MAVLink Include Files: common.xml

MAVLink Include Files: uAvionix.xml

MAVLink Include Files: icarous.xml

This file has protocol dialect: 2.

MAVLink Type Enumerations

ACCELCAL_VEHICLE_POS

Value Field Name Description
1 ACCELCAL_VEHICLE_POS_LEVEL
2 ACCELCAL_VEHICLE_POS_LEFT
3 ACCELCAL_VEHICLE_POS_RIGHT
4 ACCELCAL_VEHICLE_POS_NOSEDOWN
5 ACCELCAL_VEHICLE_POS_NOSEUP
6 ACCELCAL_VEHICLE_POS_BACK
16777215 ACCELCAL_VEHICLE_POS_SUCCESS
16777216 ACCELCAL_VEHICLE_POS_FAILED

LIMITS_STATE

Value Field Name Description
0 LIMITS_INIT Pre-initialization.
1 LIMITS_DISABLED Disabled.
2 LIMITS_ENABLED Checking limits.
3 LIMITS_TRIGGERED A limit has been breached.
4 LIMITS_RECOVERING Taking action e.g. Return/RTL.
5 LIMITS_RECOVERED We're no longer in breach of a limit.

LIMIT_MODULE

Value Field Name Description
1 LIMIT_GPSLOCK Pre-initialization.
2 LIMIT_GEOFENCE Disabled.
4 LIMIT_ALTITUDE Checking limits.

RALLY_FLAGS

Flags in RALLY_POINT message.

Value Field Name Description
1 FAVORABLE_WIND Flag set when requiring favorable winds for landing.
2 LAND_IMMEDIATELY Flag set when plane is to immediately descend to break altitude and land without GCS intervention. Flag not set when plane is to loiter at Rally point until commanded to land.

PARACHUTE_ACTION

Value Field Name Description
0 PARACHUTE_DISABLE Disable parachute release.
1 PARACHUTE_ENABLE Enable parachute release.
2 PARACHUTE_RELEASE Release parachute.

GRIPPER_ACTIONS

Gripper actions.

Value Field Name Description
0 GRIPPER_ACTION_RELEASE Gripper release cargo.
1 GRIPPER_ACTION_GRAB Gripper grab onto cargo.

WINCH_ACTIONS

Winch actions.

Value Field Name Description
0 WINCH_RELAXED Relax winch.
1 WINCH_RELATIVE_LENGTH_CONTROL Winch unwinds or winds specified length of cable optionally using specified rate.
2 WINCH_RATE_CONTROL Winch unwinds or winds cable at specified rate in meters/seconds.

CAMERA_STATUS_TYPES

Value Field Name Description
0 CAMERA_STATUS_TYPE_HEARTBEAT Camera heartbeat, announce camera component ID at 1Hz.
1 CAMERA_STATUS_TYPE_TRIGGER Camera image triggered.
2 CAMERA_STATUS_TYPE_DISCONNECT Camera connection lost.
3 CAMERA_STATUS_TYPE_ERROR Camera unknown error.
4 CAMERA_STATUS_TYPE_LOWBATT Camera battery low. Parameter p1 shows reported voltage.
5 CAMERA_STATUS_TYPE_LOWSTORE Camera storage low. Parameter p1 shows reported shots remaining.
6 CAMERA_STATUS_TYPE_LOWSTOREV Camera storage low. Parameter p1 shows reported video minutes remaining.

CAMERA_FEEDBACK_FLAGS

Value Field Name Description
0 CAMERA_FEEDBACK_PHOTO Shooting photos, not video.
1 CAMERA_FEEDBACK_VIDEO Shooting video, not stills.
2 CAMERA_FEEDBACK_BADEXPOSURE Unable to achieve requested exposure (e.g. shutter speed too low).
3 CAMERA_FEEDBACK_CLOSEDLOOP Closed loop feedback from camera, we know for sure it has successfully taken a picture.
4 CAMERA_FEEDBACK_OPENLOOP Open loop camera, an image trigger has been requested but we can't know for sure it has successfully taken a picture.

MAV_MODE_GIMBAL

Value Field Name Description
0 MAV_MODE_GIMBAL_UNINITIALIZED Gimbal is powered on but has not started initializing yet.
1 MAV_MODE_GIMBAL_CALIBRATING_PITCH Gimbal is currently running calibration on the pitch axis.
2 MAV_MODE_GIMBAL_CALIBRATING_ROLL Gimbal is currently running calibration on the roll axis.
3 MAV_MODE_GIMBAL_CALIBRATING_YAW Gimbal is currently running calibration on the yaw axis.
4 MAV_MODE_GIMBAL_INITIALIZED Gimbal has finished calibrating and initializing, but is relaxed pending reception of first rate command from copter.
5 MAV_MODE_GIMBAL_ACTIVE Gimbal is actively stabilizing.
6 MAV_MODE_GIMBAL_RATE_CMD_TIMEOUT Gimbal is relaxed because it missed more than 10 expected rate command messages in a row. Gimbal will move back to active mode when it receives a new rate command.

GIMBAL_AXIS

Value Field Name Description
0 GIMBAL_AXIS_YAW Gimbal yaw axis.
1 GIMBAL_AXIS_PITCH Gimbal pitch axis.
2 GIMBAL_AXIS_ROLL Gimbal roll axis.

GIMBAL_AXIS_CALIBRATION_STATUS

Value Field Name Description
0 GIMBAL_AXIS_CALIBRATION_STATUS_IN_PROGRESS Axis calibration is in progress.
1 GIMBAL_AXIS_CALIBRATION_STATUS_SUCCEEDED Axis calibration succeeded.
2 GIMBAL_AXIS_CALIBRATION_STATUS_FAILED Axis calibration failed.

GIMBAL_AXIS_CALIBRATION_REQUIRED

Value Field Name Description
0 GIMBAL_AXIS_CALIBRATION_REQUIRED_UNKNOWN Whether or not this axis requires calibration is unknown at this time.
1 GIMBAL_AXIS_CALIBRATION_REQUIRED_TRUE This axis requires calibration.
2 GIMBAL_AXIS_CALIBRATION_REQUIRED_FALSE This axis does not require calibration.

GOPRO_HEARTBEAT_STATUS

Value Field Name Description
0 GOPRO_HEARTBEAT_STATUS_DISCONNECTED No GoPro connected.
1 GOPRO_HEARTBEAT_STATUS_INCOMPATIBLE The detected GoPro is not HeroBus compatible.
2 GOPRO_HEARTBEAT_STATUS_CONNECTED A HeroBus compatible GoPro is connected.
3 GOPRO_HEARTBEAT_STATUS_ERROR An unrecoverable error was encountered with the connected GoPro, it may require a power cycle.

GOPRO_HEARTBEAT_FLAGS

Value Field Name Description
1 GOPRO_FLAG_RECORDING GoPro is currently recording.

GOPRO_REQUEST_STATUS

Value Field Name Description
0 GOPRO_REQUEST_SUCCESS The write message with ID indicated succeeded.
1 GOPRO_REQUEST_FAILED The write message with ID indicated failed.

