MAVLink Include Files: common.xml

MAVLink Type Enumerations

MAV_PREFLIGHT_STORAGE_ACTION

执行CMD_PREFLIGHT_STORAGE时需要操作

Value Field Name Description
0 MAV_PFS_CMD_READ_ALL 从存储读取所有参数
1 MAV_PFS_CMD_WRITE_ALL 将所有参数写入到存储
2 MAV_PFS_CMD_CLEAR_ALL 清除存储中的所有参数
3 MAV_PFS_CMD_READ_SPECIFIC 从存储读取特定参数
4 MAV_PFS_CMD_WRITE_SPECIFIC 将特定参数写入到存储
5 MAV_PFS_CMD_CLEAR_SPECIFIC 清除存储中的特定参数
6 MAV_PFS_CMD_DO_NOTHING 不进行任何操作

MAVLink Commands (MAV_CMD)

MAVLink commands (MAV_CMD) and messages are different! 这个命令在“任务协议”和“指令协议”中定义了最多7个参数的值，并将其嵌入在特定消息中。 使用该指令模式执行任务或者需要获取确认反馈信息时，请根据返回内容使用重新发送逻辑 Otherwise use messages.

MAV_CMD_PREFLIGHT_STORAGE_ADVANCED (0 )

请求存储不同参数值和日志。 只有在飞行前模式下才会接受此命令。

Param (:Label) Description
1 存储操作：MAV_PREFLIGHT_STORAGE_ACTION_ADVANCED
2 由参数数据库定义的存储区域
3 由参数数据库定义的存储标记
4 Empty
5 Empty
6 Empty
7 Empty

MAVLink Messages

FLEXIFUNCTION_SET ( #150 )

[Message] Depreciated but used as a compiler flag. Do not remove

Field Name Type Description
target_system uint8_t System ID
target_component uint8_t Component ID

FLEXIFUNCTION_READ_REQ ( #151 )

[Message] Reqest reading of flexifunction data

Field Name Type Description
target_system uint8_t System ID
target_component uint8_t Component ID
read_req_type int16_t Type of flexifunction data requested
data_index int16_t index into data where needed

FLEXIFUNCTION_BUFFER_FUNCTION ( #152 )

[Message] Flexifunction type and parameters for component at function index from buffer

Field Name Type Description
target_system uint8_t System ID
target_component uint8_t Component ID
func_index uint16_t Function index
func_count uint16_t Total count of functions
data_address uint16_t Address in the flexifunction data, Set to 0xFFFF to use address in target memory
data_size uint16_t Size of the
data int8_t[48] Settings data

FLEXIFUNCTION_BUFFER_FUNCTION_ACK ( #153 )

[Message] Flexifunction type and parameters for component at function index from buffer

Field Name Type Description
target_system uint8_t System ID
target_component uint8_t Component ID
func_index uint16_t Function index
result uint16_t result of acknowledge, 0=fail, 1=good

FLEXIFUNCTION_DIRECTORY ( #155 )

[Message] Acknowldge sucess or failure of a flexifunction command

Field Name Type Description
target_system uint8_t System ID
target_component uint8_t Component ID
directory_type uint8_t 0=inputs, 1=outputs
start_index uint8_t index of first directory entry to write
count uint8_t count of directory entries to write
directory_data int8_t[48] Settings data

FLEXIFUNCTION_DIRECTORY_ACK ( #156 )

[Message] Acknowldge sucess or failure of a flexifunction command

Field Name Type Description
target_system uint8_t System ID
target_component uint8_t Component ID
directory_type uint8_t 0=inputs, 1=outputs
start_index uint8_t index of first directory entry to write
count uint8_t count of directory entries to write
result uint16_t result of acknowledge, 0=fail, 1=good

FLEXIFUNCTION_COMMAND ( #157 )

[Message] Acknowldge sucess or failure of a flexifunction command

Field Name Type Description
target_system uint8_t System ID
target_component uint8_t Component ID
command_type uint8_t Flexifunction command type

FLEXIFUNCTION_COMMAND_ACK ( #158 )

[Message] Acknowldge sucess or failure of a flexifunction command

Field Name Type Description
command_type uint16_t Command acknowledged
result uint16_t result of acknowledge

SERIAL_UDB_EXTRA_F2_A ( #170 )

[Message] Backwards compatible MAVLink version of SERIAL_UDB_EXTRA - F2: Format Part A

