MAVLink Include Files: common.xml

MAVLink Type Enumerations

[Enum]

Value Field Name Description

GSM_MODEM_TYPE

[Enum]

Value Field Name Description
0 GSM_MODEM_TYPE_UNKNOWN not specified
1 GSM_MODEM_TYPE_HUAWEI_E3372 HUAWEI LTE USB Stick E3372

MAVLink Commands (MAV_CMD)

MAVLink commands (MAV_CMD) and messages are different! These commands define the values of up to 7 parameters that are packaged INSIDE specific messages used in the Mission Protocol and Command Protocol. Use commands for actions in missions or if you need acknowledgment and/or retry logic from a request. Otherwise use messages.

MAV_CMD_RESET_MPPT (40001 )

[Command] Mission command to reset Maximum Power Point Tracker (MPPT)

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

MAV_CMD_PAYLOAD_CONTROL (40002 )

[Command] Mission command to perform a power cycle on payload

Param (:Label) Description
1 Complete power cycle
2 VISensor power cycle
3 Empty
4 Empty
5 Empty
6 Empty
7 Empty

MAVLink Messages

COMMAND_INT_STAMPED ( #223 )

[Message] Message encoding a command with parameters as scaled integers and additional metadata. Scaling depends on the actual command value.

Field Name Type Values Description
utc_time uint32_t UTC time, seconds elapsed since 01.01.1970
vehicle_timestamp uint64_t Microseconds elapsed since vehicle boot
target_system uint8_t System ID
target_component uint8_t Component ID
frame uint8_t MAV_FRAME The coordinate system of the COMMAND, as defined by MAV_FRAME enum
command uint16_t MAV_CMD The scheduled action for the mission item, as defined by MAV_CMD enum
current uint8_t false:0, true:1
autocontinue uint8_t autocontinue to next wp
param1 float PARAM1, see MAV_CMD enum
param2 float PARAM2, see MAV_CMD enum
param3 float PARAM3, see MAV_CMD enum
param4 float PARAM4, see MAV_CMD enum
x int32_t PARAM5 / local: x position in meters * 1e4, global: latitude in degrees * 10^7
y int32_t PARAM6 / local: y position in meters * 1e4, global: longitude in degrees * 10^7
z float PARAM7 / z position: global: altitude in meters (MSL, WGS84, AGL or relative to home - depending on frame).

COMMAND_LONG_STAMPED ( #224 )

[Message] Send a command with up to seven parameters to the MAV and additional metadata

Field Name Type Values Description
utc_time uint32_t UTC time, seconds elapsed since 01.01.1970
vehicle_timestamp uint64_t Microseconds elapsed since vehicle boot
target_system uint8_t System which should execute the command
target_component uint8_t Component which should execute the command, 0 for all components
command uint16_t MAV_CMD Command ID, as defined by MAV_CMD enum.
confirmation uint8_t 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
param1 float Parameter 1, as defined by MAV_CMD enum.
param2 float Parameter 2, as defined by MAV_CMD enum.
param3 float Parameter 3, as defined by MAV_CMD enum.
param4 float Parameter 4, as defined by MAV_CMD enum.
param5 float Parameter 5, as defined by MAV_CMD enum.
param6 float Parameter 6, as defined by MAV_CMD enum.
param7 float Parameter 7, as defined by MAV_CMD enum.

SENS_POWER ( #8002 )

[Message] (MAVLink 2) Voltage and current sensor data

Field Name Type Units Description
adc121_vspb_volt float V Power board voltage sensor reading
adc121_cspb_amp float A Power board current sensor reading
adc121_cs1_amp float A Board current sensor 1 reading
adc121_cs2_amp float A Board current sensor 2 reading

SENS_MPPT ( #8003 )

[Message] (MAVLink 2) Maximum Power Point Tracker (MPPT) sensor data for solar module power performance tracking

Field Name Type Units Description
mppt_timestamp uint64_t us MPPT last timestamp
mppt1_volt float V MPPT1 voltage
mppt1_amp float A MPPT1 current
mppt1_pwm uint16_t us MPPT1 pwm
mppt1_status uint8_t MPPT1 status
mppt2_volt float V MPPT2 voltage
mppt2_amp float A MPPT2 current
mppt2_pwm uint16_t us MPPT2 pwm
mppt2_status uint8_t MPPT2 status
mppt3_volt float V MPPT3 voltage
mppt3_amp float A MPPT3 current
mppt3_pwm uint16_t us MPPT3 pwm
mppt3_status uint8_t MPPT3 status

