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# 方言：MAVLINK 标准消息集（standard.xml）

MAVLink _standard_ 消息集包含了由 MAVLink 项目管理的 _标准_ 定义。
这些定义是所有飞行控制系统/地面站都应予以实施的，并且很可能以兼容的方式来落实。
原始定义在 [standard.xml](https://github.com/mavlink/mavlink/blob/master/message_definitions/v1.0/standard.xml 中定义。

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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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**Protocol dialect:** 0

## MAVLink Include Files

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

## 概览

| Type                       | Defined | Included |
| -------------------------- | ------- | -------- |
| [Messages](#messages)      | 2       | 1        |
| [Enums](#enumerated-types) | 3       | 6        |
| 命令                         | 0       | 0        |

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

## 消息

### GLOBAL_POSITION_INT (33) {#GLOBAL_POSITION_INT}

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 Name                                             | Type       | Units | 描述                                                                                                                                                                                                                       |
| ------------------------------------------------------ | ---------- | ----- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| time_boot_ms | `uint32_t` | ms    | Timestamp (time since system boot).                                                                                                                                                   |
| lat                                                    | `int32_t`  | degE7 | Latitude, expressed                                                                                                                                                                                                      |
| lon                                                    | `int32_t`  | degE7 | Longitude, expressed                                                                                                                                                                                                     |
| alt                                                    | `int32_t`  | 毫米    | Altitude (MSL). Note that virtually all GPS modules provide both WGS84 and MSL.                                                                                       |
| relative_alt                      | `int32_t`  | 毫米    | Altitude above home                                                                                                                                                                                                      |
| vx                                                     | `int16_t`  | 厘米/秒  | Ground X Speed (Latitude, positive north)                                                                                                                                                             |
| vy                                                     | `int16_t`  | 厘米/秒  | Ground Y Speed (Longitude, positive east)                                                                                                                                                             |
| vz                                                     | `int16_t`  | 厘米/秒  | Ground Z Speed (Altitude, positive down)                                                                                                                                                              |
| hdg                                                    | `uint16_t` | cdeg  | Vehicle heading (yaw angle), 0.0..359.99 degrees. If unknown, set to: UINT16_MAX |

### AUTOPILOT_VERSION (148) {#AUTOPILOT_VERSION}

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

| Field Name                                                           | Type          | 值                                                                                             | 描述                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                           |
| -------------------------------------------------------------------- | ------------- | --------------------------------------------------------------------------------------------- |   |
| capabilities                                                         | `uint64_t`    | [MAV_PROTOCOL_CAPABILITY](#MAV_PROTOCOL_CAPABILITY) | Bitmap of capabilities                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       |
| flight_sw_version          | `uint32_t`    |                                                                                               | Firmware version number.<br>The field must be encoded as 4 bytes, where each byte (shown from MSB to LSB) is part of a semantic version: (major) (minor) (patch) ([FIRMWARE_VERSION_TYPE](#FIRMWARE_VERSION_TYPE)).                                                                                                                                 |
| middleware_sw_version      | `uint32_t`    |                                                                                               | Middleware version number                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    |
| os_sw_version              | `uint32_t`    |                                                                                               | Operating system version number                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              |
| board_version                                   | `uint32_t`    |                                                                                               | HW / board version (last 8 bits should be silicon ID, if any). The first 16 bits of this field specify a board type from an enumeration stored at https://github.com/PX4/PX4-Bootloader/blob/master/board_types.txt and with extensive additions at https://github.com/ArduPilot/ardupilot/blob/master/Tools/AP_Bootloader/board_types.txt |
| flight_custom_version      | `uint8_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_version  | `uint8_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_version          | `uint8_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_id                                       | `uint16_t`    |                                                                                               | ID of the board vendor                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       |
| product_id                                      | `uint16_t`    |                                                                                               | ID of the product                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            |
| uid                                                                  | `uint64_t`    |                                                                                               | UID if provided by hardware (see uid2)                                                                                                                                                                                                                                                                                                                                                                                                                                                                                    |
| <span class='ext'>uid2</span> <a href='#mav2_extension_field'>++</a> | `uint8_t[18]` |                                                                                               | UID if provided by hardware (supersedes the uid field. If this is non-zero, use this field, otherwise use uid)                                                                                                                                                                                                                                                                                                                                                                                            |

## Enumerated Types

### MAV_BOOL {#MAV_BOOL}

(Bitmask) Enum used to indicate true or false (also: success or failure, enabled or disabled, active or inactive).

| 值                            | Name                                                                        | 描述                     |
| ---------------------------- | --------------------------------------------------------------------------- | ---------------------- |
| <a id='MAV_BOOL_FALSE'></a>0 | [MAV_BOOL_FALSE](#MAV_BOOL_FALSE) | False. |
| <a id='MAV_BOOL_TRUE'></a>1  | [MAV_BOOL_TRUE](#MAV_BOOL_TRUE)   | True.  |

