The current MAVLink version is 2.3. The minor version numbers (after the dot) range from 1-255.
This file has protocol dialect: 0.
Micro air vehicle / autopilot classes. This identifies the individual model.
| Value | Field Name | Description |
|---|---|---|
| 0 | MAV_AUTOPILOT_GENERIC | Generic autopilot, full support for everything |
| 1 | MAV_AUTOPILOT_RESERVED | Reserved for future use. |
| 2 | MAV_AUTOPILOT_SLUGS | SLUGS autopilot, http://slugsuav.soe.ucsc.edu |
| 3 | MAV_AUTOPILOT_ARDUPILOTMEGA | ArduPilot - Plane/Copter/Rover/Sub/Tracker, http://ardupilot.org |
| 4 | MAV_AUTOPILOT_OPENPILOT | OpenPilot, http://openpilot.org |
| 5 | MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLY | Generic autopilot only supporting simple waypoints |
| 6 | MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLY | Generic autopilot supporting waypoints and other simple navigation commands |
| 7 | MAV_AUTOPILOT_GENERIC_MISSION_FULL | Generic autopilot supporting the full mission command set |
| 8 | MAV_AUTOPILOT_INVALID | No valid autopilot, e.g. a GCS or other MAVLink component |
| 9 | MAV_AUTOPILOT_PPZ | PPZ UAV - http://nongnu.org/paparazzi |
| 10 | MAV_AUTOPILOT_UDB | UAV Dev Board |
| 11 | MAV_AUTOPILOT_FP | FlexiPilot |
| 12 | MAV_AUTOPILOT_PX4 | PX4 Autopilot - http://px4.io/ |
| 13 | MAV_AUTOPILOT_SMACCMPILOT | SMACCMPilot - http://smaccmpilot.org |
| 14 | MAV_AUTOPILOT_AUTOQUAD | AutoQuad -- http://autoquad.org |
| 15 | MAV_AUTOPILOT_ARMAZILA | Armazila -- http://armazila.com |
| 16 | MAV_AUTOPILOT_AEROB | Aerob -- http://aerob.ru |
| 17 | MAV_AUTOPILOT_ASLUAV | ASLUAV autopilot -- http://www.asl.ethz.ch |
| 18 | MAV_AUTOPILOT_SMARTAP | SmartAP Autopilot - http://sky-drones.com |
| 19 | MAV_AUTOPILOT_AIRRAILS | AirRails - http://uaventure.com |
MAVLINK system type. All components in a system should report this type in their HEARTBEAT.
| Value | Field Name | Description |
|---|---|---|
| 0 | MAV_TYPE_GENERIC | Generic micro air vehicle. |
| 1 | MAV_TYPE_FIXED_WING | Fixed wing aircraft. |
| 2 | MAV_TYPE_QUADROTOR | Quadrotor |
| 3 | MAV_TYPE_COAXIAL | Coaxial helicopter |
| 4 | MAV_TYPE_HELICOPTER | Normal helicopter with tail rotor. |
| 5 | MAV_TYPE_ANTENNA_TRACKER | Ground installation |
| 6 | MAV_TYPE_GCS | Operator control unit / ground control station |
| 7 | MAV_TYPE_AIRSHIP | Airship, controlled |
| 8 | MAV_TYPE_FREE_BALLOON | Free balloon, uncontrolled |
| 9 | MAV_TYPE_ROCKET | Rocket |
| 10 | MAV_TYPE_GROUND_ROVER | Ground rover |
| 11 | MAV_TYPE_SURFACE_BOAT | Surface vessel, boat, ship |
| 12 | MAV_TYPE_SUBMARINE | Submarine |
| 13 | MAV_TYPE_HEXAROTOR | Hexarotor |
| 14 | MAV_TYPE_OCTOROTOR | Octorotor |
| 15 | MAV_TYPE_TRICOPTER | Tricopter |
| 16 | MAV_TYPE_FLAPPING_WING | Flapping wing |
| 17 | MAV_TYPE_KITE | Kite |
| 18 | MAV_TYPE_ONBOARD_CONTROLLER | Onboard companion controller |
| 19 | MAV_TYPE_VTOL_DUOROTOR | Two-rotor VTOL using control surfaces in vertical operation in addition. Tailsitter. |
| 20 | MAV_TYPE_VTOL_QUADROTOR | Quad-rotor VTOL using a V-shaped quad config in vertical operation. Tailsitter. |
| 21 | MAV_TYPE_VTOL_TILTROTOR | Tiltrotor VTOL |
| 22 | MAV_TYPE_VTOL_RESERVED2 | VTOL reserved 2 |
| 23 | MAV_TYPE_VTOL_RESERVED3 | VTOL reserved 3 |
| 24 | MAV_TYPE_VTOL_RESERVED4 | VTOL reserved 4 |
| 25 | MAV_TYPE_VTOL_RESERVED5 | VTOL reserved 5 |
| 26 | MAV_TYPE_GIMBAL | Onboard gimbal |
| 27 | MAV_TYPE_ADSB | ADSB system (standalone) |
| 28 | MAV_TYPE_PARAFOIL | Steerable, nonrigid airfoil |
| 29 | MAV_TYPE_DODECAROTOR | Dodecarotor |
| 30 | MAV_TYPE_CAMERA | Camera (standalone) |
| 31 | MAV_TYPE_CHARGING_STATION | Charging station |
| 32 | MAV_TYPE_FLARM | FLARM collision avoidance system (standalone) |
These values define the type of firmware release. These values indicate the first version or release of this type. For example the first alpha release would be 64, the second would be 65.
| Value | Field Name | Description |
|---|---|---|
| 0 | FIRMWARE_VERSION_TYPE_DEV | development release |
| 64 | FIRMWARE_VERSION_TYPE_ALPHA | alpha release |
| 128 | FIRMWARE_VERSION_TYPE_BETA | beta release |
| 192 | FIRMWARE_VERSION_TYPE_RC | release candidate |
| 255 | FIRMWARE_VERSION_TYPE_OFFICIAL | official stable release |
Flags to report failure cases over the high latency telemtry.
| Value | Field Name | Description |
|---|---|---|
| 1 | HL_FAILURE_FLAG_GPS | GPS failure. |
| 2 | HL_FAILURE_FLAG_DIFFERENTIAL_PRESSURE | Differential pressure sensor failure. |
| 4 | HL_FAILURE_FLAG_ABSOLUTE_PRESSURE | Absolute pressure sensor failure. |
| 8 | HL_FAILURE_FLAG_3D_ACCEL | Accelerometer sensor failure. |
| 16 | HL_FAILURE_FLAG_3D_GYRO | Gyroscope sensor failure. |
| 32 | HL_FAILURE_FLAG_3D_MAG | Magnetometer sensor failure. |
| 64 | HL_FAILURE_FLAG_TERRAIN | Terrain subsystem failure. |
| 128 | HL_FAILURE_FLAG_BATTERY | Battery failure/critical low battery. |
| 256 | HL_FAILURE_FLAG_RC_RECEIVER | RC receiver failure/no rc connection. |
| 512 | HL_FAILURE_FLAG_OFFBOARD_LINK | Offboard link failure. |
| 1024 | HL_FAILURE_FLAG_ENGINE | Engine failure. |
| 2048 | HL_FAILURE_FLAG_GEOFENCE | Geofence violation. |
| 4096 | HL_FAILURE_FLAG_ESTIMATOR | Estimator failure, for example measurement rejection or large variances. |
| 8192 | HL_FAILURE_FLAG_MISSION | Mission failure. |
These flags encode the MAV mode.
| Value | Field Name | Description |
|---|---|---|
| 128 | MAV_MODE_FLAG_SAFETY_ARMED | 0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly. Additional note: this flag is to be ignore when sent in the command MAV_CMD_DO_SET_MODE and MAV_CMD_COMPONENT_ARM_DISARM shall be used instead. The flag can still be used to report the armed state. |
| 64 | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | 0b01000000 remote control input is enabled. |
| 32 | MAV_MODE_FLAG_HIL_ENABLED | 0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational. |
| 16 | MAV_MODE_FLAG_STABILIZE_ENABLED | 0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around. |
| 8 | MAV_MODE_FLAG_GUIDED_ENABLED | 0b00001000 guided mode enabled, system flies waypoints / mission items. |
| 4 | MAV_MODE_FLAG_AUTO_ENABLED | 0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation. |
| 2 | MAV_MODE_FLAG_TEST_ENABLED | 0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations. |
| 1 | MAV_MODE_FLAG_CUSTOM_MODE_ENABLED | 0b00000001 Reserved for future use. |
These values encode the bit positions of the decode position. These values can be used to read the value of a flag bit by combining the base_mode variable with AND with the flag position value. The result will be either 0 or 1, depending on if the flag is set or not.
| Value | Field Name | Description |
|---|---|---|
| 128 | MAV_MODE_FLAG_DECODE_POSITION_SAFETY | First bit: 10000000 |
| 64 | MAV_MODE_FLAG_DECODE_POSITION_MANUAL | Second bit: 01000000 |
| 32 | MAV_MODE_FLAG_DECODE_POSITION_HIL | Third bit: 00100000 |
| 16 | MAV_MODE_FLAG_DECODE_POSITION_STABILIZE | Fourth bit: 00010000 |
| 8 | MAV_MODE_FLAG_DECODE_POSITION_GUIDED | Fifth bit: 00001000 |
| 4 | MAV_MODE_FLAG_DECODE_POSITION_AUTO | Sixt bit: 00000100 |
| 2 | MAV_MODE_FLAG_DECODE_POSITION_TEST | Seventh bit: 00000010 |
| 1 | MAV_MODE_FLAG_DECODE_POSITION_CUSTOM_MODE | Eighth bit: 00000001 |
Override command, pauses current mission execution and moves immediately to a position
| Value | Field Name | Description |
|---|---|---|
| 0 | MAV_GOTO_DO_HOLD | Hold at the current position. |
| 1 | MAV_GOTO_DO_CONTINUE | Continue with the next item in mission execution. |
| 2 | MAV_GOTO_HOLD_AT_CURRENT_POSITION | Hold at the current position of the system |
| 3 | MAV_GOTO_HOLD_AT_SPECIFIED_POSITION | Hold at the position specified in the parameters of the DO_HOLD action |
These defines are predefined OR-combined mode flags. There is no need to use values from this enum, but it simplifies the use of the mode flags. Note that manual input is enabled in all modes as a safety override.
| Value | Field Name | Description |
|---|---|---|
| 0 | MAV_MODE_PREFLIGHT | System is not ready to fly, booting, calibrating, etc. No flag is set. |
| 80 | MAV_MODE_STABILIZE_DISARMED | System is allowed to be active, under assisted RC control. |
| 208 | MAV_MODE_STABILIZE_ARMED | System is allowed to be active, under assisted RC control. |
| 64 | MAV_MODE_MANUAL_DISARMED | System is allowed to be active, under manual (RC) control, no stabilization |
| 192 | MAV_MODE_MANUAL_ARMED | System is allowed to be active, under manual (RC) control, no stabilization |
| 88 | MAV_MODE_GUIDED_DISARMED | System is allowed to be active, under autonomous control, manual setpoint |
| 216 | MAV_MODE_GUIDED_ARMED | System is allowed to be active, under autonomous control, manual setpoint |
| 92 | MAV_MODE_AUTO_DISARMED | System is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by waypoints) |
| 220 | MAV_MODE_AUTO_ARMED | System is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by waypoints) |
| 66 | MAV_MODE_TEST_DISARMED | UNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only. |
| 194 | MAV_MODE_TEST_ARMED | UNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only. |
| Value | Field Name | Description |
|---|---|---|
| 0 | MAV_STATE_UNINIT | Uninitialized system, state is unknown. |
| MAV_STATE_BOOT | System is booting up. | |
| MAV_STATE_CALIBRATING | System is calibrating and not flight-ready. | |
| MAV_STATE_STANDBY | System is grounded and on standby. It can be launched any time. | |
| MAV_STATE_ACTIVE | System is active and might be already airborne. Motors are engaged. | |
| MAV_STATE_CRITICAL | System is in a non-normal flight mode. It can however still navigate. | |
| MAV_STATE_EMERGENCY | System is in a non-normal flight mode. It lost control over parts or over the whole airframe. It is in mayday and going down. | |
| MAV_STATE_POWEROFF | System just initialized its power-down sequence, will shut down now. | |
| MAV_STATE_FLIGHT_TERMINATION | System is terminating itself. |
These encode the sensors whose status is sent as part of the SYS_STATUS message.
