MAVLINK ArduPilotMega Message Set

These messages define the ArduPilot 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

MAVLink Include Files: icarous.xml

This file has protocol dialect: 2.

MAVLink Type Enumerations

ACCELCAL_VEHICLE_POS

Value	Field Name	Description
1	ACCELCAL_VEHICLE_POS_LEVEL
2	ACCELCAL_VEHICLE_POS_LEFT
3	ACCELCAL_VEHICLE_POS_RIGHT
4	ACCELCAL_VEHICLE_POS_NOSEDOWN
5	ACCELCAL_VEHICLE_POS_NOSEUP
6	ACCELCAL_VEHICLE_POS_BACK
16777215	ACCELCAL_VEHICLE_POS_SUCCESS
16777216	ACCELCAL_VEHICLE_POS_FAILED

LIMITS_STATE

Value	Field Name	Description
0	LIMITS_INIT	Pre-initialization.
1	LIMITS_DISABLED	Disabled.
2	LIMITS_ENABLED	Checking limits.
3	LIMITS_TRIGGERED	A limit has been breached.
4	LIMITS_RECOVERING	Taking action e.g. Return/RTL.
5	LIMITS_RECOVERED	We're no longer in breach of a limit.

LIMIT_MODULE

Value	Field Name	Description
1	LIMIT_GPSLOCK	Pre-initialization.
2	LIMIT_GEOFENCE	Disabled.
4	LIMIT_ALTITUDE	Checking limits.

RALLY_FLAGS

Flags in RALLY_POINT message.

Value	Field Name	Description
1	FAVORABLE_WIND	Flag set when requiring favorable winds for landing.
2	LAND_IMMEDIATELY	Flag 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.

PARACHUTE_ACTION

Value	Field Name	Description
0	PARACHUTE_DISABLE	Disable parachute release.
1	PARACHUTE_ENABLE	Enable parachute release.
2	PARACHUTE_RELEASE	Release parachute.

GRIPPER_ACTIONS

Gripper actions.

Value	Field Name	Description
0	GRIPPER_ACTION_RELEASE	Gripper release cargo.
1	GRIPPER_ACTION_GRAB	Gripper grab onto cargo.

WINCH_ACTIONS

Winch actions.

Value	Field Name	Description
0	WINCH_RELAXED	Relax winch.
1	WINCH_RELATIVE_LENGTH_CONTROL	Winch unwinds or winds specified length of cable optionally using specified rate.
2	WINCH_RATE_CONTROL	Winch unwinds or winds cable at specified rate in meters/seconds.

CAMERA_STATUS_TYPES

Value	Field Name	Description
0	CAMERA_STATUS_TYPE_HEARTBEAT	Camera heartbeat, announce camera component ID at 1Hz.
1	CAMERA_STATUS_TYPE_TRIGGER	Camera image triggered.
2	CAMERA_STATUS_TYPE_DISCONNECT	Camera connection lost.
3	CAMERA_STATUS_TYPE_ERROR	Camera unknown error.
4	CAMERA_STATUS_TYPE_LOWBATT	Camera battery low. Parameter p1 shows reported voltage.
5	CAMERA_STATUS_TYPE_LOWSTORE	Camera storage low. Parameter p1 shows reported shots remaining.
6	CAMERA_STATUS_TYPE_LOWSTOREV	Camera storage low. Parameter p1 shows reported video minutes remaining.

CAMERA_FEEDBACK_FLAGS

Value	Field Name	Description
0	CAMERA_FEEDBACK_PHOTO	Shooting photos, not video.
1	CAMERA_FEEDBACK_VIDEO	Shooting video, not stills.
2	CAMERA_FEEDBACK_BADEXPOSURE	Unable to achieve requested exposure (e.g. shutter speed too low).
3	CAMERA_FEEDBACK_CLOSEDLOOP	Closed loop feedback from camera, we know for sure it has successfully taken a picture.
4	CAMERA_FEEDBACK_OPENLOOP	Open loop camera, an image trigger has been requested but we can't know for sure it has successfully taken a picture.

MAV_MODE_GIMBAL

Value	Field Name	Description
0	MAV_MODE_GIMBAL_UNINITIALIZED	Gimbal is powered on but has not started initializing yet.
1	MAV_MODE_GIMBAL_CALIBRATING_PITCH	Gimbal is currently running calibration on the pitch axis.
2	MAV_MODE_GIMBAL_CALIBRATING_ROLL	Gimbal is currently running calibration on the roll axis.
3	MAV_MODE_GIMBAL_CALIBRATING_YAW	Gimbal is currently running calibration on the yaw axis.
4	MAV_MODE_GIMBAL_INITIALIZED	Gimbal has finished calibrating and initializing, but is relaxed pending reception of first rate command from copter.
5	MAV_MODE_GIMBAL_ACTIVE	Gimbal is actively stabilizing.
6	MAV_MODE_GIMBAL_RATE_CMD_TIMEOUT	Gimbal 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

Value	Field Name	Description
0	GIMBAL_AXIS_YAW	Gimbal yaw axis.
1	GIMBAL_AXIS_PITCH	Gimbal pitch axis.
2	GIMBAL_AXIS_ROLL	Gimbal roll axis.

GIMBAL_AXIS_CALIBRATION_STATUS

Value	Field Name	Description
0	GIMBAL_AXIS_CALIBRATION_STATUS_IN_PROGRESS	Axis calibration is in progress.
1	GIMBAL_AXIS_CALIBRATION_STATUS_SUCCEEDED	Axis calibration succeeded.
2	GIMBAL_AXIS_CALIBRATION_STATUS_FAILED	Axis calibration failed.

GIMBAL_AXIS_CALIBRATION_REQUIRED

Value	Field Name	Description
0	GIMBAL_AXIS_CALIBRATION_REQUIRED_UNKNOWN	Whether or not this axis requires calibration is unknown at this time.
1	GIMBAL_AXIS_CALIBRATION_REQUIRED_TRUE	This axis requires calibration.
2	GIMBAL_AXIS_CALIBRATION_REQUIRED_FALSE	This axis does not require calibration.

GOPRO_HEARTBEAT_STATUS

Value	Field Name	Description
0	GOPRO_HEARTBEAT_STATUS_DISCONNECTED	No GoPro connected.
1	GOPRO_HEARTBEAT_STATUS_INCOMPATIBLE	The detected GoPro is not HeroBus compatible.
2	GOPRO_HEARTBEAT_STATUS_CONNECTED	A HeroBus compatible GoPro is connected.
3	GOPRO_HEARTBEAT_STATUS_ERROR	An unrecoverable error was encountered with the connected GoPro, it may require a power cycle.

GOPRO_HEARTBEAT_FLAGS

Value	Field Name	Description
1	GOPRO_FLAG_RECORDING	GoPro is currently recording.

GOPRO_REQUEST_STATUS

Value	Field Name	Description
0	GOPRO_REQUEST_SUCCESS	The write message with ID indicated succeeded.
1	GOPRO_REQUEST_FAILED	The write message with ID indicated failed.