GOPRO_COMMAND

Value Field Name Description
0 GOPRO_COMMAND_POWER (Get/Set).
1 GOPRO_COMMAND_CAPTURE_MODE (Get/Set).
2 GOPRO_COMMAND_SHUTTER (___/Set).
3 GOPRO_COMMAND_BATTERY (Get/___).
4 GOPRO_COMMAND_MODEL (Get/___).
5 GOPRO_COMMAND_VIDEO_SETTINGS (Get/Set).
6 GOPRO_COMMAND_LOW_LIGHT (Get/Set).
7 GOPRO_COMMAND_PHOTO_RESOLUTION (Get/Set).
8 GOPRO_COMMAND_PHOTO_BURST_RATE (Get/Set).
9 GOPRO_COMMAND_PROTUNE (Get/Set).
10 GOPRO_COMMAND_PROTUNE_WHITE_BALANCE (Get/Set) Hero 3+ Only.
11 GOPRO_COMMAND_PROTUNE_COLOUR (Get/Set) Hero 3+ Only.
12 GOPRO_COMMAND_PROTUNE_GAIN (Get/Set) Hero 3+ Only.
13 GOPRO_COMMAND_PROTUNE_SHARPNESS (Get/Set) Hero 3+ Only.
14 GOPRO_COMMAND_PROTUNE_EXPOSURE (Get/Set) Hero 3+ Only.
15 GOPRO_COMMAND_TIME (Get/Set).
16 GOPRO_COMMAND_CHARGING (Get/Set).

GOPRO_CAPTURE_MODE

Value Field Name Description
0 GOPRO_CAPTURE_MODE_VIDEO Video mode.
1 GOPRO_CAPTURE_MODE_PHOTO Photo mode.
2 GOPRO_CAPTURE_MODE_BURST Burst mode, Hero 3+ only.
3 GOPRO_CAPTURE_MODE_TIME_LAPSE Time lapse mode, Hero 3+ only.
4 GOPRO_CAPTURE_MODE_MULTI_SHOT Multi shot mode, Hero 4 only.
5 GOPRO_CAPTURE_MODE_PLAYBACK Playback mode, Hero 4 only, silver only except when LCD or HDMI is connected to black.
6 GOPRO_CAPTURE_MODE_SETUP Playback mode, Hero 4 only.
255 GOPRO_CAPTURE_MODE_UNKNOWN Mode not yet known.

GOPRO_RESOLUTION

Value Field Name Description
0 GOPRO_RESOLUTION_480p 848 x 480 (480p).
1 GOPRO_RESOLUTION_720p 1280 x 720 (720p).
2 GOPRO_RESOLUTION_960p 1280 x 960 (960p).
3 GOPRO_RESOLUTION_1080p 1920 x 1080 (1080p).
4 GOPRO_RESOLUTION_1440p 1920 x 1440 (1440p).
5 GOPRO_RESOLUTION_2_7k_17_9 2704 x 1440 (2.7k-17:9).
6 GOPRO_RESOLUTION_2_7k_16_9 2704 x 1524 (2.7k-16:9).
7 GOPRO_RESOLUTION_2_7k_4_3 2704 x 2028 (2.7k-4:3).
8 GOPRO_RESOLUTION_4k_16_9 3840 x 2160 (4k-16:9).
9 GOPRO_RESOLUTION_4k_17_9 4096 x 2160 (4k-17:9).
10 GOPRO_RESOLUTION_720p_SUPERVIEW 1280 x 720 (720p-SuperView).
11 GOPRO_RESOLUTION_1080p_SUPERVIEW 1920 x 1080 (1080p-SuperView).
12 GOPRO_RESOLUTION_2_7k_SUPERVIEW 2704 x 1520 (2.7k-SuperView).
13 GOPRO_RESOLUTION_4k_SUPERVIEW 3840 x 2160 (4k-SuperView).

GOPRO_FRAME_RATE

Value Field Name Description
0 GOPRO_FRAME_RATE_12 12 FPS.
1 GOPRO_FRAME_RATE_15 15 FPS.
2 GOPRO_FRAME_RATE_24 24 FPS.
3 GOPRO_FRAME_RATE_25 25 FPS.
4 GOPRO_FRAME_RATE_30 30 FPS.
5 GOPRO_FRAME_RATE_48 48 FPS.
6 GOPRO_FRAME_RATE_50 50 FPS.
7 GOPRO_FRAME_RATE_60 60 FPS.
8 GOPRO_FRAME_RATE_80 80 FPS.
9 GOPRO_FRAME_RATE_90 90 FPS.
10 GOPRO_FRAME_RATE_100 100 FPS.
11 GOPRO_FRAME_RATE_120 120 FPS.
12 GOPRO_FRAME_RATE_240 240 FPS.
13 GOPRO_FRAME_RATE_12_5 12.5 FPS.

GOPRO_FIELD_OF_VIEW

Value Field Name Description
0 GOPRO_FIELD_OF_VIEW_WIDE 0x00: Wide.
1 GOPRO_FIELD_OF_VIEW_MEDIUM 0x01: Medium.
2 GOPRO_FIELD_OF_VIEW_NARROW 0x02: Narrow.

GOPRO_VIDEO_SETTINGS_FLAGS

Value Field Name Description
1 GOPRO_VIDEO_SETTINGS_TV_MODE 0=NTSC, 1=PAL.

GOPRO_PHOTO_RESOLUTION

Value Field Name Description
0 GOPRO_PHOTO_RESOLUTION_5MP_MEDIUM 5MP Medium.
1 GOPRO_PHOTO_RESOLUTION_7MP_MEDIUM 7MP Medium.
2 GOPRO_PHOTO_RESOLUTION_7MP_WIDE 7MP Wide.
3 GOPRO_PHOTO_RESOLUTION_10MP_WIDE 10MP Wide.
4 GOPRO_PHOTO_RESOLUTION_12MP_WIDE 12MP Wide.

GOPRO_PROTUNE_WHITE_BALANCE

Value Field Name Description
0 GOPRO_PROTUNE_WHITE_BALANCE_AUTO Auto.
1 GOPRO_PROTUNE_WHITE_BALANCE_3000K 3000K.
2 GOPRO_PROTUNE_WHITE_BALANCE_5500K 5500K.
3 GOPRO_PROTUNE_WHITE_BALANCE_6500K 6500K.
4 GOPRO_PROTUNE_WHITE_BALANCE_RAW Camera Raw.

GOPRO_PROTUNE_COLOUR

Value Field Name Description
0 GOPRO_PROTUNE_COLOUR_STANDARD Auto.
1 GOPRO_PROTUNE_COLOUR_NEUTRAL Neutral.

GOPRO_PROTUNE_GAIN

Value Field Name Description
0 GOPRO_PROTUNE_GAIN_400 ISO 400.
1 GOPRO_PROTUNE_GAIN_800 ISO 800 (Only Hero 4).
2 GOPRO_PROTUNE_GAIN_1600 ISO 1600.
3 GOPRO_PROTUNE_GAIN_3200 ISO 3200 (Only Hero 4).
4 GOPRO_PROTUNE_GAIN_6400 ISO 6400.

GOPRO_PROTUNE_SHARPNESS

Value Field Name Description
0 GOPRO_PROTUNE_SHARPNESS_LOW Low Sharpness.
1 GOPRO_PROTUNE_SHARPNESS_MEDIUM Medium Sharpness.
2 GOPRO_PROTUNE_SHARPNESS_HIGH High Sharpness.

