_TRACKING_MODE_RECTANGLE (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown
    rec_bottom_xfloatinvalid:NaNCurrent tracked rectangle bottom x value if CAMERA_TRACKING_MODE_RECTANGLE (normalized 0..1, 0 is left, 1 is right), NAN if unknown
    rec_bottom_yfloatinvalid:NaNCurrent tracked rectangle bottom y value if CAMERA_TRACKING_MODE_RECTANGLE (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown
    camera_device_id ++uint8_tdefault:0 min:0 max:6Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

    CAMERA_TRACKING_GEO_STATUS (276) ​

    Camera tracking status, sent while in active tracking. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval.

    Field NameTypeUnits值描述
    tracking_statusuint8_tCAMERA_TRACKING_STATUS_FLAGSCurrent tracking status
    latint32_tdegE7Latitude of tracked object
    lonint32_tdegE7Longitude of tracked object
    altfloatmAltitude of tracked object(AMSL, WGS84)
    h_accfloatminvalid:NaNHorizontal accuracy. NAN if unknown
    v_accfloatminvalid:NaNVertical accuracy. NAN if unknown
    vel_nfloatm/sinvalid:NaNNorth velocity of tracked object. NAN if unknown
    vel_efloatm/sinvalid:NaNEast velocity of tracked object. NAN if unknown
    vel_dfloatm/sinvalid:NaNDown velocity of tracked object. NAN if unknown
    vel_accfloatm/sinvalid:NaNVelocity accuracy. NAN if unknown
    distfloatminvalid:NaNDistance between camera and tracked object. NAN if unknown
    hdgfloatradinvalid:NaNHeading in radians, in NED. NAN if unknown
    hdg_accfloatradinvalid:NaNAccuracy of heading, in NED. NAN if unknown
    camera_device_id ++uint8_tdefault:0 min:0 max:6Camera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).

    CAMERA_THERMAL_RANGE (277) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Camera absolute thermal range. This can be streamed when the associated VIDEO_STREAM_STATUS flag field bit VIDEO_STREAM_STATUS_FLAGS_THERMAL_RANGE_ENABLED is set, but a GCS may choose to only request it for the current active stream. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval (param3 indicates the stream id of the current camera, or 0 for all streams, param4 indicates the target camera_device_id for autopilot-attached cameras or 0 for MAVLink cameras).

    Field NameTypeUnits描述
    time_boot_msuint32_tmsTimestamp (time since system boot).
    stream_iduint8_tVideo Stream ID (1 for first, 2 for second, etc.)
    Messages with same value are from the same source (instance).
    camera_device_iduint8_tCamera id of a non-MAVLink camera attached to an autopilot (1-6). 0 if the component is a MAVLink camera (with its own component id).
    maxfloatdegCTemperature max.
    max_point_xfloatTemperature max point x value (normalized 0..1, 0 is left, 1 is right), NAN if unknown.
    max_point_yfloatTemperature max point y value (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown.
    minfloatdegCTemperature min.
    min_point_xfloatTemperature min point x value (normalized 0..1, 0 is left, 1 is right), NAN if unknown.
    min_point_yfloatTemperature min point y value (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown.

    GIMBAL_MANAGER_INFORMATION (280) ​

    Information about a high level gimbal manager. This message should be requested by a ground station using MAV_CMD_REQUEST_MESSAGE.

    Field NameTypeUnits值描述
    time_boot_msuint32_tmsTimestamp (time since system boot).
    cap_flagsuint32_tGIMBAL_MANAGER_CAP_FLAGSBitmap of gimbal capability flags.
    gimbal_device_iduint8_tGimbal device ID that this gimbal manager is responsible for. Component ID of gimbal device (or 1-6 for non-MAVLink gimbal).
    Messages with same value are from the same source (instance).
    roll_minfloatradMinimum hardware roll angle (positive: rolling to the right, negative: rolling to the left)
    roll_maxfloatradMaximum hardware roll angle (positive: rolling to the right, negative: rolling to the left)
    pitch_minfloatradMinimum pitch angle (positive: up, negative: down)
    pitch_maxfloatradMaximum pitch angle (positive: up, negative: down)
    yaw_minfloatradMinimum yaw angle (positive: to the right, negative: to the left)
    yaw_maxfloatradMaximum yaw angle (positive: to the right, negative: to the left)

    GIMBAL_MANAGER_STATUS (281) ​

    Current status about a high level gimbal manager. This message should be broadcast at a low regular rate (e.g. 5Hz).

    Field NameTypeUnits值描述
    time_boot_msuint32_tmsTimestamp (time since system boot).
    flagsuint32_tGIMBAL_MANAGER_FLAGSHigh level gimbal manager flags currently applied.
    gimbal_device_iduint8_tGimbal device ID that this gimbal manager is responsible for. Component ID of gimbal device (or 1-6 for non-MAVLink gimbal).
    Messages with same value are from the same source (instance).
    primary_control_sysiduint8_tSystem ID of MAVLink component with primary control, 0 for none.
    primary_control_compiduint8_tComponent ID of MAVLink component with primary control, 0 for none.
    secondary_control_sysiduint8_tSystem ID of MAVLink component with secondary control, 0 for none.
    secondary_control_compiduint8_tComponent ID of MAVLink component with secondary control, 0 for none.

    GIMBAL_MANAGER_SET_ATTITUDE (282) ​

    High level message to control a gimbal's attitude. This message is to be sent to the gimbal manager (e.g. from a ground station). Angles and rates can be set to NaN according to use case.

    Field NameTypeUnits值描述
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    flagsuint32_tGIMBAL_MANAGER_FLAGSHigh level gimbal manager flags to use.
    gimbal_device_iduint8_tComponent ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).
    Messages with same value are from the same source (instance).
    qfloat[4]Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation, the frame is depends on whether the flag GIMBAL_MANAGER_FLAGS_YAW_LOCK is set)
    angular_velocity_xfloatrad/sinvalid:NaNX component of angular velocity, positive is rolling to the right, NaN to be ignored.
    angular_velocity_yfloatrad/sinvalid:NaNY component of angular velocity, positive is pitching up, NaN to be ignored.
    angular_velocity_zfloatrad/sinvalid:NaNZ component of angular velocity, positive is yawing to the right, NaN to be ignored.

    GIMBAL_DEVICE_INFORMATION (283) ​

    Information about a low level gimbal. This message should be requested by the gimbal manager or a ground station using MAV_CMD_REQUEST_MESSAGE. The maximum angles and rates are the limits by hardware. However, the limits by software used are likely different/smaller and dependent on mode/settings/etc..

    Field NameTypeUnits值描述
    time_boot_msuint32_tmsTimestamp (time since system boot).
    vendor_namechar[32]Name of the gimbal vendor.
    model_namechar[32]Name of the gimbal model.
    custom_namechar[32]Custom name of the gimbal given to it by the user.
    firmware_versionuint32_tVersion of the gimbal firmware, encoded as: (Dev & 0xff) << 24(Patch & 0xff) << 16(Minor & 0xff) << 8(Major & 0xff).
    hardware_versionuint32_tVersion of the gimbal hardware, encoded as: (Dev & 0xff) << 24(Patch & 0xff) << 16(Minor & 0xff) << 8(Major & 0xff).
    uiduint64_tinvalid:0UID of gimbal hardware (0 if unknown).
    cap_flagsuint16_tGIMBAL_DEVICE_CAP_FLAGSBitmap of gimbal capability flags.
    custom_cap_flagsuint16_tBitmap for use for gimbal-specific capability flags.
    roll_minfloatradinvalid:NaNMinimum hardware roll angle (positive: rolling to the right, negative: rolling to the left). NAN if unknown.
    roll_maxfloatradinvalid:NaNMaximum hardware roll angle (positive: rolling to the right, negative: rolling to the left). NAN if unknown.
    pitch_minfloatradinvalid:NaNMinimum hardware pitch angle (positive: up, negative: down). NAN if unknown.
    pitch_maxfloatradinvalid:NaNMaximum hardware pitch angle (positive: up, negative: down). NAN if unknown.
    yaw_minfloatradinvalid:NaNMinimum hardware yaw angle (positive: to the right, negative: to the left). NAN if unknown.
    yaw_maxfloatradinvalid:NaNMaximum hardware yaw angle (positive: to the right, negative: to the left). NAN if unknown.
    gimbal_device_id ++uint8_tinvalid:0This field is to be used if the gimbal manager and the gimbal device are the same component and hence have the same component ID. This field is then set to a number between 1-6. If the component ID is separate, this field is not required and must be set to 0.

    GIMBAL_DEVICE_SET_ATTITUDE (284) ​

    Low level message to control a gimbal device's attitude.

    This message is to be sent from the gimbal manager to the gimbal device component. The quaternion and angular velocities can be set to NaN according to use case. For the angles encoded in the quaternion and the angular velocities holds: If the flag GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME is set, then they are relative to the vehicle heading (vehicle frame). If the flag GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME is set, then they are relative to absolute North (earth frame). If neither of these flags are set, then (for backwards compatibility) it holds: If the flag GIMBAL_DEVICE_FLAGS_YAW_LOCK is set, then they are relative to absolute North (earth frame), else they are relative to the vehicle heading (vehicle frame). Setting both GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME and GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME is not allowed. These rules are to ensure backwards compatibility. New implementations should always set either GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME or GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME.

    Field NameTypeUnits值描述
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    flagsuint16_tGIMBAL_DEVICE_FLAGSLow level gimbal flags.
    qfloat[4]invalid:[NaN]Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation). The frame is described in the message description. Set fields to NaN to be ignored.
    angular_velocity_xfloatrad/sinvalid:NaNX component of angular velocity (positive: rolling to the right). The frame is described in the message description. NaN to be ignored.
    angular_velocity_yfloatrad/sinvalid:NaNY component of angular velocity (positive: pitching up). The frame is described in the message description. NaN to be ignored.
    angular_velocity_zfloatrad/sinvalid:NaNZ component of angular velocity (positive: yawing to the right). The frame is described in the message description. NaN to be ignored.

    GIMBAL_DEVICE_ATTITUDE_STATUS (285) ​

    Message reporting the status of a gimbal device.

    This message should be broadcast by a gimbal device component at a low regular rate (e.g. 5 Hz). For the angles encoded in the quaternion and the angular velocities holds: If the flag GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME is set, then they are relative to the vehicle heading (vehicle frame). If the flag GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME is set, then they are relative to absolute North (earth frame). If neither of these flags are set, then (for backwards compatibility) it holds: If the flag GIMBAL_DEVICE_FLAGS_YAW_LOCK is set, then they are relative to absolute North (earth frame), else they are relative to the vehicle heading (vehicle frame). Other conditions of the flags are not allowed. The quaternion and angular velocities in the other frame can be calculated from delta_yaw and delta_yaw_velocity as q_earth = q_delta_yaw * q_vehicle and w_earth = w_delta_yaw_velocity + w_vehicle (if not NaN). If neither the GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME nor the GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME flag is set, then (for backwards compatibility) the data in the delta_yaw and delta_yaw_velocity fields are to be ignored. New implementations should always set either GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME or GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME, and always should set delta_yaw and delta_yaw_velocity either to the proper value or NaN.

    Field NameTypeUnits值描述
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    time_boot_msuint32_tmsTimestamp (time since system boot).
    flagsuint16_tGIMBAL_DEVICE_FLAGSCurrent gimbal flags set.
    qfloat[4]Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation). The frame is described in the message description.
    angular_velocity_xfloatrad/sinvalid:NaNX component of angular velocity (positive: rolling to the right). The frame is described in the message description. NaN if unknown.
    angular_velocity_yfloatrad/sinvalid:NaNY component of angular velocity (positive: pitching up). The frame is described in the message description. NaN if unknown.
    angular_velocity_zfloatrad/sinvalid:NaNZ component of angular velocity (positive: yawing to the right). The frame is described in the message description. NaN if unknown.
    failure_flagsuint32_tGIMBAL_DEVICE_ERROR_FLAGSFailure flags (0 for no failure)
    delta_yaw ++floatradinvalid:NANYaw angle relating the quaternions in earth and body frames (see message description). NaN if unknown.
    delta_yaw_velocity ++floatrad/sinvalid:NANYaw angular velocity relating the angular velocities in earth and body frames (see message description). NaN if unknown.
    gimbal_device_id ++uint8_tinvalid:0This field is to be used if the gimbal manager and the gimbal device are the same component and hence have the same component ID. This field is then set a number between 1-6. If the component ID is separate, this field is not required and must be set to 0.

    AUTOPILOT_STATE_FOR_GIMBAL_DEVICE (286) ​

    Low level message containing autopilot state relevant for a gimbal device. This message is to be sent from the autopilot to the gimbal device component. The data of this message are for the gimbal device's estimator corrections, in particular horizon compensation, as well as indicates autopilot control intentions, e.g. feed forward angular control in the z-axis.

    Field NameTypeUnits值描述
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    time_boot_usuint64_tusTimestamp (time since system boot).
    qfloat[4]Quaternion components of autopilot attitude: w, x, y, z (1 0 0 0 is the null-rotation, Hamilton convention).
    q_estimated_delay_usuint32_tusinvalid:0Estimated delay of the attitude data. 0 if unknown.
    vxfloatm/sinvalid:NaNX Speed in NED (North, East, Down). NAN if unknown.
    vyfloatm/sinvalid:NaNY Speed in NED (North, East, Down). NAN if unknown.
    vzfloatm/sinvalid:NaNZ Speed in NED (North, East, Down). NAN if unknown.
    v_estimated_delay_usuint32_tusinvalid:0Estimated delay of the speed data. 0 if unknown.
    feed_forward_angular_velocity_zfloatrad/sinvalid:NaNFeed forward Z component of angular velocity (positive: yawing to the right). NaN to be ignored. This is to indicate if the autopilot is actively yawing.
    estimator_statusuint16_tESTIMATOR_STATUS_FLAGSBitmap indicating which estimator outputs are valid.
    landed_stateuint8_tinvalid:MAV_LANDED_STATE_UNDEFINED MAV_LANDED_STATEThe landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.
    angular_velocity_z ++floatrad/sinvalid:NaNZ component of angular velocity in NED (North, East, Down). NaN if unknown.

    GIMBAL_MANAGER_SET_PITCHYAW (287) ​

    Set gimbal manager pitch and yaw angles (high rate message). This message is to be sent to the gimbal manager (e.g. from a ground station) and will be ignored by gimbal devices. Angles and rates can be set to NaN according to use case. Use MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW for low-rate adjustments that require confirmation.

    Field NameTypeUnits值描述
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    flagsuint32_tGIMBAL_MANAGER_FLAGSHigh level gimbal manager flags to use.
    gimbal_device_iduint8_tComponent ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).
    Messages with same value are from the same source (instance).
    俯仰角floatradinvalid:NaNPitch angle (positive: up, negative: down, NaN to be ignored).
    yawfloatradinvalid:NaNYaw angle (positive: to the right, negative: to the left, NaN to be ignored).
    pitch_ratefloatrad/sinvalid:NaNPitch angular rate (positive: up, negative: down, NaN to be ignored).
    yaw_ratefloatrad/sinvalid:NaNYaw angular rate (positive: to the right, negative: to the left, NaN to be ignored).

    GIMBAL_MANAGER_SET_MANUAL_CONTROL (288) ​

    High level message to control a gimbal manually. The angles or angular rates are unitless; the actual rates will depend on internal gimbal manager settings/configuration (e.g. set by parameters). This message is to be sent to the gimbal manager (e.g. from a ground station). Angles and rates can be set to NaN according to use case.

    Field NameType值描述
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    flagsuint32_tGIMBAL_MANAGER_FLAGSHigh level gimbal manager flags.
    gimbal_device_iduint8_tComponent ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).
    Messages with same value are from the same source (instance).
    俯仰角floatinvalid:NaNPitch angle unitless (-1..1, positive: up, negative: down, NaN to be ignored).
    yawfloatinvalid:NaNYaw angle unitless (-1..1, positive: to the right, negative: to the left, NaN to be ignored).
    pitch_ratefloatinvalid:NaNPitch angular rate unitless (-1..1, positive: up, negative: down, NaN to be ignored).
    yaw_ratefloatinvalid:NaNYaw angular rate unitless (-1..1, positive: to the right, negative: to the left, NaN to be ignored).

    ESC_INFO (290) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    ESC information for lower rate streaming. Recommended streaming rate 1Hz. See ESC_STATUS for higher-rate ESC data.

    Field NameTypeUnits值描述
    indexuint8_tIndex of the first ESC in this message. minValue = 0, maxValue = 60, increment = 4.
    Messages with same value are from the same source (instance).
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
    counteruint16_tCounter of data packets received.
    countuint8_tTotal number of ESCs in all messages of this type. Message fields with an index higher than this should be ignored because they contain invalid data.
    connection_typeuint8_tESC_CONNECTION_TYPEConnection type protocol for all ESC.
    infouint8_tInformation regarding online/offline status of each ESC.
    failure_flagsuint16_t[4]ESC_FAILURE_FLAGSBitmap of ESC failure flags.
    error_countuint32_t[4]Number of reported errors by each ESC since boot.
    temperatureint16_t[4]cdegCinvalid:[INT16_MAX]Temperature of each ESC. INT16_MAX: if data not supplied by ESC.

    ESC_STATUS (291) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    ESC information for higher rate streaming. Recommended streaming rate is ~10 Hz. Information that changes more slowly is sent in ESC_INFO. It should typically only be streamed on high-bandwidth links (i.e. to a companion computer).

    Field NameTypeUnits描述
    indexuint8_tIndex of the first ESC in this message. minValue = 0, maxValue = 60, increment = 4.
    Messages with same value are from the same source (instance).
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
    rpmint32_t[4]rpmReported motor RPM from each ESC (negative for reverse rotation).
    voltagefloat[4]VVoltage measured from each ESC.
    currentfloat[4]ACurrent measured from each ESC.

    WIFI_CONFIG_AP (299) ​

    Configure WiFi AP SSID, password, and mode. This message is re-emitted as an acknowledgement by the AP. The message may also be explicitly requested using MAV_CMD_REQUEST_MESSAGE

    Field NameType值描述
    ssidchar[32]Name of Wi-Fi network (SSID). Blank to leave it unchanged when setting. Current SSID when sent back as a response.
    passwordchar[64]Password. Blank for an open AP. MD5 hash when message is sent back as a response.
    mode ++int8_tWIFI_CONFIG_AP_MODEWiFi Mode.
    response ++int8_tWIFI_CONFIG_AP_RESPONSEMessage acceptance response (sent back to GS).

    PROTOCOL_VERSION (300) — [from: minimal] [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Version and capability of protocol version. This message can be requested with MAV_CMD_REQUEST_MESSAGE and is used as part of the handshaking to establish which MAVLink version should be used on the network. Every node should respond to a request for PROTOCOL_VERSION to enable the handshaking. Library implementers should consider adding this into the default decoding state machine to allow the protocol core to respond directly.

    Field NameType描述
    versionuint16_tCurrently active MAVLink version number * 100: v1.0 is 100, v2.0 is 200, etc.
    min_versionuint16_tMinimum MAVLink version supported
    max_versionuint16_tMaximum MAVLink version supported (set to the same value as version by default)
    spec_version_hashuint8_t[8]The first 8 bytes (not characters printed in hex!) of the git hash.
    library_version_hashuint8_t[8]The first 8 bytes (not characters printed in hex!) of the git hash.

    AIS_VESSEL (301) ​

    The location and information of an AIS vessel

    Field NameTypeUnits值描述
    MMSIuint32_tMobile Marine Service Identifier, 9 decimal digits
    latint32_tdegE7Latitude
    lonint32_tdegE7Longitude
    COGuint16_tcdegCourse over ground
    headinguint16_tcdegTrue heading
    velocityuint16_t厘米/秒Speed over ground
    turn_rateint8_tcdeg/sTurn rate
    navigational_statusuint8_tAIS_NAV_STATUSNavigational status
    typeuint8_tAIS_TYPEType of vessels
    dimension_bowuint16_tmDistance from lat/lon location to bow
    dimension_sternuint16_tmDistance from lat/lon location to stern
    dimension_portuint8_tmDistance from lat/lon location to port side
    dimension_starboarduint8_tmDistance from lat/lon location to starboard side
    callsignchar[7]The vessel callsign
    namechar[20]The vessel name
    tslcuint16_tsTime since last communication in seconds
    flagsuint16_tAIS_FLAGSBitmask to indicate various statuses including valid data fields

    UAVCAN_NODE_STATUS (310) ​

    General status information of an UAVCAN node. Please refer to the definition of the UAVCAN message "uavcan.protocol.NodeStatus" for the background information. The UAVCAN specification is available at http://uavcan.org.

    Field NameTypeUnits值描述
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    uptime_secuint32_tsTime since the start-up of the node.
    healthuint8_tUAVCAN_NODE_HEALTHGeneralized node health status.
    模式uint8_tUAVCAN_NODE_MODEGeneralized operating mode.
    sub_modeuint8_tNot used currently.
    vendor_specific_status_codeuint16_tVendor-specific status information.

    UAVCAN_NODE_INFO (311) ​

    General information describing a particular UAVCAN node. Please refer to the definition of the UAVCAN service "uavcan.protocol.GetNodeInfo" for the background information. This message should be emitted by the system whenever a new node appears online, or an existing node reboots. Additionally, it can be emitted upon request from the other end of the MAVLink channel (see MAV_CMD_UAVCAN_GET_NODE_INFO). It is also not prohibited to emit this message unconditionally at a low frequency. The UAVCAN specification is available at http://uavcan.org.

    Field NameTypeUnits描述
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    uptime_secuint32_tsTime since the start-up of the node.
    namechar[80]Node name string. For example, "sapog.px4.io".
    hw_version_majoruint8_tHardware major version number.
    hw_version_minoruint8_tHardware minor version number.
    hw_unique_iduint8_t[16]Hardware unique 128-bit ID.
    sw_version_majoruint8_tSoftware major version number.
    sw_version_minoruint8_tSoftware minor version number.
    sw_vcs_commituint32_tVersion control system (VCS) revision identifier (e.g. git short commit hash). 0 if unknown.

    PARAM_EXT_REQUEST_READ (320) ​

    Request to read the value of a parameter with either the param_id string id or param_index. PARAM_EXT_VALUE should be emitted in response.

    Field NameType描述
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    param_idchar[16]Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
    param_indexint16_tParameter index. Set to -1 to use the Parameter ID field as identifier (else param_id will be ignored)

    PARAM_EXT_REQUEST_LIST (321) ​

    Request all parameters of this component. All parameters should be emitted in response as PARAM_EXT_VALUE.

    Field NameType描述
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID

    PARAM_EXT_VALUE (322) ​

    Emit the value of a parameter. The inclusion of param_count and param_index in the message allows the recipient to keep track of received parameters and allows them to re-request missing parameters after a loss or timeout.

    Field NameType值描述
    param_idchar[16]Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
    param_valuechar[128]Parameter value
    param_typeuint8_tMAV_PARAM_EXT_TYPEParameter type.
    param_countuint16_tTotal number of parameters
    param_indexuint16_tIndex of this parameter

    PARAM_EXT_SET (323) ​

    Set a parameter value. In order to deal with message loss (and retransmission of PARAM_EXT_SET), when setting a parameter value and the new value is the same as the current value, you will immediately get a PARAM_ACK_ACCEPTED response. If the current state is PARAM_ACK_IN_PROGRESS, you will accordingly receive a PARAM_ACK_IN_PROGRESS in response.

    Field NameType值描述
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    param_idchar[16]Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
    param_valuechar[128]Parameter value
    param_typeuint8_tMAV_PARAM_EXT_TYPEParameter type.

    PARAM_EXT_ACK (324) ​

    Response from a PARAM_EXT_SET message.

    Field NameType值描述
    param_idchar[16]Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
    param_valuechar[128]Parameter value (new value if PARAM_ACK_ACCEPTED, current value otherwise)
    param_typeuint8_tMAV_PARAM_EXT_TYPEParameter type.
    param_resultuint8_tPARAM_ACKResult code.

    OBSTACLE_DISTANCE (330) ​

    Obstacle distances in front of the sensor, starting from the left in increment degrees to the right

    Field NameTypeUnits值描述
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    sensor_typeuint8_tMAV_DISTANCE_SENSORClass id of the distance sensor type.
    distancesuint16_t[72]厘米invalid:[UINT16_MAX]Distance of obstacles around the vehicle with index 0 corresponding to north + angle_offset, unless otherwise specified in the frame. A value of 0 is valid and means that the obstacle is practically touching the sensor. A value of max_distance +1 means no obstacle is present. A value of UINT16_MAX for unknown/not used. In a array element, one unit corresponds to 1cm.
    incrementuint8_t度Angular width in degrees of each array element. Increment direction is clockwise. This field is ignored if increment_f is non-zero.
    min_distanceuint16_t厘米Minimum distance the sensor can measure.
    max_distanceuint16_t厘米Maximum distance the sensor can measure.
    increment_f ++float度Angular width in degrees of each array element as a float. If non-zero then this value is used instead of the uint8_t increment field. Positive is clockwise direction, negative is counter-clockwise.
    angle_offset ++float度Relative angle offset of the 0-index element in the distances array. Value of 0 corresponds to forward. Positive is clockwise direction, negative is counter-clockwise.
    frame ++uint8_tMAV_FRAMECoordinate frame of reference for the yaw rotation and offset of the sensor data. Defaults to MAV_FRAME_GLOBAL, which is north aligned. For body-mounted sensors use MAV_FRAME_BODY_FRD, which is vehicle front aligned.

    ODOMETRY (331) ​

    Odometry message to communicate odometry information with an external interface. Fits ROS REP 147 standard for aerial vehicles (http://www.ros.org/reps/rep-0147.html).

    Field NameTypeUnits值描述
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    frame_iduint8_tMAV_FRAMECoordinate frame of reference for the pose data.
    child_frame_iduint8_tMAV_FRAMECoordinate frame of reference for the velocity in free space (twist) data.
    xfloatmX Position
    yfloatmY Position
    zfloatmZ Position
    qfloat[4]Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
    vxfloatm/sX linear speed
    vyfloatm/sY linear speed
    vzfloatm/sZ linear speed
    rollspeedfloatrad/sRoll angular speed
    pitchspeedfloatrad/sPitch angular speed
    yawspeedfloatrad/sYaw angular speed
    pose_covariancefloat[21]invalid:[NaN:]Row-major representation of a 6x6 pose cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
    velocity_covariancefloat[21]invalid:[NaN:]Row-major representation of a 6x6 velocity cross-covariance matrix upper right triangle (states: vx, vy, vz, rollspeed, pitchspeed, yawspeed; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
    reset_counter ++uint8_tEstimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.
    estimator_type ++uint8_tMAV_ESTIMATOR_TYPEType of estimator that is providing the odometry.
    quality ++int8_t%invalid:0Optional odometry quality metric as a percentage. -1 = odometry has failed, 0 = unknown/unset quality, 1 = worst quality, 100 = best quality

    TRAJECTORY_REPRESENTATION_WAYPOINTS (332) ​

    Describe a trajectory using an array of up-to 5 waypoints in the local frame (MAV_FRAME_LOCAL_NED).

    Field NameTypeUnits值描述
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    valid_pointsuint8_tNumber of valid points (up-to 5 waypoints are possible)
    pos_xfloat[5]minvalid:[NaN]X-coordinate of waypoint, set to NaN if not being used
    pos_yfloat[5]minvalid:[NaN]Y-coordinate of waypoint, set to NaN if not being used
    pos_zfloat[5]minvalid:[NaN]Z-coordinate of waypoint, set to NaN if not being used
    vel_xfloat[5]m/sinvalid:[NaN]X-velocity of waypoint, set to NaN if not being used
    vel_yfloat[5]m/sinvalid:[NaN]Y-velocity of waypoint, set to NaN if not being used
    vel_zfloat[5]m/sinvalid:[NaN]Z-velocity of waypoint, set to NaN if not being used
    acc_xfloat[5]m/s/sinvalid:[NaN]X-acceleration of waypoint, set to NaN if not being used
    acc_yfloat[5]m/s/sinvalid:[NaN]Y-acceleration of waypoint, set to NaN if not being used
    acc_zfloat[5]m/s/sinvalid:[NaN]Z-acceleration of waypoint, set to NaN if not being used
    pos_yawfloat[5]radinvalid:[NaN]Yaw angle, set to NaN if not being used
    vel_yawfloat[5]rad/sinvalid:[NaN]Yaw rate, set to NaN if not being used
    commanduint16_t[5]invalid:[UINT16_MAX] MAV_CMDMAV_CMD command id of waypoint, set to UINT16_MAX if not being used.

    TRAJECTORY_REPRESENTATION_BEZIER (333) ​

    Describe a trajectory using an array of up-to 5 bezier control points in the local frame (MAV_FRAME_LOCAL_NED).

    Field NameTypeUnits描述
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    valid_pointsuint8_tNumber of valid control points (up-to 5 points are possible)
    pos_xfloat[5]mX-coordinate of bezier control points. Set to NaN if not being used
    pos_yfloat[5]mY-coordinate of bezier control points. Set to NaN if not being used
    pos_zfloat[5]mZ-coordinate of bezier control points. Set to NaN if not being used
    deltafloat[5]sBezier time horizon. Set to NaN if velocity/acceleration should not be incorporated
    pos_yawfloat[5]radYaw. Set to NaN for unchanged

    CELLULAR_STATUS (334) ​

    Report current used cellular network status

    Field NameType值描述
    statusuint8_tCELLULAR_STATUS_FLAGCellular modem status
    failure_reasonuint8_tCELLULAR_NETWORK_FAILED_REASONFailure reason when status in in CELLULAR_STATUS_FLAG_FAILED
    typeuint8_tCELLULAR_NETWORK_RADIO_TYPECellular network radio type: gsm, cdma, lte...
    qualityuint8_tinvalid:UINT8_MAXSignal quality in percent. If unknown, set to UINT8_MAX
    mccuint16_tinvalid:UINT16_MAXMobile country code. If unknown, set to UINT16_MAX
    mncuint16_tinvalid:UINT16_MAXMobile network code. If unknown, set to UINT16_MAX
    lacuint16_tinvalid:0Location area code. If unknown, set to 0

    Status of the Iridium SBD link.

    Field NameTypeUnits描述
    timestampuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    last_heartbeatuint64_tusTimestamp of the last successful sbd session. The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    failed_sessionsuint16_tNumber of failed SBD sessions.
    successful_sessionsuint16_tNumber of successful SBD sessions.
    signal_qualityuint8_tSignal quality equal to the number of bars displayed on the ISU signal strength indicator. Range is 0 to 5, where 0 indicates no signal and 5 indicates maximum signal strength.
    ring_pendinguint8_t1: Ring call pending, 0: No call pending.
    tx_session_pendinguint8_t1: Transmission session pending, 0: No transmission session pending.
    rx_session_pendinguint8_t1: Receiving session pending, 0: No receiving session pending.

    CELLULAR_CONFIG (336) ​

    Configure cellular modems.

    This message is re-emitted as an acknowledgement by the modem. The message may also be explicitly requested using MAV_CMD_REQUEST_MESSAGE.

    Field NameType值描述
    enable_lteuint8_tEnable/disable LTE. 0: setting unchanged, 1: disabled, 2: enabled. Current setting when sent back as a response.
    enable_pinuint8_tEnable/disable PIN on the SIM card. 0: setting unchanged, 1: disabled, 2: enabled. Current setting when sent back as a response.
    pinchar[16]PIN sent to the SIM card. Blank when PIN is disabled. Empty when message is sent back as a response.
    new_pinchar[16]New PIN when changing the PIN. Blank to leave it unchanged. Empty when message is sent back as a response.
    apnchar[32]Name of the cellular APN. Blank to leave it unchanged. Current APN when sent back as a response.
    pukchar[16]Required PUK code in case the user failed to authenticate 3 times with the PIN. Empty when message is sent back as a response.
    roaminguint8_tEnable/disable roaming. 0: setting unchanged, 1: disabled, 2: enabled. Current setting when sent back as a response.
    responseuint8_tCELLULAR_CONFIG_RESPONSEMessage acceptance response (sent back to GS).

    RAW_RPM (339) ​

    RPM sensor data message.

    Field NameTypeUnits描述
    indexuint8_tIndex of this RPM sensor (0-indexed)
    frequencyfloatrpmIndicated rate

    UTM_GLOBAL_POSITION (340) ​

    The global position resulting from GPS and sensor fusion.

    Field NameTypeUnits值描述
    timeuint64_tusTime of applicability of position (microseconds since UNIX epoch).
    uas_iduint8_t[18]Unique UAS ID.
    latint32_tdegE7Latitude (WGS84)
    lonint32_tdegE7Longitude (WGS84)
    altint32_t毫米Altitude (WGS84)
    relative_altint32_t毫米Altitude above ground
    vxint16_t厘米/秒Ground X speed (latitude, positive north)
    vyint16_t厘米/秒Ground Y speed (longitude, positive east)
    vzint16_t厘米/秒Ground Z speed (altitude, positive down)
    h_accuint16_t毫米Horizontal position uncertainty (standard deviation)
    v_accuint16_t毫米Altitude uncertainty (standard deviation)
    vel_accuint16_t厘米/秒Speed uncertainty (standard deviation)
    next_latint32_tdegE7Next waypoint, latitude (WGS84)
    next_lonint32_tdegE7Next waypoint, longitude (WGS84)
    next_altint32_t毫米Next waypoint, altitude (WGS84)
    update_rateuint16_tcsinvalid:0Time until next update. Set to 0 if unknown or in data driven mode.
    flight_stateuint8_tUTM_FLIGHT_STATEFlight state
    flagsuint8_tUTM_DATA_AVAIL_FLAGSBitwise OR combination of the data available flags.

    DEBUG_FLOAT_ARRAY (350) ​

    Large debug/prototyping array. The message uses the maximum available payload for data. The array_id and name fields are used to discriminate between messages in code and in user interfaces (respectively). Do not use in production code.

    Field NameTypeUnits描述
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    namechar[10]Name, for human-friendly display in a Ground Control Station
    array_iduint16_tUnique ID used to discriminate between arrays
    Messages with same value are from the same source (instance).
    data ++float[58]data

    ORBIT_EXECUTION_STATUS (360) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Vehicle status report that is sent out while orbit execution is in progress (see MAV_CMD_DO_ORBIT).

    Field NameTypeUnits值描述
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    radiusfloatmRadius of the orbit circle. Positive values orbit clockwise, negative values orbit counter-clockwise.
    frameuint8_tMAV_FRAMEThe coordinate system of the fields: x, y, z.
    xint32_tX coordinate of center point. Coordinate system depends on frame field: local = x position in meters * 1e4, global = latitude in degrees * 1e7.
    yint32_tY coordinate of center point. Coordinate system depends on frame field: local = x position in meters * 1e4, global = latitude in degrees * 1e7.
    zfloatmAltitude of center point. Coordinate system depends on frame field.

    SMART_BATTERY_INFO (370) — [DEP] ​

    DEPRECATED: Replaced By BATTERY_INFO (2024-02) — The BATTERY_INFO message is better aligned with UAVCAN messages, and in any case is useful even if a battery is not "smart".)

    Smart Battery information (static/infrequent update). Use for updates from: smart battery to flight stack, flight stack to GCS. Use BATTERY_STATUS for the frequent battery updates.

    Field NameTypeUnits值描述
    iduint8_tBattery ID
    Messages with same value are from the same source (instance).
    battery_functionuint8_tMAV_BATTERY_FUNCTIONFunction of the battery
    typeuint8_tMAV_BATTERY_TYPEType (chemistry) of the battery
    capacity_full_specificationint32_tmAhinvalid:-1Capacity when full according to manufacturer, -1: field not provided.
    capacity_fullint32_tmAhinvalid:-1Capacity when full (accounting for battery degradation), -1: field not provided.
    cycle_countuint16_tinvalid:UINT16_MAXCharge/discharge cycle count. UINT16_MAX: field not provided.
    serial_numberchar[16]invalid:[0]Serial number in ASCII characters, 0 terminated. All 0: field not provided.
    device_namechar[50]invalid:[0]Static device name in ASCII characters, 0 terminated. All 0: field not provided. Encode as manufacturer name then product name separated using an underscore.
    weightuint16_tginvalid:0Battery weight. 0: field not provided.
    discharge_minimum_voltageuint16_tmVinvalid:UINT16_MAXMinimum per-cell voltage when discharging. If not supplied set to UINT16_MAX value.
    charging_minimum_voltageuint16_tmVinvalid:UINT16_MAXMinimum per-cell voltage when charging. If not supplied set to UINT16_MAX value.
    resting_minimum_voltageuint16_tmVinvalid:UINT16_MAXMinimum per-cell voltage when resting. If not supplied set to UINT16_MAX value.
    charging_maximum_voltage ++uint16_tmVinvalid:0Maximum per-cell voltage when charged. 0: field not provided.
    cells_in_series ++uint8_tinvalid:0Number of battery cells in series. 0: field not provided.
    discharge_maximum_current ++uint32_tmAinvalid:0Maximum pack discharge current. 0: field not provided.
    discharge_maximum_burst_current ++uint32_tmAinvalid:0Maximum pack discharge burst current. 0: field not provided.
    manufacture_date ++char[11]invalid:[0]Manufacture date (DD/MM/YYYY) in ASCII characters, 0 terminated. All 0: field not provided.

    FUEL_STATUS (371) ​

    Fuel status.

    This message provides "generic" fuel level information for display in a GCS and for triggering failsafes in an autopilot. The fuel type and associated units for fields in this message are defined in the enum MAV_FUEL_TYPE.

    The reported consumed_fuel and remaining_fuel must only be supplied if measured: they must not be inferred from the maximum_fuel and the other value. A recipient can assume that if these fields are supplied they are accurate. If not provided, the recipient can infer remaining_fuel from maximum_fuel and consumed_fuel on the assumption that the fuel was initially at its maximum (this is what battery monitors assume). Note however that this is an assumption, and the UI should prompt the user appropriately (i.e. notify user that they should fill the tank before boot).

    This kind of information may also be sent in fuel-specific messages such as BATTERY_STATUS_V2. If both messages are sent for the same fuel system, the ids and corresponding information must match.

    This should be streamed (nominally at 0.1 Hz).

    Field NameTypeUnits值描述
    iduint8_tFuel ID. Must match ID of other messages for same fuel system, such as BATTERY_STATUS_V2.
    Messages with same value are from the same source (instance).
    maximum_fuelfloatCapacity when full. Must be provided.
    consumed_fuelfloatinvalid:NaNConsumed fuel (measured). This value should not be inferred: if not measured set to NaN. NaN: field not provided.
    remaining_fuelfloatinvalid:NaNRemaining fuel until empty (measured). The value should not be inferred: if not measured set to NaN. NaN: field not provided.
    percent_remaininguint8_t%invalid:UINT8_MAXPercentage of remaining fuel, relative to full. Values: [0-100], UINT8_MAX: field not provided.
    flow_ratefloatinvalid:NaNPositive value when emptying/using, and negative if filling/replacing. NaN: field not provided.
    temperaturefloatKinvalid:NaNFuel temperature. NaN: field not provided.
    fuel_typeuint32_tMAV_FUEL_TYPEFuel type. Defines units for fuel capacity and consumption fields above.

    BATTERY_INFO (372) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Battery information that is static, or requires infrequent update. This message should requested using MAV_CMD_REQUEST_MESSAGE and/or streamed at very low rate. BATTERY_STATUS_V2 is used for higher-rate battery status information.

    Field NameTypeUnits值描述
    iduint8_tBattery ID
    Messages with same value are from the same source (instance).
    battery_functionuint8_tMAV_BATTERY_FUNCTIONFunction of the battery.
    typeuint8_tMAV_BATTERY_TYPEType (chemistry) of the battery.
    state_of_healthuint8_t%invalid:UINT8_MAXState of Health (SOH) estimate. Typically 100% at the time of manufacture and will decrease over time and use. -1: field not provided.
    cells_in_seriesuint8_tinvalid:0Number of battery cells in series. 0: field not provided.
    cycle_countuint16_tinvalid:UINT16_MAXLifetime count of the number of charge/discharge cycles (https://en.wikipedia.org/wiki/Charge_cycle). UINT16_MAX: field not provided.
    weightuint16_tginvalid:0Battery weight. 0: field not provided.
    discharge_minimum_voltagefloatVinvalid:0Minimum per-cell voltage when discharging. 0: field not provided.
    charging_minimum_voltagefloatVinvalid:0Minimum per-cell voltage when charging. 0: field not provided.
    resting_minimum_voltagefloatVinvalid:0Minimum per-cell voltage when resting. 0: field not provided.
    charging_maximum_voltagefloatVinvalid:0Maximum per-cell voltage when charged. 0: field not provided.
    charging_maximum_currentfloatAinvalid:0Maximum pack continuous charge current. 0: field not provided.
    nominal_voltagefloatVinvalid:0Battery nominal voltage. Used for conversion between Wh and Ah. 0: field not provided.
    discharge_maximum_currentfloatAinvalid:0Maximum pack discharge current. 0: field not provided.
    discharge_maximum_burst_currentfloatAinvalid:0Maximum pack discharge burst current. 0: field not provided.
    design_capacityfloatAhinvalid:0Fully charged design capacity. 0: field not provided.
    full_charge_capacityfloatAhinvalid:NaNPredicted battery capacity when fully charged (accounting for battery degradation). NAN: field not provided.
    manufacture_datechar[9]invalid:[0]Manufacture date (DDMMYYYY) in ASCII characters, 0 terminated. All 0: field not provided.
    serial_numberchar[32]invalid:[0]Serial number in ASCII characters, 0 terminated. All 0: field not provided.
    namechar[50]invalid:[0]Battery device name. Formatted as manufacturer name then product name, separated with an underscore (in ASCII characters), 0 terminated. All 0: field not provided.

    GENERATOR_STATUS (373) ​

    Telemetry of power generation system. Alternator or mechanical generator.

    Field NameTypeUnits值描述
    statusuint64_tMAV_GENERATOR_STATUS_FLAGStatus flags.
    generator_speeduint16_trpminvalid:UINT16_MAXSpeed of electrical generator or alternator. UINT16_MAX: field not provided.
    battery_currentfloatAinvalid:NaNCurrent into/out of battery. Positive for out. Negative for in. NaN: field not provided.
    load_currentfloatAinvalid:NaNCurrent going to the UAV. If battery current not available this is the DC current from the generator. Positive for out. Negative for in. NaN: field not provided
    power_generatedfloatWinvalid:NaNThe power being generated. NaN: field not provided
    bus_voltagefloatVVoltage of the bus seen at the generator, or battery bus if battery bus is controlled by generator and at a different voltage to main bus.
    rectifier_temperatureint16_tdegCinvalid:INT16_MAXThe temperature of the rectifier or power converter. INT16_MAX: field not provided.
    bat_current_setpointfloatAinvalid:NaNThe target battery current. Positive for out. Negative for in. NaN: field not provided
    generator_temperatureint16_tdegCinvalid:INT16_MAXThe temperature of the mechanical motor, fuel cell core or generator. INT16_MAX: field not provided.
    runtimeuint32_tsinvalid:UINT32_MAXSeconds this generator has run since it was rebooted. UINT32_MAX: field not provided.
    time_until_maintenanceint32_tsinvalid:INT32_MAXSeconds until this generator requires maintenance. A negative value indicates maintenance is past-due. INT32_MAX: field not provided.

    ACTUATOR_OUTPUT_STATUS (375) ​

    The raw values of the actuator outputs (e.g. on Pixhawk, from MAIN, AUX ports). This message supersedes SERVO_OUTPUT_RAW.

    Field NameTypeUnits描述
    time_usecuint64_tusTimestamp (since system boot).
    activeuint32_tActive outputs
    actuatorfloat[32]Servo / motor output array values. Zero values indicate unused channels.

    TIME_ESTIMATE_TO_TARGET (380) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Time/duration estimates for various events and actions given the current vehicle state and position.

    Field NameTypeUnits描述
    safe_returnint32_tsEstimated time to complete the vehicle's configured "safe return" action from its current position (e.g. RTL, Smart RTL, etc.). -1 indicates that the vehicle is landed, or that no time estimate available.
    landint32_tsEstimated time for vehicle to complete the LAND action from its current position. -1 indicates that the vehicle is landed, or that no time estimate available.
    mission_next_itemint32_tsEstimated time for reaching/completing the currently active mission item. -1 means no time estimate available.
    mission_endint32_tsEstimated time for completing the current mission. -1 means no mission active and/or no estimate available.
    commanded_actionint32_tsEstimated time for completing the current commanded action (i.e. Go To, Takeoff, Land, etc.). -1 means no action active and/or no estimate available.

    TUNNEL (385) ​

    Message for transporting "arbitrary" variable-length data from one component to another (broadcast is not forbidden, but discouraged). The encoding of the data is usually extension specific, i.e. determined by the source, and is usually not documented as part of the MAVLink specification.

    Field NameType值描述
    target_systemuint8_tSystem ID (can be 0 for broadcast, but this is discouraged)
    target_componentuint8_tComponent ID (can be 0 for broadcast, but this is discouraged)
    payload_typeuint16_tMAV_TUNNEL_PAYLOAD_TYPEA code that identifies the content of the payload (0 for unknown, which is the default). If this code is less than 32768, it is a 'registered' payload type and the corresponding code should be added to the MAV_TUNNEL_PAYLOAD_TYPE enum. Software creators can register blocks of types as needed. Codes greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase.
    payload_lengthuint8_tLength of the data transported in payload
    payloaduint8_t[128]Variable length payload. The payload length is defined by payload_length. The entire content of this block is opaque unless you understand the encoding specified by payload_type.

    CAN_FRAME (386) ​

    A forwarded CAN frame as requested by MAV_CMD_CAN_FORWARD.

    Field NameType描述
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    busuint8_tBus number
    lenuint8_tFrame length
    iduint32_tFrame ID
    datauint8_t[8]Frame data

    CANFD_FRAME (387) ​

    A forwarded CANFD frame as requested by MAV_CMD_CAN_FORWARD. These are separated from CAN_FRAME as they need different handling (eg. TAO handling)

    Field NameType描述
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    busuint8_tbus number
    lenuint8_tFrame length
    iduint32_tFrame ID
    datauint8_t[64]Frame data

    CAN_FILTER_MODIFY (388) ​

    Modify the filter of what CAN messages to forward over the mavlink. This can be used to make CAN forwarding work well on low bandwidth links. The filtering is applied on bits 8 to 24 of the CAN id (2nd and 3rd bytes) which corresponds to the DroneCAN message ID for DroneCAN. Filters with more than 16 IDs can be constructed by sending multiple CAN_FILTER_MODIFY messages.

    Field NameType值描述
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    busuint8_tbus number
    operationuint8_tCAN_FILTER_OPwhat operation to perform on the filter list. See CAN_FILTER_OP enum.
    num_idsuint8_tnumber of IDs in filter list
    idsuint16_t[16]filter IDs, length num_ids

    ONBOARD_COMPUTER_STATUS (390) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Hardware status sent by an onboard computer.

    Field NameTypeUnits描述
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    uptimeuint32_tmsTime since system boot.
    typeuint8_tType of the onboard computer: 0: Mission computer primary, 1: Mission computer backup 1, 2: Mission computer backup 2, 3: Compute node, 4-5: Compute spares, 6-9: Payload computers.
    cpu_coresuint8_t[8]CPU usage on the component in percent (100 - idle). A value of UINT8_MAX implies the field is unused.
    cpu_combineduint8_t[10]Combined CPU usage as the last 10 slices of 100 MS (a histogram). This allows to identify spikes in load that max out the system, but only for a short amount of time. A value of UINT8_MAX implies the field is unused.
    gpu_coresuint8_t[4]GPU usage on the component in percent (100 - idle). A value of UINT8_MAX implies the field is unused.
    gpu_combineduint8_t[10]Combined GPU usage as the last 10 slices of 100 MS (a histogram). This allows to identify spikes in load that max out the system, but only for a short amount of time. A value of UINT8_MAX implies the field is unused.
    temperature_boardint8_tdegCTemperature of the board. A value of INT8_MAX implies the field is unused.
    temperature_coreint8_t[8]degCTemperature of the CPU core. A value of INT8_MAX implies the field is unused.
    fan_speedint16_t[4]rpmFan speeds. A value of INT16_MAX implies the field is unused.
    ram_usageuint32_tMiBAmount of used RAM on the component system. A value of UINT32_MAX implies the field is unused.
    ram_totaluint32_tMiBTotal amount of RAM on the component system. A value of UINT32_MAX implies the field is unused.
    storage_typeuint32_t[4]Storage type: 0: HDD, 1: SSD, 2: EMMC, 3: SD card (non-removable), 4: SD card (removable). A value of UINT32_MAX implies the field is unused.
    storage_usageuint32_t[4]MiBAmount of used storage space on the component system. A value of UINT32_MAX implies the field is unused.
    storage_totaluint32_t[4]MiBTotal amount of storage space on the component system. A value of UINT32_MAX implies the field is unused.
    link_typeuint32_t[6]Link type: 0-9: UART, 10-19: Wired network, 20-29: Wifi, 30-39: Point-to-point proprietary, 40-49: Mesh proprietary
    link_tx_rateuint32_t[6]KiB/sNetwork traffic from the component system. A value of UINT32_MAX implies the field is unused.
    link_rx_rateuint32_t[6]KiB/sNetwork traffic to the component system. A value of UINT32_MAX implies the field is unused.
    link_tx_maxuint32_t[6]KiB/sNetwork capacity from the component system. A value of UINT32_MAX implies the field is unused.
    link_rx_maxuint32_t[6]KiB/sNetwork capacity to the component system. A value of UINT32_MAX implies the field is unused.

    COMPONENT_INFORMATION (395) — [DEP] ​

    DEPRECATED: Replaced By COMPONENT_METADATA (2022-04)

    Component information message, which may be requested using MAV_CMD_REQUEST_MESSAGE.

    Field NameTypeUnits描述
    time_boot_msuint32_tmsTimestamp (time since system boot).
    general_metadata_file_crcuint32_tCRC32 of the general metadata file (general_metadata_uri).
    general_metadata_urichar[100]MAVLink FTP URI for the general metadata file (COMP_METADATA_TYPE_GENERAL), which may be compressed with xz. The file contains general component metadata, and may contain URI links for additional metadata (see COMP_METADATA_TYPE). The information is static from boot, and may be generated at compile time. The string needs to be zero terminated.
    peripherals_metadata_file_crcuint32_tCRC32 of peripherals metadata file (peripherals_metadata_uri).
    peripherals_metadata_urichar[100](Optional) MAVLink FTP URI for the peripherals metadata file (COMP_METADATA_TYPE_PERIPHERALS), which may be compressed with xz. This contains data about "attached components" such as UAVCAN nodes. The peripherals are in a separate file because the information must be generated dynamically at runtime. The string needs to be zero terminated.

    COMPONENT_INFORMATION_BASIC (396) ​

    Basic component information data. Should be requested using MAV_CMD_REQUEST_MESSAGE on startup, or when required.

    Field NameTypeUnits值描述
    time_boot_msuint32_tmsTimestamp (time since system boot).
    capabilitiesuint64_tMAV_PROTOCOL_CAPABILITYComponent capability flags
    time_manufacture_suint32_tsinvalid:0Date of manufacture as a UNIX Epoch time (since 1.1.1970) in seconds.
    vendor_namechar[32]Name of the component vendor. Needs to be zero terminated. The field is optional and can be empty/all zeros.
    model_namechar[32]Name of the component model. Needs to be zero terminated. The field is optional and can be empty/all zeros.
    software_versionchar[24]Software version. The recommended format is SEMVER: 'major.minor.patch' (any format may be used). The field must be zero terminated if it has a value. The field is optional and can be empty/all zeros.
    hardware_versionchar[24]Hardware version. The recommended format is SEMVER: 'major.minor.patch' (any format may be used). The field must be zero terminated if it has a value. The field is optional and can be empty/all zeros.
    serial_numberchar[32]Hardware serial number. The field must be zero terminated if it has a value. The field is optional and can be empty/all zeros.

    COMPONENT_METADATA (397) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Component metadata message, which may be requested using MAV_CMD_REQUEST_MESSAGE.

    This contains the MAVLink FTP URI and CRC for the component's general metadata file. The file must be hosted on the component, and may be xz compressed. The file CRC can be used for file caching.

    The general metadata file can be read to get the locations of other metadata files (COMP_METADATA_TYPE) and translations, which may be hosted either on the vehicle or the internet. For more information see: https://mavlink.io/en/services/component_information.html.

    Note: Camera components should use CAMERA_INFORMATION instead, and autopilots may use both this message and AUTOPILOT_VERSION.

    Field NameTypeUnits描述
    time_boot_msuint32_tmsTimestamp (time since system boot).
    file_crcuint32_tCRC32 of the general metadata file.
    urichar[100]MAVLink FTP URI for the general metadata file (COMP_METADATA_TYPE_GENERAL), which may be compressed with xz. The file contains general component metadata, and may contain URI links for additional metadata (see COMP_METADATA_TYPE). The information is static from boot, and may be generated at compile time. The string needs to be zero terminated.

    PLAY_TUNE_V2 (400) ​

    Play vehicle tone/tune (buzzer). Supersedes message PLAY_TUNE.

    Field NameType值描述
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    formatuint32_tTUNE_FORMATTune format
    tunechar[248]Tune definition as a NULL-terminated string.

    SUPPORTED_TUNES (401) ​

    Tune formats supported by vehicle. This should be emitted as response to MAV_CMD_REQUEST_MESSAGE.

    Field NameType值描述
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    formatuint32_tTUNE_FORMATBitfield of supported tune formats.

    EVENT (410) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Event message. Each new event from a particular component gets a new sequence number. The same message might be sent multiple times if (re-)requested. Event message. Each new event from a particular component gets a new sequence number. The same message might be sent multiple times if (re-)requested. Most events are broadcast, some can be specific to a target component (as receivers keep track of the sequence for missed events, all events need to be broadcast. Thus we use destination_component instead of target_component). Thus we use destination_component instead of target_component).

    Field NameTypeUnits描述
    destination_componentuint8_tComponent ID
    destination_systemuint8_tSystem ID
    iduint32_tEvent ID (as defined in the component metadata)
    event_time_boot_msuint32_tmsTimestamp (time since system boot when the event happened).
    sequenceuint16_tSequence number.
    log_levelsuint8_tLog levels: 4 bits MSB: internal (for logging purposes), 4 bits LSB: external. Levels: Emergency = 0, Alert = 1, Critical = 2, Error = 3, Warning = 4, Notice = 5, Info = 6, Debug = 7, Protocol = 8, Disabled = 9
    argumentsuint8_t[40]Arguments (depend on event ID).

    CURRENT_EVENT_SEQUENCE (411) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Regular broadcast for the current latest event sequence number for a component. This is used to check for dropped events. This is used to check for dropped events.

    Field NameType值描述
    sequenceuint16_tSequence number.
    flagsuint8_tMAV_EVENT_CURRENT_SEQUENCE_FLAGSFlag bitset.

    REQUEST_EVENT (412) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Request one or more events to be (re-)sent. Request one or more events to be (re-)sent. If first_sequence==last_sequence, only a single event is requested. Note that first_sequence can be larger than last_sequence (because the sequence number can wrap). Each sequence will trigger an EVENT or EVENT_ERROR response. Note that first_sequence can be larger than last_sequence (because the sequence number can wrap). Each sequence will trigger an EVENT or EVENT_ERROR response.

    Field NameType描述
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    first_sequenceuint16_tFirst sequence number of the requested event.
    last_sequenceuint16_tLast sequence number of the requested event.

    RESPONSE_EVENT_ERROR (413) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Response to a REQUEST_EVENT in case of an error (e.g. the event is not available anymore).

    Field NameType值描述
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    sequenceuint16_tSequence number.
    sequence_oldest_availableuint16_tOldest Sequence number that is still available after the sequence set in REQUEST_EVENT.
    reasonuint8_tMAV_EVENT_ERROR_REASONError reason.

    ILLUMINATOR_STATUS (440) ​

    Illuminator status

    Field NameTypeUnits值描述
    uptime_msuint32_tmsTime since the start-up of the illuminator in ms
    enableuint8_t0: Illuminators OFF, 1: Illuminators ON
    mode_bitmaskuint8_tILLUMINATOR_MODESupported illuminator modes
    error_statusuint32_tILLUMINATOR_ERROR_FLAGSErrors
    模式uint8_tILLUMINATOR_MODEIlluminator mode
    brightnessfloat%Illuminator brightness
    strobe_periodfloatsIlluminator strobing period in seconds
    strobe_duty_cyclefloat%Illuminator strobing duty cycle
    temp_cfloatTemperature in Celsius
    min_strobe_periodfloatsMinimum strobing period in seconds
    max_strobe_periodfloatsMaximum strobing period in seconds

    WHEEL_DISTANCE (9000) ​

    Cumulative distance traveled for each reported wheel.

    Field NameTypeUnits描述
    time_usecuint64_tusTimestamp (synced to UNIX time or since system boot).
    countuint8_tNumber of wheels reported.
    distancedouble[16]mDistance reported by individual wheel encoders. Forward rotations increase values, reverse rotations decrease them. Not all wheels will necessarily have wheel encoders; the mapping of encoders to wheel positions must be agreed/understood by the endpoints.

    WINCH_STATUS (9005) ​

    Winch status.

    Field NameTypeUnits值描述
    time_usecuint64_tusTimestamp (synced to UNIX time or since system boot).
    line_lengthfloatminvalid:NaNLength of line released. NaN if unknown
    speedfloatm/sinvalid:NaNSpeed line is being released or retracted. Positive values if being released, negative values if being retracted, NaN if unknown
    tensionfloatkginvalid:NaNTension on the line. NaN if unknown
    voltagefloatVinvalid:NaNVoltage of the battery supplying the winch. NaN if unknown
    currentfloatAinvalid:NaNCurrent draw from the winch. NaN if unknown
    temperatureint16_tdegCinvalid:INT16_MAXTemperature of the motor. INT16_MAX if unknown
    statusuint32_tMAV_WINCH_STATUS_FLAGStatus flags

    OPEN_DRONE_ID_BASIC_ID (12900) ​

    Data for filling the OpenDroneID Basic ID message. This and the below messages are primarily meant for feeding data to/from an OpenDroneID implementation. E.g. https://github.com/opendroneid/opendroneid-core-c. These messages are compatible with the ASTM F3411 Remote ID standard and the ASD-STAN prEN 4709-002 Direct Remote ID standard. Additional information and usage of these messages is documented at https://mavlink.io/en/services/opendroneid.html.

    Field NameType值描述
    target_systemuint8_tSystem ID (0 for broadcast).
    target_componentuint8_tComponent ID (0 for broadcast).
    id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
    id_typeuint8_tMAV_ODID_ID_TYPEIndicates the format for the uas_id field of this message.
    ua_typeuint8_tMAV_ODID_UA_TYPEIndicates the type of UA (Unmanned Aircraft).
    uas_iduint8_t[20]UAS (Unmanned Aircraft System) ID following the format specified by id_type. Shall be filled with nulls in the unused portion of the field.

    OPEN_DRONE_ID_LOCATION (12901) ​

    Data for filling the OpenDroneID Location message. The float data types are 32-bit IEEE 754. The Location message provides the location, altitude, direction and speed of the aircraft.

    Field NameTypeUnits值描述
    target_systemuint8_tSystem ID (0 for broadcast).
    target_componentuint8_tComponent ID (0 for broadcast).
    id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
    statusuint8_tMAV_ODID_STATUSIndicates whether the unmanned aircraft is on the ground or in the air.
    directionuint16_tcdeginvalid:36100Direction over ground (not heading, but direction of movement) measured clockwise from true North: 0 - 35999 centi-degrees. If unknown: 36100 centi-degrees.
    speed_horizontaluint16_t厘米/秒Ground speed. Positive only. If unknown: 25500 cm/s. If speed is larger than 25425 cm/s, use 25425 cm/s.
    speed_verticalint16_t厘米/秒The vertical speed. Up is positive. If unknown: 6300 cm/s. If speed is larger than 6200 cm/s, use 6200 cm/s. If lower than -6200 cm/s, use -6200 cm/s.
    latitudeint32_tdegE7invalid:0Current latitude of the unmanned aircraft. If unknown: 0 (both Lat/Lon).
    longitudeint32_tdegE7invalid:0Current longitude of the unmanned aircraft. If unknown: 0 (both Lat/Lon).
    altitude_barometricfloatminvalid:-1000The altitude calculated from the barometric pressue. Reference is against 29.92inHg or 1013.2mb. If unknown: -1000 m.
    altitude_geodeticfloatminvalid:-1000The geodetic altitude as defined by WGS84. If unknown: -1000 m.
    height_referenceuint8_tMAV_ODID_HEIGHT_REFIndicates the reference point for the height field.
    heightfloatminvalid:-1000The current height of the unmanned aircraft above the take-off location or the ground as indicated by height_reference. If unknown: -1000 m.
    horizontal_accuracyuint8_tMAV_ODID_HOR_ACCThe accuracy of the horizontal position.
    vertical_accuracyuint8_tMAV_ODID_VER_ACCThe accuracy of the vertical position.
    barometer_accuracyuint8_tMAV_ODID_VER_ACCThe accuracy of the barometric altitude.
    speed_accuracyuint8_tMAV_ODID_SPEED_ACCThe accuracy of the horizontal and vertical speed.
    timestampfloatsinvalid:0xFFFFSeconds after the full hour with reference to UTC time. Typically the GPS outputs a time-of-week value in milliseconds. First convert that to UTC and then convert for this field using ((float) (time_week_ms % (60_60_1000))) / 1000. If unknown: 0xFFFF.
    timestamp_accuracyuint8_tMAV_ODID_TIME_ACCThe accuracy of the timestamps.

    OPEN_DRONE_ID_AUTHENTICATION (12902) ​

    Data for filling the OpenDroneID Authentication message. The Authentication Message defines a field that can provide a means of authenticity for the identity of the UAS (Unmanned Aircraft System). The Authentication message can have two different formats. For data page 0, the fields PageCount, Length and TimeStamp are present and AuthData is only 17 bytes. For data page 1 through 15, PageCount, Length and TimeStamp are not present and the size of AuthData is 23 bytes.

    Field NameTypeUnits值描述
    target_systemuint8_tSystem ID (0 for broadcast).
    target_componentuint8_tComponent ID (0 for broadcast).
    id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
    authentication_typeuint8_tMAV_ODID_AUTH_TYPEIndicates the type of authentication.
    data_pageuint8_tAllowed range is 0 - 15.
    last_page_indexuint8_tThis field is only present for page 0. Allowed range is 0 - 15. See the description of struct ODID_Auth_data at https://github.com/opendroneid/opendroneid-core-c/blob/master/libopendroneid/opendroneid.h.
    lengthuint8_tbytesThis field is only present for page 0. Total bytes of authentication_data from all data pages. See the description of struct ODID_Auth_data at https://github.com/opendroneid/opendroneid-core-c/blob/master/libopendroneid/opendroneid.h.
    timestampuint32_tsThis field is only present for page 0. 32 bit Unix Timestamp in seconds since 00:00:00 01/01/2019.
    authentication_datauint8_t[23]Opaque authentication data. For page 0, the size is only 17 bytes. For other pages, the size is 23 bytes. Shall be filled with nulls in the unused portion of the field.

    OPEN_DRONE_ID_SELF_ID (12903) ​

    Data for filling the OpenDroneID Self ID message. The Self ID Message is an opportunity for the operator to (optionally) declare their identity and purpose of the flight. This message can provide additional information that could reduce the threat profile of a UA (Unmanned Aircraft) flying in a particular area or manner. This message can also be used to provide optional additional clarification in an emergency/remote ID system failure situation.

    Field NameType值描述
    target_systemuint8_tSystem ID (0 for broadcast).
    target_componentuint8_tComponent ID (0 for broadcast).
    id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
    description_typeuint8_tMAV_ODID_DESC_TYPEIndicates the type of the description field.
    descriptionchar[23]Text description or numeric value expressed as ASCII characters. Shall be filled with nulls in the unused portion of the field.

    OPEN_DRONE_ID_SYSTEM (12904) ​

    Data for filling the OpenDroneID System message. The System Message contains general system information including the operator location/altitude and possible aircraft group and/or category/class information.

    Field NameTypeUnits值描述
    target_systemuint8_tSystem ID (0 for broadcast).
    target_componentuint8_tComponent ID (0 for broadcast).
    id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
    operator_location_typeuint8_tMAV_ODID_OPERATOR_LOCATION_TYPESpecifies the operator location type.
    classification_typeuint8_tMAV_ODID_CLASSIFICATION_TYPESpecifies the classification type of the UA.
    operator_latitudeint32_tdegE7invalid:0Latitude of the operator. If unknown: 0 (both Lat/Lon).
    operator_longitudeint32_tdegE7invalid:0Longitude of the operator. If unknown: 0 (both Lat/Lon).
    area_countuint16_tNumber of aircraft in the area, group or formation (default 1). Used only for swarms/multiple UA.
    area_radiusuint16_tmRadius of the cylindrical area of the group or formation (default 0). Used only for swarms/multiple UA.
    area_ceilingfloatminvalid:-1000Area Operations Ceiling relative to WGS84. If unknown: -1000 m. Used only for swarms/multiple UA.
    area_floorfloatminvalid:-1000Area Operations Floor relative to WGS84. If unknown: -1000 m. Used only for swarms/multiple UA.
    category_euuint8_tMAV_ODID_CATEGORY_EUWhen classification_type is MAV_ODID_CLASSIFICATION_TYPE_EU, specifies the category of the UA.
    class_euuint8_tMAV_ODID_CLASS_EUWhen classification_type is MAV_ODID_CLASSIFICATION_TYPE_EU, specifies the class of the UA.
    operator_altitude_geofloatminvalid:-1000Geodetic altitude of the operator relative to WGS84. If unknown: -1000 m.
    timestampuint32_ts32 bit Unix Timestamp in seconds since 00:00:00 01/01/2019.

    OPEN_DRONE_ID_OPERATOR_ID (12905) ​

    Data for filling the OpenDroneID Operator ID message, which contains the CAA (Civil Aviation Authority) issued operator ID.

    Field NameType值描述
    target_systemuint8_tSystem ID (0 for broadcast).
    target_componentuint8_tComponent ID (0 for broadcast).
    id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
    operator_id_typeuint8_tMAV_ODID_OPERATOR_ID_TYPEIndicates the type of the operator_id field.
    operator_idchar[20]Text description or numeric value expressed as ASCII characters. Shall be filled with nulls in the unused portion of the field.

    OPEN_DRONE_ID_MESSAGE_PACK (12915) ​

    An OpenDroneID message pack is a container for multiple encoded OpenDroneID messages (i.e. not in the format given for the above message descriptions but after encoding into the compressed OpenDroneID byte format). Used e.g. when transmitting on Bluetooth 5.0 Long Range/Extended Advertising or on WiFi Neighbor Aware Networking or on WiFi Beacon.

    Field NameTypeUnits描述
    target_systemuint8_tSystem ID (0 for broadcast).
    target_componentuint8_tComponent ID (0 for broadcast).
    id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
    single_message_sizeuint8_tbytesThis field must currently always be equal to 25 (bytes), since all encoded OpenDroneID messages are specified to have this length.
    msg_pack_sizeuint8_tNumber of encoded messages in the pack (not the number of bytes). Allowed range is 1 - 9.
    messagesuint8_t[225]Concatenation of encoded OpenDroneID messages. Shall be filled with nulls in the unused portion of the field.

    OPEN_DRONE_ID_ARM_STATUS (12918) ​

    Transmitter (remote ID system) is enabled and ready to start sending location and other required information. This is streamed by transmitter. A flight controller uses it as a condition to arm.

    Field NameType值描述
    statusuint8_tMAV_ODID_ARM_STATUSStatus level indicating if arming is allowed.
    errorchar[50]Text error message, should be empty if status is good to arm. Fill with nulls in unused portion.

    OPEN_DRONE_ID_SYSTEM_UPDATE (12919) ​

    Update the data in the OPEN_DRONE_ID_SYSTEM message with new location information. This can be sent to update the location information for the operator when no other information in the SYSTEM message has changed. This message allows for efficient operation on radio links which have limited uplink bandwidth while meeting requirements for update frequency of the operator location.

    Field NameTypeUnits描述
    target_systemuint8_tSystem ID (0 for broadcast).
    target_componentuint8_tComponent ID (0 for broadcast).
    operator_latitudeint32_tdegE7Latitude of the operator. If unknown: 0 (both Lat/Lon).
    operator_longitudeint32_tdegE7Longitude of the operator. If unknown: 0 (both Lat/Lon).
    operator_altitude_geofloatmGeodetic altitude of the operator relative to WGS84. If unknown: -1000 m.
    timestampuint32_ts32 bit Unix Timestamp in seconds since 00:00:00 01/01/2019.

    HYGROMETER_SENSOR (12920) ​

    Temperature and humidity from hygrometer.

    Field NameTypeUnits描述
    iduint8_tHygrometer ID
    Messages with same value are from the same source (instance).
    temperatureint16_tcdegCTemperature
    humidityuint16_tc%Humidity

    Enumerated Types ​

    FIRMWARE_VERSION_TYPE ​

    These values define the type of firmware release. These values indicate the first version or release of this type. For example the first alpha release would be 64, the second would be 65.

    值Name描述
    0FIRMWARE_VERSION_TYPE_DEVdevelopment release
    64FIRMWARE_VERSION_TYPE_ALPHAalpha release
    128FIRMWARE_VERSION_TYPE_BETAbeta release
    192FIRMWARE_VERSION_TYPE_RCrelease candidate
    255FIRMWARE_VERSION_TYPE_OFFICIALofficial stable release

    HL_FAILURE_FLAG ​

    (Bitmask) Flags to report failure cases over the high latency telemetry.

    值Name描述
    1HL_FAILURE_FLAG_GPSGPS failure.
    2HL_FAILURE_FLAG_DIFFERENTIAL_PRESSUREDifferential pressure sensor failure.
    4HL_FAILURE_FLAG_ABSOLUTE_PRESSUREAbsolute pressure sensor failure.
    8HL_FAILURE_FLAG_3D_ACCELAccelerometer sensor failure.
    16HL_FAILURE_FLAG_3D_GYROGyroscope sensor failure.
    32HL_FAILURE_FLAG_3D_MAGMagnetometer sensor failure.
    64HL_FAILURE_FLAG_TERRAINTerrain subsystem failure.
    128HL_FAILURE_FLAG_BATTERYBattery failure/critical low battery.
    256HL_FAILURE_FLAG_RC_RECEIVERRC receiver failure/no RC connection.
    512HL_FAILURE_FLAG_OFFBOARD_LINKOffboard link failure.
    1024HL_FAILURE_FLAG_ENGINEEngine failure.
    2048HL_FAILURE_FLAG_GEOFENCEGeofence violation.
    4096HL_FAILURE_FLAG_ESTIMATOREstimator failure, for example measurement rejection or large variances.
    8192HL_FAILURE_FLAG_MISSIONMission failure.

    MAV_GOTO ​

    Actions that may be specified in MAV_CMD_OVERRIDE_GOTO to override mission execution.

    值Name描述
    0MAV_GOTO_DO_HOLDHold at the current position.
    1MAV_GOTO_DO_CONTINUEContinue with the next item in mission execution.
    2MAV_GOTO_HOLD_AT_CURRENT_POSITIONHold at the current position of the system
    3MAV_GOTO_HOLD_AT_SPECIFIED_POSITIONHold at the position specified in the parameters of the DO_HOLD action

    MAV_MODE ​

    These defines are predefined OR-combined mode flags. There is no need to use values from this enum, but it

    simplifies the use of the mode flags. Note that manual input is enabled in all modes as a safety override.

    值Name描述
    0MAV_MODE_PREFLIGHTSystem is not ready to fly, booting, calibrating, etc. No flag is set.
    64MAV_MODE_MANUAL_DISARMEDSystem is allowed to be active, under manual (RC) control, no stabilization
    66MAV_MODE_TEST_DISARMEDUNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only.
    80MAV_MODE_STABILIZE_DISARMEDSystem is allowed to be active, under assisted RC control.
    88MAV_MODE_GUIDED_DISARMEDSystem is allowed to be active, under autonomous control, manual setpoint
    92MAV_MODE_AUTO_DISARMEDSystem is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by waypoints)
    192MAV_MODE_MANUAL_ARMEDSystem is allowed to be active, under manual (RC) control, no stabilization
    194MAV_MODE_TEST_ARMEDUNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only.
    208MAV_MODE_STABILIZE_ARMEDSystem is allowed to be active, under assisted RC control.
    216MAV_MODE_GUIDED_ARMEDSystem is allowed to be active, under autonomous control, manual setpoint
    220MAV_MODE_AUTO_ARMEDSystem is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by waypoints)

    MAV_SYS_STATUS_SENSOR ​

    (Bitmask) These encode the sensors whose status is sent as part of the SYS_STATUS message.

    值Name描述
    1MAV_SYS_STATUS_SENSOR_3D_GYRO0x01 3D gyro
    2MAV_SYS_STATUS_SENSOR_3D_ACCEL0x02 3D accelerometer
    4MAV_SYS_STATUS_SENSOR_3D_MAG0x04 3D magnetometer
    8MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE0x08 absolute pressure
    16MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE0x10 differential pressure
    32MAV_SYS_STATUS_SENSOR_GPS0x20 GPS
    64MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW0x40 optical flow
    128MAV_SYS_STATUS_SENSOR_VISION_POSITION0x80 computer vision position
    256MAV_SYS_STATUS_SENSOR_LASER_POSITION0x100 laser based position
    512MAV_SYS_STATUS_SENSOR_EXTERNAL_GROUND_TRUTH0x200 external ground truth (Vicon or Leica)
    1024MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL0x400 3D angular rate control
    2048MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION0x800 attitude stabilization
    4096MAV_SYS_STATUS_SENSOR_YAW_POSITION0x1000 yaw position
    8192MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL0x2000 z/altitude control
    16384MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL0x4000 x/y position control
    32768MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS0x8000 motor outputs / control
    65536MAV_SYS_STATUS_SENSOR_RC_RECEIVER0x10000 RC receiver
    131072MAV_SYS_STATUS_SENSOR_3D_GYRO20x20000 2nd 3D gyro
    262144MAV_SYS_STATUS_SENSOR_3D_ACCEL20x40000 2nd 3D accelerometer
    524288MAV_SYS_STATUS_SENSOR_3D_MAG20x80000 2nd 3D magnetometer
    1048576MAV_SYS_STATUS_GEOFENCE0x100000 geofence
    2097152MAV_SYS_STATUS_AHRS0x200000 AHRS subsystem health
    4194304MAV_SYS_STATUS_TERRAIN0x400000 Terrain subsystem health
    8388608MAV_SYS_STATUS_REVERSE_MOTOR0x800000 Motors are reversed
    16777216MAV_SYS_STATUS_LOGGING0x1000000 Logging
    33554432MAV_SYS_STATUS_SENSOR_BATTERY0x2000000 Battery
    67108864MAV_SYS_STATUS_SENSOR_PROXIMITY0x4000000 Proximity
    134217728MAV_SYS_STATUS_SENSOR_SATCOM0x8000000 Satellite Communication
    268435456MAV_SYS_STATUS_PREARM_CHECK0x10000000 pre-arm check status. Always healthy when armed
    536870912MAV_SYS_STATUS_OBSTACLE_AVOIDANCE0x20000000 Avoidance/collision prevention
    1073741824MAV_SYS_STATUS_SENSOR_PROPULSION0x40000000 propulsion (actuator, esc, motor or propellor)
    2147483648MAV_SYS_STATUS_EXTENSION_USED0x80000000 Extended bit-field are used for further sensor status bits (needs to be set in onboard_control_sensors_present only)

    MAV_SYS_STATUS_SENSOR_EXTENDED ​

    (Bitmask) These encode the sensors whose status is sent as part of the SYS_STATUS message in the extended fields.

    值Name描述
    1MAV_SYS_STATUS_RECOVERY_SYSTEM0x01 Recovery system (parachute, balloon, retracts etc)

    MAV_FRAME ​

    Coordinate frames used by MAVLink. Not all frames are supported by all commands, messages, or vehicles.

    Global frames use the following naming conventions:

    • "GLOBAL": Global coordinate frame with WGS84 latitude/longitude and altitude positive over mean sea level (MSL) by default. The following modifiers may be used with "GLOBAL":
    • "RELATIVE_ALT": Altitude is relative to the vehicle home position rather than MSL.
    • "TERRAIN_ALT": Altitude is relative to ground level rather than MSL.
    • "INT": Latitude/longitude (in degrees) are scaled by multiplying by 1E7.

    Local frames use the following naming conventions:

    • "LOCAL": Origin of local frame is fixed relative to earth. Unless otherwise specified this origin is the origin of the vehicle position-estimator ("EKF").
    • "BODY": Origin of local frame travels with the vehicle. NOTE, "BODY" does NOT indicate alignment of frame axis with vehicle attitude.
    • "OFFSET": Deprecated synonym for "BODY" (origin travels with the vehicle). Not to be used for new frames.

    Some deprecated frames do not follow these conventions (e.g. MAV_FRAME_BODY_NED and MAV_FRAME_BODY_OFFSET_NED).

    值Name描述
    0MAV_FRAME_GLOBALGlobal (WGS84) coordinate frame + altitude relative to mean sea level (MSL).
    1MAV_FRAME_LOCAL_NEDNED local tangent frame (x: North, y: East, z: Down) with origin fixed relative to earth.
    2MAV_FRAME_MISSIONNOT a coordinate frame, indicates a mission command.
    3MAV_FRAME_GLOBAL_RELATIVE_ALTGlobal (WGS84) coordinate frame + altitude relative to the home position.
    4MAV_FRAME_LOCAL_ENUENU local tangent frame (x: East, y: North, z: Up) with origin fixed relative to earth.
    5MAV_FRAME_GLOBAL_INTGlobal (WGS84) coordinate frame (scaled) + altitude relative to mean sea level (MSL).DEPRECATED: Replaced By MAV_FRAME_GLOBAL (2024-03) — Use MAV_FRAME_GLOBAL in COMMAND_INT (and elsewhere) as a synonymous replacement.)
    6MAV_FRAME_GLOBAL_RELATIVE_ALT_INTGlobal (WGS84) coordinate frame (scaled) + altitude relative to the home position.DEPRECATED: Replaced By MAV_FRAME_GLOBAL_RELATIVE_ALT (2024-03) — Use MAV_FRAME_GLOBAL_RELATIVE_ALT in COMMAND_INT (and elsewhere) as a synonymous replacement.)
    7MAV_FRAME_LOCAL_OFFSET_NEDNED local tangent frame (x: North, y: East, z: Down) with origin that travels with the vehicle.
    8MAV_FRAME_BODY_NEDSame as MAV_FRAME_LOCAL_NED when used to represent position values. Same as MAV_FRAME_BODY_FRD when used with velocity/acceleration values.DEPRECATED: Replaced By MAV_FRAME_BODY_FRD (2019-08)
    9MAV_FRAME_BODY_OFFSET_NEDThis is the same as MAV_FRAME_BODY_FRD.DEPRECATED: Replaced By MAV_FRAME_BODY_FRD (2019-08)
    10MAV_FRAME_GLOBAL_TERRAIN_ALTGlobal (WGS84) coordinate frame with AGL altitude (altitude at ground level).
    11MAV_FRAME_GLOBAL_TERRAIN_ALT_INTGlobal (WGS84) coordinate frame (scaled) with AGL altitude (altitude at ground level).DEPRECATED: Replaced By MAV_FRAME_GLOBAL_TERRAIN_ALT (2024-03) — Use MAV_FRAME_GLOBAL_TERRAIN_ALT in COMMAND_INT (and elsewhere) as a synonymous replacement.)
    12MAV_FRAME_BODY_FRDFRD local frame aligned to the vehicle's attitude (x: Forward, y: Right, z: Down) with an origin that travels with vehicle.
    13MAV_FRAME_RESERVED_13MAV_FRAME_BODY_FLU - Body fixed frame of reference, Z-up (x: Forward, y: Left, z: Up).DEPRECATED:(2019-04)
    14MAV_FRAME_RESERVED_14MAV_FRAME_MOCAP_NED - Odometry local coordinate frame of data given by a motion capture system, Z-down (x: North, y: East, z: Down).DEPRECATED: Replaced By MAV_FRAME_LOCAL_FRD (2019-04)
    15MAV_FRAME_RESERVED_15MAV_FRAME_MOCAP_ENU - Odometry local coordinate frame of data given by a motion capture system, Z-up (x: East, y: North, z: Up).DEPRECATED: Replaced By MAV_FRAME_LOCAL_FLU (2019-04)
    16MAV_FRAME_RESERVED_16MAV_FRAME_VISION_NED - Odometry local coordinate frame of data given by a vision estimation system, Z-down (x: North, y: East, z: Down).DEPRECATED: Replaced By MAV_FRAME_LOCAL_FRD (2019-04)
    17MAV_FRAME_RESERVED_17MAV_FRAME_VISION_ENU - Odometry local coordinate frame of data given by a vision estimation system, Z-up (x: East, y: North, z: Up).DEPRECATED: Replaced By MAV_FRAME_LOCAL_FLU (2019-04)
    18MAV_FRAME_RESERVED_18MAV_FRAME_ESTIM_NED - Odometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-down (x: North, y: East, z: Down).DEPRECATED: Replaced By MAV_FRAME_LOCAL_FRD (2019-04)
    19MAV_FRAME_RESERVED_19MAV_FRAME_ESTIM_ENU - Odometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-up (x: East, y: North, z: Up).DEPRECATED: Replaced By MAV_FRAME_LOCAL_FLU (2019-04)
    20MAV_FRAME_LOCAL_FRDFRD local tangent frame (x: Forward, y: Right, z: Down) with origin fixed relative to earth. The forward axis is aligned to the front of the vehicle in the horizontal plane.
    21MAV_FRAME_LOCAL_FLUFLU local tangent frame (x: Forward, y: Left, z: Up) with origin fixed relative to earth. The forward axis is aligned to the front of the vehicle in the horizontal plane.
    值Name描述
    0MAVLINK_DATA_STREAM_IMG_JPEG
    1MAVLINK_DATA_STREAM_IMG_BMP
    2MAVLINK_DATA_STREAM_IMG_RAW8U
    3MAVLINK_DATA_STREAM_IMG_RAW32U
    4MAVLINK_DATA_STREAM_IMG_PGM
    5MAVLINK_DATA_STREAM_IMG_PNG

    FENCE_ACTION ​

    Actions following geofence breach.

