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# Dialect: cubepilot

:::warning
[cubepilot.xml](https://github.com/CubePilot/mavlink/blob/master/message_definitions/v1.0/cubepilot.xml) contains the accurate and up-to-date documentation for this dialect.
The documentation here may not be a precise match if, for example, changes have not been pushed by the owner.
:::

These messages define the [CubePilot](http://www.cubepilot.com) specific dialect (as pushed to the [mavlink/mavlink](https://github.com/mavlink/mavlink) GitHub repository by the dialect owner).

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

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::: info

- 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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span.ext {
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## MAVLink Include Files

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

## 概览

| Type                       | Defined | Included |
| -------------------------- | ------- | -------- |
| [Messages](#messages)      | 5       | 234      |
| [Enums](#enumerated-types) | 0       | 159      |
| [Commands](#mav_commands)  | 168     | 0        |

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

## 消息

### CUBEPILOT_RAW_RC (50001) {#CUBEPILOT_RAW_RC}

Raw RC Data

| Field Name                  | Type          | 描述 |
| --------------------------- | ------------- | -- |
| rc_raw | `uint8_t[32]` |    |

### HERELINK_VIDEO_STREAM_INFORMATION (50002) {#HERELINK_VIDEO_STREAM_INFORMATION}

Information about video stream

| Field Name                        | Type        | Units  | 描述                                                                                                                                                                                   |
| --------------------------------- | ----------- | ------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| camera_id    | `uint8_t`   |        | Video Stream ID (1 for first, 2 for second, etc.)                                                                                                 |
| status                            | `uint8_t`   |        | Number of streams available.                                                                                                                                         |
| framerate                         | `float`     | Hz     | Frame rate.                                                                                                                                                          |
| resolution_h | `uint16_t`  | pix    | Horizontal resolution.                                                                                                                                               |
| resolution_v | `uint16_t`  | pix    | Vertical resolution.                                                                                                                                                 |
| bitrate                           | `uint32_t`  | bits/s | Bit rate.                                                                                                                                                            |
| rotation                          | `uint16_t`  | 度      | Video image rotation clockwise.                                                                                                                                      |
| uri                               | `char[230]` |        | Video stream URI (TCP or RTSP URI ground station should connect to) or port number (UDP port ground station should listen to). |

### HERELINK_TELEM (50003) {#HERELINK_TELEM}

Herelink Telemetry

| Field Name                      | Type       | 描述 |
| ------------------------------- | ---------- | -- |
| rssi                            | `uint8_t`  |    |
| snr                             | `int16_t`  |    |
| rf_freq    | `uint32_t` |    |
| link_bw    | `uint32_t` |    |
| link_rate  | `uint32_t` |    |
| cpu_temp   | `int16_t`  |    |
| board_temp | `int16_t`  |    |

### CUBEPILOT_FIRMWARE_UPDATE_START (50004) {#CUBEPILOT_FIRMWARE_UPDATE_START}

Start firmware update with encapsulated data.

| Field Name                            | Type       | Units | 描述                            |
| ------------------------------------- | ---------- | ----- | ----------------------------- |
| target_system    | `uint8_t`  |       | System ID.    |
| target_component | `uint8_t`  |       | Component ID. |
| size                                  | `uint32_t` | bytes | FW Size.      |
| crc                                   | `uint32_t` |       | FW CRC.       |

### CUBEPILOT_FIRMWARE_UPDATE_RESP (50005) {#CUBEPILOT_FIRMWARE_UPDATE_RESP}

offset response to encapsulated data.

| Field Name                            | Type       | Units | 描述                            |
| ------------------------------------- | ---------- | ----- | ----------------------------- |
| target_system    | `uint8_t`  |       | System ID.    |
| target_component | `uint8_t`  |       | Component ID. |
| offset                                | `uint32_t` | bytes | FW Offset.    |

## Enumerated Types

## Commands (MAV_CMD) {#mav_commands}