GOPRO_PROTUNE_EXPOSURE

Value Field Name Description
0 GOPRO_PROTUNE_EXPOSURE_NEG_5_0 -5.0 EV (Hero 3+ Only).
1 GOPRO_PROTUNE_EXPOSURE_NEG_4_5 -4.5 EV (Hero 3+ Only).
2 GOPRO_PROTUNE_EXPOSURE_NEG_4_0 -4.0 EV (Hero 3+ Only).
3 GOPRO_PROTUNE_EXPOSURE_NEG_3_5 -3.5 EV (Hero 3+ Only).
4 GOPRO_PROTUNE_EXPOSURE_NEG_3_0 -3.0 EV (Hero 3+ Only).
5 GOPRO_PROTUNE_EXPOSURE_NEG_2_5 -2.5 EV (Hero 3+ Only).
6 GOPRO_PROTUNE_EXPOSURE_NEG_2_0 -2.0 EV.
7 GOPRO_PROTUNE_EXPOSURE_NEG_1_5 -1.5 EV.
8 GOPRO_PROTUNE_EXPOSURE_NEG_1_0 -1.0 EV.
9 GOPRO_PROTUNE_EXPOSURE_NEG_0_5 -0.5 EV.
10 GOPRO_PROTUNE_EXPOSURE_ZERO 0.0 EV.
11 GOPRO_PROTUNE_EXPOSURE_POS_0_5 +0.5 EV.
12 GOPRO_PROTUNE_EXPOSURE_POS_1_0 +1.0 EV.
13 GOPRO_PROTUNE_EXPOSURE_POS_1_5 +1.5 EV.
14 GOPRO_PROTUNE_EXPOSURE_POS_2_0 +2.0 EV.
15 GOPRO_PROTUNE_EXPOSURE_POS_2_5 +2.5 EV (Hero 3+ Only).
16 GOPRO_PROTUNE_EXPOSURE_POS_3_0 +3.0 EV (Hero 3+ Only).
17 GOPRO_PROTUNE_EXPOSURE_POS_3_5 +3.5 EV (Hero 3+ Only).
18 GOPRO_PROTUNE_EXPOSURE_POS_4_0 +4.0 EV (Hero 3+ Only).
19 GOPRO_PROTUNE_EXPOSURE_POS_4_5 +4.5 EV (Hero 3+ Only).
20 GOPRO_PROTUNE_EXPOSURE_POS_5_0 +5.0 EV (Hero 3+ Only).

GOPRO_CHARGING

Value Field Name Description
0 GOPRO_CHARGING_DISABLED Charging disabled.
1 GOPRO_CHARGING_ENABLED Charging enabled.

GOPRO_MODEL

Value Field Name Description
0 GOPRO_MODEL_UNKNOWN Unknown gopro model.
1 GOPRO_MODEL_HERO_3_PLUS_SILVER Hero 3+ Silver (HeroBus not supported by GoPro).
2 GOPRO_MODEL_HERO_3_PLUS_BLACK Hero 3+ Black.
3 GOPRO_MODEL_HERO_4_SILVER Hero 4 Silver.
4 GOPRO_MODEL_HERO_4_BLACK Hero 4 Black.

GOPRO_BURST_RATE

Value Field Name Description
0 GOPRO_BURST_RATE_3_IN_1_SECOND 3 Shots / 1 Second.
1 GOPRO_BURST_RATE_5_IN_1_SECOND 5 Shots / 1 Second.
2 GOPRO_BURST_RATE_10_IN_1_SECOND 10 Shots / 1 Second.
3 GOPRO_BURST_RATE_10_IN_2_SECOND 10 Shots / 2 Second.
4 GOPRO_BURST_RATE_10_IN_3_SECOND 10 Shots / 3 Second (Hero 4 Only).
5 GOPRO_BURST_RATE_30_IN_1_SECOND 30 Shots / 1 Second.
6 GOPRO_BURST_RATE_30_IN_2_SECOND 30 Shots / 2 Second.
7 GOPRO_BURST_RATE_30_IN_3_SECOND 30 Shots / 3 Second.
8 GOPRO_BURST_RATE_30_IN_6_SECOND 30 Shots / 6 Second.

LED_CONTROL_PATTERN

Value Field Name Description
0 LED_CONTROL_PATTERN_OFF LED patterns off (return control to regular vehicle control).
1 LED_CONTROL_PATTERN_FIRMWAREUPDATE LEDs show pattern during firmware update.
255 LED_CONTROL_PATTERN_CUSTOM Custom Pattern using custom bytes fields.

EKF_STATUS_FLAGS

Flags in EKF_STATUS message.

Value Field Name Description
1 EKF_ATTITUDE Set if EKF's attitude estimate is good.
2 EKF_VELOCITY_HORIZ Set if EKF's horizontal velocity estimate is good.
4 EKF_VELOCITY_VERT Set if EKF's vertical velocity estimate is good.
8 EKF_POS_HORIZ_REL Set if EKF's horizontal position (relative) estimate is good.
16 EKF_POS_HORIZ_ABS Set if EKF's horizontal position (absolute) estimate is good.
32 EKF_POS_VERT_ABS Set if EKF's vertical position (absolute) estimate is good.
64 EKF_POS_VERT_AGL Set if EKF's vertical position (above ground) estimate is good.
128 EKF_CONST_POS_MODE EKF is in constant position mode and does not know it's absolute or relative position.
256 EKF_PRED_POS_HORIZ_REL Set if EKF's predicted horizontal position (relative) estimate is good.
512 EKF_PRED_POS_HORIZ_ABS Set if EKF's predicted horizontal position (absolute) estimate is good.

PID_TUNING_AXIS

Value Field Name Description
1 PID_TUNING_ROLL
2 PID_TUNING_PITCH
3 PID_TUNING_YAW
4 PID_TUNING_ACCZ
5 PID_TUNING_STEER
6 PID_TUNING_LANDING

MAG_CAL_STATUS

Value Field Name Description
0 MAG_CAL_NOT_STARTED
1 MAG_CAL_WAITING_TO_START
2 MAG_CAL_RUNNING_STEP_ONE
3 MAG_CAL_RUNNING_STEP_TWO
4 MAG_CAL_SUCCESS
5 MAG_CAL_FAILED
6 MAG_CAL_BAD_ORIENTATION

MAV_REMOTE_LOG_DATA_BLOCK_COMMANDS

Special ACK block numbers control activation of dataflash log streaming.

Value Field Name Description
2147483645 MAV_REMOTE_LOG_DATA_BLOCK_STOP UAV to stop sending DataFlash blocks.
2147483646 MAV_REMOTE_LOG_DATA_BLOCK_START UAV to start sending DataFlash blocks.

MAV_REMOTE_LOG_DATA_BLOCK_STATUSES

Possible remote log data block statuses.

Value Field Name Description
0 MAV_REMOTE_LOG_DATA_BLOCK_NACK This block has NOT been received.
1 MAV_REMOTE_LOG_DATA_BLOCK_ACK This block has been received.

DEVICE_OP_BUSTYPE

Bus types for device operations.

Value Field Name Description
0 DEVICE_OP_BUSTYPE_I2C I2C Device operation.
1 DEVICE_OP_BUSTYPE_SPI SPI Device operation.

