MAVLink Include Files: common.xml
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) 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.
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 |
[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 |
[Message] Request 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 |
[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 |
[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 |
[Message] Acknowldge success 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 |
[Message] Acknowldge success 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 |
[Message] Acknowldge success 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 |
[Message] Acknowldge success or failure of a flexifunction command
| Field Name | Type | Description |
|---|---|---|
| command_type | uint16_t | Command acknowledged |
| result | uint16_t | result of acknowledge |
[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 Satellites in View |
| sue_hdop | int16_t | Serial UDB Extra GPS Horizontal Dilution of Precision |
[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 |
[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 |
[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 |
[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 |
[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 |
[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 |
[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 |
[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 |
[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 |
[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 |
[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) |
[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 |
[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 |
[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 |
[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 |
[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 |
[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 |
[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 |