GOPRO_COMMAND

Value	Field Name	Description
0	GOPRO_COMMAND_POWER	(Get/Set).
1	GOPRO_COMMAND_CAPTURE_MODE	(Get/Set).
2	GOPRO_COMMAND_SHUTTER	(___/Set).
3	GOPRO_COMMAND_BATTERY	(Get/___).
4	GOPRO_COMMAND_MODEL	(Get/___).
5	GOPRO_COMMAND_VIDEO_SETTINGS	(Get/Set).
6	GOPRO_COMMAND_LOW_LIGHT	(Get/Set).
7	GOPRO_COMMAND_PHOTO_RESOLUTION	(Get/Set).
8	GOPRO_COMMAND_PHOTO_BURST_RATE	(Get/Set).
9	GOPRO_COMMAND_PROTUNE	(Get/Set).
10	GOPRO_COMMAND_PROTUNE_WHITE_BALANCE	(Get/Set) Hero 3+ Only.
11	GOPRO_COMMAND_PROTUNE_COLOUR	(Get/Set) Hero 3+ Only.
12	GOPRO_COMMAND_PROTUNE_GAIN	(Get/Set) Hero 3+ Only.
13	GOPRO_COMMAND_PROTUNE_SHARPNESS	(Get/Set) Hero 3+ Only.
14	GOPRO_COMMAND_PROTUNE_EXPOSURE	(Get/Set) Hero 3+ Only.
15	GOPRO_COMMAND_TIME	(Get/Set).
16	GOPRO_COMMAND_CHARGING	(Get/Set).

GOPRO_CAPTURE_MODE

Value	Field Name	Description
0	GOPRO_CAPTURE_MODE_VIDEO	Video mode.
1	GOPRO_CAPTURE_MODE_PHOTO	Photo mode.
2	GOPRO_CAPTURE_MODE_BURST	Burst mode, Hero 3+ only.
3	GOPRO_CAPTURE_MODE_TIME_LAPSE	Time lapse mode, Hero 3+ only.
4	GOPRO_CAPTURE_MODE_MULTI_SHOT	Multi shot mode, Hero 4 only.
5	GOPRO_CAPTURE_MODE_PLAYBACK	Playback mode, Hero 4 only, silver only except when LCD or HDMI is connected to black.
6	GOPRO_CAPTURE_MODE_SETUP	Playback mode, Hero 4 only.
255	GOPRO_CAPTURE_MODE_UNKNOWN	Mode not yet known.

GOPRO_RESOLUTION

Value	Field Name	Description
0	GOPRO_RESOLUTION_480p	848 x 480 (480p).
1	GOPRO_RESOLUTION_720p	1280 x 720 (720p).
2	GOPRO_RESOLUTION_960p	1280 x 960 (960p).
3	GOPRO_RESOLUTION_1080p	1920 x 1080 (1080p).
4	GOPRO_RESOLUTION_1440p	1920 x 1440 (1440p).
5	GOPRO_RESOLUTION_2_7k_17_9	2704 x 1440 (2.7k-17:9).
6	GOPRO_RESOLUTION_2_7k_16_9	2704 x 1524 (2.7k-16:9).
7	GOPRO_RESOLUTION_2_7k_4_3	2704 x 2028 (2.7k-4:3).
8	GOPRO_RESOLUTION_4k_16_9	3840 x 2160 (4k-16:9).
9	GOPRO_RESOLUTION_4k_17_9	4096 x 2160 (4k-17:9).
10	GOPRO_RESOLUTION_720p_SUPERVIEW	1280 x 720 (720p-SuperView).
11	GOPRO_RESOLUTION_1080p_SUPERVIEW	1920 x 1080 (1080p-SuperView).
12	GOPRO_RESOLUTION_2_7k_SUPERVIEW	2704 x 1520 (2.7k-SuperView).
13	GOPRO_RESOLUTION_4k_SUPERVIEW	3840 x 2160 (4k-SuperView).

GOPRO_FRAME_RATE

Value	Field Name	Description
0	GOPRO_FRAME_RATE_12	12 FPS.
1	GOPRO_FRAME_RATE_15	15 FPS.
2	GOPRO_FRAME_RATE_24	24 FPS.
3	GOPRO_FRAME_RATE_25	25 FPS.
4	GOPRO_FRAME_RATE_30	30 FPS.
5	GOPRO_FRAME_RATE_48	48 FPS.
6	GOPRO_FRAME_RATE_50	50 FPS.
7	GOPRO_FRAME_RATE_60	60 FPS.
8	GOPRO_FRAME_RATE_80	80 FPS.
9	GOPRO_FRAME_RATE_90	90 FPS.
10	GOPRO_FRAME_RATE_100	100 FPS.
11	GOPRO_FRAME_RATE_120	120 FPS.
12	GOPRO_FRAME_RATE_240	240 FPS.
13	GOPRO_FRAME_RATE_12_5	12.5 FPS.

GOPRO_FIELD_OF_VIEW

Value	Field Name	Description
0	GOPRO_FIELD_OF_VIEW_WIDE	0x00: Wide.
1	GOPRO_FIELD_OF_VIEW_MEDIUM	0x01: Medium.
2	GOPRO_FIELD_OF_VIEW_NARROW	0x02: Narrow.

GOPRO_VIDEO_SETTINGS_FLAGS

Value	Field Name	Description
1	GOPRO_VIDEO_SETTINGS_TV_MODE	0=NTSC, 1=PAL.

GOPRO_PHOTO_RESOLUTION

Value	Field Name	Description
0	GOPRO_PHOTO_RESOLUTION_5MP_MEDIUM	5MP Medium.
1	GOPRO_PHOTO_RESOLUTION_7MP_MEDIUM	7MP Medium.
2	GOPRO_PHOTO_RESOLUTION_7MP_WIDE	7MP Wide.
3	GOPRO_PHOTO_RESOLUTION_10MP_WIDE	10MP Wide.
4	GOPRO_PHOTO_RESOLUTION_12MP_WIDE	12MP Wide.

GOPRO_PROTUNE_WHITE_BALANCE

Value	Field Name	Description
0	GOPRO_PROTUNE_WHITE_BALANCE_AUTO	Auto.
1	GOPRO_PROTUNE_WHITE_BALANCE_3000K	3000K.
2	GOPRO_PROTUNE_WHITE_BALANCE_5500K	5500K.
3	GOPRO_PROTUNE_WHITE_BALANCE_6500K	6500K.
4	GOPRO_PROTUNE_WHITE_BALANCE_RAW	Camera Raw.

GOPRO_PROTUNE_COLOUR

Value	Field Name	Description
0	GOPRO_PROTUNE_COLOUR_STANDARD	Auto.
1	GOPRO_PROTUNE_COLOUR_NEUTRAL	Neutral.

GOPRO_PROTUNE_GAIN

Value	Field Name	Description
0	GOPRO_PROTUNE_GAIN_400	ISO 400.
1	GOPRO_PROTUNE_GAIN_800	ISO 800 (Only Hero 4).
2	GOPRO_PROTUNE_GAIN_1600	ISO 1600.
3	GOPRO_PROTUNE_GAIN_3200	ISO 3200 (Only Hero 4).
4	GOPRO_PROTUNE_GAIN_6400	ISO 6400.

GOPRO_PROTUNE_SHARPNESS

Value	Field Name	Description
0	GOPRO_PROTUNE_SHARPNESS_LOW	Low Sharpness.
1	GOPRO_PROTUNE_SHARPNESS_MEDIUM	Medium Sharpness.
2	GOPRO_PROTUNE_SHARPNESS_HIGH	High Sharpness.