DEEPSTALL_STAGE

Deepstall flight stage.

Value Field Name Description
0 DEEPSTALL_STAGE_FLY_TO_LANDING Flying to the landing point.
1 DEEPSTALL_STAGE_ESTIMATE_WIND Building an estimate of the wind.
2 DEEPSTALL_STAGE_WAIT_FOR_BREAKOUT Waiting to breakout of the loiter to fly the approach.
3 DEEPSTALL_STAGE_FLY_TO_ARC Flying to the first arc point to turn around to the landing point.
4 DEEPSTALL_STAGE_ARC Turning around back to the deepstall landing point.
5 DEEPSTALL_STAGE_APPROACH Approaching the landing point.
6 DEEPSTALL_STAGE_LAND Stalling and steering towards the land point.

PLANE_MODE

A mapping of plane flight modes for custom_mode field of heartbeat.

Value Field Name Description
0 PLANE_MODE_MANUAL
1 PLANE_MODE_CIRCLE
2 PLANE_MODE_STABILIZE
3 PLANE_MODE_TRAINING
4 PLANE_MODE_ACRO
5 PLANE_MODE_FLY_BY_WIRE_A
6 PLANE_MODE_FLY_BY_WIRE_B
7 PLANE_MODE_CRUISE
8 PLANE_MODE_AUTOTUNE
10 PLANE_MODE_AUTO
11 PLANE_MODE_RTL
12 PLANE_MODE_LOITER
14 PLANE_MODE_AVOID_ADSB
15 PLANE_MODE_GUIDED
16 PLANE_MODE_INITIALIZING
17 PLANE_MODE_QSTABILIZE
18 PLANE_MODE_QHOVER
19 PLANE_MODE_QLOITER
20 PLANE_MODE_QLAND
21 PLANE_MODE_QRTL

COPTER_MODE

A mapping of copter flight modes for custom_mode field of heartbeat.

Value Field Name Description
0 COPTER_MODE_STABILIZE
1 COPTER_MODE_ACRO
2 COPTER_MODE_ALT_HOLD
3 COPTER_MODE_AUTO
4 COPTER_MODE_GUIDED
5 COPTER_MODE_LOITER
6 COPTER_MODE_RTL
7 COPTER_MODE_CIRCLE
9 COPTER_MODE_LAND
11 COPTER_MODE_DRIFT
13 COPTER_MODE_SPORT
14 COPTER_MODE_FLIP
15 COPTER_MODE_AUTOTUNE
16 COPTER_MODE_POSHOLD
17 COPTER_MODE_BRAKE
18 COPTER_MODE_THROW
19 COPTER_MODE_AVOID_ADSB
20 COPTER_MODE_GUIDED_NOGPS
21 COPTER_MODE_SMART_RTL

SUB_MODE

A mapping of sub flight modes for custom_mode field of heartbeat.

Value Field Name Description
0 SUB_MODE_STABILIZE
1 SUB_MODE_ACRO
2 SUB_MODE_ALT_HOLD
3 SUB_MODE_AUTO
4 SUB_MODE_GUIDED
7 SUB_MODE_CIRCLE
9 SUB_MODE_SURFACE
16 SUB_MODE_POSHOLD
19 SUB_MODE_MANUAL

ROVER_MODE

A mapping of rover flight modes for custom_mode field of heartbeat.

Value Field Name Description
0 ROVER_MODE_MANUAL
1 ROVER_MODE_ACRO
3 ROVER_MODE_STEERING
4 ROVER_MODE_HOLD
5 ROVER_MODE_LOITER
10 ROVER_MODE_AUTO
11 ROVER_MODE_RTL
12 ROVER_MODE_SMART_RTL
15 ROVER_MODE_GUIDED
16 ROVER_MODE_INITIALIZING

TRACKER_MODE

A mapping of antenna tracker flight modes for custom_mode field of heartbeat.

Value Field Name Description
0 TRACKER_MODE_MANUAL
1 TRACKER_MODE_STOP
2 TRACKER_MODE_SCAN
3 TRACKER_MODE_SERVO_TEST
10 TRACKER_MODE_AUTO
16 TRACKER_MODE_INITIALIZING

MAVLink Commands (MAV_CMD)

MAV_CMD_DO_GRIPPER (211 )

Mission command to operate EPM gripper.

Param Description
1 Gripper number (a number from 1 to max number of grippers on the vehicle).
2 Gripper action (0=release, 1=grab. See GRIPPER_ACTIONS enum).
3 Empty.
4 Empty.
5 Empty.
6 Empty.
7 Empty.

MAV_CMD_DO_AUTOTUNE_ENABLE (212 )

Enable/disable autotune.

Param Description
1 Enable (1: enable, 0:disable).
2 Empty.
3 Empty.
4 Empty.
5 Empty.
6 Empty.
7 Empty.

MAV_CMD_NAV_ALTITUDE_WAIT (83 )

Mission command to wait for an altitude or downwards vertical speed. This is meant for high altitude balloon launches, allowing the aircraft to be idle until either an altitude is reached or a negative vertical speed is reached (indicating early balloon burst). The wiggle time is how often to wiggle the control surfaces to prevent them seizing up.

Param Description
1 Altitude (m).
2 Descent speed (m/s).
3 Wiggle Time (s).
4 Empty.
5 Empty.
6 Empty.
7 Empty.

MAV_CMD_POWER_OFF_INITIATED (42000 )

A system wide power-off event has been initiated.

Param Description
1 Empty.
2 Empty.
3 Empty.
4 Empty.
5 Empty.
6 Empty.
7 Empty.

MAV_CMD_SOLO_BTN_FLY_CLICK (42001 )

FLY button has been clicked.

Param Description
1 Empty.
2 Empty.
3 Empty.
4 Empty.
5 Empty.
6 Empty.
7 Empty.

MAV_CMD_SOLO_BTN_FLY_HOLD (42002 )

FLY button has been held for 1.5 seconds.

Param Description
1 Takeoff altitude.
2 Empty.
3 Empty.
4 Empty.
5 Empty.
6 Empty.
7 Empty.

MAV_CMD_SOLO_BTN_PAUSE_CLICK (42003 )

PAUSE button has been clicked.

Param Description
1 1 if Solo is in a shot mode, 0 otherwise.
2 Empty.
3 Empty.
4 Empty.
5 Empty.
6 Empty.
7 Empty.

MAV_CMD_FIXED_MAG_CAL (42004 )

Magnetometer calibration based on fixed position in earth field given by inclination, declination and intensity.

Param Description
1 MagDeclinationDegrees.
2 MagInclinationDegrees.
3 MagIntensityMilliGauss.
4 YawDegrees.
5 Empty.
6 Empty.
7 Empty.

MAV_CMD_FIXED_MAG_CAL_FIELD (42005 )

Magnetometer calibration based on fixed expected field values in milliGauss.

Param Description
1 FieldX.
2 FieldY.
3 FieldZ.
4 Empty.
5 Empty.
6 Empty.
7 Empty.

MAV_CMD_DO_START_MAG_CAL (42424 )

Initiate a magnetometer calibration.

Param Description
1 uint8_t bitmask of magnetometers (0 means all).
2 Automatically retry on failure (0=no retry, 1=retry).
3 Save without user input (0=require input, 1=autosave).
4 Delay (seconds).
5 Autoreboot (0=user reboot, 1=autoreboot).
6 Empty.
7 Empty.

