方言:ArduPilotMega

这些消息定义了ArduPilot特定的消息集,该消息集是 http://ardupilot.org 的自定义消息。

这个话题是一种 XML 定义文件的可读形式: ardupilotmega.xml

ardupilotmega.xml 的ArduPilot MAVLink分支可能包含尚未合并到本文档中的消息。

MAVLink 2 有一个 ID > 255的消息,并在其描述中使用 (MAVLink 2) 进行标记。

已添加到 MAVLink 1 消息中的 MAVLink 2 扩展字段以蓝色显示。

MAVLink Include Files: common.xml

MAVLink Include Files: uAvionix.xml

MAVLink Include Files: icarous.xml

This file has protocol dialect: 2.

MAVLink Type Enumerations

ACCELCAL_VEHICLE_POS

[Enum]

ValueField NameDescription
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

[Enum]

ValueField NameDescription
0HEADING_TYPE_COURSE_OVER_GROUND
1HEADING_TYPE_HEADING

SPEED_TYPE

[Enum]

ValueField NameDescription
0SPEED_TYPE_AIRSPEED
1SPEED_TYPE_GROUNDSPEED

SCRIPTING_CMD

[Enum]

ValueField NameDescription
0SCRIPTING_CMD_REPL_STARTStart a REPL session.
1SCRIPTING_CMD_REPL_STOPEnd a REPL session.

LIMITS_STATE

[Enum]

ValueField NameDescription
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

[Enum]

ValueField NameDescription
1LIMIT_GPSLOCKPre-initialization.
2LIMIT_GEOFENCEDisabled.
4LIMIT_ALTITUDEChecking limits.

RALLY_FLAGS

[Enum] Flags in RALLY_POINT message.

ValueField NameDescription
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

[Enum]

ValueField NameDescription
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

[Enum]

ValueField NameDescription
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

[Enum]

ValueField NameDescription
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

[Enum]

ValueField NameDescription
0GIMBAL_AXIS_YAWGimbal yaw axis.
1GIMBAL_AXIS_PITCHGimbal pitch axis.
2GIMBAL_AXIS_ROLLGimbal roll axis.

GIMBAL_AXIS_CALIBRATION_STATUS

[Enum]

ValueField NameDescription
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

[Enum]

ValueField NameDescription
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

[Enum]

ValueField NameDescription
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

[Enum]

ValueField NameDescription
1GOPRO_FLAG_RECORDINGGoPro is currently recording.

GOPRO_REQUEST_STATUS

[Enum]

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

GOPRO_COMMAND

[Enum]

ValueField NameDescription
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

[Enum]

ValueField NameDescription
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

[Enum]

ValueField NameDescription
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

[Enum]

ValueField NameDescription
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

[Enum]

ValueField NameDescription
0GOPRO_FIELD_OF_VIEW_WIDE0x00: Wide.
1GOPRO_FIELD_OF_VIEW_MEDIUM0x01: Medium.
2GOPRO_FIELD_OF_VIEW_NARROW0x02: Narrow.

GOPRO_VIDEO_SETTINGS_FLAGS

[Enum]

ValueField NameDescription
1GOPRO_VIDEO_SETTINGS_TV_MODE0=NTSC, 1=PAL.

GOPRO_PHOTO_RESOLUTION

[Enum]

ValueField NameDescription
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

[Enum]

ValueField NameDescription
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

[Enum]

ValueField NameDescription
0GOPRO_PROTUNE_COLOUR_STANDARDAuto.
1GOPRO_PROTUNE_COLOUR_NEUTRALNeutral.

GOPRO_PROTUNE_GAIN

[Enum]

ValueField NameDescription
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

[Enum]

ValueField NameDescription
0GOPRO_PROTUNE_SHARPNESS_LOWLow Sharpness.
1GOPRO_PROTUNE_SHARPNESS_MEDIUMMedium Sharpness.
2GOPRO_PROTUNE_SHARPNESS_HIGHHigh Sharpness.