Field Name Type Description
sue_time uint32_t Serial UDB Extra Time
sue_status uint8_t Serial UDB Extra Status
sue_latitude int32_t Serial UDB Extra Latitude
sue_longitude int32_t Serial UDB Extra Longitude
sue_altitude int32_t Serial UDB Extra Altitude
sue_waypoint_index uint16_t Serial UDB Extra Waypoint Index
sue_rmat0 int16_t Serial UDB Extra Rmat 0
sue_rmat1 int16_t Serial UDB Extra Rmat 1
sue_rmat2 int16_t Serial UDB Extra Rmat 2
sue_rmat3 int16_t Serial UDB Extra Rmat 3
sue_rmat4 int16_t Serial UDB Extra Rmat 4
sue_rmat5 int16_t Serial UDB Extra Rmat 5
sue_rmat6 int16_t Serial UDB Extra Rmat 6
sue_rmat7 int16_t Serial UDB Extra Rmat 7
sue_rmat8 int16_t Serial UDB Extra Rmat 8
sue_cog uint16_t Serial UDB Extra GPS Course Over Ground
sue_sog int16_t Serial UDB Extra Speed Over Ground
sue_cpu_load uint16_t Serial UDB Extra CPU Load
sue_air_speed_3DIMU uint16_t Serial UDB Extra 3D IMU Air Speed
sue_estimated_wind_0 int16_t Serial UDB Extra Estimated Wind 0
sue_estimated_wind_1 int16_t Serial UDB Extra Estimated Wind 1
sue_estimated_wind_2 int16_t Serial UDB Extra Estimated Wind 2
sue_magFieldEarth0 int16_t Serial UDB Extra Magnetic Field Earth 0
sue_magFieldEarth1 int16_t Serial UDB Extra Magnetic Field Earth 1
sue_magFieldEarth2 int16_t Serial UDB Extra Magnetic Field Earth 2
sue_svs int16_t Serial UDB Extra Number of Sattelites in View
sue_hdop int16_t Serial UDB Extra GPS Horizontal Dilution of Precision

SERIAL_UDB_EXTRA_F2_B ( #171 )

[Message] Backwards compatible version of SERIAL_UDB_EXTRA - F2: Part B

Field Name Type Description
sue_time uint32_t Serial UDB Extra Time
sue_pwm_input_1 int16_t Serial UDB Extra PWM Input Channel 1
sue_pwm_input_2 int16_t Serial UDB Extra PWM Input Channel 2
sue_pwm_input_3 int16_t Serial UDB Extra PWM Input Channel 3
sue_pwm_input_4 int16_t Serial UDB Extra PWM Input Channel 4
sue_pwm_input_5 int16_t Serial UDB Extra PWM Input Channel 5
sue_pwm_input_6 int16_t Serial UDB Extra PWM Input Channel 6
sue_pwm_input_7 int16_t Serial UDB Extra PWM Input Channel 7
sue_pwm_input_8 int16_t Serial UDB Extra PWM Input Channel 8
sue_pwm_input_9 int16_t Serial UDB Extra PWM Input Channel 9
sue_pwm_input_10 int16_t Serial UDB Extra PWM Input Channel 10
sue_pwm_input_11 int16_t Serial UDB Extra PWM Input Channel 11
sue_pwm_input_12 int16_t Serial UDB Extra PWM Input Channel 12
sue_pwm_output_1 int16_t Serial UDB Extra PWM Output Channel 1
sue_pwm_output_2 int16_t Serial UDB Extra PWM Output Channel 2
sue_pwm_output_3 int16_t Serial UDB Extra PWM Output Channel 3
sue_pwm_output_4 int16_t Serial UDB Extra PWM Output Channel 4
sue_pwm_output_5 int16_t Serial UDB Extra PWM Output Channel 5
sue_pwm_output_6 int16_t Serial UDB Extra PWM Output Channel 6
sue_pwm_output_7 int16_t Serial UDB Extra PWM Output Channel 7
sue_pwm_output_8 int16_t Serial UDB Extra PWM Output Channel 8
sue_pwm_output_9 int16_t Serial UDB Extra PWM Output Channel 9
sue_pwm_output_10 int16_t Serial UDB Extra PWM Output Channel 10
sue_pwm_output_11 int16_t Serial UDB Extra PWM Output Channel 11
sue_pwm_output_12 int16_t Serial UDB Extra PWM Output Channel 12
sue_imu_location_x int16_t Serial UDB Extra IMU Location X
sue_imu_location_y int16_t Serial UDB Extra IMU Location Y
sue_imu_location_z int16_t Serial UDB Extra IMU Location Z
sue_location_error_earth_x int16_t Serial UDB Location Error Earth X
sue_location_error_earth_y int16_t Serial UDB Location Error Earth Y
sue_location_error_earth_z int16_t Serial UDB Location Error Earth Z
sue_flags uint32_t Serial UDB Extra Status Flags
sue_osc_fails int16_t Serial UDB Extra Oscillator Failure Count
sue_imu_velocity_x int16_t Serial UDB Extra IMU Velocity X
sue_imu_velocity_y int16_t Serial UDB Extra IMU Velocity Y
sue_imu_velocity_z int16_t Serial UDB Extra IMU Velocity Z
sue_waypoint_goal_x int16_t Serial UDB Extra Current Waypoint Goal X
sue_waypoint_goal_y int16_t Serial UDB Extra Current Waypoint Goal Y
sue_waypoint_goal_z int16_t Serial UDB Extra Current Waypoint Goal Z
sue_aero_x int16_t Aeroforce in UDB X Axis
sue_aero_y int16_t Aeroforce in UDB Y Axis
sue_aero_z int16_t Aeroforce in UDB Z axis
sue_barom_temp int16_t SUE barometer temperature
sue_barom_press int32_t SUE barometer pressure
sue_barom_alt int32_t SUE barometer altitude
sue_bat_volt int16_t SUE battery voltage
sue_bat_amp int16_t SUE battery current
sue_bat_amp_hours int16_t SUE battery milli amp hours used
sue_desired_height int16_t Sue autopilot desired height
sue_memory_stack_free int16_t Serial UDB Extra Stack Memory Free