    值Name描述
    0FENCE_ACTION_NONEDisable fenced mode. If used in a plan this would mean the next fence is disabled.
    1FENCE_ACTION_GUIDEDFly to geofence MAV_CMD_NAV_FENCE_RETURN_POINT in GUIDED mode. Note: This action is only supported by ArduPlane, and may not be supported in all versions.
    2FENCE_ACTION_REPORTReport fence breach, but don't take action
    3FENCE_ACTION_GUIDED_THR_PASSFly to geofence MAV_CMD_NAV_FENCE_RETURN_POINT with manual throttle control in GUIDED mode. Note: This action is only supported by ArduPlane, and may not be supported in all versions.
    4FENCE_ACTION_RTLReturn/RTL mode.
    5FENCE_ACTION_HOLDHold at current location.
    6FENCE_ACTION_TERMINATETermination failsafe. Motors are shut down (some flight stacks may trigger other failsafe actions).
    7FENCE_ACTION_LANDLand at current location.

    FENCE_BREACH ​

    值Name描述
    0FENCE_BREACH_NONENo last fence breach
    1FENCE_BREACH_MINALTBreached minimum altitude
    2FENCE_BREACH_MAXALTBreached maximum altitude
    3FENCE_BREACH_BOUNDARYBreached fence boundary

    FENCE_MITIGATE ​

    Actions being taken to mitigate/prevent fence breach

    值Name描述
    0FENCE_MITIGATE_UNKNOWNUnknown
    1FENCE_MITIGATE_NONENo actions being taken
    2FENCE_MITIGATE_VEL_LIMITVelocity limiting active to prevent breach

    FENCE_TYPE ​

    (Bitmask)

    值Name描述
    0FENCE_TYPE_ALLAll fence types
    1FENCE_TYPE_ALT_MAXMaximum altitude fence
    2FENCE_TYPE_CIRCLECircle fence
    4FENCE_TYPE_POLYGONPolygon fence
    8FENCE_TYPE_ALT_MINMinimum altitude fence

    MAV_MOUNT_MODE — [DEP] ​

    DEPRECATED: Replaced By GIMBAL_MANAGER_FLAGS (2020-01)

    Enumeration of possible mount operation modes. This message is used by obsolete/deprecated gimbal messages.

    值Name描述
    0MAV_MOUNT_MODE_RETRACTLoad and keep safe position (Roll,Pitch,Yaw) from permanent memory and stop stabilization
    1MAV_MOUNT_MODE_NEUTRALLoad and keep neutral position (Roll,Pitch,Yaw) from permanent memory.
    2MAV_MOUNT_MODE_MAVLINK_TARGETINGLoad neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization
    3MAV_MOUNT_MODE_RC_TARGETINGLoad neutral position and start RC Roll,Pitch,Yaw control with stabilization
    4MAV_MOUNT_MODE_GPS_POINTLoad neutral position and start to point to Lat,Lon,Alt
    5MAV_MOUNT_MODE_SYSID_TARGETGimbal tracks system with specified system ID
    6MAV_MOUNT_MODE_HOME_LOCATIONGimbal tracks home position

    GIMBAL_DEVICE_CAP_FLAGS ​

    (Bitmask) Gimbal device (low level) capability flags (bitmap).

    值Name描述
    1GIMBAL_DEVICE_CAP_FLAGS_HAS_RETRACTGimbal device supports a retracted position.
    2GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRALGimbal device supports a horizontal, forward looking position, stabilized.
    4GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_AXISGimbal device supports rotating around roll axis.
    8GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_FOLLOWGimbal device supports to follow a roll angle relative to the vehicle.
    16GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCKGimbal device supports locking to a roll angle (generally that's the default with roll stabilized).
    32GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXISGimbal device supports rotating around pitch axis.
    64GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_FOLLOWGimbal device supports to follow a pitch angle relative to the vehicle.
    128GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCKGimbal device supports locking to a pitch angle (generally that's the default with pitch stabilized).
    256GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXISGimbal device supports rotating around yaw axis.
    512GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOWGimbal device supports to follow a yaw angle relative to the vehicle (generally that's the default).
    1024GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCKGimbal device supports locking to an absolute heading, i.e., yaw angle relative to North (earth frame, often this is an option available).
    2048GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_INFINITE_YAWGimbal device supports yawing/panning infinitely (e.g. using slip disk).
    4096GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_YAW_IN_EARTH_FRAMEGimbal device supports yaw angles and angular velocities relative to North (earth frame). This usually requires support by an autopilot via AUTOPILOT_STATE_FOR_GIMBAL_DEVICE. Support can go on and off during runtime, which is reported by the flag GIMBAL_DEVICE_FLAGS_CAN_ACCEPT_YAW_IN_EARTH_FRAME.
    8192GIMBAL_DEVICE_CAP_FLAGS_HAS_RC_INPUTSGimbal device supports radio control inputs as an alternative input for controlling the gimbal orientation.

    GIMBAL_MANAGER_CAP_FLAGS ​

    (Bitmask) Gimbal manager high level capability flags (bitmap). The first 16 bits are identical to the GIMBAL_DEVICE_CAP_FLAGS. However, the gimbal manager does not need to copy the flags from the gimbal but can also enhance the capabilities and thus add flags.

    值Name描述
    1GIMBAL_MANAGER_CAP_FLAGS_HAS_RETRACTBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_RETRACT.
    2GIMBAL_MANAGER_CAP_FLAGS_HAS_NEUTRALBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRAL.
    4GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_AXISBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_AXIS.
    8GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_FOLLOWBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_FOLLOW.
    16GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_LOCKBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCK.
    32GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_AXISBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXIS.
    64GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_FOLLOWBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_FOLLOW.
    128GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_LOCKBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCK.
    256GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_AXISBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXIS.
    512GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_FOLLOWBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOW.
    1024GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_LOCKBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCK.
    2048GIMBAL_MANAGER_CAP_FLAGS_SUPPORTS_INFINITE_YAWBased on GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_INFINITE_YAW.
    4096GIMBAL_MANAGER_CAP_FLAGS_SUPPORTS_YAW_IN_EARTH_FRAMEBased on GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_YAW_IN_EARTH_FRAME.
    8192GIMBAL_MANAGER_CAP_FLAGS_HAS_RC_INPUTSBased on GIMBAL_DEVICE_CAP_FLAGS_HAS_RC_INPUTS.
    65536GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_LOCALGimbal manager supports to point to a local position.
    131072GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_GLOBALGimbal manager supports to point to a global latitude, longitude, altitude position.

    GIMBAL_DEVICE_FLAGS ​

    (Bitmask) Flags for gimbal device (lower level) operation.

    值Name描述
    1GIMBAL_DEVICE_FLAGS_RETRACTSet to retracted safe position (no stabilization), takes precedence over all other flags.
    2GIMBAL_DEVICE_FLAGS_NEUTRALSet to neutral/default position, taking precedence over all other flags except RETRACT. Neutral is commonly forward-facing and horizontal (roll=pitch=yaw=0) but may be any orientation.
    4GIMBAL_DEVICE_FLAGS_ROLL_LOCKLock roll angle to absolute angle relative to horizon (not relative to vehicle). This is generally the default with a stabilizing gimbal.
    8GIMBAL_DEVICE_FLAGS_PITCH_LOCKLock pitch angle to absolute angle relative to horizon (not relative to vehicle). This is generally the default with a stabilizing gimbal.
    16GIMBAL_DEVICE_FLAGS_YAW_LOCKLock yaw angle to absolute angle relative to North (not relative to vehicle). If this flag is set, the yaw angle and z component of angular velocity are relative to North (earth frame, x-axis pointing North), else they are relative to the vehicle heading (vehicle frame, earth frame rotated so that the x-axis is pointing forward).
    32GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAMEYaw angle and z component of angular velocity are relative to the vehicle heading (vehicle frame, earth frame rotated such that the x-axis is pointing forward).
    64GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAMEYaw angle and z component of angular velocity are relative to North (earth frame, x-axis is pointing North).
    128GIMBAL_DEVICE_FLAGS_ACCEPTS_YAW_IN_EARTH_FRAMEGimbal device can accept yaw angle inputs relative to North (earth frame). This flag is only for reporting (attempts to set this flag are ignored).
    256GIMBAL_DEVICE_FLAGS_RC_EXCLUSIVEThe gimbal orientation is set exclusively by the RC signals feed to the gimbal's radio control inputs. MAVLink messages for setting the gimbal orientation (GIMBAL_DEVICE_SET_ATTITUDE) are ignored.
    512GIMBAL_DEVICE_FLAGS_RC_MIXEDThe gimbal orientation is determined by combining/mixing the RC signals feed to the gimbal's radio control inputs and the MAVLink messages for setting the gimbal orientation (GIMBAL_DEVICE_SET_ATTITUDE). How these two controls are combined or mixed is not defined by the protocol but is up to the implementation.

    GIMBAL_MANAGER_FLAGS ​

    (Bitmask) Flags for high level gimbal manager operation The first 16 bits are identical to the GIMBAL_DEVICE_FLAGS.

    值Name描述
    1GIMBAL_MANAGER_FLAGS_RETRACTBased on GIMBAL_DEVICE_FLAGS_RETRACT.
    2GIMBAL_MANAGER_FLAGS_NEUTRALBased on GIMBAL_DEVICE_FLAGS_NEUTRAL.
    4GIMBAL_MANAGER_FLAGS_ROLL_LOCKBased on GIMBAL_DEVICE_FLAGS_ROLL_LOCK.
    8GIMBAL_MANAGER_FLAGS_PITCH_LOCKBased on GIMBAL_DEVICE_FLAGS_PITCH_LOCK.
    16GIMBAL_MANAGER_FLAGS_YAW_LOCKBased on GIMBAL_DEVICE_FLAGS_YAW_LOCK.
    32GIMBAL_MANAGER_FLAGS_YAW_IN_VEHICLE_FRAMEBased on GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME.
    64GIMBAL_MANAGER_FLAGS_YAW_IN_EARTH_FRAMEBased on GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME.
    128GIMBAL_MANAGER_FLAGS_ACCEPTS_YAW_IN_EARTH_FRAMEBased on GIMBAL_DEVICE_FLAGS_ACCEPTS_YAW_IN_EARTH_FRAME.
    256GIMBAL_MANAGER_FLAGS_RC_EXCLUSIVEBased on GIMBAL_DEVICE_FLAGS_RC_EXCLUSIVE.
    512GIMBAL_MANAGER_FLAGS_RC_MIXEDBased on GIMBAL_DEVICE_FLAGS_RC_MIXED.

    GIMBAL_DEVICE_ERROR_FLAGS ​

    (Bitmask) Gimbal device (low level) error flags (bitmap, 0 means no error)

    值Name描述
    1GIMBAL_DEVICE_ERROR_FLAGS_AT_ROLL_LIMITGimbal device is limited by hardware roll limit.
    2GIMBAL_DEVICE_ERROR_FLAGS_AT_PITCH_LIMITGimbal device is limited by hardware pitch limit.
    4GIMBAL_DEVICE_ERROR_FLAGS_AT_YAW_LIMITGimbal device is limited by hardware yaw limit.
    8GIMBAL_DEVICE_ERROR_FLAGS_ENCODER_ERRORThere is an error with the gimbal encoders.
    16GIMBAL_DEVICE_ERROR_FLAGS_POWER_ERRORThere is an error with the gimbal power source.
    32GIMBAL_DEVICE_ERROR_FLAGS_MOTOR_ERRORThere is an error with the gimbal motors.
    64GIMBAL_DEVICE_ERROR_FLAGS_SOFTWARE_ERRORThere is an error with the gimbal's software.
    128GIMBAL_DEVICE_ERROR_FLAGS_COMMS_ERRORThere is an error with the gimbal's communication.
    256GIMBAL_DEVICE_ERROR_FLAGS_CALIBRATION_RUNNINGGimbal device is currently calibrating.
    512GIMBAL_DEVICE_ERROR_FLAGS_NO_MANAGERGimbal device is not assigned to a gimbal manager.

    GRIPPER_ACTIONS ​

    Gripper actions.

    值Name描述
    0GRIPPER_ACTION_RELEASEGripper release cargo.
    1GRIPPER_ACTION_GRABGripper grab onto cargo.

    WINCH_ACTIONS ​

    Winch actions.

    值Name描述
    0WINCH_RELAXEDAllow motor to freewheel.
    1WINCH_RELATIVE_LENGTH_CONTROLWind or unwind specified length of line, optionally using specified rate.
    2WINCH_RATE_CONTROLWind or unwind line at specified rate.
    3WINCH_LOCKPerform the locking sequence to relieve motor while in the fully retracted position. Only action and instance command parameters are used, others are ignored.
    4WINCH_DELIVERSequence of drop, slow down, touch down, reel up, lock. Only action and instance command parameters are used, others are ignored.
    5WINCH_HOLDEngage motor and hold current position. Only action and instance command parameters are used, others are ignored.
    6WINCH_RETRACTReturn the reel to the fully retracted position. Only action and instance command parameters are used, others are ignored.
    7WINCH_LOAD_LINELoad the reel with line. The winch will calculate the total loaded length and stop when the tension exceeds a threshold. Only action and instance command parameters are used, others are ignored.
    8WINCH_ABANDON_LINESpool out the entire length of the line. Only action and instance command parameters are used, others are ignored.
    9WINCH_LOAD_PAYLOADSpools out just enough to present the hook to the user to load the payload. Only action and instance command parameters are used, others are ignored

    UAVCAN_NODE_HEALTH ​

    Generalized UAVCAN node health

    值Name描述
    0UAVCAN_NODE_HEALTH_OKThe node is functioning properly.
    1UAVCAN_NODE_HEALTH_WARNINGA critical parameter went out of range or the node has encountered a minor failure.
    2UAVCAN_NODE_HEALTH_ERRORThe node has encountered a major failure.
    3UAVCAN_NODE_HEALTH_CRITICALThe node has suffered a fatal malfunction.

    UAVCAN_NODE_MODE ​

    Generalized UAVCAN node mode

    值Name描述
    0UAVCAN_NODE_MODE_OPERATIONALThe node is performing its primary functions.
    1UAVCAN_NODE_MODE_INITIALIZATIONThe node is initializing; this mode is entered immediately after startup.
    2UAVCAN_NODE_MODE_MAINTENANCEThe node is under maintenance.
    3UAVCAN_NODE_MODE_SOFTWARE_UPDATEThe node is in the process of updating its software.
    7UAVCAN_NODE_MODE_OFFLINEThe node is no longer available online.

    ESC_CONNECTION_TYPE ​

    Indicates the ESC connection type.

    值Name描述
    0ESC_CONNECTION_TYPE_PPMTraditional PPM ESC.
    1ESC_CONNECTION_TYPE_SERIALSerial Bus connected ESC.
    2ESC_CONNECTION_TYPE_ONESHOTOne Shot PPM ESC.
    3ESC_CONNECTION_TYPE_I2CI2C ESC.
    4ESC_CONNECTION_TYPE_CANCAN-Bus ESC.
    5ESC_CONNECTION_TYPE_DSHOTDShot ESC.

    ESC_FAILURE_FLAGS ​

    (Bitmask) Flags to report ESC failures.

    值Name描述
    0ESC_FAILURE_NONENo ESC failure.
    1ESC_FAILURE_OVER_CURRENTOver current failure.
    2ESC_FAILURE_OVER_VOLTAGEOver voltage failure.
    4ESC_FAILURE_OVER_TEMPERATUREOver temperature failure.
    8ESC_FAILURE_OVER_RPMOver RPM failure.
    16ESC_FAILURE_INCONSISTENT_CMDInconsistent command failure i.e. out of bounds.
    32ESC_FAILURE_MOTOR_STUCKMotor stuck failure.
    64ESC_FAILURE_GENERICGeneric ESC failure.

    STORAGE_STATUS ​

    Flags to indicate the status of camera storage.

    值Name描述
    0STORAGE_STATUS_EMPTYStorage is missing (no microSD card loaded for example.)
    1STORAGE_STATUS_UNFORMATTEDStorage present but unformatted.
    2STORAGE_STATUS_READYStorage present and ready.
    3STORAGE_STATUS_NOT_SUPPORTEDCamera does not supply storage status information. Capacity information in STORAGE_INFORMATION fields will be ignored.

    STORAGE_TYPE ​

    Flags to indicate the type of storage.

    值Name描述
    0STORAGE_TYPE_UNKNOWNStorage type is not known.
    1STORAGE_TYPE_USB_STICKStorage type is USB device.
    2STORAGE_TYPE_SDStorage type is SD card.
    3STORAGE_TYPE_MICROSDStorage type is microSD card.
    4STORAGE_TYPE_CFStorage type is CFast.
    5STORAGE_TYPE_CFEStorage type is CFexpress.
    6STORAGE_TYPE_XQDStorage type is XQD.
    7STORAGE_TYPE_HDStorage type is HD mass storage type.
    254STORAGE_TYPE_OTHERStorage type is other, not listed type.

    STORAGE_USAGE_FLAG ​

    Flags to indicate usage for a particular storage (see STORAGE_INFORMATION.storage_usage and MAV_CMD_SET_STORAGE_USAGE).

    值Name描述
    1STORAGE_USAGE_FLAG_SETAlways set to 1 (indicates STORAGE_INFORMATION.storage_usage is supported).
    2STORAGE_USAGE_FLAG_PHOTOStorage for saving photos.
    4STORAGE_USAGE_FLAG_VIDEOStorage for saving videos.
    8STORAGE_USAGE_FLAG_LOGSStorage for saving logs.

    ORBIT_YAW_BEHAVIOUR ​

    Yaw behaviour during orbit flight.

    值Name描述
    0ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTERVehicle front points to the center (default).
    1ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADINGVehicle front holds heading when message received.
    2ORBIT_YAW_BEHAVIOUR_UNCONTROLLEDYaw uncontrolled.
    3ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLEVehicle front follows flight path (tangential to circle).
    4ORBIT_YAW_BEHAVIOUR_RC_CONTROLLEDYaw controlled by RC input.
    5ORBIT_YAW_BEHAVIOUR_UNCHANGEDVehicle uses current yaw behaviour (unchanged). The vehicle-default yaw behaviour is used if this value is specified when orbit is first commanded.

    WIFI_CONFIG_AP_RESPONSE ​

    Possible responses from a WIFI_CONFIG_AP message.

    值Name描述
    0WIFI_CONFIG_AP_RESPONSE_UNDEFINEDUndefined response. Likely an indicative of a system that doesn't support this request.
    1WIFI_CONFIG_AP_RESPONSE_ACCEPTEDChanges accepted.
    2WIFI_CONFIG_AP_RESPONSE_REJECTEDChanges rejected.
    3WIFI_CONFIG_AP_RESPONSE_MODE_ERRORInvalid Mode.
    4WIFI_CONFIG_AP_RESPONSE_SSID_ERRORInvalid SSID.
    5WIFI_CONFIG_AP_RESPONSE_PASSWORD_ERRORInvalid Password.

    CELLULAR_CONFIG_RESPONSE ​

    Possible responses from a CELLULAR_CONFIG message.

    值Name描述
    0CELLULAR_CONFIG_RESPONSE_ACCEPTEDChanges accepted.
    1CELLULAR_CONFIG_RESPONSE_APN_ERRORInvalid APN.
    2CELLULAR_CONFIG_RESPONSE_PIN_ERRORInvalid PIN.
    3CELLULAR_CONFIG_RESPONSE_REJECTEDChanges rejected.
    4CELLULAR_CONFIG_BLOCKED_PUK_REQUIREDPUK is required to unblock SIM card.

    WIFI_CONFIG_AP_MODE ​

    WiFi Mode.

    值Name描述
    0WIFI_CONFIG_AP_MODE_UNDEFINEDWiFi mode is undefined.
    1WIFI_CONFIG_AP_MODE_APWiFi configured as an access point.
    2WIFI_CONFIG_AP_MODE_STATIONWiFi configured as a station connected to an existing local WiFi network.
    3WIFI_CONFIG_AP_MODE_DISABLEDWiFi disabled.

    COMP_METADATA_TYPE ​

    Supported component metadata types. These are used in the "general" metadata file returned by COMPONENT_METADATA to provide information about supported metadata types. The types are not used directly in MAVLink messages.

    值Name描述
    0COMP_METADATA_TYPE_GENERALGeneral information about the component. General metadata includes information about other metadata types supported by the component. Files of this type must be supported, and must be downloadable from vehicle using a MAVLink FTP URI.
    1COMP_METADATA_TYPE_PARAMETERParameter meta data.
    2COMP_METADATA_TYPE_COMMANDSMeta data that specifies which commands and command parameters the vehicle supports. (WIP)
    3COMP_METADATA_TYPE_PERIPHERALSMeta data that specifies external non-MAVLink peripherals.
    4COMP_METADATA_TYPE_EVENTSMeta data for the events interface.
    5COMP_METADATA_TYPE_ACTUATORSMeta data for actuator configuration (motors, servos and vehicle geometry) and testing.

    ACTUATOR_CONFIGURATION ​

    Actuator configuration, used to change a setting on an actuator. Component information metadata can be used to know which outputs support which commands.

    值Name描述
    0ACTUATOR_CONFIGURATION_NONEDo nothing.
    1ACTUATOR_CONFIGURATION_BEEPCommand the actuator to beep now.
    2ACTUATOR_CONFIGURATION_3D_MODE_ONPermanently set the actuator (ESC) to 3D mode (reversible thrust).
    3ACTUATOR_CONFIGURATION_3D_MODE_OFFPermanently set the actuator (ESC) to non 3D mode (non-reversible thrust).
    4ACTUATOR_CONFIGURATION_SPIN_DIRECTION1Permanently set the actuator (ESC) to spin direction 1 (which can be clockwise or counter-clockwise).
    5ACTUATOR_CONFIGURATION_SPIN_DIRECTION2Permanently set the actuator (ESC) to spin direction 2 (opposite of direction 1).

    ACTUATOR_OUTPUT_FUNCTION ​

    Actuator output function. Values greater or equal to 1000 are autopilot-specific.

    值Name描述
    0ACTUATOR_OUTPUT_FUNCTION_NONENo function (disabled).
    1ACTUATOR_OUTPUT_FUNCTION_MOTOR1Motor 1
    2ACTUATOR_OUTPUT_FUNCTION_MOTOR2Motor 2
    3ACTUATOR_OUTPUT_FUNCTION_MOTOR3Motor 3
    4ACTUATOR_OUTPUT_FUNCTION_MOTOR4Motor 4
    5ACTUATOR_OUTPUT_FUNCTION_MOTOR5Motor 5
    6ACTUATOR_OUTPUT_FUNCTION_MOTOR6Motor 6
    7ACTUATOR_OUTPUT_FUNCTION_MOTOR7Motor 7
    8ACTUATOR_OUTPUT_FUNCTION_MOTOR8Motor 8
    9ACTUATOR_OUTPUT_FUNCTION_MOTOR9Motor 9
    10ACTUATOR_OUTPUT_FUNCTION_MOTOR10Motor 10
    11ACTUATOR_OUTPUT_FUNCTION_MOTOR11Motor 11
    12ACTUATOR_OUTPUT_FUNCTION_MOTOR12Motor 12
    13ACTUATOR_OUTPUT_FUNCTION_MOTOR13Motor 13
    14ACTUATOR_OUTPUT_FUNCTION_MOTOR14Motor 14
    15ACTUATOR_OUTPUT_FUNCTION_MOTOR15Motor 15
    16ACTUATOR_OUTPUT_FUNCTION_MOTOR16Motor 16
    33ACTUATOR_OUTPUT_FUNCTION_SERVO1Servo 1
    34ACTUATOR_OUTPUT_FUNCTION_SERVO2Servo 2
    35ACTUATOR_OUTPUT_FUNCTION_SERVO3Servo 3
    36ACTUATOR_OUTPUT_FUNCTION_SERVO4Servo 4
    37ACTUATOR_OUTPUT_FUNCTION_SERVO5Servo 5
    38ACTUATOR_OUTPUT_FUNCTION_SERVO6Servo 6
    39ACTUATOR_OUTPUT_FUNCTION_SERVO7Servo 7
    40ACTUATOR_OUTPUT_FUNCTION_SERVO8Servo 8
    41ACTUATOR_OUTPUT_FUNCTION_SERVO9Servo 9
    42ACTUATOR_OUTPUT_FUNCTION_SERVO10Servo 10
    43ACTUATOR_OUTPUT_FUNCTION_SERVO11Servo 11
    44ACTUATOR_OUTPUT_FUNCTION_SERVO12Servo 12
    45ACTUATOR_OUTPUT_FUNCTION_SERVO13Servo 13
    46ACTUATOR_OUTPUT_FUNCTION_SERVO14Servo 14
    47ACTUATOR_OUTPUT_FUNCTION_SERVO15Servo 15
    48ACTUATOR_OUTPUT_FUNCTION_SERVO16Servo 16

    AUTOTUNE_AXIS ​

    (Bitmask) Enable axes that will be tuned via autotuning. Used in MAV_CMD_DO_AUTOTUNE_ENABLE.

    值Name描述
    0AUTOTUNE_AXIS_DEFAULTFlight stack tunes axis according to its default settings.
    1AUTOTUNE_AXIS_ROLLAutotune roll axis.
    2AUTOTUNE_AXIS_PITCHAutotune pitch axis.
    4AUTOTUNE_AXIS_YAWAutotune yaw axis.

    PREFLIGHT_STORAGE_PARAMETER_ACTION ​

    Actions for reading/writing parameters between persistent and volatile storage when using MAV_CMD_PREFLIGHT_STORAGE. (Commonly parameters are loaded from persistent storage (flash/EEPROM) into volatile storage (RAM) on startup and written back when they are changed.)

    值Name描述
    0PARAM_READ_PERSISTENTRead all parameters from persistent storage. Replaces values in volatile storage.
    1PARAM_WRITE_PERSISTENTWrite all parameter values to persistent storage (flash/EEPROM)
    2PARAM_RESET_CONFIG_DEFAULTReset all user configurable parameters to their default value (including airframe selection, sensor calibration data, safety settings, and so on). Does not reset values that contain operation counters and vehicle computed statistics.
    3PARAM_RESET_SENSOR_DEFAULTReset only sensor calibration parameters to factory defaults (or firmware default if not available)
    4PARAM_RESET_ALL_DEFAULTReset all parameters, including operation counters, to default values

    PREFLIGHT_STORAGE_MISSION_ACTION ​

    Actions for reading and writing plan information (mission, rally points, geofence) between persistent and volatile storage when using MAV_CMD_PREFLIGHT_STORAGE. (Commonly missions are loaded from persistent storage (flash/EEPROM) into volatile storage (RAM) on startup and written back when they are changed.)

    值Name描述
    0MISSION_READ_PERSISTENTRead current mission data from persistent storage
    1MISSION_WRITE_PERSISTENTWrite current mission data to persistent storage
    2MISSION_RESET_DEFAULTErase all mission data stored on the vehicle (both persistent and volatile storage)

    MAV_DATA_STREAM — [DEP] ​

    DEPRECATED: Replaced By MESSAGE_INTERVAL (2015-06)

    A data stream is not a fixed set of messages, but rather a

    recommendation to the autopilot software. Individual autopilots may or may not obey the recommended messages.

    值Name描述
    0MAV_DATA_STREAM_ALLEnable all data streams
    1MAV_DATA_STREAM_RAW_SENSORSEnable IMU_RAW, GPS_RAW, GPS_STATUS packets.
    2MAV_DATA_STREAM_EXTENDED_STATUSEnable GPS_STATUS, CONTROL_STATUS, AUX_STATUS
    3MAV_DATA_STREAM_RC_CHANNELSEnable RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW
    4MAV_DATA_STREAM_RAW_CONTROLLEREnable ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT, NAV_CONTROLLER_OUTPUT.
    6MAV_DATA_STREAM_POSITIONEnable LOCAL_POSITION, GLOBAL_POSITION_INT messages.
    10MAV_DATA_STREAM_EXTRA1Dependent on the autopilot
    11MAV_DATA_STREAM_EXTRA2Dependent on the autopilot
    12MAV_DATA_STREAM_EXTRA3Dependent on the autopilot

    MAV_ROI — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_DO_SET_ROI_* (2018-01)

    The ROI (region of interest) for the vehicle. This can be

    be used by the vehicle for camera/vehicle attitude alignment (see MAV_CMD_NAV_ROI).

    值Name描述
    0MAV_ROI_NONENo region of interest.
    1MAV_ROI_WPNEXTPoint toward next waypoint, with optional pitch/roll/yaw offset.
    2MAV_ROI_WPINDEXPoint toward given waypoint.
    3MAV_ROI_LOCATIONPoint toward fixed location.
    4MAV_ROI_TARGETPoint toward of given id.

    MAV_PARAM_TYPE ​

    Specifies the datatype of a MAVLink parameter.

    值Name描述
    1MAV_PARAM_TYPE_UINT88-bit unsigned integer
    2MAV_PARAM_TYPE_INT88-bit signed integer
    3MAV_PARAM_TYPE_UINT1616-bit unsigned integer
    4MAV_PARAM_TYPE_INT1616-bit signed integer
    5MAV_PARAM_TYPE_UINT3232-bit unsigned integer
    6MAV_PARAM_TYPE_INT3232-bit signed integer
    7MAV_PARAM_TYPE_UINT6464-bit unsigned integer
    8MAV_PARAM_TYPE_INT6464-bit signed integer
    9MAV_PARAM_TYPE_REAL3232-bit floating-point
    10MAV_PARAM_TYPE_REAL6464-bit floating-point

    MAV_PARAM_EXT_TYPE ​

    Specifies the datatype of a MAVLink extended parameter.

    值Name描述
    1MAV_PARAM_EXT_TYPE_UINT88-bit unsigned integer
    2MAV_PARAM_EXT_TYPE_INT88-bit signed integer
    3MAV_PARAM_EXT_TYPE_UINT1616-bit unsigned integer
    4MAV_PARAM_EXT_TYPE_INT1616-bit signed integer
    5MAV_PARAM_EXT_TYPE_UINT3232-bit unsigned integer
    6MAV_PARAM_EXT_TYPE_INT3232-bit signed integer
    7MAV_PARAM_EXT_TYPE_UINT6464-bit unsigned integer
    8MAV_PARAM_EXT_TYPE_INT6464-bit signed integer
    9MAV_PARAM_EXT_TYPE_REAL3232-bit floating-point
    10MAV_PARAM_EXT_TYPE_REAL6464-bit floating-point
    11MAV_PARAM_EXT_TYPE_CUSTOMCustom Type

    MAV_RESULT ​

    Result from a MAVLink command (MAV_CMD)

    值Name描述
    0MAV_RESULT_ACCEPTEDCommand is valid (is supported and has valid parameters), and was executed.
    1MAV_RESULT_TEMPORARILY_REJECTEDCommand is valid, but cannot be executed at this time. This is used to indicate a problem that should be fixed just by waiting (e.g. a state machine is busy, can't arm because have not got GPS lock, etc.). Retrying later should work.
    2MAV_RESULT_DENIEDCommand is invalid (is supported but has invalid parameters). Retrying same command and parameters will not work.
    3MAV_RESULT_UNSUPPORTEDCommand is not supported (unknown).
    4MAV_RESULT_FAILEDCommand is valid, but execution has failed. This is used to indicate any non-temporary or unexpected problem, i.e. any problem that must be fixed before the command can succeed/be retried. For example, attempting to write a file when out of memory, attempting to arm when sensors are not calibrated, etc.
    5MAV_RESULT_IN_PROGRESSCommand is valid and is being executed. This will be followed by further progress updates, i.e. the component may send further COMMAND_ACK messages with result MAV_RESULT_IN_PROGRESS (at a rate decided by the implementation), and must terminate by sending a COMMAND_ACK message with final result of the operation. The COMMAND_ACK.progress field can be used to indicate the progress of the operation.
    6MAV_RESULT_CANCELLEDCommand has been cancelled (as a result of receiving a COMMAND_CANCEL message).
    7MAV_RESULT_COMMAND_LONG_ONLYCommand is only accepted when sent as a COMMAND_LONG.
    8MAV_RESULT_COMMAND_INT_ONLYCommand is only accepted when sent as a COMMAND_INT.
    9MAV_RESULT_COMMAND_UNSUPPORTED_MAV_FRAMECommand is invalid because a frame is required and the specified frame is not supported.

    MAV_MISSION_RESULT ​

    Result of mission operation (in a MISSION_ACK message).

    值Name描述
    0MAV_MISSION_ACCEPTEDmission accepted OK
    1MAV_MISSION_ERRORGeneric error / not accepting mission commands at all right now.
    2MAV_MISSION_UNSUPPORTED_FRAMECoordinate frame is not supported.
    3MAV_MISSION_UNSUPPORTEDCommand is not supported.
    4MAV_MISSION_NO_SPACEMission items exceed storage space.
    5MAV_MISSION_INVALIDOne of the parameters has an invalid value.
    6MAV_MISSION_INVALID_PARAM1param1 has an invalid value.
    7MAV_MISSION_INVALID_PARAM2param2 has an invalid value.
    8MAV_MISSION_INVALID_PARAM3param3 has an invalid value.
    9MAV_MISSION_INVALID_PARAM4param4 has an invalid value.
    10MAV_MISSION_INVALID_PARAM5_Xx / param5 has an invalid value.
    11MAV_MISSION_INVALID_PARAM6_Yy / param6 has an invalid value.
    12MAV_MISSION_INVALID_PARAM7z / param7 has an invalid value.
    13MAV_MISSION_INVALID_SEQUENCEMission item received out of sequence
    14MAV_MISSION_DENIEDNot accepting any mission commands from this communication partner.
    15MAV_MISSION_OPERATION_CANCELLEDCurrent mission operation cancelled (e.g. mission upload, mission download).

    MAV_SEVERITY ​

    Indicates the severity level, generally used for status messages to indicate their relative urgency. Based on RFC-5424 using expanded definitions at: http://www.kiwisyslog.com/kb/info:-syslog-message-levels/.

    值Name描述
    0MAV_SEVERITY_EMERGENCYSystem is unusable. This is a "panic" condition.
    1MAV_SEVERITY_ALERTAction should be taken immediately. Indicates error in non-critical systems.
    2MAV_SEVERITY_CRITICALAction must be taken immediately. Indicates failure in a primary system.
    3MAV_SEVERITY_ERRORIndicates an error in secondary/redundant systems.
    4MAV_SEVERITY_WARNINGIndicates about a possible future error if this is not resolved within a given timeframe. Example would be a low battery warning.
    5MAV_SEVERITY_NOTICEAn unusual event has occurred, though not an error condition. This should be investigated for the root cause.
    6MAV_SEVERITY_INFONormal operational messages. Useful for logging. No action is required for these messages.
    7MAV_SEVERITY_DEBUGUseful non-operational messages that can assist in debugging. These should not occur during normal operation.

    MAV_POWER_STATUS ​

    (Bitmask) Power supply status flags (bitmask)

    值Name描述
    1MAV_POWER_STATUS_BRICK_VALIDmain brick power supply valid
    2MAV_POWER_STATUS_SERVO_VALIDmain servo power supply valid for FMU
    4MAV_POWER_STATUS_USB_CONNECTEDUSB power is connected
    8MAV_POWER_STATUS_PERIPH_OVERCURRENTperipheral supply is in over-current state
    16MAV_POWER_STATUS_PERIPH_HIPOWER_OVERCURRENThi-power peripheral supply is in over-current state
    32MAV_POWER_STATUS_CHANGEDPower status has changed since boot

    SERIAL_CONTROL_DEV ​

    SERIAL_CONTROL device types

    值Name描述
    0SERIAL_CONTROL_DEV_TELEM1First telemetry port
    1SERIAL_CONTROL_DEV_TELEM2Second telemetry port
    2SERIAL_CONTROL_DEV_GPS1First GPS port
    3SERIAL_CONTROL_DEV_GPS2Second GPS port
    10SERIAL_CONTROL_DEV_SHELLsystem shell
    100SERIAL_CONTROL_SERIAL0SERIAL0
    101SERIAL_CONTROL_SERIAL1SERIAL1
    102SERIAL_CONTROL_SERIAL2SERIAL2
    103SERIAL_CONTROL_SERIAL3SERIAL3
    104SERIAL_CONTROL_SERIAL4SERIAL4
    105SERIAL_CONTROL_SERIAL5SERIAL5
    106SERIAL_CONTROL_SERIAL6SERIAL6
    107SERIAL_CONTROL_SERIAL7SERIAL7
    108SERIAL_CONTROL_SERIAL8SERIAL8
    109SERIAL_CONTROL_SERIAL9SERIAL9

    SERIAL_CONTROL_FLAG ​

    (Bitmask) SERIAL_CONTROL flags (bitmask)

    值Name描述
    1SERIAL_CONTROL_FLAG_REPLYSet if this is a reply
    2SERIAL_CONTROL_FLAG_RESPONDSet if the sender wants the receiver to send a response as another SERIAL_CONTROL message
    4SERIAL_CONTROL_FLAG_EXCLUSIVESet if access to the serial port should be removed from whatever driver is currently using it, giving exclusive access to the SERIAL_CONTROL protocol. The port can be handed back by sending a request without this flag set
    8SERIAL_CONTROL_FLAG_BLOCKINGBlock on writes to the serial port
    16SERIAL_CONTROL_FLAG_MULTISend multiple replies until port is drained

    MAV_DISTANCE_SENSOR ​

    Enumeration of distance sensor types

    值Name描述
    0MAV_DISTANCE_SENSOR_LASERLaser rangefinder, e.g. LightWare SF02/F or PulsedLight units
    1MAV_DISTANCE_SENSOR_ULTRASOUNDUltrasound rangefinder, e.g. MaxBotix units
    2MAV_DISTANCE_SENSOR_INFRAREDInfrared rangefinder, e.g. Sharp units
    3MAV_DISTANCE_SENSOR_RADARRadar type, e.g. uLanding units
    4MAV_DISTANCE_SENSOR_UNKNOWNBroken or unknown type, e.g. analog units

    MAV_SENSOR_ORIENTATION ​

    Enumeration of sensor orientation, according to its rotations

    值Name描述
    0MAV_SENSOR_ROTATION_NONERoll: 0, Pitch: 0, Yaw: 0
    1MAV_SENSOR_ROTATION_YAW_45Roll: 0, Pitch: 0, Yaw: 45
    2MAV_SENSOR_ROTATION_YAW_90Roll: 0, Pitch: 0, Yaw: 90
    3MAV_SENSOR_ROTATION_YAW_135Roll: 0, Pitch: 0, Yaw: 135
    4MAV_SENSOR_ROTATION_YAW_180Roll: 0, Pitch: 0, Yaw: 180
    5MAV_SENSOR_ROTATION_YAW_225Roll: 0, Pitch: 0, Yaw: 225
    6MAV_SENSOR_ROTATION_YAW_270Roll: 0, Pitch: 0, Yaw: 270
    7MAV_SENSOR_ROTATION_YAW_315Roll: 0, Pitch: 0, Yaw: 315
    8MAV_SENSOR_ROTATION_ROLL_180Roll: 180, Pitch: 0, Yaw: 0
    9MAV_SENSOR_ROTATION_ROLL_180_YAW_45Roll: 180, Pitch: 0, Yaw: 45
    10MAV_SENSOR_ROTATION_ROLL_180_YAW_90Roll: 180, Pitch: 0, Yaw: 90
    11MAV_SENSOR_ROTATION_ROLL_180_YAW_135Roll: 180, Pitch: 0, Yaw: 135
    12MAV_SENSOR_ROTATION_PITCH_180Roll: 0, Pitch: 180, Yaw: 0
    13MAV_SENSOR_ROTATION_ROLL_180_YAW_225Roll: 180, Pitch: 0, Yaw: 225
    14MAV_SENSOR_ROTATION_ROLL_180_YAW_270Roll: 180, Pitch: 0, Yaw: 270
    15MAV_SENSOR_ROTATION_ROLL_180_YAW_315Roll: 180, Pitch: 0, Yaw: 315
    16MAV_SENSOR_ROTATION_ROLL_90Roll: 90, Pitch: 0, Yaw: 0
    17MAV_SENSOR_ROTATION_ROLL_90_YAW_45Roll: 90, Pitch: 0, Yaw: 45
    18MAV_SENSOR_ROTATION_ROLL_90_YAW_90Roll: 90, Pitch: 0, Yaw: 90
    19MAV_SENSOR_ROTATION_ROLL_90_YAW_135Roll: 90, Pitch: 0, Yaw: 135
    20MAV_SENSOR_ROTATION_ROLL_270Roll: 270, Pitch: 0, Yaw: 0
    21MAV_SENSOR_ROTATION_ROLL_270_YAW_45Roll: 270, Pitch: 0, Yaw: 45
    22MAV_SENSOR_ROTATION_ROLL_270_YAW_90Roll: 270, Pitch: 0, Yaw: 90
    23MAV_SENSOR_ROTATION_ROLL_270_YAW_135Roll: 270, Pitch: 0, Yaw: 135
    24MAV_SENSOR_ROTATION_PITCH_90Roll: 0, Pitch: 90, Yaw: 0
    25MAV_SENSOR_ROTATION_PITCH_270Roll: 0, Pitch: 270, Yaw: 0
    26MAV_SENSOR_ROTATION_PITCH_180_YAW_90Roll: 0, Pitch: 180, Yaw: 90
    27MAV_SENSOR_ROTATION_PITCH_180_YAW_270Roll: 0, Pitch: 180, Yaw: 270
    28MAV_SENSOR_ROTATION_ROLL_90_PITCH_90Roll: 90, Pitch: 90, Yaw: 0
    29MAV_SENSOR_ROTATION_ROLL_180_PITCH_90Roll: 180, Pitch: 90, Yaw: 0
    30MAV_SENSOR_ROTATION_ROLL_270_PITCH_90Roll: 270, Pitch: 90, Yaw: 0
    31MAV_SENSOR_ROTATION_ROLL_90_PITCH_180Roll: 90, Pitch: 180, Yaw: 0
    32MAV_SENSOR_ROTATION_ROLL_270_PITCH_180Roll: 270, Pitch: 180, Yaw: 0
    33MAV_SENSOR_ROTATION_ROLL_90_PITCH_270Roll: 90, Pitch: 270, Yaw: 0
    34MAV_SENSOR_ROTATION_ROLL_180_PITCH_270Roll: 180, Pitch: 270, Yaw: 0
    35MAV_SENSOR_ROTATION_ROLL_270_PITCH_270Roll: 270, Pitch: 270, Yaw: 0
    36MAV_SENSOR_ROTATION_ROLL_90_PITCH_180_YAW_90Roll: 90, Pitch: 180, Yaw: 90
    37MAV_SENSOR_ROTATION_ROLL_90_YAW_270Roll: 90, Pitch: 0, Yaw: 270
    38MAV_SENSOR_ROTATION_ROLL_90_PITCH_68_YAW_293Roll: 90, Pitch: 68, Yaw: 293
    39MAV_SENSOR_ROTATION_PITCH_315Pitch: 315
    40MAV_SENSOR_ROTATION_ROLL_90_PITCH_315Roll: 90, Pitch: 315
    100MAV_SENSOR_ROTATION_CUSTOMCustom orientation

    MAV_PROTOCOL_CAPABILITY ​

    (Bitmask) Bitmask of (optional) autopilot capabilities (64 bit). If a bit is set, the autopilot supports this capability.

    值Name描述
    1MAV_PROTOCOL_CAPABILITY_MISSION_FLOATAutopilot supports the MISSION_ITEM float message type.
    Note that MISSION_ITEM is deprecated, and autopilots should use MISSION_INT instead.
    2MAV_PROTOCOL_CAPABILITY_PARAM_FLOATAutopilot supports the new param float message type.DEPRECATED: Replaced By MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST (2022-03)
    4MAV_PROTOCOL_CAPABILITY_MISSION_INTAutopilot supports MISSION_ITEM_INT scaled integer message type.
    Note that this flag must always be set if missions are supported, because missions must always use MISSION_ITEM_INT (rather than MISSION_ITEM, which is deprecated).
    8MAV_PROTOCOL_CAPABILITY_COMMAND_INTAutopilot supports COMMAND_INT scaled integer message type.
    16MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISEParameter protocol uses byte-wise encoding of parameter values into param_value (float) fields: https://mavlink.io/en/services/parameter.html#parameter-encoding.
    Note that either this flag or MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST should be set if the parameter protocol is supported.
    32MAV_PROTOCOL_CAPABILITY_FTPAutopilot supports the File Transfer Protocol v1: https://mavlink.io/en/services/ftp.html.
    64MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGETAutopilot supports commanding attitude offboard.
    128MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NEDAutopilot supports commanding position and velocity targets in local NED frame.
    256MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INTAutopilot supports commanding position and velocity targets in global scaled integers.
    512MAV_PROTOCOL_CAPABILITY_TERRAINAutopilot supports terrain protocol / data handling.
    1024MAV_PROTOCOL_CAPABILITY_RESERVED3保留以备将来使用。
    2048MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATIONAutopilot supports the MAV_CMD_DO_FLIGHTTERMINATION command (flight termination).
    4096MAV_PROTOCOL_CAPABILITY_COMPASS_CALIBRATIONAutopilot supports onboard compass calibration.
    8192MAV_PROTOCOL_CAPABILITY_MAVLINK2Autopilot supports MAVLink version 2.
    16384MAV_PROTOCOL_CAPABILITY_MISSION_FENCEAutopilot supports mission fence protocol.
    32768MAV_PROTOCOL_CAPABILITY_MISSION_RALLYAutopilot supports mission rally point protocol.
    65536MAV_PROTOCOL_CAPABILITY_RESERVED2保留以备将来使用。
    131072MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CASTParameter protocol uses C-cast of parameter values to set the param_value (float) fields: https://mavlink.io/en/services/parameter.html#parameter-encoding.
    Note that either this flag or MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISE should be set if the parameter protocol is supported.
    262144MAV_PROTOCOL_CAPABILITY_COMPONENT_IMPLEMENTS_GIMBAL_MANAGERThis component implements/is a gimbal manager. This means the GIMBAL_MANAGER_INFORMATION, and other messages can be requested.
    524288MAV_PROTOCOL_CAPABILITY_COMPONENT_ACCEPTS_GCS_CONTROLComponent supports locking control to a particular GCS independent of its system (via MAV_CMD_REQUEST_OPERATOR_CONTROL).

    MAV_MISSION_TYPE ​

    Type of mission items being requested/sent in mission protocol.

    值Name描述
    0MAV_MISSION_TYPE_MISSIONItems are mission commands for main mission.
    1MAV_MISSION_TYPE_FENCESpecifies GeoFence area(s). Items are MAV_CMD_NAV_FENCE_ GeoFence items.
    2MAV_MISSION_TYPE_RALLYSpecifies the rally points for the vehicle. Rally points are alternative RTL points. Items are MAV_CMD_NAV_RALLY_POINT rally point items.
    255MAV_MISSION_TYPE_ALLOnly used in MISSION_CLEAR_ALL to clear all mission types.

    MAV_ESTIMATOR_TYPE ​

    Enumeration of estimator types

    值Name描述
    0MAV_ESTIMATOR_TYPE_UNKNOWNUnknown type of the estimator.
    1MAV_ESTIMATOR_TYPE_NAIVEThis is a naive estimator without any real covariance feedback.
    2MAV_ESTIMATOR_TYPE_VISIONComputer vision based estimate. Might be up to scale.
    3MAV_ESTIMATOR_TYPE_VIOVisual-inertial estimate.
    4MAV_ESTIMATOR_TYPE_GPSPlain GPS estimate.
    5MAV_ESTIMATOR_TYPE_GPS_INSEstimator integrating GPS and inertial sensing.
    6MAV_ESTIMATOR_TYPE_MOCAPEstimate from external motion capturing system.
    7MAV_ESTIMATOR_TYPE_LIDAREstimator based on lidar sensor input.
    8MAV_ESTIMATOR_TYPE_AUTOPILOTEstimator on autopilot.

    MAV_BATTERY_TYPE ​

    Enumeration of battery types

    值Name描述
    0MAV_BATTERY_TYPE_UNKNOWNNot specified.
    1MAV_BATTERY_TYPE_LIPOLithium polymer battery
    2MAV_BATTERY_TYPE_LIFELithium-iron-phosphate battery
    3MAV_BATTERY_TYPE_LIONLithium-ION battery
    4MAV_BATTERY_TYPE_NIMHNickel metal hydride battery

    MAV_BATTERY_FUNCTION ​

    Enumeration of battery functions

    值Name描述
    0MAV_BATTERY_FUNCTION_UNKNOWNBattery function is unknown
    1MAV_BATTERY_FUNCTION_ALLBattery supports all flight systems
    2MAV_BATTERY_FUNCTION_PROPULSIONBattery for the propulsion system
    3MAV_BATTERY_FUNCTION_AVIONICSAvionics battery
    4MAV_BATTERY_FUNCTION_PAYLOADPayload battery

    MAV_BATTERY_CHARGE_STATE ​

    Enumeration for battery charge states.

    值Name描述
    0MAV_BATTERY_CHARGE_STATE_UNDEFINEDLow battery state is not provided
    1MAV_BATTERY_CHARGE_STATE_OKBattery is not in low state. Normal operation.
    2MAV_BATTERY_CHARGE_STATE_LOWBattery state is low, warn and monitor close.
    3MAV_BATTERY_CHARGE_STATE_CRITICALBattery state is critical, return or abort immediately.
    4MAV_BATTERY_CHARGE_STATE_EMERGENCYBattery state is too low for ordinary abort sequence. Perform fastest possible emergency stop to prevent damage.
    5MAV_BATTERY_CHARGE_STATE_FAILEDBattery failed, damage unavoidable. Possible causes (faults) are listed in MAV_BATTERY_FAULT.
    6MAV_BATTERY_CHARGE_STATE_UNHEALTHYBattery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in MAV_BATTERY_FAULT.
    7MAV_BATTERY_CHARGE_STATE_CHARGINGBattery is charging.

    MAV_BATTERY_MODE ​

    Smart battery mode. Note, the normal operation mode (i.e. when flying) should be reported as MAV_BATTERY_MODE_UNKNOWN to allow message trimming in normal flight.

    值Name描述
    0MAV_BATTERY_MODE_UNKNOWNBattery mode not supported/unknown battery mode/normal operation.
    1MAV_BATTERY_MODE_AUTO_DISCHARGINGBattery is auto discharging (towards storage level).
    2MAV_BATTERY_MODE_HOT_SWAPBattery in hot-swap mode (current limited to prevent spikes that might damage sensitive electrical circuits).

    MAV_BATTERY_FAULT ​

    (Bitmask) Smart battery supply status/fault flags (bitmask) for health indication. The battery must also report either MAV_BATTERY_CHARGE_STATE_FAILED or MAV_BATTERY_CHARGE_STATE_UNHEALTHY if any of these are set.

    值Name描述
    1MAV_BATTERY_FAULT_DEEP_DISCHARGEBattery has deep discharged.
    2MAV_BATTERY_FAULT_SPIKESVoltage spikes.
    4MAV_BATTERY_FAULT_CELL_FAILOne or more cells have failed. Battery should also report MAV_BATTERY_CHARGE_STATE_FAILE (and should not be used).
    8MAV_BATTERY_FAULT_OVER_CURRENTOver-current fault.
    16MAV_BATTERY_FAULT_OVER_TEMPERATUREOver-temperature fault.
    32MAV_BATTERY_FAULT_UNDER_TEMPERATUREUnder-temperature fault.
    64MAV_BATTERY_FAULT_INCOMPATIBLE_VOLTAGEVehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage).
    128MAV_BATTERY_FAULT_INCOMPATIBLE_FIRMWAREBattery firmware is not compatible with current autopilot firmware.
    256BATTERY_FAULT_INCOMPATIBLE_CELLS_CONFIGURATIONBattery is not compatible due to cell configuration (e.g. 5s1p when vehicle requires 6s).

    MAV_FUEL_TYPE ​

    Fuel types for use in FUEL_TYPE. Fuel types specify the units for the maximum, available and consumed fuel, and for the flow rates.

    值Name描述
    0MAV_FUEL_TYPE_UNKNOWNNot specified. Fuel levels are normalized (i.e. maximum is 1, and other levels are relative to 1).
    1MAV_FUEL_TYPE_LIQUIDA generic liquid fuel. Fuel levels are in millilitres (ml). Fuel rates are in millilitres/second.
    2MAV_FUEL_TYPE_GASA gas tank. Fuel levels are in kilo-Pascal (kPa), and flow rates are in milliliters per second (ml/s).

    MAV_GENERATOR_STATUS_FLAG ​

    (Bitmask) Flags to report status/failure cases for a power generator (used in GENERATOR_STATUS). Note that FAULTS are conditions that cause the generator to fail. Warnings are conditions that require attention before the next use (they indicate the system is not operating properly).

    值Name描述
    1MAV_GENERATOR_STATUS_FLAG_OFFGenerator is off.
    2MAV_GENERATOR_STATUS_FLAG_READYGenerator is ready to start generating power.
    4MAV_GENERATOR_STATUS_FLAG_GENERATINGGenerator is generating power.
    8MAV_GENERATOR_STATUS_FLAG_CHARGINGGenerator is charging the batteries (generating enough power to charge and provide the load).
    16MAV_GENERATOR_STATUS_FLAG_REDUCED_POWERGenerator is operating at a reduced maximum power.
    32MAV_GENERATOR_STATUS_FLAG_MAXPOWERGenerator is providing the maximum output.
    64MAV_GENERATOR_STATUS_FLAG_OVERTEMP_WARNINGGenerator is near the maximum operating temperature, cooling is insufficient.
    128MAV_GENERATOR_STATUS_FLAG_OVERTEMP_FAULTGenerator hit the maximum operating temperature and shutdown.
    256MAV_GENERATOR_STATUS_FLAG_ELECTRONICS_OVERTEMP_WARNINGPower electronics are near the maximum operating temperature, cooling is insufficient.
    512MAV_GENERATOR_STATUS_FLAG_ELECTRONICS_OVERTEMP_FAULTPower electronics hit the maximum operating temperature and shutdown.
    1024MAV_GENERATOR_STATUS_FLAG_ELECTRONICS_FAULTPower electronics experienced a fault and shutdown.
    2048MAV_GENERATOR_STATUS_FLAG_POWERSOURCE_FAULTThe power source supplying the generator failed e.g. mechanical generator stopped, tether is no longer providing power, solar cell is in shade, hydrogen reaction no longer happening.
    4096MAV_GENERATOR_STATUS_FLAG_COMMUNICATION_WARNINGGenerator controller having communication problems.
    8192MAV_GENERATOR_STATUS_FLAG_COOLING_WARNINGPower electronic or generator cooling system error.
    16384MAV_GENERATOR_STATUS_FLAG_POWER_RAIL_FAULTGenerator controller power rail experienced a fault.
    32768MAV_GENERATOR_STATUS_FLAG_OVERCURRENT_FAULTGenerator controller exceeded the overcurrent threshold and shutdown to prevent damage.
    65536MAV_GENERATOR_STATUS_FLAG_BATTERY_OVERCHARGE_CURRENT_FAULTGenerator controller detected a high current going into the batteries and shutdown to prevent battery damage.
    131072MAV_GENERATOR_STATUS_FLAG_OVERVOLTAGE_FAULTGenerator controller exceeded it's overvoltage threshold and shutdown to prevent it exceeding the voltage rating.
    262144MAV_GENERATOR_STATUS_FLAG_BATTERY_UNDERVOLT_FAULTBatteries are under voltage (generator will not start).
    524288MAV_GENERATOR_STATUS_FLAG_START_INHIBITEDGenerator start is inhibited by e.g. a safety switch.
    1048576MAV_GENERATOR_STATUS_FLAG_MAINTENANCE_REQUIREDGenerator requires maintenance.
    2097152MAV_GENERATOR_STATUS_FLAG_WARMING_UPGenerator is not ready to generate yet.
    4194304MAV_GENERATOR_STATUS_FLAG_IDLEGenerator is idle.

    MAV_VTOL_STATE ​

    Enumeration of VTOL states

    值Name描述
    0MAV_VTOL_STATE_UNDEFINEDMAV is not configured as VTOL
    1MAV_VTOL_STATE_TRANSITION_TO_FWVTOL is in transition from multicopter to fixed-wing
    2MAV_VTOL_STATE_TRANSITION_TO_MCVTOL is in transition from fixed-wing to multicopter
    3MAV_VTOL_STATE_MCVTOL is in multicopter state
    4MAV_VTOL_STATE_FWVTOL is in fixed-wing state

    MAV_LANDED_STATE ​

    Enumeration of landed detector states

    值Name描述
    0MAV_LANDED_STATE_UNDEFINEDMAV landed state is unknown
    1MAV_LANDED_STATE_ON_GROUNDMAV is landed (on ground)
    2MAV_LANDED_STATE_IN_AIRMAV is in air
    3MAV_LANDED_STATE_TAKEOFFMAV currently taking off
    4MAV_LANDED_STATE_LANDINGMAV currently landing

    ADSB_ALTITUDE_TYPE ​

    Enumeration of the ADSB altimeter types

    值Name描述
    0ADSB_ALTITUDE_TYPE_PRESSURE_QNHAltitude reported from a Baro source using QNH reference
    1ADSB_ALTITUDE_TYPE_GEOMETRICAltitude reported from a GNSS source

    ADSB_EMITTER_TYPE ​

    ADSB classification for the type of vehicle emitting the transponder signal

    值Name描述
    0ADSB_EMITTER_TYPE_NO_INFO
    1ADSB_EMITTER_TYPE_LIGHT
    2ADSB_EMITTER_TYPE_SMALL
    3ADSB_EMITTER_TYPE_LARGE
    4ADSB_EMITTER_TYPE_HIGH_VORTEX_LARGE
    5ADSB_EMITTER_TYPE_HEAVY
    6ADSB_EMITTER_TYPE_HIGHLY_MANUV
    7ADSB_EMITTER_TYPE_ROTOCRAFT
    8ADSB_EMITTER_TYPE_UNASSIGNED
    9ADSB_EMITTER_TYPE_GLIDER
    10ADSB_EMITTER_TYPE_LIGHTER_AIR
    11ADSB_EMITTER_TYPE_PARACHUTE
    12ADSB_EMITTER_TYPE_ULTRA_LIGHT
    13ADSB_EMITTER_TYPE_UNASSIGNED2
    14ADSB_EMITTER_TYPE_UAV
    15ADSB_EMITTER_TYPE_SPACE
    16ADSB_EMITTER_TYPE_UNASSGINED3
    17ADSB_EMITTER_TYPE_EMERGENCY_SURFACE
    18ADSB_EMITTER_TYPE_SERVICE_SURFACE
    19ADSB_EMITTER_TYPE_POINT_OBSTACLE

    ADSB_FLAGS ​

    (Bitmask) These flags indicate status such as data validity of each data source. Set = data valid

    值Name描述
    1ADSB_FLAGS_VALID_COORDS
    2ADSB_FLAGS_VALID_ALTITUDE
    4ADSB_FLAGS_VALID_HEADING
    8ADSB_FLAGS_VALID_VELOCITY
    16ADSB_FLAGS_VALID_CALLSIGN
    32ADSB_FLAGS_VALID_SQUAWK
    64ADSB_FLAGS_SIMULATED
    128ADSB_FLAGS_VERTICAL_VELOCITY_VALID
    256ADSB_FLAGS_BARO_VALID
    32768ADSB_FLAGS_SOURCE_UAT

    MAV_DO_REPOSITION_FLAGS ​

    (Bitmask) Bitmap of options for the MAV_CMD_DO_REPOSITION

    值Name描述
    1MAV_DO_REPOSITION_FLAGS_CHANGE_MODEThe aircraft should immediately transition into guided. This should not be set for follow me applications

    SPEED_TYPE ​

    Speed setpoint types used in MAV_CMD_DO_CHANGE_SPEED

    值Name描述
    0SPEED_TYPE_AIRSPEEDAirspeed
    1SPEED_TYPE_GROUNDSPEEDGroundspeed
    2SPEED_TYPE_CLIMB_SPEEDClimb speed
    3SPEED_TYPE_DESCENT_SPEEDDescent speed

    ESTIMATOR_STATUS_FLAGS ​

    (Bitmask) Flags in ESTIMATOR_STATUS message

    值Name描述
    1ESTIMATOR_ATTITUDETrue if the attitude estimate is good
    2ESTIMATOR_VELOCITY_HORIZTrue if the horizontal velocity estimate is good
    4ESTIMATOR_VELOCITY_VERTTrue if the vertical velocity estimate is good
    8ESTIMATOR_POS_HORIZ_RELTrue if the horizontal position (relative) estimate is good
    16ESTIMATOR_POS_HORIZ_ABSTrue if the horizontal position (absolute) estimate is good
    32ESTIMATOR_POS_VERT_ABSTrue if the vertical position (absolute) estimate is good
    64ESTIMATOR_POS_VERT_AGLTrue if the vertical position (above ground) estimate is good
    128ESTIMATOR_CONST_POS_MODETrue if the EKF is in a constant position mode and is not using external measurements (eg GPS or optical flow)
    256ESTIMATOR_PRED_POS_HORIZ_RELTrue if the EKF has sufficient data to enter a mode that will provide a (relative) position estimate
    512ESTIMATOR_PRED_POS_HORIZ_ABSTrue if the EKF has sufficient data to enter a mode that will provide a (absolute) position estimate
    1024ESTIMATOR_GPS_GLITCHTrue if the EKF has detected a GPS glitch
    2048ESTIMATOR_ACCEL_ERRORTrue if the EKF has detected bad accelerometer data

    MOTOR_TEST_ORDER ​

    Sequence that motors are tested when using MAV_CMD_DO_MOTOR_TEST.

    值Name描述
    0MOTOR_TEST_ORDER_DEFAULTDefault autopilot motor test method.
    1MOTOR_TEST_ORDER_SEQUENCEMotor numbers are specified as their index in a predefined vehicle-specific sequence.
    2MOTOR_TEST_ORDER_BOARDMotor numbers are specified as the output as labeled on the board.

    MOTOR_TEST_THROTTLE_TYPE ​

    Defines how throttle value is represented in MAV_CMD_DO_MOTOR_TEST.

    值Name描述
    0MOTOR_TEST_THROTTLE_PERCENTThrottle as a percentage (0 ~ 100)
    1MOTOR_TEST_THROTTLE_PWMThrottle as an absolute PWM value (normally in range of 1000~2000).
    2MOTOR_TEST_THROTTLE_PILOTThrottle pass-through from pilot's transmitter.
    3MOTOR_TEST_COMPASS_CALPer-motor compass calibration test.

    GPS_INPUT_IGNORE_FLAGS ​

    (Bitmask)

    值Name描述
    1GPS_INPUT_IGNORE_FLAG_ALTignore altitude field
    2GPS_INPUT_IGNORE_FLAG_HDOPignore hdop field
    4GPS_INPUT_IGNORE_FLAG_VDOPignore vdop field
    8GPS_INPUT_IGNORE_FLAG_VEL_HORIZignore horizontal velocity field (vn and ve)
    16GPS_INPUT_IGNORE_FLAG_VEL_VERTignore vertical velocity field (vd)
    32GPS_INPUT_IGNORE_FLAG_SPEED_ACCURACYignore speed accuracy field
    64GPS_INPUT_IGNORE_FLAG_HORIZONTAL_ACCURACYignore horizontal accuracy field
    128GPS_INPUT_IGNORE_FLAG_VERTICAL_ACCURACYignore vertical accuracy field

    MAV_COLLISION_ACTION ​

    Possible actions an aircraft can take to avoid a collision.

    值Name描述
    0MAV_COLLISION_ACTION_NONEIgnore any potential collisions
    1MAV_COLLISION_ACTION_REPORTReport potential collision
    2MAV_COLLISION_ACTION_ASCEND_OR_DESCENDAscend or Descend to avoid threat
    3MAV_COLLISION_ACTION_MOVE_HORIZONTALLYMove horizontally to avoid threat
    4MAV_COLLISION_ACTION_MOVE_PERPENDICULARAircraft to move perpendicular to the collision's velocity vector
    5MAV_COLLISION_ACTION_RTLAircraft to fly directly back to its launch point
    6MAV_COLLISION_ACTION_HOVERAircraft to stop in place

    MAV_COLLISION_THREAT_LEVEL ​

    Aircraft-rated danger from this threat.

    值Name描述
    0MAV_COLLISION_THREAT_LEVEL_NONENot a threat
    1MAV_COLLISION_THREAT_LEVEL_LOWCraft is mildly concerned about this threat
    2MAV_COLLISION_THREAT_LEVEL_HIGHCraft is panicking, and may take actions to avoid threat

    MAV_COLLISION_SRC ​

    Source of information about this collision.

    值Name描述
    0MAV_COLLISION_SRC_ADSBID field references ADSB_VEHICLE packets
    1MAV_COLLISION_SRC_MAVLINK_GPS_GLOBAL_INTID field references MAVLink SRC ID

    GPS_FIX_TYPE ​

    Type of GPS fix

    值Name描述
    0GPS_FIX_TYPE_NO_GPSNo GPS connected
    1GPS_FIX_TYPE_NO_FIXNo position information, GPS is connected
    2GPS_FIX_TYPE_2D_FIX2D position
    3GPS_FIX_TYPE_3D_FIX3D position
    4GPS_FIX_TYPE_DGPSDGPS/SBAS aided 3D position
    5GPS_FIX_TYPE_RTK_FLOATRTK float, 3D position
    6GPS_FIX_TYPE_RTK_FIXEDRTK Fixed, 3D position
    7GPS_FIX_TYPE_STATICStatic fixed, typically used for base stations
    8GPS_FIX_TYPE_PPPPPP, 3D position.

    RTK_BASELINE_COORDINATE_SYSTEM ​

    RTK GPS baseline coordinate system, used for RTK corrections

    值Name描述
    0RTK_BASELINE_COORDINATE_SYSTEM_ECEFEarth-centered, Earth-fixed
    1RTK_BASELINE_COORDINATE_SYSTEM_NEDRTK basestation centered, north, east, down

    LANDING_TARGET_TYPE ​

    Type of landing target

    值Name描述
    0LANDING_TARGET_TYPE_LIGHT_BEACONLanding target signaled by light beacon (ex: IR-LOCK)
    1LANDING_TARGET_TYPE_RADIO_BEACONLanding target signaled by radio beacon (ex: ILS, NDB)
    2LANDING_TARGET_TYPE_VISION_FIDUCIALLanding target represented by a fiducial marker (ex: ARTag)
    3LANDING_TARGET_TYPE_VISION_OTHERLanding target represented by a pre-defined visual shape/feature (ex: X-marker, H-marker, square)

    VTOL_TRANSITION_HEADING ​

    Direction of VTOL transition

    值Name描述
    0VTOL_TRANSITION_HEADING_VEHICLE_DEFAULTRespect the heading configuration of the vehicle.
    1VTOL_TRANSITION_HEADING_NEXT_WAYPOINTUse the heading pointing towards the next waypoint.
    2VTOL_TRANSITION_HEADING_TAKEOFFUse the heading on takeoff (while sitting on the ground).
    3VTOL_TRANSITION_HEADING_SPECIFIEDUse the specified heading in parameter 4.
    4VTOL_TRANSITION_HEADING_ANYUse the current heading when reaching takeoff altitude (potentially facing the wind when weather-vaning is active).

    CAMERA_CAP_FLAGS ​

    (Bitmask) Camera capability flags (Bitmap)

    值Name描述
    1CAMERA_CAP_FLAGS_CAPTURE_VIDEOCamera is able to record video
    2CAMERA_CAP_FLAGS_CAPTURE_IMAGECamera is able to capture images
    4CAMERA_CAP_FLAGS_HAS_MODESCamera has separate Video and Image/Photo modes (MAV_CMD_SET_CAMERA_MODE)
    8CAMERA_CAP_FLAGS_CAN_CAPTURE_IMAGE_IN_VIDEO_MODECamera can capture images while in video mode
    16CAMERA_CAP_FLAGS_CAN_CAPTURE_VIDEO_IN_IMAGE_MODECamera can capture videos while in Photo/Image mode
    32CAMERA_CAP_FLAGS_HAS_IMAGE_SURVEY_MODECamera has image survey mode (MAV_CMD_SET_CAMERA_MODE)
    64CAMERA_CAP_FLAGS_HAS_BASIC_ZOOMCamera has basic zoom control (MAV_CMD_SET_CAMERA_ZOOM)
    128CAMERA_CAP_FLAGS_HAS_BASIC_FOCUSCamera has basic focus control (MAV_CMD_SET_CAMERA_FOCUS)
    256CAMERA_CAP_FLAGS_HAS_VIDEO_STREAMCamera has video streaming capabilities (request VIDEO_STREAM_INFORMATION with MAV_CMD_REQUEST_MESSAGE for video streaming info)
    512CAMERA_CAP_FLAGS_HAS_TRACKING_POINTCamera supports tracking of a point on the camera view.
    1024CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLECamera supports tracking of a selection rectangle on the camera view.
    2048CAMERA_CAP_FLAGS_HAS_TRACKING_GEO_STATUSCamera supports tracking geo status (CAMERA_TRACKING_GEO_STATUS).
    4096CAMERA_CAP_FLAGS_HAS_THERMAL_RANGECamera supports absolute thermal range (request CAMERA_THERMAL_RANGE with MAV_CMD_REQUEST_MESSAGE) (WIP).

    VIDEO_STREAM_STATUS_FLAGS ​

    (Bitmask) Stream status flags (Bitmap)

    值Name描述
    1VIDEO_STREAM_STATUS_FLAGS_RUNNINGStream is active (running)
    2VIDEO_STREAM_STATUS_FLAGS_THERMALStream is thermal imaging
    4VIDEO_STREAM_STATUS_FLAGS_THERMAL_RANGE_ENABLEDStream can report absolute thermal range (see CAMERA_THERMAL_RANGE). (WIP).

    VIDEO_STREAM_TYPE ​

    Video stream types

    值Name描述
    0VIDEO_STREAM_TYPE_RTSPStream is RTSP
    1VIDEO_STREAM_TYPE_RTPUDPStream is RTP UDP (URI gives the port number)
    2VIDEO_STREAM_TYPE_TCP_MPEGStream is MPEG on TCP
    3VIDEO_STREAM_TYPE_MPEG_TSStream is MPEG TS (URI gives the port number)

    VIDEO_STREAM_ENCODING ​

    Video stream encodings

    值Name描述
    0VIDEO_STREAM_ENCODING_UNKNOWNStream encoding is unknown
    1VIDEO_STREAM_ENCODING_H264Stream encoding is H.264
    2VIDEO_STREAM_ENCODING_H265Stream encoding is H.265

    CAMERA_TRACKING_STATUS_FLAGS ​

    Camera tracking status flags

    值Name描述
    0CAMERA_TRACKING_STATUS_FLAGS_IDLECamera is not tracking
    1CAMERA_TRACKING_STATUS_FLAGS_ACTIVECamera is tracking
    2CAMERA_TRACKING_STATUS_FLAGS_ERRORCamera tracking in error state

    CAMERA_TRACKING_MODE ​

    Camera tracking modes

    值Name描述
    0CAMERA_TRACKING_MODE_NONENot tracking
    1CAMERA_TRACKING_MODE_POINTTarget is a point
    2CAMERA_TRACKING_MODE_RECTANGLETarget is a rectangle

    CAMERA_TRACKING_TARGET_DATA ​

    (Bitmask) Camera tracking target data (shows where tracked target is within image)

    值Name描述
    0CAMERA_TRACKING_TARGET_DATA_NONENo target data
    1CAMERA_TRACKING_TARGET_DATA_EMBEDDEDTarget data embedded in image data (proprietary)
    2CAMERA_TRACKING_TARGET_DATA_RENDEREDTarget data rendered in image
    4CAMERA_TRACKING_TARGET_DATA_IN_STATUSTarget data within status message (Point or Rectangle)

    CAMERA_ZOOM_TYPE ​

    Zoom types for MAV_CMD_SET_CAMERA_ZOOM

    值Name描述
    0ZOOM_TYPE_STEPZoom one step increment (-1 for wide, 1 for tele)
    1ZOOM_TYPE_CONTINUOUSContinuous zoom up/down until stopped (-1 for wide, 1 for tele, 0 to stop zooming)
    2ZOOM_TYPE_RANGEZoom value as proportion of full camera range (a percentage value between 0.0 and 100.0)
    3ZOOM_TYPE_FOCAL_LENGTHZoom value/variable focal length in millimetres. Note that there is no message to get the valid zoom range of the camera, so this can type can only be used for cameras where the zoom range is known (implying that this cannot reliably be used in a GCS for an arbitrary camera)
    4ZOOM_TYPE_HORIZONTAL_FOVZoom value as horizontal field of view in degrees.

    SET_FOCUS_TYPE ​

    Focus types for MAV_CMD_SET_CAMERA_FOCUS

    值Name描述
    0FOCUS_TYPE_STEPFocus one step increment (-1 for focusing in, 1 for focusing out towards infinity).
    1FOCUS_TYPE_CONTINUOUSContinuous focus up/down until stopped (-1 for focusing in, 1 for focusing out towards infinity, 0 to stop focusing)
    2FOCUS_TYPE_RANGEFocus value as proportion of full camera focus range (a value between 0.0 and 100.0)
    3FOCUS_TYPE_METERSFocus value in metres. Note that there is no message to get the valid focus range of the camera, so this can type can only be used for cameras where the range is known (implying that this cannot reliably be used in a GCS for an arbitrary camera).
    4FOCUS_TYPE_AUTOFocus automatically.
    5FOCUS_TYPE_AUTO_SINGLESingle auto focus. Mainly used for still pictures. Usually abbreviated as AF-S.
    6FOCUS_TYPE_AUTO_CONTINUOUSContinuous auto focus. Mainly used for dynamic scenes. Abbreviated as AF-C.

    CAMERA_SOURCE ​

    Camera sources for MAV_CMD_SET_CAMERA_SOURCE

    值Name描述
    0CAMERA_SOURCE_DEFAULTDefault camera source.
    1CAMERA_SOURCE_RGBRGB camera source.
    2CAMERA_SOURCE_IRIR camera source.
    3CAMERA_SOURCE_NDVINDVI camera source.

    PARAM_ACK ​

    Result from PARAM_EXT_SET message (or a PARAM_SET within a transaction).

    值Name描述
    0PARAM_ACK_ACCEPTEDParameter value ACCEPTED and SET
    1PARAM_ACK_VALUE_UNSUPPORTEDParameter value UNKNOWN/UNSUPPORTED
    2PARAM_ACK_FAILEDParameter failed to set
    3PARAM_ACK_IN_PROGRESSParameter value received but not yet set/accepted. A subsequent PARAM_ACK_TRANSACTION or PARAM_EXT_ACK with the final result will follow once operation is completed. This is returned immediately for parameters that take longer to set, indicating that the the parameter was received and does not need to be resent.

    CAMERA_MODE ​

    Camera Modes.

    值Name描述
    0CAMERA_MODE_IMAGECamera is in image/photo capture mode.
    1CAMERA_MODE_VIDEOCamera is in video capture mode.
    2CAMERA_MODE_IMAGE_SURVEYCamera is in image survey capture mode. It allows for camera controller to do specific settings for surveys.

    MAV_ARM_AUTH_DENIED_REASON ​

    值Name描述
    0MAV_ARM_AUTH_DENIED_REASON_GENERICNot a specific reason
    1MAV_ARM_AUTH_DENIED_REASON_NONEAuthorizer will send the error as string to GCS
    2MAV_ARM_AUTH_DENIED_REASON_INVALID_WAYPOINTAt least one waypoint have a invalid value
    3MAV_ARM_AUTH_DENIED_REASON_TIMEOUTTimeout in the authorizer process(in case it depends on network)
    4MAV_ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USEAirspace of the mission in use by another vehicle, second result parameter can have the waypoint id that caused it to be denied.
    5MAV_ARM_AUTH_DENIED_REASON_BAD_WEATHERWeather is not good to fly

    RC_TYPE ​

    RC type. Used in MAV_CMD_START_RX_PAIR.

    值Name描述
    0RC_TYPE_SPEKTRUMSpektrum
    1RC_TYPE_CRSFCRSF

    RC_SUB_TYPE ​

    RC sub-type of types defined in RC_TYPE. Used in MAV_CMD_START_RX_PAIR. Ignored if value does not correspond to the set RC_TYPE.

    值Name描述
    0RC_SUB_TYPE_SPEKTRUM_DSM2Spektrum DSM2
    1RC_SUB_TYPE_SPEKTRUM_DSMXSpektrum DSMX
    2RC_SUB_TYPE_SPEKTRUM_DSMX8Spektrum DSMX8

    POSITION_TARGET_TYPEMASK ​

    (Bitmask) Bitmap to indicate which dimensions should be ignored by the vehicle: a value of 0b0000000000000000 or 0b0000001000000000 indicates that none of the setpoint dimensions should be ignored. If bit 9 is set the floats afx afy afz should be interpreted as force instead of acceleration.

