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.

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

Protocol version: 3

MAVLink Include Files

• standard.xml

Summary

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

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.

SYSTEM_TIME (2)

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

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

CHANGE_OPERATOR_CONTROL (5)

Request to control this MAV

CHANGE_OPERATOR_CONTROL_ACK (6)

Accept / deny control of this MAV

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.

LINK_NODE_STATUS (8) — [WIP]

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.

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.

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.

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

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

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.

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.

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.

SCALED_IMU (26)

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

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.

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.

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.

ATTITUDE (30)

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

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).

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)

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.

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.

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.

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%.

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.

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!

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.

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

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.

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.

MISSION_REQUEST_LIST (43)

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

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.

MISSION_CLEAR_ALL (45)

Delete all mission items at once.

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.

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).

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.

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.

PARAM_MAP_RC (50)

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

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

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.

SAFETY_ALLOWED_AREA (55)

Read out the safety zone the MAV currently assumes.

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).

NAV_CONTROLLER_OUTPUT (62)

The state of the navigation and position controller.

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.

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)

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.

REQUEST_DATA_STREAM (66) — [DEP]

DEPRECATED: Replaced By MAV_CMD_SET_MESSAGE_INTERVAL (2015-08)

Request a data stream.

DATA_STREAM (67) — [DEP]

DEPRECATED: Replaced By MESSAGE_INTERVAL (2015-08)

Data stream status information.

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

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

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.

VFR_HUD (74)

Metrics typically displayed on a HUD for fixed wing aircraft.

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

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

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

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

MANUAL_SETPOINT (81)

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

SET_ATTITUDE_TARGET (82)

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

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.

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).

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.

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).

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.

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)

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.

HIL_CONTROLS (91)

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

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.

HIL_ACTUATOR_CONTROLS (93)

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

OPTICAL_FLOW (100)

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

GLOBAL_VISION_POSITION_ESTIMATE (101)

Global position/attitude estimate from a vision source.

VISION_POSITION_ESTIMATE (102)

Local position/attitude estimate from a vision source.

VISION_SPEED_ESTIMATE (103)

Speed estimate from a vision source.

VICON_POSITION_ESTIMATE (104)

Global position estimate from a Vicon motion system source.

HIGHRES_IMU (105)

The IMU readings in SI units in NED body frame

OPTICAL_FLOW_RAD (106)

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

HIL_SENSOR (107)

The IMU readings in SI units in NED body frame

SIM_STATE (108)

Status of simulation environment, if used

RADIO_STATUS (109)

Status generated by radio and injected into MAVLink stream.

FILE_TRANSFER_PROTOCOL (110)

File transfer protocol message: 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.

CAMERA_TRIGGER (112)

Camera-IMU triggering and synchronisation message.

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.

HIL_OPTICAL_FLOW (114)

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

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.

SCALED_IMU2 (116)

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

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.

LOG_ENTRY (118)

Reply to LOG_REQUEST_LIST

LOG_REQUEST_DATA (119)

Request a chunk of a log

LOG_DATA (120)

Reply to LOG_REQUEST_DATA

LOG_ERASE (121)

Erase all logs

LOG_REQUEST_END (122)

Stop log transfer and resume normal logging

GPS_INJECT_DATA (123) — [DEP]

DEPRECATED: Replaced By GPS_RTCM_DATA (2022-05)

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

GPS2_RAW (124)

Second GPS data.

POWER_STATUS (125)

Power supply status

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.

GPS_RTK (127)

RTK GPS data. Gives information on the relative baseline calculation the GPS is reporting

GPS2_RTK (128)

RTK GPS data. Gives information on the relative baseline calculation the GPS is reporting

SCALED_IMU3 (129)

The RAW IMU readings for 3rd 9DOF sensor setup. This message should contain the scaled values to the described units

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.

ENCAPSULATED_DATA (131)

Data packet for images sent using the Image Transmission Protocol: https://mavlink.io/en/services/image_transmission.html.

DISTANCE_SENSOR (132)

Distance sensor information for an onboard rangefinder.

TERRAIN_REQUEST (133)

Request for terrain data and terrain status. See terrain protocol docs: https://mavlink.io/en/services/terrain.html

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

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.

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

SCALED_PRESSURE2 (137)

Barometer readings for 2nd barometer

ATT_POS_MOCAP (138)

Motion capture attitude and position

SET_ACTUATOR_CONTROL_TARGET (139)

Set the vehicle attitude and body angular rates.

ACTUATOR_CONTROL_TARGET (140)

Set the vehicle attitude and body angular rates.

ALTITUDE (141)

The current system altitude.

RESOURCE_REQUEST (142)

The autopilot is requesting a resource (file, binary, other type of data)

SCALED_PRESSURE3 (143)

Barometer readings for 3rd barometer

FOLLOW_TARGET (144)

Current motion information from a designated system

CONTROL_SYSTEM_STATE (146)

The smoothed, monotonic system state used to feed the control loops of the system.

BATTERY_STATUS (147)

Battery information. Updates GCS with flight controller battery status. Smart batteries also use this message, but may additionally send BATTERY_INFO.