GOPRO_PROTUNE_EXPOSURE

Value	Field Name	Description
0	GOPRO_PROTUNE_EXPOSURE_NEG_5_0	-5.0 EV (Hero 3+ Only).
1	GOPRO_PROTUNE_EXPOSURE_NEG_4_5	-4.5 EV (Hero 3+ Only).
2	GOPRO_PROTUNE_EXPOSURE_NEG_4_0	-4.0 EV (Hero 3+ Only).
3	GOPRO_PROTUNE_EXPOSURE_NEG_3_5	-3.5 EV (Hero 3+ Only).
4	GOPRO_PROTUNE_EXPOSURE_NEG_3_0	-3.0 EV (Hero 3+ Only).
5	GOPRO_PROTUNE_EXPOSURE_NEG_2_5	-2.5 EV (Hero 3+ Only).
6	GOPRO_PROTUNE_EXPOSURE_NEG_2_0	-2.0 EV.
7	GOPRO_PROTUNE_EXPOSURE_NEG_1_5	-1.5 EV.
8	GOPRO_PROTUNE_EXPOSURE_NEG_1_0	-1.0 EV.
9	GOPRO_PROTUNE_EXPOSURE_NEG_0_5	-0.5 EV.
10	GOPRO_PROTUNE_EXPOSURE_ZERO	0.0 EV.
11	GOPRO_PROTUNE_EXPOSURE_POS_0_5	+0.5 EV.
12	GOPRO_PROTUNE_EXPOSURE_POS_1_0	+1.0 EV.
13	GOPRO_PROTUNE_EXPOSURE_POS_1_5	+1.5 EV.
14	GOPRO_PROTUNE_EXPOSURE_POS_2_0	+2.0 EV.
15	GOPRO_PROTUNE_EXPOSURE_POS_2_5	+2.5 EV (Hero 3+ Only).
16	GOPRO_PROTUNE_EXPOSURE_POS_3_0	+3.0 EV (Hero 3+ Only).
17	GOPRO_PROTUNE_EXPOSURE_POS_3_5	+3.5 EV (Hero 3+ Only).
18	GOPRO_PROTUNE_EXPOSURE_POS_4_0	+4.0 EV (Hero 3+ Only).
19	GOPRO_PROTUNE_EXPOSURE_POS_4_5	+4.5 EV (Hero 3+ Only).
20	GOPRO_PROTUNE_EXPOSURE_POS_5_0	+5.0 EV (Hero 3+ Only).

GOPRO_CHARGING

Value	Field Name	Description
0	GOPRO_CHARGING_DISABLED	Charging disabled.
1	GOPRO_CHARGING_ENABLED	Charging enabled.

GOPRO_MODEL

Value	Field Name	Description
0	GOPRO_MODEL_UNKNOWN	Unknown gopro model.
1	GOPRO_MODEL_HERO_3_PLUS_SILVER	Hero 3+ Silver (HeroBus not supported by GoPro).
2	GOPRO_MODEL_HERO_3_PLUS_BLACK	Hero 3+ Black.
3	GOPRO_MODEL_HERO_4_SILVER	Hero 4 Silver.
4	GOPRO_MODEL_HERO_4_BLACK	Hero 4 Black.

GOPRO_BURST_RATE

Value	Field Name	Description
0	GOPRO_BURST_RATE_3_IN_1_SECOND	3 Shots / 1 Second.
1	GOPRO_BURST_RATE_5_IN_1_SECOND	5 Shots / 1 Second.
2	GOPRO_BURST_RATE_10_IN_1_SECOND	10 Shots / 1 Second.
3	GOPRO_BURST_RATE_10_IN_2_SECOND	10 Shots / 2 Second.
4	GOPRO_BURST_RATE_10_IN_3_SECOND	10 Shots / 3 Second (Hero 4 Only).
5	GOPRO_BURST_RATE_30_IN_1_SECOND	30 Shots / 1 Second.
6	GOPRO_BURST_RATE_30_IN_2_SECOND	30 Shots / 2 Second.
7	GOPRO_BURST_RATE_30_IN_3_SECOND	30 Shots / 3 Second.
8	GOPRO_BURST_RATE_30_IN_6_SECOND	30 Shots / 6 Second.

LED_CONTROL_PATTERN

Value	Field Name	Description
0	LED_CONTROL_PATTERN_OFF	LED patterns off (return control to regular vehicle control).
1	LED_CONTROL_PATTERN_FIRMWAREUPDATE	LEDs show pattern during firmware update.
255	LED_CONTROL_PATTERN_CUSTOM	Custom Pattern using custom bytes fields.

EKF_STATUS_FLAGS

Flags in EKF_STATUS message.

Value	Field Name	Description
1	EKF_ATTITUDE	Set if EKF's attitude estimate is good.
2	EKF_VELOCITY_HORIZ	Set if EKF's horizontal velocity estimate is good.
4	EKF_VELOCITY_VERT	Set if EKF's vertical velocity estimate is good.
8	EKF_POS_HORIZ_REL	Set if EKF's horizontal position (relative) estimate is good.
16	EKF_POS_HORIZ_ABS	Set if EKF's horizontal position (absolute) estimate is good.
32	EKF_POS_VERT_ABS	Set if EKF's vertical position (absolute) estimate is good.
64	EKF_POS_VERT_AGL	Set if EKF's vertical position (above ground) estimate is good.
128	EKF_CONST_POS_MODE	EKF is in constant position mode and does not know it's absolute or relative position.
256	EKF_PRED_POS_HORIZ_REL	Set if EKF's predicted horizontal position (relative) estimate is good.
512	EKF_PRED_POS_HORIZ_ABS	Set if EKF's predicted horizontal position (absolute) estimate is good.

PID_TUNING_AXIS

Value	Field Name	Description
1	PID_TUNING_ROLL
2	PID_TUNING_PITCH
3	PID_TUNING_YAW
4	PID_TUNING_ACCZ
5	PID_TUNING_STEER
6	PID_TUNING_LANDING

MAG_CAL_STATUS

Value	Field Name	Description
0	MAG_CAL_NOT_STARTED
1	MAG_CAL_WAITING_TO_START
2	MAG_CAL_RUNNING_STEP_ONE
3	MAG_CAL_RUNNING_STEP_TWO
4	MAG_CAL_SUCCESS
5	MAG_CAL_FAILED
6	MAG_CAL_BAD_ORIENTATION

MAV_REMOTE_LOG_DATA_BLOCK_COMMANDS

Special ACK block numbers control activation of dataflash log streaming.

Value	Field Name	Description
2147483645	MAV_REMOTE_LOG_DATA_BLOCK_STOP	UAV to stop sending DataFlash blocks.
2147483646	MAV_REMOTE_LOG_DATA_BLOCK_START	UAV to start sending DataFlash blocks.

MAV_REMOTE_LOG_DATA_BLOCK_STATUSES

Possible remote log data block statuses.

Value	Field Name	Description
0	MAV_REMOTE_LOG_DATA_BLOCK_NACK	This block has NOT been received.
1	MAV_REMOTE_LOG_DATA_BLOCK_ACK	This block has been received.

DEVICE_OP_BUSTYPE

Bus types for device operations.

Value	Field Name	Description
0	DEVICE_OP_BUSTYPE_I2C	I2C Device operation.
1	DEVICE_OP_BUSTYPE_SPI	SPI Device operation.

DEEPSTALL_STAGE

Deepstall flight stage.

