MAVLINK通用消息集

MAVLink通用消息集定义在common.xml中。 它包含MAVLink项目工程的标准定义。

这些定义涵盖了对大多数地面站和自驾仪有用的功能。 MAVLink兼容系统应该尽可能的使用这些定义(如果存在合适的消息),而不是在自定义消息中去编写稍微不同的消息。

本章主要是将 common.xml 文件以一种可读性更高的形式展示。

MAVLink 2 有 ID > 255 的消息,并且在其描述中使用(MAVLink 2)标示。

已添加到 MAVLink 1 消息中的 MAVLink 2 扩展字段显示为蓝色。

MAVLink协议版本

当前的MAVLink版本是2.3。次版本号(点后面的数字)范围是从1到255。

本文件包含自定义协议:0。

MAVLink枚举类型

MAV_AUTOPILOT

[Enum] 微型飞行器/自驾仪. 这里标明了每个唯一模型。

字段名描述
0MAV_AUTOPILOT_GENCERIC通用自驾仪,支持所有。
1MAV_AUTOPILOT_RESERVED保留供将来使用。
2MAV_AUTOPILOT_SLUGSSLUGS自驾仪,http://slugsuav.soe.ucsc.edu
3MAV_AUTOPILOT_ARDUPILOTMEGAArduPilot - Plane/Copter/Rover/Sub/Tracker, https://ardupilot.org
4MAV_AUTOPILOT_OPENPILOTOpenPilot自驾仪, http://openpilot.org
5MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLY仅支持简单航路点的通用自驾仪
6MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLY支持航路点和其他简单导航命令的通用自驾仪
7MAV_AUTOPILOT_GENERIC_MISSION_FULL支持所有任务命令的通用自驾仪
8MAV_AUTOPILOT_INVALID非自驾仪,例如地面站或其他MAVLink组件
9MAV_AUTOPILOT_PPZPPZ 自驾仪 - http://nongnu.org/paparazzi
10MAV_AUTOPILOT_UDBUAV Dev Board
11MAV_AUTOPILOT_FPFlexiPilot
12MAV_AUTOPILOT_PX4PX4 自驾仪 - http://px4.io/
13MAV_AUTOPILOT_SMACCMPILOTSMACCMPilot - http://smaccmpilot.org
14MAV_AUTOPILOT_AUTOQUADAutoQuad -- http://autoquad.org
15MAV_AUTOPILOT_ARMAZILAArmazila -- http://armazila.com
16MAV_AUTOPILOT_AEROBAerob -- http://aerob.ru
17MAV_AUTOPILOT_ASLUAVASLUAV 自驾仪 -- http://www.asl.ethz.ch
18MAV_AUTOPILOT_SMARTAPSmartAP 自驾仪 - http://sky-drones.com
19MAV_AUTOPILOT_AIRRAILSAirRails - http://uaventure.com

MAV_TYPE

[Enum] 在 HEARTBEAT 消息中报告的 MAVLINK 组件类型。 飞控必须报告安装在的载具类型(如: MAV_TYPE_OCTOROTOR)。 所有其它的组件报告时必须使用对应的类型(如: 相机必须使用MAV_TYPE_CAMERA)。

字段名描述
0MAV_TYPE_GENERIC通用微型飞行器
1MAV_TYPE_FIXED_WING固定翼飞机
2Fixed wing aircraft.四旋翼
3MAV_TYPE_COAXIAL共轴直升机
4MAV_TYPE_HELICOPTER带有尾桨的普通直升机。
5MAV_TYPE_ANTENNA_TRACKER地面安装
6MAV_TYPE_GCS操作员控制单元/地面控制站
7MAV_TYPE_AIRSHIP可以控制的飞艇
8MAV_TYPE_FREE_BALLOON不受控制的自由气球
9MAV_TYPE_ROCKET火箭
10MAV_TYPE_GROUND_ROVER地面小车
11MAV_TYPE_SURFACE_BOAT水面船,舟,艇
12MAV_TYPE_SUBMARINE潜艇
13MAV_TYPE_HEXAROTOR六旋翼
14MAV_TYPE_OCTOROTOR八旋翼
15MAV_TYPE_TRICOPTER三旋翼
16MAV_TYPE_FLAPPING_WING扑翼
17MAV_TYPE_KITE风筝
18MAV_TYPE_ONBOARD_CONTROLLER机载控制器
19MAV_TYPE_VTOL_DUOROTOR在垂直操作中使用舵面控制的双旋翼VTOL。
20MAV_TYPE_VTOL_QUADROTORV型四旋翼VTOL 。
21MAV_TYPE_VTOL_TILTROTOR倾转VTOL
22MAV_TYPE_VTOL_RESERVED2VTOL保留机型2
23MAV_TYPE_VTOL_RESERVED3VTOL保留机型3
24MAV_TYPE_VTOL_RESERVED4VTOL保留机型4
25MAV_TYPE_VTOL_RESERVED5VTOL保留机型5
26MAV_TYPE_GIMBAL云台
27MAV_TYPE_ADSBADS-B系统
28MAV_TYPE_PARAFOIL可转向的非刚性翼型
29MAV_TYPE_DODECAROTOR十二旋翼
30MAV_TYPE_CAMERA相机
31MAV_TYPE_CHARGING_STATION充电站
32MAV_TYPE_FLARMFLARM防撞系统
33MAV_TYPE_SERVO伺服
34MAV_TYPE_ODIDOpen Drone ID. See https://mavlink.io/en/services/opendroneid.html.

FIRMWARE_VERSION_TYPE

[Enum] 这些值定义了固件版本的类型。 这些值指示了该类型的第一个版本或者是发行的版本。 例如:第一个alpha版本是64,那么第二个版本就是65。

字段名描述
0FIRMWARE_VERSION_TYPE_DEV开发版本发布
64FIRMWARE_VERSION_TYPE_ALPHAalpha 版本发布
128FIRMWARE_VERSION_TYPE_BETAbeta 版本发布
192FIRMWARE_VERSION_TYPE_RC候选发布
255FIRMWARE_VERSION_TYPE_OFFICIAL官方稳定版本发布

HL_FAILURE_FLAG

[Enum] 用于高延迟通信的故障情况标志。

字段名描述
1HL_FAILURE_FLAG_GPSGPS故障。
2HL_FAILURE_FLAG_DIFFERENTIAL_PRESSURE差分气压传感器故障。
4HL_FAILURE_FLAG_ABSOLUTE_PRESSURE绝对气压传感器故障
8HL_FAILURE_FLAG_3D_ACCEL加速度传感器故障。
16HL_FAILURE_FLAG_3D_GYRO陀螺仪传感器故障
32HL_FAILURE_FLAG_3D_MAG磁力计传感器故障。
64HL_FAILURE_FLAG_TERRAIN地形子系统故障。
128HL_FAILURE_FLAG_BATTERY电池故障/电池电压严重不足。
256HL_FAILURE_FLAG_RC_RECEIVERRC接收机故障/无接收机信号。
1024HL_FAILURE_FLAG_ENGINE引擎故障。
2048HL_FAILURE_FLAG_GEOFENCE违反地理围栏规则。
4096HL_FAILURE_FLAG_ESTIMATOR状态估计失败,例如测量值未被接收或大方差。
8192HL_FAILURE_FLAG_MISSION任务失败。

MAV_MODE_FLAG

[Enum] 这些标志代表了 MAV 的模式。

字段名描述
128MAV_MODE_FLAG_SAFETY_ARMED0b10000000 MAV 已经上锁, 电机已启用/运行/可以启动。 准备起飞。 附加说明:发送命令 MAV_CMD_DO_SET_MODE 时会忽略该标志,而应该使用MAV_CMD_COMPONENT_ARM_DISARM。 该标志仍可用于报告上锁状态。
64MAV_MODE_FLAG_MANUAL_INPUT_ENABLED0b01000000 已经使能远程控制输入。
32MAV_MODE_FLAG_HEL_ENABLED0b00100000 硬件在环仿真。 所有电机/执行器均不能运行,但是内部软件正常运行。
16MAV_MODE_FLAG_STABILIZE_ENABLED0b00010000 系统以姿态模式(以及位置模式)进行增稳。 需要更多的控制输入才会移动。
8MAV_MODE_FLAG_GUIDED_ENABLED0b00001000 已经启用引导模式,系统将飞行航路点/飞行任务。
4MAV_MODE_FLAG_AUTO_ENABLED0b00000100 已经启用自主模式,系统找到自己的目标位置。 引导标志是否可以被设置,取决于实际的实现。
2MAV_MODE_FLAG_TEST_ENABLED0b00000010 系统已启用测试模式。 该标志只用于临时系统测试,不应该出于在稳定版本中。
1MAV_MODE_FLAG_CUSTOM_MODE_ENABLED0b00000001 保留。

MAV_MODE_FLAG_DECODE_POSITION

[Enum] 这些值编码了解码位置的位位置。 通过 base_mode 变量与位置标志结合使用,来读取标志位的值。 结果不是0就是1,取决于该标志是否置位。

ValueField NameDescription
128MAV_MODE_FLAG_DECODE_POSITION_SAFETY第1位:10000000
64MAV_MODE_FLAG_DECODE_POSITION_MANUAL第2位:01000000
32MAV_MODE_FLAG_DECODE_POSITION_HIL第3位:00100000
16MAV_MODE_FLAG_DECODE_POSITION_STABILIZE第4位:00010000
8MAV_MODE_FLAG_DECODE_POSITION_GUIDED第5位:00001000
4MAV_MODE_FLAG_DECODE_POSITION_AUTO第6位:00000100
2MAV_MODE_FLAG_DECODE_POSITION_TEST第7位:00000010
1MAV_MODE_FLAG_DECODE_POSITION_CUSTOM_MODE第8位:00000001

MAV_GOTO

[Enum] 可以在 MAV_CMD_OVERRIDE_GOTO 中设置指定的操作来覆盖执行中的任务。

字段名描述
0MAV_GOTO_DO_HOLD保存在当前位置。
1MAV_GOTO_DO_CONTINUE继续执行任务中的下一项。
2MAV_GOTO_HOLD_AT_CURRENT_POSITION保持在系统的当前位置。
3MAV_GOTO_HOLD_AT_SPECIFIED_POSITION保持在 DO_HOLD 命令参数中指定的位置

MAV_MODE

[Enum] 这些是预定义的OR-组合的模式标志。 不需要使用此枚举中的值,但它简化了模式标志的使用。 请注意,手动输入在所有模式下都是作为安全超控启用的。

字段名描述
0MAV_MODE_PREFLIGHT系统还没有准备好飞行、启动、校准等。 没有标志置位。
80MAV_MODE_STABILIZE_DISARMED系统允许在有RC遥控器的情况下解锁。
208MAV_MODE_STABILIZE_ARMED在RC遥控器控制的情况下,系统可以允许激活。
64MAV_MODE_MANUAL_DISARMED在手动(RC)控制下,系统允许激活,没有增稳
192MAV_MODE_MANUAL_ARMED在手动(RC)控制下,系统允许激活,没有增稳
88MAV_MODE_GUIDED_DISARMED系统允许在自动控制下激活,手动设定目标点
216MAV_MODE_GUIDED_ARMED系统允许在自动控制下激活,手动设定目标点
92MAV_MODE_AUTO_DISARMED允许系统在自动控制和导航下运行(轨迹是实时计算确定的,而不是通过航点预先编程)
220MAV_MODE_AUTO_DISARMED允许系统在自动控制和导航下运行(轨迹是实时计算确定的,而不是通过航点预先编程)
66MAV_MODE_TEST_DISARMED未定义模式。 这完全取决于自驾仪 - 请谨慎使用,仅适用于开发人员。
194MAV_MODE_TEST_ARMED未定义模式。 这完全取决于自驾仪 - 请谨慎使用,仅适用于开发人员。

MAV_STATE

[Enum]

字段名描述
0MAV_STATE_UNINIT未初始化的系统,未知状态。
MAV_STATE_BOOT系统正在启动中。
MAV_STATE_CALIBRATING系统正在校准,飞行未准备就绪。
MAV_STATE_STANDBY系统在地面待命。 随时准备起飞。
MAV_STATE_ACTIVE系统已经运行,可能已经升空。 电动已启动。
MAV_STATE_CRITICAL系统处于非正常飞行模式。 但是仍可以导航。
MAV_STATE_EMERGENCY系统处于非正常飞行模式。 失去了对部件或整个机身的控制。 处于紧急状态,正在下坠。
MAV_STATE_POWEROFF系统刚刚初始化了掉电处理程序,即将关机。
MAV_STATE_FLIGHT_TERMINATION系统正在自行终止。

MAV_COMPONENT

[Enum] 构成MAVLink系统(自动驾驶仪,摄像机,伺服系统,GPS系统,回避系统等)的机载硬件/软件的不同类型和实例的组件ID(值)。 组件在发送消息时必须在其源地址中使用适当的ID。 组件还可以通过ID来判断它们是不是传入消息的预期接收方。 MAV_COMP_ID_ALL 值用于指示所有组件必须处理的消息。 创建新条目时,可以有多个实例的组件(如摄像机、伺服系统等)应按顺序分配值。 在这些组件之后,应该留有一定的数值空间,保证能扩展一定数量的组件。

字段名描述
0MAV_COMP_ID_ALL用于向接收系统的所有组件广播的消息id(目标组件)。 组件应尝试处理具有此组件ID的消息,并转发到任何其他接口上的组件。 Note:这不是消息的有效*源*组件id。
1MAV_COMP_ID_AUTOPILOT1系统飞行控制器组件(“自驾仪”)。 在一个特定的系统中只能有一个自驾仪。
25MAV_COMP_ID_USER1私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
26MAV_COMP_ID_USER2私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
27MAV_COMP_ID_USER3私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
28MAV_COMP_ID_USER4私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
29MAV_COMP_ID_USER5私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
30MAV_COMP_ID_USER6私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
31MAV_COMP_ID_USER7私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
32MAV_COMP_ID_USER8私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
33MAV_COMP_ID_USER9私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
34MAV_COMP_ID_USER10私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
35MAV_COMP_ID_USER11私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
36MAV_COMP_ID_USER12私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
37MAV_COMP_ID_USER13私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
38MAV_COMP_ID_USER14私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
39MAV_COMP_ID_USER15私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
40MAV_COMP_ID_USER16Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
41MAV_COMP_ID_USER17私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
42MAV_COMP_ID_USER18私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
43MAV_COMP_ID_USER19私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
44MAV_COMP_ID_USER20私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
45MAV_COMP_ID_USER21私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
46MAV_COMP_ID_USER22私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
47MAV_COMP_ID_USER23私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
48MAV_COMP_ID_USER24私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
49MAV_COMP_ID_USER25私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
50MAV_COMP_ID_USER26私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
51MAV_COMP_ID_USER27私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
52MAV_COMP_ID_USER28私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
53MAV_COMP_ID_USER29私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
54MAV_COMP_ID_USER30私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
55MAV_COMP_ID_USER31私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
56MAV_COMP_ID_USER32私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
57MAV_COMP_ID_USER33私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
58MAV_COMP_ID_USER34私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
59MAV_COMP_ID_USER35私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
60MAV_COMP_ID_USER36私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
61MAV_COMP_ID_USER37私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
62MAV_COMP_ID_USER38私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
63MAV_COMP_ID_USER39私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
64MAV_COMP_ID_USER40私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
65MAV_COMP_ID_USER41私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
66MAV_COMP_ID_USER42私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
67MAV_COMP_ID_USER43私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
68MAV_COMP_ID_TELEMETRY_RADIOTelemetry radio (e.g. SiK radio, or other component that emits RADIO_STATUS messages).
69MAV_COMP_ID_USER45私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
70MAV_COMP_ID_USER46私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
71MAV_COMP_ID_USER47私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
72MAV_COMP_ID_USER48私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
73MAV_COMP_ID_USER49私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
74MAV_COMP_ID_USER50私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
75MAV_COMP_ID_USER51私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
76MAV_COMP_ID_USER52私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
77MAV_COMP_ID_USER53私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
78MAV_COMP_ID_USER54私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
79MAV_COMP_ID_USER55私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
80MAV_COMP_ID_USER56私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
81MAV_COMP_ID_USER57私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
82MAV_COMP_ID_USER58私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
83MAV_COMP_ID_USER59私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
84MAV_COMP_ID_USER60私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
85MAV_COMP_ID_USER61私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
86MAV_COMP_ID_USER62私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
87MAV_COMP_ID_USER63私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
88MAV_COMP_ID_USER64私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
89MAV_COMP_ID_USER65私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
90MAV_COMP_ID_USER66私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
91MAV_COMP_ID_USER67私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
92MAV_COMP_ID_USER68私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
93MAV_COMP_ID_USER69私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
94MAV_COMP_ID_USER70私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
95MAV_COMP_ID_USER71私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
96MAV_COMP_ID_USER72私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
97MAV_COMP_ID_USER73私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
98MAV_COMP_ID_USER74私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
9MAV_COMP_ID_USER75私有 MAVLink 网络上的组件Id。 可以用于任何目的,但不能由私有网络外部的组件发布。
100MAV_COMP_ID_CAMERA1号相机
101MAV_COMP_ID_CAMERA22号相机
102MAV_COMP_ID_CAMERA33号相机
103MAV_COMP_ID_CAMERA44号相机
104MAV_COMP_ID_CAMERA55号相机
105MAV_COMP_ID_CAMERA66号相机
140MAV_COMP_ID_SERVO11号舵机
141MAV_COMP_ID_SERVO22号舵机
142MAV_COMP_ID_SERVO33号伺服
143MAV_COMP_ID_SERVO44号伺服
144MAV_COMP_ID_SERVO55号伺服
145MAV_COMP_ID_SERVO66号伺服
146MAV_COMP_ID_SERVO77号伺服
147MAV_COMP_ID_SERVO88号伺服
148MAV_COMP_ID_SERVO99号伺服
149MAV_COMP_ID_SERVO1010号伺服
150MAV_COMP_ID_SERVO1111号伺服
151MAV_COMP_ID_SERVO1212号伺服
152MAV_COMP_ID_SERVO1313号伺服
153MAV_COMP_ID_SERVO1414号伺服
154MAV_COMP_ID_GIMBAL1号云台
155MAV_COMP_ID_LOG日志记录组件。
156MAV_COMP_ID_ADSB广播式自动相关监视系统(ADS-B)组件。
157MAV_COMP_ID_OSD屏幕信息显示(OSD)设备。
158MAV_COMP_DESCRIPTION通用自驾仪外设组件ID。 未实现参数的微服务设备。
159MAV_COMP_ID_QX1_GIMBAL

DEPRECATED: 由 MAV_COMP_ID_GIMBAL(2018-11)代替。 所有云台应使用 MAV_COMP_ID_GIMBAL。

QX1的云台ID。
160MAV_COMP_ID_FLARMFLARM 防撞系统组件。
171MAV_COMP_ID_GIMBAL22号云台。
172MAV_COMP_ID_GIMBAL33号云台
173MAV_COMP_ID_GIMBAL44号云台
174MAV_COMP_ID_GIMBAL55号云台。
175MAV_COMP_ID_GIMBAL66号云台。
190MAV_COMP_ID_MISSIONPLANNER能够生成/提供任务飞行计划的组件(例如地面站或开发者API)。
195MAV_COMP_ID_PTHPLANNER基于特定约束(如最少拍照、最短路径、代价等)在点之间找到最佳路径的组件。
196MAV_COMP_ID_OBSTACLE_AVOIDANCE在两点之间规划无碰撞路径的组件。
197MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRY使用视觉里程计技术估计位置的组件。
198MAV_COMP_ID_PAIRING_MANAGER管理飞行器和地面站配对的部件。
200MAV_COMP_ID_IMU1号惯性测量单元(IMU)。
201MAV_COMP_ID_IMU_22号惯性测量单元(IMU)。
202MAV_COMP_ID_IMU_33号惯性测量单元(IMU)。
220MAV_COMP_ID_GPS1号GPS。
221MAV_COMP_ID_GPS22号GPS。
236MAV_COMP_ID_ODID_TXRX_1Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
237MAV_COMP_ID_ODID_TXRX_2Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
238MAV_COMP_ID_ODID_TXRX_3Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
240MAV_COMP_ID_UDP_BRIDGEComponent to bridge MAVLink to UDP (i.e. from a UART).
241MAV_COMP_ID_UART_BRIDGEComponent to bridge to UART (i.e. from UDP).
242MAV_COMP_ID_TUNNEL_NODEComponent handling TUNNEL messages (e.g. vendor specific GUI of a component).
250MAV_COMP_ID_SYSTEM_CONTROL

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

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

MAV_SYS_STATUS_SENSOR

通过SYS_STATUS该部分编码内容显示当前传感器的状态。

ValueField NameDescription
1MAV_SYS_STATUS_SENSOR_3D_GYRO0x01 三轴陀螺仪
2MAV_SYS_STATUS_SENSOR_3D_ACCEL0x02 三轴加速度传感器
4MAV_SYS_STATUS_SENSOR_3D_MAG0x04 三轴磁力计
8MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE0x08绝对气压计
16MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE0x10 压差传感器
32MAV_SYS_STATUS_SENSOR_GPS0x20 GPS
64MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW0x40 光流传感器
128MAV_SYS_STATUS_SENSOR_VISION_POSITION0x80 视觉传感器
256MAV_SYS_STATUS_SENSOR_LASER_POSITION0x100基于激光的定位系统
512MAV_SYS_STATUS_SENSOR_EXTERNAL_GROUND_TRUTH0x200 外部视觉定位系统(Vicon 或 Leica)
1024MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL0x400 三轴角速率控制
2048MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION0x800 姿态增稳
4096MAV_SYS_STATUS_SENSOR_YAW_POSITION0x1000 航向控制
8192MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL0x2000 高度控制
16384MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL0x4000 x/y 位置控制
32768MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS0x8000 电机输出/控制
65536MAV_SYS_STATUS_SENSOR_RC_RECEIVER0x10000遥控接收机
131072MAV_SYS_STATUS_SENSOR_3D_GYRO20x20000 第二颗三轴陀螺仪
262144MAV_SYS_STATUS_SENSOR_3D_ACCEL20x40000 第二颗三轴加速度传感器
524288MAV_SYS_STATUS_SENSOR_3D_MAG20x80000 第二颗三轴磁力计
1048576MAV_SYS_STATUS_GEOFENCE0x100000 地理围栏
2097152MAV_SYS_STATUS_AHRS0x200 000 姿态航向参考子系统健康
4194304MAV_SYS_STATUS_TERRAIN0x400000 地形子系统健康
8388608MAV_SYS_STATUS_REVERSE_MOTOR0x800000 电机反转
16777216MAV_SYS_STATUS_LOGGING0x1000000 日志记录
33554432MAV_SYS_STATUS_SENSOR_BATTERY0:2000000 电池
67108864MAV_SYS_STATUS_SENSOR_PROXIMITY0x4000000 近距离传感器
134217728MAV_SYS_STATUS_SENSOR_SATCOM0x80000 卫星通讯
268435456MAV_SYS_STATUS_PREARM_CHECK0x100000 解锁前检查状态。 解锁时需要是是正常的
536870912MAV_SYS_STATUS_OBSTACLE_AVOIDANCE0x20000000 避障系统

MAV_FRAME

[Enum]

ValueField NameDescription
0MAV_FRAME_GLOBAL全局(WGS84) 坐标系+ 海拔高度. 第一个数值/x:纬度;第二个数值/:经度;第三个数值/z:正,海拔高度(MSL)。
1MAV_FRAME_LOCAL_NEDLocal coordinate frame, Z-down (x: North, y: East, z: Down).
2MAV_FRAME_MISSION不是一个坐标系,是一条指令
3MAV_FRAME_GLOBAL_RELATIVE_ALT全局(WGS84) 坐标系+相对于home点位置的高度。 第一个数值/x:纬度;第二个数值/:经度;第三个数值/z:以home点高度为0,高度为正
4MAV_FRAME_LOCAL_ENULocal coordinate frame, Z-up (x: East, y: North, z: Up).
5MAV_FRAME_GLOBAL_INT全局(WGS84) 坐标系(比例)+ 海拔高度. 第一个数值/x:纬度 角度*1.0e-7;第二个数值/:经度 角度*1.0e-7;第三个数值/z:正,海拔高度(MSL)。
6MAV_FRAME_GLOBAL_RELATIVE_ALT_INT全局(WGS84) 坐标系(比例)+相对于home点位置的高度。 第一个数值/x:纬度 角度*10e-7;第二个数值/:经度 角度*10e-7;第三个数值/z:以home点高度为0,高度为正
7MAV_FRAME_LOCAL_OFFSET_NED当前坐标系偏移。 当前坐标系下的任何内容都应按照本地坐标系进行修正
8MAV_FRAME_BODY_NED

DEPRECATED: Replaced by MAV_FRAME_BODY_FRD (2019-08).

在机体导航坐标系设置点 如果位置控制来自于外部系统 - 例如有利于指令 2 m/s^2 加速到右边
9MAV_FRAME_BODY_OFFSET_NED

DEPRECATED: Replaced by MAV_FRAME_BODY_FRD (2019-08).

设定机体导航坐标系偏移量 如果要在当前飞行路径上添加设定值以避免障碍,那么这样做是有意义的例如,指令2米/秒方的加速度向东是。
10MAV_FRAME_GLOBAL_TERRAIN_ALT带有距离地面高度高度(航点坐标)的全球(WGS84)坐标系。 第一个数值/x:纬度 角度*e-7;第二个数值/:经度 角度*1e-7;第三个数值/z 单位米:以地平线基准为0的地形模型中
11MAV_FRAME_GLOBAL_TERRAIN_ALT_INT带有距离地面高度高度(航点坐标)的全球(WGS84)坐标系(比例缩放)。 第一个数值/x:纬度 角度*e-7;第二个数值/:经度 角度*1e-7;第三个数值/z 单位米:以地平线基准为0的地形模型中
12MAV_FRAME_BODY_FRDBody fixed frame of reference, Z-down (x: Forward, y: Right, z: Down).
13MAV_FRAME_RESERVED_13

DEPRECATED: Replaced by (2019-04).

MAV_FRAME_BODY_FLU - Body fixed frame of reference, Z-up (x: Forward, y: Left, z: Up).
14MAV_FRAME_RESERVED_14

DEPRECATED: Replaced by MAV_FRAME_LOCAL_FRD (2019-04).

MAV_FRAME_MOCAP_NED - Odometry local coordinate frame of data given by a motion capture system, Z-down (x: North, y: East, z: Down).
15MAV_FRAME_RESERVED_15

DEPRECATED: Replaced by MAV_FRAME_LOCAL_FLU (2019-04).

MAV_FRAME_MOCAP_ENU - Odometry local coordinate frame of data given by a motion capture system, Z-up (x: East, y: North, z: Up).
16MAV_FRAME_RESERVED_16

DEPRECATED: Replaced by MAV_FRAME_LOCAL_FRD (2019-04).

MAV_FRAME_VISION_NED - Odometry local coordinate frame of data given by a vision estimation system, Z-down (x: North, y: East, z: Down).
17MAV_FRAME_RESERVED_17

DEPRECATED: Replaced by MAV_FRAME_LOCAL_FLU (2019-04).

MAV_FRAME_VISION_ENU - Odometry local coordinate frame of data given by a vision estimation system, Z-up (x: East, y: North, z: Up).
18MAV_FRAME_RESERVED_18

DEPRECATED: Replaced by MAV_FRAME_LOCAL_FRD (2019-04).

MAV_FRAME_ESTIM_NED - Odometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-down (x: North, y: East, z: Down).
19MAV_FRAME_RESERVED_19

DEPRECATED: Replaced by MAV_FRAME_LOCAL_FLU (2019-04).

MAV_FRAME_ESTIM_ENU - Odometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-up (x: East, y: North, z: Up).
20MAV_FRAME_LOCAL_FRD前,右,下坐标系。 这是一个z向下和任意F/R对齐的局部作坐标系(即不与NED/earth坐标系对齐)。
21MAV_FRAME_LOCAL_FLU向前, 左, 向上坐标系. 这是一个z向上和任意F/R对齐的局部作坐标系(即不与NED/earth坐标系对齐)。

[Enum]

ValueField NameDescription

FENCE_ACTION

[Enum]

ValueField NameDescription
0FENCE_ACTION_NONE禁用围栏模式
1FENCE_ACTION_GUIDED切换到引导模式,返回点(围栏点0)
2FENCE_ACTION_REPORT报告围栏被破坏,但不要采取行动
3FENCE_ACTION_GUIDED_THR_PASS切换到引导模式返回点(起点0),手动油门控制
4FENCE_ACTION_RTL切换到RTL(返回启动)模式,前往返回点。

FENCE_BREACH

[Enum]

ValueField NameDescription
0FENCE_BREACH_NONE没有违反围栏的行为
1FENCE_BREACH_MINALT触发最低高度
2FENCE_BREACH_MAXALT触发最高高度
3FENCE_BREACH_BOUNDARY越过围栏边界

FENCE_MITIGATE

正在采取的缓解/防止违反地理围栏的行动

ValueField NameDescription
0FENCE_MITIGATE_UNKNOWN未知
1FENCE_MITIGATE_NONE没有采取任何行动
2FENCE_MITIGATE_VEL_LIMIT限制速度以防止违反行为

MAV_MOUNT_MODE

替换为GIMBAL_MANAGER_FLAGS (2020-01)。

可能的挂载操作模式的枚举。 此消息被过时/废弃的云台消息使用。

ValueField NameDescription
0MAV_MOUNT_MODE_RETRACT按照记忆功能加载并且保持安全位置(俯仰滚转偏航)并停止增稳功能
1MAV_MOUNT_MODE_NEUTRAL按照记忆功能加载并且保持中立位置(俯仰滚转偏航)
3MAV_MOUNT_MODE_RC_TARGETING在稳定模式下加载空档位置,启动横摇、俯仰、偏航遥控器控制
4MAV_MOUNT_MODE_GPS_POINT加载中立位置并开始指向具体的经纬高点
5MAV_MOUNT_MODE_SYSID_TARGET指定系统ID的云台跟踪系统

GIMBAL_DEVICE_CAP_FLAGS

云台设备 (低级别) 能力标志 (位图)

ValueField NameDescription
1GIMBAL_DEVICE_CAP_FLAGS_HAS_RETRACT云台设备支持收放位置
2GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRAL云台设备支持水平的、向前的位置,增稳状态
4GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_AXIS云台设备支持滚转。
8GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_FOLLOW云台设备支持相对于机体的滚动角变化的增稳
16GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCK云台设备支持锁定滚转角度(通常这是滚转增稳的默认值)
32GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXIS云台设备支持围绕俯仰轴旋转。
64GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_FOLLOW云台设备支持相对于机体的俯仰角变化的增稳
128GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCK云台设备支持锁定俯仰角度(通常这是俯仰增稳的默认值)
256GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXIS云台设备支持方位运动。
512GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOW云台装置支持跟随相对于机体的方位(通常这是默认值)
1024GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCK台设备支持锁定到一个绝对方位(通常这是一个可用的选项)
2048GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_INFINITE_YAW云台设备支持无限制的旋转(例如使用滑环)。

GIMBAL_MANAGER_CAP_FLAGS

高性能云台的能力标识 前16位与GIMBAL_DEVICE_CAP_FLAGS相同,而GIMBAL_DEVICE_FLAGS与GIMBAL_DEVICE_FLAGS相同。 但是,云台管理器不需要从云台复制标志,但也可以增强功能,从而添加标志。

ValueField NameDescription
1GIMBAL_MANAGER_CAP_FLAGS_HAS_RETRACT基于GIMBAL_DEVICE_CAP_FLAGS_HAS_RETRACT。
2GIMBAL_MANAGER_CAP_FLAGS_HAS_NEUTRAL基于GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRAL。
4GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_AXIS基于 GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_AXIS
8GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_FOLLOW基于 GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLLOW
16GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_LOCK基于 GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCK
32GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_AXIS基于 GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXIS
64GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_FOLLOW基于 GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_FOLLOW
128GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_LOCK基于 GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCK
256GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_AXIS基于 GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXIS
512GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_FOLLOW基于 GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOW
1024GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_LOCK基于 GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCK
2048GIMBAL_MANAGER_CAP_FLAGS_SUPPORTS_INFINITE_YAW以GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_INFINITE_YAW为依据。
65536GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_LOCAL云台管理器支持指向本地位置。
131072GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_GLOBAL云台管理器支持指向全球纬度、经度、高度位置。
262144GIMBAL_MANAGER_CAP_FLAGS_HAS_TRACKING_POINT云台管理器支持跟踪摄像头上的点。
524288GIMBAL_MANAGER_CAP_FLAGS_HAS_TRACKING_RECTANGLE云台管理器支持跟踪相机上的一个点。
1048576GIMBAL_MANAGER_CAP_FLAGS_SUPPORTS_FOCAL_LENGTH_SCALE云台管理器支持俯仰和偏航的角速度缩放焦距(越是放大,运动越慢)。
2097152GIMBAL_MANAGER_CAP_FLAGS_SUPPORTS_NUDGING云台管理器支持在指向位置或跟踪时嵌入。
4194304GIMBAL_MANAGER_CAP_FLAGS_SUPPORTS_OVERRIDE云台控制器支持在指向位置或跟踪时覆盖。

GIMBAL_DEVICE_FLAGS

低水平云台的设备标识

ValueField NameDescription
1GIMBAL_DEVICE_FLAGS_RETRACT设置为缩回安全位置(不稳定),覆盖所有其他标识。
2GIMBAL_DEVICE_FLAGS_NEUTRAL设置为中立位置(水平,向前看,稳定),在除后退外的所有其他标识上保持稳定。
4GIMBAL_DEVICE_FLAGS_ROLL_LOCK锁定滚转角到水平的绝对角度(不是到无人机的绝对角度)。 这通常是默认的稳定框架。
8GIMBAL_DEVICE_FLAGS_PITCH_LOCK锁定俯仰角到水平的绝对角度(不是到无人机的绝对角度)。 这通常是缺省的。
16GIMBAL_DEVICE_FLAGS_YAW_LOCK锁定方位角到水平的绝对北(不是到无人机的绝对角度)。 :如果设置了这个标志,四元数在地球框架中,x轴指向北方(绝对偏航)。 如果不设置此标志,四元数帧将在地球坐标系中旋转,使x轴指向前方(相对于机体的偏航)。

GIMBAL_MANAGER_FLAGS

高级云台管理器操作的标志前16个字节与GIMBAL_DEVICE_FLAGS相同。

ValueField NameDescription
1GIMBAL_MANAGER_FLAGS_RETRACT基于 GIMBAL_DEVICE_FLAGS_RETRACT
2GIMBAL_MANAGER_FLAGS_NEUTRAL基于 GIMBAL_DEVICE_FLAGS_RETRACT
4GIMBAL_MANAGER_FLAGS_ROLL_LOCK基于 GIMBAL_DEVICE_FLAGS_ROLL_LOCK
8GIMBAL_MANAGER_FLAGS_PITCH_LOCK基于 GIMBAL_DEVICE_FLAGS_PITCH_LOCK
16GIMBAL_MANAGER_FLAGS_YAW_LOCK基于 GIMBAL_DEVICE_FLAGS_RETRACT
1048576GIMBAL_MANAGER_FLAGS_ANGULAR_VELOCITY_RELATIVE_TO_FOCAL_LENGTH比例角速度相对于焦距。 当变焦放大之后,云台的移动速度会变慢
2097152GIMBAL_MANAGER_FLAGS_NUDGE解析指向某个位置或跟踪的姿态控制。 如果设置了此标志,则四元数相对于现有的跟踪角。
4194304GIMBAL_MANAGER_FLAGS_OVERRIDE完全覆盖指向一个位置或跟踪 如果设置了此标志,则四元数(通常)是根据GIMBAL_MANAGER_FLAGS_YAW_LOCK
8388608GIMBAL_MANAGER_FLAGS_NONE可以将此标志设置为放弃前面使用MAV_CMD_DO_GIMBAL_MANAGER_ATTITUDE设置的控制。 此标志不得与其他标志相结合。

GIMBAL_DEVICE_ERROR_FLAGS

云台(低等级)错误标志(位图,0表示无错误)

ValueField NameDescription
1GIMBAL_DEVICE_ERROR_FLAGS_AT_ROLL_LIMIT云台装置受硬件滚转角度限制。
2GIMBAL_DEVICE_ERROR_FLAGS_AT_PITCH_LIMIT云台设备受到硬件俯仰角度限制。
4GIMBAL_DEVICE_ERROR_FLAGS_AT_YAW_LIMIT云台设备受到硬件方位角度的限制。
8GIMBAL_DEVICE_ERROR_FLAGS_ENCODER_ERROR与云台编码器发生错误。
16GIMBAL_DEVICE_ERROR_FLAGS_POWER_ERROR云台电源发生错误。
32GIMBAL_DEVICE_ERROR_FLAGS_MOTOR_ERROR云台电机发生错误。
64GIMBAL_DEVICE_ERROR_FLAGS_SOFTWARE_ERROR云台l的软件有错误。
128GIMBAL_DEVICE_ERROR_FLAGS_COMMS_ERROR云台的通信有错误。

UAVCAN_NODE_HEALTH

常规的 UAVCAN 节点健康状态

ValueField NameDescription
0UAVCAN_NODE_HEALTH_OK节点正常运行。
1UAVCAN_NODE_HEALTH_WARNING关键参数超出范围或节点遇到轻微故障。
2UAVCAN_NODE_HEALTH_ERROR该节点遇到重大故障。
3UAVCAN_NODE_HEALTH_CRITICAL该节点发生致命故障。

UAVCAN_NODE_MODE

常规的 UAVCAN 节点模式

ValueField NameDescription
0UAVCAN_NODE_MODE_OPERATIONAL节点正在执行它的主要功能。
1UAVCAN_NODE_MODE_INITIALIZATION节点正在初始化;此模式在启动后立即进入。
2UAVCAN_NODE_MODE_MAINTENANCE该节点正在维护中。
3UAVCAN_NODE_MODE_SOFTWARE_UPDATE该节点正在更新其软件
7UAVCAN_NODE_MODE_OFFLINE该节点不再联机可用。

ESC_CONNECTION_TYPE

[Enum] Indicates the ESC connection type.

ValueField NameDescription
0ESC_CONNECTION_TYPE_PPMTraditional PPM ESC.
1ESC_CONNECTION_TYPE_SERIALSerial Bus connected ESC.
2ESC_CONNECTION_TYPE_ONESHOTOne Shot PPM ESC.
3ESC_CONNECTION_TYPE_I2CI2C ESC.
4ESC_CONNECTION_TYPE_CANCAN-Bus ESC.
5ESC_CONNECTION_TYPE_DSHOTDShot ESC.

ESC_FAILURE_FLAGS

[Enum] Flags to report ESC failures.

ValueField NameDescription
0ESC_FAILURE_NONENo ESC failure.
1ESC_FAILURE_OVER_CURRENTOver current failure.
2ESC_FAILURE_OVER_VOLTAGEOver voltage failure.
4ESC_FAILURE_OVER_TEMPERATUREOver temperature failure.
8ESC_FAILURE_OVER_RPMOver RPM failure.
16ESC_FAILURE_INCONSISTENT_CMDInconsistent command failure i.e. out of bounds.
32ESC_FAILURE_MOTOR_STUCKMotor stuck failure.
64ESC_FAILURE_GENERICGeneric ESC failure.

STORAGE_STATUS

[Enum] Flags to indicate the status of camera storage.

ValueField NameDescription
0STORAGE_STATUS_EMPTYStorage is missing (no microSD card loaded for example.)
1STORAGE_STATUS_UNFORMATTEDStorage present but unformatted.
2STORAGE_STATUS_READYStorage present and ready.
3STORAGE_STATUS_NOT_SUPPORTEDCamera does not supply storage status information. Capacity information in STORAGE_INFORMATION fields will be ignored.

ORBIT_YAW_BEHAVIOUR

[Enum] Yaw behaviour during orbit flight.

ValueField NameDescription
0ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTERVehicle front points to the center (default).
1ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADINGVehicle front holds heading when message received.
2ORBIT_YAW_BEHAVIOUR_UNCONTROLLEDYaw uncontrolled.
3ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLEVehicle front follows flight path (tangential to circle).
4ORBIT_YAW_BEHAVIOUR_RC_CONTROLLEDYaw controlled by RC input.

WIFI_CONFIG_AP_RESPONSE

[Enum] Possible responses from a WIFI_CONFIG_AP message.

ValueField NameDescription
0WIFI_CONFIG_AP_RESPONSE_UNDEFINEDUndefined response. Likely an indicative of a system that doesn't support this request.
1WIFI_CONFIG_AP_RESPONSE_ACCEPTEDChanges accepted.
2WIFI_CONFIG_AP_RESPONSE_REJECTEDChanges rejected.
3WIFI_CONFIG_AP_RESPONSE_MODE_ERRORInvalid Mode.
4WIFI_CONFIG_AP_RESPONSE_SSID_ERRORInvalid SSID.
5WIFI_CONFIG_AP_RESPONSE_PASSWORD_ERRORInvalid Password.

CELLULAR_CONFIG_RESPONSE

[Enum] Possible responses from a CELLULAR_CONFIG message.

ValueField NameDescription
0CELLULAR_CONFIG_RESPONSE_ACCEPTEDChanges accepted.
1CELLULAR_CONFIG_RESPONSE_APN_ERRORInvalid APN.
2CELLULAR_CONFIG_RESPONSE_PIN_ERRORInvalid PIN.
3CELLULAR_CONFIG_RESPONSE_REJECTEDChanges rejected.
4CELLULAR_CONFIG_BLOCKED_PUK_REQUIREDPUK is required to unblock SIM card.

WIFI_CONFIG_AP_MODE

[Enum] WiFi Mode.

ValueField NameDescription
0WIFI_CONFIG_AP_MODE_UNDEFINEDWiFi mode is undefined.
1WIFI_CONFIG_AP_MODE_APWiFi configured as an access point.
2WIFI_CONFIG_AP_MODE_STATIONWiFi configured as a station connected to an existing local WiFi network.
3WIFI_CONFIG_AP_MODE_DISABLEDWiFi disabled.

COMP_METADATA_TYPE

[Enum] Possible values for COMPONENT_INFORMATION.comp_metadata_type.

ValueField NameDescription
0COMP_METADATA_TYPE_VERSIONVersion information which also includes information on other optional supported COMP_METADATA_TYPE's. Must be supported. Only downloadable from vehicle.
1COMP_METADATA_TYPE_PARAMETERParameter meta data.

PARAM_TRANSACTION_RESPONSE

[Enum] Possible responses from a PARAM_START_TRANSACTION and PARAM_COMMIT_TRANSACTION messages.

ValueField NameDescription
0PARAM_TRANSACTION_RESPONSE_ACCEPTEDTransaction accepted.
1PARAM_TRANSACTION_RESPONSE_FAILEDTransaction failed.
2PARAM_TRANSACTION_RESPONSE_UNSUPPORTEDTransaction unsupported.
3PARAM_TRANSACTION_RESPONSE_INPROGRESSTransaction in progress.