GOPRO_PROTUNE_EXPOSURE

[Enum]

ValueField NameDescription
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

[Enum]

ValueField NameDescription
0GOPRO_CHARGING_DISABLEDCharging disabled.
1GOPRO_CHARGING_ENABLEDCharging enabled.

GOPRO_MODEL

[Enum]

ValueField NameDescription
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

[Enum]

ValueField NameDescription
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.

LED_CONTROL_PATTERN

[Enum]

ValueField NameDescription
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

[Enum] Flags in EKF_STATUS message.

ValueField NameDescription
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

[Enum]

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

MAV_REMOTE_LOG_DATA_BLOCK_COMMANDS

[Enum] Special ACK block numbers control activation of dataflash log streaming.

字段名描述
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

[Enum] Possible remote log data block statuses.

ValueField NameDescription
0MAV_REMOTE_LOG_DATA_BLOCK_NACKThis block has NOT been received.
1MAV_REMOTE_LOG_DATA_BLOCK_ACKThis block has been received.

DEVICE_OP_BUSTYPE

[Enum] Bus types for device operations.

ValueField NameDescription
0DEVICE_OP_BUSTYPE_I2CI2C Device operation.
1DEVICE_OP_BUSTYPE_SPISPI Device operation.

DEEPSTALL_STAGE

[Enum] Deepstall flight stage.

ValueField NameDescription
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

[Enum] A mapping of plane flight modes for custom_mode field of heartbeat.

ValueField NameDescription
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

COPTER_MODE

[Enum] A mapping of copter flight modes for custom_mode field of heartbeat.

ValueField NameDescription
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

SUB_MODE

[Enum] A mapping of sub flight modes for custom_mode field of heartbeat.

ValueField NameDescription
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

[Enum] A mapping of rover flight modes for custom_mode field of heartbeat.

ValueField NameDescription
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

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

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

OSD_PARAM_CONFIG_TYPE

[Enum] The type of parameter for the OSD parameter editor.

ValueField NameDescription
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

[Enum] The error type for the OSD parameter editor.

ValueField NameDescription
0OSD_PARAM_SUCCESS
1OSD_PARAM_INVALID_SCREEN
2OSD_PARAM_INVALID_PARAMETER_INDEX
3OSD_PARAM_INVALID_PARAMETER

MAVLink Commands (MAV_CMD)

MAVLink commands (MAV_CMD) and messages are different! These commands define the values of up to 7 parameters that are packaged INSIDE specific messages used in the Mission Protocol and Command Protocol. Use commands for actions in missions or if you need acknowledgment and/or retry logic from a request. Otherwise use messages.

MAV_CMD_DO_SET_RESUME_REPEAT_DIST (215 )

[Command] Set the distance to be repeated on mission resume

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

MAV_CMD_NAV_ALTITUDE_WAIT (83 )

[Command] 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: AltitudeAltitude.m
2: Descent SpeedDescent speed.m/s
3: Wiggle TimeHow long to wiggle the control surfaces to prevent them seizing up.s
4Empty.
5Empty.
6Empty.
7Empty.

MAV_CMD_POWER_OFF_INITIATED (42000 )

[Command] 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 )

[Command] FLY button has been clicked.

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

MAV_CMD_SOLO_BTN_FLY_HOLD (42002 )

[Command] FLY button has been held for 1.5 seconds.

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

MAV_CMD_SOLO_BTN_PAUSE_CLICK (42003 )

[Command] PAUSE button has been clicked.

Param (:Label)DescriptionValues
1: Shot Mode1 if Solo is in a shot mode, 0 otherwise.min:0 max:1 increment:1
2Empty.
3Empty.
4Empty.
5Empty.
6Empty.
7Empty.

MAV_CMD_FIXED_MAG_CAL (42004 )

[Command] Magnetometer calibration based on fixed position in earth field given by inclination, declination and intensity.