| Value | Field Name | Description |
|---|---|---|
| 1 | MAV_SYS_STATUS_SENSOR_3D_GYRO | 0x01 3D gyro |
| 2 | MAV_SYS_STATUS_SENSOR_3D_ACCEL | 0x02 3D accelerometer |
| 4 | MAV_SYS_STATUS_SENSOR_3D_MAG | 0x04 3D magnetometer |
| 8 | MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE | 0x08 absolute pressure |
| 16 | MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE | 0x10 differential pressure |
| 32 | MAV_SYS_STATUS_SENSOR_GPS | 0x20 GPS |
| 64 | MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW | 0x40 optical flow |
| 128 | MAV_SYS_STATUS_SENSOR_VISION_POSITION | 0x80 computer vision position |
| 256 | MAV_SYS_STATUS_SENSOR_LASER_POSITION | 0x100 laser based position |
| 512 | MAV_SYS_STATUS_SENSOR_EXTERNAL_GROUND_TRUTH | 0x200 external ground truth (Vicon or Leica) |
| 1024 | MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL | 0x400 3D angular rate control |
| 2048 | MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION | 0x800 attitude stabilization |
| 4096 | MAV_SYS_STATUS_SENSOR_YAW_POSITION | 0x1000 yaw position |
| 8192 | MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL | 0x2000 z/altitude control |
| 16384 | MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL | 0x4000 x/y position control |
| 32768 | MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS | 0x8000 motor outputs / control |
| 65536 | MAV_SYS_STATUS_SENSOR_RC_RECEIVER | 0x10000 rc receiver |
| 131072 | MAV_SYS_STATUS_SENSOR_3D_GYRO2 | 0x20000 2nd 3D gyro |
| 262144 | MAV_SYS_STATUS_SENSOR_3D_ACCEL2 | 0x40000 2nd 3D accelerometer |
| 524288 | MAV_SYS_STATUS_SENSOR_3D_MAG2 | 0x80000 2nd 3D magnetometer |
| 1048576 | MAV_SYS_STATUS_GEOFENCE | 0x100000 geofence |
| 2097152 | MAV_SYS_STATUS_AHRS | 0x200000 AHRS subsystem health |
| 4194304 | MAV_SYS_STATUS_TERRAIN | 0x400000 Terrain subsystem health |
| 8388608 | MAV_SYS_STATUS_REVERSE_MOTOR | 0x800000 Motors are reversed |
| 16777216 | MAV_SYS_STATUS_LOGGING | 0x1000000 Logging |
| 33554432 | MAV_SYS_STATUS_SENSOR_BATTERY | 0x2000000 Battery |
| 67108864 | MAV_SYS_STATUS_SENSOR_PROXIMITY | 0x4000000 Proximity |
| 134217728 | MAV_SYS_STATUS_SENSOR_SATCOM | 0x8000000 Satellite Communication |
| Value | Field Name | Description |
|---|---|---|
| 0 | MAV_FRAME_GLOBAL | Global coordinate frame, WGS84 coordinate system. First value / x: latitude, second value / y: longitude, third value / z: positive altitude over mean sea level (MSL). |
| 1 | MAV_FRAME_LOCAL_NED | Local coordinate frame, Z-down (x: north, y: east, z: down). |
| 2 | MAV_FRAME_MISSION | NOT a coordinate frame, indicates a mission command. |
| 3 | MAV_FRAME_GLOBAL_RELATIVE_ALT | Global coordinate frame, WGS84 coordinate system, relative altitude over ground with respect to the home position. First value / x: latitude, second value / y: longitude, third value / z: positive altitude with 0 being at the altitude of the home location. |
| 4 | MAV_FRAME_LOCAL_ENU | Local coordinate frame, Z-up (x: east, y: north, z: up). |
| 5 | MAV_FRAME_GLOBAL_INT | Global coordinate frame, WGS84 coordinate system. First value / x: latitude in degrees*1.0e-7, second value / y: longitude in degrees*1.0e-7, third value / z: positive altitude over mean sea level (MSL). |
| 6 | MAV_FRAME_GLOBAL_RELATIVE_ALT_INT | Global coordinate frame, WGS84 coordinate system, relative altitude over ground with respect to the home position. First value / x: latitude in degrees*10e-7, second value / y: longitude in degrees*10e-7, third value / z: positive altitude with 0 being at the altitude of the home location. |
| 7 | MAV_FRAME_LOCAL_OFFSET_NED | Offset to the current local frame. Anything expressed in this frame should be added to the current local frame position. |
| 8 | MAV_FRAME_BODY_NED | Setpoint in body NED frame. This makes sense if all position control is externalized - e.g. useful to command 2 m/s^2 acceleration to the right. |
| 9 | MAV_FRAME_BODY_OFFSET_NED | Offset in body NED frame. This makes sense if adding setpoints to the current flight path, to avoid an obstacle - e.g. useful to command 2 m/s^2 acceleration to the east. |
| 10 | MAV_FRAME_GLOBAL_TERRAIN_ALT | Global (WGS84) coordinate frame with AGL altitude (at the waypoint coordinate). First value / x: latitude in degrees, second value / y: longitude in degrees, third value / z: positive altitude in meters with 0 being at ground level in terrain model. |
| 11 | MAV_FRAME_GLOBAL_TERRAIN_ALT_INT | Global (WGS84) coordinate frame with AGL altitude (at the waypoint coordinate). First value / x: latitude in degrees*10e-7, second value / y: longitude in degrees*10e-7, third value / z: positive altitude in meters with 0 being at ground level in terrain model. |
| 12 | MAV_FRAME_BODY_FRD | Body fixed frame of reference, Z-down (x: forward, y: right, z: down). |
| 13 | MAV_FRAME_BODY_FLU | Body fixed frame of reference, Z-up (x: forward, y: left, z: up). |
| 14 | MAV_FRAME_MOCAP_NED | Odometry local coordinate frame of data given by a motion capture system, Z-down (x: north, y: east, z: down). |
| 15 | MAV_FRAME_MOCAP_ENU | Odometry local coordinate frame of data given by a motion capture system, Z-up (x: east, y: north, z: up). |
| 16 | MAV_FRAME_VISION_NED | Odometry local coordinate frame of data given by a vision estimation system, Z-down (x: north, y: east, z: down). |
| 17 | MAV_FRAME_VISION_ENU | Odometry local coordinate frame of data given by a vision estimation system, Z-up (x: east, y: north, z: up). |
| 18 | MAV_FRAME_ESTIM_NED | Odometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-down (x: north, y: east, z: down). |
| 19 | MAV_FRAME_ESTIM_ENU | Odometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-up (x: east, y: noth, z: up). |
| Value | Field Name | Description |
|---|---|---|
| 0 | FENCE_ACTION_NONE | Disable fenced mode |
| 1 | FENCE_ACTION_GUIDED | Switched to guided mode to return point (fence point 0) |
| 2 | FENCE_ACTION_REPORT | Report fence breach, but don't take action |
| 3 | FENCE_ACTION_GUIDED_THR_PASS | Switched to guided mode to return point (fence point 0) with manual throttle control |
| 4 | FENCE_ACTION_RTL | Switch to RTL (return to launch) mode and head for the return point. |
| Value | Field Name | Description |
|---|---|---|
| 0 | FENCE_BREACH_NONE | No last fence breach |
| 1 | FENCE_BREACH_MINALT | Breached minimum altitude |
| 2 | FENCE_BREACH_MAXALT | Breached maximum altitude |
| 3 | FENCE_BREACH_BOUNDARY | Breached fence boundary |
Enumeration of possible mount operation modes
| Value | Field Name | Description |
|---|---|---|
| 0 | MAV_MOUNT_MODE_RETRACT | Load and keep safe position (Roll,Pitch,Yaw) from permant memory and stop stabilization |
| 1 | MAV_MOUNT_MODE_NEUTRAL | Load and keep neutral position (Roll,Pitch,Yaw) from permanent memory. |
| 2 | MAV_MOUNT_MODE_MAVLINK_TARGETING | Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization |
| 3 | MAV_MOUNT_MODE_RC_TARGETING | Load neutral position and start RC Roll,Pitch,Yaw control with stabilization |
| 4 | MAV_MOUNT_MODE_GPS_POINT | Load neutral position and start to point to Lat,Lon,Alt |
Generalized UAVCAN node health
| Value | Field Name | Description |
|---|---|---|
| 0 | UAVCAN_NODE_HEALTH_OK | The node is functioning properly. |
| 1 | UAVCAN_NODE_HEALTH_WARNING | A critical parameter went out of range or the node has encountered a minor failure. |
| 2 | UAVCAN_NODE_HEALTH_ERROR | The node has encountered a major failure. |
| 3 | UAVCAN_NODE_HEALTH_CRITICAL | The node has suffered a fatal malfunction. |
Generalized UAVCAN node mode
| Value | Field Name | Description |
|---|---|---|
| 0 | UAVCAN_NODE_MODE_OPERATIONAL | The node is performing its primary functions. |
| 1 | UAVCAN_NODE_MODE_INITIALIZATION | The node is initializing; this mode is entered immediately after startup. |
| 2 | UAVCAN_NODE_MODE_MAINTENANCE | The node is under maintenance. |
| 3 | UAVCAN_NODE_MODE_SOFTWARE_UPDATE | The node is in the process of updating its software. |
| 7 | UAVCAN_NODE_MODE_OFFLINE | The node is no longer available online. |
DEPRECATED: Replaced by MESSAGE_INTERVAL (2015-06).
A data stream is not a fixed set of messages, but rather a recommendation to the autopilot software. Individual autopilots may or may not obey the recommended messages.
| Value | Field Name | Description |
|---|---|---|
| 0 | MAV_DATA_STREAM_ALL | Enable all data streams |
| 1 | MAV_DATA_STREAM_RAW_SENSORS | Enable IMU_RAW, GPS_RAW, GPS_STATUS packets. |
| 2 | MAV_DATA_STREAM_EXTENDED_STATUS | Enable GPS_STATUS, CONTROL_STATUS, AUX_STATUS |
| 3 | MAV_DATA_STREAM_RC_CHANNELS | Enable RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW |
| 4 | MAV_DATA_STREAM_RAW_CONTROLLER | Enable ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT, NAV_CONTROLLER_OUTPUT. |
| 6 | MAV_DATA_STREAM_POSITION | Enable LOCAL_POSITION, GLOBAL_POSITION/GLOBAL_POSITION_INT messages. |
| 10 | MAV_DATA_STREAM_EXTRA1 | Dependent on the autopilot |
| 11 | MAV_DATA_STREAM_EXTRA2 | Dependent on the autopilot |
| 12 | MAV_DATA_STREAM_EXTRA3 | Dependent on the autopilot |
DEPRECATED: Replaced by MAV_CMD_DO_SET_ROI_* (2018-01).
The ROI (region of interest) for the vehicle. This can be be used by the vehicle for camera/vehicle attitude alignment (see MAV_CMD_NAV_ROI).
| Value | Field Name | Description |
|---|---|---|
| 0 | MAV_ROI_NONE | No region of interest. |
| 1 | MAV_ROI_WPNEXT | Point toward next waypoint, with optional pitch/roll/yaw offset. |
| 2 | MAV_ROI_WPINDEX | Point toward given waypoint. |
| 3 | MAV_ROI_LOCATION | Point toward fixed location. |
| 4 | MAV_ROI_TARGET | Point toward of given id. |
ACK / NACK / ERROR values as a result of MAV_CMDs and for mission item transmission.
| Value | Field Name | Description |
|---|---|---|
| MAV_CMD_ACK_OK | Command / mission item is ok. | |
| MAV_CMD_ACK_ERR_FAIL | Generic error message if none of the other reasons fails or if no detailed error reporting is implemented. | |
| MAV_CMD_ACK_ERR_ACCESS_DENIED | The system is refusing to accept this command from this source / communication partner. | |
| MAV_CMD_ACK_ERR_NOT_SUPPORTED | Command or mission item is not supported, other commands would be accepted. | |
| MAV_CMD_ACK_ERR_COORDINATE_FRAME_NOT_SUPPORTED | The coordinate frame of this command / mission item is not supported. | |
| MAV_CMD_ACK_ERR_COORDINATES_OUT_OF_RANGE | The coordinate frame of this command is ok, but he coordinate values exceed the safety limits of this system. This is a generic error, please use the more specific error messages below if possible. | |
| MAV_CMD_ACK_ERR_X_LAT_OUT_OF_RANGE | The X or latitude value is out of range. | |
| MAV_CMD_ACK_ERR_Y_LON_OUT_OF_RANGE | The Y or longitude value is out of range. | |
| MAV_CMD_ACK_ERR_Z_ALT_OUT_OF_RANGE | The Z or altitude value is out of range. |
Specifies the datatype of a MAVLink parameter.
| Value | Field Name | Description |
|---|---|---|
| 1 | MAV_PARAM_TYPE_UINT8 | 8-bit unsigned integer |
| 2 | MAV_PARAM_TYPE_INT8 | 8-bit signed integer |
| 3 | MAV_PARAM_TYPE_UINT16 | 16-bit unsigned integer |
| 4 | MAV_PARAM_TYPE_INT16 | 16-bit signed integer |
| 5 | MAV_PARAM_TYPE_UINT32 | 32-bit unsigned integer |
| 6 | MAV_PARAM_TYPE_INT32 | 32-bit signed integer |
| 7 | MAV_PARAM_TYPE_UINT64 | 64-bit unsigned integer |
| 8 | MAV_PARAM_TYPE_INT64 | 64-bit signed integer |
| 9 | MAV_PARAM_TYPE_REAL32 | 32-bit floating-point |
| 10 | MAV_PARAM_TYPE_REAL64 | 64-bit floating-point |
Specifies the datatype of a MAVLink extended parameter.
| Value | Field Name | Description |
|---|---|---|
| 1 | MAV_PARAM_EXT_TYPE_UINT8 | 8-bit unsigned integer |
| 2 | MAV_PARAM_EXT_TYPE_INT8 | 8-bit signed integer |
| 3 | MAV_PARAM_EXT_TYPE_UINT16 | 16-bit unsigned integer |
| 4 | MAV_PARAM_EXT_TYPE_INT16 | 16-bit signed integer |
| 5 | MAV_PARAM_EXT_TYPE_UINT32 | 32-bit unsigned integer |
| 6 | MAV_PARAM_EXT_TYPE_INT32 | 32-bit signed integer |
| 7 | MAV_PARAM_EXT_TYPE_UINT64 | 64-bit unsigned integer |
| 8 | MAV_PARAM_EXT_TYPE_INT64 | 64-bit signed integer |
| 9 | MAV_PARAM_EXT_TYPE_REAL32 | 32-bit floating-point |
| 10 | MAV_PARAM_EXT_TYPE_REAL64 | 64-bit floating-point |
| 11 | MAV_PARAM_EXT_TYPE_CUSTOM | Custom Type |
result from a mavlink command
| Value | Field Name | Description |
|---|---|---|
| 0 | MAV_RESULT_ACCEPTED | Command ACCEPTED and EXECUTED |
| 1 | MAV_RESULT_TEMPORARILY_REJECTED | Command TEMPORARY REJECTED/DENIED |
| 2 | MAV_RESULT_DENIED | Command PERMANENTLY DENIED |
| 3 | MAV_RESULT_UNSUPPORTED | Command UNKNOWN/UNSUPPORTED |
| 4 | MAV_RESULT_FAILED | Command executed, but failed |
| 5 | MAV_RESULT_IN_PROGRESS | WIP: Command being executed |
result in a MAVLink mission ack
| Value | Field Name | Description |
|---|---|---|
| 0 | MAV_MISSION_ACCEPTED | mission accepted OK |
| 1 | MAV_MISSION_ERROR | generic error / not accepting mission commands at all right now |
| 2 | MAV_MISSION_UNSUPPORTED_FRAME | coordinate frame is not supported |
| 3 | MAV_MISSION_UNSUPPORTED | command is not supported |
| 4 | MAV_MISSION_NO_SPACE | mission item exceeds storage space |
| 5 | MAV_MISSION_INVALID | one of the parameters has an invalid value |
| 6 | MAV_MISSION_INVALID_PARAM1 | param1 has an invalid value |
| 7 | MAV_MISSION_INVALID_PARAM2 | param2 has an invalid value |
| 8 | MAV_MISSION_INVALID_PARAM3 | param3 has an invalid value |
| 9 | MAV_MISSION_INVALID_PARAM4 | param4 has an invalid value |
| 10 | MAV_MISSION_INVALID_PARAM5_X | x/param5 has an invalid value |
| 11 | MAV_MISSION_INVALID_PARAM6_Y | y/param6 has an invalid value |
| 12 | MAV_MISSION_INVALID_PARAM7 | param7 has an invalid value |
| 13 | MAV_MISSION_INVALID_SEQUENCE | received waypoint out of sequence |
| 14 | MAV_MISSION_DENIED | not accepting any mission commands from this communication partner |
Indicates the severity level, generally used for status messages to indicate their relative urgency. Based on RFC-5424 using expanded definitions at: http://www.kiwisyslog.com/kb/info:-syslog-message-levels/.