PARAM_TRANSACTION_TRANSPORT

[Enum] Possible transport layers to set and get parameters via mavlink during a parameter transaction.

ValueField NameDescription
0PARAM_TRANSACTION_TRANSPORT_PARAMTransaction over param transport.
1PARAM_TRANSACTION_TRANSPORT_PARAM_EXTTransaction over param_ext transport.

PARAM_TRANSACTION_ACTION

[Enum] Possible parameter transaction action during a commit.

ValueField NameDescription
0PARAM_TRANSACTION_ACTION_COMMITCommit the current parameter transaction.
1PARAM_TRANSACTION_ACTION_CANCELCancel the current parameter transaction.

MAV_DATA_STREAM

DEPRECATED: Replaced by MESSAGE_INTERVAL (2015-06).

[Enum] A data stream is not a fixed set of messages, but rather a recommendation to the autopilot software. Individual autopilots may or may not obey the recommended messages.

ValueField NameDescription
0MAV_DATA_STREAM_ALLEnable all data streams
1MAV_DATA_STREAM_RAW_SENSORSEnable IMU_RAW, GPS_RAW, GPS_STATUS packets.
2MAV_DATA_STREAM_EXTENDED_STATUSEnable GPS_STATUS, CONTROL_STATUS, AUX_STATUS
3MAV_DATA_STREAM_RC_CHANNELSEnable RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW
4MAV_DATA_STREAM_RAW_CONTROLLEREnable ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT, NAV_CONTROLLER_OUTPUT.
6MAV_DATA_STREAM_POSITIONEnable LOCAL_POSITION, GLOBAL_POSITION/GLOBAL_POSITION_INT messages.
10MAV_DATA_STREAM_EXTRA1Dependent on the autopilot
11MAV_DATA_STREAM_EXTRA2Dependent on the autopilot
12MAV_DATA_STREAM_EXTRA3Dependent on the autopilot

MAV_ROI

DEPRECATED: Replaced by MAV_CMD_DO_SET_ROI_* (2018-01).

[Enum] The ROI (region of interest) for the vehicle. This can be be used by the vehicle for camera/vehicle attitude alignment (see MAV_CMD_NAV_ROI).

ValueField NameDescription
0MAV_ROI_NONENo region of interest.
1MAV_ROI_WPNEXTPoint toward next waypoint, with optional pitch/roll/yaw offset.
2MAV_ROI_WPINDEXPoint toward given waypoint.
3MAV_ROI_LOCATIONPoint toward fixed location.
4MAV_ROI_TARGETPoint toward of given id.

MAV_CMD_ACK

[Enum] ACK / NACK / ERROR values as a result of MAV_CMDs and for mission item transmission.

ValueField NameDescription
MAV_CMD_ACK_OKCommand / mission item is ok.
MAV_CMD_ACK_ERR_FAILGeneric error message if none of the other reasons fails or if no detailed error reporting is implemented.
MAV_CMD_ACK_ERR_ACCESS_DENIEDThe system is refusing to accept this command from this source / communication partner.
MAV_CMD_ACK_ERR_NOT_SUPPORTEDCommand or mission item is not supported, other commands would be accepted.
MAV_CMD_ACK_ERR_COORDINATE_FRAME_NOT_SUPPORTEDThe coordinate frame of this command / mission item is not supported.
MAV_CMD_ACK_ERR_COORDINATES_OUT_OF_RANGEThe coordinate frame of this command is ok, but he coordinate values exceed the safety limits of this system. This is a generic error, please use the more specific error messages below if possible.
MAV_CMD_ACK_ERR_X_LAT_OUT_OF_RANGEThe X or latitude value is out of range.
MAV_CMD_ACK_ERR_Y_LON_OUT_OF_RANGEThe Y or longitude value is out of range.
MAV_CMD_ACK_ERR_Z_ALT_OUT_OF_RANGEThe Z or altitude value is out of range.

MAV_PARAM_TYPE

[Enum] Specifies the datatype of a MAVLink parameter.

ValueField NameDescription
1MAV_PARAM_TYPE_UINT88-bit unsigned integer
2MAV_PARAM_TYPE_INT88-bit signed integer
3MAV_PARAM_TYPE_UINT1616-bit unsigned integer
4MAV_PARAM_TYPE_INT1616-bit signed integer
5MAV_PARAM_TYPE_UINT3232-bit unsigned integer
6MAV_PARAM_TYPE_INT3232-bit signed integer
7MAV_PARAM_TYPE_UINT6464-bit unsigned integer
8MAV_PARAM_TYPE_INT6464-bit signed integer
9MAV_PARAM_TYPE_REAL3232-bit floating-point
10MAV_PARAM_TYPE_REAL6464-bit floating-point

MAV_PARAM_EXT_TYPE

[Enum] Specifies the datatype of a MAVLink extended parameter.

ValueField NameDescription
1MAV_PARAM_EXT_TYPE_UINT88-bit unsigned integer
2MAV_PARAM_EXT_TYPE_INT88-bit signed integer
3MAV_PARAM_EXT_TYPE_UINT1616-bit unsigned integer
4MAV_PARAM_EXT_TYPE_INT1616-bit signed integer
5MAV_PARAM_EXT_TYPE_UINT3232-bit unsigned integer
6MAV_PARAM_EXT_TYPE_INT3232-bit signed integer
7MAV_PARAM_EXT_TYPE_UINT6464-bit unsigned integer
8MAV_PARAM_EXT_TYPE_INT6464-bit signed integer
9MAV_PARAM_EXT_TYPE_REAL3232-bit floating-point
10MAV_PARAM_EXT_TYPE_REAL6464-bit floating-point
11MAV_PARAM_EXT_TYPE_CUSTOMCustom Type

MAV_RESULT

[Enum] Result from a MAVLink command (MAV_CMD)

ValueField NameDescription
0MAV_RESULT_ACCEPTEDCommand is valid (is supported and has valid parameters), and was executed.
1MAV_RESULT_TEMPORARILY_REJECTEDCommand is valid, but cannot be executed at this time. This is used to indicate a problem that should be fixed just by waiting (e.g. a state machine is busy, can't arm because have not got GPS lock, etc.). Retrying later should work.
2MAV_RESULT_DENIEDCommand is invalid (is supported but has invalid parameters). Retrying same command and parameters will not work.
3MAV_RESULT_UNSUPPORTEDCommand is not supported (unknown).
4MAV_RESULT_FAILEDCommand is valid, but execution has failed. This is used to indicate any non-temporary or unexpected problem, i.e. any problem that must be fixed before the command can succeed/be retried. For example, attempting to write a file when out of memory, attempting to arm when sensors are not calibrated, etc.
5MAV_RESULT_IN_PROGRESSCommand is valid and is being executed. This will be followed by further progress updates, i.e. the component may send further COMMAND_ACK messages with result MAV_RESULT_IN_PROGRESS (at a rate decided by the implementation), and must terminate by sending a COMMAND_ACK message with final result of the operation. The COMMAND_ACK.progress field can be used to indicate the progress of the operation.
6MAV_RESULT_CANCELLEDCommand has been cancelled (as a result of receiving a COMMAND_CANCEL message).

MAV_MISSION_RESULT

[Enum] Result of mission operation (in a MISSION_ACK message).

ValueField NameDescription
0MAV_MISSION_ACCEPTEDmission accepted OK
1MAV_MISSION_ERRORGeneric error / not accepting mission commands at all right now.
2MAV_MISSION_UNSUPPORTED_FRAMECoordinate frame is not supported.
3MAV_MISSION_UNSUPPORTEDCommand is not supported.
4MAV_MISSION_NO_SPACEMission items exceed storage space.
5MAV_MISSION_INVALIDOne of the parameters has an invalid value.
6MAV_MISSION_INVALID_PARAM1param1 has an invalid value.
7MAV_MISSION_INVALID_PARAM2param2 has an invalid value.
8MAV_MISSION_INVALID_PARAM3param3 has an invalid value.
9MAV_MISSION_INVALID_PARAM4param4 has an invalid value.
10MAV_MISSION_INVALID_PARAM5_Xx / param5 has an invalid value.
11MAV_MISSION_INVALID_PARAM6_Yy / param6 has an invalid value.
12MAV_MISSION_INVALID_PARAM7z / param7 has an invalid value.
13MAV_MISSION_INVALID_SEQUENCEMission item received out of sequence
14MAV_MISSION_DENIEDNot accepting any mission commands from this communication partner.
15MAV_MISSION_OPERATION_CANCELLEDCurrent mission operation cancelled (e.g. mission upload, mission download).

MAV_SEVERITY

[Enum] Indicates the severity level, generally used for status messages to indicate their relative urgency. Based on RFC-5424 using expanded definitions at: http://www.kiwisyslog.com/kb/info:-syslog-message-levels/.

ValueField NameDescription
0MAV_SEVERITY_EMERGENCYSystem is unusable. This is a "panic" condition.
1MAV_SEVERITY_ALERTAction should be taken immediately. Indicates error in non-critical systems.
2MAV_SEVERITY_CRITICALAction must be taken immediately. Indicates failure in a primary system.
3MAV_SEVERITY_ERRORIndicates an error in secondary/redundant systems.
4MAV_SEVERITY_WARNINGIndicates about a possible future error if this is not resolved within a given timeframe. Example would be a low battery warning.
5MAV_SEVERITY_NOTICEAn unusual event has occurred, though not an error condition. This should be investigated for the root cause.
6MAV_SEVERITY_INFONormal operational messages. Useful for logging. No action is required for these messages.
7MAV_SEVERITY_DEBUGUseful non-operational messages that can assist in debugging. These should not occur during normal operation.

MAV_POWER_STATUS

[Enum] Power supply status flags (bitmask)

ValueField NameDescription
1MAV_POWER_STATUS_BRICK_VALIDmain brick power supply valid
2MAV_POWER_STATUS_SERVO_VALIDmain servo power supply valid for FMU
4MAV_POWER_STATUS_USB_CONNECTEDUSB power is connected
8MAV_POWER_STATUS_PERIPH_OVERCURRENTperipheral supply is in over-current state
16MAV_POWER_STATUS_PERIPH_HIPOWER_OVERCURRENThi-power peripheral supply is in over-current state
32MAV_POWER_STATUS_CHANGEDPower status has changed since boot

SERIAL_CONTROL_DEV

[Enum] SERIAL_CONTROL device types

ValueField NameDescription
0SERIAL_CONTROL_DEV_TELEM1First telemetry port
1SERIAL_CONTROL_DEV_TELEM2Second telemetry port
2SERIAL_CONTROL_DEV_GPS1First GPS port
3SERIAL_CONTROL_DEV_GPS2Second GPS port
10SERIAL_CONTROL_DEV_SHELLsystem shell
100SERIAL_CONTROL_SERIAL0SERIAL0
101SERIAL_CONTROL_SERIAL1SERIAL1
102SERIAL_CONTROL_SERIAL2SERIAL2
103SERIAL_CONTROL_SERIAL3SERIAL3
104SERIAL_CONTROL_SERIAL4SERIAL4
105SERIAL_CONTROL_SERIAL5SERIAL5
106SERIAL_CONTROL_SERIAL6SERIAL6
107SERIAL_CONTROL_SERIAL7SERIAL7
108SERIAL_CONTROL_SERIAL8SERIAL8
109SERIAL_CONTROL_SERIAL9SERIAL9

SERIAL_CONTROL_FLAG

[Enum] SERIAL_CONTROL flags (bitmask)

ValueField NameDescription
1SERIAL_CONTROL_FLAG_REPLYSet if this is a reply
2SERIAL_CONTROL_FLAG_RESPONDSet if the sender wants the receiver to send a response as another SERIAL_CONTROL message
4SERIAL_CONTROL_FLAG_EXCLUSIVESet if access to the serial port should be removed from whatever driver is currently using it, giving exclusive access to the SERIAL_CONTROL protocol. The port can be handed back by sending a request without this flag set
8SERIAL_CONTROL_FLAG_BLOCKINGBlock on writes to the serial port
16SERIAL_CONTROL_FLAG_MULTISend multiple replies until port is drained

MAV_DISTANCE_SENSOR

[Enum] Enumeration of distance sensor types

ValueField NameDescription
0MAV_DISTANCE_SENSOR_LASERLaser rangefinder, e.g. LightWare SF02/F or PulsedLight units
1MAV_DISTANCE_SENSOR_ULTRASOUNDUltrasound rangefinder, e.g. MaxBotix units
2MAV_DISTANCE_SENSOR_INFRAREDInfrared rangefinder, e.g. Sharp units
3MAV_DISTANCE_SENSOR_RADARRadar type, e.g. uLanding units
4MAV_DISTANCE_SENSOR_UNKNOWNBroken or unknown type, e.g. analog units

MAV_SENSOR_ORIENTATION

[Enum] Enumeration of sensor orientation, according to its rotations

ValueField NameDescription
0MAV_SENSOR_ROTATION_NONERoll: 0, Pitch: 0, Yaw: 0
1MAV_SENSOR_ROTATION_YAW_45Roll: 0, Pitch: 0, Yaw: 45
2MAV_SENSOR_ROTATION_YAW_90Roll: 0, Pitch: 0, Yaw: 90
3MAV_SENSOR_ROTATION_YAW_135Roll: 0, Pitch: 0, Yaw: 135
4MAV_SENSOR_ROTATION_YAW_180Roll: 0, Pitch: 0, Yaw: 180
5MAV_SENSOR_ROTATION_YAW_225Roll: 0, Pitch: 0, Yaw: 225
6MAV_SENSOR_ROTATION_YAW_270Roll: 0, Pitch: 0, Yaw: 270
7MAV_SENSOR_ROTATION_YAW_315Roll: 0, Pitch: 0, Yaw: 315
8MAV_SENSOR_ROTATION_ROLL_180Roll: 180, Pitch: 0, Yaw: 0
9MAV_SENSOR_ROTATION_ROLL_180_YAW_45Roll: 180, Pitch: 0, Yaw: 45
10MAV_SENSOR_ROTATION_ROLL_180_YAW_90Roll: 180, Pitch: 0, Yaw: 90
11MAV_SENSOR_ROTATION_ROLL_180_YAW_135Roll: 180, Pitch: 0, Yaw: 135
12MAV_SENSOR_ROTATION_PITCH_180Roll: 0, Pitch: 180, Yaw: 0
13MAV_SENSOR_ROTATION_ROLL_180_YAW_225Roll: 180, Pitch: 0, Yaw: 225
14MAV_SENSOR_ROTATION_ROLL_180_YAW_270Roll: 180, Pitch: 0, Yaw: 270
15MAV_SENSOR_ROTATION_ROLL_180_YAW_315Roll: 180, Pitch: 0, Yaw: 315
16MAV_SENSOR_ROTATION_ROLL_90Roll: 90, Pitch: 0, Yaw: 0
17MAV_SENSOR_ROTATION_ROLL_90_YAW_45Roll: 90, Pitch: 0, Yaw: 45
18MAV_SENSOR_ROTATION_ROLL_90_YAW_90Roll: 90, Pitch: 0, Yaw: 90
19MAV_SENSOR_ROTATION_ROLL_90_YAW_135Roll: 90, Pitch: 0, Yaw: 135
20MAV_SENSOR_ROTATION_ROLL_270Roll: 270, Pitch: 0, Yaw: 0
21MAV_SENSOR_ROTATION_ROLL_270_YAW_45Roll: 270, Pitch: 0, Yaw: 45
22MAV_SENSOR_ROTATION_ROLL_270_YAW_90Roll: 270, Pitch: 0, Yaw: 90
23MAV_SENSOR_ROTATION_ROLL_270_YAW_135Roll: 270, Pitch: 0, Yaw: 135
24MAV_SENSOR_ROTATION_PITCH_90Roll: 0, Pitch: 90, Yaw: 0
25MAV_SENSOR_ROTATION_PITCH_270Roll: 0, Pitch: 270, Yaw: 0
26MAV_SENSOR_ROTATION_PITCH_180_YAW_90Roll: 0, Pitch: 180, Yaw: 90
27MAV_SENSOR_ROTATION_PITCH_180_YAW_270Roll: 0, Pitch: 180, Yaw: 270
28MAV_SENSOR_ROTATION_ROLL_90_PITCH_90Roll: 90, Pitch: 90, Yaw: 0
29MAV_SENSOR_ROTATION_ROLL_180_PITCH_90Roll: 180, Pitch: 90, Yaw: 0
30MAV_SENSOR_ROTATION_ROLL_270_PITCH_90Roll: 270, Pitch: 90, Yaw: 0
31MAV_SENSOR_ROTATION_ROLL_90_PITCH_180Roll: 90, Pitch: 180, Yaw: 0
32MAV_SENSOR_ROTATION_ROLL_270_PITCH_180Roll: 270, Pitch: 180, Yaw: 0
33MAV_SENSOR_ROTATION_ROLL_90_PITCH_270Roll: 90, Pitch: 270, Yaw: 0
34MAV_SENSOR_ROTATION_ROLL_180_PITCH_270Roll: 180, Pitch: 270, Yaw: 0
35MAV_SENSOR_ROTATION_ROLL_270_PITCH_270Roll: 270, Pitch: 270, Yaw: 0
36MAV_SENSOR_ROTATION_ROLL_90_PITCH_180_YAW_90Roll: 90, Pitch: 180, Yaw: 90
37MAV_SENSOR_ROTATION_ROLL_90_YAW_270Roll: 90, Pitch: 0, Yaw: 270
38MAV_SENSOR_ROTATION_ROLL_90_PITCH_68_YAW_293Roll: 90, Pitch: 68, Yaw: 293
39MAV_SENSOR_ROTATION_PITCH_315Pitch: 315
40MAV_SENSOR_ROTATION_ROLL_90_PITCH_315Roll: 90, Pitch: 315
41MAV_SENSOR_ROTATION_ROLL_270_YAW_180Roll: 270, Yaw: 180
100MAV_SENSOR_ROTATION_CUSTOMCustom orientation

MAV_PROTOCOL_CAPABILITY

[Enum] Bitmask of (optional) autopilot capabilities (64 bit). If a bit is set, the autopilot supports this capability.

ValueField NameDescription
1MAV_PROTOCOL_CAPABILITY_MISSION_FLOATAutopilot supports MISSION float message type.
2MAV_PROTOCOL_CAPABILITY_PARAM_FLOATAutopilot supports the new param float message type.
4MAV_PROTOCOL_CAPABILITY_MISSION_INT

DEPRECATED: Replaced by (2020-06). This flag must always be set if missions are supported, because missions must always use MISSION_ITEM_INT (rather than MISSION_ITEM, which is deprecated).

Autopilot supports MISSION_ITEM_INT scaled integer message type.
8MAV_PROTOCOL_CAPABILITY_COMMAND_INTAutopilot supports COMMAND_INT scaled integer message type.
16MAV_PROTOCOL_CAPABILITY_PARAM_UNIONAutopilot supports the new param union message type.
32MAV_PROTOCOL_CAPABILITY_FTPAutopilot supports the new FILE_TRANSFER_PROTOCOL message type.
64MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGETAutopilot supports commanding attitude offboard.
128MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NEDAutopilot supports commanding position and velocity targets in local NED frame.
256MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INTAutopilot supports commanding position and velocity targets in global scaled integers.
512MAV_PROTOCOL_CAPABILITY_TERRAINAutopilot supports terrain protocol / data handling.
1024MAV_PROTOCOL_CAPABILITY_SET_ACTUATOR_TARGETAutopilot supports direct actuator control.
2048MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATIONAutopilot supports the flight termination command.
4096MAV_PROTOCOL_CAPABILITY_COMPASS_CALIBRATIONAutopilot supports onboard compass calibration.
8192MAV_PROTOCOL_CAPABILITY_MAVLINK2Autopilot supports MAVLink version 2.
16384MAV_PROTOCOL_CAPABILITY_MISSION_FENCEAutopilot supports mission fence protocol.
32768MAV_PROTOCOL_CAPABILITY_MISSION_RALLYAutopilot supports mission rally point protocol.
65536MAV_PROTOCOL_CAPABILITY_FLIGHT_INFORMATIONAutopilot supports the flight information protocol.

MAV_MISSION_TYPE

[Enum] Type of mission items being requested/sent in mission protocol.

ValueField NameDescription
0MAV_MISSION_TYPE_MISSIONItems are mission commands for main mission.
1MAV_MISSION_TYPE_FENCESpecifies GeoFence area(s). Items are MAV_CMD_NAV_FENCE_ GeoFence items.
2MAV_MISSION_TYPE_RALLYSpecifies the rally points for the vehicle. Rally points are alternative RTL points. Items are MAV_CMD_NAV_RALLY_POINT rally point items.
255MAV_MISSION_TYPE_ALLOnly used in MISSION_CLEAR_ALL to clear all mission types.

MAV_ESTIMATOR_TYPE

[Enum] Enumeration of estimator types

ValueField NameDescription
0MAV_ESTIMATOR_TYPE_UNKNOWNUnknown type of the estimator.
1MAV_ESTIMATOR_TYPE_NAIVEThis is a naive estimator without any real covariance feedback.
2MAV_ESTIMATOR_TYPE_VISIONComputer vision based estimate. Might be up to scale.
3MAV_ESTIMATOR_TYPE_VIOVisual-inertial estimate.
4MAV_ESTIMATOR_TYPE_GPSPlain GPS estimate.
5MAV_ESTIMATOR_TYPE_GPS_INSEstimator integrating GPS and inertial sensing.
6MAV_ESTIMATOR_TYPE_MOCAPEstimate from external motion capturing system.
7MAV_ESTIMATOR_TYPE_LIDAREstimator based on lidar sensor input.
8MAV_ESTIMATOR_TYPE_AUTOPILOTEstimator on autopilot.

MAV_BATTERY_TYPE

[Enum] Enumeration of battery types

ValueField NameDescription
0MAV_BATTERY_TYPE_UNKNOWNNot specified.
1MAV_BATTERY_TYPE_LIPOLithium polymer battery
2MAV_BATTERY_TYPE_LIFELithium-iron-phosphate battery
3MAV_BATTERY_TYPE_LIONLithium-ION battery
4MAV_BATTERY_TYPE_NIMHNickel metal hydride battery

MAV_BATTERY_FUNCTION

[Enum] Enumeration of battery functions

ValueField NameDescription
0MAV_BATTERY_FUNCTION_UNKNOWNBattery function is unknown
1MAV_BATTERY_FUNCTION_ALLBattery supports all flight systems
2MAV_BATTERY_FUNCTION_PROPULSIONBattery for the propulsion system
3MAV_BATTERY_FUNCTION_AVIONICSAvionics battery
4MAV_BATTERY_TYPE_PAYLOADPayload battery

MAV_BATTERY_CHARGE_STATE

[Enum] Enumeration for battery charge states.

ValueField NameDescription
0MAV_BATTERY_CHARGE_STATE_UNDEFINEDLow battery state is not provided
1MAV_BATTERY_CHARGE_STATE_OKBattery is not in low state. Normal operation.
2MAV_BATTERY_CHARGE_STATE_LOWBattery state is low, warn and monitor close.
3MAV_BATTERY_CHARGE_STATE_CRITICALBattery state is critical, return or abort immediately.
4MAV_BATTERY_CHARGE_STATE_EMERGENCYBattery state is too low for ordinary abort sequence. Perform fastest possible emergency stop to prevent damage.
5MAV_BATTERY_CHARGE_STATE_FAILEDBattery failed, damage unavoidable.
6MAV_BATTERY_CHARGE_STATE_UNHEALTHYBattery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited.
7MAV_BATTERY_CHARGE_STATE_CHARGINGBattery is charging.

MAV_SMART_BATTERY_FAULT

[Enum] Smart battery supply status/fault flags (bitmask) for health indication.

ValueField NameDescription
1MAV_SMART_BATTERY_FAULT_DEEP_DISCHARGEBattery has deep discharged.
2MAV_SMART_BATTERY_FAULT_SPIKESVoltage spikes.
4MAV_SMART_BATTERY_FAULT_SINGLE_CELL_FAILSingle cell has failed.
8MAV_SMART_BATTERY_FAULT_OVER_CURRENTOver-current fault.
16MAV_SMART_BATTERY_FAULT_OVER_TEMPERATUREOver-temperature fault.
32MAV_SMART_BATTERY_FAULT_UNDER_TEMPERATUREUnder-temperature fault.

MAV_GENERATOR_STATUS_FLAG

[Enum] Flags to report status/failure cases for a power generator (used in GENERATOR_STATUS). Note that FAULTS are conditions that cause the generator to fail. Warnings are conditions that require attention before the next use (they indicate the system is not operating properly).

ValueField NameDescription
1MAV_GENERATOR_STATUS_FLAG_OFFGenerator is off.
2MAV_GENERATOR_STATUS_FLAG_READYGenerator is ready to start generating power.
4MAV_GENERATOR_STATUS_FLAG_GENERATINGGenerator is generating power.
8MAV_GENERATOR_STATUS_FLAG_CHARGINGGenerator is charging the batteries (generating enough power to charge and provide the load).
16MAV_GENERATOR_STATUS_FLAG_REDUCED_POWERGenerator is operating at a reduced maximum power.
32MAV_GENERATOR_STATUS_FLAG_MAXPOWERGenerator is providing the maximum output.
64MAV_GENERATOR_STATUS_FLAG_OVERTEMP_WARNINGGenerator is near the maximum operating temperature, cooling is insufficient.
128MAV_GENERATOR_STATUS_FLAG_OVERTEMP_FAULTGenerator hit the maximum operating temperature and shutdown.
256MAV_GENERATOR_STATUS_FLAG_ELECTRONICS_OVERTEMP_WARNINGPower electronics are near the maximum operating temperature, cooling is insufficient.
512MAV_GENERATOR_STATUS_FLAG_ELECTRONICS_OVERTEMP_FAULTPower electronics hit the maximum operating temperature and shutdown.
1024MAV_GENERATOR_STATUS_FLAG_ELECTRONICS_FAULTPower electronics experienced a fault and shutdown.
2048MAV_GENERATOR_STATUS_FLAG_POWERSOURCE_FAULTThe power source supplying the generator failed e.g. mechanical generator stopped, tether is no longer providing power, solar cell is in shade, hydrogen reaction no longer happening.
4096MAV_GENERATOR_STATUS_FLAG_COMMUNICATION_WARNINGGenerator controller having communication problems.
8192MAV_GENERATOR_STATUS_FLAG_COOLING_WARNINGPower electronic or generator cooling system error.
16384MAV_GENERATOR_STATUS_FLAG_POWER_RAIL_FAULTGenerator controller power rail experienced a fault.
32768MAV_GENERATOR_STATUS_FLAG_OVERCURRENT_FAULTGenerator controller exceeded the overcurrent threshold and shutdown to prevent damage.
65536MAV_GENERATOR_STATUS_FLAG_BATTERY_OVERCHARGE_CURRENT_FAULTGenerator controller detected a high current going into the batteries and shutdown to prevent battery damage.
131072MAV_GENERATOR_STATUS_FLAG_OVERVOLTAGE_FAULTGenerator controller exceeded it's overvoltage threshold and shutdown to prevent it exceeding the voltage rating.
262144MAV_GENERATOR_STATUS_FLAG_BATTERY_UNDERVOLT_FAULTBatteries are under voltage (generator will not start).
524288MAV_GENERATOR_STATUS_FLAG_START_INHIBITEDGenerator start is inhibited by e.g. a safety switch.
1048576MAV_GENERATOR_STATUS_FLAG_MAINTENANCE_REQUIREDGenerator requires maintenance.
2097152MAV_GENERATOR_STATUS_FLAG_WARMING_UPGenerator is not ready to generate yet.
4194304MAV_GENERATOR_STATUS_FLAG_IDLEGenerator is idle.

MAV_VTOL_STATE

[Enum] Enumeration of VTOL states

ValueField NameDescription
0MAV_VTOL_STATE_UNDEFINEDMAV is not configured as VTOL
1MAV_VTOL_STATE_TRANSITION_TO_FWVTOL is in transition from multicopter to fixed-wing
2MAV_VTOL_STATE_TRANSITION_TO_MCVTOL is in transition from fixed-wing to multicopter
3MAV_VTOL_STATE_MCVTOL is in multicopter state
4MAV_VTOL_STATE_FWVTOL is in fixed-wing state

MAV_LANDED_STATE

[Enum] Enumeration of landed detector states

ValueField NameDescription
0MAV_LANDED_STATE_UNDEFINEDMAV landed state is unknown
1MAV_LANDED_STATE_ON_GROUNDMAV is landed (on ground)
2MAV_LANDED_STATE_IN_AIRMAV is in air
3MAV_LANDED_STATE_TAKEOFFMAV currently taking off
4MAV_LANDED_STATE_LANDINGMAV currently landing

ADSB_ALTITUDE_TYPE

[Enum] Enumeration of the ADSB altimeter types

ValueField NameDescription
0ADSB_ALTITUDE_TYPE_PRESSURE_QNHAltitude reported from a Baro source using QNH reference
1ADSB_ALTITUDE_TYPE_GEOMETRICAltitude reported from a GNSS source

ADSB_EMITTER_TYPE

[Enum] ADSB classification for the type of vehicle emitting the transponder signal

ValueField NameDescription
0ADSB_EMITTER_TYPE_NO_INFO
1ADSB_EMITTER_TYPE_LIGHT
2ADSB_EMITTER_TYPE_SMALL
3ADSB_EMITTER_TYPE_LARGE
4ADSB_EMITTER_TYPE_HIGH_VORTEX_LARGE
5ADSB_EMITTER_TYPE_HEAVY
6ADSB_EMITTER_TYPE_HIGHLY_MANUV
7ADSB_EMITTER_TYPE_ROTOCRAFT
8ADSB_EMITTER_TYPE_UNASSIGNED
9ADSB_EMITTER_TYPE_GLIDER
10ADSB_EMITTER_TYPE_LIGHTER_AIR
11ADSB_EMITTER_TYPE_PARACHUTE
12ADSB_EMITTER_TYPE_ULTRA_LIGHT
13ADSB_EMITTER_TYPE_UNASSIGNED2
14ADSB_EMITTER_TYPE_UAV
15ADSB_EMITTER_TYPE_SPACE
16ADSB_EMITTER_TYPE_UNASSGINED3
17ADSB_EMITTER_TYPE_EMERGENCY_SURFACE
18ADSB_EMITTER_TYPE_SERVICE_SURFACE
19ADSB_EMITTER_TYPE_POINT_OBSTACLE

ADSB_FLAGS

[Enum] These flags indicate status such as data validity of each data source. Set = data valid

ValueField NameDescription
1ADSB_FLAGS_VALID_COORDS
2ADSB_FLAGS_VALID_ALTITUDE
4ADSB_FLAGS_VALID_HEADING
8ADSB_FLAGS_VALID_VELOCITY
16ADSB_FLAGS_VALID_CALLSIGN
32ADSB_FLAGS_VALID_SQUAWK
64ADSB_FLAGS_SIMULATED
128ADSB_FLAGS_VERTICAL_VELOCITY_VALID
256ADSB_FLAGS_BARO_VALID
32768ADSB_FLAGS_SOURCE_UAT

MAV_DO_REPOSITION_FLAGS

[Enum] Bitmap of options for the MAV_CMD_DO_REPOSITION

ValueField NameDescription
1MAV_DO_REPOSITION_FLAGS_CHANGE_MODEThe aircraft should immediately transition into guided. This should not be set for follow me applications

ESTIMATOR_STATUS_FLAGS

[Enum] Flags in ESTIMATOR_STATUS message

ValueField NameDescription
1ESTIMATOR_ATTITUDETrue if the attitude estimate is good
2ESTIMATOR_VELOCITY_HORIZTrue if the horizontal velocity estimate is good
4ESTIMATOR_VELOCITY_VERTTrue if the vertical velocity estimate is good
8ESTIMATOR_POS_HORIZ_RELTrue if the horizontal position (relative) estimate is good
16ESTIMATOR_POS_HORIZ_ABSTrue if the horizontal position (absolute) estimate is good
32ESTIMATOR_POS_VERT_ABSTrue if the vertical position (absolute) estimate is good
64ESTIMATOR_POS_VERT_AGLTrue if the vertical position (above ground) estimate is good
128ESTIMATOR_CONST_POS_MODETrue if the EKF is in a constant position mode and is not using external measurements (eg GPS or optical flow)
256ESTIMATOR_PRED_POS_HORIZ_RELTrue if the EKF has sufficient data to enter a mode that will provide a (relative) position estimate
512ESTIMATOR_PRED_POS_HORIZ_ABSTrue if the EKF has sufficient data to enter a mode that will provide a (absolute) position estimate
1024ESTIMATOR_GPS_GLITCHTrue if the EKF has detected a GPS glitch
2048ESTIMATOR_ACCEL_ERRORTrue if the EKF has detected bad accelerometer data

MOTOR_TEST_ORDER

[Enum]

ValueField NameDescription
0MOTOR_TEST_ORDER_DEFAULTdefault autopilot motor test method
1MOTOR_TEST_ORDER_SEQUENCEmotor numbers are specified as their index in a predefined vehicle-specific sequence
2MOTOR_TEST_ORDER_BOARDmotor numbers are specified as the output as labeled on the board

MOTOR_TEST_THROTTLE_TYPE

[Enum]

ValueField NameDescription
0MOTOR_TEST_THROTTLE_PERCENTthrottle as a percentage from 0 ~ 100
1MOTOR_TEST_THROTTLE_PWMthrottle as an absolute PWM value (normally in range of 1000~2000)
2MOTOR_TEST_THROTTLE_PILOTthrottle pass-through from pilot's transmitter
3MOTOR_TEST_COMPASS_CALper-motor compass calibration test

GPS_INPUT_IGNORE_FLAGS

[Enum]

ValueField NameDescription
1GPS_INPUT_IGNORE_FLAG_ALTignore altitude field
2GPS_INPUT_IGNORE_FLAG_HDOPignore hdop field
4GPS_INPUT_IGNORE_FLAG_VDOPignore vdop field
8GPS_INPUT_IGNORE_FLAG_VEL_HORIZignore horizontal velocity field (vn and ve)
16GPS_INPUT_IGNORE_FLAG_VEL_VERTignore vertical velocity field (vd)
32GPS_INPUT_IGNORE_FLAG_SPEED_ACCURACYignore speed accuracy field
64GPS_INPUT_IGNORE_FLAG_HORIZONTAL_ACCURACYignore horizontal accuracy field
128GPS_INPUT_IGNORE_FLAG_VERTICAL_ACCURACYignore vertical accuracy field

MAV_COLLISION_ACTION

[Enum] Possible actions an aircraft can take to avoid a collision.

ValueField NameDescription
0MAV_COLLISION_ACTION_NONEIgnore any potential collisions
1MAV_COLLISION_ACTION_REPORTReport potential collision
2MAV_COLLISION_ACTION_ASCEND_OR_DESCENDAscend or Descend to avoid threat
3MAV_COLLISION_ACTION_MOVE_HORIZONTALLYMove horizontally to avoid threat
4MAV_COLLISION_ACTION_MOVE_PERPENDICULARAircraft to move perpendicular to the collision's velocity vector
5MAV_COLLISION_ACTION_RTLAircraft to fly directly back to its launch point
6MAV_COLLISION_ACTION_HOVERAircraft to stop in place

MAV_COLLISION_THREAT_LEVEL

[Enum] Aircraft-rated danger from this threat.

ValueField NameDescription
0MAV_COLLISION_THREAT_LEVEL_NONENot a threat
1MAV_COLLISION_THREAT_LEVEL_LOWCraft is mildly concerned about this threat
2MAV_COLLISION_THREAT_LEVEL_HIGHCraft is panicking, and may take actions to avoid threat

MAV_COLLISION_SRC

[Enum] Source of information about this collision.

ValueField NameDescription
0MAV_COLLISION_SRC_ADSBID field references ADSB_VEHICLE packets

GPS_FIX_TYPE

[Enum] Type of GPS fix

ValueField NameDescription
0GPS_FIX_TYPE_NO_GPSNo GPS connected
1GPS_FIX_TYPE_NO_FIXNo position information, GPS is connected
2GPS_FIX_TYPE_2D_FIX2D position
3GPS_FIX_TYPE_3D_FIX3D position
4GPS_FIX_TYPE_DGPSDGPS/SBAS aided 3D position
5GPS_FIX_TYPE_RTK_FLOATRTK float, 3D position
6GPS_FIX_TYPE_RTK_FIXEDRTK Fixed, 3D position
7GPS_FIX_TYPE_STATICStatic fixed, typically used for base stations
8GPS_FIX_TYPE_PPPPPP, 3D position.

RTK_BASELINE_COORDINATE_SYSTEM

[Enum] RTK GPS baseline coordinate system, used for RTK corrections

ValueField NameDescription
0RTK_BASELINE_COORDINATE_SYSTEM_ECEFEarth-centered, Earth-fixed
1RTK_BASELINE_COORDINATE_SYSTEM_NEDRTK basestation centered, north, east, down

LANDING_TARGET_TYPE

[Enum] Type of landing target

ValueField NameDescription
0LANDING_TARGET_TYPE_LIGHT_BEACONLanding target signaled by light beacon (ex: IR-LOCK)
1LANDING_TARGET_TYPE_RADIO_BEACONLanding target signaled by radio beacon (ex: ILS, NDB)
2LANDING_TARGET_TYPE_VISION_FIDUCIALLanding target represented by a fiducial marker (ex: ARTag)
3LANDING_TARGET_TYPE_VISION_OTHERLanding target represented by a pre-defined visual shape/feature (ex: X-marker, H-marker, square)

VTOL_TRANSITION_HEADING

[Enum] Direction of VTOL transition

ValueField NameDescription
0VTOL_TRANSITION_HEADING_VEHICLE_DEFAULTRespect the heading configuration of the vehicle.
1VTOL_TRANSITION_HEADING_NEXT_WAYPOINTUse the heading pointing towards the next waypoint.
2VTOL_TRANSITION_HEADING_TAKEOFFUse the heading on takeoff (while sitting on the ground).
3VTOL_TRANSITION_HEADING_SPECIFIEDUse the specified heading in parameter 4.
4VTOL_TRANSITION_HEADING_ANYUse the current heading when reaching takeoff altitude (potentially facing the wind when weather-vaning is active).

CAMERA_CAP_FLAGS

[Enum] Camera capability flags (Bitmap)

ValueField NameDescription
1CAMERA_CAP_FLAGS_CAPTURE_VIDEOCamera is able to record video
2CAMERA_CAP_FLAGS_CAPTURE_IMAGECamera is able to capture images
4CAMERA_CAP_FLAGS_HAS_MODESCamera has separate Video and Image/Photo modes (MAV_CMD_SET_CAMERA_MODE)
8CAMERA_CAP_FLAGS_CAN_CAPTURE_IMAGE_IN_VIDEO_MODECamera can capture images while in video mode
16CAMERA_CAP_FLAGS_CAN_CAPTURE_VIDEO_IN_IMAGE_MODECamera can capture videos while in Photo/Image mode
32CAMERA_CAP_FLAGS_HAS_IMAGE_SURVEY_MODECamera has image survey mode (MAV_CMD_SET_CAMERA_MODE)
64CAMERA_CAP_FLAGS_HAS_BASIC_ZOOMCamera has basic zoom control (MAV_CMD_SET_CAMERA_ZOOM)
128CAMERA_CAP_FLAGS_HAS_BASIC_FOCUSCamera has basic focus control (MAV_CMD_SET_CAMERA_FOCUS)
256CAMERA_CAP_FLAGS_HAS_VIDEO_STREAMCamera has video streaming capabilities (request VIDEO_STREAM_INFORMATION with MAV_CMD_REQUEST_MESSAGE for video streaming info)

VIDEO_STREAM_STATUS_FLAGS

[Enum] Stream status flags (Bitmap)

ValueField NameDescription
1VIDEO_STREAM_STATUS_FLAGS_RUNNINGStream is active (running)
2VIDEO_STREAM_STATUS_FLAGS_THERMALStream is thermal imaging

VIDEO_STREAM_TYPE

[Enum] Video stream types

ValueField NameDescription
0VIDEO_STREAM_TYPE_RTSPStream is RTSP
1VIDEO_STREAM_TYPE_RTPUDPStream is RTP UDP (URI gives the port number)
2VIDEO_STREAM_TYPE_TCP_MPEGStream is MPEG on TCP
3VIDEO_STREAM_TYPE_MPEG_TS_H264Stream is h.264 on MPEG TS (URI gives the port number)

CAMERA_ZOOM_TYPE

[Enum] Zoom types for MAV_CMD_SET_CAMERA_ZOOM

ValueField NameDescription
0ZOOM_TYPE_STEPZoom one step increment (-1 for wide, 1 for tele)
1ZOOM_TYPE_CONTINUOUSContinuous zoom up/down until stopped (-1 for wide, 1 for tele, 0 to stop zooming)
2ZOOM_TYPE_RANGEZoom value as proportion of full camera range (a value between 0.0 and 100.0)
3ZOOM_TYPE_FOCAL_LENGTHZoom value/variable focal length in milimetres. Note that there is no message to get the valid zoom range of the camera, so this can type can only be used for cameras where the zoom range is known (implying that this cannot reliably be used in a GCS for an arbitrary camera)

SET_FOCUS_TYPE

[Enum] Focus types for MAV_CMD_SET_CAMERA_FOCUS

ValueField NameDescription
0FOCUS_TYPE_STEPFocus one step increment (-1 for focusing in, 1 for focusing out towards infinity).
1FOCUS_TYPE_CONTINUOUSContinuous focus up/down until stopped (-1 for focusing in, 1 for focusing out towards infinity, 0 to stop focusing)
2FOCUS_TYPE_RANGEFocus value as proportion of full camera focus range (a value between 0.0 and 100.0)
3FOCUS_TYPE_METERSFocus value in metres. Note that there is no message to get the valid focus range of the camera, so this can type can only be used for cameras where the range is known (implying that this cannot reliably be used in a GCS for an arbitrary camera).

PARAM_ACK

[Enum] Result from PARAM_EXT_SET message (or a PARAM_SET within a transaction).

ValueField NameDescription
0PARAM_ACK_ACCEPTEDParameter value ACCEPTED and SET
1PARAM_ACK_VALUE_UNSUPPORTEDParameter value UNKNOWN/UNSUPPORTED
2PARAM_ACK_FAILEDParameter failed to set
3PARAM_ACK_IN_PROGRESSParameter value received but not yet set/accepted. A subsequent PARAM_ACK_TRANSACTION or PARAM_EXT_ACK with the final result will follow once operation is completed. This is returned immediately for parameters that take longer to set, indicating taht the the parameter was recieved and does not need to be resent.

CAMERA_MODE

[Enum] Camera Modes.

ValueField NameDescription
0CAMERA_MODE_IMAGECamera is in image/photo capture mode.
1CAMERA_MODE_VIDEOCamera is in video capture mode.
2CAMERA_MODE_IMAGE_SURVEYCamera is in image survey capture mode. It allows for camera controller to do specific settings for surveys.

