MAVLink Minimal Set

The MAVLink minimal set contains the minimal set of definitions for a viable MAVLink system.

The message set is defined in minimal.xml and is managed by the MAVLink project.

The minimal set is included (imported into) other xml definition files, including the MAVLink Common Message Set (common.xml).

MAVLink 2 extension fields that have been added to MAVLink 1 messages are displayed in blue. - Entities from dialects are displayed only as headings (with link to original)

Protocol version: 3

MAVLink Include Files

None

Summary

Type	Defined	Included
Messages	2	0
Enums	6	0
Commands	0	0

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

Messages

HEARTBEAT (0)

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

Field Name	Type	Values	Description
type	`uint8_t`	MAV_TYPE	Vehicle 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.
autopilot	`uint8_t`	MAV_AUTOPILOT	Autopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers.
base_mode	`uint8_t`	MAV_MODE_FLAG	System mode bitmap.
custom_mode	`uint32_t`		A bitfield for use for autopilot-specific flags
system_status	`uint8_t`	MAV_STATE	System status flag.
mavlink_version	`uint8_t_mavlink_version`		MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version

PROTOCOL_VERSION (300) — [WIP]

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

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 Name	Type	Description
version	`uint16_t`	Currently active MAVLink version number * 100: v1.0 is 100, v2.0 is 200, etc.
min_version	`uint16_t`	Minimum MAVLink version supported
max_version	`uint16_t`	Maximum MAVLink version supported (set to the same value as version by default)
spec_version_hash	`uint8_t[8]`	The first 8 bytes (not characters printed in hex!) of the git hash.
library_version_hash	`uint8_t[8]`	The first 8 bytes (not characters printed in hex!) of the git hash.

Enumerated Types

MAV_AUTOPILOT

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

Value	Name	Description
0	MAV_AUTOPILOT_GENERIC	Generic autopilot, full support for everything
1	MAV_AUTOPILOT_RESERVED	Reserved for future use.
2	MAV_AUTOPILOT_SLUGS	SLUGS autopilot, http://slugsuav.soe.ucsc.edu
3	MAV_AUTOPILOT_ARDUPILOTMEGA	ArduPilot - Plane/Copter/Rover/Sub/Tracker, https://ardupilot.org
4	MAV_AUTOPILOT_OPENPILOT	OpenPilot, http://openpilot.org
5	MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLY	Generic autopilot only supporting simple waypoints
6	MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLY	Generic autopilot supporting waypoints and other simple navigation commands
7	MAV_AUTOPILOT_GENERIC_MISSION_FULL	Generic autopilot supporting the full mission command set
8	MAV_AUTOPILOT_INVALID	No valid autopilot, e.g. a GCS or other MAVLink component
9	MAV_AUTOPILOT_PPZ	PPZ UAV - http://nongnu.org/paparazzi
10	MAV_AUTOPILOT_UDB	UAV Dev Board
11	MAV_AUTOPILOT_FP	FlexiPilot
12	MAV_AUTOPILOT_PX4	PX4 Autopilot - http://px4.io/
13	MAV_AUTOPILOT_SMACCMPILOT	SMACCMPilot - http://smaccmpilot.org
14	MAV_AUTOPILOT_AUTOQUAD	AutoQuad -- http://autoquad.org
15	MAV_AUTOPILOT_ARMAZILA	Armazila -- http://armazila.com
16	MAV_AUTOPILOT_AEROB	Aerob -- http://aerob.ru
17	MAV_AUTOPILOT_ASLUAV	ASLUAV autopilot -- http://www.asl.ethz.ch
18	MAV_AUTOPILOT_SMARTAP	SmartAP Autopilot - http://sky-drones.com
19	MAV_AUTOPILOT_AIRRAILS	AirRails - http://uaventure.com
20	MAV_AUTOPILOT_REFLEX	Fusion Reflex - https://fusion.engineering

MAV_TYPE

MAVLINK component type reported in HEARTBEAT message. Flight controllers must report the type of the vehicle on which they are mounted (e.g. MAV_TYPE_OCTOROTOR). All other components must report a value appropriate for their type (e.g. a camera must use MAV_TYPE_CAMERA).