ASLCTRL_DATA ( #8004 )

[Message] (MAVLink 2) ASL-fixed-wing controller data

Field Name Type Units Description
timestamp uint64_t us Timestamp
aslctrl_mode uint8_t ASLCTRL control-mode (manual, stabilized, auto, etc...)
h float See sourcecode for a description of these values...
hRef float
hRef_t float
PitchAngle float deg Pitch angle
PitchAngleRef float deg Pitch angle reference
q float
qRef float
uElev float
uThrot float
uThrot2 float
nZ float
AirspeedRef float m/s Airspeed reference
SpoilersEngaged uint8_t
YawAngle float deg Yaw angle
YawAngleRef float deg Yaw angle reference
RollAngle float deg Roll angle
RollAngleRef float deg Roll angle reference
p float
pRef float
r float
rRef float
uAil float
uRud float

ASLCTRL_DEBUG ( #8005 )

[Message] (MAVLink 2) ASL-fixed-wing controller debug data

Field Name Type Description
i32_1 uint32_t Debug data
i8_1 uint8_t Debug data
i8_2 uint8_t Debug data
f_1 float Debug data
f_2 float Debug data
f_3 float Debug data
f_4 float Debug data
f_5 float Debug data
f_6 float Debug data
f_7 float Debug data
f_8 float Debug data

ASLUAV_STATUS ( #8006 )

[Message] (MAVLink 2) Extended state information for ASLUAVs

Field Name Type Description
LED_status uint8_t Status of the position-indicator LEDs
SATCOM_status uint8_t Status of the IRIDIUM satellite communication system
Servo_status uint8_t[8] Status vector for up to 8 servos
Motor_rpm float Motor RPM

EKF_EXT ( #8007 )

[Message] (MAVLink 2) Extended EKF state estimates for ASLUAVs

Field Name Type Units Description
timestamp uint64_t us Time since system start
Windspeed float m/s Magnitude of wind velocity (in lateral inertial plane)
WindDir float rad Wind heading angle from North
WindZ float m/s Z (Down) component of inertial wind velocity
Airspeed float m/s Magnitude of air velocity
beta float rad Sideslip angle
alpha float rad Angle of attack

ASL_OBCTRL ( #8008 )

[Message] (MAVLink 2) Off-board controls/commands for ASLUAVs

Field Name Type Units Description
timestamp uint64_t us Time since system start
uElev float Elevator command [~]
uThrot float Throttle command [~]
uThrot2 float Throttle 2 command [~]
uAilL float Left aileron command [~]
uAilR float Right aileron command [~]
uRud float Rudder command [~]
obctrl_status uint8_t Off-board computer status

SENS_ATMOS ( #8009 )

[Message] (MAVLink 2) Atmospheric sensors (temperature, humidity, ...)

Field Name Type Units Description
timestamp uint64_t us Time since system boot
TempAmbient float degC Ambient temperature
Humidity float % Relative humidity

SENS_BATMON ( #8010 )

[Message] (MAVLink 2) Battery pack monitoring data for Li-Ion batteries

Field Name Type Units Description
batmon_timestamp uint64_t us Time since system start
temperature float degC Battery pack temperature
voltage uint16_t mV Battery pack voltage
current int16_t mA Battery pack current
SoC uint8_t Battery pack state-of-charge
batterystatus uint16_t Battery monitor status report bits in Hex
serialnumber uint16_t Battery monitor serial number in Hex
safetystatus uint32_t Battery monitor safetystatus report bits in Hex
operationstatus uint32_t Battery monitor operation status report bits in Hex
cellvoltage1 uint16_t mV Battery pack cell 1 voltage
cellvoltage2 uint16_t mV Battery pack cell 2 voltage
cellvoltage3 uint16_t mV Battery pack cell 3 voltage
cellvoltage4 uint16_t mV Battery pack cell 4 voltage
cellvoltage5 uint16_t mV Battery pack cell 5 voltage
cellvoltage6 uint16_t mV Battery pack cell 6 voltage

FW_SOARING_DATA ( #8011 )