Value	Field Name	Description
0	DEEPSTALL_STAGE_FLY_TO_LANDING	Flying to the landing point.
1	DEEPSTALL_STAGE_ESTIMATE_WIND	Building an estimate of the wind.
2	DEEPSTALL_STAGE_WAIT_FOR_BREAKOUT	Waiting to breakout of the loiter to fly the approach.
3	DEEPSTALL_STAGE_FLY_TO_ARC	Flying to the first arc point to turn around to the landing point.
4	DEEPSTALL_STAGE_ARC	Turning around back to the deepstall landing point.
5	DEEPSTALL_STAGE_APPROACH	Approaching the landing point.
6	DEEPSTALL_STAGE_LAND	Stalling and steering towards the land point.

PLANE_MODE

A mapping of plane flight modes for custom_mode field of heartbeat.

Value	Field Name	Description
0	PLANE_MODE_MANUAL
1	PLANE_MODE_CIRCLE
2	PLANE_MODE_STABILIZE
3	PLANE_MODE_TRAINING
4	PLANE_MODE_ACRO
5	PLANE_MODE_FLY_BY_WIRE_A
6	PLANE_MODE_FLY_BY_WIRE_B
7	PLANE_MODE_CRUISE
8	PLANE_MODE_AUTOTUNE
10	PLANE_MODE_AUTO
11	PLANE_MODE_RTL
12	PLANE_MODE_LOITER
14	PLANE_MODE_AVOID_ADSB
15	PLANE_MODE_GUIDED
16	PLANE_MODE_INITIALIZING
17	PLANE_MODE_QSTABILIZE
18	PLANE_MODE_QHOVER
19	PLANE_MODE_QLOITER
20	PLANE_MODE_QLAND
21	PLANE_MODE_QRTL

COPTER_MODE

A mapping of copter flight modes for custom_mode field of heartbeat.

Value	Field Name	Description
0	COPTER_MODE_STABILIZE
1	COPTER_MODE_ACRO
2	COPTER_MODE_ALT_HOLD
3	COPTER_MODE_AUTO
4	COPTER_MODE_GUIDED
5	COPTER_MODE_LOITER
6	COPTER_MODE_RTL
7	COPTER_MODE_CIRCLE
9	COPTER_MODE_LAND
11	COPTER_MODE_DRIFT
13	COPTER_MODE_SPORT
14	COPTER_MODE_FLIP
15	COPTER_MODE_AUTOTUNE
16	COPTER_MODE_POSHOLD
17	COPTER_MODE_BRAKE
18	COPTER_MODE_THROW
19	COPTER_MODE_AVOID_ADSB
20	COPTER_MODE_GUIDED_NOGPS
21	COPTER_MODE_SMART_RTL

SUB_MODE

A mapping of sub flight modes for custom_mode field of heartbeat.

Value	Field Name	Description
0	SUB_MODE_STABILIZE
1	SUB_MODE_ACRO
2	SUB_MODE_ALT_HOLD
3	SUB_MODE_AUTO
4	SUB_MODE_GUIDED
7	SUB_MODE_CIRCLE
9	SUB_MODE_SURFACE
16	SUB_MODE_POSHOLD
19	SUB_MODE_MANUAL

ROVER_MODE

A mapping of rover flight modes for custom_mode field of heartbeat.

Value	Field Name	Description
0	ROVER_MODE_MANUAL
1	ROVER_MODE_ACRO
3	ROVER_MODE_STEERING
4	ROVER_MODE_HOLD
5	ROVER_MODE_LOITER
10	ROVER_MODE_AUTO
11	ROVER_MODE_RTL
12	ROVER_MODE_SMART_RTL
15	ROVER_MODE_GUIDED
16	ROVER_MODE_INITIALIZING

TRACKER_MODE

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

Value	Field Name	Description
0	TRACKER_MODE_MANUAL
1	TRACKER_MODE_STOP
2	TRACKER_MODE_SCAN
3	TRACKER_MODE_SERVO_TEST
10	TRACKER_MODE_AUTO
16	TRACKER_MODE_INITIALIZING

MAVLink Commands (MAV_CMD)

MAV_CMD_DO_GRIPPER (211 )

Mission command to operate EPM gripper.

Param	Description
1	Gripper number (a number from 1 to max number of grippers on the vehicle).
2	Gripper action (0=release, 1=grab. See GRIPPER_ACTIONS enum).
3	Empty.
4	Empty.
5	Empty.
6	Empty.
7	Empty.

MAV_CMD_DO_AUTOTUNE_ENABLE (212 )

Enable/disable autotune.

Param	Description
1	Enable (1: enable, 0:disable).
2	Empty.
3	Empty.
4	Empty.
5	Empty.
6	Empty.
7	Empty.

MAV_CMD_NAV_ALTITUDE_WAIT (83 )

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	Description
1	Altitude (m).
2	Descent speed (m/s).
3	Wiggle Time (s).
4	Empty.
5	Empty.
6	Empty.
7	Empty.

MAV_CMD_POWER_OFF_INITIATED (42000 )

A system wide power-off event has been initiated.

Param	Description
1	Empty.
2	Empty.
3	Empty.
4	Empty.
5	Empty.
6	Empty.
7	Empty.

MAV_CMD_SOLO_BTN_FLY_CLICK (42001 )

FLY button has been clicked.

Param	Description
1	Empty.
2	Empty.
3	Empty.
4	Empty.
5	Empty.
6	Empty.
7	Empty.

MAV_CMD_SOLO_BTN_FLY_HOLD (42002 )

FLY button has been held for 1.5 seconds.

Param	Description
1	Takeoff altitude.
2	Empty.
3	Empty.
4	Empty.
5	Empty.
6	Empty.
7	Empty.

MAV_CMD_SOLO_BTN_PAUSE_CLICK (42003 )

PAUSE button has been clicked.

Param	Description
1	1 if Solo is in a shot mode, 0 otherwise.
2	Empty.
3	Empty.
4	Empty.
5	Empty.
6	Empty.
7	Empty.

MAV_CMD_FIXED_MAG_CAL (42004 )

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

Param	Description
1	MagDeclinationDegrees.
2	MagInclinationDegrees.
3	MagIntensityMilliGauss.
4	YawDegrees.
5	Empty.
6	Empty.
7	Empty.

MAV_CMD_FIXED_MAG_CAL_FIELD (42005 )

Magnetometer calibration based on fixed expected field values in milliGauss.

Param	Description
1	FieldX.
2	FieldY.
3	FieldZ.
4	Empty.
5	Empty.
6	Empty.
7	Empty.

MAV_CMD_DO_START_MAG_CAL (42424 )

Initiate a magnetometer calibration.

Param	Description
1	uint8_t bitmask of magnetometers (0 means all).
2	Automatically retry on failure (0=no retry, 1=retry).
3	Save without user input (0=require input, 1=autosave).
4	Delay (seconds).
5	Autoreboot (0=user reboot, 1=autoreboot).
6	Empty.
7	Empty.

MAV_CMD_DO_ACCEPT_MAG_CAL (42425 )

Initiate a magnetometer calibration.

Param	Description
1	uint8_t bitmask of magnetometers (0 means all).
2	Empty.
3	Empty.
4	Empty.
5	Empty.
6	Empty.
7	Empty.

MAV_CMD_DO_CANCEL_MAG_CAL (42426 )

Cancel a running magnetometer calibration.

Param	Description
1	uint8_t bitmask of magnetometers (0 means all).
2	Empty.
3	Empty.
4	Empty.
5	Empty.
6	Empty.
7	Empty.

MAV_CMD_ACCELCAL_VEHICLE_POS (42429 )

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	Description
1	Position, one of the ACCELCAL_VEHICLE_POS enum values.
2	Empty.
3	Empty.
4	Empty.
5	Empty.
6	Empty.
7	Empty.

