方言：ArduPilotMega

ardupilotmega.xml 的ArduPilot MAVLink分支可能包含尚未合并到本文档中的消息。 The documentation below may not be accurate if the dialect owner has not pushed changes.

这些消息定义了ArduPilot特定的消息集，该消息集是 http://ardupilot.org 的自定义消息。

这个话题是一种 XML 定义文件的可读形式： ardupilotmega.xml 。

已添加到 MAVLink 1 消息中的 MAVLink 2 扩展字段以蓝色显示。 - Entities from dialects are displayed only as headings (with link to original)

Protocol dialect: 2

MAVLink Include Files

Summary

Type	Defined	Included
Messages	65	241
Enums	45	158
Commands	195	0

The following sections list all entities in the dialect (both included and defined in this file).

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) — [DEP]

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 autopilot RAM.

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 autopilot to GCS about camera or antenna mount.

Field Name	Type	Units	Values	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.
mount_mode ++	`uint8_t`		MAV_MOUNT_MODE	Mount operating mode.

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).

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) — [DEP]

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.

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	Values	Description
axis	`uint8_t`	PID_TUNING_AXIS	Axis.

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)

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.
bank ++	`uint8_t`		Bank number.

DEVICE_OP_READ_REPLY (11001)

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.
bank ++	`uint8_t`	Bank number.

DEVICE_OP_WRITE (11002)

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.
bank ++	`uint8_t`		Bank number.

DEVICE_OP_WRITE_REPLY (11003)

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)

Adaptive Controller tuning information.

Field Name	Type	Units	Values	Description
axis	`uint8_t`		PID_TUNING_AXIS	Axis.

VISION_POSITION_DELTA (11011)

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]`	rad	Defines a rotation vector [roll, pitch, yaw] to the current MAV_FRAME_BODY_FRD from the previous MAV_FRAME_BODY_FRD.
position_delta	`float[3]`	m	Change in position to the current MAV_FRAME_BODY_FRD from the previous FRAME_BODY_FRD rotated to the current MAV_FRAME_BODY_FRD.
confidence	`float`	%	Normalised confidence value from 0 to 100.

AOA_SSA (11020)

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)

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)

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)

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).

OSD_PARAM_CONFIG (11033)

Configure an OSD parameter slot.

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.
osd_screen	`uint8_t`		OSD parameter screen index.
osd_index	`uint8_t`		OSD parameter display index.
param_id	`char[16]`		Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
config_type	`uint8_t`	OSD_PARAM_CONFIG_TYPE	Config type.
min_value	`float`		OSD parameter minimum value.
max_value	`float`		OSD parameter maximum value.
increment	`float`		OSD parameter increment.

OSD_PARAM_CONFIG_REPLY (11034)

Configure OSD parameter reply.

Field Name	Type	Values	Description
request_id	`uint32_t`		Request ID - copied from request.
result	`uint8_t`	OSD_PARAM_CONFIG_ERROR	Config error type.

OSD_PARAM_SHOW_CONFIG (11035)

Read a configured an OSD parameter slot.

Field Name	Type	Description
target_system	`uint8_t`	System ID.
target_component	`uint8_t`	Component ID.
request_id	`uint32_t`	Request ID - copied to reply.
osd_screen	`uint8_t`	OSD parameter screen index.
osd_index	`uint8_t`	OSD parameter display index.

OSD_PARAM_SHOW_CONFIG_REPLY (11036)

Read configured OSD parameter reply.

Field Name	Type	Values	Description
request_id	`uint32_t`		Request ID - copied from request.
result	`uint8_t`	OSD_PARAM_CONFIG_ERROR	Config error type.
param_id	`char[16]`		Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
config_type	`uint8_t`	OSD_PARAM_CONFIG_TYPE	Config type.
min_value	`float`		OSD parameter minimum value.
max_value	`float`		OSD parameter maximum value.
increment	`float`		OSD parameter increment.

OBSTACLE_DISTANCE_3D (11037) — [WIP]

WORK IN PROGRESS: Do not use in stable production environments (it may change).

Obstacle located as a 3D vector.

Field Name	Type	Units	Values	Description
time_boot_ms	`uint32_t`	ms		Timestamp (time since system boot).
sensor_type	`uint8_t`		MAV_DISTANCE_SENSOR	Class id of the distance sensor type.
frame	`uint8_t`		MAV_FRAME	Coordinate frame of reference.
obstacle_id	`uint16_t`			Unique ID given to each obstacle so that its movement can be tracked. Use UINT16_MAX if object ID is unknown or cannot be determined.