Param (:Label)DescriptionUnits
1: DeclinationMagnetic declination.deg
2: InclinationMagnetic inclination.deg
3: IntensityMagnetic intensity.mgauss
4: YawYaw.deg
5Empty.
6Empty.
7Empty.

MAV_CMD_FIXED_MAG_CAL_FIELD (42005 )

[Command] Magnetometer calibration based on fixed expected field values.

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

MAV_CMD_DO_START_MAG_CAL (42424 )

[Command] Initiate a magnetometer calibration.

Param (:Label)DescriptionValuesUnits
1: Magnetometers BitmaskBitmask 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 increment:1
2: Retry on FailureAutomatically retry on failure (0=no retry, 1=retry).min:0 max:1 increment:1
3: AutosaveSave without user input (0=require input, 1=autosave).min:0 max:1 increment:1
4: DelayDelay.s
5: AutorebootAutoreboot (0=user reboot, 1=autoreboot).min:0 max:1 increment:1
6Empty.
7Empty.

MAV_CMD_DO_ACCEPT_MAG_CAL (42425 )

[Command] Accept a magnetometer calibration.

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

MAV_CMD_DO_CANCEL_MAG_CAL (42426 )

[Command] Cancel a running magnetometer calibration.

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

MAV_CMD_ACCELCAL_VEHICLE_POS (42429 )

[Command] 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: PositionPosition.ACCELCAL_VEHICLE_POS
2Empty.
3Empty.
4Empty.
5Empty.
6Empty.
7Empty.

MAV_CMD_DO_SEND_BANNER (42428 )

[Command] Reply with the version banner.

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

MAV_CMD_SET_FACTORY_TEST_MODE (42427 )

[Command] Command autopilot to get into factory test/diagnostic mode.

Param (:Label)DescriptionValues
1: Test Mode0: activate test mode, 1: exit test mode.min:0 max:1 increment:1
2Empty.
3Empty.
4Empty.
5Empty.
6Empty.
7Empty.

MAV_CMD_GIMBAL_RESET (42501 )

[Command] 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 )

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

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

MAV_CMD_GIMBAL_REQUEST_AXIS_CALIBRATION (42503 )

[Command] Starts commutation calibration on the gimbal.

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

MAV_CMD_GIMBAL_FULL_RESET (42505 )

[Command] 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 )

[Command] Update the bootloader

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

MAV_CMD_BATTERY_RESET (42651 )

[Command] Reset battery capacity for batteries that accumulate consumed battery via integration.

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

MAV_CMD_DEBUG_TRAP (42700 )

[Command] 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 )

[Command] Control onboard scripting.

Param (:Label)DescriptionValues
1Scripting command to executeSCRIPTING_CMD

MAV_CMD_GUIDED_CHANGE_SPEED (43000 )

[Command] 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 typeAirspeed or groundspeed.SPEED_TYPE
2: speed targetTarget Speedm/s
3: speed rate-of-changeAcceleration rate, 0 to take effect instantlym/s/s
4Empty
5Empty
6Empty
7Empty

MAV_CMD_GUIDED_CHANGE_ALTITUDE (43001 )

[Command] 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-changeRate 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 altTarget Altitudem

MAV_CMD_GUIDED_CHANGE_HEADING (43002 )

[Command] 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 typecourse-over-ground or raw vehicle heading.HEADING_TYPE
2: heading targetTarget heading.min:0 max:359.99deg
3: heading rate-of-changeMaximum centripetal accelearation, ie rate of change, toward new heading.m/s/s
4Empty
5Empty
6Empty
7Empty

MAVLink Messages

SENSOR_OFFSETS ( #150 )

[Message] 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 )

DEPRECATED: Replaced by MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS (2014-07).

[Message] 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 )

[Message] State of APM memory.

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

AP_ADC ( #153 )

[Message] 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 )

[Message] 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 )

[Message] 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] 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] 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] Message with some status from APM to GCS about camera or antenna mount.

