MAVLink Include Files: ardupilotmega.xml

MAVLink Protocol Version

The current MAVLink version is 2.1. The minor version numbers (after the dot) range from 1-255.

This file has protocol dialect: 1.

MAVLink Type Enumerations

MAV_STORM32_TUNNEL_PAYLOAD_TYPE

[Enum]

Value Field Name Description
200 MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH1_IN Registered for STorM32 gimbal controller. For communication with gimbal or camera.
201 MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH1_OUT Registered for STorM32 gimbal controller. For communication with gimbal or camera.
202 MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH2_IN Registered for STorM32 gimbal controller. For communication with gimbal.
203 MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH2_OUT Registered for STorM32 gimbal controller. For communication with gimbal.
204 MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH3_IN Registered for STorM32 gimbal controller. For communication with camera.
205 MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH3_OUT Registered for STorM32 gimbal controller. For communication with camera.

MAV_STORM32_GIMBAL_PREARM_FLAGS

[Enum] STorM32 gimbal prearm check flags.

Value Field Name Description
1 MAV_STORM32_GIMBAL_PREARM_FLAGS_IS_NORMAL STorM32 gimbal is in normal state.
2 MAV_STORM32_GIMBAL_PREARM_FLAGS_IMUS_WORKING The IMUs are healthy and working normally.
4 MAV_STORM32_GIMBAL_PREARM_FLAGS_MOTORS_WORKING The motors are active and working normally.
8 MAV_STORM32_GIMBAL_PREARM_FLAGS_ENCODERS_WORKING The encoders are healthy and working normally.
16 MAV_STORM32_GIMBAL_PREARM_FLAGS_VOLTAGE_OK A battery voltage is applied and is in range.
32 MAV_STORM32_GIMBAL_PREARM_FLAGS_VIRTUALCHANNELS_RECEIVING Virtual input channels are receiving data.
512 MAV_STORM32_GIMBAL_PREARM_FLAGS_CAMERA_CONNECTED The camera has been found and is connected.
1024 MAV_STORM32_GIMBAL_PREARM_FLAGS_AUX0_LOW The signal on the AUX0 input pin is low.
2048 MAV_STORM32_GIMBAL_PREARM_FLAGS_AUX1_LOW The signal on the AUX1 input pin is low.
4096 MAV_STORM32_GIMBAL_PREARM_FLAGS_NTLOGGER_WORKING The NTLogger is working normally.

MAV_STORM32_CAMERA_PREARM_FLAGS

[Enum] STorM32 camera prearm check flags.

Value Field Name Description
1 MAV_STORM32_CAMERA_PREARM_FLAGS_CONNECTED The camera has been found and is connected.

MAV_STORM32_GIMBAL_MANAGER_CAP_FLAGS

[Enum] Gimbal manager capability flags.

Value Field Name Description
1 MAV_STORM32_GIMBAL_MANAGER_CAP_FLAGS_HAS_PROFILES The gimbal manager supports several profiles.

MAV_STORM32_GIMBAL_MANAGER_FLAGS

[Enum] Flags for gimbal manager operation. Used for setting and reporting, unless specified otherwise. If a setting has been accepted by the gimbal manager is reported in the STORM32_GIMBAL_MANAGER_STATUS message.

Value Field Name Description
0 MAV_STORM32_GIMBAL_MANAGER_FLAGS_NONE 0 = ignore.
1 MAV_STORM32_GIMBAL_MANAGER_FLAGS_RC_ACTIVE Request to set RC input to active, or report RC input is active. Implies RC mixed. RC exclusive is achieved by setting all clients to inactive.
2 MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_ONBOARD_ACTIVE Request to set onboard/companion computer client to active, or report this client is active.
4 MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_AUTOPILOT_ACTIVE Request to set autopliot client to active, or report this client is active.
8 MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_GCS_ACTIVE Request to set GCS client to active, or report this client is active.
16 MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CAMERA_ACTIVE Request to set camera client to active, or report this client is active.
32 MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_GCS2_ACTIVE Request to set GCS2 client to active, or report this client is active.
64 MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CAMERA2_ACTIVE Request to set camera2 client to active, or report this client is active.
128 MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CUSTOM_ACTIVE Request to set custom client to active, or report this client is active.
256 MAV_STORM32_GIMBAL_MANAGER_FLAGS_CLIENT_CUSTOM2_ACTIVE Request to set custom2 client to active, or report this client is active.
512 MAV_STORM32_GIMBAL_MANAGER_FLAGS_SET_SUPERVISON Request supervision. This flag is only for setting, it is not reported.
1024 MAV_STORM32_GIMBAL_MANAGER_FLAGS_SET_RELEASE Release supervision. This flag is only for setting, it is not reported.