    值Name描述
    1POSITION_TARGET_TYPEMASK_X_IGNOREIgnore position x
    2POSITION_TARGET_TYPEMASK_Y_IGNOREIgnore position y
    4POSITION_TARGET_TYPEMASK_Z_IGNOREIgnore position z
    8POSITION_TARGET_TYPEMASK_VX_IGNOREIgnore velocity x
    16POSITION_TARGET_TYPEMASK_VY_IGNOREIgnore velocity y
    32POSITION_TARGET_TYPEMASK_VZ_IGNOREIgnore velocity z
    64POSITION_TARGET_TYPEMASK_AX_IGNOREIgnore acceleration x
    128POSITION_TARGET_TYPEMASK_AY_IGNOREIgnore acceleration y
    256POSITION_TARGET_TYPEMASK_AZ_IGNOREIgnore acceleration z
    512POSITION_TARGET_TYPEMASK_FORCE_SETUse force instead of acceleration
    1024POSITION_TARGET_TYPEMASK_YAW_IGNOREIgnore yaw
    2048POSITION_TARGET_TYPEMASK_YAW_RATE_IGNOREIgnore yaw rate

    ATTITUDE_TARGET_TYPEMASK ​

    (Bitmask) Bitmap to indicate which dimensions should be ignored by the vehicle: a value of 0b00000000 indicates that none of the setpoint dimensions should be ignored.

    值Name描述
    1ATTITUDE_TARGET_TYPEMASK_BODY_ROLL_RATE_IGNOREIgnore body roll rate
    2ATTITUDE_TARGET_TYPEMASK_BODY_PITCH_RATE_IGNOREIgnore body pitch rate
    4ATTITUDE_TARGET_TYPEMASK_BODY_YAW_RATE_IGNOREIgnore body yaw rate
    32ATTITUDE_TARGET_TYPEMASK_THRUST_BODY_SETUse 3D body thrust setpoint instead of throttle
    64ATTITUDE_TARGET_TYPEMASK_THROTTLE_IGNOREIgnore throttle
    128ATTITUDE_TARGET_TYPEMASK_ATTITUDE_IGNOREIgnore attitude

    UTM_FLIGHT_STATE ​

    Airborne status of UAS.

    值Name描述
    1UTM_FLIGHT_STATE_UNKNOWNThe flight state can't be determined.
    2UTM_FLIGHT_STATE_GROUNDUAS on ground.
    3UTM_FLIGHT_STATE_AIRBORNEUAS airborne.
    16UTM_FLIGHT_STATE_EMERGENCYUAS is in an emergency flight state.
    32UTM_FLIGHT_STATE_NOCTRLUAS has no active controls.

    UTM_DATA_AVAIL_FLAGS ​

    (Bitmask) Flags for the global position report.

    值Name描述
    1UTM_DATA_AVAIL_FLAGS_TIME_VALIDThe field time contains valid data.
    2UTM_DATA_AVAIL_FLAGS_UAS_ID_AVAILABLEThe field uas_id contains valid data.
    4UTM_DATA_AVAIL_FLAGS_POSITION_AVAILABLEThe fields lat, lon and h_acc contain valid data.
    8UTM_DATA_AVAIL_FLAGS_ALTITUDE_AVAILABLEThe fields alt and v_acc contain valid data.
    16UTM_DATA_AVAIL_FLAGS_RELATIVE_ALTITUDE_AVAILABLEThe field relative_alt contains valid data.
    32UTM_DATA_AVAIL_FLAGS_HORIZONTAL_VELO_AVAILABLEThe fields vx and vy contain valid data.
    64UTM_DATA_AVAIL_FLAGS_VERTICAL_VELO_AVAILABLEThe field vz contains valid data.
    128UTM_DATA_AVAIL_FLAGS_NEXT_WAYPOINT_AVAILABLEThe fields next_lat, next_lon and next_alt contain valid data.

    CELLULAR_STATUS_FLAG ​

    These flags encode the cellular network status

    值Name描述
    0CELLULAR_STATUS_FLAG_UNKNOWNState unknown or not reportable.
    1CELLULAR_STATUS_FLAG_FAILEDModem is unusable
    2CELLULAR_STATUS_FLAG_INITIALIZINGModem is being initialized
    3CELLULAR_STATUS_FLAG_LOCKEDModem is locked
    4CELLULAR_STATUS_FLAG_DISABLEDModem is not enabled and is powered down
    5CELLULAR_STATUS_FLAG_DISABLINGModem is currently transitioning to the CELLULAR_STATUS_FLAG_DISABLED state
    6CELLULAR_STATUS_FLAG_ENABLINGModem is currently transitioning to the CELLULAR_STATUS_FLAG_ENABLED state
    7CELLULAR_STATUS_FLAG_ENABLEDModem is enabled and powered on but not registered with a network provider and not available for data connections
    8CELLULAR_STATUS_FLAG_SEARCHINGModem is searching for a network provider to register
    9CELLULAR_STATUS_FLAG_REGISTEREDModem is registered with a network provider, and data connections and messaging may be available for use
    10CELLULAR_STATUS_FLAG_DISCONNECTINGModem is disconnecting and deactivating the last active packet data bearer. This state will not be entered if more than one packet data bearer is active and one of the active bearers is deactivated
    11CELLULAR_STATUS_FLAG_CONNECTINGModem is activating and connecting the first packet data bearer. Subsequent bearer activations when another bearer is already active do not cause this state to be entered
    12CELLULAR_STATUS_FLAG_CONNECTEDOne or more packet data bearers is active and connected

    CELLULAR_NETWORK_FAILED_REASON ​

    These flags are used to diagnose the failure state of CELLULAR_STATUS

    值Name描述
    0CELLULAR_NETWORK_FAILED_REASON_NONENo error
    1CELLULAR_NETWORK_FAILED_REASON_UNKNOWNError state is unknown
    2CELLULAR_NETWORK_FAILED_REASON_SIM_MISSINGSIM is required for the modem but missing
    3CELLULAR_NETWORK_FAILED_REASON_SIM_ERRORSIM is available, but not usable for connection

    CELLULAR_NETWORK_RADIO_TYPE ​

    Cellular network radio type

    值Name描述
    0CELLULAR_NETWORK_RADIO_TYPE_NONE
    1CELLULAR_NETWORK_RADIO_TYPE_GSM
    2CELLULAR_NETWORK_RADIO_TYPE_CDMA
    3CELLULAR_NETWORK_RADIO_TYPE_WCDMA
    4CELLULAR_NETWORK_RADIO_TYPE_LTE

    PRECISION_LAND_MODE ​

    Precision land modes (used in MAV_CMD_NAV_LAND).

    值Name描述
    0PRECISION_LAND_MODE_DISABLEDNormal (non-precision) landing.
    1PRECISION_LAND_MODE_OPPORTUNISTICUse precision landing if beacon detected when land command accepted, otherwise land normally.
    2PRECISION_LAND_MODE_REQUIREDUse precision landing, searching for beacon if not found when land command accepted (land normally if beacon cannot be found).

    PARACHUTE_ACTION ​

    Parachute actions. Trigger release and enable/disable auto-release.

    值Name描述
    0PARACHUTE_DISABLEDisable auto-release of parachute (i.e. release triggered by crash detectors).
    1PARACHUTE_ENABLEEnable auto-release of parachute.
    2PARACHUTE_RELEASERelease parachute and kill motors.

    MAV_TUNNEL_PAYLOAD_TYPE ​

    值Name描述
    0MAV_TUNNEL_PAYLOAD_TYPE_UNKNOWNEncoding of payload unknown.
    200MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED0Registered for STorM32 gimbal controller.
    201MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED1Registered for STorM32 gimbal controller.
    202MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED2Registered for STorM32 gimbal controller.
    203MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED3Registered for STorM32 gimbal controller.
    204MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED4Registered for STorM32 gimbal controller.
    205MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED5Registered for STorM32 gimbal controller.
    206MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED6Registered for STorM32 gimbal controller.
    207MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED7Registered for STorM32 gimbal controller.
    208MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED8Registered for STorM32 gimbal controller.
    209MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED9Registered for STorM32 gimbal controller.

    MAV_ODID_ID_TYPE ​

    值Name描述
    0MAV_ODID_ID_TYPE_NONENo type defined.
    1MAV_ODID_ID_TYPE_SERIAL_NUMBERManufacturer Serial Number (ANSI/CTA-2063 format).
    2MAV_ODID_ID_TYPE_CAA_REGISTRATION_IDCAA (Civil Aviation Authority) registered ID. Format: [ICAO Country Code].[CAA Assigned ID].
    3MAV_ODID_ID_TYPE_UTM_ASSIGNED_UUIDUTM (Unmanned Traffic Management) assigned UUID (RFC4122).
    4MAV_ODID_ID_TYPE_SPECIFIC_SESSION_IDA 20 byte ID for a specific flight/session. The exact ID type is indicated by the first byte of uas_id and these type values are managed by ICAO.

    MAV_ODID_UA_TYPE ​

    值Name描述
    0MAV_ODID_UA_TYPE_NONENo UA (Unmanned Aircraft) type defined.
    1MAV_ODID_UA_TYPE_AEROPLANEAeroplane/Airplane. Fixed wing.
    2MAV_ODID_UA_TYPE_HELICOPTER_OR_MULTIROTORHelicopter or multirotor.
    3MAV_ODID_UA_TYPE_GYROPLANEGyroplane.
    4MAV_ODID_UA_TYPE_HYBRID_LIFTVTOL (Vertical Take-Off and Landing). Fixed wing aircraft that can take off vertically.
    5MAV_ODID_UA_TYPE_ORNITHOPTEROrnithopter.
    6MAV_ODID_UA_TYPE_GLIDERGlider.
    7MAV_ODID_UA_TYPE_KITEKite.
    8MAV_ODID_UA_TYPE_FREE_BALLOONFree Balloon.
    9MAV_ODID_UA_TYPE_CAPTIVE_BALLOONCaptive Balloon.
    10MAV_ODID_UA_TYPE_AIRSHIPAirship. E.g. a blimp.
    11MAV_ODID_UA_TYPE_FREE_FALL_PARACHUTEFree Fall/Parachute (unpowered).
    12MAV_ODID_UA_TYPE_ROCKETRocket.
    13MAV_ODID_UA_TYPE_TETHERED_POWERED_AIRCRAFTTethered powered aircraft.
    14MAV_ODID_UA_TYPE_GROUND_OBSTACLEGround Obstacle.
    15MAV_ODID_UA_TYPE_OTHEROther type of aircraft not listed earlier.

    MAV_ODID_STATUS ​

    值Name描述
    0MAV_ODID_STATUS_UNDECLAREDThe status of the (UA) Unmanned Aircraft is undefined.
    1MAV_ODID_STATUS_GROUNDThe UA is on the ground.
    2MAV_ODID_STATUS_AIRBORNEThe UA is in the air.
    3MAV_ODID_STATUS_EMERGENCYThe UA is having an emergency.
    4MAV_ODID_STATUS_REMOTE_ID_SYSTEM_FAILUREThe remote ID system is failing or unreliable in some way.

    MAV_ODID_HEIGHT_REF ​

    值Name描述
    0MAV_ODID_HEIGHT_REF_OVER_TAKEOFFThe height field is relative to the take-off location.
    1MAV_ODID_HEIGHT_REF_OVER_GROUNDThe height field is relative to ground.

    MAV_ODID_HOR_ACC ​

    值Name描述
    0MAV_ODID_HOR_ACC_UNKNOWNThe horizontal accuracy is unknown.
    1MAV_ODID_HOR_ACC_10NMThe horizontal accuracy is smaller than 10 Nautical Miles. 18.52 km.
    2MAV_ODID_HOR_ACC_4NMThe horizontal accuracy is smaller than 4 Nautical Miles. 7.408 km.
    3MAV_ODID_HOR_ACC_2NMThe horizontal accuracy is smaller than 2 Nautical Miles. 3.704 km.
    4MAV_ODID_HOR_ACC_1NMThe horizontal accuracy is smaller than 1 Nautical Miles. 1.852 km.
    5MAV_ODID_HOR_ACC_0_5NMThe horizontal accuracy is smaller than 0.5 Nautical Miles. 926 m.
    6MAV_ODID_HOR_ACC_0_3NMThe horizontal accuracy is smaller than 0.3 Nautical Miles. 555.6 m.
    7MAV_ODID_HOR_ACC_0_1NMThe horizontal accuracy is smaller than 0.1 Nautical Miles. 185.2 m.
    8MAV_ODID_HOR_ACC_0_05NMThe horizontal accuracy is smaller than 0.05 Nautical Miles. 92.6 m.
    9MAV_ODID_HOR_ACC_30_METERThe horizontal accuracy is smaller than 30 meter.
    10MAV_ODID_HOR_ACC_10_METERThe horizontal accuracy is smaller than 10 meter.
    11MAV_ODID_HOR_ACC_3_METERThe horizontal accuracy is smaller than 3 meter.
    12MAV_ODID_HOR_ACC_1_METERThe horizontal accuracy is smaller than 1 meter.

    MAV_ODID_VER_ACC ​

    值Name描述
    0MAV_ODID_VER_ACC_UNKNOWNThe vertical accuracy is unknown.
    1MAV_ODID_VER_ACC_150_METERThe vertical accuracy is smaller than 150 meter.
    2MAV_ODID_VER_ACC_45_METERThe vertical accuracy is smaller than 45 meter.
    3MAV_ODID_VER_ACC_25_METERThe vertical accuracy is smaller than 25 meter.
    4MAV_ODID_VER_ACC_10_METERThe vertical accuracy is smaller than 10 meter.
    5MAV_ODID_VER_ACC_3_METERThe vertical accuracy is smaller than 3 meter.
    6MAV_ODID_VER_ACC_1_METERThe vertical accuracy is smaller than 1 meter.

    MAV_ODID_SPEED_ACC ​

    值Name描述
    0MAV_ODID_SPEED_ACC_UNKNOWNThe speed accuracy is unknown.
    1MAV_ODID_SPEED_ACC_10_METERS_PER_SECONDThe speed accuracy is smaller than 10 meters per second.
    2MAV_ODID_SPEED_ACC_3_METERS_PER_SECONDThe speed accuracy is smaller than 3 meters per second.
    3MAV_ODID_SPEED_ACC_1_METERS_PER_SECONDThe speed accuracy is smaller than 1 meters per second.
    4MAV_ODID_SPEED_ACC_0_3_METERS_PER_SECONDThe speed accuracy is smaller than 0.3 meters per second.

    MAV_ODID_TIME_ACC ​

    值Name描述
    0MAV_ODID_TIME_ACC_UNKNOWNThe timestamp accuracy is unknown.
    1MAV_ODID_TIME_ACC_0_1_SECONDThe timestamp accuracy is smaller than or equal to 0.1 second.
    2MAV_ODID_TIME_ACC_0_2_SECONDThe timestamp accuracy is smaller than or equal to 0.2 second.
    3MAV_ODID_TIME_ACC_0_3_SECONDThe timestamp accuracy is smaller than or equal to 0.3 second.
    4MAV_ODID_TIME_ACC_0_4_SECONDThe timestamp accuracy is smaller than or equal to 0.4 second.
    5MAV_ODID_TIME_ACC_0_5_SECONDThe timestamp accuracy is smaller than or equal to 0.5 second.
    6MAV_ODID_TIME_ACC_0_6_SECONDThe timestamp accuracy is smaller than or equal to 0.6 second.
    7MAV_ODID_TIME_ACC_0_7_SECONDThe timestamp accuracy is smaller than or equal to 0.7 second.
    8MAV_ODID_TIME_ACC_0_8_SECONDThe timestamp accuracy is smaller than or equal to 0.8 second.
    9MAV_ODID_TIME_ACC_0_9_SECONDThe timestamp accuracy is smaller than or equal to 0.9 second.
    10MAV_ODID_TIME_ACC_1_0_SECONDThe timestamp accuracy is smaller than or equal to 1.0 second.
    11MAV_ODID_TIME_ACC_1_1_SECONDThe timestamp accuracy is smaller than or equal to 1.1 second.
    12MAV_ODID_TIME_ACC_1_2_SECONDThe timestamp accuracy is smaller than or equal to 1.2 second.
    13MAV_ODID_TIME_ACC_1_3_SECONDThe timestamp accuracy is smaller than or equal to 1.3 second.
    14MAV_ODID_TIME_ACC_1_4_SECONDThe timestamp accuracy is smaller than or equal to 1.4 second.
    15MAV_ODID_TIME_ACC_1_5_SECONDThe timestamp accuracy is smaller than or equal to 1.5 second.

    MAV_ODID_AUTH_TYPE ​

    值Name描述
    0MAV_ODID_AUTH_TYPE_NONENo authentication type is specified.
    1MAV_ODID_AUTH_TYPE_UAS_ID_SIGNATURESignature for the UAS (Unmanned Aircraft System) ID.
    2MAV_ODID_AUTH_TYPE_OPERATOR_ID_SIGNATURESignature for the Operator ID.
    3MAV_ODID_AUTH_TYPE_MESSAGE_SET_SIGNATURESignature for the entire message set.
    4MAV_ODID_AUTH_TYPE_NETWORK_REMOTE_IDAuthentication is provided by Network Remote ID.
    5MAV_ODID_AUTH_TYPE_SPECIFIC_AUTHENTICATIONThe exact authentication type is indicated by the first byte of authentication_data and these type values are managed by ICAO.

    MAV_ODID_DESC_TYPE ​

    值Name描述
    0MAV_ODID_DESC_TYPE_TEXTOptional free-form text description of the purpose of the flight.
    1MAV_ODID_DESC_TYPE_EMERGENCYOptional additional clarification when status == MAV_ODID_STATUS_EMERGENCY.
    2MAV_ODID_DESC_TYPE_EXTENDED_STATUSOptional additional clarification when status != MAV_ODID_STATUS_EMERGENCY.

    MAV_ODID_OPERATOR_LOCATION_TYPE ​

    值Name描述
    0MAV_ODID_OPERATOR_LOCATION_TYPE_TAKEOFFThe location/altitude of the operator is the same as the take-off location.
    1MAV_ODID_OPERATOR_LOCATION_TYPE_LIVE_GNSSThe location/altitude of the operator is dynamic. E.g. based on live GNSS data.
    2MAV_ODID_OPERATOR_LOCATION_TYPE_FIXEDThe location/altitude of the operator are fixed values.

    MAV_ODID_CLASSIFICATION_TYPE ​

    值Name描述
    0MAV_ODID_CLASSIFICATION_TYPE_UNDECLAREDThe classification type for the UA is undeclared.
    1MAV_ODID_CLASSIFICATION_TYPE_EUThe classification type for the UA follows EU (European Union) specifications.

    MAV_ODID_CATEGORY_EU ​

    值Name描述
    0MAV_ODID_CATEGORY_EU_UNDECLAREDThe category for the UA, according to the EU specification, is undeclared.
    1MAV_ODID_CATEGORY_EU_OPENThe category for the UA, according to the EU specification, is the Open category.
    2MAV_ODID_CATEGORY_EU_SPECIFICThe category for the UA, according to the EU specification, is the Specific category.
    3MAV_ODID_CATEGORY_EU_CERTIFIEDThe category for the UA, according to the EU specification, is the Certified category.

    MAV_ODID_CLASS_EU ​

    值Name描述
    0MAV_ODID_CLASS_EU_UNDECLAREDThe class for the UA, according to the EU specification, is undeclared.
    1MAV_ODID_CLASS_EU_CLASS_0The class for the UA, according to the EU specification, is Class 0.
    2MAV_ODID_CLASS_EU_CLASS_1The class for the UA, according to the EU specification, is Class 1.
    3MAV_ODID_CLASS_EU_CLASS_2The class for the UA, according to the EU specification, is Class 2.
    4MAV_ODID_CLASS_EU_CLASS_3The class for the UA, according to the EU specification, is Class 3.
    5MAV_ODID_CLASS_EU_CLASS_4The class for the UA, according to the EU specification, is Class 4.
    6MAV_ODID_CLASS_EU_CLASS_5The class for the UA, according to the EU specification, is Class 5.
    7MAV_ODID_CLASS_EU_CLASS_6The class for the UA, according to the EU specification, is Class 6.

    MAV_ODID_OPERATOR_ID_TYPE ​

    值Name描述
    0MAV_ODID_OPERATOR_ID_TYPE_CAACAA (Civil Aviation Authority) registered operator ID.

    MAV_ODID_ARM_STATUS ​

    值Name描述
    0MAV_ODID_ARM_STATUS_GOOD_TO_ARMPassing arming checks.
    1MAV_ODID_ARM_STATUS_PRE_ARM_FAIL_GENERICGeneric arming failure, see error string for details.

    TUNE_FORMAT ​

    Tune formats (used for vehicle buzzer/tone generation).

    值Name描述
    1TUNE_FORMAT_QBASIC1_1Format is QBasic 1.1 Play: https://www.qbasic.net/en/reference/qb11/Statement/PLAY-006.htm.
    2TUNE_FORMAT_MML_MODERNFormat is Modern Music Markup Language (MML): https://en.wikipedia.org/wiki/Music_Macro_Language#Modern_MML.

    AIS_TYPE ​

    Type of AIS vessel, enum duplicated from AIS standard, https://gpsd.gitlab.io/gpsd/AIVDM.html

    值Name描述
    0AIS_TYPE_UNKNOWNNot available (default).
    1AIS_TYPE_RESERVED_1
    2AIS_TYPE_RESERVED_2
    3AIS_TYPE_RESERVED_3
    4AIS_TYPE_RESERVED_4
    5AIS_TYPE_RESERVED_5
    6AIS_TYPE_RESERVED_6
    7AIS_TYPE_RESERVED_7
    8AIS_TYPE_RESERVED_8
    9AIS_TYPE_RESERVED_9
    10AIS_TYPE_RESERVED_10
    11AIS_TYPE_RESERVED_11
    12AIS_TYPE_RESERVED_12
    13AIS_TYPE_RESERVED_13
    14AIS_TYPE_RESERVED_14
    15AIS_TYPE_RESERVED_15
    16AIS_TYPE_RESERVED_16
    17AIS_TYPE_RESERVED_17
    18AIS_TYPE_RESERVED_18
    19AIS_TYPE_RESERVED_19
    20AIS_TYPE_WIGWing In Ground effect.
    21AIS_TYPE_WIG_HAZARDOUS_A
    22AIS_TYPE_WIG_HAZARDOUS_B
    23AIS_TYPE_WIG_HAZARDOUS_C
    24AIS_TYPE_WIG_HAZARDOUS_D
    25AIS_TYPE_WIG_RESERVED_1
    26AIS_TYPE_WIG_RESERVED_2
    27AIS_TYPE_WIG_RESERVED_3
    28AIS_TYPE_WIG_RESERVED_4
    29AIS_TYPE_WIG_RESERVED_5
    30AIS_TYPE_FISHING
    31AIS_TYPE_TOWING
    32AIS_TYPE_TOWING_LARGETowing: length exceeds 200m or breadth exceeds 25m.
    33AIS_TYPE_DREDGINGDredging or other underwater ops.
    34AIS_TYPE_DIVING
    35AIS_TYPE_MILITARY
    36AIS_TYPE_SAILING
    37AIS_TYPE_PLEASURE
    38AIS_TYPE_RESERVED_20
    39AIS_TYPE_RESERVED_21
    40AIS_TYPE_HSCHigh Speed Craft.
    41AIS_TYPE_HSC_HAZARDOUS_A
    42AIS_TYPE_HSC_HAZARDOUS_B
    43AIS_TYPE_HSC_HAZARDOUS_C
    44AIS_TYPE_HSC_HAZARDOUS_D
    45AIS_TYPE_HSC_RESERVED_1
    46AIS_TYPE_HSC_RESERVED_2
    47AIS_TYPE_HSC_RESERVED_3
    48AIS_TYPE_HSC_RESERVED_4
    49AIS_TYPE_HSC_UNKNOWN
    50AIS_TYPE_PILOT
    51AIS_TYPE_SARSearch And Rescue vessel.
    52AIS_TYPE_TUG
    53AIS_TYPE_PORT_TENDER
    54AIS_TYPE_ANTI_POLLUTIONAnti-pollution equipment.
    55AIS_TYPE_LAW_ENFORCEMENT
    56AIS_TYPE_SPARE_LOCAL_1
    57AIS_TYPE_SPARE_LOCAL_2
    58AIS_TYPE_MEDICAL_TRANSPORT
    59AIS_TYPE_NONECOMBATANTNoncombatant ship according to RR Resolution No. 18.
    60AIS_TYPE_PASSENGER
    61AIS_TYPE_PASSENGER_HAZARDOUS_A
    62AIS_TYPE_PASSENGER_HAZARDOUS_B
    63AIS_TYPE_PASSENGER_HAZARDOUS_C
    64AIS_TYPE_PASSENGER_HAZARDOUS_D
    65AIS_TYPE_PASSENGER_RESERVED_1
    66AIS_TYPE_PASSENGER_RESERVED_2
    67AIS_TYPE_PASSENGER_RESERVED_3
    68AIS_TYPE_PASSENGER_RESERVED_4
    69AIS_TYPE_PASSENGER_UNKNOWN
    70AIS_TYPE_CARGO
    71AIS_TYPE_CARGO_HAZARDOUS_A
    72AIS_TYPE_CARGO_HAZARDOUS_B
    73AIS_TYPE_CARGO_HAZARDOUS_C
    74AIS_TYPE_CARGO_HAZARDOUS_D
    75AIS_TYPE_CARGO_RESERVED_1
    76AIS_TYPE_CARGO_RESERVED_2
    77AIS_TYPE_CARGO_RESERVED_3
    78AIS_TYPE_CARGO_RESERVED_4
    79AIS_TYPE_CARGO_UNKNOWN
    80AIS_TYPE_TANKER
    81AIS_TYPE_TANKER_HAZARDOUS_A
    82AIS_TYPE_TANKER_HAZARDOUS_B
    83AIS_TYPE_TANKER_HAZARDOUS_C
    84AIS_TYPE_TANKER_HAZARDOUS_D
    85AIS_TYPE_TANKER_RESERVED_1
    86AIS_TYPE_TANKER_RESERVED_2
    87AIS_TYPE_TANKER_RESERVED_3
    88AIS_TYPE_TANKER_RESERVED_4
    89AIS_TYPE_TANKER_UNKNOWN
    90AIS_TYPE_OTHER
    91AIS_TYPE_OTHER_HAZARDOUS_A
    92AIS_TYPE_OTHER_HAZARDOUS_B
    93AIS_TYPE_OTHER_HAZARDOUS_C
    94AIS_TYPE_OTHER_HAZARDOUS_D
    95AIS_TYPE_OTHER_RESERVED_1
    96AIS_TYPE_OTHER_RESERVED_2
    97AIS_TYPE_OTHER_RESERVED_3
    98AIS_TYPE_OTHER_RESERVED_4
    99AIS_TYPE_OTHER_UNKNOWN

    AIS_NAV_STATUS ​

    Navigational status of AIS vessel, enum duplicated from AIS standard, https://gpsd.gitlab.io/gpsd/AIVDM.html

    值Name描述
    0UNDER_WAYUnder way using engine.
    1AIS_NAV_ANCHORED
    2AIS_NAV_UN_COMMANDED
    3AIS_NAV_RESTRICTED_MANOEUVERABILITY
    4AIS_NAV_DRAUGHT_CONSTRAINED
    5AIS_NAV_MOORED
    6AIS_NAV_AGROUND
    7AIS_NAV_FISHING
    8AIS_NAV_SAILING
    9AIS_NAV_RESERVED_HSC
    10AIS_NAV_RESERVED_WIG
    11AIS_NAV_RESERVED_1
    12AIS_NAV_RESERVED_2
    13AIS_NAV_RESERVED_3
    14AIS_NAV_AIS_SARTSearch And Rescue Transponder.
    15AIS_NAV_UNKNOWNNot available (default).

    AIS_FLAGS ​

    (Bitmask) These flags are used in the AIS_VESSEL.fields bitmask to indicate validity of data in the other message fields. When set, the data is valid.

    值Name描述
    1AIS_FLAGS_POSITION_ACCURACY1 = Position accuracy less than 10m, 0 = position accuracy greater than 10m.
    2AIS_FLAGS_VALID_COG
    4AIS_FLAGS_VALID_VELOCITY
    8AIS_FLAGS_HIGH_VELOCITY1 = Velocity over 52.5765m/s (102.2 knots)
    16AIS_FLAGS_VALID_TURN_RATE
    32AIS_FLAGS_TURN_RATE_SIGN_ONLYOnly the sign of the returned turn rate value is valid, either greater than 5deg/30s or less than -5deg/30s
    64AIS_FLAGS_VALID_DIMENSIONS
    128AIS_FLAGS_LARGE_BOW_DIMENSIONDistance to bow is larger than 511m
    256AIS_FLAGS_LARGE_STERN_DIMENSIONDistance to stern is larger than 511m
    512AIS_FLAGS_LARGE_PORT_DIMENSIONDistance to port side is larger than 63m
    1024AIS_FLAGS_LARGE_STARBOARD_DIMENSIONDistance to starboard side is larger than 63m
    2048AIS_FLAGS_VALID_CALLSIGN
    4096AIS_FLAGS_VALID_NAME

    FAILURE_UNIT ​

    List of possible units where failures can be injected.

    值Name描述
    0FAILURE_UNIT_SENSOR_GYRO
    1FAILURE_UNIT_SENSOR_ACCEL
    2FAILURE_UNIT_SENSOR_MAG
    3FAILURE_UNIT_SENSOR_BARO
    4FAILURE_UNIT_SENSOR_GPS
    5FAILURE_UNIT_SENSOR_OPTICAL_FLOW
    6FAILURE_UNIT_SENSOR_VIO
    7FAILURE_UNIT_SENSOR_DISTANCE_SENSOR
    8FAILURE_UNIT_SENSOR_AIRSPEED
    100FAILURE_UNIT_SYSTEM_BATTERY
    101FAILURE_UNIT_SYSTEM_MOTOR
    102FAILURE_UNIT_SYSTEM_SERVO
    103FAILURE_UNIT_SYSTEM_AVOIDANCE
    104FAILURE_UNIT_SYSTEM_RC_SIGNAL
    105FAILURE_UNIT_SYSTEM_MAVLINK_SIGNAL

    FAILURE_TYPE ​

    List of possible failure type to inject.

    值Name描述
    0FAILURE_TYPE_OKNo failure injected, used to reset a previous failure.
    1FAILURE_TYPE_OFFSets unit off, so completely non-responsive.
    2FAILURE_TYPE_STUCKUnit is stuck e.g. keeps reporting the same value.
    3FAILURE_TYPE_GARBAGEUnit is reporting complete garbage.
    4FAILURE_TYPE_WRONGUnit is consistently wrong.
    5FAILURE_TYPE_SLOWUnit is slow, so e.g. reporting at slower than expected rate.
    6FAILURE_TYPE_DELAYEDData of unit is delayed in time.
    7FAILURE_TYPE_INTERMITTENTUnit is sometimes working, sometimes not.
    值Name描述
    0NAV_VTOL_LAND_OPTIONS_DEFAULTDefault autopilot landing behaviour.
    1NAV_VTOL_LAND_OPTIONS_FW_DESCENTDescend in fixed wing mode, transitioning to multicopter mode for vertical landing when close to the ground.
    The fixed wing descent pattern is at the discretion of the vehicle (e.g. transition altitude, loiter direction, radius, and speed, etc.).
    2NAV_VTOL_LAND_OPTIONS_HOVER_DESCENTLand in multicopter mode on reaching the landing coordinates (the whole landing is by "hover descent").

    MAV_WINCH_STATUS_FLAG ​

    (Bitmask) Winch status flags used in WINCH_STATUS

    值Name描述
    1MAV_WINCH_STATUS_HEALTHYWinch is healthy
    2MAV_WINCH_STATUS_FULLY_RETRACTEDWinch line is fully retracted
    4MAV_WINCH_STATUS_MOVINGWinch motor is moving
    8MAV_WINCH_STATUS_CLUTCH_ENGAGEDWinch clutch is engaged allowing motor to move freely.
    16MAV_WINCH_STATUS_LOCKEDWinch is locked by locking mechanism.
    32MAV_WINCH_STATUS_DROPPINGWinch is gravity dropping payload.
    64MAV_WINCH_STATUS_ARRESTINGWinch is arresting payload descent.
    128MAV_WINCH_STATUS_GROUND_SENSEWinch is using torque measurements to sense the ground.
    256MAV_WINCH_STATUS_RETRACTINGWinch is returning to the fully retracted position.
    512MAV_WINCH_STATUS_REDELIVERWinch is redelivering the payload. This is a failover state if the line tension goes above a threshold during RETRACTING.
    1024MAV_WINCH_STATUS_ABANDON_LINEWinch is abandoning the line and possibly payload. Winch unspools the entire calculated line length. This is a failover state from REDELIVER if the number of attempts exceeds a threshold.
    2048MAV_WINCH_STATUS_LOCKINGWinch is engaging the locking mechanism.
    4096MAV_WINCH_STATUS_LOAD_LINEWinch is spooling on line.
    8192MAV_WINCH_STATUS_LOAD_PAYLOADWinch is loading a payload.

    MAG_CAL_STATUS ​

    值Name描述
    0MAG_CAL_NOT_STARTED
    1MAG_CAL_WAITING_TO_START
    2MAG_CAL_RUNNING_STEP_ONE
    3MAG_CAL_RUNNING_STEP_TWO
    4MAG_CAL_SUCCESS
    5MAG_CAL_FAILED
    6MAG_CAL_BAD_ORIENTATION
    7MAG_CAL_BAD_RADIUS

    MAV_EVENT_ERROR_REASON ​

    Reason for an event error response.

    值Name描述
    0MAV_EVENT_ERROR_REASON_UNAVAILABLEThe requested event is not available (anymore).

    MAV_EVENT_CURRENT_SEQUENCE_FLAGS ​

    Flags for CURRENT_EVENT_SEQUENCE.

    值Name描述
    1MAV_EVENT_CURRENT_SEQUENCE_FLAGS_RESETA sequence reset has happened (e.g. vehicle reboot).

    HIL_SENSOR_UPDATED_FLAGS ​

    (Bitmask) Flags in the HIL_SENSOR message indicate which fields have updated since the last message

    值Name描述
    0HIL_SENSOR_UPDATED_NONENone of the fields in HIL_SENSOR have been updated
    1HIL_SENSOR_UPDATED_XACCThe value in the xacc field has been updated
    2HIL_SENSOR_UPDATED_YACCThe value in the yacc field has been updated
    4HIL_SENSOR_UPDATED_ZACCThe value in the zacc field has been updated
    8HIL_SENSOR_UPDATED_XGYROThe value in the xgyro field has been updated
    16HIL_SENSOR_UPDATED_YGYROThe value in the ygyro field has been updated
    32HIL_SENSOR_UPDATED_ZGYROThe value in the zgyro field has been updated
    64HIL_SENSOR_UPDATED_XMAGThe value in the xmag field has been updated
    128HIL_SENSOR_UPDATED_YMAGThe value in the ymag field has been updated
    256HIL_SENSOR_UPDATED_ZMAGThe value in the zmag field has been updated
    512HIL_SENSOR_UPDATED_ABS_PRESSUREThe value in the abs_pressure field has been updated
    1024HIL_SENSOR_UPDATED_DIFF_PRESSUREThe value in the diff_pressure field has been updated
    2048HIL_SENSOR_UPDATED_PRESSURE_ALTThe value in the pressure_alt field has been updated
    4096HIL_SENSOR_UPDATED_TEMPERATUREThe value in the temperature field has been updated
    2147483648HIL_SENSOR_UPDATED_RESETFull reset of attitude/position/velocities/etc was performed in sim (Bit 31).

    HIGHRES_IMU_UPDATED_FLAGS ​

    (Bitmask) Flags in the HIGHRES_IMU message indicate which fields have updated since the last message

    值Name描述
    0HIGHRES_IMU_UPDATED_NONENone of the fields in HIGHRES_IMU have been updated
    1HIGHRES_IMU_UPDATED_XACCThe value in the xacc field has been updated
    2HIGHRES_IMU_UPDATED_YACCThe value in the yacc field has been updated
    4HIGHRES_IMU_UPDATED_ZACCThe value in the zacc field has been updated since
    8HIGHRES_IMU_UPDATED_XGYROThe value in the xgyro field has been updated
    16HIGHRES_IMU_UPDATED_YGYROThe value in the ygyro field has been updated
    32HIGHRES_IMU_UPDATED_ZGYROThe value in the zgyro field has been updated
    64HIGHRES_IMU_UPDATED_XMAGThe value in the xmag field has been updated
    128HIGHRES_IMU_UPDATED_YMAGThe value in the ymag field has been updated
    256HIGHRES_IMU_UPDATED_ZMAGThe value in the zmag field has been updated
    512HIGHRES_IMU_UPDATED_ABS_PRESSUREThe value in the abs_pressure field has been updated
    1024HIGHRES_IMU_UPDATED_DIFF_PRESSUREThe value in the diff_pressure field has been updated
    2048HIGHRES_IMU_UPDATED_PRESSURE_ALTThe value in the pressure_alt field has been updated
    4096HIGHRES_IMU_UPDATED_TEMPERATUREThe value in the temperature field has been updated
    65535HIGHRES_IMU_UPDATED_ALLAll fields in HIGHRES_IMU have been updated.

    CAN_FILTER_OP ​

    值Name描述
    0CAN_FILTER_REPLACE
    1CAN_FILTER_ADD
    2CAN_FILTER_REMOVE

    MAV_FTP_ERR ​

    MAV FTP error codes (https://mavlink.io/en/services/ftp.html)

    值Name描述
    0MAV_FTP_ERR_NONENone: No error
    1MAV_FTP_ERR_FAILFail: Unknown failure
    2MAV_FTP_ERR_FAILERRNOFailErrno: Command failed, Err number sent back in PayloadHeader.data[1].
    This is a file-system error number understood by the server operating system.
    3MAV_FTP_ERR_INVALIDDATASIZEInvalidDataSize: Payload size is invalid
    4MAV_FTP_ERR_INVALIDSESSIONInvalidSession: Session is not currently open
    5MAV_FTP_ERR_NOSESSIONSAVAILABLENoSessionsAvailable: All available sessions are already in use
    6MAV_FTP_ERR_EOFEOF: Offset past end of file for ListDirectory and ReadFile commands
    7MAV_FTP_ERR_UNKNOWNCOMMANDUnknownCommand: Unknown command / opcode
    8MAV_FTP_ERR_FILEEXISTSFileExists: File/directory already exists
    9MAV_FTP_ERR_FILEPROTECTEDFileProtected: File/directory is write protected
    10MAV_FTP_ERR_FILENOTFOUNDFileNotFound: File/directory not found

    MAV_FTP_OPCODE ​

    MAV FTP opcodes: https://mavlink.io/en/services/ftp.html

    值Name描述
    0MAV_FTP_OPCODE_NONENone. Ignored, always ACKed
    1MAV_FTP_OPCODE_TERMINATESESSIONTerminateSession: Terminates open Read session
    2MAV_FTP_OPCODE_RESETSESSIONResetSessions: Terminates all open read sessions
    3MAV_FTP_OPCODE_LISTDIRECTORYListDirectory. List files and directories in path from offset
    4MAV_FTP_OPCODE_OPENFILEROOpenFileRO: Opens file at path for reading, returns session
    5MAV_FTP_OPCODE_READFILEReadFile: Reads size bytes from offset in session
    6MAV_FTP_OPCODE_CREATEFILECreateFile: Creates file at path for writing, returns session
    7MAV_FTP_OPCODE_WRITEFILEWriteFile: Writes size bytes to offset in session
    8MAV_FTP_OPCODE_REMOVEFILERemoveFile: Remove file at path
    9MAV_FTP_OPCODE_CREATEDIRECTORYCreateDirectory: Creates directory at path
    10MAV_FTP_OPCODE_REMOVEDIRECTORYRemoveDirectory: Removes directory at path. The directory must be empty.
    11MAV_FTP_OPCODE_OPENFILEWOOpenFileWO: Opens file at path for writing, returns session
    12MAV_FTP_OPCODE_TRUNCATEFILETruncateFile: Truncate file at path to offset length
    13MAV_FTP_OPCODE_RENAMERename: Rename path1 to path2
    14MAV_FTP_OPCODE_CALCFILECRCCalcFileCRC32: Calculate CRC32 for file at path
    15MAV_FTP_OPCODE_BURSTREADFILEBurstReadFile: Burst download session file
    128MAV_FTP_OPCODE_ACKACK: ACK response
    129MAV_FTP_OPCODE_NAKNAK: NAK response

    MISSION_STATE ​

    States of the mission state machine. Note that these states are independent of whether the mission is in a mode that can execute mission items or not (is suspended). They may not all be relevant on all vehicles.

    值Name描述
    0MISSION_STATE_UNKNOWNThe mission status reporting is not supported.
    1MISSION_STATE_NO_MISSIONNo mission on the vehicle.
    2MISSION_STATE_NOT_STARTEDMission has not started. This is the case after a mission has uploaded but not yet started executing.
    3MISSION_STATE_ACTIVEMission is active, and will execute mission items when in auto mode.
    4MISSION_STATE_PAUSEDMission is paused when in auto mode.
    5MISSION_STATE_COMPLETEMission has executed all mission items.

    SAFETY_SWITCH_STATE ​

    Possible safety switch states.

    值Name描述
    0SAFETY_SWITCH_STATE_SAFESafety switch is engaged and vehicle should be safe to approach.
    1SAFETY_SWITCH_STATE_DANGEROUSSafety switch is NOT engaged and motors, propellers and other actuators should be considered active.

    ILLUMINATOR_MODE ​

    Modes of illuminator

    值Name描述
    0ILLUMINATOR_MODE_UNKNOWNIlluminator mode is not specified/unknown
    1ILLUMINATOR_MODE_INTERNAL_CONTROLIlluminator behavior is controlled by MAV_CMD_DO_ILLUMINATOR_CONFIGURE settings
    2ILLUMINATOR_MODE_EXTERNAL_SYNCIlluminator behavior is controlled by external factors: e.g. an external hardware signal

    ILLUMINATOR_ERROR_FLAGS ​

    (Bitmask) Illuminator module error flags (bitmap, 0 means no error)

    值Name描述
    1ILLUMINATOR_ERROR_FLAGS_THERMAL_THROTTLINGIlluminator thermal throttling error.
    2ILLUMINATOR_ERROR_FLAGS_OVER_TEMPERATURE_SHUTDOWNIlluminator over temperature shutdown error.
    4ILLUMINATOR_ERROR_FLAGS_THERMISTOR_FAILUREIlluminator thermistor failure.

    MAV_AUTOPILOT — [from: minimal] ​

    Micro air vehicle / autopilot classes. 这里标明了每个单个模型。

    值Name描述
    0MAV_AUTOPILOT_GENERIC通用自动驾驶仪，完全支持所有
    1MAV_AUTOPILOT_RESERVED保留以备将来使用。
    2MAV_AUTOPILOT_SLUGSSLUGS 自动驾驶仪，http://slugsuav.soe.ucsc.edu
    3MAV_AUTOPILOT_ARDUPILOTMEGAArduPilot - Plane/Copter/Rover/Sub/Tracker, https://ardupilot.org
    4MAV_AUTOPILOT_OPENPILOTOpenPilot，http://openpilot.org
    5MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLYGeneric autopilot only supporting simple waypoints
    6MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLYGeneric autopilot supporting waypoints and other simple navigation commands
    7MAV_AUTOPILOT_GENERIC_MISSION_FULL支持所有任务命令的通用自动驾驶仪
    8MAV_AUTOPILOT_INVALID没有有效的自动驾驶仪，例如地面站或其他 MAVLink 组件
    9MAV_AUTOPILOT_PPZPPZ 无人机 - http://nongnu.org/paparazzi
    10MAV_AUTOPILOT_UDB无人机开发板
    11MAV_AUTOPILOT_FPFlexiPilot
    12MAV_AUTOPILOT_PX4PX4 自动驾驶仪 - http://px4.io/
    13MAV_AUTOPILOT_SMACCMPILOTSMACCMPilot - http://smaccmpilot.org
    14MAV_AUTOPILOT_AUTOQUADAutoQuad -- http://autoquad.org
    15MAV_AUTOPILOT_ARMAZILAArmazila -- http://armazila.com
    16MAV_AUTOPILOT_AEROBAerob -- http://aerob.ru
    17MAV_AUTOPILOT_ASLUAVASLUAV 自动驾驶仪 -- http://www.asl.ethz.ch
    18MAV_AUTOPILOT_SMARTAPSmartAP自动驾驶仪 - http://sky-drones.com
    19MAV_AUTOPILOT_AIRRAILSAirRails - http://uaventure.com
    20MAV_AUTOPILOT_REFLEXFusion Reflex - https://fusion.engineering

    MAV_TYPE — [from: minimal] ​

    MAVLINK component type reported in HEARTBEAT message. Flight controllers must report the type of the vehicle on which they are mounted (e.g. MAV_TYPE_OCTOROTOR). All other components must report a value appropriate for their type (e.g. a camera must use MAV_TYPE_CAMERA).

    值Name描述
    0MAV_TYPE_GENERIC通用微型飞行器
    1MAV_TYPE_FIXED_WING固定翼。
    2MAV_TYPE_QUADROTOR四旋翼
    3MAV_TYPE_COAXIAL共轴直升机
    4MAV_TYPE_HELICOPTER带尾桨的普通直升机。
    5MAV_TYPE_ANTENNA_TRACKER地面安装
    6MAV_TYPE_GCS操作员控制单元/地面站
    7MAV_TYPE_AIRSHIP可控飞艇
    8MAV_TYPE_FREE_BALLOON不可控的热气球
    9MAV_TYPE_ROCKET火箭
    10MAV_TYPE_GROUND_ROVER地面小车
    11MAV_TYPE_SURFACE_BOAT水面舰艇，小船，轮船
    12MAV_TYPE_SUBMARINE潜艇
    13MAV_TYPE_HEXAROTOR六旋翼
    14MAV_TYPE_OCTOROTOR八旋翼
    15MAV_TYPE_TRICOPTERTricopter
    16MAV_TYPE_FLAPPING_WINGFlapping wing
    17MAV_TYPE_KITEKite
    18MAV_TYPE_ONBOARD_CONTROLLEROnboard companion controller
    19MAV_TYPE_VTOL_TAILSITTER_DUOROTORTwo-rotor Tailsitter VTOL that additionally uses control surfaces in vertical operation. Note, value previously named MAV_TYPE_VTOL_DUOROTOR.
    20MAV_TYPE_VTOL_TAILSITTER_QUADROTORQuad-rotor Tailsitter VTOL using a V-shaped quad config in vertical operation. Note: value previously named MAV_TYPE_VTOL_QUADROTOR.
    21MAV_TYPE_VTOL_TILTROTORTiltrotor VTOL. Fuselage and wings stay (nominally) horizontal in all flight phases. It able to tilt (some) rotors to provide thrust in cruise flight.
    22MAV_TYPE_VTOL_FIXEDROTORVTOL with separate fixed rotors for hover and cruise flight. Fuselage and wings stay (nominally) horizontal in all flight phases.
    23MAV_TYPE_VTOL_TAILSITTERTailsitter VTOL. Fuselage and wings orientation changes depending on flight phase: vertical for hover, horizontal for cruise. Use more specific VTOL MAV_TYPE_VTOL_TAILSITTER_DUOROTOR or MAV_TYPE_VTOL_TAILSITTER_QUADROTOR if appropriate.
    24MAV_TYPE_VTOL_TILTWINGTiltwing VTOL. Fuselage stays horizontal in all flight phases. The whole wing, along with any attached engine, can tilt between vertical and horizontal mode.
    25MAV_TYPE_VTOL_RESERVED5VTOL reserved 5
    26MAV_TYPE_GIMBALGimbal
    27MAV_TYPE_ADSBADSB system
    28MAV_TYPE_PARAFOILSteerable, nonrigid airfoil
    29MAV_TYPE_DODECAROTORDodecarotor
    30MAV_TYPE_CAMERACamera
    31MAV_TYPE_CHARGING_STATIONCharging station
    32MAV_TYPE_FLARMFLARM collision avoidance system
    33MAV_TYPE_SERVOServo
    34MAV_TYPE_ODIDOpen Drone ID. See https://mavlink.io/en/services/opendroneid.html.
    35MAV_TYPE_DECAROTORDecarotor
    36MAV_TYPE_BATTERYBattery
    37MAV_TYPE_PARACHUTEParachute
    38MAV_TYPE_LOGLog
    39MAV_TYPE_OSDOSD
    40MAV_TYPE_IMUIMU
    41MAV_TYPE_GPSGPS
    42MAV_TYPE_WINCHWinch
    43MAV_TYPE_GENERIC_MULTIROTORGeneric multirotor that does not fit into a specific type or whose type is unknown
    44MAV_TYPE_ILLUMINATORIlluminator. An illuminator is a light source that is used for lighting up dark areas external to the sytstem: e.g. a torch or searchlight (as opposed to a light source for illuminating the system itself, e.g. an indicator light).

    MAV_MODE_FLAG — [from: minimal] ​

    (Bitmask) These flags encode the MAV mode.

    值Name描述
    1MAV_MODE_FLAG_CUSTOM_MODE_ENABLED0b00000001 Reserved for future use.
    2MAV_MODE_FLAG_TEST_ENABLED0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations.
    4MAV_MODE_FLAG_AUTO_ENABLED0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation.
    8MAV_MODE_FLAG_GUIDED_ENABLED0b00001000 guided mode enabled, system flies waypoints / mission items.
    16MAV_MODE_FLAG_STABILIZE_ENABLED0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around.
    32MAV_MODE_FLAG_HIL_ENABLED0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational.
    64MAV_MODE_FLAG_MANUAL_INPUT_ENABLED0b01000000 remote control input is enabled.
    128MAV_MODE_FLAG_SAFETY_ARMED0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly. Additional note: this flag is to be ignore when sent in the command MAV_CMD_DO_SET_MODE and MAV_CMD_COMPONENT_ARM_DISARM shall be used instead. The flag can still be used to report the armed state.

    MAV_MODE_FLAG_DECODE_POSITION — [from: minimal] ​

    (Bitmask) These values encode the bit positions of the decode position. These values can be used to read the value of a flag bit by combining the base_mode variable with AND with the flag position value. The result will be either 0 or 1, depending on if the flag is set or not.

    值Name描述
    1MAV_MODE_FLAG_DECODE_POSITION_CUSTOM_MODEEighth bit: 00000001
    2MAV_MODE_FLAG_DECODE_POSITION_TESTSeventh bit: 00000010
    4MAV_MODE_FLAG_DECODE_POSITION_AUTOSixth bit: 00000100
    8MAV_MODE_FLAG_DECODE_POSITION_GUIDEDFifth bit: 00001000
    16MAV_MODE_FLAG_DECODE_POSITION_STABILIZEFourth bit: 00010000
    32MAV_MODE_FLAG_DECODE_POSITION_HILThird bit: 00100000
    64MAV_MODE_FLAG_DECODE_POSITION_MANUALSecond bit: 01000000
    128MAV_MODE_FLAG_DECODE_POSITION_SAFETYFirst bit: 10000000

    MAV_STATE — [from: minimal] ​

    值Name描述
    0MAV_STATE_UNINITUninitialized system, state is unknown.
    1MAV_STATE_BOOTSystem is booting up.
    2MAV_STATE_CALIBRATINGSystem is calibrating and not flight-ready.
    3MAV_STATE_STANDBYSystem is grounded and on standby. It can be launched any time.
    4MAV_STATE_ACTIVESystem is active and might be already airborne. Motors are engaged.
    5MAV_STATE_CRITICALSystem is in a non-normal flight mode (failsafe). It can however still navigate.
    6MAV_STATE_EMERGENCYSystem is in a non-normal flight mode (failsafe). It lost control over parts or over the whole airframe. It is in mayday and going down.
    7MAV_STATE_POWEROFFSystem just initialized its power-down sequence, will shut down now.
    8MAV_STATE_FLIGHT_TERMINATIONSystem is terminating itself (failsafe or commanded).

    MAV_COMPONENT — [from: minimal] ​

    Component ids (values) for the different types and instances of onboard hardware/software that might make up a MAVLink system (autopilot, cameras, servos, GPS systems, avoidance systems etc.).

    Components must use the appropriate ID in their source address when sending messages. Components can also use IDs to determine if they are the intended recipient of an incoming message. The MAV_COMP_ID_ALL value is used to indicate messages that must be processed by all components. When creating new entries, components that can have multiple instances (e.g. cameras, servos etc.) should be allocated sequential values. An appropriate number of values should be left free after these components to allow the number of instances to be expanded.

    值Name描述
    0MAV_COMP_ID_ALLTarget id (target_component) used to broadcast messages to all components of the receiving system. Components should attempt to process messages with this component ID and forward to components on any other interfaces. Note: This is not a valid source component id for a message.
    1MAV_COMP_ID_AUTOPILOT1System flight controller component ("autopilot"). Only one autopilot is expected in a particular system.
    25MAV_COMP_ID_USER1Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    26MAV_COMP_ID_USER2Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    27MAV_COMP_ID_USER3Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    28MAV_COMP_ID_USER4Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    29MAV_COMP_ID_USER5Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    30MAV_COMP_ID_USER6Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    31MAV_COMP_ID_USER7Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    32MAV_COMP_ID_USER8Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    33MAV_COMP_ID_USER9Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    34MAV_COMP_ID_USER10Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    35MAV_COMP_ID_USER11Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    36MAV_COMP_ID_USER12Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    37MAV_COMP_ID_USER13Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    38MAV_COMP_ID_USER14Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    39MAV_COMP_ID_USER15Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    40MAV_COMP_ID_USER16Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    41MAV_COMP_ID_USER17Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    42MAV_COMP_ID_USER18Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    43MAV_COMP_ID_USER19Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    44MAV_COMP_ID_USER20Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    45MAV_COMP_ID_USER21Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    46MAV_COMP_ID_USER22Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    47MAV_COMP_ID_USER23Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    48MAV_COMP_ID_USER24Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    49MAV_COMP_ID_USER25Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    50MAV_COMP_ID_USER26Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    51MAV_COMP_ID_USER27Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    52MAV_COMP_ID_USER28Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    53MAV_COMP_ID_USER29Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    54MAV_COMP_ID_USER30Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    55MAV_COMP_ID_USER31Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    56MAV_COMP_ID_USER32Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    57MAV_COMP_ID_USER33Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    58MAV_COMP_ID_USER34Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    59MAV_COMP_ID_USER35Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    60MAV_COMP_ID_USER36Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    61MAV_COMP_ID_USER37Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    62MAV_COMP_ID_USER38Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    63MAV_COMP_ID_USER39Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    64MAV_COMP_ID_USER40Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    65MAV_COMP_ID_USER41Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    66MAV_COMP_ID_USER42Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    67MAV_COMP_ID_USER43Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    68MAV_COMP_ID_TELEMETRY_RADIOTelemetry radio (e.g. SiK radio, or other component that emits RADIO_STATUS messages).
    69MAV_COMP_ID_USER45Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    70MAV_COMP_ID_USER46Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    71MAV_COMP_ID_USER47Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    72MAV_COMP_ID_USER48Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    73MAV_COMP_ID_USER49Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    74MAV_COMP_ID_USER50Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    75MAV_COMP_ID_USER51Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    76MAV_COMP_ID_USER52Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    77MAV_COMP_ID_USER53Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    78MAV_COMP_ID_USER54Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    79MAV_COMP_ID_USER55Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    80MAV_COMP_ID_USER56Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    81MAV_COMP_ID_USER57Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    82MAV_COMP_ID_USER58Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    83MAV_COMP_ID_USER59Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    84MAV_COMP_ID_USER60Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    85MAV_COMP_ID_USER61Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    86MAV_COMP_ID_USER62Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    87MAV_COMP_ID_USER63Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    88MAV_COMP_ID_USER64Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    89MAV_COMP_ID_USER65Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    90MAV_COMP_ID_USER66Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    91MAV_COMP_ID_USER67Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    92MAV_COMP_ID_USER68Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    93MAV_COMP_ID_USER69Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    94MAV_COMP_ID_USER70Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    95MAV_COMP_ID_USER71Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    96MAV_COMP_ID_USER72Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    97MAV_COMP_ID_USER73Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    98MAV_COMP_ID_USER74Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    99MAV_COMP_ID_USER75Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    100MAV_COMP_ID_CAMERACamera #1.
    101MAV_COMP_ID_CAMERA2Camera #2.
    102MAV_COMP_ID_CAMERA3Camera #3.
    103MAV_COMP_ID_CAMERA4Camera #4.
    104MAV_COMP_ID_CAMERA5Camera #5.
    105MAV_COMP_ID_CAMERA6Camera #6.
    140MAV_COMP_ID_SERVO1Servo #1.
    141MAV_COMP_ID_SERVO2Servo #2.
    142MAV_COMP_ID_SERVO3Servo #3.
    143MAV_COMP_ID_SERVO4Servo #4.
    144MAV_COMP_ID_SERVO5Servo #5.
    145MAV_COMP_ID_SERVO6Servo #6.
    146MAV_COMP_ID_SERVO7Servo #7.
    147MAV_COMP_ID_SERVO8Servo #8.
    148MAV_COMP_ID_SERVO9Servo #9.
    149MAV_COMP_ID_SERVO10Servo #10.
    150MAV_COMP_ID_SERVO11Servo #11.
    151MAV_COMP_ID_SERVO12Servo #12.
    152MAV_COMP_ID_SERVO13Servo #13.
    153MAV_COMP_ID_SERVO14Servo #14.
    154MAV_COMP_ID_GIMBALGimbal #1.
    155MAV_COMP_ID_LOGLogging component.
    156MAV_COMP_ID_ADSBAutomatic Dependent Surveillance-Broadcast (ADS-B) component.
    157MAV_COMP_ID_OSDOn Screen Display (OSD) devices for video links.
    158MAV_COMP_ID_PERIPHERALGeneric autopilot peripheral component ID. Meant for devices that do not implement the parameter microservice.
    159MAV_COMP_ID_QX1_GIMBALGimbal ID for QX1.DEPRECATED: Replaced By MAV_COMP_ID_GIMBAL (2018-11) — All gimbals should use MAV_COMP_ID_GIMBAL.)
    160MAV_COMP_ID_FLARMFLARM collision alert component.
    161MAV_COMP_ID_PARACHUTEParachute component.
    169MAV_COMP_ID_WINCHWinch component.
    171MAV_COMP_ID_GIMBAL2Gimbal #2.
    172MAV_COMP_ID_GIMBAL3Gimbal #3.
    173MAV_COMP_ID_GIMBAL4Gimbal #4
    174MAV_COMP_ID_GIMBAL5Gimbal #5.
    175MAV_COMP_ID_GIMBAL6Gimbal #6.
    180MAV_COMP_ID_BATTERYBattery #1.
    181MAV_COMP_ID_BATTERY2Battery #2.
    189MAV_COMP_ID_MAVCANCAN over MAVLink client.
    190MAV_COMP_ID_MISSIONPLANNERComponent that can generate/supply a mission flight plan (e.g. GCS or developer API).
    191MAV_COMP_ID_ONBOARD_COMPUTERComponent that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
    192MAV_COMP_ID_ONBOARD_COMPUTER2Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
    193MAV_COMP_ID_ONBOARD_COMPUTER3Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
    194MAV_COMP_ID_ONBOARD_COMPUTER4Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
    195MAV_COMP_ID_PATHPLANNERComponent that finds an optimal path between points based on a certain constraint (e.g. minimum snap, shortest path, cost, etc.).
    196MAV_COMP_ID_OBSTACLE_AVOIDANCEComponent that plans a collision free path between two points.
    197MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRYComponent that provides position estimates using VIO techniques.
    198MAV_COMP_ID_PAIRING_MANAGERComponent that manages pairing of vehicle and GCS.
    200MAV_COMP_ID_IMUInertial Measurement Unit (IMU) #1.
    201MAV_COMP_ID_IMU_2Inertial Measurement Unit (IMU) #2.
    202MAV_COMP_ID_IMU_3Inertial Measurement Unit (IMU) #3.
    220MAV_COMP_ID_GPSGPS #1.
    221MAV_COMP_ID_GPS2GPS #2.
    236MAV_COMP_ID_ODID_TXRX_1Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
    237MAV_COMP_ID_ODID_TXRX_2Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
    238MAV_COMP_ID_ODID_TXRX_3Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
    240MAV_COMP_ID_UDP_BRIDGEComponent to bridge MAVLink to UDP (i.e. from a UART).
    241MAV_COMP_ID_UART_BRIDGEComponent to bridge to UART (i.e. from UDP).
    242MAV_COMP_ID_TUNNEL_NODEComponent handling TUNNEL messages (e.g. vendor specific GUI of a component).
    243MAV_COMP_ID_ILLUMINATORIlluminator
    250MAV_COMP_ID_SYSTEM_CONTROLDeprecated, don't use. Component for handling system messages (e.g. to ARM, takeoff, etc.).DEPRECATED: Replaced By MAV_COMP_ID_ALL (2018-11) — System control does not require a separate component ID. Instead, system commands should be sent with target_component=MAV_COMP_ID_ALL allowing the target component to use any appropriate component id.)

    Commands (MAV_CMD) ​

    MAV_CMD_NAV_WAYPOINT (16) ​

    Navigate to waypoint. This is intended for use in missions (for guided commands outside of missions use MAV_CMD_DO_REPOSITION).

    Param (Label)描述值Units
    1 (Hold)Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)min: 0s
    2 (Accept Radius)Acceptance radius (if the sphere with this radius is hit, the waypoint counts as reached)min: 0m
    3 (Pass Radius)0 to pass through the WP, if > 0 radius to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.m
    4 (Yaw)Desired yaw angle at waypoint (rotary wing). NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).度
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7 (Altitude)Altitudem

    MAV_CMD_NAV_LOITER_UNLIM (17) ​

    Loiter around this waypoint an unlimited amount of time

    Param (Label)描述Units
    1Empty
    2Empty
    3 (Radius)Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, else counter-clockwisem
    4 (Yaw)Desired yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).度
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7 (Altitude)Altitudem

    MAV_CMD_NAV_LOITER_TURNS (18) ​

    Loiter around this waypoint for X turns

    Param (Label)描述值Units
    1 (Turns)Number of turns.min: 0
    2 (Heading Required)Leave loiter circle only once heading towards the next waypoint (0 = False)min: 0 max: 1 inc: 1
    3 (Radius)Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, else counter-clockwisem
    4 (Xtrack Location)Loiter circle exit location and/or path to next waypoint ("xtrack") for forward-only moving vehicles (not multicopters). 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use the current system default xtrack behaviour.
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7 (Altitude)Altitudem

    MAV_CMD_NAV_LOITER_TIME (19) ​

    Loiter at the specified latitude, longitude and altitude for a certain amount of time. Multicopter vehicles stop at the point (within a vehicle-specific acceptance radius). Forward-only moving vehicles (e.g. fixed-wing) circle the point with the specified radius/direction. If the Heading Required parameter (2) is non-zero forward moving aircraft will only leave the loiter circle once heading towards the next waypoint.

    Param (Label)描述值Units
    1 (Time)Loiter time (only starts once Lat, Lon and Alt is reached).min: 0s
    2 (Heading Required)Leave loiter circle only once heading towards the next waypoint (0 = False)min: 0 max: 1 inc: 1
    3 (Radius)Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, else counter-clockwise.m
    4 (Xtrack Location)Loiter circle exit location and/or path to next waypoint ("xtrack") for forward-only moving vehicles (not multicopters). 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use the current system default xtrack behaviour.
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7 (Altitude)Altitudem

    MAV_CMD_NAV_RETURN_TO_LAUNCH (20) ​

    Return to launch location

    Param (Label)描述
    1Empty
    2Empty
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_NAV_LAND (21) ​

    Land at location.

    Param (Label)描述值Units
    1 (Abort Alt)Minimum target altitude if landing is aborted (0 = undefined/use system default).m
    2 (Land Mode)Precision land mode.PRECISION_LAND_MODE
    3Empty.
    4 (Yaw Angle)Desired yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).度
    5 (Latitude)Latitude.
    6 (Longitude)Longitude.
    7 (Altitude)Landing altitude (ground level in current frame).m

    MAV_CMD_NAV_TAKEOFF (22) ​

    Takeoff from ground / hand. Vehicles that support multiple takeoff modes (e.g. VTOL quadplane) should take off using the currently configured mode.

    Param (Label)描述Units
    1 (Pitch)Minimum pitch (if airspeed sensor present), desired pitch without sensor度
    2Empty
    3Empty
    4 (Yaw)Yaw angle (if magnetometer present), ignored without magnetometer. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).度
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7 (Altitude)Altitudem

    MAV_CMD_NAV_LAND_LOCAL (23) ​

    Land at local position (local frame only)

    Param (Label)描述值Units
    1 (Target)Landing target number (if available)min: 0 inc: 1
    2 (Offset)Maximum accepted offset from desired landing position - computed magnitude from spherical coordinates: d = sqrt(x^2 + y^2 + z^2), which gives the maximum accepted distance between the desired landing position and the position where the vehicle is about to landmin: 0m
    3 (Descend Rate)Landing descend ratem/s
    4 (Yaw)Desired yaw anglerad
    5 (Y Position)Y-axis positionm
    6 (X Position)X-axis positionm
    7 (Z Position)Z-axis / ground level positionm

    MAV_CMD_NAV_TAKEOFF_LOCAL (24) ​

    Takeoff from local position (local frame only)

    Param (Label)描述Units
    1 (Pitch)Minimum pitch (if airspeed sensor present), desired pitch without sensorrad
    2Empty
    3 (Ascend Rate)Takeoff ascend ratem/s
    4 (Yaw)Yaw angle (if magnetometer or another yaw estimation source present), ignored without one of theserad
    5 (Y Position)Y-axis positionm
    6 (X Position)X-axis positionm
    7 (Z Position)Z-axis positionm

    MAV_CMD_NAV_FOLLOW (25) ​

    Vehicle following, i.e. this waypoint represents the position of a moving vehicle

    Param (Label)描述值Units
    1 (Following)Following logic to use (e.g. loitering or sinusoidal following) - depends on specific autopilot implementationinc: 1
    2 (Ground Speed)Ground speed of vehicle to be followedm/s
    3 (Radius)Radius around waypoint. If positive loiter clockwise, else counter-clockwisem
    4 (Yaw)Desired yaw angle.度
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7 (Altitude)Altitudem

    MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT (30) ​

    Continue on the current course and climb/descend to specified altitude. When the altitude is reached continue to the next command (i.e., don't proceed to the next command until the desired altitude is reached.

    Param (Label)描述值Units
    1 (Action)Climb or Descend (0 = Neutral, command completes when within 5m of this command's altitude, 1 = Climbing, command completes when at or above this command's altitude, 2 = Descending, command completes when at or below this command's altitude.min: 0 max: 2 inc: 1
    2Empty
    3Empty
    4Empty
    5Empty
    6Empty
    7 (Altitude)Desired altitudem

    MAV_CMD_NAV_LOITER_TO_ALT (31) ​

    Begin loiter at the specified Latitude and Longitude. If Lat=Lon=0, then loiter at the current position. Don't consider the navigation command complete (don't leave loiter) until the altitude has been reached. Additionally, if the Heading Required parameter is non-zero the aircraft will not leave the loiter until heading toward the next waypoint.

    Param (Label)描述值Units
    1 (Heading Required)Leave loiter circle only once heading towards the next waypoint (0 = False)min: 0 max: 1 inc: 1
    2 (Radius)Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, negative counter-clockwise, 0 means no change to standard loiter.m
    3Empty
    4 (Xtrack Location)Loiter circle exit location and/or path to next waypoint ("xtrack") for forward-only moving vehicles (not multicopters). 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use the current system default xtrack behaviour.min: 0 max: 1 inc: 1
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7 (Altitude)Altitudem

    MAV_CMD_DO_FOLLOW (32) ​

    Begin following a target

    Param (Label)描述值Units
    1 (System ID)System ID (of the FOLLOW_TARGET beacon). Send 0 to disable follow-me and return to the default position hold mode.min: 0 max: 255 inc: 1
    2Reserved
    3Reserved
    4 (Altitude Mode)Altitude mode: 0: Keep current altitude, 1: keep altitude difference to target, 2: go to a fixed altitude above home.min: 0 max: 2 inc: 1
    5 (Altitude)Altitude above home. (used if mode=2)m
    6Reserved
    7 (Time to Land)Time to land in which the MAV should go to the default position hold mode after a message RX timeout.min: 0s

    MAV_CMD_DO_FOLLOW_REPOSITION (33) ​

    Reposition the MAV after a follow target command has been sent

    Param (Label)描述Units
    1 (Camera Q1)Camera q1 (where 0 is on the ray from the camera to the tracking device)
    2 (Camera Q2)Camera q2
    3 (Camera Q3)Camera q3
    4 (Camera Q4)Camera q4
    5 (Altitude Offset)altitude offset from targetm
    6 (X Offset)X offset from targetm
    7 (Y Offset)Y offset from targetm

    MAV_CMD_DO_ORBIT (34) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Start orbiting on the circumference of a circle defined by the parameters. Setting values to NaN/INT32_MAX (as appropriate) results in using defaults.

    Param (Label)描述值Units
    1 (Radius)Radius of the circle. Positive: orbit clockwise. Negative: orbit counter-clockwise. NaN: Use vehicle default radius, or current radius if already orbiting.m
    2 (Velocity)Tangential Velocity. NaN: Use vehicle default velocity, or current velocity if already orbiting.m/s
    3 (Yaw Behavior)Yaw behavior of the vehicle.ORBIT_YAW_BEHAVIOUR
    4 (Orbits)Orbit around the centre point for this many radians (i.e. for a three-quarter orbit set 270*Pi/180). 0: Orbit forever. NaN: Use vehicle default, or current value if already orbiting.min: 0rad
    5 (Latitude/X)Center point latitude (if no MAV_FRAME specified) / X coordinate according to MAV_FRAME. INT32_MAX (or NaN if sent in COMMAND_LONG): Use current vehicle position, or current center if already orbiting.
    6 (Longitude/Y)Center point longitude (if no MAV_FRAME specified) / Y coordinate according to MAV_FRAME. INT32_MAX (or NaN if sent in COMMAND_LONG): Use current vehicle position, or current center if already orbiting.
    7 (Altitude/Z)Center point altitude (MSL) (if no MAV_FRAME specified) / Z coordinate according to MAV_FRAME. NaN: Use current vehicle altitude.

    MAV_CMD_NAV_ROI (80) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_DO_SET_ROI_* (2018-01)

    Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras.

    Param (Label)描述值
    1 (ROI Mode)Region of interest mode.MAV_ROI
    2 (WP Index)Waypoint index/ target ID. (see MAV_ROI enum)min: 0 inc: 1
    3 (ROI Index)ROI index (allows a vehicle to manage multiple ROI's)min: 0 inc: 1
    4Empty
    5 (X)x the location of the fixed ROI (see MAV_FRAME)
    6 (Y)y
    7 (Z)z

    MAV_CMD_NAV_PATHPLANNING (81) ​

    Control autonomous path planning on the MAV.

    Param (Label)描述值Units
    1 (Local Ctrl)0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planningmin: 0 max: 2 inc: 1
    2 (Global Ctrl)0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy gridmin: 0 max: 3 inc: 1
    3Empty
    4 (Yaw)Yaw angle at goal度
    5 (Latitude/X)Latitude/X of goal
    6 (Longitude/Y)Longitude/Y of goal
    7 (Altitude/Z)Altitude/Z of goal

    MAV_CMD_NAV_SPLINE_WAYPOINT (82) ​

    Navigate to waypoint using a spline path.

    Param (Label)描述值Units
    1 (Hold)Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)min: 0s
    2Empty
    3Empty
    4Empty
    5 (Latitude/X)Latitude/X of goal
    6 (Longitude/Y)Longitude/Y of goal
    7 (Altitude/Z)Altitude/Z of goal

    MAV_CMD_NAV_VTOL_TAKEOFF (84) ​

    Takeoff from ground using VTOL mode, and transition to forward flight with specified heading. The command should be ignored by vehicles that dont support both VTOL and fixed-wing flight (multicopters, boats,etc.).

    Param (Label)描述值Units
    1Empty
    2 (Transition Heading)Front transition heading.VTOL_TRANSITION_HEADING
    3Empty
    4 (Yaw Angle)Yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).度
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7 (Altitude)Altitudem

    MAV_CMD_NAV_VTOL_LAND (85) ​

    Land using VTOL mode

    Param (Label)描述值Units
    1 (Land Options)Landing behaviour.NAV_VTOL_LAND_OPTIONS
    2Empty
    3 (Approach Altitude)Approach altitude (with the same reference as the Altitude field). NaN if unspecified.m
    4 (Yaw)Yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).度
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7 (Ground Altitude)Altitude (ground level) relative to the current coordinate frame. NaN to use system default landing altitude (ignore value).m

    MAV_CMD_NAV_GUIDED_ENABLE (92) ​

    hand control over to an external controller

    Param (Label)描述值
    1 (Enable)On / Off (> 0.5f on)min: 0 max: 1 inc: 1
    2Empty
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_NAV_DELAY (93) ​

    Delay the next navigation command a number of seconds or until a specified time

    Param (Label)描述值Units
    1 (Delay)Delay (-1 to enable time-of-day fields)min: -1 inc: 1s
    2 (Hour)hour (24h format, UTC, -1 to ignore)min: -1 max: 23 inc: 1
    3 (Minute)minute (24h format, UTC, -1 to ignore)min: -1 max: 59 inc: 1
    4 (Second)second (24h format, UTC, -1 to ignore)min: -1 max: 59 inc: 1
    5Empty
    6Empty
    7Empty

    MAV_CMD_NAV_PAYLOAD_PLACE (94) ​

    Descend and place payload. Vehicle moves to specified location, descends until it detects a hanging payload has reached the ground, and then releases the payload. If ground is not detected before the reaching the maximum descent value (param1), the command will complete without releasing the payload.

    Param (Label)描述值Units
    1 (Max Descent)Maximum distance to descend.min: 0m
    2Empty
    3Empty
    4Empty
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7 (Altitude)Altitudem

    MAV_CMD_NAV_LAST (95) ​

    NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration

    Param (Label)描述
    1Empty
    2Empty
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_CONDITION_DELAY (112) ​

    Delay mission state machine.

    Param (Label)描述值Units
    1 (Delay)Delaymin: 0s
    2Empty
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_CONDITION_CHANGE_ALT (113) ​

    Ascend/descend to target altitude at specified rate. Delay mission state machine until desired altitude reached.

    Param (Label)描述Units
    1 (Rate)Descent / Ascend rate.m/s
    2Empty
    3Empty
    4Empty
    5Empty
    6Empty
    7 (Altitude)Target Altitudem

    MAV_CMD_CONDITION_DISTANCE (114) ​

    Delay mission state machine until within desired distance of next NAV point.

    Param (Label)描述值Units
    1 (Distance)Distance.min: 0m
    2Empty
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_CONDITION_YAW (115) ​

    Reach a certain target angle.

    Param (Label)描述值Units
    1 (Angle)target angle [0-360]. Absolute angles: 0 is north. Relative angle: 0 is initial yaw. Direction set by param3.min: 0 max: 360度
    2 (Angular Speed)angular speedmin: 0deg/s
    3 (Direction)direction: -1: counter clockwise, 0: shortest direction, 1: clockwisemin: -1 max: 1 inc: 1
    4 (Relative)0: absolute angle, 1: relative offsetmin: 0 max: 1 inc: 1
    5Empty
    6Empty
    7Empty

    MAV_CMD_CONDITION_LAST (159) ​

    NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration

    Param (Label)描述
    1Empty
    2Empty
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_SET_MODE (176) ​

    Set system mode.

    Param (Label)描述值
    1 (Mode)ModeMAV_MODE
    2 (Custom Mode)Custom mode - this is system specific, please refer to the individual autopilot specifications for details.
    3 (Custom Submode)Custom sub mode - this is system specific, please refer to the individual autopilot specifications for details.
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_JUMP (177) ​

    Jump to the desired command in the mission list. Repeat this action only the specified number of times

    Param (Label)描述值
    1 (Number)Sequence numbermin: 0 inc: 1
    2 (Repeat)Repeat countmin: 0 inc: 1
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_CHANGE_SPEED (178) ​

    Change speed and/or throttle set points. The value persists until it is overridden or there is a mode change

    Param (Label)描述值Units
    1 (Speed Type)Speed type of value set in param2 (such as airspeed, ground speed, and so on)SPEED_TYPE
    2 (Speed)Speed (-1 indicates no change, -2 indicates return to default vehicle speed)min: -2m/s
    3 (Throttle)Throttle (-1 indicates no change, -2 indicates return to default vehicle throttle value)min: -2%
    4
    5
    6
    7

    MAV_CMD_DO_SET_HOME (179) ​

    Sets the home position to either to the current position or a specified position. The home position is the default position that the system will return to and land on. The position is set automatically by the system during the takeoff (and may also be set using this command). Note: the current home position may be emitted in a HOME_POSITION message on request (using MAV_CMD_REQUEST_MESSAGE with param1=242).

    Param (Label)描述值Units
    1 (Use Current)Use current (1=use current location, 0=use specified location)min: 0 max: 1 inc: 1
    2 (Roll)Roll angle (of surface). Range: -180..180 degrees. NAN or 0 means value not set. 0.01 indicates zero roll.min: -180 max: 180度
    3 (Pitch)Pitch angle (of surface). Range: -90..90 degrees. NAN or 0 means value not set. 0.01 means zero pitch.min: -90 max: 90度
    4 (Yaw)Yaw angle. NaN to use default heading. Range: -180..180 degrees.min: -180 max: 180度
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7 (Altitude)Altitudem

    MAV_CMD_DO_SET_PARAMETER (180) — [DEP] ​

    DEPRECATED: Replaced By PARAM_SET (2024-04)

    Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter.

    Param (Label)描述值
    1 (Number)Parameter numbermin: 0 inc: 1
    2 (Value)Parameter value
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_SET_RELAY (181) ​

    Set a relay to a condition.

    Param (Label)描述值
    1 (Instance)Relay instance number.min: 0 inc: 1
    2 (Setting)Setting. (1=on, 0=off, others possible depending on system hardware)min: 0 inc: 1
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_REPEAT_RELAY (182) ​

    Cycle a relay on and off for a desired number of cycles with a desired period.

    Param (Label)描述值Units
    1 (Instance)Relay instance number.min: 0 inc: 1
    2 (Count)Cycle count.min: 1 inc: 1
    3 (Time)Cycle time.min: 0s
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_SET_SERVO (183) ​

    Set a servo to a desired PWM value.

    Param (Label)描述值Units
    1 (Instance)Servo instance number.min: 0 inc: 1
    2 (PWM)Pulse Width Modulation.min: 0 inc: 1us
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_REPEAT_SERVO (184) ​

    Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period.

    Param (Label)描述值Units
    1 (Instance)Servo instance number.min: 0 inc: 1
    2 (PWM)Pulse Width Modulation.min: 0 inc: 1us
    3 (Count)Cycle count.min: 1 inc: 1
    4 (Time)Cycle time.min: 0s
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_FLIGHTTERMINATION (185) ​

    Terminate flight immediately.

    Flight termination immediately and irreversibly terminates the current flight, returning the vehicle to ground. The vehicle will ignore RC or other input until it has been power-cycled. Termination may trigger safety measures, including: disabling motors and deployment of parachute on multicopters, and setting flight surfaces to initiate a landing pattern on fixed-wing). On multicopters without a parachute it may trigger a crash landing. Support for this command can be tested using the protocol bit: MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION. Support for this command can also be tested by sending the command with param1=0 (< 0.5); the ACK should be either MAV_RESULT_FAILED or MAV_RESULT_UNSUPPORTED.

    Param (Label)描述值
    1 (Terminate)Flight termination activated if > 0.5. Otherwise not activated and ACK with MAV_RESULT_FAILED.min: 0 max: 1 inc: 1
    2Empty
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_CHANGE_ALTITUDE (186) ​

    Change altitude set point.

    Param (Label)描述值Units
    1 (Altitude)Altitude.m
    2 (Frame)Frame of new altitude.MAV_FRAME
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_SET_ACTUATOR (187) ​

    Sets actuators (e.g. servos) to a desired value. The actuator numbers are mapped to specific outputs (e.g. on any MAIN or AUX PWM or UAVCAN) using a flight-stack specific mechanism (i.e. a parameter).