| Value | Field Name | Description |
|---|---|---|
| 0 | MAV_SEVERITY_EMERGENCY | System is unusable. This is a "panic" condition. |
| 1 | MAV_SEVERITY_ALERT | Action should be taken immediately. Indicates error in non-critical systems. |
| 2 | MAV_SEVERITY_CRITICAL | Action must be taken immediately. Indicates failure in a primary system. |
| 3 | MAV_SEVERITY_ERROR | Indicates an error in secondary/redundant systems. |
| 4 | MAV_SEVERITY_WARNING | Indicates about a possible future error if this is not resolved within a given timeframe. Example would be a low battery warning. |
| 5 | MAV_SEVERITY_NOTICE | An unusual event has occurred, though not an error condition. This should be investigated for the root cause. |
| 6 | MAV_SEVERITY_INFO | Normal operational messages. Useful for logging. No action is required for these messages. |
| 7 | MAV_SEVERITY_DEBUG | Useful non-operational messages that can assist in debugging. These should not occur during normal operation. |
Power supply status flags (bitmask)
| Value | Field Name | Description |
|---|---|---|
| 1 | MAV_POWER_STATUS_BRICK_VALID | main brick power supply valid |
| 2 | MAV_POWER_STATUS_SERVO_VALID | main servo power supply valid for FMU |
| 4 | MAV_POWER_STATUS_USB_CONNECTED | USB power is connected |
| 8 | MAV_POWER_STATUS_PERIPH_OVERCURRENT | peripheral supply is in over-current state |
| 16 | MAV_POWER_STATUS_PERIPH_HIPOWER_OVERCURRENT | hi-power peripheral supply is in over-current state |
| 32 | MAV_POWER_STATUS_CHANGED | Power status has changed since boot |
SERIAL_CONTROL device types
| Value | Field Name | Description |
|---|---|---|
| 0 | SERIAL_CONTROL_DEV_TELEM1 | First telemetry port |
| 1 | SERIAL_CONTROL_DEV_TELEM2 | Second telemetry port |
| 2 | SERIAL_CONTROL_DEV_GPS1 | First GPS port |
| 3 | SERIAL_CONTROL_DEV_GPS2 | Second GPS port |
| 10 | SERIAL_CONTROL_DEV_SHELL | system shell |
SERIAL_CONTROL flags (bitmask)
| Value | Field Name | Description |
|---|---|---|
| 1 | SERIAL_CONTROL_FLAG_REPLY | Set if this is a reply |
| 2 | SERIAL_CONTROL_FLAG_RESPOND | Set if the sender wants the receiver to send a response as another SERIAL_CONTROL message |
| 4 | SERIAL_CONTROL_FLAG_EXCLUSIVE | Set if access to the serial port should be removed from whatever driver is currently using it, giving exclusive access to the SERIAL_CONTROL protocol. The port can be handed back by sending a request without this flag set |
| 8 | SERIAL_CONTROL_FLAG_BLOCKING | Block on writes to the serial port |
| 16 | SERIAL_CONTROL_FLAG_MULTI | Send multiple replies until port is drained |
Enumeration of distance sensor types
| Value | Field Name | Description |
|---|---|---|
| 0 | MAV_DISTANCE_SENSOR_LASER | Laser rangefinder, e.g. LightWare SF02/F or PulsedLight units |
| 1 | MAV_DISTANCE_SENSOR_ULTRASOUND | Ultrasound rangefinder, e.g. MaxBotix units |
| 2 | MAV_DISTANCE_SENSOR_INFRARED | Infrared rangefinder, e.g. Sharp units |
| 3 | MAV_DISTANCE_SENSOR_RADAR | Radar type, e.g. uLanding units |
| 4 | MAV_DISTANCE_SENSOR_UNKNOWN | Broken or unknown type, e.g. analog units |
Enumeration of sensor orientation, according to its rotations
Bitmask of (optional) autopilot capabilities (64 bit). If a bit is set, the autopilot supports this capability.
| Value | Field Name | Description |
|---|---|---|
| 1 | MAV_PROTOCOL_CAPABILITY_MISSION_FLOAT | Autopilot supports MISSION float message type. |
| 2 | MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT | Autopilot supports the new param float message type. |
| 4 | MAV_PROTOCOL_CAPABILITY_MISSION_INT | Autopilot supports MISSION_INT scaled integer message type. |
| 8 | MAV_PROTOCOL_CAPABILITY_COMMAND_INT | Autopilot supports COMMAND_INT scaled integer message type. |
| 16 | MAV_PROTOCOL_CAPABILITY_PARAM_UNION | Autopilot supports the new param union message type. |
| 32 | MAV_PROTOCOL_CAPABILITY_FTP | Autopilot supports the new FILE_TRANSFER_PROTOCOL message type. |
| 64 | MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGET | Autopilot supports commanding attitude offboard. |
| 128 | MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NED | Autopilot supports commanding position and velocity targets in local NED frame. |
| 256 | MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INT | Autopilot supports commanding position and velocity targets in global scaled integers. |
| 512 | MAV_PROTOCOL_CAPABILITY_TERRAIN | Autopilot supports terrain protocol / data handling. |
| 1024 | MAV_PROTOCOL_CAPABILITY_SET_ACTUATOR_TARGET | Autopilot supports direct actuator control. |
| 2048 | MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION | Autopilot supports the flight termination command. |
| 4096 | MAV_PROTOCOL_CAPABILITY_COMPASS_CALIBRATION | Autopilot supports onboard compass calibration. |
| 8192 | MAV_PROTOCOL_CAPABILITY_MAVLINK2 | Autopilot supports MAVLink version 2. |
| 16384 | MAV_PROTOCOL_CAPABILITY_MISSION_FENCE | Autopilot supports mission fence protocol. |
| 32768 | MAV_PROTOCOL_CAPABILITY_MISSION_RALLY | Autopilot supports mission rally point protocol. |
| 65536 | MAV_PROTOCOL_CAPABILITY_FLIGHT_INFORMATION | Autopilot supports the flight information protocol. |
Type of mission items being requested/sent in mission protocol.
| Value | Field Name | Description |
|---|---|---|
| 0 | MAV_MISSION_TYPE_MISSION | Items are mission commands for main mission. |
| 1 | MAV_MISSION_TYPE_FENCE | Specifies GeoFence area(s). Items are MAV_CMD_FENCE_ GeoFence items. |
| 2 | MAV_MISSION_TYPE_RALLY | Specifies the rally points for the vehicle. Rally points are alternative RTL points. Items are MAV_CMD_RALLY_POINT rally point items. |
| 255 | MAV_MISSION_TYPE_ALL | Only used in MISSION_CLEAR_ALL to clear all mission types. |
Enumeration of estimator types
| Value | Field Name | Description |
|---|---|---|
| 1 | MAV_ESTIMATOR_TYPE_NAIVE | This is a naive estimator without any real covariance feedback. |
| 2 | MAV_ESTIMATOR_TYPE_VISION | Computer vision based estimate. Might be up to scale. |
| 3 | MAV_ESTIMATOR_TYPE_VIO | Visual-inertial estimate. |
| 4 | MAV_ESTIMATOR_TYPE_GPS | Plain GPS estimate. |
| 5 | MAV_ESTIMATOR_TYPE_GPS_INS | Estimator integrating GPS and inertial sensing. |
Enumeration of battery types
| Value | Field Name | Description |
|---|---|---|
| 0 | MAV_BATTERY_TYPE_UNKNOWN | Not specified. |
| 1 | MAV_BATTERY_TYPE_LIPO | Lithium polymer battery |
| 2 | MAV_BATTERY_TYPE_LIFE | Lithium-iron-phosphate battery |
| 3 | MAV_BATTERY_TYPE_LION | Lithium-ION battery |
| 4 | MAV_BATTERY_TYPE_NIMH | Nickel metal hydride battery |
Enumeration of battery functions
| Value | Field Name | Description |
|---|---|---|
| 0 | MAV_BATTERY_FUNCTION_UNKNOWN | Battery function is unknown |
| 1 | MAV_BATTERY_FUNCTION_ALL | Battery supports all flight systems |
| 2 | MAV_BATTERY_FUNCTION_PROPULSION | Battery for the propulsion system |
| 3 | MAV_BATTERY_FUNCTION_AVIONICS | Avionics battery |
| 4 | MAV_BATTERY_TYPE_PAYLOAD | Payload battery |
Enumeration for low battery states.
| Value | Field Name | Description |
|---|---|---|
| 0 | MAV_BATTERY_CHARGE_STATE_UNDEFINED | Low battery state is not provided |
| 1 | MAV_BATTERY_CHARGE_STATE_OK | Battery is not in low state. Normal operation. |
| 2 | MAV_BATTERY_CHARGE_STATE_LOW | Battery state is low, warn and monitor close. |
| 3 | MAV_BATTERY_CHARGE_STATE_CRITICAL | Battery state is critical, return or abort immediately. |
| 4 | MAV_BATTERY_CHARGE_STATE_EMERGENCY | Battery state is too low for ordinary abort sequence. Perform fastest possible emergency stop to prevent damage. |
| 5 | MAV_BATTERY_CHARGE_STATE_FAILED | Battery failed, damage unavoidable. |
| 6 | MAV_BATTERY_CHARGE_STATE_UNHEALTHY | Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. |
Enumeration of VTOL states
| Value | Field Name | Description |
|---|---|---|
| 0 | MAV_VTOL_STATE_UNDEFINED | MAV is not configured as VTOL |
| 1 | MAV_VTOL_STATE_TRANSITION_TO_FW | VTOL is in transition from multicopter to fixed-wing |
| 2 | MAV_VTOL_STATE_TRANSITION_TO_MC | VTOL is in transition from fixed-wing to multicopter |
| 3 | MAV_VTOL_STATE_MC | VTOL is in multicopter state |
| 4 | MAV_VTOL_STATE_FW | VTOL is in fixed-wing state |
Enumeration of landed detector states
| Value | Field Name | Description |
|---|---|---|
| 0 | MAV_LANDED_STATE_UNDEFINED | MAV landed state is unknown |
| 1 | MAV_LANDED_STATE_ON_GROUND | MAV is landed (on ground) |
| 2 | MAV_LANDED_STATE_IN_AIR | MAV is in air |
| 3 | MAV_LANDED_STATE_TAKEOFF | MAV currently taking off |
| 4 | MAV_LANDED_STATE_LANDING | MAV currently landing |
Enumeration of the ADSB altimeter types
| Value | Field Name | Description |
|---|---|---|
| 0 | ADSB_ALTITUDE_TYPE_PRESSURE_QNH | Altitude reported from a Baro source using QNH reference |
| 1 | ADSB_ALTITUDE_TYPE_GEOMETRIC | Altitude reported from a GNSS source |
ADSB classification for the type of vehicle emitting the transponder signal
These flags indicate status such as data validity of each data source. Set = data valid
| Value | Field Name | Description |
|---|---|---|
| 1 | ADSB_FLAGS_VALID_COORDS | |
| 2 | ADSB_FLAGS_VALID_ALTITUDE | |
| 4 | ADSB_FLAGS_VALID_HEADING | |
| 8 | ADSB_FLAGS_VALID_VELOCITY | |
| 16 | ADSB_FLAGS_VALID_CALLSIGN | |
| 32 | ADSB_FLAGS_VALID_SQUAWK | |
| 64 | ADSB_FLAGS_SIMULATED |
Bitmap of options for the MAV_CMD_DO_REPOSITION
| Value | Field Name | Description |
|---|---|---|
| 1 | MAV_DO_REPOSITION_FLAGS_CHANGE_MODE | The aircraft should immediately transition into guided. This should not be set for follow me applications |
Flags in EKF_STATUS message
| Value | Field Name | Description |
|---|---|---|
| 1 | ESTIMATOR_ATTITUDE | True if the attitude estimate is good |
| 2 | ESTIMATOR_VELOCITY_HORIZ | True if the horizontal velocity estimate is good |
| 4 | ESTIMATOR_VELOCITY_VERT | True if the vertical velocity estimate is good |
| 8 | ESTIMATOR_POS_HORIZ_REL | True if the horizontal position (relative) estimate is good |
| 16 | ESTIMATOR_POS_HORIZ_ABS | True if the horizontal position (absolute) estimate is good |
| 32 | ESTIMATOR_POS_VERT_ABS | True if the vertical position (absolute) estimate is good |
| 64 | ESTIMATOR_POS_VERT_AGL | True if the vertical position (above ground) estimate is good |
| 128 | ESTIMATOR_CONST_POS_MODE | True if the EKF is in a constant position mode and is not using external measurements (eg GPS or optical flow) |
| 256 | ESTIMATOR_PRED_POS_HORIZ_REL | True if the EKF has sufficient data to enter a mode that will provide a (relative) position estimate |
| 512 | ESTIMATOR_PRED_POS_HORIZ_ABS | True if the EKF has sufficient data to enter a mode that will provide a (absolute) position estimate |
| 1024 | ESTIMATOR_GPS_GLITCH | True if the EKF has detected a GPS glitch |
| 2048 | ESTIMATOR_ACCEL_ERROR | True if the EKF has detected bad accelerometer data |
| Value | Field Name | Description |
|---|---|---|
| 0 | MOTOR_TEST_ORDER_DEFAULT | default autopilot motor test method |
| 1 | MOTOR_TEST_ORDER_SEQUENCE | motor numbers are specified as their index in a predefined vehicle-specific sequence |
| 2 | MOTOR_TEST_ORDER_BOARD | motor numbers are specified as the output as labeled on the board |
| Value | Field Name | Description |
|---|---|---|
| 0 | MOTOR_TEST_THROTTLE_PERCENT | throttle as a percentage from 0 ~ 100 |
| 1 | MOTOR_TEST_THROTTLE_PWM | throttle as an absolute PWM value (normally in range of 1000~2000) |
| 2 | MOTOR_TEST_THROTTLE_PILOT | throttle pass-through from pilot's transmitter |
| 3 | MOTOR_TEST_COMPASS_CAL | per-motor compass calibration test |
| Value | Field Name | Description |
|---|---|---|
| 1 | GPS_INPUT_IGNORE_FLAG_ALT | ignore altitude field |
| 2 | GPS_INPUT_IGNORE_FLAG_HDOP | ignore hdop field |
| 4 | GPS_INPUT_IGNORE_FLAG_VDOP | ignore vdop field |
| 8 | GPS_INPUT_IGNORE_FLAG_VEL_HORIZ | ignore horizontal velocity field (vn and ve) |
| 16 | GPS_INPUT_IGNORE_FLAG_VEL_VERT | ignore vertical velocity field (vd) |
| 32 | GPS_INPUT_IGNORE_FLAG_SPEED_ACCURACY | ignore speed accuracy field |
| 64 | GPS_INPUT_IGNORE_FLAG_HORIZONTAL_ACCURACY | ignore horizontal accuracy field |
| 128 | GPS_INPUT_IGNORE_FLAG_VERTICAL_ACCURACY | ignore vertical accuracy field |
Possible actions an aircraft can take to avoid a collision.