MAV_STORM32_GIMBAL_MANAGER_CLIENT

[Enum] Gimbal manager client ID. In a prioritizing profile, the priorities are determined by the implementation; they could e.g. be custom1 > onboard > GCS > autopilot/camera > GCS2 > custom2.

Value Field Name Description
0 MAV_STORM32_GIMBAL_MANAGER_CLIENT_NONE For convenience.
1 MAV_STORM32_GIMBAL_MANAGER_CLIENT_ONBOARD This is the onboard/companion computer client.
2 MAV_STORM32_GIMBAL_MANAGER_CLIENT_AUTOPILOT This is the autopilot client.
3 MAV_STORM32_GIMBAL_MANAGER_CLIENT_GCS This is the GCS client.
4 MAV_STORM32_GIMBAL_MANAGER_CLIENT_CAMERA This is the camera client.
5 MAV_STORM32_GIMBAL_MANAGER_CLIENT_GCS2 This is the GCS2 client.
6 MAV_STORM32_GIMBAL_MANAGER_CLIENT_CAMERA2 This is the camera2 client.
7 MAV_STORM32_GIMBAL_MANAGER_CLIENT_CUSTOM This is the custom client.
8 MAV_STORM32_GIMBAL_MANAGER_CLIENT_CUSTOM2 This is the custom2 client.

MAV_STORM32_GIMBAL_MANAGER_PROFILE

[Enum] Gimbal manager profiles. Only standard profiles are defined. Any implementation can define its own profile(s) in addition, and should use enum values > 16.

Value Field Name Description
0 MAV_STORM32_GIMBAL_MANAGER_PROFILE_DEFAULT Default profile. Implementation specific.
1 MAV_STORM32_GIMBAL_MANAGER_PROFILE_CUSTOM Not supported/deprecated.
2 MAV_STORM32_GIMBAL_MANAGER_PROFILE_COOPERATIVE Profile with cooperative behavior.
3 MAV_STORM32_GIMBAL_MANAGER_PROFILE_EXCLUSIVE Profile with exclusive behavior.
4 MAV_STORM32_GIMBAL_MANAGER_PROFILE_PRIORITY_COOPERATIVE Profile with priority and cooperative behavior for equal priority.
5 MAV_STORM32_GIMBAL_MANAGER_PROFILE_PRIORITY_EXCLUSIVE Profile with priority and exclusive behavior for equal priority.

MAV_QSHOT_MODE

[Enum] Enumeration of possible shot modes.

Value Field Name Description
0 MAV_QSHOT_MODE_UNDEFINED Undefined shot mode. Can be used to determine if qshots should be used or not.
1 MAV_QSHOT_MODE_DEFAULT Start normal gimbal operation. Is usually used to return back from a shot.
2 MAV_QSHOT_MODE_GIMBAL_RETRACT Load and keep safe gimbal position and stop stabilization.
3 MAV_QSHOT_MODE_GIMBAL_NEUTRAL Load neutral gimbal position and keep it while stabilizing.
4 MAV_QSHOT_MODE_GIMBAL_MISSION Start mission with gimbal control.
5 MAV_QSHOT_MODE_GIMBAL_RC_CONTROL Start RC gimbal control.
6 MAV_QSHOT_MODE_POI_TARGETING Start gimbal tracking the point specified by Lat, Lon, Alt.
7 MAV_QSHOT_MODE_SYSID_TARGETING Start gimbal tracking the system with specified system ID.
8 MAV_QSHOT_MODE_CABLECAM_2POINT Start 2-point cable cam quick shot.
9 MAV_QSHOT_MODE_HOME_TARGETING Start gimbal tracking the home location.

RADIO_RC_CHANNELS_FLAGS

[Enum] RADIO_RC_CHANNELS flags (bitmask).

Value Field Name Description
1 RADIO_RC_CHANNELS_FLAGS_FAILSAFE Failsafe is active.
2 RADIO_RC_CHANNELS_FLAGS_FRAME_MISSED Indicates that the current frame has not been received. Channel values are frozen.