MAV_ARM_AUTH_DENIED_REASON

[Enum]

ValueField NameDescription
0MAV_ARM_AUTH_DENIED_REASON_GENERICNot a specific reason
1MAV_ARM_AUTH_DENIED_REASON_NONEAuthorizer will send the error as string to GCS
2MAV_ARM_AUTH_DENIED_REASON_INVALID_WAYPOINTAt least one waypoint have a invalid value
3MAV_ARM_AUTH_DENIED_REASON_TIMEOUTTimeout in the authorizer process(in case it depends on network)
4MAV_ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USEAirspace of the mission in use by another vehicle, second result parameter can have the waypoint id that caused it to be denied.
5MAV_ARM_AUTH_DENIED_REASON_BAD_WEATHERWeather is not good to fly

RC_TYPE

[Enum] RC type

ValueField NameDescription
0RC_TYPE_SPEKTRUM_DSM2Spektrum DSM2
1RC_TYPE_SPEKTRUM_DSMXSpektrum DSMX

POSITION_TARGET_TYPEMASK

[Enum] Bitmap to indicate which dimensions should be ignored by the vehicle: a value of 0b0000000000000000 or 0b0000001000000000 indicates that none of the setpoint dimensions should be ignored. If bit 9 is set the floats afx afy afz should be interpreted as force instead of acceleration.

ValueField NameDescription
1POSITION_TARGET_TYPEMASK_X_IGNOREIgnore position x
2POSITION_TARGET_TYPEMASK_Y_IGNOREIgnore position y
4POSITION_TARGET_TYPEMASK_Z_IGNOREIgnore position z
8POSITION_TARGET_TYPEMASK_VX_IGNOREIgnore velocity x
16POSITION_TARGET_TYPEMASK_VY_IGNOREIgnore velocity y
32POSITION_TARGET_TYPEMASK_VZ_IGNOREIgnore velocity z
64POSITION_TARGET_TYPEMASK_AX_IGNOREIgnore acceleration x
128POSITION_TARGET_TYPEMASK_AY_IGNOREIgnore acceleration y
256POSITION_TARGET_TYPEMASK_AZ_IGNOREIgnore acceleration z
512POSITION_TARGET_TYPEMASK_FORCE_SETUse force instead of acceleration
1024POSITION_TARGET_TYPEMASK_YAW_IGNOREIgnore yaw
2048POSITION_TARGET_TYPEMASK_YAW_RATE_IGNOREIgnore yaw rate

UTM_FLIGHT_STATE

[Enum] Airborne status of UAS.

ValueField NameDescription
1UTM_FLIGHT_STATE_UNKNOWNThe flight state can't be determined.
2UTM_FLIGHT_STATE_GROUNDUAS on ground.
3UTM_FLIGHT_STATE_AIRBORNEUAS airborne.
16UTM_FLIGHT_STATE_EMERGENCYUAS is in an emergency flight state.
32UTM_FLIGHT_STATE_NOCTRLUAS has no active controls.

UTM_DATA_AVAIL_FLAGS

[Enum] Flags for the global position report.

ValueField NameDescription
1UTM_DATA_AVAIL_FLAGS_TIME_VALIDThe field time contains valid data.
2UTM_DATA_AVAIL_FLAGS_UAS_ID_AVAILABLEThe field uas_id contains valid data.
4UTM_DATA_AVAIL_FLAGS_POSITION_AVAILABLEThe fields lat, lon and h_acc contain valid data.
8UTM_DATA_AVAIL_FLAGS_ALTITUDE_AVAILABLEThe fields alt and v_acc contain valid data.
16UTM_DATA_AVAIL_FLAGS_RELATIVE_ALTITUDE_AVAILABLEThe field relative_alt contains valid data.
32UTM_DATA_AVAIL_FLAGS_HORIZONTAL_VELO_AVAILABLEThe fields vx and vy contain valid data.
64UTM_DATA_AVAIL_FLAGS_VERTICAL_VELO_AVAILABLEThe field vz contains valid data.
128UTM_DATA_AVAIL_FLAGS_NEXT_WAYPOINT_AVAILABLEThe fields next_lat, next_lon and next_alt contain valid data.

CELLULAR_NETWORK_RADIO_TYPE

[Enum] Cellular network radio type

ValueField NameDescription
0CELLULAR_NETWORK_RADIO_TYPE_NONE
1CELLULAR_NETWORK_RADIO_TYPE_GSM
2CELLULAR_NETWORK_RADIO_TYPE_CDMA
3CELLULAR_NETWORK_RADIO_TYPE_WCDMA
4CELLULAR_NETWORK_RADIO_TYPE_LTE

CELLULAR_STATUS_FLAG

[Enum] These flags encode the cellular network status

ValueField NameDescription
0CELLULAR_STATUS_FLAG_UNKNOWNState unknown or not reportable.
1CELLULAR_STATUS_FLAG_FAILEDModem is unusable
2CELLULAR_STATUS_FLAG_INITIALIZINGModem is being initialized
3CELLULAR_STATUS_FLAG_LOCKEDModem is locked
4CELLULAR_STATUS_FLAG_DISABLEDModem is not enabled and is powered down
5CELLULAR_STATUS_FLAG_DISABLINGModem is currently transitioning to the CELLULAR_STATUS_FLAG_DISABLED state
6CELLULAR_STATUS_FLAG_ENABLINGModem is currently transitioning to the CELLULAR_STATUS_FLAG_ENABLED state
7CELLULAR_STATUS_FLAG_ENABLEDModem is enabled and powered on but not registered with a network provider and not available for data connections
8CELLULAR_STATUS_FLAG_SEARCHINGModem is searching for a network provider to register
9CELLULAR_STATUS_FLAG_REGISTEREDModem is registered with a network provider, and data connections and messaging may be available for use
10CELLULAR_STATUS_FLAG_DISCONNECTINGModem is disconnecting and deactivating the last active packet data bearer. This state will not be entered if more than one packet data bearer is active and one of the active bearers is deactivated
11CELLULAR_STATUS_FLAG_CONNECTINGModem is activating and connecting the first packet data bearer. Subsequent bearer activations when another bearer is already active do not cause this state to be entered
12CELLULAR_STATUS_FLAG_CONNECTEDOne or more packet data bearers is active and connected

CELLULAR_NETWORK_FAILED_REASON

[Enum] These flags are used to diagnose the failure state of CELLULAR_STATUS

ValueField NameDescription
0CELLULAR_NETWORK_FAILED_REASON_NONENo error
1CELLULAR_NETWORK_FAILED_REASON_UNKNOWNError state is unknown
2CELLULAR_NETWORK_FAILED_REASON_SIM_MISSINGSIM is required for the modem but missing
3CELLULAR_NETWORK_FAILED_REASON_SIM_ERRORSIM is available, but not usuable for connection

PRECISION_LAND_MODE

[Enum] Precision land modes (used in MAV_CMD_NAV_LAND).

ValueField NameDescription
0PRECISION_LAND_MODE_DISABLEDNormal (non-precision) landing.
1PRECISION_LAND_MODE_OPPORTUNISTICUse precision landing if beacon detected when land command accepted, otherwise land normally.
2PRECISION_LAND_MODE_REQUIREDUse precision landing, searching for beacon if not found when land command accepted (land normally if beacon cannot be found).

PARACHUTE_ACTION

[Enum] Parachute actions. Trigger release and enable/disable auto-release.

ValueField NameDescription
0PARACHUTE_DISABLEDisable auto-release of parachute (i.e. release triggered by crash detectors).
1PARACHUTE_ENABLEEnable auto-release of parachute.
2PARACHUTE_RELEASERelease parachute and kill motors.

MAV_TUNNEL_PAYLOAD_TYPE

[Enum]

ValueField NameDescription
0MAV_TUNNEL_PAYLOAD_TYPE_UNKNOWNEncoding of payload unknown.
200MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED0Registered for STorM32 gimbal controller.
201MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED1Registered for STorM32 gimbal controller.
202MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED2Registered for STorM32 gimbal controller.
203MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED3Registered for STorM32 gimbal controller.
204MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED4Registered for STorM32 gimbal controller.
205MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED5Registered for STorM32 gimbal controller.
206MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED6Registered for STorM32 gimbal controller.
207MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED7Registered for STorM32 gimbal controller.
208MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED8Registered for STorM32 gimbal controller.
209MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED9Registered for STorM32 gimbal controller.

MAV_ODID_ID_TYPE

[Enum]

ValueField NameDescription
0MAV_ODID_ID_TYPE_NONENo type defined.
1MAV_ODID_ID_TYPE_SERIAL_NUMBERManufacturer Serial Number (ANSI/CTA-2063 format).
2MAV_ODID_ID_TYPE_CAA_REGISTRATION_IDCAA (Civil Aviation Authority) registered ID. Format: [ICAO Country Code].[CAA Assigned ID].
3MAV_ODID_ID_TYPE_UTM_ASSIGNED_UUIDUTM (Unmanned Traffic Management) assigned UUID (RFC4122).

MAV_ODID_UA_TYPE

[Enum]

ValueField NameDescription
0MAV_ODID_UA_TYPE_NONENo UA (Unmanned Aircraft) type defined.
1MAV_ODID_UA_TYPE_AEROPLANEAeroplane/Airplane. Fixed wing.
2MAV_ODID_UA_TYPE_HELICOPTER_OR_MULTIROTORHelicopter or multirotor.
3MAV_ODID_UA_TYPE_GYROPLANEGyroplane.
4MAV_ODID_UA_TYPE_HYBRID_LIFTVTOL (Vertical Take-Off and Landing). Fixed wing aircraft that can take off vertically.
5MAV_ODID_UA_TYPE_ORNITHOPTEROrnithopter.
6MAV_ODID_UA_TYPE_GLIDERGlider.
7MAV_ODID_UA_TYPE_KITEKite.
8MAV_ODID_UA_TYPE_FREE_BALLOONFree Balloon.
9MAV_ODID_UA_TYPE_CAPTIVE_BALLOONCaptive Balloon.
10MAV_ODID_UA_TYPE_AIRSHIPAirship. E.g. a blimp.
11MAV_ODID_UA_TYPE_FREE_FALL_PARACHUTEFree Fall/Parachute (unpowered).
12MAV_ODID_UA_TYPE_ROCKETRocket.
13MAV_ODID_UA_TYPE_TETHERED_POWERED_AIRCRAFTTethered powered aircraft.
14MAV_ODID_UA_TYPE_GROUND_OBSTACLEGround Obstacle.
15MAV_ODID_UA_TYPE_OTHEROther type of aircraft not listed earlier.

MAV_ODID_STATUS

[Enum]

ValueField NameDescription
0MAV_ODID_STATUS_UNDECLAREDThe status of the (UA) Unmanned Aircraft is undefined.
1MAV_ODID_STATUS_GROUNDThe UA is on the ground.
2MAV_ODID_STATUS_AIRBORNEThe UA is in the air.
3MAV_ODID_STATUS_EMERGENCYThe UA is having an emergency.

MAV_ODID_HEIGHT_REF

[Enum]

ValueField NameDescription
0MAV_ODID_HEIGHT_REF_OVER_TAKEOFFThe height field is relative to the take-off location.
1MAV_ODID_HEIGHT_REF_OVER_GROUNDThe height field is relative to ground.

MAV_ODID_HOR_ACC

[Enum]

ValueField NameDescription
0MAV_ODID_HOR_ACC_UNKNOWNThe horizontal accuracy is unknown.
1MAV_ODID_HOR_ACC_10NMThe horizontal accuracy is smaller than 10 Nautical Miles. 18.52 km.
2MAV_ODID_HOR_ACC_4NMThe horizontal accuracy is smaller than 4 Nautical Miles. 7.408 km.
3MAV_ODID_HOR_ACC_2NMThe horizontal accuracy is smaller than 2 Nautical Miles. 3.704 km.
4MAV_ODID_HOR_ACC_1NMThe horizontal accuracy is smaller than 1 Nautical Miles. 1.852 km.
5MAV_ODID_HOR_ACC_0_5NMThe horizontal accuracy is smaller than 0.5 Nautical Miles. 926 m.
6MAV_ODID_HOR_ACC_0_3NMThe horizontal accuracy is smaller than 0.3 Nautical Miles. 555.6 m.
7MAV_ODID_HOR_ACC_0_1NMThe horizontal accuracy is smaller than 0.1 Nautical Miles. 185.2 m.
8MAV_ODID_HOR_ACC_0_05NMThe horizontal accuracy is smaller than 0.05 Nautical Miles. 92.6 m.
9MAV_ODID_HOR_ACC_30_METERThe horizontal accuracy is smaller than 30 meter.
10MAV_ODID_HOR_ACC_10_METERThe horizontal accuracy is smaller than 10 meter.
11MAV_ODID_HOR_ACC_3_METERThe horizontal accuracy is smaller than 3 meter.
12MAV_ODID_HOR_ACC_1_METERThe horizontal accuracy is smaller than 1 meter.

MAV_ODID_VER_ACC

[Enum]

ValueField NameDescription
0MAV_ODID_VER_ACC_UNKNOWNThe vertical accuracy is unknown.
1MAV_ODID_VER_ACC_150_METERThe vertical accuracy is smaller than 150 meter.
2MAV_ODID_VER_ACC_45_METERThe vertical accuracy is smaller than 45 meter.
3MAV_ODID_VER_ACC_25_METERThe vertical accuracy is smaller than 25 meter.
4MAV_ODID_VER_ACC_10_METERThe vertical accuracy is smaller than 10 meter.
5MAV_ODID_VER_ACC_3_METERThe vertical accuracy is smaller than 3 meter.
6MAV_ODID_VER_ACC_1_METERThe vertical accuracy is smaller than 1 meter.

MAV_ODID_SPEED_ACC

[Enum]

ValueField NameDescription
0MAV_ODID_SPEED_ACC_UNKNOWNThe speed accuracy is unknown.
1MAV_ODID_SPEED_ACC_10_METERS_PER_SECONDThe speed accuracy is smaller than 10 meters per second.
2MAV_ODID_SPEED_ACC_3_METERS_PER_SECONDThe speed accuracy is smaller than 3 meters per second.
3MAV_ODID_SPEED_ACC_1_METERS_PER_SECONDThe speed accuracy is smaller than 1 meters per second.
4MAV_ODID_SPEED_ACC_0_3_METERS_PER_SECONDThe speed accuracy is smaller than 0.3 meters per second.

MAV_ODID_TIME_ACC

[Enum]

ValueField NameDescription
0MAV_ODID_TIME_ACC_UNKNOWNThe timestamp accuracy is unknown.
1MAV_ODID_TIME_ACC_0_1_SECONDThe timestamp accuracy is smaller than or equal to 0.1 second.
2MAV_ODID_TIME_ACC_0_2_SECONDThe timestamp accuracy is smaller than or equal to 0.2 second.
3MAV_ODID_TIME_ACC_0_3_SECONDThe timestamp accuracy is smaller than or equal to 0.3 second.
4MAV_ODID_TIME_ACC_0_4_SECONDThe timestamp accuracy is smaller than or equal to 0.4 second.
5MAV_ODID_TIME_ACC_0_5_SECONDThe timestamp accuracy is smaller than or equal to 0.5 second.
6MAV_ODID_TIME_ACC_0_6_SECONDThe timestamp accuracy is smaller than or equal to 0.6 second.
7MAV_ODID_TIME_ACC_0_7_SECONDThe timestamp accuracy is smaller than or equal to 0.7 second.
8MAV_ODID_TIME_ACC_0_8_SECONDThe timestamp accuracy is smaller than or equal to 0.8 second.
9MAV_ODID_TIME_ACC_0_9_SECONDThe timestamp accuracy is smaller than or equal to 0.9 second.
10MAV_ODID_TIME_ACC_1_0_SECONDThe timestamp accuracy is smaller than or equal to 1.0 second.
11MAV_ODID_TIME_ACC_1_1_SECONDThe timestamp accuracy is smaller than or equal to 1.1 second.
12MAV_ODID_TIME_ACC_1_2_SECONDThe timestamp accuracy is smaller than or equal to 1.2 second.
13MAV_ODID_TIME_ACC_1_3_SECONDThe timestamp accuracy is smaller than or equal to 1.3 second.
14MAV_ODID_TIME_ACC_1_4_SECONDThe timestamp accuracy is smaller than or equal to 1.4 second.
15MAV_ODID_TIME_ACC_1_5_SECONDThe timestamp accuracy is smaller than or equal to 1.5 second.

MAV_ODID_AUTH_TYPE

[Enum]

ValueField NameDescription
0MAV_ODID_AUTH_TYPE_NONENo authentication type is specified.
1MAV_ODID_AUTH_TYPE_UAS_ID_SIGNATURESignature for the UAS (Unmanned Aircraft System) ID.
2MAV_ODID_AUTH_TYPE_OPERATOR_ID_SIGNATURESignature for the Operator ID.
3MAV_ODID_AUTH_TYPE_MESSAGE_SET_SIGNATURESignature for the entire message set.
4MAV_ODID_AUTH_TYPE_NETWORK_REMOTE_IDAuthentication is provided by Network Remote ID.

MAV_ODID_DESC_TYPE

[Enum]

ValueField NameDescription
0MAV_ODID_DESC_TYPE_TEXTFree-form text description of the purpose of the flight.

MAV_ODID_OPERATOR_LOCATION_TYPE

[Enum]

ValueField NameDescription
0MAV_ODID_OPERATOR_LOCATION_TYPE_TAKEOFFThe location of the operator is the same as the take-off location.
1MAV_ODID_OPERATOR_LOCATION_TYPE_LIVE_GNSSThe location of the operator is based on live GNSS data.
2MAV_ODID_OPERATOR_LOCATION_TYPE_FIXEDThe location of the operator is a fixed location.

MAV_ODID_CLASSIFICATION_TYPE

[Enum]

ValueField NameDescription
0MAV_ODID_CLASSIFICATION_TYPE_UNDECLAREDThe classification type for the UA is undeclared.
1MAV_ODID_CLASSIFICATION_TYPE_EUThe classification type for the UA follows EU (European Union) specifications.

MAV_ODID_CATEGORY_EU

[Enum]

ValueField NameDescription
0MAV_ODID_CATEGORY_EU_UNDECLAREDThe category for the UA, according to the EU specification, is undeclared.
1MAV_ODID_CATEGORY_EU_OPENThe category for the UA, according to the EU specification, is the Open category.
2MAV_ODID_CATEGORY_EU_SPECIFICThe category for the UA, according to the EU specification, is the Specific category.
3MAV_ODID_CATEGORY_EU_CERTIFIEDThe category for the UA, according to the EU specification, is the Certified category.

MAV_ODID_CLASS_EU

[Enum]

ValueField NameDescription
0MAV_ODID_CLASS_EU_UNDECLAREDThe class for the UA, according to the EU specification, is undeclared.
1MAV_ODID_CLASS_EU_CLASS_0The class for the UA, according to the EU specification, is Class 0.
2MAV_ODID_CLASS_EU_CLASS_1The class for the UA, according to the EU specification, is Class 1.
3MAV_ODID_CLASS_EU_CLASS_2The class for the UA, according to the EU specification, is Class 2.
4MAV_ODID_CLASS_EU_CLASS_3The class for the UA, according to the EU specification, is Class 3.
5MAV_ODID_CLASS_EU_CLASS_4The class for the UA, according to the EU specification, is Class 4.
6MAV_ODID_CLASS_EU_CLASS_5The class for the UA, according to the EU specification, is Class 5.
7MAV_ODID_CLASS_EU_CLASS_6The class for the UA, according to the EU specification, is Class 6.

MAV_ODID_OPERATOR_ID_TYPE

[Enum]

ValueField NameDescription
0MAV_ODID_OPERATOR_ID_TYPE_CAACAA (Civil Aviation Authority) registered operator ID.

TUNE_FORMAT

[Enum] Tune formats (used for vehicle buzzer/tone generation).

ValueField NameDescription
1TUNE_FORMAT_QBASIC1_1Format is QBasic 1.1 Play: https://www.qbasic.net/en/reference/qb11/Statement/PLAY-006.htm.
2TUNE_FORMAT_MML_MODERNFormat is Modern Music Markup Language (MML): https://en.wikipedia.org/wiki/Music_Macro_Language#Modern_MML.

COMPONENT_CAP_FLAGS

[Enum] Component capability flags (Bitmap)

ValueField NameDescription
1COMPONENT_CAP_FLAGS_PARAMComponent has parameters, and supports the parameter protocol (PARAM messages).
2COMPONENT_CAP_FLAGS_PARAM_EXTComponent has parameters, and supports the extended parameter protocol (PARAM_EXT messages).

AIS_TYPE

[Enum] Type of AIS vessel, enum duplicated from AIS standard, https://gpsd.gitlab.io/gpsd/AIVDM.html

ValueField NameDescription
0AIS_TYPE_UNKNOWNNot available (default).
1AIS_TYPE_RESERVED_1
2AIS_TYPE_RESERVED_2
3AIS_TYPE_RESERVED_3
4AIS_TYPE_RESERVED_4
5AIS_TYPE_RESERVED_5
6AIS_TYPE_RESERVED_6
7AIS_TYPE_RESERVED_7
8AIS_TYPE_RESERVED_8
9AIS_TYPE_RESERVED_9
10AIS_TYPE_RESERVED_10
11AIS_TYPE_RESERVED_11
12AIS_TYPE_RESERVED_12
13AIS_TYPE_RESERVED_13
14AIS_TYPE_RESERVED_14
15AIS_TYPE_RESERVED_15
16AIS_TYPE_RESERVED_16
17AIS_TYPE_RESERVED_17
18AIS_TYPE_RESERVED_18
19AIS_TYPE_RESERVED_19
20AIS_TYPE_WIGWing In Ground effect.
21AIS_TYPE_WIG_HAZARDOUS_A
22AIS_TYPE_WIG_HAZARDOUS_B
23AIS_TYPE_WIG_HAZARDOUS_C
24AIS_TYPE_WIG_HAZARDOUS_D
25AIS_TYPE_WIG_RESERVED_1
26AIS_TYPE_WIG_RESERVED_2
27AIS_TYPE_WIG_RESERVED_3
28AIS_TYPE_WIG_RESERVED_4
29AIS_TYPE_WIG_RESERVED_5
30AIS_TYPE_FISHING
31AIS_TYPE_TOWING
32AIS_TYPE_TOWING_LARGETowing: length exceeds 200m or breadth exceeds 25m.
33AIS_TYPE_DREDGINGDredging or other underwater ops.
34AIS_TYPE_DIVING
35AIS_TYPE_MILITARY
36AIS_TYPE_SAILING
37AIS_TYPE_PLEASURE
38AIS_TYPE_RESERVED_20
39AIS_TYPE_RESERVED_21
40AIS_TYPE_HSCHigh Speed Craft.
41AIS_TYPE_HSC_HAZARDOUS_A
42AIS_TYPE_HSC_HAZARDOUS_B
43AIS_TYPE_HSC_HAZARDOUS_C
44AIS_TYPE_HSC_HAZARDOUS_D
45AIS_TYPE_HSC_RESERVED_1
46AIS_TYPE_HSC_RESERVED_2
47AIS_TYPE_HSC_RESERVED_3
48AIS_TYPE_HSC_RESERVED_4
49AIS_TYPE_HSC_UNKNOWN
50AIS_TYPE_PILOT
51AIS_TYPE_SARSearch And Rescue vessel.
52AIS_TYPE_TUG
53AIS_TYPE_PORT_TENDER
54AIS_TYPE_ANTI_POLLUTIONAnti-pollution equipment.
55AIS_TYPE_LAW_ENFORCEMENT
56AIS_TYPE_SPARE_LOCAL_1
57AIS_TYPE_SPARE_LOCAL_2
58AIS_TYPE_MEDICAL_TRANSPORT
59AIS_TYPE_NONECOMBATANTNoncombatant ship according to RR Resolution No. 18.
60AIS_TYPE_PASSENGER
61AIS_TYPE_PASSENGER_HAZARDOUS_A
62AIS_TYPE_PASSENGER_HAZARDOUS_B
63AIS_TYPE_AIS_TYPE_PASSENGER_HAZARDOUS_C
64AIS_TYPE_PASSENGER_HAZARDOUS_D
65AIS_TYPE_PASSENGER_RESERVED_1
66AIS_TYPE_PASSENGER_RESERVED_2
67AIS_TYPE_PASSENGER_RESERVED_3
68AIS_TYPE_AIS_TYPE_PASSENGER_RESERVED_4
69AIS_TYPE_PASSENGER_UNKNOWN
70AIS_TYPE_CARGO
71AIS_TYPE_CARGO_HAZARDOUS_A
72AIS_TYPE_CARGO_HAZARDOUS_B
73AIS_TYPE_CARGO_HAZARDOUS_C
74AIS_TYPE_CARGO_HAZARDOUS_D
75AIS_TYPE_CARGO_RESERVED_1
76AIS_TYPE_CARGO_RESERVED_2
77AIS_TYPE_CARGO_RESERVED_3
78AIS_TYPE_CARGO_RESERVED_4
79AIS_TYPE_CARGO_UNKNOWN
80AIS_TYPE_TANKER
81AIS_TYPE_TANKER_HAZARDOUS_A
82AIS_TYPE_TANKER_HAZARDOUS_B
83AIS_TYPE_TANKER_HAZARDOUS_C
84AIS_TYPE_TANKER_HAZARDOUS_D
85AIS_TYPE_TANKER_RESERVED_1
86AIS_TYPE_TANKER_RESERVED_2
87AIS_TYPE_TANKER_RESERVED_3
88AIS_TYPE_TANKER_RESERVED_4
89AIS_TYPE_TANKER_UNKNOWN
90AIS_TYPE_OTHER
91AIS_TYPE_OTHER_HAZARDOUS_A
92AIS_TYPE_OTHER_HAZARDOUS_B
93AIS_TYPE_OTHER_HAZARDOUS_C
94AIS_TYPE_OTHER_HAZARDOUS_D
95AIS_TYPE_OTHER_RESERVED_1
96AIS_TYPE_OTHER_RESERVED_2
97AIS_TYPE_OTHER_RESERVED_3
98AIS_TYPE_OTHER_RESERVED_4
99AIS_TYPE_OTHER_UNKNOWN

AIS_NAV_STATUS

[Enum] Navigational status of AIS vessel, enum duplicated from AIS standard, https://gpsd.gitlab.io/gpsd/AIVDM.html

ValueField NameDescription
0UNDER_WAYUnder way using engine.
1AIS_NAV_ANCHORED
2AIS_NAV_UN_COMMANDED
3AIS_NAV_RESTRICTED_MANOEUVERABILITY
4AIS_NAV_DRAUGHT_CONSTRAINED
5AIS_NAV_MOORED
6AIS_NAV_AGROUND
7AIS_NAV_FISHING
8AIS_NAV_SAILING
9AIS_NAV_RESERVED_HSC
10AIS_NAV_RESERVED_WIG
11AIS_NAV_RESERVED_1
12AIS_NAV_RESERVED_2
13AIS_NAV_RESERVED_3
14AIS_NAV_AIS_SARTSearch And Rescue Transponder.
15AIS_NAV_UNKNOWNNot available (default).

AIS_FLAGS

[Enum] These flags are used in the AIS_VESSEL.fields bitmask to indicate validity of data in the other message fields. When set, the data is valid.

ValueField NameDescription
1AIS_FLAGS_POSITION_ACCURACY1 = Position accuracy less than 10m, 0 = position accuracy greater than 10m.
2AIS_FLAGS_VALID_COG
4AIS_FLAGS_VALID_VELOCITY
8AIS_FLAGS_HIGH_VELOCITY1 = Velocity over 52.5765m/s (102.2 knots)
16AIS_FLAGS_VALID_TURN_RATE
32AIS_FLAGS_TURN_RATE_SIGN_ONLYOnly the sign of the returned turn rate value is valid, either greater than 5deg/30s or less than -5deg/30s
64AIS_FLAGS_VALID_DIMENSIONS
128AIS_FLAGS_LARGE_BOW_DIMENSIONDistance to bow is larger than 511m
256AIS_FLAGS_LARGE_STERN_DIMENSIONDistance to stern is larger than 511m
512AIS_FLAGS_LARGE_PORT_DIMENSIONDistance to port side is larger than 63m
1024AIS_FLAGS_LARGE_STARBOARD_DIMENSIONDistance to starboard side is larger than 63m
2048AIS_FLAGS_VALID_CALLSIGN
4096AIS_FLAGS_VALID_NAME

FAILURE_UNIT

[Enum] List of possible units where failures can be injected.

ValueField NameDescription
0FAILURE_UNIT_SENSOR_GYRO
1FAILURE_UNIT_SENSOR_ACCEL
2FAILURE_UNIT_SENSOR_MAG
3FAILURE_UNIT_SENSOR_BARO
4FAILURE_UNIT_SENSOR_GPS
5FAILURE_UNIT_SENSOR_OPTICAL_FLOW
6FAILURE_UNIT_SENSOR_VIO
7FAILURE_UNIT_SENSOR_DISTANCE_SENSOR
8FAILURE_UNIT_SENSOR_AIRSPEED
100FAILURE_UNIT_SYSTEM_BATTERY
101FAILURE_UNIT_SYSTEM_MOTOR
102FAILURE_UNIT_SYSTEM_SERVO
103FAILURE_UNIT_SYSTEM_AVOIDANCE
104FAILURE_UNIT_SYSTEM_RC_SIGNAL

FAILURE_TYPE

[Enum] List of possible failure type to inject.

ValueField NameDescription
0FAILURE_TYPE_OKNo failure injected, used to reset a previous failure.
1FAILURE_TYPE_OFFSets unit off, so completely non-responsive.
2FAILURE_TYPE_STUCKUnit is stuck e.g. keeps reporting the same value.
3FAILURE_TYPE_GARBAGEUnit is reporting complete garbage.
4FAILURE_TYPE_WRONGUnit is consistently wrong.
5FAILURE_TYPE_SLOWUnit is slow, so e.g. reporting at slower than expected rate.
6FAILURE_TYPE_DELAYEDData of unit is delayed in time.
7FAILURE_TYPE_INTERMITTENTUnit is sometimes working, sometimes not.

MAVLink Commands (MAV_CMD)

MAVLink 指令(MAV_CMD)和消息是不同的! 这个命令在“任务协议”和“指令协议”中定义了最多7个参数的值,并将其嵌入在特定消息中。 使用该指令模式执行任务或者需要获取确认反馈信息时,请根据返回内容使用重新发送逻辑 否则使用mavlink的message。

Commands to be executed by the MAV. They can be executed on user request, or as part of a mission script. If the action is used in a mission, the parameter mapping to the waypoint/mission message is as follows: Param 1, Param 2, Param 3, Param 4, X: Param 5, Y:Param 6, Z:Param 7. This command list is similar what ARINC 424 is for commercial aircraft: A data format how to interpret waypoint/mission data. NaN and INT32_MAX may be used in float/integer params (respectively) to indicate optional/default values (e.g. to use the component's current yaw or latitude rather than a specific value). See https://mavlink.io/en/guide/xml_schema.html#MAV_CMD for information about the structure of the MAV_CMD entries

MAV_CMD_NAV_WAYPOINT (16 )

[Command] Navigate to waypoint.

Param (:Label)DescriptionValuesUnits
1: HoldHold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)min:0s
2: Accept RadiusAcceptance radius (if the sphere with this radius is hit, the waypoint counts as reached)min:0m
3: Pass Radius0 to pass through the WP, if > 0 radius to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.m
4: YawDesired yaw angle at waypoint (rotary wing). NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).deg
5: LatitudeLatitude
6: LongitudeLongitude
7: AltitudeAltitudem

MAV_CMD_NAV_LOITER_UNLIM (17 )

[Command] Loiter around this waypoint an unlimited amount of time

Param (:Label)DescriptionUnits
1Empty
2Empty
3: RadiusLoiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, else counter-clockwisem
4: YawDesired yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).deg
5: LatitudeLatitude
6: LongitudeLongitude
7: AltitudeAltitudem

MAV_CMD_NAV_LOITER_TURNS (18 )

[Command] Loiter around this waypoint for X turns

Param (:Label)DescriptionValuesUnits
1: TurnsNumber of turns.min:0
2: Heading RequiredLeave loiter circle only once heading towards the next waypoint (0 = False)min:0 max:1 increment:1
3: RadiusLoiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, else counter-clockwisem
4: Xtrack LocationLoiter circle exit location and/or path to next waypoint ("xtrack") for forward-only moving vehicles (not multicopters). 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use the current system default xtrack behaviour.
5: LatitudeLatitude
6: LongitudeLongitude
7: AltitudeAltitudem

MAV_CMD_NAV_LOITER_TIME (19 )

[Command] Loiter at the specified latitude, longitude and altitude for a certain amount of time. Multicopter vehicles stop at the point (within a vehicle-specific acceptance radius). Forward-only moving vehicles (e.g. fixed-wing) circle the point with the specified radius/direction. If the Heading Required parameter (2) is non-zero forward moving aircraft will only leave the loiter circle once heading towards the next waypoint.

Param (:Label)DescriptionValuesUnits
1: TimeLoiter time (only starts once Lat, Lon and Alt is reached).min:0s
2: Heading RequiredLeave loiter circle only once heading towards the next waypoint (0 = False)min:0 max:1 increment:1
3: RadiusLoiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, else counter-clockwise.m
4: Xtrack LocationLoiter circle exit location and/or path to next waypoint ("xtrack") for forward-only moving vehicles (not multicopters). 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use the current system default xtrack behaviour.
5: LatitudeLatitude
6: LongitudeLongitude
7: AltitudeAltitudem

MAV_CMD_NAV_RETURN_TO_LAUNCH (20 )

[Command] Return to launch location

Param (:Label)Description
1Empty
2Empty
3Empty
4Empty
5Empty
6Empty
7Empty

MAV_CMD_NAV_LAND (21 )

[Command] Land at location.

Param (:Label)DescriptionValuesUnits
1: Abort AltMinimum target altitude if landing is aborted (0 = undefined/use system default).m
2: Land ModePrecision land mode.PRECISION_LAND_MODE
3Empty
4: Yaw AngleDesired yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).deg
5: LatitudeLatitude.
6: LongitudeLongitude.
7: AltitudeLanding altitude (ground level in current frame).m

MAV_CMD_NAV_TAKEOFF (22 )

[Command] Takeoff from ground / hand. Vehicles that support multiple takeoff modes (e.g. VTOL quadplane) should take off using the currently configured mode.

Param (:Label)DescriptionUnits
1: PitchMinimum pitch (if airspeed sensor present), desired pitch without sensordeg
2Empty
3Empty
4: YawYaw angle (if magnetometer present), ignored without magnetometer. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).deg
5: LatitudeLatitude
6: LongitudeLongitude
7: AltitudeAltitudem

MAV_CMD_NAV_LAND_LOCAL (23 )

[Command] Land at local position (local frame only)

Param (:Label)DescriptionValuesUnits
1: TargetLanding target number (if available)min:0 increment:1
2: OffsetMaximum accepted offset from desired landing position - computed magnitude from spherical coordinates: d = sqrt(x^2 + y^2 + z^2), which gives the maximum accepted distance between the desired landing position and the position where the vehicle is about to landmin:0m
3: Descend RateLanding descend ratem/s
4: YawDesired yaw anglerad
5: Y PositionY-axis positionm
6: X PositionX-axis positionm
7: Z PositionZ-axis / ground level positionm

MAV_CMD_NAV_TAKEOFF_LOCAL (24 )

[Command] Takeoff from local position (local frame only)

Param (:Label)DescriptionUnits
1: PitchMinimum pitch (if airspeed sensor present), desired pitch without sensorrad
2Empty
3: Ascend RateTakeoff ascend ratem/s
4: YawYaw angle (if magnetometer or another yaw estimation source present), ignored without one of theserad
5: Y PositionY-axis positionm
6: X PositionX-axis positionm
7: Z PositionZ-axis positionm

MAV_CMD_NAV_FOLLOW (25 )

[Command] Vehicle following, i.e. this waypoint represents the position of a moving vehicle

Param (:Label)DescriptionValuesUnits
1: FollowingFollowing logic to use (e.g. loitering or sinusoidal following) - depends on specific autopilot implementationincrement:1
2: Ground SpeedGround speed of vehicle to be followedm/s
3: RadiusRadius around waypoint. If positive loiter clockwise, else counter-clockwisem
4: YawDesired yaw angle.deg
5: LatitudeLatitude
6: LongitudeLongitude
7: AltitudeAltitudem

MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT (30 )

[Command] Continue on the current course and climb/descend to specified altitude. When the altitude is reached continue to the next command (i.e., don't proceed to the next command until the desired altitude is reached.

Param (:Label)DescriptionValuesUnits
1: ActionClimb or Descend (0 = Neutral, command completes when within 5m of this command's altitude, 1 = Climbing, command completes when at or above this command's altitude, 2 = Descending, command completes when at or below this command's altitude.min:0 max:2 increment:1
2Empty
3Empty
4Empty
5Empty
6Empty
7: AltitudeDesired altitudem

MAV_CMD_NAV_LOITER_TO_ALT (31 )

[Command] Begin loiter at the specified Latitude and Longitude. If Lat=Lon=0, then loiter at the current position. Don't consider the navigation command complete (don't leave loiter) until the altitude has been reached. Additionally, if the Heading Required parameter is non-zero the aircraft will not leave the loiter until heading toward the next waypoint.

Param (:Label)DescriptionValuesUnits
1: Heading RequiredLeave loiter circle only once heading towards the next waypoint (0 = False)min:0 max:1 increment:1
2: RadiusLoiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, negative counter-clockwise, 0 means no change to standard loiter.m
3Empty
4: Xtrack LocationLoiter circle exit location and/or path to next waypoint ("xtrack") for forward-only moving vehicles (not multicopters). 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use the current system default xtrack behaviour.min:0 max:1 increment:1
5: LatitudeLatitude
6: LongitudeLongitude
7: AltitudeAltitudem

MAV_CMD_DO_FOLLOW (32 )

[Command] Begin following a target

Param (:Label)DescriptionValuesUnits
1: System IDSystem ID (of the FOLLOW_TARGET beacon). Send 0 to disable follow-me and return to the default position hold mode.min:0 max:255 increment:1
2Reserved
3Reserved
4: Altitude ModeAltitude mode: 0: Keep current altitude, 1: keep altitude difference to target, 2: go to a fixed altitude above home.min:0 max:2 increment:1
5: AltitudeAltitude above home. (used if mode=2)m
6Reserved
7: Time to LandTime to land in which the MAV should go to the default position hold mode after a message RX timeout.min:0s

MAV_CMD_DO_FOLLOW_REPOSITION (33 )

[Command] Reposition the MAV after a follow target command has been sent

Param (:Label)DescriptionUnits
1: Camera Q1Camera q1 (where 0 is on the ray from the camera to the tracking device)
2: Camera Q2Camera q2
3: Camera Q3Camera q3
4: Camera Q4Camera q4
5: Altitude Offsetaltitude offset from targetm
6: X OffsetX offset from targetm
7: Y OffsetY offset from targetm

MAV_CMD_DO_ORBIT (34 )

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

[Command] Start orbiting on the circumference of a circle defined by the parameters. Setting any value NaN results in using defaults.

Param (:Label)DescriptionValuesUnits
1: RadiusRadius of the circle. positive: Orbit clockwise. negative: Orbit counter-clockwise.m
2: VelocityTangential Velocity. NaN: Vehicle configuration default.m/s
3: Yaw BehaviorYaw behavior of the vehicle.ORBIT_YAW_BEHAVIOUR
4Reserved (e.g. for dynamic center beacon options)
5: Latitude/XCenter point latitude (if no MAV_FRAME specified) / X coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.
6: Longitude/YCenter point longitude (if no MAV_FRAME specified) / Y coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.
7: Altitude/ZCenter point altitude (MSL) (if no MAV_FRAME specified) / Z coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.

MAV_CMD_NAV_ROI (80 )

DEPRECATED: Replaced by MAV_CMD_DO_SET_ROI_* (2018-01).

[Command] Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras.

Param (:Label)DescriptionValues
1: ROI ModeRegion of interest mode.MAV_ROI
2: WP IndexWaypoint index/ target ID. (see MAV_ROI enum)min:0 increment:1
3: ROI IndexROI index (allows a vehicle to manage multiple ROI's)min:0 increment:1
4Empty
5: Xx the location of the fixed ROI (see MAV_FRAME)
6: Yy
7: Zz

MAV_CMD_NAV_PATHPLANNING (81 )

[Command] Control autonomous path planning on the MAV.

Param (:Label)DescriptionValuesUnits
1: Local Ctrl0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planningmin:0 max:2 increment:1
2: Global Ctrl0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy gridmin:0 max:3 increment:1
3Empty
4: YawYaw angle at goaldeg
5: Latitude/XLatitude/X of goal
6: Longitude/YLongitude/Y of goal
7: Altitude/ZAltitude/Z of goal

MAV_CMD_NAV_SPLINE_WAYPOINT (82 )

[Command] Navigate to waypoint using a spline path.

Param (:Label)DescriptionValuesUnits
1: HoldHold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)min:0s
2Empty
3Empty
4Empty
5: Latitude/XLatitude/X of goal
6: Longitude/YLongitude/Y of goal
7: Altitude/ZAltitude/Z of goal

MAV_CMD_NAV_VTOL_TAKEOFF (84 )

[Command] Takeoff from ground using VTOL mode, and transition to forward flight with specified heading. The command should be ignored by vehicles that dont support both VTOL and fixed-wing flight (multicopters, boats,etc.).

Param (:Label)DescriptionValuesUnits
1Empty
2: Transition HeadingFront transition heading.VTOL_TRANSITION_HEADING
3Empty
4: Yaw AngleYaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).deg
5: LatitudeLatitude
6: LongitudeLongitude
7: AltitudeAltitudem

MAV_CMD_NAV_VTOL_LAND (85 )

[Command] Land using VTOL mode

Param (:Label)DescriptionUnits
1Empty
2Empty
3: Approach AltitudeApproach altitude (with the same reference as the Altitude field). NaN if unspecified.m
4: YawYaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).deg
5: LatitudeLatitude
6: LongitudeLongitude
7: Ground AltitudeAltitude (ground level)m

MAV_CMD_NAV_GUIDED_ENABLE (92 )

[Command] hand control over to an external controller

Param (:Label)DescriptionValues
1: EnableOn / Off (> 0.5f on)min:0 max:1 increment:1
2Empty
3Empty
4Empty
5Empty
6Empty
7Empty

MAV_CMD_NAV_DELAY (93 )

[Command] Delay the next navigation command a number of seconds or until a specified time

Param (:Label)DescriptionValuesUnits
1: DelayDelay (-1 to enable time-of-day fields)min: -1 increment:1s
2: Hourhour (24h format, UTC, -1 to ignore)min: -1 max:23 increment:1
3: Minuteminute (24h format, UTC, -1 to ignore)min: -1 max:59 increment:1
4: Secondsecond (24h format, UTC)min: -1 max:59 increment:1
5Empty
6Empty
7Empty

MAV_CMD_NAV_PAYLOAD_PLACE (94 )

[Command] Descend and place payload. Vehicle moves to specified location, descends until it detects a hanging payload has reached the ground, and then releases the payload. If ground is not detected before the reaching the maximum descent value (param1), the command will complete without releasing the payload.