| Value | Field Name | Description |
|---|---|---|
| 0 | MAV_COLLISION_ACTION_NONE | Ignore any potential collisions |
| 1 | MAV_COLLISION_ACTION_REPORT | Report potential collision |
| 2 | MAV_COLLISION_ACTION_ASCEND_OR_DESCEND | Ascend or Descend to avoid threat |
| 3 | MAV_COLLISION_ACTION_MOVE_HORIZONTALLY | Move horizontally to avoid threat |
| 4 | MAV_COLLISION_ACTION_MOVE_PERPENDICULAR | Aircraft to move perpendicular to the collision's velocity vector |
| 5 | MAV_COLLISION_ACTION_RTL | Aircraft to fly directly back to its launch point |
| 6 | MAV_COLLISION_ACTION_HOVER | Aircraft to stop in place |
Aircraft-rated danger from this threat.
| Value | Field Name | Description |
|---|---|---|
| 0 | MAV_COLLISION_THREAT_LEVEL_NONE | Not a threat |
| 1 | MAV_COLLISION_THREAT_LEVEL_LOW | Craft is mildly concerned about this threat |
| 2 | MAV_COLLISION_THREAT_LEVEL_HIGH | Craft is panicing, and may take actions to avoid threat |
Source of information about this collision.
| Value | Field Name | Description |
|---|---|---|
| 0 | MAV_COLLISION_SRC_ADSB | ID field references ADSB_VEHICLE packets |
| 1 | MAV_COLLISION_SRC_MAVLINK_GPS_GLOBAL_INT | ID field references MAVLink SRC ID |
Type of GPS fix
| Value | Field Name | Description |
|---|---|---|
| 0 | GPS_FIX_TYPE_NO_GPS | No GPS connected |
| 1 | GPS_FIX_TYPE_NO_FIX | No position information, GPS is connected |
| 2 | GPS_FIX_TYPE_2D_FIX | 2D position |
| 3 | GPS_FIX_TYPE_3D_FIX | 3D position |
| 4 | GPS_FIX_TYPE_DGPS | DGPS/SBAS aided 3D position |
| 5 | GPS_FIX_TYPE_RTK_FLOAT | RTK float, 3D position |
| 6 | GPS_FIX_TYPE_RTK_FIXED | RTK Fixed, 3D position |
| 7 | GPS_FIX_TYPE_STATIC | Static fixed, typically used for base stations |
| 8 | GPS_FIX_TYPE_PPP | PPP, 3D position. |
RTK GPS baseline coordinate system, used for RTK corrections
| Value | Field Name | Description |
|---|---|---|
| 0 | RTK_BASELINE_COORDINATE_SYSTEM_ECEF | Earth-centered, Earth-fixed |
| 1 | RTK_BASELINE_COORDINATE_SYSTEM_NED | North, East, Down |
Type of landing target
| Value | Field Name | Description |
|---|---|---|
| 0 | LANDING_TARGET_TYPE_LIGHT_BEACON | Landing target signaled by light beacon (ex: IR-LOCK) |
| 1 | LANDING_TARGET_TYPE_RADIO_BEACON | Landing target signaled by radio beacon (ex: ILS, NDB) |
| 2 | LANDING_TARGET_TYPE_VISION_FIDUCIAL | Landing target represented by a fiducial marker (ex: ARTag) |
| 3 | LANDING_TARGET_TYPE_VISION_OTHER | Landing target represented by a pre-defined visual shape/feature (ex: X-marker, H-marker, square) |
Direction of VTOL transition
| Value | Field Name | Description |
|---|---|---|
| 0 | VTOL_TRANSITION_HEADING_VEHICLE_DEFAULT | Respect the heading configuration of the vehicle. |
| 1 | VTOL_TRANSITION_HEADING_NEXT_WAYPOINT | Use the heading pointing towards the next waypoint. |
| 2 | VTOL_TRANSITION_HEADING_TAKEOFF | Use the heading on takeoff (while sitting on the ground). |
| 3 | VTOL_TRANSITION_HEADING_SPECIFIED | Use the specified heading in parameter 4. |
| 4 | VTOL_TRANSITION_HEADING_ANY | Use the current heading when reaching takeoff altitude (potentially facing the wind when weather-vaning is active). |
Camera capability flags (Bitmap)
| Value | Field Name | Description |
|---|---|---|
| 1 | CAMERA_CAP_FLAGS_CAPTURE_VIDEO | Camera is able to record video |
| 2 | CAMERA_CAP_FLAGS_CAPTURE_IMAGE | Camera is able to capture images |
| 4 | CAMERA_CAP_FLAGS_HAS_MODES | Camera has separate Video and Image/Photo modes (MAV_CMD_SET_CAMERA_MODE) |
| 8 | CAMERA_CAP_FLAGS_CAN_CAPTURE_IMAGE_IN_VIDEO_MODE | Camera can capture images while in video mode |
| 16 | CAMERA_CAP_FLAGS_CAN_CAPTURE_VIDEO_IN_IMAGE_MODE | Camera can capture videos while in Photo/Image mode |
| 32 | CAMERA_CAP_FLAGS_HAS_IMAGE_SURVEY_MODE | Camera has image survey mode (MAV_CMD_SET_CAMERA_MODE) |
| 64 | CAMERA_CAP_FLAGS_HAS_BASIC_ZOOM | Camera has basic zoom control (MAV_CMD_SET_CAMERA_ZOOM) |
| 128 | CAMERA_CAP_FLAGS_HAS_BASIC_FOCUS | Camera has basic focus control (MAV_CMD_SET_CAMERA_FOCUS) |
Stream status flags (Bitmap)
| Value | Field Name | Description |
|---|---|---|
| 1 | VIDEO_STREAM_STATUS_FLAGS_RUNNING | Stream is active (running) |
| 2 | VIDEO_STREAM_STATUS_FLAGS_THERMAL | Stream is thermal imaging |
Zoom types for MAV_CMD_SET_CAMERA_ZOOM
| Value | Field Name | Description |
|---|---|---|
| 0 | ZOOM_TYPE_STEP | Zoom one step increment (-1 for wide, 1 for tele) |
| 1 | ZOOM_TYPE_CONTINUOUS | Continuous zoom up/down until stopped (-1 for wide, 1 for tele, 0 to stop zooming) |
| 2 | ZOOM_TYPE_RANGE | Zoom value as proportion of full camera range (a value between 0.0 and 100.0) |
Focus types for MAV_CMD_SET_CAMERA_FOCUS
| Value | Field Name | Description |
|---|---|---|
| 0 | FOCUS_TYPE_STEP | Focus one step increment (-1 for focusing in, 1 for focusing out towards infinity). |
| 1 | FOCUS_TYPE_CONTINUOUS | Continuous focus up/down until stopped (-1 for focusing in, 1 for focusing out towards infinity, 0 to stop focusing) |
| 2 | FOCUS_TYPE_RANGE | Zoom value as proportion of full camera range (a value between 0.0 and 100.0) |
Result from a PARAM_EXT_SET message.
| Value | Field Name | Description |
|---|---|---|
| 0 | PARAM_ACK_ACCEPTED | Parameter value ACCEPTED and SET |
| 1 | PARAM_ACK_VALUE_UNSUPPORTED | Parameter value UNKNOWN/UNSUPPORTED |
| 2 | PARAM_ACK_FAILED | Parameter failed to set |
| 3 | PARAM_ACK_IN_PROGRESS | Parameter value received but not yet validated or set. A subsequent PARAM_EXT_ACK will follow once operation is completed with the actual result. These are for parameters that may take longer to set. Instead of waiting for an ACK and potentially timing out, you will immediately receive this response to let you know it was received. |
Camera Modes.
| Value | Field Name | Description |
|---|---|---|
| 0 | CAMERA_MODE_IMAGE | Camera is in image/photo capture mode. |
| 1 | CAMERA_MODE_VIDEO | Camera is in video capture mode. |
| 2 | CAMERA_MODE_IMAGE_SURVEY | Camera is in image survey capture mode. It allows for camera controller to do specific settings for surveys. |
| Value | Field Name | Description |
|---|---|---|
| 0 | MAV_ARM_AUTH_DENIED_REASON_GENERIC | Not a specific reason |
| 1 | MAV_ARM_AUTH_DENIED_REASON_NONE | Authorizer will send the error as string to GCS |
| 2 | MAV_ARM_AUTH_DENIED_REASON_INVALID_WAYPOINT | At least one waypoint have a invalid value |
| 3 | MAV_ARM_AUTH_DENIED_REASON_TIMEOUT | Timeout in the authorizer process(in case it depends on network) |
| 4 | MAV_ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USE | Airspace of the mission in use by another vehicle, second result parameter can have the waypoint id that caused it to be denied. |
| 5 | MAV_ARM_AUTH_DENIED_REASON_BAD_WEATHER | Weather is not good to fly |
RC type
| Value | Field Name | Description |
|---|---|---|
| 0 | RC_TYPE_SPEKTRUM_DSM2 | Spektrum DSM2 |
| 1 | RC_TYPE_SPEKTRUM_DSMX | Spektrum DSMX |
Bitmap to indicate which dimensions should be ignored by the vehicle: a value of 0b0000000000000000 or 0b0000001000000000 indicates that none of the setpoint dimensions should be ignored. If bit 9 is set the floats afx afy afz should be interpreted as force instead of acceleration.
| Value | Field Name | Description |
|---|---|---|
| 1 | POSITION_TARGET_TYPEMASK_X_IGNORE | Ignore position x |
| 2 | POSITION_TARGET_TYPEMASK_Y_IGNORE | Ignore position y |
| 4 | POSITION_TARGET_TYPEMASK_Z_IGNORE | Ignore position z |
| 8 | POSITION_TARGET_TYPEMASK_VX_IGNORE | Ignore velocity x |
| 16 | POSITION_TARGET_TYPEMASK_VY_IGNORE | Ignore velocity y |
| 32 | POSITION_TARGET_TYPEMASK_VZ_IGNORE | Ignore velocity z |
| 64 | POSITION_TARGET_TYPEMASK_AX_IGNORE | Ignore acceleration x |
| 128 | POSITION_TARGET_TYPEMASK_AY_IGNORE | Ignore acceleration y |
| 256 | POSITION_TARGET_TYPEMASK_AZ_IGNORE | Ignore acceleration z |
| 512 | POSITION_TARGET_TYPEMASK_FORCE_SET | Use force instead of acceleration |
| 1024 | POSITION_TARGET_TYPEMASK_YAW_IGNORE | Ignore yaw |
| 2048 | POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE | Ignore yaw rate |
Airborne status of UAS.
| Value | Field Name | Description |
|---|---|---|
| 1 | UTM_FLIGHT_STATE_UNKNOWN | The flight state can't be determined. |
| 2 | UTM_FLIGHT_STATE_GROUND | UAS on ground. |
| 3 | UTM_FLIGHT_STATE_AIRBORNE | UAS airborne. |
| 16 | UTM_FLIGHT_STATE_EMERGENCY | UAS is in an emergency flight state. |
| 32 | UTM_FLIGHT_STATE_NOCTRL | UAS has no active controls. |
Flags for the global position report.
| Value | Field Name | Description |
|---|---|---|
| 1 | UTM_DATA_AVAIL_FLAGS_TIME_VALID | The field time contains valid data. |
| 2 | UTM_DATA_AVAIL_FLAGS_UAS_ID_AVAILABLE | The field uas_id contains valid data. |
| 4 | UTM_DATA_AVAIL_FLAGS_POSITION_AVAILABLE | The fields lat, lon and h_acc contain valid data. |
| 8 | UTM_DATA_AVAIL_FLAGS_ALTITUDE_AVAILABLE | The fields alt and v_acc contain valid data. |
| 16 | UTM_DATA_AVAIL_FLAGS_RELATIVE_ALTITUDE_AVAILABLE | The field relative_alt contains valid data. |
| 32 | UTM_DATA_AVAIL_FLAGS_HORIZONTAL_VELO_AVAILABLE | The fields vx and vy contain valid data. |
| 64 | UTM_DATA_AVAIL_FLAGS_VERTICAL_VELO_AVAILABLE | The field vz contains valid data. |
| 128 | UTM_DATA_AVAIL_FLAGS_NEXT_WAYPOINT_AVAILABLE | The fields next_lat, next_lon and next_alt contain valid data. |
Commands to be executed by the MAV. They can be executed on user request, or as part of a mission script. If the action is used in a mission, the parameter mapping to the waypoint/mission message is as follows: Param 1, Param 2, Param 3, Param 4, X: Param 5, Y:Param 6, Z:Param 7. This command list is similar what ARINC 424 is for commercial aircraft: A data format how to interpret waypoint/mission data.