WATER_DEPTH (11038)

Water depth

Field Name	Type	Units	Description
time_boot_ms	`uint32_t`	ms	Timestamp (time since system boot)
id	`uint8_t`		Onboard ID of the sensor

MCU_STATUS (11039)

The MCU status, giving MCU temperature and voltage. The min and max voltages are to allow for detecting power supply instability.

Field Name	Type	Units	Description
id	`uint8_t`		MCU instance

Enumerated Types

ACCELCAL_VEHICLE_POS

Value	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

HEADING_TYPE

Value	Name	Description
0	HEADING_TYPE_COURSE_OVER_GROUND
1	HEADING_TYPE_HEADING

SCRIPTING_CMD

Value	Name	Description
0	SCRIPTING_CMD_REPL_START	Start a REPL session.
1	SCRIPTING_CMD_REPL_STOP	End a REPL session.
2	SCRIPTING_CMD_STOP	Stop execution of scripts.
3	SCRIPTING_CMD_STOP_AND_RESTART	Stop execution of scripts and restart.

LIMITS_STATE

Value	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

(Bitmask)

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

RALLY_FLAGS

(Bitmask) Flags in RALLY_POINT message.

Value	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.

CAMERA_STATUS_TYPES

Value	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	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	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	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	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	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	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

(Bitmask)

Value	Name	Description
1	GOPRO_FLAG_RECORDING	GoPro is currently recording.

GOPRO_REQUEST_STATUS

Value	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	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	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	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	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	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

(Bitmask)

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

GOPRO_PHOTO_RESOLUTION

Value	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	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	Name	Description
0	GOPRO_PROTUNE_COLOUR_STANDARD	Auto.
1	GOPRO_PROTUNE_COLOUR_NEUTRAL	Neutral.

GOPRO_PROTUNE_GAIN

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

GOPRO_MODEL

Value	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	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.

MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL

Value	Name	Description
0	MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL_LOW	Switch Low.
1	MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL_MIDDLE	Switch Middle.
2	MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL_HIGH	Switch High.

LED_CONTROL_PATTERN

Value	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

(Bitmask) Flags in EKF_STATUS message.

Value	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.
1024	EKF_UNINITIALIZED	Set if EKF has never been healthy.

PID_TUNING_AXIS

Value	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

MAV_REMOTE_LOG_DATA_BLOCK_COMMANDS

Special ACK block numbers control activation of dataflash log streaming.

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

DEEPSTALL_STAGE

Deepstall flight stage.

Value	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	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
13	PLANE_MODE_TAKEOFF
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
22	PLANE_MODE_QAUTOTUNE
23	PLANE_MODE_QACRO
24	PLANE_MODE_THERMAL

COPTER_MODE

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

Value	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
22	COPTER_MODE_FLOWHOLD
23	COPTER_MODE_FOLLOW
24	COPTER_MODE_ZIGZAG
25	COPTER_MODE_SYSTEMID
26	COPTER_MODE_AUTOROTATE
27	COPTER_MODE_AUTO_RTL

SUB_MODE

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

Value	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	Name	Description
0	ROVER_MODE_MANUAL
1	ROVER_MODE_ACRO
3	ROVER_MODE_STEERING
4	ROVER_MODE_HOLD
5	ROVER_MODE_LOITER
6	ROVER_MODE_FOLLOW
7	ROVER_MODE_SIMPLE
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	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

OSD_PARAM_CONFIG_TYPE

The type of parameter for the OSD parameter editor.

Value	Name	Description
0	OSD_PARAM_NONE
1	OSD_PARAM_SERIAL_PROTOCOL
2	OSD_PARAM_SERVO_FUNCTION
3	OSD_PARAM_AUX_FUNCTION
4	OSD_PARAM_FLIGHT_MODE
5	OSD_PARAM_FAILSAFE_ACTION
6	OSD_PARAM_FAILSAFE_ACTION_1
7	OSD_PARAM_FAILSAFE_ACTION_2
8	OSD_PARAM_NUM_TYPES

OSD_PARAM_CONFIG_ERROR

The error type for the OSD parameter editor.

Value	Name	Description
0	OSD_PARAM_SUCCESS
1	OSD_PARAM_INVALID_SCREEN
2	OSD_PARAM_INVALID_PARAMETER_INDEX
3	OSD_PARAM_INVALID_PARAMETER

Commands (MAV_CMD)

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 (Label)	Description	Units
1 (Altitude)	Altitude.	m
2 (Descent Speed)	Descent speed.	m/s
3 (Wiggle Time)	How long to wiggle the control surfaces to prevent them seizing up.	s
4	Empty.
5	Empty.
6	Empty.
7	Empty.