[Enum] RADIO_LINK_STATS flags (bitmask).

Value Field Name Description

MAVLink Commands (MAV_CMD)

MAVLink commands (MAV_CMD) and messages are different! These commands define the values of up to 7 parameters that are packaged INSIDE specific messages used in the Mission Protocol and Command Protocol. Use commands for actions in missions or if you need acknowledgment and/or retry logic from a request. Otherwise use messages.

MAV_CMD_STORM32_DO_GIMBAL_MANAGER_CONTROL_PITCHYAW (60002 )

[Command] Command to a gimbal manager to control the gimbal tilt and pan angles. It is possible to set combinations of the values below. E.g. an angle as well as a desired angular rate can be used to get to this angle at a certain angular rate, or an angular rate only will result in continuous turning. NaN is to be used to signal unset. A gimbal device is never to react to this command.

Param (:Label) Description Values Units
1: Pitch angle Pitch/tilt angle (positive: tilt up). NaN to be ignored. min: -180 max:180 deg
2: Yaw angle Yaw/pan angle (positive: pan to the right). NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags. min: -180 max:180 deg
3: Pitch rate Pitch/tilt rate (positive: tilt up). NaN to be ignored. deg/s
4: Yaw rate Yaw/pan rate (positive: pan to the right). NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags. deg/s
5: Gimbal device flags Gimbal device flags to be applied. GIMBAL_DEVICE_FLAGS
6: Gimbal manager flags Gimbal manager flags to be applied. MAV_STORM32_GIMBAL_MANAGER_FLAGS
7: Gimbal ID and client Gimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals). Send command multiple times for more than one but not all gimbals. The client is copied into bits 8-15.

MAV_CMD_STORM32_DO_GIMBAL_MANAGER_SETUP (60010 )

WORK IN PROGRESS: Do not use in stable production environments (it may change).

[Command] Command to configure a gimbal manager. A gimbal device is never to react to this command. The selected profile is reported in the STORM32_GIMBAL_MANAGER_STATUS message.

Param (:Label) Description Values
1: Profile Gimbal manager profile (0 = default). MAV_STORM32_GIMBAL_MANAGER_PROFILE
7: Gimbal ID Gimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals). Send command multiple times for more than one but not all gimbals.

MAV_CMD_QSHOT_DO_CONFIGURE (60020 )

WORK IN PROGRESS: Do not use in stable production environments (it may change).

[Command] Command to set the shot manager mode.

Param (:Label) Description Values
1: Mode Set shot mode. MAV_QSHOT_MODE
2: Shot state or command Set shot state or command. The allowed values are specific to the selected shot mode.

MAVLink Messages

STORM32_GIMBAL_MANAGER_INFORMATION ( #60010 )

[Message] (MAVLink 2) Information about a gimbal manager. This message should be requested by a ground station using MAV_CMD_REQUEST_MESSAGE. It mirrors some fields of the GIMBAL_DEVICE_INFORMATION message, but not all. If the additional information is desired, also GIMBAL_DEVICE_INFORMATION should be requested.

Field Name Type Units Values Description
gimbal_id uint8_t Gimbal ID (component ID or 1-6 for non-MAVLink gimbal) that this gimbal manager is responsible for.
device_cap_flags uint32_t GIMBAL_DEVICE_CAP_FLAGS Gimbal device capability flags. Same flags as reported by GIMBAL_DEVICE_INFORMATION. The flag is only 16 bit wide, but stored in 32 bit, for backwards compatibility (high word is zero).
manager_cap_flags uint32_t MAV_STORM32_GIMBAL_MANAGER_CAP_FLAGS Gimbal manager capability flags.
roll_min float rad Hardware minimum roll angle (positive: roll to the right). NaN if unknown.
roll_max float rad Hardware maximum roll angle (positive: roll to the right). NaN if unknown.
pitch_min float rad Hardware minimum pitch/tilt angle (positive: tilt up). NaN if unknown.
pitch_max float rad Hardware maximum pitch/tilt angle (positive: tilt up). NaN if unknown.
yaw_min float rad Hardware minimum yaw/pan angle (positive: pan to the right, relative to the vehicle/gimbal base). NaN if unknown.
yaw_max float rad Hardware maximum yaw/pan angle (positive: pan to the right, relative to the vehicle/gimbal base). NaN if unknown.