MAV_CMD_DO_ACCEPT_MAG_CAL (42425 )

Initiate a magnetometer calibration.

Param Description
1 uint8_t bitmask of magnetometers (0 means all).
2 Empty.
3 Empty.
4 Empty.
5 Empty.
6 Empty.
7 Empty.

MAV_CMD_DO_CANCEL_MAG_CAL (42426 )

Cancel a running magnetometer calibration.

Param Description
1 uint8_t bitmask of magnetometers (0 means all).
2 Empty.
3 Empty.
4 Empty.
5 Empty.
6 Empty.
7 Empty.

MAV_CMD_ACCELCAL_VEHICLE_POS (42429 )

Used when doing accelerometer calibration. When sent to the GCS tells it what position to put the vehicle in. When sent to the vehicle says what position the vehicle is in.

Param Description
1 Position, one of the ACCELCAL_VEHICLE_POS enum values.
2 Empty.
3 Empty.
4 Empty.
5 Empty.
6 Empty.
7 Empty.

MAV_CMD_DO_SEND_BANNER (42428 )

Reply with the version banner.

Param Description
1 Empty.
2 Empty.
3 Empty.
4 Empty.
5 Empty.
6 Empty.
7 Empty.

MAV_CMD_SET_FACTORY_TEST_MODE (42427 )

Command autopilot to get into factory test/diagnostic mode.

Param Description
1 0 means get out of test mode, 1 means get into test mode.
2 Empty.
3 Empty.
4 Empty.
5 Empty.
6 Empty.
7 Empty.

MAV_CMD_GIMBAL_RESET (42501 )

Causes the gimbal to reset and boot as if it was just powered on.

Param Description
1 Empty.
2 Empty.
3 Empty.
4 Empty.
5 Empty.
6 Empty.
7 Empty.

MAV_CMD_GIMBAL_AXIS_CALIBRATION_STATUS (42502 )

Reports progress and success or failure of gimbal axis calibration procedure.

Param Description
1 Gimbal axis we're reporting calibration progress for.
2 Current calibration progress for this axis, 0x64=100%.
3 Status of the calibration.
4 Empty.
5 Empty.
6 Empty.
7 Empty.

MAV_CMD_GIMBAL_REQUEST_AXIS_CALIBRATION (42503 )

Starts commutation calibration on the gimbal.

Param Description
1 Empty.
2 Empty.
3 Empty.
4 Empty.
5 Empty.
6 Empty.
7 Empty.

MAV_CMD_GIMBAL_FULL_RESET (42505 )

Erases gimbal application and parameters.

Param Description
1 Magic number.
2 Magic number.
3 Magic number.
4 Magic number.
5 Magic number.
6 Magic number.
7 Magic number.

MAV_CMD_DO_WINCH (42600 )

Command to operate winch.

Param Description
1 Winch number (0 for the default winch, otherwise a number from 1 to max number of winches on the vehicle).
2 Action (0=relax, 1=relative length control, 2=rate control. See WINCH_ACTIONS enum.).
3 Release length (cable distance to unwind in meters, negative numbers to wind in cable).
4 Release rate (meters/second).
5 Empty.
6 Empty.
7 Empty.

MAV_CMD_FLASH_BOOTLOADER (42650 )

Update the bootloader

Param Description
1 Empty
2 Empty
3 Empty
4 Empty
5 Magic number - set to 290876 to actually flash
6 Empty
7 Empty

MAVLink Messages

SENSOR_OFFSETS ( #150 )

Offsets and calibrations values for hardware sensors. This makes it easier to debug the calibration process.

Field Name Type Units Description
mag_ofs_x int16_t Magnetometer X offset.
mag_ofs_y int16_t Magnetometer Y offset.
mag_ofs_z int16_t Magnetometer Z offset.
mag_declination float rad Magnetic declination.
raw_press int32_t Raw pressure from barometer.
raw_temp int32_t Raw temperature from barometer.
gyro_cal_x float Gyro X calibration.
gyro_cal_y float Gyro Y calibration.
gyro_cal_z float Gyro Z calibration.
accel_cal_x float Accel X calibration.
accel_cal_y float Accel Y calibration.
accel_cal_z float Accel Z calibration.

SET_MAG_OFFSETS ( #151 )

DEPRECATED: Replaced by MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS (2014-07).

Set the magnetometer offsets

Field Name Type Description
target_system uint8_t System ID.
target_component uint8_t Component ID.
mag_ofs_x int16_t Magnetometer X offset.
mag_ofs_y int16_t Magnetometer Y offset.
mag_ofs_z int16_t Magnetometer Z offset.

MEMINFO ( #152 )

State of APM memory.

Field Name Type Units Description
brkval uint16_t Heap top.
freemem uint16_t bytes Free memory.
freemem32 ** uint32_t bytes Free memory (32 bit).

AP_ADC ( #153 )

Raw ADC output.

Field Name Type Description
adc1 uint16_t ADC output 1.
adc2 uint16_t ADC output 2.
adc3 uint16_t ADC output 3.
adc4 uint16_t ADC output 4.
adc5 uint16_t ADC output 5.
adc6 uint16_t ADC output 6.

DIGICAM_CONFIGURE ( #154 )

Configure on-board Camera Control System.

Field Name Type Units Description
target_system uint8_t System ID.
target_component uint8_t Component ID.
mode uint8_t Mode enumeration from 1 to N //P, TV, AV, M, etc. (0 means ignore).
shutter_speed uint16_t Divisor number //e.g. 1000 means 1/1000 (0 means ignore).
aperture uint8_t F stop number x 10 //e.g. 28 means 2.8 (0 means ignore).
iso uint8_t ISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore).
exposure_type uint8_t Exposure type enumeration from 1 to N (0 means ignore).
command_id uint8_t Command Identity (incremental loop: 0 to 255). //A command sent multiple times will be executed or pooled just once.
engine_cut_off uint8_t ds Main engine cut-off time before camera trigger (0 means no cut-off).
extra_param uint8_t Extra parameters enumeration (0 means ignore).
extra_value float Correspondent value to given extra_param.

DIGICAM_CONTROL ( #155 )

Control on-board Camera Control System to take shots.

Field Name Type Description
target_system uint8_t System ID.
target_component uint8_t Component ID.
session uint8_t 0: stop, 1: start or keep it up //Session control e.g. show/hide lens.
zoom_pos uint8_t 1 to N //Zoom's absolute position (0 means ignore).
zoom_step int8_t -100 to 100 //Zooming step value to offset zoom from the current position.
focus_lock uint8_t 0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus.
shot uint8_t 0: ignore, 1: shot or start filming.
command_id uint8_t Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once.
extra_param uint8_t Extra parameters enumeration (0 means ignore).
extra_value float Correspondent value to given extra_param.

MOUNT_CONFIGURE ( #156 )

Message to configure a camera mount, directional antenna, etc.

Field Name Type Values Description
target_system uint8_t System ID.
target_component uint8_t Component ID.
mount_mode uint8_t MAV_MOUNT_MODE Mount operating mode.
stab_roll uint8_t (1 = yes, 0 = no).
stab_pitch uint8_t (1 = yes, 0 = no).
stab_yaw uint8_t (1 = yes, 0 = no).

