Dialect: autoquad

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

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

The current MAVLink version is 2.3. The minor version numbers (after the dot) range from 1-255.

Track current version of these definitions (can be used by checking value of AUTOQUAD_MAVLINK_DEFS_VERSION_ENUM_END). Append a new entry for each published change.

ValueField NameDescription

AUTOQUAD_NAV_STATUS

Available operating modes/statuses for AutoQuad flight controller. Bitmask up to 32 bits. Low side bits for base modes, high side for additional active features/modifiers/constraints.

ValueField NameDescription
0AQ_NAV_STATUS_INITSystem is initializing
0x00000001AQ_NAV_STATUS_STANDBYSystem is *armed* and standing by, with no throttle input and no autonomous mode
0x00000002AQ_NAV_STATUS_MANUALFlying (throttle input detected), assumed under manual control unless other mode bits are set
0x00000004AQ_NAV_STATUS_ALTHOLDAltitude hold engaged
0x00000008AQ_NAV_STATUS_POSHOLDPosition hold engaged
0x00000010AQ_NAV_STATUS_GUIDEDExternally-guided (eg. GCS) navigation mode
0x00000020AQ_NAV_STATUS_MISSIONAutonomous mission execution mode
0x00000100AQ_NAV_STATUS_READYReady but *not armed*
0x00000200AQ_NAV_STATUS_CALIBRATINGCalibration mode active
0x00001000AQ_NAV_STATUS_NO_RCNo valid control input (eg. no radio link)
0x00002000AQ_NAV_STATUS_FUEL_LOWBattery is low (stage 1 warning)
0x00004000AQ_NAV_STATUS_FUEL_CRITICALBattery is depleted (stage 2 warning)
0x01000000AQ_NAV_STATUS_DVHDynamic Velocity Hold is active (PH with proportional manual direction override)
0x02000000AQ_NAV_STATUS_DAODynamic Altitude Override is active (AH with proportional manual adjustment)
0x04000000AQ_NAV_STATUS_CEILING_REACHEDCraft is at ceiling altitude
0x08000000AQ_NAV_STATUS_CEILINGCeiling altitude is set
0x10000000AQ_NAV_STATUS_HF_DYNAMICHeading-Free dynamic mode active
0x20000000AQ_NAV_STATUS_HF_LOCKEDHeading-Free locked mode active
0x40000000AQ_NAV_STATUS_RTHAutomatic Return to Home is active
0x80000000AQ_NAV_STATUS_FAILSAFESystem is in failsafe recovery mode

MAV_DATA_STREAM

ValueField NameDescription
MAV_DATA_STREAM_PROPULSIONMotor/ESC telemetry data.

MAV_CMD_AQ_NAV_LEG_ORBIT (1 )

Orbit a waypoint.

ParamDescription
1Orbit radius in meters
2Loiter time in decimal seconds
3Maximum horizontal speed in m/s
4Desired yaw angle at waypoint
5Latitude
6Longitude
7Altitude

MAV_CMD_AQ_TELEMETRY (2 )

Start/stop AutoQuad telemetry values stream.

ParamDescription
1Start or stop (1 or 0)
2Stream frequency in us
3Dataset ID (refer to aq_mavlink.h::mavlinkCustomDataSets enum in AQ flight controller code)
4Empty
5Empty
6Empty
7Empty

MAV_CMD_AQ_REQUEST_VERSION (4 )

Request AutoQuad firmware version number.

ParamDescription
1Empty
2Empty
3Empty
4Empty
5Empty
6Empty
7Empty

AQ_TELEMETRY_F ( #150 )

Sends up to 20 raw float values.

Field NameTypeDescription
Indexuint16_tIndex of message
value1floatvalue1
value2floatvalue2
value3floatvalue3
value4floatvalue4
value5floatvalue5
value6floatvalue6
value7floatvalue7
value8floatvalue8
value9floatvalue9
value10floatvalue10
value11floatvalue11
value12floatvalue12
value13floatvalue13
value14floatvalue14
value15floatvalue15
value16floatvalue16
value17floatvalue17
value18floatvalue18
value19floatvalue19
value20floatvalue20

AQ_ESC_TELEMETRY ( #152 )

Sends ESC32 telemetry data for up to 4 motors. Multiple messages may be sent in sequence when system has > 4 motors. Data is described as follows: // unsigned int state : 3; // unsigned int vin : 12; // x 100 // unsigned int amps : 14; // x 100 // unsigned int rpm : 15; // unsigned int duty : 8; // x (255/100) // - Data Version 2 - // unsigned int errors : 9; // Bad detects error count // - Data Version 3 - // unsigned int temp : 9; // (Deg C + 32) * 4 // unsigned int errCode : 3;

Field NameTypeDescription
time_boot_msuint32_tTimestamp of the component clock since boot time in ms.
sequint8_tSequence number of message (first set of 4 motors is #1, next 4 is #2, etc).
num_motorsuint8_tTotal number of active ESCs/motors on the system.
num_in_sequint8_tNumber of active ESCs in this sequence (1 through this many array members will be populated with data)
esciduint8_t[4]ESC/Motor ID
status_ageuint16_t[4]Age of each ESC telemetry reading in ms compared to boot time. A value of 0xFFFF means timeout/no data.
data_versionuint8_t[4]Version of data structure (determines contents).
data0uint32_t[4]Data bits 1-32 for each ESC.
data1uint32_t[4]Data bits 33-64 for each ESC.

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