SERIAL_UDB_EXTRA_F4 ( #172 )

[Message] Backwards compatible version of SERIAL_UDB_EXTRA F4: format

Field Name Type Description
sue_ROLL_STABILIZATION_AILERONS uint8_t Serial UDB Extra Roll Stabilization with Ailerons Enabled
sue_ROLL_STABILIZATION_RUDDER uint8_t Serial UDB Extra Roll Stabilization with Rudder Enabled
sue_PITCH_STABILIZATION uint8_t Serial UDB Extra Pitch Stabilization Enabled
sue_YAW_STABILIZATION_RUDDER uint8_t Serial UDB Extra Yaw Stabilization using Rudder Enabled
sue_YAW_STABILIZATION_AILERON uint8_t Serial UDB Extra Yaw Stabilization using Ailerons Enabled
sue_AILERON_NAVIGATION uint8_t Serial UDB Extra Navigation with Ailerons Enabled
sue_RUDDER_NAVIGATION uint8_t Serial UDB Extra Navigation with Rudder Enabled
sue_ALTITUDEHOLD_STABILIZED uint8_t Serial UDB Extra Type of Alitude Hold when in Stabilized Mode
sue_ALTITUDEHOLD_WAYPOINT uint8_t Serial UDB Extra Type of Alitude Hold when in Waypoint Mode
sue_RACING_MODE uint8_t Serial UDB Extra Firmware racing mode enabled

SERIAL_UDB_EXTRA_F5 ( #173 )

[Message] Backwards compatible version of SERIAL_UDB_EXTRA F5: format

Field Name Type Description
sue_YAWKP_AILERON float Serial UDB YAWKP_AILERON Gain for Proporional control of navigation
sue_YAWKD_AILERON float Serial UDB YAWKD_AILERON Gain for Rate control of navigation
sue_ROLLKP float Serial UDB Extra ROLLKP Gain for Proportional control of roll stabilization
sue_ROLLKD float Serial UDB Extra ROLLKD Gain for Rate control of roll stabilization

SERIAL_UDB_EXTRA_F6 ( #174 )

[Message] Backwards compatible version of SERIAL_UDB_EXTRA F6: format

Field Name Type Description
sue_PITCHGAIN float Serial UDB Extra PITCHGAIN Proportional Control
sue_PITCHKD float Serial UDB Extra Pitch Rate Control
sue_RUDDER_ELEV_MIX float Serial UDB Extra Rudder to Elevator Mix
sue_ROLL_ELEV_MIX float Serial UDB Extra Roll to Elevator Mix
sue_ELEVATOR_BOOST float Gain For Boosting Manual Elevator control When Plane Stabilized

SERIAL_UDB_EXTRA_F7 ( #175 )

[Message] Backwards compatible version of SERIAL_UDB_EXTRA F7: format

Field Name Type Description
sue_YAWKP_RUDDER float Serial UDB YAWKP_RUDDER Gain for Proporional control of navigation
sue_YAWKD_RUDDER float Serial UDB YAWKD_RUDDER Gain for Rate control of navigation
sue_ROLLKP_RUDDER float Serial UDB Extra ROLLKP_RUDDER Gain for Proportional control of roll stabilization
sue_ROLLKD_RUDDER float Serial UDB Extra ROLLKD_RUDDER Gain for Rate control of roll stabilization
sue_RUDDER_BOOST float SERIAL UDB EXTRA Rudder Boost Gain to Manual Control when stabilized
sue_RTL_PITCH_DOWN float Serial UDB Extra Return To Landing - Angle to Pitch Plane Down