    Param (Label)描述值
    1 (Actuator 1)Actuator 1 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max: 1
    2 (Actuator 2)Actuator 2 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max: 1
    3 (Actuator 3)Actuator 3 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max: 1
    4 (Actuator 4)Actuator 4 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max: 1
    5 (Actuator 5)Actuator 5 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max: 1
    6 (Actuator 6)Actuator 6 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max: 1
    7 (Index)Index of actuator set (i.e if set to 1, Actuator 1 becomes Actuator 7)min: 0 inc: 1

    MAV_CMD_DO_RETURN_PATH_START (188) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Mission item to specify the start of a failsafe/landing return-path segment (the end of the segment is the next MAV_CMD_DO_LAND_START item).

    A vehicle that is using missions for landing (e.g. in a return mode) will join the mission on the closest path of the return-path segment (instead of MAV_CMD_DO_LAND_START or the nearest waypoint). The main use case is to minimize the failsafe flight path in corridor missions, where the inbound/outbound paths are constrained (by geofences) to the same particular path. The MAV_CMD_NAV_RETURN_PATH_START would be placed at the start of the return path. If a failsafe occurs on the outbound path the vehicle will move to the nearest point on the return path (which is parallel for this kind of mission), effectively turning round and following the shortest path to landing. If a failsafe occurs on the inbound path the vehicle is already on the return segment and will continue to landing. The Latitude/Longitude/Altitude are optional, and may be set to 0 if not needed. If specified, the item defines the waypoint at which the return segment starts. If sent using as a command, the vehicle will perform a mission landing (using the land segment if defined) or reject the command if mission landings are not supported, or no mission landing is defined. When used as a command any position information in the command is ignored.

    Param (Label)描述Units
    1Empty
    2Empty
    3Empty
    4Empty
    5 (Latitude)Latitudee. 0: not used.
    6 (Longitude)Longitudee. 0: not used.
    7 (Altitude)Altitudee. 0: not used.m

    MAV_CMD_DO_LAND_START (189) ​

    Mission command to perform a landing. This is used as a marker in a mission to tell the autopilot where a sequence of mission items that represents a landing starts.

    It may also be sent via a COMMAND_LONG to trigger a landing, in which case the nearest (geographically) landing sequence in the mission will be used. The Latitude/Longitude/Altitude is optional, and may be set to 0 if not needed. If specified then it will be used to help find the closest landing sequence.

    Param (Label)描述Units
    1Empty
    2Empty
    3Empty
    4Empty
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7 (Altitude)Altitudem

    MAV_CMD_DO_RALLY_LAND (190) ​

    Mission command to perform a landing from a rally point.

    Param (Label)描述Units
    1 (Altitude)Break altitudem
    2 (Speed)Landing speedm/s
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_GO_AROUND (191) ​

    Mission command to safely abort an autonomous landing.

    Param (Label)描述Units
    1 (Altitude)Altitudem
    2Empty
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_REPOSITION (192) ​

    Reposition the vehicle to a specific WGS84 global position. This command is intended for guided commands (for missions use MAV_CMD_NAV_WAYPOINT instead).

    Param (Label)描述值Units
    1 (Speed)Ground speed, less than 0 (-1) for defaultmin: -1m/s
    2 (Bitmask)Bitmask of option flags.MAV_DO_REPOSITION_FLAGS
    3 (Radius)Loiter radius for planes. Positive values only, direction is controlled by Yaw value. A value of zero or NaN is ignored.m
    4 (Yaw)Yaw heading. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.). For planes indicates loiter direction (0: clockwise, 1: counter clockwise)度
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7 (Altitude)Altitudem

    MAV_CMD_DO_PAUSE_CONTINUE (193) ​

    If in a GPS controlled position mode, hold the current position or continue.

    Param (Label)描述值
    1 (Continue)0: Pause current mission or reposition command, hold current position. 1: Continue mission. A VTOL capable vehicle should enter hover mode (multicopter and VTOL planes). A plane should loiter with the default loiter radius.min: 0 max: 1 inc: 1
    2Reserved
    3Reserved
    4Reserved
    5Reserved
    6Reserved
    7Reserved

    MAV_CMD_DO_SET_REVERSE (194) ​

    Set moving direction to forward or reverse.

    Param (Label)描述值
    1 (Reverse)Direction (0=Forward, 1=Reverse)min: 0 max: 1 inc: 1
    2Empty
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_SET_ROI_LOCATION (195) ​

    Sets the region of interest (ROI) to a location. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal is not to react to this message.

    Param (Label)描述Units
    1 (Gimbal device ID)Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).
    2Empty
    3Empty
    4Empty
    5 (Latitude)Latitude of ROI locationdegE7
    6 (Longitude)Longitude of ROI locationdegE7
    7 (Altitude)Altitude of ROI locationm

    MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET (196) ​

    Sets the region of interest (ROI) to be toward next waypoint, with optional pitch/roll/yaw offset. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message.

    Param (Label)描述Units
    1 (Gimbal device ID)Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).
    2Empty
    3Empty
    4Empty
    5 (Pitch Offset)Pitch offset from next waypoint, positive pitching up度
    6 (Roll Offset)Roll offset from next waypoint, positive rolling to the right度
    7 (Yaw Offset)Yaw offset from next waypoint, positive yawing to the right度

    MAV_CMD_DO_SET_ROI_NONE (197) ​

    Cancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message. After this command the gimbal manager should go back to manual input if available, and otherwise assume a neutral position.

    Param (Label)描述
    1 (Gimbal device ID)Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).
    2Empty
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_SET_ROI_SYSID (198) ​

    Mount tracks system with specified system ID. Determination of target vehicle position may be done with GLOBAL_POSITION_INT or any other means. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message.

    Param (Label)描述值
    1 (System ID)System IDmin: 1 max: 255 inc: 1
    2 (Gimbal device ID)Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).

    MAV_CMD_DO_CONTROL_VIDEO (200) ​

    Control onboard camera system.

    Param (Label)描述值Units
    1 (ID)Camera ID (-1 for all)min: -1 inc: 1
    2 (Transmission)Transmission: 0: disabled, 1: enabled compressed, 2: enabled rawmin: 0 max: 2 inc: 1
    3 (Interval)Transmission mode: 0: video stream, >0: single images every n secondsmin: 0s
    4 (Recording)Recording: 0: disabled, 1: enabled compressed, 2: enabled rawmin: 0 max: 2 inc: 1
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_SET_ROI (201) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_DO_SET_ROI_* (2018-01)

    Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras.

    Param (Label)描述值
    1 (ROI Mode)Region of interest mode.MAV_ROI
    2 (WP Index)Waypoint index/ target ID (depends on param 1).min: 0 inc: 1
    3 (ROI Index)Region of interest index. (allows a vehicle to manage multiple ROI's)min: 0 inc: 1
    4Empty
    5MAV_ROI_WPNEXT: pitch offset from next waypoint, MAV_ROI_LOCATION: latitude
    6MAV_ROI_WPNEXT: roll offset from next waypoint, MAV_ROI_LOCATION: longitude
    7MAV_ROI_WPNEXT: yaw offset from next waypoint, MAV_ROI_LOCATION: altitude

    MAV_CMD_DO_DIGICAM_CONFIGURE (202) ​

    Configure digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ).

    Param (Label)描述值Units
    1 (Mode)Modes: P, TV, AV, M, Etc.min: 0 inc: 1
    2 (Shutter Speed)Shutter speed: Divisor number for one second.min: 0 inc: 1
    3 (Aperture)Aperture: F stop number.min: 0
    4 (ISO)ISO number e.g. 80, 100, 200, Etc.min: 0 inc: 1
    5 (Exposure)Exposure type enumerator.
    6 (Command Identity)Command Identity.
    7 (Engine Cut-off)Main engine cut-off time before camera trigger. (0 means no cut-off)min: 0 inc: 1ds

    MAV_CMD_DO_DIGICAM_CONTROL (203) ​

    Control digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ).

    Param (Label)描述
    1 (Session Control)Session control e.g. show/hide lens
    2 (Zoom Absolute)Zoom's absolute position
    3 (Zoom Relative)Zooming step value to offset zoom from the current position
    4 (Focus)Focus Locking, Unlocking or Re-locking
    5 (Shoot Command)Shooting Command
    6 (Command Identity)Command Identity
    7 (Shot ID)Test shot identifier. If set to 1, image will only be captured, but not counted towards internal frame count.

    MAV_CMD_DO_MOUNT_CONFIGURE (204) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE (2020-01) — This message has been superseded by MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE. The message can still be used to communicate with legacy gimbals implementing it.)

    Mission command to configure a camera or antenna mount

    Param (Label)描述值
    1 (Mode)Mount operation modeMAV_MOUNT_MODE
    2 (Stabilize Roll)stabilize roll? (1 = yes, 0 = no)min: 0 max: 1 inc: 1
    3 (Stabilize Pitch)stabilize pitch? (1 = yes, 0 = no)min: 0 max: 1 inc: 1
    4 (Stabilize Yaw)stabilize yaw? (1 = yes, 0 = no)min: 0 max: 1 inc: 1
    5 (Roll Input Mode)roll input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)
    6 (Pitch Input Mode)pitch input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)
    7 (Yaw Input Mode)yaw input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)

    MAV_CMD_DO_MOUNT_CONTROL (205) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (2020-01) — This message is ambiguous and inconsistent. It has been superseded by MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW and MAV_CMD_DO_SET_ROI_* variants. The message can still be used to communicate with legacy gimbals implementing it.)

    Mission command to control a camera or antenna mount

    Param (Label)描述值Units
    1 (Pitch)pitch depending on mount mode (degrees or degrees/second depending on pitch input).
    2 (Roll)roll depending on mount mode (degrees or degrees/second depending on roll input).
    3 (Yaw)yaw depending on mount mode (degrees or degrees/second depending on yaw input).
    4 (Altitude)altitude depending on mount mode.m
    5 (Latitude)latitude, set if appropriate mount mode.
    6 (Longitude)longitude, set if appropriate mount mode.
    7 (Mode)Mount mode.MAV_MOUNT_MODE

    MAV_CMD_DO_SET_CAM_TRIGG_DIST (206) ​

    Mission command to set camera trigger distance for this flight. The camera is triggered each time this distance is exceeded. This command can also be used to set the shutter integration time for the camera.

    Param (Label)描述值Units
    1 (Distance)Camera trigger distance. 0 to stop triggering.min: 0m
    2 (Shutter)Camera shutter integration time. -1 or 0 to ignoremin: -1 inc: 1ms
    3 (Trigger)Trigger camera once immediately. (0 = no trigger, 1 = trigger)min: 0 max: 1 inc: 1
    4 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_FENCE_ENABLE (207) ​

    Enable the geofence. This can be used in a mission or via the command protocol. The persistence/lifetime of the setting is undefined. Depending on flight stack implementation it may persist until superseded, or it may revert to a system default at the end of a mission. Flight stacks typically reset the setting to system defaults on reboot.

    Param (Label)描述值
    1 (Enable)enable? (0=disable, 1=enable, 2=disable_floor_only)min: 0 max: 2 inc: 1
    2 (Types)Fence types to enable or disable as a bitmask. A value of 0 indicates that all fences should be enabled or disabled. This parameter is ignored if param 1 has the value 2FENCE_TYPE
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_PARACHUTE (208) ​

    Mission item/command to release a parachute or enable/disable auto release.

    Param (Label)描述值
    1 (Action)ActionPARACHUTE_ACTION
    2Empty
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_MOTOR_TEST (209) ​

    Command to perform motor test.

    Param (Label)描述值Units
    1 (Instance)Motor instance number (from 1 to max number of motors on the vehicle).min: 1 inc: 1
    2 (Throttle Type)Throttle type (whether the Throttle Value in param3 is a percentage, PWM value, etc.)MOTOR_TEST_THROTTLE_TYPE
    3 (Throttle)Throttle value.
    4 (Timeout)Timeout between tests that are run in sequence.min: 0s
    5 (Motor Count)Motor count. Number of motors to test in sequence: 0/1=one motor, 2= two motors, etc. The Timeout (param4) is used between tests.min: 0 inc: 1
    6 (Test Order)Motor test order.MOTOR_TEST_ORDER
    7Empty

    MAV_CMD_DO_INVERTED_FLIGHT (210) ​

    Change to/from inverted flight.

    Param (Label)描述值
    1 (Inverted)Inverted flight. (0=normal, 1=inverted)min: 0 max: 1 inc: 1
    2Empty
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_GRIPPER (211) ​

    Mission command to operate a gripper.

    Param (Label)描述值
    1 (Instance)Gripper instance number.min: 1 inc: 1
    2 (Action)Gripper action to perform.GRIPPER_ACTIONS
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_AUTOTUNE_ENABLE (212) ​

    Enable/disable autotune.

    Param (Label)描述值
    1 (Enable)Enable (1: enable, 0:disable).min: 0 max: 1 inc: 1
    2 (Axis)Specify which axis are autotuned. 0 indicates autopilot default settings.AUTOTUNE_AXIS
    3Empty.
    4Empty.
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_NAV_SET_YAW_SPEED (213) ​

    Sets a desired vehicle turn angle and speed change.

    Param (Label)描述值Units
    1 (Yaw)Yaw angle to adjust steering by.度
    2 (Speed)Speed.m/s
    3 (Angle)Final angle. (0=absolute, 1=relative)min: 0 max: 1 inc: 1
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL (214) ​

    Mission command to set camera trigger interval for this flight. If triggering is enabled, the camera is triggered each time this interval expires. This command can also be used to set the shutter integration time for the camera.

    Param (Label)描述值Units
    1 (Trigger Cycle)Camera trigger cycle time. -1 or 0 to ignore.min: -1 inc: 1ms
    2 (Shutter Integration)Camera shutter integration time. Should be less than trigger cycle time. -1 or 0 to ignore.min: -1 inc: 1ms
    3 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_MOUNT_CONTROL_QUAT (220) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (2020-01)

    Mission command to control a camera or antenna mount, using a quaternion as reference.

    Param (Label)描述
    1 (Q1)quaternion param q1, w (1 in null-rotation)
    2 (Q2)quaternion param q2, x (0 in null-rotation)
    3 (Q3)quaternion param q3, y (0 in null-rotation)
    4 (Q4)quaternion param q4, z (0 in null-rotation)
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_GUIDED_MASTER (221) ​

    set id of master controller

    Param (Label)描述值
    1 (System ID)System IDmin: 0 max: 255 inc: 1
    2 (Component ID)Component IDmin: 0 max: 255 inc: 1
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_GUIDED_LIMITS (222) ​

    Set limits for external control

    Param (Label)描述值Units
    1 (Timeout)Timeout - maximum time that external controller will be allowed to control vehicle. 0 means no timeout.min: 0s
    2 (Min Altitude)Altitude (MSL) min - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit.m
    3 (Max Altitude)Altitude (MSL) max - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit.m
    4 (Horiz. Move Limit)Horizontal move limit - if vehicle moves more than this distance from its location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal move limit.min: 0m
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_ENGINE_CONTROL (223) ​

    Control vehicle engine. This is interpreted by the vehicles engine controller to change the target engine state. It is intended for vehicles with internal combustion engines

    Param (Label)描述值Units
    1 (Start Engine)0: Stop engine, 1:Start Enginemin: 0 max: 1 inc: 1
    2 (Cold Start)0: Warm start, 1:Cold start. Controls use of choke where applicablemin: 0 max: 1 inc: 1
    3 (Height Delay)Height delay. This is for commanding engine start only after the vehicle has gained the specified height. Used in VTOL vehicles during takeoff to start engine after the aircraft is off the ground. Zero for no delay.min: 0m
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_SET_MISSION_CURRENT (224) ​

    Set the mission item with sequence number seq as the current item and emit MISSION_CURRENT (whether or not the mission number changed). If a mission is currently being executed, the system will continue to this new mission item on the shortest path, skipping any intermediate mission items. Note that mission jump repeat counters are not reset unless param2 is set (see MAV_CMD_DO_JUMP param2).

    This command may trigger a mission state-machine change on some systems: for example from MISSION_STATE_NOT_STARTED or MISSION_STATE_PAUSED to MISSION_STATE_ACTIVE. If the system is in mission mode, on those systems this command might therefore start, restart or resume the mission. If the system is not in mission mode this command must not trigger a switch to mission mode.

    The mission may be "reset" using param2. Resetting sets jump counters to initial values (to reset counters without changing the current mission item set the param1 to -1). Resetting also explicitly changes a mission state of MISSION_STATE_COMPLETE to MISSION_STATE_PAUSED or MISSION_STATE_ACTIVE, potentially allowing it to resume when it is (next) in a mission mode.

    The command will ACK with MAV_RESULT_FAILED if the sequence number is out of range (including if there is no mission item).

    Param (Label)描述值
    1 (Number)Mission sequence value to set. -1 for the current mission item (use to reset mission without changing current mission item).min: -1 inc: 1
    2 (Reset Mission)Resets mission. 1: true, 0: false. Resets jump counters to initial values and changes mission state "completed" to be "active" or "paused".min: 0 max: 1 inc: 1
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_DO_LAST (240) ​

    NOP - This command is only used to mark the upper limit of the DO commands in the enumeration

    Param (Label)描述
    1Empty
    2Empty
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_PREFLIGHT_CALIBRATION (241) ​

    Trigger calibration. 只有在飞行前模式下才会接受此命令。 Except for Temperature Calibration, only one sensor should be set in a single message and all others should be zero.

    Param (Label)描述值
    1 (Gyro Temperature)1: gyro calibration, 3: gyro temperature calibrationmin: 0 max: 3 inc: 1
    2 (Magnetometer)1: magnetometer calibrationmin: 0 max: 1 inc: 1
    3 (Ground Pressure)1: ground pressure calibrationmin: 0 max: 1 inc: 1
    4 (Remote Control)1: radio RC calibration, 2: RC trim calibrationmin: 0 max: 1 inc: 1
    5 (Accelerometer)1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature calibration, 4: simple accelerometer calibrationmin: 0 max: 4 inc: 1
    6 (Compmot or Airspeed)1: APM: compass/motor interference calibration (PX4: airspeed calibration, deprecated), 2: airspeed calibrationmin: 0 max: 2 inc: 1
    7 (ESC or Baro)1: ESC calibration, 3: barometer temperature calibrationmin: 0 max: 3 inc: 1

    MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS (242) ​

    Set sensor offsets. 只有在飞行前模式下才会接受此命令。

    Param (Label)描述值
    1 (Sensor Type)Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow, 5: second magnetometer, 6: third magnetometermin: 0 max: 6 inc: 1
    2 (X Offset)X axis offset (or generic dimension 1), in the sensor's raw units
    3 (Y Offset)Y axis offset (or generic dimension 2), in the sensor's raw units
    4 (Z Offset)Z axis offset (or generic dimension 3), in the sensor's raw units
    5 (4th Dimension)Generic dimension 4, in the sensor's raw units
    6 (5th Dimension)Generic dimension 5, in the sensor's raw units
    7 (6th Dimension)Generic dimension 6, in the sensor's raw units

    MAV_CMD_PREFLIGHT_UAVCAN (243) ​

    Trigger UAVCAN configuration (actuator ID assignment and direction mapping). Note that this maps to the legacy UAVCAN v0 function UAVCAN_ENUMERATE, which is intended to be executed just once during initial vehicle configuration (it is not a normal pre-flight command and has been poorly named).

    Param (Label)描述
    1 (Actuator ID)1: Trigger actuator ID assignment and direction mapping. 0: Cancel command.
    2Reserved
    3Reserved
    4Reserved
    5Reserved
    6Reserved
    7Reserved

    MAV_CMD_PREFLIGHT_STORAGE (245) ​

    Request storage of different parameter values and logs. 只有在飞行前模式下才会接受此命令。

    Param (Label)描述值Units
    1 (Parameter Storage)Action to perform on the persistent parameter storagePREFLIGHT_STORAGE_PARAMETER_ACTION
    2 (Mission Storage)Action to perform on the persistent mission storagePREFLIGHT_STORAGE_MISSION_ACTION
    3 (Logging Rate)Onboard logging: 0: Ignore, 1: Start default rate logging, -1: Stop logging, > 1: logging rate (e.g. set to 1000 for 1000 Hz logging)min: -1 inc: 1Hz
    4Reserved
    5Empty
    6Empty
    7Empty

    MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN (246) ​

    Request the reboot or shutdown of system components.

    Param (Label)描述值
    1 (Autopilot)0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot, 3: Reboot autopilot and keep it in the bootloader until upgraded.min: 0 max: 3 inc: 1
    2 (Companion)0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer, 3: Reboot onboard computer and keep it in the bootloader until upgraded.min: 0 max: 3 inc: 1
    3 (Component action)0: Do nothing for component, 1: Reboot component, 2: Shutdown component, 3: Reboot component and keep it in the bootloader until upgradedmin: 0 max: 3 inc: 1
    4 (Component ID)MAVLink Component ID targeted in param3 (0 for all components).min: 0 max: 255 inc: 1
    5Reserved (set to 0)
    6Reserved (set to 0)
    7WIP: ID (e.g. camera ID -1 for all IDs)

    MAV_CMD_OVERRIDE_GOTO (252) ​

    Override current mission with command to pause mission, pause mission and move to position, continue/resume mission. When param 1 indicates that the mission is paused (MAV_GOTO_DO_HOLD), param 2 defines whether it holds in place or moves to another position.

    Param (Label)描述值Units
    1 (Continue)MAV_GOTO_DO_HOLD: pause mission and either hold or move to specified position (depending on param2), MAV_GOTO_DO_CONTINUE: resume mission.MAV_GOTO
    2 (Position)MAV_GOTO_HOLD_AT_CURRENT_POSITION: hold at current position, MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position.MAV_GOTO
    3 (Frame)Coordinate frame of hold point.MAV_FRAME
    4 (Yaw)Desired yaw angle.度
    5 (Latitude/X)Latitude/X position.
    6 (Longitude/Y)Longitude/Y position.
    7 (Altitude/Z)Altitude/Z position.

    MAV_CMD_OBLIQUE_SURVEY (260) ​

    Mission command to set a Camera Auto Mount Pivoting Oblique Survey (Replaces CAM_TRIGG_DIST for this purpose). The camera is triggered each time this distance is exceeded, then the mount moves to the next position. Params 4~6 set-up the angle limits and number of positions for oblique survey, where mount-enabled vehicles automatically roll the camera between shots to emulate an oblique camera setup (providing an increased HFOV). This command can also be used to set the shutter integration time for the camera.

    Param (Label)描述值Units
    1 (Distance)Camera trigger distance. 0 to stop triggering.min: 0m
    2 (Shutter)Camera shutter integration time. 0 to ignoremin: 0 inc: 1ms
    3 (Min Interval)The minimum interval in which the camera is capable of taking subsequent pictures repeatedly. 0 to ignore.min: 0 max: 10000 inc: 1ms
    4 (Positions)Total number of roll positions at which the camera will capture photos (images captures spread evenly across the limits defined by param5).min: 2 inc: 1
    5 (Roll Angle)Angle limits that the camera can be rolled to left and right of center.min: 0度
    6 (Pitch Angle)Fixed pitch angle that the camera will hold in oblique mode if the mount is actuated in the pitch axis.min: -180 max: 180度
    7Empty

    MAV_CMD_MISSION_START (300) ​

    start running a mission

    Param (Label)描述值
    1 (First Item)first_item: the first mission item to runmin: 0 inc: 1
    2 (Last Item)last_item: the last mission item to run (after this item is run, the mission ends)min: 0 inc: 1

    MAV_CMD_ACTUATOR_TEST (310) ​

    Actuator testing command. This is similar to MAV_CMD_DO_MOTOR_TEST but operates on the level of output functions, i.e. it is possible to test Motor1 independent from which output it is configured on. Autopilots typically refuse this command while armed.

    Param (Label)描述值Units
    1 (Value)Output value: 1 means maximum positive output, 0 to center servos or minimum motor thrust (expected to spin), -1 for maximum negative (if not supported by the motors, i.e. motor is not reversible, smaller than 0 maps to NaN). And NaN maps to disarmed (stop the motors).min: -1 max: 1
    2 (Timeout)Timeout after which the test command expires and the output is restored to the previous value. A timeout has to be set for safety reasons. A timeout of 0 means to restore the previous value immediately.min: 0 max: 3s
    3
    4
    5 (Output Function)Actuator Output functionACTUATOR_OUTPUT_FUNCTION
    6
    7

    MAV_CMD_CONFIGURE_ACTUATOR (311) ​

    Actuator configuration command.

    Param (Label)描述值
    1 (Configuration)Actuator configuration actionACTUATOR_CONFIGURATION
    2
    3
    4
    5 (Output Function)Actuator Output functionACTUATOR_OUTPUT_FUNCTION
    6
    7

    MAV_CMD_COMPONENT_ARM_DISARM (400) ​

    Arms / Disarms a component

    Param (Label)描述值
    1 (Arm)0: disarm, 1: armmin: 0 max: 1 inc: 1
    2 (Force)0: arm-disarm unless prevented by safety checks (i.e. when landed), 21196: force arming/disarming (e.g. allow arming to override preflight checks and disarming in flight)min: 0 max: 21196 inc: 21196

    MAV_CMD_RUN_PREARM_CHECKS (401) ​

    Instructs a target system to run pre-arm checks.

    This allows preflight checks to be run on demand, which may be useful on systems that normally run them at low rate, or which do not trigger checks when the armable state might have changed. This command should return MAV_RESULT_ACCEPTED if it will run the checks. The results of the checks are usually then reported in SYS_STATUS messages (this is system-specific). The command should return MAV_RESULT_TEMPORARILY_REJECTED if the system is already armed.

    Param (Label)描述

    MAV_CMD_ILLUMINATOR_ON_OFF (405) ​

    Turns illuminators ON/OFF. An illuminator is a light source that is used for lighting up dark areas external to the system: e.g. a torch or searchlight (as opposed to a light source for illuminating the system itself, e.g. an indicator light).

    Param (Label)描述值
    1 (Enable)0: Illuminators OFF, 1: Illuminators ONmin: 0 max: 1 inc: 1

    MAV_CMD_DO_ILLUMINATOR_CONFIGURE (406) ​

    Configures illuminator settings. An illuminator is a light source that is used for lighting up dark areas external to the system: e.g. a torch or searchlight (as opposed to a light source for illuminating the system itself, e.g. an indicator light).

    Param (Label)描述值Units
    1 (Mode)ModeILLUMINATOR_MODE
    2 (Brightness)0%: Off, 100%: Max Brightnessmin: 0 max: 100%
    3 (Strobe Period)Strobe period in seconds where 0 means strobing is not usedmin: 0s
    4 (Strobe Duty)Strobe duty cycle where 100% means it is on constantly and 0 means strobing is not usedmin: 0 max: 100%

    MAV_CMD_GET_HOME_POSITION (410) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2022-04)

    Request the home position from the vehicle.

    The vehicle will ACK the command and then emit the HOME_POSITION message.

    Param (Label)描述
    1Reserved
    2Reserved
    3Reserved
    4Reserved
    5Reserved
    6Reserved
    7Reserved

    MAV_CMD_INJECT_FAILURE (420) ​

    Inject artificial failure for testing purposes. Note that autopilots should implement an additional protection before accepting this command such as a specific param setting.

    Param (Label)描述值
    1 (Failure unit)The unit which is affected by the failure.FAILURE_UNIT
    2 (Failure type)The type how the failure manifests itself.FAILURE_TYPE
    3 (Instance)Instance affected by failure (0 to signal all).

    MAV_CMD_START_RX_PAIR (500) ​

    Starts receiver pairing.

    Param (Label)描述值
    1 (RC Type)RC type.RC_TYPE
    2 (RC Sub Type)RC sub type.RC_SUB_TYPE

    MAV_CMD_GET_MESSAGE_INTERVAL (510) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2022-04)

    Request the interval between messages for a particular MAVLink message ID. The receiver should ACK the command and then emit its response in a MESSAGE_INTERVAL message.

    Param (Label)描述值
    1 (Message ID)The MAVLink message IDmin: 0 max: 16777215 inc: 1

    MAV_CMD_SET_MESSAGE_INTERVAL (511) ​

    Set the interval between messages for a particular MAVLink message ID. This interface replaces REQUEST_DATA_STREAM.

    Param (Label)描述值Units
    1 (Message ID)The MAVLink message IDmin: 0 max: 16777215 inc: 1
    2 (Interval)The interval between two messages. -1: disable. 0: request default rate (which may be zero).min: -1 inc: 1us
    3 (Req Param 3)Use for index ID, if required. Otherwise, the use of this parameter (if any) must be defined in the requested message. By default assumed not used (0).
    4 (Req Param 4)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
    5 (Req Param 5)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
    6 (Req Param 6)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
    7 (Response Target)Target address of message stream (if message has target address fields). 0: Flight-stack default (recommended), 1: address of requestor, 2: broadcast.min: 0 max: 2 inc: 1

    MAV_CMD_REQUEST_MESSAGE (512) ​

    Request the target system(s) emit a single instance of a specified message (i.e. a "one-shot" version of MAV_CMD_SET_MESSAGE_INTERVAL).

    Param (Label)描述值
    1 (Message ID)The MAVLink message ID of the requested message.min: 0 max: 16777215 inc: 1
    2 (Req Param 1)Use for index ID, if required. Otherwise, the use of this parameter (if any) must be defined in the requested message. By default assumed not used (0).
    3 (Req Param 2)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
    4 (Req Param 3)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
    5 (Req Param 4)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
    6 (Req Param 5)The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
    7 (Response Target)Target address for requested message (if message has target address fields). 0: Flight-stack default, 1: address of requestor, 2: broadcast.min: 0 max: 2 inc: 1

    MAV_CMD_REQUEST_PROTOCOL_VERSION (519) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

    Request MAVLink protocol version compatibility. All receivers should ACK the command and then emit their capabilities in an PROTOCOL_VERSION message

    Param (Label)描述值
    1 (Protocol)1: Request supported protocol versions by all nodes on the networkmin: 0 max: 1 inc: 1
    2Reserved (all remaining params)

    MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES (520) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

    Request autopilot capabilities. The receiver should ACK the command and then emit its capabilities in an AUTOPILOT_VERSION message

    Param (Label)描述值
    1 (Version)1: Request autopilot versionmin: 0 max: 1 inc: 1
    2Reserved (all remaining params)

    MAV_CMD_REQUEST_CAMERA_INFORMATION (521) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

    Request camera information (CAMERA_INFORMATION).

    Param (Label)描述值
    1 (Capabilities)0: No action 1: Request camera capabilitiesmin: 0 max: 1 inc: 1
    2Reserved (all remaining params)

    MAV_CMD_REQUEST_CAMERA_SETTINGS (522) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

    Request camera settings (CAMERA_SETTINGS).

    Param (Label)描述值
    1 (Settings)0: No Action 1: Request camera settingsmin: 0 max: 1 inc: 1
    2Reserved (all remaining params)

    MAV_CMD_REQUEST_STORAGE_INFORMATION (525) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

    Request storage information (STORAGE_INFORMATION). Use the command's target_component to target a specific component's storage.

    Param (Label)描述值
    1 (Storage ID)Storage ID (0 for all, 1 for first, 2 for second, etc.)min: 0 inc: 1
    2 (Information)0: No Action 1: Request storage informationmin: 0 max: 1 inc: 1
    3Reserved (all remaining params)

    MAV_CMD_STORAGE_FORMAT (526) ​

    Format a storage medium. Once format is complete, a STORAGE_INFORMATION message is sent. Use the command's target_component to target a specific component's storage.

    Param (Label)描述值
    1 (Storage ID)Storage ID (1 for first, 2 for second, etc.)min: 0 inc: 1
    2 (Format)Format storage (and reset image log). 0: No action 1: Format storagemin: 0 max: 1 inc: 1
    3 (Reset Image Log)Reset Image Log (without formatting storage medium). This will reset CAMERA_CAPTURE_STATUS.image_count and CAMERA_IMAGE_CAPTURED.image_index. 0: No action 1: Reset Image Logmin: 0 max: 1 inc: 1
    4Reserved (all remaining params)

    MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS (527) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

    Request camera capture status (CAMERA_CAPTURE_STATUS)

    Param (Label)描述值
    1 (Capture Status)0: No Action 1: Request camera capture statusmin: 0 max: 1 inc: 1
    2Reserved (all remaining params)

    MAV_CMD_REQUEST_FLIGHT_INFORMATION (528) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

    Request flight information (FLIGHT_INFORMATION)

    Param (Label)描述值
    1 (Flight Information)1: Request flight informationmin: 0 max: 1 inc: 1
    2Reserved (all remaining params)

    MAV_CMD_RESET_CAMERA_SETTINGS (529) ​

    Reset all camera settings to Factory Default

    Param (Label)描述值
    1 (Reset)0: No Action 1: Reset all settingsmin: 0 max: 1 inc: 1
    2 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

    MAV_CMD_SET_CAMERA_MODE (530) ​

    Set camera running mode. Use NaN for reserved values. GCS will send a MAV_CMD_REQUEST_VIDEO_STREAM_STATUS command after a mode change if the camera supports video streaming.

    Param (Label)描述值
    1 (id)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
    2 (Camera Mode)Camera modeCAMERA_MODE
    3
    4
    7

    MAV_CMD_SET_CAMERA_ZOOM (531) ​

    Set camera zoom. Camera must respond with a CAMERA_SETTINGS message (on success).

    Param (Label)描述值
    1 (Zoom Type)Zoom typeCAMERA_ZOOM_TYPE
    2 (Zoom Value)Zoom value. The range of valid values depend on the zoom type.
    3 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
    4

    MAV_CMD_SET_CAMERA_FOCUS (532) ​

    Set camera focus. Camera must respond with a CAMERA_SETTINGS message (on success).

    Param (Label)描述值
    1 (Focus Type)Focus typeSET_FOCUS_TYPE
    2 (Focus Value)Focus value
    3 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
    4

    MAV_CMD_SET_STORAGE_USAGE (533) ​

    Set that a particular storage is the preferred location for saving photos, videos, and/or other media (e.g. to set that an SD card is used for storing videos).

    There can only be one preferred save location for each particular media type: setting a media usage flag will clear/reset that same flag if set on any other storage. If no flag is set the system should use its default storage. A target system can choose to always use default storage, in which case it should ACK the command with MAV_RESULT_UNSUPPORTED. A target system can choose to not allow a particular storage to be set as preferred storage, in which case it should ACK the command with MAV_RESULT_DENIED.

    Param (Label)描述值
    1 (Storage ID)Storage ID (1 for first, 2 for second, etc.)min: 0 inc: 1
    2 (Usage)Usage flagsSTORAGE_USAGE_FLAG

    MAV_CMD_SET_CAMERA_SOURCE (534) ​

    Set camera source. Changes the camera's active sources on cameras with multiple image sensors.

    Param (Label)描述值
    1 (device id)Component Id of camera to address or 1-6 for non-MAVLink cameras, 0 for all cameras.
    2 (primary source)Primary SourceCAMERA_SOURCE
    3 (secondary source)Secondary Source. If non-zero the second source will be displayed as picture-in-picture.CAMERA_SOURCE

    MAV_CMD_JUMP_TAG (600) ​

    Tagged jump target. Can be jumped to with MAV_CMD_DO_JUMP_TAG.

    Param (Label)描述值
    1 (Tag)Tag.min: 0 inc: 1

    MAV_CMD_DO_JUMP_TAG (601) ​

    Jump to the matching tag in the mission list. Repeat this action for the specified number of times. A mission should contain a single matching tag for each jump. If this is not the case then a jump to a missing tag should complete the mission, and a jump where there are multiple matching tags should always select the one with the lowest mission sequence number.

    Param (Label)描述值
    1 (Tag)Target tag to jump to.min: 0 inc: 1
    2 (Repeat)Repeat count.min: 0 inc: 1

    MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (1000) ​

    Set gimbal manager pitch/yaw setpoints (low rate command). It is possible to set combinations of the values below. E.g. an angle as well as a desired angular rate can be used to get to this angle at a certain angular rate, or an angular rate only will result in continuous turning. NaN is to be used to signal unset. Note: only the gimbal manager will react to this command - it will be ignored by a gimbal device. Use GIMBAL_MANAGER_SET_PITCHYAW if you need to stream pitch/yaw setpoints at higher rate.

    Param (Label)描述值Units
    1 (Pitch angle)Pitch angle (positive to pitch up, relative to vehicle for FOLLOW mode, relative to world horizon for LOCK mode).min: -180 max: 180度
    2 (Yaw angle)Yaw angle (positive to yaw to the right, relative to vehicle for FOLLOW mode, absolute to North for LOCK mode).min: -180 max: 180度
    3 (Pitch rate)Pitch rate (positive to pitch up).deg/s
    4 (Yaw rate)Yaw rate (positive to yaw to the right).deg/s
    5 (Gimbal manager flags)Gimbal manager flags to use.GIMBAL_MANAGER_FLAGS
    7 (Gimbal device ID)Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).

    MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE (1001) ​

    Gimbal configuration to set which sysid/compid is in primary and secondary control.

    Param (Label)描述
    1 (sysid primary control)Sysid for primary control (0: no one in control, -1: leave unchanged, -2: set itself in control (for missions where the own sysid is still unknown), -3: remove control if currently in control).
    2 (compid primary control)Compid for primary control (0: no one in control, -1: leave unchanged, -2: set itself in control (for missions where the own sysid is still unknown), -3: remove control if currently in control).
    3 (sysid secondary control)Sysid for secondary control (0: no one in control, -1: leave unchanged, -2: set itself in control (for missions where the own sysid is still unknown), -3: remove control if currently in control).
    4 (compid secondary control)Compid for secondary control (0: no one in control, -1: leave unchanged, -2: set itself in control (for missions where the own sysid is still unknown), -3: remove control if currently in control).
    7 (Gimbal device ID)Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).

    MAV_CMD_IMAGE_START_CAPTURE (2000) ​

    Start image capture sequence. CAMERA_IMAGE_CAPTURED must be emitted after each capture.

    Param1 (id) may be used to specify the target camera: 0: all cameras, 1 to 6: autopilot-connected cameras, 7-255: MAVLink camera component ID. It is needed in order to target specific cameras connected to the autopilot, or specific sensors in a multi-sensor camera (neither of which have a distinct MAVLink component ID). It is also needed to specify the target camera in missions.

    When used in a mission, an autopilot should execute the MAV_CMD for a specified local camera (param1 = 1-6), or resend it as a command if it is intended for a MAVLink camera (param1 = 7 - 255), setting the command's target_component as the param1 value (and setting param1 in the command to zero). If the param1 is 0 the autopilot should do both.

    When sent in a command the target MAVLink address is set using target_component. If addressed specifically to an autopilot: param1 should be used in the same way as it is for missions (though command should NACK with MAV_RESULT_DENIED if a specified local camera does not exist). If addressed to a MAVLink camera, param 1 can be used to address all cameras (0), or to separately address 1 to 7 individual sensors. Other values should be NACKed with MAV_RESULT_DENIED. If the command is broadcast (target_component is 0) then param 1 should be set to 0 (any other value should be NACKED with MAV_RESULT_DENIED). An autopilot would trigger any local cameras and forward the command to all channels.

    Param (Label)描述值Units
    1 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
    2 (Interval)Desired elapsed time between two consecutive pictures (in seconds). Minimum values depend on hardware (typically greater than 2 seconds).min: 0s
    3 (Total Images)Total number of images to capture. 0 to capture forever/until MAV_CMD_IMAGE_STOP_CAPTURE.min: 0 inc: 1
    4 (Sequence Number)Capture sequence number starting from 1. This is only valid for single-capture (param3 == 1), otherwise set to 0. Increment the capture ID for each capture command to prevent double captures when a command is re-transmitted.min: 1 inc: 1
    5
    6
    7

    MAV_CMD_IMAGE_STOP_CAPTURE (2001) ​

    Stop image capture sequence.

    Param1 (id) may be used to specify the target camera: 0: all cameras, 1 to 6: autopilot-connected cameras, 7-255: MAVLink camera component ID. It is needed in order to target specific cameras connected to the autopilot, or specific sensors in a multi-sensor camera (neither of which have a distinct MAVLink component ID). It is also needed to specify the target camera in missions.

    When used in a mission, an autopilot should execute the MAV_CMD for a specified local camera (param1 = 1-6), or resend it as a command if it is intended for a MAVLink camera (param1 = 7 - 255), setting the command's target_component as the param1 value (and setting param1 in the command to zero). If the param1 is 0 the autopilot should do both.

    When sent in a command the target MAVLink address is set using target_component. If addressed specifically to an autopilot: param1 should be used in the same way as it is for missions (though command should NACK with MAV_RESULT_DENIED if a specified local camera does not exist). If addressed to a MAVLink camera, param1 can be used to address all cameras (0), or to separately address 1 to 7 individual sensors. Other values should be NACKed with MAV_RESULT_DENIED. If the command is broadcast (target_component is 0) then param 1 should be set to 0 (any other value should be NACKED with MAV_RESULT_DENIED). An autopilot would trigger any local cameras and forward the command to all channels.

    Param (Label)描述值
    1 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
    2
    3
    4
    5
    6
    7

    MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE (2002) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

    Re-request a CAMERA_IMAGE_CAPTURED message.

    Param (Label)描述值
    1 (Number)Sequence number for missing CAMERA_IMAGE_CAPTURED messagemin: 0 inc: 1
    2
    3
    4
    5
    6
    7

    MAV_CMD_DO_TRIGGER_CONTROL (2003) ​

    Enable or disable on-board camera triggering system.

    Param (Label)描述值
    1 (Enable)Trigger enable/disable (0 for disable, 1 for start), -1 to ignoremin: -1 max: 1 inc: 1
    2 (Reset)1 to reset the trigger sequence, -1 or 0 to ignoremin: -1 max: 1 inc: 1
    3 (Pause)1 to pause triggering, but without switching the camera off or retracting it. -1 to ignoremin: -1 max: 1 inc: 2
    4 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

    MAV_CMD_CAMERA_TRACK_POINT (2004) ​

    If the camera supports point visual tracking (CAMERA_CAP_FLAGS_HAS_TRACKING_POINT is set), this command allows to initiate the tracking.

    Param (Label)描述值
    1 (Point x)Point to track x value (normalized 0..1, 0 is left, 1 is right).min: 0 max: 1
    2 (Point y)Point to track y value (normalized 0..1, 0 is top, 1 is bottom).min: 0 max: 1
    3 (Radius)Point radius (normalized 0..1, 0 is one pixel, 1 is full image width).min: 0 max: 1
    4 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

    MAV_CMD_CAMERA_TRACK_RECTANGLE (2005) ​

    If the camera supports rectangle visual tracking (CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLE is set), this command allows to initiate the tracking.

    Param (Label)描述值
    1 (Top left corner x)Top left corner of rectangle x value (normalized 0..1, 0 is left, 1 is right).min: 0 max: 1
    2 (Top left corner y)Top left corner of rectangle y value (normalized 0..1, 0 is top, 1 is bottom).min: 0 max: 1
    3 (Bottom right corner x)Bottom right corner of rectangle x value (normalized 0..1, 0 is left, 1 is right).min: 0 max: 1
    4 (Bottom right corner y)Bottom right corner of rectangle y value (normalized 0..1, 0 is top, 1 is bottom).min: 0 max: 1
    5 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

    MAV_CMD_CAMERA_STOP_TRACKING (2010) ​

    Stops ongoing tracking.

    Param (Label)描述值
    1 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

    MAV_CMD_VIDEO_START_CAPTURE (2500) ​

    Starts video capture (recording).

    Param (Label)描述值Units
    1 (Stream ID)Video Stream ID (0 for all streams)min: 0 inc: 1
    2 (Status Frequency)Frequency CAMERA_CAPTURE_STATUS messages should be sent while recording (0 for no messages, otherwise frequency)min: 0Hz
    3 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
    4
    5
    6
    7

    MAV_CMD_VIDEO_STOP_CAPTURE (2501) ​

    Stop the current video capture (recording).

    Param (Label)描述值
    1 (Stream ID)Video Stream ID (0 for all streams)min: 0 inc: 1
    2 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1
    3
    4
    5
    6
    7

    MAV_CMD_VIDEO_START_STREAMING (2502) ​

    Start video streaming

    Param (Label)描述值
    1 (Stream ID)Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)min: 0 inc: 1
    2 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

    MAV_CMD_VIDEO_STOP_STREAMING (2503) ​

    Stop the given video stream

    Param (Label)描述值
    1 (Stream ID)Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)min: 0 inc: 1
    2 (Target Camera ID)Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don't have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.min: 0 max: 255 inc: 1

    MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION (2504) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

    Request video stream information (VIDEO_STREAM_INFORMATION)

    Param (Label)描述值
    1 (Stream ID)Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)min: 0 inc: 1

    MAV_CMD_REQUEST_VIDEO_STREAM_STATUS (2505) — [DEP] ​

    DEPRECATED: Replaced By MAV_CMD_REQUEST_MESSAGE (2019-08)

    Request video stream status (VIDEO_STREAM_STATUS)

    Param (Label)描述值
    1 (Stream ID)Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)min: 0 inc: 1

    MAV_CMD_LOGGING_START (2510) ​

    Request to start streaming logging data over MAVLink (see also LOGGING_DATA message)

    Param (Label)描述值
    1 (Format)Format: 0: ULogmin: 0 inc: 1
    2Reserved (set to 0)
    3Reserved (set to 0)
    4Reserved (set to 0)
    5Reserved (set to 0)
    6Reserved (set to 0)
    7Reserved (set to 0)

    MAV_CMD_LOGGING_STOP (2511) ​

    Request to stop streaming log data over MAVLink

    Param (Label)描述
    1Reserved (set to 0)
    2Reserved (set to 0)
    3Reserved (set to 0)
    4Reserved (set to 0)
    5Reserved (set to 0)
    6Reserved (set to 0)
    7Reserved (set to 0)

    MAV_CMD_AIRFRAME_CONFIGURATION (2520) ​

    Param (Label)描述值
    1 (Landing Gear ID)Landing gear ID (default: 0, -1 for all)min: -1 inc: 1
    2 (Landing Gear Position)Landing gear position (Down: 0, Up: 1, NaN for no change)
    3
    4
    5
    6
    7

    MAV_CMD_CONTROL_HIGH_LATENCY (2600) ​

    Request to start/stop transmitting over the high latency telemetry

    Param (Label)描述值
    1 (Enable)Control transmission over high latency telemetry (0: stop, 1: start)min: 0 max: 1 inc: 1
    2Empty
    3Empty
    4Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_PANORAMA_CREATE (2800) ​

    Create a panorama at the current position

    Param (Label)描述Units
    1 (Horizontal Angle)Viewing angle horizontal of the panorama (+- 0.5 the total angle)度
    2 (Vertical Angle)Viewing angle vertical of panorama.度
    3 (Horizontal Speed)Speed of the horizontal rotation.deg/s
    4 (Vertical Speed)Speed of the vertical rotation.deg/s

    MAV_CMD_DO_VTOL_TRANSITION (3000) ​

    Request VTOL transition

    Param (Label)描述值
    1 (State)The target VTOL state. For normal transitions, only MAV_VTOL_STATE_MC and MAV_VTOL_STATE_FW can be used.MAV_VTOL_STATE
    2 (Immediate)Force immediate transition to the specified MAV_VTOL_STATE. 1: Force immediate, 0: normal transition. Can be used, for example, to trigger an emergency "Quadchute". Caution: Can be dangerous/damage vehicle, depending on autopilot implementation of this command.

    MAV_CMD_ARM_AUTHORIZATION_REQUEST (3001) ​

    Request authorization to arm the vehicle to a external entity, the arm authorizer is responsible to request all data that is needs from the vehicle before authorize or deny the request.

    If approved the COMMAND_ACK message progress field should be set with period of time that this authorization is valid in seconds. If the authorization is denied COMMAND_ACK.result_param2 should be set with one of the reasons in ARM_AUTH_DENIED_REASON.

    Param (Label)描述值
    1 (System ID)Vehicle system id, this way ground station can request arm authorization on behalf of any vehiclemin: 0 max: 255 inc: 1

    MAV_CMD_SET_GUIDED_SUBMODE_STANDARD (4000) ​

    This command sets the submode to standard guided when vehicle is in guided mode. The vehicle holds position and altitude and the user can input the desired velocities along all three axes.

    Param (Label)描述

    MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE (4001) ​

    This command sets submode circle when vehicle is in guided mode. Vehicle flies along a circle facing the center of the circle. The user can input the velocity along the circle and change the radius. If no input is given the vehicle will hold position.

    Param (Label)描述Units
    1 (Radius)Radius of desired circle in CIRCLE_MODEm
    2User defined
    3User defined
    4User defined
    5 (Latitude)Target latitude of center of circle in CIRCLE_MODEdegE7
    6 (Longitude)Target longitude of center of circle in CIRCLE_MODEdegE7

    MAV_CMD_CONDITION_GATE (4501) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Delay mission state machine until gate has been reached.

    Param (Label)描述值Units
    1 (Geometry)Geometry: 0: orthogonal to path between previous and next waypoint.min: 0 inc: 1
    2 (UseAltitude)Altitude: 0: ignore altitudemin: 0 max: 1 inc: 1
    3Empty
    4Empty
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7 (Altitude)Altitudem

    MAV_CMD_NAV_FENCE_RETURN_POINT (5000) ​

    Fence return point (there can only be one such point in a geofence definition). If rally points are supported they should be used instead.

    Param (Label)描述Units
    1Reserved
    2Reserved
    3Reserved
    4Reserved
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7 (Altitude)Altitudem

    MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION (5001) ​

    Fence vertex for an inclusion polygon (the polygon must not be self-intersecting). The vehicle must stay within this area. Minimum of 3 vertices required.

    Param (Label)描述值
    1 (Vertex Count)Polygon vertex countmin: 3 inc: 1
    2 (Inclusion Group)Vehicle must be inside ALL inclusion zones in a single group, vehicle must be inside at least one group, must be the same for all points in each polygonmin: 0 inc: 1
    3Reserved
    4Reserved
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7Reserved

    MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION (5002) ​

    Fence vertex for an exclusion polygon (the polygon must not be self-intersecting). The vehicle must stay outside this area. Minimum of 3 vertices required.

    Param (Label)描述值
    1 (Vertex Count)Polygon vertex countmin: 3 inc: 1
    2Reserved
    3Reserved
    4Reserved
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7Reserved

    MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION (5003) ​

    Circular fence area. The vehicle must stay inside this area.

    Param (Label)描述值Units
    1 (Radius)Radius.m
    2 (Inclusion Group)Vehicle must be inside ALL inclusion zones in a single group, vehicle must be inside at least one groupmin: 0 inc: 1
    3Reserved
    4Reserved
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7Reserved

    MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION (5004) ​

    Circular fence area. The vehicle must stay outside this area.

    Param (Label)描述Units
    1 (Radius)Radius.m
    2Reserved
    3Reserved
    4Reserved
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7Reserved

    MAV_CMD_NAV_RALLY_POINT (5100) ​

    Rally point. You can have multiple rally points defined.

    Param (Label)描述Units
    1Reserved
    2Reserved
    3Reserved
    4Reserved
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7 (Altitude)Altitudem

    MAV_CMD_UAVCAN_GET_NODE_INFO (5200) ​

    Commands the vehicle to respond with a sequence of messages UAVCAN_NODE_INFO, one message per every UAVCAN node that is online. Note that some of the response messages can be lost, which the receiver can detect easily by checking whether every received UAVCAN_NODE_STATUS has a matching message UAVCAN_NODE_INFO received earlier; if not, this command should be sent again in order to request re-transmission of the node information messages.

    Param (Label)描述
    1Reserved (set to 0)
    2Reserved (set to 0)
    3Reserved (set to 0)
    4Reserved (set to 0)
    5Reserved (set to 0)
    6Reserved (set to 0)
    7Reserved (set to 0)

    MAV_CMD_DO_SET_SAFETY_SWITCH_STATE (5300) ​

    Change state of safety switch.

    Param (Label)描述值
    1 (Desired State)New safety switch state.SAFETY_SWITCH_STATE
    2Empty.
    3Empty.
    4Empty
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_DO_ADSB_OUT_IDENT (10001) ​

    Trigger the start of an ADSB-out IDENT. This should only be used when requested to do so by an Air Traffic Controller in controlled airspace. This starts the IDENT which is then typically held for 18 seconds by the hardware per the Mode A, C, and S transponder spec.

    Param (Label)描述
    1Reserved (set to 0)
    2Reserved (set to 0)
    3Reserved (set to 0)
    4Reserved (set to 0)
    5Reserved (set to 0)
    6Reserved (set to 0)
    7Reserved (set to 0)

    MAV_CMD_PAYLOAD_PREPARE_DEPLOY (30001) — [DEP] ​

    DEPRECATED:(2021-06)

    Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity.

    Param (Label)描述值Units
    1 (Operation Mode)Operation mode. 0: prepare single payload deploy (overwriting previous requests), but do not execute it. 1: execute payload deploy immediately (rejecting further deploy commands during execution, but allowing abort). 2: add payload deploy to existing deployment list.min: 0 max: 2 inc: 1
    2 (Approach Vector)Desired approach vector in compass heading. A negative value indicates the system can define the approach vector at will.min: -1 max: 360度
    3 (Ground Speed)Desired ground speed at release time. This can be overridden by the airframe in case it needs to meet minimum airspeed. A negative value indicates the system can define the ground speed at will.min: -1
    4 (Altitude Clearance)Minimum altitude clearance to the release position. A negative value indicates the system can define the clearance at will.min: -1m
    5 (Latitude)Latitude.degE7
    6 (Longitude)Longitude.degE7
    7 (Altitude)Altitude (MSL)m

    MAV_CMD_PAYLOAD_CONTROL_DEPLOY (30002) — [DEP] ​

    DEPRECATED:(2021-06)

    Control the payload deployment.

    Param (Label)描述值
    1 (Operation Mode)Operation mode. 0: Abort deployment, continue normal mission. 1: switch to payload deployment mode. 100: delete first payload deployment request. 101: delete all payload deployment requests.min: 0 max: 101 inc: 1
    2Reserved
    3Reserved
    4Reserved
    5Reserved
    6Reserved
    7Reserved

    MAV_CMD_WAYPOINT_USER_1 (31000) ​

    User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

    Param (Label)描述Units
    1User defined
    2User defined
    3User defined
    4User defined
    5 (Latitude)Latitude unscaled
    6 (Longitude)Longitude unscaled
    7 (Altitude)Altitude (MSL)m

    MAV_CMD_WAYPOINT_USER_2 (31001) ​

    User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

    Param (Label)描述Units
    1User defined
    2User defined
    3User defined
    4User defined
    5 (Latitude)Latitude unscaled
    6 (Longitude)Longitude unscaled
    7 (Altitude)Altitude (MSL)m

    MAV_CMD_WAYPOINT_USER_3 (31002) ​

    User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

    Param (Label)描述Units
    1User defined
    2User defined
    3User defined
    4User defined
    5 (Latitude)Latitude unscaled
    6 (Longitude)Longitude unscaled
    7 (Altitude)Altitude (MSL)m

    MAV_CMD_WAYPOINT_USER_4 (31003) ​

    User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

    Param (Label)描述Units
    1User defined
    2User defined
    3User defined
    4User defined
    5 (Latitude)Latitude unscaled
    6 (Longitude)Longitude unscaled
    7 (Altitude)Altitude (MSL)m

    MAV_CMD_WAYPOINT_USER_5 (31004) ​

    User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

    Param (Label)描述Units
    1User defined
    2User defined
    3User defined
    4User defined
    5 (Latitude)Latitude unscaled
    6 (Longitude)Longitude unscaled
    7 (Altitude)Altitude (MSL)m

    MAV_CMD_SPATIAL_USER_1 (31005) ​

    User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

    Param (Label)描述Units
    1User defined
    2User defined
    3User defined
    4User defined
    5 (Latitude)Latitude unscaled
    6 (Longitude)Longitude unscaled
    7 (Altitude)Altitude (MSL)m

    MAV_CMD_SPATIAL_USER_2 (31006) ​

    User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

    Param (Label)描述Units
    1User defined
    2User defined
    3User defined
    4User defined
    5 (Latitude)Latitude unscaled
    6 (Longitude)Longitude unscaled
    7 (Altitude)Altitude (MSL)m

    MAV_CMD_SPATIAL_USER_3 (31007) ​

    User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

    Param (Label)描述Units
    1User defined
    2User defined
    3User defined
    4User defined
    5 (Latitude)Latitude unscaled
    6 (Longitude)Longitude unscaled
    7 (Altitude)Altitude (MSL)m

    MAV_CMD_SPATIAL_USER_4 (31008) ​

    User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

    Param (Label)描述Units
    1User defined
    2User defined
    3User defined
    4User defined
    5 (Latitude)Latitude unscaled
    6 (Longitude)Longitude unscaled
    7 (Altitude)Altitude (MSL)m

    MAV_CMD_SPATIAL_USER_5 (31009) ​

    User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

    Param (Label)描述Units
    1User defined
    2User defined
    3User defined
    4User defined
    5 (Latitude)Latitude unscaled
    6 (Longitude)Longitude unscaled
    7 (Altitude)Altitude (MSL)m

    MAV_CMD_USER_1 (31010) ​

    User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

    Param (Label)描述
    1User defined
    2User defined
    3User defined
    4User defined
    5User defined
    6User defined
    7User defined

    MAV_CMD_USER_2 (31011) ​

    User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

    Param (Label)描述
    1User defined
    2User defined
    3User defined
    4User defined
    5User defined
    6User defined
    7User defined

    MAV_CMD_USER_3 (31012) ​

    User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

    Param (Label)描述
    1User defined
    2User defined
    3User defined
    4User defined
    5User defined
    6User defined
    7User defined

    MAV_CMD_USER_4 (31013) ​

    User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

    Param (Label)描述
    1User defined
    2User defined
    3User defined
    4User defined
    5User defined
    6User defined
    7User defined

    MAV_CMD_USER_5 (31014) ​

    User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

    Param (Label)描述
    1User defined
    2User defined
    3User defined
    4User defined
    5User defined
    6User defined
    7User defined

    MAV_CMD_CAN_FORWARD (32000) ​

    Request forwarding of CAN packets from the given CAN bus to this component. CAN Frames are sent using CAN_FRAME and CANFD_FRAME messages

    Param (Label)描述
    1 (bus)Bus number (0 to disable forwarding, 1 for first bus, 2 for 2nd bus, 3 for 3rd bus).
    2Empty.
    3Empty.
    4Empty.
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_FIXED_MAG_CAL_YAW (42006) ​

    Magnetometer calibration based on provided known yaw. This allows for fast calibration using WMM field tables in the vehicle, given only the known yaw of the vehicle. If Latitude and longitude are both zero then use the current vehicle location.

    Param (Label)描述Units
    1 (Yaw)Yaw of vehicle in earth frame.度
    2 (CompassMask)CompassMask, 0 for all.
    3 (Latitude)Latitude.度
    4 (Longitude)Longitude.度
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_DO_WINCH (42600) ​

    Command to operate winch.

    Param (Label)描述值Units
    1 (Instance)Winch instance number.min: 1 inc: 1
    2 (Action)Action to perform.WINCH_ACTIONS
    3 (Length)Length of line to release (negative to wind).m
    4 (Rate)Release rate (negative to wind).m/s
    5Empty.
    6Empty.
    7Empty.

    MAV_CMD_EXTERNAL_POSITION_ESTIMATE (43003) ​

    Provide an external position estimate for use when dead-reckoning. This is meant to be used for occasional position resets that may be provided by a external system such as a remote pilot using landmarks over a video link.

    Param (Label)描述Units
    1 (transmission_time)Timestamp that this message was sent as a time in the transmitters time domain. The sender should wrap this time back to zero based on required timing accuracy for the application and the limitations of a 32 bit float. For example, wrapping at 10 hours would give approximately 1ms accuracy. Recipient must handle time wrap in any timing jitter correction applied to this field. Wrap rollover time should not be at not more than 250 seconds, which would give approximately 10 microsecond accuracy.s
    2 (processing_time)The time spent in processing the sensor data that is the basis for this position. The recipient can use this to improve time alignment of the data. Set to zero if not known.s
    3 (accuracy)estimated one standard deviation accuracy of the measurement. Set to NaN if not known.
    4Empty
    5 (Latitude)Latitude
    6 (Longitude)Longitude
    7 (Altitude)Altitude, not used. Should be sent as NaN. May be supported in a future version of this message.m
    - + \ No newline at end of file diff --git a/zh/messages/csAirLink.html b/zh/messages/csAirLink.html index 7bebbcca1..4cbef616d 100644 --- a/zh/messages/csAirLink.html +++ b/zh/messages/csAirLink.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

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    Dialect: csAirLink ​

    Warning This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

    This topic is a human-readable form of the XML definition file: csAirLink.xml.

    Note

    • MAVLink 2 extension fields are displayed in blue.
    • Entities from dialects are displayed only as headings (with link to original)

    Protocol version: 3

    None

    概览 ​

    TypeDefinedIncluded
    Messages60
    Enums50
    命令00

    The following sections list all entities in the dialect (both included and defined in this file).

    消息 ​

    Authorization package

    Field NameType描述
    loginchar[50]Login
    passwordchar[50]Password

    Response to the authorization request

    Field NameType值描述
    resp_typeuint8_tAIRLINK_AUTH_RESPONSE_TYPEResponse type

    Request to hole punching

    Field NameType值描述
    resp_typeuint8_tAIRLINK_EYE_GS_HOLE_PUSH_RESP_TYPEHole push response type

    Response information about the connected device

    Field NameType值描述
    resp_typeuint8_tAIRLINK_EYE_GS_HOLE_PUSH_RESP_TYPEHole push response type
    ip_versionuint8_tAIRLINK_EYE_IP_VERSIONip version
    ip_address_4uint8_t[4]ip 4 address
    ip_address_6uint8_t[16]ip 6 address
    ip_portuint32_tport

    A package with information about the hole punching status. It is used for constant sending to avoid NAT closing timeout.

    Field NameType值描述
    resp_typeuint8_tAIRLINK_EYE_HOLE_PUSH_TYPEHole push response type

    Initializing the TURN protocol

    Field NameType值描述
    resp_typeuint8_tAIRLINK_EYE_TURN_INIT_TYPETurn init type

    Enumerated Types ​

    值Name描述
    0AIRLINK_ERROR_LOGIN_OR_PASSLogin or password error
    1AIRLINK_AUTH_OKAuth successful
    值Name描述
    0AIRLINK_HPR_PARTNER_NOT_READY
    1AIRLINK_HPR_PARTNER_READY
    值Name描述
    0AIRLINK_IP_V4
    1AIRLINK_IP_V6
    值Name描述
    0AIRLINK_HP_NOT_PENETRATED
    1AIRLINK_HP_BROKEN
    值Name描述
    0AIRLINK_TURN_INIT_START
    1AIRLINK_TURN_INIT_OK
    2AIRLINK_TURN_INIT_BAD
    - + \ No newline at end of file diff --git a/zh/messages/cubepilot.html b/zh/messages/cubepilot.html index ccac35d67..d643040a2 100644 --- a/zh/messages/cubepilot.html +++ b/zh/messages/cubepilot.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

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    Dialect: cubepilot ​

    Warning cubepilot.xml contains the accurate and up-to-date documentation for this dialect. The documentation below may not be accurate if the dialect owner has not pushed changes.

    These messages define the CubePilot specific dialect (as pushed to the mavlink/mavlink GitHub repository by the dialect owner).

    This topic is a human-readable form of the XML definition file: cubepilot.xml.

    Note

    • MAVLink 2 extension fields are displayed in blue.
    • Entities from dialects are displayed only as headings (with link to original)

    概览 ​

    TypeDefinedIncluded
    Messages5226
    Enums0144
    Commands1640

    The following sections list all entities in the dialect (both included and defined in this file).

    消息 ​

    CUBEPILOT_RAW_RC (50001) ​

    Raw RC Data

    Field NameType描述
    rc_rawuint8_t[32]

    Information about video stream

    Field NameTypeUnits描述
    camera_iduint8_tVideo Stream ID (1 for first, 2 for second, etc.)
    statusuint8_tNumber of streams available.
    frameratefloatHzFrame rate.
    resolution_huint16_tpixHorizontal resolution.
    resolution_vuint16_tpixVertical resolution.
    bitrateuint32_tbits/sBit rate.
    rotationuint16_t度Video image rotation clockwise.
    urichar[230]Video stream URI (TCP or RTSP URI ground station should connect to) or port number (UDP port ground station should listen to).

    Herelink Telemetry

    Field NameType描述
    rssiuint8_t
    snrint16_t
    rf_frequint32_t
    link_bwuint32_t
    link_rateuint32_t
    cpu_tempint16_t
    board_tempint16_t

    CUBEPILOT_FIRMWARE_UPDATE_START (50004) ​

    Start firmware update with encapsulated data.

    Field NameTypeUnits描述
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    sizeuint32_tbytesFW Size.
    crcuint32_tFW CRC.

    CUBEPILOT_FIRMWARE_UPDATE_RESP (50005) ​

    offset response to encapsulated data.

    Field NameTypeUnits描述
    target_systemuint8_tSystem ID.
    target_componentuint8_tComponent ID.
    offsetuint32_tbytesFW Offset.

    Enumerated Types ​

    Commands (MAV_CMD) ​

    - + \ No newline at end of file diff --git a/zh/messages/development.html b/zh/messages/development.html index 50bd3f230..3fe43579f 100644 --- a/zh/messages/development.html +++ b/zh/messages/development.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

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    Dialect: development ​

    This dialect contains messages that are proposed for inclusion in the standard set, in order to ease development of prototype implementations. They should be considered a 'work in progress' and not included in production builds.

    This topic is a human-readable form of the XML definition file: development.xml.

    Note

    • MAVLink 2 extension fields are displayed in blue.
    • Entities from dialects are displayed only as headings (with link to original)

    Protocol dialect: 0

    Protocol version: 0

    概览 ​

    TypeDefinedIncluded
    Messages16226
    Enums15144
    Commands1730

    The following sections list all entities in the dialect (both included and defined in this file).

    消息 ​

    PARAM_ACK_TRANSACTION (19) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Response from a PARAM_SET message when it is used in a transaction.

    Field NameType值描述
    target_systemuint8_tId of system that sent PARAM_SET message.
    target_componentuint8_tId of system that sent PARAM_SET message.
    param_idchar[16]Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
    param_valuefloatParameter value (new value if PARAM_ACCEPTED, current value otherwise)
    param_typeuint8_tMAV_PARAM_TYPEParameter type.
    param_resultuint8_tPARAM_ACKResult code.

    AIRSPEED (295) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Airspeed information from a sensor.

    Field NameTypeUnits值描述
    iduint8_tSensor ID.
    Messages with same value are from the same source (instance).
    airspeedfloatm/sCalibrated airspeed (CAS).
    temperatureint16_tcdegCTemperature. INT16_MAX for value unknown/not supplied.
    raw_pressfloathPaRaw differential pressure. NaN for value unknown/not supplied.
    flagsuint8_tAIRSPEED_SENSOR_FLAGSAirspeed sensor flags.

    SET_VELOCITY_LIMITS (354) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Set temporary maximum limits for horizontal speed, vertical speed and yaw rate.

    The consumer must stream the current limits in VELOCITY_LIMITS at 1 Hz or more (when limits are being set). The consumer should latch the limits until a new limit is received or the mode is changed.

    Field NameTypeUnits描述
    target_systemuint8_tSystem ID (0 for broadcast).
    target_componentuint8_tComponent ID (0 for broadcast).
    horizontal_speed_limitfloatm/sLimit for horizontal movement in MAV_FRAME_LOCAL_NED. NaN: Field not used (ignore)
    vertical_speed_limitfloatm/sLimit for vertical movement in MAV_FRAME_LOCAL_NED. NaN: Field not used (ignore)
    yaw_rate_limitfloatrad/sLimit for vehicle turn rate around its yaw axis. NaN: Field not used (ignore)

    VELOCITY_LIMITS (355) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Current limits for horizontal speed, vertical speed and yaw rate, as set by SET_VELOCITY_LIMITS.

    Field NameTypeUnits描述
    horizontal_speed_limitfloatm/sLimit for horizontal movement in MAV_FRAME_LOCAL_NED. NaN: No limit applied
    vertical_speed_limitfloatm/sLimit for vertical movement in MAV_FRAME_LOCAL_NED. NaN: No limit applied
    yaw_rate_limitfloatrad/sLimit for vehicle turn rate around its yaw axis. NaN: No limit applied

    FIGURE_EIGHT_EXECUTION_STATUS (361) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Vehicle status report that is sent out while figure eight execution is in progress (see MAV_CMD_DO_FIGURE_EIGHT). This may typically send at low rates: of the order of 2Hz.

    Field NameTypeUnits值描述
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
    major_radiusfloatmMajor axis radius of the figure eight. Positive: orbit the north circle clockwise. Negative: orbit the north circle counter-clockwise.
    minor_radiusfloatmMinor axis radius of the figure eight. Defines the radius of two circles that make up the figure.
    orientationfloatradOrientation of the figure eight major axis with respect to true north in [-pi,pi).
    frameuint8_tMAV_FRAMEThe coordinate system of the fields: x, y, z.
    xint32_tX coordinate of center point. Coordinate system depends on frame field.
    yint32_tY coordinate of center point. Coordinate system depends on frame field.
    zfloatmAltitude of center point. Coordinate system depends on frame field.

    BATTERY_STATUS_V2 (369) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Battery dynamic information.

    This should be streamed (nominally at 1Hz). Static/invariant battery information is sent in BATTERY_INFO. Note that smart batteries should set the MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULL bit to indicate that supplied capacity values are relative to a battery that is known to be full. Power monitors would not set this bit, indicating that capacity_consumed is relative to drone power-on, and that other values are estimated based on the assumption that the battery was full on power-on.

    Field NameTypeUnits值描述
    iduint8_tBattery ID
    Messages with same value are from the same source (instance).
    temperatureint16_tcdegCinvalid:INT16_MAXTemperature of the whole battery pack (not internal electronics). INT16_MAX field not provided.
    voltagefloatVinvalid:NaNBattery voltage (total). NaN: field not provided.
    currentfloatAinvalid:NaNBattery current (through all cells/loads). Positive value when discharging and negative if charging. NaN: field not provided.
    capacity_consumedfloatAhinvalid:NaNConsumed charge. NaN: field not provided. This is either the consumption since power-on or since the battery was full, depending on the value of MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULL.
    capacity_remainingfloatAhinvalid:NaNRemaining charge (until empty). NaN: field not provided. Note: If MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULL is unset, this value is based on the assumption the battery was full when the system was powered.
    percent_remaininguint8_t%invalid:UINT8_MAXRemaining battery energy. Values: [0-100], UINT8_MAX: field not provided.
    status_flagsuint32_tMAV_BATTERY_STATUS_FLAGSFault, health, readiness, and other status indications.

    GROUP_START (414) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Emitted during mission execution when control reaches MAV_CMD_GROUP_START.

    Field NameTypeUnits描述
    group_iduint32_tMission-unique group id (from MAV_CMD_GROUP_START).
    mission_checksumuint32_tCRC32 checksum of current plan for MAV_MISSION_TYPE_ALL. As defined in MISSION_CHECKSUM message.
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot).
    The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

    GROUP_END (415) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Emitted during mission execution when control reaches MAV_CMD_GROUP_END.

    Field NameTypeUnits描述
    group_iduint32_tMission-unique group id (from MAV_CMD_GROUP_END).
    mission_checksumuint32_tCRC32 checksum of current plan for MAV_MISSION_TYPE_ALL. As defined in MISSION_CHECKSUM message.
    time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot).
    The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

    RADIO_RC_CHANNELS (420) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    RC channel outputs from a MAVLink RC receiver for input to a flight controller or other components (allows an RC receiver to connect via MAVLink instead of some other protocol such as PPM-Sum or S.BUS).

    Note that this is not intended to be an over-the-air format, and does not replace RC_CHANNELS and similar messages reported by the flight controller. The target_system field should normally be set to the system id of the system to control, typically the flight controller. The target_component field can normally be set to 0, so that all components of the system can receive the message. The channels array field can publish up to 32 channels; the number of channel items used in the array is specified in the count field. The time_last_update_ms field contains the timestamp of the last received valid channels data in the receiver's time domain. The count field indicates the first index of the channel array that is not used for channel data (this and later indexes are zero-filled). The RADIO_RC_CHANNELS_FLAGS_OUTDATED flag is set by the receiver if the channels data is not up-to-date (for example, if new data from the transmitter could not be validated so the last valid data is resent). The RADIO_RC_CHANNELS_FLAGS_FAILSAFE failsafe flag is set by the receiver if the receiver's failsafe condition is met (implementation dependent, e.g., connection to the RC radio is lost). In this case time_last_update_ms still contains the timestamp of the last valid channels data, but the content of the channels data is not defined by the protocol (it is up to the implementation of the receiver). For instance, the channels data could contain failsafe values configured in the receiver; the default is to carry the last valid data. Note: The RC channels fields are extensions to ensure that they are located at the end of the serialized payload and subject to MAVLink's trailing-zero trimming.

    Field NameTypeUnits值描述
    target_systemuint8_tSystem ID (ID of target system, normally flight controller).
    target_componentuint8_tComponent ID (normally 0 for broadcast).
    time_last_update_msuint32_tmsTime when the data in the channels field were last updated (time since boot in the receiver's time domain).
    flagsuint16_tRADIO_RC_CHANNELS_FLAGSRadio RC channels status flags.
    countuint8_tTotal number of RC channels being received. This can be larger than 32, indicating that more channels are available but not given in this message.
    channels ++int16_t[32]min:-4096 max:4096RC channels.
    Channel values are in centered 13 bit format. Range is -4096 to 4096, center is 0. Conversion to PWM is x * 5/32 + 1500.
    Channels with indexes equal or above count should be set to 0, to benefit from MAVLink's trailing-zero trimming.

    AVAILABLE_MODES (435) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Get information about a particular flight modes.

    The message can be enumerated or requested for a particular mode using MAV_CMD_REQUEST_MESSAGE. Specify 0 in param2 to request that the message is emitted for all available modes or the specific index for just one mode. The modes must be available/settable for the current vehicle/frame type. Each modes should only be emitted once (even if it is both standard and custom).

    Field NameType值描述
    number_modesuint8_tThe total number of available modes for the current vehicle type.
    mode_indexuint8_tThe current mode index within number_modes, indexed from 1.
    standard_modeuint8_tMAV_STANDARD_MODEStandard mode.
    custom_modeuint32_tA bitfield for use for autopilot-specific flags
    propertiesuint32_tMAV_MODE_PROPERTYMode properties.
    mode_namechar[35]Name of custom mode, with null termination character. Should be omitted for standard modes.

    CURRENT_MODE (436) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Get the current mode.

    This should be emitted on any mode change, and broadcast at low rate (nominally 0.5 Hz). It may be requested using MAV_CMD_REQUEST_MESSAGE.

    Field NameType值描述
    standard_modeuint8_tMAV_STANDARD_MODEStandard mode.
    custom_modeuint32_tA bitfield for use for autopilot-specific flags
    intended_custom_modeuint32_tinvalid:0The custom_mode of the mode that was last commanded by the user (for example, with MAV_CMD_DO_SET_STANDARD_MODE, MAV_CMD_DO_SET_MODE or via RC). This should usually be the same as custom_mode. It will be different if the vehicle is unable to enter the intended mode, or has left that mode due to a failsafe condition. 0 indicates the intended custom mode is unknown/not supplied

    AVAILABLE_MODES_MONITOR (437) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    A change to the sequence number indicates that the set of AVAILABLE_MODES has changed.

    A receiver must re-request all available modes whenever the sequence number changes. This is only emitted after the first change and should then be broadcast at low rate (nominally 0.3 Hz) and on change.

    Field NameType描述
    sequint8_tSequence number. The value iterates sequentially whenever AVAILABLE_MODES changes (e.g. support for a new mode is added/removed dynamically).

    GNSS_INTEGRITY (441) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Information about key components of GNSS receivers, like signal authentication, interference and system errors.

    Field NameTypeUnits值描述
    iduint8_tGNSS receiver id. Must match instance ids of other messages from same receiver.
    Messages with same value are from the same source (instance).
    system_errorsuint32_tGPS_SYSTEM_ERROR_FLAGSErrors in the GPS system.
    authentication_stateuint8_tGPS_AUTHENTICATION_STATESignal authentication state of the GPS system.
    jamming_stateuint8_tGPS_JAMMING_STATESignal jamming state of the GPS system.
    spoofing_stateuint8_tGPS_SPOOFING_STATESignal spoofing state of the GPS system.
    raim_stateuint8_tGPS_RAIM_STATEThe state of the RAIM processing.
    raim_hfomuint16_t厘米invalid:UINT16_MAXHorizontal expected accuracy using satellites successfully validated using RAIM.
    raim_vfomuint16_t厘米invalid:UINT16_MAXVertical expected accuracy using satellites successfully validated using RAIM.
    corrections_qualityuint8_tinvalid:UINT8_MAX min:0 max:10An abstract value representing the estimated quality of incoming corrections, or 255 if not available.
    system_status_summaryuint8_tinvalid:UINT8_MAX min:0 max:10An abstract value representing the overall status of the receiver, or 255 if not available.
    gnss_signal_qualityuint8_tinvalid:UINT8_MAX min:0 max:10An abstract value representing the quality of incoming GNSS signals, or 255 if not available.
    post_processing_qualityuint8_tinvalid:UINT8_MAX min:0 max:10An abstract value representing the estimated PPK quality, or 255 if not available.

    TARGET_ABSOLUTE (510) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Current motion information from sensors on a target

    Field NameTypeUnits值描述
    timestampuint64_tusTimestamp (UNIX epoch time).
    iduint8_tThe ID of the target if multiple targets are present
    sensor_capabilitiesuint8_tTARGET_ABSOLUTE_SENSOR_CAPABILITY_FLAGSBitmap to indicate the sensor's reporting capabilities
    latint32_tdegE7Target's latitude (WGS84)
    lonint32_tdegE7Target's longitude (WGS84)
    altfloatmTarget's altitude (AMSL)
    velfloat[3]m/sinvalid:[0]Target's velocity in its body frame
    accfloat[3]m/s/sinvalid:[0]Linear target's acceleration in its body frame
    q_targetfloat[4]invalid:[0]Quaternion of the target's orientation from its body frame to the vehicle's NED frame.
    ratesfloat[3]rad/sinvalid:[0]Target's roll, pitch and yaw rates
    position_stdfloat[2]mStandard deviation of horizontal (eph) and vertical (epv) position errors
    vel_stdfloat[3]m/sStandard deviation of the target's velocity in its body frame
    acc_stdfloat[3]m/s/sStandard deviation of the target's acceleration in its body frame

    TARGET_RELATIVE (511) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    The location of a target measured by MAV's onboard sensors.

    Field NameTypeUnits值描述
    timestampuint64_tusTimestamp (UNIX epoch time)
    iduint8_tThe ID of the target if multiple targets are present
    Messages with same value are from the same source (instance).
    frameuint8_tTARGET_OBS_FRAMECoordinate frame used for following fields.
    xfloatmX Position of the target in TARGET_OBS_FRAME
    yfloatmY Position of the target in TARGET_OBS_FRAME
    zfloatmZ Position of the target in TARGET_OBS_FRAME
    pos_stdfloat[3]mStandard deviation of the target's position in TARGET_OBS_FRAME
    yaw_stdfloatradStandard deviation of the target's orientation in TARGET_OBS_FRAME
    q_targetfloat[4]Quaternion of the target's orientation from the target's frame to the TARGET_OBS_FRAME (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
    q_sensorfloat[4]Quaternion of the sensor's orientation from TARGET_OBS_FRAME to vehicle-carried NED. (Ignored if set to (0,0,0,0)) (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
    typeuint8_tLANDING_TARGET_TYPEType of target

    CONTROL_STATUS (512) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Information about GCS in control of this MAV. This should be broadcast at low rate (nominally 1 Hz) and emitted when ownership or takeover status change. Control over MAV is requested using MAV_CMD_REQUEST_OPERATOR_CONTROL.

