MAVLINK Message Set: minimal.xml

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

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

MAV_AUTOPILOT

Micro air vehicle / autopilot classes. This identifies the individual model.

ValueField NameDescription
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, http://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

MAV_TYPE

MAVLINK system type. All components in a system should report this type in their HEARTBEAT.

ValueField NameDescription
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_DUOROTORTwo-rotor VTOL using control surfaces in vertical operation in addition. Tailsitter.
20MAV_TYPE_VTOL_QUADROTORQuad-rotor VTOL using a V-shaped quad config in vertical operation. Tailsitter.
21MAV_TYPE_VTOL_TILTROTORTiltrotor VTOL
22MAV_TYPE_VTOL_RESERVED2VTOL reserved 2
23MAV_TYPE_VTOL_RESERVED3VTOL reserved 3
24MAV_TYPE_VTOL_RESERVED4VTOL reserved 4
25MAV_TYPE_VTOL_RESERVED5VTOL reserved 5
26MAV_TYPE_GIMBALGimbal (standalone)
27MAV_TYPE_ADSBADSB system (standalone)
28MAV_TYPE_PARAFOILSteerable, nonrigid airfoil
29MAV_TYPE_DODECAROTORDodecarotor
30MAV_TYPE_CAMERACamera (standalone)
31MAV_TYPE_CHARGING_STATIONCharging station
32MAV_TYPE_FLARMFLARM collision avoidance system (standalone)

MAV_MODE_FLAG

These flags encode the MAV mode.

ValueField NameDescription
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.
64MAV_MODE_FLAG_MANUAL_INPUT_ENABLED0b01000000 remote control input is enabled.
32MAV_MODE_FLAG_HIL_ENABLED0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational.
16MAV_MODE_FLAG_STABILIZE_ENABLED0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around.
8MAV_MODE_FLAG_GUIDED_ENABLED0b00001000 guided mode enabled, system flies waypoints / mission items.
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.
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.
1MAV_MODE_FLAG_CUSTOM_MODE_ENABLED0b00000001 Reserved for future use.

MAV_MODE_FLAG_DECODE_POSITION

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.

ValueField NameDescription
128MAV_MODE_FLAG_DECODE_POSITION_SAFETYFirst bit: 10000000
64MAV_MODE_FLAG_DECODE_POSITION_MANUALSecond bit: 01000000
32MAV_MODE_FLAG_DECODE_POSITION_HILThird bit: 00100000
16MAV_MODE_FLAG_DECODE_POSITION_STABILIZEFourth bit: 00010000
8MAV_MODE_FLAG_DECODE_POSITION_GUIDEDFifth bit: 00001000
4MAV_MODE_FLAG_DECODE_POSITION_AUTOSixt bit: 00000100
2MAV_MODE_FLAG_DECODE_POSITION_TESTSeventh bit: 00000010
1MAV_MODE_FLAG_DECODE_POSITION_CUSTOM_MODEEighth bit: 00000001

MAV_STATE

ValueField NameDescription
0MAV_STATE_UNINITUninitialized system, state is unknown.
MAV_STATE_BOOTSystem is booting up.
MAV_STATE_CALIBRATINGSystem is calibrating and not flight-ready.
MAV_STATE_STANDBYSystem is grounded and on standby. It can be launched any time.
MAV_STATE_ACTIVESystem is active and might be already airborne. Motors are engaged.
MAV_STATE_CRITICALSystem is in a non-normal flight mode. It can however still navigate.
MAV_STATE_EMERGENCYSystem is in a non-normal flight mode. It lost control over parts or over the whole airframe. It is in mayday and going down.
MAV_STATE_POWEROFFSystem just initialized its power-down sequence, will shut down now.
MAV_STATE_FLIGHT_TERMINATIONSystem is terminating itself.

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.

ValueField NameDescription
0MAV_COMP_ID_ALLUsed 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.
1MAV_COMP_ID_AUTOPILOT1System flight controller component ("autopilot"). Only one autopilot is expected in a particular system.
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 component.
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_GIMBAL

DEPRECATED: Replaced by MAV_COMP_ID_GIMBAL (2018-11). All gimbals should use MAV_COMP_ID_GIMBAL.

Gimbal ID for QX1.
160MAV_COMP_ID_FLARMFLARM collision alert component.
190MAV_COMP_ID_MISSIONPLANNERComponent that supports the Mission microservice.
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.
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.
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).
250MAV_COMP_ID_SYSTEM_CONTROL

DEPRECATED: Replaced by MAV_COMP_ID_ALL (2018-11). System control does not require a separate component ID.

Component for handling system messages (e.g. to ARM, takeoff, etc.).

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).

Field NameTypeValuesDescription
typeuint8_tMAV_TYPEType of the system (quadrotor, helicopter, etc.). Components use the same type as their associated system.
autopilotuint8_tMAV_AUTOPILOTAutopilot type / class.
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

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