Value	Name	Description
0	MAV_TYPE_GENERIC	Generic micro air vehicle
1	MAV_TYPE_FIXED_WING	Fixed wing aircraft.
2	MAV_TYPE_QUADROTOR	Quadrotor
3	MAV_TYPE_COAXIAL	Coaxial helicopter
4	MAV_TYPE_HELICOPTER	Normal helicopter with tail rotor.
5	MAV_TYPE_ANTENNA_TRACKER	Ground installation
6	MAV_TYPE_GCS	Operator control unit / ground control station
7	MAV_TYPE_AIRSHIP	Airship, controlled
8	MAV_TYPE_FREE_BALLOON	Free balloon, uncontrolled
9	MAV_TYPE_ROCKET	Rocket
10	MAV_TYPE_GROUND_ROVER	Ground rover
11	MAV_TYPE_SURFACE_BOAT	Surface vessel, boat, ship
12	MAV_TYPE_SUBMARINE	Submarine
13	MAV_TYPE_HEXAROTOR	Hexarotor
14	MAV_TYPE_OCTOROTOR	Octorotor
15	MAV_TYPE_TRICOPTER	Tricopter
16	MAV_TYPE_FLAPPING_WING	Flapping wing
17	MAV_TYPE_KITE	Kite
18	MAV_TYPE_ONBOARD_CONTROLLER	Onboard companion controller
19	MAV_TYPE_VTOL_TAILSITTER_DUOROTOR	Two-rotor Tailsitter VTOL that additionally uses control surfaces in vertical operation. Note, value previously named MAV_TYPE_VTOL_DUOROTOR.
20	MAV_TYPE_VTOL_TAILSITTER_QUADROTOR	Quad-rotor Tailsitter VTOL using a V-shaped quad config in vertical operation. Note: value previously named MAV_TYPE_VTOL_QUADROTOR.
21	MAV_TYPE_VTOL_TILTROTOR	Tiltrotor VTOL. Fuselage and wings stay (nominally) horizontal in all flight phases. It able to tilt (some) rotors to provide thrust in cruise flight.
22	MAV_TYPE_VTOL_FIXEDROTOR	VTOL with separate fixed rotors for hover and cruise flight. Fuselage and wings stay (nominally) horizontal in all flight phases.
23	MAV_TYPE_VTOL_TAILSITTER	Tailsitter VTOL. Fuselage and wings orientation changes depending on flight phase: vertical for hover, horizontal for cruise. Use more specific VTOL MAV_TYPE_VTOL_TAILSITTER_DUOROTOR or MAV_TYPE_VTOL_TAILSITTER_QUADROTOR if appropriate.
24	MAV_TYPE_VTOL_TILTWING	Tiltwing VTOL. Fuselage stays horizontal in all flight phases. The whole wing, along with any attached engine, can tilt between vertical and horizontal mode.
25	MAV_TYPE_VTOL_RESERVED5	VTOL reserved 5
26	MAV_TYPE_GIMBAL	Gimbal
27	MAV_TYPE_ADSB	ADSB system
28	MAV_TYPE_PARAFOIL	Steerable, nonrigid airfoil
29	MAV_TYPE_DODECAROTOR	Dodecarotor
30	MAV_TYPE_CAMERA	Camera
31	MAV_TYPE_CHARGING_STATION	Charging station
32	MAV_TYPE_FLARM	FLARM collision avoidance system
33	MAV_TYPE_SERVO	Servo
34	MAV_TYPE_ODID	Open Drone ID. See https://mavlink.io/en/services/opendroneid.html.
35	MAV_TYPE_DECAROTOR	Decarotor
36	MAV_TYPE_BATTERY	Battery
37	MAV_TYPE_PARACHUTE	Parachute
38	MAV_TYPE_LOG	Log
39	MAV_TYPE_OSD	OSD
40	MAV_TYPE_IMU	IMU
41	MAV_TYPE_GPS	GPS
42	MAV_TYPE_WINCH	Winch
43	MAV_TYPE_GENERIC_MULTIROTOR	Generic multirotor that does not fit into a specific type or whose type is unknown
44	MAV_TYPE_ILLUMINATOR	Illuminator. 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).

MAV_MODE_FLAG

(Bitmask) These flags encode the MAV mode.

