MAVLink Include Files: common.xml

## MAVLink Type Enumerations

### UALBERTA_AUTOPILOT_MODE

[Enum] Available autopilot modes for ualberta uav

Value | Field Name | Description
--- | --- | ---
1 | MODE_MANUAL_DIRECT | Raw input pulse widts sent to output
2 | MODE_MANUAL_SCALED | Inputs are normalized using calibration, the converted back to raw pulse widths for output
3 | MODE_AUTO_PID_ATT | dfsdfs
4 | MODE_AUTO_PID_VEL | dfsfds
5 | MODE_AUTO_PID_POS | dfsdfsdfs

### UALBERTA_NAV_MODE

[Enum] Navigation filter mode

Value | Field Name | Description
--- | --- | ---
1 | NAV_AHRS_INIT |
2 | NAV_AHRS | AHRS mode
3 | NAV_INS_GPS_INIT | INS/GPS initialization mode
4 | NAV_INS_GPS | INS/GPS mode

### UALBERTA_PILOT_MODE

[Enum] Mode currently commanded by pilot

Value | Field Name | Description
--- | --- | ---
1 | PILOT_MANUAL | sdf
2 | PILOT_AUTO | dfs
3 | PILOT_ROTO | Rotomotion mode

## 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.

## MAVLink Messages

### NAV_FILTER_BIAS ( #220 )

[Message] 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 )

[Message] 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 )

[Message] System status specific to ualberta uav

Field Name | Type | Description
--- | --- | ---
mode | uint8_t | System mode, see UALBERTA_AUTOPILOT_MODE ENUM
nav_mode | uint8_t | Navigation mode, see UALBERTA_NAV_MODE ENUM
pilot | uint8_t | Pilot mode, see UALBERTA_PILOT_MODE