Param (:Label)DescriptionValuesUnits
1: Max DescentMaximum distance to descend.min:0m
2Empty
3Empty
4Empty
5: LatitudeLatitude
6: LongitudeLongitude
7: AltitudeAltitudem

MAV_CMD_NAV_LAST (95 )

[Command] NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration

Param (:Label)Description
1Empty
2Empty
3Empty
4Empty
5Empty
6Empty
7Empty

MAV_CMD_CONDITION_DELAY (112 )

[Command] Delay mission state machine.

Param (:Label)DescriptionValuesUnits
1: DelayDelaymin:0s
2Empty
3Empty
4Empty
5Empty
6Empty
7Empty

MAV_CMD_CONDITION_CHANGE_ALT (113 )

[Command] Ascend/descend to target altitude at specified rate. Delay mission state machine until desired altitude reached.

Param (:Label)DescriptionUnits
1: RateDescent / Ascend rate.m/s
2Empty
3Empty
4Empty
5Empty
6Empty
7: AltitudeTarget Altitudem

MAV_CMD_CONDITION_DISTANCE (114 )

[Command] Delay mission state machine until within desired distance of next NAV point.

Param (:Label)DescriptionValuesUnits
1: DistanceDistance.min:0m
2Empty
3Empty
4Empty
5Empty
6Empty
7Empty

MAV_CMD_CONDITION_YAW (115 )

[Command] Reach a certain target angle.

Param (:Label)DescriptionValuesUnits
1: Angletarget angle, 0 is northdeg
2: Angular Speedangular speeddeg/s
3: Directiondirection: -1: counter clockwise, 1: clockwisemin: -1 max:1 increment:2
4: Relative0: absolute angle, 1: relative offsetmin:0 max:1 increment:1
5Empty
6Empty
7Empty

MAV_CMD_CONDITION_LAST (159 )

[Command] NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration

Param (:Label)Description
1Empty
2Empty
3Empty
4Empty
5Empty
6Empty
7Empty

MAV_CMD_DO_SET_MODE (176 )

[Command] Set system mode.

Param (:Label)DescriptionValues
1: ModeModeMAV_MODE
2: Custom ModeCustom mode - this is system specific, please refer to the individual autopilot specifications for details.
3: Custom SubmodeCustom sub mode - this is system specific, please refer to the individual autopilot specifications for details.
4Empty
5Empty
6Empty
7Empty

MAV_CMD_DO_JUMP (177 )

[Command] Jump to the desired command in the mission list. Repeat this action only the specified number of times

Param (:Label)DescriptionValues
1: NumberSequence numbermin:0 increment:1
2: RepeatRepeat countmin:0 increment:1
3Empty
4Empty
5Empty
6Empty
7Empty

MAV_CMD_DO_CHANGE_SPEED (178 )

[Command] Change speed and/or throttle set points.

Param (:Label)DescriptionValuesUnits
1: Speed TypeSpeed type (0=Airspeed, 1=Ground Speed, 2=Climb Speed, 3=Descent Speed)min:0 max:3 increment:1
2: SpeedSpeed (-1 indicates no change)min: -1m/s
3: ThrottleThrottle (-1 indicates no change)min: -1%
4: Relative0: absolute, 1: relativemin:0 max:1 increment:1
5Empty
6Empty
7Empty

MAV_CMD_DO_SET_HOME (179 )

[Command] Changes the home location either to the current location or a specified location.

Param (:Label)DescriptionValuesUnits
1: Use CurrentUse current (1=use current location, 0=use specified location)min:0 max:1 increment:1
2Empty
3Empty
4: YawYaw angle. NaN to use default headingdeg
5: LatitudeLatitude
6: LongitudeLongitude
7: AltitudeAltitudem

MAV_CMD_DO_SET_PARAMETER (180 )

[Command] Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter.

Param (:Label)DescriptionValues
1: NumberParameter numbermin:0 increment:1
2: ValueParameter value
3Empty
4Empty
5Empty
6Empty
7Empty

MAV_CMD_DO_SET_RELAY (181 )

[Command] Set a relay to a condition.

Param (:Label)DescriptionValues
1: InstanceRelay instance number.min:0 increment:1
2: SettingSetting. (1=on, 0=off, others possible depending on system hardware)min:0 increment:1
3Empty
4Empty
5Empty
6Empty
7Empty

MAV_CMD_DO_REPEAT_RELAY (182 )

[Command] Cycle a relay on and off for a desired number of cycles with a desired period.

Param (:Label)DescriptionValuesUnits
1: InstanceRelay instance number.min:0 increment:1
2: CountCycle count.min:1 increment:1
3: TimeCycle time.min:0s
4Empty
5Empty
6Empty
7Empty

MAV_CMD_DO_SET_SERVO (183 )

[Command] Set a servo to a desired PWM value.

Param (:Label)DescriptionValuesUnits
1: InstanceServo instance number.min:0 increment:1
2: PWMPulse Width Modulation.min:0 increment:1us
3Empty
4Empty
5Empty
6Empty
7Empty

MAV_CMD_DO_REPEAT_SERVO (184 )

[Command] Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period.

Param (:Label)DescriptionValuesUnits
1: InstanceServo instance number.min:0 increment:1
2: PWMPulse Width Modulation.min:0 increment:1us
3: CountCycle count.min:1 increment:1
4: TimeCycle time.min:0s
5Empty
6Empty
7Empty

MAV_CMD_DO_FLIGHTTERMINATION (185 )

[Command] Terminate flight immediately

Param (:Label)DescriptionValues
1: TerminateFlight termination activated if > 0.5min:0 max:1 increment:1
2Empty
3Empty
4Empty
5Empty
6Empty
7Empty

MAV_CMD_DO_CHANGE_ALTITUDE (186 )

[Command] Change altitude set point.

Param (:Label)DescriptionValuesUnits
1: AltitudeAltitudem
2: FrameFrame of new altitude.MAV_FRAME
3Empty
4Empty
5Empty
6Empty
7Empty

MAV_CMD_DO_SET_ACTUATOR (187 )

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

[Command] Sets actuators (e.g. servos) to a desired value. The actuator numbers are mapped to specific outputs (e.g. on any MAIN or AUX PWM or UAVCAN) using a flight-stack specific mechanism (i.e. a parameter).

Param (:Label)DescriptionValues
1: Actuator 1Actuator 1 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max:1
2: Actuator 2Actuator 2 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max:1
3: Actuator 3Actuator 3 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max:1
4: Actuator 4Actuator 4 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max:1
5: Actuator 5Actuator 5 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max:1
6: Actuator 6Actuator 6 value, scaled from [-1 to 1]. NaN to ignore.min: -1 max:1
7: IndexIndex of actuator set (i.e if set to 1, Actuator 1 becomes Actuator 7)min:0 increment:1

MAV_CMD_DO_LAND_START (189 )

[Command] Mission command to perform a landing. This is used as a marker in a mission to tell the autopilot where a sequence of mission items that represents a landing starts. It may also be sent via a COMMAND_LONG to trigger a landing, in which case the nearest (geographically) landing sequence in the mission will be used. The Latitude/Longitude is optional, and may be set to 0 if not needed. If specified then it will be used to help find the closest landing sequence.

Param (:Label)Description
1Empty
2Empty
3Empty
4Empty
5: LatitudeLatitude
6: LongitudeLongitude
7Empty

MAV_CMD_DO_RALLY_LAND (190 )

[Command] Mission command to perform a landing from a rally point.

Param (:Label)DescriptionUnits
1: AltitudeBreak altitudem
2: SpeedLanding speedm/s
3Empty
4Empty
5Empty
6Empty
7Empty

MAV_CMD_DO_GO_AROUND (191 )

[Command] Mission command to safely abort an autonomous landing.

Param (:Label)DescriptionUnits
1: AltitudeAltitudem
2Empty
3Empty
4Empty
5Empty
6Empty
7Empty

MAV_CMD_DO_REPOSITION (192 )

[Command] Reposition the vehicle to a specific WGS84 global position.

Param (:Label)DescriptionValuesUnits
1: SpeedGround speed, less than 0 (-1) for defaultmin: -1m/s
2: BitmaskBitmask of option flags.MAV_DO_REPOSITION_FLAGS
3Reserved
4: YawYaw heading. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.). For planes indicates loiter direction (0: clockwise, 1: counter clockwise)deg
5: LatitudeLatitude
6: LongitudeLongitude
7: AltitudeAltitudem

MAV_CMD_DO_PAUSE_CONTINUE (193 )

[Command] If in a GPS controlled position mode, hold the current position or continue.

Param (:Label)DescriptionValues
1: Continue0: Pause current mission or reposition command, hold current position. 1: Continue mission. A VTOL capable vehicle should enter hover mode (multicopter and VTOL planes). A plane should loiter with the default loiter radius.min:0 max:1 increment:1
2Reserved
3Reserved
4Reserved
5Reserved
6Reserved
7Reserved

MAV_CMD_DO_SET_REVERSE (194 )

[Command] Set moving direction to forward or reverse.

Param (:Label)DescriptionValues
1: ReverseDirection (0=Forward, 1=Reverse)min:0 max:1 increment:1
2Empty
3Empty
4Empty
5Empty
6Empty
7Empty

MAV_CMD_DO_SET_ROI_LOCATION (195 )

[Command] Sets the region of interest (ROI) to a location. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal is not to react to this message.

Param (:Label)DescriptionUnits
1: Gimbal device IDComponent ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. (Send command multiple times for more than one but not all gimbals.)
2Empty
3Empty
4Empty
5: LatitudeLatitude of ROI locationdegE7
6: LongitudeLongitude of ROI locationdegE7
7: AltitudeAltitude of ROI locationm

MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET (196 )

[Command] Sets the region of interest (ROI) to be toward next waypoint, with optional pitch/roll/yaw offset. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message.

Param (:Label)Description
1: Gimbal device IDComponent ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. (Send command multiple times for more than one but not all gimbals.)
2Empty
3Empty
4Empty
5: Pitch OffsetPitch offset from next waypoint, positive tilting up
6: Roll Offsetroll offset from next waypoint, positive banking to the right
7: Yaw Offsetyaw offset from next waypoint, positive panning to the right

MAV_CMD_DO_SET_ROI_NONE (197 )

[Command] Cancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message. After this command the gimbal manager should go back to manual input if available, and otherwise assume a neutral position.

Param (:Label)Description
1: Gimbal device IDComponent ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. (Send command multiple times for more than one but not all gimbals.)
2Empty
3Empty
4Empty
5Empty
6Empty
7Empty

MAV_CMD_DO_SET_ROI_SYSID (198 )

[Command] Mount tracks system with specified system ID. Determination of target vehicle position may be done with GLOBAL_POSITION_INT or any other means. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message.

Param (:Label)DescriptionValues
1: System IDSystem IDmin:1 max:255 increment:1
2: Gimbal device IDComponent ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. (Send command multiple times for more than one but not all gimbals.)

MAV_CMD_DO_CONTROL_VIDEO (200 )

[Command] Control onboard camera system.

Param (:Label)DescriptionValuesUnits
1: IDCamera ID (-1 for all)min: -1 increment:1
2: TransmissionTransmission: 0: disabled, 1: enabled compressed, 2: enabled rawmin:0 max:2 increment:1
3: IntervalTransmission mode: 0: video stream, >0: single images every n secondsmin:0s
4: RecordingRecording: 0: disabled, 1: enabled compressed, 2: enabled rawmin:0 max:2 increment:1
5Empty
6Empty
7Empty

MAV_CMD_DO_SET_ROI (201 )

DEPRECATED: Replaced by MAV_CMD_DO_SET_ROI_* (2018-01).

[Command] Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras.

Param (:Label)DescriptionValues
1: ROI ModeRegion of interest mode.MAV_ROI
2: WP IndexWaypoint index/ target ID (depends on param 1).min:0 increment:1
3: ROI IndexRegion of interest index. (allows a vehicle to manage multiple ROI's)min:0 increment:1
4Empty
5MAV_ROI_WPNEXT: pitch offset from next waypoint, MAV_ROI_LOCATION: latitude
6MAV_ROI_WPNEXT: roll offset from next waypoint, MAV_ROI_LOCATION: longitude
7MAV_ROI_WPNEXT: yaw offset from next waypoint, MAV_ROI_LOCATION: altitude

MAV_CMD_DO_DIGICAM_CONFIGURE (202 )

[Command] Configure digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ).

Param (:Label)DescriptionValuesUnits
1: ModeModes: P, TV, AV, M, Etc.min:0 increment:1
2: Shutter SpeedShutter speed: Divisor number for one second.min:0 increment:1
3: ApertureAperture: F stop number.min:0
4: ISOISO number e.g. 80, 100, 200, Etc.min:0 increment:1
5: ExposureExposure type enumerator.
6: Command IdentityCommand Identity.
7: Engine Cut-offMain engine cut-off time before camera trigger. (0 means no cut-off)min:0 increment:1ds

MAV_CMD_DO_DIGICAM_CONTROL (203 )

[Command] Control digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ).

Param (:Label)Description
1: Session ControlSession control e.g. show/hide lens
2: Zoom AbsoluteZoom's absolute position
3: Zoom RelativeZooming step value to offset zoom from the current position
4: FocusFocus Locking, Unlocking or Re-locking
5: Shoot CommandShooting Command
6: Command IdentityCommand Identity
7: Shot IDTest shot identifier. If set to 1, image will only be captured, but not counted towards internal frame count.

MAV_CMD_DO_MOUNT_CONFIGURE (204 )

DEPRECATED: Replaced by MAV_CMD_DO_GIMBAL_MANAGER_ATTITUDE (2020-01). This message has been superseded by MAV_CMD_DO_GIMBAL_MANAGER_ATTITUDE. The message can still be used to communicate with legacy gimbals implementing it.

[Command] Mission command to configure a camera or antenna mount

Param (:Label)DescriptionValues
1: ModeMount operation modeMAV_MOUNT_MODE
2: Stabilize Rollstabilize roll? (1 = yes, 0 = no)min:0 max:1 increment:1
3: Stabilize Pitchstabilize pitch? (1 = yes, 0 = no)min:0 max:1 increment:1
4: Stabilize Yawstabilize yaw? (1 = yes, 0 = no)min:0 max:1 increment:1
5: Roll Input Moderoll input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)
6: Pitch Input Modepitch input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)
7: Yaw Input Modeyaw input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)

MAV_CMD_DO_MOUNT_CONTROL (205 )

DEPRECATED: Replaced by MAV_CMD_DO_GIMBAL_MANAGER_ATTITUDE (2020-01). This message is ambiguous and inconsistent. It has been superseded by MAV_CMD_DO_GIMBAL_MANAGER_ATTITUDE and MAV_CMD_DO_SET_ROI_*. The message can still be used to communicate with legacy gimbals implementing it.

[Command] Mission command to control a camera or antenna mount

Param (:Label)DescriptionValuesUnits
1: Pitchpitch depending on mount mode (degrees or degrees/second depending on pitch input).
2: Rollroll depending on mount mode (degrees or degrees/second depending on roll input).
3: Yawyaw depending on mount mode (degrees or degrees/second depending on yaw input).
4: Altitudealtitude depending on mount mode.m
5: Latitudelatitude, set if appropriate mount mode.
6: Longitudelongitude, set if appropriate mount mode.
7: ModeMount mode.MAV_MOUNT_MODE

MAV_CMD_DO_SET_CAM_TRIGG_DIST (206 )

[Command] Mission command to set camera trigger distance for this flight. The camera is triggered each time this distance is exceeded. This command can also be used to set the shutter integration time for the camera.

Param (:Label)DescriptionValuesUnits
1: DistanceCamera trigger distance. 0 to stop triggering.min:0m
2: ShutterCamera shutter integration time. -1 or 0 to ignoremin: -1 increment:1ms
3: TriggerTrigger camera once immediately. (0 = no trigger, 1 = trigger)min:0 max:1 increment:1
4Empty
5Empty
6Empty
7Empty

MAV_CMD_DO_FENCE_ENABLE (207 )

[Command] Mission command to enable the geofence

Param (:Label)DescriptionValues
1: Enableenable? (0=disable, 1=enable, 2=disable_floor_only)min:0 max:2 increment:1
2Empty
3Empty
4Empty
5Empty
6Empty
7Empty

MAV_CMD_DO_PARACHUTE (208 )

[Command] Mission item/command to release a parachute or enable/disable auto release.

Param (:Label)DescriptionValues
1: ActionActionPARACHUTE_ACTION
2Empty
3Empty
4Empty
5Empty
6Empty
7Empty

MAV_CMD_DO_MOTOR_TEST (209 )

[Command] Mission command to perform motor test.

Param (:Label)DescriptionValuesUnits
1: InstanceMotor instance number. (from 1 to max number of motors on the vehicle)min:1 increment:1
2: Throttle TypeThrottle type.MOTOR_TEST_THROTTLE_TYPE
3: ThrottleThrottle.
4: TimeoutTimeout.min:0s
5: Motor CountMotor count. (number of motors to test to test in sequence, waiting for the timeout above between them; 0=1 motor, 1=1 motor, 2=2 motors...)min:0 increment:1
6: Test OrderMotor test order.MOTOR_TEST_ORDER
7Empty

MAV_CMD_DO_INVERTED_FLIGHT (210 )

[Command] Change to/from inverted flight.

Param (:Label)DescriptionValues
1: InvertedInverted flight. (0=normal, 1=inverted)min:0 max:1 increment:1
2Empty
3Empty
4Empty
5Empty
6Empty
7Empty

MAV_CMD_NAV_SET_YAW_SPEED (213 )

[Command] Sets a desired vehicle turn angle and speed change.

Param (:Label)DescriptionValuesUnits
1: YawYaw angle to adjust steering by.deg
2: SpeedSpeed.m/s
3: AngleFinal angle. (0=absolute, 1=relative)min:0 max:1 increment:1
4Empty
5Empty
6Empty
7Empty

MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL (214 )

[Command] Mission command to set camera trigger interval for this flight. If triggering is enabled, the camera is triggered each time this interval expires. This command can also be used to set the shutter integration time for the camera.

Param (:Label)DescriptionValuesUnits
1: Trigger CycleCamera trigger cycle time. -1 or 0 to ignore.min: -1 increment:1ms
2: Shutter IntegrationCamera shutter integration time. Should be less than trigger cycle time. -1 or 0 to ignore.min: -1 increment:1ms
3Empty
4Empty
5Empty
6Empty
7Empty

MAV_CMD_DO_MOUNT_CONTROL_QUAT (220 )

DEPRECATED: Replaced by MAV_CMD_DO_GIMBAL_MANAGER_ATTITUDE (2020-01).

[Command] Mission command to control a camera or antenna mount, using a quaternion as reference.

Param (:Label)Description
1: Q1quaternion param q1, w (1 in null-rotation)
2: Q2quaternion param q2, x (0 in null-rotation)
3: Q3quaternion param q3, y (0 in null-rotation)
4: Q4quaternion param q4, z (0 in null-rotation)
5Empty
6Empty
7Empty

MAV_CMD_DO_GUIDED_MASTER (221 )

[Command] set id of master controller

Param (:Label)DescriptionValues
1: System IDSystem IDmin:0 max:255 increment:1
2: Component IDComponent IDmin:0 max:255 increment:1
3Empty
4Empty
5Empty
6Empty
7Empty

MAV_CMD_DO_GUIDED_LIMITS (222 )

[Command] Set limits for external control

Param (:Label)DescriptionValuesUnits
1: TimeoutTimeout - maximum time that external controller will be allowed to control vehicle. 0 means no timeout.min:0s
2: Min AltitudeAltitude (MSL) min - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit.m
3: Max AltitudeAltitude (MSL) max - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit.m
4: Horiz. Move LimitHorizontal move limit - if vehicle moves more than this distance from its location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal move limit.min:0m
5Empty
6Empty
7Empty

MAV_CMD_DO_ENGINE_CONTROL (223 )

[Command] Control vehicle engine. This is interpreted by the vehicles engine controller to change the target engine state. It is intended for vehicles with internal combustion engines

Param (:Label)DescriptionValuesUnits
1: Start Engine0: Stop engine, 1:Start Enginemin:0 max:1 increment:1
2: Cold Start0: Warm start, 1:Cold start. Controls use of choke where applicablemin:0 max:1 increment:1
3: Height DelayHeight delay. This is for commanding engine start only after the vehicle has gained the specified height. Used in VTOL vehicles during takeoff to start engine after the aircraft is off the ground. Zero for no delay.min:0m
4Empty
5Empty
5Empty
6Empty
7Empty

MAV_CMD_DO_SET_MISSION_CURRENT (224 )

[Command] Set the mission item with sequence number seq as current item. This means that the MAV will continue to this mission item on the shortest path (not following the mission items in-between).

Param (:Label)DescriptionValues
1: NumberMission sequence value to setmin:0 increment:1
2Empty
3Empty
4Empty
5Empty
5Empty
6Empty
7Empty

MAV_CMD_DO_LAST (240 )

[Command] NOP - This command is only used to mark the upper limit of the DO commands in the enumeration

Param (:Label)Description
1Empty
2Empty
3Empty
4Empty
5Empty
6Empty
7Empty

MAV_CMD_PREFLIGHT_CALIBRATION (241 )

[Command] Trigger calibration. This command will be only accepted if in pre-flight mode. Except for Temperature Calibration, only one sensor should be set in a single message and all others should be zero.

Param (:Label)DescriptionValues
1: Gyro Temperature1: gyro calibration, 3: gyro temperature calibrationmin:0 max:3 increment:1
2: Magnetometer1: magnetometer calibrationmin:0 max:1 increment:1
3: Ground Pressure1: ground pressure calibrationmin:0 max:1 increment:1
4: Remote Control1: radio RC calibration, 2: RC trim calibrationmin:0 max:1 increment:1
5: Accelerometer1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature calibration, 4: simple accelerometer calibrationmin:0 max:4 increment:1
6: Compmot or Airspeed1: APM: compass/motor interference calibration (PX4: airspeed calibration, deprecated), 2: airspeed calibrationmin:0 max:2 increment:1
7: ESC or Baro1: ESC calibration, 3: barometer temperature calibrationmin:0 max:3 increment:1

MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS (242 )

[Command] Set sensor offsets. This command will be only accepted if in pre-flight mode.

Param (:Label)DescriptionValues
1: Sensor TypeSensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow, 5: second magnetometer, 6: third magnetometermin:0 max:6 increment:1
2: X OffsetX axis offset (or generic dimension 1), in the sensor's raw units
3: Y OffsetY axis offset (or generic dimension 2), in the sensor's raw units
4: Z OffsetZ axis offset (or generic dimension 3), in the sensor's raw units
5: 4th DimensionGeneric dimension 4, in the sensor's raw units
6: 5th DimensionGeneric dimension 5, in the sensor's raw units
7: 6th DimensionGeneric dimension 6, in the sensor's raw units

MAV_CMD_PREFLIGHT_UAVCAN (243 )

[Command] Trigger UAVCAN config. This command will be only accepted if in pre-flight mode.

Param (:Label)Description
1: Actuator ID1: Trigger actuator ID assignment and direction mapping.
2Reserved
3Reserved
4Reserved
5Reserved
6Reserved
7Reserved

MAV_CMD_PREFLIGHT_STORAGE (245 )

[Command] Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode.

Param (:Label)DescriptionValuesUnits
1: Parameter StorageParameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaultsmin:0 max:2 increment:1
2: Mission StorageMission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaultsmin:0 max:2 increment:1
3: Logging RateOnboard logging: 0: Ignore, 1: Start default rate logging, -1: Stop logging, > 1: logging rate (e.g. set to 1000 for 1000 Hz logging)min: -1 increment:1Hz
4Reserved
5Empty
6Empty
7Empty

MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN (246 )

[Command] Request the reboot or shutdown of system components.

Param (:Label)DescriptionValues
1: Autopilot0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot, 3: Reboot autopilot and keep it in the bootloader until upgraded.min:0 max:3 increment:1
2: Companion0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer, 3: Reboot onboard computer and keep it in the bootloader until upgraded.min:0 max:3 increment:1
3WIP: 0: Do nothing for camera, 1: Reboot onboard camera, 2: Shutdown onboard camera, 3: Reboot onboard camera and keep it in the bootloader until upgraded
4WIP: 0: Do nothing for mount (e.g. gimbal), 1: Reboot mount, 2: Shutdown mount, 3: Reboot mount and keep it in the bootloader until upgraded
5Reserved (set to 0)
6Reserved (set to 0)
7WIP: ID (e.g. camera ID -1 for all IDs)

MAV_CMD_DO_UPGRADE (247 )

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

[Command] Request a target system to start an upgrade of one (or all) of its components. For example, the command might be sent to a companion computer to cause it to upgrade a connected flight controller. The system doing the upgrade will report progress using the normal command protocol sequence for a long running operation. Command protocol information: https://mavlink.io/en/services/command.html.

Param (:Label)DescriptionValues
1: Component IDComponent id of the component to be upgraded. If set to 0, all components should be upgraded.MAV_COMPONENT
2: Reboot0: Do not reboot component after the action is executed, 1: Reboot component after the action is executed.min:0 max:1 increment:1
3Reserved
4Reserved
5Reserved
6Reserved
7WIP: upgrade progress report rate (can be used for more granular control).

MAV_CMD_OVERRIDE_GOTO (252 )

[Command] Override current mission with command to pause mission, pause mission and move to position, continue/resume mission. When param 1 indicates that the mission is paused (MAV_GOTO_DO_HOLD), param 2 defines whether it holds in place or moves to another position.

Param (:Label)DescriptionValuesUnits
1: ContinueMAV_GOTO_DO_HOLD: pause mission and either hold or move to specified position (depending on param2), MAV_GOTO_DO_CONTINUE: resume mission.MAV_GOTO
2: PositionMAV_GOTO_HOLD_AT_CURRENT_POSITION: hold at current position, MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position.MAV_GOTO
3: FrameCoordinate frame of hold point.MAV_FRAME
4: YawDesired yaw angle.deg
5: Latitude/XLatitude/X position.
6: Longitude/YLongitude/Y position.
7: Altitude/ZAltitude/Z position.

MAV_CMD_MISSION_START (300 )

[Command] start running a mission

Param (:Label)DescriptionValues
1: First Itemfirst_item: the first mission item to runmin:0 increment:1
2: Last Itemlast_item: the last mission item to run (after this item is run, the mission ends)min:0 increment:1

MAV_CMD_COMPONENT_ARM_DISARM (400 )

[Command] Arms / Disarms a component

Param (:Label)DescriptionValues
1: Arm0: disarm, 1: armmin:0 max:1 increment:1
2: Force0: arm-disarm unless prevented by safety checks (i.e. when landed), 21196: force arming/disarming (e.g. allow arming to override preflight checks and disarming in flight)min:0 max:21196 increment:21196

MAV_CMD_ILLUMINATOR_ON_OFF (405 )

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

[Command] Turns illuminators ON/OFF. An illuminator is a light source that is used for lighting up dark areas external to the sytstem: e.g. a torch or searchlight (as opposed to a light source for illuminating the system itself, e.g. an indicator light).

Param (:Label)DescriptionValues
1: Enable0: Illuminators OFF, 1: Illuminators ONmin:0 max:1 increment:1

MAV_CMD_GET_HOME_POSITION (410 )

[Command] Request the home position from the vehicle.

Param (:Label)Description
1Reserved
2Reserved
3Reserved
4Reserved
5Reserved
6Reserved
7Reserved

MAV_CMD_INJECT_FAILURE (420 )

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

[Command] Inject artificial failure for testing purposes. Note that autopilots should implement an additional protection before accepting this command such as a specific param setting.

Param (:Label)DescriptionValues
1: Failure unitThe unit which is affected by the failure.FAILURE_UNIT
2: Failure typeThe type how the failure manifests itself.FAILURE_TYPE
3: InstanceInstance affected by failure (0 to signal all).

MAV_CMD_START_RX_PAIR (500 )

[Command] Starts receiver pairing.

Param (:Label)DescriptionValues
1: Spektrum0:Spektrum.
2: RC TypeRC type.RC_TYPE

MAV_CMD_GET_MESSAGE_INTERVAL (510 )

[Command] Request the interval between messages for a particular MAVLink message ID. The receiver should ACK the command and then emit its response in a MESSAGE_INTERVAL message.

Param (:Label)DescriptionValues
1: Message IDThe MAVLink message IDmin:0 max:16777215 increment:1

MAV_CMD_SET_MESSAGE_INTERVAL (511 )

[Command] Set the interval between messages for a particular MAVLink message ID. This interface replaces REQUEST_DATA_STREAM.

Param (:Label)DescriptionValuesUnits
1: Message IDThe MAVLink message IDmin:0 max:16777215 increment:1
2: IntervalThe interval between two messages. Set to -1 to disable and 0 to request default rate.min: -1 increment:1us
7: Response TargetTarget address of message stream (if message has target address fields). 0: Flight-stack default (recommended), 1: address of requestor, 2: broadcast.min:0 max:2 increment:1

MAV_CMD_REQUEST_MESSAGE (512 )

[Command] Request the target system(s) emit a single instance of a specified message (i.e. a "one-shot" version of MAV_CMD_SET_MESSAGE_INTERVAL).

Param (:Label)DescriptionValues
1: Message IDThe MAVLink message ID of the requested message.min:0 max:16777215 increment:1
2: Req Param 1Use for index ID, if required. Otherwise, the use of this parameter (if any) must be defined in the requested message. By default assumed not used (0).
3: Req Param 2The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
4: Req Param 3The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
5: Req Param 4The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
6: Req Param 5The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
7: Response TargetTarget address for requested message (if message has target address fields). 0: Flight-stack default, 1: address of requestor, 2: broadcast.min:0 max:2 increment:1

MAV_CMD_REQUEST_PROTOCOL_VERSION (519 )

DEPRECATED: Replaced by MAV_CMD_REQUEST_MESSAGE (2019-08).

[Command] Request MAVLink protocol version compatibility. All receivers should ACK the command and then emit their capabilities in an PROTOCOL_VERSION message

Param (:Label)DescriptionValues
1: Protocol1: Request supported protocol versions by all nodes on the networkmin:0 max:1 increment:1
2Reserved (all remaining params)

MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES (520 )

DEPRECATED: Replaced by MAV_CMD_REQUEST_MESSAGE (2019-08).

[Command] Request autopilot capabilities. The receiver should ACK the command and then emit its capabilities in an AUTOPILOT_VERSION message

Param (:Label)DescriptionValues
1: Version1: Request autopilot versionmin:0 max:1 increment:1
2Reserved (all remaining params)

MAV_CMD_REQUEST_CAMERA_INFORMATION (521 )

DEPRECATED: Replaced by MAV_CMD_REQUEST_MESSAGE (2019-08).

[Command] Request camera information (CAMERA_INFORMATION).

Param (:Label)DescriptionValues
1: Capabilities0: No action 1: Request camera capabilitiesmin:0 max:1 increment:1
2Reserved (all remaining params)

MAV_CMD_REQUEST_CAMERA_SETTINGS (522 )

DEPRECATED: Replaced by MAV_CMD_REQUEST_MESSAGE (2019-08).

[Command] Request camera settings (CAMERA_SETTINGS).

Param (:Label)DescriptionValues
1: Settings0: No Action 1: Request camera settingsmin:0 max:1 increment:1
2Reserved (all remaining params)

MAV_CMD_REQUEST_STORAGE_INFORMATION (525 )

DEPRECATED: Replaced by MAV_CMD_REQUEST_MESSAGE (2019-08).

[Command] Request storage information (STORAGE_INFORMATION). Use the command's target_component to target a specific component's storage.

Param (:Label)DescriptionValues
1: Storage IDStorage ID (0 for all, 1 for first, 2 for second, etc.)min:0 increment:1
2: Information0: No Action 1: Request storage informationmin:0 max:1 increment:1
3Reserved (all remaining params)

MAV_CMD_STORAGE_FORMAT (526 )

[Command] Format a storage medium. Once format is complete, a STORAGE_INFORMATION message is sent. Use the command's target_component to target a specific component's storage.

Param (:Label)DescriptionValues
1: Storage IDStorage ID (1 for first, 2 for second, etc.)min:0 increment:1
2: FormatFormat storage (and reset image log). 0: No action 1: Format storagemin:0 max:1 increment:1
3: Reset Image LogReset Image Log (without formatting storage medium). This will reset CAMERA_CAPTURE_STATUS.image_count and CAMERA_IMAGE_CAPTURED.image_index. 0: No action 1: Reset Image Logmin:0 max:1 increment:1
4Reserved (all remaining params)

MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS (527 )

DEPRECATED: Replaced by MAV_CMD_REQUEST_MESSAGE (2019-08).

[Command] Request camera capture status (CAMERA_CAPTURE_STATUS)

Param (:Label)DescriptionValues
1: Capture Status0: No Action 1: Request camera capture statusmin:0 max:1 increment:1
2Reserved (all remaining params)

MAV_CMD_REQUEST_FLIGHT_INFORMATION (528 )

DEPRECATED: Replaced by MAV_CMD_REQUEST_MESSAGE (2019-08).

[Command] Request flight information (FLIGHT_INFORMATION)

Param (:Label)DescriptionValues
1: Flight Information1: Request flight informationmin:0 max:1 increment:1
2Reserved (all remaining params)

MAV_CMD_RESET_CAMERA_SETTINGS (529 )

[Command] Reset all camera settings to Factory Default

Param (:Label)DescriptionValues
1: Reset0: No Action 1: Reset all settingsmin:0 max:1 increment:1
2Reserved (all remaining params)

MAV_CMD_SET_CAMERA_MODE (530 )

[Command] Set camera running mode. Use NaN for reserved values. GCS will send a MAV_CMD_REQUEST_VIDEO_STREAM_STATUS command after a mode change if the camera supports video streaming.

Param (:Label)DescriptionValues
1Reserved (Set to 0)
2: Camera ModeCamera modeCAMERA_MODE
3
4
7

MAV_CMD_SET_CAMERA_ZOOM (531 )

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

[Command] Set camera zoom. Camera must respond with a CAMERA_SETTINGS message (on success).

Param (:Label)DescriptionValues
1: Zoom TypeZoom typeCAMERA_ZOOM_TYPE
2: Zoom ValueZoom value. The range of valid values depend on the zoom type.
3
4
7

MAV_CMD_SET_CAMERA_FOCUS (532 )

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

[Command] Set camera focus. Camera must respond with a CAMERA_SETTINGS message (on success).

Param (:Label)DescriptionValues
1: Focus TypeFocus typeSET_FOCUS_TYPE
2: Focus ValueFocus value
3
4
7

MAV_CMD_JUMP_TAG (600 )

[Command] Tagged jump target. Can be jumped to with MAV_CMD_DO_JUMP_TAG.

Param (:Label)DescriptionValues
1: TagTag.min:0 increment:1

MAV_CMD_DO_JUMP_TAG (601 )

[Command] Jump to the matching tag in the mission list. Repeat this action for the specified number of times. A mission should contain a single matching tag for each jump. If this is not the case then a jump to a missing tag should complete the mission, and a jump where there are multiple matching tags should always select the one with the lowest mission sequence number.

Param (:Label)DescriptionValues
1: TagTarget tag to jump to.min:0 increment:1
2: RepeatRepeat count.min:0 increment:1

MAV_CMD_DO_GIMBAL_MANAGER_TILTPAN (1000 )

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

[Command] High level setpoint to be sent to a gimbal manager to set a gimbal attitude. It is possible to set combinations of the values below. E.g. an angle as well as a desired angular rate can be used to get to this angle at a certain angular rate, or an angular rate only will result in continuous turning. NaN is to be used to signal unset. Note: a gimbal is never to react to this command but only the gimbal manager.

Param (:Label)DescriptionValuesUnits
1: Tilt rateTilt/pitch rate (positive to tilt up).deg/s
2: Pan ratePan/yaw rate (positive to pan to the right).deg/s
3: Tilt angleTilt/pitch angle (positive to tilt up, relative to vehicle for PAN mode, relative to world horizon for HOLD mode).min: -180 max:180deg
4: Pan anglePan/yaw angle (positive to pan to the right, relative to vehicle for PAN mode, absolute to North for HOLD mode).min: -180 max:180deg
5: Gimbal manager flagsGimbal manager flags to use.GIMBAL_MANAGER_FLAGS
7: Gimbal device IDComponent ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. (Send command multiple times for more than one but not all gimbals.)

MAV_CMD_DO_GIMBAL_MANAGER_TRACK_POINT (1001 )

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

[Command] If the gimbal manager supports visual tracking (GIMBAL_MANAGER_CAP_FLAGS_HAS_TRACKING_POINT is set), this command allows to initiate the tracking. Such a tracking gimbal manager would usually be an integrated camera/gimbal, or alternatively a companion computer connected to a camera.

Param (:Label)DescriptionValues
1: Point xPoint to track x value.min:0 max:1
2: Point yPoint to track y value.min:0 max:1
7: Gimbal device IDComponent ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. (Send command multiple times for more than one but not all gimbals.)

MAV_CMD_DO_GIMBAL_MANAGER_TRACK_RECTANGLE (1002 )

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

[Command] If the gimbal supports visual tracking (GIMBAL_MANAGER_CAP_FLAGS_HAS_TRACKING_RECTANGLE is set), this command allows to initiate the tracking. Such a tracking gimbal manager would usually be an integrated camera/gimbal, or alternatively a companion computer connected to a camera.

Param (:Label)DescriptionValues
1: Top left corner xTop left corner of rectangle x value (normalized 0..1, 0 is left, 1 is right).min:0 max:1
2: Top left corner yTop left corner of rectangle y value (normalized 0..1, 0 is top, 1 is bottom).min:0 max:1
3: Bottom right corner xBottom right corner of rectangle x value (normalized 0..1, 0 is left, 1 is right).min:0 max:1
4: Bottom right corner yBottom right corner of rectangle y value (normalized 0..1, 0 is top, 1 is bottom).min:0 max:1
7: Gimbal device IDComponent ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. (Send command multiple times for more than one but not all gimbals.)

MAV_CMD_IMAGE_START_CAPTURE (2000 )

[Command] Start image capture sequence. Sends CAMERA_IMAGE_CAPTURED after each capture. Use NaN for reserved values.

Param (:Label)DescriptionValuesUnits
1Reserved (Set to 0)
2: IntervalDesired elapsed time between two consecutive pictures (in seconds). Minimum values depend on hardware (typically greater than 2 seconds).min:0s
3: Capture CountTotal number of images to capture. 0 to capture forever/until MAV_CMD_IMAGE_STOP_CAPTURE.min:0 increment:1
4: Sequence NumberCapture sequence number starting from 1. This is only valid for single-capture (param3 == 1). Increment the capture ID for each capture command to prevent double captures when a command is re-transmitted. Use 0 to ignore it.min:1 increment:1
5Reserved (all remaining params)

MAV_CMD_IMAGE_STOP_CAPTURE (2001 )

[Command] Stop image capture sequence Use NaN for reserved values.

Param (:Label)Description
1Reserved (Set to 0)
2
3
4
7

MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE (2002 )

DEPRECATED: Replaced by MAV_CMD_REQUEST_MESSAGE (2019-08).

[Command] Re-request a CAMERA_IMAGE_CAPTURED message.

Param (:Label)DescriptionValues
1: NumberSequence number for missing CAMERA_IMAGE_CAPTURED messagemin:0 increment:1
2
3
4
7

MAV_CMD_DO_TRIGGER_CONTROL (2003 )

[Command] Enable or disable on-board camera triggering system.

Param (:Label)DescriptionValues
1: EnableTrigger enable/disable (0 for disable, 1 for start), -1 to ignoremin: -1 max:1 increment:1
2: Reset1 to reset the trigger sequence, -1 or 0 to ignoremin: -1 max:1 increment:1
3: Pause1 to pause triggering, but without switching the camera off or retracting it. -1 to ignoremin: -1 max:1 increment:2

MAV_CMD_VIDEO_START_CAPTURE (2500 )

[Command] Starts video capture (recording).

Param (:Label)DescriptionValuesUnits
1: Stream IDVideo Stream ID (0 for all streams)min:0 increment:1
2: Status FrequencyFrequency CAMERA_CAPTURE_STATUS messages should be sent while recording (0 for no messages, otherwise frequency)min:0Hz
3
4
5
6
7

MAV_CMD_VIDEO_STOP_CAPTURE (2501 )

[Command] Stop the current video capture (recording).

Param (:Label)DescriptionValues
1: Stream IDVideo Stream ID (0 for all streams)min:0 increment:1
2
3
4
5
6
7

MAV_CMD_VIDEO_START_STREAMING (2502 )

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

[Command] Start video streaming

Param (:Label)DescriptionValues
1: Stream IDVideo Stream ID (0 for all streams, 1 for first, 2 for second, etc.)min:0 increment:1

MAV_CMD_VIDEO_STOP_STREAMING (2503 )

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

[Command] Stop the given video stream

Param (:Label)DescriptionValues
1: Stream IDVideo Stream ID (0 for all streams, 1 for first, 2 for second, etc.)min:0 increment:1

MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION (2504 )

DEPRECATED: Replaced by MAV_CMD_REQUEST_MESSAGE (2019-08).

[Command] Request video stream information (VIDEO_STREAM_INFORMATION)

Param (:Label)DescriptionValues
1: Stream IDVideo Stream ID (0 for all streams, 1 for first, 2 for second, etc.)min:0 increment:1

MAV_CMD_REQUEST_VIDEO_STREAM_STATUS (2505 )

DEPRECATED: Replaced by MAV_CMD_REQUEST_MESSAGE (2019-08).

[Command] Request video stream status (VIDEO_STREAM_STATUS)

Param (:Label)DescriptionValues
1: Stream IDVideo Stream ID (0 for all streams, 1 for first, 2 for second, etc.)min:0 increment:1

MAV_CMD_LOGGING_START (2510 )

[Command] Request to start streaming logging data over MAVLink (see also LOGGING_DATA message)

Param (:Label)DescriptionValues
1: FormatFormat: 0: ULogmin:0 increment:1
2Reserved (set to 0)
3Reserved (set to 0)
4Reserved (set to 0)
5Reserved (set to 0)
6Reserved (set to 0)
7Reserved (set to 0)

MAV_CMD_LOGGING_STOP (2511 )

[Command] Request to stop streaming log data over MAVLink

Param (:Label)Description
1Reserved (set to 0)
2Reserved (set to 0)
3Reserved (set to 0)
4Reserved (set to 0)
5Reserved (set to 0)
6Reserved (set to 0)
7Reserved (set to 0)

MAV_CMD_AIRFRAME_CONFIGURATION (2520 )

[Command]

Param (:Label)DescriptionValues
1: Landing Gear IDLanding gear ID (default: 0, -1 for all)min: -1 increment:1
2: Landing Gear PositionLanding gear position (Down: 0, Up: 1, NaN for no change)
3
4
5
6
7

MAV_CMD_CONTROL_HIGH_LATENCY (2600 )

[Command] Request to start/stop transmitting over the high latency telemetry

Param (:Label)DescriptionValues
1: EnableControl transmission over high latency telemetry (0: stop, 1: start)min:0 max:1 increment:1
2Empty
3Empty
4Empty
5Empty
6Empty
7Empty

MAV_CMD_PANORAMA_CREATE (2800 )

[Command] Create a panorama at the current position

Param (:Label)DescriptionUnits
1: Horizontal AngleViewing angle horizontal of the panorama (+- 0.5 the total angle)deg
2: Vertical AngleViewing angle vertical of panorama.deg
3: Horizontal SpeedSpeed of the horizontal rotation.deg/s
4: Vertical SpeedSpeed of the vertical rotation.deg/s

MAV_CMD_DO_VTOL_TRANSITION (3000 )

[Command] Request VTOL transition

Param (:Label)DescriptionValues
1: StateThe target VTOL state. Only MAV_VTOL_STATE_MC and MAV_VTOL_STATE_FW can be used.MAV_VTOL_STATE

MAV_CMD_ARM_AUTHORIZATION_REQUEST (3001 )

[Command] Request authorization to arm the vehicle to a external entity, the arm authorizer is responsible to request all data that is needs from the vehicle before authorize or deny the request. If approved the progress of command_ack message should be set with period of time that this authorization is valid in seconds or in case it was denied it should be set with one of the reasons in ARM_AUTH_DENIED_REASON.

