MAVLink Include Files: common.xml

## MAVLink Type Enumerations

### GSM_LINK_TYPE

[Enum]

Value | Field Name | Description
--- | --- | ---
0 | GSM_LINK_TYPE_NONE | no service
1 | GSM_LINK_TYPE_UNKNOWN | link type unknown
2 | GSM_LINK_TYPE_2G | 2G (GSM/GRPS/EDGE) link
3 | GSM_LINK_TYPE_3G | 3G link (WCDMA/HSDPA/HSPA)
4 | GSM_LINK_TYPE_4G | 4G link (LTE)

### GSM_MODEM_TYPE

[Enum]

Value | Field Name | Description
--- | --- | ---
0 | GSM_MODEM_TYPE_UNKNOWN | not specified
1 | GSM_MODEM_TYPE_HUAWEI_E3372 | HUAWEI LTE USB Stick E3372

## 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_RESET_MPPT (40001 )

[Command] Mission command to reset Maximum Power Point Tracker (MPPT)

Param (:Label) | Description
--- | ---
1 | MPPT number
2 | Empty
3 | Empty
4 | Empty
5 | Empty
6 | Empty
7 | Empty

### MAV_CMD_PAYLOAD_CONTROL (40002 )

[Command] Mission command to perform a power cycle on payload

Param (:Label) | Description
--- | ---
1 | Complete power cycle
2 | VISensor power cycle
3 | Empty
4 | Empty
5 | Empty
6 | Empty
7 | Empty

## MAVLink Messages

### COMMAND_INT_STAMPED ( #223 )

[Message] Message encoding a command with parameters as scaled integers and additional metadata. Scaling depends on the actual command value.

Field Name | Type | Values | Description
--- | --- | --- | ---
utc_time | uint32_t |  | UTC time, seconds elapsed since 01.01.1970
vehicle_timestamp | uint64_t |  | Microseconds elapsed since vehicle boot
target_system | uint8_t |  | System ID
target_component | uint8_t |  | Component ID
frame | uint8_t | MAV_FRAME | The coordinate system of the COMMAND, as defined by MAV_FRAME enum
command | uint16_t | MAV_CMD | The scheduled action for the mission item, as defined by MAV_CMD enum
current | uint8_t |  | false:0, true:1
autocontinue | uint8_t |  | autocontinue to next wp
param1 | float |  | PARAM1, see MAV_CMD enum
param2 | float |  | PARAM2, see MAV_CMD enum
param3 | float |  | PARAM3, see MAV_CMD enum
param4 | float |  | PARAM4, see MAV_CMD enum
x | int32_t |  | PARAM5 / local: x position in meters * 1e4, global: latitude in degrees * 10^7
y | int32_t |  | PARAM6 / local: y position in meters * 1e4, global: longitude in degrees * 10^7
z | float |  | PARAM7 / z position: global: altitude in meters (MSL, WGS84, AGL or relative to home - depending on frame).

### COMMAND_LONG_STAMPED ( #224 )

[Message] Send a command with up to seven parameters to the MAV and additional metadata

Field Name | Type | Values | Description
--- | --- | --- | ---
utc_time | uint32_t |  | UTC time, seconds elapsed since 01.01.1970
vehicle_timestamp | uint64_t |  | Microseconds elapsed since vehicle boot
target_system | uint8_t |  | System which should execute the command
target_component | uint8_t |  | Component which should execute the command, 0 for all components
command | uint16_t | MAV_CMD | Command ID, as defined by MAV_CMD enum.
confirmation | uint8_t |  | 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
param1 | float |  | Parameter 1, as defined by MAV_CMD enum.
param2 | float |  | Parameter 2, as defined by MAV_CMD enum.
param3 | float |  | Parameter 3, as defined by MAV_CMD enum.
param4 | float |  | Parameter 4, as defined by MAV_CMD enum.
param5 | float |  | Parameter 5, as defined by MAV_CMD enum.
param6 | float |  | Parameter 6, as defined by MAV_CMD enum.
param7 | float |  | Parameter 7, as defined by MAV_CMD enum.