    Field NameType值描述
    sysid_in_controluint8_tSystem ID of GCS MAVLink component in control (0: no GCS in control).
    flagsuint8_tGCS_CONTROL_STATUS_FLAGSControl status. For example, whether takeover is allowed, and whether this message instance defines the default controlling GCS for the whole system.

    Enumerated Types ​

    AIRSPEED_SENSOR_FLAGS — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    (Bitmask) Airspeed sensor flags

    值Name描述
    0AIRSPEED_SENSOR_UNHEALTHYAirspeed sensor is unhealthy
    1AIRSPEED_SENSOR_USINGTrue if the data from this sensor is being actively used by the flight controller for guidance, navigation or control.

    PARAM_TRANSACTION_TRANSPORT — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Possible transport layers to set and get parameters via mavlink during a parameter transaction.

    值Name描述
    0PARAM_TRANSACTION_TRANSPORT_PARAMTransaction over param transport.
    1PARAM_TRANSACTION_TRANSPORT_PARAM_EXTTransaction over param_ext transport.

    PARAM_TRANSACTION_ACTION — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Possible parameter transaction actions.

    值Name描述
    0PARAM_TRANSACTION_ACTION_STARTCommit the current parameter transaction.
    1PARAM_TRANSACTION_ACTION_COMMITCommit the current parameter transaction.
    2PARAM_TRANSACTION_ACTION_CANCELCancel the current parameter transaction.

    MAV_STANDARD_MODE — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Standard modes with a well understood meaning across flight stacks and vehicle types.

    For example, most flight stack have the concept of a "return" or "RTL" mode that takes a vehicle to safety, even though the precise mechanics of this mode may differ. Modes may be set using MAV_CMD_DO_SET_STANDARD_MODE.

    值Name描述
    0MAV_STANDARD_MODE_NON_STANDARDNon standard mode.
    This may be used when reporting the mode if the current flight mode is not a standard mode.
    1MAV_STANDARD_MODE_POSITION_HOLDPosition mode (manual).
    Position-controlled and stabilized manual mode.
    When sticks are released vehicles return to their level-flight orientation and hold both position and altitude against wind and external forces.
    This mode can only be set by vehicles that can hold a fixed position.
    Multicopter (MC) vehicles actively brake and hold both position and altitude against wind and external forces.
    Hybrid MC/FW ("VTOL") vehicles first transition to multicopter mode (if needed) but otherwise behave in the same way as MC vehicles.
    Fixed-wing (FW) vehicles must not support this mode.
    Other vehicle types must not support this mode (this may be revisited through the PR process).
    2MAV_STANDARD_MODE_ORBITOrbit (manual).
    Position-controlled and stabilized manual mode.
    The vehicle circles around a fixed setpoint in the horizontal plane at a particular radius, altitude, and direction.
    Flight stacks may further allow manual control over the setpoint position, radius, direction, speed, and/or altitude of the circle, but this is not mandated.
    Flight stacks may support the MAV_CMD_DO_ORBIT for changing the orbit parameters.
    MC and FW vehicles may support this mode.
    Hybrid MC/FW ("VTOL") vehicles may support this mode in MC/FW or both modes; if the mode is not supported by the current configuration the vehicle should transition to the supported configuration.
    Other vehicle types must not support this mode (this may be revisited through the PR process).
    3MAV_STANDARD_MODE_CRUISECruise mode (manual).
    Position-controlled and stabilized manual mode.
    When sticks are released vehicles return to their level-flight orientation and hold their original track against wind and external forces.
    Fixed-wing (FW) vehicles level orientation and maintain current track and altitude against wind and external forces.
    Hybrid MC/FW ("VTOL") vehicles first transition to FW mode (if needed) but otherwise behave in the same way as MC vehicles.
    Multicopter (MC) vehicles must not support this mode.
    Other vehicle types must not support this mode (this may be revisited through the PR process).
    4MAV_STANDARD_MODE_ALTITUDE_HOLDAltitude hold (manual).
    Altitude-controlled and stabilized manual mode.
    When sticks are released vehicles return to their level-flight orientation and hold their altitude.
    MC vehicles continue with existing momentum and may move with wind (or other external forces).
    FW vehicles continue with current heading, but may be moved off-track by wind.
    Hybrid MC/FW ("VTOL") vehicles behave according to their current configuration/mode (FW or MC).
    Other vehicle types must not support this mode (this may be revisited through the PR process).
    5MAV_STANDARD_MODE_RETURN_HOMEReturn home mode (auto).
    Automatic mode that returns vehicle to home via a safe flight path.
    It may also automatically land the vehicle (i.e. RTL).
    The precise flight path and landing behaviour depend on vehicle configuration and type.
    6MAV_STANDARD_MODE_SAFE_RECOVERYSafe recovery mode (auto).
    Automatic mode that takes vehicle to a predefined safe location via a safe flight path (rally point or mission defined landing) .
    It may also automatically land the vehicle.
    The precise return location, flight path, and landing behaviour depend on vehicle configuration and type.
    7MAV_STANDARD_MODE_MISSIONMission mode (automatic).
    Automatic mode that executes MAVLink missions.
    Missions are executed from the current waypoint as soon as the mode is enabled.
    8MAV_STANDARD_MODE_LANDLand mode (auto).
    Automatic mode that lands the vehicle at the current location.
    The precise landing behaviour depends on vehicle configuration and type.
    9MAV_STANDARD_MODE_TAKEOFFTakeoff mode (auto).
    Automatic takeoff mode.
    The precise takeoff behaviour depends on vehicle configuration and type.

    MAV_MODE_PROPERTY — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    (Bitmask) Mode properties.

    值Name描述
    1MAV_MODE_PROPERTY_ADVANCEDIf set, this mode is an advanced mode.
    For example a rate-controlled manual mode might be advanced, whereas a position-controlled manual mode is not.
    A GCS can optionally use this flag to configure the UI for its intended users.
    2MAV_MODE_PROPERTY_NOT_USER_SELECTABLEIf set, this mode should not be added to the list of selectable modes.
    The mode might still be selected by the FC directly (for example as part of a failsafe).

    MAV_BATTERY_STATUS_FLAGS — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    (Bitmask) Battery status flags for fault, health and state indication.

    值Name描述
    1MAV_BATTERY_STATUS_FLAGS_NOT_READY_TO_USEThe battery is not ready to use (fly).
    Set if the battery has faults or other conditions that make it unsafe to fly with.
    Note: It will be the logical OR of other status bits (chosen by the manufacturer/integrator).
    2MAV_BATTERY_STATUS_FLAGS_CHARGINGBattery is charging.
    4MAV_BATTERY_STATUS_FLAGS_CELL_BALANCINGBattery is cell balancing (during charging).
    Not ready to use (MAV_BATTERY_STATUS_FLAGS_NOT_READY_TO_USE may be set).
    8MAV_BATTERY_STATUS_FLAGS_FAULT_CELL_IMBALANCEBattery cells are not balanced.
    Not ready to use.
    16MAV_BATTERY_STATUS_FLAGS_AUTO_DISCHARGINGBattery is auto discharging (towards storage level).
    Not ready to use (MAV_BATTERY_STATUS_FLAGS_NOT_READY_TO_USE would be set).
    32MAV_BATTERY_STATUS_FLAGS_REQUIRES_SERVICEBattery requires service (not safe to fly).
    This is set at vendor discretion.
    It is likely to be set for most faults, and may also be set according to a maintenance schedule (such as age, or number of recharge cycles, etc.).
    64MAV_BATTERY_STATUS_FLAGS_BAD_BATTERYBattery is faulty and cannot be repaired (not safe to fly).
    This is set at vendor discretion.
    The battery should be disposed of safely.
    128MAV_BATTERY_STATUS_FLAGS_PROTECTIONS_ENABLEDAutomatic battery protection monitoring is enabled.
    When enabled, the system will monitor for certain kinds of faults, such as cells being over-voltage.
    If a fault is triggered then and protections are enabled then a safety fault (MAV_BATTERY_STATUS_FLAGS_FAULT_PROTECTION_SYSTEM) will be set and power from the battery will be stopped.
    Note that battery protection monitoring should only be enabled when the vehicle is landed. Once the vehicle is armed, or starts moving, the protections should be disabled to prevent false positives from disabling the output.
    256MAV_BATTERY_STATUS_FLAGS_FAULT_PROTECTION_SYSTEMThe battery fault protection system had detected a fault and cut all power from the battery.
    This will only trigger if MAV_BATTERY_STATUS_FLAGS_PROTECTIONS_ENABLED is set.
    Other faults like MAV_BATTERY_STATUS_FLAGS_FAULT_OVER_VOLT may also be set, indicating the cause of the protection fault.
    512MAV_BATTERY_STATUS_FLAGS_FAULT_OVER_VOLTOne or more cells are above their maximum voltage rating.
    1024MAV_BATTERY_STATUS_FLAGS_FAULT_UNDER_VOLTOne or more cells are below their minimum voltage rating.
    A battery that had deep-discharged might be irrepairably damaged, and set both MAV_BATTERY_STATUS_FLAGS_FAULT_UNDER_VOLT and MAV_BATTERY_STATUS_FLAGS_BAD_BATTERY.
    2048MAV_BATTERY_STATUS_FLAGS_FAULT_OVER_TEMPERATUREOver-temperature fault.
    4096MAV_BATTERY_STATUS_FLAGS_FAULT_UNDER_TEMPERATUREUnder-temperature fault.
    8192MAV_BATTERY_STATUS_FLAGS_FAULT_OVER_CURRENTOver-current fault.
    16384MAV_BATTERY_STATUS_FLAGS_FAULT_SHORT_CIRCUITShort circuit event detected.
    The battery may or may not be safe to use (check other flags).
    32768MAV_BATTERY_STATUS_FLAGS_FAULT_INCOMPATIBLE_VOLTAGEVoltage not compatible with power rail voltage (batteries on same power rail should have similar voltage).
    65536MAV_BATTERY_STATUS_FLAGS_FAULT_INCOMPATIBLE_FIRMWAREBattery firmware is not compatible with current autopilot firmware.
    131072MAV_BATTERY_STATUS_FLAGS_FAULT_INCOMPATIBLE_CELLS_CONFIGURATIONBattery is not compatible due to cell configuration (e.g. 5s1p when vehicle requires 6s).
    262144MAV_BATTERY_STATUS_FLAGS_CAPACITY_RELATIVE_TO_FULLBattery capacity_consumed and capacity_remaining values are relative to a full battery (they sum to the total capacity of the battery).
    This flag would be set for a smart battery that can accurately determine its remaining charge across vehicle reboots and discharge/recharge cycles.
    If unset the capacity_consumed indicates the consumption since vehicle power-on, as measured using a power monitor. The capacity_remaining, if provided, indicates the estimated remaining capacity on the assumption that the battery was full on vehicle boot.
    If unset a GCS is recommended to advise that users fully charge the battery on power on.
    4294967295MAV_BATTERY_STATUS_FLAGS_EXTENDEDReserved (not used). If set, this will indicate that an additional status field exists for higher status values.

    GCS_CONTROL_STATUS_FLAGS — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    (Bitmask) CONTROL_STATUS flags.

    值Name描述
    1GCS_CONTROL_STATUS_FLAGS_SYSTEM_MANAGERIf set, this CONTROL_STATUS publishes the controlling GCS for the whole system. If unset, the CONTROL_STATUS indicates the controlling GCS for just the component emitting the message. Note that to request control of the system a GCS should send MAV_CMD_REQUEST_OPERATOR_CONTROL to the component emitting CONTROL_STATUS with this flag set.
    2GCS_CONTROL_STATUS_FLAGS_TAKEOVER_ALLOWEDTakeover allowed (requests for control will be granted). If not set requests for control will be rejected, but the controlling GCS will be notified (and may release control or allow takeover).

    TARGET_ABSOLUTE_SENSOR_CAPABILITY_FLAGS — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    (Bitmask) These flags indicate the sensor reporting capabilities for TARGET_ABSOLUTE.

    值Name描述
    1TARGET_ABSOLUTE_SENSOR_CAPABILITY_POSITION
    2TARGET_ABSOLUTE_SENSOR_CAPABILITY_VELOCITY
    4TARGET_ABSOLUTE_SENSOR_CAPABILITY_ACCELERATION
    8TARGET_ABSOLUTE_SENSOR_CAPABILITY_ATTITUDE
    16TARGET_ABSOLUTE_SENSOR_CAPABILITY_RATES

    TARGET_OBS_FRAME — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    The frame of a target observation from an onboard sensor.

    值Name描述
    0TARGET_OBS_FRAME_LOCAL_NEDNED local tangent frame (x: North, y: East, z: Down) with origin fixed relative to earth.
    1TARGET_OBS_FRAME_BODY_FRDFRD local frame aligned to the vehicle's attitude (x: Forward, y: Right, z: Down) with an origin that travels with vehicle.
    2TARGET_OBS_FRAME_LOCAL_OFFSET_NEDNED local tangent frame (x: North, y: East, z: Down) with an origin that travels with vehicle.
    3TARGET_OBS_FRAME_OTHEROther sensor frame for target observations neither in local NED nor in body FRD.

    RADIO_RC_CHANNELS_FLAGS — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    (Bitmask) RADIO_RC_CHANNELS flags (bitmask).

    值Name描述
    1RADIO_RC_CHANNELS_FLAGS_FAILSAFEFailsafe is active. The content of the RC channels data in the RADIO_RC_CHANNELS message is implementation dependent.
    2RADIO_RC_CHANNELS_FLAGS_OUTDATEDChannel data may be out of date. This is set when the receiver is unable to validate incoming data from the transmitter and has therefore resent the last valid data it received.

    GPS_SYSTEM_ERROR_FLAGS — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    (Bitmask) Flags indicating errors in a GPS receiver.

    值Name描述
    1GPS_SYSTEM_ERROR_INCOMING_CORRECTIONSThere are problems with incoming correction streams.
    2GPS_SYSTEM_ERROR_CONFIGURATIONThere are problems with the configuration.
    4GPS_SYSTEM_ERROR_SOFTWAREThere are problems with the software on the GPS receiver.
    8GPS_SYSTEM_ERROR_ANTENNAThere are problems with an antenna connected to the GPS receiver.
    16GPS_SYSTEM_ERROR_EVENT_CONGESTIONThere are problems handling all incoming events.
    32GPS_SYSTEM_ERROR_CPU_OVERLOADThe GPS receiver CPU is overloaded.
    64GPS_SYSTEM_ERROR_OUTPUT_CONGESTIONThe GPS receiver is experiencing output congestion.

    GPS_AUTHENTICATION_STATE — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Signal authentication state in a GPS receiver.

    值Name描述
    0GPS_AUTHENTICATION_STATE_UNKNOWNThe GPS receiver does not provide GPS signal authentication info.
    1GPS_AUTHENTICATION_STATE_INITIALIZINGThe GPS receiver is initializing signal authentication.
    2GPS_AUTHENTICATION_STATE_ERRORThe GPS receiver encountered an error while initializing signal authentication.
    3GPS_AUTHENTICATION_STATE_OKThe GPS receiver has correctly authenticated all signals.
    4GPS_AUTHENTICATION_STATE_DISABLEDGPS signal authentication is disabled on the receiver.

    GPS_JAMMING_STATE — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Signal jamming state in a GPS receiver.

    值Name描述
    0GPS_JAMMING_STATE_UNKNOWNThe GPS receiver does not provide GPS signal jamming info.
    1GPS_JAMMING_STATE_OKThe GPS receiver detected no signal jamming.
    2GPS_JAMMING_STATE_MITIGATEDThe GPS receiver detected and mitigated signal jamming.
    3GPS_JAMMING_STATE_DETECTEDThe GPS receiver detected signal jamming.

    GPS_SPOOFING_STATE — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Signal spoofing state in a GPS receiver.

    值Name描述
    0GPS_SPOOFING_STATE_UNKNOWNThe GPS receiver does not provide GPS signal spoofing info.
    1GPS_SPOOFING_STATE_OKThe GPS receiver detected no signal spoofing.
    2GPS_SPOOFING_STATE_MITIGATEDThe GPS receiver detected and mitigated signal spoofing.
    3GPS_SPOOFING_STATE_DETECTEDThe GPS receiver detected signal spoofing but still has a fix.

    GPS_RAIM_STATE — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    State of RAIM processing.

    值Name描述
    0GPS_RAIM_STATE_UNKNOWNRAIM capability is unknown.
    1GPS_RAIM_STATE_DISABLEDRAIM is disabled.
    2GPS_RAIM_STATE_OKRAIM integrity check was successful.
    3GPS_RAIM_STATE_FAILEDRAIM integrity check failed.

    Commands (MAV_CMD) ​

    MAV_CMD_DO_FIGURE_EIGHT (35) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Fly a figure eight path as defined by the parameters.

    Set parameters to NaN/INT32_MAX (as appropriate) to use system-default values. The command is intended for fixed wing vehicles (and VTOL hybrids flying in fixed-wing mode), allowing POI tracking for gimbals that don't support infinite rotation. This command only defines the flight path. Speed should be set independently (use e.g. MAV_CMD_DO_CHANGE_SPEED). Yaw and other degrees of freedom are not specified, and will be flight-stack specific (on vehicles where they can be controlled independent of the heading).

    Param (Label)描述Units
    1 (Major Radius)Major axis radius of the figure eight. Positive: orbit the north circle clockwise. Negative: orbit the north circle counter-clockwise.
    NaN: The radius will be set to 2.5 times the minor radius and direction is clockwise.
    Must be greater or equal to two times the minor radius for feasible values.    		m
    2 (Minor Radius)Minor axis radius of the figure eight. Defines the radius of the two circles that make up the figure. Negative value has no effect.
    NaN: The radius will be set to the default loiter radius.    		m
    3
    4 (Orientation)Orientation of the figure eight major axis with respect to true north (range: [-pi,pi]). NaN: use default orientation aligned to true north.rad
    5 (Latitude/X)Center point latitude/X coordinate according to MAV_FRAME. If no MAV_FRAME specified, MAV_FRAME_GLOBAL is assumed.
    INT32_MAX or NaN: Use current vehicle position, or current center if already loitering.
    6 (Longitude/Y)Center point longitude/Y coordinate according to MAV_FRAME. If no MAV_FRAME specified, MAV_FRAME_GLOBAL is assumed.
    INT32_MAX or NaN: Use current vehicle position, or current center if already loitering.
    7 (Altitude/Z)Center point altitude MSL/Z coordinate according to MAV_FRAME. If no MAV_FRAME specified, MAV_FRAME_GLOBAL is assumed.
    INT32_MAX or NaN: Use current vehicle altitude.

    MAV_CMD_DO_UPGRADE (247) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Request a target system to start an upgrade of one (or all) of its components.

    For example, the command might be sent to a companion computer to cause it to upgrade a connected flight controller. The system doing the upgrade will report progress using the normal command protocol sequence for a long running operation. Command protocol information: https://mavlink.io/en/services/command.html.

    Param (Label)描述值
    1 (Component ID)Component id of the component to be upgraded. If set to 0, all components should be upgraded.MAV_COMPONENT
    2 (Reboot)0: Do not reboot component after the action is executed, 1: Reboot component after the action is executed.min: 0 max: 1 inc: 1
    3Reserved
    4Reserved
    5Reserved
    6Reserved
    7WIP: upgrade progress report rate (can be used for more granular control).

    MAV_CMD_DO_SET_STANDARD_MODE (262) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Enable the specified standard MAVLink mode.

    If the mode is not supported the vehicle should ACK with MAV_RESULT_FAILED.

    Param (Label)描述值
    1 (Standard Mode)The mode to set.MAV_STANDARD_MODE
    2
    3
    4
    5
    6
    7

    MAV_CMD_SET_AT_S_PARAM (550) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Allows setting an AT S command of an SiK radio.

    Param (Label)描述
    1 (Radio instance)The radio instance, one-based, 0 for all.
    2 (Index)The Sx index, e.g. 3 for S3 which is NETID.
    3 (Value)The value to set it to, e.g. default 25 for NETID
    4
    5
    6
    7

    MAV_CMD_DO_SET_SYS_CMP_ID (610) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Set system and component id. This allows moving of a system and all its components to a new system id, or moving a particular component to a new system/component id. Recipients must reject command addressed to broadcast system ID.

    Param (Label)描述值
    1 (System ID)New system ID for target component(s). 0: ignore and reject command (broadcast system ID not allowed).min: 1 max: 255 inc: 1
    2 (Component ID)New component ID for target component(s). 0: ignore (component IDs don't change).min: 0 max: 255 inc: 1
    3 (Reboot)Reboot components after ID change. Any non-zero value triggers the reboot.
    4

    MAV_CMD_PARAM_TRANSACTION (900) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Request to start or end a parameter transaction. Multiple kinds of transport layers can be used to exchange parameters in the transaction (param, param_ext and mavftp). The command response can either be a success/failure or an in progress in case the receiving side takes some time to apply the parameters.

    Param (Label)描述值
    1 (Action)Action to be performed (start, commit, cancel, etc.)PARAM_TRANSACTION_ACTION
    2 (Transport)Possible transport layers to set and get parameters via mavlink during a parameter transaction.PARAM_TRANSACTION_TRANSPORT
    3 (Transaction ID)Identifier for a specific transaction.

    MAV_CMD_ODID_SET_EMERGENCY (12900) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Used to manually set/unset emergency status for remote id.

    This is for compliance with MOC ASTM docs, specifically F358 section 7.7: "Emergency Status Indicator". The requirement can also be satisfied by automatic setting of the emergency status by flight stack, and that approach is preferred. See https://mavlink.io/en/services/opendroneid.html for more information.

    Param (Label)描述值
    1 (Number)Set/unset emergency 0: unset, 1: setmin: 0 inc: 1
    2
    3
    4Empty
    5Empty
    5Empty
    6Empty
    7Empty

    MAV_CMD_REQUEST_OPERATOR_CONTROL (32100) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Request GCS control of a system (or of a specific component in a system).

    A controlled system should only accept MAVLink commands and command-like messages that are sent by its controlling GCS, or from other components with the same system id. Commands from other systems should be rejected with MAV_RESULT_FAILED (except for this command, which may be acknowledged with MAV_RESULT_ACCEPTED if control is granted). Command-like messages should be ignored (or rejected if that is supported by their associated protocol).

    GCS control of the whole system is managed via a single component that we will refer to here as the "system manager component". This component streams the CONTROL_STATUS message and sets the GCS_CONTROL_STATUS_FLAGS_SYSTEM_MANAGER flag. Other components in the system should monitor for the CONTROL_STATUS message with this flag, and set their controlling GCS to match its published system id. A GCS that wants to control the system should also monitor for the same message and flag, and address the MAV_CMD_REQUEST_OPERATOR_CONTROL to its component id. Note that integrators are required to ensure that there is only one system manager component in the system (i.e. one component emitting the message with GCS_CONTROL_STATUS_FLAGS_SYSTEM_MANAGER set).

    The MAV_CMD_REQUEST_OPERATOR_CONTROL command is sent by a GCS to the system manager component to request or release control of a system, specifying whether subsequent takeover requests from another GCS are automatically granted, or require permission.

    The system manager component should grant control to the GCS if the system does not require takeover permission (or is uncontrolled) and ACK the request with MAV_RESULT_ACCEPTED. The system manager component should then stream CONTROL_STATUS indicating its controlling system: all other components with the same system id should monitor this message and set their own controlling GCS to match that of the system manager component.

    If the system manager component cannot grant control (because takeover requires permission), the request should be rejected with MAV_RESULT_FAILED. The system manager component should then send this same command to the current owning GCS in order to notify of the request. The owning GCS would ACK with MAV_RESULT_ACCEPTED, and might choose to release control of the vehicle, or re-request control with the takeover bit set to allow permission. In case it choses to re-request control with takeover bit set to allow permission, requestor GCS will only have 10 seconds to get control, otherwise owning GCS will re-request control with takeover bit set to disallow permission, and requestor GCS will need repeat the request if still interested in getting control. Note that the pilots of both GCS should co-ordinate safe handover offline.

    Note that in most systems the only controlled component will be the "system manager component", and that will be the autopilot. However separate GCS control of a particular component is also permitted, if supported by the component. In this case the GCS will address MAV_CMD_REQUEST_OPERATOR_CONTROL to the specific component it wants to control. The component will then stream CONTROL_STATUS for its controlling GCS (it must not set GCS_CONTROL_STATUS_FLAGS_SYSTEM_MANAGER). The component should fall back to the system GCS (if any) when it is not directly controlled, and may stop emitting CONTROL_STATUS. The flow is otherwise the same as for requesting control over the whole system.

    Param (Label)描述值Units
    1 (Sysid requesting control)System ID of GCS requesting control. 0 when command sent from GCS to autopilot (autopilot determines requesting GCS sysid from message header). Sysid of GCS requesting control when command sent by autopilot to controlling GCS.
    2 (Action)0: Release control, 1: Request control.
    3 (Allow takeover)Enable automatic granting of ownership on request (by default reject request and notify current owner). 0: Ask current owner and reject request, 1: Allow automatic takeover.
    4 (Request timeout)Timeout in seconds before a request to a GCS to allow takeover is assumed to be rejected. This is used to display the timeout graphically on requestor and GCS in control.min: 3 max: 60s
    5Empty
    6Empty
    7Empty

    MAV_CMD_EXTERNAL_WIND_ESTIMATE (43004) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Set an external estimate of wind direction and speed.

    This might be used to provide an initial wind estimate to the estimator (EKF) in the case where the vehicle is wind dead-reckoning, extending the time when operating without GPS before before position drift builds to an unsafe level. For this use case the command might reasonably be sent every few minutes when operating at altitude, and the value is cleared if the estimator resets itself.

    Param (Label)描述值Units
    1 (Wind speed)Horizontal wind speed.min: 0m/s
    2 (Wind speed accuracy)Estimated 1 sigma accuracy of wind speed. Set to NaN if unknown.m/s
    3 (Direction)Azimuth (relative to true north) from where the wind is blowing.min: 0 max: 360度
    4 (Direction accuracy)Estimated 1 sigma accuracy of wind direction. Set to NaN if unknown.度
    5Empty
    6Empty
    7Empty
    - + \ No newline at end of file diff --git a/zh/messages/icarous.html b/zh/messages/icarous.html index 662b2dc61..dfc51227b 100644 --- a/zh/messages/icarous.html +++ b/zh/messages/icarous.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

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    方言：icarous ​

    Warning This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

    This topic is a human-readable form of the XML definition file: icarous.xml.

    Note

    • MAVLink 2 extension fields are displayed in blue.
    • Entities from dialects are displayed only as headings (with link to original)

    None

    概览 ​

    TypeDefinedIncluded
    Messages20
    Enums20
    命令00

    The following sections list all entities in the dialect (both included and defined in this file).

    消息 ​

    ICAROUS_HEARTBEAT (42000) ​

    ICAROUS heartbeat

    Field NameType值描述
    statusuint8_tICAROUS_FMS_STATESee the FMS_STATE enum.

    ICAROUS_KINEMATIC_BANDS (42001) ​

    Kinematic multi bands (track) output from Daidalus

    Field NameTypeUnits值描述
    numBandsint8_t轨道带数
    type1uint8_tICAROUS_TRACK_BAND_TYPESSee the TRACK_BAND_TYPES enum.
    min1float度最小角度（度）
    max1float度最大角度（度）
    type2uint8_tICAROUS_TRACK_BAND_TYPESSee the TRACK_BAND_TYPES enum.
    min2float度最小角度（度）
    max2float度最大角度（度）
    type3uint8_tICAROUS_TRACK_BAND_TYPESSee the TRACK_BAND_TYPES enum.
    min3float度最小角度（度）
    max3float度最大角度（度）
    type4uint8_tICAROUS_TRACK_BAND_TYPESSee the TRACK_BAND_TYPES enum.
    min4float度最小角度（度）
    max4float度最大角度（度）
    type5uint8_tICAROUS_TRACK_BAND_TYPESSee the TRACK_BAND_TYPES enum.
    min5float度最小角度（度）
    max5float度最大角度（度）

    Enumerated Types ​

    ICAROUS_TRACK_BAND_TYPES ​

    值Name描述
    0ICAROUS_TRACK_BAND_TYPE_NONE
    1ICAROUS_TRACK_BAND_TYPE_NEAR
    2ICAROUS_TRACK_BAND_TYPE_RECOVERY

    ICAROUS_FMS_STATE ​

    值Name描述
    0ICAROUS_FMS_STATE_IDLE
    1ICAROUS_FMS_STATE_TAKEOFF
    2ICAROUS_FMS_STATE_CLIMB
    3ICAROUS_FMS_STATE_CRUISE
    4ICAROUS_FMS_STATE_APPROACH
    5ICAROUS_FMS_STATE_LAND
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    XML Definition Files & Dialects ​

    MAVLink definitions files can be found in mavlink/message definitions. These can roughly be divided into:

    Standard Definitions ​

    The following XML definition files are considered standard/core (i.e. not dialects):

    • minimal.xml - the minimum set of entities (messages, enums, MAV_CMD) required to set up a MAVLink network.
    • standard.xml - the standard set of entities that are implemented by almost all flight stacks (at least 2, in a compatible way). This includes minimal.xml.
    • common.xml - the set of entities that have been implemented in at least one core flight stack. This includes standard.xml

    Note We are still working towards moving the truly standard entities from common.xml to standard.xml Currently you should include common.xml

    In addition:

    • development.xml - XML definitions that are proposed for inclusion in the standard definitions. These are work in progress.

    Test Definitions ​

    The following definitions are used for testing and dialect validation:

    • all.xml - This includes all other XML files, and is used to verify that there are no ID clashes (and can potentially be used by GCS to communicate with any core dialect).
    • test.xml - Test XML definition file.

    Dialects ​

    MAVLink dialects are XML definition files that define protocol- and vendor-specific messages, enums and commands.

    Note Vendor forks of MAVLink may contain XML entities that have not yet been pushed into the main repository (and will not be documented).

    Dialects may include other MAVLink XML files, which may in turn contain other XML files (up to 5 levels of XML file nesting are allowed - see MAXIMUM_INCLUDE_FILE_NESTING in mavgen.py). A typical pattern is for a dialect to include common.xml (containing the MAVLink standard definitions), extending it with vendor or protocol specific messages.

    The dialect definitions are:

    - + \ No newline at end of file diff --git a/zh/messages/matrixpilot.html b/zh/messages/matrixpilot.html index 9eb39e596..7dd47795e 100644 --- a/zh/messages/matrixpilot.html +++ b/zh/messages/matrixpilot.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

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    方言：matrixpilot ​

    Warning This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

    This topic is a human-readable form of the XML definition file: matrixpilot.xml.

    Note

    • MAVLink 2 extension fields are displayed in blue.
    • Entities from dialects are displayed only as headings (with link to original)

    概览 ​

    TypeDefinedIncluded
    Messages27226
    Enums1144
    Commands1650

    The following sections list all entities in the dialect (both included and defined in this file).

    消息 ​

    FLEXIFUNCTION_SET (150) ​

    Depreciated but used as a compiler flag. Do not remove

    Field NameType描述
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID

    FLEXIFUNCTION_READ_REQ (151) ​

    Request reading of flexifunction data

    Field NameType描述
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    read_req_typeint16_tType of flexifunction data requested
    data_indexint16_tindex into data where needed

    FLEXIFUNCTION_BUFFER_FUNCTION (152) ​

    Flexifunction type and parameters for component at function index from buffer

    Field NameType描述
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    func_indexuint16_tFunction index
    func_countuint16_tTotal count of functions
    data_addressuint16_tAddress in the flexifunction data, Set to 0xFFFF to use address in target memory
    data_sizeuint16_tSize of the
    dataint8_t[48]Settings data

    FLEXIFUNCTION_BUFFER_FUNCTION_ACK (153) ​

    Flexifunction type and parameters for component at function index from buffer

    Field NameType描述
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    func_indexuint16_tFunction index
    resultuint16_tresult of acknowledge, 0=fail, 1=good

    FLEXIFUNCTION_DIRECTORY (155) ​

    Acknowldge success or failure of a flexifunction command

    Field NameType描述
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    directory_typeuint8_t0=inputs, 1=outputs
    start_indexuint8_tindex of first directory entry to write
    countuint8_tcount of directory entries to write
    directory_dataint8_t[48]Settings data

    FLEXIFUNCTION_DIRECTORY_ACK (156) ​

    Acknowldge success or failure of a flexifunction command

    Field NameType描述
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    directory_typeuint8_t0=inputs, 1=outputs
    start_indexuint8_tindex of first directory entry to write
    countuint8_tcount of directory entries to write
    resultuint16_tresult of acknowledge, 0=fail, 1=good

    FLEXIFUNCTION_COMMAND (157) ​

    Acknowldge success or failure of a flexifunction command

    Field NameType描述
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    command_typeuint8_tFlexifunction command type

    FLEXIFUNCTION_COMMAND_ACK (158) ​

    Acknowldge success or failure of a flexifunction command

    Field NameType描述
    command_typeuint16_tCommand acknowledged
    resultuint16_tresult of acknowledge

    SERIAL_UDB_EXTRA_F2_A (170) ​

    Backwards compatible MAVLink version of SERIAL_UDB_EXTRA - F2: Format Part A

    Field NameType描述
    sue_timeuint32_tSerial UDB Extra Time
    sue_statusuint8_tSerial UDB Extra Status
    sue_latitudeint32_tSerial UDB Extra Latitude
    sue_longitudeint32_tSerial UDB Extra Longitude
    sue_altitudeint32_tSerial UDB Extra Altitude
    sue_waypoint_indexuint16_tSerial UDB Extra Waypoint Index
    sue_rmat0int16_tSerial UDB Extra Rmat 0
    sue_rmat1int16_tSerial UDB Extra Rmat 1
    sue_rmat2int16_tSerial UDB Extra Rmat 2
    sue_rmat3int16_tSerial UDB Extra Rmat 3
    sue_rmat4int16_tSerial UDB Extra Rmat 4
    sue_rmat5int16_tSerial UDB Extra Rmat 5
    sue_rmat6int16_tSerial UDB Extra Rmat 6
    sue_rmat7int16_tSerial UDB Extra Rmat 7
    sue_rmat8int16_tSerial UDB Extra Rmat 8
    sue_coguint16_tSerial UDB Extra GPS Course Over Ground
    sue_sogint16_tSerial UDB Extra Speed Over Ground
    sue_cpu_loaduint16_tSerial UDB Extra CPU Load
    sue_air_speed_3DIMUuint16_tSerial UDB Extra 3D IMU Air Speed
    sue_estimated_wind_0int16_tSerial UDB Extra Estimated Wind 0
    sue_estimated_wind_1int16_tSerial UDB Extra Estimated Wind 1
    sue_estimated_wind_2int16_tSerial UDB Extra Estimated Wind 2
    sue_magFieldEarth0int16_tSerial UDB Extra Magnetic Field Earth 0
    sue_magFieldEarth1int16_tSerial UDB Extra Magnetic Field Earth 1
    sue_magFieldEarth2int16_tSerial UDB Extra Magnetic Field Earth 2
    sue_svsint16_tSerial UDB Extra Number of Satellites in View
    sue_hdopint16_tSerial UDB Extra GPS Horizontal Dilution of Precision

    SERIAL_UDB_EXTRA_F2_B (171) ​

    Backwards compatible version of SERIAL_UDB_EXTRA - F2: Part B

    Field NameType描述
    sue_timeuint32_tSerial UDB Extra Time
    sue_pwm_input_1int16_tSerial UDB Extra PWM Input Channel 1
    sue_pwm_input_2int16_tSerial UDB Extra PWM Input Channel 2
    sue_pwm_input_3int16_tSerial UDB Extra PWM Input Channel 3
    sue_pwm_input_4int16_tSerial UDB Extra PWM Input Channel 4
    sue_pwm_input_5int16_tSerial UDB Extra PWM Input Channel 5
    sue_pwm_input_6int16_tSerial UDB Extra PWM Input Channel 6
    sue_pwm_input_7int16_tSerial UDB Extra PWM Input Channel 7
    sue_pwm_input_8int16_tSerial UDB Extra PWM Input Channel 8
    sue_pwm_input_9int16_tSerial UDB Extra PWM Input Channel 9
    sue_pwm_input_10int16_tSerial UDB Extra PWM Input Channel 10
    sue_pwm_input_11int16_tSerial UDB Extra PWM Input Channel 11
    sue_pwm_input_12int16_tSerial UDB Extra PWM Input Channel 12
    sue_pwm_output_1int16_tSerial UDB Extra PWM Output Channel 1
    sue_pwm_output_2int16_tSerial UDB Extra PWM Output Channel 2
    sue_pwm_output_3int16_tSerial UDB Extra PWM Output Channel 3
    sue_pwm_output_4int16_tSerial UDB Extra PWM Output Channel 4
    sue_pwm_output_5int16_tSerial UDB Extra PWM Output Channel 5
    sue_pwm_output_6int16_tSerial UDB Extra PWM Output Channel 6
    sue_pwm_output_7int16_tSerial UDB Extra PWM Output Channel 7
    sue_pwm_output_8int16_tSerial UDB Extra PWM Output Channel 8
    sue_pwm_output_9int16_tSerial UDB Extra PWM Output Channel 9
    sue_pwm_output_10int16_tSerial UDB Extra PWM Output Channel 10
    sue_pwm_output_11int16_tSerial UDB Extra PWM Output Channel 11
    sue_pwm_output_12int16_tSerial UDB Extra PWM Output Channel 12
    sue_imu_location_xint16_tSerial UDB Extra IMU Location X
    sue_imu_location_yint16_tSerial UDB Extra IMU Location Y
    sue_imu_location_zint16_tSerial UDB Extra IMU Location Z
    sue_location_error_earth_xint16_tSerial UDB Location Error Earth X
    sue_location_error_earth_yint16_tSerial UDB Location Error Earth Y
    sue_location_error_earth_zint16_tSerial UDB Location Error Earth Z
    sue_flagsuint32_tSerial UDB Extra Status Flags
    sue_osc_failsint16_tSerial UDB Extra Oscillator Failure Count
    sue_imu_velocity_xint16_tSerial UDB Extra IMU Velocity X
    sue_imu_velocity_yint16_tSerial UDB Extra IMU Velocity Y
    sue_imu_velocity_zint16_tSerial UDB Extra IMU Velocity Z
    sue_waypoint_goal_xint16_tSerial UDB Extra Current Waypoint Goal X
    sue_waypoint_goal_yint16_tSerial UDB Extra Current Waypoint Goal Y
    sue_waypoint_goal_zint16_tSerial UDB Extra Current Waypoint Goal Z
    sue_aero_xint16_tAeroforce in UDB X Axis
    sue_aero_yint16_tAeroforce in UDB Y Axis
    sue_aero_zint16_tAeroforce in UDB Z axis
    sue_barom_tempint16_tSUE barometer temperature
    sue_barom_pressint32_tSUE barometer pressure
    sue_barom_altint32_tSUE barometer altitude
    sue_bat_voltint16_tSUE battery voltage
    sue_bat_ampint16_tSUE battery current
    sue_bat_amp_hoursint16_tSUE battery milli amp hours used
    sue_desired_heightint16_tSue autopilot desired height
    sue_memory_stack_freeint16_tSerial UDB Extra Stack Memory Free

    SERIAL_UDB_EXTRA_F4 (172) ​

    Backwards compatible version of SERIAL_UDB_EXTRA F4: format

    Field NameType描述
    sue_ROLL_STABILIZATION_AILERONSuint8_tSerial UDB Extra Roll Stabilization with Ailerons Enabled
    sue_ROLL_STABILIZATION_RUDDERuint8_tSerial UDB Extra Roll Stabilization with Rudder Enabled
    sue_PITCH_STABILIZATIONuint8_tSerial UDB Extra Pitch Stabilization Enabled
    sue_YAW_STABILIZATION_RUDDERuint8_tSerial UDB Extra Yaw Stabilization using Rudder Enabled
    sue_YAW_STABILIZATION_AILERONuint8_tSerial UDB Extra Yaw Stabilization using Ailerons Enabled
    sue_AILERON_NAVIGATIONuint8_tSerial UDB Extra Navigation with Ailerons Enabled
    sue_RUDDER_NAVIGATIONuint8_tSerial UDB Extra Navigation with Rudder Enabled
    sue_ALTITUDEHOLD_STABILIZEDuint8_tSerial UDB Extra Type of Alitude Hold when in Stabilized Mode
    sue_ALTITUDEHOLD_WAYPOINTuint8_tSerial UDB Extra Type of Alitude Hold when in Waypoint Mode
    sue_RACING_MODEuint8_tSerial UDB Extra Firmware racing mode enabled

    SERIAL_UDB_EXTRA_F5 (173) ​

    Backwards compatible version of SERIAL_UDB_EXTRA F5: format

    Field NameType描述
    sue_YAWKP_AILERONfloatSerial UDB YAWKP_AILERON Gain for Proporional control of navigation
    sue_YAWKD_AILERONfloatSerial UDB YAWKD_AILERON Gain for Rate control of navigation
    sue_ROLLKPfloatSerial UDB Extra ROLLKP Gain for Proportional control of roll stabilization
    sue_ROLLKDfloatSerial UDB Extra ROLLKD Gain for Rate control of roll stabilization

    SERIAL_UDB_EXTRA_F6 (174) ​

    Backwards compatible version of SERIAL_UDB_EXTRA F6: format

    Field NameType描述
    sue_PITCHGAINfloatSerial UDB Extra PITCHGAIN Proportional Control
    sue_PITCHKDfloatSerial UDB Extra Pitch Rate Control
    sue_RUDDER_ELEV_MIXfloatSerial UDB Extra Rudder to Elevator Mix
    sue_ROLL_ELEV_MIXfloatSerial UDB Extra Roll to Elevator Mix
    sue_ELEVATOR_BOOSTfloatGain For Boosting Manual Elevator control When Plane Stabilized

    SERIAL_UDB_EXTRA_F7 (175) ​

    Backwards compatible version of SERIAL_UDB_EXTRA F7: format

    Field NameType描述
    sue_YAWKP_RUDDERfloatSerial UDB YAWKP_RUDDER Gain for Proporional control of navigation
    sue_YAWKD_RUDDERfloatSerial UDB YAWKD_RUDDER Gain for Rate control of navigation
    sue_ROLLKP_RUDDERfloatSerial UDB Extra ROLLKP_RUDDER Gain for Proportional control of roll stabilization
    sue_ROLLKD_RUDDERfloatSerial UDB Extra ROLLKD_RUDDER Gain for Rate control of roll stabilization
    sue_RUDDER_BOOSTfloatSERIAL UDB EXTRA Rudder Boost Gain to Manual Control when stabilized
    sue_RTL_PITCH_DOWNfloatSerial UDB Extra Return To Landing - Angle to Pitch Plane Down

    SERIAL_UDB_EXTRA_F8 (176) ​

    Backwards compatible version of SERIAL_UDB_EXTRA F8: format

    Field NameType描述
    sue_HEIGHT_TARGET_MAXfloatSerial UDB Extra HEIGHT_TARGET_MAX
    sue_HEIGHT_TARGET_MINfloatSerial UDB Extra HEIGHT_TARGET_MIN
    sue_ALT_HOLD_THROTTLE_MINfloatSerial UDB Extra ALT_HOLD_THROTTLE_MIN
    sue_ALT_HOLD_THROTTLE_MAXfloatSerial UDB Extra ALT_HOLD_THROTTLE_MAX
    sue_ALT_HOLD_PITCH_MINfloatSerial UDB Extra ALT_HOLD_PITCH_MIN
    sue_ALT_HOLD_PITCH_MAXfloatSerial UDB Extra ALT_HOLD_PITCH_MAX
    sue_ALT_HOLD_PITCH_HIGHfloatSerial UDB Extra ALT_HOLD_PITCH_HIGH

    SERIAL_UDB_EXTRA_F13 (177) ​

    Backwards compatible version of SERIAL_UDB_EXTRA F13: format

    Field NameType描述
    sue_week_noint16_tSerial UDB Extra GPS Week Number
    sue_lat_originint32_tSerial UDB Extra MP Origin Latitude
    sue_lon_originint32_tSerial UDB Extra MP Origin Longitude
    sue_alt_originint32_tSerial UDB Extra MP Origin Altitude Above Sea Level

    SERIAL_UDB_EXTRA_F14 (178) ​

    Backwards compatible version of SERIAL_UDB_EXTRA F14: format

    Field NameType描述
    sue_WIND_ESTIMATIONuint8_tSerial UDB Extra Wind Estimation Enabled
    sue_GPS_TYPEuint8_tSerial UDB Extra Type of GPS Unit
    sue_DRuint8_tSerial UDB Extra Dead Reckoning Enabled
    sue_BOARD_TYPEuint8_tSerial UDB Extra Type of UDB Hardware
    sue_AIRFRAMEuint8_tSerial UDB Extra Type of Airframe
    sue_RCONint16_tSerial UDB Extra Reboot Register of DSPIC
    sue_TRAP_FLAGSint16_tSerial UDB Extra Last dspic Trap Flags
    sue_TRAP_SOURCEuint32_tSerial UDB Extra Type Program Address of Last Trap
    sue_osc_fail_countint16_tSerial UDB Extra Number of Ocillator Failures
    sue_CLOCK_CONFIGuint8_tSerial UDB Extra UDB Internal Clock Configuration
    sue_FLIGHT_PLAN_TYPEuint8_tSerial UDB Extra Type of Flight Plan

    SERIAL_UDB_EXTRA_F15 (179) ​

    Backwards compatible version of SERIAL_UDB_EXTRA F15 format

    Field NameType描述
    sue_ID_VEHICLE_MODEL_NAMEuint8_t[40]Serial UDB Extra Model Name Of Vehicle
    sue_ID_VEHICLE_REGISTRATIONuint8_t[20]Serial UDB Extra Registraton Number of Vehicle

    SERIAL_UDB_EXTRA_F16 (180) ​

    Backwards compatible version of SERIAL_UDB_EXTRA F16 format

    Field NameType描述
    sue_ID_LEAD_PILOTuint8_t[40]Serial UDB Extra Name of Expected Lead Pilot
    sue_ID_DIY_DRONES_URLuint8_t[70]Serial UDB Extra URL of Lead Pilot or Team

    ALTITUDES (181) ​

    The altitude measured by sensors and IMU

    Field NameType描述
    time_boot_msuint32_tTimestamp (milliseconds since system boot)
    alt_gpsint32_tGPS altitude (MSL) in meters, expressed as * 1000 (millimeters)
    alt_imuint32_tIMU altitude above ground in meters, expressed as * 1000 (millimeters)
    alt_barometricint32_tbarometeric altitude above ground in meters, expressed as * 1000 (millimeters)
    alt_optical_flowint32_tOptical flow altitude above ground in meters, expressed as * 1000 (millimeters)
    alt_range_finderint32_tRangefinder Altitude above ground in meters, expressed as * 1000 (millimeters)
    alt_extraint32_tExtra altitude above ground in meters, expressed as * 1000 (millimeters)

    AIRSPEEDS (182) ​

    The airspeed measured by sensors and IMU

    Field NameType描述
    time_boot_msuint32_tTimestamp (milliseconds since system boot)
    airspeed_imuint16_tAirspeed estimate from IMU, cm/s
    airspeed_pitotint16_tPitot measured forward airpseed, cm/s
    airspeed_hot_wireint16_tHot wire anenometer measured airspeed, cm/s
    airspeed_ultrasonicint16_tUltrasonic measured airspeed, cm/s
    aoaint16_tAngle of attack sensor, degrees * 10
    aoyint16_tYaw angle sensor, degrees * 10

    SERIAL_UDB_EXTRA_F17 (183) ​

    Backwards compatible version of SERIAL_UDB_EXTRA F17 format

    Field NameType描述
    sue_feed_forwardfloatSUE Feed Forward Gain
    sue_turn_rate_navfloatSUE Max Turn Rate when Navigating
    sue_turn_rate_fbwfloatSUE Max Turn Rate in Fly By Wire Mode

    SERIAL_UDB_EXTRA_F18 (184) ​

    Backwards compatible version of SERIAL_UDB_EXTRA F18 format

    Field NameType描述
    angle_of_attack_normalfloatSUE Angle of Attack Normal
    angle_of_attack_invertedfloatSUE Angle of Attack Inverted
    elevator_trim_normalfloatSUE Elevator Trim Normal
    elevator_trim_invertedfloatSUE Elevator Trim Inverted
    reference_speedfloatSUE reference_speed

    SERIAL_UDB_EXTRA_F19 (185) ​

    Backwards compatible version of SERIAL_UDB_EXTRA F19 format

    Field NameType描述
    sue_aileron_output_channeluint8_tSUE aileron output channel
    sue_aileron_reverseduint8_tSUE aileron reversed
    sue_elevator_output_channeluint8_tSUE elevator output channel
    sue_elevator_reverseduint8_tSUE elevator reversed
    sue_throttle_output_channeluint8_tSUE throttle output channel
    sue_throttle_reverseduint8_tSUE throttle reversed
    sue_rudder_output_channeluint8_tSUE rudder output channel
    sue_rudder_reverseduint8_tSUE rudder reversed

    SERIAL_UDB_EXTRA_F20 (186) ​

    Backwards compatible version of SERIAL_UDB_EXTRA F20 format

    Field NameType描述
    sue_number_of_inputsuint8_tSUE Number of Input Channels
    sue_trim_value_input_1int16_tSUE UDB PWM Trim Value on Input 1
    sue_trim_value_input_2int16_tSUE UDB PWM Trim Value on Input 2
    sue_trim_value_input_3int16_tSUE UDB PWM Trim Value on Input 3
    sue_trim_value_input_4int16_tSUE UDB PWM Trim Value on Input 4
    sue_trim_value_input_5int16_tSUE UDB PWM Trim Value on Input 5
    sue_trim_value_input_6int16_tSUE UDB PWM Trim Value on Input 6
    sue_trim_value_input_7int16_tSUE UDB PWM Trim Value on Input 7
    sue_trim_value_input_8int16_tSUE UDB PWM Trim Value on Input 8
    sue_trim_value_input_9int16_tSUE UDB PWM Trim Value on Input 9
    sue_trim_value_input_10int16_tSUE UDB PWM Trim Value on Input 10
    sue_trim_value_input_11int16_tSUE UDB PWM Trim Value on Input 11
    sue_trim_value_input_12int16_tSUE UDB PWM Trim Value on Input 12

    SERIAL_UDB_EXTRA_F21 (187) ​

    Backwards compatible version of SERIAL_UDB_EXTRA F21 format

    Field NameType描述
    sue_accel_x_offsetint16_tSUE X accelerometer offset
    sue_accel_y_offsetint16_tSUE Y accelerometer offset
    sue_accel_z_offsetint16_tSUE Z accelerometer offset
    sue_gyro_x_offsetint16_tSUE X gyro offset
    sue_gyro_y_offsetint16_tSUE Y gyro offset
    sue_gyro_z_offsetint16_tSUE Z gyro offset

    SERIAL_UDB_EXTRA_F22 (188) ​

    Backwards compatible version of SERIAL_UDB_EXTRA F22 format

    Field NameType描述
    sue_accel_x_at_calibrationint16_tSUE X accelerometer at calibration time
    sue_accel_y_at_calibrationint16_tSUE Y accelerometer at calibration time
    sue_accel_z_at_calibrationint16_tSUE Z accelerometer at calibration time
    sue_gyro_x_at_calibrationint16_tSUE X gyro at calibration time
    sue_gyro_y_at_calibrationint16_tSUE Y gyro at calibration time
    sue_gyro_z_at_calibrationint16_tSUE Z gyro at calibration time

    Enumerated Types ​

    MAV_PREFLIGHT_STORAGE_ACTION ​

    Action required when performing CMD_PREFLIGHT_STORAGE

    值Name描述
    0MAV_PFS_CMD_READ_ALL从存储读取所有参数
    1MAV_PFS_CMD_WRITE_ALL将所有参数写入到存储
    2MAV_PFS_CMD_CLEAR_ALL清除存储中的所有参数
    3MAV_PFS_CMD_READ_SPECIFIC从存储读取特定参数
    4MAV_PFS_CMD_WRITE_SPECIFIC将特定参数写入到存储
    5MAV_PFS_CMD_CLEAR_SPECIFIC清除存储中的特定参数
    6MAV_PFS_CMD_DO_NOTHING不进行任何操作

    Commands (MAV_CMD) ​

    MAV_CMD_PREFLIGHT_STORAGE_ADVANCED (0) ​

    Request storage of different parameter values and logs. 只有在飞行前模式下才会接受此命令。

    Param (Label)描述
    1存储操作：MAV_PREFLIGHT_STORAGE_ACTION_ADVANCED
    2由参数数据库定义的存储区域
    3由参数数据库定义的存储标记
    4Empty
    5Empty
    6Empty
    7Empty
    - + \ No newline at end of file diff --git a/zh/messages/minimal.html b/zh/messages/minimal.html index 49acb6b95..60a42e4b3 100644 --- a/zh/messages/minimal.html +++ b/zh/messages/minimal.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

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    MAVLink Minimal Set ​

    The MAVLink minimal set contains the minimal set of definitions for a viable MAVLink system.

    The message set is defined in minimal.xml and is managed by the MAVLink project.

    Tip The minimal set is included (imported into) other xml definition files, including the MAVLink Common Message Set (common.xml).

    Note

    • MAVLink 2 extension fields are displayed in blue.
    • Entities from dialects are displayed only as headings (with link to original)

    Protocol version: 3

    None

    概览 ​

    TypeDefinedIncluded
    Messages20
    Enums60
    命令00

    The following sections list all entities in the dialect (both included and defined in this file).

    消息 ​

    HEARTBEAT (0) ​

    The heartbeat message shows that a system or component is present and responding. The type and autopilot fields (along with the message component id), allow the receiving system to treat further messages from this system appropriately (e.g. by laying out the user interface based on the autopilot). This microservice is documented at https://mavlink.io/en/services/heartbeat.html

    Field NameType值描述
    typeuint8_tMAV_TYPEVehicle or component type. For a flight controller component the vehicle type (quadrotor, helicopter, etc.). For other components the component type (e.g. camera, gimbal, etc.). This should be used in preference to component id for identifying the component type.
    autopilotuint8_tMAV_AUTOPILOTAutopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers.
    base_modeuint8_tMAV_MODE_FLAGSystem mode bitmap.
    custom_modeuint32_tA bitfield for use for autopilot-specific flags
    system_statusuint8_tMAV_STATESystem status flag.
    mavlink_versionuint8_t_mavlink_versionMAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version

    PROTOCOL_VERSION (300) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Version and capability of protocol version. This message can be requested with MAV_CMD_REQUEST_MESSAGE and is used as part of the handshaking to establish which MAVLink version should be used on the network. Every node should respond to a request for PROTOCOL_VERSION to enable the handshaking. Library implementers should consider adding this into the default decoding state machine to allow the protocol core to respond directly.

    Field NameType描述
    versionuint16_tCurrently active MAVLink version number * 100: v1.0 is 100, v2.0 is 200, etc.
    min_versionuint16_tMinimum MAVLink version supported
    max_versionuint16_tMaximum MAVLink version supported (set to the same value as version by default)
    spec_version_hashuint8_t[8]The first 8 bytes (not characters printed in hex!) of the git hash.
    library_version_hashuint8_t[8]The first 8 bytes (not characters printed in hex!) of the git hash.

    Enumerated Types ​

    MAV_AUTOPILOT ​

    Micro air vehicle / autopilot classes. 这里标明了每个单个模型。

    值Name描述
    0MAV_AUTOPILOT_GENERIC通用自动驾驶仪，完全支持所有
    1MAV_AUTOPILOT_RESERVED保留以备将来使用。
    2MAV_AUTOPILOT_SLUGSSLUGS 自动驾驶仪，http://slugsuav.soe.ucsc.edu
    3MAV_AUTOPILOT_ARDUPILOTMEGAArduPilot - Plane/Copter/Rover/Sub/Tracker, https://ardupilot.org
    4MAV_AUTOPILOT_OPENPILOTOpenPilot，http://openpilot.org
    5MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLYGeneric autopilot only supporting simple waypoints
    6MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLYGeneric autopilot supporting waypoints and other simple navigation commands
    7MAV_AUTOPILOT_GENERIC_MISSION_FULL支持所有任务命令的通用自动驾驶仪
    8MAV_AUTOPILOT_INVALID没有有效的自动驾驶仪，例如地面站或其他 MAVLink 组件
    9MAV_AUTOPILOT_PPZPPZ 无人机 - http://nongnu.org/paparazzi
    10MAV_AUTOPILOT_UDB无人机开发板
    11MAV_AUTOPILOT_FPFlexiPilot
    12MAV_AUTOPILOT_PX4PX4 自动驾驶仪 - http://px4.io/
    13MAV_AUTOPILOT_SMACCMPILOTSMACCMPilot - http://smaccmpilot.org
    14MAV_AUTOPILOT_AUTOQUADAutoQuad -- http://autoquad.org
    15MAV_AUTOPILOT_ARMAZILAArmazila -- http://armazila.com
    16MAV_AUTOPILOT_AEROBAerob -- http://aerob.ru
    17MAV_AUTOPILOT_ASLUAVASLUAV 自动驾驶仪 -- http://www.asl.ethz.ch
    18MAV_AUTOPILOT_SMARTAPSmartAP自动驾驶仪 - http://sky-drones.com
    19MAV_AUTOPILOT_AIRRAILSAirRails - http://uaventure.com
    20MAV_AUTOPILOT_REFLEXFusion Reflex - https://fusion.engineering

    MAV_TYPE ​

    MAVLINK component type reported in HEARTBEAT message. Flight controllers must report the type of the vehicle on which they are mounted (e.g. MAV_TYPE_OCTOROTOR). All other components must report a value appropriate for their type (e.g. a camera must use MAV_TYPE_CAMERA).

    值Name描述
    0MAV_TYPE_GENERIC通用微型飞行器
    1MAV_TYPE_FIXED_WING固定翼。
    2MAV_TYPE_QUADROTOR四旋翼
    3MAV_TYPE_COAXIAL共轴直升机
    4MAV_TYPE_HELICOPTER带尾桨的普通直升机。
    5MAV_TYPE_ANTENNA_TRACKER地面安装
    6MAV_TYPE_GCS操作员控制单元/地面站
    7MAV_TYPE_AIRSHIP可控飞艇
    8MAV_TYPE_FREE_BALLOON不可控的热气球
    9MAV_TYPE_ROCKET火箭
    10MAV_TYPE_GROUND_ROVER地面小车
    11MAV_TYPE_SURFACE_BOAT水面舰艇，小船，轮船
    12MAV_TYPE_SUBMARINE潜艇
    13MAV_TYPE_HEXAROTOR六旋翼
    14MAV_TYPE_OCTOROTOR八旋翼
    15MAV_TYPE_TRICOPTERTricopter
    16MAV_TYPE_FLAPPING_WINGFlapping wing
    17MAV_TYPE_KITEKite
    18MAV_TYPE_ONBOARD_CONTROLLEROnboard companion controller
    19MAV_TYPE_VTOL_TAILSITTER_DUOROTORTwo-rotor Tailsitter VTOL that additionally uses control surfaces in vertical operation. Note, value previously named MAV_TYPE_VTOL_DUOROTOR.
    20MAV_TYPE_VTOL_TAILSITTER_QUADROTORQuad-rotor Tailsitter VTOL using a V-shaped quad config in vertical operation. Note: value previously named MAV_TYPE_VTOL_QUADROTOR.
    21MAV_TYPE_VTOL_TILTROTORTiltrotor VTOL. Fuselage and wings stay (nominally) horizontal in all flight phases. It able to tilt (some) rotors to provide thrust in cruise flight.
    22MAV_TYPE_VTOL_FIXEDROTORVTOL with separate fixed rotors for hover and cruise flight. Fuselage and wings stay (nominally) horizontal in all flight phases.
    23MAV_TYPE_VTOL_TAILSITTERTailsitter VTOL. Fuselage and wings orientation changes depending on flight phase: vertical for hover, horizontal for cruise. Use more specific VTOL MAV_TYPE_VTOL_TAILSITTER_DUOROTOR or MAV_TYPE_VTOL_TAILSITTER_QUADROTOR if appropriate.
    24MAV_TYPE_VTOL_TILTWINGTiltwing VTOL. Fuselage stays horizontal in all flight phases. The whole wing, along with any attached engine, can tilt between vertical and horizontal mode.
    25MAV_TYPE_VTOL_RESERVED5VTOL reserved 5
    26MAV_TYPE_GIMBALGimbal
    27MAV_TYPE_ADSBADSB system
    28MAV_TYPE_PARAFOILSteerable, nonrigid airfoil
    29MAV_TYPE_DODECAROTORDodecarotor
    30MAV_TYPE_CAMERACamera
    31MAV_TYPE_CHARGING_STATIONCharging station
    32MAV_TYPE_FLARMFLARM collision avoidance system
    33MAV_TYPE_SERVOServo
    34MAV_TYPE_ODIDOpen Drone ID. See https://mavlink.io/en/services/opendroneid.html.
    35MAV_TYPE_DECAROTORDecarotor
    36MAV_TYPE_BATTERYBattery
    37MAV_TYPE_PARACHUTEParachute
    38MAV_TYPE_LOGLog
    39MAV_TYPE_OSDOSD
    40MAV_TYPE_IMUIMU
    41MAV_TYPE_GPSGPS
    42MAV_TYPE_WINCHWinch
    43MAV_TYPE_GENERIC_MULTIROTORGeneric multirotor that does not fit into a specific type or whose type is unknown
    44MAV_TYPE_ILLUMINATORIlluminator. An illuminator is a light source that is used for lighting up dark areas external to the sytstem: e.g. a torch or searchlight (as opposed to a light source for illuminating the system itself, e.g. an indicator light).

    MAV_MODE_FLAG ​

    (Bitmask) These flags encode the MAV mode.

    值Name描述
    1MAV_MODE_FLAG_CUSTOM_MODE_ENABLED0b00000001 Reserved for future use.
    2MAV_MODE_FLAG_TEST_ENABLED0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations.
    4MAV_MODE_FLAG_AUTO_ENABLED0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation.
    8MAV_MODE_FLAG_GUIDED_ENABLED0b00001000 guided mode enabled, system flies waypoints / mission items.
    16MAV_MODE_FLAG_STABILIZE_ENABLED0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around.
    32MAV_MODE_FLAG_HIL_ENABLED0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational.
    64MAV_MODE_FLAG_MANUAL_INPUT_ENABLED0b01000000 remote control input is enabled.
    128MAV_MODE_FLAG_SAFETY_ARMED0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly. Additional note: this flag is to be ignore when sent in the command MAV_CMD_DO_SET_MODE and MAV_CMD_COMPONENT_ARM_DISARM shall be used instead. The flag can still be used to report the armed state.

    MAV_MODE_FLAG_DECODE_POSITION ​

    (Bitmask) These values encode the bit positions of the decode position. These values can be used to read the value of a flag bit by combining the base_mode variable with AND with the flag position value. The result will be either 0 or 1, depending on if the flag is set or not.

    值Name描述
    1MAV_MODE_FLAG_DECODE_POSITION_CUSTOM_MODEEighth bit: 00000001
    2MAV_MODE_FLAG_DECODE_POSITION_TESTSeventh bit: 00000010
    4MAV_MODE_FLAG_DECODE_POSITION_AUTOSixth bit: 00000100
    8MAV_MODE_FLAG_DECODE_POSITION_GUIDEDFifth bit: 00001000
    16MAV_MODE_FLAG_DECODE_POSITION_STABILIZEFourth bit: 00010000
    32MAV_MODE_FLAG_DECODE_POSITION_HILThird bit: 00100000
    64MAV_MODE_FLAG_DECODE_POSITION_MANUALSecond bit: 01000000
    128MAV_MODE_FLAG_DECODE_POSITION_SAFETYFirst bit: 10000000

    MAV_STATE ​

    值Name描述
    0MAV_STATE_UNINITUninitialized system, state is unknown.
    1MAV_STATE_BOOTSystem is booting up.
    2MAV_STATE_CALIBRATINGSystem is calibrating and not flight-ready.
    3MAV_STATE_STANDBYSystem is grounded and on standby. It can be launched any time.
    4MAV_STATE_ACTIVESystem is active and might be already airborne. Motors are engaged.
    5MAV_STATE_CRITICALSystem is in a non-normal flight mode (failsafe). It can however still navigate.
    6MAV_STATE_EMERGENCYSystem is in a non-normal flight mode (failsafe). It lost control over parts or over the whole airframe. It is in mayday and going down.
    7MAV_STATE_POWEROFFSystem just initialized its power-down sequence, will shut down now.
    8MAV_STATE_FLIGHT_TERMINATIONSystem is terminating itself (failsafe or commanded).

    MAV_COMPONENT ​

    Component ids (values) for the different types and instances of onboard hardware/software that might make up a MAVLink system (autopilot, cameras, servos, GPS systems, avoidance systems etc.).

    Components must use the appropriate ID in their source address when sending messages. Components can also use IDs to determine if they are the intended recipient of an incoming message. The MAV_COMP_ID_ALL value is used to indicate messages that must be processed by all components. When creating new entries, components that can have multiple instances (e.g. cameras, servos etc.) should be allocated sequential values. An appropriate number of values should be left free after these components to allow the number of instances to be expanded.

    值Name描述
    0MAV_COMP_ID_ALLTarget id (target_component) used to broadcast messages to all components of the receiving system. Components should attempt to process messages with this component ID and forward to components on any other interfaces. Note: This is not a valid source component id for a message.
    1MAV_COMP_ID_AUTOPILOT1System flight controller component ("autopilot"). Only one autopilot is expected in a particular system.
    25MAV_COMP_ID_USER1Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    26MAV_COMP_ID_USER2Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    27MAV_COMP_ID_USER3Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    28MAV_COMP_ID_USER4Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    29MAV_COMP_ID_USER5Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    30MAV_COMP_ID_USER6Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    31MAV_COMP_ID_USER7Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    32MAV_COMP_ID_USER8Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    33MAV_COMP_ID_USER9Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    34MAV_COMP_ID_USER10Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    35MAV_COMP_ID_USER11Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    36MAV_COMP_ID_USER12Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    37MAV_COMP_ID_USER13Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    38MAV_COMP_ID_USER14Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    39MAV_COMP_ID_USER15Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    40MAV_COMP_ID_USER16Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    41MAV_COMP_ID_USER17Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    42MAV_COMP_ID_USER18Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    43MAV_COMP_ID_USER19Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    44MAV_COMP_ID_USER20Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    45MAV_COMP_ID_USER21Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    46MAV_COMP_ID_USER22Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    47MAV_COMP_ID_USER23Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    48MAV_COMP_ID_USER24Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    49MAV_COMP_ID_USER25Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    50MAV_COMP_ID_USER26Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    51MAV_COMP_ID_USER27Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    52MAV_COMP_ID_USER28Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    53MAV_COMP_ID_USER29Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    54MAV_COMP_ID_USER30Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    55MAV_COMP_ID_USER31Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    56MAV_COMP_ID_USER32Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    57MAV_COMP_ID_USER33Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    58MAV_COMP_ID_USER34Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    59MAV_COMP_ID_USER35Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    60MAV_COMP_ID_USER36Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    61MAV_COMP_ID_USER37Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    62MAV_COMP_ID_USER38Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    63MAV_COMP_ID_USER39Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    64MAV_COMP_ID_USER40Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    65MAV_COMP_ID_USER41Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    66MAV_COMP_ID_USER42Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    67MAV_COMP_ID_USER43Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    68MAV_COMP_ID_TELEMETRY_RADIOTelemetry radio (e.g. SiK radio, or other component that emits RADIO_STATUS messages).
    69MAV_COMP_ID_USER45Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    70MAV_COMP_ID_USER46Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    71MAV_COMP_ID_USER47Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    72MAV_COMP_ID_USER48Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    73MAV_COMP_ID_USER49Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    74MAV_COMP_ID_USER50Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    75MAV_COMP_ID_USER51Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    76MAV_COMP_ID_USER52Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    77MAV_COMP_ID_USER53Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    78MAV_COMP_ID_USER54Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    79MAV_COMP_ID_USER55Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    80MAV_COMP_ID_USER56Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    81MAV_COMP_ID_USER57Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    82MAV_COMP_ID_USER58Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    83MAV_COMP_ID_USER59Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    84MAV_COMP_ID_USER60Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    85MAV_COMP_ID_USER61Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    86MAV_COMP_ID_USER62Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    87MAV_COMP_ID_USER63Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    88MAV_COMP_ID_USER64Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    89MAV_COMP_ID_USER65Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    90MAV_COMP_ID_USER66Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    91MAV_COMP_ID_USER67Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    92MAV_COMP_ID_USER68Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    93MAV_COMP_ID_USER69Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    94MAV_COMP_ID_USER70Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    95MAV_COMP_ID_USER71Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    96MAV_COMP_ID_USER72Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    97MAV_COMP_ID_USER73Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    98MAV_COMP_ID_USER74Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    99MAV_COMP_ID_USER75Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
    100MAV_COMP_ID_CAMERACamera #1.
    101MAV_COMP_ID_CAMERA2Camera #2.
    102MAV_COMP_ID_CAMERA3Camera #3.
    103MAV_COMP_ID_CAMERA4Camera #4.
    104MAV_COMP_ID_CAMERA5Camera #5.
    105MAV_COMP_ID_CAMERA6Camera #6.
    140MAV_COMP_ID_SERVO1Servo #1.
    141MAV_COMP_ID_SERVO2Servo #2.
    142MAV_COMP_ID_SERVO3Servo #3.
    143MAV_COMP_ID_SERVO4Servo #4.
    144MAV_COMP_ID_SERVO5Servo #5.
    145MAV_COMP_ID_SERVO6Servo #6.
    146MAV_COMP_ID_SERVO7Servo #7.
    147MAV_COMP_ID_SERVO8Servo #8.
    148MAV_COMP_ID_SERVO9Servo #9.
    149MAV_COMP_ID_SERVO10Servo #10.
    150MAV_COMP_ID_SERVO11Servo #11.
    151MAV_COMP_ID_SERVO12Servo #12.
    152MAV_COMP_ID_SERVO13Servo #13.
    153MAV_COMP_ID_SERVO14Servo #14.
    154MAV_COMP_ID_GIMBALGimbal #1.
    155MAV_COMP_ID_LOGLogging component.
    156MAV_COMP_ID_ADSBAutomatic Dependent Surveillance-Broadcast (ADS-B) component.
    157MAV_COMP_ID_OSDOn Screen Display (OSD) devices for video links.
    158MAV_COMP_ID_PERIPHERALGeneric autopilot peripheral component ID. Meant for devices that do not implement the parameter microservice.
    159MAV_COMP_ID_QX1_GIMBALGimbal ID for QX1.DEPRECATED: Replaced By MAV_COMP_ID_GIMBAL (2018-11) — All gimbals should use MAV_COMP_ID_GIMBAL.)
    160MAV_COMP_ID_FLARMFLARM collision alert component.
    161MAV_COMP_ID_PARACHUTEParachute component.
    169MAV_COMP_ID_WINCHWinch component.
    171MAV_COMP_ID_GIMBAL2Gimbal #2.
    172MAV_COMP_ID_GIMBAL3Gimbal #3.
    173MAV_COMP_ID_GIMBAL4Gimbal #4
    174MAV_COMP_ID_GIMBAL5Gimbal #5.
    175MAV_COMP_ID_GIMBAL6Gimbal #6.
    180MAV_COMP_ID_BATTERYBattery #1.
    181MAV_COMP_ID_BATTERY2Battery #2.
    189MAV_COMP_ID_MAVCANCAN over MAVLink client.
    190MAV_COMP_ID_MISSIONPLANNERComponent that can generate/supply a mission flight plan (e.g. GCS or developer API).
    191MAV_COMP_ID_ONBOARD_COMPUTERComponent that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
    192MAV_COMP_ID_ONBOARD_COMPUTER2Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
    193MAV_COMP_ID_ONBOARD_COMPUTER3Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
    194MAV_COMP_ID_ONBOARD_COMPUTER4Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
    195MAV_COMP_ID_PATHPLANNERComponent that finds an optimal path between points based on a certain constraint (e.g. minimum snap, shortest path, cost, etc.).
    196MAV_COMP_ID_OBSTACLE_AVOIDANCEComponent that plans a collision free path between two points.
    197MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRYComponent that provides position estimates using VIO techniques.
    198MAV_COMP_ID_PAIRING_MANAGERComponent that manages pairing of vehicle and GCS.
    200MAV_COMP_ID_IMUInertial Measurement Unit (IMU) #1.
    201MAV_COMP_ID_IMU_2Inertial Measurement Unit (IMU) #2.
    202MAV_COMP_ID_IMU_3Inertial Measurement Unit (IMU) #3.
    220MAV_COMP_ID_GPSGPS #1.
    221MAV_COMP_ID_GPS2GPS #2.
    236MAV_COMP_ID_ODID_TXRX_1Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
    237MAV_COMP_ID_ODID_TXRX_2Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
    238MAV_COMP_ID_ODID_TXRX_3Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
    240MAV_COMP_ID_UDP_BRIDGEComponent to bridge MAVLink to UDP (i.e. from a UART).
    241MAV_COMP_ID_UART_BRIDGEComponent to bridge to UART (i.e. from UDP).
    242MAV_COMP_ID_TUNNEL_NODEComponent handling TUNNEL messages (e.g. vendor specific GUI of a component).
    243MAV_COMP_ID_ILLUMINATORIlluminator
    250MAV_COMP_ID_SYSTEM_CONTROLDeprecated, don't use. Component for handling system messages (e.g. to ARM, takeoff, etc.).DEPRECATED: Replaced By MAV_COMP_ID_ALL (2018-11) — System control does not require a separate component ID. Instead, system commands should be sent with target_component=MAV_COMP_ID_ALL allowing the target component to use any appropriate component id.)
    - + \ No newline at end of file diff --git a/zh/messages/paparazzi.html b/zh/messages/paparazzi.html index b690b5e5b..b7b101ab4 100644 --- a/zh/messages/paparazzi.html +++ b/zh/messages/paparazzi.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

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    方言：paparazzi ​

    Warning This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

    This topic is a human-readable form of the XML definition file: paparazzi.xml.

    Note

    • MAVLink 2 extension fields are displayed in blue.
    • Entities from dialects are displayed only as headings (with link to original)

    Protocol version: 3

    概览 ​

    TypeDefinedIncluded
    Messages5226
    Enums0144
    Commands1640

    The following sections list all entities in the dialect (both included and defined in this file).

    消息 ​

    SCRIPT_ITEM (180) ​

    Message encoding a mission script item. 此消息在请求下一个脚本项时发出。

    Field NameType描述
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    sequint16_t序列
    namechar[50]任务脚本的名称，空终止符。

    SCRIPT_REQUEST (181) ​

    Request script item with the sequence number seq. The response of the system to this message should be a SCRIPT_ITEM message.

    Field NameType描述
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    sequint16_t序列

    SCRIPT_REQUEST_LIST (182) ​

    Request the overall list of mission items from the system/component.

    Field NameType描述
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID

    SCRIPT_COUNT (183) ​

    This message is emitted as response to SCRIPT_REQUEST_LIST by the MAV to get the number of mission scripts.

    Field NameType描述
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    countuint16_t序列中的脚本项数

    SCRIPT_CURRENT (184) ​

    This message informs about the currently active SCRIPT.

    Field NameType描述
    sequint16_t活动序列

    Enumerated Types ​

    Commands (MAV_CMD) ​

    - + \ No newline at end of file diff --git a/zh/messages/python_array_test.html b/zh/messages/python_array_test.html index 4c59a9836..04ba7b5e8 100644 --- a/zh/messages/python_array_test.html +++ b/zh/messages/python_array_test.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

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    方言：python_array_test ​

    Warning This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

    This topic is a human-readable form of the XML definition file: python_array_test.xml.

    Note

    • MAVLink 2 extension fields are displayed in blue.
    • Entities from dialects are displayed only as headings (with link to original)

    概览 ​

    TypeDefinedIncluded
    Messages8226
    Enums0144
    Commands1640

    The following sections list all entities in the dialect (both included and defined in this file).

    消息 ​

    ARRAY_TEST_0 (17150) ​

    Array test #0.

    Field NameType描述
    v1uint8_t存根字段
    ar_i8int8_t[4]值（数组）
    ar_u8uint8_t[4]值（数组）
    ar_u16uint16_t[4]值（数组）
    ar_u32uint32_t[4]值（数组）

    ARRAY_TEST_1 (17151) ​

    Array test #1.

    Field NameType描述
    ar_u32uint32_t[4]值（数组）

    ARRAY_TEST_3 (17153) ​

    Array test #3.

    Field NameType描述
    vuint8_t存根字段
    ar_u32uint32_t[4]值（数组）

    ARRAY_TEST_4 (17154) ​

    Array test #4.

    Field NameType描述
    ar_u32uint32_t[4]值（数组）
    vuint8_t存根字段

    ARRAY_TEST_5 (17155) ​

    Array test #5.

    Field NameType描述
    c1char[5]值（数组）
    c2char[5]值（数组）

    ARRAY_TEST_6 (17156) ​

    Array test #6.

    Field NameType描述
    v1uint8_t存根字段
    v2uint16_t存根字段
    v3uint32_t存根字段
    ar_u32uint32_t[2]值（数组）
    ar_i32int32_t[2]值（数组）
    ar_u16uint16_t[2]值（数组）
    ar_i16int16_t[2]值（数组）
    ar_u8uint8_t[2]值（数组）
    ar_i8int8_t[2]值（数组）
    ar_cchar[32]值（数组）
    ar_ddouble[2]值（数组）
    ar_ffloat[2]值（数组）

    ARRAY_TEST_7 (17157) ​

    Array test #7.

    Field NameType描述
    ar_ddouble[2]值（数组）
    ar_ffloat[2]值（数组）
    ar_u32uint32_t[2]值（数组）
    ar_i32int32_t[2]值（数组）
    ar_u16uint16_t[2]值（数组）
    ar_i16int16_t[2]值（数组）
    ar_u8uint8_t[2]值（数组）
    ar_i8int8_t[2]值（数组）
    ar_cchar[32]值（数组）

    ARRAY_TEST_8 (17158) ​

    Array test #8.

    Field NameType描述
    v3uint32_t存根字段
    ar_ddouble[2]值（数组）
    ar_u16uint16_t[2]值（数组）

    Enumerated Types ​

    Commands (MAV_CMD) ​

    - + \ No newline at end of file diff --git a/zh/messages/standard.html b/zh/messages/standard.html index 8c3dd7a2e..0322e6de4 100644 --- a/zh/messages/standard.html +++ b/zh/messages/standard.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

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    Dialect: MAVLINK Standard Message Set (standard.xml) ​

    The MAVLink standard message set contains standard definitions that are managed by the MAVLink project. The definitions are those that are expected to be implemented in all flight stacks/ground stations AND are likely to be implemented in a compatible way. The original definitions are defined in standard.xml.

    Note

    • MAVLink 2 extension fields are displayed in blue.
    • Entities from dialects are displayed only as headings (with link to original)

    Protocol dialect: 0

    概览 ​

    TypeDefinedIncluded
    Messages02
    Enums06
    命令00

    The following sections list all entities in the dialect (both included and defined in this file).

    消息 ​

    Enumerated Types ​

    - + \ No newline at end of file diff --git a/zh/messages/storm32.html b/zh/messages/storm32.html index 34f8eaa3c..ed390e740 100644 --- a/zh/messages/storm32.html +++ b/zh/messages/storm32.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

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    Dialect: storm32 ​

    Warning This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

    This topic is a human-readable form of the XML definition file: storm32.xml.

    Note

    • MAVLink 2 extension fields are displayed in blue.
    • Entities from dialects are displayed only as headings (with link to original)

    Protocol dialect: 1

    Protocol version: 1

    概览 ​

    TypeDefinedIncluded
    Messages8307
    Enums8204
    Commands1980

    The following sections list all entities in the dialect (both included and defined in this file).

    消息 ​

    STORM32_GIMBAL_MANAGER_INFORMATION (60010) ​

    Information about a gimbal manager. This message should be requested by a ground station using MAV_CMD_REQUEST_MESSAGE. It mirrors some fields of the GIMBAL_DEVICE_INFORMATION message, but not all. If the additional information is desired, also GIMBAL_DEVICE_INFORMATION should be requested.