Navigate to waypoint.
| Param | Description |
|---|---|
| 1 | Hold time in decimal seconds. (ignored by fixed wing, time to stay at waypoint for rotary wing) |
| 2 | Acceptance radius in meters (if the sphere with this radius is hit, the waypoint counts as reached) |
| 3 | 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control. |
| 4 | Desired yaw angle at waypoint (rotary wing). NaN for unchanged. |
| 5 | Latitude |
| 6 | Longitude |
| 7 | Altitude |
Loiter around this waypoint an unlimited amount of time
| Param | Description |
|---|---|
| 1 | Empty |
| 2 | Empty |
| 3 | Radius around waypoint, in meters. If positive loiter clockwise, else counter-clockwise |
| 4 | Desired yaw angle. |
| 5 | Latitude |
| 6 | Longitude |
| 7 | Altitude |
Loiter around this waypoint for X turns
| Param | Description |
|---|---|
| 1 | Turns |
| 2 | Empty |
| 3 | Radius around waypoint, in meters. If positive loiter clockwise, else counter-clockwise |
| 4 | Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle |
| 5 | Latitude |
| 6 | Longitude |
| 7 | Altitude |
Loiter around this waypoint for X seconds
| Param | Description |
|---|---|
| 1 | Seconds (decimal) |
| 2 | Empty |
| 3 | Radius around waypoint, in meters. If positive loiter clockwise, else counter-clockwise |
| 4 | Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle |
| 5 | Latitude |
| 6 | Longitude |
| 7 | Altitude |
Return to launch location
| Param | Description |
|---|---|
| 1 | Empty |
| 2 | Empty |
| 3 | Empty |
| 4 | Empty |
| 5 | Empty |
| 6 | Empty |
| 7 | Empty |
Land at location
| Param | Description |
|---|---|
| 1 | Abort Alt |
| 2 | Precision land mode. (0 = normal landing, 1 = opportunistic precision landing, 2 = required precsion landing) |
| 3 | Empty |
| 4 | Desired yaw angle. NaN for unchanged. |
| 5 | Latitude |
| 6 | Longitude |
| 7 | Altitude (ground level) |
Takeoff from ground / hand
| Param | Description |
|---|---|
| 1 | Minimum pitch (if airspeed sensor present), desired pitch without sensor |
| 2 | Empty |
| 3 | Empty |
| 4 | Yaw angle (if magnetometer present), ignored without magnetometer. NaN for unchanged. |
| 5 | Latitude |
| 6 | Longitude |
| 7 | Altitude |
Land at local position (local frame only)
| Param | Description |
|---|---|
| 1 | Landing target number (if available) |
| 2 | Maximum accepted offset from desired landing position [m] - computed magnitude from spherical coordinates: d = sqrt(x^2 + y^2 + z^2), which gives the maximum accepted distance between the desired landing position and the position where the vehicle is about to land |
| 3 | Landing descend rate [ms^-1] |
| 4 | Desired yaw angle [rad] |
| 5 | Y-axis position [m] |
| 6 | X-axis position [m] |
| 7 | Z-axis / ground level position [m] |
Takeoff from local position (local frame only)
| Param | Description |
|---|---|
| 1 | Minimum pitch (if airspeed sensor present), desired pitch without sensor [rad] |
| 2 | Empty |
| 3 | Takeoff ascend rate [ms^-1] |
| 4 | Yaw angle [rad] (if magnetometer or another yaw estimation source present), ignored without one of these |
| 5 | Y-axis position [m] |
| 6 | X-axis position [m] |
| 7 | Z-axis position [m] |
Vehicle following, i.e. this waypoint represents the position of a moving vehicle
| Param | Description |
|---|---|
| 1 | Following logic to use (e.g. loitering or sinusoidal following) - depends on specific autopilot implementation |
| 2 | Ground speed of vehicle to be followed |
| 3 | Radius around waypoint, in meters. If positive loiter clockwise, else counter-clockwise |
| 4 | Desired yaw angle. |
| 5 | Latitude |
| 6 | Longitude |
| 7 | Altitude |
Continue on the current course and climb/descend to specified altitude. When the altitude is reached continue to the next command (i.e., don't proceed to the next command until the desired altitude is reached.
| Param | Description |
|---|---|
| 1 | Climb or Descend (0 = Neutral, command completes when within 5m of this command's altitude, 1 = Climbing, command completes when at or above this command's altitude, 2 = Descending, command completes when at or below this command's altitude. |
| 2 | Empty |
| 3 | Empty |
| 4 | Empty |
| 5 | Empty |
| 6 | Empty |
| 7 | Desired altitude in meters |
Begin loiter at the specified Latitude and Longitude. If Lat=Lon=0, then loiter at the current position. Don't consider the navigation command complete (don't leave loiter) until the altitude has been reached. Additionally, if the Heading Required parameter is non-zero the aircraft will not leave the loiter until heading toward the next waypoint.
| Param | Description |
|---|---|
| 1 | Heading Required (0 = False) |
| 2 | Radius in meters. If positive loiter clockwise, negative counter-clockwise, 0 means no change to standard loiter. |
| 3 | Empty |
| 4 | Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location |
| 5 | Latitude |
| 6 | Longitude |
| 7 | Altitude |
Being following a target
| Param | Description |
|---|---|
| 1 | System ID (the system ID of the FOLLOW_TARGET beacon). Send 0 to disable follow-me and return to the default position hold mode |
| 2 | RESERVED |
| 3 | RESERVED |
| 4 | altitude flag: 0: Keep current altitude, 1: keep altitude difference to target, 2: go to a fixed altitude above home |
| 5 | altitude |
| 6 | RESERVED |
| 7 | TTL in seconds in which the MAV should go to the default position hold mode after a message rx timeout |
Reposition the MAV after a follow target command has been sent
| Param | Description |
|---|---|
| 1 | Camera q1 (where 0 is on the ray from the camera to the tracking device) |
| 2 | Camera q2 |
| 3 | Camera q3 |
| 4 | Camera q4 |
| 5 | altitude offset from target (m) |
| 6 | X offset from target (m) |
| 7 | Y offset from target (m) |
WORK IN PROGRESS: Do not use in stable production environments (it may change).
Start orbiting on the circumference of a circle defined by the parameters. Setting any value NaN results in using defaults.
| Param | Description |
|---|---|
| 1 | Radius of the circle in meters. positive: Orbit clockwise. negative: Orbit counter-clockwise. |
| 2 | Velocity tangential in m/s. NaN: Vehicle configuration default. |
| 3 | Yaw behavior of the vehicle. 0: vehicle front points to the center (default). 1: Hold last heading. 2: Leave yaw uncontrolled. |
| 4 | Reserved (e.g. for dynamic center beacon options) |
| 5 | Center point latitude (if no MAV_FRAME specified) / X coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting. |
| 6 | Center point longitude (if no MAV_FRAME specified) / Y coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting. |
| 7 | Center point altitude (MSL) (if no MAV_FRAME specified) / Z coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting. |
DEPRECATED: Replaced by MAV_CMD_DO_SET_ROI_* (2018-01).
Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras.
| Param | Description |
|---|---|
| 1 | Region of interest mode. (see MAV_ROI enum) |
| 2 | Waypoint index/ target ID. (see MAV_ROI enum) |
| 3 | ROI index (allows a vehicle to manage multiple ROI's) |
| 4 | Empty |
| 5 | x the location of the fixed ROI (see MAV_FRAME) |
| 6 | y |
| 7 | z |
Control autonomous path planning on the MAV.
| Param | Description |
|---|---|
| 1 | 0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning |
| 2 | 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid |
| 3 | Empty |
| 4 | Yaw angle at goal, in compass degrees, [0..360] |
| 5 | Latitude/X of goal |
| 6 | Longitude/Y of goal |
| 7 | Altitude/Z of goal |
Navigate to waypoint using a spline path.
| Param | Description |
|---|---|
| 1 | Hold time in decimal seconds. (ignored by fixed wing, time to stay at waypoint for rotary wing) |
| 2 | Empty |
| 3 | Empty |
| 4 | Empty |
| 5 | Latitude/X of goal |
| 6 | Longitude/Y of goal |
| 7 | Altitude/Z of goal |
Takeoff from ground using VTOL mode
| Param | Description |
|---|---|
| 1 | Empty |
| 2 | Front transition heading, see VTOL_TRANSITION_HEADING enum. |
| 3 | Empty |
| 4 | Yaw angle in degrees. NaN for unchanged. |
| 5 | Latitude |
| 6 | Longitude |
| 7 | Altitude |
Land using VTOL mode
| Param | Description |
|---|---|
| 1 | Empty |
| 2 | Empty |
| 3 | Approach altitude (with the same reference as the Altitude field). NaN if unspecified. |
| 4 | Yaw angle in degrees. NaN for unchanged. |
| 5 | Latitude |
| 6 | Longitude |
| 7 | Altitude (ground level) |
hand control over to an external controller
| Param | Description |
|---|---|
| 1 | On / Off (> 0.5f on) |
| 2 | Empty |
| 3 | Empty |
| 4 | Empty |
| 5 | Empty |
| 6 | Empty |
| 7 | Empty |
Delay the next navigation command a number of seconds or until a specified time
| Param | Description |
|---|---|
| 1 | Delay in seconds (decimal, -1 to enable time-of-day fields) |
| 2 | hour (24h format, UTC, -1 to ignore) |
| 3 | minute (24h format, UTC, -1 to ignore) |
| 4 | second (24h format, UTC) |
| 5 | Empty |
| 6 | Empty |
| 7 | Empty |
Descend and place payload. Vehicle descends until it detects a hanging payload has reached the ground, the gripper is opened to release the payload
| Param | Description |
|---|---|
| 1 | Maximum distance to descend (meters) |
| 2 | Empty |
| 3 | Empty |
| 4 | Empty |
| 5 | Latitude (deg * 1E7) |
| 6 | Longitude (deg * 1E7) |
| 7 | Altitude (meters) |
NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration
| Param | Description |
|---|---|
| 1 | Empty |
| 2 | Empty |
| 3 | Empty |
| 4 | Empty |
| 5 | Empty |
| 6 | Empty |
| 7 | Empty |
Delay mission state machine.
| Param | Description |
|---|---|
| 1 | Delay in seconds (decimal) |
| 2 | Empty |
| 3 | Empty |
| 4 | Empty |
| 5 | Empty |
| 6 | Empty |
| 7 | Empty |
Ascend/descend at rate. Delay mission state machine until desired altitude reached.
| Param | Description |
|---|---|
| 1 | Descent / Ascend rate (m/s) |
| 2 | Empty |
| 3 | Empty |
| 4 | Empty |
| 5 | Empty |
| 6 | Empty |
| 7 | Finish Altitude |
Delay mission state machine until within desired distance of next NAV point.
| Param | Description |
|---|---|
| 1 | Distance (meters) |
| 2 | Empty |
| 3 | Empty |
| 4 | Empty |
| 5 | Empty |
| 6 | Empty |
| 7 | Empty |
Reach a certain target angle.
| Param | Description |
|---|---|
| 1 | target angle: [0-360], 0 is north |
| 2 | speed during yaw change:[deg per second] |
| 3 | direction: negative: counter clockwise, positive: clockwise [-1,1] |
| 4 | relative offset or absolute angle: [ 1,0] |
| 5 | Empty |
| 6 | Empty |
| 7 | Empty |
NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration
| Param | Description |
|---|---|
| 1 | Empty |
| 2 | Empty |
| 3 | Empty |
| 4 | Empty |
| 5 | Empty |
| 6 | Empty |
| 7 | Empty |
Set system mode.
| Param | Description |
|---|---|
| 1 | Mode, as defined by ENUM MAV_MODE |
| 2 | Custom mode - this is system specific, please refer to the individual autopilot specifications for details. |
| 3 | Custom sub mode - this is system specific, please refer to the individual autopilot specifications for details. |
| 4 | Empty |
| 5 | Empty |
| 6 | Empty |
| 7 | Empty |
Jump to the desired command in the mission list. Repeat this action only the specified number of times
| Param | Description |
|---|---|
| 1 | Sequence number |
| 2 | Repeat count |
| 3 | Empty |
| 4 | Empty |
| 5 | Empty |
| 6 | Empty |
| 7 | Empty |
Change speed and/or throttle set points.
| Param | Description |
|---|---|
| 1 | Speed type (0=Airspeed, 1=Ground Speed, 2=Climb Speed, 3=Descent Speed) |
| 2 | Speed (m/s, -1 indicates no change) |
| 3 | Throttle ( Percent, -1 indicates no change) |
| 4 | absolute or relative [0,1] |
| 5 | Empty |
| 6 | Empty |
| 7 | Empty |
Changes the home location either to the current location or a specified location.
| Param | Description |
|---|---|
| 1 | Use current (1=use current location, 0=use specified location) |
| 2 | Empty |
| 3 | Empty |
| 4 | Empty |
| 5 | Latitude |
| 6 | Longitude |
| 7 | Altitude |
Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter.
| Param | Description |
|---|---|
| 1 | Parameter number |
| 2 | Parameter value |
| 3 | Empty |
| 4 | Empty |
| 5 | Empty |
| 6 | Empty |
| 7 | Empty |
Set a relay to a condition.
| Param | Description |
|---|---|
| 1 | Relay number |
| 2 | Setting (1=on, 0=off, others possible depending on system hardware) |
| 3 | Empty |
| 4 | Empty |
| 5 | Empty |
| 6 | Empty |
| 7 | Empty |
Cycle a relay on and off for a desired number of cycles with a desired period.
| Param | Description |
|---|---|
| 1 | Relay number |
| 2 | Cycle count |
| 3 | Cycle time (seconds, decimal) |
| 4 | Empty |
| 5 | Empty |
| 6 | Empty |
| 7 | Empty |
Set a servo to a desired PWM value.
| Param | Description |
|---|---|
| 1 | Servo number |
| 2 | PWM (microseconds, 1000 to 2000 typical) |
| 3 | Empty |
| 4 | Empty |
| 5 | Empty |
| 6 | Empty |
| 7 | Empty |
Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period.
| Param | Description |
|---|---|
| 1 | Servo number |
| 2 | PWM (microseconds, 1000 to 2000 typical) |
| 3 | Cycle count |
| 4 | Cycle time (seconds) |
| 5 | Empty |
| 6 | Empty |
| 7 | Empty |
Terminate flight immediately
| Param | Description |
|---|---|
| 1 | Flight termination activated if > 0.5 |
| 2 | Empty |
| 3 | Empty |
| 4 | Empty |
| 5 | Empty |
| 6 | Empty |
| 7 | Empty |
Change altitude set point.
| Param | Description |
|---|---|
| 1 | Altitude in meters |
| 2 | Mav frame of new altitude (see MAV_FRAME) |
| 3 | Empty |
| 4 | Empty |
| 5 | Empty |
| 6 | Empty |
| 7 | Empty |
Mission command to perform a landing. This is used as a marker in a mission to tell the autopilot where a sequence of mission items that represents a landing starts. It may also be sent via a COMMAND_LONG to trigger a landing, in which case the nearest (geographically) landing sequence in the mission will be used. The Latitude/Longitude is optional, and may be set to 0 if not needed. If specified then it will be used to help find the closest landing sequence.
| Param | Description |
|---|---|
| 1 | Empty |
| 2 | Empty |
| 3 | Empty |
| 4 | Empty |
| 5 | Latitude |
| 6 | Longitude |
| 7 | Empty |
Mission command to perform a landing from a rally point.