STORM32_GIMBAL_MANAGER_STATUS ( #60011 )

[Message] (MAVLink 2) Message reporting the current status of a gimbal manager. This message should be broadcast at a low regular rate (e.g. 1 Hz, may be increase momentarily to e.g. 5 Hz for a period of 1 sec after a change).

Field Name Type Values Description
gimbal_id uint8_t Gimbal ID (component ID or 1-6 for non-MAVLink gimbal) that this gimbal manager is responsible for.
supervisor uint8_t MAV_STORM32_GIMBAL_MANAGER_CLIENT Client who is currently supervisor (0 = none).
device_flags uint16_t GIMBAL_DEVICE_FLAGS Gimbal device flags currently applied. Same flags as reported by GIMBAL_DEVICE_ATTITUDE_STATUS.
manager_flags uint16_t MAV_STORM32_GIMBAL_MANAGER_FLAGS Gimbal manager flags currently applied.
profile uint8_t MAV_STORM32_GIMBAL_MANAGER_PROFILE Profile currently applied (0 = default).

STORM32_GIMBAL_MANAGER_CONTROL ( #60012 )

[Message] (MAVLink 2) Message to a gimbal manager to control the gimbal attitude. Angles and rates can be set to NaN according to use case. A gimbal device is never to react to this message.

Field Name Type Units Values Description
target_system uint8_t System ID
target_component uint8_t Component ID
gimbal_id uint8_t Gimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals). Send command multiple times for more than one but not all gimbals.
client uint8_t MAV_STORM32_GIMBAL_MANAGER_CLIENT Client which is contacting the gimbal manager (must be set).
device_flags uint16_t GIMBAL_DEVICE_FLAGS Gimbal device flags to be applied (UINT16_MAX to be ignored). Same flags as used in GIMBAL_DEVICE_SET_ATTITUDE.
manager_flags uint16_t MAV_STORM32_GIMBAL_MANAGER_FLAGS Gimbal manager flags to be applied (0 to be ignored).
q float[4] Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation). Set first element to NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags.
angular_velocity_x float rad/s X component of angular velocity (positive: roll to the right). NaN to be ignored.
angular_velocity_y float rad/s Y component of angular velocity (positive: tilt up). NaN to be ignored.
angular_velocity_z float rad/s Z component of angular velocity (positive: pan to the right). NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags.

STORM32_GIMBAL_MANAGER_CONTROL_PITCHYAW ( #60013 )

[Message] (MAVLink 2) Message to a gimbal manager to control the gimbal tilt and pan angles. Angles and rates can be set to NaN according to use case. A gimbal device is never to react to this message.

Field Name Type Units Values Description
target_system uint8_t System ID
target_component uint8_t Component ID
gimbal_id uint8_t Gimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals). Send command multiple times for more than one but not all gimbals.
client uint8_t MAV_STORM32_GIMBAL_MANAGER_CLIENT Client which is contacting the gimbal manager (must be set).
device_flags uint16_t GIMBAL_DEVICE_FLAGS Gimbal device flags to be applied (UINT16_MAX to be ignored). Same flags as used in GIMBAL_DEVICE_SET_ATTITUDE.
manager_flags uint16_t MAV_STORM32_GIMBAL_MANAGER_FLAGS Gimbal manager flags to be applied (0 to be ignored).
pitch float rad Pitch/tilt angle (positive: tilt up). NaN to be ignored.
yaw float rad Yaw/pan angle (positive: pan the right). NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags.
pitch_rate float rad/s Pitch/tilt angular rate (positive: tilt up). NaN to be ignored.
yaw_rate float rad/s Yaw/pan angular rate (positive: pan to the right). NaN to be ignored. The frame is determined by the GIMBAL_DEVICE_FLAGS_YAW_IN_xxx_FRAME flags.

STORM32_GIMBAL_MANAGER_CORRECT_ROLL ( #60014 )

[Message] (MAVLink 2) Message to a gimbal manager to correct the gimbal roll angle. This message is typically used to manually correct for a tilted horizon in operation. A gimbal device is never to react to this message.

Field Name Type Units Values Description
target_system uint8_t System ID
target_component uint8_t Component ID
gimbal_id uint8_t Gimbal ID of the gimbal manager to address (component ID or 1-6 for non-MAVLink gimbal, 0 for all gimbals). Send command multiple times for more than one but not all gimbals.
client uint8_t MAV_STORM32_GIMBAL_MANAGER_CLIENT Client which is contacting the gimbal manager (must be set).
roll float rad Roll angle (positive to roll to the right).