MAV_CMD_DO_SET_RESUME_REPEAT_DIST (215)

Set the distance to be repeated on mission resume

Param (Label)	Description	Units
1 (Distance)	Distance.	m
2	Empty.
3	Empty.
4	Empty.
5	Empty.
6	Empty.
7	Empty.

MAV_CMD_DO_SPRAYER (216)

Control attached liquid sprayer

Param (Label)	Description	Values
1 (Sprayer Enable)	0: disable sprayer. 1: enable sprayer.	min: 0 max: 1 inc: 1
2	Empty.
3	Empty.
4	Empty.
5	Empty.
6	Empty.
7	Empty.

MAV_CMD_DO_SEND_SCRIPT_MESSAGE (217)

Pass instructions onto scripting, a script should be checking for a new command

Param (Label)	Description	Values
1 (ID)	uint16 ID value to be passed to scripting	min: 0 max: 65535 inc: 1
2 (param 1)	float value to be passed to scripting
3 (param 2)	float value to be passed to scripting
4 (param 3)	float value to be passed to scripting
5	Empty.
6	Empty.
7	Empty.

MAV_CMD_DO_AUX_FUNCTION (218)

Execute auxiliary function

Param (Label)	Description	Values
1 (AuxiliaryFunction)	Auxiliary Function.
2 (SwitchPosition)	Switch Level.	MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL
3	Empty.
4	Empty.
5	Empty.
6	Empty.
7	Empty.

MAV_CMD_POWER_OFF_INITIATED (42000)

A system wide power-off event has been initiated.

Param (Label)	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 (Label)	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 (Label)	Description	Units
1 (Takeoff Altitude)	Takeoff altitude.	m
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 (Label)	Description	Values
1 (Shot Mode)	1 if Solo is in a shot mode, 0 otherwise.	min: 0 max: 1 inc: 1
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 (Label)	Description	Units
1 (Declination)	Magnetic declination.	deg
2 (Inclination)	Magnetic inclination.	deg
3 (Intensity)	Magnetic intensity.	mgauss
4 (Yaw)	Yaw.	deg
5	Empty.
6	Empty.
7	Empty.

MAV_CMD_FIXED_MAG_CAL_FIELD (42005)

Magnetometer calibration based on fixed expected field values.

Param (Label)	Description	Units
1 (Field X)	Field strength X.	mgauss
2 (Field Y)	Field strength Y.	mgauss
3 (Field Z)	Field strength Z.	mgauss
4	Empty.
5	Empty.
6	Empty.
7	Empty.

MAV_CMD_SET_EKF_SOURCE_SET (42007)

Set EKF sensor source set.

Param (Label)	Description	Values
1 (SourceSetId)	Source Set Id.	min: 1 max: 3 inc: 1
2	Empty.
3	Empty.
4	Empty.
5	Empty.
6	Empty.
7	Empty.

MAV_CMD_DO_START_MAG_CAL (42424)

Initiate a magnetometer calibration.

Param (Label)	Description	Values	Units
1 (Magnetometers Bitmask)	Bitmask of magnetometers to calibrate. Use 0 to calibrate all sensors that can be started (sensors may not start if disabled, unhealthy, etc.). The command will NACK if calibration does not start for a sensor explicitly specified by the bitmask.	min: 0 max: 255 inc: 1
2 (Retry on Failure)	Automatically retry on failure (0=no retry, 1=retry).	min: 0 max: 1 inc: 1
3 (Autosave)	Save without user input (0=require input, 1=autosave).	min: 0 max: 1 inc: 1
4 (Delay)	Delay.		s
5 (Autoreboot)	Autoreboot (0=user reboot, 1=autoreboot).	min: 0 max: 1 inc: 1
6	Empty.
7	Empty.

MAV_CMD_DO_ACCEPT_MAG_CAL (42425)

Accept a magnetometer calibration.

Param (Label)	Description	Values
1 (Magnetometers Bitmask)	Bitmask of magnetometers that calibration is accepted (0 means all).	min: 0 max: 255 inc: 1
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 (Label)	Description	Values
1 (Magnetometers Bitmask)	Bitmask of magnetometers to cancel a running calibration (0 means all).	min: 0 max: 255 inc: 1
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 (Label)	Description	Values
1 (Test Mode)	0: activate test mode, 1: exit test mode.	min: 0 max: 1 inc: 1
2	Empty.
3	Empty.
4	Empty.
5	Empty.
6	Empty.
7	Empty.

MAV_CMD_DO_SEND_BANNER (42428)

Reply with the version banner.