| Param | Description |
|---|---|
| 1 | Break altitude (meters) |
| 2 | Landing speed (m/s) |
| 3 | Empty |
| 4 | Empty |
| 5 | Empty |
| 6 | Empty |
| 7 | Empty |
Mission command to safely abort an autonomous landing.
| Param | Description |
|---|---|
| 1 | Altitude (meters) |
| 2 | Empty |
| 3 | Empty |
| 4 | Empty |
| 5 | Empty |
| 6 | Empty |
| 7 | Empty |
Reposition the vehicle to a specific WGS84 global position.
| Param | Description |
|---|---|
| 1 | Ground speed, less than 0 (-1) for default |
| 2 | Bitmask of option flags, see the MAV_DO_REPOSITION_FLAGS enum. |
| 3 | Reserved |
| 4 | Yaw heading, NaN for unchanged. For planes indicates loiter direction (0: clockwise, 1: counter clockwise) |
| 5 | Latitude (deg * 1E7) |
| 6 | Longitude (deg * 1E7) |
| 7 | Altitude (meters) |
If in a GPS controlled position mode, hold the current position or continue.
| Param | Description |
|---|---|
| 1 | 0: Pause current mission or reposition command, hold current position. 1: Continue mission. A VTOL capable vehicle should enter hover mode (multicopter and VTOL planes). A plane should loiter with the default loiter radius. |
| 2 | Reserved |
| 3 | Reserved |
| 4 | Reserved |
| 5 | Reserved |
| 6 | Reserved |
| 7 | Reserved |
Set moving direction to forward or reverse.
| Param | Description |
|---|---|
| 1 | Direction (0=Forward, 1=Reverse) |
| 2 | Empty |
| 3 | Empty |
| 4 | Empty |
| 5 | Empty |
| 6 | Empty |
| 7 | Empty |
Sets the region of interest (ROI) to a location. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras.
| Param | Description |
|---|---|
| 1 | Empty |
| 2 | Empty |
| 3 | Empty |
| 4 | Empty |
| 5 | Latitude |
| 6 | Longitude |
| 7 | Altitude |
Sets the region of interest (ROI) to be toward next waypoint, with optional pitch/roll/yaw offset. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras.
| Param | Description |
|---|---|
| 1 | Empty |
| 2 | Empty |
| 3 | Empty |
| 4 | Empty |
| 5 | pitch offset from next waypoint |
| 6 | roll offset from next waypoint |
| 7 | yaw offset from next waypoint |
Cancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras.
| Param | Description |
|---|---|
| 1 | Empty |
| 2 | Empty |
| 3 | Empty |
| 4 | Empty |
| 5 | Empty |
| 6 | Empty |
| 7 | Empty |
Control onboard camera system.
| Param | Description |
|---|---|
| 1 | Camera ID (-1 for all) |
| 2 | Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw |
| 3 | Transmission mode: 0: video stream, >0: single images every n seconds (decimal) |
| 4 | Recording: 0: disabled, 1: enabled compressed, 2: enabled raw |
| 5 | Empty |
| 6 | Empty |
| 7 | Empty |
DEPRECATED: Replaced by MAV_CMD_DO_SET_ROI_* (2018-01).
Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras.
| Param | Description |
|---|---|
| 1 | Region of interest mode. (see MAV_ROI enum) |
| 2 | Waypoint index/ target ID. (see MAV_ROI enum) |
| 3 | ROI index (allows a vehicle to manage multiple ROI's) |
| 4 | Empty |
| 5 | MAV_ROI_WPNEXT: pitch offset from next waypoint, MAV_ROI_LOCATION: latitude |
| 6 | MAV_ROI_WPNEXT: roll offset from next waypoint, MAV_ROI_LOCATION: longitude |
| 7 | MAV_ROI_WPNEXT: yaw offset from next waypoint, MAV_ROI_LOCATION: altitude |
THIS INTERFACE IS DEPRECATED since 2018-01. Please use PARAM_EXT_XXX messages and the camera definition format described in https://mavlink.io/en/protocol/camera_def.html.
| Param | Description |
|---|---|
| 1 | Modes: P, TV, AV, M, Etc |
| 2 | Shutter speed: Divisor number for one second |
| 3 | Aperture: F stop number |
| 4 | ISO number e.g. 80, 100, 200, Etc |
| 5 | Exposure type enumerator |
| 6 | Command Identity |
| 7 | Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off) |
THIS INTERFACE IS DEPRECATED since 2018-01. Please use PARAM_EXT_XXX messages and the camera definition format described in https://mavlink.io/en/protocol/camera_def.html.
| Param | Description |
|---|---|
| 1 | Session control e.g. show/hide lens |
| 2 | Zoom's absolute position |
| 3 | Zooming step value to offset zoom from the current position |
| 4 | Focus Locking, Unlocking or Re-locking |
| 5 | Shooting Command |
| 6 | Command Identity |
| 7 | Test shot identifier. If set to 1, image will only be captured, but not counted towards internal frame count. |
Mission command to configure a camera or antenna mount
| Param | Description |
|---|---|
| 1 | Mount operation mode (see MAV_MOUNT_MODE enum) |
| 2 | stabilize roll? (1 = yes, 0 = no) |
| 3 | stabilize pitch? (1 = yes, 0 = no) |
| 4 | stabilize yaw? (1 = yes, 0 = no) |
| 5 | roll input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame) |
| 6 | pitch input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame) |
| 7 | yaw input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame) |
Mission command to control a camera or antenna mount
| Param | Description |
|---|---|
| 1 | pitch depending on mount mode (degrees or degrees/second depending on pitch input). |
| 2 | roll depending on mount mode (degrees or degrees/second depending on roll input). |
| 3 | yaw depending on mount mode (degrees or degrees/second depending on yaw input). |
| 4 | alt in meters depending on mount mode. |
| 5 | latitude in degrees * 1E7, set if appropriate mount mode. |
| 6 | longitude in degrees * 1E7, set if appropriate mount mode. |
| 7 | MAV_MOUNT_MODE enum value |
Mission command to set camera trigger distance for this flight. The camera is triggered each time this distance is exceeded. This command can also be used to set the shutter integration time for the camera.
| Param | Description |
|---|---|
| 1 | Camera trigger distance (meters). 0 to stop triggering. |
| 2 | Camera shutter integration time (milliseconds). -1 or 0 to ignore |
| 3 | Trigger camera once immediately. (0 = no trigger, 1 = trigger) |
| 4 | Empty |
| 5 | Empty |
| 6 | Empty |
| 7 | Empty |
Mission command to enable the geofence
| Param | Description |
|---|---|
| 1 | enable? (0=disable, 1=enable, 2=disable_floor_only) |
| 2 | Empty |
| 3 | Empty |
| 4 | Empty |
| 5 | Empty |
| 6 | Empty |
| 7 | Empty |
Mission command to trigger a parachute
| Param | Description |
|---|---|
| 1 | action (0=disable, 1=enable, 2=release, for some systems see PARACHUTE_ACTION enum, not in general message set.) |
| 2 | Empty |
| 3 | Empty |
| 4 | Empty |
| 5 | Empty |
| 6 | Empty |
| 7 | Empty |
Mission command to perform motor test
| Param | Description |
|---|---|
| 1 | motor number (a number from 1 to max number of motors on the vehicle) |
| 2 | throttle type (0=throttle percentage, 1=PWM, 2=pilot throttle channel pass-through. See MOTOR_TEST_THROTTLE_TYPE enum) |
| 3 | throttle |
| 4 | timeout (in seconds) |
| 5 | motor count (number of motors to test to test in sequence, waiting for the timeout above between them; 0=1 motor, 1=1 motor, 2=2 motors...) |
| 6 | motor test order (See MOTOR_TEST_ORDER enum) |
| 7 | Empty |
Change to/from inverted flight
| Param | Description |
|---|---|
| 1 | inverted (0=normal, 1=inverted) |
| 2 | Empty |
| 3 | Empty |
| 4 | Empty |
| 5 | Empty |
| 6 | Empty |
| 7 | Empty |
Sets a desired vehicle turn angle and speed change
| Param | Description |
|---|---|
| 1 | yaw angle to adjust steering by in centidegress |
| 2 | speed - normalized to 0 .. 1 |
| 3 | Empty |
| 4 | Empty |
| 5 | Empty |
| 6 | Empty |
| 7 | Empty |
Mission command to set camera trigger interval for this flight. If triggering is enabled, the camera is triggered each time this interval expires. This command can also be used to set the shutter integration time for the camera.
| Param | Description |
|---|---|
| 1 | Camera trigger cycle time (milliseconds). -1 or 0 to ignore. |
| 2 | Camera shutter integration time (milliseconds). Should be less than trigger cycle time. -1 or 0 to ignore. |
| 3 | Empty |
| 4 | Empty |
| 5 | Empty |
| 6 | Empty |
| 7 | Empty |
Mission command to control a camera or antenna mount, using a quaternion as reference.
| Param | Description |
|---|---|
| 1 | q1 - quaternion param #1, w (1 in null-rotation) |
| 2 | q2 - quaternion param #2, x (0 in null-rotation) |
| 3 | q3 - quaternion param #3, y (0 in null-rotation) |
| 4 | q4 - quaternion param #4, z (0 in null-rotation) |
| 5 | Empty |
| 6 | Empty |
| 7 | Empty |
set id of master controller
| Param | Description |
|---|---|
| 1 | System ID |
| 2 | Component ID |
| 3 | Empty |
| 4 | Empty |
| 5 | Empty |
| 6 | Empty |
| 7 | Empty |
Set limits for external control
| Param | Description |
|---|---|
| 1 | Timeout - maximum time (in seconds) that external controller will be allowed to control vehicle. 0 means no timeout. |
| 2 | Altitude (MSL) min, in meters - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit. |
| 3 | Altitude (MSL) max, in meters - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit. |
| 4 | Horizontal move limit, in meters - if vehicle moves more than this distance from its location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal move limit. |
| 5 | Empty |
| 6 | Empty |
| 7 | Empty |
Control vehicle engine. This is interpreted by the vehicles engine controller to change the target engine state. It is intended for vehicles with internal combustion engines
| Param | Description |
|---|---|
| 1 | 0: Stop engine, 1:Start Engine |
| 2 | 0: Warm start, 1:Cold start. Controls use of choke where applicable |
| 3 | Height delay (meters). This is for commanding engine start only after the vehicle has gained the specified height. Used in VTOL vehicles during takeoff to start engine after the aircraft is off the ground. Zero for no delay. |
| 4 | Empty |
| 5 | Empty |
| 5 | Empty |
| 6 | Empty |
| 7 | Empty |
Set the mission item with sequence number seq as current item. This means that the MAV will continue to this mission item on the shortest path (not following the mission items in-between).
| Param | Description |
|---|---|
| 1 | Mission sequence value to set |
| 2 | Empty |
| 3 | Empty |
| 4 | Empty |
| 5 | Empty |
| 5 | Empty |
| 6 | Empty |
| 7 | Empty |
NOP - This command is only used to mark the upper limit of the DO commands in the enumeration
| Param | Description |
|---|---|
| 1 | Empty |
| 2 | Empty |
| 3 | Empty |
| 4 | Empty |
| 5 | Empty |
| 6 | Empty |
| 7 | Empty |
Trigger calibration. This command will be only accepted if in pre-flight mode. Except for Temperature Calibration, only one sensor should be set in a single message and all others should be zero.
| Param | Description |
|---|---|
| 1 | 1: gyro calibration, 3: gyro temperature calibration |
| 2 | 1: magnetometer calibration |
| 3 | 1: ground pressure calibration |
| 4 | 1: radio RC calibration, 2: RC trim calibration |
| 5 | 1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature calibration, 4: simple accelerometer calibration |
| 6 | 1: APM: compass/motor interference calibration (PX4: airspeed calibration, deprecated), 2: airspeed calibration |
| 7 | 1: ESC calibration, 3: barometer temperature calibration |
Set sensor offsets. This command will be only accepted if in pre-flight mode.
| Param | Description |
|---|---|
| 1 | Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow, 5: second magnetometer, 6: third magnetometer |
| 2 | X axis offset (or generic dimension 1), in the sensor's raw units |
| 3 | Y axis offset (or generic dimension 2), in the sensor's raw units |
| 4 | Z axis offset (or generic dimension 3), in the sensor's raw units |
| 5 | Generic dimension 4, in the sensor's raw units |
| 6 | Generic dimension 5, in the sensor's raw units |
| 7 | Generic dimension 6, in the sensor's raw units |
Trigger UAVCAN config. This command will be only accepted if in pre-flight mode.
| Param | Description |
|---|---|
| 1 | 1: Trigger actuator ID assignment and direction mapping. |
| 2 | Reserved |
| 3 | Reserved |
| 4 | Reserved |
| 5 | Reserved |
| 6 | Reserved |
| 7 | Reserved |
Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode.
| Param | Description |
|---|---|
| 1 | Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults |
| 2 | Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults |
| 3 | Onboard logging: 0: Ignore, 1: Start default rate logging, -1: Stop logging, > 1: start logging with rate of param 3 in Hz (e.g. set to 1000 for 1000 Hz logging) |
| 4 | Reserved |
| 5 | Empty |
| 6 | Empty |
| 7 | Empty |
Request the reboot or shutdown of system components.
| Param | Description |
|---|---|
| 1 | 0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot, 3: Reboot autopilot and keep it in the bootloader until upgraded. |
| 2 | 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer, 3: Reboot onboard computer and keep it in the bootloader until upgraded. |
| 3 | WIP: 0: Do nothing for camera, 1: Reboot onboard camera, 2: Shutdown onboard camera, 3: Reboot onboard camera and keep it in the bootloader until upgraded |
| 4 | WIP: 0: Do nothing for mount (e.g. gimbal), 1: Reboot mount, 2: Shutdown mount, 3: Reboot mount and keep it in the bootloader until upgraded |
| 5 | Reserved, send 0 |
| 6 | Reserved, send 0 |
| 7 | WIP: ID (e.g. camera ID -1 for all IDs) |
Hold / continue the current action
| Param | Description |
|---|---|
| 1 | MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with next item in mission plan |
| 2 | MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position |
| 3 | MAV_FRAME coordinate frame of hold point |
| 4 | Desired yaw angle in degrees |
| 5 | Latitude / X position |
| 6 | Longitude / Y position |
| 7 | Altitude / Z position |
start running a mission
| Param | Description |
|---|---|
| 1 | first_item: the first mission item to run |
| 2 | last_item: the last mission item to run (after this item is run, the mission ends) |
Arms / Disarms a component
| Param | Description |
|---|---|
| 1 | 1 to arm, 0 to disarm |
Request the home position from the vehicle.
| Param | Description |
|---|---|
| 1 | Reserved |
| 2 | Reserved |
| 3 | Reserved |
| 4 | Reserved |
| 5 | Reserved |
| 6 | Reserved |
| 7 | Reserved |
Starts receiver pairing
| Param | Description |
|---|---|
| 1 | 0:Spektrum |
| 2 | RC type (see RC_TYPE enum) |
Request the interval between messages for a particular MAVLink message ID
| Param | Description |
|---|---|
| 1 | The MAVLink message ID |
Set the interval between messages for a particular MAVLink message ID. This interface replaces REQUEST_DATA_STREAM
| Param | Description |
|---|---|
| 1 | The MAVLink message ID |
| 2 | The interval between two messages, in microseconds. Set to -1 to disable and 0 to request default rate. |
Request MAVLink protocol version compatibility
| Param | Description |
|---|---|
| 1 | 1: Request supported protocol versions by all nodes on the network |
| 2 | Reserved (all remaining params) |
Request autopilot capabilities
| Param | Description |
|---|---|
| 1 | 1: Request autopilot version |
| 2 | Reserved (all remaining params) |
Request camera information (CAMERA_INFORMATION).
| Param | Description |
|---|---|
| 1 | 0: No action 1: Request camera capabilities |
| 2 | Reserved (all remaining params) |
Request camera settings (CAMERA_SETTINGS).
| Param | Description |
|---|---|
| 1 | 0: No Action 1: Request camera settings |
| 2 | Reserved (all remaining params) |
WORK IN PROGRESS: Do not use in stable production environments (it may change).