### SENS_POWER ( #8002 )

[Message] (MAVLink 2) Voltage and current sensor data

Field Name | Type | Units | Description
--- | --- | --- | ---
adc121_vspb_volt | float | V | Power board voltage sensor reading
adc121_cspb_amp | float | A | Power board current sensor reading
adc121_cs1_amp | float | A | Board current sensor 1 reading
adc121_cs2_amp | float | A | Board current sensor 2 reading

### SENS_MPPT ( #8003 )

[Message] (MAVLink 2) Maximum Power Point Tracker (MPPT) sensor data for solar module power performance tracking

Field Name | Type | Units | Description
--- | --- | --- | ---
mppt_timestamp | uint64_t | us | MPPT last timestamp
mppt1_volt | float | V | MPPT1 voltage
mppt1_amp | float | A | MPPT1 current
mppt1_pwm | uint16_t | us | MPPT1 pwm
mppt1_status | uint8_t |  | MPPT1 status
mppt2_volt | float | V | MPPT2 voltage
mppt2_amp | float | A | MPPT2 current
mppt2_pwm | uint16_t | us | MPPT2 pwm
mppt2_status | uint8_t |  | MPPT2 status
mppt3_volt | float | V | MPPT3 voltage
mppt3_amp | float | A | MPPT3 current
mppt3_pwm | uint16_t | us | MPPT3 pwm
mppt3_status | uint8_t |  | MPPT3 status

### ASLCTRL_DATA ( #8004 )

[Message] (MAVLink 2) ASL-fixed-wing controller data

Field Name | Type | Units | Description
--- | --- | --- | ---
timestamp | uint64_t | us | Timestamp
aslctrl_mode | uint8_t |  | ASLCTRL control-mode (manual, stabilized, auto, etc...)
h | float |  | See sourcecode for a description of these values...
hRef | float |  |
hRef_t | float |  |
PitchAngle | float | deg | Pitch angle
PitchAngleRef | float | deg | Pitch angle reference
q | float |  |
qRef | float |  |
uElev | float |  |
uThrot | float |  |
uThrot2 | float |  |
nZ | float |  |
AirspeedRef | float | m/s | Airspeed reference
SpoilersEngaged | uint8_t |  |
YawAngle | float | deg | Yaw angle
YawAngleRef | float | deg | Yaw angle reference
RollAngle | float | deg | Roll angle
RollAngleRef | float | deg | Roll angle reference
p | float |  |
pRef | float |  |
r | float |  |
rRef | float |  |
uAil | float |  |
uRud | float |  |

### ASLCTRL_DEBUG ( #8005 )

[Message] (MAVLink 2) ASL-fixed-wing controller debug data

Field Name | Type | Description
--- | --- | ---
i32_1 | uint32_t | Debug data
i8_1 | uint8_t | Debug data
i8_2 | uint8_t | Debug data
f_1 | float | Debug data
f_2 | float | Debug data
f_3 | float | Debug data
f_4 | float | Debug data
f_5 | float | Debug data
f_6 | float | Debug data
f_7 | float | Debug data
f_8 | float | Debug data

### ASLUAV_STATUS ( #8006 )

[Message] (MAVLink 2) Extended state information for ASLUAVs

Field Name | Type | Description
--- | --- | ---
LED_status | uint8_t | Status of the position-indicator LEDs
SATCOM_status | uint8_t | Status of the IRIDIUM satellite communication system
Servo_status | uint8_t[8] | Status vector for up to 8 servos
Motor_rpm | float | Motor RPM

### EKF_EXT ( #8007 )

[Message] (MAVLink 2) Extended EKF state estimates for ASLUAVs

Field Name | Type | Units | Description
--- | --- | --- | ---
timestamp | uint64_t | us | Time since system start
Windspeed | float | m/s | Magnitude of wind velocity (in lateral inertial plane)
WindDir | float | rad | Wind heading angle from North
WindZ | float | m/s | Z (Down) component of inertial wind velocity
Airspeed | float | m/s | Magnitude of air velocity
beta | float | rad | Sideslip angle
alpha | float | rad | Angle of attack