MAV_CMD_DO_SEND_BANNER (42428 )

Reply with the version banner.

Param	Description
1	Empty.
2	Empty.
3	Empty.
4	Empty.
5	Empty.
6	Empty.
7	Empty.

MAV_CMD_SET_FACTORY_TEST_MODE (42427 )

Command autopilot to get into factory test/diagnostic mode.

Param	Description
1	0 means get out of test mode, 1 means get into test mode.
2	Empty.
3	Empty.
4	Empty.
5	Empty.
6	Empty.
7	Empty.

MAV_CMD_GIMBAL_RESET (42501 )

Causes the gimbal to reset and boot as if it was just powered on.

Param	Description
1	Empty.
2	Empty.
3	Empty.
4	Empty.
5	Empty.
6	Empty.
7	Empty.

MAV_CMD_GIMBAL_AXIS_CALIBRATION_STATUS (42502 )

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

Param	Description
1	Gimbal axis we're reporting calibration progress for.
2	Current calibration progress for this axis, 0x64=100%.
3	Status of the calibration.
4	Empty.
5	Empty.
6	Empty.
7	Empty.

MAV_CMD_GIMBAL_REQUEST_AXIS_CALIBRATION (42503 )

Starts commutation calibration on the gimbal.

Param	Description
1	Empty.
2	Empty.
3	Empty.
4	Empty.
5	Empty.
6	Empty.
7	Empty.

MAV_CMD_GIMBAL_FULL_RESET (42505 )

Erases gimbal application and parameters.

Param	Description
1	Magic number.
2	Magic number.
3	Magic number.
4	Magic number.
5	Magic number.
6	Magic number.
7	Magic number.

MAV_CMD_DO_WINCH (42600 )

Command to operate winch.

Param	Description
1	Winch number (0 for the default winch, otherwise a number from 1 to max number of winches on the vehicle).
2	Action (0=relax, 1=relative length control, 2=rate control. See WINCH_ACTIONS enum.).
3	Release length (cable distance to unwind in meters, negative numbers to wind in cable).
4	Release rate (meters/second).
5	Empty.
6	Empty.
7	Empty.

MAV_CMD_FLASH_BOOTLOADER (42650 )

Update the bootloader

Param	Description
1	Empty
2	Empty
3	Empty
4	Empty
5	Magic number - set to 290876 to actually flash
6	Empty
7	Empty

MAVLink Messages

SENSOR_OFFSETS ( #150 )

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

Field Name	Type	Units	Description
mag_ofs_x	int16_t		Magnetometer X offset.
mag_ofs_y	int16_t		Magnetometer Y offset.
mag_ofs_z	int16_t		Magnetometer Z offset.
mag_declination	float	rad	Magnetic declination.
raw_press	int32_t		Raw pressure from barometer.
raw_temp	int32_t		Raw temperature from barometer.
gyro_cal_x	float		Gyro X calibration.
gyro_cal_y	float		Gyro Y calibration.
gyro_cal_z	float		Gyro Z calibration.
accel_cal_x	float		Accel X calibration.
accel_cal_y	float		Accel Y calibration.
accel_cal_z	float		Accel Z calibration.

SET_MAG_OFFSETS ( #151 )

DEPRECATED: Replaced by MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS (2014-07).

Set the magnetometer offsets

Field Name	Type	Description
target_system	uint8_t	System ID.
target_component	uint8_t	Component ID.
mag_ofs_x	int16_t	Magnetometer X offset.
mag_ofs_y	int16_t	Magnetometer Y offset.
mag_ofs_z	int16_t	Magnetometer Z offset.

MEMINFO ( #152 )

State of APM memory.

Field Name	Type	Units	Description
brkval	uint16_t		Heap top.
freemem	uint16_t	bytes	Free memory.
freemem32 **	uint32_t	bytes	Free memory (32 bit).

AP_ADC ( #153 )

Raw ADC output.

Field Name	Type	Description
adc1	uint16_t	ADC output 1.
adc2	uint16_t	ADC output 2.
adc3	uint16_t	ADC output 3.
adc4	uint16_t	ADC output 4.
adc5	uint16_t	ADC output 5.
adc6	uint16_t	ADC output 6.

DIGICAM_CONFIGURE ( #154 )

Configure on-board Camera Control System.

Field Name	Type	Units	Description
target_system	uint8_t		System ID.
target_component	uint8_t		Component ID.
mode	uint8_t		Mode enumeration from 1 to N //P, TV, AV, M, etc. (0 means ignore).
shutter_speed	uint16_t		Divisor number //e.g. 1000 means 1/1000 (0 means ignore).
aperture	uint8_t		F stop number x 10 //e.g. 28 means 2.8 (0 means ignore).
iso	uint8_t		ISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore).
exposure_type	uint8_t		Exposure type enumeration from 1 to N (0 means ignore).
command_id	uint8_t		Command Identity (incremental loop: 0 to 255). //A command sent multiple times will be executed or pooled just once.
engine_cut_off	uint8_t	ds	Main engine cut-off time before camera trigger (0 means no cut-off).
extra_param	uint8_t		Extra parameters enumeration (0 means ignore).
extra_value	float		Correspondent value to given extra_param.

DIGICAM_CONTROL ( #155 )

Control on-board Camera Control System to take shots.

Field Name	Type	Description
target_system	uint8_t	System ID.
target_component	uint8_t	Component ID.
session	uint8_t	0: stop, 1: start or keep it up //Session control e.g. show/hide lens.
zoom_pos	uint8_t	1 to N //Zoom's absolute position (0 means ignore).
zoom_step	int8_t	-100 to 100 //Zooming step value to offset zoom from the current position.
focus_lock	uint8_t	0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus.
shot	uint8_t	0: ignore, 1: shot or start filming.
command_id	uint8_t	Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once.
extra_param	uint8_t	Extra parameters enumeration (0 means ignore).
extra_value	float	Correspondent value to given extra_param.

MOUNT_CONFIGURE ( #156 )

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

Field Name	Type	Values	Description
target_system	uint8_t		System ID.
target_component	uint8_t		Component ID.
mount_mode	uint8_t	MAV_MOUNT_MODE	Mount operating mode.
stab_roll	uint8_t		(1 = yes, 0 = no).
stab_pitch	uint8_t		(1 = yes, 0 = no).
stab_yaw	uint8_t		(1 = yes, 0 = no).

MOUNT_CONTROL ( #157 )

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

Field Name	Type	Description
target_system	uint8_t	System ID.
target_component	uint8_t	Component ID.
input_a	int32_t	Pitch (centi-degrees) or lat (degE7), depending on mount mode.
input_b	int32_t	Roll (centi-degrees) or lon (degE7) depending on mount mode.
input_c	int32_t	Yaw (centi-degrees) or alt (cm) depending on mount mode.
save_position	uint8_t	If "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING).

MOUNT_STATUS ( #158 )

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

Field Name	Type	Units	Description
target_system	uint8_t		System ID.
target_component	uint8_t		Component ID.
pointing_a	int32_t	cdeg	Pitch.
pointing_b	int32_t	cdeg	Roll.
pointing_c	int32_t	cdeg	Yaw.

FENCE_POINT ( #160 )

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

Field Name	Type	Units	Description
target_system	uint8_t		System ID.
target_component	uint8_t		Component ID.
idx	uint8_t		Point index (first point is 1, 0 is for return point).
count	uint8_t		Total number of points (for sanity checking).
lat	float	deg	Latitude of point.
lng	float	deg	Longitude of point.