MOUNT_CONTROL ( #157 )

Message to control a camera mount, directional antenna, etc.

Field Name Type Description
target_system uint8_t System ID.
target_component uint8_t Component ID.
input_a int32_t Pitch (centi-degrees) or lat (degE7), depending on mount mode.
input_b int32_t Roll (centi-degrees) or lon (degE7) depending on mount mode.
input_c int32_t Yaw (centi-degrees) or alt (cm) depending on mount mode.
save_position uint8_t If "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING).

MOUNT_STATUS ( #158 )

Message with some status from APM to GCS about camera or antenna mount.

Field Name Type Units Description
target_system uint8_t System ID.
target_component uint8_t Component ID.
pointing_a int32_t cdeg Pitch.
pointing_b int32_t cdeg Roll.
pointing_c int32_t cdeg Yaw.

FENCE_POINT ( #160 )

A fence point. Used to set a point when from GCS -> MAV. Also used to return a point from MAV -> GCS.

Field Name Type Units Description
target_system uint8_t System ID.
target_component uint8_t Component ID.
idx uint8_t Point index (first point is 1, 0 is for return point).
count uint8_t Total number of points (for sanity checking).
lat float deg Latitude of point.
lng float deg Longitude of point.

FENCE_FETCH_POINT ( #161 )

Request a current fence point from MAV.

Field Name Type Description
target_system uint8_t System ID.
target_component uint8_t Component ID.
idx uint8_t Point index (first point is 1, 0 is for return point).

FENCE_STATUS ( #162 )

Status of geo-fencing. Sent in extended status stream when fencing enabled.

Field Name Type Units Values Description
breach_status uint8_t Breach status (0 if currently inside fence, 1 if outside).
breach_count uint16_t Number of fence breaches.
breach_type uint8_t FENCE_BREACH Last breach type.
breach_time uint32_t ms Time (since boot) of last breach.

AHRS ( #163 )

Status of DCM attitude estimator.

Field Name Type Units Description
omegaIx float rad/s X gyro drift estimate.
omegaIy float rad/s Y gyro drift estimate.
omegaIz float rad/s Z gyro drift estimate.
accel_weight float Average accel_weight.
renorm_val float Average renormalisation value.
error_rp float Average error_roll_pitch value.
error_yaw float Average error_yaw value.

SIMSTATE ( #164 )

Status of simulation environment, if used.

Field Name Type Units Description
roll float rad Roll angle.
pitch float rad Pitch angle.
yaw float rad Yaw angle.
xacc float m/s/s X acceleration.
yacc float m/s/s Y acceleration.
zacc float m/s/s Z acceleration.
xgyro float rad/s Angular speed around X axis.
ygyro float rad/s Angular speed around Y axis.
zgyro float rad/s Angular speed around Z axis.
lat int32_t degE7 Latitude.
lng int32_t degE7 Longitude.

HWSTATUS ( #165 )

Status of key hardware.

Field Name Type Units Description
Vcc uint16_t mV Board voltage.
I2Cerr uint8_t I2C error count.

RADIO ( #166 )

Status generated by radio.

Field Name Type Units Description
rssi uint8_t Local signal strength.
remrssi uint8_t Remote signal strength.
txbuf uint8_t % How full the tx buffer is.
noise uint8_t Background noise level.
remnoise uint8_t Remote background noise level.
rxerrors uint16_t Receive errors.
fixed uint16_t Count of error corrected packets.

LIMITS_STATUS ( #167 )

Status of AP_Limits. Sent in extended status stream when AP_Limits is enabled.

Field Name Type Units Values Description
limits_state uint8_t LIMITS_STATE State of AP_Limits.
last_trigger uint32_t ms Time (since boot) of last breach.
last_action uint32_t ms Time (since boot) of last recovery action.
last_recovery uint32_t ms Time (since boot) of last successful recovery.
last_clear uint32_t ms Time (since boot) of last all-clear.
breach_count uint16_t Number of fence breaches.
mods_enabled uint8_t LIMIT_MODULE AP_Limit_Module bitfield of enabled modules.
mods_required uint8_t LIMIT_MODULE AP_Limit_Module bitfield of required modules.
mods_triggered uint8_t LIMIT_MODULE AP_Limit_Module bitfield of triggered modules.

WIND ( #168 )

Wind estimation.

Field Name Type Units Description
direction float deg Wind direction (that wind is coming from).
speed float m/s Wind speed in ground plane.
speed_z float m/s Vertical wind speed.

DATA16 ( #169 )

Data packet, size 16.

Field Name Type Units Description
type uint8_t Data type.
len uint8_t bytes Data length.
data uint8_t[16] Raw data.

DATA32 ( #170 )

Data packet, size 32.

Field Name Type Units Description
type uint8_t Data type.
len uint8_t bytes Data length.
data uint8_t[32] Raw data.

DATA64 ( #171 )

Data packet, size 64.

Field Name Type Units Description
type uint8_t Data type.
len uint8_t bytes Data length.
data uint8_t[64] Raw data.

DATA96 ( #172 )

Data packet, size 96.

Field Name Type Units Description
type uint8_t Data type.
len uint8_t bytes Data length.
data uint8_t[96] Raw data.

RANGEFINDER ( #173 )

Rangefinder reporting.

Field Name Type Units Description
distance float m Distance.
voltage float V Raw voltage if available, zero otherwise.

AIRSPEED_AUTOCAL ( #174 )

Airspeed auto-calibration.

Field Name Type Units Description
vx float m/s GPS velocity north.
vy float m/s GPS velocity east.
vz float m/s GPS velocity down.
diff_pressure float Pa Differential pressure.
EAS2TAS float Estimated to true airspeed ratio.
ratio float Airspeed ratio.
state_x float EKF state x.
state_y float EKF state y.
state_z float EKF state z.
Pax float EKF Pax.
Pby float EKF Pby.
Pcz float EKF Pcz.

RALLY_POINT ( #175 )

A rally point. Used to set a point when from GCS -> MAV. Also used to return a point from MAV -> GCS.

Field Name Type Units Values Description
target_system uint8_t System ID.
target_component uint8_t Component ID.
idx uint8_t Point index (first point is 0).
count uint8_t Total number of points (for sanity checking).
lat int32_t degE7 Latitude of point.
lng int32_t degE7 Longitude of point.
alt int16_t m Transit / loiter altitude relative to home.
break_alt int16_t m Break altitude relative to home.
land_dir uint16_t cdeg Heading to aim for when landing.
flags uint8_t RALLY_FLAGS Configuration flags.

RALLY_FETCH_POINT ( #176 )

Request a current rally point from MAV. MAV should respond with a RALLY_POINT message. MAV should not respond if the request is invalid.

Field Name Type Description
target_system uint8_t System ID.
target_component uint8_t Component ID.
idx uint8_t Point index (first point is 0).

COMPASSMOT_STATUS ( #177 )

Status of compassmot calibration.

Field Name Type Units Description
throttle uint16_t d% Throttle.
current float A Current.
interference uint16_t % Interference.
CompensationX float Motor Compensation X.
CompensationY float Motor Compensation Y.
CompensationZ float Motor Compensation Z.

AHRS2 ( #178 )

Status of secondary AHRS filter if available.

