MAVLink Include Files: common.xml

## MAVLink Type Enumerations

### UALBERTA_AUTOPILOT_MODE

Available autopilot modes for ualberta uav

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

### UALBERTA_NAV_MODE

Navigation filter mode

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

### UALBERTA_PILOT_MODE

Mode currently commanded by pilot

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

## MAVLink Commands (MAV_CMD)

## MAVLink Messages

### NAV_FILTER_BIAS ( #220 )

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 )

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 )

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