FENCE_FETCH_POINT ( #161 )

Request a current fence point from MAV.

Field Name	Type	Description
target_system	uint8_t	System ID.
target_component	uint8_t	Component ID.
idx	uint8_t	Point index (first point is 1, 0 is for return point).

FENCE_STATUS ( #162 )

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

Field Name	Type	Units	Values	Description
breach_status	uint8_t			Breach status (0 if currently inside fence, 1 if outside).
breach_count	uint16_t			Number of fence breaches.
breach_type	uint8_t		FENCE_BREACH	Last breach type.
breach_time	uint32_t	ms		Time (since boot) of last breach.

AHRS ( #163 )

Status of DCM attitude estimator.

Field Name	Type	Units	Description
omegaIx	float	rad/s	X gyro drift estimate.
omegaIy	float	rad/s	Y gyro drift estimate.
omegaIz	float	rad/s	Z gyro drift estimate.
accel_weight	float		Average accel_weight.
renorm_val	float		Average renormalisation value.
error_rp	float		Average error_roll_pitch value.
error_yaw	float		Average error_yaw value.

SIMSTATE ( #164 )

Status of simulation environment, if used.

Field Name	Type	Units	Description
roll	float	rad	Roll angle.
pitch	float	rad	Pitch angle.
yaw	float	rad	Yaw angle.
xacc	float	m/s/s	X acceleration.
yacc	float	m/s/s	Y acceleration.
zacc	float	m/s/s	Z acceleration.
xgyro	float	rad/s	Angular speed around X axis.
ygyro	float	rad/s	Angular speed around Y axis.
zgyro	float	rad/s	Angular speed around Z axis.
lat	int32_t	degE7	Latitude.
lng	int32_t	degE7	Longitude.

HWSTATUS ( #165 )

Status of key hardware.

Field Name	Type	Units	Description
Vcc	uint16_t	mV	Board voltage.
I2Cerr	uint8_t		I2C error count.

RADIO ( #166 )

Status generated by radio.

Field Name	Type	Units	Description
rssi	uint8_t		Local signal strength.
remrssi	uint8_t		Remote signal strength.
txbuf	uint8_t	%	How full the tx buffer is.
noise	uint8_t		Background noise level.
remnoise	uint8_t		Remote background noise level.
rxerrors	uint16_t		Receive errors.
fixed	uint16_t		Count of error corrected packets.

LIMITS_STATUS ( #167 )

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

Field Name	Type	Units	Values	Description
limits_state	uint8_t		LIMITS_STATE	State of AP_Limits.
last_trigger	uint32_t	ms		Time (since boot) of last breach.
last_action	uint32_t	ms		Time (since boot) of last recovery action.
last_recovery	uint32_t	ms		Time (since boot) of last successful recovery.
last_clear	uint32_t	ms		Time (since boot) of last all-clear.
breach_count	uint16_t			Number of fence breaches.
mods_enabled	uint8_t		LIMIT_MODULE	AP_Limit_Module bitfield of enabled modules.
mods_required	uint8_t		LIMIT_MODULE	AP_Limit_Module bitfield of required modules.
mods_triggered	uint8_t		LIMIT_MODULE	AP_Limit_Module bitfield of triggered modules.

WIND ( #168 )

Wind estimation.

Field Name	Type	Units	Description
direction	float	deg	Wind direction (that wind is coming from).
speed	float	m/s	Wind speed in ground plane.
speed_z	float	m/s	Vertical wind speed.

DATA16 ( #169 )

Data packet, size 16.

Field Name	Type	Units	Description
type	uint8_t		Data type.
len	uint8_t	bytes	Data length.
data	uint8_t[16]		Raw data.

DATA32 ( #170 )

Data packet, size 32.

Field Name	Type	Units	Description
type	uint8_t		Data type.
len	uint8_t	bytes	Data length.
data	uint8_t[32]		Raw data.

DATA64 ( #171 )

Data packet, size 64.

Field Name	Type	Units	Description
type	uint8_t		Data type.
len	uint8_t	bytes	Data length.
data	uint8_t[64]		Raw data.

DATA96 ( #172 )

Data packet, size 96.

Field Name	Type	Units	Description
type	uint8_t		Data type.
len	uint8_t	bytes	Data length.
data	uint8_t[96]		Raw data.

RANGEFINDER ( #173 )

Rangefinder reporting.

Field Name	Type	Units	Description
distance	float	m	Distance.
voltage	float	V	Raw voltage if available, zero otherwise.

AIRSPEED_AUTOCAL ( #174 )

Airspeed auto-calibration.

Field Name	Type	Units	Description
vx	float	m/s	GPS velocity north.
vy	float	m/s	GPS velocity east.
vz	float	m/s	GPS velocity down.
diff_pressure	float	Pa	Differential pressure.
EAS2TAS	float		Estimated to true airspeed ratio.
ratio	float		Airspeed ratio.
state_x	float		EKF state x.
state_y	float		EKF state y.
state_z	float		EKF state z.
Pax	float		EKF Pax.
Pby	float		EKF Pby.
Pcz	float		EKF Pcz.

RALLY_POINT ( #175 )

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

Field Name	Type	Units	Values	Description
target_system	uint8_t			System ID.
target_component	uint8_t			Component ID.
idx	uint8_t			Point index (first point is 0).
count	uint8_t			Total number of points (for sanity checking).
lat	int32_t	degE7		Latitude of point.
lng	int32_t	degE7		Longitude of point.
alt	int16_t	m		Transit / loiter altitude relative to home.
break_alt	int16_t	m		Break altitude relative to home.
land_dir	uint16_t	cdeg		Heading to aim for when landing.
flags	uint8_t		RALLY_FLAGS	Configuration flags.

RALLY_FETCH_POINT ( #176 )

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
target_system	uint8_t	System ID.
target_component	uint8_t	Component ID.
idx	uint8_t	Point index (first point is 0).

COMPASSMOT_STATUS ( #177 )

Status of compassmot calibration.

Field Name	Type	Units	Description
throttle	uint16_t	d%	Throttle.
current	float	A	Current.
interference	uint16_t	%	Interference.
CompensationX	float		Motor Compensation X.
CompensationY	float		Motor Compensation Y.
CompensationZ	float		Motor Compensation Z.

AHRS2 ( #178 )

Status of secondary AHRS filter if available.

Field Name	Type	Units	Description
roll	float	rad	Roll angle.
pitch	float	rad	Pitch angle.
yaw	float	rad	Yaw angle.
altitude	float	m	Altitude (MSL).
lat	int32_t	degE7	Latitude.
lng	int32_t	degE7	Longitude.

CAMERA_STATUS ( #179 )

Camera Event.

Field Name	Type	Units	Values	Description
time_usec	uint64_t	us		Image timestamp (since UNIX epoch, according to camera clock).
target_system	uint8_t			System ID.
cam_idx	uint8_t			Camera ID.
img_idx	uint16_t			Image index.
event_id	uint8_t		CAMERA_STATUS_TYPES	Event type.
p1	float			Parameter 1 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).
p2	float			Parameter 2 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).
p3	float			Parameter 3 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).
p4	float			Parameter 4 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).

CAMERA_FEEDBACK ( #180 )

Camera Capture Feedback.