    Field NameTypeUnits值描述
    gimbal_iduint8_tGimbal ID (component ID or 1-6 for non-MAVLink gimbal) that this gimbal manager is responsible for.
    Messages with same value are from the same source (instance).
    device_cap_flagsuint32_tGIMBAL_DEVICE_CAP_FLAGSGimbal device capability flags. Same flags as reported by GIMBAL_DEVICE_INFORMATION. The flag is only 16 bit wide, but stored in 32 bit, for backwards compatibility (high word is zero).
    manager_cap_flagsuint32_tMAV_STORM32_GIMBAL_MANAGER_CAP_FLAGSGimbal manager capability flags.
    roll_minfloatradinvalid:NaNHardware minimum roll angle (positive: roll to the right). NaN if unknown.
    roll_maxfloatradinvalid:NaNHardware maximum roll angle (positive: roll to the right). NaN if unknown.
    pitch_minfloatradinvalid:NaNHardware minimum pitch/tilt angle (positive: tilt up). NaN if unknown.
    pitch_maxfloatradinvalid:NaNHardware maximum pitch/tilt angle (positive: tilt up). NaN if unknown.
    yaw_minfloatradinvalid:NaNHardware minimum yaw/pan angle (positive: pan to the right, relative to the vehicle/gimbal base). NaN if unknown.
    yaw_maxfloatradinvalid:NaNHardware maximum yaw/pan angle (positive: pan to the right, relative to the vehicle/gimbal base). NaN if unknown.

    STORM32_GIMBAL_MANAGER_STATUS (60011) ​

    Message reporting the current status of a gimbal manager. This message should be broadcast at a low regular rate (e.g. 1 Hz, may be increase momentarily to e.g. 5 Hz for a period of 1 sec after a change).

    Field NameType值描述
    gimbal_iduint8_tGimbal ID (component ID or 1-6 for non-MAVLink gimbal) that this gimbal manager is responsible for.
    Messages with same value are from the same source (instance).
    supervisoruint8_tMAV_STORM32_GIMBAL_MANAGER_CLIENTClient who is currently supervisor (0 = none).
    device_flagsuint16_tGIMBAL_DEVICE_FLAGSGimbal device flags currently applied. Same flags as reported by GIMBAL_DEVICE_ATTITUDE_STATUS.
    manager_flagsuint16_tMAV_STORM32_GIMBAL_MANAGER_FLAGSGimbal manager flags currently applied.
    profileuint8_tMAV_STORM32_GIMBAL_MANAGER_PROFILEProfile currently applied (0 = default).

    STORM32_GIMBAL_MANAGER_CONTROL (60012) ​

    Message to a gimbal manager to control the gimbal attitude. Angles and rates can be set to NaN according to use case. A gimbal device is never to react to this message.

    Field NameTypeUnits值描述
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    gimbal_iduint8_tGimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals). Send command multiple times for more than one but not all gimbals.
    Messages with same value are from the same source (instance).
    clientuint8_tMAV_STORM32_GIMBAL_MANAGER_CLIENTClient which is contacting the gimbal manager (must be set).
    device_flagsuint16_tinvalid:UINT16_MAX GIMBAL_DEVICE_FLAGSGimbal device flags to be applied (UINT16_MAX to be ignored). Same flags as used in GIMBAL_DEVICE_SET_ATTITUDE.
    manager_flagsuint16_tinvalid:0 MAV_STORM32_GIMBAL_MANAGER_FLAGSGimbal manager flags to be applied (0 to be ignored).
    qfloat[4]invalid:[NaN:]Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation). Set first element to NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags.
    angular_velocity_xfloatrad/sinvalid:NaNX component of angular velocity (positive: roll to the right). NaN to be ignored.
    angular_velocity_yfloatrad/sinvalid:NaNY component of angular velocity (positive: tilt up). NaN to be ignored.
    angular_velocity_zfloatrad/sinvalid:NaNZ component of angular velocity (positive: pan to the right). NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags.

    STORM32_GIMBAL_MANAGER_CONTROL_PITCHYAW (60013) ​

    Message to a gimbal manager to control the gimbal tilt and pan angles. Angles and rates can be set to NaN according to use case. A gimbal device is never to react to this message.

    Field NameTypeUnits值描述
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    gimbal_iduint8_tGimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals). Send command multiple times for more than one but not all gimbals.
    Messages with same value are from the same source (instance).
    clientuint8_tMAV_STORM32_GIMBAL_MANAGER_CLIENTClient which is contacting the gimbal manager (must be set).
    device_flagsuint16_tinvalid:UINT16_MAX GIMBAL_DEVICE_FLAGSGimbal device flags to be applied (UINT16_MAX to be ignored). Same flags as used in GIMBAL_DEVICE_SET_ATTITUDE.
    manager_flagsuint16_tinvalid:0 MAV_STORM32_GIMBAL_MANAGER_FLAGSGimbal manager flags to be applied (0 to be ignored).
    俯仰角floatradinvalid:NaNPitch/tilt angle (positive: tilt up). NaN to be ignored.
    yawfloatradinvalid:NaNYaw/pan angle (positive: pan the right). NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags.
    pitch_ratefloatrad/sinvalid:NaNPitch/tilt angular rate (positive: tilt up). NaN to be ignored.
    yaw_ratefloatrad/sinvalid:NaNYaw/pan angular rate (positive: pan to the right). NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags.

    STORM32_GIMBAL_MANAGER_CORRECT_ROLL (60014) ​

    Message to a gimbal manager to correct the gimbal roll angle. This message is typically used to manually correct for a tilted horizon in operation. A gimbal device is never to react to this message.

    Field NameTypeUnits值描述
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    gimbal_iduint8_tGimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals). Send command multiple times for more than one but not all gimbals.
    Messages with same value are from the same source (instance).
    clientuint8_tMAV_STORM32_GIMBAL_MANAGER_CLIENTClient which is contacting the gimbal manager (must be set).
    rollfloatradRoll angle (positive to roll to the right).

    QSHOT_STATUS (60020) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Information about the shot operation.

    Field NameType值描述
    模式uint16_tMAV_QSHOT_MODECurrent shot mode.
    shot_stateuint16_tCurrent state in the shot. States are specific to the selected shot mode.

    FRSKY_PASSTHROUGH_ARRAY (60040) ​

    Frsky SPort passthrough multi packet container.

    Field NameTypeUnits描述
    time_boot_msuint32_tmsTimestamp (time since system boot).
    countuint8_tNumber of passthrough packets in this message.
    packet_bufuint8_t[240]Passthrough packet buffer. A packet has 6 bytes: uint16_t id + uint32_t data. The array has space for 40 packets.

    PARAM_VALUE_ARRAY (60041) ​

    Parameter multi param value container.

    Field NameType描述
    param_countuint16_tTotal number of onboard parameters.
    param_index_firstuint16_tIndex of the first onboard parameter in this array.
    param_array_lenuint8_tNumber of onboard parameters in this array.
    flagsuint16_tFlags.
    packet_bufuint8_t[248]Parameters buffer. Contains a series of variable length parameter blocks, one per parameter, with format as specifed elsewhere.

    Enumerated Types ​

    MAV_STORM32_TUNNEL_PAYLOAD_TYPE ​

    值Name描述
    200MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH1_INRegistered for STorM32 gimbal controller. For communication with gimbal or camera.
    201MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH1_OUTRegistered for STorM32 gimbal controller. For communication with gimbal or camera.
    202MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH2_INRegistered for STorM32 gimbal controller. For communication with gimbal.
    203MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH2_OUTRegistered for STorM32 gimbal controller. For communication with gimbal.
    204MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH3_INRegistered for STorM32 gimbal controller. For communication with camera.
    205MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH3_OUTRegistered for STorM32 gimbal controller. For communication with camera.

    MAV_STORM32_GIMBAL_PREARM_FLAGS ​

    (Bitmask) STorM32 gimbal prearm check flags.

    值Name描述
    1MAV_STORM32_GIMBAL_PREARM_FLAGS_IS_NORMALSTorM32 gimbal is in normal state.
    2MAV_STORM32_GIMBAL_PREARM_FLAGS_IMUS_WORKINGThe IMUs are healthy and working normally.
    4MAV_STORM32_GIMBAL_PREARM_FLAGS_MOTORS_WORKINGThe motors are active and working normally.
    8MAV_STORM32_GIMBAL_PREARM_FLAGS_ENCODERS_WORKINGThe encoders are healthy and working normally.
    16MAV_STORM32_GIMBAL_PREARM_FLAGS_VOLTAGE_OKA battery voltage is applied and is in range.
    32MAV_STORM32_GIMBAL_PREARM_FLAGS_VIRTUALCHANNELS_RECEIVINGVirtual input channels are receiving data.
    64MAV_STORM32_GIMBAL_PREARM_FLAGS_MAVLINK_RECEIVINGMavlink messages are being received.
    128MAV_STORM32_GIMBAL_PREARM_FLAGS_STORM32LINK_QFIXThe STorM32Link data indicates QFix.
    256MAV_STORM32_GIMBAL_PREARM_FLAGS_STORM32LINK_WORKINGThe STorM32Link is working.
    512MAV_STORM32_GIMBAL_PREARM_FLAGS_CAMERA_CONNECTEDThe camera has been found and is connected.
    1024MAV_STORM32_GIMBAL_PREARM_FLAGS_AUX0_LOWThe signal on the AUX0 input pin is low.
    2048MAV_STORM32_GIMBAL_PREARM_FLAGS_AUX1_LOWThe signal on the AUX1 input pin is low.
    4096MAV_STORM32_GIMBAL_PREARM_FLAGS_NTLOGGER_WORKINGThe NTLogger is working normally.

    MAV_STORM32_CAMERA_PREARM_FLAGS ​

    (Bitmask) STorM32 camera prearm check flags.

    值Name描述
    1MAV_STORM32_CAMERA_PREARM_FLAGS_CONNECTEDThe camera has been found and is connected.

    MAV_STORM32_GIMBAL_MANAGER_CAP_FLAGS ​

    (Bitmask) Gimbal manager capability flags.

    值Name描述
    1MAV_STORM32_GIMBAL_MANAGER_CAP_FLAGS_HAS_PROFILESThe gimbal manager supports several profiles.

    MAV_STORM32_GIMBAL_MANAGER_FLAGS ​

    (Bitmask) Flags for gimbal manager operation. Used for setting and reporting, unless specified otherwise. If a setting has been accepted by the gimbal manager is reported in the STORM32_GIMBAL_MANAGER_STATUS message.

    值Name描述
    0MAV_STORM32_GIMBAL_MANAGER_FLAGS_NONE0 = ignore.
    1MAV_STORM32_GIMBAL_MANAGER_FLAGS_RC_ACTIVERequest to set RC input to active, or report RC input is active. Implies RC mixed. RC exclusive is achieved by setting all clients to inactive.
    2MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_ONBOARD_ACTIVERequest to set onboard/companion computer client to active, or report this client is active.
    4MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_AUTOPILOT_ACTIVERequest to set autopliot client to active, or report this client is active.
    8MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_GCS_ACTIVERequest to set GCS client to active, or report this client is active.
    16MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CAMERA_ACTIVERequest to set camera client to active, or report this client is active.
    32MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_GCS2_ACTIVERequest to set GCS2 client to active, or report this client is active.
    64MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CAMERA2_ACTIVERequest to set camera2 client to active, or report this client is active.
    128MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CUSTOM_ACTIVERequest to set custom client to active, or report this client is active.
    256MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CUSTOM2_ACTIVERequest to set custom2 client to active, or report this client is active.
    512MAV_STORM32_GIMBAL_MANAGER_FLAGS_SET_SUPERVISONRequest supervision. This flag is only for setting, it is not reported.
    1024MAV_STORM32_GIMBAL_MANAGER_FLAGS_SET_RELEASERelease supervision. This flag is only for setting, it is not reported.

    MAV_STORM32_GIMBAL_MANAGER_CLIENT ​

    Gimbal manager client ID. In a prioritizing profile, the priorities are determined by the implementation; they could e.g. be custom1 > onboard > GCS > autopilot/camera > GCS2 > custom2.

    值Name描述
    0MAV_STORM32_GIMBAL_MANAGER_CLIENT_NONEFor convenience.
    1MAV_STORM32_GIMBAL_MANAGER_CLIENT_ONBOARDThis is the onboard/companion computer client.
    2MAV_STORM32_GIMBAL_MANAGER_CLIENT_AUTOPILOTThis is the autopilot client.
    3MAV_STORM32_GIMBAL_MANAGER_CLIENT_GCSThis is the GCS client.
    4MAV_STORM32_GIMBAL_MANAGER_CLIENT_CAMERAThis is the camera client.
    5MAV_STORM32_GIMBAL_MANAGER_CLIENT_GCS2This is the GCS2 client.
    6MAV_STORM32_GIMBAL_MANAGER_CLIENT_CAMERA2This is the camera2 client.
    7MAV_STORM32_GIMBAL_MANAGER_CLIENT_CUSTOMThis is the custom client.
    8MAV_STORM32_GIMBAL_MANAGER_CLIENT_CUSTOM2This is the custom2 client.

    MAV_STORM32_GIMBAL_MANAGER_PROFILE ​

    Gimbal manager profiles. Only standard profiles are defined. Any implementation can define its own profile(s) in addition, and should use enum values > 16.

    值Name描述
    0MAV_STORM32_GIMBAL_MANAGER_PROFILE_DEFAULTDefault profile. Implementation specific.
    1MAV_STORM32_GIMBAL_MANAGER_PROFILE_CUSTOMNot supported/deprecated.
    2MAV_STORM32_GIMBAL_MANAGER_PROFILE_COOPERATIVEProfile with cooperative behavior.
    3MAV_STORM32_GIMBAL_MANAGER_PROFILE_EXCLUSIVEProfile with exclusive behavior.
    4MAV_STORM32_GIMBAL_MANAGER_PROFILE_PRIORITY_COOPERATIVEProfile with priority and cooperative behavior for equal priority.
    5MAV_STORM32_GIMBAL_MANAGER_PROFILE_PRIORITY_EXCLUSIVEProfile with priority and exclusive behavior for equal priority.

    MAV_QSHOT_MODE ​

    Enumeration of possible shot modes.

    值Name描述
    0MAV_QSHOT_MODE_UNDEFINEDUndefined shot mode. Can be used to determine if qshots should be used or not.
    1MAV_QSHOT_MODE_DEFAULTStart normal gimbal operation. Is usually used to return back from a shot.
    2MAV_QSHOT_MODE_GIMBAL_RETRACTLoad and keep safe gimbal position and stop stabilization.
    3MAV_QSHOT_MODE_GIMBAL_NEUTRALLoad neutral gimbal position and keep it while stabilizing.
    4MAV_QSHOT_MODE_GIMBAL_MISSIONStart mission with gimbal control.
    5MAV_QSHOT_MODE_GIMBAL_RC_CONTROLStart RC gimbal control.
    6MAV_QSHOT_MODE_POI_TARGETINGStart gimbal tracking the point specified by Lat, Lon, Alt.
    7MAV_QSHOT_MODE_SYSID_TARGETINGStart gimbal tracking the system with specified system ID.
    8MAV_QSHOT_MODE_CABLECAM_2POINTStart 2-point cable cam quick shot.
    9MAV_QSHOT_MODE_HOME_TARGETINGStart gimbal tracking the home location.

    Commands (MAV_CMD) ​

    MAV_CMD_STORM32_DO_GIMBAL_MANAGER_CONTROL_PITCHYAW (60002) ​

    Command to a gimbal manager to control the gimbal tilt and pan angles. It is possible to set combinations of the values below. E.g. an angle as well as a desired angular rate can be used to get to this angle at a certain angular rate, or an angular rate only will result in continuous turning. NaN is to be used to signal unset. A gimbal device is never to react to this command.

    Param (Label)描述值Units
    1 (Pitch angle)Pitch/tilt angle (positive: tilt up). NaN to be ignored.min: -180 max: 180度
    2 (Yaw angle)Yaw/pan angle (positive: pan to the right). NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags.min: -180 max: 180度
    3 (Pitch rate)Pitch/tilt rate (positive: tilt up). NaN to be ignored.deg/s
    4 (Yaw rate)Yaw/pan rate (positive: pan to the right). NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags.deg/s
    5 (Gimbal device flags)Gimbal device flags to be applied.GIMBAL_DEVICE_FLAGS
    6 (Gimbal manager flags)Gimbal manager flags to be applied.MAV_STORM32_GIMBAL_MANAGER_FLAGS
    7 (Gimbal ID and client)Gimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals). Send command multiple times for more than one but not all gimbals. The client is copied into bits 8-15.

    MAV_CMD_STORM32_DO_GIMBAL_MANAGER_SETUP (60010) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Command to configure a gimbal manager. A gimbal device is never to react to this command. The selected profile is reported in the STORM32_GIMBAL_MANAGER_STATUS message.

    Param (Label)描述值
    1 (Profile)Gimbal manager profile (0 = default).MAV_STORM32_GIMBAL_MANAGER_PROFILE
    7 (Gimbal ID)Gimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals). Send command multiple times for more than one but not all gimbals.

    MAV_CMD_QSHOT_DO_CONFIGURE (60020) — [WIP] ​

    WORK IN PROGRESS: Do not use in stable production environments (it may change).

    Command to set the shot manager mode.

    Param (Label)描述值
    1 (Mode)Set shot mode.MAV_QSHOT_MODE
    2 (Shot state or command)Set shot state or command. The allowed values are specific to the selected shot mode.
    - + \ No newline at end of file diff --git a/zh/messages/test.html b/zh/messages/test.html index 93f30a560..b1910e77f 100644 --- a/zh/messages/test.html +++ b/zh/messages/test.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

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    方言：测试 ​

    The test dialect is used for testing XML file parsing.

    This topic is a human-readable form of the XML definition file: test.xml.

    Note

    • MAVLink 2 extension fields are displayed in blue.
    • Entities from dialects are displayed only as headings (with link to original)

    Protocol version: 3

    None

    概览 ​

    TypeDefinedIncluded
    Messages10
    枚举00
    命令00

    The following sections list all entities in the dialect (both included and defined in this file).

    消息 ​

    TEST_TYPES (17000) ​

    Test all field types

    Field NameType描述
    ccharchar
    schar[10]string
    u8uint8_tuint8_t
    u16uint16_tuint16_t
    u32uint32_tuint32_t
    u64uint64_tuint64_t
    s8int8_tint8_t
    s16int16_tint16_t
    s32int32_tint32_t
    s64int64_tint64_t
    ffloatfloat
    ddoubledouble
    u8_arrayuint8_t[3]uint8_t_array
    u16_arrayuint16_t[3]uint16_t_array
    u32_arrayuint32_t[3]uint32_t_array
    u64_arrayuint64_t[3]uint64_t_array
    s8_arrayint8_t[3]int8_t_array
    s16_arrayint16_t[3]int16_t_array
    s32_arrayint32_t[3]int32_t_array
    s64_arrayint64_t[3]int64_t_array
    f_arrayfloat[3]float_array
    d_arraydouble[3]double_array
    - + \ No newline at end of file diff --git a/zh/messages/uAvionix.html b/zh/messages/uAvionix.html index 07c4d018e..dd5615a26 100644 --- a/zh/messages/uAvionix.html +++ b/zh/messages/uAvionix.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

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    方言：uAvionix ​

    Warning This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

    This topic is a human-readable form of the XML definition file: uAvionix.xml.

    Note

    • MAVLink 2 extension fields are displayed in blue.
    • Entities from dialects are displayed only as headings (with link to original)

    概览 ​

    TypeDefinedIncluded
    Messages3226
    Enums8144
    Commands1640

    The following sections list all entities in the dialect (both included and defined in this file).

    消息 ​

    UAVIONIX_ADSB_OUT_CFG (10001) ​

    Static data to configure the ADS-B transponder (send within 10 sec of a POR and every 10 sec thereafter)

    Field NameTypeUnits值描述
    ICAOuint32_t车辆地址 (24 位)
    callsignchar[9]车辆标识符 （8个字符，空终止字符串 ，有效字符仅包括A-Z，0-9，“ ”）
    emitterTypeuint8_tADSB_EMITTER_TYPE传输车辆类型。 See ADSB_EMITTER_TYPE enum
    aircraftSizeuint8_tUAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE机身长度和宽度编码（DO-282B的表 2-35）
    gpsOffsetLatuint8_tUAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LATGPS天线纬度偏移（DO-282B的表2-36）
    gpsOffsetLonuint8_tUAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LONGPS天线从机头经度偏移[如果非零，取得位置（以米为单位）除以2并加一]（DO-282B的表2-37）
    stallSpeeduint16_t厘米/秒飞机失速速度（厘米/秒）
    rfSelectuint8_tUAVIONIX_ADSB_OUT_RF_SELECTADS-B transponder receiver and transmit enable flags

    UAVIONIX_ADSB_OUT_DYNAMIC (10002) ​

    Dynamic data used to generate ADS-B out transponder data (send at 5Hz)

    Field NameTypeUnits值描述
    utcTimeuint32_ts自GPS时代以来的UTC时间（以秒为单位）（1980年1月6日）。 如果未知设置为 UINT32_MAX
    gpsLatint32_tdegE7纬度WGS84（度* 1E7）。 如果未知设置为 UINT32_MAX
    gpsLonint32_tdegE7经度WGS84（度* 1E7）。 如果未知设置为 UINT32_MAX
    gpsAltint32_t毫米高度(WGS84)。 UP +ve。 如果未知设置为 UINT32_MAX
    gpsFixuint8_tUAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX0-1：无修正，2：2D 修正，3：3D 修正，4：DGPS，5：RTK
    numSatsuint8_t可见卫星数量。 如果未知设置为 UINT8_MAX
    baroAltMSLint32_t毫巴相对于标准大气层1013.2毫巴和不带校正高度（MSL）的几何压力高度（MSL），而不受校正高度（m * 1E-3）。 （up +ve）。 如果未知设置为 UINT32_MAX
    accuracyHoruint32_t毫米水平精度单位为毫米（m*1E-3）。 如果未知设置为 UINT32_MAX
    accuracyVertuint16_t厘米以厘米为单位的垂直精度。 如果未知设置为 UINT16_MAX
    accuracyVeluint16_t毫米/秒水平精度单位为毫米（m*1E-3）。 如果未知设置为 UINT16_MAX
    velVertint16_t厘米/秒GPS垂直速度，单位为cm / s。 如果未知设置为 UINT16_MAX
    velNSint16_t厘米/秒地面上的南北速度，以cm / s为单位 North + ve。 如果未知设置为 UINT16_MAX
    VelEWint16_t厘米/秒地面上东西方向的速度，以cm / s 为单位 East + ve。 如果未知设置为 UINT16_MAX
    emergencyStatusuint8_tUAVIONIX_ADSB_EMERGENCY_STATUS紧急消息
    stateuint16_tUAVIONIX_ADSB_OUT_DYNAMIC_STATEADS-B应答器动态输入状态标志
    squawkuint16_t模式A代码（对于VFR，通常为1200 [0x04B0]）

    UAVIONIX_ADSB_TRANSCEIVER_HEALTH_REPORT (10003) ​

    Transceiver heartbeat with health report (updated every 10s)

    Field NameType值描述
    rfHealthuint8_tUAVIONIX_ADSB_RF_HEALTHADS-B应答器消息

    Enumerated Types ​

    UAVIONIX_ADSB_OUT_DYNAMIC_STATE ​

    (Bitmask) State flags for ADS-B transponder dynamic report

    值Name描述
    1UAVIONIX_ADSB_OUT_DYNAMIC_STATE_INTENT_CHANGE
    2UAVIONIX_ADSB_OUT_DYNAMIC_STATE_AUTOPILOT_ENABLED
    4UAVIONIX_ADSB_OUT_DYNAMIC_STATE_NICBARO_CROSSCHECKED
    8UAVIONIX_ADSB_OUT_DYNAMIC_STATE_ON_GROUND
    16UAVIONIX_ADSB_OUT_DYNAMIC_STATE_IDENT

    UAVIONIX_ADSB_OUT_RF_SELECT ​

    (Bitmask) Transceiver RF control flags for ADS-B transponder dynamic reports

    值Name描述
    0UAVIONIX_ADSB_OUT_RF_SELECT_STANDBY
    1UAVIONIX_ADSB_OUT_RF_SELECT_RX_ENABLED
    2UAVIONIX_ADSB_OUT_RF_SELECT_TX_ENABLED

    UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX ​

    Status for ADS-B transponder dynamic input

    值Name描述
    0UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_NONE_0
    1UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_NONE_1
    2UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_2D
    3UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_3D
    4UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_DGPS
    5UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX_RTK

    UAVIONIX_ADSB_RF_HEALTH ​

    (Bitmask) Status flags for ADS-B transponder dynamic output

    值Name描述
    0UAVIONIX_ADSB_RF_HEALTH_INITIALIZING
    1UAVIONIX_ADSB_RF_HEALTH_OK
    2UAVIONIX_ADSB_RF_HEALTH_FAIL_TX
    16UAVIONIX_ADSB_RF_HEALTH_FAIL_RX

    UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE ​

    Definitions for aircraft size

    值Name描述
    0UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_NO_DATA
    1UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L15M_W23M
    2UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L25M_W28P5M
    3UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L25_34M
    4UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L35_33M
    5UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L35_38M
    6UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L45_39P5M
    7UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L45_45M
    8UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L55_45M
    9UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L55_52M
    10UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L65_59P5M
    11UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L65_67M
    12UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L75_W72P5M
    13UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L75_W80M
    14UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L85_W80M
    15UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE_L85_W90M

    UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT ​

    GPS lataral offset encoding

    值Name描述
    0UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_NO_DATA
    1UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_LEFT_2M
    2UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_LEFT_4M
    3UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_LEFT_6M
    4UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_RIGHT_0M
    5UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_RIGHT_2M
    6UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_RIGHT_4M
    7UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT_RIGHT_6M

    UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LON ​

    GPS longitudinal offset encoding

    值Name描述
    0UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LON_NO_DATA
    1UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LON_APPLIED_BY_SENSOR

    UAVIONIX_ADSB_EMERGENCY_STATUS ​

    Emergency status encoding

    值Name描述
    0UAVIONIX_ADSB_OUT_NO_EMERGENCY
    1UAVIONIX_ADSB_OUT_GENERAL_EMERGENCY
    2UAVIONIX_ADSB_OUT_LIFEGUARD_EMERGENCY
    3UAVIONIX_ADSB_OUT_MINIMUM_FUEL_EMERGENCY
    4UAVIONIX_ADSB_OUT_NO_COMM_EMERGENCY
    5UAVIONIX_ADSB_OUT_UNLAWFUL_INTERFERANCE_EMERGENCY
    6UAVIONIX_ADSB_OUT_DOWNED_AIRCRAFT_EMERGENCY
    7UAVIONIX_ADSB_OUT_RESERVED

    Commands (MAV_CMD) ​

    - + \ No newline at end of file diff --git a/zh/messages/ualberta.html b/zh/messages/ualberta.html index 1466d487a..22730a82b 100644 --- a/zh/messages/ualberta.html +++ b/zh/messages/ualberta.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

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    方言：ualberta ​

    Warning This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

    This topic is a human-readable form of the XML definition file: ualberta.xml.

    Note

    • MAVLink 2 extension fields are displayed in blue.
    • Entities from dialects are displayed only as headings (with link to original)

    概览 ​

    TypeDefinedIncluded
    Messages3226
    Enums3144
    Commands1640

    The following sections list all entities in the dialect (both included and defined in this file).

    消息 ​

    Accelerometer and Gyro biases from the navigation filter

    Field NameType描述
    usecuint64_t时间戳(微秒)
    accel_0floatb_f[0]
    accel_1floatb_f[1]
    accel_2floatb_f[2]
    gyro_0floatb_f[0]
    gyro_1floatb_f[1]
    gyro_2floatb_f[2]

    RADIO_CALIBRATION (221) ​

    Complete set of calibration parameters for the radio

    Field NameType描述
    副翼uint16_t[3]副翼设定点：左，中，右
    升降舵uint16_t[3]升降舵设定点：机头向下，居中，机头向上
    方向舵uint16_t[3]方向舵设定点：机头向左，机头向居中，机头向右
    陀螺仪uint16_t[2]尾陀螺仪模式/增益设定点：航向保持，速率模式
    俯仰角uint16_t[5]俯仰角曲线设定点（每25％）
    油门uint16_t[5]油门曲线设置点(每 25%)

    UALBERTA_SYS_STATUS (222) ​

    System status specific to ualberta uav

    Field NameType描述
    模式uint8_tSystem mode, see UALBERTA_AUTOPILOT_MODE ENUM
    导航模式uint8_tNavigation mode, see UALBERTA_NAV_MODE ENUM
    驾驶员uint8_tPilot mode, see UALBERTA_PILOT_MODE

    Enumerated Types ​

    UALBERTA_AUTOPILOT_MODE ​

    Available autopilot modes for ualberta uav

    值Name描述
    1MODE_MANUAL_DIRECT原始输入脉冲宽度发送到输出
    2MODE_MANUAL_SCALED使用校准对输入进行归一化，将其转换回原始脉冲宽度以输出
    3MODE_AUTO_PID_ATT
    4MODE_AUTO_PID_VEL
    5MODE_AUTO_PID_POS

    UALBERTA_NAV_MODE ​

    Navigation filter mode

    值Name描述
    1NAV_AHRS_INIT
    2NAV_AHRSAHRS 模式
    3NAV_INS_GPS_INITINS/GPS 初始化模式
    4NAV_INS_GPSINS/GPS模式

    UALBERTA_PILOT_MODE ​

    Mode currently commanded by pilot

    值Name描述
    1PILOT_MANUAL
    2PILOT_AUTO
    3PILOT_ROTO旋转模式

    Commands (MAV_CMD) ​

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    Heartbeat/Connection Protocol ​

    The heartbeat protocol is used to determine whether a system is connected, and to detect when it has disconnected.

    Connection/Disconnection ​

    A MAVLink component considers itself connected to another system/component if it regularly receives their HEARTBEAT message (and disconnected if expected messages are not received). Therefore, to set up a "connection" every component must regularly broadcast its HEARTBEAT and monitor for heartbeats from other components/systems.

    The rate at which the HEARTBEAT message must be broadcast, and how many messages may be "missed" before the connection is considered to be broken depends on the channel (it is not defined by MAVLink). On RF telemetry links, components typically publish their heartbeat at 1 Hz and consider another system to have disconnected if four or five messages are not received.

    A system may choose not to broadcast information if it does not detect another system, and it will continue to send messages to a system while it is receiving heartbeats. Therefore it is important that systems:

    • broadcast a heartbeat even when not commanding the remote system.
    • do not broadcast a heartbeat when they are in a faulted state (i.e. do not publish a heartbeat from a separate thread that is unaware of the state of the rest of the component).

    Ground Control Station (GCS) Connections ​

    In addition using the heartbeat to establish connection/disconnection, a GCS may not report that an autopilot is connected until its parameters have been downloaded.

    - + \ No newline at end of file diff --git a/zh/protocol/landing_target.html b/zh/protocol/landing_target.html index c7a0783a7..b0c5217c0 100644 --- a/zh/protocol/landing_target.html +++ b/zh/protocol/landing_target.html @@ -9,9 +9,9 @@ - + - + @@ -23,7 +23,7 @@

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    Landing Target Protocol ​

    The landing target protocol/message communicates the position of one or more targets from MAVLink positioning system(s) to an autopilot. A multicopter or VTOL system can use the message to land with far greater positional accuracy than provided by conventional GPS (GPS provides position within several meters while a landing-target system might reasonably provide centimetre-level precision landing).

    A positioning system might typically consist of an onboard companion computer with a vision system that can detect a light beacon or target image. Radio beacons and different types of visual markers and tags are also supported.

    Protocol Messages ​

    The message used by this protocol is LANDING_TARGET. This is broadcast by the positioning system to indicate the position of a particular target at a particular time.

    Note The required broadcast rate depends on the landing speed and desired accuracy; start with rates between 10 Hz and 50 Hz and tune performance as needed.

    The original MAVLink 1 message was designed with the assumption that the target is captured from a downward facing camera, and provides fields that are relative to the captured image. MAVLink 2 extended the message to provide positional information in terms of standard frames (MAV_FRAME), a quaternion and the type of landing targets (LANDING_TARGET_TYPE). This allows more flexibility for the types of target that can be supported, simplifies the code required by the autopilot, and allows the autopilot to control both landing position and orientation on (some) targets.

    Different systems may support either (or presumably both) sets of fields. These are discussed below.

    Target Relative to Captured Image ​

    The LANDING_TARGET fields that are relative to a captured image are shown below:

    Field NameTypeUnitsValuesDescription
    angle_xfloatradX-axis angular offset of the target from the center of the image
    angle_yfloatradY-axis angular offset of the target from the center of the image
    distancefloatmDistance to the target from the vehicle
    size_xfloatradSize of target along x-axis
    size_yfloatradSize of target along y-axis

    The positional information can be interpreted as described below.

    Imagine a ray pointing from the camera's principal point to the target. The x angle (angle_x) is the angle spanned by that ray and the x-axis of the image plane. The same holds for the y angle (angle_y). In other words, the x angle is a function of the x pixel coordinate of the target (denoted by u̅ in the image below), the y angle is a function of the y pixel coordinate (denoted v in the image below). Using the angle rather than u̅/v̅ pixel coordinates has the advantage that the effect of the camera lens is already accounted for. Otherwise the receiver of the message would need to know the camera field of view etc.

    Landing Target Fields

    The sizes in x and y direction are analogous (size_x/size_y). They describe the angle between the smallest and biggest pixel in x/y direction respectively of the target as seen in the image.

    Tip ArduPilot supports messages with these fields only (at time of writing). The MAVLink 2 extension fields are ignored.

    Target as Position/Quaternion (MAVLink 2 and later) ​

    The message fields that are used to provide target information as a position/quaternion are shown below. Field meaning and use is clear from the description.

    Field NameTypeUnitsValuesDescription
    frameuint8_tMAV_FRAMECoordinate frame used for following fields.
    xfloatmX Position of the landing target in MAV_FRAME
    yfloatmY Position of the landing target in MAV_FRAME
    zfloatmZ Position of the landing target in MAV_FRAME
    qfloat[4]Quaternion of landing target orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
    typeuint8_tLANDING_TARGET_TYPEType of landing target
    position_validuint8_tBoolean indicating whether these position field values are populated with valid position target information (1: valid, 0: invalid). The default is '0', so that if the fields are not populated the default-zero values are not interpreted as a valid target position.

    Tip PX4 supports this form of positioning in MAV_FRAME_LOCAL_NED (only). The original (MAVLink 1) fields are ignored.

    - + \ No newline at end of file diff --git a/zh/services/arm_authorization.html b/zh/services/arm_authorization.html index ef299a63a..403f5839c 100644 --- a/zh/services/arm_authorization.html +++ b/zh/services/arm_authorization.html @@ -9,9 +9,9 @@ - + - + @@ -29,7 +29,7 @@ result_param2=if result is ACCEPTED the it should be set with the time in seconds that this authorization is valid otherwise an aditional information about why it was denied should be set. example: for result_param1=MAV_ARM_AUTH_DENIED_REASON_INVALID_WAYPOINT or MAV_ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USE it may have the index of the waypoint that caused it to be denied. target_system=system id of the drone target_component=component id of the drone - + \ No newline at end of file diff --git a/zh/services/battery.html b/zh/services/battery.html index 81356c256..75765c81c 100644 --- a/zh/services/battery.html +++ b/zh/services/battery.html @@ -9,9 +9,9 @@ - + - + @@ -22,7 +22,7 @@

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    Battery Protocol ​

    MAVLink provides a number of messages for providing battery information:

    The messages should be sent individually for each battery in the system (the messages have an instance id field that is used to identify the corresponding battery). It is up to the GCS to provide an appropriate mechanism that allows the user to assess the aggregate battery status on systems that have multiple batteries.

    INFO

    There is no standardized mechanism to report the "aggregate" battery state on a multi-battery system. Note There is no standardized mechanism to report the "aggregate" battery state on a multi-battery system. A GCS is expected to provide enough information from the individual battery reports to allow a user to make a reasonable assessment of vehicle battery status.

    Message/Enum Summary ​

    消息描述
    BATTERY_STATUSBattery message used for frequent status update - e.g. of current capacity, voltages, faults, etc.
    BATTERY_INFO (WIP)Smart battery message used for invariant or infrequently changing data - e.g. battery name, battery full/empty capacity and voltages etc.
    Enum描述
    MAV_BATTERY_FAULTFault/health indications.
    MAV_BATTERY_MODESmart battery mode.

    Battery Components ​

    Batteries that are connected to a flight controller via a non-MAVLink bus are treated as part of the flight controller component. Specifically, the battery messages are emitted with the autopilot system and component ids, and the MAV_TYPE for the type of vehicle.

    Smart batteries that are distinct components on the MAVLink network must:

    INFO

    Ground stations (and other components) that are interested in battery messages should differentiate batteries based on BATTERY_STATUS.id/BATTERY_INFO.id.

    A Note on SYS_STATUS ​

    SYS_STATUS contains three battery information fields: voltage_battery, current_battery, battery_remaining.

    On a single-battery system these usually provide the same information as the BATTERY_STATUS message.

    On multi-battery systems the values are not standardised, and depend on the flight stack and/or flight stack configuration. For example, a system may report the same information as the first BATTERY_STATUS, allow the user to configure which battery is reported (i.e. with a parameter), report the battery with the lowest remaining capacity.

    INFO

    GCS should not rely on the value of SYS_STATUS. However it cannot be removed because it is used for battery reporting on many legacy systems (e.g. On-screen displays).

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    Camera Protocol ​

    The camera protocol v2 is used to configure camera payloads and request their status. It provides basic methods for photo capture, video capture and streaming, setting zoom and focus, querying and configuring camera storage, and selecting multiple cameras. It also defines a camera definition file format that allows a GCS to generate a configuration UI for setting any property of the camera using parameters.

    INFO

    This protocol supersedes Camera Protocol v1 (Simple Trigger Protocol). The older protocol enables camera triggering, but does not support other features or querying camera capabilities.

    WARNING

    We are transitioning from specific request commands to a single generic requestor. GCS and MAVLink SDKs/apps should support both approaches as we migrate to exclusive use of the new method (documented here). For more information see Migration Notes for GCS & Camera Servers.

    Camera Managers provide a MAVLink Camera protocol interface for cameras that don't directly implement MAVLink support. These generally run on a companion computer:

    These cameras have inbuilt support for MAVLink (but not necessarily camera protocol v2):

    相机连接 ​

    MAVLink cameras are identified and addressed by their system and component id.

    Components that have non-MAVLink cameras attached, such as companion computers, are expected expose each of them as a separate MAVLink camera component with its own HEARTBEAT.

    The exception is the autopilot component, which can "proxy" up to 6 attached non-MAVLink cameras: these are identified by a camera_device_id field in messages and Target Camera ID label in commands.

    Camera Messages ​

    All MAVLink components include their system id and component id fields in the MAVLink packet header when sending messages. As each MAVLink camera component (with HEARTBEAT.type=MAV_TYPE_CAMERA) represents just one camera, these ids can be used to uniquely identify the camera associated with a message.

    non-MAVLink cameras attached to the autopilot are identified first by the autopilot system/component id, and then by a camera_device_id field in the message payload (all camera messages should have an id field with this or a similar name). An autopilot should set this to the id of the associated camera device, and otherwise this should always be set to zero.

    Camera Addressing in Commands ​

    MAVLink cameras are sent commands addressed using their system and component ids (just as when addressing commands to any other component).

    To send commands to autopilot-attached cameras, the command should be send to the autopilot component. The device id of the target attached camera must further be set in the command's Target Camera ID parameter (the index and precise label of this parameter may vary). The autopilot is required to respond to the command with COMMAND_ACK, populating the COMMAND_ACK.result_param2 field with the id of the targeted autopilot connected camera, if any.

    Note that the Target Camera ID parameter should be set to 0 in order to target all cameras, or if targeting a MAVLink camera.

    Camera Addressing in Missions ​

    When using a camera MAV_CMD in a mission, the id parameter (if present) indicates the target camera:

    • 1 - 6 indicates a flight-stack connected camera
    • 7-255 is the component id of a MAVLink connected camera. Note that component ids 1-6 should never be used for MAVLink cameras!
    • 0 indicates "all connected cameras".

    When processing a camera item in a mission the autopilot should:

    • For Target Camera ID values of 1-6, perform the specified camera action on the connected camera if it exists, and otherwise log an error.
    • For other Target Camera ID values, re-emit the MAV_CMD using the command protocol, setting the target component id to the id set in the camera mission item. It should also log any errors from the returned COMMAND_ACK.

    INFO

    Flight stacks that predate using a camera id typically re-emit the mission command addressed either to the broadcast component id (0) or to MAV_COMP_ID_CAMERA. The former triggers all cameras on the system, while the later provides better command handling because there is only one COMMAND_ACK.

    The camera identification operation identifies all the available cameras and determines their capabilities. ​

    Connection ​

    MAVLink Camera components are expected to follow the Heartbeat/Connection Protocol and sent a constant flow of heartbeats (nominally at 1Hz). Cameras must set a HEARTBEAT.type of MAV_TYPE_CAMERA. Each camera must use a different pre-defined camera component ID. Values of MAV_COMP_ID_CAMERA to MAV_COMP_ID_CAMERA6 are recommended, but in theory any camera ID may be used except for 0 to 6 (which are reserved for cameras proxied by another component, such as the autopilot).

    A GCS should start the Camera Identification process the first time it detects a HEARTBEAT from a new:

    • MAVLink camera component.
    • Autopilot, in order to detect autopilot-connected cameras.

    INFO

    If a receiving system stops receiving heartbeats from the camera it is assumed to be disconnected, and should be removed from the list of available cameras. If heartbeats are again detected, the camera identification process below must be restarted from the beginning.

    INFO

    If a vehicle has more than one MAVLink camera, each camera will have a different component ID and send its own heartbeat. The vehicle autopilot might also have directly connected cameras, which are separately addressed by a camera device id. The GCS should create multiple instances of a camera controller based on the component ID of each camera, and also the component ID of the autopilot and each of its attached camera devices. All commands are sent to a specific camera by addressing the command to a specific component ID, and additionally the camera device id for autopilots.

    Camera Identification ​

    The camera identification operation identifies all the available cameras associated with a system and determines their capabilities. It is used to discover both MAVLink cameras and non-MAVLink cameras attached to the autopilot.

    The process involves requesting the CAMERA_INFORMATION message from autopilots and MAVLink cameras as they are discovered. CAMERA_INFORMATION.flags provides information about camera capabilities. It contains a bitmap of CAMERA_CAP_FLAGS values that tell the GCS if the camera supports still image capture, video capture, or video streaming, and if it needs to be in a certain mode for capture, etc.

    TIP

    Camera identification must be carried out before all other camera operations!

    The first time a heartbeat is received from a new camera component (HEARTBEAT.type=MAV_TYPE_CAMERA), the GCS should send it a MAV_CMD_REQUEST_MESSAGE message asking for CAMERA_INFORMATION (message id 259). The camera will then respond with the a COMMAND_ACK message containing a result. On success (result is MAV_RESULT_ACCEPTED) the camera component must then send a CAMERA_INFORMATION message.

    Mermaid Sequence: Camera Type

    The operation follows the normal Command Protocol rules for command/acknowledgment (if no COMMAND_ACK response is received for MAV_CMD_REQUEST_MESSAGE the command will be re-sent a number of times before failing). If CAMERA_INFORMATION is not received after receiving an ACK with MAV_RESULT_ACCEPTED, the protocol assumes the message was lost, and the cycle of sending MAV_CMD_REQUEST_MESSAGE is repeated. If CAMERA_INFORMATION is still not received after three cycle repeats, the GCS may assume that the camera is not supported.

    The first time a heartbeat is received from an autopilot, the GCS follow the same process to query for information about directly connected cameras. The only difference is that the autopilot should return a CAMERA_INFORMATION message for each connected camera, populated with its camera_device_id.

    Mermaid Sequence: Autopilot

    Additional Camera Information ​

    The CAMERA_INFORMATION response contains the bare minimum information about the camera and what it can or cannot do. This is sufficient for basic image and/or video capture.

    If a camera provides finer control over its settings CAMERA_INFORMATION.cam_definition_uri will include a URI to a Camera Definition File. If this URI exists, the GCS will request it, parse it and prepare the UI for the user to control the camera settings.

    The CAMERA_INFORMATION.cam_definition_version field should provide a version for the definition file, allowing the GCS to cache it. Once downloaded, it would only be requested again if the version number changes.

    INFO

    A GCS that implements this protocol is expected to support both HTTP (http://) and MAVLink FTP (mftp://) URIs for download of the camera definition file. If the camera provides an HTTP or MAVLink FTP interface, the definition file can be hosted on the camera itself. Otherwise, it can be hosted anywhere (on any reachable server).

    相机基本操作 ​

    相机捕获状态 ​

    Some cameras must be in a certain mode for still and/or video capture.

    The GCS can determine if it needs to make sure the camera is in the proper mode prior to sending a start capture (image or video) command by checking whether the CAMERA_CAP_FLAGS_HAS_MODES bit is set true in CAMERA_INFORMATION.flags.

    In addition, some cameras can capture images in any mode but with different resolutions. For example, a 20 megapixel camera would take a full resolution image when set to CAMERA_MODE_IMAGE but only at the current video resolution if it is set to CAMERA_MODE_VIDEO.

    To get the current mode, the GCS would send a MAV_CMD_REQUEST_MESSAGE command asking for CAMERA_SETTINGS. The camera component will then respond with the COMMAND_ACK message containing a result. On success (COMMAND_ACK.result is MAV_RESULT_ACCEPTED) the camera must then send a CAMERA_SETTINGS message. The current mode is the CAMERA_SETTINGS.mode_id field.

    The sequence is shown below:

    Camera Settings

    INFO

    Command acknowledgment and message resending is handled in the same way as for camera identification (if a successful ACK is received the camera will expect the CAMERA_SETTINGS message, and repeat the cycle - up to 3 times - until it is received).

    To set the camera to a specific mode, the GCS would send the MAV_CMD_SET_CAMERA_MODE command with the appropriate mode.

    The sequence is shown below:

    INFO

    The operation follows the normal Command Protocol rules for command/acknowledgment.

    存储状态 ​

    Before capturing images and/or videos, a GCS should query the storage status to determine if the camera has enough free space for these operations (and provide the user with feedback as to the current storage status). The GCS will send the MAV_CMD_REQUEST_MESSAGE command and it expects a COMMAND_ACK message back as well as a STORAGE_INFORMATION response. For formatting (or erasing depending on your implementation), the GCS will send a MAV_CMD_STORAGE_FORMAT command.

    Status ​

    In addition to querying about storage status, the GCS should also stream the Camera Capture Status in order to provide the user with proper UI indicators.

    This can be done by sending a MAV_CMD_SET_MESSAGE_INTERVAL command asking for CAMERA_CAPTURE_STATUS. The command it expects a COMMAND_ACK message back and then CAMERA_CAPTURE_STATUS should be streamed at the specified rate.

    静态图像捕获 ​

    A camera supports still image capture if the CAMERA_CAP_FLAGS_CAPTURE_IMAGE bit is set in CAMERA_INFORMATION.flags.

    A GCS/MAVLink app uses the MAV_CMD_IMAGE_START_CAPTURE command to request that the camera capture a specified number of images (or forever), and the duration between them. The camera immediately returns the normal command acknowledgment (MAV_RESULT).

    Each time an image is captured, the camera broadcasts a CAMERA_IMAGE_CAPTURED message. This message not only tells the GCS the image was captured, it is also intended for geo-tagging.

    INFO

    The camera must iterate CAMERA_IMAGE_CAPTURED.image_index and the counter used in CAMERA_CAPTURE_STATUS.image_count for every new image capture (these values iterate until explicitly cleared using MAV_CMD_STORAGE_FORMAT). The index and total image count can be used to re-request missing images (e.g. images captured when the vehicle was out of telemetry range).

    The MAV_CMD_IMAGE_STOP_CAPTURE command can optionally be sent to stop an image capture sequence (this is needed if image capture has been set to continue forever).

    The still image capture message sequence for missions (as described above) is shown below:

    Mermaid Sequence: Image capture

    The message sequence for interactive user-initiated image capture through a GUI is slightly different. In this case the GCS should:

    The sequence is as shown below:

    Mermaid Sequence: Interactive user initiated image capture

    Request Lost CAMERA_IMAGE_CAPTURED Messages ​

    The camera broadcasts a CAMERA_IMAGE_CAPTURED every time a new image is captured, iterating both the current image index (CAMERA_IMAGE_CAPTURED.image_index) and the total image count (CAMERA_CAPTURE_STATUS.image_count).

    These messages can be lost during transmission; for example if the vehicle is out of data-link range of the ground stations.

    Lost image capture messages can be detected by comparing GCS and camera image counts. Individual entries can be requested using MAV_CMD_REQUEST_MESSAGE, where param1="MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED" and param2="the index of the missing image".

    The camera image log iterates "forever" (but may be explicitly reset using MAV_CMD_STORAGE_FORMAT.param3=1).

    Video Capture ​

    A camera supports video capture if the CAMERA_CAP_FLAGS_CAPTURE_VIDEO bit is set in CAMERA_INFORMATION.flags.

    To start recording videos, the GCS uses the MAV_CMD_VIDEO_START_CAPTURE command. If requested, the CAMERA_CAPTURE_STATUS message is sent to the GCS at a set interval.

    To stop recording, the GCS uses the MAV_CMD_VIDEO_STOP_CAPTURE command.

    Video Streaming ​

    INFO

    The GCS should already have identified all connected cameras by their heartbeat and followed the Camera Identification steps to get CAMERA_INFORMATION for every camera.

    A camera is capable of streaming video if it sets the CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM bit set in CAMERA_INFORMATION.flags.

    The sequence for requesting all video streams from a particular camera is shown below:

    Mermaid Sequence: Video stream info

    The steps are:

    1. GCS follows the Camera Identification steps to get CAMERA_INFORMATION for every camera.

    2. GCS checks if CAMERA_INFORMATION.flags contains the CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM flag.

    3. If so, the GCS sends the MAV_CMD_REQUEST_MESSAGE message to the camera requesting the video streaming configuration (param1=269) for all streams (param2=0).

      INFO

      A GCS can also request information for a particular stream by setting its id in param2.

    4. Camera returns a VIDEO_STREAM_INFORMATION message for the specified stream or all streams it supports.

    INFO

    If your camera only provides video streaming and nothing else (no camera features), the CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM flag is the only flag you need to set. The GCS will then provide video streaming support and skip camera control.

    Video Metadata ​

    The protocol provides some information about video streaming support in CAMERA_CAP_FLAGS, such as support for video streaming (CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM) and thermal range information (CAMERA_CAP_FLAGS_HAS_THERMAL_RANGE), In addition the VIDEO_STREAM_INFORMATION and VIDEO_STREAM_STATUS provide broad information about each stream, including its transport mechanism, encoding, resolution, frame rate, and status (VIDEO_STREAM_STATUS_FLAGS).

    MAVLink does not specify any mechanism for getting frame-synchronized video metadata, such as absolute thermal values of thermal video streams, text-tracks, and so on. The following sections outline some MAVLink-centric methods for getting "approximate" video-synchronized metadata.

    Camera absolute thermal range ​

    A thermal video stream is often coloured as a heatmap in order to highlight hotter and colder sections. This heatmap is relative to the hottest and coldest points on the frame, so the hot sections are not necessarily hot, they are just hotter than their surroundings. If you're searching for things that have a specific temperature, it can be useful to know the absolute temperatures represented by the image.

    The CAMERA_THERMAL_RANGE message can be streamed alongside a video stream to provide this information. The message includes the associated stream and camera id, along with the position and value of the maximum and minimum temperature in the video frame. That is sufficient to overlay the hottest and coldest points on a video, and in theory to determine the absolute temperature of all pixels.

    INFO

    The message is streamed alongside the video stream, but there is no precise mechanism to synchronize values to frames. The information is therefore an estimate/approximate.

    The message can be requested for a particular camera and stream using the MAV_CMD_SET_MESSAGE_INTERVAL, when the associated VIDEO_STREAM_STATUS.flag for the stream has bit VIDEO_STREAM_STATUS_FLAGS_THERMAL_RANGE_ENABLED set. Note that MAV_CMD_SET_MESSAGE_INTERVAL.param3 indicates the stream id of the current camera, or 0 for all streams, while param4 indicates the target camera_device_id for autopilot-attached cameras or 0 for MAVLink cameras.

    相机模式 ​

    A camera may support tracking a point and/or a rectangle. Information about the tracked point can be streamed during tracking, and may be passed to a gimbal in order to move the camera to track the target (or control vehicle attitude to track the target).

    Support for tracking different types of targets is indicated by the CAMERA_CAP_FLAGS_HAS_TRACKING_POINT and/or CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLE flags in CAMERA_INFORMATION.flags.

    To start camera tracking a GCS uses either the MAV_CMD_CAMERA_TRACK_POINT or MAV_CMD_CAMERA_TRACK_RECTANGLE command.

    After starting camera tracking you should call MAV_CMD_SET_MESSAGE_INTERVAL to start streaming the CAMERA_TRACKING_IMAGE_STATUS message at your desired rate. This message contains information about the tracked point/rectangle in an image, and may be used by the receiving system to determine the location of the target (alongside other information like the CAMERA_FOV_STATUS).

    If geo-tracking status information is supported (indicated by CAMERA_CAP_FLAGS_HAS_TRACKING_GEO_STATUS) you should also call MAV_CMD_SET_MESSAGE_INTERVAL to stream CAMERA_TRACKING_GEO_STATUS at your desired rate. This message provides the location of the target in physical co-ordinates that can be passed to a gimbal.

    To stop any kind of tracking, a GCS uses the MAV_CMD_CAMERA_STOP_TRACKING command. After stopping tracking you should call MAV_CMD_SET_MESSAGE_INTERVAL to stop streaming CAMERA_TRACKING_IMAGE_STATUS and CAMERA_TRACKING_GEO_STATUS (set their rates to 0).

    Camera tracking message sequence ​

    INFO

    The GCS should already have identified all connected cameras by their heartbeat and followed the Camera Identification steps to get CAMERA_INFORMATION for every camera.

    The sequence for tracking a point is shown below (tracking a rectangle is the same sequence but a different tracking command).

    Mermaid Sequence: tracking info

    The steps are:

    1. GCS follows the Camera Identification steps to get CAMERA_INFORMATION for every camera.
    2. GCS checks if CAMERA_INFORMATION.flags contains the CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLE, CAMERA_CAP_FLAGS_HAS_TRACKING_POINT, CAMERA_CAP_FLAGS_HAS_TRACKING_GEO_STATUS.
    3. If tracking is supported the GCS sends the command to start the type of tracking it wants to do: MAV_CMD_CAMERA_TRACK_POINT or MAV_CMD_CAMERA_TRACK_RECTANGLE. The sequence above just shows point tracking.
    4. Set the desired rates (intervals) for streaming the tracking status messages.
    5. Camera streams CAMERA_TRACKING_IMAGE_STATUS and/or CAMERA_TRACKING_GEO_STATUS. These are used to provide camera targetting information.
    6. To stop tracking, a GCS uses the MAV_CMD_CAMERA_STOP_TRACKING command. The streaming intervals must also be set to zero.

    Battery Status ​

    Camera components that are powered from their own battery should publish BATTERY_STATUS messages.

    Other components like a GCS will typically only use the camera BATTERY_STATUS.battery_remaining field (or possibly time_remaining); generally other fields can be set as "not supported".

    Message/Command/Enum Summary ​

    消息 ​

    消息描述
    CAMERA_INFORMATIONBasic information about camera including supported features and URI link to extended information (cam_definition_uri field).
    CAMERA_SETTINGSTimestamp and camera mode information.
    VIDEO_STREAM_INFORMATIONInformation defining a video stream configuration. If a camera has more than one video stream, it would send one of this for each video stream, with their specific configuration. Each stream must have its own, unique stream_id.
    VIDEO_STREAM_STATUSInformation updating a video stream configuration.
    STORAGE_INFORMATIONStorage information (e.g. number and type of storage devices, total/used/available capacity, read/write speeds).
    CAMERA_CAPTURE_STATUSCamera capture status, including current capture type (if any), capture interval, available capacity.
    CAMERA_IMAGE_CAPTUREDInformation about image captured (returned to GPS every time an image is captured).
    CAMERA_FOV_STATUSInformation about the field of view of a camera. Requested using MAV_CMD_REQUEST_MESSAGE.
    CAMERA_TRACKING_IMAGE_STATUSCamera tracking status, sent while in active tracking. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval.
    CAMERA_TRACKING_GEO_STATUSCamera tracking status, sent while in active tracking. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval.
    CAMERA_THERMAL_RANGECamera absolute thermal range. This provides value and position of max/min temperature in a video stream, allowing thermal range of video to be calibrated to absolute rather than relative temperature. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval for a particular camera and stream.

    命令 ​

    Command描述
    MAV_CMD_REQUEST_MESSAGESend command to request any message (used to request CAMERA_INFORMATION and the other messages above)
    MAV_CMD_SET_CAMERA_MODESend command to set CAMERA_MODE.
    MAV_CMD_SET_CAMERA_ZOOMSend command to set the camera zoom.
    MAV_CMD_SET_CAMERA_FOCUSSend command to set the camera focus.
    MAV_CMD_IMAGE_START_CAPTURESend command to start image capture, specifying the duration between captures and total number of images to capture.
    MAV_CMD_IMAGE_STOP_CAPTURESend command to stop image capture.
    MAV_CMD_VIDEO_START_CAPTURESend command to start video capture, specifying the frequency that CAMERA_CAPTURE_STATUS messages should be sent while recording.
    MAV_CMD_VIDEO_STOP_CAPTURESend command to stop video capture.
    MAV_CMD_VIDEO_START_STREAMINGSend command to start video streaming for the given Stream ID (stream_id.) This is mostly for streaming protocols that push a stream. If your camera uses a connection based streaming configuration (RTSP, TCP, etc.), you may ignore it if you don't need it but note that you still must ACK the command, like all MAV_CMD_XXX commands. When using a connection based streaming configuration, the GCS will connect the stream from its side. When a camera offers more than one stream and the user switches from one stream to another, the GCS will send a MAV_CMD_VIDEO_STOP_STREAMING command targeting the current Stream ID followed by a MAV_CMD_VIDEO_START_STREAMING targeting the newly selected Stream ID.
    MAV_CMD_VIDEO_STOP_STREAMINGSend command to stop video streaming for the given Stream ID (stream_id.) This is mostly for streaming protocols that push a stream. If your camera uses a connection based streaming configuration (RTSP, TCP, etc.), you may ignore it if you don't need it but note that you still must ACK the command, like all MAV_CMD_XXX commands. When using a connection based streaming configuration, the GCS will disconnect the stream from its side. When a camera offers more than one stream and the user switches from one stream to another, the GCS will send a MAV_CMD_VIDEO_STOP_STREAMING command targeting the current Stream ID followed by a MAV_CMD_VIDEO_START_STREAMING targeting the newly selected Stream ID.
    MAV_CMD_CAMERA_TRACK_POINTInitate visual point tracking, if supported by the camera (CAMERA_CAP_FLAGS_HAS_TRACKING_POINT is set).
    MAV_CMD_CAMERA_TRACK_RECTANGLEInitiate visual rectangle tracking, if supported by the camera (CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLE is set).
    MAV_CMD_CAMERA_STOP_TRACKINGStop camera tracking (as initiated using MAV_CMD_CAMERA_TRACK_POINT or MAV_CMD_CAMERA_TRACK_RECTANGLE).

    Deprecated Commands ​

    These commands have been deprecated, replaced by the generic requester command MAV_CMD_REQUEST_MESSAGE

    Command描述
    MAV_CMD_REQUEST_CAMERA_SETTINGSSend command to request CAMERA_SETTINGS.
    MAV_CMD_REQUEST_CAMERA_INFORMATIONSend command to request CAMERA_INFORMATION.
    MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATIONSend command to request VIDEO_STREAM_INFORMATION. This is sent once for each camera when a camera is detected and it has set the CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM flag within the CAMERA_INFORMATION message flags field.
    MAV_CMD_REQUEST_VIDEO_STREAM_STATUSSend command to request VIDEO_STREAM_STATUS. This is sent whenever there is a mode change (when MAV_CMD_SET_CAMERA_MODE is sent.) It allows the camera to update the stream configuration when a camera mode change occurs.
    MAV_CMD_REQUEST_STORAGE_INFORMATIONSend command to request STORAGE_INFORMATION.
    MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUSSend command to request CAMERA_CAPTURE_STATUS.

    Enum ​

    Enum描述
    CAMERA_CAP_FLAGS描述相机能力的标志位(按位映射)。 例如：在视频模式下捕获图像的能力，是否支持测量模式等。 Received in CAMERA_INFORMATION.
    CAMERA_MODE相机模式 (图像，视频，测量等)。 Received in CAMERA_SETTINGS.
    VIDEO_STREAM_TYPE视频流的类型 - 比如 RTSP、MPEG等。 Received in VIDEO_STREAM_INFORMATION.
    VIDEO_STREAM_STATUS_FLAGS视频流状态的标志位- 比如缩放倍率，热力图等。 Received in VIDEO_STREAM_INFORMATION.
    CAMERA_TRACKING_STATUS_FLAGSCurrent tracking status. Received in CAMERA_TRACKING_IMAGE_STATUS amd CAMERA_TRACKING_GEO_STATUS.
    CAMERA_TRACKING_MODECurrent tracking mode. Received in CAMERA_TRACKING_IMAGE_STATUS.
    CAMERA_TRACKING_TARGET_DATAIndicates how target data is encoded in image. Received in CAMERA_TRACKING_IMAGE_STATUS.

    The original definition of this protocol used specific commands to query for each type of information requested from the camera: MAV_CMD_REQUEST_CAMERA_INFORMATION (for CAMERA_INFORMATION), MAV_CMD_REQUEST_CAMERA_SETTINGS, MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS, MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION, MAV_CMD_REQUEST_STORAGE_INFORMATION.

    The latest version replaces all of these specific commands with the general requestor MAV_CMD_REQUEST_MESSAGE.

    The transition works like this:

    1. Cameras need to handle both approaches for now (i.e. support both new generic and old specific commands).
    2. Ground stations will move from using the old specific commands to using both. They can try the new one and if they don't get an answer within a timeout they need to fall back to the previous command.
    3. After the new commands have been established in server and ground stations, the old specific commands may be removed from the implementations.
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    Camera Protocol v1: Camera Triggering ​

    The MAVLink Camera Protocol v1 defines a set of commands for configuring a camera to capture images at a particular time or distance interval, and to start/stop/pause/reset triggering. It also includes commands to configure/control a video camera.

    INFO

    This API has been superseded by Camera Protocol v2, which provides a more natural set of commands for using a camera, along with a comprehensive API for querying camera capabilities. This API is used by some older MAVLink cameras, and can be supported in parallel with the new protocol.

    The protocol can be used to control cameras attached to autopilot outputs or standalone MAVLink cameras that support this protocol

    A standalone MAVLink camera that needs to interact with a ground station must be able to send and recieve MAVLink messages from the ground station. If the GCS and Camera are connected to the flight stack on different MAVLink channels then the flight stack will need to forward messages between them.

    If the MAVLink camera does not emit the CAMERA_TRIGGER message on image capture then the flight stack may need to do this on its behalf.

    When processing a mission, the flight stack should re-emit camera command items using the command protocol (in order to trigger a connected MAVLink camera). The commands should be addressed to the same system ID as the autopilot, and with MAV_COMP_ID_ALL as the component ID. This ensures that any and all MAVLink cameras associated with the system will be triggered.

    Note that setting the component ID to MAV_COMP_ID_CAMERA is not recommended, as a camera does not have to use this component ID.

    Flight Controller Connected Cameras ​

    The commands can be used to control a camera attached to autopilot outputs.

    A GCS should address the commands to the autopilot component, which will need to trigger the connected camera appropriately. The flight stack will also need to trigger the camera when the commands are found in a mission.

    Note that a flight stack implementation can generally trigger attached cameras and emit a MAVLink command in missions. If a connected camera and MAVLink camera are connected, both with be triggered.

    Message/Command Summary ​

    Image Capture ​

    Command描述
    MAV_CMD_DO_SET_CAM_TRIGG_INTERVALSet time interval between captures.
    MAV_CMD_DO_SET_CAM_TRIGG_DISTSet distance between image captures (or trigger once, immediately).
    MAV_CMD_DO_TRIGGER_CONTROLStart/stop capturing images (using distance or time, as defined using above messages).
    MAV_CMD_OBLIQUE_SURVEYStart/stop/configure an camera mount pivoting oblique survey.
    消息描述
    CAMERA_TRIGGERCamera-IMU triggering and synchronisation message. Should be emitted when an image is captured. Depending on the camera integration this might be when the camera is commanded to capture an image and or when the camera provides feedback that it has been triggered.

    Video Capture ​

    Command描述
    MAV_CMD_DO_DIGICAM_CONFIGUREConfigure digital camera features such as ISO, aperture, etc. Replaced by Camera Definition Files in Camera Protocol v2.
    MAV_CMD_DO_DIGICAM_CONTROLControl digital camera features such as zoom, focus, shooting. Replaced by basic camera commands and Camera Definition Files in Camera Protocol v2.
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    命令协议 ​

    The MAVLink command protocol allows guaranteed delivery of MAVLink commands.

    Commands are values of MAV_CMD that define the values of up to 7 parameters. These parameters and the command id are encoded in COMMAND_INT or COMMAND_LONG for sending.

    The protocol provides reliable delivery by expecting a matching acknowledgement (COMMAND_ACK) from commands to indicate command arrival, and result. If no acknowledgement is received the command must be automatically re-sent.

    Message/Enum Summary ​

    消息描述
    COMMAND_INTMessage for encoding a command (MAV_CMD). The message encodes commands into up to 7 parameters: parameters 1-4, 7 are floats, and parameters 5,6 are scaled integers. The scaled integers are used for positional information (scaling depends on the actual command value). The coordinate frame of positional parameters is explicitly specified in a frame field. Commands that require float-only properties in parameters 5, 6 cannot be sent in this message (e.g. commands where NaN has an explicit meaning).
    COMMAND_LONGMessage for encoding a command (MAV_CMD). The mesage encodes commands into up to 7 float parameters. The coordinate frame used for positional co-ordinates is implementation dependent. Any command may be packaged in this message, but there may be some loss of precision for positional co-ordinates (latitude, longitude).
    COMMAND_ACKCommand acknowledgement. Includes result (success, failure, still in progress) and may include progress information and additional detail about failure reasons.
    COMMAND_CANCELCancel a long running command.
    Enum描述
    MAV_CMDCommands to be executed/sent in the command messages.
    MAV_FRAMECoordinate frame. Used in COMMAND_INT to specify the co-ordinate frame of any positional parameters.
    MAV_RESULTResult of command, included in COMMAND_ACK.result.

    Use COMMAND_INT or COMMAND_LONG? ​

    COMMAND_INT should be used when sending commands that contain positional or navigation information, if supported by the flight stack for the particular command. This is because it allows the co-ordinate frame to be specified for location and altitude values, which may otherwise be "unspecified". In addition latitudes/longitudes can be sent with greater precision in a COMMAND_INT as scaled integers in params 5 and 6 (than when sent in float values in COMMAND_LONG).

    COMMAND_LONG must be used for sending MAV_CMD commands that send float properties in parameters 5 and 6, as these values would be truncated to integers if sent in COMMAND_INT.

    Commands that are not positional or that specify integers in params 5 and 6 can be used in either message, if supported by the flight stack.

    Flight stacks may support commands in either message COMMAND_INT or COMMAND_LONG or both, albeit with a loss of precision, rounding errors, and/or undefined frames of reference. However they are encouraged to only support positional commands in COMMAND_INT, and commands that have float values in param 5 and 6 in COMMAND_LONG. The flight stack can reject commands sent in the "wrong" message type using the COMMAND_ACK.result of MAV_RESULT_COMMAND_LONG_ONLY or MAV_RESULT_COMMAND_INT_ONLY, as appropriate. Flight stacks that only support a particular command in a particular message type can more generally use these result values to indicate the correct message type for a command.

    Sequences ​

    COMMAND_INT sequence ​

    Mermaid Sequence: Command INT

    The request is sent by the ground station encoded within a COMMAND_INT. The drone processes the request and responds quickly with a COMMAND_ACK indicating the result. The result is that the command has been accepted (COMMAND_ACK.result=MAV_RESULT_ACCEPTED), has been accepted and is in progress (MAV_RESULT_IN_PROGRESS) or it has been rejected with some reason code. Note that "accepted" means that the command is valid and the flight stack will attempt to act on it, not that the command has completed. Most commands just return "accepted" (they are not implemented as long running commands).

    COMMAND_ACK.result_param2 may also include additional information about the reason for command rejection in a command-specific enum.

    If no ACK is received the GCS will resend COMMAND_INT for a flight-specific number of times before giving up.

    COMMAND_LONG sequence ​

    Mermaid Sequence: Command Long

    If the command drops the sender should increase the confirmation field:

    Mermaid Sequence: increase confirmation field

    Long Running Commands ​

    Some commands are long running, and cannot complete immediately. The drone reports its progress by sending COMMMAND_ACK messages with COMMAND_ACK.result=MAV_RESULT_IN_PROGRESS and the progress as a percentage in COMMMAND_ACK.progress ([0-100] percent complete, 255 if progress not supplied). When the operation completes, the drone must terminate with a COMMMAND_ACK containing the final result of the operation: MAV_RESULT_ACCEPTED, MAV_RESULT_FAILED, MAV_RESULT_CANCELLED).

    Mermaid Sequence: MAVRESULTINPROGRESS

    Long running operations may be cancelled by sending the COMMAND_CANCEL message. The drone should cancel the operation and complete the sequence by sending COMMAND_ACK with COMMAND_ACK.result=MAV_RESULT_CANCELLED

    • If cancellation is not supported the drone can just continue to send progress updates until completion.
    • If the sequence has already completed (or is idle) the cancel command should be ignored.

    The rate at which progress messages are emitted is system-dependent. Generally though, the GCS should have a much increased timeout after receiving an ACK with MAV_RESULT_IN_PROGRESS.

    If a timeout is triggered when waiting for a progress or completion update, the GCS should terminate the sequence (return to the idle state) and notify the user if appropriate.

    Only one instance of a particular long running command can execute at a time; to restart a long running operation (i.e. with new parameters) it must first be cancelled! If the same command is recieved while the operation is in progress the new command should be ACKed with MAV_RESULT_TEMPORARILY_REJECTED (to indicate that the target is busy).

    The protocol allows for different long running commands to run in parallel, if supported by the state machine of the recieving flight stack. If a flight stack does not support multiple commands running in parallel it should ACK new commands with MAV_RESULT_TEMPORARILY_REJECTED (with the possible exception of the COMMAND_CANCEL, which might be used to cancel the first request).

    Location Commands and Frame Types ​

    Commands that contain a location or altitude should be sent in COMMAND_INT so that the frame can be specified in the COMMAND_INT.frame field (as outlined above). If sent in COMMAND_LONG the frame is arbitrary, and cannot be predicted.

    A flight stack that does not support the frame specified in a command (if required by command) should reject it with the MAV_RESULT of MAV_RESULT_COMMAND_UNSUPPORTED_MAV_FRAME. This allows consumers to attempt the same command with other frames. Flight stacks that return MAV_RESULT_COMMAND_UNSUPPORTED for this case should be updated to use MAV_RESULT_COMMAND_UNSUPPORTED_MAV_FRAME.

    Note that it is an error to ignore the specified frame and use some other arbitrary frame.

    Designing Commands ​

    Guidance for designing commands can be found in Defining XML Elements > Command values.

    At high level:

    • Commands that include location information should specify latitude in Param 5, Longitude in param 6, and Altitude in param 7. This allows them to be sent in COMMAND_INT with higher precision.
    • Otherwise it is desirable to be able to send commands in either command message. Therefore use param 5 and 6 for integers rather than floats if possible. If reserving values, then consider choosing to reserve params 5 and 6, and reserve them with a default value of 0.
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    Parameter ​

    For the example above, the parameter MAX_PAN_RATE can be set using the PARAM_EXT parameter protocol (for more information, check the camera definition).

    File Compression ​

    In order to save flash space on the component and during transfer, the file can be compressed using gzip. If the URL of the definition file ends with .xml.gz it is the gzip compressed stream of the text file.

    Note The file stream is compressed but it is not an archive like .zip or .tar.gz (so there is no folder structure).

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    General metadata will contain the location of translation file URIs, but not their CRC. ​

    Any server can be used to host translations. The following example uses github.com, as it is easy to set up, automate, and download files.

    The example repository is https://github.com/PX4/PX4-Metadata-Translations:

    • metadata/ contains the untranslated metadata JSON files.
    • to_translate contains the TS files to translate. This is generated from the files in metadata/ using scripts/prepare_ts.py.
    • A translation service, such as crowdin can be used to translate the files
    • translated/ contains translated metadata TS files (in this case synced back from Crowdin)
    • scripts/update_summary.py is executed to update the summary JSON file with translation file locations and modification dates.

    Open Issues ​

    Schema Management ​

    Schema management has not yet been signed off.

    Guaranteed Availablility of Component Information ​

    There is a concern that vehicles reliant on internet-hosted component information files may stop working if the hosting ceases.

    This can generally be avoided by hosting the files compressed on-vehicle.

    We propose that manufacturers that use autopilots with limited flash (1MB or below) and do custom firmware development should host the files in github.

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    Events Interface (WIP) ​

    WARNING

    The Events Interface is a work in progress and may change. It has an initial implementation in PX4 and QGroundControl and is planned for ArduPilot.

    The information below is just an overview. Full details of the interface are provided in the: Events Interface Proposal

    The Events Interface is a generic and flexible mechanism that allows one component to reliably notify a GCS (or any other component) of sporadic events and state changes. For example, the interface might be used notifying of arming readiness, calibration completion, and reaching the target takeoff height.

    The interface provides for both common events that are shared by flight stacks or other components, and events that are specific to an implementation. MAVLink "common" events are defined in mavlink/libevents/events/common.json.

    INFO

    The events interface is intended to replace the widespread use of STATUSTEXT messages, which are not really fit for purpose.

    Key features ​

    The following key features are provided by the interface:

    • Reliable delivery with retransmission
    • Consistent interface to report system health and arming checks.
    • Minimized buffer requirements on the autopilot side.
    • Minimized binary message length
    • Generic: autopilot- and GCS-agnostic.
    • Long-term stable and extensible
    • Allows arguments to be attached to an event.
    • Possible types: uint8, int8, uint16, int16, uint32, int32, int64, uint64, float
    • Enums and bit fields can be built on top of these types
    • Enable automated processing (for example from a flight log containing events).
    • Minimize amount of auto-generated code for embedded implementations.
    • Events volume of <1 Hz on average (may scale with protocol parameters adjustments, like retransmission timeouts).
    • Events can be targeted or broadcast
    • Any component can send events, including cameras, companion computers, ground stations, etc.
    • Events have metadata, like a log level. They can also have a detailed, more extensive description, possibly with URLs.
    • Support for message text and message translation.

    Message/Enum Summary ​

    消息描述
    EVENTEvent message. Each new event from a particular component gets a new sequence number. The same message might be sent multiple times if (re-)requested. Event message. Each new event from a particular component gets a new sequence number. The same message might be sent multiple times if (re-)requested. Most events are broadcast, some can be specific to a target component (as receivers keep track of the sequence for missed events, all events need to be broadcast. Thus we use destination_component instead of target_component). Thus we use destination_component instead of target_component).
    CURRENT_EVENT_SEQUENCERegular broadcast for the current latest event sequence number for a component. This is used to check for dropped events. This is used to check for dropped events.
    REQUEST_EVENTRequest one or more events to be (re-)sent. Request one or more events to be (re-)sent. If first_sequence==last_sequence, only a single event is requested. Note that first_sequence can be larger than last_sequence (because the sequence number can wrap). Each sequence will trigger an EVENT or EVENT_ERROR response. Note that first_sequence can be larger than last_sequence (because the sequence number can wrap). Each sequence will trigger an EVENT or EVENT_ERROR response.
    RESPONSE_EVENT_ERRORResponse to a REQUEST_EVENT if there is an error requesting an event, including the reason. The most common reason would be that the event is not longer available (has been discarded).
    Enum描述
    MAV_EVENT_CURRENT_SEQUENCE_FLAGSFlags for CURRENT_EVENT_SEQUENCE. For exmaple, to indicate when the sequence has reset.
    MAV_EVENT_ERROR_REASONReasons for an error, as provided in RESPONSE_EVENT_ERROR. For example, common error would be that the event is not available (i.e. it has been discarded).

    Implementations ​

    Implementation PRs and other information is listed below. All of these should be considered prototypes/WIP.

    - + \ No newline at end of file diff --git a/zh/services/ftp.html b/zh/services/ftp.html index 361f54d31..4b46e5492 100644 --- a/zh/services/ftp.html +++ b/zh/services/ftp.html @@ -9,9 +9,9 @@ - + - + @@ -24,7 +24,7 @@

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    File Transfer Protocol (FTP) ​

    Developers can read the Internet protocol RFCs to understand MAVLink FTP. Note MAVLink FTP implementation closely follows the design of the original internet FTP protocol in terms of the message structure, sequences, and the supported opcodes/operations.

    INFO

    MAVLink FTP implementation closely follows the design of the original internet FTP protocol in terms of the message structure, sequences, and the supported opcodes/operations. Developers can read the Internet protocol RFCs to understand MAVLink FTP.

    The protocol follows a client-server pattern, where all commands are sent by the GCS (client), and the Drone (server) responds either with an ACK containing the requested information, or a NAK containing an error. The GCS sets a timeout after most commands, and may resend the command if it is triggered. The drone must re-send its response if a request with the same sequence number is received.

    All messages (commands, ACK, NAK) are exchanged inside FILE_TRANSFER_PROTOCOL messages. This message type definition is minimal, with fields for specifying the target network, system and component, and for an "arbitrary" variable-length payload.

    The different commands and other information required to implement the protocol are encoded within in the FILE_TRANSFER_PROTOCOL payload. This topic explains the encoding, packing format, commands and errors, and the order in which the commands are sent to implement the core FTP functionality.

    Protocol Discovery ​

    FTP (v1) is supported if the AUTOPILOT_VERSION.capability field has the MAV_PROTOCOL_CAPABILITY_FTP flag set.

    This flag should only be set by a MAVLink component that supports the specific version of the protocol defined in this document.

    INFO

    The encoding and content of the FILE_TRANSFER_PROTOCOL payload field are not mandated by the specification, and other encoding schemes might be used, for example, in private networks. If you have implemented a private encoding or different version you must not set the MAV_PROTOCOL_CAPABILITY_FTP flag.

    Payload Format ​

    The FILE_TRANSFER_PROTOCOL payload is encoded with the information required for the various FTP messages. This includes fields for holding the command that is being sent, the sequence number of the current FTP message (for multi-message data transfers), the size of information in the data part of the message etc.

    TIP

    Readers will note that the FTP payload format is very similar to the packet format used for serializing MAVLink itself.

    Below is the over-the-wire format for the payload part of the FILE_TRANSFER_PROTOCOL message on PX4/QGroundControl.