Value	Name	Description
1	MAV_MODE_FLAG_CUSTOM_MODE_ENABLED	0b00000001 Reserved for future use.
2	MAV_MODE_FLAG_TEST_ENABLED	0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations.
4	MAV_MODE_FLAG_AUTO_ENABLED	0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation.
8	MAV_MODE_FLAG_GUIDED_ENABLED	0b00001000 guided mode enabled, system flies waypoints / mission items.
16	MAV_MODE_FLAG_STABILIZE_ENABLED	0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around.
32	MAV_MODE_FLAG_HIL_ENABLED	0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational.
64	MAV_MODE_FLAG_MANUAL_INPUT_ENABLED	0b01000000 remote control input is enabled.
128	MAV_MODE_FLAG_SAFETY_ARMED	0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly. Additional note: this flag is to be ignore when sent in the command MAV_CMD_DO_SET_MODE and MAV_CMD_COMPONENT_ARM_DISARM shall be used instead. The flag can still be used to report the armed state.

MAV_MODE_FLAG_DECODE_POSITION

(Bitmask) These values encode the bit positions of the decode position. These values can be used to read the value of a flag bit by combining the base_mode variable with AND with the flag position value. The result will be either 0 or 1, depending on if the flag is set or not.

Value	Name	Description
1	MAV_MODE_FLAG_DECODE_POSITION_CUSTOM_MODE	Eighth bit: 00000001
2	MAV_MODE_FLAG_DECODE_POSITION_TEST	Seventh bit: 00000010
4	MAV_MODE_FLAG_DECODE_POSITION_AUTO	Sixth bit: 00000100
8	MAV_MODE_FLAG_DECODE_POSITION_GUIDED	Fifth bit: 00001000
16	MAV_MODE_FLAG_DECODE_POSITION_STABILIZE	Fourth bit: 00010000
32	MAV_MODE_FLAG_DECODE_POSITION_HIL	Third bit: 00100000
64	MAV_MODE_FLAG_DECODE_POSITION_MANUAL	Second bit: 01000000
128	MAV_MODE_FLAG_DECODE_POSITION_SAFETY	First bit: 10000000

MAV_STATE

Value	Name	Description
0	MAV_STATE_UNINIT	Uninitialized system, state is unknown.
1	MAV_STATE_BOOT	System is booting up.
2	MAV_STATE_CALIBRATING	System is calibrating and not flight-ready.
3	MAV_STATE_STANDBY	System is grounded and on standby. It can be launched any time.
4	MAV_STATE_ACTIVE	System is active and might be already airborne. Motors are engaged.
5	MAV_STATE_CRITICAL	System is in a non-normal flight mode (failsafe). It can however still navigate.
6	MAV_STATE_EMERGENCY	System is in a non-normal flight mode (failsafe). It lost control over parts or over the whole airframe. It is in mayday and going down.
7	MAV_STATE_POWEROFF	System just initialized its power-down sequence, will shut down now.
8	MAV_STATE_FLIGHT_TERMINATION	System is terminating itself (failsafe or commanded).

MAV_COMPONENT

Component ids (values) for the different types and instances of onboard hardware/software that might make up a MAVLink system (autopilot, cameras, servos, GPS systems, avoidance systems etc.).

Components must use the appropriate ID in their source address when sending messages. Components can also use IDs to determine if they are the intended recipient of an incoming message. The MAV_COMP_ID_ALL value is used to indicate messages that must be processed by all components. When creating new entries, components that can have multiple instances (e.g. cameras, servos etc.) should be allocated sequential values. An appropriate number of values should be left free after these components to allow the number of instances to be expanded.