Field Name	Type	Units	Values	Description
time_usec	uint64_t	us		Image timestamp (since UNIX epoch), as passed in by CAMERA_STATUS message (or autopilot if no CCB).
target_system	uint8_t			System ID.
cam_idx	uint8_t			Camera ID.
img_idx	uint16_t			Image index.
lat	int32_t	degE7		Latitude.
lng	int32_t	degE7		Longitude.
alt_msl	float	m		Altitude (MSL).
alt_rel	float	m		Altitude (Relative to HOME location).
roll	float	deg		Camera Roll angle (earth frame, +-180).
pitch	float	deg		Camera Pitch angle (earth frame, +-180).
yaw	float	deg		Camera Yaw (earth frame, 0-360, true).
foc_len	float	mm		Focal Length.
flags	uint8_t		CAMERA_FEEDBACK_FLAGS	Feedback flags.
completed_captures **	uint16_t			Completed image captures.

BATTERY2 ( #181 )

DEPRECATED: Replaced by BATTERY_STATUS (2017-04).

2nd Battery status

Field Name	Type	Units	Description
voltage	uint16_t	mV	Voltage.
current_battery	int16_t	cA	Battery current, -1: autopilot does not measure the current.

AHRS3 ( #182 )

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

Field Name	Type	Units	Description
roll	float	rad	Roll angle.
pitch	float	rad	Pitch angle.
yaw	float	rad	Yaw angle.
altitude	float	m	Altitude (MSL).
lat	int32_t	degE7	Latitude.
lng	int32_t	degE7	Longitude.
v1	float		Test variable1.
v2	float		Test variable2.
v3	float		Test variable3.
v4	float		Test variable4.

AUTOPILOT_VERSION_REQUEST ( #183 )

Request the autopilot version from the system/component.

Field Name	Type	Description
target_system	uint8_t	System ID.
target_component	uint8_t	Component ID.

REMOTE_LOG_DATA_BLOCK ( #184 )

Send a block of log data to remote location.

Field Name	Type	Values	Description
target_system	uint8_t		System ID.
target_component	uint8_t		Component ID.
seqno	uint32_t	MAV_REMOTE_LOG_DATA_BLOCK_COMMANDS	Log data block sequence number.
data	uint8_t[200]		Log data block.

REMOTE_LOG_BLOCK_STATUS ( #185 )

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

Field Name	Type	Values	Description
target_system	uint8_t		System ID.
target_component	uint8_t		Component ID.
seqno	uint32_t		Log data block sequence number.
status	uint8_t	MAV_REMOTE_LOG_DATA_BLOCK_STATUSES	Log data block status.

LED_CONTROL ( #186 )

Control vehicle LEDs.

Field Name	Type	Description
target_system	uint8_t	System ID.
target_component	uint8_t	Component ID.
instance	uint8_t	Instance (LED instance to control or 255 for all LEDs).
pattern	uint8_t	Pattern (see LED_PATTERN_ENUM).
custom_len	uint8_t	Custom Byte Length.
custom_bytes	uint8_t[24]	Custom Bytes.

MAG_CAL_PROGRESS ( #191 )

Reports progress of compass calibration.

Field Name	Type	Units	Values	Description
compass_id	uint8_t			Compass being calibrated.
cal_mask	uint8_t			Bitmask of compasses being calibrated.
cal_status	uint8_t		MAG_CAL_STATUS	Calibration Status.
attempt	uint8_t			Attempt number.
completion_pct	uint8_t	%		Completion percentage.
completion_mask	uint8_t[10]			Bitmask of sphere sections (see http://en.wikipedia.org/wiki/Geodesic_grid).
direction_x	float			Body frame direction vector for display.
direction_y	float			Body frame direction vector for display.
direction_z	float			Body frame direction vector for display.

MAG_CAL_REPORT ( #192 )

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

Field Name	Type	Units	Values	Description
compass_id	uint8_t			Compass being calibrated.
cal_mask	uint8_t			Bitmask of compasses being calibrated.
cal_status	uint8_t		MAG_CAL_STATUS	Calibration Status.
autosaved	uint8_t			0=requires a MAV_CMD_DO_ACCEPT_MAG_CAL, 1=saved to parameters.
fitness	float	mgauss		RMS milligauss residuals.
ofs_x	float			X offset.
ofs_y	float			Y offset.
ofs_z	float			Z offset.
diag_x	float			X diagonal (matrix 11).
diag_y	float			Y diagonal (matrix 22).
diag_z	float			Z diagonal (matrix 33).
offdiag_x	float			X off-diagonal (matrix 12 and 21).
offdiag_y	float			Y off-diagonal (matrix 13 and 31).
offdiag_z	float			Z off-diagonal (matrix 32 and 23).
orientation_confidence **	float			Confidence in orientation (higher is better).
old_orientation **	uint8_t		MAV_SENSOR_ORIENTATION	orientation before calibration.
new_orientation **	uint8_t		MAV_SENSOR_ORIENTATION	orientation after calibration.

EKF_STATUS_REPORT ( #193 )

EKF Status message including flags and variances.

Field Name	Type	Values	Description
flags	uint16_t	EKF_STATUS_FLAGS	Flags.
velocity_variance	float		Velocity variance.
pos_horiz_variance	float		Horizontal Position variance.
pos_vert_variance	float		Vertical Position variance.
compass_variance	float		Compass variance.
terrain_alt_variance	float		Terrain Altitude variance.
airspeed_variance **	float		Airspeed variance.

PID_TUNING ( #194 )

PID tuning information.

Field Name	Type	Units	Values	Description
axis	uint8_t		PID_TUNING_AXIS	Axis.
desired	float	deg/s		Desired rate.
achieved	float	deg/s		Achieved rate.
FF	float			FF component.
P	float			P component.
I	float			I component.
D	float			D component.

DEEPSTALL ( #195 )

Deepstall path planning.

Field Name	Type	Units	Values	Description
landing_lat	int32_t	degE7		Landing latitude.
landing_lon	int32_t	degE7		Landing longitude.
path_lat	int32_t	degE7		Final heading start point, latitude.
path_lon	int32_t	degE7		Final heading start point, longitude.
arc_entry_lat	int32_t	degE7		Arc entry point, latitude.
arc_entry_lon	int32_t	degE7		Arc entry point, longitude.
altitude	float	m		Altitude.
expected_travel_distance	float	m		Distance the aircraft expects to travel during the deepstall.
cross_track_error	float	m		Deepstall cross track error (only valid when in DEEPSTALL_STAGE_LAND).
stage	uint8_t		DEEPSTALL_STAGE	Deepstall stage.

GIMBAL_REPORT ( #200 )

3 axis gimbal measurements.

Field Name	Type	Units	Description
target_system	uint8_t		System ID.
target_component	uint8_t		Component ID.
delta_time	float	s	Time since last update.
delta_angle_x	float	rad	Delta angle X.
delta_angle_y	float	rad	Delta angle Y.
delta_angle_z	float	rad	Delta angle X.
delta_velocity_x	float	m/s	Delta velocity X.
delta_velocity_y	float	m/s	Delta velocity Y.
delta_velocity_z	float	m/s	Delta velocity Z.
joint_roll	float	rad	Joint ROLL.
joint_el	float	rad	Joint EL.
joint_az	float	rad	Joint AZ.

GIMBAL_CONTROL ( #201 )

Control message for rate gimbal.

Field Name	Type	Units	Description
target_system	uint8_t		System ID.
target_component	uint8_t		Component ID.
demanded_rate_x	float	rad/s	Demanded angular rate X.
demanded_rate_y	float	rad/s	Demanded angular rate Y.
demanded_rate_z	float	rad/s	Demanded angular rate Z.