Param (:Label)DescriptionValues
1: System IDVehicle system id, this way ground station can request arm authorization on behalf of any vehiclemin:0 max:255 increment:1

MAV_CMD_SET_GUIDED_SUBMODE_STANDARD (4000 )

[Command] This command sets the submode to standard guided when vehicle is in guided mode. The vehicle holds position and altitude and the user can input the desired velocities along all three axes.

Param (:Label)Description

MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE (4001 )

[Command] This command sets submode circle when vehicle is in guided mode. Vehicle flies along a circle facing the center of the circle. The user can input the velocity along the circle and change the radius. If no input is given the vehicle will hold position.

Param (:Label)DescriptionUnits
1: RadiusRadius of desired circle in CIRCLE_MODEm
2User defined
3User defined
4User defined
5: LatitudeTarget latitude of center of circle in CIRCLE_MODEdegE7
6: LongitudeTarget longitude of center of circle in CIRCLE_MODEdegE7

MAV_CMD_CONDITION_GATE (4501 )

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

[Command] Delay mission state machine until gate has been reached.

Param (:Label)DescriptionValuesUnits
1: GeometryGeometry: 0: orthogonal to path between previous and next waypoint.min:0 increment:1
2: UseAltitudeAltitude: 0: ignore altitudemin:0 max:1 increment:1
3Empty
4Empty
5: LatitudeLatitude
6: LongitudeLongitude
7: AltitudeAltitudem

MAV_CMD_NAV_FENCE_RETURN_POINT (5000 )

[Command] Fence return point. There can only be one fence return point.

Param (:Label)DescriptionUnits
1Reserved
2Reserved
3Reserved
4Reserved
5: LatitudeLatitude
6: LongitudeLongitude
7: AltitudeAltitudem

MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION (5001 )

[Command] Fence vertex for an inclusion polygon (the polygon must not be self-intersecting). The vehicle must stay within this area. Minimum of 3 vertices required.

Param (:Label)DescriptionValues
1: Vertex CountPolygon vertex countmin:3 increment:1
2Reserved
3Reserved
4Reserved
5: LatitudeLatitude
6: LongitudeLongitude
7Reserved

MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION (5002 )

[Command] Fence vertex for an exclusion polygon (the polygon must not be self-intersecting). The vehicle must stay outside this area. Minimum of 3 vertices required.

Param (:Label)DescriptionValues
1: Vertex CountPolygon vertex countmin:3 increment:1
2Reserved
3Reserved
4Reserved
5: LatitudeLatitude
6: LongitudeLongitude
7Reserved

MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION (5003 )

[Command] Circular fence area. The vehicle must stay inside this area.

Param (:Label)DescriptionUnits
1: RadiusRadius.m
2Reserved
3Reserved
4Reserved
5: LatitudeLatitude
6: LongitudeLongitude
7Reserved

MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION (5004 )

[Command] Circular fence area. The vehicle must stay outside this area.

Param (:Label)DescriptionUnits
1: RadiusRadius.m
2Reserved
3Reserved
4Reserved
5: LatitudeLatitude
6: LongitudeLongitude
7Reserved

MAV_CMD_NAV_RALLY_POINT (5100 )

[Command] Rally point. You can have multiple rally points defined.

Param (:Label)DescriptionUnits
1Reserved
2Reserved
3Reserved
4Reserved
5: LatitudeLatitude
6: LongitudeLongitude
7: AltitudeAltitudem

MAV_CMD_UAVCAN_GET_NODE_INFO (5200 )

[Command] Commands the vehicle to respond with a sequence of messages UAVCAN_NODE_INFO, one message per every UAVCAN node that is online. Note that some of the response messages can be lost, which the receiver can detect easily by checking whether every received UAVCAN_NODE_STATUS has a matching message UAVCAN_NODE_INFO received earlier; if not, this command should be sent again in order to request re-transmission of the node information messages.

Param (:Label)Description
1Reserved (set to 0)
2Reserved (set to 0)
3Reserved (set to 0)
4Reserved (set to 0)
5Reserved (set to 0)
6Reserved (set to 0)
7Reserved (set to 0)

MAV_CMD_PAYLOAD_PREPARE_DEPLOY (30001 )

[Command] Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity.

Param (:Label)DescriptionValuesUnits
1: Operation ModeOperation mode. 0: prepare single payload deploy (overwriting previous requests), but do not execute it. 1: execute payload deploy immediately (rejecting further deploy commands during execution, but allowing abort). 2: add payload deploy to existing deployment list.min:0 max:2 increment:1
2: Approach VectorDesired approach vector in compass heading. A negative value indicates the system can define the approach vector at will.min: -1 max:360deg
3: Ground SpeedDesired ground speed at release time. This can be overridden by the airframe in case it needs to meet minimum airspeed. A negative value indicates the system can define the ground speed at will.min: -1
4: Altitude ClearanceMinimum altitude clearance to the release position. A negative value indicates the system can define the clearance at will.min: -1m
5: LatitudeLatitude. Note, if used in MISSION_ITEM (deprecated) the units are degrees (unscaled)degE7
6: LongitudeLongitude. Note, if used in MISSION_ITEM (deprecated) the units are degrees (unscaled)degE7
7: AltitudeAltitude (MSL)m

MAV_CMD_PAYLOAD_CONTROL_DEPLOY (30002 )

[Command] Control the payload deployment.

Param (:Label)DescriptionValues
1: Operation ModeOperation mode. 0: Abort deployment, continue normal mission. 1: switch to payload deployment mode. 100: delete first payload deployment request. 101: delete all payload deployment requests.min:0 max:101 increment:1
2Reserved
3Reserved
4Reserved
5Reserved
6Reserved
7Reserved

MAV_CMD_WAYPOINT_USER_1 (31000 )

[Command] User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

Param (:Label)DescriptionUnits
1User defined
2User defined
3User defined
4User defined
5: LatitudeLatitude unscaled
6: LongitudeLongitude unscaled
7: AltitudeAltitude (MSL)m

MAV_CMD_WAYPOINT_USER_2 (31001 )

[Command] User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

Param (:Label)DescriptionUnits
1User defined
2User defined
3User defined
4User defined
5: LatitudeLatitude unscaled
6: LongitudeLongitude unscaled
7: AltitudeAltitude (MSL)m

MAV_CMD_WAYPOINT_USER_3 (31002 )

[Command] User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

Param (:Label)DescriptionUnits
1User defined
2User defined
3User defined
4User defined
5: LatitudeLatitude unscaled
6: LongitudeLongitude unscaled
7: AltitudeAltitude (MSL)m

MAV_CMD_WAYPOINT_USER_4 (31003 )

[Command] User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

Param (:Label)DescriptionUnits
1User defined
2User defined
3User defined
4User defined
5: LatitudeLatitude unscaled
6: LongitudeLongitude unscaled
7: AltitudeAltitude (MSL)m

MAV_CMD_WAYPOINT_USER_5 (31004 )

[Command] User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

Param (:Label)DescriptionUnits
1User defined
2User defined
3User defined
4User defined
5: LatitudeLatitude unscaled
6: LongitudeLongitude unscaled
7: AltitudeAltitude (MSL)m

MAV_CMD_SPATIAL_USER_1 (31005 )

[Command] User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

Param (:Label)DescriptionUnits
1User defined
2User defined
3User defined
4User defined
5: LatitudeLatitude unscaled
6: LongitudeLongitude unscaled
7: AltitudeAltitude (MSL)m

MAV_CMD_SPATIAL_USER_2 (31006 )

[Command] User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

Param (:Label)DescriptionUnits
1User defined
2User defined
3User defined
4User defined
5: LatitudeLatitude unscaled
6: LongitudeLongitude unscaled
7: AltitudeAltitude (MSL)m

MAV_CMD_SPATIAL_USER_3 (31007 )

[Command] User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

Param (:Label)DescriptionUnits
1User defined
2User defined
3User defined
4User defined
5: LatitudeLatitude unscaled
6: LongitudeLongitude unscaled
7: AltitudeAltitude (MSL)m

MAV_CMD_SPATIAL_USER_4 (31008 )

[Command] User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

Param (:Label)DescriptionUnits
1User defined
2User defined
3User defined
4User defined
5: LatitudeLatitude unscaled
6: LongitudeLongitude unscaled
7: AltitudeAltitude (MSL)m

MAV_CMD_SPATIAL_USER_5 (31009 )

[Command] User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

Param (:Label)DescriptionUnits
1User defined
2User defined
3User defined
4User defined
5: LatitudeLatitude unscaled
6: LongitudeLongitude unscaled
7: AltitudeAltitude (MSL)m

MAV_CMD_USER_1 (31010 )

[Command] User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

Param (:Label)Description
1User defined
2User defined
3User defined
4User defined
5User defined
6User defined
7User defined

MAV_CMD_USER_2 (31011 )

[Command] User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

Param (:Label)Description
1User defined
2User defined
3User defined
4User defined
5User defined
6User defined
7User defined

MAV_CMD_USER_3 (31012 )

[Command] User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

Param (:Label)Description
1User defined
2User defined
3User defined
4User defined
5User defined
6User defined
7User defined

MAV_CMD_USER_4 (31013 )

[Command] User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

Param (:Label)Description
1User defined
2User defined
3User defined
4User defined
5User defined
6User defined
7User defined

MAV_CMD_USER_5 (31014 )

[Command] User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

Param (:Label)Description
1User defined
2User defined
3User defined
4User defined
5User defined
6User defined
7User defined

MAVLink Messages

HEARTBEAT ( #0 )

[Message] The heartbeat message shows that a system or component is present and responding. The type and autopilot fields (along with the message component id), allow the receiving system to treat further messages from this system appropriately (e.g. by laying out the user interface based on the autopilot). This microservice is documented at https://mavlink.io/en/services/heartbeat.html

Field NameTypeValuesDescription
typeuint8_tMAV_TYPEVehicle or component type. For a flight controller component the vehicle type (quadrotor, helicopter, etc.). For other components the component type (e.g. camera, gimbal, etc.). This should be used in preference to component id for identifying the component type.
autopilotuint8_tMAV_AUTOPILOTAutopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers.
base_modeuint8_tMAV_MODE_FLAGSystem mode bitmap.
custom_modeuint32_tA bitfield for use for autopilot-specific flags
system_statusuint8_tMAV_STATESystem status flag.
mavlink_versionuint8_t_mavlink_versionMAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version

SYS_STATUS ( #1 )

[Message] The general system state. If the system is following the MAVLink standard, the system state is mainly defined by three orthogonal states/modes: The system mode, which is either LOCKED (motors shut down and locked), MANUAL (system under RC control), GUIDED (system with autonomous position control, position setpoint controlled manually) or AUTO (system guided by path/waypoint planner). The NAV_MODE defined the current flight state: LIFTOFF (often an open-loop maneuver), LANDING, WAYPOINTS or VECTOR. This represents the internal navigation state machine. The system status shows whether the system is currently active or not and if an emergency occurred. During the CRITICAL and EMERGENCY states the MAV is still considered to be active, but should start emergency procedures autonomously. After a failure occurred it should first move from active to critical to allow manual intervention and then move to emergency after a certain timeout.

Field NameTypeUnitsValuesDescription
onboard_control_sensors_presentuint32_tMAV_SYS_STATUS_SENSORBitmap showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present.
onboard_control_sensors_enableduint32_tMAV_SYS_STATUS_SENSORBitmap showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled.
onboard_control_sensors_healthuint32_tMAV_SYS_STATUS_SENSORBitmap showing which onboard controllers and sensors have an error (or are operational). Value of 0: error. Value of 1: healthy.
loaduint16_td%Maximum usage in percent of the mainloop time. Values: [0-1000] - should always be below 1000
voltage_batteryuint16_tmVBattery voltage, UINT16_MAX: Voltage not sent by autopilot
current_batteryint16_tcABattery current, -1: Current not sent by autopilot
battery_remainingint8_t%Battery energy remaining, -1: Battery remaining energy not sent by autopilot
drop_rate_commuint16_tc%Communication drop rate, (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
errors_commuint16_tCommunication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
errors_count1uint16_tAutopilot-specific errors
errors_count2uint16_tAutopilot-specific errors
errors_count3uint16_tAutopilot-specific errors
errors_count4uint16_tAutopilot-specific errors

SYSTEM_TIME ( #2 )

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

Field NameTypeUnitsDescription
time_unix_usecuint64_tusTimestamp (UNIX epoch time).
time_boot_msuint32_tmsTimestamp (time since system boot).

PING ( #4 )

[Message] A ping message either requesting or responding to a ping. This allows to measure the system latencies, including serial port, radio modem and UDP connections. The ping microservice is documented at https://mavlink.io/en/services/ping.html

Field NameTypeUnitsDescription
time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
sequint32_tPING sequence
target_systemuint8_t0: request ping from all receiving systems. If greater than 0: message is a ping response and number is the system id of the requesting system
target_componentuint8_t0: request ping from all receiving components. If greater than 0: message is a ping response and number is the component id of the requesting component.

CHANGE_OPERATOR_CONTROL ( #5 )

[Message] Request to control this MAV

Field NameTypeUnitsDescription
target_systemuint8_tSystem the GCS requests control for
control_requestuint8_t0: request control of this MAV, 1: Release control of this MAV
versionuint8_trad0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch.
passkeychar[25]Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"

CHANGE_OPERATOR_CONTROL_ACK ( #6 )

[Message] Accept / deny control of this MAV

Field NameTypeDescription
gcs_system_iduint8_tID of the GCS this message
control_requestuint8_t0: request control of this MAV, 1: Release control of this MAV
ackuint8_t0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control

AUTH_KEY ( #7 )

[Message] Emit an encrypted signature / key identifying this system. PLEASE NOTE: This protocol has been kept simple, so transmitting the key requires an encrypted channel for true safety.

Field NameTypeDescription
keychar[32]key

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

[Message] Status generated in each node in the communication chain and injected into MAVLink stream.

Field NameTypeUnitsDescription
timestampuint64_tmsTimestamp (time since system boot).
tx_bufuint8_t%Remaining free transmit buffer space
rx_bufuint8_t%Remaining free receive buffer space
tx_rateuint32_tbytes/sTransmit rate
rx_rateuint32_tbytes/sReceive rate
rx_parse_erruint16_tbytesNumber of bytes that could not be parsed correctly.
tx_overflowsuint16_tbytesTransmit buffer overflows. This number wraps around as it reaches UINT16_MAX
rx_overflowsuint16_tbytesReceive buffer overflows. This number wraps around as it reaches UINT16_MAX
messages_sentuint32_tMessages sent
messages_receiveduint32_tMessages received (estimated from counting seq)
messages_lostuint32_tMessages lost (estimated from counting seq)

SET_MODE ( #11 )

DEPRECATED: Replaced by MAV_CMD_DO_SET_MODE (2015-12). Use COMMAND_LONG with MAV_CMD_DO_SET_MODE instead

[Message] Set the system mode, as defined by enum MAV_MODE. There is no target component id as the mode is by definition for the overall aircraft, not only for one component.

Field NameTypeValuesDescription
target_systemuint8_tThe system setting the mode
base_modeuint8_tMAV_MODEThe new base mode.
custom_modeuint32_tThe new autopilot-specific mode. This field can be ignored by an autopilot.

PARAM_ACK_TRANSACTION ( #19 )

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

[Message] Response from a PARAM_SET message when it is used in a transaction.

Field NameTypeValuesDescription
target_systemuint8_tId of system that sent PARAM_SET message.
target_componentuint8_tId of system that sent PARAM_SET message.
param_idchar[16]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
param_valuefloatParameter value (new value if PARAM_ACCEPTED, current value otherwise)
param_typeuint8_tMAV_PARAM_TYPEParameter type.
param_resultuint8_tPARAM_ACKResult code.

PARAM_REQUEST_READ ( #20 )

[Message] Request to read the onboard parameter with the param_id string id. Onboard parameters are stored as key[const char*] -> value[float]. This allows to send a parameter to any other component (such as the GCS) without the need of previous knowledge of possible parameter names. Thus the same GCS can store different parameters for different autopilots. See also https://mavlink.io/en/services/parameter.html for a full documentation of QGroundControl and IMU code.

Field NameTypeDescription
target_systemuint8_tSystem ID
target_componentuint8_tComponent ID
param_idchar[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
param_indexint16_tParameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored)

PARAM_REQUEST_LIST ( #21 )

[Message] Request all parameters of this component. After this request, all parameters are emitted. The parameter microservice is documented at https://mavlink.io/en/services/parameter.html

Field NameTypeDescription
target_systemuint8_tSystem ID
target_componentuint8_tComponent ID

PARAM_VALUE ( #22 )

[Message] Emit the value of a onboard parameter. The inclusion of param_count and param_index in the message allows the recipient to keep track of received parameters and allows him to re-request missing parameters after a loss or timeout. The parameter microservice is documented at https://mavlink.io/en/services/parameter.html

Field NameTypeValuesDescription
param_idchar[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
param_valuefloatOnboard parameter value
param_typeuint8_tMAV_PARAM_TYPEOnboard parameter type.
param_countuint16_tTotal number of onboard parameters
param_indexuint16_tIndex of this onboard parameter

PARAM_SET ( #23 )

[Message] Set a parameter value (write new value to permanent storage). Within a transaction the recieving componenent should respond with PARAM_ACK_TRANSACTION to the setter component. IMPORTANT: If sent outside a transaction the receiving component should acknowledge the new parameter value by broadcasting a PARAM_VALUE message to all communication partners (broadcasting ensures that multiple GCS all have an up-to-date list of all parameters). If the sending GCS did not receive a PARAM_VALUE or PARAM_ACK_TRANSACTION message within its timeout time, it should re-send the PARAM_SET message. The parameter microservice is documented at https://mavlink.io/en/services/parameter.html

Field NameTypeValuesDescription
target_systemuint8_tSystem ID
target_componentuint8_tComponent ID
param_idchar[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
param_valuefloatOnboard parameter value
param_typeuint8_tMAV_PARAM_TYPEOnboard parameter type.

GPS_RAW_INT ( #24 )

[Message] The global position, as returned by the Global Positioning System (GPS). This is NOT the global position estimate of the system, but rather a RAW sensor value. See message GLOBAL_POSITION for the global position estimate.

Field NameTypeUnitsValuesDescription
time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
fix_typeuint8_tGPS_FIX_TYPEGPS fix type.
latint32_tdegE7Latitude (WGS84, EGM96 ellipsoid)
lonint32_tdegE7Longitude (WGS84, EGM96 ellipsoid)
altint32_tmmAltitude (MSL). Positive for up. Note that virtually all GPS modules provide the MSL altitude in addition to the WGS84 altitude.
ephuint16_tGPS HDOP horizontal dilution of position (unitless). If unknown, set to: UINT16_MAX
epvuint16_tGPS VDOP vertical dilution of position (unitless). If unknown, set to: UINT16_MAX
veluint16_tcm/sGPS ground speed. If unknown, set to: UINT16_MAX
coguint16_tcdegCourse over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
satellites_visibleuint8_tNumber of satellites visible. If unknown, set to 255
alt_ellipsoid **int32_tmmAltitude (above WGS84, EGM96 ellipsoid). Positive for up.
h_acc **uint32_tmmPosition uncertainty.
v_acc **uint32_tmmAltitude uncertainty.
vel_acc **uint32_tmmSpeed uncertainty.
hdg_acc **uint32_tdegE5Heading / track uncertainty
yaw **uint16_tcdegYaw in earth frame from north. Use 0 if this GPS does not provide yaw. Use 65535 if this GPS is configured to provide yaw and is currently unable to provide it. Use 36000 for north.

GPS_STATUS ( #25 )

[Message] The positioning status, as reported by GPS. This message is intended to display status information about each satellite visible to the receiver. See message GLOBAL_POSITION for the global position estimate. This message can contain information for up to 20 satellites.

Field NameTypeUnitsDescription
satellites_visibleuint8_tNumber of satellites visible
satellite_prnuint8_t[20]Global satellite ID
satellite_useduint8_t[20]0: Satellite not used, 1: used for localization
satellite_elevationuint8_t[20]degElevation (0: right on top of receiver, 90: on the horizon) of satellite
satellite_azimuthuint8_t[20]degDirection of satellite, 0: 0 deg, 255: 360 deg.
satellite_snruint8_t[20]dBSignal to noise ratio of satellite

SCALED_IMU ( #26 )

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

Field NameTypeUnitsDescription
time_boot_msuint32_tmsTimestamp (time since system boot).
xaccint16_tmGX acceleration
yaccint16_tmGY acceleration
zaccint16_tmGZ acceleration
xgyroint16_tmrad/sAngular speed around X axis
ygyroint16_tmrad/sAngular speed around Y axis
zgyroint16_tmrad/sAngular speed around Z axis
xmagint16_tmgaussX Magnetic field
ymagint16_tmgaussY Magnetic field
zmagint16_tmgaussZ Magnetic field
temperature **int16_tcdegCTemperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).

RAW_IMU ( #27 )

[Message] The RAW IMU readings for a 9DOF sensor, which is identified by the id (default IMU1). This message should always contain the true raw values without any scaling to allow data capture and system debugging.

Field NameTypeUnitsDescription
time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
xaccint16_tX acceleration (raw)
yaccint16_tY acceleration (raw)
zaccint16_tZ acceleration (raw)
xgyroint16_tAngular speed around X axis (raw)
ygyroint16_tAngular speed around Y axis (raw)
zgyroint16_tAngular speed around Z axis (raw)
xmagint16_tX Magnetic field (raw)
ymagint16_tY Magnetic field (raw)
zmagint16_tZ Magnetic field (raw)
id **uint8_tId. Ids are numbered from 0 and map to IMUs numbered from 1 (e.g. IMU1 will have a message with id=0)
temperature **int16_tcdegCTemperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).

RAW_PRESSURE ( #28 )

[Message] The RAW pressure readings for the typical setup of one absolute pressure and one differential pressure sensor. The sensor values should be the raw, UNSCALED ADC values.

Field NameTypeUnitsDescription
time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
press_absint16_tAbsolute pressure (raw)
press_diff1int16_tDifferential pressure 1 (raw, 0 if nonexistent)
press_diff2int16_tDifferential pressure 2 (raw, 0 if nonexistent)
temperatureint16_tRaw Temperature measurement (raw)

SCALED_PRESSURE ( #29 )

[Message] The pressure readings for the typical setup of one absolute and differential pressure sensor. The units are as specified in each field.

Field NameTypeUnitsDescription
time_boot_msuint32_tmsTimestamp (time since system boot).
press_absfloathPaAbsolute pressure
press_difffloathPaDifferential pressure 1
temperatureint16_tcdegCAbsolute pressure temperature
temperature_press_diff **int16_tcdegCDifferential pressure temperature (UINT16_MAX, if not available)

ATTITUDE ( #30 )

[Message] The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right).

Field NameTypeUnitsDescription
time_boot_msuint32_tmsTimestamp (time since system boot).
rollfloatradRoll angle (-pi..+pi)
pitchfloatradPitch angle (-pi..+pi)
yawfloatradYaw angle (-pi..+pi)
rollspeedfloatrad/sRoll angular speed
pitchspeedfloatrad/sPitch angular speed
yawspeedfloatrad/sYaw angular speed

ATTITUDE_QUATERNION ( #31 )

[Message] The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right), expressed as quaternion. Quaternion order is w, x, y, z and a zero rotation would be expressed as (1 0 0 0).

Field NameTypeUnitsDescription
time_boot_msuint32_tmsTimestamp (time since system boot).
q1floatQuaternion component 1, w (1 in null-rotation)
q2floatQuaternion component 2, x (0 in null-rotation)
q3floatQuaternion component 3, y (0 in null-rotation)
q4floatQuaternion component 4, z (0 in null-rotation)
rollspeedfloatrad/sRoll angular speed
pitchspeedfloatrad/sPitch angular speed
yawspeedfloatrad/sYaw angular speed
repr_offset_q **float[4]Rotation offset by which the attitude quaternion and angular speed vector should be rotated for user display (quaternion with [w, x, y, z] order, zero-rotation is [1, 0, 0, 0], send [0, 0, 0, 0] if field not supported). This field is intended for systems in which the reference attitude may change during flight. For example, tailsitters VTOLs rotate their reference attitude by 90 degrees between hover mode and fixed wing mode, thus repr_offset_q is equal to [1, 0, 0, 0] in hover mode and equal to [0.7071, 0, 0.7071, 0] in fixed wing mode.

LOCAL_POSITION_NED ( #32 )

[Message] The filtered local position (e.g. fused computer vision and accelerometers). Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention)

Field NameTypeUnitsDescription
time_boot_msuint32_tmsTimestamp (time since system boot).
xfloatmX Position
yfloatmY Position
zfloatmZ Position
vxfloatm/sX Speed
vyfloatm/sY Speed
vzfloatm/sZ Speed

GLOBAL_POSITION_INT ( #33 )

[Message] The filtered global position (e.g. fused GPS and accelerometers). The position is in GPS-frame (right-handed, Z-up). It is designed as scaled integer message since the resolution of float is not sufficient.

Field NameTypeUnitsDescription
time_boot_msuint32_tmsTimestamp (time since system boot).
latint32_tdegE7Latitude, expressed
lonint32_tdegE7Longitude, expressed
altint32_tmmAltitude (MSL). Note that virtually all GPS modules provide both WGS84 and MSL.
relative_altint32_tmmAltitude above ground
vxint16_tcm/sGround X Speed (Latitude, positive north)
vyint16_tcm/sGround Y Speed (Longitude, positive east)
vzint16_tcm/sGround Z Speed (Altitude, positive down)
hdguint16_tcdegVehicle heading (yaw angle), 0.0..359.99 degrees. If unknown, set to: UINT16_MAX

RC_CHANNELS_SCALED ( #34 )

[Message] The scaled values of the RC channels received: (-100%) -10000, (0%) 0, (100%) 10000. Channels that are inactive should be set to UINT16_MAX.

Field NameTypeUnitsDescription
time_boot_msuint32_tmsTimestamp (time since system boot).
portuint8_tServo output port (set of 8 outputs = 1 port). Flight stacks running on Pixhawk should use: 0 = MAIN, 1 = AUX.
chan1_scaledint16_tRC channel 1 value scaled.
chan2_scaledint16_tRC channel 2 value scaled.
chan3_scaledint16_tRC channel 3 value scaled.
chan4_scaledint16_tRC channel 4 value scaled.
chan5_scaledint16_tRC channel 5 value scaled.
chan6_scaledint16_tRC channel 6 value scaled.
chan7_scaledint16_tRC channel 7 value scaled.
chan8_scaledint16_tRC channel 8 value scaled.
rssiuint8_tReceive signal strength indicator in device-dependent units/scale. Values: [0-254], 255: invalid/unknown.

RC_CHANNELS_RAW ( #35 )

[Message] The RAW values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. A value of UINT16_MAX implies the channel is unused. Individual receivers/transmitters might violate this specification.

Field NameTypeUnitsDescription
time_boot_msuint32_tmsTimestamp (time since system boot).
portuint8_tServo output port (set of 8 outputs = 1 port). Flight stacks running on Pixhawk should use: 0 = MAIN, 1 = AUX.
chan1_rawuint16_tusRC channel 1 value.
chan2_rawuint16_tusRC channel 2 value.
chan3_rawuint16_tusRC channel 3 value.
chan4_rawuint16_tusRC channel 4 value.
chan5_rawuint16_tusRC channel 5 value.
chan6_rawuint16_tusRC channel 6 value.
chan7_rawuint16_tusRC channel 7 value.
chan8_rawuint16_tusRC channel 8 value.
rssiuint8_tReceive signal strength indicator in device-dependent units/scale. Values: [0-254], 255: invalid/unknown.

SERVO_OUTPUT_RAW ( #36 )

[Message] Superseded by ACTUATOR_OUTPUT_STATUS. The RAW values of the servo outputs (for RC input from the remote, use the RC_CHANNELS messages). The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%.

Field NameTypeUnitsDescription
time_usecuint32_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
portuint8_tServo output port (set of 8 outputs = 1 port). Flight stacks running on Pixhawk should use: 0 = MAIN, 1 = AUX.
servo1_rawuint16_tusServo output 1 value
servo2_rawuint16_tusServo output 2 value
servo3_rawuint16_tusServo output 3 value
servo4_rawuint16_tusServo output 4 value
servo5_rawuint16_tusServo output 5 value
servo6_rawuint16_tusServo output 6 value
servo7_rawuint16_tusServo output 7 value
servo8_rawuint16_tusServo output 8 value
servo9_raw **uint16_tusServo output 9 value
servo10_raw **uint16_tusServo output 10 value
servo11_raw **uint16_tusServo output 11 value
servo12_raw **uint16_tusServo output 12 value
servo13_raw **uint16_tusServo output 13 value
servo14_raw **uint16_tusServo output 14 value
servo15_raw **uint16_tusServo output 15 value
servo16_raw **uint16_tusServo output 16 value

MISSION_REQUEST_PARTIAL_LIST ( #37 )

[Message] Request a partial list of mission items from the system/component. https://mavlink.io/en/services/mission.html. If start and end index are the same, just send one waypoint.

Field NameTypeValuesDescription
target_systemuint8_tSystem ID
target_componentuint8_tComponent ID
start_indexint16_tStart index
end_indexint16_tEnd index, -1 by default (-1: send list to end). Else a valid index of the list
mission_type **uint8_tMAV_MISSION_TYPEMission type.

MISSION_WRITE_PARTIAL_LIST ( #38 )

[Message] This message is sent to the MAV to write a partial list. If start index == end index, only one item will be transmitted / updated. If the start index is NOT 0 and above the current list size, this request should be REJECTED!

Field NameTypeValuesDescription
target_systemuint8_tSystem ID
target_componentuint8_tComponent ID
start_indexint16_tStart index. Must be smaller / equal to the largest index of the current onboard list.
end_indexint16_tEnd index, equal or greater than start index.
mission_type **uint8_tMAV_MISSION_TYPEMission type.

MISSION_ITEM ( #39 )

DEPRECATED: Replaced by MISSION_ITEM_INT (2020-06).

[Message] Message encoding a mission item. This message is emitted to announce the presence of a mission item and to set a mission item on the system. The mission item can be either in x, y, z meters (type: LOCAL) or x:lat, y:lon, z:altitude. Local frame is Z-down, right handed (NED), global frame is Z-up, right handed (ENU). NaN may be used to indicate an optional/default value (e.g. to use the system's current latitude or yaw rather than a specific value). See also https://mavlink.io/en/services/mission.html.

Field NameTypeValuesDescription
target_systemuint8_tSystem ID
target_componentuint8_tComponent ID
sequint16_tSequence
frameuint8_tMAV_FRAMEThe coordinate system of the waypoint.
commanduint16_tMAV_CMDThe scheduled action for the waypoint.
currentuint8_tfalse:0, true:1
autocontinueuint8_tAutocontinue to next waypoint
param1floatPARAM1, see MAV_CMD enum
param2floatPARAM2, see MAV_CMD enum
param3floatPARAM3, see MAV_CMD enum
param4floatPARAM4, see MAV_CMD enum
xfloatPARAM5 / local: X coordinate, global: latitude
yfloatPARAM6 / local: Y coordinate, global: longitude
zfloatPARAM7 / local: Z coordinate, global: altitude (relative or absolute, depending on frame).
mission_type **uint8_tMAV_MISSION_TYPEMission type.

MISSION_REQUEST ( #40 )

DEPRECATED: Replaced by MISSION_REQUEST_INT (2020-06). A system that gets this request should respond with MISSION_ITEM_INT (as though MISSION_REQUEST_INT was received).

[Message] Request the information of the mission item with the sequence number seq. The response of the system to this message should be a MISSION_ITEM message. https://mavlink.io/en/services/mission.html

Field NameTypeValuesDescription
target_systemuint8_tSystem ID
target_componentuint8_tComponent ID
sequint16_tSequence
mission_type **uint8_tMAV_MISSION_TYPEMission type.

MISSION_SET_CURRENT ( #41 )

[Message] Set the mission item with sequence number seq as current item. This means that the MAV will continue to this mission item on the shortest path (not following the mission items in-between).

Field NameTypeDescription
target_systemuint8_tSystem ID
target_componentuint8_tComponent ID
sequint16_tSequence

MISSION_CURRENT ( #42 )

[Message] Message that announces the sequence number of the current active mission item. The MAV will fly towards this mission item.

Field NameTypeDescription
sequint16_tSequence

MISSION_REQUEST_LIST ( #43 )

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

Field NameTypeValuesDescription
target_systemuint8_tSystem ID
target_componentuint8_tComponent ID
mission_type **uint8_tMAV_MISSION_TYPEMission type.

MISSION_COUNT ( #44 )

[Message] This message is emitted as response to MISSION_REQUEST_LIST by the MAV and to initiate a write transaction. The GCS can then request the individual mission item based on the knowledge of the total number of waypoints.

Field NameTypeValuesDescription
target_systemuint8_tSystem ID
target_componentuint8_tComponent ID
countuint16_tNumber of mission items in the sequence
mission_type **uint8_tMAV_MISSION_TYPEMission type.

MISSION_CLEAR_ALL ( #45 )

[Message] Delete all mission items at once.

Field NameTypeValuesDescription
target_systemuint8_tSystem ID
target_componentuint8_tComponent ID
mission_type **uint8_tMAV_MISSION_TYPEMission type.

MISSION_ITEM_REACHED ( #46 )

[Message] A certain mission item has been reached. The system will either hold this position (or circle on the orbit) or (if the autocontinue on the WP was set) continue to the next waypoint.

Field NameTypeDescription
sequint16_tSequence

MISSION_ACK ( #47 )

[Message] Acknowledgment message during waypoint handling. The type field states if this message is a positive ack (type=0) or if an error happened (type=non-zero).

Field NameTypeValuesDescription
target_systemuint8_tSystem ID
target_componentuint8_tComponent ID
typeuint8_tMAV_MISSION_RESULTMission result.
mission_type **uint8_tMAV_MISSION_TYPEMission type.

SET_GPS_GLOBAL_ORIGIN ( #48 )

[Message] Sets the GPS co-ordinates of the vehicle local origin (0,0,0) position. Vehicle should emit GPS_GLOBAL_ORIGIN irrespective of whether the origin is changed. This enables transform between the local coordinate frame and the global (GPS) coordinate frame, which may be necessary when (for example) indoor and outdoor settings are connected and the MAV should move from in- to outdoor.

Field NameTypeUnitsDescription
target_systemuint8_tSystem ID
latitudeint32_tdegE7Latitude (WGS84)
longitudeint32_tdegE7Longitude (WGS84)
altitudeint32_tmmAltitude (MSL). Positive for up.
time_usec **uint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

GPS_GLOBAL_ORIGIN ( #49 )

[Message] Publishes the GPS co-ordinates of the vehicle local origin (0,0,0) position. Emitted whenever a new GPS-Local position mapping is requested or set - e.g. following SET_GPS_GLOBAL_ORIGIN message.

Field NameTypeUnitsDescription
latitudeint32_tdegE7Latitude (WGS84)
longitudeint32_tdegE7Longitude (WGS84)
altitudeint32_tmmAltitude (MSL). Positive for up.
time_usec **uint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

PARAM_MAP_RC ( #50 )

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

Field NameTypeDescription
target_systemuint8_tSystem ID
target_componentuint8_tComponent ID
param_idchar[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
param_indexint16_tParameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored), send -2 to disable any existing map for this rc_channel_index.
parameter_rc_channel_indexuint8_tIndex of parameter RC channel. Not equal to the RC channel id. Typically corresponds to a potentiometer-knob on the RC.
param_value0floatInitial parameter value
scalefloatScale, maps the RC range [-1, 1] to a parameter value
param_value_minfloatMinimum param value. The protocol does not define if this overwrites an onboard minimum value. (Depends on implementation)
param_value_maxfloatMaximum param value. The protocol does not define if this overwrites an onboard maximum value. (Depends on implementation)

MISSION_REQUEST_INT ( #51 )

[Message] Request the information of the mission item with the sequence number seq. The response of the system to this message should be a MISSION_ITEM_INT message. https://mavlink.io/en/services/mission.html

Field NameTypeValuesDescription
target_systemuint8_tSystem ID
target_componentuint8_tComponent ID
sequint16_tSequence
mission_type **uint8_tMAV_MISSION_TYPEMission type.

MISSION_CHANGED ( #52 )

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

[Message] A broadcast message to notify any ground station or SDK if a mission, geofence or safe points have changed on the vehicle.

Field NameTypeValuesDescription
start_indexint16_tStart index for partial mission change (-1 for all items).
end_indexint16_tEnd index of a partial mission change. -1 is a synonym for the last mission item (i.e. selects all items from start_index). Ignore field if start_index=-1.
origin_sysiduint8_tSystem ID of the author of the new mission.
origin_compiduint8_tMAV_COMPONENTCompnent ID of the author of the new mission.
mission_typeuint8_tMAV_MISSION_TYPEMission type.

SAFETY_SET_ALLOWED_AREA ( #54 )

[Message] Set a safety zone (volume), which is defined by two corners of a cube. This message can be used to tell the MAV which setpoints/waypoints to accept and which to reject. Safety areas are often enforced by national or competition regulations.

Field NameTypeUnitsValuesDescription
target_systemuint8_tSystem ID
target_componentuint8_tComponent ID
frameuint8_tMAV_FRAMECoordinate frame. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
p1xfloatmx position 1 / Latitude 1
p1yfloatmy position 1 / Longitude 1
p1zfloatmz position 1 / Altitude 1
p2xfloatmx position 2 / Latitude 2
p2yfloatmy position 2 / Longitude 2
p2zfloatmz position 2 / Altitude 2

SAFETY_ALLOWED_AREA ( #55 )

[Message] Read out the safety zone the MAV currently assumes.

Field NameTypeUnitsValuesDescription
frameuint8_tMAV_FRAMECoordinate frame. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
p1xfloatmx position 1 / Latitude 1
p1yfloatmy position 1 / Longitude 1
p1zfloatmz position 1 / Altitude 1
p2xfloatmx position 2 / Latitude 2
p2yfloatmy position 2 / Longitude 2
p2zfloatmz position 2 / Altitude 2

ATTITUDE_QUATERNION_COV ( #61 )

[Message] The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right), expressed as quaternion. Quaternion order is w, x, y, z and a zero rotation would be expressed as (1 0 0 0).

Field NameTypeUnitsDescription
time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
qfloat[4]Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
rollspeedfloatrad/sRoll angular speed
pitchspeedfloatrad/sPitch angular speed
yawspeedfloatrad/sYaw angular speed
covariancefloat[9]Row-major representation of a 3x3 attitude covariance matrix (states: roll, pitch, yaw; first three entries are the first ROW, next three entries are the second row, etc.). If unknown, assign NaN value to first element in the array.

[Message] The state of the fixed wing navigation and position controller.

Field NameTypeUnitsDescription
nav_rollfloatdegCurrent desired roll
nav_pitchfloatdegCurrent desired pitch
nav_bearingint16_tdegCurrent desired heading
target_bearingint16_tdegBearing to current waypoint/target
wp_distuint16_tmDistance to active waypoint
alt_errorfloatmCurrent altitude error
aspd_errorfloatm/sCurrent airspeed error
xtrack_errorfloatmCurrent crosstrack error on x-y plane

GLOBAL_POSITION_INT_COV ( #63 )

[Message] The filtered global position (e.g. fused GPS and accelerometers). The position is in GPS-frame (right-handed, Z-up). It is designed as scaled integer message since the resolution of float is not sufficient. NOTE: This message is intended for onboard networks / companion computers and higher-bandwidth links and optimized for accuracy and completeness. Please use the GLOBAL_POSITION_INT message for a minimal subset.

Field NameTypeUnitsValuesDescription
time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
estimator_typeuint8_tMAV_ESTIMATOR_TYPEClass id of the estimator this estimate originated from.
latint32_tdegE7Latitude
lonint32_tdegE7Longitude
altint32_tmmAltitude in meters above MSL
relative_altint32_tmmAltitude above ground
vxfloatm/sGround X Speed (Latitude)
vyfloatm/sGround Y Speed (Longitude)
vzfloatm/sGround Z Speed (Altitude)
covariancefloat[36]Row-major representation of a 6x6 position and velocity 6x6 cross-covariance matrix (states: lat, lon, alt, vx, vy, vz; first six entries are the first ROW, next six entries are the second row, etc.). If unknown, assign NaN value to first element in the array.

LOCAL_POSITION_NED_COV ( #64 )

[Message] The filtered local position (e.g. fused computer vision and accelerometers). Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention)

Field NameTypeUnitsValuesDescription
time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
estimator_typeuint8_tMAV_ESTIMATOR_TYPEClass id of the estimator this estimate originated from.
xfloatmX Position
yfloatmY Position
zfloatmZ Position
vxfloatm/sX Speed
vyfloatm/sY Speed
vzfloatm/sZ Speed
axfloatm/s/sX Acceleration
ayfloatm/s/sY Acceleration
azfloatm/s/sZ Acceleration
covariancefloat[45]Row-major representation of position, velocity and acceleration 9x9 cross-covariance matrix upper right triangle (states: x, y, z, vx, vy, vz, ax, ay, az; first nine entries are the first ROW, next eight entries are the second row, etc.). If unknown, assign NaN value to first element in the array.

RC_CHANNELS ( #65 )

[Message] The PPM values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. A value of UINT16_MAX implies the channel is unused. Individual receivers/transmitters might violate this specification.