### MAV_PROTOCOL_CAPABILITY {#MAV_PROTOCOL_CAPABILITY}

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

| 值                                                                              | Name                                                                                                                                                                                                                                                                 | 描述                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                         |
| ------------------------------------------------------------------------------ | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |   |
| <a id='MAV_PROTOCOL_CAPABILITY_MISSION_FLOAT'></a>1                            | [MAV_PROTOCOL_CAPABILITY_MISSION_FLOAT](#MAV_PROTOCOL_CAPABILITY_MISSION_FLOAT)                                                                                                  | Autopilot supports the [MISSION_ITEM](#MISSION_ITEM) float message type.<br>Note that [MISSION_ITEM](#MISSION_ITEM) is deprecated, and autopilots should use [MISSION_ITEM_INT](#MISSION_ITEM_INT) instead.                                                                                                                                                                                                                                                                                            |
| <a id='MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT'></a>2                              | [MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT](#MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT)                                                                                                      | Autopilot supports the new param float message type.<br><span class="warning">**DEPRECATED:** Replaced By [MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST](#MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST) (2022-03)</span>                                                                                                                                                                                                                    |
| <a id='MAV_PROTOCOL_CAPABILITY_MISSION_INT'></a>4                              | [MAV_PROTOCOL_CAPABILITY_MISSION_INT](#MAV_PROTOCOL_CAPABILITY_MISSION_INT)                                                                                                      | Autopilot supports [MISSION_ITEM_INT](#MISSION_ITEM_INT) scaled integer message type.<br>Note that this flag must always be set if missions are supported, because missions must always use [MISSION_ITEM_INT](#MISSION_ITEM_INT) (rather than [MISSION_ITEM](#MISSION_ITEM), which is deprecated).                                                                                                                                                            |
| <a id='MAV_PROTOCOL_CAPABILITY_COMMAND_INT'></a>8                              | [MAV_PROTOCOL_CAPABILITY_COMMAND_INT](#MAV_PROTOCOL_CAPABILITY_COMMAND_INT)                                                                                                      | Autopilot supports [COMMAND_INT](#COMMAND_INT) scaled integer message type.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                           |
| <a id='MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISE'></a>16                   | [MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISE](#MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISE)                                                             | Parameter protocol uses byte-wise encoding of parameter values into param_value (float) fields: https://mavlink.io/en/services/parameter.html#parameter-encoding.<br>Note that either this flag or [MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST](#MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST) should be set if the parameter protocol is supported. |
| <a id='MAV_PROTOCOL_CAPABILITY_FTP'></a>32                                     | [MAV_PROTOCOL_CAPABILITY_FTP](#MAV_PROTOCOL_CAPABILITY_FTP)                                                                                                                                           | Autopilot supports the File Transfer Protocol v1: https://mavlink.io/en/services/ftp.html.                                                                                                                                                                                                                                                                                                                                                                                                                                                 |
| <a id='MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGET'></a>64                     | [MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGET](#MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGET)                                                                 | Autopilot supports commanding attitude offboard.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                           |
| <a id='MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NED'></a>128          | [MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NED](#MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NED)   | Autopilot supports commanding position and velocity targets in local NED frame.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            |
| <a id='MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INT'></a>256         | [MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INT](#MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INT) | Autopilot supports commanding position and velocity targets in global scaled integers.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                     |
| <a id='MAV_PROTOCOL_CAPABILITY_TERRAIN'></a>512                                | [MAV_PROTOCOL_CAPABILITY_TERRAIN](#MAV_PROTOCOL_CAPABILITY_TERRAIN)                                                                                                                                   | Autopilot supports terrain protocol / data handling.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                       |
| <a id='MAV_PROTOCOL_CAPABILITY_RESERVED3'></a>1024                             | [MAV_PROTOCOL_CAPABILITY_RESERVED3](#MAV_PROTOCOL_CAPABILITY_RESERVED3)                                                                                                                               | 保留以备将来使用。                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  |
| <a id='MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION'></a>2048                    | [MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION](#MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION)                                                                                        | Autopilot supports the [MAV_CMD_DO_FLIGHTTERMINATION](#MAV_CMD_DO_FLIGHTTERMINATION) command (flight termination).                                                                                                                                                                                                                                                                                                                                                                                                       |
| <a id='MAV_PROTOCOL_CAPABILITY_COMPASS_CALIBRATION'></a>4096                   | [MAV_PROTOCOL_CAPABILITY_COMPASS_CALIBRATION](#MAV_PROTOCOL_CAPABILITY_COMPASS_CALIBRATION)                                                                                      | Autopilot supports onboard compass calibration.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                            |
| <a id='MAV_PROTOCOL_CAPABILITY_MAVLINK2'></a>8192                              | [MAV_PROTOCOL_CAPABILITY_MAVLINK2](#MAV_PROTOCOL_CAPABILITY_MAVLINK2)                                                                                                                                 | Autopilot supports MAVLink version 2.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                      |
| <a id='MAV_PROTOCOL_CAPABILITY_MISSION_FENCE'></a>16384                        | [MAV_PROTOCOL_CAPABILITY_MISSION_FENCE](#MAV_PROTOCOL_CAPABILITY_MISSION_FENCE)                                                                                                  | Autopilot supports mission fence protocol.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                 |
| <a id='MAV_PROTOCOL_CAPABILITY_MISSION_RALLY'></a>32768                        | [MAV_PROTOCOL_CAPABILITY_MISSION_RALLY](#MAV_PROTOCOL_CAPABILITY_MISSION_RALLY)                                                                                                  | Autopilot supports mission rally point protocol.                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                           |
| <a id='MAV_PROTOCOL_CAPABILITY_RESERVED2'></a>65536                            | [MAV_PROTOCOL_CAPABILITY_RESERVED2](#MAV_PROTOCOL_CAPABILITY_RESERVED2)                                                                                                                               | 保留以备将来使用。                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                  |
| <a id='MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST'></a>131072                 | [MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST](#MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST)                                            | Parameter protocol uses C-cast of parameter values to set the param_value (float) fields: https://mavlink.io/en/services/parameter.html#parameter-encoding.<br>Note that either this flag or [MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISE](#MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISE) should be set if the parameter protocol is supported.                        |
| <a id='MAV_PROTOCOL_CAPABILITY_COMPONENT_IMPLEMENTS_GIMBAL_MANAGER'></a>262144 | [MAV_PROTOCOL_CAPABILITY_COMPONENT_IMPLEMENTS_GIMBAL_MANAGER](#MAV_PROTOCOL_CAPABILITY_COMPONENT_IMPLEMENTS_GIMBAL_MANAGER)            | This component implements/is a gimbal manager. This means the [GIMBAL_MANAGER_INFORMATION](#GIMBAL_MANAGER_INFORMATION), and other messages can be requested.                                                                                                                                                                                                                                                                                                                                                                                    |
| <a id='MAV_PROTOCOL_CAPABILITY_COMPONENT_ACCEPTS_GCS_CONTROL'></a>524288       | [MAV_PROTOCOL_CAPABILITY_COMPONENT_ACCEPTS_GCS_CONTROL](#MAV_PROTOCOL_CAPABILITY_COMPONENT_ACCEPTS_GCS_CONTROL)                        | Component supports locking control to a particular GCS independent of its system (via [MAV_CMD_REQUEST_OPERATOR_CONTROL](#MAV_CMD_REQUEST_OPERATOR_CONTROL)).<br><span class="warning">**WORK IN PROGRESS**: Do not use in stable production environments (it may change).</span>                                                                                                                                                                |
| <a id='MAV_PROTOCOL_CAPABILITY_GRIPPER'></a>1048576                            | [MAV_PROTOCOL_CAPABILITY_GRIPPER](#MAV_PROTOCOL_CAPABILITY_GRIPPER)                                                                                                                                   | Autopilot has a connected gripper. MAVLink Grippers would set [MAV_TYPE_GRIPPER](#MAV_TYPE_GRIPPER) instead.<br><span class="warning">**WORK IN PROGRESS**: Do not use in stable production environments (it may change).</span>                                                                                                                                                                                                                                                              |