GIMBAL_TORQUE_CMD_REPORT ( #214 )

100 Hz gimbal torque command telemetry.

Field Name	Type	Description
target_system	uint8_t	System ID.
target_component	uint8_t	Component ID.
rl_torque_cmd	int16_t	Roll Torque Command.
el_torque_cmd	int16_t	Elevation Torque Command.
az_torque_cmd	int16_t	Azimuth Torque Command.

GOPRO_HEARTBEAT ( #215 )

Heartbeat from a HeroBus attached GoPro.

Field Name	Type	Values	Description
status	uint8_t	GOPRO_HEARTBEAT_STATUS	Status.
capture_mode	uint8_t	GOPRO_CAPTURE_MODE	Current capture mode.
flags	uint8_t	GOPRO_HEARTBEAT_FLAGS	Additional status bits.

GOPRO_GET_REQUEST ( #216 )

Request a GOPRO_COMMAND response from the GoPro.

Field Name	Type	Values	Description
target_system	uint8_t		System ID.
target_component	uint8_t		Component ID.
cmd_id	uint8_t	GOPRO_COMMAND	Command ID.

GOPRO_GET_RESPONSE ( #217 )

Response from a GOPRO_COMMAND get request.

Field Name	Type	Values	Description
cmd_id	uint8_t	GOPRO_COMMAND	Command ID.
status	uint8_t	GOPRO_REQUEST_STATUS	Status.
value	uint8_t[4]		Value.

GOPRO_SET_REQUEST ( #218 )

Request to set a GOPRO_COMMAND with a desired.

Field Name	Type	Values	Description
target_system	uint8_t		System ID.
target_component	uint8_t		Component ID.
cmd_id	uint8_t	GOPRO_COMMAND	Command ID.
value	uint8_t[4]		Value.

GOPRO_SET_RESPONSE ( #219 )

Response from a GOPRO_COMMAND set request.

Field Name	Type	Values	Description
cmd_id	uint8_t	GOPRO_COMMAND	Command ID.
status	uint8_t	GOPRO_REQUEST_STATUS	Status.

RPM ( #226 )

RPM sensor output.

Field Name	Type	Description
rpm1	float	RPM Sensor1.
rpm2	float	RPM Sensor2.

DEVICE_OP_READ ( #11000 )

(MAVLink 2) Read registers for a device.

Field Name	Type	Values	Description
target_system	uint8_t		System ID.
target_component	uint8_t		Component ID.
request_id	uint32_t		Request ID - copied to reply.
bustype	uint8_t	DEVICE_OP_BUSTYPE	The bus type.
bus	uint8_t		Bus number.
address	uint8_t		Bus address.
busname	char[40]		Name of device on bus (for SPI).
regstart	uint8_t		First register to read.
count	uint8_t		Count of registers to read.

DEVICE_OP_READ_REPLY ( #11001 )

(MAVLink 2) Read registers reply.

Field Name	Type	Description
request_id	uint32_t	Request ID - copied from request.
result	uint8_t	0 for success, anything else is failure code.
regstart	uint8_t	Starting register.
count	uint8_t	Count of bytes read.
data	uint8_t[128]	Reply data.

DEVICE_OP_WRITE ( #11002 )

(MAVLink 2) Write registers for a device.

Field Name	Type	Values	Description
target_system	uint8_t		System ID.
target_component	uint8_t		Component ID.
request_id	uint32_t		Request ID - copied to reply.
bustype	uint8_t	DEVICE_OP_BUSTYPE	The bus type.
bus	uint8_t		Bus number.
address	uint8_t		Bus address.
busname	char[40]		Name of device on bus (for SPI).
regstart	uint8_t		First register to write.
count	uint8_t		Count of registers to write.
data	uint8_t[128]		Write data.

DEVICE_OP_WRITE_REPLY ( #11003 )

(MAVLink 2) Write registers reply.

Field Name	Type	Description
request_id	uint32_t	Request ID - copied from request.
result	uint8_t	0 for success, anything else is failure code.

ADAP_TUNING ( #11010 )

(MAVLink 2) Adaptive Controller tuning information.

Field Name	Type	Units	Values	Description
axis	uint8_t		PID_TUNING_AXIS	Axis.
desired	float	deg/s		Desired rate.
achieved	float	deg/s		Achieved rate.
error	float			Error between model and vehicle.
theta	float			Theta estimated state predictor.
omega	float			Omega estimated state predictor.
sigma	float			Sigma estimated state predictor.
theta_dot	float			Theta derivative.
omega_dot	float			Omega derivative.
sigma_dot	float			Sigma derivative.
f	float			Projection operator value.
f_dot	float			Projection operator derivative.
u	float			u adaptive controlled output command.

VISION_POSITION_DELTA ( #11011 )

(MAVLink 2) Camera vision based attitude and position deltas.

Field Name	Type	Units	Description
time_usec	uint64_t	us	Timestamp (synced to UNIX time or since system boot).
time_delta_usec	uint64_t	us	Time since the last reported camera frame.
angle_delta	float[3]		Defines a rotation vector in body frame that rotates the vehicle from the previous to the current orientation.
position_delta	float[3]	m	Change in position from previous to current frame rotated into body frame (0=forward, 1=right, 2=down).
confidence	float	%	Normalised confidence value from 0 to 100.

AOA_SSA ( #11020 )

(MAVLink 2) Angle of Attack and Side Slip Angle.

Field Name	Type	Units	Description
time_usec	uint64_t	us	Timestamp (since boot or Unix epoch).
AOA	float	deg	Angle of Attack.
SSA	float	deg	Side Slip Angle.

ESC_TELEMETRY_1_TO_4 ( #11030 )

(MAVLink 2) ESC Telemetry Data for ESCs 1 to 4, matching data sent by BLHeli ESCs.

Field Name	Type	Units	Description
temperature	uint8_t[4]	degC	Temperature.
voltage	uint16_t[4]	cV	Voltage.
current	uint16_t[4]	cA	Current.
totalcurrent	uint16_t[4]	mAh	Total current.
rpm	uint16_t[4]	rpm	RPM (eRPM).
count	uint16_t[4]		count of telemetry packets received (wraps at 65535).

ESC_TELEMETRY_5_TO_8 ( #11031 )

(MAVLink 2) ESC Telemetry Data for ESCs 5 to 8, matching data sent by BLHeli ESCs.

Field Name	Type	Units	Description
temperature	uint8_t[4]	degC	Temperature.
voltage	uint16_t[4]	cV	Voltage.
current	uint16_t[4]	cA	Current.
totalcurrent	uint16_t[4]	mAh	Total current.
rpm	uint16_t[4]	rpm	RPM (eRPM).
count	uint16_t[4]		count of telemetry packets received (wraps at 65535).

ESC_TELEMETRY_9_TO_12 ( #11032 )

(MAVLink 2) ESC Telemetry Data for ESCs 9 to 12, matching data sent by BLHeli ESCs.

Field Name	Type	Units	Description
temperature	uint8_t[4]	degC	Temperature.
voltage	uint16_t[4]	cV	Voltage.
current	uint16_t[4]	cA	Current.
totalcurrent	uint16_t[4]	mAh	Total current.
rpm	uint16_t[4]	rpm	RPM (eRPM).
count	uint16_t[4]		count of telemetry packets received (wraps at 65535).