SERIAL_UDB_EXTRA_F8 ( #176 )

[Message] Backwards compatible version of SERIAL_UDB_EXTRA F8: format

Field Name Type Description
sue_HEIGHT_TARGET_MAX float Serial UDB Extra HEIGHT_TARGET_MAX
sue_HEIGHT_TARGET_MIN float Serial UDB Extra HEIGHT_TARGET_MIN
sue_ALT_HOLD_THROTTLE_MIN float Serial UDB Extra ALT_HOLD_THROTTLE_MIN
sue_ALT_HOLD_THROTTLE_MAX float Serial UDB Extra ALT_HOLD_THROTTLE_MAX
sue_ALT_HOLD_PITCH_MIN float Serial UDB Extra ALT_HOLD_PITCH_MIN
sue_ALT_HOLD_PITCH_MAX float Serial UDB Extra ALT_HOLD_PITCH_MAX
sue_ALT_HOLD_PITCH_HIGH float Serial UDB Extra ALT_HOLD_PITCH_HIGH

SERIAL_UDB_EXTRA_F13 ( #177 )

[Message] Backwards compatible version of SERIAL_UDB_EXTRA F13: format

Field Name Type Description
sue_week_no int16_t Serial UDB Extra GPS Week Number
sue_lat_origin int32_t Serial UDB Extra MP Origin Latitude
sue_lon_origin int32_t Serial UDB Extra MP Origin Longitude
sue_alt_origin int32_t Serial UDB Extra MP Origin Altitude Above Sea Level

SERIAL_UDB_EXTRA_F14 ( #178 )

[Message] Backwards compatible version of SERIAL_UDB_EXTRA F14: format

Field Name Type Description
sue_WIND_ESTIMATION uint8_t Serial UDB Extra Wind Estimation Enabled
sue_GPS_TYPE uint8_t Serial UDB Extra Type of GPS Unit
sue_DR uint8_t Serial UDB Extra Dead Reckoning Enabled
sue_BOARD_TYPE uint8_t Serial UDB Extra Type of UDB Hardware
sue_AIRFRAME uint8_t Serial UDB Extra Type of Airframe
sue_RCON int16_t Serial UDB Extra Reboot Register of DSPIC
sue_TRAP_FLAGS int16_t Serial UDB Extra Last dspic Trap Flags
sue_TRAP_SOURCE uint32_t Serial UDB Extra Type Program Address of Last Trap
sue_osc_fail_count int16_t Serial UDB Extra Number of Ocillator Failures
sue_CLOCK_CONFIG uint8_t Serial UDB Extra UDB Internal Clock Configuration
sue_FLIGHT_PLAN_TYPE uint8_t Serial UDB Extra Type of Flight Plan

SERIAL_UDB_EXTRA_F15 ( #179 )

[Message] Backwards compatible version of SERIAL_UDB_EXTRA F15 format

Field Name Type Description
sue_ID_VEHICLE_MODEL_NAME uint8_t[40] Serial UDB Extra Model Name Of Vehicle
sue_ID_VEHICLE_REGISTRATION uint8_t[20] Serial UDB Extra Registraton Number of Vehicle

SERIAL_UDB_EXTRA_F16 ( #180 )

[Message] Backwards compatible version of SERIAL_UDB_EXTRA F16 format

Field Name Type Description
sue_ID_LEAD_PILOT uint8_t[40] Serial UDB Extra Name of Expected Lead Pilot
sue_ID_DIY_DRONES_URL uint8_t[70] Serial UDB Extra URL of Lead Pilot or Team

ALTITUDES ( #181 )

[Message] The altitude measured by sensors and IMU

Field Name Type Description
time_boot_ms uint32_t Timestamp (milliseconds since system boot)
alt_gps int32_t GPS altitude (MSL) in meters, expressed as * 1000 (millimeters)
alt_imu int32_t IMU altitude above ground in meters, expressed as * 1000 (millimeters)
alt_barometric int32_t barometeric altitude above ground in meters, expressed as * 1000 (millimeters)
alt_optical_flow int32_t Optical flow altitude above ground in meters, expressed as * 1000 (millimeters)
alt_range_finder int32_t Rangefinder Altitude above ground in meters, expressed as * 1000 (millimeters)
alt_extra int32_t Extra altitude above ground in meters, expressed as * 1000 (millimeters)

AIRSPEEDS ( #182 )