    FILETRANSFERPROTOCOL Payload format - QGC

    字节索引C 版本内容值说明
    0 to 1uint16_t seq_numberSequence number for message0&nbsp;-&nbsp;65535All new messages between the GCS and drone iterate this number. Re-sent commands/ACK/NAK should use the previous response's sequence number.
    2uint8_t sessionSession id0 - 255Session id for read/write operations (the server may use this to reference the file handle and information about the progress of read/write operations).
    3uint8_t opcodeOpCode (id)0 - 255Ids for particular commands and ACK/NAK messages.
    4uint8_t sizeSize0 - 255Depends on OpCode. For Reads/Writes this is the size of the data transported. For NAK it is the number of bytes used for error information (1 or 2).
    5uint8_t req_opcodeRequest OpCode0 - 255OpCode (of original message) returned in an ACK or NAK response.
    6uint8_t burst_completeBurst complete0, 1Code to indicate if a burst is complete. 1: set of burst packets complete, 0: More burst packets coming.
    - Only used if req_opcode is BurstReadFile.
    7uint8_t paddingPadding32 bit alignment padding.
    8 to 11uint32_t offsetContent offsetOffsets into data to be sent for ListDirectory and ReadFile commands.
    12 to (max) 251uint8_t data[]数据Command/response data. Varies by OpCode. This contains the path for operations that act on a file or directory. For an ACK for a read or write this is the requested information. For an ACK for a OpenFileRO operation this is the size of the file that was opened. For a NAK the first byte is the error code and the (optional) second byte may be an error number.

    OpCodes/Command ​

    The opcodes that may be sent by the GCS (client) to the drone (server) are listed below.

    OpcodeName描述
    0NoneIgnored, always ACKed
    1TerminateSessionTerminates open Read session.
    - Closes the file associated with (session) and frees the session ID for re-use.
    2ResetSessionsTerminates all open read sessions.
    - Clears all state held by the drone (server); closes all open files, etc.
    - Sends an ACK reply with no data.
    3ListDirectoryList directory entry information (files, folders etc.) in <path>, starting from a specified entry index (<offset>).
    - Response is an ACK packet with one or more entries on success, otherwise a NAK packet with an error code.
    - Completion is indicated by a NACK with EOF in response to a requested index (offset) beyond the list of entries.
    - The directory is closed after the operation, so this leaves no state on the server.
    4OpenFileROOpens file at <path> for reading, returns <session>
    - The path is stored in the payload data. The drone opens the file (path) and allocates a session number. The file must exist.
    - An ACK packet must include the allocated session and the data size of the file to be opened (size)
    - A NAK packet must contain error information . Typical error codes for this command are NoSessionsAvailable, FileExists.
    - The file remains open after the operation, and must eventually be closed by Reset or Terminate.
    5ReadFileReads <size> bytes from <offset> in <session>.
    - Seeks to (offset) in the file opened in (session) and reads (size) bytes into the result buffer.
    - Sends an ACK packet with the result buffer on success, otherwise a NAK packet with an error code. For short reads or reads beyond the end of a file, the (size) field in the ACK packet will indicate the actual number of bytes read.
    - Reads can be issued to any offset in the file for any number of bytes, so reconstructing portions of the file to deal with lost packets should be easy.
    - For best download performance, try to keep two Read packets in flight.
    6CreateFileCreates file at <path> for writing, returns <session>.
    - Creates the file (path) and allocates a session number. All parent directories must exist. If the file already existed, then this call will truncate it. Equivalent UNIX flags: (O_CREAT | O_TRUNC | O_WRONLY)
    - Sends an ACK packet with the allocated session number on success, or a NAK packet with an error code on error (i.e. FileExists if the path already exists).
    - The file remains open after the operation, and must eventually be closed by Reset or Terminate.
    7WriteFileWrites <size> bytes to <offset> in <session>.
    - Sends an ACK reply with no data on success, otherwise a NAK packet with an error code.
    8RemoveFileRemove file at <path>.
    - ACK reply with no data on success.
    - NAK packet with error information on failure.
    9CreateDirectoryCreates directory at <path>.
    - Sends an ACK reply with no data on success, otherwise a NAK packet with an error code.
    10RemoveDirectoryRemoves directory at <path>. The directory must be empty. Sends an ACK reply with no data on success, otherwise a NAK packet with an error code.
    11OpenFileWOOpens file at <path> for writing, returns <session>.
    - Opens the file (path) and allocates a session number. The file will be created if it does not exist. Equivalent UNIX flags: (O_CREAT | O_WRONLY)
    - Sends an ACK packet with the allocated _session number_ on success, otherwise a NAK packet with an error code.
    - The file remains open after the operation, and must eventually be closed by Reset or Terminate.
    12TruncateFileTruncate file at <path> to <offset> length.
    - Sends an ACK reply with no data on success, otherwise a NAK packet with an error code.
    13RenameRename <path1> to <path2>.
    - Sends an ACK reply the no data on success, otherwise a NAK packet with an error code (i.e. if the source path does not exist).
    14| | 14 | CalcFileCRC32 | Calculate CRC32 for file at <path>.Calculate CRC32 for file at <path>.
    - Sends an ACK reply with the checksum on success, otherwise a NAK packet with an error code.
    15BurstReadFile| | 15 | BurstReadFile | Burst-read parts of a file. Messages in the burst are streamed (without ACK) until the burst is complete (as indicated by the field burst_complete being set to 1). Parts of a burst that are dropped may be fetched using ReadFile.

    The drone (server) will respond with/send the following opcodes for any of the above messages (ACK response on success or a NAK in the event of an error).

    OpcodeName描述
    128ACKACK response.
    129NAKNAK response.

    Notes:

    • An ACK response may additionally return requested data in the payload (e.g. OpenFileRO returns the session and file size, ReadFile returns the requested file data, etc.).
    • The NAK response includes error information in the payload data.

    NAK Error Information ​

    NAK responses must include one of the errors codes listed below in the payload data[0] field.

    An appropriate error code must be used if one is defined. If no appropriate error code exists, the Drone (server) may respond with Fail or FailErrno.

    If the error code is FailErrno, then data[1] must additionally contain an error number. This error number is a file-system specific error code (understood by the server).

    The payload size field must be set to either 1 or 2, depending on whether or not FailErrno is specified.

    INFO

    These are errors. Normally if the GCS receives an error it should not attempt to continue the FTP operation, but instead return to an idle state.

    ErrorName描述
    0NoneNo error
    1FailUnknown failure
    2FailErrnoCommand failed, Err number sent back in PayloadHeader.data[1]. This is a file-system error number understood by the server operating system.
    3InvalidDataSizePayload size is invalid
    4InvalidSessionSession is not currently open
    5NoSessionsAvailableAll available sessions are already in use.
    6EOFOffset past end of file for ListDirectory and ReadFile commands.
    7UnknownCommandUnknown command / opcode
    8FileExistsFile/directory already exists
    9FileProtectedFile/directory is write protected
    10FileNotFoundFile/directory not found

    Timeouts/Resending ​

    The GCS (client) starts a timeout after most commands are sent (these are cleared if an ACK/NAK is received).

    INFO

    Timeouts may not be set for some messages. For example, a timeout need not set for ResetSessions as the message should always succeed.

    If a timeout activates either the command or its response is assumed to have been lost, and the command should be re-sent with the same sequence number etc. A number of retries are allowed, after which the GCS should fail the whole download and reset to an idle state.

    If the drone (client) receives a message with the same sequence number then it assumes that its ACK/NAK response was lost. In this case it should resend the response (the sequence number is not iterated, because it is as though the previous response was not sent).

    The drone has no timeout mechanism; it only ever responds to commands and does not expect any responses.

    GCS recommended settings:

    • ACK/NAK timeout: 50 milliseconds
    • Command retries: 6

    FTP Operations ​

    Reading a File (ReadFile) ​

    After opening a file session, ReadFile is called to request a message sized chunk of the file, which is then returned to the client in an ACK message. The process is repeated at different offsets until the whole file has been retrieved. The file session is then closed.

    INFO

    Burst reading a file is a (generally) faster alternative to this approach.

    The sequence of operations for downloading (reading) a file using [ReadFile] is shown below. This assumes that there are no timeouts and all operations/requests succeed.

    Mermaid Sequence: Reading a File

    The sequence of operations is:

    1. GCS (client) sends OpenFileRO command specifying the file path to open.
      • The payload must specify: data[0]= file path string, size=length of file path string.
    2. Drone (server) responds with either
      • ACK on success. The payload must specify fields: session = file session id, size = 4, data = length of file that has been opened.
      • NAK with error information, e.g. NoSessionsAvailable, FileExists. The GCS may cancel the operation, depending on the error.
    3. GCS sends ReadFile commands to download a chunk of data from the file.
      • The payload must specify: session=current session, size=size of data to read, offset= position in data to start reading
    4. Drone responds to each message with either
      • ACK on success. The payload fields are: data = data chunk requested, size = size of data in the data field.
      • NAK on failure with error information.
    5. The ReadFile/ACK sequence above is repeated at different offsets to download the whole file.
      • Eventually the GCS will (must) request an offset past the end of the file.
      • The Drone will return a NAK with error code EOF. The GCS uses this message to recognise the download is complete.
    6. GCS sends TerminateSession to close the file. The drone should send an ACK/NAK, but this may (generally speaking) be ignored by the GCS.

    The GSC should create a timeout after OpenFileRO and ReadFile commands are sent and resend the messages as needed (and described above). A timeout is not set for TerminateSession (the server may ignore failure of the command or the ACK).

    Reading a File (BurstReadFile) ​

    After opening a file for reading, it is read in "bursts". Each burst delivers a part of the file as a stream of messages. The last message in the burst is indicated by setting burst_complete=1 (without any ACKs).

    The client tracks the recieved chunks. On completion of the burst (or the file), if there are any missing parts of the file it can request them using either another burst or using ReadFile.

    INFO

    Burst read is a (generally) faster alternative to using ReadFile to read a file. This is because fewer messages are sent and need to be waited on.

    The sequence of operations for a burst read is shown below (assuming there are no timeouts and all operations/requests succeed).

    Mermaid Sequence: Burst read file

    The sequence of operations is:

    1. GCS (client) sends OpenFileRO command specifying the file path to open.
      • The payload must specify: data[0]= file path string, size=length of file path string.
    2. Drone (server) responds with either
      • ACK on success. The payload must specify fields: session = file session id, size = 4, data = length of file that has been opened.
      • NAK with error information, e.g. NoSessionsAvailable, FileExists. The GCS may cancel the operation, depending on the error.
    3. Client (i.e. GCS) sends BurstReadFile command specifying the part of the file that it wants to get from an offset to the end, along with the default size of each burst payload.
      • The payload must specify: session: the current session id, offset = offset in file of start of burst, size= default length of payload in burst responses, data is ignored.
    4. Server (drone) responds with either
      • ACK on success. The payload must specify fields: session = file session id, size = 4, data = length of file in burst.
      • NAK with error information. The client may cancel the operation, depending on the error.
    5. Server sends stream of BurstReadFile data to client (without ACK) until the whole burst is sent, or a server-defined burst size limit is reached.
      • The payload must specify: session=current session, size=size of data to read per burst message (max equal to payload size = 239), offset= position in original data of current chunk.
      • The payload must specify burst_complete=0 for all chunks, except the last one, which must set burst_complete=1.
    6. The client must maintain its own record of the received (and missing) chunks. It may request any missing chunks at either the end of a burst or at the end of the file. Missing chunks can be requested using ReadFile.
    7. Client sends TerminateSession to close the file once all the chunks have been downloaded The server should send an ACK/NAK, but this may (generally speaking) be ignored by the client.

    The client should create a timeout while waiting for a new BurstReadFile, and on expiry may request missing parts of the file using either BurstReadFile or ReadFile A timeout is not set for TerminateSession (the server may ignore failure of the command or the ACK).

    Uploading a File ​

    The sequence of operations for uploading a file to the drone, assuming there are no timeouts and all operations/requests succeed, is shown below.

    Mermaid Sequence: Uploading a file

    The sequence of operations is:

    1. GCS (client) sends CreateFile command specifying the file path where the file is to be uploaded.
      • The payload must specify: data[0]= target file path string, size=length of file path string.
    2. Drone (server) attempts to create the file, and responds with either
      • ACK on success. The payload must specify fields: session = new file session id, size = 0.
      • NAK with error information.
        • The GCS should cancel the whole operation on error.
        • If there is a sequence error at this stage the GCS should send a command to ResetSessions
    3. GCS sends WriteFile commands to upload a chunk of data to the Drone.
      • The payload must specify: session=current session id, data=file chunk,size=length of data, offset= offset of data to write
    4. Drone responds to each message with either
      • ACK on success. The payload fields are: size = 0.
      • NAK on failure with error information.
        • The GCS should cancel the whole upload operation by sending a command to ResetSessions if there is an NAK.
    5. The WriteFile/ACK sequence above is repeated at different offsets to upload the whole file. Once the GCS determines that the upload is complete it moves to the next step.
    6. GCS sends TerminateSession to close the file. The drone should send an ACK/NAK, but this may (generally speaking) be ignored by the GCS.

    The GSC should create a timeout after CreateFile and WriteFile commands are sent, and resend the messages as needed (and described above). A timeout is not set for TerminateSession (the server may ignore failure of the command or the ACK).

    WARNING

    PX4 and QGroundControl implement this slightly differently than outlined above. The implementation only has a single session (id=0) so only a single operation can be active at a time. As a result, this operation should only be started if no other operation is active. The drone expects that the session id will be set to zero by the sender of CreateFile. Last of all, the GCS sends ResetSessions rather than TerminateSession. While you can send either if talking to PX4, if the protocol is implemented elsewhere calling ResetSessions may break other communications.

    Remove File ​

    INFO

    RemoveFile handling is implemented in PX4 but not in QGroundControl. GCS behaviour is therefore not fully defined/tested.

    The sequence of operations for removing a file is shown below (assuming there are no timeouts and all operations/requests succeed).

    Mermaid Sequence: Removing a file

    The sequence of operations is:

    1. GCS sends RemoveFile command specifying the full path of the file to be deleted.
      • The payload must specify: data[0]= file path string, size=length of file path string.
    2. Drone attempts to delete file, and responds to the message with either:
      • ACK on success, containing payload size=0 (i.e. no data).
      • NAK on failure, with error information.
      • The drone must clean up any resources associated with the request after sending the response.

    The GSC should create a timeout after the RemoveFile command is sent and resend the message as needed (and described above).

    Truncate File ​

    The sequence of operations for truncating a file is shown below (assuming there are no timeouts and all operations/requests succeed).

    INFO

    TruncateFile handling is implemented in PX4 but not in QGroundControl. GCS behaviour is therefore not fully defined/tested.

    Mermaid Sequence: Truncate file

    The sequence of operations is:

    1. GCS sends TruncateFile command specifying file to truncate and the offset for truncation.
      • The payload must specify: data[0]= file path string, size = length of file path string, offset = truncation point in file (amount of data to keep).
    2. Drone attempts to truncate file, and responds to the message with either:
      • ACK on success, containing payload size=0 (i.e. no data).
        • The request should succeed if the offset is the same as the file size, and may be attempted if the offset is zero (i.e. truncate whole file).
      • NAK on failure, with error information.
        • The request should fail if the offset is 0 (truncate whole file) and for normal file system errors.
      • The drone must clean up any resources associated with the request after sending the response.

    The GSC should create a timeout after the TruncateFile command is sent and resend the message as needed (and described above).

    List Directory ​

    The sequence of operations for getting a directory listing is shown below (assuming there are no timeouts and all operations/requests succeed).

    Mermaid Sequence: List Directory

    The sequence of operations is:

    1. GCS sends ListDirectory command specifying a directory path and the index of an entry.

      • The payload must specify:
        • data[0] = file path
        • size = length of path string
        • offset = The index of the first entry to get (0 for first entry, 1 for second, etc.).

    2. Drone responds with an ACK containing one or more entries (the first entry is the one specified in request offset field).

      • The payload must specify:
        • data[0] = Information for one or more (sequential) entries, starting at the requested entry index (offset). Each entry is separated with a null terminator (\0), and has the following format (where type is one of the letters F(ile), D(irectory), S(skip))
          <type><file_or_folder_name>\t<file_size_in_bytes>\0
          For example, given five files named TestFile1.xml to TestFile5.xml, the entries returned at offset 2 might look like: FTestFile3.xml\t223\0FTestFile4.xml\t755568\0FTestFile5.xml\t11111\0
        • size = The size of the data.

    3. The operation is then repeated at different offsets to download the whole directory listing.

      INFO

      The offset for each request will depend on how many entries were returned by the previous request(s).

    4. The operation completes when the GCS requests an entry index (offset) greater than or equal to the number of entries. In this case the drone responds with a NAK containing EOF (end of file).

    The GSC should create a timeout after the ListDirectory command is sent and resend the message as needed (and described above).

    The drone may also NAK with an unexpected error. Generally errors are unrecoverable, and the drone must clean up all resources (i.e. close file handles) associated with the request after sending the NAK.

    Create Directory ​

    The sequence of operations for creating a directory is shown below (assuming there are no timeouts and all operations/requests succeed). Note that this operation will fail if the directory is not empty.

    Mermaid Sequence: Create Directory

    The sequence of operations is:

    1. GCS sends CreateDirectory command specifying the full path of the directory to be created.
      • The payload must specify: data[0]= directory path string, size=length of directory path string.
    2. Drone attempts to create directory, and responds to the message with either:
      • ACK on success, containing payload size=0 (i.e. no data).
      • NAK on failure, with error information.
      • The drone must clean up any resources associated with the request after sending the response.

    The GSC should not create timeouts or handle the NAK case (other than to report an error to the user).

    Remove Directory ​

    INFO

    RemoveDirectory handling is implemented in PX4 but not in QGroundControl. GCS behaviour is therefore not fully defined/tested.

    The sequence of operations for removing a directory is shown below (assuming there are no timeouts and all operations/requests succeed). Note that this operation will fail if the directory is not empty.

    Mermaid Sequence: Remove directory

    The sequence of operations is:

    1. GCS sends RemoveDirectory command specifying the full path of the directory to be deleted.
      • The payload must specify: data[0]= directory path string, size=length of directory path string.
    2. Drone attempts to delete directory, and responds to the message with either:
      • ACK on success, containing payload size=0 (i.e. no data).
      • NAK on failure, with error information.
      • The drone must clean up any resources associated with the request after sending the response.

    The GSC should create a timeout after the RemoveDirectory command is sent and resend the message as needed (and described above).

    Implementations ​

    The FTP v1 Protocol has been implemented (at least) in PX4, ArduPilot, QGroundControl and MAVSDK. Those implementations can be used in your own code within the terms of their software licenses.

    PX4 Implementation:

    QGroundControl implementation:

    Everything is run by the master (QGC in this case); the slave simply responds to packets in order as they arrive. There’s buffering in the server for a little overlap (two packets in the queue at a time). This is a tradeoff between memory and link latency which may need to be reconsidered at some point.

    The MAVLink receiver thread copies an incoming request verbatim from the MAVLink buffer into a request queue, and queues a low-priority work item to handle the packet. This avoids trying to do file I/O on the MAVLink receiver thread, as well as avoiding yet another worker thread. The worker is responsible for directly queuing replies, which are sent with the same sequence number as the request.

    The implementation on PX4 only supports a single session.

    CRC32 Implementation ​

    The CRC32 algorithm used by MAVLink FTP is described in MAVLink CRCs.

    Resources to be downloaded using MAVLink FTP can be referenced using the following URL-like format:

    mftp://[;comp=<id>]<path>

    Where:

    • path: the location of the resource on the target component.
    • id: target component ID of the component hosting the resource. The [;comp=<id>] part is optional (if omitted, the resource is downloaded from the current component). It should be specified if the request must be redirected

    例如：

    • A GCS connected to an autopilot might download a file using the following URL: ## FTP resource 'camera.xml' from current component mftp://camera.xml
      https://mermaid-js.github.io/mermaid-live-editor/edit/#pako:eNqtVE2P0zAQ_Ssjn1Ipu-pKnAKtBIW9ILFSy42iyE0mjYVjB3tCtaz2vzOOk34stKxYemgSz7x58549fhCFLVFkwuP3Dk2B75XcOtm8XhvgXysdqUK10hAstEJDv6-v0P1AF9c_WUKw_DlkpzGYwV2LBiqlEZLKOth0zhM4lKUy28kR1qltTWCrAZ_BMvTFuXYsEJNj-Go-Hwl6hluOL-8SKCXJL9Ovs1ZSnYJXP3Gm0SThcwIDXQRecYmR6u3iYwIevVfWDKhXaV-rRwfyPfqs0CVrAqoxilUmSvWQOGxREow-wwa13QGvGNyx4Moj-Wc5cfCu34aQsudLmJBq5aGQHkPxWHg2nZyz7V2oFpoO3h3JH4FH9gUncmXyvoF_9_GkDJw6qrHqBY3txSd4YrmN72sET4u6M9980KdMwSHPp2j0EHaK6mhSXtim1Ug4m57r9VT-vumn8D_6semqCt0k3R-3YeF_cb0pOucYmfM30vwFzNfX1xdMvuWB1JL3ouGW5PZwankT6Wl7Ny9Td3NQF58sLg_k-ZAYdvb5Ui-PoTT30Cjfn44wKh66_v2kVUj2Iyk3XGoCbMcY_AvLQlses0Er7GoMf1YPw1hYrbEgLM_N3md0jTKScBUrjK5dnCwOilQ0DJWq5Iv7ISSvBV8BDa5Fxq8lVrLTtBZr88ipXcvW4YdSkXUiq6T2mArZkV3dm0Jk5Dock4bLf8h6_AUnGRvv
    • A GCS connected to an autopilot through a companion computer might host the metadata on the companion (e.g. due to lack of flash space, faster download or if there's a central MAVFTP server on the vehicle), so it would need to specify the component ID of the component running on the companion (e.g. 100 for the camera), so that the request is redirected: ## FTP resource '/info/version.json' from component with id 100 mftp://[;comp=100]/info/version.json
      ## FTP resource '/info/version.json' from component with id 100
 mftp://[;comp=100]/info/version.json
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    Gimbal Configuration Protocol (v1) ​

    WARNING

    This service definition has been superseded by Gimbal Protocol v2 (gimbal manufacturers/GCSs/autopilots are expected to use the new API, but the old API is still in broad use, and there is no plan to for it to be removed).

    The gimbal configuration message set uses a number of commands and few special-purpose messages to configure a payload mount.

    By default the gimbal should be communicating with the component ID MAV_COMP_ID_GIMBAL.

    Commands to Configure and Control Gimbal ​

    The commands to use mavlink gimbals are MAV_CMD_DO_MOUNT_CONFIGURE and MAV_CMD_DO_MOUNT_CONTROL. MAV_CMD_DO_MOUNT_CONTROL_QUAT is also defined but does not seem to be implemented by any systems at time of writing.

    Command描述
    MAV_CMD_DO_MOUNT_CONFIGUREConfigure a camera or antenna mount
    MAV_CMD_DO_MOUNT_CONTROLControl mount
    MAV_CMD_DO_MOUNT_CONTROL_QUATControl a camera or antenna mount, using a quaternion as reference.
    Enum描述
    MAV_MOUNT_MODEEnumeration of possible mount operation modes.

    Command to Reboot or Shutdown Gimbal ​

    To reboot or shut down a gimbal send the command MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN. The options to be set for the gimbal are found in param4.

    INFO

    This is the same message/process as for autopilot systems.

    Telemetry from Gimbal ​

    A gimbal (or mount) should send a HEARTBEAT (e.g. every second) just like any other MAVLink component. Additionally, it can send feedback about the angles it's pointing using the message MOUNT_ORIENTATION.

    Known Issues ​

    This version of the gimbal protocol (v1) has a number of known issues:

    • Unspecified signs in DO_MOUNT_CONTROL.
    • Confusing order of axes in DO_MOUNT_CONTROL.
    • Unclear “stabilize” flags in DO_MOUNT_CONFIGURE.
    • Confusing and unimplemented “absolute” flags in DO_MOUNT_CONFIGURE.
    • Unclear when to use DO_MOUNT_CONTROL or DO_MOUNT_CONFIGURE.
    • Too many overloaded params in DO_MOUNT_CONTROL depending on GPS or targetting.
    • Unusual param number for DO_MOUNT_CONTROL.
    • The GPS mode in DO_MOUNT_CONTROL conflicts with DO_SET_ROI_* commands.
    • MOUNT naming makes discovery hard.
    • Unused DO_MOUNT_CONTROL_QUAT.
    • Confusion and conflicts between gimbal commands used between ground station and gimbal messages between autopilot and gimbal.
    • Commands require acknowledgements back and are therefore not suitable for higher rate setpoint streams for manual control.
    • Control conflicts between different sources. It is not clear what takes precedence and how the deconfliction between different sources and commands should be implemented.

    If possible migrate to Gimbal Protocol v2 which addresses these issues.

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    Gimbal Protocol (v2) ​

    INFO

    This version supersedes Gimbal Protocol v1 Existing functionality is now fixed, but compatible changes may still be added.

    简介 ​

    The gimbal protocol allows MAVLink control over the attitude/orientation of cameras (or other sensors) mounted on the drone. The orientation can be: controlled by the pilot in real time (e.g. using a joystick from a ground station), set as part of a mission, or moved based on camera tracking.

    The protocol also defines what status information is published for developers, configurators, as well as users of the drone. It additionally provides ways to assign control to different sources.

    The protocol supports a number of hardware setups, and enables gimbals with varying capabilities.

    INFO

    The original protocol design document can be found here.

    Concepts ​

    Gimbal Manager and Gimbal Device ​

    To accommodate gimbals with varying capabilities, and various hardware setups, "a gimbal" is conceptually split into two parts:

    • Gimbal Device: the actual gimbal device, hardware and software.
    • Gimbal Manager: software to deconflict gimbal messages and commands from different sources, and to abstract the capabilities of the Gimbal Device from gimbal users.

    The Gimbal Manager and Gimbal Device expose respective message sets that can be used for: gimbal manager/device discovery, querying capabilities, publishing status, and various types of orientation/attitude control.

    The key concept to understand is that a Gimbal Manager has a 1:1 relationship with a particular Gimbal Device, and is the only party on the MAVLink network that is allowed to directly command that device - it does so using the Gimbal Device message set.

    INFO

    The Gimbal Device must act only upon messages that come from the associated Gimbal Manager! The device will however broadcast its status to all parties on the network (not just its manager).

    MAVLink applications (ground stations, developer APIs like the MAVSDK, etc.), and any other software that wants to control a particular gimbal, must do so via its Gimbal Manager, using the Gimbal Manager message set.

    Note that the gimbal manager is (by default) implemented on the autopilot.

    Common Set-ups ​

    This section outlines the three most common hardware set-ups.

    Simple Gimbal Directly Connected to Autopilot ​

    In this (default) set-up the autopilot takes the role of the gimbal manager.

    Standalone Integrated Camera/Gimbal ​

    In this set-up the integrated camera/gimbal itself can be the Gimbal Manager.

    Therefore, the gimbal device interface is internal (no implementation is required).

    Onboard Computer with Camera and Gimbal Connected to Autopilot ​

    In this set-up the Gimbal Manager can be on the onboard computer.

    Commands from the GCS (etc.) are sent to the Gimbal Manager on the companion computer. Messages from the Gimbal Manager to the Gimbal Device need to be sent to/routed through the autopilot.

    Multiple Gimbals ​

    Multiple gimbals per drone are supported.

    Component IDs ​

    Multiple component IDs are reserved for MAVLink gimbal devices: MAV_COMP_ID_GIMBAL, MAV_COMP_ID_GIMBAL2, MAV_COMP_ID_GIMBAL3, MAV_COMP_ID_GIMBAL4, MAV_COMP_ID_GIMBAL5, MAV_COMP_ID_GIMBAL6.

    The listed component IDs should be used where possible. Ids 0-6 may not be used. Other ids may be used as long as the MAV_TYPE is correctly set to MAV_TYPE_GIMBAL.

    Mapping from Gimbal Managers to Gimbal Devices ​

    Every Gimbal Manager has a single associated Gimbal Device that it controls (there is a 1:1 relationship). A particular MAVLink component, such as an autopilot, can implement multiple gimbal managers in order to control two or more gimbal devices. The identity of a gimbal device and its associated manager, are represented by a "gimbal device id". This id is used to differentiate messages from different gimbal managers, and also to target a particular gimbal in commands/messages sent to the component that is hosting its gimbal manager.

    A Gimbal Manager publishes the id of its associated device in the gimbal_device_id field of the GIMBAL_MANAGER_INFORMATION message (this same field name is present in all gimbal manager messages so you can identify the source). Similarly, commands that can be sent to a gimbal manager include a parameter with label Gimbal device ID that indicates the particular gimbal manager (and device).

    • A system that wants to control a particular gimbal device will send messages to the component that has the manager(s), such as an autopilot, specifying the device id of the gimbal to be controlled.
    • A system that wants to control all gimbal devices managed by gimbal managers on a particular component, would send the command/message to that component and set the device id to 0.

    Addressing of Gimbal MAVLink Devices ​

    For MAVLink gimbal devices the gimbal device id (gimbal_device_id) is the MAVLink component ID of the gimbal device controlled by the gimbal manager.

    The gimbal manager processes commands for its associated device, sending appropriate/corresponding gimbal device commands to the MAVLink gimbal device.

    Non-MAVLink gimbal devices are gimbals that don't expose a MAVLink Gimbal Device (or manager) API, but instead are connected to the gimbal manager using some other protocol. For instance, this could be a PWM gimbal connected to an autopilot. Since the gimbal device is not a MAVLink component, it does not have a unique MAVLink component ID that can be used for the gimbal device id. Therefore you either have to make it into a MAVLink component (so it has an id) or assign it a particular non-MAVLink id.

    Autopilots are expected to implement gimbal managers for each attached gimbal and assign each a unique gimbal device id between 1 and 6 (which is why these values can't be used as MAVLink component IDs for gimbal devices). This id would then be used in gimbal manager messages sent by the autopilot, and for addressing the particular gimbal in commands. The autopilot would directly control attached gimbals in response to gimbal manager commands. In addition to sending gimbal manager messages when appropriate, it should also send/stream required gimbal device messages, such as GIMBAL_DEVICE_ATTITUDE_STATUS.

    All other hardware with attached gimbal devices, such as a companion computers, are expected to implement them as separate MAVLink components, with their own MAVLink component ID that can be used for addressing. For example, a companion computer with an attached gimbal would appear as two MAVLink components: a companion computer and a gimbal. The gimbal component would identify as a type MAV_TYPE_GIMBAL and assert that it implements the gimbal manager protocol. As with autopilot-attached cameras it would need to respond as a gimbal manager, and also stream required gimbal device messages.

    INFO

    Implementing each attached camera as a separate MAVLink component allows cameras attached to a companion computer to be separately addressed in missions executed on the autopilot.

    Implementation and Messages ​

    Messages between Ground Station and Gimbal Manager ​

    Discovery of Gimbal Manager ​

    A ground station should monitor for HEARTBEAT messages from all new components and check their capabilities by requesting AUTOPILOT_VERSION for autopilots and COMPONENT_INFORMATION_BASIC for other components (see HEARTBEAT/Connection protocol).

    If the capabilities field of the above message(s) has the flag MAV_PROTOCOL_CAPABILITY_COMPONENT_IMPLEMENTS_GIMBAL_MANAGER set:

    The GIMBAL_MANAGER_INFORMATION contains important information a particular gimbal, such as its capabilities (GIMBAL_MANAGER_CAP_FLAGS), maximum angles and angle rates, as well as the gimbal_device_id which identifies the specific gimbal device controlled by a particular Gimbal Manager.

    WARNING

    A GCS should always request GIMBAL_MANAGER_INFORMATION from autopilot components prior to: PX4 v1.16, ArduPilot-4.5 (when the protocol bit was added).

    Gimbal Manager Status ​

    A Gimbal Manager should send out GIMBAL_MANAGER_STATUS at a low regular rate (e.g. 5 Hz) to inform the ground station about its status.

    Starting / Configuring Gimbal Control ​

    It is possible for multiple components to want to control a gimbal at the same time, e.g.: a ground station, a companion computer, or the autopilot running a mission.

    In order to start controlling a gimbal, a component first needs to send the MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE command. This allows setting which MAVLink component (set by system ID and component ID) is in primary control and which one is in secondary control. The gimbal manager is to ignore any gimbal controls which come from MAVLink components that are not explicity set to "in control". This should prevent conflicts between various inputs as long as all components are fair/co-operative when using the configure command.

    To be co-operative entails the following rules:

    • Don't send the configure manager configure command continuously but only once to initiate and once to stop control again.
    • Check the GIMBAL_MANAGER_STATUS about who is in control first and - if possible - warn user about planned action. For example, if the autopilot is in control of the gimbal as part of a mission, the ground station should ask the user first (i.e. via a pop-up) if they really want to take over manual control.
    • Don't forget to release control when an action/task is finished and set the sysid/compid to 0.

    INFO

    It is possible to assign control to another component too, not just to itself. For example, a smart shot running on a companion computer can set itself to be in primary control but assign a ground station for secondary control to e.g. nudge during the smart shot.

    INFO

    The implementation of how primary and secondary control are combined or mixed is not defined by the protocol but up to the implementation. This allows flexibility for different use cases.

    A ground station can manually control a gimbal by sending GIMBAL_MANAGER_SET_MANUAL_CONTROL. This allows controlling the gimbal with either angles, or angular rates, using a normalized unit (-1..1). The gimbal device is responsible for translating the input based on angle, speed, and "smoothness" settings.

    This input can additionally be scaled by the gimbal manager depending on its state. For example, if the gimbal manager is on a camera and knows the current zoom level / focal length of the camera, it can scale the angular rate down to support smooth paning and tilting.

    A ground station, companion computer, or other MAVLink component can set the gimbal angle and/or angular rates using the messages GIMBAL_MANAGER_SET_ATTITUDE or GIMBAL_MANAGER_SET_PITCHYAW.

    Messages between Gimbal Manager and Gimbal Device ​

    Discovery of Gimbal Device ​

    The MAVlink node where the Gimbal Manager is implemented needs to discover Gimbal Devices by sending a broadcast MAV_CMD_REQUEST_MESSAGE for GIMBAL_DEVICE_INFORMATION. Every gimbal device should respond with GIMBAL_DEVICE_INFORMATION.

    The MAVLink node should then create as many Gimbal Manager instances as Gimbal Devices found.

    Control of a Gimbal Device ​

    To control the angle and/or angular rate of the Gimbal Device, use the message GIMBAL_DEVICE_SET_ATTITUDE. If the gimbal manager has multiple gimbal control inputs available it should deconflict them as explained below.

    Autopilot State for Gimbal Device ​

    The autopilot should also send the message AUTOPILOT_STATE_FOR_GIMBAL_DEVICE to the gimbal device. This data is required by the Gimbal Device attitude estimator (horizon compensation), as well as to anticipate the vehicle's movements (e.g. the feed forward angular velocity in z-axis, so the current yaw intention).

    Gimbal Device Broadcast/Status Messages ​

    The gimbal device should send out its attitude and status in GIMBAL_DEVICE_ATTITUDE_STATUS at a regular rate, e.g. 10 Hz.

    This message is a meant as broadcast, so it's set to the GCS, Gimbal Manager, and all parties on the network (not just Gimbal Manager, like all other messages).

    Custom Gimbal Device Settings ​

    Custom gimbal settings can be accomplished using the component information microservice which is based on a component information file (this is similar to the camera definition file).

    FAQ ​

    How to set the System ID of a gimbal device? ​

    The system ID of all components (e.g. autopilot, companion computer, camera, gimbal) on a drone/system must be the same. This needs to be either done manually by configuration, or alternatively, the components need to listen to the heartbeat of the autopilot and then adjust their system ID accordingly.

    When is Gimbal Device also a Gimbal Manager? ​

    The default case should be to use the Gimbal Manager in the autopilot. The only exception to this are integrated solutions containing a camera and gimbal for functionality like visual tracking.

    How to test Gimbal Device? ​

    A Gimbal Device can be tested by connecting it to an autopilot with a Gimbal Manager. To avoid having to do a full setup including autopilot, a direct test using MAVSDK is available.

    Gimbals that use the (old) Gimbal Protocol v1 should still be supported by autopilot software. Basically, the Gimbal Manager needs to translate the commands to the old protocol.

    Gimbals controlled using a protocol like PPM, PWM, SBUS or something proprietary can still be supported. The autopilot will have to act as the Gimbal Manager and provide the driver and translation to the respective protocol.

    The autopilot needs to be configured to either accept MAVLink input (so GIMBAL_MANAGER_SET_MANUAL_CONTROL) or RC control. In both cases, the autopilot can then calculate a gimbal angle or angular rate from the manual control input and send the resulting setpoint to the gimbal device.

    For RC control, the channels will have to be manually mapped/configured to control the gimbal. This is the same approach as is used for managing the input source for flying; it is up to the implementation to select either RC or MAVLink. The recommendation is to make it configurable using (for instance) a parameter.

    A non-MAVLink gimbal needs to be connected to a gimbal manager, which then takes care of sending the gimbal device messages. Since a non-MAVLink gimbal can't be addressed with a MAVLink component ID, the gimbal_device_id needs to be set to one of the magic values (1 to 6). This signals that the gimbal manager also is also acting as the gimbal device.

    Also see how to address non-MAVLink gimbal devices.

    How to interpret GIMBAL_DEVICE_ATTITUDE_STATUS yaw gimbal angle ​

    The GIMBAL_DEVICE_ATTITUDE_STATUS.flags field must report the frame used for reported yaw values as either:

    • GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME: Yaw is relative to vehicle.
    • GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME: Yaw is relative to north.

    For older devices, if neither of the flags above are set, the yaw frame must be inferred from the GIMBAL_DEVICE_FLAGS_YAW_LOCK. If it is set, the yaw is relative to North, otherwise to the front of the vehicle.

    INFO

    Manufacturers working on new gimbal devices should set either GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME or GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME. Components receiving the message should also handle GIMBAL_DEVICE_FLAGS_YAW_LOCK for backwards compatibility with older devices.

    Message/Command/Enum Summary ​

    Gimbal Manager Messages ​

    This is the set of messages/enums for communicating with the gimbal manager (by ground station, autopilot, etc.).

    消息描述
    GIMBAL_MANAGER_INFORMATIONInformation about a high level gimbal manager. This message should be requested by a ground station using MAV_CMD_REQUEST_MESSAGE.
    GIMBAL_MANAGER_STATUSCurrent status about a high level gimbal manager. This message should be broadcast at a low regular rate (e.g. 5Hz).
    GIMBAL_MANAGER_SET_ATTITUDEHigh level message to control a gimbal's attitude. This message is to be sent to the gimbal manager (e.g. from a ground station).
    GIMBAL_MANAGER_SET_MANUAL_CONTROLHigh level message to control a gimbal manually, so without units. The actual angles or angular rates will be produced by the gimbal manager based on settings. This message is to be sent to the gimbal manager (e.g. from a ground station). Angles and rates can be set to NaN according to use case.
    GIMBAL_MANAGER_SET_PITCHYAWHigh level message to control a gimbal's pitch and yaw angles. This message is to be sent to the gimbal manager (e.g. from a ground station). Angles and rates can be set to NaN according to use case.
    Command描述
    MAV_CMD_REQUEST_MESSAGERequest the target system(s) emit a single instance of a specified message. This is used to request GIMBAL_MANAGER_INFORMATION.
    MAV_CMD_DO_GIMBAL_MANAGER_CONFIGUREGimbal configuration to set which sysid/compid is in primary and secondary control.
    MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAWHigh level setpoint to be sent to a gimbal manager to set a gimbal attitude. Note: a gimbal is never to react to this command but only the gimbal manager.
    MAV_CMD_DO_SET_ROI_LOCATIONSets the region of interest (ROI) to a location. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal is not to react to this message.
    MAV_CMD_DO_SET_ROI_WPNEXT_OFFSETSets the region of interest (ROI) to be toward next waypoint, with optional pitch/roll/yaw offset. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message.
    MAV_CMD_DO_SET_ROI_SYSIDMount tracks system with specified system ID. Determination of target vehicle position may be done with GLOBAL_POSITION_INT or any other means. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message.
    MAV_CMD_DO_SET_ROI_NONECancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message. After this command the gimbal manager should go back to manual input if available, and otherwise assume a neutral position.
    MAV_CMD_DO_GIMBAL_MANAGER_TRACK_POINTIf the gimbal manager supports visual tracking (GIMBAL_MANAGER_CAP_FLAGS_HAS_TRACKING_POINT is set), this command allows to initiate the tracking. Such a tracking gimbal manager would usually be an integrated camera/gimbal, or alternatively a companion computer connected to a camera.
    MAV_CMD_DO_GIMBAL_MANAGER_TRACK_RECTANGLEIf the gimbal supports visual tracking (GIMBAL_MANAGER_CAP_FLAGS_HAS_TRACKING_RECTANGLE is set), this command allows to initiate the tracking. Such a tracking gimbal manager would usually be an integrated camera/gimbal, or alternatively a companion computer connected to a camera.
    Enum描述
    GIMBAL_MANAGER_FLAGSFlags for high level gimbal manager operation.
    The first 16 bytes are identical to the GIMBAL_DEVICE_FLAGS. Used in MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW, GIMBAL_MANAGER_STATUS , GIMBAL_MANAGER_SET_ATTITUDE.
    GIMBAL_MANAGER_CAP_FLAGSGimbal manager high level capability flags (bitmap).
    The first 16 bits are identical to the GIMBAL_DEVICE_CAP_FLAGS which are identical with GIMBAL_DEVICE_FLAGS. However, the gimbal manager does not need to copy the flags from the gimbal but can also enhance the capabilities and thus add flags. Used in GIMBAL_MANAGER_INFORMATION

    Gimbal Device Messages ​

    This is the set of messages/enums for communication between gimbal manager and gimbal device.

    消息描述
    GIMBAL_DEVICE_INFORMATIONInformation about a low level gimbal. This message should be requested by the gimbal manager or a ground station using MAV_CMD_REQUEST_MESSAGE.
    GIMBAL_DEVICE_SET_ATTITUDELow level message to control a gimbal device's attitude. This message is to be sent from the gimbal manager to the gimbal device component. Angles and rates can be set to NaN according to use case.
    GIMBAL_DEVICE_ATTITUDE_STATUSMessage reporting the status of a gimbal device. This message should be broadcasted by a gimbal device component.
    Command描述
    MAV_CMD_REQUEST_MESSAGERequest the target system(s) emit a single instance of a specified message. This is used to request GIMBAL_DEVICE_INFORMATION.
    Enum描述
    GIMBAL_DEVICE_CAP_FLAGSGimbal device (low level) capability flags (bitmap).
    Used in GIMBAL_DEVICE_INFORMATION.
    GIMBAL_DEVICE_FLAGSFlags for gimbal device (lower level) operation.
    Used in GIMBAL_DEVICE_ATTITUDE_STATUS and GIMBAL_DEVICE_SET_ATTITUDE.
    GIMBAL_DEVICE_ERROR_FLAGSGimbal device (low level) error flags (bitmap, 0 means no error).
    Used in GIMBAL_DEVICE_ATTITUDE_STATUS.

    Sequences ​

    Depicted below are message sequences for some common scenarious.

    Discovery ​

    This shows a possible sequence on startup. Note that the gimbal manager could already discover the gimbal device before the ground station asks for the information.

    Normal Manual Control ​

    During the normal manual control, all messages are streamed at a regular rate. Note that GIMBAL_DEVICE_ATTITUDE_STATUS is broadcast to anyone, so to the gimbal manager and also the ground station.

    ROI Initiated from Ground Station ​

    ROI can be started using a command and should also be stopped again with a command. The ROI command is translated to a gimbal attitude in the the gimbal manager.

    Attitude Set During Mission ​

    In this case the gimbal manager is implemented by the autopilot which "sends" the attitude command (for instance for a survey).

    How to Implement the Gimbal Device Interface ​

    Below is a short summary of all messages that a gimbal device should implement.

    INFO

    A Gimbal Device can be tested by connecting it to an autopilot with a Gimbal Manager. To avoid having to do a full setup including autopilot, a direct test using MAVSDK is available.

    Messages to Send ​

    The messages listed should be broadcast on the network/on all connections (sent to everyone).

    HEARTBEAT ​

    Heartbeats should always be sent (usually at 1 Hz).

    INFO

    Gimbals that set their sysid from the autopilot will need to wait for the autopilot's heartbeat before emitting their own (note that if the gimbal can receive heartbeats from multiple autopilots then the sysid must be explicitly/statically configured).

    • sysid: the same sysid as the autopilot (this can either be done by configuration, or by listening to the autopilot's heartbeat first and then copying the sysid, default: 1)
    • compid: MAV_COMP_ID_GIMBAL
    • type: MAV_TYPE_GIMBAL
    • autopilot: MAV_AUTOPILOT_INVALID
    • base_mode: 0
    • custom_mode: 0
    • system_status: MAV_STATE_UNINIT

    GIMBAL_DEVICE_ATTITUDE_STATUS ​

    The gimbal device should send out its attitude status at a regular rate, e.g. 10 Hz. The fields target_system and target_component can be set to 0 (broadcast) by default.

    GIMBAL_DEVICE_INFORMATION ​

    The static information about the gimbal device needs to be sent out when requested using MAV_CMD_REQUEST_MESSAGE.

    Messages to Listen To/Handle ​

    GIMBAL_DEVICE_SET_ATTITUDE ​

    This is the actual attitude setpoint that the gimbal device should follow. Note that the frame of the quaternion setpoint depends on the GIMBAL_DEVICE_FLAGS.

    AUTOPILOT_STATE_FOR_GIMBAL_DEVICE ​

    The gimbal device should be able to get all the information from the autopilot that it requires in this one message. If something is missing that should be streamed at a high rate, it should be added to this message.

    If this message is not sent by default by the autopilot, or the rate is not ok, the command MAV_CMD_SET_MESSAGE_INTERVAL can be used to request it at a certain rate.

    COMMAND_LONG ​

    The gimbal device needs to check for commands. See below which commands should get answered.

    Commands to Answer ​

    MAV_CMD_REQUEST_MESSAGE ​

    The gimbal device should send out messages when they get requested, e.g. GIMBAL_DEVICE_INFORMATION.

    MAV_CMD_SET_MESSAGE_INTERVAL ​

    The gimbal device should stream messages at the rate requested.

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    Heartbeat/Connection Protocol ​

    The heartbeat protocol is used to advertise the existence of a system on the MAVLink network, along with its system and component id, vehicle type, flight stack, component type, and flight mode.

    The heartbeat allows other components to:

    • discover systems that are connected to the network and infer when they have disconnected. A component is considered to be connected to the network if its HEARTBEAT message is regularly received, and disconnected if a number of expected messages are not received.
    • handle other messages from the component appropriately, based on component type and other properties (e.g. layout a GCS interface based on vehicle type).
    • route messages to systems on different interfaces.

    Message/Enum Summary ​

    消息描述
    HEARTBEATBroadcast that a MAVLink component is present and responding, along with its type (MAV_TYPE) and other properties.
    Enum描述
    MAV_TYPEType of the component. Flight controllers must report the type of the vehicle on which they are mounted (e.g. MAV_TYPE_OCTOROTOR). All other components must report a value appropriate for their type (e.g. a camera must use MAV_TYPE_CAMERA).
    MAV_AUTOPILOTAutopilot type / class. Set to MAV_AUTOPILOT_INVALID for components that are not flight controllers (e.g. ground stations, gimbals, etc.).
    MAV_MODE_FLAGSystem mode bitmap.
    MAV_STATESystem status flag.

    HEARTBEAT Broadcast Frequency ​

    Components must regularly broadcast their HEARTBEAT and monitor for heartbeats from other components/systems.

    The rate at which the HEARTBEAT message must be broadcast, and how many messages may be "missed" before a system is considered to have timed out/disconnected from the network, depends on the channel (it is not defined by MAVLink). On RF telemetry links, components typically publish their heartbeat at 1 Hz and consider another system to have disconnected if four or five messages are not received.

    A component may choose not to send or broadcast information on a channel (other than the HEARTBEAT) if it does not detect another system, and it will continue to send messages to a system while it is receiving heartbeats. Therefore it is important that systems:

    • broadcast a heartbeat even when not commanding the remote system.
    • do not broadcast a heartbeat when they are in a faulted state (i.e. do not publish a heartbeat from a separate thread that is unaware of the state of the rest of the component).

    Connecting to a GCS or MAVLink API ​

    The HEARTBEAT may also used by GCS (or Developer API) to determine if it can connect to a vehicle in order to collect telemetry and send missions/commands.

    For example, QGroundControl will only connect to a vehicle system (i.e. not another GCS, gimbal, or onboard controller), and also checks that it has a non-zero system ID before displaying the vehicle connected message. QGC also uses the specific type of vehicle and other heartbeat information to control layout of the GUI.

    INFO

    The specific code for connecting to QGroundControl can be found in MultiVehicleManager.cc (see void MultiVehicleManager::_vehicleHeartbeatInfo).

    Component Identity ​

    The type of a component is obtained from its HEARTBEAT.type (MAV_TYPE) and HEARTBEAT.autopilot (MAV_AUTOPILOT) fields:

    • A flight controller component must use a MAV_TYPE corresponding to a particular vehicle (e.g. MAV_TYPE_FIXED_WING, MAV_TYPE_QUADROTOR etc.), and set HEARTBEAT.autopilot to a valid flight stack.
    • All other components must use a MAV_TYPE corresponding to the actual type (e.g.: MAV_TYPE_GIMBAL, MAV_TYPE_BATTERY, etc.), and should set HEARTBEAT.autopilot to MAV_AUTOPILOT_INVALID.

    TIP

    The recommended way to recognise an autopilot component is to check that HEARTBEAT.autopilot is not MAV_AUTOPILOT_INVALID.

    Every component must have a system-unique component id, which is used for routing and for identifying multiple instances of a particular component type.

    WARNING

    Historically the component id was also used to determine the component type. New code must not make any assumption about the type from the id used (type is determined from HEARTBEAT.type).

    MAVLink recommends that by default components use a type-appropriate component id from MAV_COMPONENT, and provide an interface to change the component id if needed. For example, a camera component might use any of the MAV_COMP_ID_CAMERAn ids, and should not use MAV_COMP_ID_GPS2.

    TIP

    Using type-specific component ids:

    • makes id clashes less likely "out of the box" (unless two components of the same type are present on the same system).
    • reduces the impact on legacy code that determines component type from the id.

    Component Capabilities ​

    The basic properties and capabilities of an autopilot can be determined by requesting the AUTOPILOT_VERSION message using MAV_CMD_REQUEST_MESSAGE, and for other components by requesting COMPONENT_INFORMATION_BASIC. This should normally be done on discovery of a new component, and the results cached.

    The information includes hardware and software versioning information, and also the capabilities, a bitmap of the MAVLink services/protocols (MAV_PROTOCOL_CAPABILITY) supported by the component.

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    High Latency Protocol ​

    High Latency (HL) links, for example made using the Iridium Satellite network, provide global connectivity, albeit with significant message latency (> 1 second) and high cost-per-message. Generally the cost and latency means that high-latency links are only used when there is no lower-latency alternative, and should only send essential information or commands.

    The protocol provides a heartbeat-like message (HIGH_LATENCY2) for transmitting just the most important telemetry at low rate, and a command (MAV_CMD_CONTROL_HIGH_LATENCY) for enabling/disabling the HL link when needed (i.e. when no lower-latency link is available).

    The GCS should carefully manage what data is sent to/requested from the autopilot on the HL link, in order to avoid congestion and minimize the cost of using the channel:

    • Ground stations should not upload or download missions, waypoints or geofences on the HL link (i.e. should not use the mission protocol).
    • Ground stations should not update or synchronise parameters over the HL channel (i.e. using the parameter protocol).
    • HEARTBEAT messages should not be sent over the HL channel (see the section below for more information).

    Typically the initial connection with a GCS is made over a low latency link (often before takeoff), so that the above data can be transferred before switching to the HL link.

    Heartbeat/Routing ​

    In order to reduce traffic to the bare minimum, some of the fundamental assumptions of MAVLink are explicitly broken:

    • HEARTBEAT messages are not emitted on the channel (either by the autopilot or GCS).

      INFO

      The heartbeat is used to build MAVLink routing tables between channels. Commands addressed specifically to the high latency component may not be routed from another channel (i.e. you can connect to the component from a GCS directly, but not via a MAVLink router).

    • Only the command protocol service messages and HIGH_LATENCY2 message should be sent over the high latency channel.

    The other rules are essentially the same but there are some implications of the above changes:

    • Messages from the high latency channel should be routed to other nodes on the network as usual. Note that this in reality most systems on a high latency network only send HIGH_LATENCY2.
    • Addressed messages should be sent over the high latency channel (in both directions) in accordance with the normal routing rules. In practice the lack of HEARTBEAT means that addressed messages are unlikely to arrive, and hence be sent. In practice the lack of HEARTBEAT means that addressed messages are unlikely to arrive, and hence be sent.

    The implication is that while all components on a MAVLink network will get HIGH_LATENCY2 updates, only the directly connected GCS (or other component) will be able send command protocol messages to the vehicle.

    Message/Enum Summary ​

    消息描述
    HIGH_LATENCY2A heartbeat-like message that contains all the most important (but not time-sensitive) telemetry for sending over high latency links.
    Command描述
    MAV_CMD_CONTROL_HIGH_LATENCYCommand to start/stop transmitting high latency telemetry (HIGH_LATENCY2).
    Enum描述
    HL_FAILURE_FLAGFlags to report failure cases over the high latency telemetry.

    Sequences ​

    A GCS should only upload/download missions, geofences, rally points, and parameters when connected over a low latency link. Generally a vehicle is connected to the GCS via a low latency link for initial synchronisation of parameters etc., and will reconnect whenever the low latency vehicle is available. When the link is not available it will switch to the high latency link and primarily just monitor the high latency telemetry.

    A typical flight sequence might therefore look like:

    • Vehicle is started and connects to ground station over low latency link (e.g. USB cable, Telemetry radio).
    • Ground station(s) download, check and sync all mission protocol items and parameter protocol items over the low latency link
    • Vehicle starts mission.
    • Ground station detects when low latency link is lost/available and enables/disables the high latency link appropriately.
      • While low latency link is active the mission and parameter protocols can be used.
      • While high latency link is active the vehicle provide telemetry updates but parameters and missions should not be updated.

    When the low latency link is lost, the GCS sends MAV_CMD_CONTROL_HIGH_LATENCY to the vehicle over the high latency channel to turn the high latency link on on (causing the vehicle to start emitting HIGH_LATENCY2 messages). When the low latency link is regained the GCS sends MAV_CMD_CONTROL_HIGH_LATENCY to stop the vehicle from broadcasting HIGH_LATENCY2 messages (usually this would be sent over the low latency link).

    The diagram below shows a GCS switching from a higher-latency primary link to a lower latency secondary link when one becomes available, and then back to the higher latency link when the primary link drops out.

    Explicit Handover ​

    A ground station may also support a handover model, where the high latency link is established before the low latency link is dropped (i.e. the high latency link may be enabled by sending MAV_CMD_CONTROL_HIGH_LATENCY over the low latency link prior to loss of coverage).

    This approach allows the GCS to verify that the high latency link is available before losing the low latency connection.

    If using this model the GCS and autopilot should be able to work with a mixed regime of low and high latency links. Specifically, this means that they should be able to handle the case where the same message is sent over different both channels. Specifically, this means that they should be able to handle the case where the same message is sent over different both channels.

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    Illuminator Protocol ​

    The illuminator protocol allows MAVLink control over the behaviour of lights, LEDs, and/or emitters mounted or integrated on the drone. The protocol currently allows for the following control: brightness, on/off, and a strobe feature.

    Along with this, the illuminator protocol also publishes status information for developers or users. The status messaging encompasses the current configuration of the illuminator and the health of the illuminator device.

    These illuminators have built-in MAVLink support:

    • Skydio Spotlight for X10

    Message/Command/Enum Summary ​

    消息描述
    COMPONENT_INFORMATION_BASICBasic illuminator information data. Should be requested using MAV_CMD_REQUEST_MESSAGE on startup, or when required.
    ILLUMINATOR_STATUSCurrent status of the illuminator. Recommended to publish this at a regular rate.
    Command描述
    MAV_CMD_ILLUMINATOR_ON_OFFTurns illuminators ON/OFF.
    MAV_CMD_DO_ILLUMINATOR_CONFIGUREConfigures illuminator settings.
    Enum Values描述
    MAV_TYPE_ILLUMINATORType of the component (illuminator).
    MAV_COMP_ID_ILLUMINATORID of the component (illuminator).
    Enum描述
    ILLUMINATOR_MODEIlluminator modes.
    ILLUMINATOR_ERROR_FLAGSFault/health indications.

    Implementation and Messages ​

    Illuminator Connection ​

    Illuminators are expected to follow the Heartbeat/Connection Protocol and send a constant flow of heartbeats (nominally at 1Hz). Illuminators are identified via their type MAV_TYPE_ILLUMINATOR. Individual illuminators are distinguished via their unique component ID, which by default should be MAV_COMP_ID_ILLUMINATOR (though this is not mandated and any ID may be used). Once a heartbeat is received, the drone can then send a MAV_CMD_REQUEST_MESSAGE command to the illuminator to receive information, set settings, or control the illuminator. An example below illustrates how a drone can request the status of the illuminator.

    COMPONENT_INFORMATION_BASIC ​

    While the MAV_TYPE and Component ID help identify the system and component, the COMPONENT_INFORMATION_BASIC command can be requested to retrieve component information data, which can help further identify the component being communicated with. This data includes time_boot_ms, MAV_PROTOCOL_CAPABILITY, vendor_name, model_name, software_version, hardware_version, and serial_number.

    Parameter描述
    time_boot_msTime since system boot up in milliseconds.
    MAV_PROTOCOL_CAPABILITYBitmask detailing the component capability flags.
    vendor_nameName of the component vendor (optional).
    model_nameName of the component's model (optional).
    software_versionSoftware version on the module, recommended format is SEMVER: 'major.minor.patch' but any format can be used (24-character string) (optional).
    hardware_versionHardware version on the module, recommended format is SEMVER: 'major.minor.patch' but any format can be used (24-character string) (optional).
    serial_numberHardware's serial number (optional).

    Optional parameters can be left empty or set to zero.

    ON/OFF ​

    The MAV_CMD_ILLUMINATOR_ON_OFF command is used to enable/disable the illuminator. It's usage can be seen below:

    CONFIGURE ​

    The MAV_CMD_DO_ILLUMINATOR_CONFIGURE command controls the illuminator's settings. This will adjust how the illuminator behaves when enabled. The operation follows the normal Command Protocol rules for command/acknowledgment. The four parameters for this command are: Mode, Brightness, Strobe Period, Strobe Duty.

    Illuminators can be set in different modes which can change the behavior of the illuminator (described in a separate section, Modes). The brightness can be set via "Brightness" as a percentage value (0-100%). Illuminators may also have the functionality to strobe the light source. This behavior is configured via "Strobe Period" and "Strobe Duty". These parameters can be set to 0 when not used. "Strobe Period" is in seconds and "Strobe Duty" is a percentage value (indicating the % of time in the "Strobe Period" the illuminator is enabled).

    MODES ​

    If the mode is unknown, the mode parameter value will be set to 0.

    A mode value of 1 is ILLUMINATOR_MODE_INTERNAL_CONTROL, where the illuminator behavior is controlled by MAV_CMD_DO_ILLUMINATOR_CONFIGURE settings.

    When the value is set to 2, it indicates that the illuminator mode is ILLUMINATOR_MODE_EXTERNAL_SYNC. This mode is for instances where the illuminator behavior is controlled by external factors: e.g. an external hardware signal.

    STATUS ​

    The ILLUMINATOR_STATUS message can be requested to receive information about the status of the illuminator. This includes information such as uptime, errors, whether the illuminator is enabled via MAV_CMD_ILLUMINATOR_ON_OFF, current settings from the MAV_CMD_DO_ILLUMINATOR_CONFIGURE command, and the temperature of the illuminator.

    ILLUMINATOR_ERROR_FLAGS ​

    The ILLUMINATOR_ERROR_FLAGS can be used to indicate if there is any issue with the illuminator. At this time, there are three flags. If there is no error and the illuminator is behaving as normal, the ILLUMINATOR_ERROR_FLAGS bitmap will be 0. If ILLUMINATOR_ERROR_FLAGS is set to 1 or 2, this indicates an error related to the temperature of the illuminator.

    1 indicates ILLUMINATOR_ERROR_FLAGS_THERMAL_THROTTLING as in the illuminator is throttling its output due to a thermal issue. 2 indicates ILLUMINATOR_ERROR_FLAGS_OVER_TEMPERATURE_SHUTDOWN which means that the illuminator is shutting off due to passing some temperature threshold.

    The status message utilization can be seen below:

    Test Script ​

    描述 ​

    The test suite included in assets/services/illuminators allows for testing both sides of the illuminator interaction.

    • illuminator.py emulates a standard illuminator module.
    • test_illuminator.py runs a standard test suite against the emulator, testing all commands listed in this document.

    Instructions ​

    1. Run simple illuminator emulator python3 illuminator.py
    2. Run test python3 -m unittest -v test_illuminator.py
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    Image Transmission Protocol ​

    WARNING

    The Camera Protocol and MAVLink FTP are recommended for sending images, video and files.

    This protocol is not intended for general image transmission use (it was originally designed as a simple protocol for transfering small images over a low bandwidth channel from an optical flow sensor to a GCS).

    The image transmission protocol uses MAVLink as the communication channel to transport any kind of image (raw images, Kinect data, etc.) from one MAVLink node to another. It basically takes a live camera image, splits it into small chunks and sends it over MAVLink.

    This topic describes how the image streaming functionality works and covers both the communication protocol and implementation details (for a vehicle and QGroundControl).

    Communication ​

    The image streaming component uses two MAVLink messages: a handshake message, DATA_TRANSMISSION_HANDSHAKE, to initiate image streaming and describe the image to be sent, and a data container message, ENCAPSULATED_DATA, to transport the image data.

    1. The communication is initiated by the QGroundControl with a DATA_TRANSMISSION_HANDSHAKE request to start the stream. The messages should specify:

      • type: any of the types in the enum MAVLINK_DATA_STREAM_TYPE in mavlink.h,
      • jpg_quality: Desired image quality (for lossy formats like JPEG).
      • All other fields must be zero in the initial request.

    2. When the targeted MAV receives the handshake request, it sends back a DATA_TRANSMISSION_HANDSHAKE. This acts provides acknowledgment of the request and information about the image that is about to be streamed:

      • type: Type of image to be streamed (same as requested type)
      • size: Image size in bytes.
      • width: Image width in pixels.
      • height: Image height in pixels.
      • packets: number of MAVLink ENCAPSULATED_DATA packets to be sent
      • payload: Size of the payload of each data packet (normally 252 bytes)
      • jpg_quality: Image quality (same as requested)

    3. The image data is then split into chunks to fit into ENCAPSULATED_DATA message and sent over MAVLink. Every packet contains a sequence number as well as the ID of the image stream it belongs to.

    4. The image streamer periodically sends new images without further interaction. Every new image comes with a new DATA_TRANSMISSION_HANDSHAKE ACK packet with updated image size, packets and payload fields. After this ACK packet, the new image arrives as a series of ENCAPSULATED_DATA packets.

      INFO

      The sequence number starts at 0 for every new image of the stream.

    5. To stop an image stream a GSC must send a new DATA_TRANSMISSION_HANDSHAKE request packet, with all 0 values. The MAVLink node will acknowledge this by sending back DATA_TRANSMISSION_HANDSHAKE also containing 0 values.

    Usage / Configuration ​

    To use the two modules on your MAV, you have to do the following steps:

    • Compile the mavconn middleware for your MAV: Guide, Github.

    • Start at least these components on the MAV:

      px_mavlink_bridge_udp &
 px_system_control --heartbeat &
 px_camera -o lcm &

    • Compile and start QGroundControl.

    • Start the image streaming component (you can add the -v flag to see some more output): px_imagestreamer.

    • Initiate the image stream: Open the HUD widget, right-click into the widget and choose Enable live Image Streaming.

    You should now be able to see the live video feed with one image per second (default, hardcoded at the moment).

    Developer ​

    Out-of-the-box, the image streaming component only implements JPEG streaming of the camera image. To implement your own image stream, you have to do the following:

    • Write a MAVLink handler, which handles requests to start image streams of your type of choice.
    • Write a data handler, which takes your desired data (i.e. a stereo camera image), encodes it into the format of your choice (i.e. rawimage, JPEG, BMP) and splits/sends the data over MAVLink.
    • Extend the data/message handler in the UAS component of QGroundControl to correctly handle your data (i.e. unpacking of the chosen format).
    • Write or extend a widget to display your data according to your wishes.
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    Microservices ​

    The MAVLink "microservices" define higher-level protocols that MAVLink systems can adopt in order to better inter-operate. For example, QGroundControl, ArduPilot and PX4 autopilots all share a common Command Protocol for sending point-to-point messages that require an acknowledgment.

    The microservices are used to exchange many types of data, including: parameters, missions, trajectories, images, other files. If the data can be far larger than can be fit into a single message, services will define how the data is split and re-assembled, and how to ensure that any lost data is re-transmitted. Other services provide command acknowledgment and/or error reporting.

    Most services use the client-server pattern, such that the GCS (client) initiates a request and the vehicle (server) responds with data.

    The main microservices are shown in the sidebar (most are listed below):

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    Landing Target Protocol ​

    着陆目标服务/信息从MAVLink定位系统向自动驾驶仪传达一个或多个目标的位置。 着陆目标服务/信息从MAVLink定位系统向自动驾驶仪传达一个或多个目标的位置。 一个多旋翼机或VTOL系统可以使用该信息来着陆，其定位精度远远高于传统GPS提供的定位精度(GPS提供几米内的位置，而着陆目标系统可能合理地提供厘米级的精确着陆)。

    定位系统通常由机载另一台计算机和视觉系统组成，能够探测到光信标或目标图像。 还支持无线电信标和不同类型的可视标记和标记。

    Protocol Messages ​

    The message used by this protocol is LANDING_TARGET. This is broadcast by the positioning system to indicate the position of a particular target at a particular time.

    INFO

    The required broadcast rate depends on the landing speed and desired accuracy; start with rates between 10 Hz and 50 Hz and tune performance as needed.

    The original MAVLink 1 message was designed with the assumption that the target is captured from a downward facing camera, and provides fields that are relative to the captured image. MAVLink 2 extended the message to provide positional information in terms of standard frames (MAV_FRAME), a quaternion and the type of landing targets (LANDING_TARGET_TYPE). This allows more flexibility for the types of target that can be supported, simplifies the code required by the autopilot, and allows the autopilot to control both landing position and orientation on (some) targets.

    Different systems may support either (or presumably both) sets of fields. These are discussed below.

    Target Relative to Captured Image ​

    The LANDING_TARGET fields that are relative to a captured image are shown below:

    Field NameTypeUnits值描述
    angle_xfloatradX-axis angular offset of the target from the center of the image
    angle_yfloatradY-axis angular offset of the target from the center of the image
    distancefloatmDistance to the target from the vehicle
    size_xfloatradSize of target along x-axis
    size_yfloatradSize of target along y-axis

    The positional information can be interpreted as described below.

    Imagine a ray pointing from the camera's principal point to the target. The x angle (angle_x) is the angle spanned by that ray and the x-axis of the image plane. The same holds for the y angle (angle_y). In other words, the x angle is a function of the x pixel coordinate of the target (denoted by u̅ in the image below), the y angle is a function of the y pixel coordinate (denoted v in the image below). Using the angle rather than u̅/v̅ pixel coordinates has the advantage that the effect of the camera lens is already accounted for. Using the angle rather than u̅/v̅ pixel coordinates has the advantage that the effect of the camera lens is already accounted for.

    Landing Target Fields

    The sizes in x and y direction are analogous (size_x/size_y). They describe the angle between the smallest and biggest pixel in x/y direction respectively of the target as seen in the image.

    TIP

    ArduPilot supports messages with these fields if position_valid is 0.

    Target as Position/Quaternion (MAVLink 2 and later) ​

    The message fields that are used to provide target information as a position/quaternion are shown below. Field meaning and use is clear from the description.

    Field NameTypeUnits值描述
    frameuint8_tMAV_FRAMECoordinate frame used for following fields.
    xfloatmX Position of the landing target in MAV_FRAME
    yfloatmY Position of the landing target in MAV_FRAME
    zfloatmZ Position of the landing target in MAV_FRAME
    qfloat[4]Quaternion of landing target orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
    typeuint8_tLANDING_TARGET_TYPEType of landing target
    position_validuint8_tBoolean indicating whether these position field values are populated with valid position target information (1: valid, 0: invalid). The default is '0', so that if the fields are not populated the default-zero values are not interpreted as a valid target position.

    TIP

    • PX4 supports this form of positioning in MAV_FRAME_LOCAL_NED (only). The original (MAVLink 1) fields are ignored.
    • ArduPilot supports this form of positioning in MAV_FRAME_BODY_FRD (only). position_valid must be 1 and distance must be filled.
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    Manual Control Protocol (Joystick) ​

    The Manual Control Protocol enables controlling a system using a "standard joystick" (or joystick-like input device that supports the same axes nomenclature).

    The protocol is implemented with just the MANUAL_CONTROL message. It defines the target system to be controlled, the movement in four primary axes (x, y, z, r) and two extension axes (s, t), and two 16-bit fields to represent the states of up to 32 buttons (buttons, buttons2). Unused axes can be disabled, and the extension axes must be explicitly enabled using bits 0 and 1 of the enabled_extensions field.

    The protocol is by intent relatively simple and abstract, and provides a simple way of controlling the main motion of a vehicle, along with several arbitrary features that can be triggered using buttons.

    This allows GCS software to provide a simple level of control for many types of vehicles, and allows new vehicle types with unusual functions to operate with minimal (if any) changes to the MAVLink protocol or existing ground control station (GCS) software.

    Mapping Axes ​

    Manual control is performed in the vehicle-frame. Manual control is performed in the vehicle-frame. All axis values are normalised to the range -1000 to 1000.

    Rotation-Focused Control ​

    The typical axis assignments for a thrust- and rotation-controlled vehicle (e.g. planes, multicopters) are listed below.

    fieldmotion axis+ve direction-ve direction
    x俯仰角forward/nose-downbackward/nose-up
    yrollright-downleft-down
    zthrustpositivenegative
    ryawcounter-clockwiseclockwise

    Directional Control ​

    Vehicles with direct control over vehicle translation directions (multicopters) typically use the following mappings.

    fieldmotion axis+ve direction-ve direction
    xforwardforwardbackward
    ylateralrightleft
    zverticalupdown
    ryawcounter-clockwiseclockwise
    s俯仰角forward/nose-downbackward/nose-up
    trollright-downleft-down

    Mapping Buttons ​

    Button functions are vehicle/flight-stack dependent:

    • ArduPilot treats button values as user-configurable using firmware parameters (e.g. ArduCopter's BTN_FUNCn or ArduSub's BTNn_FUNCTION), through the Parameter or Extended Parameter protocols.
    • PX4 defines fixed meanings to some of the buttons values, and these are mapped to user-selected functions by the ground station.

    The buttons field is required, and corresponds to the first 16 buttons.

    buttons2 is an extension, and corresponds to the optional second set of 16 buttons.

    Alternatives ​

    Vehicles may alternatively be controlled by sending information as a set of up to 18 channel values using RC_CHANNELS_OVERRIDE. Channels can be mapped to firmware parameters using PARAM_MAP_RC, and the autopilot can use the current parameter values at each point in time to determine control actions.

    It's worth noting that the generality of RC channels control is a double-edged sword. It's worth noting that the generality of RC channels control is a double-edged sword. It is incredibly versatile, and can be used to provide support for several arbitrary control axes, but the user-defined in-vehicle nature of the mapped parameters means additional setup is frequently required for compatibility with GCSs, and there are no guarantees that multiple vehicles running the same firmware will have the same channel-parameter mapping. This is a similar issue to the MANUAL_CONTROL buttons, so to minimise firmware complexity and maximise interoperability between a vehicle type and GCSs it's recommended to use targetted MAVLink commands where possible. This is a similar issue to the MANUAL_CONTROL buttons, so to minimise firmware complexity and maximise interoperability between a vehicle type and GCSs it's recommended to use targetted MAVLink commands where possible.

    Implementations ​

    The protocol has been implemented in various GCSs and vehicle firmwares. The protocol has been implemented in various GCSs and vehicle firmwares. These implementations can be used in your own code within the terms of their software licenses.

    Ground Control Stations ​

    The protocol has been implemented in QGroundControl and Mission Planner.

    QGroundControl implementation:

    MissionPlanner implementation:

    Vehicle Firmwares ​

    The protocol has been implemented in PX4, and in the Copter, Plane, Rover, and Sub vehicle firmwares in ArduPilot.

    PX4 Implementation:

    ArduPilot Implementations:

    Future Extensions ​

    Future extensions are likely to be handled with additional targetted MAVLink commands rather than mapping functionality in the flight controller (i.e. handling more complex inputs in the GCS to reduce vehicle firmware complexity).

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    MAVLink Id Assignment ​

    A MAVLink system consists of one or more MAVLink components that all share the same system id, and that must each have a system-unique component id. This topic explains how you can ensure that your components are updated appropriately when the system id of the autopilot is changed, and how to ensure that they each have a unique component id.

    综述 ​

    Generally MAVLink flight stacks give the autopilot component a default system id of 1 and a component id of MAV_COMP_ID_AUTOPILOT1 (also 1).

    Other MAVLink components typically also have a default system id of 1, and a component id that is the default for the component's type (such as MAV_COMP_ID_CAMERA for a MAVLink camera). This ensures that they will often work with autopilots "out of the box" when setting up a system for the first time.

    In a more complex MAVLink system you will have multiple vehicles, so you will need to assign each vehicle a unique system id, and have a mechanism to change the associated components to that same id.

    In a single system you may also have multiple components of the same type. In this case you will need to ensure that each has a unique component id.

    The following section suggests a process to allow MAVLink components to automatically update themselves with the correct ids.

    System Id Assignment ​

    First change the system ID of the autopilot component. This is usually done with a flight-stack specific parameter such as MAV_SYS_ID (PX4) or SYSID_THISMAV (ArduCopter).

    INFO

    MAV_CMD_DO_SET_SYS_CMP_ID is a work-in-progress command for setting and changing system and command ids.

    Then reboot the vehicle off-network, so that the only autopilot visible to components should be the one on the vehicle (you can disconnect your telemetry radio, for example).

    On boot, components should look for autopilot HEARTBEAT messages.

    If HEARTBEAT messages are detected from:

    • Only one autopilot within 3 seconds of the first autopilot heartbeat being detected, the component should set its system id to match that of the autopilot.
    • Multiple autopilots within the first 3 seconds then the autopilot should keep its current system id. Note that this is true even if autopilot heartbeats from corresponding autopilot are not seen.
    • No autopilots then components should keep their current system id.

    This ensures that components will latch to an unambiguous system id if available, and otherwise keep their current system id.

    Component Id Assignment ​

    Component IDs should be manually assigned by the system integrator.

    In practise most components are factory-shipped using the first "allocated" component ID for their type from the MAV_COMPONENT enum, such as MAV_COMP_ID_CAMERA for cameras, and MAV_COMP_ID_GIMBAL for gimbals. If the vehicle has only one component of a particular type, then this is usually sufficient to avoid clashes.

    When there are multiple instances of a particular component, each will need a unique id. The easiest way to do this is to sequentially allocate component IDs from the allocated ranges, such as MAV_COMP_ID_CAMERA2. The mechanisms to set and change component ids are component-dependent (and some components may not allow the component id to be changed).

    Note that in theory any component can have any id. However associating components with their well-known component ids makes it easier to, for example, associate a gimbal with a camera, or capture an image using a particular camera.

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    Mission Protocol ​

    The mission sub-protocol allows a GCS or developer API to exchange mission (flight plan), geofence and safe point information with a drone/component.

    The protocol covers:

    • Operations to upload, download and clear missions, set/get the current mission item number, and get notification when the current mission item has changed.
    • Message type(s) and enumerations for exchanging mission items.
    • Mission Items ("MAVLink commands") that are common to most systems.

    The protocol supports re-request of messages that have not arrived, which allows missions to be reliably transferred over a lossy link.

    Mission Types ​

    MAVLink 2 supports three types of "missions": flight plans, geofences and rally/safe points. The protocol uses the same sequence of operations for all types (albeit with different types of Mission Items). The mission types must be stored and handled separately/independently.

    Mission protocol messages include the type of associated mission in the mission_type field (a MAVLink 2 message extension). The field takes one of the MAV_MISSION_TYPE enum values: MAV_MISSION_TYPE_MISSION, MAV_MISSION_TYPE_FENCE, MAV_MISSION_TYPE_RALLY.

    INFO

    MAVLink 1 supports only "regular" flight-plan missions (this is implied/not explicitly set).

    Mission items for all the mission types are defined in the MAV_CMD enum.

    INFO

    MAV_CMD is used to define commands that can be used in missions ("mission items") and commands that can be sent outside of a mission context (using the Command Protocol). Some MAV_CMD can be used with both mission and command protocols. Not all commands/mission items are supported on all systems (or for all flight modes).

    The items for the different types of mission are identified using a simple name prefix convention:

    Mission items (MAV_CMD) are transmitted/encoded in MISSION_ITEM_INT messages. This message includes fields to identify the particular mission item (command id) and up to 7 command-specific optional parameters.

    Field NameType值描述
    commanduint16_tMAV_CMDCommand id, as defined in MAV_CMD.
    param1floatParam #1.
    param2floatParam #2.
    param3floatParam #3.
    param4floatParam #4.
    param5 (x)int32_tX coordinate (local frame) or latitude (global frame) for navigation commands (otherwise Param #5).
    param6 (y)int32_tY coordinate (local frame) or longitude (global frame) for navigation commands (otherwise Param #6).
    param7 (z)floatZ coordinate (local frame) or altitude (global - relative or absolute, depending on frame) (otherwise Param #7).

    The first four parameters (shown above) can be used for any purpose - this depends on the particular command. The last three parameters (x, y, z) are used for positional information in MAV_CMD_NAV_* commands, but can be used for any purpose in other commands.

    The remaining message fields are used for addressing, defining the mission type, specifying the reference frame used for x, y, z in MAV_CMD_NAV_* messages, etc.:

    Field NameType值描述
    target_systemuint8_tSystem ID
    target_componentuint8_tComponent ID
    sequint16_tSequence number for item within mission (indexed from 0).
    frameuint8_tMAV_FRAME| | frame | uint8_t | MAV_FRAME | The coordinate system of the waypoint.
    ArduPilot and PX4 both only support global frames in MAVLink commands (local frames may be supported if the same command is sent via the command protocol).
    mission_typeuint8_tMAV_MISSION_TYPEMission type.
    currentuint8_tfalse:0, true:1When downloading, whether the item is the current mission item.
    autocontinueuint8_tAutocontinue to next waypoint when the command completes.

    Message/Enum Summary ​

    The following messages and enums are used by the service.

    消息描述
    MISSION_REQUEST_LISTInitiate mission download from a system by requesting the list of mission items.
    MISSION_COUNTSend the number of items in a mission. This is used to initiate mission upload or as a response to MISSION_REQUEST_LIST when downloading a mission.
    MISSION_REQUEST_INTRequest mission item data for a specific sequence number be sent by the recipient using a MISSION_ITEM_INT message. Used for mission upload and download.
    MISSION_ITEM_INTMessage encoding a mission item/command (defined in a MAV_CMD). Used for mission upload and download.
    MISSION_ACKAcknowledgment message when a system completes a mission operation (e.g. sent by autopilot after it has uploaded all mission items). The message includes a MAV_MISSION_RESULT indicating either success or the type of failure.
    MISSION_CURRENTMessage containing the current mission item sequence number. This is streamed and also emitted when the current mission item is set/changed.
    MISSION_SET_CURRENTSet the current mission item by sequence number (continue to this item on the shortest path).
    STATUSTEXTSent to notify systems when a request to set the current mission item fails.
    MISSION_CLEAR_ALLMessage sent to clear/delete all mission items stored on a system.
    MISSION_ITEM_REACHEDMessage emitted by system whenever it reaches a new waypoint. Used to monitor progress.
    Command描述
    MAV_CMD_DO_SET_MISSION_CURRENTSet current mission item and optionally reset mission counter. Supersedes MISSION_SET_CURRENT.
    Enum描述
    MAV_MISSION_TYPEMission type for message (mission, geofence, rallypoints).
    MAV_MISSION_RESULTUsed to indicate the success or failure reason for an operation (e.g. to upload or download a mission). This is carried in a MISSION_ACK.
    MAV_FRAMECo-ordinate frame for position/velocity/acceleration data in the message.
    MAV_CMDMission Items (and MAVLink commands) sent in MISSION_ITEM_INT.