### ASL_OBCTRL ( #8008 )

[Message] (MAVLink 2) Off-board controls/commands for ASLUAVs

Field Name | Type | Units | Description
--- | --- | --- | ---
timestamp | uint64_t | us | Time since system start
uElev | float |  | Elevator command [~]
uThrot | float |  | Throttle command [~]
uThrot2 | float |  | Throttle 2 command [~]
uAilL | float |  | Left aileron command [~]
uAilR | float |  | Right aileron command [~]
uRud | float |  | Rudder command [~]
obctrl_status | uint8_t |  | Off-board computer status

### SENS_ATMOS ( #8009 )

[Message] (MAVLink 2) Atmospheric sensors (temperature, humidity, ...)

Field Name | Type | Units | Description
--- | --- | --- | ---
timestamp | uint64_t | us | Time since system boot
TempAmbient | float | degC | Ambient temperature
Humidity | float | % | Relative humidity

### SENS_BATMON ( #8010 )

[Message] (MAVLink 2) Battery pack monitoring data for Li-Ion batteries

Field Name | Type | Units | Description
--- | --- | --- | ---
batmon_timestamp | uint64_t | us | Time since system start
temperature | float | degC | Battery pack temperature
voltage | uint16_t | mV | Battery pack voltage
current | int16_t | mA | Battery pack current
SoC | uint8_t |  | Battery pack state-of-charge
batterystatus | uint16_t |  | Battery monitor status report bits in Hex
serialnumber | uint16_t |  | Battery monitor serial number in Hex
safetystatus | uint32_t |  | Battery monitor safetystatus report bits in Hex
operationstatus | uint32_t |  | Battery monitor operation status report bits in Hex
cellvoltage1 | uint16_t | mV | Battery pack cell 1 voltage
cellvoltage2 | uint16_t | mV | Battery pack cell 2 voltage
cellvoltage3 | uint16_t | mV | Battery pack cell 3 voltage
cellvoltage4 | uint16_t | mV | Battery pack cell 4 voltage
cellvoltage5 | uint16_t | mV | Battery pack cell 5 voltage
cellvoltage6 | uint16_t | mV | Battery pack cell 6 voltage

### FW_SOARING_DATA ( #8011 )

[Message] (MAVLink 2) Fixed-wing soaring (i.e. thermal seeking) data

Field Name | Type | Units | Description
--- | --- | --- | ---
timestamp | uint64_t | ms | Timestamp
timestampModeChanged | uint64_t | ms | Timestamp since last mode change
xW | float | m/s | Thermal core updraft strength
xR | float | m | Thermal radius
xLat | float | deg | Thermal center latitude
xLon | float | deg | Thermal center longitude
VarW | float |  | Variance W
VarR | float |  | Variance R
VarLat | float |  | Variance Lat
VarLon | float |  | Variance Lon
LoiterRadius | float | m | Suggested loiter radius
LoiterDirection | float |  | Suggested loiter direction
DistToSoarPoint | float | m | Distance to soar point
vSinkExp | float | m/s | Expected sink rate at current airspeed, roll and throttle
z1_LocalUpdraftSpeed | float | m/s | Measurement / updraft speed at current/local airplane position
z2_DeltaRoll | float | deg | Measurement / roll angle tracking error
z1_exp | float |  | Expected measurement 1
z2_exp | float |  | Expected measurement 2
ThermalGSNorth | float | m/s | Thermal drift (from estimator prediction step only)
ThermalGSEast | float | m/s | Thermal drift (from estimator prediction step only)
TSE_dot | float | m/s | Total specific energy change (filtered)
DebugVar1 | float |  | Debug variable 1
DebugVar2 | float |  | Debug variable 2
ControlMode | uint8_t |  | Control Mode [-]
valid | uint8_t |  | Data valid [-]