Field NameTypeUnitsDescription
time_boot_msuint32_tmsTimestamp (time since system boot).
chancountuint8_tTotal number of RC channels being received. This can be larger than 18, indicating that more channels are available but not given in this message. This value should be 0 when no RC channels are available.
chan1_rawuint16_tusRC channel 1 value.
chan2_rawuint16_tusRC channel 2 value.
chan3_rawuint16_tusRC channel 3 value.
chan4_rawuint16_tusRC channel 4 value.
chan5_rawuint16_tusRC channel 5 value.
chan6_rawuint16_tusRC channel 6 value.
chan7_rawuint16_tusRC channel 7 value.
chan8_rawuint16_tusRC channel 8 value.
chan9_rawuint16_tusRC channel 9 value.
chan10_rawuint16_tusRC channel 10 value.
chan11_rawuint16_tusRC channel 11 value.
chan12_rawuint16_tusRC channel 12 value.
chan13_rawuint16_tusRC channel 13 value.
chan14_rawuint16_tusRC channel 14 value.
chan15_rawuint16_tusRC channel 15 value.
chan16_rawuint16_tusRC channel 16 value.
chan17_rawuint16_tusRC channel 17 value.
chan18_rawuint16_tusRC channel 18 value.
rssiuint8_tReceive signal strength indicator in device-dependent units/scale. Values: [0-254], 255: invalid/unknown.

REQUEST_DATA_STREAM ( #66 )

DEPRECATED: Replaced by SET_MESSAGE_INTERVAL (2015-08).

[Message] Request a data stream.

Field NameTypeUnitsDescription
target_systemuint8_tThe target requested to send the message stream.
target_componentuint8_tThe target requested to send the message stream.
req_stream_iduint8_tThe ID of the requested data stream
req_message_rateuint16_tHzThe requested message rate
start_stopuint8_t1 to start sending, 0 to stop sending.

DATA_STREAM ( #67 )

DEPRECATED: Replaced by MESSAGE_INTERVAL (2015-08).

[Message] Data stream status information.

Field NameTypeUnitsDescription
stream_iduint8_tThe ID of the requested data stream
message_rateuint16_tHzThe message rate
on_offuint8_t1 stream is enabled, 0 stream is stopped.

MANUAL_CONTROL ( #69 )

[Message] This message provides an API for manually controlling the vehicle using standard joystick axes nomenclature, along with a joystick-like input device. Unused axes can be disabled an buttons are also transmit as boolean values of their

Field NameTypeDescription
targetuint8_tThe system to be controlled.
xint16_tX-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle.
yint16_tY-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle.
zint16_tZ-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle. Positive values are positive thrust, negative values are negative thrust.
rint16_tR-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle.
buttonsuint16_tA bitfield corresponding to the joystick buttons' current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1.

RC_CHANNELS_OVERRIDE ( #70 )

[Message] The RAW values of the RC channels sent to the MAV to override info received from the RC radio. A value of UINT16_MAX means no change to that channel. A value of 0 means control of that channel should be released back to the RC radio. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. Individual receivers/transmitters might violate this specification.

Field NameTypeUnitsDescription
target_systemuint8_tSystem ID
target_componentuint8_tComponent ID
chan1_rawuint16_tusRC channel 1 value. A value of UINT16_MAX means to ignore this field.
chan2_rawuint16_tusRC channel 2 value. A value of UINT16_MAX means to ignore this field.
chan3_rawuint16_tusRC channel 3 value. A value of UINT16_MAX means to ignore this field.
chan4_rawuint16_tusRC channel 4 value. A value of UINT16_MAX means to ignore this field.
chan5_rawuint16_tusRC channel 5 value. A value of UINT16_MAX means to ignore this field.
chan6_rawuint16_tusRC channel 6 value. A value of UINT16_MAX means to ignore this field.
chan7_rawuint16_tusRC channel 7 value. A value of UINT16_MAX means to ignore this field.
chan8_rawuint16_tusRC channel 8 value. A value of UINT16_MAX means to ignore this field.
chan9_raw **uint16_tusRC channel 9 value. A value of 0 or UINT16_MAX means to ignore this field.
chan10_raw **uint16_tusRC channel 10 value. A value of 0 or UINT16_MAX means to ignore this field.
chan11_raw **uint16_tusRC channel 11 value. A value of 0 or UINT16_MAX means to ignore this field.
chan12_raw **uint16_tusRC channel 12 value. A value of 0 or UINT16_MAX means to ignore this field.
chan13_raw **uint16_tusRC channel 13 value. A value of 0 or UINT16_MAX means to ignore this field.
chan14_raw **uint16_tusRC channel 14 value. A value of 0 or UINT16_MAX means to ignore this field.
chan15_raw **uint16_tusRC channel 15 value. A value of 0 or UINT16_MAX means to ignore this field.
chan16_raw **uint16_tusRC channel 16 value. A value of 0 or UINT16_MAX means to ignore this field.
chan17_raw **uint16_tusRC channel 17 value. A value of 0 or UINT16_MAX means to ignore this field.
chan18_raw **uint16_tusRC channel 18 value. A value of 0 or UINT16_MAX means to ignore this field.

MISSION_ITEM_INT ( #73 )

[Message] Message encoding a mission item. This message is emitted to announce the presence of a mission item and to set a mission item on the system. The mission item can be either in x, y, z meters (type: LOCAL) or x:lat, y:lon, z:altitude. Local frame is Z-down, right handed (NED), global frame is Z-up, right handed (ENU). NaN or INT32_MAX may be used in float/integer params (respectively) to indicate optional/default values (e.g. to use the component's current latitude, yaw rather than a specific value). See also https://mavlink.io/en/services/mission.html.

Field NameTypeValuesDescription
target_systemuint8_tSystem ID
target_componentuint8_tComponent ID
sequint16_tWaypoint ID (sequence number). Starts at zero. Increases monotonically for each waypoint, no gaps in the sequence (0,1,2,3,4).
frameuint8_tMAV_FRAMEThe coordinate system of the waypoint.
commanduint16_tMAV_CMDThe scheduled action for the waypoint.
currentuint8_tfalse:0, true:1
autocontinueuint8_tAutocontinue to next waypoint
param1floatPARAM1, see MAV_CMD enum
param2floatPARAM2, see MAV_CMD enum
param3floatPARAM3, see MAV_CMD enum
param4floatPARAM4, see MAV_CMD enum
xint32_tPARAM5 / local: x position in meters * 1e4, global: latitude in degrees * 10^7
yint32_tPARAM6 / y position: local: x position in meters * 1e4, global: longitude in degrees *10^7
zfloatPARAM7 / z position: global: altitude in meters (relative or absolute, depending on frame.
mission_type **uint8_tMAV_MISSION_TYPEMission type.

VFR_HUD ( #74 )

[Message] Metrics typically displayed on a HUD for fixed wing aircraft.

Field NameTypeUnitsDescription
airspeedfloatm/sVehicle speed in form appropriate for vehicle type. For standard aircraft this is typically calibrated airspeed (CAS) or indicated airspeed (IAS) - either of which can be used by a pilot to estimate stall speed.
groundspeedfloatm/sCurrent ground speed.
headingint16_tdegCurrent heading in compass units (0-360, 0=north).
throttleuint16_t%Current throttle setting (0 to 100).
altfloatmCurrent altitude (MSL).
climbfloatm/sCurrent climb rate.

COMMAND_INT ( #75 )

[Message] Message encoding a command with parameters as scaled integers. Scaling depends on the actual command value. The command microservice is documented at https://mavlink.io/en/services/command.html

Field NameTypeValuesDescription
target_systemuint8_tSystem ID
target_componentuint8_tComponent ID
frameuint8_tMAV_FRAMEThe coordinate system of the COMMAND.
commanduint16_tMAV_CMDThe scheduled action for the mission item.
currentuint8_tfalse:0, true:1
autocontinueuint8_tautocontinue to next wp
param1floatPARAM1, see MAV_CMD enum
param2floatPARAM2, see MAV_CMD enum
param3floatPARAM3, see MAV_CMD enum
param4floatPARAM4, see MAV_CMD enum
xint32_tPARAM5 / local: x position in meters * 1e4, global: latitude in degrees * 10^7
yint32_tPARAM6 / local: y position in meters * 1e4, global: longitude in degrees * 10^7
zfloatPARAM7 / z position: global: altitude in meters (relative or absolute, depending on frame).

COMMAND_LONG ( #76 )

[Message] Send a command with up to seven parameters to the MAV. The command microservice is documented at https://mavlink.io/en/services/command.html

Field NameTypeValuesDescription
target_systemuint8_tSystem which should execute the command
target_componentuint8_tComponent which should execute the command, 0 for all components
commanduint16_tMAV_CMDCommand ID (of command to send).
confirmationuint8_t0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
param1floatParameter 1 (for the specific command).
param2floatParameter 2 (for the specific command).
param3floatParameter 3 (for the specific command).
param4floatParameter 4 (for the specific command).
param5floatParameter 5 (for the specific command).
param6floatParameter 6 (for the specific command).
param7floatParameter 7 (for the specific command).

COMMAND_ACK ( #77 )

[Message] Report status of a command. Includes feedback whether the command was executed. The command microservice is documented at https://mavlink.io/en/services/command.html

Field NameTypeValuesDescription
commanduint16_tMAV_CMDCommand ID (of acknowledged command).
resultuint8_tMAV_RESULTResult of command.
progress **uint8_tWIP: Also used as result_param1, it can be set with a enum containing the errors reasons of why the command was denied or the progress percentage or 255 if unknown the progress when result is MAV_RESULT_IN_PROGRESS.
result_param2 **int32_tWIP: Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied.
target_system **uint8_tWIP: System which requested the command to be executed
target_component **uint8_tWIP: Component which requested the command to be executed

COMMAND_CANCEL ( #80 )

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

[Message] Cancel a long running command. The target system should respond with a COMMAND_ACK to the original command with result=MAV_RESULT_CANCELLED if the long running process was cancelled. If it has already completed, the cancel action can be ignored. The cancel action can be retried until some sort of acknowledgement to the original command has been received. The command microservice is documented at https://mavlink.io/en/services/command.html

Field NameTypeValuesDescription
target_systemuint8_tSystem executing long running command. Should not be broadcast (0).
target_componentuint8_tComponent executing long running command.
commanduint16_tMAV_CMDCommand ID (of command to cancel).

MANUAL_SETPOINT ( #81 )

[Message] Setpoint in roll, pitch, yaw and thrust from the operator

Field NameTypeUnitsDescription
time_boot_msuint32_tmsTimestamp (time since system boot).
rollfloatrad/sDesired roll rate
pitchfloatrad/sDesired pitch rate
yawfloatrad/sDesired yaw rate
thrustfloatCollective thrust, normalized to 0 .. 1
mode_switchuint8_tFlight mode switch position, 0.. 255
manual_override_switchuint8_tOverride mode switch position, 0.. 255

SET_ATTITUDE_TARGET ( #82 )

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

Field NameTypeUnitsDescription
time_boot_msuint32_tmsTimestamp (time since system boot).
target_systemuint8_tSystem ID
target_componentuint8_tComponent ID
type_maskuint8_tMappings: If any of these bits are set, the corresponding input should be ignored: bit 1: body roll rate, bit 2: body pitch rate, bit 3: body yaw rate. bit 4-bit 6: reserved, bit 7: throttle, bit 8: attitude
qfloat[4]Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
body_roll_ratefloatrad/sBody roll rate
body_pitch_ratefloatrad/sBody pitch rate
body_yaw_ratefloatrad/sBody yaw rate
thrustfloatCollective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)

ATTITUDE_TARGET ( #83 )

[Message] Reports the current commanded attitude of the vehicle as specified by the autopilot. This should match the commands sent in a SET_ATTITUDE_TARGET message if the vehicle is being controlled this way.

Field NameTypeUnitsDescription
time_boot_msuint32_tmsTimestamp (time since system boot).
type_maskuint8_tMappings: If any of these bits are set, the corresponding input should be ignored: bit 1: body roll rate, bit 2: body pitch rate, bit 3: body yaw rate. bit 4-bit 7: reserved, bit 8: attitude
qfloat[4]Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
body_roll_ratefloatrad/sBody roll rate
body_pitch_ratefloatrad/sBody pitch rate
body_yaw_ratefloatrad/sBody yaw rate
thrustfloatCollective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)

SET_POSITION_TARGET_LOCAL_NED ( #84 )

[Message] Sets a desired vehicle position in a local north-east-down coordinate frame. Used by an external controller to command the vehicle (manual controller or other system).

Field NameTypeUnitsValuesDescription
time_boot_msuint32_tmsTimestamp (time since system boot).
target_systemuint8_tSystem ID
target_componentuint8_tComponent ID
coordinate_frameuint8_tMAV_FRAMEValid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9
type_maskuint16_tPOSITION_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
xfloatmX Position in NED frame
yfloatmY Position in NED frame
zfloatmZ Position in NED frame (note, altitude is negative in NED)
vxfloatm/sX velocity in NED frame
vyfloatm/sY velocity in NED frame
vzfloatm/sZ velocity in NED frame
afxfloatm/s/sX acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
afyfloatm/s/sY acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
afzfloatm/s/sZ acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
yawfloatradyaw setpoint
yaw_ratefloatrad/syaw rate setpoint

POSITION_TARGET_LOCAL_NED ( #85 )

[Message] Reports the current commanded vehicle position, velocity, and acceleration as specified by the autopilot. This should match the commands sent in SET_POSITION_TARGET_LOCAL_NED if the vehicle is being controlled this way.

Field NameTypeUnitsValuesDescription
time_boot_msuint32_tmsTimestamp (time since system boot).
coordinate_frameuint8_tMAV_FRAMEValid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9
type_maskuint16_tPOSITION_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
xfloatmX Position in NED frame
yfloatmY Position in NED frame
zfloatmZ Position in NED frame (note, altitude is negative in NED)
vxfloatm/sX velocity in NED frame
vyfloatm/sY velocity in NED frame
vzfloatm/sZ velocity in NED frame
afxfloatm/s/sX acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
afyfloatm/s/sY acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
afzfloatm/s/sZ acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
yawfloatradyaw setpoint
yaw_ratefloatrad/syaw rate setpoint

SET_POSITION_TARGET_GLOBAL_INT ( #86 )

[Message] Sets a desired vehicle position, velocity, and/or acceleration in a global coordinate system (WGS84). Used by an external controller to command the vehicle (manual controller or other system).

Field NameTypeUnitsValuesDescription
time_boot_msuint32_tmsTimestamp (time since system boot). The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency.
target_systemuint8_tSystem ID
target_componentuint8_tComponent ID
coordinate_frameuint8_tMAV_FRAMEValid options are: MAV_FRAME_GLOBAL_INT = 5, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT = 6, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT = 11
type_maskuint16_tPOSITION_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
lat_intint32_tdegE7X Position in WGS84 frame
lon_intint32_tdegE7Y Position in WGS84 frame
altfloatmAltitude (MSL, Relative to home, or AGL - depending on frame)
vxfloatm/sX velocity in NED frame
vyfloatm/sY velocity in NED frame
vzfloatm/sZ velocity in NED frame
afxfloatm/s/sX acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
afyfloatm/s/sY acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
afzfloatm/s/sZ acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
yawfloatradyaw setpoint
yaw_ratefloatrad/syaw rate setpoint

POSITION_TARGET_GLOBAL_INT ( #87 )

[Message] Reports the current commanded vehicle position, velocity, and acceleration as specified by the autopilot. This should match the commands sent in SET_POSITION_TARGET_GLOBAL_INT if the vehicle is being controlled this way.

Field NameTypeUnitsValuesDescription
time_boot_msuint32_tmsTimestamp (time since system boot). The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency.
coordinate_frameuint8_tMAV_FRAMEValid options are: MAV_FRAME_GLOBAL_INT = 5, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT = 6, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT = 11
type_maskuint16_tPOSITION_TARGET_TYPEMASKBitmap to indicate which dimensions should be ignored by the vehicle.
lat_intint32_tdegE7X Position in WGS84 frame
lon_intint32_tdegE7Y Position in WGS84 frame
altfloatmAltitude (MSL, AGL or relative to home altitude, depending on frame)
vxfloatm/sX velocity in NED frame
vyfloatm/sY velocity in NED frame
vzfloatm/sZ velocity in NED frame
afxfloatm/s/sX acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
afyfloatm/s/sY acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
afzfloatm/s/sZ acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
yawfloatradyaw setpoint
yaw_ratefloatrad/syaw rate setpoint

LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET ( #89 )

[Message] The offset in X, Y, Z and yaw between the LOCAL_POSITION_NED messages of MAV X and the global coordinate frame in NED coordinates. Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention)

Field NameTypeUnitsDescription
time_boot_msuint32_tmsTimestamp (time since system boot).
xfloatmX Position
yfloatmY Position
zfloatmZ Position
rollfloatradRoll
pitchfloatradPitch
yawfloatradYaw

HIL_STATE ( #90 )

DEPRECATED: Replaced by HIL_STATE_QUATERNION (2013-07). Suffers from missing airspeed fields and singularities due to Euler angles

[Message] Sent from simulation to autopilot. This packet is useful for high throughput applications such as hardware in the loop simulations.

Field NameTypeUnitsDescription
time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
rollfloatradRoll angle
pitchfloatradPitch angle
yawfloatradYaw angle
rollspeedfloatrad/sBody frame roll / phi angular speed
pitchspeedfloatrad/sBody frame pitch / theta angular speed
yawspeedfloatrad/sBody frame yaw / psi angular speed
latint32_tdegE7Latitude
lonint32_tdegE7Longitude
altint32_tmmAltitude
vxint16_tcm/sGround X Speed (Latitude)
vyint16_tcm/sGround Y Speed (Longitude)
vzint16_tcm/sGround Z Speed (Altitude)
xaccint16_tmGX acceleration
yaccint16_tmGY acceleration
zaccint16_tmGZ acceleration

HIL_CONTROLS ( #91 )

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

Field NameTypeUnitsValuesDescription
time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
roll_aileronsfloatControl output -1 .. 1
pitch_elevatorfloatControl output -1 .. 1
yaw_rudderfloatControl output -1 .. 1
throttlefloatThrottle 0 .. 1
aux1floatAux 1, -1 .. 1
aux2floatAux 2, -1 .. 1
aux3floatAux 3, -1 .. 1
aux4floatAux 4, -1 .. 1
modeuint8_tMAV_MODESystem mode.
nav_modeuint8_tNavigation mode (MAV_NAV_MODE)

HIL_RC_INPUTS_RAW ( #92 )

[Message] Sent from simulation to autopilot. The RAW values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. Individual receivers/transmitters might violate this specification.

Field NameTypeUnitsDescription
time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
chan1_rawuint16_tusRC channel 1 value
chan2_rawuint16_tusRC channel 2 value
chan3_rawuint16_tusRC channel 3 value
chan4_rawuint16_tusRC channel 4 value
chan5_rawuint16_tusRC channel 5 value
chan6_rawuint16_tusRC channel 6 value
chan7_rawuint16_tusRC channel 7 value
chan8_rawuint16_tusRC channel 8 value
chan9_rawuint16_tusRC channel 9 value
chan10_rawuint16_tusRC channel 10 value
chan11_rawuint16_tusRC channel 11 value
chan12_rawuint16_tusRC channel 12 value
rssiuint8_tReceive signal strength indicator in device-dependent units/scale. Values: [0-254], 255: invalid/unknown.

HIL_ACTUATOR_CONTROLS ( #93 )

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

Field NameTypeUnitsValuesDescription
time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
controlsfloat[16]Control outputs -1 .. 1. Channel assignment depends on the simulated hardware.
modeuint8_tMAV_MODE_FLAGSystem mode. Includes arming state.
flagsuint64_tFlags as bitfield, 1: indicate simulation using lockstep.

OPTICAL_FLOW ( #100 )

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

Field NameTypeUnitsDescription
time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
sensor_iduint8_tSensor ID
flow_xint16_tdpixFlow in x-sensor direction
flow_yint16_tdpixFlow in y-sensor direction
flow_comp_m_xfloatm/sFlow in x-sensor direction, angular-speed compensated
flow_comp_m_yfloatm/sFlow in y-sensor direction, angular-speed compensated
qualityuint8_tOptical flow quality / confidence. 0: bad, 255: maximum quality
ground_distancefloatmGround distance. Positive value: distance known. Negative value: Unknown distance
flow_rate_x **floatrad/sFlow rate about X axis
flow_rate_y **floatrad/sFlow rate about Y axis

GLOBAL_VISION_POSITION_ESTIMATE ( #101 )

[Message] Global position/attitude estimate from a vision source.

Field NameTypeUnitsDescription
usecuint64_tusTimestamp (UNIX time or since system boot)
xfloatmGlobal X position
yfloatmGlobal Y position
zfloatmGlobal Z position
rollfloatradRoll angle
pitchfloatradPitch angle
yawfloatradYaw angle
covariance **float[21]Row-major representation of pose 6x6 cross-covariance matrix upper right triangle (states: x_global, y_global, z_global, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
reset_counter **uint8_tEstimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.

VISION_POSITION_ESTIMATE ( #102 )

[Message] Local position/attitude estimate from a vision source.

Field NameTypeUnitsDescription
usecuint64_tusTimestamp (UNIX time or time since system boot)
xfloatmLocal X position
yfloatmLocal Y position
zfloatmLocal Z position
rollfloatradRoll angle
pitchfloatradPitch angle
yawfloatradYaw angle
covariance **float[21]Row-major representation of pose 6x6 cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
reset_counter **uint8_tEstimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.

VISION_SPEED_ESTIMATE ( #103 )

[Message] Speed estimate from a vision source.

Field NameTypeUnitsDescription
usecuint64_tusTimestamp (UNIX time or time since system boot)
xfloatm/sGlobal X speed
yfloatm/sGlobal Y speed
zfloatm/sGlobal Z speed
covariance **float[9]Row-major representation of 3x3 linear velocity covariance matrix (states: vx, vy, vz; 1st three entries - 1st row, etc.). If unknown, assign NaN value to first element in the array.
reset_counter **uint8_tEstimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.

VICON_POSITION_ESTIMATE ( #104 )

[Message] Global position estimate from a Vicon motion system source.

Field NameTypeUnitsDescription
usecuint64_tusTimestamp (UNIX time or time since system boot)
xfloatmGlobal X position
yfloatmGlobal Y position
zfloatmGlobal Z position
rollfloatradRoll angle
pitchfloatradPitch angle
yawfloatradYaw angle
covariance **float[21]Row-major representation of 6x6 pose cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.

HIGHRES_IMU ( #105 )

[Message] The IMU readings in SI units in NED body frame

Field NameTypeUnitsDescription
time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
xaccfloatm/s/sX acceleration
yaccfloatm/s/sY acceleration
zaccfloatm/s/sZ acceleration
xgyrofloatrad/sAngular speed around X axis
ygyrofloatrad/sAngular speed around Y axis
zgyrofloatrad/sAngular speed around Z axis
xmagfloatgaussX Magnetic field
ymagfloatgaussY Magnetic field
zmagfloatgaussZ Magnetic field
abs_pressurefloatmbarAbsolute pressure
diff_pressurefloatmbarDifferential pressure
pressure_altfloatAltitude calculated from pressure
temperaturefloatdegCTemperature
fields_updateduint16_tBitmap for fields that have updated since last message, bit 0 = xacc, bit 12: temperature
id **uint8_tId. Ids are numbered from 0 and map to IMUs numbered from 1 (e.g. IMU1 will have a message with id=0)

OPTICAL_FLOW_RAD ( #106 )

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

Field NameTypeUnitsDescription
time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
sensor_iduint8_tSensor ID
integration_time_usuint32_tusIntegration time. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the.
integrated_xfloatradFlow around X axis (Sensor RH rotation about the X axis induces a positive flow. Sensor linear motion along the positive Y axis induces a negative flow.)
integrated_yfloatradFlow around Y axis (Sensor RH rotation about the Y axis induces a positive flow. Sensor linear motion along the positive X axis induces a positive flow.)
integrated_xgyrofloatradRH rotation around X axis
integrated_ygyrofloatradRH rotation around Y axis
integrated_zgyrofloatradRH rotation around Z axis
temperatureint16_tcdegCTemperature
qualityuint8_tOptical flow quality / confidence. 0: no valid flow, 255: maximum quality
time_delta_distance_usuint32_tusTime since the distance was sampled.
distancefloatmDistance to the center of the flow field. Positive value (including zero): distance known. Negative value: Unknown distance.

HIL_SENSOR ( #107 )

[Message] The IMU readings in SI units in NED body frame

Field NameTypeUnitsDescription
time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
xaccfloatm/s/sX acceleration
yaccfloatm/s/sY acceleration
zaccfloatm/s/sZ acceleration
xgyrofloatrad/sAngular speed around X axis in body frame
ygyrofloatrad/sAngular speed around Y axis in body frame
zgyrofloatrad/sAngular speed around Z axis in body frame
xmagfloatgaussX Magnetic field
ymagfloatgaussY Magnetic field
zmagfloatgaussZ Magnetic field
abs_pressurefloatmbarAbsolute pressure
diff_pressurefloatmbarDifferential pressure (airspeed)
pressure_altfloatAltitude calculated from pressure
temperaturefloatdegCTemperature
fields_updateduint32_tBitmap for fields that have updated since last message, bit 0 = xacc, bit 12: temperature, bit 31: full reset of attitude/position/velocities/etc was performed in sim.

SIM_STATE ( #108 )

[Message] Status of simulation environment, if used

Field NameTypeUnitsDescription
q1floatTrue attitude quaternion component 1, w (1 in null-rotation)
q2floatTrue attitude quaternion component 2, x (0 in null-rotation)
q3floatTrue attitude quaternion component 3, y (0 in null-rotation)
q4floatTrue attitude quaternion component 4, z (0 in null-rotation)
rollfloatAttitude roll expressed as Euler angles, not recommended except for human-readable outputs
pitchfloatAttitude pitch expressed as Euler angles, not recommended except for human-readable outputs
yawfloatAttitude yaw expressed as Euler angles, not recommended except for human-readable outputs
xaccfloatm/s/sX acceleration
yaccfloatm/s/sY acceleration
zaccfloatm/s/sZ acceleration
xgyrofloatrad/sAngular speed around X axis
ygyrofloatrad/sAngular speed around Y axis
zgyrofloatrad/sAngular speed around Z axis
latfloatdegLatitude
lonfloatdegLongitude
altfloatmAltitude
std_dev_horzfloatHorizontal position standard deviation
std_dev_vertfloatVertical position standard deviation
vnfloatm/sTrue velocity in north direction in earth-fixed NED frame
vefloatm/sTrue velocity in east direction in earth-fixed NED frame
vdfloatm/sTrue velocity in down direction in earth-fixed NED frame

RADIO_STATUS ( #109 )

[Message] Status generated by radio and injected into MAVLink stream.

Field NameTypeUnitsDescription
rssiuint8_tLocal (message sender) recieved signal strength indication in device-dependent units/scale. Values: [0-254], 255: invalid/unknown.
remrssiuint8_tRemote (message receiver) signal strength indication in device-dependent units/scale. Values: [0-254], 255: invalid/unknown.
txbufuint8_t%Remaining free transmitter buffer space.
noiseuint8_tLocal background noise level. These are device dependent RSSI values (scale as approx 2x dB on SiK radios). Values: [0-254], 255: invalid/unknown.
remnoiseuint8_tRemote background noise level. These are device dependent RSSI values (scale as approx 2x dB on SiK radios). Values: [0-254], 255: invalid/unknown.
rxerrorsuint16_tCount of radio packet receive errors (since boot).
fixeduint16_tCount of error corrected radio packets (since boot).

FILE_TRANSFER_PROTOCOL ( #110 )

[Message] File transfer message

Field NameTypeDescription
target_networkuint8_tNetwork ID (0 for broadcast)
target_systemuint8_tSystem ID (0 for broadcast)
target_componentuint8_tComponent ID (0 for broadcast)
payloaduint8_t[251]Variable length payload. The length is defined by the remaining message length when subtracting the header and other fields. The entire content of this block is opaque unless you understand any the encoding message_type. The particular encoding used can be extension specific and might not always be documented as part of the mavlink specification.

TIMESYNC ( #111 )

[Message] Time synchronization message.

Field NameTypeDescription
tc1int64_tTime sync timestamp 1
ts1int64_tTime sync timestamp 2

CAMERA_TRIGGER ( #112 )

[Message] Camera-IMU triggering and synchronisation message.

Field NameTypeUnitsDescription
time_usecuint64_tusTimestamp for image frame (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
sequint32_tImage frame sequence

HIL_GPS ( #113 )

[Message] The global position, as returned by the Global Positioning System (GPS). This is NOT the global position estimate of the sytem, but rather a RAW sensor value. See message GLOBAL_POSITION for the global position estimate.

Field NameTypeUnitsDescription
time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
fix_typeuint8_t0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
latint32_tdegE7Latitude (WGS84)
lonint32_tdegE7Longitude (WGS84)
altint32_tmmAltitude (MSL). Positive for up.
ephuint16_tcmGPS HDOP horizontal dilution of position. If unknown, set to: 65535
epvuint16_tcmGPS VDOP vertical dilution of position. If unknown, set to: 65535
veluint16_tcm/sGPS ground speed. If unknown, set to: 65535
vnint16_tcm/sGPS velocity in north direction in earth-fixed NED frame
veint16_tcm/sGPS velocity in east direction in earth-fixed NED frame
vdint16_tcm/sGPS velocity in down direction in earth-fixed NED frame
coguint16_tcdegCourse over ground (NOT heading, but direction of movement), 0.0..359.99 degrees. If unknown, set to: 65535
satellites_visibleuint8_tNumber of satellites visible. If unknown, set to 255
id **uint8_tGPS ID (zero indexed). Used for multiple GPS inputs

HIL_OPTICAL_FLOW ( #114 )

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

Field NameTypeUnitsDescription
time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
sensor_iduint8_tSensor ID
integration_time_usuint32_tusIntegration time. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the.
integrated_xfloatradFlow in radians around X axis (Sensor RH rotation about the X axis induces a positive flow. Sensor linear motion along the positive Y axis induces a negative flow.)
integrated_yfloatradFlow in radians around Y axis (Sensor RH rotation about the Y axis induces a positive flow. Sensor linear motion along the positive X axis induces a positive flow.)
integrated_xgyrofloatradRH rotation around X axis
integrated_ygyrofloatradRH rotation around Y axis
integrated_zgyrofloatradRH rotation around Z axis
temperatureint16_tcdegCTemperature
qualityuint8_tOptical flow quality / confidence. 0: no valid flow, 255: maximum quality
time_delta_distance_usuint32_tusTime since the distance was sampled.
distancefloatmDistance to the center of the flow field. Positive value (including zero): distance known. Negative value: Unknown distance.

HIL_STATE_QUATERNION ( #115 )

[Message] Sent from simulation to autopilot, avoids in contrast to HIL_STATE singularities. This packet is useful for high throughput applications such as hardware in the loop simulations.

Field NameTypeUnitsDescription
time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
attitude_quaternionfloat[4]Vehicle attitude expressed as normalized quaternion in w, x, y, z order (with 1 0 0 0 being the null-rotation)
rollspeedfloatrad/sBody frame roll / phi angular speed
pitchspeedfloatrad/sBody frame pitch / theta angular speed
yawspeedfloatrad/sBody frame yaw / psi angular speed
latint32_tdegE7Latitude
lonint32_tdegE7Longitude
altint32_tmmAltitude
vxint16_tcm/sGround X Speed (Latitude)
vyint16_tcm/sGround Y Speed (Longitude)
vzint16_tcm/sGround Z Speed (Altitude)
ind_airspeeduint16_tcm/sIndicated airspeed
true_airspeeduint16_tcm/sTrue airspeed
xaccint16_tmGX acceleration
yaccint16_tmGY acceleration
zaccint16_tmGZ acceleration

SCALED_IMU2 ( #116 )

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

Field NameTypeUnitsDescription
time_boot_msuint32_tmsTimestamp (time since system boot).
xaccint16_tmGX acceleration
yaccint16_tmGY acceleration
zaccint16_tmGZ acceleration
xgyroint16_tmrad/sAngular speed around X axis
ygyroint16_tmrad/sAngular speed around Y axis
zgyroint16_tmrad/sAngular speed around Z axis
xmagint16_tmgaussX Magnetic field
ymagint16_tmgaussY Magnetic field
zmagint16_tmgaussZ Magnetic field
temperature **int16_tcdegCTemperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).

LOG_REQUEST_LIST ( #117 )

[Message] Request a list of available logs. On some systems calling this may stop on-board logging until LOG_REQUEST_END is called. If there are no log files available this request shall be answered with one LOG_ENTRY message with id = 0 and num_logs = 0.

Field NameTypeDescription
target_systemuint8_tSystem ID
target_componentuint8_tComponent ID
startuint16_tFirst log id (0 for first available)
enduint16_tLast log id (0xffff for last available)

LOG_ENTRY ( #118 )

[Message] Reply to LOG_REQUEST_LIST

Field NameTypeUnitsDescription
iduint16_tLog id
num_logsuint16_tTotal number of logs
last_log_numuint16_tHigh log number
time_utcuint32_tsUTC timestamp of log since 1970, or 0 if not available
sizeuint32_tbytesSize of the log (may be approximate)

LOG_REQUEST_DATA ( #119 )

[Message] Request a chunk of a log

Field NameTypeUnitsDescription
target_systemuint8_tSystem ID
target_componentuint8_tComponent ID
iduint16_tLog id (from LOG_ENTRY reply)
ofsuint32_tOffset into the log
countuint32_tbytesNumber of bytes

LOG_DATA ( #120 )

[Message] Reply to LOG_REQUEST_DATA

Field NameTypeUnitsDescription
iduint16_tLog id (from LOG_ENTRY reply)
ofsuint32_tOffset into the log
countuint8_tbytesNumber of bytes (zero for end of log)
datauint8_t[90]log data

LOG_ERASE ( #121 )

[Message] Erase all logs

Field NameTypeDescription
target_systemuint8_tSystem ID
target_componentuint8_tComponent ID

LOG_REQUEST_END ( #122 )

[Message] Stop log transfer and resume normal logging

Field NameTypeDescription
target_systemuint8_tSystem ID
target_componentuint8_tComponent ID

GPS_INJECT_DATA ( #123 )

[Message] Data for injecting into the onboard GPS (used for DGPS)

Field NameTypeUnitsDescription
target_systemuint8_tSystem ID
target_componentuint8_tComponent ID
lenuint8_tbytesData length
datauint8_t[110]Raw data (110 is enough for 12 satellites of RTCMv2)

GPS2_RAW ( #124 )

[Message] Second GPS data.

Field NameTypeUnitsValuesDescription
time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
fix_typeuint8_tGPS_FIX_TYPEGPS fix type.
latint32_tdegE7Latitude (WGS84)
lonint32_tdegE7Longitude (WGS84)
altint32_tmmAltitude (MSL). Positive for up.
ephuint16_tcmGPS HDOP horizontal dilution of position. If unknown, set to: UINT16_MAX
epvuint16_tcmGPS VDOP vertical dilution of position. If unknown, set to: UINT16_MAX
veluint16_tcm/sGPS ground speed. If unknown, set to: UINT16_MAX
coguint16_tcdegCourse over ground (NOT heading, but direction of movement): 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
satellites_visibleuint8_tNumber of satellites visible. If unknown, set to 255
dgps_numchuint8_tNumber of DGPS satellites
dgps_ageuint32_tmsAge of DGPS info
yaw **uint16_tcdegYaw in earth frame from north. Use 0 if this GPS does not provide yaw. Use 65535 if this GPS is configured to provide yaw and is currently unable to provide it. Use 36000 for north.

POWER_STATUS ( #125 )

[Message] Power supply status

Field NameTypeUnitsValuesDescription
Vccuint16_tmV5V rail voltage.
Vservouint16_tmVServo rail voltage.
flagsuint16_tMAV_POWER_STATUSBitmap of power supply status flags.

SERIAL_CONTROL ( #126 )

[Message] Control a serial port. This can be used for raw access to an onboard serial peripheral such as a GPS or telemetry radio. It is designed to make it possible to update the devices firmware via MAVLink messages or change the devices settings. A message with zero bytes can be used to change just the baudrate.

Field NameTypeUnitsValuesDescription
deviceuint8_tSERIAL_CONTROL_DEVSerial control device type.
flagsuint8_tSERIAL_CONTROL_FLAGBitmap of serial control flags.
timeoutuint16_tmsTimeout for reply data
baudrateuint32_tbits/sBaudrate of transfer. Zero means no change.
countuint8_tbyteshow many bytes in this transfer
datauint8_t[70]serial data

GPS_RTK ( #127 )

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

Field NameTypeUnitsValuesDescription
time_last_baseline_msuint32_tmsTime since boot of last baseline message received.
rtk_receiver_iduint8_tIdentification of connected RTK receiver.
wnuint16_tGPS Week Number of last baseline
towuint32_tmsGPS Time of Week of last baseline
rtk_healthuint8_tGPS-specific health report for RTK data.
rtk_rateuint8_tHzRate of baseline messages being received by GPS
nsatsuint8_tCurrent number of sats used for RTK calculation.
baseline_coords_typeuint8_tRTK_BASELINE_COORDINATE_SYSTEMCoordinate system of baseline
baseline_a_mmint32_tmmCurrent baseline in ECEF x or NED north component.
baseline_b_mmint32_tmmCurrent baseline in ECEF y or NED east component.
baseline_c_mmint32_tmmCurrent baseline in ECEF z or NED down component.
accuracyuint32_tCurrent estimate of baseline accuracy.
iar_num_hypothesesint32_tCurrent number of integer ambiguity hypotheses.

GPS2_RTK ( #128 )

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

Field NameTypeUnitsValuesDescription
time_last_baseline_msuint32_tmsTime since boot of last baseline message received.
rtk_receiver_iduint8_tIdentification of connected RTK receiver.
wnuint16_tGPS Week Number of last baseline
towuint32_tmsGPS Time of Week of last baseline
rtk_healthuint8_tGPS-specific health report for RTK data.
rtk_rateuint8_tHzRate of baseline messages being received by GPS
nsatsuint8_tCurrent number of sats used for RTK calculation.
baseline_coords_typeuint8_tRTK_BASELINE_COORDINATE_SYSTEMCoordinate system of baseline
baseline_a_mmint32_tmmCurrent baseline in ECEF x or NED north component.
baseline_b_mmint32_tmmCurrent baseline in ECEF y or NED east component.
baseline_c_mmint32_tmmCurrent baseline in ECEF z or NED down component.
accuracyuint32_tCurrent estimate of baseline accuracy.
iar_num_hypothesesint32_tCurrent number of integer ambiguity hypotheses.

SCALED_IMU3 ( #129 )

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

Field NameTypeUnitsDescription
time_boot_msuint32_tmsTimestamp (time since system boot).
xaccint16_tmGX acceleration
yaccint16_tmGY acceleration
zaccint16_tmGZ acceleration
xgyroint16_tmrad/sAngular speed around X axis
ygyroint16_tmrad/sAngular speed around Y axis
zgyroint16_tmrad/sAngular speed around Z axis
xmagint16_tmgaussX Magnetic field
ymagint16_tmgaussY Magnetic field
zmagint16_tmgaussZ Magnetic field
temperature **int16_tcdegCTemperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).

DATA_TRANSMISSION_HANDSHAKE ( #130 )

[Message] Handshake message to initiate, control and stop image streaming when using the Image Transmission Protocol: https://mavlink.io/en/services/image_transmission.html.

Field NameTypeUnitsValuesDescription
typeuint8_tMAVLINK_DATA_STREAM_TYPEType of requested/acknowledged data.
sizeuint32_tbytestotal data size (set on ACK only).
widthuint16_tWidth of a matrix or image.
heightuint16_tHeight of a matrix or image.
packetsuint16_tNumber of packets being sent (set on ACK only).
payloaduint8_tbytesPayload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only).
jpg_qualityuint8_t%JPEG quality. Values: [1-100].

ENCAPSULATED_DATA ( #131 )

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

Field NameTypeDescription
seqnruint16_tsequence number (starting with 0 on every transmission)
datauint8_t[253]image data bytes

DISTANCE_SENSOR ( #132 )

[Message] Distance sensor information for an onboard rangefinder.

Field NameTypeUnitsValuesDescription
time_boot_msuint32_tmsTimestamp (time since system boot).
min_distanceuint16_tcmMinimum distance the sensor can measure
max_distanceuint16_tcmMaximum distance the sensor can measure
current_distanceuint16_tcmCurrent distance reading
typeuint8_tMAV_DISTANCE_SENSORType of distance sensor.
iduint8_tOnboard ID of the sensor
orientationuint8_tMAV_SENSOR_ORIENTATIONDirection the sensor faces. downward-facing: ROTATION_PITCH_270, upward-facing: ROTATION_PITCH_90, backward-facing: ROTATION_PITCH_180, forward-facing: ROTATION_NONE, left-facing: ROTATION_YAW_90, right-facing: ROTATION_YAW_270
covarianceuint8_tcm^2Measurement variance. Max standard deviation is 6cm. 255 if unknown.
horizontal_fov **floatradHorizontal Field of View (angle) where the distance measurement is valid and the field of view is known. Otherwise this is set to 0.
vertical_fov **floatradVertical Field of View (angle) where the distance measurement is valid and the field of view is known. Otherwise this is set to 0.
quaternion **float[4]Quaternion of the sensor orientation in vehicle body frame (w, x, y, z order, zero-rotation is 1, 0, 0, 0). Zero-rotation is along the vehicle body x-axis. This field is required if the orientation is set to MAV_SENSOR_ROTATION_CUSTOM. Set it to 0 if invalid."
signal_quality **uint8_t%Signal quality of the sensor. Specific to each sensor type, representing the relation of the signal strength with the target reflectivity, distance, size or aspect, but normalised as a percentage. 0 = unknown/unset signal quality, 1 = invalid signal, 100 = perfect signal.

TERRAIN_REQUEST ( #133 )

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

Field NameTypeUnitsDescription
latint32_tdegE7Latitude of SW corner of first grid
lonint32_tdegE7Longitude of SW corner of first grid
grid_spacinguint16_tmGrid spacing
maskuint64_tBitmask of requested 4x4 grids (row major 8x7 array of grids, 56 bits)

TERRAIN_DATA ( #134 )

[Message] Terrain data sent from GCS. The lat/lon and grid_spacing must be the same as a lat/lon from a TERRAIN_REQUEST. See terrain protocol docs: https://mavlink.io/en/services/terrain.html

Field NameTypeUnitsDescription
latint32_tdegE7Latitude of SW corner of first grid
lonint32_tdegE7Longitude of SW corner of first grid
grid_spacinguint16_tmGrid spacing
gridbituint8_tbit within the terrain request mask
dataint16_t[16]mTerrain data MSL

TERRAIN_CHECK ( #135 )

DEPRECATED: Replaced by (2020-08). Deprecated (without replacement) as is not part of terrain protocol: https://mavlink.io/en/services/terrain.html.

[Message] Request that the vehicle report terrain height at the given location. Used by GCS to check if vehicle has all terrain data needed for a mission.