[Message] (MAVLink 2) Fixed-wing soaring (i.e. thermal seeking) data

Field Name Type Units Description
timestamp uint64_t ms Timestamp
timestampModeChanged uint64_t ms Timestamp since last mode change
xW float m/s Thermal core updraft strength
xR float m Thermal radius
xLat float deg Thermal center latitude
xLon float deg Thermal center longitude
VarW float Variance W
VarR float Variance R
VarLat float Variance Lat
VarLon float Variance Lon
LoiterRadius float m Suggested loiter radius
LoiterDirection float Suggested loiter direction
DistToSoarPoint float m Distance to soar point
vSinkExp float m/s Expected sink rate at current airspeed, roll and throttle
z1_LocalUpdraftSpeed float m/s Measurement / updraft speed at current/local airplane position
z2_DeltaRoll float deg Measurement / roll angle tracking error
z1_exp float Expected measurement 1
z2_exp float Expected measurement 2
ThermalGSNorth float m/s Thermal drift (from estimator prediction step only)
ThermalGSEast float m/s Thermal drift (from estimator prediction step only)
TSE_dot float m/s Total specific energy change (filtered)
DebugVar1 float Debug variable 1
DebugVar2 float Debug variable 2
ControlMode uint8_t Control Mode [-]
valid uint8_t Data valid [-]

SENSORPOD_STATUS ( #8012 )

[Message] (MAVLink 2) Monitoring of sensorpod status

Field Name Type Units Description
timestamp uint64_t ms Timestamp in linuxtime (since 1.1.1970)
visensor_rate_1 uint8_t Rate of ROS topic 1
visensor_rate_2 uint8_t Rate of ROS topic 2
visensor_rate_3 uint8_t Rate of ROS topic 3
visensor_rate_4 uint8_t Rate of ROS topic 4
recording_nodes_count uint8_t Number of recording nodes
cpu_temp uint8_t degC Temperature of sensorpod CPU in
free_space uint16_t Free space available in recordings directory in [Gb] * 1e2

SENS_POWER_BOARD ( #8013 )

[Message] (MAVLink 2) Monitoring of power board status

Field Name Type Units Description
timestamp uint64_t us Timestamp
pwr_brd_status uint8_t Power board status register
pwr_brd_led_status uint8_t Power board leds status
pwr_brd_system_volt float V Power board system voltage
pwr_brd_servo_volt float V Power board servo voltage
pwr_brd_digital_volt float V Power board digital voltage
pwr_brd_mot_l_amp float A Power board left motor current sensor
pwr_brd_mot_r_amp float A Power board right motor current sensor
pwr_brd_analog_amp float A Power board analog current sensor
pwr_brd_digital_amp float A Power board digital current sensor
pwr_brd_ext_amp float A Power board extension current sensor
pwr_brd_aux_amp float A Power board aux current sensor

[Message] (MAVLink 2) Status of GSM modem (connected to onboard computer)

Field Name Type Units Values Description
timestamp uint64_t us Timestamp (of OBC)
gsm_modem_type uint8_t GSM_MODEM_TYPE GSM modem used
gsm_link_type uint8_t GSM_LINK_TYPE GSM link type
rssi uint8_t RSSI as reported by modem (unconverted)
rsrp_rscp uint8_t RSRP (LTE) or RSCP (WCDMA) as reported by modem (unconverted)
sinr_ecio uint8_t SINR (LTE) or ECIO (WCDMA) as reported by modem (unconverted)
rsrq uint8_t RSRQ (LTE only) as reported by modem (unconverted)

[Message] (MAVLink 2) Status of the SatCom link

Field Name Type Units Description
timestamp uint64_t us Timestamp
last_heartbeat uint64_t us Timestamp of the last successful sbd session
failed_sessions uint16_t Number of failed sessions
successful_sessions uint16_t Number of successful sessions
signal_quality uint8_t Signal quality
ring_pending uint8_t Ring call pending
tx_session_pending uint8_t Transmission session pending
rx_session_pending uint8_t Receiving session pending

SENSOR_AIRFLOW_ANGLES ( #8016 )

[Message] (MAVLink 2) Calibrated airflow angle measurements

Field Name Type Units Description
timestamp uint64_t us Timestamp
angleofattack float deg Angle of attack
angleofattack_valid uint8_t Angle of attack measurement valid
sideslip float deg Sideslip angle
sideslip_valid uint8_t Sideslip angle measurement valid