MAVLINK ArduPilotMega Message Set

These messages define the APM specific message set, which is custom to http://ardupilot.org.

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

The ArduPilot MAVLink fork of ardupilotmega.xml may contain messages that have not yet been merged into this documentation.

MAVLink 2 messages have an ID > 255 and are marked up using (MAVLink 2) in their description.

MAVLink 2 extension fields that have been added to MAVLink 1 messages are displayed in blue.

MAVLink Include Files: common.xml

MAVLink Include Files: uAvionix.xml

This file has protocol dialect: 2.

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Flags in RALLY_POINT message

CMD ID Field Name Description

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Gripper actions.

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Flags in EKF_STATUS message

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Special ACK block numbers control activation of dataflash log streaming

CMD ID Field Name Description

Possible remote log data block statuses

CMD ID Field Name Description

Bus types for device operations

CMD ID Field Name Description

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

Field Name Type Description

Deprecated. Use MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS instead. Set the magnetometer offsets

Field Name Type Description

state of APM memory

Field Name Type Description

raw ADC output

Field Name Type Description

Configure on-board Camera Control System.

Field Name Type Description

Control on-board Camera Control System to take shots.

Field Name Type Description

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

Field Name Type Description

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

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

Field Name Type Description

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

Field Name Type Description

Request a current fence point from MAV

Field Name Type Description

Status of geo-fencing. Sent in extended status stream when fencing enabled

Field Name Type Description

Status of DCM attitude estimator

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Status of simulation environment, if used

Field Name Type Description

Status of key hardware

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Status generated by radio

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

Field Name Type Description

Wind estimation

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Data packet, size 16

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Data packet, size 32

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Data packet, size 64

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Data packet, size 96

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Rangefinder reporting

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Airspeed auto-calibration

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

Field Name Type Description

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 Name Type Description

Status of compassmot calibration

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Status of secondary AHRS filter if available

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Camera Event

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Camera Capture Feedback

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2nd Battery status

Field Name Type Description

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

Field Name Type Description

Request the autopilot version from the system/component.

Field Name Type Description

Send a block of log data to remote location

Field Name Type Description

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

Field Name Type Description

Control vehicle LEDs

Field Name Type Description

Reports progress of compass calibration.

Field Name Type Description

Reports results of completed compass calibration. Sent until MAG_CAL_ACK received.

Field Name Type Description

EKF Status message including flags and variances

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PID tuning information

Field Name Type Description

3 axis gimbal mesuraments

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Control message for rate gimbal

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100 Hz gimbal torque command telemetry

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Heartbeat from a HeroBus attached GoPro

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Request a GOPRO_COMMAND response from the GoPro

Field Name Type Description

Response from a GOPRO_COMMAND get request

Field Name Type Description

Request to set a GOPRO_COMMAND with a desired

Field Name Type Description

Response from a GOPRO_COMMAND set request

Field Name Type Description

RPM sensor output

Field Name Type Description

(MAVLink 2) Read registers for a device

Field Name Type Description

(MAVLink 2) Read registers reply

Field Name Type Description

(MAVLink 2) Write registers for a device

Field Name Type Description

(MAVLink 2) Write registers reply

Field Name Type Description

(MAVLink 2) Adaptive Controller tuning information

Field Name Type Description

(MAVLink 2) camera vision based attitude and position deltas

Field Name Type Description

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