### SENSORPOD_STATUS ( #8012 )

[Message] (MAVLink 2) Monitoring of sensorpod status

Field Name | Type | Units | Description
--- | --- | --- | ---
timestamp | uint64_t | ms | Timestamp in linuxtime (since 1.1.1970)
visensor_rate_1 | uint8_t |  | Rate of ROS topic 1
visensor_rate_2 | uint8_t |  | Rate of ROS topic 2
visensor_rate_3 | uint8_t |  | Rate of ROS topic 3
visensor_rate_4 | uint8_t |  | Rate of ROS topic 4
recording_nodes_count | uint8_t |  | Number of recording nodes
cpu_temp | uint8_t | degC | Temperature of sensorpod CPU in
free_space | uint16_t |  | Free space available in recordings directory in [Gb] * 1e2

### SENS_POWER_BOARD ( #8013 )

[Message] (MAVLink 2) Monitoring of power board status

Field Name | Type | Units | Description
--- | --- | --- | ---
timestamp | uint64_t | us | Timestamp
pwr_brd_status | uint8_t |  | Power board status register
pwr_brd_led_status | uint8_t |  | Power board leds status
pwr_brd_system_volt | float | V | Power board system voltage
pwr_brd_servo_volt | float | V | Power board servo voltage
pwr_brd_digital_volt | float | V | Power board digital voltage
pwr_brd_mot_l_amp | float | A | Power board left motor current sensor
pwr_brd_mot_r_amp | float | A | Power board right motor current sensor
pwr_brd_analog_amp | float | A | Power board analog current sensor
pwr_brd_digital_amp | float | A | Power board digital current sensor
pwr_brd_ext_amp | float | A | Power board extension current sensor
pwr_brd_aux_amp | float | A | Power board aux current sensor

### GSM_LINK_STATUS ( #8014 )

[Message] (MAVLink 2) Status of GSM modem (connected to onboard computer)

Field Name | Type | Units | Values | Description
--- | --- | --- | --- | ---
timestamp | uint64_t | us |  | Timestamp (of OBC)
gsm_modem_type | uint8_t |  | GSM_MODEM_TYPE | GSM modem used
gsm_link_type | uint8_t |  | GSM_LINK_TYPE | GSM link type
rssi | uint8_t |  |  | RSSI as reported by modem (unconverted)
rsrp_rscp | uint8_t |  |  | RSRP (LTE) or RSCP (WCDMA) as reported by modem (unconverted)
sinr_ecio | uint8_t |  |  | SINR (LTE) or ECIO (WCDMA) as reported by modem (unconverted)
rsrq | uint8_t |  |  | RSRQ (LTE only) as reported by modem (unconverted)

### SATCOM_LINK_STATUS ( #8015 )

[Message] (MAVLink 2) Status of the SatCom link

Field Name | Type | Units | Description
--- | --- | --- | ---
timestamp | uint64_t | us | Timestamp
last_heartbeat | uint64_t | us | Timestamp of the last successful sbd session
failed_sessions | uint16_t |  | Number of failed sessions
successful_sessions | uint16_t |  | Number of successful sessions
signal_quality | uint8_t |  | Signal quality
ring_pending | uint8_t |  | Ring call pending
tx_session_pending | uint8_t |  | Transmission session pending
rx_session_pending | uint8_t |  | Receiving session pending

### SENSOR_AIRFLOW_ANGLES ( #8016 )

[Message] (MAVLink 2) Calibrated airflow angle measurements

Field Name | Type | Units | Description
--- | --- | --- | ---
timestamp | uint64_t | us | Timestamp
angleofattack | float | deg | Angle of attack
angleofattack_valid | uint8_t |  | Angle of attack measurement valid
sideslip | float | deg | Sideslip angle
sideslip_valid | uint8_t |  | Sideslip angle measurement valid