[Message] The airspeed measured by sensors and IMU

Field Name Type Description
time_boot_ms uint32_t Timestamp (milliseconds since system boot)
airspeed_imu int16_t Airspeed estimate from IMU, cm/s
airspeed_pitot int16_t Pitot measured forward airpseed, cm/s
airspeed_hot_wire int16_t Hot wire anenometer measured airspeed, cm/s
airspeed_ultrasonic int16_t Ultrasonic measured airspeed, cm/s
aoa int16_t Angle of attack sensor, degrees * 10
aoy int16_t Yaw angle sensor, degrees * 10

SERIAL_UDB_EXTRA_F17 ( #183 )

[Message] Backwards compatible version of SERIAL_UDB_EXTRA F17 format

Field Name Type Description
sue_feed_forward float SUE Feed Forward Gain
sue_turn_rate_nav float SUE Max Turn Rate when Navigating
sue_turn_rate_fbw float SUE Max Turn Rate in Fly By Wire Mode

SERIAL_UDB_EXTRA_F18 ( #184 )

[Message] Backwards compatible version of SERIAL_UDB_EXTRA F18 format

Field Name Type Description
angle_of_attack_normal float SUE Angle of Attack Normal
angle_of_attack_inverted float SUE Angle of Attack Inverted
elevator_trim_normal float SUE Elevator Trim Normal
elevator_trim_inverted float SUE Elevator Trim Inverted
reference_speed float SUE reference_speed

SERIAL_UDB_EXTRA_F19 ( #185 )

[Message] Backwards compatible version of SERIAL_UDB_EXTRA F19 format

Field Name Type Description
sue_aileron_output_channel uint8_t SUE aileron output channel
sue_aileron_reversed uint8_t SUE aileron reversed
sue_elevator_output_channel uint8_t SUE elevator output channel
sue_elevator_reversed uint8_t SUE elevator reversed
sue_throttle_output_channel uint8_t SUE throttle output channel
sue_throttle_reversed uint8_t SUE throttle reversed
sue_rudder_output_channel uint8_t SUE rudder output channel
sue_rudder_reversed uint8_t SUE rudder reversed

SERIAL_UDB_EXTRA_F20 ( #186 )

[Message] Backwards compatible version of SERIAL_UDB_EXTRA F20 format

Field Name Type Description
sue_number_of_inputs uint8_t SUE Number of Input Channels
sue_trim_value_input_1 int16_t SUE UDB PWM Trim Value on Input 1
sue_trim_value_input_2 int16_t SUE UDB PWM Trim Value on Input 2
sue_trim_value_input_3 int16_t SUE UDB PWM Trim Value on Input 3
sue_trim_value_input_4 int16_t SUE UDB PWM Trim Value on Input 4
sue_trim_value_input_5 int16_t SUE UDB PWM Trim Value on Input 5
sue_trim_value_input_6 int16_t SUE UDB PWM Trim Value on Input 6
sue_trim_value_input_7 int16_t SUE UDB PWM Trim Value on Input 7
sue_trim_value_input_8 int16_t SUE UDB PWM Trim Value on Input 8
sue_trim_value_input_9 int16_t SUE UDB PWM Trim Value on Input 9
sue_trim_value_input_10 int16_t SUE UDB PWM Trim Value on Input 10
sue_trim_value_input_11 int16_t SUE UDB PWM Trim Value on Input 11
sue_trim_value_input_12 int16_t SUE UDB PWM Trim Value on Input 12

SERIAL_UDB_EXTRA_F21 ( #187 )

[Message] Backwards compatible version of SERIAL_UDB_EXTRA F21 format

Field Name Type Description
sue_accel_x_offset int16_t SUE X accelerometer offset
sue_accel_y_offset int16_t SUE Y accelerometer offset
sue_accel_z_offset int16_t SUE Z accelerometer offset
sue_gyro_x_offset int16_t SUE X gyro offset
sue_gyro_y_offset int16_t SUE Y gyro offset
sue_gyro_z_offset int16_t SUE Z gyro offset

SERIAL_UDB_EXTRA_F22 ( #188 )

[Message] Backwards compatible version of SERIAL_UDB_EXTRA F22 format

Field Name Type Description
sue_accel_x_at_calibration int16_t SUE X accelerometer at calibration time
sue_accel_y_at_calibration int16_t SUE Y accelerometer at calibration time
sue_accel_z_at_calibration int16_t SUE Z accelerometer at calibration time
sue_gyro_x_at_calibration int16_t SUE X gyro at calibration time
sue_gyro_y_at_calibration int16_t SUE Y gyro at calibration time
sue_gyro_z_at_calibration int16_t SUE Z gyro at calibration time