Request storage information (STORAGE_INFORMATION). Use the command's target_component to target a specific component's storage.
| Param | Description |
|---|---|
| 1 | Storage ID (0 for all, 1 for first, 2 for second, etc.) |
| 2 | 0: No Action 1: Request storage information |
| 3 | Reserved (all remaining params) |
WORK IN PROGRESS: Do not use in stable production environments (it may change).
Format a storage medium. Once format is complete, a STORAGE_INFORMATION message is sent. Use the command's target_component to target a specific component's storage.
| Param | Description |
|---|---|
| 1 | Storage ID (1 for first, 2 for second, etc.) |
| 2 | 0: No action 1: Format storage |
| 3 | Reserved (all remaining params) |
Request camera capture status (CAMERA_CAPTURE_STATUS)
| Param | Description |
|---|---|
| 1 | 0: No Action 1: Request camera capture status |
| 2 | Reserved (all remaining params) |
WORK IN PROGRESS: Do not use in stable production environments (it may change).
Request flight information (FLIGHT_INFORMATION)
| Param | Description |
|---|---|
| 1 | 1: Request flight information |
| 2 | Reserved (all remaining params) |
Reset all camera settings to Factory Default
| Param | Description |
|---|---|
| 1 | 0: No Action 1: Reset all settings |
| 2 | Reserved (all remaining params) |
Set camera running mode. Use NAN for reserved values.
| Param | Description |
|---|---|
| 1 | Reserved (Set to 0) |
| 2 | Camera mode (see CAMERA_MODE enum) |
| 3 | Reserved (all remaining params) |
WORK IN PROGRESS: Do not use in stable production environments (it may change).
Set camera zoom. Returns CAMERA_SETTINGS message. Use NAN for reserved values.
| Param | Description | Values |
|---|---|---|
| 1 | Zoom type | SET_ZOOM_TYPE |
| 2 | Zoom value | |
| 3 | Reserved (all remaining params) |
WORK IN PROGRESS: Do not use in stable production environments (it may change).
Set camera focus. Returns CAMERA_SETTINGS message. Use NAN for reserved values.
| Param | Description | Values |
|---|---|---|
| 1 | Focus type | SET_FOCUS_TYPE |
| 2 | Focus value | |
| 3 | Reserved (all remaining params) |
Start image capture sequence. Sends CAMERA_IMAGE_CAPTURED after each capture. Use NAN for reserved values.
| Param | Description |
|---|---|
| 1 | Reserved (Set to 0) |
| 2 | Duration between two consecutive pictures (in seconds) |
| 3 | Number of images to capture total - 0 for unlimited capture |
| 4 | Capture sequence (ID to prevent double captures when a command is retransmitted, 0: unused, >= 1: used) |
| 5 | Reserved (all remaining params) |
Stop image capture sequence Use NAN for reserved values.
| Param | Description |
|---|---|
| 1 | Reserved (Set to 0) |
| 2 | Reserved (all remaining params) |
WORK IN PROGRESS: Do not use in stable production environments (it may change).
Re-request a CAMERA_IMAGE_CAPTURE packet. Use NAN for reserved values.
| Param | Description |
|---|---|
| 1 | Sequence number for missing CAMERA_IMAGE_CAPTURE packet |
| 2 | Reserved (all remaining params) |
Enable or disable on-board camera triggering system.
| Param | Description |
|---|---|
| 1 | Trigger enable/disable (0 for disable, 1 for start), -1 to ignore |
| 2 | 1 to reset the trigger sequence, -1 or 0 to ignore |
| 3 | 1 to pause triggering, but without switching the camera off or retracting it. -1 to ignore |
Starts video capture (recording). Use NAN for reserved values.
| Param | Description |
|---|---|
| 1 | Reserved (Set to 0) |
| 2 | Frequency CAMERA_CAPTURE_STATUS messages should be sent while recording (0 for no messages, otherwise frequency in Hz) |
| 3 | Reserved (all remaining params) |
Stop the current video capture (recording). Use NAN for reserved values.
| Param | Description |
|---|---|
| 1 | Reserved (Set to 0) |
| 2 | Reserved (all remaining params) |
WORK IN PROGRESS: Do not use in stable production environments (it may change).
Start video streaming
| Param | Description |
|---|---|
| 1 | Stream ID (0 for all streams, 1 for first, 2 for second, etc.) |
| 2 | Reserved |
WORK IN PROGRESS: Do not use in stable production environments (it may change).
Stop the current video streaming
| Param | Description |
|---|---|
| 1 | Stream ID (0 for all streams, 1 for first, 2 for second, etc.) |
| 2 | Reserved |
WORK IN PROGRESS: Do not use in stable production environments (it may change).
Request video stream information (VIDEO_STREAM_INFORMATION)
| Param | Description |
|---|---|
| 1 | Stream ID (0 for all streams, 1 for first, 2 for second, etc.) |
| 2 | 0: No Action 1: Request video stream information |
| 3 | Reserved (all remaining params) |
Request to start streaming logging data over MAVLink (see also LOGGING_DATA message)
| Param | Description |
|---|---|
| 1 | Format: 0: ULog |
| 2 | Reserved (set to 0) |
| 3 | Reserved (set to 0) |
| 4 | Reserved (set to 0) |
| 5 | Reserved (set to 0) |
| 6 | Reserved (set to 0) |
| 7 | Reserved (set to 0) |
Request to stop streaming log data over MAVLink
| Param | Description |
|---|---|
| 1 | Reserved (set to 0) |
| 2 | Reserved (set to 0) |
| 3 | Reserved (set to 0) |
| 4 | Reserved (set to 0) |
| 5 | Reserved (set to 0) |
| 6 | Reserved (set to 0) |
| 7 | Reserved (set to 0) |
| Param | Description |
|---|---|
| 1 | Landing gear ID (default: 0, -1 for all) |
| 2 | Landing gear position (Down: 0, Up: 1, NAN for no change) |
| 3 | Reserved, set to NAN |
| 4 | Reserved, set to NAN |
| 5 | Reserved, set to NAN |
| 6 | Reserved, set to NAN |
| 7 | Reserved, set to NAN |
Request to start/stop transmitting over the high latency telemetry
| Param | Description |
|---|---|
| 1 | Control transmission over high latency telemetry (0: stop, 1: start) |
| 2 | Empty |
| 3 | Empty |
| 4 | Empty |
| 5 | Empty |
| 6 | Empty |
| 7 | Empty |
Create a panorama at the current position
| Param | Description |
|---|---|
| 1 | Viewing angle horizontal of the panorama (in degrees, +- 0.5 the total angle) |
| 2 | Viewing angle vertical of panorama (in degrees) |
| 3 | Speed of the horizontal rotation (in degrees per second) |
| 4 | Speed of the vertical rotation (in degrees per second) |
Request VTOL transition
| Param | Description |
|---|---|
| 1 | The target VTOL state, as defined by ENUM MAV_VTOL_STATE. Only MAV_VTOL_STATE_MC and MAV_VTOL_STATE_FW can be used. |
Request authorization to arm the vehicle to a external entity, the arm authorizer is responsible to request all data that is needs from the vehicle before authorize or deny the request. If approved the progress of command_ack message should be set with period of time that this authorization is valid in seconds or in case it was denied it should be set with one of the reasons in ARM_AUTH_DENIED_REASON.
| Param | Description |
|---|---|
| 1 | Vehicle system id, this way ground station can request arm authorization on behalf of any vehicle |
This command sets the submode to standard guided when vehicle is in guided mode. The vehicle holds position and altitude and the user can input the desired velocities along all three axes.
| Param | Description |
|---|
This command sets submode circle when vehicle is in guided mode. Vehicle flies along a circle facing the center of the circle. The user can input the velocity along the circle and change the radius. If no input is given the vehicle will hold position.
| Param | Description |
|---|---|
| 1 | Radius of desired circle in CIRCLE_MODE |
| 2 | User defined |
| 3 | User defined |
| 4 | User defined |
| 5 | Unscaled target latitude of center of circle in CIRCLE_MODE |
| 6 | Unscaled target longitude of center of circle in CIRCLE_MODE |
WORK IN PROGRESS: Do not use in stable production environments (it may change).
Delay mission state machine until gate has been reached.
| Param | Description |
|---|---|
| 1 | Geometry: 0: orthogonal to path between previous and next waypoint. |
| 2 | Altitude: 0: ignore altitude |
| 3 | Empty |
| 4 | Empty |
| 5 | Latitude |
| 6 | Longitude |
| 7 | Altitude |
Fence return point. There can only be one fence return point.
| Param | Description |
|---|---|
| 1 | Reserved |
| 2 | Reserved |
| 3 | Reserved |
| 4 | Reserved |
| 5 | Latitude |
| 6 | Longitude |
| 7 | Altitude |
Fence vertex for an inclusion polygon (the polygon must not be self-intersecting). The vehicle must stay within this area. Minimum of 3 vertices required.
| Param | Description |
|---|---|
| 1 | Polygon vertex count |
| 2 | Reserved |
| 3 | Reserved |
| 4 | Reserved |
| 5 | Latitude |
| 6 | Longitude |
| 7 | Reserved |
Fence vertex for an exclusion polygon (the polygon must not be self-intersecting). The vehicle must stay outside this area. Minimum of 3 vertices required.
| Param | Description |
|---|---|
| 1 | Polygon vertex count |
| 2 | Reserved |
| 3 | Reserved |
| 4 | Reserved |
| 5 | Latitude |
| 6 | Longitude |
| 7 | Reserved |
Circular fence area. The vehicle must stay inside this area.
| Param | Description |
|---|---|
| 1 | radius in meters |
| 2 | Reserved |
| 3 | Reserved |
| 4 | Reserved |
| 5 | Latitude |
| 6 | Longitude |
| 7 | Reserved |
Circular fence area. The vehicle must stay outside this area.
| Param | Description |
|---|---|
| 1 | radius in meters |
| 2 | Reserved |
| 3 | Reserved |
| 4 | Reserved |
| 5 | Latitude |
| 6 | Longitude |
| 7 | Reserved |
Rally point. You can have multiple rally points defined.
| Param | Description |
|---|---|
| 1 | Reserved |
| 2 | Reserved |
| 3 | Reserved |
| 4 | Reserved |
| 5 | Latitude |
| 6 | Longitude |
| 7 | Altitude |
Commands the vehicle to respond with a sequence of messages UAVCAN_NODE_INFO, one message per every UAVCAN node that is online. Note that some of the response messages can be lost, which the receiver can detect easily by checking whether every received UAVCAN_NODE_STATUS has a matching message UAVCAN_NODE_INFO received earlier; if not, this command should be sent again in order to request re-transmission of the node information messages.
| Param | Description |
|---|---|
| 1 | Reserved (set to 0) |
| 2 | Reserved (set to 0) |
| 3 | Reserved (set to 0) |
| 4 | Reserved (set to 0) |
| 5 | Reserved (set to 0) |
| 6 | Reserved (set to 0) |
| 7 | Reserved (set to 0) |
Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity.
| Param | Description |
|---|---|
| 1 | Operation mode. 0: prepare single payload deploy (overwriting previous requests), but do not execute it. 1: execute payload deploy immediately (rejecting further deploy commands during execution, but allowing abort). 2: add payload deploy to existing deployment list. |
| 2 | Desired approach vector in degrees compass heading (0..360). A negative value indicates the system can define the approach vector at will. |
| 3 | Desired ground speed at release time. This can be overridden by the airframe in case it needs to meet minimum airspeed. A negative value indicates the system can define the ground speed at will. |
| 4 | Minimum altitude clearance to the release position in meters. A negative value indicates the system can define the clearance at will. |
| 5 | Latitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT |
| 6 | Longitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT |
| 7 | Altitude (MSL), in meters |
Control the payload deployment.
| Param | Description |
|---|---|
| 1 | Operation mode. 0: Abort deployment, continue normal mission. 1: switch to payload deployment mode. 100: delete first payload deployment request. 101: delete all payload deployment requests. |
| 2 | Reserved |
| 3 | Reserved |
| 4 | Reserved |
| 5 | Reserved |
| 6 | Reserved |
| 7 | Reserved |
User defined waypoint item. Ground Station will show the Vehicle as flying through this item.
| Param | Description |
|---|---|
| 1 | User defined |
| 2 | User defined |
| 3 | User defined |
| 4 | User defined |
| 5 | Latitude unscaled |
| 6 | Longitude unscaled |
| 7 | Altitude (MSL), in meters |
User defined waypoint item. Ground Station will show the Vehicle as flying through this item.
| Param | Description |
|---|---|
| 1 | User defined |
| 2 | User defined |
| 3 | User defined |
| 4 | User defined |
| 5 | Latitude unscaled |
| 6 | Longitude unscaled |
| 7 | Altitude (MSL), in meters |
User defined waypoint item. Ground Station will show the Vehicle as flying through this item.