Field Name Type Units Description
roll float rad Roll angle.
pitch float rad Pitch angle.
yaw float rad Yaw angle.
altitude float m Altitude (MSL).
lat int32_t degE7 Latitude.
lng int32_t degE7 Longitude.

CAMERA_STATUS ( #179 )

Camera Event.

Field Name Type Units Values Description
time_usec uint64_t us Image timestamp (since UNIX epoch, according to camera clock).
target_system uint8_t System ID.
cam_idx uint8_t Camera ID.
img_idx uint16_t Image index.
event_id uint8_t CAMERA_STATUS_TYPES Event type.
p1 float Parameter 1 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).
p2 float Parameter 2 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).
p3 float Parameter 3 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).
p4 float Parameter 4 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).

CAMERA_FEEDBACK ( #180 )

Camera Capture Feedback.

Field Name Type Units Values Description
time_usec uint64_t us Image timestamp (since UNIX epoch), as passed in by CAMERA_STATUS message (or autopilot if no CCB).
target_system uint8_t System ID.
cam_idx uint8_t Camera ID.
img_idx uint16_t Image index.
lat int32_t degE7 Latitude.
lng int32_t degE7 Longitude.
alt_msl float m Altitude (MSL).
alt_rel float m Altitude (Relative to HOME location).
roll float deg Camera Roll angle (earth frame, +-180).
pitch float deg Camera Pitch angle (earth frame, +-180).
yaw float deg Camera Yaw (earth frame, 0-360, true).
foc_len float mm Focal Length.
flags uint8_t CAMERA_FEEDBACK_FLAGS Feedback flags.
completed_captures ** uint16_t Completed image captures.

BATTERY2 ( #181 )

DEPRECATED: Replaced by BATTERY_STATUS (2017-04).

2nd Battery status

Field Name Type Units Description
voltage uint16_t mV Voltage.
current_battery int16_t cA Battery current, -1: autopilot does not measure the current.

AHRS3 ( #182 )

Status of third AHRS filter if available. This is for ANU research group (Ali and Sean).

Field Name Type Units Description
roll float rad Roll angle.
pitch float rad Pitch angle.
yaw float rad Yaw angle.
altitude float m Altitude (MSL).
lat int32_t degE7 Latitude.
lng int32_t degE7 Longitude.
v1 float Test variable1.
v2 float Test variable2.
v3 float Test variable3.
v4 float Test variable4.

AUTOPILOT_VERSION_REQUEST ( #183 )

Request the autopilot version from the system/component.

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

REMOTE_LOG_DATA_BLOCK ( #184 )

Send a block of log data to remote location.

Field Name Type Values Description
target_system uint8_t System ID.
target_component uint8_t Component ID.
seqno uint32_t MAV_REMOTE_LOG_DATA_BLOCK_COMMANDS Log data block sequence number.
data uint8_t[200] Log data block.

REMOTE_LOG_BLOCK_STATUS ( #185 )

Send Status of each log block that autopilot board might have sent.

Field Name Type Values Description
target_system uint8_t System ID.
target_component uint8_t Component ID.
seqno uint32_t Log data block sequence number.
status uint8_t MAV_REMOTE_LOG_DATA_BLOCK_STATUSES Log data block status.

LED_CONTROL ( #186 )

Control vehicle LEDs.

Field Name Type Description
target_system uint8_t System ID.
target_component uint8_t Component ID.
instance uint8_t Instance (LED instance to control or 255 for all LEDs).
pattern uint8_t Pattern (see LED_PATTERN_ENUM).
custom_len uint8_t Custom Byte Length.
custom_bytes uint8_t[24] Custom Bytes.

MAG_CAL_PROGRESS ( #191 )

Reports progress of compass calibration.

Field Name Type Units Values Description
compass_id uint8_t Compass being calibrated.
cal_mask uint8_t Bitmask of compasses being calibrated.
cal_status uint8_t MAG_CAL_STATUS Calibration Status.
attempt uint8_t Attempt number.
completion_pct uint8_t % Completion percentage.
completion_mask uint8_t[10] Bitmask of sphere sections (see http://en.wikipedia.org/wiki/Geodesic_grid).
direction_x float Body frame direction vector for display.
direction_y float Body frame direction vector for display.
direction_z float Body frame direction vector for display.

MAG_CAL_REPORT ( #192 )

Reports results of completed compass calibration. Sent until MAG_CAL_ACK received.

Field Name Type Units Values Description
compass_id uint8_t Compass being calibrated.
cal_mask uint8_t Bitmask of compasses being calibrated.
cal_status uint8_t MAG_CAL_STATUS Calibration Status.
autosaved uint8_t 0=requires a MAV_CMD_DO_ACCEPT_MAG_CAL, 1=saved to parameters.
fitness float mgauss RMS milligauss residuals.
ofs_x float X offset.
ofs_y float Y offset.
ofs_z float Z offset.
diag_x float X diagonal (matrix 11).
diag_y float Y diagonal (matrix 22).
diag_z float Z diagonal (matrix 33).
offdiag_x float X off-diagonal (matrix 12 and 21).
offdiag_y float Y off-diagonal (matrix 13 and 31).
offdiag_z float Z off-diagonal (matrix 32 and 23).
orientation_confidence ** float Confidence in orientation (higher is better).
old_orientation ** uint8_t MAV_SENSOR_ORIENTATION orientation before calibration.
new_orientation ** uint8_t MAV_SENSOR_ORIENTATION orientation after calibration.

EKF_STATUS_REPORT ( #193 )

EKF Status message including flags and variances.

Field Name Type Values Description
flags uint16_t EKF_STATUS_FLAGS Flags.
velocity_variance float Velocity variance.
pos_horiz_variance float Horizontal Position variance.
pos_vert_variance float Vertical Position variance.
compass_variance float Compass variance.
terrain_alt_variance float Terrain Altitude variance.
airspeed_variance ** float Airspeed variance.

PID_TUNING ( #194 )

PID tuning information.

Field Name Type Units Values Description
axis uint8_t PID_TUNING_AXIS Axis.
desired float deg/s Desired rate.
achieved float deg/s Achieved rate.
FF float FF component.
P float P component.
I float I component.
D float D component.

DEEPSTALL ( #195 )

Deepstall path planning.

Field Name Type Units Values Description
landing_lat int32_t degE7 Landing latitude.
landing_lon int32_t degE7 Landing longitude.
path_lat int32_t degE7 Final heading start point, latitude.
path_lon int32_t degE7 Final heading start point, longitude.
arc_entry_lat int32_t degE7 Arc entry point, latitude.
arc_entry_lon int32_t degE7 Arc entry point, longitude.
altitude float m Altitude.
expected_travel_distance float m Distance the aircraft expects to travel during the deepstall.
cross_track_error float m Deepstall cross track error (only valid when in DEEPSTALL_STAGE_LAND).
stage uint8_t DEEPSTALL_STAGE Deepstall stage.

GIMBAL_REPORT ( #200 )

3 axis gimbal measurements.

Field Name Type Units Description
target_system uint8_t System ID.
target_component uint8_t Component ID.
delta_time float s Time since last update.
delta_angle_x float rad Delta angle X.
delta_angle_y float rad Delta angle Y.
delta_angle_z float rad Delta angle X.
delta_velocity_x float m/s Delta velocity X.
delta_velocity_y float m/s Delta velocity Y.
delta_velocity_z float m/s Delta velocity Z.
joint_roll float rad Joint ROLL.
joint_el float rad Joint EL.
joint_az float rad Joint AZ.