    Deprecated Types: MISSION_ITEM ​

    The legacy version of the protocol also supported MISSION_REQUEST for requesting that a mission be sent as a sequence of MISSION_ITEM messages.

    Both MISSION_REQUEST and MISSION_ITEM messages are now deprecated, and should no longer be sent. If MISSION_REQUEST is recieved the system should instead respond with MISSION_ITEM_INT items (as though it received MISSION_REQUEST_INT).

    Frames & Positional Information ​

    By convention, mission items use param5, param6, param7 for positional information when needed (and otherwise as "free use" parameters). The table below shows that the positional parameters can be local (x, y, z), global (latitude, longitude, altitude), and also the data type used to store the parameters in the MISSION_ITEM_INT message.

    参数typeLocalGlobal
    param5int32_txLatitude
    param6int32_tyLongitude
    param7floatzAltitude (global - relative or absolute)

    The co-ordinate frame of positional parameters is defined in the MISSION_ITEM_INT.frame field using a MAV_FRAME value.

    The global frames are prefixed with MAV_FRAME_GLOBAL_*. Mission items should use frame variants that have the suffix _INT: e.g. MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, MAV_FRAME_GLOBAL_INT, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT. When using these frames, latitude and longitude values must be encoded by multiplying the degrees by 1E7 (e.g. the latitude 69.69000000 would be sent as 69.69000000x1E7 = 696900000). Using int32 of degrees * 10^7 has higher resolution than could be achieved with single floating point.

    A number of local frames are also specified. Local frame position values that are sent in integer field parameters must be encoded as position in meters x 1E4 (e.g. 5m would be encoded and sent as 50000). If sent in messages float parameter fields the value should be sent as-is.

    INFO

    Don't use the non-INT global frames in mission items (e.g. MAV_FRAME_GLOBAL_RELATIVE_ALT). These are intended to be used with messages that have float fields for positional information, e.g.: MISSION_ITEM (deprecated), COMMAND_LONG. If these frames are used, position values should be sent unencoded (i.e. no need to multiply by 1E7).

    INFO

    As above, in theory if a global non-INT frame variant is set for a MISSION_ITEM_INT the position value should be sent as-is (not encoded). This will result in the value being rounded when it is sent in the integer value, which will make the value unusable. In practice, many systems will assume you have encoded the value, but you should test this for your particular flight stack. Better just to use the correct frames!

    WARNING

    Don't use MAV_FRAME_MISSION for mission items that contain positional data; this does not correspond to any particular real frame, and so will be ambiguous. MAV_FRAME_MISSION should be used for mission items that use params5 and param6 for other purposes.

    Param 5, 6 For Non-Positional Data ​

    Param5, param6, param7 may also be used for non-positional information. In this case the MISSION_ITEM_INT.frame should be set to MAV_FRAME_MISSION (this is equivalent to say "the frame data is irrelevant").

    As param5 and param6 are sent in integer fields, generally you should design mission items/MAV_CMDs such that these only include integer data (and are sent as-is/unscaled). If these must be used for real numbers and scaling is required, then this must be noted in the mission item itself.

    Operations ​

    This section defines all the protocol operations.

    Detecting Mission/Plan Changes ​

    Mission upload and download can be expensive operations, in particular for large missions. A GCS can avoid unnecessary uploads and downloads by first checking whether it has a matching id(s) for the corresponding plan on the vehicle.

    The current id for different parts of the plan are streamed in MISSION_CURRENT message, using the appropriately named fields: mission_id, fence_id, rally_points_id. These values are 0 if there is no plan uploaded, or if detecting plan changes is not supported by the flight stack.

    The IDs are generated by the flight stack when a new mission, rally point, or geofence, is uploaded to the vehicle (at which point it also starts publishing the value in MISSION_CURRENT). MAVLink puts no particular requirements on how the "opaque_id" values are calculated by the flight stack (this is why they are named "opaque"). The only expectation is that the scheme used makes it unlikely that the GCS will incorrectly determine that it has a matching plan (a flight stack might use file hashes, plan checksums, pseudo-random numbers, or some other technique).

    On upload, the generated ID is sent to the GCS in the final part of the upload sequence in the MISSION_ACK.opaque_id field. On download, the stored ID is sent to the GCS in the MISSION_COUNT.opaque_id field.

    The GCS should store the value of the ID from the flight stack as the "current id" for whatever part of the plan was uploaded/download. It can then monitor MISSION_CURRENT, and check its cached values against the current plan ids to determine whether it has a matching mission, or needs to download the mission from the vehicle.

    Upload a Mission to the Vehicle ​

    The diagram below shows the communication sequence to upload a mission to a drone (assuming all operations succeed).

    WARNING

    Mission update must be robust! A new mission should be fully uploaded and accepted before the old mission is replaced/removed.

    ::: Mission upload/download can be bandwidth intensive and time consuming Check for plan changes before uploading (or downloading) a mission. :::

    Mission Upload Sequence

    In more detail, the sequence of operations is:

    1. GCS sends MISSION_COUNT including the number of mission items to be uploaded (count).
      • A timeout must be started for the GCS to wait on the response from Drone (MISSION_REQUEST_INT).
    2. Drone receives message and responds with MISSION_REQUEST_INT requesting the first mission item (seq==0).
      • A timeout must be started for the Drone to wait on the MISSION_ITEM_INT response from GCS.
    3. GCS receives MISSION_REQUEST_INT and responds with the requested mission item in a MISSION_ITEM_INT message.
    4. Drone and GCS repeat the MISSION_REQUEST_INT/MISSION_ITEM_INT cycle, iterating seq until all items are uploaded (seq==count-1).
    5. After receiving the last mission item the drone responds with MISSION_ACK with the type of MAV_MISSION_ACCEPTED indicating mission upload completion/success.
      • The drone should set the new mission to be the current mission, discarding the original data.
      • The drone considers the upload complete.
    6. GCS receives MISSION_ACK containing MAV_MISSION_ACCEPTED to indicate the operation is complete.
      • The GCS should store MISSION_ACK.opaque_id (the current id of the uploaded plan) and can use it later to check for plan changes.

    Notes:

    • A timeout is set for every message that requires a response (e.g. MISSION_REQUEST_INT). If the timeout expires without a response being received then the request must be resent.
    • Mission items must be received in order. If an item is received out-of-sequence the expected item should be re-requested by the vehicle (the out-of-sequence item is dropped).
    • An error can be signaled in response to any request using a MISSION_ACK message containing an error code. This must cancel the operation and restore the mission to its previous state. For example, the drone might respond to the MISSION_COUNT request with a MAV_MISSION_NO_SPACE if there isn't enough space to upload the mission.
    • The sequence above shows the mission items packaged in MISSION_ITEM_INT messages. Protocol implementations must also support MISSION_ITEM and MISSION_REQUEST in the same way.
    • Uploading an empty mission (MISSION_COUNT is 0) has the same effect as clearing the mission.

    Download a Mission from the Vehicle ​

    INFO

    Mission upload/download can also be bandwidth intensive and time consuming. Check for plan changes before downloading (or uploading) a mission.

    The diagram below shows the communication sequence to download a mission from a drone (assuming all operations succeed).

    Sequence: Download mission

    The sequence is similar to that for uploading a mission. The main difference is that the client (e.g. GCS) sends MISSION_REQUEST_LIST, which triggers the autopilot to respond with the current count of items (MISSION_COUNT). This starts a cycle where the GCS requests mission items, and the drone supplies them.

    Note:

    • The MISSION_COUNT.opaque_id is the stored ID of the part of the plan that is being uploaded from the vehicle. This should be stored by the GCS so that it can later check that its plan matches that on the vehicle.
    • A timeout is set for every message that requires a response (e.g. MISSION_REQUEST_INT). If the timeout expires without a response being received then the request must be resent.
    • Mission items must be received in order. If an item is received out-of-sequence the expected item should be re-requested by the GCS (the out-of-sequence item is dropped).
    • An error can be signaled in response to any request using a MISSION_ACK message containing an error code. This must cancel the operation.
    • The sequence above shows the mission items packaged in MISSION_ITEM_INT messages. Protocol implementations must also support MISSION_ITEM and MISSION_REQUEST in the same way.

    Set Current Mission Item ​

    The diagram below shows the communication sequence to set the current mission item.

    Mermaid Diagram: Set mission item

    In more detail, the sequence of operations is:

    1. GCS/App sends MAV_CMD_DO_SET_MISSION_CURRENT (or MISSION_SET_CURRENT), specifying the new sequence number (seq).
    2. Drone receives message and attempts to update the current mission sequence number.
      • On success, the Drone must broadcast a MISSION_CURRENT message containing the current sequence number (seq).
      • On failure, the Drone must broadcast a STATUSTEXT with a MAV_SEVERITY and a string stating the problem. This may be displayed in the UI of receiving systems.

    Notes:

    • There is no specific timeout on MISSION_SET_CURRENT message.
    • The acknowledgment of the message is via broadcast of mission/system status, which is not associated with the original message. This differs from error handling in other operations. This approach is used because the success/failure is relevant to all mission-handling clients.

    Monitor Mission Progress ​

    GCS/developer API can monitor progress by handling the appropriate messages sent by the drone:

    Clear Missions ​

    The diagram below shows the communication sequence to clear the mission from a drone (assuming all operations succeed).

    Mermaid Diagram: Clear Missions

    In more detail, the sequence of operations is:

    1. GCS/API sends MISSION_CLEAR_ALL
      • A timeout is started for the GCS to wait on MISSION_ACK from Drone.
    2. Drone receives the message, and clears the mission from storage.
    3. Drone responds with MISSION_ACK with result type of MAV_MISSION_ACCEPTEDMAV_MISSION_RESULT.
    4. GCS receives MISSION_ACK and clears its own stored information about the mission. The operation is now complete.

    Note:

    • A timeout is set for every message that requires a response (e.g. MISSION_CLEAR_ALL). If the timeout expires without a response being received then the request must be resent.
    • An error can be signaled in response to any request (in this case, just MISSION_CLEAR_ALL) using a MISSION_ACK message containing an error code. This must cancel the operation. The GCS record of the mission (if any) should be retained.

    Canceling Operations ​

    The above mission operations may be canceled by responding to any request (e.g. MISSION_REQUEST_INT) with a MISSION_ACK message containing the MAV_MISSION_OPERATION_CANCELLED error.

    Both systems should then return themselves to the idle state (if the system does not receive the cancellation message it will resend the request; the recipient will then be in the idle state and may respond with an appropriate error for that state).

    Operation Exceptions ​

    Timeouts and Retries ​

    A timeout should be set for all messages that require a response. If the expected response is not received before the timeout then the message must be resent. If no response is received after a number of retries then the client must cancel the operation and return to an idle state.

    The recommended timeout values before resending, and the number of retries are:

    • Timeout (default): 1500 ms
    • Timeout (mission items): 250 ms.
    • Retries (max): 5

    Errors/Completion ​

    All operations complete with a MISSION_ACK message containing the result of the operation (MAV_MISSION_RESULT) in the type field.

    On successful completion, the message must contain type of MAV_MISSION_ACCEPTED; this is sent by the system that is receiving the command/data (e.g. the drone for mission upload or the GCS for mission download).

    An operation may also complete with an error - MISSION_ACK.type set to MAV_MISSION_ERROR or some other error code in MAV_MISSION_RESULT. This can occur in response to any message/anywhere in the sequence.

    Errors are considered unrecoverable. In an error is sent, both ends of the system should reset themselves to the idle state and the current state of the mission on the vehicle should be unaltered.

    Note:

    • timeouts are not considered errors.
    • Out-of-sequence messages in mission upload/download are recoverable, and are not treated as errors.

    Mission File Formats ​

    The defacto standard file format for exchanging missions/plans is discussed in: File Formats > Mission Plain-Text File Format.

    Mission Command Detail ​

    This section is for clarifications and additional information about common mission items. In particular it is intended for cases that are difficult to document in the specification XML, or when images will much better describe expected behaviour.

    Loiter Commands (MAV_CMD_NAV_LOITER_*) ​

    Loiter commands are provided to allow a vehicle to hold at a location for a specified time or number of turns, until it reaches the specified altitude, or indefinitely. Multicopter vehicles stop at the specified point (within a vehicle-specific acceptance radius that is not set by the mission item). Forward-moving vehicles (e.g. fixed-wing) circle the point with the specified radius/direction.

    The commands are:

    The location and fixed-wing loiter radius parameters are common to all commands:

    Param (:Label)描述Units
    3: RadiusRadius around waypoint. If positive loiter clockwise, else counter-clockwisem
    5: LatitudeLatitude
    6: LongitudeLongitude
    7: AltitudeAltitudem

    The loiter time and turns are set in param 1 for the respective messages. The direction of loiter for MAV_CMD_NAV_LOITER_UNLIM can be set using param4 (Yaw).

    INFO

    The remaining parameters (xtrack and heading) apply only to forward flying aircraft (not multicopters!)

    Xtrack and heading define the location at which a forward flying (fixed wing) vehicle will exit the loiter circle, and its path to the next waypoint (these apply only to apply to only MAV_CMD_NAV_LOITER_TIME and MAV_CMD_NAV_LOITER_TURNS).

    Param (:Label)描述Units
    2: Heading RequiredLeave loiter circle only once heading towards the next waypoint (0 = False)min:0 max:1 increment:1
    4: Xtrack LocationSets xtrack path or exit location: 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use the current system default xtrack behaviour.

    The recommended values (and resulting paths) are those shown below.

    Loiter heading

    The vehicle leaves the loiter after it reaches the desired number of turns or time and based on both the heading required and xtrack params.

    A heading required of 1 prevents the vehicle from exiting the loiter unless it is heading towards the next waypoint (if 0 it can leave at any point provided the other conditions are met). With this setting the vehicle can leave at any point in the arc shown, provided it meets the other conditions (e.g. xtrack). If necessary (i.e. it is not in the arc when the other conditions are met), the vehicle will loop back around the loiter before it evaluates the xtrack condition.

    Loiter heading

    The Xtrack parameter independently defines the path and exit location:

    • xtrack=0: Exit the loiter circle and converge to the centre xtrack between this and the next waypoint.

      • If the heading required parameter is not set it will exit the loiter immediately.
      • Otherwise it will leave as soon as it is heading towards the next waypoint (which may also be immediately!)

    • xtrack=1: Exit the loiter circle and fly/converge to the straight line between the exit point and the centre of the next waypoint (i.e. don't converge to the centre xtrack).

      • If the heading required parameter is set it will exit the loiter as soon as it is heading towards the next waypoint (which may be immediately!).
      • If the heading required parameter is not set it will exit the loiter immediately (note that this exit path does not make much sense unless the heading parameter is set).

    • xtrack=NaN: Exit the loiter using "system specific default behaviour".

      • The vehicle must still respect the heading required param.
      • Usually this is synonymous with xtrack=0

    • xtrack=any other value: Exit the loiter when the vehicle heading (tangent) makes the specified angle in degrees to the center xtrack. Converge to the center xtrack. The vehicle must still respect the heading required param (some xtrack values may not be possible with this condition true). This allows callers to specify how quickly the vehicle converges to the center xtrack. For example, the image below shows the vehicle exiting the loiter at 30 degrees.

      Loiter angle

    Implementations ​

    PX4 ​

    The protocol has been implemented in C.

    Source code:

    The implementation status is (at time of writing):

    • Flight plan missions:
      • upload, download, clearing missions, and monitoring progress are supported as defined in this specification.
    • Geofence missions" are supported as defined in this specification.
    • Rally point "missions" are not supported on PX4.

    Mission operation cancellation works for mission download (sets system to idle). Mission operation cancellation does not work for mission uploading; PX4 resends MISSION_REQUEST_INT until the operation times out.

    Source code:

    QGroundControl ​

    The protocol has been implemented in C++.

    Source code:

    ArduPilot ​

    ArduPilot implements the mission protocol in C++.

    ArduPilot uses the same messages and message flow described in this specification. There are (anecdotally) some implementation differences that affect compatibility. These are documented below.

    Source:

    Flight Plan Missions ​

    Mission upload, download, clearing missions, and monitoring progress are supported.

    INFO

    ArduPilot implements also partial mission upload using MISSION_WRITE_PARTIAL_LIST, but not partial mission download (MISSION_REQUEST_PARTIAL_LIST). Partial mission upload/download is not an official/standardised part of the mission service.

    ArduPilot's implementation differs from this specification (non-exhaustively):

    • The first mission sequence number (seq==0) is populated with the home position of the vehicle instead of the first mission item.
    • Mission uploads are not "atomic". An upload that fails (or is canceled) part-way through will not match the pre-update state. Instead it may be a mix of the original and new mission.
    • Even if upload is successful, the vehicle mission may not match the version on the uploading system (and if the mission is then downloaded it will differ from the original).
      • There is rounding on some fields (and in some cases internal maximum possible values due to available storage space). Failures can occur if you do a straight comparison of the float params before/after upload.
    • A MISSION_ACK returning an error value (NACK) does not terminate the upload (i.e. it is not considered an unrecoverable error). As long as ArduPilot has not yet timed-out a system can retry the current mission item upload.
    • A mission cannot be cleared while it is being executed (i.e. while in Auto mode). Note that a new mission can be uploaded (even a zero-size mission - which is equivalent to clearing).
    • Explicit cancellation of operations is not supported. If one end stops communicating the other end will eventually timeout and reset itself to an idle/ready state.

    The following behaviour is not defined by the specification (but is still of interest):

    • ArduPilot performs some validation of fields when mission items are submitted. The validation code is common to all vehicles; mission items that are not understood by the vehicle type are accepted on upload but skipped during mission execution.
    • ArduPilot preforms some vehicle-specific validation at mission runtime (e.g. of jump targets).
    • A new mission can be uploaded while a mission is being executed. In this case the current waypoint will be executed to completion even if the waypoint sequence is different in the new mission (to get the new item you would need to reset the sequence or switch in/out of auto mode).
    • ArduPilot missions are not stored in an SD card and therefore have a vehicle/board-specific maximum mission size (as a benefit, on ArduPilot, missions can survive SD card failure in flight).

    Geofence & Rally Point Plans ​

    QGroundControl is the reference implementation for mission / rally point plans.

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    远程控制接口 ​

    The offboard control interface allows an external controller to send low-level attitude, position, velocity, and/or acceleration setpoints to the vehicle.

    This is commonly used to provide external control of a real-time flight stack from a companion/mission computer, for example, in order to implement features such as obstacle avoidance or collision prevention.

    Generally setpoints are only obeyed in a specific flight-stack mode. The flight stack requires the setpoints to be recieved for some time before it will allow the mode to be enabled, and will switch out of the mode if setpoints are no longer received.

    The particular types of setpoints that are supported, if any, depend on the vehicle type and flight stack.

    Message/Enum Summary ​

    消息描述
    SET_POSITION_TARGET_LOCAL_NEDSets a desired vehicle position, velocity, and/or accelaration setpoint in a local north-east-down coordinate frame.
    SET_POSITION_TARGET_GLOBAL_INTSets a desired vehicle position, velocity, and/or acceleration in a global coordinate system (WGS84)
    SET_ATTITUDE_TARGETSets a desired vehicle attitude.
    POSITION_TARGET_LOCAL_NEDPublishes current local NED target (set by SET_POSITION_TARGET_LOCAL_NED).
    POSITION_TARGET_GLOBAL_INTPublishes current global target (set by SET_POSITION_TARGET_GLOBAL_INT).
    ATTITUDE_TARGETPublishes current attitude target (set by SET_ATTITUDE_TARGET).
    Enum描述
    MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NEDFlight stack supports SET_POSITION_TARGET_LOCAL_NED.
    MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INTFlight stack supports SET_POSITION_TARGET_LOCAL_NED.
    MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGETFlight stack supports SET_ATTITUDE_TARGET.

    Feature support ​

    Test for setter message support by checking AUTOPILOT_VERSION.capabilities for the associated protocol bit: MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NED, MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INT, MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGET.

    Note that support for the protocol/message does not imply that every vehicle will support every possible combination of parameters. This can only be inferred from the flight stack documentation.

    Implementations ​

    PX4 supports this protocol in Offboard mode. The allowed setpoints are documented at that link, and depend on the vehicle type.

    ArduPilot supports this protocol in Guided mode. The supported messages for each vehicle type are covered in:

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    Open Drone ID ​

    Direct Remote Identification (DRI) or Remote ID (RID) is/will be a mandatory technology for Unmanned Aircraft (UA) in Japan, the United States of America and the European Union. Data such as the UA real-time location/altitude, UA serial number, operator ID/location etc. are broadcast via either Wi-Fi or Bluetooth from the UA. Open Drone ID is an open source implementation of RID.

    The terms Remote ID and drone ID are used interchangeably in the text below.

    Relevant specifications ​

    The MAVLink messages defined for usage with Open Drone ID are compliant with the following standards:

    • ASTM F3411 Specification for Remote ID and Tracking
    • ASD-STAN prEN 4709-002 Direct Remote Identification

    For additional details, please see here. In general, the front page of the opendroneid core-c repository has lots of pointers to additional information and SW projects related to drone ID.

    Broadcast methods and impact on the message design ​

    Four different broadcast methods are defined:

    • Bluetooth Legacy Advertising (Bluetooth 4.x)
    • Bluetooth Long Range with Extended Advertising (Bluetooth 5.x)
    • Wi-Fi Neighbor-aware Network (Wi-Fi NaN)
    • Wi-Fi Beacon (vendor specific information element in the SSID beacon frame)

    The broadcast method used with Bluetooth Legacy Advertising signals impose a strict size limitation on the amount of data that can be transmitted in each radio burst. Therefore the relevant data is divided into different categories and each category is transmitted via its own message.

    The standards defines 6 such messages and an additional 7th message type for packing multiple messages together into a message pack (used when transmitting on Wi-Fi NaN, Wi-Fi Beacon or Bluetooth Long Range with Extended Advertising). To support easy data transfers to/from a Remote ID (RID) transmitter/receiver component, MAVLink messages supporting all the fields of the drone ID messages have been made available. See Messages below.

    Use case examples ​

    There are multiple possible use cases for the MAVLink drone ID messages:

    • A flight controller sends ID, location etc. data to an onboard Bluetooth/Wi-Fi RID transmitter component.
    • An onboard Bluetooth/Wi-Fi receiver picks up drone ID messages from surrounding aircraft, relays this information using MAVLink drone ID messages to the flight controller, which then uses the information e.g. for Detect And Avoid (DAA) calculations.
    • A drone sends MAVLink drone ID messages via its control link to the Ground Control Station (GCS). The GCS is connected via the Internet to a Remote ID server, which stores and publishes the drone's ID, location etc.
    • As above but in the other direction for DAA calculations.
    • A Remote ID Display application (RID) on the GCS listens to all drone ID data received from surrounding UAs and displays their position to the operator.

    Messages ​

    The ASTM, ASD-STAN and MAVLink messages are listed below.

    ASTMASD-STANMAVLinkPurpose
    Basic IDBasic IDOPEN_DRONE_ID_BASIC_IDProvides an ID for the UA, characterizes the type of ID and identifies the type of UA.
    LocationLocationOPEN_DRONE_ID_LOCATIONProvides location, altitude, direction, and speed of the UA.
    AuthenticationNot specified (reserved)OPEN_DRONE_ID_AUTHENTICATIONProvides authentication data for the UA.
    Self-IDSelf-IDOPEN_DRONE_ID_SELF_IDOptional plain text message that can be used by operators to identify themselves and the purpose of an operation. Can also be used to provide optional additional clarification in an emergency/remote ID system failure situation.
    SystemSystemOPEN_DRONE_ID_SYSTEMIncludes the operator location/altitude, multiple aircraft information (group/swarm, if applicable), full timestamp and possible category/class information.
    Operator IDOperator IDOPEN_DRONE_ID_OPERATOR_IDProvides the operator ID.
    Message PackMessage PackOPEN_DRONE_ID_MESSAGE_PACKA payload mechanism for combining the messages above into a single message pack. Used with Bluetooth Extended Advertising, Wi-Fi NaN and Wi-Fi Beacon.
    __OPEN_DRONE_ID_ARM_STATUSSent by RID transmitter/receiver components to indicate that the RID system is "ready to use". This should be used as an arming condition for the flight stack. Note that this differs from the HEARTBEAT which indicates that the component is "alive" but not necessarily ready to use.
    __OPEN_DRONE_ID_SYSTEM_UPDATEA subset of the OPEN_DRONE_ID_SYSTEM message, containing only the fields that must be updated at a high rate. Typically sent from the GCS to provide data to the RID transmitter component. If both OPEN_DRONE_ID_SYSTEM and OPEN_DRONE_ID_SYSTEM_UPDATE are used, the more efficient OPEN_DRONE_ID_SYSTEM_UPDATE will be used at a high rate and the full OPEN_DRONE_ID_SYSTEM at a low rate, to reduce the traffic on the control link.

    INFO

    The raw byte layout of the MAVLink messages is not exactly the same as what a RID Bluetooth/Wi-Fi transmitter component will broadcast over the air. Slight compression is applied. Example code for this conversion can be found in the project: Open Drone ID Core C Library.

    The Open Drone ID Core C Library contains code for decoding the MAVLink messages and "compressing" the data into data structures for broadcast over Bluetooth or Wi-Fi (or vice-versa for reception).

    The standards do not impose any requirements for a drone to be capable of receiving drone ID messages, nor any requirements for reacting to their content (requirements from local legislation might be different).

    An example Android receiver implementation for Bluetooth/Wi-Fi drone ID is available here (source codes).

    Code related to (Internet) Network Remote ID can be found in the InterUSS Project and https://github.com/uastech/standards (Unofficial reference for UAS-related APIs).

    Message update rates ​

    ASTM F3411 and ASD-STAN prEN 4709-002 (and possibly other standards) require that the LOCATION message is broadcast/published from the RID transmitter component at least once per second. The rest of the messages must be broadcast/published once per 3 seconds (the rules in some regions have tightened this requirement to 1 second for also the BASIC ID and the SYSTEM message. Please see here).

    Not all message types or fields within a message type are mandatory to broadcast/publish. The mandatory message set vary from region to region. Please see the summary.

    The standards require that the data contained in the LOCATION and the SYSTEM messages (on the air/internet) is not older than 1 second (the location data, timestamps etc.).

    To be compliant in different regions and receive certification acceptance, the UAS as a complete entity must obey the above timing restrictions. Although popular autopilot SW stacks will be verified to be capable of this, the compliance testing will have been done using a certain set of HW/SW components. Any deviation from this set, will require the integrator of the UAS to consider the combination of the above requirements when deciding the internal update rates for each component, in the MAVLink network, generating data for the RID transmitter component.

    It must be expected that there will be some delays from e.g. the GCS sending a SYSTEM message via the flight controller to the RID transmitter component. The RID transmitter component will gather this data plus data from other messages together and generate the final message data set, which is broadcast over the air. Each of these components will be running on their own update and forward/relay cycle and can thus introduce delays. I.e. running everything at exactly one second cycles, probably will lead to violations of the data "freshness" requirement. But going to the other extreme of forcing all messages to be at 10+ Hz would likely lead to unnecessary airwave noise on the (Command and Control) C2 link/Wi-Fi/Bluetooth spectrum. Components are expected to tune refresh rates to ensure compliance, without saturating internal communication links.

    RID broadcasting using Bluetooth 4 Legacy Advertising introduces additional complexity to this. For Bluetooth 5 or Wi-Fi Beacon/NaN, all messages are packed together and broadcast in a single advertisement by the RID transmitter component. Bluetooth 4 advertisements can only contain 25 bytes and thus can fit only a single message. Since typically at least three messages must be broadcast on the air per second, the BT4 RID transmitter component must advertise at least every 333 ms.

    Routing drone ID MAVLink messages inside the UAS ​

    There can be multiple MAVLink components in an UAS involved in the handling of drone ID data. An example is shown in the figure below. Certainly not all UAS will contain all of these components and the placement of some of them can be different from one system to another.

    drone ID conceptual overview

    All senders of MAVLink drone ID messages must fill the sysid field with the MAVLink system ID value that the MAVLink sender component belongs to and fill the compid field with the MAVLink component ID value of the sender.

    The MAVLink components or systems that will typically generate drone ID MAVLink messages are listed in the table below:

    Component/System描述
    MAV_COMP_ID_AUTOPILOT1The flight controller/autopilot. Knows the ID of the UA, the current location, altitude, speed etc.
    Ground Control StationGCS with a human user interface for inputting the operator ID, text description of the flight purpose, method for obtaining the operator location etc.
    MAV_COMP_ID_ODID_TXRX_1A Remote ID transmitter/receiver component (Bluetooth/Wi-Fi/Internet).
    MAV_COMP_ID_ODID_TXRX_2A Remote ID transmitter/receiver component (Bluetooth/Wi-Fi/Internet).
    MAV_COMP_ID_ODID_TXRX_3A Remote ID transmitter/receiver component (Bluetooth/Wi-Fi/Internet).

    The autopilot/flight controller is typically the component that knows about the data needed for the BASIC ID and the LOCATION messages. It must stream MAVLink messages with this information to the RID transmitter component.

    The Ground Control Station system is the interface for the operator of the UAS. The operator must enter the data needed for the SELF_ID, the SYSTEM and the OPERATOR_ID, messages before the flight. The GCS must send this data via MAVLink messages to the RID transmitter component (possibly via the autopilot component). If the GCS is capable of regularly obtaining its own location, these updates are sent in the SYSTEM message together with a full timestamp.

    The UAS has one or more RID transmitter components for publishing the drone ID data to the rest of the world, either via Bluetooth or Wi-Fi broadcasts, or via an internet connection to an internet Remote ID server. The RID transmitter components will listen to the MAVLink messages from the flight controller and the GCS but must ignore MAVLink messages where the compid field is set to MAV_COMP_ID_ODID_TXRX_1, MAV_COMP_ID_ODID_TXRX_2 or MAV_COMP_ID_ODID_TXRX_3 (those MAVLink messages would have originated from a RID receiver component and would be the drone ID information from other UAs). The method for the RID transmitter components to identify MAVLink messages from the GCS, is described in the Heartbeat section below.

    The MAVLink components in the UAS involved in the drone ID MAVLink message exchange, must keep track of the HEARTBEAT MAVLink messages from the other MAVLink components. If the HEARTBEAT messages are not received within a required time interval, they must declare a malfunction of the Remote ID system and indicate this in the status field of the LOCATION message. This must also be indicated to the operator of the UAS.

    Similarly, the autopilot must listen to the ARM_STATUS from the RID transmitter component(s) and not allow the UA to be airborne before the RID transmitter component(s) is ready. During flight, if the arm status indicates a failure, similar action must be taken as for a lack of HEARTBEAT messages from the RemoteID. The ARM_STATUS message must also be routed to a GCS, if present, allowing it to provide more detailed information about RemoteID arming failures.

    INFO

    In addition to the above, there are multiple additional different scenarios that must result in the Location status field being set to Emergency or Remote ID System Failure. The exact strategy on how to avoid having multiple MAVLink components overwriting each-others emergency declarations is not yet fully defined. Some preliminary discussion can be found here.

    Optionally, further restrictions on which RID transmitter/receiver component must process a MAVLink message can be enforced if the sender fills the target_system and target_component fields of the MAVLink message. RID transmitter/receiver components must only listen to MAVLink messages that have these fields set to either zero (broadcast) or the component's own MAVLink system ID and component ID. This can be useful if e.g. there are two UA connected to a single GCS. The GCS can then direct information to specific MAV_COMP_ID_ODID_TXRX_x components on a specific UA. By default, all senders of drone ID MAVLink messages must fill the target_system and target_component fields with zero, to indicate a broadcast to all MAVLink components.

    Open Drone ID data from other UA(s) ​

    It is possible that the RID transmitter components also work as receivers, for obtaining drone ID data from surrounding UAs. When publishing the received drone ID data as internal MAVLink messages, they must set the compid field to their own MAV_COMP_ID_ODID_TXRX_n ID to make it possible to distinguish this data from the drone ID data of the UA itself. Also the systemid field must be set with the MAVLink system ID value that the RID receiver component belongs to.

    At least two possible consumers of drone ID data from surrounding aircraft are possible:

    • A Detect And Avoid (DAA) system that tracks the current and estimated future positions of other UAs and takes that into account when setting the flight path of the UA itself.
    • A Remote ID Display (RID) application that visually shows the surrounding UA's locations (and possibly past and estimated future flight paths) to the operator of the UA, in order for him/her to utilize this information when controlling the UA.

    See below on how to combine remote ID data from other UAs.

    Heartbeat ​

    Each component involved in the MAVLink message exchange, is required to regularly send out MAVLink HEARTBEAT messages in order to facilitate discovery and monitoring of the component in the UAS. Please see further details in the HEARTBEAT documentation.

    For RID transmitter/receiver components (with compids MAV_COMP_ID_ODID_TXRX_1, MAV_COMP_ID_ODID_TXRX_2 or MAV_COMP_ID_ODID_TXRX_3), the type field in the HEARTBEAT message must be filled with MAV_TYPE_ODID.

    The MAVLink HEARTBEAT message serves as the way for RID transmitter/receiver components to identify the sysid of the GCS. The GCS will send out MAVLink HEARTBEAT messages with its sysid field set to the GCS's MAVLink system ID and the type set to MAV_TYPE_GCS. The RID transmitter/receiver components must interpret all MAVLink Open Drone ID messages from that system ID, as coming from the GCS. There is no dedicated MAVLink component ID for GCSs, hence the MAVLink system ID must be used instead for identifying the GCS.

    Possible future improvements ​

    The current set of MAVLink drone ID messages do not provide any means for controlling some of the RID transmitter/receiver component details. The RID transmitter/receiver component must be hard-coded by the manufacturer to a certain configuration. Some discussion and proposal for this type of messages can be found here. It would be useful to control e.g. the following items:

    • Starting/stopping broadcast
    • Configure the broadcast method (BT4, BT5, Beacon, NaN)
    • Wi-Fi channel configuration for Beacon
    • Message update rates on the air

    No regions currently require drone ID publication via the internet (Network Remote ID). However, it is possible that in the future this will change from being optional to mandatory for some use cases/regions as a part of the UTM/USpace efforts. Currently there are no suitable MAVLink messages defined to configure a Network Remote ID transceiver. Messages to specify the server(s) to connect to, credentials etc. would be needed.

    Security of drone ID data is partly under definition. The Japan rule requires a signature of the drone ID data to be broadcasted in the AUTHENTICATION message. The details are in Japanese. No such requirement currently exists for the US and EU. It is possible that some use cases in the future might require more security related activities for drone ID data. Some additional protocol specification work is being drafted by the IETF in the DRIP working group.

    UAS with multiple RID transmitters and/or receiver components ​

    Since three different technologies for broadcasting/publishing drone ID data have been defined (Bluetooth, Wi-Fi and internet), it is quite possible for a UAS to support more than just a single type.

    For UASs that desire to listen to other UA's information, it would be desirable to include receivers for all three methods, in order to maximize the possibility of detecting all other surrounding UAs.

    Combining data from other UAs when receiving drone ID data ​

    For Drone ID data that is received from other UAs, the data of the message itself does not always identify exactly which UA the data originated from. E.g. for data received via Bluetooth Legacy Advertising (Bluetooth 4.x), many of the received messages will not contain the unique serial number/ID of the UA that broadcasted the data, due to the severe size limitation imposed by Legacy Advertising where only one 25 byte message can be broadcasted in one advertisement radio burst. The MAC address (possibly randomized) of the Bluetooth HW is the only way to associate these messages to the same UA. For Bluetooth 5.x and Wi-Fi, it is possible that the same can happen in certain specific situations (e.g. sending large amount of authentication data), although for the majority of normal usage this is unlikely, since the use of MESSAGE_PACKs is mandated. For data received via internet, the data packet will always contain the unique serial number/ID of the originating UA but no associated MAC address.

    In order to allow e.g. a DAA component to sort and identify which UA each data message has originated from, the RID receiver components must add, to the MAVLink message, either the MAC address or the ID number associated with the UA that originated the data message, before sending it on the internal UAS MAVLink network. This information must be added in the id_or_mac field of each MAVLink message.

    The serial/ID is copied directly from the uas_id field with NULLs in the unused portion. The MAC address must be entered in ASCII format with NULLs in the unused portion. Any separation characters must be removed. E.g. "30-65-EC-6F-C4-58" or "30:65:EC:6F:C4:58" must be represented as the ASCII string "3065EC6FC458". When not used for the above purpose, the id_or_mac field must be filled with NULLs.

    The MAVLink system/component listening to the MAVLink messages must be aware that it is possible to receive drone ID data from the same UA via multiple receive paths (e.g. Wi-Fi and internet). Filtering and merging of the data (and possible deletion of duplicates) will be needed and it must keep track of both a possible MAC address and the serial/ID of the other UAs. Additional filtering and sorting based on the timestamp in the LOCATION or SYSTEM messages can also be needed in order to generate a consistent flight path for the other UAs.

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    Bytewise Encoding: Mavgen Python API ​

    Pymavlink does not include special support to byte-wise encode the non-float data types (unsurprisingly, because Python effectively "hides" low level data types from users). When working with a system that supports non-float parameters (e.g. PX4) you will need to do the encoding/decoding yourself when sending and receiving messages.

    There is a good example of how to do this in the Pymavlink mavparm.py module (see MAVParmDict.mavset()).

    参数类型 ​

    The allowed parameter types are given in MAV_PARAM_TYPE.

    Note that not all types are supported: for example PX4 supports only INT32 and FLOAT. A GCS can infer the supported types from the parameters it is sent.

    Parameter Metadata ​

    Parameter metadata is additional information about a parameters that allow them to be safely used in a ground station. This might include a description and listing of possible values.

    The Component Information Protocol has been proposed as a mechanism for getting this information directly from a vehicle.

    Parameter Caching ​

    A GCS or other component may choose to maintain a cache of parameter values for connected components/systems, in order to reduce the time required to display values and reduce MAVLink traffic.

    The cache can be populated initially by first reading the full parameter list at least once, and then updated by monitoring for PARAM_VALUE messages (which are emitted whenever a parameter is written or otherwise changed).

    INFO

    Cache synchronisation is not guaranteed; a component may miss update messages due to parameter changes by other components.

    Multi-System and Multi-Component Support ​

    MAVLink supports multiple systems in parallel on the same link, and multiple MAVLink enabled components within a system.

    Requests to get and set parameters can be sent to individual systems or components. To get a complete parameter list from a system, send the request parameter message with target_component set to MAV_COMP_ID_ALL.

    All components must respond to parameter request messages addressed to their ID or the ID MAV_COMP_ID_ALL.

    TIP

    QGroundControl by default queries all components of the currently connected system (it sends ID MAV_COMP_ID_ALL).

    Limitations ​

    Parameters Table is Invariant ​

    The protocol requires that the parameter set does not change during normal operation/after parameters have been read.

    If a component can add parameters during (or after) initial synchronization the protocol cannot guarantee reliable/robust synchronization, because there is no way to notify that the parameter set has changed and a new sync is required.

    If working with a non-compliant component, the risk of problems when working with parameters can be reduced (but not removed) if:

    • The param_id is used to read parameters where possible (the mapping of param_index to a particular parameter might change on systems where parameters can be added/removed).
    • PARAM_VALUE.param_count is monitored and the parameter set re-sychronised on change.

    Parameter Synchronisation Can Fail ​

    A GCS (or other component) that wants to cache parameters with a component and keep them synchronised, should first get all parameters, and then track any new parameter changes by monitoring for PARAM_VALUE messages (updating their internal list appropriately).

    This works for the originator of a parameter change, which can resend the request if an expected PARAM_VALUE is not recieved. This approach may fail for components that did not originate the change, as they will not know about updates they do not receive (i.e. if messages are dropped).

    A component may mitigate this risk by, for example, sending the PARAM_VALUE multiple times after a parameter is changed.

    Parameter Operations ​

    This section defines the state machine/message sequences for all parameter operations.

    Read All Parameters ​

    The read-all operation is started by sending the PARAM_REQUEST_LIST message. The target component must start to broadcast the parameters individually in PARAM_VALUE messages after receiving this message. The drone should allow a pause after sending each parameter to ensure that the operation doesn't consume all of the available link bandwidth (30 - 50 percent of the bandwidth is reasonable).

    Mermaid sequence: Read all parameters

    The sequence of operations is:

    1. GCS (client) sends PARAM_REQUEST_LIST specifying a target system/component.
      • Broadcast addresses may be used. All targeted components should respond with parameters (or ignore the request if they have none).
      • The GCS is expected to accumulate parameters from all responding systems.
      • The timeout/retry behaviour is GSC dependent.
    2. The targeted component(s) should respond, sending all parameters individually in PARAM_VALUE messages.
      • Allow breaks between each message in order to avoid saturating the link.
      • Components with no parameters should ignore the request.
    3. GCS starts timeout after each PARAM_VALUE message in order to detect when parameters are no longer being sent (that the operation has completed).

    Notes:

    • The GCS/API may accumulate the received parameters for each component and can determine if any are missing/not received (PARAM_VALUE contains the total number of params and index of current param).
    • Handling of missing params is GCS-dependent. QGroundControl, for example, individually requests each missing parameter by index.
    • If a component does not any parameters then it will ignore a PARAM_REQUEST_LIST request. The sender should simply timeout (after resends) if no PARAM_VALUE is received.

    Read Single Parameter ​

    A single parameter can be read by sending the PARAM_REQUEST_READ message, as shown below:

    Mermaid sequence: Read single parameter

    The sequence of operations is:

    1. GCS (client) sends PARAM_REQUEST_READ specifying either the parameter id (name) or parameter index.
    2. GCS starts timeout waiting for acknowledgment (in the form of a PARAM_VALUE message).
    3. Drone responds with PARAM_VALUE containing the parameter value. This is a broadcast message (sent to all systems).

    The drone may restart the sequence if the PARAM_VALUE acknowledgment is not received within the timeout.

    INFO

    There is no formal way for the drone to signal when an invalid parameter is requested (i.e. for a parameter name or id that does not exist). In this case the drone should emit STATUS_TEXT. The GCS may monitor for the specific notification, but will otherwise fail the request after any timeout/resend cycle completes.

    Write Parameters ​

    Parameters can be written individually by sending the parameter name and value pair to the GCS, as shown:

    Mermaid Sequence: Write parameters

    The sequence of operations is:

    1. GCS (client) sends PARAM_SET specifying the param name to update and its new value (also target system/component and the param type).

    2. GCS starts timout waiting for acknowledgment (in the form of a PARAM_VALUE message).

    3. Drone writes parameter and responds by broadcasting a PARAM_VALUE containing the updated parameter value to all components/systems.

      INFO

      The Drone must acknowledge the PARAM_SET by broadcasting a PARAM_VALUE even if the write operation fails. In this case the PARAM_VALUE will be the current/unchanged parameter value.

    4. GCS should update the parameter cache (if used) with the new value.

    5. The GCS may restart the sequence if the expected PARAM_VALUE is not received within the timeout, or if the write operation fails (the value returned in PARAM_VALUE does not match the value set).

    INFO

    The command MAV_CMD_DO_SET_PARAMETER is not part of the parameter protocol. If implemented it can be used to set the value of a parameter using the enumeration of the parameter within the remote system is known (rather than the id). This has no particular advantage over the parameter protocol methods.

    Implementations ​

    PX4 ​

    PX4 is compatible with the specification:

    • Byte-wise encoding of parameters is supported. Note however that PX4 does not set MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISE (at time of writing - PX4 v1.12). See PX4-Autopilot/issues/19275
    • Only float and Int32 parameters are used.

    PX4 provides an addition off-spec mechanism that allows a GCS to cache parameters. This significantly reduces ready-to-use time for the GCS if parameters have not been changed since the previous parameter sync. The way that this mechanism works is that when the list of parameters is requested, PX4 first sends a PARAM_VALUE with the param_index of INT16_MAX (in code, referred to as PARAM_HASH) containing a hash of the parameter set.

    This hash is calculated by computing the MAVLink CRC32 over all param names and values (see the param_hash_check() in source here). If the GCS has a matching hash value it can immediately start using its cached parameters (rather than having to wait while all the rest of the parameters upload).

    Source files:

    ArduPilot ​

    ArduPilot implements a largely compatible version of this protocol.

    • C-style encoding of parameters is supported. Note however that ArduPilot does not set MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST.

    Off spec-behaviour:

    • PARAM_VALUE is not emitted after the parameter update with the new value (or the old value if update failed).

    Compatible differences:

    • Parameter sets can be enabled/disabled during operation. This can invalidate the set of synchronized parameters and make access to parameters by index unreliable.
    • PARAM_SET
      • param_type in the message is ignored. The data type is obtained by checking stored type info (via name lookup).
      • The data type is used to constrain and round the received value before it is stored (as a float).

    Source files:

    QGroundControl ​

    QGroundControl implements this protocol, and works with both ArduPilot and PX4.

    Source files:

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    QGroundControl provides real code examples here:

    Parameter Caching ​

    A GCS or other component may choose to maintain a cache of parameter values for connected components/systems, in order to reduce the time required to display values and reduce MAVLink traffic.

    The cache can be populated initially by first reading the full parameter list at least once, and then updated by monitoring for PARAM_EXT_ACK messages with PARAM_ACK_ACCEPTED (which are emitted whenever a parameter is successfully written/changed).

    A system may also monitor for PARAM_EXT_VALUE originating from other components/systems requesting parameter values.

    INFO

    Cache synchronisation is not guaranteed; a component may miss parameter update messages due to changes by other components.

    Limitations ​

    Parameters Table is Invariant ​

    The protocol requires that the parameter set does not change during normal operation/after parameters have been read.

    If a component can add parameters during (or after) initial synchronization the protocol cannot guarantee reliable/robust synchronization, because there is no way to notify that the parameter set has changed and a new sync is required.

    When requesting parameters from such a components, the risk of problems can be reduced (but not removed) if:

    • The param_id is used to read parameters where possible (the mapping of param_index to a particular parameter may change on systems where parameters can be added/removed).
    • PARAM_EXT_VALUE.param_count may be monitored. If this changes the parameter set should be re-sychronised.

    Parameter Synchronisation Can Fail ​

    A GCS (or other system) that wants to cache parameters from a component and keep them synchronised should first get all parameters, and then track changes by monitoring for PARAM_EXT_ACK messages (updating their internal list appropriately).

    This works for the originator of a parameter change, which can resend the request if an expected PARAM_EXT_ACK is not received. This approach may fail for components that did not originate the change, as they will not know about updates they do not receive (i.e. if messages are dropped).

    A component may mitigate this risk by, for example, sending the PARAM_EXT_ACK multiple times after a parameter is changed.

    Parameter Operations ​

    This section defines the state machine/message sequences for all parameter operations.

    Read All Parameters ​

    The read-all operation is started by sending the PARAM_EXT_REQUEST_LIST message. The target component must start to broadcast the parameters individually in PARAM_EXT_VALUE messages after receiving this message. The drone should allow a pause after sending each parameter to ensure that the operation doesn't consume all of the available link bandwidth (30 - 50 percent of the bandwidth is reasonable).

    The sequence of operations is:

    1. GCS (client) sends PARAM_EXT_REQUEST_LIST specifying a target system/component.
      • Broadcast addresses may be used. All targeted components should respond with parameters (or ignore the request if they have none).
      • The GCS is expected to accumulate parameters from all responding systems.
      • The timeout/retry behaviour is GSC dependent.
    2. The targeted component(s) should respond, sending all parameters individually in PARAM_EXT_VALUE messages.
      • Allow breaks between each message in order to avoid saturating the link.
      • Components with no parameters should ignore the request.
    3. GCS starts timeout after each PARAM_EXT_VALUE message in order to detect when parameters are no longer being sent (that the operation has completed).

    Notes:

    • The GCS/API may accumulate the received parameters for each component and can determine if any are missing/not received (PARAM_EXT_VALUE contains the total number of params and index of current param).
    • Handling of missing params is GCS-dependent. QGroundControl, for example, individually requests each missing parameter by index.
    • If a component does not any parameters then it will ignore a PARAM_EXT_REQUEST_LIST request. The sender should simply timeout (after resends) if no PARAM_EXT_VALUE is received.

    Read Single Parameter ​

    A single parameter can be read by sending the PARAM_EXT_REQUEST_READ message, as shown below:

    The sequence of operations is:

    1. GCS (client) sends PARAM_EXT_REQUEST_READ specifying either the parameter id (name) or parameter index.
    2. GCS starts timeout waiting for acknowledgment (in the form of a PARAM_EXT_VALUE message).
    3. Drone responds with PARAM_EXT_VALUE containing the parameter value. This is a broadcast message (sent to all systems).

    The drone may restart the sequence if the PARAM_EXT_VALUE acknowledgment is not received within the timeout.

    Write Parameters ​

    Parameters are written individually using PARAM_EXT_SET. The recipient will respond with PARAM_EXT_ACK indicating success, failure, or that the write is still in progress (PARAM_ACK_IN_PROGRESS). On receipt of PARAM_ACK_IN_PROGRESS the component setting the parameter will extend its timeout (PARAM_EXT_ACK will be re-sent when the write completes)

    Parameters can be written individually by sending the parameter name and value pair to the GCS, as shown:

    For long-running write operations drone may initially respond with PARAM_ACK_IN_PROGRESS:

    The sequence of operations is:

    1. GCS (client) sends PARAM_EXT_SET specifying the param name to update and its new value (also target system/component and the param type).
    2. GCS starts timout waiting for acknowledgment (in the form of a PARAM_EXT_ACK message).
    3. Drone (starts to) write parameter and responds by broadcasting a PARAM_EXT_ACK.
      • If the write succeeded the PARAM_EXT_ACK will contain a result of PARAM_ACK_ACCEPTED and the updated parameter value.
      • If the parameter was unknown or of an unsupported type PARAM_EXT_ACK will contain a result of PARAM_ACK_VALUE_UNSUPPORTED and the current parameter value will be XXXXX.
      • If the write failed for another reason then PARAM_EXT_ACK will contain a result of PARAM_ACK_FAILED and the current parameter value.
      • If the write operation is long-running the PARAM_EXT_ACK will contain a result of PARAM_ACK_IN_PROGRESS and the XXXX parameter value. In this case the recipient should increase their timeout and way for another PARAM_EXT_ACK. PARAM_EXT_ACK should be resent when the operation completes.
    4. GCS should update the parameter cache (if used) with the new value.
    5. The GCS may restart the sequence if an expected PARAM_EXT_ACK is not received within the timeout, or if the write operation fails.

    Implementations ​

    QGroundControl: QGCCameraIO.h, QGCCameraIO.cc

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    Payload Protocols ​

    MAVLink defines a number of commands for directly controlling particular types of payloads like winches and grippers, and for controlling generic payloads. In addition there are commands for payload placement in missions. In addition there are commands for payload placement in missions.

    Camera and Gimbal payloads are covered in their own topics. :::

    Payload-Specific Commands ​

    MAVLink defines a number of commands for controlling specific types of payload hardware, including: winches, grippers, spotlights, etc. These commands may be used in both missions and commands, if supported by the target system. These commands may be used in both missions and commands, if supported by the target system.

    They should be used (where supported) in preference to generic payload commands, as generally they provide more "tailored" control over the payload, a better GCS user experience, and more informative logs.

    消息描述
    MAV_CMD_DO_GRIPPERCommand to engage and release a gripper.
    MAV_CMD_DO_WINCHCommand to operate a specified winch.
    MAV_CMD_ILLUMINATOR_ON_OFFCommand to turn illuminators ON/OFF. Command to turn illuminators ON/OFF. An illuminator is a light source that for lighting up dark areas external to the system, such as a headlight or searchlight.

    Generic Payload Commands ​

    MAVLink has a number of commands for setting actuator outputs. These can be used to control arbitrary/generic payloads. These can be used to control arbitrary/generic payloads.

    Use the commands for known payload types where possible as they are more intuitive for users, and in logs. :::

    消息描述
    MAV_CMD_DO_SET_ACTUATORSets actuators (e.g. servos) to a desired value. Sets actuators (e.g. servos) to a desired value. The actuator numbers are mapped to specific outputs (e.g. on any MAIN or AUX PWM or UAVCAN) using a flight-stack specific mechanism (for example, parameters).
    MAV_CMD_DO_SET_SERVOSets a servo, identified by a specified instance number, to a specified PWM value.
    MAV_CMD_DO_SET_RELAYSet a specified relay instance on or off.
    MAV_CMD_DO_REPEAT_RELAYCycle a relay on and off for a desired number of cycles with a desired period.

    Implementations:

    • MAV_CMD_DO_SET_ACTUATOR is more recent than MAV_CMD_DO_SET_SERVO, but has not yet been widely adopted.
      • Only implemented only on PX4 (June 2021). For more information see the PX4 User Guide.
    • MAV_CMD_DO_SET_SERVO is implemented on both ArduPilot and PX4 (Missions only). In both cases instance numbers map to corresponding AUX outputs.

    Payload Deployment Commands ​

    These commands can be used to deploy a payload at a specfic location, controlling the approach and land behaviour.

    消息描述
    MAV_CMD_NAV_PAYLOAD_PLACEMove to target location, descend and release payload.

    Implementations:

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    PING Protocol ​

    The PING Protocol enables a system to measure system latencies on any connection: serial port, radio modem, UDP etc.

    The PING protocol is implemented with just the PING message. The message is sent with a timestamp and a sequence number that are returned by recipients, and can hence be used to determine the round-trip time.

    Ping Sequence ​

    A simplified sequence diagram is given below:

    Mermaid sequence: Ping

    The pinging system initially populates a PING message with:

    • time_usec: Current system timestamp.
    • seq: Current PING sequence number (n, n+1, ...). This should be iterated for every PING message sent and overflow back to zero.
    • target_system and target_component: 0 (indicates a PING request).
    • The message header automatically includes the sender system.

    The message may be received by multiple systems. All pinged systems should respond with another PING message where:

    • The original timestamp and sequence number from the receive PING are sent back in the response.
    • target_system and target_component are set to the ids of the pinging system from the incoming ping message header.

    The original pinging system:

    • Receives a PING message with target_system and target_component matching its address.

      TIP

      Any non-zero target system/component indicates a response message. The matching ids inform the system that it is the intended recipient.

    • The system calculates the latency from the current system time and the time in the response PING for the matching sequence number.

    • A system that is sending a single PING can use a timeout to detect a dropped packet. A system that is streaming (multiple) PING messages should not start detecting dropped packets until after the first responses have been received (to ensure that dropped packets are not just "late").

    C Implementation ​

    The protocol has been implemented in C by PX4 and QGroundControl. This implementation can be used in your own code within the terms of their software licenses.

    PX4 Implementation:

    QGroundControl implementation:

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    Smart Battery Protocol (WIP) ​

    Note The Smart Battery messages are tagged in the definition file as "work in progress". They may still change and should not be used in production environments.

    The Smart Battery "protocol" consists of two broadcast messages:

    • SMART_BATTERY_INFO contains information about the battery that changes rarely, if ever (e.g. device name). It should be emitted on connection and/or when requested (using MAV_CMD_REQUEST_MESSAGE).
    • SMART_BATTERY_STATUS contains battery status information that changes frequently (it is equivalent to BATTERY_STATUS for smart batteries). It should be emitted regularly - e.g.: 0.5Hz.

    The messages may be sent from a smart battery to the flight stack and/or GCS. It is also possible that a flight stack may re-emit smart battery information after updating some fields.

    Message/Enum Summary ​

    MessageDescription
    SMART_BATTERY_INFOSmart battery message used for invariant or infrequently changing data - e.g. battery name, battery full/empty capacity and voltages etc.
    SMART_BATTERY_STATUSSmart battery message used for frequent status update - e.g. of current capacity, voltages, faults, etc.
    EnumDescription
    MAV_SMART_BATTERY_FAULTFault/health indications.
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    Standard Modes Protocol (WIP) ​

    WARNING

    This protocol is a work in progress and may change. It has an initial implementation in PX4 and QGroundControl (daily).

    The MAVLink standard modes protocol allows a GCS to construct a UI allowing selection and display of available flight modes without prior knowledge of the connected flight stack.

    The protocol provides:

    • Definitions of standard modes. These are modes that behave similarly enough across flight stacks that users can select and control them in the same way. For example, modes for taking off and landing, executing missions, holding position, and so on.

    • Enumeration of all flight modes supported by the flight stack, both standard and custom.

      The provided flight mode information includes:

      • Flags indicating whether particular custom modes can be selected or just displayed, and if they are displayed, whether they are advanced.
      • A name/metadata string that can either be used to fetch metadata for the mode (such as a name and description), or directly as the name for custom modes.

    • Notification of the current mode.

    • A command to set a standard mode.

    There are additional optional messages/features to allow:

    • Modes to be enabled and disabled dynamically.
    • Overriding of mode metadata (provide a metadata key).

    Background ​

    MAVLink previously only standardized very high level base modes (defined in MAV_MODE), which cover things like whether the vehicle is ready to fly, being tested, manually controlled, under GCS manual control, or executing a mission. More specific flight behaviour/modes are defined in custom modes, which are specific to each flight stack.

    Mechanisms are provided to set the base and custom modes (MAV_CMD_DO_SET_MODE), and the HEARTBEAT contains the current/active base_mode and custom_mode. However, prior to the addition of this service, there were no mechanisms query the available custom modes, so a GCS would have to know about a flight stack in advance in order to construct its mode display and setting UI.

    Most autopilots implement a set of custom flight modes that have very similar behaviour or intent, for example: position-hold mode, altitude-hold mode, mission mode, safety return/RTL. However because these are all identified by different custom mode identifiers on different flight stacks, there is no way to be sure what these "mean" without pre-existing knowledge.

    This service defines standard modes, allowing a GCS to provide baseline support for common flight behaviour and test behaviour without explicit customisation for each autopilot. This is therefore a big step towards MAVLink being capable of being truly autopilot-agnostic for a useful minimal set of functionality.

    For more information see MAVLink RFC0016 Standard modes.

    Message/Enum Summary ​

    消息 ​

    消息描述
    CURRENT_MODEGet information about the current active mode, including both its standard and custom mode identifiers (if defined). Also "the intended mode", to indicate the case where setting a mode failed.
    AVAILABLE_MODESGet information about all available modes (both standard and custom) allowing generation of a UI and setting of modes. Requested using MAV_CMD_REQUEST_MESSAGE (set param2=0 for all modes).
    AVAILABLE_MODES_MONITORProvides a sequence number that allows clients to determine if the set of available modes has changed, and hence whether the AVAILABLE_MODES must be re-requested. Sent on first mode change and subsequently streamed at low rate.

    枚举 ​

    Enum描述
    MAV_STANDARD_MODEIdentifiers for the standard modes (modes that have a well understood meaning across flight stacks and vehicle types). Used in AVAILABLE_MODES and CURRENT_MODE.
    MAV_MODE_PROPERTYProperties of a mode supplied in AVAILABLE_MODES, which may be used for GCS layout. For example MAV_MODE_PROPERTY_NOT_USER_SELECTABLE indicates that a GCS should not include the mode in UI elements that allow mode selection.

    命令 ​

    Command描述
    MAV_CMD_DO_SET_STANDARD_MODEEnable the specified standard MAVLink mode (MAV_STANDARD_MODE). ACK with MAV_RESULT_FAILED if the mode is not supported by the vehicle.
    MAV_CMD_REQUEST_MESSAGEUsed to request AVAILABLE_MODES message

    Operations ​

    Getting Available Modes ​

    All available modes can be enumerated by using MAV_CMD_REQUEST_MESSAGE to request the AVAILABLE_MODES (435) message. Each AVAILABLE_MODES message includes the total number of modes and the index of the current mode, so a GCS should first query for all modes (MAV_CMD_REQUEST_MESSAGE.param2=0), and then individually query for any AVAILABLE_MODES message that it missed (MAV_CMD_REQUEST_MESSAGE.param2="missing index number").

    Notes:

    • AVAILABLE_MODES includes the total number of modes and the index of the current mode. This indexing is provided to allow a GCS to confirm that all modes have been collected, and re-request any that are missing. It is internal and should not be relied upon to have any order between reboots or if the set of available modes changes.
    • The GCS can request this message using MAV_CMD_REQUEST_MESSAGE, specifying either "send all modes" or "send mode with this index".
    • The flight stack should only emit a single AVAILABLE_MODES for each mode on each request. If a mode is both custom and standard it should be emitted as a "standard mode" (this allows the GCS to list the "standard modes" and separately show the additional "custom modes").
    • The modes that are emitted depend on the current vehicle type. For example, "takeoff" would not be emitted for a rover type, but would for a copter.

    The sequence for requesting all modes is shown below:

    Mermaid Sequence: Requesting AVAILABLE MODES

    In addition to the fields for enumerating the available modes, AVAILABLE_MODES has the following fields:

    • standard_mode: The standard mode represented by this AVAILABLE_MODES (MAV_STANDARD_MODE). 0 for a custom mode that is not also a standard mode (MAV_STANDARD_MODE_NON_STANDARD).
    • custom_mode: The id of the custom mode represented by this AVAILABLE_MODES (if any).
    • properties: Flags indicating the UI properties of this mode. These provide hints about where the mode can/should appear in the UI. For example, MAV_MODE_PROPERTY_NOT_USER_SELECTABLE indicates that the mode should not be set by a user, and hence should not appear in selection lists, while MAV_MODE_PROPERTY_ADVANCED indicates a mode that is harder to fly, and might be visually separated from other modes in the UI.
    • mode_name: Mode metadata key or name, with null termination character.
      • The field can act as both a key for determining metadata associated with the mode, or as a fallback name to use for the mode if the GCS has no metadata.
      • It can be used to override metadata on existing modes, for example to enhance standard metadata with additional information about autopilot-specific behaviour, or can provide metadata for any other static or dynamic mode.
      • The field must be human readable and autopilot-unique.
      • Generally does not have to be set for standard modes, where the ground station might be expected to already have metadata (but if it is, it will be used as a metadata key).
      • For more information see Modes Metadata below.

    Setting Modes ​

    Standard modes can be set using the MAV_CMD_DO_SET_STANDARD_MODE command. This will ACK with MAV_RESULT_ACCEPTED if the mode can change, and MAV_RESULT_FAILED if the particular standard mode is not supported.

    Custom modes must be set with MAV_CMD_DO_SET_MODE.

    INFO

    If both standard_mode and custom_mode are set you can determine the mapping between modes and might therefore use MAV_CMD_DO_SET_MODE to set a standard mode. MAV_CMD_DO_SET_STANDARD_MODE is preferred for setting standard modes.

    Getting Current Active Mode ​

    The current active mode is provided in CURRENT_MODE, which has both standard mode and custom mode fields.

    This is streamed (nominally 0.5 Hz). A GCS can use it to configure the UI and display appropriate metadata for the current mode.

    The message also has an intended_custom_mode field, which indicates the last (custom) mode that was commanded. This should match the custom_mode but might not if a commanded mode cannot be entered, or if the mode is exited due to a failsafe.

    Note that the current custom mode is also published in the HEARTBEAT.

    Dynamic Mode Changes ​

    The AVAILABLE_MODES_MONITOR is an optional part of the protocol that allows a MAVLink system to dynamically change the set of modes it supports at runtime (for example, using Lua or other onboard scripting languages, or offboard from a companion computer).

    The message sequence number field is iterated sequentially whenever the set of available modes change. A GCS can detect this change and re-request the set of AVAILABLE_MODES.

    The message should be emitted when the set of available modes changes. After the set of modes changes the first time, it should also be streamed at low rate (nominally 0.1 Hz).

    Mode Metadata ​

    Mode metadata is the information that a ground station uses represent a mode in the UI. This includes the mode name, but might also include descriptions, translations and other information (mode metadata schema is yet to be defined).

    A GCS may already have knowledge of standard or custom modes and can provide this metadata based on the mode, or their might be particular "additional" information that it can provide. The mode_name can be used as a key for finding this metadata, or as a fallback string if the GCS has no metadata for the mode.

    Ground stations are expected to use the following "fallback" approach for matching modes to their metadata:

    1. mode_name field as a metadata key. If this field is defined and can be matched to metadata, the metadata should be used for the mode.
    2. standard_mode: Use metadata associated with this standard mode if no metadata can be matched using mode_name.
    3. custom_mode: Use metadata associated with the custom mode if no metadata can be matched using mode_name or standard_mode.
    4. mode_name field as a fallback mode name string. This should be used as the name if no other metadata can be mapped.

    This allows "full" autopilot-specific metadata to be provided for modes, including dynamic modes such as Lua scripts (where the custom_mode might be dynamically allocated). It also allows overriding of any existing metadata for any mode with vehicle-specific data. In the worse case, if there is no metadata for a custom mode, the mode_name string can still be used to represent the mode in the UI.

    Note that the mode_name must be human readable and unique for the autopilot.

    Implementations ​

    PX4 v1.15 and later supports this service, including the optional part (AVAILABLE_MODES_MONITOR) (this allows ROS2 modes added using the PX4 ROS 2 Interface Library to be dynamically updated in a GCS). At time of writing it only exposes the standard modes that are common to all vehicles as standard modes, such as takeoff and landing, and missions.

    QGC also uses this service to build the mode display/setting UI, when supported by the autopilot. This feature is supported in daily builds (at time of writing).

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    Terrain Protocol ​

    The Terrain Protocol provides a mechanism for a vehicle to get terrain information (tiles) from a ground station, and for a ground station to check the autopilot terrain cache for a tile at a particular location.

    Support for this protocol is indicated by AUTOPILOT_VERSION.capabilities by the MAV_PROTOCOL_CAPABILITY_TERRAIN flag.

    INFO

    A vehicle that supports this capability must also support terrain following in missions using the data. Note however that a vehicle may also support terrain handling in missions using a distance sensor, even if this protocol is not supported and capability flag is not set.

    Message/Enum Summary ​

    消息描述
    TERRAIN_REQUESTRequest from drone (to GCS) for terrain data. The message specifies a mask indicating what tiles are required, and the GCS responds by sending TERRAIN_DATA for each tile. The drone will also stream TERRAIN_REPORT messages to provide progress updates while it is waiting for data. The message specifies a mask indicating what tiles are required, and the GCS responds by sending TERRAIN_DATA for each tile. The drone will also stream TERRAIN_REPORT messages to provide progress updates while it is waiting for data.
    TERRAIN_DATATerrain data from GCS for a particular tile (sent in response to a TERRAIN_REQUEST). The lat/lon and grid_spacing must be the same as the lat/lon from a TERRAIN_REQUEST.
    TERRAIN_REPORTThe drone will stream TERRAIN_REPORT to indicate progress of terrain download, and in response to a TERRAIN_CHECK.
    TERRAIN_CHECKRequest that the vehicle report terrain height at the given location (expected response is a TERRAIN_REPORT). Used by GCS to check if vehicle has all terrain data needed for a mission.

    Sequences ​

    Autopilot Terrain Map Request ​

    The sequence for a drone to update its terrain altitude information is entirely driven by the drone, and is shown below.

    In summary, the sequence is:

    1. Drone sends TERRAIN_REQUEST to the GCS to request a set of tiles (specified in a mask).
    2. The GCS responds by sending a TERRAIN_DATA for each tile set in the mask
    3. The drone also streams TERRAIN_REPORT messages back to the GCS indicating the current state of the download
      • TERRAIN_REPORT.pending and TERRAIN_REPORT.loaded indicate how many tiles are expected and have arrived, respectively.
      • TERRAIN_REPORT.lat, .lon, .terrain_height, while duplicated in other messages, are useful for debugging (a GCS can check its own internal terrain data against what the information).
    4. The drone must maintain its own record of what tiles have arrived/not arrived, and can re-request any that are missing using a further TERRAIN_REQUEST (with mask indicating just the missing tiles)

    The diagram below shows the way the data is encoded within the TERRAIN_REQUEST and TERRAIN_DATA.

    Terrainreport.mask data layout

    TERRAIN_REQUEST.mask is a 64-bit value that represents a row major 8x7 array of (4x4) tiles. The the lat, lon fields indicate the position of the South-West corner of first grid position (tile). The tiles are allocated sequentially in rows (West to East) starting from the lowest significant bit of mask, and then in columns (South to North).

    Each tile represents a 4x4 grid of altitude information. The spacing between the rows/columns in the tile is indicated by grid_spacing (the same value must be used in both request and data messages).

    GCS Terrain Tile Check ​

    The sequence for a GCS to check the autopilot terrain cache at a particular location is shown below.

    In summary, the sequence is:

    1. GCS sends TERRAIN_CHECK to the vehicle to request terrain information at a specific location.
    2. The drone responds with a TERRAIN_REPORT message containing the tile information it has for that location. If it does not have tile information for the specified location, then the request is ignored.
    3. GCS can verify that the terrain report matches a terrain check by comparing the latitude/longitude fields for both messages.

    INFO

    The protocol does not define how the ground station handles the case if no TERRAIN_REPORT is received (although it might resend the request after a timeout).

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    Time Synchronization Protocol v2 ​

    This protocol is used to synchronize clocks on MAVLink components by estimating their time offset.

    The protocol uses just one message TIMESYNC, which has two int64_t fields: tc1 and ts1. A component that wants to synchronize clocks sends out a TIMESYNC request with its current timestamp in ts1. A remote system that supports the protocol sends a TIMESYNC response, including both the original timestamp and its own timestamp. The original system can use this information to determine the round-trip time, and estimate the timestamp offset.

    This sequence is run multiple times and filtered/averaged to reduce the transient effects of the channel and processor usage on the offset calculation.

    INFO

    This version replaces Time Synchronization Protocol v1.

    Message/Enum Summary ​

    消息描述
    TIMESYNCTime synchronization message.

    Sequences ​

    Mermaid sequence: Time sync

    The sequence is:

    1. A component that needs time synchronization sends a TIMESYNC request that includes its current nanosecond timestamp in ts1 (and tc1 = 0, indicating it is a request). This message may be broadcast, or targeted to a particular component.

    2. A component that receives a TIMESYNC request (TIMESYNC.tc1 == 0) responds with a TIMESYNC response (tc1 ≠ 0) that includes the original timestamp from the request in ts1 (mirrored), and its own timestamp in tc1.

    3. When the synchronizing component gets a TIMESYNC response with its own target_system and target_component it knows it is a reply to a timesync request that it sent.

      From the message the system can:

      • determine the round trip time (by comparing its current timestamp with the original stamp that was returned in the message in ts1).
      • estimate the offset between system timestamps, using the round trip time and the timestamp sent back by the remote system.

      INFO

      TIMESYNC` responses to the broadcast address indicate that the remote system supports Time Synchronization Protocol v1. Synchronization may be unreliable if there are multiple synchronising components on the network (report/log an error and upgrade the remote system). The component should ignore responses to all other addresses.

    The offset is an estimate because the time spent, both inbound and outbound, will change over time based on things like link congestion and processing time. Therefore the above sequence might be run a significant number of times, and filtering used to remove outlying estimates. Therefore the above sequence might be run a significant number of times, and filtering used to remove outlying estimates.

    A graph showing the "noise" when estimating the offset is given below (from PX4).

    Timesync offsets

    Time Synchronization Protocol v1 ​

    Version 1 of the timesync protocol uses the same message and sequences as version 2.

    The difference is the TIMESYNC message in version 1 did not have target_system and target_component fields, and so the message was always broadcast. This could result in unreliable timesync if there are multiple synchronizing components on the network, because there is no way for a component to know whether a TIMESYNC response is to its request.

    INFO

    ArduPilot encodes the system id in TIMESYNC.ts1 of the request. This allows filtering of the response to a particular system (but not component), reducing the risk of clashes.

    INFO

    Version 2 makes adds the target address, so a syncing system can filter on just the responses to its requests.

    Implementations ​

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    Traffic Managment and Avoidance (UTM/ADSB) ​

    Air traffic management and avoidance systems enable vehicles to share their position and planned path or trajectory with other vehicles (and ground stations), allowing them to take appropriate action to avoid collisions.

    The approaches used to share information vary; some systems use transponders to detect and publish to local traffic, while others publish to/receive information from Internet services that aggregate the data from many vehicles. Some systems might use both approaches! Some systems might use both approaches!

    The approaches used to handle potential collisions depend on the flight stack, and might include: warning the user, holding, landing, pausing a mission etc.

    There are two main traffic management systems supported by MAVLink:

    FLARM is a transponder-based system that integrates with MAVLink using the ADS-B messages. :::

    The two systems share significant overlap and have very similar messages. The two systems share sigificant overlap and have very similar messages. Both have a single message that encapsulates the vehicle position and trajectory: UTM_GLOBAL_POSITION and ADSB_VEHICLE. A flight controller will typically recieve these messages from the appropriate transponder or service, and may also publish them to a transponder or service. A flight controller will typically recieve these messages from the appropriate transponder or service, and may also publish them to a transponder or service.

    The Open Drone ID service provides additional information about vehicle identity. This is still a "work in progress", and there are no known MAVLink implementations, :::

    Message/Enum Summary ​

    Unmanned Aircraft System Traffic Management (UTM) ​

    消息描述
    UTM_GLOBAL_POSITIONThe global position resulting from GPS and sensor fusion.
    Enum描述
    UTM_FLIGHT_STATEFlight state of the vehicle: unknown, landed, flying, emergency etc.
    UTM_DATA_AVAIL_FLAGSFlags that indicate which of the fields in UTM_GLOBAL_POSITION contain valid data.

    Automatic Dependent Surveillance–Broadcast (ADS-B) ​

    消息描述
    ADSB_VEHICLEXXXXXX The global position resulting from GPS and sensor fusion.
    Enum描述
    ADSB_ALTITUDE_TYPEThe source of altitude data - e.g. GNSS system or barometer.
    ADSB_EMITTER_TYPEADSB classification for the type of vehicle emitting the transponder signal (most drones will set ADSB_EMITTER_TYPE_UAV)
    ADSB_FLAGSFlags that indicate which of the fields in ADSB_VEHICLE contain valid data.
    Ids描述
    MAV_TYPE_ADSBMAV_TYPE for a stand-alone MAVLink ADS-B transponder component (not part of an autopilot)
    MAV_COMP_ID_ADSBMAVLink reserved component id for a MAVLink ADS-B transponder component (not part of an autopilot)
    MAV_TYPE_ADSBMAV_TYPE for a stand-alone MAVLink Flarm transponder component (not part of an autopilot)
    MAV_COMP_ID_FLARMMAVLink reserved component id for a MAVLink Flarm transponder component (not part of an autopilot)

    Implementations ​

    PX4:

    ArduPilot:

    QGroundControl:

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    Path Planning Protocol (Trajectory Interface) ​

    The path planning protocol (a.k.a. trajectory interface) is a general-purpose protocol for a system to request dynamic path planning from another system (i.e. for an autopilot to request a path from a companion computer).

    The protocol is primarily intended for cases where constraints on the path to a destination are unknown or may change dynamically, but it can also be used for any other path management activities. Examples include: obstacle avoidance when following a preplanned mission, determining paths for self forming/healing swarms, offloading geofence management to a companion computer, etc.

    综述 ​

    The (autopilot) system that requires path-planning sends messages containing its current position and desired trajectory. The path planning system (companion computer) analyses the desired route, and sends back a stream of messages with setpoints for a new path.

    Mermaid Sequence: Trajectory

    When path planning is active, autopilots are expected to navigate using the most recent setpoint from the companion computer (and should have sensible behaviour if setpoints "run out").

    INFO

    The path planning system might send setpoints all the time, or only when a desired trajectory cannot be achieved (this depends on the specific service implementation).

    The protocol defines two messages:

    Either message may be used to represent both the desired trajectory and the target setpoint, and a system may support either or both messages.

    When specifying a desired path (using either message):

    • The first point (0th array index) always represents the current position/state of the vehicle.
      • For waypoint trajectories the current position usually needs either position or velocity fields, and either yaw or yaw_speed (not all of them)
    • It may not be necessary to specify a waypoint or curve point for every array index.
      • For waypoint trajectories you might only need to specify points for the current position, current waypoint, and the next waypoint.
    • It may not be necessary to set a value for every field in a waypoint.
    • Array indexes and field values that are not used should be set as NaN.

    When specifying a target setpoint, the values should be set in the first point of the message (0th array element). All other array fields should be set to NaN.

    The required message sending update rate depends on the speed of the vehicle and use case.

    Implementations ​

    Obstacle Avoidance in PX4 Mission Mode ​

    The protocol has been used to provide obstacle avoidance in PX4's mission mode. PX4 sends the current position, current waypoint, and next waypoint in a TRAJECTORY_REPRESENTATION_WAYPOINTS message (at 5Hz). The path planning software (a ROS node) sends setpoints for the duration of the mission. These navigate the vehicle in a straight line to each waypoint, navigating around obstacles as needed.

    For more information see: Obstacle Avoidance (PX4 User Guide).

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    Tunnel Protocol ​

    The Tunnel Protocol allows MAVLink to be used as a "dumb channel" to pass data in any format across, through or into a MAVLink network.

    WARNING

    Tunnels use is highly discouraged, as they lose most of the benefits of MAVLink in terms of efficiently and interoperability. You should almost always create "dedicated" MAVLink messages for communicating in a MAVLink system.

    An example where this protocol is useful is connecting a STorM32 gimbal to a computer for configuration/debugging (via a USB connection to the autopilot and using MAVLink to carry the native serial protocol between it and the gimbal). Normally you would connect the gimbal directly via USB, but when mounted on the drone the gimbal USB port may be hard to access. You might re-invent the native protocol in MAVLink, but that would be a lot of effort for little benefit in this case.

    The protocol consists of a single TUNNEL message that has fields for the destination, payload length, payload type and data. The format of the data is entirely defined by the sender, and is inferred from the TUNNEL.payload_type (a MAV_TUNNEL_PAYLOAD_TYPE).

    Vendors can use any value above 32767 for MAV_TUNNEL_PAYLOAD_TYPE in their own dialect during testing. For wider distribution they should register the payload type.

    Message/Enum Summary ​

    消息描述
    TUNNELMessage for transporting "arbitrary" variable-length data from one component to another (broadcast is not forbidden, but discouraged).
    Enum描述
    MAV_TUNNEL_PAYLOAD_TYPEA code that identifies the format of the payload (0 for unknown, which is the default). You can use any value over 32768 for on private networks or register a payload type.

    Register a Payload Type ​

    The format of the tunnel message data is indicated by the value of TUNNEL.payload_type. Vendors can register their own formats in MAV_TUNNEL_PAYLOAD_TYPE by creating a PR to update the enum in common.xml.

    TIP

    If you register an enum value in common.xml the MAVLink toolchain will generate an error if other dialect attempts to define the same value (if the dialect includes common.xml).

    The rules for adding new MAV_TUNNEL_PAYLOAD_TYPE values are:

    1. Values 0-199 are reserved for MAVLink
    2. Enum values are "allocated" to vendors and/or specific hardware in blocks of 10:
      • New blocks must start on the decade boundary (e.g. 200-209, 210-219, etc.).
      • Blocks are allocated sequentially (in the previous point the next block is allocated at 220, not 430).
      • Vendors may reserve multiple sequential blocks if needed.
    3. Enum values in a block may be explicitly "reserved":
      • Values should be named using the format MAV_TUNNEL_PAYLOAD_TYPE_XXXX_RESERVEDYY, where XXXX indicates the vendor or software, and YY is an increasing number starting at 0. For example, the STorM32 gimbal might reserve a block of 10 values from MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED0 to MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED9.
      • You do not have to explicitly reserve unused values.
    4. Enum values that are in use should be (re)named to reflect the vendor/software and purpose (e.g. MAV_TUNNEL_PAYLOAD_TYPE_STORM32_CONFIG).
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