Field NameTypeUnitsDescription
target_systemuint8_tSystem ID.
target_componentuint8_tComponent ID.
pointing_aint32_tcdegPitch.
pointing_bint32_tcdegRoll.
pointing_cint32_tcdegYaw.

FENCE_POINT ( #160 )

[Message] 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 )

[Message] 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 )

[Message] 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 )

[Message] 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 )

[Message] Status of key hardware.

Field NameTypeUnitsDescription
Vccuint16_tmVBoard voltage.
I2Cerruint8_tI2C error count.

RADIO ( #166 )

[Message] 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 )

[Message] 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 )

[Message] Wind estimation.

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

DATA16 ( #169 )

[Message] Data packet, size 16.

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

DATA32 ( #170 )

[Message] Data packet, size 32.

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

DATA64 ( #171 )

[Message] Data packet, size 64.

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

DATA96 ( #172 )

[Message] Data packet, size 96.

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

RANGEFINDER ( #173 )

[Message] Rangefinder reporting.

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

AIRSPEED_AUTOCAL ( #174 )

[Message] 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 )

[Message] 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 )

[Message] 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 )

[Message] Status of compassmot calibration.

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

AHRS2 ( #178 )

[Message] Status of secondary AHRS filter if available.

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

CAMERA_STATUS ( #179 )

[Message] 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 )

[Message] 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 )

DEPRECATED: Replaced by BATTERY_STATUS (2017-04).

[Message] 2nd Battery status

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

AHRS3 ( #182 )

[Message] 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 )

[Message] Request the autopilot version from the system/component.

Field NameTypeDescription
target_systemuint8_tSystem ID.
target_componentuint8_tComponent ID.

REMOTE_LOG_DATA_BLOCK ( #184 )

[Message] 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 )

[Message] 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 )

[Message] 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 )

[Message] Reports progress of compass calibration.

Field NameTypeUnitsValuesDescription
compass_iduint8_tCompass being calibrated.
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 )

[Message] 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 )

[Message] PID tuning information.

Field NameTypeValuesDescription
axisuint8_tPID_TUNING_AXISAxis.
desiredfloatDesired rate.
achievedfloatAchieved rate.
FFfloatFF component.
PfloatP component.
IfloatI component.
DfloatD component.

DEEPSTALL ( #195 )

[Message] 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 )

[Message] 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 )

[Message] 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 )

[Message] 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 )

[Message] 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 )

[Message] 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 )

[Message] 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 )

[Message] 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 )

[Message] Response from a GOPRO_COMMAND set request.

Field NameTypeValuesDescription
cmd_iduint8_tGOPRO_COMMANDCommand ID.
statusuint8_tGOPRO_REQUEST_STATUSStatus.

RPM ( #226 )

[Message] RPM sensor output.

Field NameTypeDescription
rpm1floatRPM Sensor1.
rpm2floatRPM Sensor2.

DEVICE_OP_READ ( #11000 )

[Message] (MAVLink 2) 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 )

[Message] (MAVLink 2) 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 )

[Message] (MAVLink 2) 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 )

[Message] (MAVLink 2) Write registers reply.

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

ADAP_TUNING ( #11010 )

[Message] (MAVLink 2) Adaptive Controller tuning information.

Field NameTypeUnitsValuesDescription
axisuint8_tPID_TUNING_AXISAxis.
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 )

[Message] (MAVLink 2) 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]Defines a rotation vector in body frame that rotates the vehicle from the previous to the current orientation.
position_deltafloat[3]mChange in position from previous to current frame rotated into body frame (0=forward, 1=right, 2=down).
confidencefloat%Normalised confidence value from 0 to 100.

AOA_SSA ( #11020 )

[Message] (MAVLink 2) 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 )

[Message] (MAVLink 2) 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 )

[Message] (MAVLink 2) 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 )

[Message] (MAVLink 2) 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 )

[Message] (MAVLink 2) 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 )

[Message] (MAVLink 2) 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 )

[Message] (MAVLink 2) 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 )

[Message] (MAVLink 2) 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.

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