Value	Name	Description
0	MAV_COMP_ID_ALL	Target id (target_component) used to broadcast messages to all components of the receiving system. Components should attempt to process messages with this component ID and forward to components on any other interfaces. Note: This is not a valid source component id for a message.
1	MAV_COMP_ID_AUTOPILOT1	System flight controller component ("autopilot"). Only one autopilot is expected in a particular system.
25	MAV_COMP_ID_USER1	Id 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.
26	MAV_COMP_ID_USER2	Id 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.
27	MAV_COMP_ID_USER3	Id 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.
28	MAV_COMP_ID_USER4	Id 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.
29	MAV_COMP_ID_USER5	Id 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.
30	MAV_COMP_ID_USER6	Id 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.
31	MAV_COMP_ID_USER7	Id 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.
32	MAV_COMP_ID_USER8	Id 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.
33	MAV_COMP_ID_USER9	Id 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.
34	MAV_COMP_ID_USER10	Id 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.
35	MAV_COMP_ID_USER11	Id 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.
36	MAV_COMP_ID_USER12	Id 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.
37	MAV_COMP_ID_USER13	Id 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.
38	MAV_COMP_ID_USER14	Id 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.
39	MAV_COMP_ID_USER15	Id 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.
40	MAV_COMP_ID_USER16	Id 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.
41	MAV_COMP_ID_USER17	Id 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.
42	MAV_COMP_ID_USER18	Id 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.
43	MAV_COMP_ID_USER19	Id 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.
44	MAV_COMP_ID_USER20	Id 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.
45	MAV_COMP_ID_USER21	Id 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.
46	MAV_COMP_ID_USER22	Id 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.
47	MAV_COMP_ID_USER23	Id 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.
48	MAV_COMP_ID_USER24	Id 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.
49	MAV_COMP_ID_USER25	Id 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.
50	MAV_COMP_ID_USER26	Id 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.
51	MAV_COMP_ID_USER27	Id 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.
52	MAV_COMP_ID_USER28	Id 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.
53	MAV_COMP_ID_USER29	Id 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.
54	MAV_COMP_ID_USER30	Id 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.
55	MAV_COMP_ID_USER31	Id 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.
56	MAV_COMP_ID_USER32	Id 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.
57	MAV_COMP_ID_USER33	Id 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.
58	MAV_COMP_ID_USER34	Id 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.
59	MAV_COMP_ID_USER35	Id 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.
60	MAV_COMP_ID_USER36	Id 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.
61	MAV_COMP_ID_USER37	Id 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.
62	MAV_COMP_ID_USER38	Id 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.
63	MAV_COMP_ID_USER39	Id 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.
64	MAV_COMP_ID_USER40	Id 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.
65	MAV_COMP_ID_USER41	Id 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.
66	MAV_COMP_ID_USER42	Id 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.
67	MAV_COMP_ID_USER43	Id 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.
68	MAV_COMP_ID_TELEMETRY_RADIO	Telemetry radio (e.g. SiK radio, or other component that emits RADIO_STATUS messages).
69	MAV_COMP_ID_USER45	Id 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.
70	MAV_COMP_ID_USER46	Id 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.
71	MAV_COMP_ID_USER47	Id 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.
72	MAV_COMP_ID_USER48	Id 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.
73	MAV_COMP_ID_USER49	Id 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.
74	MAV_COMP_ID_USER50	Id 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.
75	MAV_COMP_ID_USER51	Id 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.
76	MAV_COMP_ID_USER52	Id 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.
77	MAV_COMP_ID_USER53	Id 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.
78	MAV_COMP_ID_USER54	Id 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.
79	MAV_COMP_ID_USER55	Id 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.
80	MAV_COMP_ID_USER56	Id 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.
81	MAV_COMP_ID_USER57	Id 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.
82	MAV_COMP_ID_USER58	Id 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.