### FIRMWARE_VERSION_TYPE {#FIRMWARE_VERSION_TYPE}

These values define the type of firmware release.  These values indicate the first version or release of this type.  For example the first alpha release would be 64, the second would be 65.

| 值                                              | Name                                                                                                                             | 描述                      |
| ---------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------- | ----------------------- |
| <a id='FIRMWARE_VERSION_TYPE_DEV'></a>0        | [FIRMWARE_VERSION_TYPE_DEV](#FIRMWARE_VERSION_TYPE_DEV)           | development release     |
| <a id='FIRMWARE_VERSION_TYPE_ALPHA'></a>64     | [FIRMWARE_VERSION_TYPE_ALPHA](#FIRMWARE_VERSION_TYPE_ALPHA)       | alpha release           |
| <a id='FIRMWARE_VERSION_TYPE_BETA'></a>128     | [FIRMWARE_VERSION_TYPE_BETA](#FIRMWARE_VERSION_TYPE_BETA)         | beta release            |
| <a id='FIRMWARE_VERSION_TYPE_RC'></a>192       | [FIRMWARE_VERSION_TYPE_RC](#FIRMWARE_VERSION_TYPE_RC)             | release candidate       |
| <a id='FIRMWARE_VERSION_TYPE_OFFICIAL'></a>255 | [FIRMWARE_VERSION_TYPE_OFFICIAL](#FIRMWARE_VERSION_TYPE_OFFICIAL) | official stable release |