QSHOT_STATUS ( #60020 )

WORK IN PROGRESS: Do not use in stable production environments (it may change).

[Message] (MAVLink 2) Information about the shot operation.

Field Name Type Values Description
mode uint16_t MAV_QSHOT_MODE Current shot mode.
shot_state uint16_t Current state in the shot. States are specific to the selected shot mode.

RADIO_RC_CHANNELS ( #60045 )

[Message] (MAVLink 2) Radio channels. Supports up to 24 channels. Channel values are in centerd 13 bit format. Range is [-4096,4096], center is 0. Conversion to PWM is x * 5/32 + 1500. Should be emitted only by components with component id MAV_COMP_ID_TELEMETRY_RADIO.

Field Name Type Values Description
count uint8_t Total number of RC channels being received. This can be larger than 24, indicating that more channels are available but not given in this message.
flags uint8_t RADIO_RC_CHANNELS_FLAGS Radio channels status flags.
channels ** int16_t[24] RC channels. Channels above count should be set to 0, to benefit from MAVLink's zero padding.

[Message] (MAVLink 2) Radio link statistics. Should be emitted only by components with component id MAV_COMP_ID_TELEMETRY_RADIO. Per default, rssi values are in MAVLink units: 0 represents weakest signal, 254 represents maximum signal; can be changed to dBm with the flag RADIO_LINK_STATS_FLAGS_RSSI_DBM.

Field Name Type Units Values Description
flags uint8_t RADIO_LINK_STATS_FLAGS Radio link statistics flags.
rx_LQ uint8_t c% Values: 0..100. UINT8_MAX: invalid/unknown.
rx_rssi1 uint8_t Rssi of antenna1. UINT8_MAX: invalid/unknown.
rx_snr1 int8_t Noise on antenna1. Radio dependent. INT8_MAX: invalid/unknown.
rx_rssi2 uint8_t Rssi of antenna2. UINT8_MAX: ignore/unknown, use rx_rssi1.
rx_snr2 int8_t Noise on antenna2. Radio dependent. INT8_MAX: ignore/unknown, use rx_snr1.
rx_receive_antenna uint8_t 0: antenna1, 1: antenna2, UINT8_MAX: ignore, no Rx receive diversity, use rx_rssi1, rx_snr1.
rx_transmit_antenna uint8_t 0: antenna1, 1: antenna2, UINT8_MAX: ignore, no Rx transmit diversity.
tx_LQ uint8_t c% Values: 0..100. UINT8_MAX: invalid/unknown.
tx_rssi1 uint8_t Rssi of antenna1. UINT8_MAX: invalid/unknown.
tx_snr1 int8_t Noise on antenna1. Radio dependent. INT8_MAX: invalid/unknown.
tx_rssi2 uint8_t Rssi of antenna2. UINT8_MAX: ignore/unknown, use tx_rssi1.
tx_snr2 int8_t Noise on antenna2. Radio dependent. INT8_MAX: ignore/unknown, use tx_snr1.
tx_receive_antenna uint8_t 0: antenna1, 1: antenna2, UINT8_MAX: ignore, no Tx receive diversity, use tx_rssi1, tx_snr1.
tx_transmit_antenna uint8_t 0: antenna1, 1: antenna2, UINT8_MAX: ignore, no Tx transmit diversity.

FRSKY_PASSTHROUGH_ARRAY ( #60040 )

[Message] (MAVLink 2) Frsky SPort passthrough multi packet container.

Field Name Type Units Description
time_boot_ms uint32_t ms Timestamp (time since system boot).
count uint8_t Number of passthrough packets in this message.
packet_buf uint8_t[240] Passthrough packet buffer. A packet has 6 bytes: uint16_t id + uint32_t data. The array has space for 40 packets.

PARAM_VALUE_ARRAY ( #60041 )

[Message] (MAVLink 2) Parameter multi param value container.

Field Name Type Description
param_count uint16_t Total number of onboard parameters.
param_index_first uint16_t Index of the first onboard parameter in this array.
param_array_len uint8_t Number of onboard parameters in this array.
flags uint16_t Flags.
packet_buf uint8_t[248] Parameters buffer. Contains a series of variable length parameter blocks, one per parameter, with format as specifed elsewhere.