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# Dialect: ualberta

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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).
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This topic is a human-readable form of the XML definition file: [ualberta.xml](https://github.com/mavlink/mavlink/blob/master/message_definitions/v1.0/ualberta.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) | 3 | 230
[Enums](#enumerated-types) | 3 | 151
[Commands](#mav_commands) | 165 | 0

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

## Messages

### NAV_FILTER_BIAS (220) {#NAV_FILTER_BIAS}

Accelerometer and Gyro biases from the navigation filter

Field Name | Type | Description
--- | --- | ---
usec | `uint64_t` | Timestamp (microseconds) 
accel_0 | `float` | b_f[0] 
accel_1 | `float` | b_f[1] 
accel_2 | `float` | b_f[2] 
gyro_0 | `float` | b_f[0] 
gyro_1 | `float` | b_f[1] 
gyro_2 | `float` | b_f[2] 


### RADIO_CALIBRATION (221) {#RADIO_CALIBRATION}

Complete set of calibration parameters for the radio

Field Name | Type | Description
--- | --- | ---
aileron | `uint16_t[3]` | Aileron setpoints: left, center, right 
elevator | `uint16_t[3]` | Elevator setpoints: nose down, center, nose up 
rudder | `uint16_t[3]` | Rudder setpoints: nose left, center, nose right 
gyro | `uint16_t[2]` | Tail gyro mode/gain setpoints: heading hold, rate mode 
pitch | `uint16_t[5]` | Pitch curve setpoints (every 25%) 
throttle | `uint16_t[5]` | Throttle curve setpoints (every 25%) 


### UALBERTA_SYS_STATUS (222) {#UALBERTA_SYS_STATUS}

System status specific to ualberta uav

Field Name | Type | Description
--- | --- | ---
mode | `uint8_t` | System mode, see [UALBERTA_AUTOPILOT_MODE](#UALBERTA_AUTOPILOT_MODE) ENUM 
nav_mode | `uint8_t` | Navigation mode, see [UALBERTA_NAV_MODE](#UALBERTA_NAV_MODE) ENUM 
pilot | `uint8_t` | Pilot mode, see [UALBERTA_PILOT_MODE](#UALBERTA_PILOT_MODE) 


## Enumerated Types

### UALBERTA_AUTOPILOT_MODE {#UALBERTA_AUTOPILOT_MODE}

Available autopilot modes for ualberta uav

Value | Name | Description
--- | --- | ---
<a id='MODE_MANUAL_DIRECT'></a>1 | [MODE_MANUAL_DIRECT](#MODE_MANUAL_DIRECT) | Raw input pulse widts sent to output 
<a id='MODE_MANUAL_SCALED'></a>2 | [MODE_MANUAL_SCALED](#MODE_MANUAL_SCALED) | Inputs are normalized using calibration, the converted back to raw pulse widths for output 
<a id='MODE_AUTO_PID_ATT'></a>3 | [MODE_AUTO_PID_ATT](#MODE_AUTO_PID_ATT) |  
<a id='MODE_AUTO_PID_VEL'></a>4 | [MODE_AUTO_PID_VEL](#MODE_AUTO_PID_VEL) |  
<a id='MODE_AUTO_PID_POS'></a>5 | [MODE_AUTO_PID_POS](#MODE_AUTO_PID_POS) |  

### UALBERTA_NAV_MODE {#UALBERTA_NAV_MODE}

Navigation filter mode

Value | Name | Description
--- | --- | ---
<a id='NAV_AHRS_INIT'></a>1 | [NAV_AHRS_INIT](#NAV_AHRS_INIT) |  
<a id='NAV_AHRS'></a>2 | [NAV_AHRS](#NAV_AHRS) | AHRS mode 
<a id='NAV_INS_GPS_INIT'></a>3 | [NAV_INS_GPS_INIT](#NAV_INS_GPS_INIT) | INS/GPS initialization mode 
<a id='NAV_INS_GPS'></a>4 | [NAV_INS_GPS](#NAV_INS_GPS) | INS/GPS mode 

### UALBERTA_PILOT_MODE {#UALBERTA_PILOT_MODE}

Mode currently commanded by pilot

Value | Name | Description
--- | --- | ---
<a id='PILOT_MANUAL'></a>1 | [PILOT_MANUAL](#PILOT_MANUAL) |  
<a id='PILOT_AUTO'></a>2 | [PILOT_AUTO](#PILOT_AUTO) |  
<a id='PILOT_ROTO'></a>3 | [PILOT_ROTO](#PILOT_ROTO) | Rotomotion mode 

## Commands (MAV_CMD) {#mav_commands}