Param (Label)	Description
1	Empty.
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 (Label)	Description	Values
1 (Position)	Position.	ACCELCAL_VEHICLE_POS
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 (Label)	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 (Label)	Description	Values	Units
1 (Axis)	Gimbal axis we're reporting calibration progress for.	GIMBAL_AXIS
2 (Progress)	Current calibration progress for this axis.	min: 0 max: 100	%
3 (Status)	Status of the calibration.	GIMBAL_AXIS_CALIBRATION_STATUS
4	Empty.
5	Empty.
6	Empty.
7	Empty.

MAV_CMD_GIMBAL_REQUEST_AXIS_CALIBRATION (42503)

Starts commutation calibration on the gimbal.

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

MAV_CMD_FLASH_BOOTLOADER (42650)

Update the bootloader

Param (Label)	Description	Values
1	Empty
2	Empty
3	Empty
4	Empty
5 (Magic Number)	Magic number - set to 290876 to actually flash	inc: 1
6	Empty
7	Empty

MAV_CMD_BATTERY_RESET (42651)

Reset battery capacity for batteries that accumulate consumed battery via integration.

Param (Label)	Description	Values
1 (battery mask)	Bitmask of batteries to reset. Least significant bit is for the first battery.
2 (percentage)	Battery percentage remaining to set.	min: 0 max: 100 inc: 1

MAV_CMD_DEBUG_TRAP (42700)

Issue a trap signal to the autopilot process, presumably to enter the debugger.

Param (Label)	Description
1	Magic number - set to 32451 to actually trap.
2	Empty.
3	Empty.
4	Empty.
5	Empty.
6	Empty.
7	Empty.

MAV_CMD_SCRIPTING (42701)

Control onboard scripting.

Param (Label)	Description	Values
1	Scripting command to execute	SCRIPTING_CMD

MAV_CMD_NAV_SCRIPT_TIME (42702)

Scripting command as NAV command with wait for completion.

Param (Label)	Description	Units
1 (command)	integer command number (0 to 255)
2 (timeout)	timeout for operation in seconds. Zero means no timeout (0 to 255)	s
3 (arg1)	argument1.
4 (arg2)	argument2.
5	Empty
6	Empty
7	Empty

MAV_CMD_NAV_ATTITUDE_TIME (42703)

Maintain an attitude for a specified time.

Param (Label)	Description	Units
1 (time)	Time to maintain specified attitude and climb rate	s
2 (roll)	Roll angle in degrees (positive is lean right, negative is lean left)	deg
3 (pitch)	Pitch angle in degrees (positive is lean back, negative is lean forward)	deg
4 (yaw)	Yaw angle	deg
5 (climb_rate)	Climb rate	m/s
6	Empty
7	Empty

MAV_CMD_GUIDED_CHANGE_SPEED (43000)

Change flight speed at a given rate. This slews the vehicle at a controllable rate between it's previous speed and the new one. (affects GUIDED only. Outside GUIDED, aircraft ignores these commands. Designed for onboard companion-computer command-and-control, not normally operator/GCS control.)

Param (Label)	Description	Values	Units
1 (speed type)	Airspeed or groundspeed.	SPEED_TYPE
2 (speed target)	Target Speed		m/s
3 (speed rate-of-change)	Acceleration rate, 0 to take effect instantly		m/s/s
4	Empty
5	Empty
6	Empty
7	Empty

MAV_CMD_GUIDED_CHANGE_ALTITUDE (43001)

Change target altitude at a given rate. This slews the vehicle at a controllable rate between it's previous altitude and the new one. (affects GUIDED only. Outside GUIDED, aircraft ignores these commands. Designed for onboard companion-computer command-and-control, not normally operator/GCS control.)

Param (Label)	Description	Values	Units
1	Empty
2	Empty
3 (alt rate-of-change)	Rate of change, toward new altitude. 0 for maximum rate change. Positive numbers only, as negative numbers will not converge on the new target alt.	min: 0	m/s/s
4	Empty
5	Empty
6	Empty
7 (target alt)	Target Altitude		m

MAV_CMD_GUIDED_CHANGE_HEADING (43002)

Change to target heading at a given rate, overriding previous heading/s. This slews the vehicle at a controllable rate between it's previous heading and the new one. (affects GUIDED only. Exiting GUIDED returns aircraft to normal behaviour defined elsewhere. Designed for onboard companion-computer command-and-control, not normally operator/GCS control.)

Param (Label)	Description	Values	Units
1 (heading type)	course-over-ground or raw vehicle heading.	HEADING_TYPE
2 (heading target)	Target heading.	min: 0 max: 359.99	deg
3 (heading rate-of-change)	Maximum centripetal accelearation, ie rate of change, toward new heading.		m/s/s
4	Empty
5	Empty
6	Empty
7	Empty