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# Dialect: ASLUAV

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This topic documents the version of the dialect file in the [mavlink/mavlink](https://github.com/mavlink/mavlink) Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed).
The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).
:::

This topic is a human-readable form of the XML definition file: [ASLUAV.xml](https://github.com/mavlink/mavlink/blob/master/message_definitions/v1.0/ASLUAV.xml).

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- MAVLink 2 [extension fields](../guide/define_xml_element.md#message_extensions) are displayed in blue.
- Entities from dialects are displayed only as headings (with link to original)

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## MAVLink Include Files

- [common.xml](../messages/common.md)

## Summary

Type | Defined | Included
--- | --- | ---
[Messages](#messages) | 17 | 234
[Enums](#enumerated-types) | 2 | 159
[Commands](#mav_commands) | 170 | 0

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

## Messages

### COMMAND_INT_STAMPED (223) {#COMMAND_INT_STAMPED}

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](#MAV_FRAME) | The coordinate system of the COMMAND, as defined by [MAV_FRAME](#MAV_FRAME) enum 
command | `uint16_t` | [MAV_CMD](#mav_commands) | The scheduled action for the mission item, as defined by [MAV_CMD](#mav_commands) enum 
current | `uint8_t` | | false:0, true:1 
autocontinue | `uint8_t` | | autocontinue to next wp 
param1 | `float` | | PARAM1, see [MAV_CMD](#mav_commands) enum 
param2 | `float` | | PARAM2, see [MAV_CMD](#mav_commands) enum 
param3 | `float` | | PARAM3, see [MAV_CMD](#mav_commands) enum 
param4 | `float` | | PARAM4, see [MAV_CMD](#mav_commands) 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) {#COMMAND_LONG_STAMPED}

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](#mav_commands) | Command ID, as defined by [MAV_CMD](#mav_commands) 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](#mav_commands) enum. 
param2 | `float` | | Parameter 2, as defined by [MAV_CMD](#mav_commands) enum. 
param3 | `float` | | Parameter 3, as defined by [MAV_CMD](#mav_commands) enum. 
param4 | `float` | | Parameter 4, as defined by [MAV_CMD](#mav_commands) enum. 
param5 | `float` | | Parameter 5, as defined by [MAV_CMD](#mav_commands) enum. 
param6 | `float` | | Parameter 6, as defined by [MAV_CMD](#mav_commands) enum. 
param7 | `float` | | Parameter 7, as defined by [MAV_CMD](#mav_commands) enum. 


### SENS_POWER (8002) {#SENS_POWER}

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) {#SENS_MPPT}

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) {#ASLCTRL_DATA}

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) {#ASLCTRL_DEBUG}

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) {#ASLUAV_STATUS}

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) {#EKF_EXT}

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) {#ASL_OBCTRL}

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) {#SENS_ATMOS}

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) {#SENS_BATMON}

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) {#FW_SOARING_DATA}

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) {#SENSORPOD_STATUS}

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) {#SENS_POWER_BOARD}

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 


### GSM_LINK_STATUS (8014) {#GSM_LINK_STATUS}

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_TYPE) | GSM modem used 
gsm_link_type | `uint8_t` | | [GSM_LINK_TYPE](#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) 


### SATCOM_LINK_STATUS (8015) {#SATCOM_LINK_STATUS}

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) {#SENSOR_AIRFLOW_ANGLES}

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 


## Enumerated Types

### GSM_LINK_TYPE {#GSM_LINK_TYPE}

Value | Name | Description
--- | --- | ---
<a id='GSM_LINK_TYPE_NONE'></a>0 | [GSM_LINK_TYPE_NONE](#GSM_LINK_TYPE_NONE) | no service 
<a id='GSM_LINK_TYPE_UNKNOWN'></a>1 | [GSM_LINK_TYPE_UNKNOWN](#GSM_LINK_TYPE_UNKNOWN) | link type unknown 
<a id='GSM_LINK_TYPE_2G'></a>2 | [GSM_LINK_TYPE_2G](#GSM_LINK_TYPE_2G) | 2G (GSM/GRPS/EDGE) link 
<a id='GSM_LINK_TYPE_3G'></a>3 | [GSM_LINK_TYPE_3G](#GSM_LINK_TYPE_3G) | 3G link (WCDMA/HSDPA/HSPA) 
<a id='GSM_LINK_TYPE_4G'></a>4 | [GSM_LINK_TYPE_4G](#GSM_LINK_TYPE_4G) | 4G link (LTE) 

### GSM_MODEM_TYPE {#GSM_MODEM_TYPE}

Value | Name | Description
--- | --- | ---
<a id='GSM_MODEM_TYPE_UNKNOWN'></a>0 | [GSM_MODEM_TYPE_UNKNOWN](#GSM_MODEM_TYPE_UNKNOWN) | not specified 
<a id='GSM_MODEM_TYPE_HUAWEI_E3372'></a>1 | [GSM_MODEM_TYPE_HUAWEI_E3372](#GSM_MODEM_TYPE_HUAWEI_E3372) | HUAWEI LTE USB Stick E3372 

## Commands (MAV_CMD) {#mav_commands}

### MAV_CMD_RESET_MPPT (40001) {#MAV_CMD_RESET_MPPT}

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) {#MAV_CMD_PAYLOAD_CONTROL}

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 