Field NameTypeUnitsDescription
latint32_tdegE7Latitude
lonint32_tdegE7Longitude

TERRAIN_REPORT ( #136 )

[Message] Streamed from drone to report progress of terrain map download (or response from a TERRAIN_CHECK request - deprecated). See terrain protocol docs: https://mavlink.io/en/services/terrain.html

Field NameTypeUnitsDescription
latint32_tdegE7Latitude
lonint32_tdegE7Longitude
spacinguint16_tgrid spacing (zero if terrain at this location unavailable)
terrain_heightfloatmTerrain height MSL
current_heightfloatmCurrent vehicle height above lat/lon terrain height
pendinguint16_tNumber of 4x4 terrain blocks waiting to be received or read from disk
loadeduint16_tNumber of 4x4 terrain blocks in memory

SCALED_PRESSURE2 ( #137 )

[Message] Barometer readings for 2nd barometer

Field NameTypeUnitsDescription
time_boot_msuint32_tmsTimestamp (time since system boot).
press_absfloathPaAbsolute pressure
press_difffloathPaDifferential pressure
temperatureint16_tcdegCAbsolute pressure temperature
temperature_press_diff **int16_tcdegCDifferential pressure temperature (UINT16_MAX, if not available)

ATT_POS_MOCAP ( #138 )

[Message] Motion capture attitude and position

Field NameTypeUnitsDescription
time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
qfloat[4]Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
xfloatmX position (NED)
yfloatmY position (NED)
zfloatmZ position (NED)
covariance **float[21]Row-major representation of a pose 6x6 cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.

SET_ACTUATOR_CONTROL_TARGET ( #139 )

[Message] Set the vehicle attitude and body angular rates.

Field NameTypeUnitsDescription
time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
group_mlxuint8_tActuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.
target_systemuint8_tSystem ID
target_componentuint8_tComponent ID
controlsfloat[8]Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.

ACTUATOR_CONTROL_TARGET ( #140 )

[Message] Set the vehicle attitude and body angular rates.

Field NameTypeUnitsDescription
time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
group_mlxuint8_tActuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.
controlsfloat[8]Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.

ALTITUDE ( #141 )

[Message] The current system altitude.

Field NameTypeUnitsDescription
time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
altitude_monotonicfloatmThis altitude measure is initialized on system boot and monotonic (it is never reset, but represents the local altitude change). The only guarantee on this field is that it will never be reset and is consistent within a flight. The recommended value for this field is the uncorrected barometric altitude at boot time. This altitude will also drift and vary between flights.
altitude_amslfloatmThis altitude measure is strictly above mean sea level and might be non-monotonic (it might reset on events like GPS lock or when a new QNH value is set). It should be the altitude to which global altitude waypoints are compared to. Note that it is *not* the GPS altitude, however, most GPS modules already output MSL by default and not the WGS84 altitude.
altitude_localfloatmThis is the local altitude in the local coordinate frame. It is not the altitude above home, but in reference to the coordinate origin (0, 0, 0). It is up-positive.
altitude_relativefloatmThis is the altitude above the home position. It resets on each change of the current home position.
altitude_terrainfloatmThis is the altitude above terrain. It might be fed by a terrain database or an altimeter. Values smaller than -1000 should be interpreted as unknown.
bottom_clearancefloatmThis is not the altitude, but the clear space below the system according to the fused clearance estimate. It generally should max out at the maximum range of e.g. the laser altimeter. It is generally a moving target. A negative value indicates no measurement available.

RESOURCE_REQUEST ( #142 )

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

Field NameTypeDescription
request_iduint8_tRequest ID. This ID should be re-used when sending back URI contents
uri_typeuint8_tThe type of requested URI. 0 = a file via URL. 1 = a UAVCAN binary
uriuint8_t[120]The requested unique resource identifier (URI). It is not necessarily a straight domain name (depends on the URI type enum)
transfer_typeuint8_tThe way the autopilot wants to receive the URI. 0 = MAVLink FTP. 1 = binary stream.
storageuint8_t[120]The storage path the autopilot wants the URI to be stored in. Will only be valid if the transfer_type has a storage associated (e.g. MAVLink FTP).

SCALED_PRESSURE3 ( #143 )

[Message] Barometer readings for 3rd barometer

Field NameTypeUnitsDescription
time_boot_msuint32_tmsTimestamp (time since system boot).
press_absfloathPaAbsolute pressure
press_difffloathPaDifferential pressure
temperatureint16_tcdegCAbsolute pressure temperature
temperature_press_diff **int16_tcdegCDifferential pressure temperature (UINT16_MAX, if not available)

FOLLOW_TARGET ( #144 )

[Message] Current motion information from a designated system

Field NameTypeUnitsDescription
timestampuint64_tmsTimestamp (time since system boot).
est_capabilitiesuint8_tbit positions for tracker reporting capabilities (POS = 0, VEL = 1, ACCEL = 2, ATT + RATES = 3)
latint32_tdegE7Latitude (WGS84)
lonint32_tdegE7Longitude (WGS84)
altfloatmAltitude (MSL)
velfloat[3]m/starget velocity (0,0,0) for unknown
accfloat[3]m/s/slinear target acceleration (0,0,0) for unknown
attitude_qfloat[4](1 0 0 0 for unknown)
ratesfloat[3](0 0 0 for unknown)
position_covfloat[3]eph epv
custom_stateuint64_tbutton states or switches of a tracker device

CONTROL_SYSTEM_STATE ( #146 )

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

Field NameTypeUnitsDescription
time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
x_accfloatm/s/sX acceleration in body frame
y_accfloatm/s/sY acceleration in body frame
z_accfloatm/s/sZ acceleration in body frame
x_velfloatm/sX velocity in body frame
y_velfloatm/sY velocity in body frame
z_velfloatm/sZ velocity in body frame
x_posfloatmX position in local frame
y_posfloatmY position in local frame
z_posfloatmZ position in local frame
airspeedfloatm/sAirspeed, set to -1 if unknown
vel_variancefloat[3]Variance of body velocity estimate
pos_variancefloat[3]Variance in local position
qfloat[4]The attitude, represented as Quaternion
roll_ratefloatrad/sAngular rate in roll axis
pitch_ratefloatrad/sAngular rate in pitch axis
yaw_ratefloatrad/sAngular rate in yaw axis

BATTERY_STATUS ( #147 )

[Message] Battery information. Updates GCS with flight controller battery status. Use SMART_BATTERY_* messages instead for smart batteries.

Field NameTypeUnitsValuesDescription
iduint8_tBattery ID
battery_functionuint8_tMAV_BATTERY_FUNCTIONFunction of the battery
typeuint8_tMAV_BATTERY_TYPEType (chemistry) of the battery
temperatureint16_tcdegCTemperature of the battery. INT16_MAX for unknown temperature.
voltagesuint16_t[10]mVBattery voltage of cells 1 to 10 (see voltages_ext for cells 11-14). Cells in this field above the valid cell count for this battery should have the UINT16_MAX value. If individual cell voltages are unknown or not measured for this battery, then the overall battery voltage should be filled in cell 0, with all others set to UINT16_MAX. If the voltage of the battery is greater than (UINT16_MAX - 1), then cell 0 should be set to (UINT16_MAX - 1), and cell 1 to the remaining voltage. This can be extended to multiple cells if the total voltage is greater than 2 * (UINT16_MAX - 1).
current_batteryint16_tcABattery current, -1: autopilot does not measure the current
current_consumedint32_tmAhConsumed charge, -1: autopilot does not provide consumption estimate
energy_consumedint32_thJConsumed energy, -1: autopilot does not provide energy consumption estimate
battery_remainingint8_t%Remaining battery energy. Values: [0-100], -1: autopilot does not estimate the remaining battery.
time_remaining **int32_tsRemaining battery time, 0: autopilot does not provide remaining battery time estimate
charge_state **uint8_tMAV_BATTERY_CHARGE_STATEState for extent of discharge, provided by autopilot for warning or external reactions
voltages_ext **uint16_t[4]mVBattery voltages for cells 11 to 14. Cells above the valid cell count for this battery should have a value of 0, where zero indicates not supported (note, this is different than for the voltages field and allows empty byte truncation). If the measured value is 0 then 1 should be sent instead.

AUTOPILOT_VERSION ( #148 )

[Message] Version and capability of autopilot software. This should be emitted in response to a request with MAV_CMD_REQUEST_MESSAGE.

Field NameTypeValuesDescription
capabilitiesuint64_tMAV_PROTOCOL_CAPABILITYBitmap of capabilities
flight_sw_versionuint32_tFirmware version number
middleware_sw_versionuint32_tMiddleware version number
os_sw_versionuint32_tOperating system version number
board_versionuint32_tHW / board version (last 8 bytes should be silicon ID, if any)
flight_custom_versionuint8_t[8]Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.
middleware_custom_versionuint8_t[8]Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.
os_custom_versionuint8_t[8]Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.
vendor_iduint16_tID of the board vendor
product_iduint16_tID of the product
uiduint64_tUID if provided by hardware (see uid2)
uid2 **uint8_t[18]UID if provided by hardware (supersedes the uid field. If this is non-zero, use this field, otherwise use uid)

LANDING_TARGET ( #149 )

[Message] The location of a landing target. See: https://mavlink.io/en/services/landing_target.html

Field NameTypeUnitsValuesDescription
time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
target_numuint8_tThe ID of the target if multiple targets are present
frameuint8_tMAV_FRAMECoordinate frame used for following fields.
angle_xfloatradX-axis angular offset of the target from the center of the image
angle_yfloatradY-axis angular offset of the target from the center of the image
distancefloatmDistance to the target from the vehicle
size_xfloatradSize of target along x-axis
size_yfloatradSize of target along y-axis
x **floatmX Position of the landing target in MAV_FRAME
y **floatmY Position of the landing target in MAV_FRAME
z **floatmZ Position of the landing target in MAV_FRAME
q **float[4]Quaternion of landing target orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
type **uint8_tLANDING_TARGET_TYPEType of landing target
position_valid **uint8_tBoolean indicating whether the position fields (x, y, z, q, type) contain valid target position information (valid: 1, invalid: 0). Default is 0 (invalid).

FENCE_STATUS ( #162 )

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

Field NameTypeUnitsValuesDescription
breach_statusuint8_tBreach status (0 if currently inside fence, 1 if outside).
breach_countuint16_tNumber of fence breaches.
breach_typeuint8_tFENCE_BREACHLast breach type.
breach_timeuint32_tmsTime (since boot) of last breach.
breach_mitigation **uint8_tFENCE_MITIGATEActive action to prevent fence breach

ESTIMATOR_STATUS ( #230 )

[Message] Estimator status message including flags, innovation test ratios and estimated accuracies. The flags message is an integer bitmask containing information on which EKF outputs are valid. See the ESTIMATOR_STATUS_FLAGS enum definition for further information. The innovation test ratios show the magnitude of the sensor innovation divided by the innovation check threshold. Under normal operation the innovation test ratios should be below 0.5 with occasional values up to 1.0. Values greater than 1.0 should be rare under normal operation and indicate that a measurement has been rejected by the filter. The user should be notified if an innovation test ratio greater than 1.0 is recorded. Notifications for values in the range between 0.5 and 1.0 should be optional and controllable by the user.

Field NameTypeUnitsValuesDescription
time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
flagsuint16_tESTIMATOR_STATUS_FLAGSBitmap indicating which EKF outputs are valid.
vel_ratiofloatVelocity innovation test ratio
pos_horiz_ratiofloatHorizontal position innovation test ratio
pos_vert_ratiofloatVertical position innovation test ratio
mag_ratiofloatMagnetometer innovation test ratio
hagl_ratiofloatHeight above terrain innovation test ratio
tas_ratiofloatTrue airspeed innovation test ratio
pos_horiz_accuracyfloatmHorizontal position 1-STD accuracy relative to the EKF local origin
pos_vert_accuracyfloatmVertical position 1-STD accuracy relative to the EKF local origin

WIND_COV ( #231 )

[Message] Wind covariance estimate from vehicle.

Field NameTypeUnitsDescription
time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
wind_xfloatm/sWind in X (NED) direction
wind_yfloatm/sWind in Y (NED) direction
wind_zfloatm/sWind in Z (NED) direction
var_horizfloatm/sVariability of the wind in XY. RMS of a 1 Hz lowpassed wind estimate.
var_vertfloatm/sVariability of the wind in Z. RMS of a 1 Hz lowpassed wind estimate.
wind_altfloatmAltitude (MSL) that this measurement was taken at
horiz_accuracyfloatmHorizontal speed 1-STD accuracy
vert_accuracyfloatmVertical speed 1-STD accuracy

GPS_INPUT ( #232 )

[Message] GPS sensor input message. This is a raw sensor value sent by the GPS. This is NOT the global position estimate of the system.

Field NameTypeUnitsValuesDescription
time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
gps_iduint8_tID of the GPS for multiple GPS inputs
ignore_flagsuint16_tGPS_INPUT_IGNORE_FLAGSBitmap indicating which GPS input flags fields to ignore. All other fields must be provided.
time_week_msuint32_tmsGPS time (from start of GPS week)
time_weekuint16_tGPS week number
fix_typeuint8_t0-1: no fix, 2: 2D fix, 3: 3D fix. 4: 3D with DGPS. 5: 3D with RTK
latint32_tdegE7Latitude (WGS84)
lonint32_tdegE7Longitude (WGS84)
altfloatmAltitude (MSL). Positive for up.
hdopfloatmGPS HDOP horizontal dilution of position
vdopfloatmGPS VDOP vertical dilution of position
vnfloatm/sGPS velocity in north direction in earth-fixed NED frame
vefloatm/sGPS velocity in east direction in earth-fixed NED frame
vdfloatm/sGPS velocity in down direction in earth-fixed NED frame
speed_accuracyfloatm/sGPS speed accuracy
horiz_accuracyfloatmGPS horizontal accuracy
vert_accuracyfloatmGPS vertical accuracy
satellites_visibleuint8_tNumber of satellites visible.
yaw **uint16_tcdegYaw of vehicle relative to Earth's North, zero means not available, use 36000 for north

GPS_RTCM_DATA ( #233 )

[Message] RTCM message for injecting into the onboard GPS (used for DGPS)

Field NameTypeUnitsDescription
flagsuint8_tLSB: 1 means message is fragmented, next 2 bits are the fragment ID, the remaining 5 bits are used for the sequence ID. Messages are only to be flushed to the GPS when the entire message has been reconstructed on the autopilot. The fragment ID specifies which order the fragments should be assembled into a buffer, while the sequence ID is used to detect a mismatch between different buffers. The buffer is considered fully reconstructed when either all 4 fragments are present, or all the fragments before the first fragment with a non full payload is received. This management is used to ensure that normal GPS operation doesn't corrupt RTCM data, and to recover from a unreliable transport delivery order.
lenuint8_tbytesdata length
datauint8_t[180]RTCM message (may be fragmented)

HIGH_LATENCY ( #234 )

[Message] Message appropriate for high latency connections like Iridium

Field NameTypeUnitsValuesDescription
base_modeuint8_tMAV_MODE_FLAGBitmap of enabled system modes.
custom_modeuint32_tA bitfield for use for autopilot-specific flags.
landed_stateuint8_tMAV_LANDED_STATEThe landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.
rollint16_tcdegroll
pitchint16_tcdegpitch
headinguint16_tcdegheading
throttleint8_t%throttle (percentage)
heading_spint16_tcdegheading setpoint
latitudeint32_tdegE7Latitude
longitudeint32_tdegE7Longitude
altitude_amslint16_tmAltitude above mean sea level
altitude_spint16_tmAltitude setpoint relative to the home position
airspeeduint8_tm/sairspeed
airspeed_spuint8_tm/sairspeed setpoint
groundspeeduint8_tm/sgroundspeed
climb_rateint8_tm/sclimb rate
gps_nsatuint8_tNumber of satellites visible. If unknown, set to 255
gps_fix_typeuint8_tGPS_FIX_TYPEGPS Fix type.
battery_remaininguint8_t%Remaining battery (percentage)
temperatureint8_tdegCAutopilot temperature (degrees C)
temperature_airint8_tdegCAir temperature (degrees C) from airspeed sensor
failsafeuint8_tfailsafe (each bit represents a failsafe where 0=ok, 1=failsafe active (bit0:RC, bit1:batt, bit2:GPS, bit3:GCS, bit4:fence)
wp_numuint8_tcurrent waypoint number
wp_distanceuint16_tmdistance to target

HIGH_LATENCY2 ( #235 )

[Message] Message appropriate for high latency connections like Iridium (version 2)

Field NameTypeUnitsValuesDescription
timestampuint32_tmsTimestamp (milliseconds since boot or Unix epoch)
typeuint8_tMAV_TYPEType of the MAV (quadrotor, helicopter, etc.)
autopilotuint8_tMAV_AUTOPILOTAutopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers.
custom_modeuint16_tA bitfield for use for autopilot-specific flags (2 byte version).
latitudeint32_tdegE7Latitude
longitudeint32_tdegE7Longitude
altitudeint16_tmAltitude above mean sea level
target_altitudeint16_tmAltitude setpoint
headinguint8_tdeg/2Heading
target_headinguint8_tdeg/2Heading setpoint
target_distanceuint16_tdamDistance to target waypoint or position
throttleuint8_t%Throttle
airspeeduint8_tm/s*5Airspeed
airspeed_spuint8_tm/s*5Airspeed setpoint
groundspeeduint8_tm/s*5Groundspeed
windspeeduint8_tm/s*5Windspeed
wind_headinguint8_tdeg/2Wind heading
ephuint8_tdmMaximum error horizontal position since last message
epvuint8_tdmMaximum error vertical position since last message
temperature_airint8_tdegCAir temperature from airspeed sensor
climb_rateint8_tdm/sMaximum climb rate magnitude since last message
batteryint8_t%Battery level (-1 if field not provided).
wp_numuint16_tCurrent waypoint number
failure_flagsuint16_tHL_FAILURE_FLAGBitmap of failure flags.
custom0int8_tField for custom payload.
custom1int8_tField for custom payload.
custom2int8_tField for custom payload.

VIBRATION ( #241 )

[Message] Vibration levels and accelerometer clipping

Field NameTypeUnitsDescription
time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
vibration_xfloatVibration levels on X-axis
vibration_yfloatVibration levels on Y-axis
vibration_zfloatVibration levels on Z-axis
clipping_0uint32_tfirst accelerometer clipping count
clipping_1uint32_tsecond accelerometer clipping count
clipping_2uint32_tthird accelerometer clipping count

HOME_POSITION ( #242 )

[Message] This message can be requested by sending the MAV_CMD_GET_HOME_POSITION command. The position the system will return to and land on. The position is set automatically by the system during the takeoff in case it was not explicitly set by the operator before or after. The global and local positions encode the position in the respective coordinate frames, while the q parameter encodes the orientation of the surface. Under normal conditions it describes the heading and terrain slope, which can be used by the aircraft to adjust the approach. The approach 3D vector describes the point to which the system should fly in normal flight mode and then perform a landing sequence along the vector.

Field NameTypeUnitsDescription
latitudeint32_tdegE7Latitude (WGS84)
longitudeint32_tdegE7Longitude (WGS84)
altitudeint32_tmmAltitude (MSL). Positive for up.
xfloatmLocal X position of this position in the local coordinate frame
yfloatmLocal Y position of this position in the local coordinate frame
zfloatmLocal Z position of this position in the local coordinate frame
qfloat[4]World to surface normal and heading transformation of the takeoff position. Used to indicate the heading and slope of the ground
approach_xfloatmLocal X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
approach_yfloatmLocal Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
approach_zfloatmLocal Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
time_usec **uint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

SET_HOME_POSITION ( #243 )

[Message] The position the system will return to and land on. The position is set automatically by the system during the takeoff in case it was not explicitly set by the operator before or after. The global and local positions encode the position in the respective coordinate frames, while the q parameter encodes the orientation of the surface. Under normal conditions it describes the heading and terrain slope, which can be used by the aircraft to adjust the approach. The approach 3D vector describes the point to which the system should fly in normal flight mode and then perform a landing sequence along the vector.

Field NameTypeUnitsDescription
target_systemuint8_tSystem ID.
latitudeint32_tdegE7Latitude (WGS84)
longitudeint32_tdegE7Longitude (WGS84)
altitudeint32_tmmAltitude (MSL). Positive for up.
xfloatmLocal X position of this position in the local coordinate frame
yfloatmLocal Y position of this position in the local coordinate frame
zfloatmLocal Z position of this position in the local coordinate frame
qfloat[4]World to surface normal and heading transformation of the takeoff position. Used to indicate the heading and slope of the ground
approach_xfloatmLocal X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
approach_yfloatmLocal Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
approach_zfloatmLocal Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
time_usec **uint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.

MESSAGE_INTERVAL ( #244 )

[Message] The interval between messages for a particular MAVLink message ID. This message is the response to the MAV_CMD_GET_MESSAGE_INTERVAL command. This interface replaces DATA_STREAM.

Field NameTypeUnitsDescription
message_iduint16_tThe ID of the requested MAVLink message. v1.0 is limited to 254 messages.
interval_usint32_tusThe interval between two messages. A value of -1 indicates this stream is disabled, 0 indicates it is not available, > 0 indicates the interval at which it is sent.

EXTENDED_SYS_STATE ( #245 )

[Message] Provides state for additional features

Field NameTypeValuesDescription
vtol_stateuint8_tMAV_VTOL_STATEThe VTOL state if applicable. Is set to MAV_VTOL_STATE_UNDEFINED if UAV is not in VTOL configuration.
landed_stateuint8_tMAV_LANDED_STATEThe landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.

ADSB_VEHICLE ( #246 )

[Message] The location and information of an ADSB vehicle

Field NameTypeUnitsValuesDescription
ICAO_addressuint32_tICAO address
latint32_tdegE7Latitude
lonint32_tdegE7Longitude
altitude_typeuint8_tADSB_ALTITUDE_TYPEADSB altitude type.
altitudeint32_tmmAltitude(ASL)
headinguint16_tcdegCourse over ground
hor_velocityuint16_tcm/sThe horizontal velocity
ver_velocityint16_tcm/sThe vertical velocity. Positive is up
callsignchar[9]The callsign, 8+null
emitter_typeuint8_tADSB_EMITTER_TYPEADSB emitter type.
tslcuint8_tsTime since last communication in seconds
flagsuint16_tADSB_FLAGSBitmap to indicate various statuses including valid data fields
squawkuint16_tSquawk code

COLLISION ( #247 )

[Message] Information about a potential collision

Field NameTypeUnitsValuesDescription
srcuint8_tMAV_COLLISION_SRCCollision data source
iduint32_tUnique identifier, domain based on src field
actionuint8_tMAV_COLLISION_ACTIONAction that is being taken to avoid this collision
threat_leveluint8_tMAV_COLLISION_THREAT_LEVELHow concerned the aircraft is about this collision
time_to_minimum_deltafloatsEstimated time until collision occurs
altitude_minimum_deltafloatmClosest vertical distance between vehicle and object
horizontal_minimum_deltafloatmClosest horizontal distance between vehicle and object

V2_EXTENSION ( #248 )

[Message] Message implementing parts of the V2 payload specs in V1 frames for transitional support.

Field NameTypeDescription
target_networkuint8_tNetwork ID (0 for broadcast)
target_systemuint8_tSystem ID (0 for broadcast)
target_componentuint8_tComponent ID (0 for broadcast)
message_typeuint16_tA code that identifies the software component that understands this message (analogous to USB device classes or mime type strings). If this code is less than 32768, it is considered a 'registered' protocol extension and the corresponding entry should be added to https://github.com/mavlink/mavlink/definition_files/extension_message_ids.xml. Software creators can register blocks of message IDs as needed (useful for GCS specific metadata, etc...). Message_types greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase.
payloaduint8_t[249]Variable length payload. The length must be encoded in the payload as part of the message_type protocol, e.g. by including the length as payload data, or by terminating the payload data with a non-zero marker. This is required in order to reconstruct zero-terminated payloads that are (or otherwise would be) trimmed by MAVLink 2 empty-byte truncation. The entire content of the payload block is opaque unless you understand the encoding message_type. The particular encoding used can be extension specific and might not always be documented as part of the MAVLink specification.

MEMORY_VECT ( #249 )

[Message] Send raw controller memory. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output.

Field NameTypeDescription
addressuint16_tStarting address of the debug variables
veruint8_tVersion code of the type variable. 0=unknown, type ignored and assumed int16_t. 1=as below
typeuint8_tType code of the memory variables. for ver = 1: 0=16 x int16_t, 1=16 x uint16_t, 2=16 x Q15, 3=16 x 1Q14
valueint8_t[32]Memory contents at specified address

DEBUG_VECT ( #250 )

[Message] To debug something using a named 3D vector.

Field NameTypeUnitsDescription
namechar[10]Name
time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
xfloatx
yfloaty
zfloatz

NAMED_VALUE_FLOAT ( #251 )

[Message] Send a key-value pair as float. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output.

Field NameTypeUnitsDescription
time_boot_msuint32_tmsTimestamp (time since system boot).
namechar[10]Name of the debug variable
valuefloatFloating point value

NAMED_VALUE_INT ( #252 )

[Message] Send a key-value pair as integer. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output.

Field NameTypeUnitsDescription
time_boot_msuint32_tmsTimestamp (time since system boot).
namechar[10]Name of the debug variable
valueint32_tSigned integer value

STATUSTEXT ( #253 )

[Message] Status text message. These messages are printed in yellow in the COMM console of QGroundControl. WARNING: They consume quite some bandwidth, so use only for important status and error messages. If implemented wisely, these messages are buffered on the MCU and sent only at a limited rate (e.g. 10 Hz).

Field NameTypeValuesDescription
severityuint8_tMAV_SEVERITYSeverity of status. Relies on the definitions within RFC-5424.
textchar[50]Status text message, without null termination character
id **uint16_tUnique (opaque) identifier for this statustext message. May be used to reassemble a logical long-statustext message from a sequence of chunks. A value of zero indicates this is the only chunk in the sequence and the message can be emitted immediately.
chunk_seq **uint8_tThis chunk's sequence number; indexing is from zero. Any null character in the text field is taken to mean this was the last chunk.

DEBUG ( #254 )

[Message] Send a debug value. The index is used to discriminate between values. These values show up in the plot of QGroundControl as DEBUG N.

Field NameTypeUnitsDescription
time_boot_msuint32_tmsTimestamp (time since system boot).
induint8_tindex of debug variable
valuefloatDEBUG value

SETUP_SIGNING ( #256 )

[Message] (MAVLink 2) Setup a MAVLink2 signing key. If called with secret_key of all zero and zero initial_timestamp will disable signing

Field NameTypeDescription
target_systemuint8_tsystem id of the target
target_componentuint8_tcomponent ID of the target
secret_keyuint8_t[32]signing key
initial_timestampuint64_tinitial timestamp

BUTTON_CHANGE ( #257 )

[Message] (MAVLink 2) Report button state change.

Field NameTypeUnitsDescription
time_boot_msuint32_tmsTimestamp (time since system boot).
last_change_msuint32_tmsTime of last change of button state.
stateuint8_tBitmap for state of buttons.

PLAY_TUNE ( #258 )

DEPRECATED: Replaced by PLAY_TUNE_V2 (2019-10). New version explicitly defines format. More interoperable.

[Message] (MAVLink 2) Control vehicle tone generation (buzzer).

Field NameTypeDescription
target_systemuint8_tSystem ID
target_componentuint8_tComponent ID
tunechar[30]tune in board specific format
tune2 **char[200]tune extension (appended to tune)

CAMERA_INFORMATION ( #259 )

[Message] (MAVLink 2) Information about a camera. Can be requested with a MAV_CMD_REQUEST_MESSAGE command.

Field NameTypeUnitsValuesDescription
time_boot_msuint32_tmsTimestamp (time since system boot).
vendor_nameuint8_t[32]Name of the camera vendor
model_nameuint8_t[32]Name of the camera model
firmware_versionuint32_tVersion of the camera firmware, encoded as: (Dev & 0xff) << 24 | (Patch & 0xff) << 16 | (Minor & 0xff) << 8 | (Major & 0xff)
focal_lengthfloatmmFocal length
sensor_size_hfloatmmImage sensor size horizontal
sensor_size_vfloatmmImage sensor size vertical
resolution_huint16_tpixHorizontal image resolution
resolution_vuint16_tpixVertical image resolution
lens_iduint8_tReserved for a lens ID
flagsuint32_tCAMERA_CAP_FLAGSBitmap of camera capability flags.
cam_definition_versionuint16_tCamera definition version (iteration)
cam_definition_urichar[140]Camera definition URI (if any, otherwise only basic functions will be available). HTTP- (http://) and MAVLink FTP- (mavlinkftp://) formatted URIs are allowed (and both must be supported by any GCS that implements the Camera Protocol).

CAMERA_SETTINGS ( #260 )

[Message] (MAVLink 2) Settings of a camera. Can be requested with a MAV_CMD_REQUEST_MESSAGE command.

Field NameTypeUnitsValuesDescription
time_boot_msuint32_tmsTimestamp (time since system boot).
mode_iduint8_tCAMERA_MODECamera mode
zoomLevel **floatCurrent zoom level (0.0 to 100.0, NaN if not known)
focusLevel **floatCurrent focus level (0.0 to 100.0, NaN if not known)

STORAGE_INFORMATION ( #261 )

[Message] (MAVLink 2) Information about a storage medium. This message is sent in response to a request with MAV_CMD_REQUEST_MESSAGE and whenever the status of the storage changes (STORAGE_STATUS). Use MAV_CMD_REQUEST_MESSAGE.param2 to indicate the index/id of requested storage: 0 for all, 1 for first, 2 for second, etc.

Field NameTypeUnitsValuesDescription
time_boot_msuint32_tmsTimestamp (time since system boot).
storage_iduint8_tStorage ID (1 for first, 2 for second, etc.)
storage_countuint8_tNumber of storage devices
statusuint8_tSTORAGE_STATUSStatus of storage
total_capacityfloatMiBTotal capacity. If storage is not ready (STORAGE_STATUS_READY) value will be ignored.
used_capacityfloatMiBUsed capacity. If storage is not ready (STORAGE_STATUS_READY) value will be ignored.
available_capacityfloatMiBAvailable storage capacity. If storage is not ready (STORAGE_STATUS_READY) value will be ignored.
read_speedfloatMiB/sRead speed.
write_speedfloatMiB/sWrite speed.

CAMERA_CAPTURE_STATUS ( #262 )

[Message] (MAVLink 2) Information about the status of a capture. Can be requested with a MAV_CMD_REQUEST_MESSAGE command.

Field NameTypeUnitsDescription
time_boot_msuint32_tmsTimestamp (time since system boot).
image_statusuint8_tCurrent status of image capturing (0: idle, 1: capture in progress, 2: interval set but idle, 3: interval set and capture in progress)
video_statusuint8_tCurrent status of video capturing (0: idle, 1: capture in progress)
image_intervalfloatsImage capture interval
recording_time_msuint32_tmsTime since recording started
available_capacityfloatMiBAvailable storage capacity.
image_count **int32_tTotal number of images captured ('forever', or until reset using MAV_CMD_STORAGE_FORMAT).

CAMERA_IMAGE_CAPTURED ( #263 )

[Message] (MAVLink 2) Information about a captured image. This is emitted every time a message is captured. It may be re-requested using MAV_CMD_REQUEST_MESSAGE, using param2 to indicate the sequence number for the missing image.

Field NameTypeUnitsDescription
time_boot_msuint32_tmsTimestamp (time since system boot).
time_utcuint64_tusTimestamp (time since UNIX epoch) in UTC. 0 for unknown.
camera_iduint8_tDeprecated/unused. Component IDs are used to differentiate multiple cameras.
latint32_tdegE7Latitude where image was taken
lonint32_tdegE7Longitude where capture was taken
altint32_tmmAltitude (MSL) where image was taken
relative_altint32_tmmAltitude above ground
qfloat[4]Quaternion of camera orientation (w, x, y, z order, zero-rotation is 0, 0, 0, 0)
image_indexint32_tZero based index of this image (i.e. a new image will have index CAMERA_CAPTURE_STATUS.image count -1)
capture_resultint8_tBoolean indicating success (1) or failure (0) while capturing this image.
file_urlchar[205]URL of image taken. Either local storage or http://foo.jpg if camera provides an HTTP interface.

FLIGHT_INFORMATION ( #264 )

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

[Message] (MAVLink 2) Information about flight since last arming.

Field NameTypeUnitsDescription
time_boot_msuint32_tmsTimestamp (time since system boot).
arming_time_utcuint64_tusTimestamp at arming (time since UNIX epoch) in UTC, 0 for unknown
takeoff_time_utcuint64_tusTimestamp at takeoff (time since UNIX epoch) in UTC, 0 for unknown
flight_uuiduint64_tUniversally unique identifier (UUID) of flight, should correspond to name of log files

MOUNT_ORIENTATION ( #265 )

DEPRECATED: Replaced by MAV_CMD_DO_GIMBAL_MANAGER_ATTITUDE (2020-01). This message is being superseded by MAV_CMD_DO_GIMBAL_MANAGER_ATTITUDE. The message can still be used to communicate with legacy gimbals implementing it.

[Message] (MAVLink 2) Orientation of a mount

Field NameTypeUnitsDescription
time_boot_msuint32_tmsTimestamp (time since system boot).
rollfloatdegRoll in global frame (set to NaN for invalid).
pitchfloatdegPitch in global frame (set to NaN for invalid).
yawfloatdegYaw relative to vehicle (set to NaN for invalid).
yaw_absolute **floatdegYaw in absolute frame relative to Earth's North, north is 0 (set to NaN for invalid).

LOGGING_DATA ( #266 )

[Message] (MAVLink 2) A message containing logged data (see also MAV_CMD_LOGGING_START)

Field NameTypeUnitsDescription
target_systemuint8_tsystem ID of the target
target_componentuint8_tcomponent ID of the target
sequenceuint16_tsequence number (can wrap)
lengthuint8_tbytesdata length
first_message_offsetuint8_tbytesoffset into data where first message starts. This can be used for recovery, when a previous message got lost (set to 255 if no start exists).
datauint8_t[249]logged data

LOGGING_DATA_ACKED ( #267 )

[Message] (MAVLink 2) A message containing logged data which requires a LOGGING_ACK to be sent back

Field NameTypeUnitsDescription
target_systemuint8_tsystem ID of the target
target_componentuint8_tcomponent ID of the target
sequenceuint16_tsequence number (can wrap)
lengthuint8_tbytesdata length
first_message_offsetuint8_tbytesoffset into data where first message starts. This can be used for recovery, when a previous message got lost (set to 255 if no start exists).
datauint8_t[249]logged data

LOGGING_ACK ( #268 )

[Message] (MAVLink 2) An ack for a LOGGING_DATA_ACKED message

Field NameTypeDescription
target_systemuint8_tsystem ID of the target
target_componentuint8_tcomponent ID of the target
sequenceuint16_tsequence number (must match the one in LOGGING_DATA_ACKED)

VIDEO_STREAM_INFORMATION ( #269 )

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

[Message] (MAVLink 2) Information about video stream. It may be requested using MAV_CMD_REQUEST_MESSAGE, where param2 indicates the video stream id: 0 for all streams, 1 for first, 2 for second, etc.

Field NameTypeUnitsValuesDescription
stream_iduint8_tVideo Stream ID (1 for first, 2 for second, etc.)
countuint8_tNumber of streams available.
typeuint8_tVIDEO_STREAM_TYPEType of stream.
flagsuint16_tVIDEO_STREAM_STATUS_FLAGSBitmap of stream status flags.
frameratefloatHzFrame rate.
resolution_huint16_tpixHorizontal resolution.
resolution_vuint16_tpixVertical resolution.
bitrateuint32_tbits/sBit rate.
rotationuint16_tdegVideo image rotation clockwise.
hfovuint16_tdegHorizontal Field of view.
namechar[32]Stream name.
urichar[160]Video stream URI (TCP or RTSP URI ground station should connect to) or port number (UDP port ground station should listen to).

VIDEO_STREAM_STATUS ( #270 )

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

[Message] (MAVLink 2) Information about the status of a video stream. It may be requested using MAV_CMD_REQUEST_MESSAGE.

Field NameTypeUnitsValuesDescription
stream_iduint8_tVideo Stream ID (1 for first, 2 for second, etc.)
flagsuint16_tVIDEO_STREAM_STATUS_FLAGSBitmap of stream status flags
frameratefloatHzFrame rate
resolution_huint16_tpixHorizontal resolution
resolution_vuint16_tpixVertical resolution
bitrateuint32_tbits/sBit rate
rotationuint16_tdegVideo image rotation clockwise
hfovuint16_tdegHorizontal Field of view

GIMBAL_MANAGER_INFORMATION ( #280 )

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

[Message] (MAVLink 2) Information about a high level gimbal manager. This message should be requested by a ground station using MAV_CMD_REQUEST_MESSAGE.

Field NameTypeUnitsValuesDescription
time_boot_msuint32_tmsTimestamp (time since system boot).
cap_flagsuint32_tGIMBAL_MANAGER_CAP_FLAGSBitmap of gimbal capability flags.
gimbal_device_iduint8_tGimbal device ID that this gimbal manager is responsible for.
tilt_maxfloatradMaximum tilt/pitch angle (positive: up, negative: down)
tilt_minfloatradMinimum tilt/pitch angle (positive: up, negative: down)
tilt_rate_maxfloatrad/sMaximum tilt/pitch angular rate (positive: up, negative: down)
pan_maxfloatradMaximum pan/yaw angle (positive: to the right, negative: to the left)
pan_minfloatradMinimum pan/yaw angle (positive: to the right, negative: to the left)
pan_rate_maxfloatrad/sMinimum pan/yaw angular rate (positive: to the right, negative: to the left)

GIMBAL_MANAGER_STATUS ( #281 )

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

[Message] (MAVLink 2) Current status about a high level gimbal manager. This message should be broadcast at a low regular rate (e.g. 5Hz).

Field NameTypeUnitsValuesDescription
time_boot_msuint32_tmsTimestamp (time since system boot).
flagsuint32_tGIMBAL_MANAGER_FLAGSHigh level gimbal manager flags currently applied.
gimbal_device_iduint8_tGimbal device ID that this gimbal manager is responsible for.

GIMBAL_MANAGER_SET_ATTITUDE ( #282 )

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

[Message] (MAVLink 2) High level message to control a gimbal's attitude. This message is to be sent to the gimbal manager (e.g. from a ground station). Angles and rates can be set to NaN according to use case.

Field NameTypeUnitsValuesDescription
target_systemuint8_tSystem ID
target_componentuint8_tComponent ID
flagsuint32_tGIMBAL_MANAGER_FLAGSHigh level gimbal manager flags to use.
gimbal_device_iduint8_tComponent ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. (Send command multiple times for more than one but not all gimbals.)
qfloat[4]Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation, the frame is depends on whether the flag GIMBAL_MANAGER_FLAGS_YAW_LOCK is set)
angular_velocity_xfloatrad/sX component of angular velocity, positive is banking to the right, NaN to be ignored.
angular_velocity_yfloatrad/sY component of angular velocity, positive is tilting up, NaN to be ignored.
angular_velocity_zfloatrad/sZ component of angular velocity, positive is panning to the right, NaN to be ignored.

GIMBAL_DEVICE_INFORMATION ( #283 )

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

[Message] (MAVLink 2) Information about a low level gimbal. This message should be requested by the gimbal manager or a ground station using MAV_CMD_REQUEST_MESSAGE.

Field NameTypeUnitsValuesDescription
time_boot_msuint32_tmsTimestamp (time since system boot).
vendor_nameuint8_t[32]Name of the gimbal vendor
model_nameuint8_t[32]Name of the gimbal model
firmware_versionuint32_tVersion of the gimbal firmware, encoded as: (Dev & 0xff) << 24 | (Patch & 0xff) << 16 | (Minor & 0xff) << 8 | (Major & 0xff)
cap_flagsuint16_tGIMBAL_DEVICE_CAP_FLAGSBitmap of gimbal capability flags.
tilt_maxfloatradMaximum tilt/pitch angle (positive: up, negative: down)
tilt_minfloatradMinimum tilt/pitch angle (positive: up, negative: down)
tilt_rate_maxfloatrad/sMaximum tilt/pitch angular rate (positive: up, negative: down)
pan_maxfloatradMaximum pan/yaw angle (positive: to the right, negative: to the left)
pan_minfloatradMinimum pan/yaw angle (positive: to the right, negative: to the left)
pan_rate_maxfloatrad/sMinimum pan/yaw angular rate (positive: to the right, negative: to the left)

GIMBAL_DEVICE_SET_ATTITUDE ( #284 )

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

[Message] (MAVLink 2) Low level message to control a gimbal device's attitude. This message is to be sent from the gimbal manager to the gimbal device component. Angles and rates can be set to NaN according to use case.

Field NameTypeUnitsValuesDescription
target_systemuint8_tSystem ID
target_componentuint8_tComponent ID
flagsuint16_tGIMBAL_DEVICE_FLAGSLow level gimbal flags.
qfloat[4]Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation, the frame is depends on whether the flag GIMBAL_DEVICE_FLAGS_YAW_LOCK is set, set all fields to NaN if only angular velocity should be used)
angular_velocity_xfloatrad/sX component of angular velocity, positive is banking to the right, NaN to be ignored.
angular_velocity_yfloatrad/sY component of angular velocity, positive is tilting up, NaN to be ignored.
angular_velocity_zfloatrad/sZ component of angular velocity, positive is panning to the right, NaN to be ignored.

GIMBAL_DEVICE_ATTITUDE_STATUS ( #285 )

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

[Message] (MAVLink 2) Message reporting the status of a gimbal device. This message should be broadcasted by a gimbal device component. The angles encoded in the quaternion are in the global frame (roll: positive is tilt to the right, pitch: positive is tilting up, yaw is turn to the right). This message should be broadcast at a low regular rate (e.g. 10Hz).

Field NameTypeUnitsValuesDescription
target_systemuint8_tSystem ID
target_componentuint8_tComponent ID
time_boot_msuint32_tmsTimestamp (time since system boot).
flagsuint16_tGIMBAL_DEVICE_FLAGSCurrent gimbal flags set.
qfloat[4]Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation, the frame is depends on whether the flag GIMBAL_DEVICE_FLAGS_YAW_LOCK is set)
angular_velocity_xfloatrad/sX component of angular velocity (NaN if unknown)
angular_velocity_yfloatrad/sY component of angular velocity (NaN if unknown)
angular_velocity_zfloatrad/sZ component of angular velocity (NaN if unknown)
failure_flagsuint32_tGIMBAL_DEVICE_ERROR_FLAGSFailure flags (0 for no failure)

AUTOPILOT_STATE_FOR_GIMBAL_DEVICE ( #286 )

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

[Message] (MAVLink 2) Low level message containing autopilot state relevant for a gimbal device. This message is to be sent from the gimbal manager to the gimbal device component. The data of this message server for the gimbal's estimator corrections in particular horizon compensation, as well as the autopilot's control intention e.g. feed forward angular control in z-axis.

Field NameTypeUnitsValuesDescription
time_boot_usuint64_tusTimestamp (time since system boot).
target_systemuint8_tSystem ID
target_componentuint8_tComponent ID
qfloat[4]Quaternion components of autopilot attitude: w, x, y, z (1 0 0 0 is the null-rotation, Hamiltonian convention).
q_estimated_delay_usuint32_tusEstimated delay of the attitude data.
vxfloatm/sX Speed in NED (North, East, Down).
vyfloatm/sY Speed in NED (North, East, Down).
vzfloatm/sZ Speed in NED (North, East, Down).
v_estimated_delay_usuint32_tusEstimated delay of the speed data.
feed_forward_angular_velocity_zfloatrad/sFeed forward Z component of angular velocity, positive is yawing to the right, NaN to be ignored. This is to indicate if the autopilot is actively yawing.
estimator_statusuint16_tESTIMATOR_STATUS_FLAGSBitmap indicating which estimator outputs are valid.
landed_stateuint8_tMAV_LANDED_STATEThe landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.