83	MAV_COMP_ID_USER59	Id 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.
84	MAV_COMP_ID_USER60	Id 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.
85	MAV_COMP_ID_USER61	Id 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.
86	MAV_COMP_ID_USER62	Id 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.
87	MAV_COMP_ID_USER63	Id 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.
88	MAV_COMP_ID_USER64	Id 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.
89	MAV_COMP_ID_USER65	Id 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.
90	MAV_COMP_ID_USER66	Id 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.
91	MAV_COMP_ID_USER67	Id 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.
92	MAV_COMP_ID_USER68	Id 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.
93	MAV_COMP_ID_USER69	Id 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.
94	MAV_COMP_ID_USER70	Id 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.
95	MAV_COMP_ID_USER71	Id 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.
96	MAV_COMP_ID_USER72	Id 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.
97	MAV_COMP_ID_USER73	Id 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.
98	MAV_COMP_ID_USER74	Id 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.
99	MAV_COMP_ID_USER75	Id 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.
100	MAV_COMP_ID_CAMERA	Camera #1.
101	MAV_COMP_ID_CAMERA2	Camera #2.
102	MAV_COMP_ID_CAMERA3	Camera #3.
103	MAV_COMP_ID_CAMERA4	Camera #4.
104	MAV_COMP_ID_CAMERA5	Camera #5.
105	MAV_COMP_ID_CAMERA6	Camera #6.
140	MAV_COMP_ID_SERVO1	Servo #1.
141	MAV_COMP_ID_SERVO2	Servo #2.
142	MAV_COMP_ID_SERVO3	Servo #3.
143	MAV_COMP_ID_SERVO4	Servo #4.
144	MAV_COMP_ID_SERVO5	Servo #5.
145	MAV_COMP_ID_SERVO6	Servo #6.
146	MAV_COMP_ID_SERVO7	Servo #7.
147	MAV_COMP_ID_SERVO8	Servo #8.
148	MAV_COMP_ID_SERVO9	Servo #9.
149	MAV_COMP_ID_SERVO10	Servo #10.
150	MAV_COMP_ID_SERVO11	Servo #11.
151	MAV_COMP_ID_SERVO12	Servo #12.
152	MAV_COMP_ID_SERVO13	Servo #13.
153	MAV_COMP_ID_SERVO14	Servo #14.
154	MAV_COMP_ID_GIMBAL	Gimbal #1.
155	MAV_COMP_ID_LOG	Logging component.
156	MAV_COMP_ID_ADSB	Automatic Dependent Surveillance-Broadcast (ADS-B) component.
157	MAV_COMP_ID_OSD	On Screen Display (OSD) devices for video links.
158	MAV_COMP_ID_PERIPHERAL	Generic autopilot peripheral component ID. Meant for devices that do not implement the parameter microservice.
159	MAV_COMP_ID_QX1_GIMBAL	Gimbal ID for QX1.DEPRECATED: Replaced By MAV_COMP_ID_GIMBAL (2018-11) — All gimbals should use MAV_COMP_ID_GIMBAL.)
160	MAV_COMP_ID_FLARM	FLARM collision alert component.
161	MAV_COMP_ID_PARACHUTE	Parachute component.
169	MAV_COMP_ID_WINCH	Winch component.
171	MAV_COMP_ID_GIMBAL2	Gimbal #2.
172	MAV_COMP_ID_GIMBAL3	Gimbal #3.
173	MAV_COMP_ID_GIMBAL4	Gimbal #4
174	MAV_COMP_ID_GIMBAL5	Gimbal #5.
175	MAV_COMP_ID_GIMBAL6	Gimbal #6.
180	MAV_COMP_ID_BATTERY	Battery #1.
181	MAV_COMP_ID_BATTERY2	Battery #2.
189	MAV_COMP_ID_MAVCAN	CAN over MAVLink client.
190	MAV_COMP_ID_MISSIONPLANNER	Component that can generate/supply a mission flight plan (e.g. GCS or developer API).
191	MAV_COMP_ID_ONBOARD_COMPUTER	Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
192	MAV_COMP_ID_ONBOARD_COMPUTER2	Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
193	MAV_COMP_ID_ONBOARD_COMPUTER3	Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
194	MAV_COMP_ID_ONBOARD_COMPUTER4	Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
195	MAV_COMP_ID_PATHPLANNER	Component that finds an optimal path between points based on a certain constraint (e.g. minimum snap, shortest path, cost, etc.).
196	MAV_COMP_ID_OBSTACLE_AVOIDANCE	Component that plans a collision free path between two points.
197	MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRY	Component that provides position estimates using VIO techniques.
198	MAV_COMP_ID_PAIRING_MANAGER	Component that manages pairing of vehicle and GCS.
200	MAV_COMP_ID_IMU	Inertial Measurement Unit (IMU) #1.
201	MAV_COMP_ID_IMU_2	Inertial Measurement Unit (IMU) #2.
202	MAV_COMP_ID_IMU_3	Inertial Measurement Unit (IMU) #3.
220	MAV_COMP_ID_GPS	GPS #1.
221	MAV_COMP_ID_GPS2	GPS #2.
236	MAV_COMP_ID_ODID_TXRX_1	Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
237	MAV_COMP_ID_ODID_TXRX_2	Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
238	MAV_COMP_ID_ODID_TXRX_3	Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
240	MAV_COMP_ID_UDP_BRIDGE	Component to bridge MAVLink to UDP (i.e. from a UART).
241	MAV_COMP_ID_UART_BRIDGE	Component to bridge to UART (i.e. from UDP).
242	MAV_COMP_ID_TUNNEL_NODE	Component handling TUNNEL messages (e.g. vendor specific GUI of a component).
243	MAV_COMP_ID_ILLUMINATOR	Illuminator
250	MAV_COMP_ID_SYSTEM_CONTROL	Deprecated, don't use. Component for handling system messages (e.g. to ARM, takeoff, etc.).DEPRECATED: Replaced By MAV_COMP_ID_ALL (2018-11) — System control does not require a separate component ID. Instead, system commands should be sent with target_component=MAV_COMP_ID_ALL allowing the target component to use any appropriate component id.)

minimal.xml