GIMBAL_CONTROL ( #201 )

Control message for rate gimbal.

Field Name Type Units Description
target_system uint8_t System ID.
target_component uint8_t Component ID.
demanded_rate_x float rad/s Demanded angular rate X.
demanded_rate_y float rad/s Demanded angular rate Y.
demanded_rate_z float rad/s Demanded angular rate Z.

GIMBAL_TORQUE_CMD_REPORT ( #214 )

100 Hz gimbal torque command telemetry.

Field Name Type Description
target_system uint8_t System ID.
target_component uint8_t Component ID.
rl_torque_cmd int16_t Roll Torque Command.
el_torque_cmd int16_t Elevation Torque Command.
az_torque_cmd int16_t Azimuth Torque Command.

GOPRO_HEARTBEAT ( #215 )

Heartbeat from a HeroBus attached GoPro.

Field Name Type Values Description
status uint8_t GOPRO_HEARTBEAT_STATUS Status.
capture_mode uint8_t GOPRO_CAPTURE_MODE Current capture mode.
flags uint8_t GOPRO_HEARTBEAT_FLAGS Additional status bits.

GOPRO_GET_REQUEST ( #216 )

Request a GOPRO_COMMAND response from the GoPro.

Field Name Type Values Description
target_system uint8_t System ID.
target_component uint8_t Component ID.
cmd_id uint8_t GOPRO_COMMAND Command ID.

GOPRO_GET_RESPONSE ( #217 )

Response from a GOPRO_COMMAND get request.

Field Name Type Values Description
cmd_id uint8_t GOPRO_COMMAND Command ID.
status uint8_t GOPRO_REQUEST_STATUS Status.
value uint8_t[4] Value.

GOPRO_SET_REQUEST ( #218 )

Request to set a GOPRO_COMMAND with a desired.

Field Name Type Values Description
target_system uint8_t System ID.
target_component uint8_t Component ID.
cmd_id uint8_t GOPRO_COMMAND Command ID.
value uint8_t[4] Value.

GOPRO_SET_RESPONSE ( #219 )

Response from a GOPRO_COMMAND set request.

Field Name Type Values Description
cmd_id uint8_t GOPRO_COMMAND Command ID.
status uint8_t GOPRO_REQUEST_STATUS Status.

RPM ( #226 )

RPM sensor output.

Field Name Type Description
rpm1 float RPM Sensor1.
rpm2 float RPM Sensor2.

DEVICE_OP_READ ( #11000 )

(MAVLink 2) Read registers for a device.

Field Name Type Values Description
target_system uint8_t System ID.
target_component uint8_t Component ID.
request_id uint32_t Request ID - copied to reply.
bustype uint8_t DEVICE_OP_BUSTYPE The bus type.
bus uint8_t Bus number.
address uint8_t Bus address.
busname char[40] Name of device on bus (for SPI).
regstart uint8_t First register to read.
count uint8_t Count of registers to read.

DEVICE_OP_READ_REPLY ( #11001 )

(MAVLink 2) Read registers reply.

Field Name Type Description
request_id uint32_t Request ID - copied from request.
result uint8_t 0 for success, anything else is failure code.
regstart uint8_t Starting register.
count uint8_t Count of bytes read.
data uint8_t[128] Reply data.

DEVICE_OP_WRITE ( #11002 )

(MAVLink 2) Write registers for a device.

Field Name Type Values Description
target_system uint8_t System ID.
target_component uint8_t Component ID.
request_id uint32_t Request ID - copied to reply.
bustype uint8_t DEVICE_OP_BUSTYPE The bus type.
bus uint8_t Bus number.
address uint8_t Bus address.
busname char[40] Name of device on bus (for SPI).
regstart uint8_t First register to write.
count uint8_t Count of registers to write.
data uint8_t[128] Write data.

DEVICE_OP_WRITE_REPLY ( #11003 )

(MAVLink 2) Write registers reply.

Field Name Type Description
request_id uint32_t Request ID - copied from request.
result uint8_t 0 for success, anything else is failure code.

ADAP_TUNING ( #11010 )

(MAVLink 2) Adaptive Controller tuning information.

Field Name Type Units Values Description
axis uint8_t PID_TUNING_AXIS Axis.
desired float deg/s Desired rate.
achieved float deg/s Achieved rate.
error float Error between model and vehicle.
theta float Theta estimated state predictor.
omega float Omega estimated state predictor.
sigma float Sigma estimated state predictor.
theta_dot float Theta derivative.
omega_dot float Omega derivative.
sigma_dot float Sigma derivative.
f float Projection operator value.
f_dot float Projection operator derivative.
u float u adaptive controlled output command.

VISION_POSITION_DELTA ( #11011 )

(MAVLink 2) Camera vision based attitude and position deltas.

Field Name Type Units Description
time_usec uint64_t us Timestamp (synced to UNIX time or since system boot).
time_delta_usec uint64_t us Time since the last reported camera frame.
angle_delta float[3] Defines a rotation vector in body frame that rotates the vehicle from the previous to the current orientation.
position_delta float[3] m Change in position from previous to current frame rotated into body frame (0=forward, 1=right, 2=down).
confidence float % Normalised confidence value from 0 to 100.

AOA_SSA ( #11020 )

(MAVLink 2) Angle of Attack and Side Slip Angle.

Field Name Type Units Description
time_usec uint64_t us Timestamp (since boot or Unix epoch).
AOA float deg Angle of Attack.
SSA float deg Side Slip Angle.

ESC_TELEMETRY_1_TO_4 ( #11030 )

(MAVLink 2) ESC Telemetry Data for ESCs 1 to 4, matching data sent by BLHeli ESCs.

Field Name Type Units Description
temperature uint8_t[4] degC Temperature.
voltage uint16_t[4] cV Voltage.
current uint16_t[4] cA Current.
totalcurrent uint16_t[4] mAh Total current.
rpm uint16_t[4] rpm RPM (eRPM).
count uint16_t[4] count of telemetry packets received (wraps at 65535).

ESC_TELEMETRY_5_TO_8 ( #11031 )

(MAVLink 2) ESC Telemetry Data for ESCs 5 to 8, matching data sent by BLHeli ESCs.

Field Name Type Units Description
temperature uint8_t[4] degC Temperature.
voltage uint16_t[4] cV Voltage.
current uint16_t[4] cA Current.
totalcurrent uint16_t[4] mAh Total current.
rpm uint16_t[4] rpm RPM (eRPM).
count uint16_t[4] count of telemetry packets received (wraps at 65535).

ESC_TELEMETRY_9_TO_12 ( #11032 )

(MAVLink 2) ESC Telemetry Data for ESCs 9 to 12, matching data sent by BLHeli ESCs.

Field Name Type Units Description
temperature uint8_t[4] degC Temperature.
voltage uint16_t[4] cV Voltage.
current uint16_t[4] cA Current.
totalcurrent uint16_t[4] mAh Total current.
rpm uint16_t[4] rpm RPM (eRPM).
count uint16_t[4] count of telemetry packets received (wraps at 65535).