GIMBAL_MANAGER_SET_TILTPAN ( #287 )

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

[Message] (MAVLink 2) High level message to control a gimbal's tilt and pan angles. This message is to be sent to the gimbal manager (e.g. from a ground station). Angles and rates can be set to NaN according to use case.

Field NameTypeUnitsValuesDescription
target_systemuint8_tSystem ID
target_componentuint8_tComponent ID
flagsuint32_tGIMBAL_MANAGER_FLAGSHigh level gimbal manager flags to use.
gimbal_device_iduint8_tComponent ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. (Send command multiple times for more than one but not all gimbals.)
tiltfloatradTilt/pitch angle (positive: up, negative: down, NaN to be ignored).
panfloatradPan/yaw angle (positive: to the right, negative: to the left, NaN to be ignored).
tilt_ratefloatrad/sTilt/pitch angular rate (positive: up, negative: down, NaN to be ignored).
pan_ratefloatrad/sPan/yaw angular rate (positive: to the right, negative: to the left, NaN to be ignored).

ESC_INFO ( #290 )

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

[Message] (MAVLink 2) ESC information for lower rate streaming. Recommended streaming rate 1Hz. See ESC_STATUS for higher-rate ESC data.

Field NameTypeUnitsValuesDescription
indexuint8_tIndex of the first ESC in this message. minValue = 0, maxValue = 60, increment = 4.
time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
counteruint16_tCounter of data packets received.
countuint8_tTotal number of ESCs in all messages of this type. Message fields with an index higher than this should be ignored because they contain invalid data.
connection_typeuint8_tESC_CONNECTION_TYPEConnection type protocol for all ESC.
infouint8_tInformation regarding online/offline status of each ESC.
failure_flagsuint16_t[4]ESC_FAILURE_FLAGSBitmap of ESC failure flags.
error_countuint32_t[4]Number of reported errors by each ESC since boot.
temperatureuint8_t[4]degCTemperature measured by each ESC. UINT8_MAX if data not supplied by ESC.

ESC_STATUS ( #291 )

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

[Message] (MAVLink 2) ESC information for higher rate streaming. Recommended streaming rate is ~10 Hz. Information that changes more slowly is sent in ESC_INFO. It should typically only be streamed on high-bandwidth links (i.e. to a companion computer).

Field NameTypeUnitsDescription
indexuint8_tIndex of the first ESC in this message. minValue = 0, maxValue = 60, increment = 4.
time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
rpmint32_t[4]rpmReported motor RPM from each ESC (negative for reverse rotation).
voltagefloat[4]VVoltage measured from each ESC.
currentfloat[4]ACurrent measured from each ESC.

WIFI_CONFIG_AP ( #299 )

[Message] (MAVLink 2) Configure WiFi AP SSID, password, and mode. This message is re-emitted as an acknowledgement by the AP. The message may also be explicitly requested using MAV_CMD_REQUEST_MESSAGE

Field NameTypeValuesDescription
ssidchar[32]Name of Wi-Fi network (SSID). Blank to leave it unchanged when setting. Current SSID when sent back as a response.
passwordchar[64]Password. Blank for an open AP. MD5 hash when message is sent back as a response.
mode **int8_tWIFI_CONFIG_AP_MODEWiFi Mode.
response **int8_tWIFI_CONFIG_AP_RESPONSEMessage acceptance response (sent back to GS).

PROTOCOL_VERSION ( #300 )

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

[Message] (MAVLink 2) Version and capability of protocol version. This message can be requested with MAV_CMD_REQUEST_MESSAGE and is used as part of the handshaking to establish which MAVLink version should be used on the network. Every node should respond to a request for PROTOCOL_VERSION to enable the handshaking. Library implementers should consider adding this into the default decoding state machine to allow the protocol core to respond directly.

Field NameTypeDescription
versionuint16_tCurrently active MAVLink version number * 100: v1.0 is 100, v2.0 is 200, etc.
min_versionuint16_tMinimum MAVLink version supported
max_versionuint16_tMaximum MAVLink version supported (set to the same value as version by default)
spec_version_hashuint8_t[8]The first 8 bytes (not characters printed in hex!) of the git hash.
library_version_hashuint8_t[8]The first 8 bytes (not characters printed in hex!) of the git hash.

AIS_VESSEL ( #301 )

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

[Message] (MAVLink 2) The location and information of an AIS vessel

Field NameTypeUnitsValuesDescription
MMSIuint32_tMobile Marine Service Identifier, 9 decimal digits
latint32_tdegE7Latitude
lonint32_tdegE7Longitude
COGuint16_tcdegCourse over ground
headinguint16_tcdegTrue heading
velocityuint16_tcm/sSpeed over ground
turn_rateint8_tcdeg/sTurn rate
navigational_statusuint8_tAIS_NAV_STATUSNavigational status
typeuint8_tAIS_TYPEType of vessels
dimension_bowuint16_tmDistance from lat/lon location to bow
dimension_sternuint16_tmDistance from lat/lon location to stern
dimension_portuint8_tmDistance from lat/lon location to port side
dimension_starboarduint8_tmDistance from lat/lon location to starboard side
callsignchar[7]The vessel callsign
namechar[20]The vessel name
tslcuint16_tsTime since last communication in seconds
flagsuint16_tAIS_FLAGSBitmask to indicate various statuses including valid data fields

UAVCAN_NODE_STATUS ( #310 )

[Message] (MAVLink 2) General status information of an UAVCAN node. Please refer to the definition of the UAVCAN message "uavcan.protocol.NodeStatus" for the background information. The UAVCAN specification is available at http://uavcan.org.

Field NameTypeUnitsValuesDescription
time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
uptime_secuint32_tsTime since the start-up of the node.
healthuint8_tUAVCAN_NODE_HEALTHGeneralized node health status.
modeuint8_tUAVCAN_NODE_MODEGeneralized operating mode.
sub_modeuint8_tNot used currently.
vendor_specific_status_codeuint16_tVendor-specific status information.

UAVCAN_NODE_INFO ( #311 )

[Message] (MAVLink 2) General information describing a particular UAVCAN node. Please refer to the definition of the UAVCAN service "uavcan.protocol.GetNodeInfo" for the background information. This message should be emitted by the system whenever a new node appears online, or an existing node reboots. Additionally, it can be emitted upon request from the other end of the MAVLink channel (see MAV_CMD_UAVCAN_GET_NODE_INFO). It is also not prohibited to emit this message unconditionally at a low frequency. The UAVCAN specification is available at http://uavcan.org.

Field NameTypeUnitsDescription
time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
uptime_secuint32_tsTime since the start-up of the node.
namechar[80]Node name string. For example, "sapog.px4.io".
hw_version_majoruint8_tHardware major version number.
hw_version_minoruint8_tHardware minor version number.
hw_unique_iduint8_t[16]Hardware unique 128-bit ID.
sw_version_majoruint8_tSoftware major version number.
sw_version_minoruint8_tSoftware minor version number.
sw_vcs_commituint32_tVersion control system (VCS) revision identifier (e.g. git short commit hash). Zero if unknown.

PARAM_EXT_REQUEST_READ ( #320 )

[Message] (MAVLink 2) Request to read the value of a parameter with the either the param_id string id or param_index.

Field NameTypeDescription
target_systemuint8_tSystem ID
target_componentuint8_tComponent ID
param_idchar[16]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
param_indexint16_tParameter index. Set to -1 to use the Parameter ID field as identifier (else param_id will be ignored)

PARAM_EXT_REQUEST_LIST ( #321 )

[Message] (MAVLink 2) Request all parameters of this component. After this request, all parameters are emitted.

Field NameTypeDescription
target_systemuint8_tSystem ID
target_componentuint8_tComponent ID

PARAM_EXT_VALUE ( #322 )

DEPRECATED: Replaced by PARAM_V3_VALUE (2020-07). The new version of this message correctly trims zeros.

[Message] (MAVLink 2) Emit the value of a parameter. The inclusion of param_count and param_index in the message allows the recipient to keep track of received parameters and allows them to re-request missing parameters after a loss or timeout.

Field NameTypeValuesDescription
param_idchar[16]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
param_valuechar[128]Parameter value
param_typeuint8_tMAV_PARAM_EXT_TYPEParameter type.
param_countuint16_tTotal number of parameters
param_indexuint16_tIndex of this parameter

PARAM_EXT_SET ( #323 )

DEPRECATED: Replaced by PARAM_V3_SET (2020-07). The new second version of this message correctly trims zeros.

[Message] (MAVLink 2) Set a parameter value. In order to deal with message loss (and retransmission of PARAM_EXT_SET), when setting a parameter value and the new value is the same as the current value, you will immediately get a PARAM_ACK_ACCEPTED response. If the current state is PARAM_ACK_IN_PROGRESS, you will accordingly receive a PARAM_ACK_IN_PROGRESS in response.

Field NameTypeValuesDescription
target_systemuint8_tSystem ID
target_componentuint8_tComponent ID
param_idchar[16]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
param_valuechar[128]Parameter value
param_typeuint8_tMAV_PARAM_EXT_TYPEParameter type.

PARAM_EXT_ACK ( #324 )

DEPRECATED: Replaced by PARAM_V3_ACK (2020-07). The new version of this message correctly trims zeros.

[Message] (MAVLink 2) Response from a PARAM_EXT_SET message.

Field NameTypeValuesDescription
param_idchar[16]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
param_valuechar[128]Parameter value (new value if PARAM_ACK_ACCEPTED, current value otherwise)
param_typeuint8_tMAV_PARAM_EXT_TYPEParameter type.
param_resultuint8_tPARAM_ACKResult code.

PARAM_V3_VALUE ( #325 )

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

[Message] (MAVLink 2) Emit the value of a parameter. The param_count and param_index fields allow the recipient to keep track of received parameters and to re-request missing parameters after a loss or timeout. Replacement for PARAM_EXT_VALUE.

Field NameTypeValuesDescription
param_idchar[16]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
param_typeuint8_tMAV_PARAM_EXT_TYPEParameter type.
param_countuint16_tTotal number of parameters
param_indexuint16_tIndex of this parameter
param_valuechar[128]Parameter value (zeros get trimmed)

PARAM_V3_SET ( #326 )

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

[Message] (MAVLink 2) Set a parameter value. In order to deal with message loss (and retransmission of PARAM_EXT_SET), when setting a parameter value and the new value is the same as the current value, you will immediately get a PARAM_ACK_ACCEPTED response. If the current state is PARAM_ACK_IN_PROGRESS, you will accordingly receive a PARAM_ACK_IN_PROGRESS in response.

Field NameTypeValuesDescription
target_systemuint8_tSystem ID
target_componentuint8_tComponent ID
param_idchar[16]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
param_typeuint8_tMAV_PARAM_EXT_TYPEParameter type.
param_valuechar[128]Parameter value (zeros get trimmed)

PARAM_V3_ACK ( #327 )

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

[Message] (MAVLink 2) Response from a PARAM_V3_SET message.

Field NameTypeValuesDescription
param_idchar[16]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
param_typeuint8_tMAV_PARAM_EXT_TYPEParameter type.
param_resultuint8_tPARAM_ACKResult code.
param_valuechar[128]Parameter value (new value if PARAM_ACK_ACCEPTED, current value otherwise, zeros get trimmed)

PARAM_START_TRANSACTION ( #328 )

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

[Message] (MAVLink 2) Request to start a new parameter transaction. Multiple kinds of transport layers can be used to exchange parameters in the transaction (param, param_ext and mavftp). The response (ack) will contain the same message but with a response attached to it.

Field NameTypeValuesDescription
target_systemuint8_tSystem ID
target_componentuint8_tComponent ID
param_transportuint8_tPARAM_TRANSACTION_TRANSPORTPossible transport layers to set and get parameters via mavlink during a parameter transaction.
responseuint8_tPARAM_TRANSACTION_RESPONSEMessage acceptance response (sent back to GS).

PARAM_COMMIT_TRANSACTION ( #329 )

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

[Message] (MAVLink 2) Request to end the current parameter transaction. This message will have effect only if a transaction was previously opened using the PARAM_START_TRANSACTION message. The response will contain the same message but with a response attached to it. The response can either be a success/failure or and in progress in case the receiving side takes some time to apply the parameters.

Field NameTypeValuesDescription
target_systemuint8_tSystem ID
target_componentuint8_tComponent ID
param_actionuint8_tPARAM_TRANSACTION_ACTIONCommit or cancel an ongoing transaction.
responseuint8_tPARAM_TRANSACTION_RESPONSEMessage acceptance response (sent back to GS).

OBSTACLE_DISTANCE ( #330 )

[Message] (MAVLink 2) Obstacle distances in front of the sensor, starting from the left in increment degrees to the right

Field NameTypeUnitsValuesDescription
time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
sensor_typeuint8_tMAV_DISTANCE_SENSORClass id of the distance sensor type.
distancesuint16_t[72]cmDistance of obstacles around the vehicle with index 0 corresponding to north + angle_offset, unless otherwise specified in the frame. A value of 0 is valid and means that the obstacle is practically touching the sensor. A value of max_distance +1 means no obstacle is present. A value of UINT16_MAX for unknown/not used. In a array element, one unit corresponds to 1cm.
incrementuint8_tdegAngular width in degrees of each array element. Increment direction is clockwise. This field is ignored if increment_f is non-zero.
min_distanceuint16_tcmMinimum distance the sensor can measure.
max_distanceuint16_tcmMaximum distance the sensor can measure.
increment_f **floatdegAngular width in degrees of each array element as a float. If non-zero then this value is used instead of the uint8_t increment field. Positive is clockwise direction, negative is counter-clockwise.
angle_offset **floatdegRelative angle offset of the 0-index element in the distances array. Value of 0 corresponds to forward. Positive is clockwise direction, negative is counter-clockwise.
frame **uint8_tMAV_FRAMECoordinate frame of reference for the yaw rotation and offset of the sensor data. Defaults to MAV_FRAME_GLOBAL, which is north aligned. For body-mounted sensors use MAV_FRAME_BODY_FRD, which is vehicle front aligned.

ODOMETRY ( #331 )

[Message] (MAVLink 2) Odometry message to communicate odometry information with an external interface. Fits ROS REP 147 standard for aerial vehicles (http://www.ros.org/reps/rep-0147.html).

Field NameTypeUnitsValuesDescription
time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
frame_iduint8_tMAV_FRAMECoordinate frame of reference for the pose data.
child_frame_iduint8_tMAV_FRAMECoordinate frame of reference for the velocity in free space (twist) data.
xfloatmX Position
yfloatmY Position
zfloatmZ Position
qfloat[4]Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
vxfloatm/sX linear speed
vyfloatm/sY linear speed
vzfloatm/sZ linear speed
rollspeedfloatrad/sRoll angular speed
pitchspeedfloatrad/sPitch angular speed
yawspeedfloatrad/sYaw angular speed
pose_covariancefloat[21]Row-major representation of a 6x6 pose cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
velocity_covariancefloat[21]Row-major representation of a 6x6 velocity cross-covariance matrix upper right triangle (states: vx, vy, vz, rollspeed, pitchspeed, yawspeed; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
reset_counter **uint8_tEstimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.
estimator_type **uint8_tMAV_ESTIMATOR_TYPEType of estimator that is providing the odometry.

TRAJECTORY_REPRESENTATION_WAYPOINTS ( #332 )

[Message] (MAVLink 2) Describe a trajectory using an array of up-to 5 waypoints in the local frame (MAV_FRAME_LOCAL_NED).

Field NameTypeUnitsValuesDescription
time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
valid_pointsuint8_tNumber of valid points (up-to 5 waypoints are possible)
pos_xfloat[5]mX-coordinate of waypoint, set to NaN if not being used
pos_yfloat[5]mY-coordinate of waypoint, set to NaN if not being used
pos_zfloat[5]mZ-coordinate of waypoint, set to NaN if not being used
vel_xfloat[5]m/sX-velocity of waypoint, set to NaN if not being used
vel_yfloat[5]m/sY-velocity of waypoint, set to NaN if not being used
vel_zfloat[5]m/sZ-velocity of waypoint, set to NaN if not being used
acc_xfloat[5]m/s/sX-acceleration of waypoint, set to NaN if not being used
acc_yfloat[5]m/s/sY-acceleration of waypoint, set to NaN if not being used
acc_zfloat[5]m/s/sZ-acceleration of waypoint, set to NaN if not being used
pos_yawfloat[5]radYaw angle, set to NaN if not being used
vel_yawfloat[5]rad/sYaw rate, set to NaN if not being used
commanduint16_t[5]MAV_CMDScheduled action for each waypoint, UINT16_MAX if not being used.

TRAJECTORY_REPRESENTATION_BEZIER ( #333 )

[Message] (MAVLink 2) Describe a trajectory using an array of up-to 5 bezier control points in the local frame (MAV_FRAME_LOCAL_NED).

Field NameTypeUnitsDescription
time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
valid_pointsuint8_tNumber of valid control points (up-to 5 points are possible)
pos_xfloat[5]mX-coordinate of bezier control points. Set to NaN if not being used
pos_yfloat[5]mY-coordinate of bezier control points. Set to NaN if not being used
pos_zfloat[5]mZ-coordinate of bezier control points. Set to NaN if not being used
deltafloat[5]sBezier time horizon. Set to NaN if velocity/acceleration should not be incorporated
pos_yawfloat[5]radYaw. Set to NaN for unchanged

CELLULAR_STATUS ( #334 )

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

[Message] (MAVLink 2) Report current used cellular network status

Field NameTypeValuesDescription
statusuint8_tCELLULAR_STATUS_FLAGCellular modem status
failure_reasonuint8_tCELLULAR_NETWORK_FAILED_REASONFailure reason when status in in CELLUAR_STATUS_FAILED
typeuint8_tCELLULAR_NETWORK_RADIO_TYPECellular network radio type: gsm, cdma, lte...
qualityuint8_tSignal quality in percent. If unknown, set to UINT8_MAX
mccuint16_tMobile country code. If unknown, set to UINT16_MAX
mncuint16_tMobile network code. If unknown, set to UINT16_MAX
lacuint16_tLocation area code. If unknown, set to 0

[Message] (MAVLink 2) Status of the Iridium SBD link.

Field NameTypeUnitsDescription
timestampuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
last_heartbeatuint64_tusTimestamp of the last successful sbd session. The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
failed_sessionsuint16_tNumber of failed SBD sessions.
successful_sessionsuint16_tNumber of successful SBD sessions.
signal_qualityuint8_tSignal quality equal to the number of bars displayed on the ISU signal strength indicator. Range is 0 to 5, where 0 indicates no signal and 5 indicates maximum signal strength.
ring_pendinguint8_t1: Ring call pending, 0: No call pending.
tx_session_pendinguint8_t1: Transmission session pending, 0: No transmission session pending.
rx_session_pendinguint8_t1: Receiving session pending, 0: No receiving session pending.

CELLULAR_CONFIG ( #336 )

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

[Message] (MAVLink 2) Configure cellular modems. This message is re-emitted as an acknowledgement by the modem. The message may also be explicitly requested using MAV_CMD_REQUEST_MESSAGE.

Field NameTypeValuesDescription
enable_lteuint8_tEnable/disable LTE. 0: setting unchanged, 1: disabled, 2: enabled. Current setting when sent back as a response.
enable_pinuint8_tEnable/disable PIN on the SIM card. 0: setting unchanged, 1: disabled, 2: enabled. Current setting when sent back as a response.
pinchar[16]PIN sent to the SIM card. Blank when PIN is disabled. Empty when message is sent back as a response.
new_pinchar[16]New PIN when changing the PIN. Blank to leave it unchanged. Empty when message is sent back as a response.
apnchar[32]Name of the cellular APN. Blank to leave it unchanged. Current APN when sent back as a response.
pukchar[16]Required PUK code in case the user failed to authenticate 3 times with the PIN. Empty when message is sent back as a response.
roaminguint8_tEnable/disable roaming. 0: setting unchanged, 1: disabled, 2: enabled. Current setting when sent back as a response.
responseuint8_tCELLULAR_CONFIG_RESPONSEMessage acceptance response (sent back to GS).

RAW_RPM ( #339 )

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

[Message] (MAVLink 2) RPM sensor data message.

Field NameTypeUnitsDescription
indexuint8_tIndex of this RPM sensor (0-indexed)
frequencyfloatrpmIndicated rate

UTM_GLOBAL_POSITION ( #340 )

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

[Message] (MAVLink 2) The global position resulting from GPS and sensor fusion.

Field NameTypeUnitsValuesDescription
timeuint64_tusTime of applicability of position (microseconds since UNIX epoch).
uas_iduint8_t[18]Unique UAS ID.
latint32_tdegE7Latitude (WGS84)
lonint32_tdegE7Longitude (WGS84)
altint32_tmmAltitude (WGS84)
relative_altint32_tmmAltitude above ground
vxint16_tcm/sGround X speed (latitude, positive north)
vyint16_tcm/sGround Y speed (longitude, positive east)
vzint16_tcm/sGround Z speed (altitude, positive down)
h_accuint16_tmmHorizontal position uncertainty (standard deviation)
v_accuint16_tmmAltitude uncertainty (standard deviation)
vel_accuint16_tcm/sSpeed uncertainty (standard deviation)
next_latint32_tdegE7Next waypoint, latitude (WGS84)
next_lonint32_tdegE7Next waypoint, longitude (WGS84)
next_altint32_tmmNext waypoint, altitude (WGS84)
update_rateuint16_tcsTime until next update. Set to 0 if unknown or in data driven mode.
flight_stateuint8_tUTM_FLIGHT_STATEFlight state
flagsuint8_tUTM_DATA_AVAIL_FLAGSBitwise OR combination of the data available flags.

DEBUG_FLOAT_ARRAY ( #350 )

[Message] (MAVLink 2) Large debug/prototyping array. The message uses the maximum available payload for data. The array_id and name fields are used to discriminate between messages in code and in user interfaces (respectively). Do not use in production code.

Field NameTypeUnitsDescription
time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
namechar[10]Name, for human-friendly display in a Ground Control Station
array_iduint16_tUnique ID used to discriminate between arrays
data **float[58]data

ORBIT_EXECUTION_STATUS ( #360 )

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

[Message] (MAVLink 2) Vehicle status report that is sent out while orbit execution is in progress (see MAV_CMD_DO_ORBIT).

Field NameTypeUnitsValuesDescription
time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
radiusfloatmRadius of the orbit circle. Positive values orbit clockwise, negative values orbit counter-clockwise.
frameuint8_tMAV_FRAMEThe coordinate system of the fields: x, y, z.
xint32_tX coordinate of center point. Coordinate system depends on frame field: local = x position in meters * 1e4, global = latitude in degrees * 1e7.
yint32_tY coordinate of center point. Coordinate system depends on frame field: local = x position in meters * 1e4, global = latitude in degrees * 1e7.
zfloatmAltitude of center point. Coordinate system depends on frame field.

SMART_BATTERY_INFO ( #370 )

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

[Message] (MAVLink 2) Smart Battery information (static/infrequent update). Use for updates from: smart battery to flight stack, flight stack to GCS. Use instead of BATTERY_STATUS for smart batteries.

Field NameTypeUnitsDescription
iduint8_tBattery ID
capacity_full_specificationint32_tmAhCapacity when full according to manufacturer, -1: field not provided.
capacity_fullint32_tmAhCapacity when full (accounting for battery degradation), -1: field not provided.
cycle_countuint16_tCharge/discharge cycle count. -1: field not provided.
serial_numberint32_tSerial number. -1: field not provided.
device_namechar[50]Static device name. Encode as manufacturer and product names separated using an underscore.
weightuint16_tgBattery weight. 0: field not provided.
discharge_minimum_voltageuint16_tmVMinimum per-cell voltage when discharging. If not supplied set to UINT16_MAX value.
charging_minimum_voltageuint16_tmVMinimum per-cell voltage when charging. If not supplied set to UINT16_MAX value.
resting_minimum_voltageuint16_tmVMinimum per-cell voltage when resting. If not supplied set to UINT16_MAX value.

SMART_BATTERY_STATUS ( #371 )

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

[Message] (MAVLink 2) Smart Battery information (dynamic). Use for updates from: smart battery to flight stack, flight stack to GCS. Use instead of BATTERY_STATUS for smart batteries.

Field NameTypeUnitsValuesDescription
iduint16_tBattery ID
capacity_remainingint16_t%Remaining battery energy. Values: [0-100], -1: field not provided.
currentint16_tcABattery current (through all cells/loads). Positive if discharging, negative if charging. UINT16_MAX: field not provided.
temperatureint16_tcdegCBattery temperature. -1: field not provided.
fault_bitmaskint32_tMAV_SMART_BATTERY_FAULTFault/health indications.
time_remainingint32_tsEstimated remaining battery time. -1: field not provided.
cell_offsetuint16_tThe cell number of the first index in the 'voltages' array field. Using this field allows you to specify cell voltages for batteries with more than 16 cells.
voltagesuint16_t[16]mVIndividual cell voltages. Batteries with more 16 cells can use the cell_offset field to specify the cell offset for the array specified in the current message . Index values above the valid cell count for this battery should have the UINT16_MAX value.

GENERATOR_STATUS ( #373 )

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

[Message] (MAVLink 2) Telemetry of power generation system. Alternator or mechanical generator.

Field NameTypeUnitsValuesDescription
statusuint64_tMAV_GENERATOR_STATUS_FLAGStatus flags.
generator_speeduint16_trpmSpeed of electrical generator or alternator. UINT16_MAX: field not provided.
battery_currentfloatACurrent into/out of battery. Positive for out. Negative for in. NaN: field not provided.
load_currentfloatACurrent going to the UAV. If battery current not available this is the DC current from the generator. Positive for out. Negative for in. NaN: field not provided
power_generatedfloatWThe power being generated. NaN: field not provided
bus_voltagefloatVVoltage of the bus seen at the generator, or battery bus if battery bus is controlled by generator and at a different voltage to main bus.
rectifier_temperatureint16_tdegCThe temperature of the rectifier or power converter. INT16_MAX: field not provided.
bat_current_setpointfloatAThe target battery current. Positive for out. Negative for in. NaN: field not provided
generator_temperatureint16_tdegCThe temperature of the mechanical motor, fuel cell core or generator. INT16_MAX: field not provided.
runtimeuint32_tsSeconds this generator has run since it was rebooted. UINT32_MAX: field not provided.
time_until_maintenanceint32_tsSeconds until this generator requires maintenance. A negative value indicates maintenance is past-due. INT32_MAX: field not provided.

ACTUATOR_OUTPUT_STATUS ( #375 )

[Message] (MAVLink 2) The raw values of the actuator outputs (e.g. on Pixhawk, from MAIN, AUX ports). This message supersedes SERVO_OUTPUT_RAW.

Field NameTypeUnitsDescription
time_usecuint64_tusTimestamp (since system boot).
activeuint32_tActive outputs
actuatorfloat[32]Servo / motor output array values. Zero values indicate unused channels.

TIME_ESTIMATE_TO_TARGET ( #380 )

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

[Message] (MAVLink 2) Time/duration estimates for various events and actions given the current vehicle state and position.

Field NameTypeUnitsDescription
safe_returnint32_tsEstimated time to complete the vehicle's configured "safe return" action from its current position (e.g. RTL, Smart RTL, etc.). -1 indicates that the vehicle is landed, or that no time estimate available.
landint32_tsEstimated time for vehicle to complete the LAND action from its current position. -1 indicates that the vehicle is landed, or that no time estimate available.
mission_next_itemint32_tsEstimated time for reaching/completing the currently active mission item. -1 means no time estimate available.
mission_endint32_tsEstimated time for completing the current mission. -1 means no mission active and/or no estimate available.
commanded_actionint32_tsEstimated time for completing the current commanded action (i.e. Go To, Takeoff, Land, etc.). -1 means no action active and/or no estimate available.

TUNNEL ( #385 )

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

[Message] (MAVLink 2) Message for transporting "arbitrary" variable-length data from one component to another (broadcast is not forbidden, but discouraged). The encoding of the data is usually extension specific, i.e. determined by the source, and is usually not documented as part of the MAVLink specification.

Field NameTypeValuesDescription
target_systemuint8_tSystem ID (can be 0 for broadcast, but this is discouraged)
target_componentuint8_tComponent ID (can be 0 for broadcast, but this is discouraged)
payload_typeuint16_tMAV_TUNNEL_PAYLOAD_TYPEA code that identifies the content of the payload (0 for unknown, which is the default). If this code is less than 32768, it is a 'registered' payload type and the corresponding code should be added to the MAV_TUNNEL_PAYLOAD_TYPE enum. Software creators can register blocks of types as needed. Codes greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase.
payload_lengthuint8_tLength of the data transported in payload
payloaduint8_t[128]Variable length payload. The payload length is defined by payload_length. The entire content of this block is opaque unless you understand the encoding specified by payload_type.

ONBOARD_COMPUTER_STATUS ( #390 )

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

[Message] (MAVLink 2) Hardware status sent by an onboard computer.

Field NameTypeUnitsDescription
time_usecuint64_tusTimestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
uptimeuint32_tmsTime since system boot.
typeuint8_tType of the onboard computer: 0: Mission computer primary, 1: Mission computer backup 1, 2: Mission computer backup 2, 3: Compute node, 4-5: Compute spares, 6-9: Payload computers.
cpu_coresuint8_t[8]CPU usage on the component in percent (100 - idle). A value of UINT8_MAX implies the field is unused.
cpu_combineduint8_t[10]Combined CPU usage as the last 10 slices of 100 MS (a histogram). This allows to identify spikes in load that max out the system, but only for a short amount of time. A value of UINT8_MAX implies the field is unused.
gpu_coresuint8_t[4]GPU usage on the component in percent (100 - idle). A value of UINT8_MAX implies the field is unused.
gpu_combineduint8_t[10]Combined GPU usage as the last 10 slices of 100 MS (a histogram). This allows to identify spikes in load that max out the system, but only for a short amount of time. A value of UINT8_MAX implies the field is unused.
temperature_boardint8_tdegCTemperature of the board. A value of INT8_MAX implies the field is unused.
temperature_coreint8_t[8]degCTemperature of the CPU core. A value of INT8_MAX implies the field is unused.
fan_speedint16_t[4]rpmFan speeds. A value of INT16_MAX implies the field is unused.
ram_usageuint32_tMiBAmount of used RAM on the component system. A value of UINT32_MAX implies the field is unused.
ram_totaluint32_tMiBTotal amount of RAM on the component system. A value of UINT32_MAX implies the field is unused.
storage_typeuint32_t[4]Storage type: 0: HDD, 1: SSD, 2: EMMC, 3: SD card (non-removable), 4: SD card (removable). A value of UINT32_MAX implies the field is unused.
storage_usageuint32_t[4]MiBAmount of used storage space on the component system. A value of UINT32_MAX implies the field is unused.
storage_totaluint32_t[4]MiBTotal amount of storage space on the component system. A value of UINT32_MAX implies the field is unused.
link_typeuint32_t[6]Link type: 0-9: UART, 10-19: Wired network, 20-29: Wifi, 30-39: Point-to-point proprietary, 40-49: Mesh proprietary
link_tx_rateuint32_t[6]KiB/sNetwork traffic from the component system. A value of UINT32_MAX implies the field is unused.
link_rx_rateuint32_t[6]KiB/sNetwork traffic to the component system. A value of UINT32_MAX implies the field is unused.
link_tx_maxuint32_t[6]KiB/sNetwork capacity from the component system. A value of UINT32_MAX implies the field is unused.
link_rx_maxuint32_t[6]KiB/sNetwork capacity to the component system. A value of UINT32_MAX implies the field is unused.

COMPONENT_INFORMATION ( #395 )

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

[Message] (MAVLink 2) Information about a component. For camera components instead use CAMERA_INFORMATION, and for autopilots use AUTOPILOT_VERSION. Components including GCSes should consider supporting requests of this message via MAV_CMD_REQUEST_MESSAGE.

Field NameTypeUnitsValuesDescription
time_boot_msuint32_tmsTimestamp (time since system boot).
metadata_typeuint32_tCOMP_METADATA_TYPEThe type of metadata being requested.
metadata_uiduint32_tUnique uid for this metadata which a gcs can use for created cached metadata and understanding whether it's cache it up to date or whether it needs to download new data.
metadata_urichar[70]Component definition URI. If prefix mavlinkftp:// file is downloaded from vehicle over mavlink ftp protocol. If prefix http[s]:// file is downloaded over internet. Files are json format. They can end in .gz to indicate file is in gzip format.
translation_uiduint32_tUnique uid for the translation file associated with the metadata.
translation_urichar[70]The translations for strings within the metadata file. If null the either do not exist or may be included in the metadata file itself. The translations specified here supercede any which may be in the metadata file itself. The uri format is the same as component_metadata_uri . Files are in Json Translation spec format. Empty string indicates no tranlsation file.

PLAY_TUNE_V2 ( #400 )

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

[Message] (MAVLink 2) Play vehicle tone/tune (buzzer). Supersedes message PLAY_TUNE.

Field NameTypeValuesDescription
target_systemuint8_tSystem ID
target_componentuint8_tComponent ID
formatuint32_tTUNE_FORMATTune format
tunechar[248]Tune definition as a NULL-terminated string.

SUPPORTED_TUNES ( #401 )

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

[Message] (MAVLink 2) Tune formats supported by vehicle. This should be emitted as response to MAV_CMD_REQUEST_MESSAGE.

Field NameTypeValuesDescription
target_systemuint8_tSystem ID
target_componentuint8_tComponent ID
formatuint32_tTUNE_FORMATBitfield of supported tune formats.

WHEEL_DISTANCE ( #9000 )

[Message] (MAVLink 2) Cumulative distance traveled for each reported wheel.

Field NameTypeUnitsDescription
time_usecuint64_tusTimestamp (synced to UNIX time or since system boot).
countuint8_tNumber of wheels reported.
distancedouble[16]mDistance reported by individual wheel encoders. Forward rotations increase values, reverse rotations decrease them. Not all wheels will necessarily have wheel encoders; the mapping of encoders to wheel positions must be agreed/understood by the endpoints.

OPEN_DRONE_ID_BASIC_ID ( #12900 )

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

[Message] (MAVLink 2) Data for filling the OpenDroneID Basic ID message. This and the below messages are primarily meant for feeding data to/from an OpenDroneID implementation. E.g. https://github.com/opendroneid/opendroneid-core-c. These messages are compatible with the ASTM Remote ID standard at https://www.astm.org/Standards/F3411.htm and the ASD-STAN Direct Remote ID standard. The usage of these messages is documented at https://mavlink.io/en/services/opendroneid.html.

Field NameTypeValuesDescription
target_systemuint8_tSystem ID (0 for broadcast).
target_componentuint8_tComponent ID (0 for broadcast).
id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
id_typeuint8_tMAV_ODID_ID_TYPEIndicates the format for the uas_id field of this message.
ua_typeuint8_tMAV_ODID_UA_TYPEIndicates the type of UA (Unmanned Aircraft).
uas_iduint8_t[20]UAS (Unmanned Aircraft System) ID following the format specified by id_type. Shall be filled with nulls in the unused portion of the field.

OPEN_DRONE_ID_LOCATION ( #12901 )

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

[Message] (MAVLink 2) Data for filling the OpenDroneID Location message. The float data types are 32-bit IEEE 754. The Location message provides the location, altitude, direction and speed of the aircraft.

Field NameTypeUnitsValuesDescription
target_systemuint8_tSystem ID (0 for broadcast).
target_componentuint8_tComponent ID (0 for broadcast).
id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
statusuint8_tMAV_ODID_STATUSIndicates whether the unmanned aircraft is on the ground or in the air.
directionuint16_tcdegDirection over ground (not heading, but direction of movement) measured clockwise from true North: 0 - 35999 centi-degrees. If unknown: 36100 centi-degrees.
speed_horizontaluint16_tcm/sGround speed. Positive only. If unknown: 25500 cm/s. If speed is larger than 25425 cm/s, use 25425 cm/s.
speed_verticalint16_tcm/sThe vertical speed. Up is positive. If unknown: 6300 cm/s. If speed is larger than 6200 cm/s, use 6200 cm/s. If lower than -6200 cm/s, use -6200 cm/s.
latitudeint32_tdegE7Current latitude of the unmanned aircraft. If unknown: 0 (both Lat/Lon).
longitudeint32_tdegE7Current longitude of the unmanned aircraft. If unknown: 0 (both Lat/Lon).
altitude_barometricfloatmThe altitude calculated from the barometric pressue. Reference is against 29.92inHg or 1013.2mb. If unknown: -1000 m.
altitude_geodeticfloatmThe geodetic altitude as defined by WGS84. If unknown: -1000 m.
height_referenceuint8_tMAV_ODID_HEIGHT_REFIndicates the reference point for the height field.
heightfloatmThe current height of the unmanned aircraft above the take-off location or the ground as indicated by height_reference. If unknown: -1000 m.
horizontal_accuracyuint8_tMAV_ODID_HOR_ACCThe accuracy of the horizontal position.
vertical_accuracyuint8_tMAV_ODID_VER_ACCThe accuracy of the vertical position.
barometer_accuracyuint8_tMAV_ODID_VER_ACCThe accuracy of the barometric altitude.
speed_accuracyuint8_tMAV_ODID_SPEED_ACCThe accuracy of the horizontal and vertical speed.
timestampfloatsSeconds after the full hour with reference to UTC time. Typically the GPS outputs a time-of-week value in milliseconds. First convert that to UTC and then convert for this field using ((float) (time_week_ms % (60*60*1000))) / 1000.
timestamp_accuracyuint8_tMAV_ODID_TIME_ACCThe accuracy of the timestamps.

OPEN_DRONE_ID_AUTHENTICATION ( #12902 )

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

[Message] (MAVLink 2) Data for filling the OpenDroneID Authentication message. The Authentication Message defines a field that can provide a means of authenticity for the identity of the UAS (Unmanned Aircraft System). The Authentication message can have two different formats. Five data pages are supported. For data page 0, the fields PageCount, Length and TimeStamp are present and AuthData is only 17 bytes. For data page 1 through 4, PageCount, Length and TimeStamp are not present and the size of AuthData is 23 bytes.

Field NameTypeUnitsValuesDescription
target_systemuint8_tSystem ID (0 for broadcast).
target_componentuint8_tComponent ID (0 for broadcast).
id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
authentication_typeuint8_tMAV_ODID_AUTH_TYPEIndicates the type of authentication.
data_pageuint8_tAllowed range is 0 - 4.
page_countuint8_tThis field is only present for page 0. Allowed range is 0 - 5.
lengthuint8_tbytesThis field is only present for page 0. Total bytes of authentication_data from all data pages. Allowed range is 0 - 109 (17 + 23*4).
timestampuint32_tsThis field is only present for page 0. 32 bit Unix Timestamp in seconds since 00:00:00 01/01/2019.
authentication_datauint8_t[23]Opaque authentication data. For page 0, the size is only 17 bytes. For other pages, the size is 23 bytes. Shall be filled with nulls in the unused portion of the field.

OPEN_DRONE_ID_SELF_ID ( #12903 )

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

[Message] (MAVLink 2) Data for filling the OpenDroneID Self ID message. The Self ID Message is an opportunity for the operator to (optionally) declare their identity and purpose of the flight. This message can provide additional information that could reduce the threat profile of a UA (Unmanned Aircraft) flying in a particular area or manner.

Field NameTypeValuesDescription
target_systemuint8_tSystem ID (0 for broadcast).
target_componentuint8_tComponent ID (0 for broadcast).
id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
description_typeuint8_tMAV_ODID_DESC_TYPEIndicates the type of the description field.
descriptionchar[23]Text description or numeric value expressed as ASCII characters. Shall be filled with nulls in the unused portion of the field.

OPEN_DRONE_ID_SYSTEM ( #12904 )

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

[Message] (MAVLink 2) Data for filling the OpenDroneID System message. The System Message contains general system information including the operator location and possible aircraft group information.

Field NameTypeUnitsValuesDescription
target_systemuint8_tSystem ID (0 for broadcast).
target_componentuint8_tComponent ID (0 for broadcast).
id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
operator_location_typeuint8_tMAV_ODID_OPERATOR_LOCATION_TYPESpecifies the operator location type.
classification_typeuint8_tMAV_ODID_CLASSIFICATION_TYPESpecifies the classification type of the UA.
operator_latitudeint32_tdegE7Latitude of the operator. If unknown: 0 (both Lat/Lon).
operator_longitudeint32_tdegE7Longitude of the operator. If unknown: 0 (both Lat/Lon).
area_countuint16_tNumber of aircraft in the area, group or formation (default 1).
area_radiusuint16_tmRadius of the cylindrical area of the group or formation (default 0).
area_ceilingfloatmArea Operations Ceiling relative to WGS84. If unknown: -1000 m.
area_floorfloatmArea Operations Floor relative to WGS84. If unknown: -1000 m.
category_euuint8_tMAV_ODID_CATEGORY_EUWhen classification_type is MAV_ODID_CLASSIFICATION_TYPE_EU, specifies the category of the UA.
class_euuint8_tMAV_ODID_CLASS_EUWhen classification_type is MAV_ODID_CLASSIFICATION_TYPE_EU, specifies the class of the UA.

OPEN_DRONE_ID_OPERATOR_ID ( #12905 )

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

[Message] (MAVLink 2) Data for filling the OpenDroneID Operator ID message, which contains the CAA (Civil Aviation Authority) issued operator ID.

Field NameTypeValuesDescription
target_systemuint8_tSystem ID (0 for broadcast).
target_componentuint8_tComponent ID (0 for broadcast).
id_or_macuint8_t[20]Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
operator_id_typeuint8_tMAV_ODID_OPERATOR_ID_TYPEIndicates the type of the operator_id field.
operator_idchar[20]Text description or numeric value expressed as ASCII characters. Shall be filled with nulls in the unused portion of the field.

OPEN_DRONE_ID_MESSAGE_PACK ( #12915 )

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

[Message] (MAVLink 2) An OpenDroneID message pack is a container for multiple encoded OpenDroneID messages (i.e. not in the format given for the above messages descriptions but after encoding into the compressed OpenDroneID byte format). Used e.g. when transmitting on Bluetooth 5.0 Long Range/Extended Advertising or on WiFi Neighbor Aware Networking.

Field NameTypeUnitsDescription
target_systemuint8_tSystem ID (0 for broadcast).
target_componentuint8_tComponent ID (0 for broadcast).
single_message_sizeuint8_tbytesThis field must currently always be equal to 25 (bytes), since all encoded OpenDroneID messages are specificed to have this length.
msg_pack_sizeuint8_tNumber of encoded messages in the pack (not the number of bytes). Allowed range is 1 - 10.
messagesuint8_t[250]Concatenation of encoded OpenDroneID messages. Shall be filled with nulls in the unused portion of the field.

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