| Param | Description |
|---|---|
| 1 | User defined |
| 2 | User defined |
| 3 | User defined |
| 4 | User defined |
| 5 | Latitude unscaled |
| 6 | Longitude unscaled |
| 7 | Altitude (MSL), in meters |
User defined waypoint item. Ground Station will show the Vehicle as flying through this item.
| Param | Description |
|---|---|
| 1 | User defined |
| 2 | User defined |
| 3 | User defined |
| 4 | User defined |
| 5 | Latitude unscaled |
| 6 | Longitude unscaled |
| 7 | Altitude (MSL), in meters |
User defined waypoint item. Ground Station will show the Vehicle as flying through this item.
| Param | Description |
|---|---|
| 1 | User defined |
| 2 | User defined |
| 3 | User defined |
| 4 | User defined |
| 5 | Latitude unscaled |
| 6 | Longitude unscaled |
| 7 | Altitude (MSL), in meters |
User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.
| Param | Description |
|---|---|
| 1 | User defined |
| 2 | User defined |
| 3 | User defined |
| 4 | User defined |
| 5 | Latitude unscaled |
| 6 | Longitude unscaled |
| 7 | Altitude (MSL), in meters |
User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.
| Param | Description |
|---|---|
| 1 | User defined |
| 2 | User defined |
| 3 | User defined |
| 4 | User defined |
| 5 | Latitude unscaled |
| 6 | Longitude unscaled |
| 7 | Altitude (MSL), in meters |
User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.
| Param | Description |
|---|---|
| 1 | User defined |
| 2 | User defined |
| 3 | User defined |
| 4 | User defined |
| 5 | Latitude unscaled |
| 6 | Longitude unscaled |
| 7 | Altitude (MSL), in meters |
User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.
| Param | Description |
|---|---|
| 1 | User defined |
| 2 | User defined |
| 3 | User defined |
| 4 | User defined |
| 5 | Latitude unscaled |
| 6 | Longitude unscaled |
| 7 | Altitude (MSL), in meters |
User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.
| Param | Description |
|---|---|
| 1 | User defined |
| 2 | User defined |
| 3 | User defined |
| 4 | User defined |
| 5 | Latitude unscaled |
| 6 | Longitude unscaled |
| 7 | Altitude (MSL), in meters |
User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.
| Param | Description |
|---|---|
| 1 | User defined |
| 2 | User defined |
| 3 | User defined |
| 4 | User defined |
| 5 | User defined |
| 6 | User defined |
| 7 | User defined |
User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.
| Param | Description |
|---|---|
| 1 | User defined |
| 2 | User defined |
| 3 | User defined |
| 4 | User defined |
| 5 | User defined |
| 6 | User defined |
| 7 | User defined |
User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.
| Param | Description |
|---|---|
| 1 | User defined |
| 2 | User defined |
| 3 | User defined |
| 4 | User defined |
| 5 | User defined |
| 6 | User defined |
| 7 | User defined |
User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.
| Param | Description |
|---|---|
| 1 | User defined |
| 2 | User defined |
| 3 | User defined |
| 4 | User defined |
| 5 | User defined |
| 6 | User defined |
| 7 | User defined |
User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.
| Param | Description |
|---|---|
| 1 | User defined |
| 2 | User defined |
| 3 | User defined |
| 4 | User defined |
| 5 | User defined |
| 6 | User defined |
| 7 | User defined |
The heartbeat message shows that a system or component is present and responding. The type and autopilot fields (along with the message component id), allow the receiving system to treat further messages from this system appropriately (e.g. by laying out the user interface based on the autopilot).
| Field Name | Type | Values | Description |
|---|---|---|---|
| type | uint8_t | MAV_TYPE | Type of the system (quadrotor, helicopter, etc.). Components use the same type as their associated system. |
| autopilot | uint8_t | MAV_AUTOPILOT | Autopilot type / class. |
| base_mode | uint8_t | MAV_MODE_FLAG | System mode bitmap. |
| custom_mode | uint32_t | A bitfield for use for autopilot-specific flags | |
| system_status | uint8_t | MAV_STATE | System status flag. |
| mavlink_version | uint8_t_mavlink_version | MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version |
The general system state. If the system is following the MAVLink standard, the system state is mainly defined by three orthogonal states/modes: The system mode, which is either LOCKED (motors shut down and locked), MANUAL (system under RC control), GUIDED (system with autonomous position control, position setpoint controlled manually) or AUTO (system guided by path/waypoint planner). The NAV_MODE defined the current flight state: LIFTOFF (often an open-loop maneuver), LANDING, WAYPOINTS or VECTOR. This represents the internal navigation state machine. The system status shows whether the system is currently active or not and if an emergency occurred. During the CRITICAL and EMERGENCY states the MAV is still considered to be active, but should start emergency procedures autonomously. After a failure occurred it should first move from active to critical to allow manual intervention and then move to emergency after a certain timeout.
| Field Name | Type | Units | Values | Description |
|---|---|---|---|---|
| onboard_control_sensors_present | uint32_t | MAV_SYS_STATUS_SENSOR | Bitmap showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. | |
| onboard_control_sensors_enabled | uint32_t | MAV_SYS_STATUS_SENSOR | Bitmap showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. | |
| onboard_control_sensors_health | uint32_t | MAV_SYS_STATUS_SENSOR | Bitmap showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. | |
| load | uint16_t | d% | Maximum usage in percent of the mainloop time. Values: [0-1000] - should always be below 1000 | |
| voltage_battery | uint16_t | mV | Battery voltage | |
| current_battery | int16_t | cA | Battery current, -1: autopilot does not measure the current | |
| battery_remaining | int8_t | % | Remaining battery energy, -1: autopilot estimate the remaining battery | |
| drop_rate_comm | uint16_t | c% | Communication drop rate, (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV) | |
| errors_comm | uint16_t | Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV) | ||
| errors_count1 | uint16_t | Autopilot-specific errors | ||
| errors_count2 | uint16_t | Autopilot-specific errors | ||
| errors_count3 | uint16_t | Autopilot-specific errors | ||
| errors_count4 | uint16_t | Autopilot-specific errors |
The system time is the time of the master clock, typically the computer clock of the main onboard computer.
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_unix_usec | uint64_t | us | Timestamp (UNIX epoch time). |
| time_boot_ms | uint32_t | ms | Timestamp (time since system boot). |
A ping message either requesting or responding to a ping. This allows to measure the system latencies, including serial port, radio modem and UDP connections.
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_usec | uint64_t | us | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. |
| seq | uint32_t | PING sequence | |
| target_system | uint8_t | 0: request ping from all receiving systems. If greater than 0: message is a ping response and number is the system id of the requesting system | |
| target_component | uint8_t | 0: request ping from all receiving components. If greater than 0: message is a ping response and number is the component id of the requesting component. |
Request to control this MAV
| Field Name | Type | Units | Description |
|---|---|---|---|
| target_system | uint8_t | System the GCS requests control for | |
| control_request | uint8_t | 0: request control of this MAV, 1: Release control of this MAV | |
| version | uint8_t | rad | 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch. |
| passkey | char[25] | Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-" |
Accept / deny control of this MAV
| Field Name | Type | Description |
|---|---|---|
| gcs_system_id | uint8_t | ID of the GCS this message |
| control_request | uint8_t | 0: request control of this MAV, 1: Release control of this MAV |
| ack | uint8_t | 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control |
Emit an encrypted signature / key identifying this system. PLEASE NOTE: This protocol has been kept simple, so transmitting the key requires an encrypted channel for true safety.
| Field Name | Type | Description |
|---|---|---|
| key | char[32] | key |
DEPRECATED: Replaced by MAV_CMD_DO_SET_MODE (2015-12). Use COMMAND_LONG with MAV_CMD_DO_SET_MODE instead
Set the system mode, as defined by enum MAV_MODE. There is no target component id as the mode is by definition for the overall aircraft, not only for one component.
| Field Name | Type | Values | Description |
|---|---|---|---|
| target_system | uint8_t | The system setting the mode | |
| base_mode | uint8_t | MAV_MODE | The new base mode. |
| custom_mode | uint32_t | The new autopilot-specific mode. This field can be ignored by an autopilot. |
Request to read the onboard parameter with the param_id string id. Onboard parameters are stored as key[const char*] -> value[float]. This allows to send a parameter to any other component (such as the GCS) without the need of previous knowledge of possible parameter names. Thus the same GCS can store different parameters for different autopilots. See also https://mavlink.io/en/protocol/parameter.html for a full documentation of QGroundControl and IMU code.
| Field Name | Type | Description |
|---|---|---|
| target_system | uint8_t | System ID |
| target_component | uint8_t | Component ID |
| param_id | char[16] | Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string |
| param_index | int16_t | Parameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored) |
Request all parameters of this component. After this request, all parameters are emitted.
| Field Name | Type | Description |
|---|---|---|
| target_system | uint8_t | System ID |
| target_component | uint8_t | Component ID |
Emit the value of a onboard parameter. The inclusion of param_count and param_index in the message allows the recipient to keep track of received parameters and allows him to re-request missing parameters after a loss or timeout.
| Field Name | Type | Values | Description |
|---|---|---|---|
| param_id | char[16] | Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string | |
| param_value | float | Onboard parameter value | |
| param_type | uint8_t | MAV_PARAM_TYPE | Onboard parameter type. |
| param_count | uint16_t | Total number of onboard parameters | |
| param_index | uint16_t | Index of this onboard parameter |
Set a parameter value (write new value to permanent storage). IMPORTANT: The receiving component should acknowledge the new parameter value by sending a PARAM_VALUE message to all communication partners. This will also ensure that multiple GCS all have an up-to-date list of all parameters. If the sending GCS did not receive a PARAM_VALUE message within its timeout time, it should re-send the PARAM_SET message.
| Field Name | Type | Values | Description |
|---|---|---|---|
| target_system | uint8_t | System ID | |
| target_component | uint8_t | Component ID | |
| param_id | char[16] | Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string | |
| param_value | float | Onboard parameter value | |
| param_type | uint8_t | MAV_PARAM_TYPE | Onboard parameter type. |
The global position, as returned by the Global Positioning System (GPS). This is NOT the global position estimate of the system, but rather a RAW sensor value. See message GLOBAL_POSITION for the global position estimate.
| Field Name | Type | Units | Values | Description |
|---|---|---|---|---|
| time_usec | uint64_t | us | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. | |
| fix_type | uint8_t | GPS_FIX_TYPE | GPS fix type. | |
| lat | int32_t | degE7 | Latitude (WGS84, EGM96 ellipsoid) | |
| lon | int32_t | degE7 | Longitude (WGS84, EGM96 ellipsoid) | |
| alt | int32_t | mm | Altitude (MSL). Positive for up. Note that virtually all GPS modules provide the MSL altitude in addition to the WGS84 altitude. | |
| eph | uint16_t | GPS HDOP horizontal dilution of position (unitless). If unknown, set to: UINT16_MAX | ||
| epv | uint16_t | GPS VDOP vertical dilution of position (unitless). If unknown, set to: UINT16_MAX | ||
| vel | uint16_t | cm/s | GPS ground speed. If unknown, set to: UINT16_MAX | |
| cog | uint16_t | cdeg | Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX | |
| satellites_visible | uint8_t | Number of satellites visible. If unknown, set to 255 | ||
| alt_ellipsoid ** | int32_t | mm | Altitude (above WGS84, EGM96 ellipsoid). Positive for up. | |
| h_acc ** | uint32_t | mm | Position uncertainty. Positive for up. | |
| v_acc ** | uint32_t | mm | Altitude uncertainty. Positive for up. | |
| vel_acc ** | uint32_t | mm | Speed uncertainty. Positive for up. | |
| hdg_acc ** | uint32_t | degE5 | Heading / track uncertainty |
The positioning status, as reported by GPS. This message is intended to display status information about each satellite visible to the receiver. See message GLOBAL_POSITION for the global position estimate. This message can contain information for up to 20 satellites.
| Field Name | Type | Units | Description |
|---|---|---|---|
| satellites_visible | uint8_t | Number of satellites visible | |
| satellite_prn | uint8_t[20] | Global satellite ID | |
| satellite_used | uint8_t[20] | 0: Satellite not used, 1: used for localization | |
| satellite_elevation | uint8_t[20] | deg | Elevation (0: right on top of receiver, 90: on the horizon) of satellite |
| satellite_azimuth | uint8_t[20] | deg | Direction of satellite, 0: 0 deg, 255: 360 deg. |
| satellite_snr | uint8_t[20] | dB | Signal to noise ratio of satellite |
The RAW IMU readings for the usual 9DOF sensor setup. This message should contain the scaled values to the described units
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_boot_ms | uint32_t | ms | Timestamp (time since system boot). |
| xacc | int16_t | mG | X acceleration |
| yacc | int16_t | mG | Y acceleration |
| zacc | int16_t | mG | Z acceleration |
| xgyro | int16_t | mrad/s | Angular speed around X axis |
| ygyro | int16_t | mrad/s | Angular speed around Y axis |
| zgyro | int16_t | mrad/s | Angular speed around Z axis |
| xmag | int16_t | mT | X Magnetic field |
| ymag | int16_t | mT | Y Magnetic field |
| zmag | int16_t | mT | Z Magnetic field |
The RAW IMU readings for the usual 9DOF sensor setup. This message should always contain the true raw values without any scaling to allow data capture and system debugging.
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_usec | uint64_t | us | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. |
| xacc | int16_t | X acceleration (raw) | |
| yacc | int16_t | Y acceleration (raw) | |
| zacc | int16_t | Z acceleration (raw) | |
| xgyro | int16_t | Angular speed around X axis (raw) | |
| ygyro | int16_t | Angular speed around Y axis (raw) | |
| zgyro | int16_t | Angular speed around Z axis (raw) | |
| xmag | int16_t | X Magnetic field (raw) | |
| ymag | int16_t | Y Magnetic field (raw) | |
| zmag | int16_t | Z Magnetic field (raw) |
The RAW pressure readings for the typical setup of one absolute pressure and one differential pressure sensor. The sensor values should be the raw, UNSCALED ADC values.
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_usec | uint64_t | us | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. |
| press_abs | int16_t | Absolute pressure (raw) | |
| press_diff1 | int16_t | Differential pressure 1 (raw, 0 if nonexistent) | |
| press_diff2 | int16_t | Differential pressure 2 (raw, 0 if nonexistent) | |
| temperature | int16_t | Raw Temperature measurement (raw) |
The pressure readings for the typical setup of one absolute and differential pressure sensor. The units are as specified in each field.
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_boot_ms | uint32_t | ms | Timestamp (time since system boot). |
| press_abs | float | hPa | Absolute pressure |
| press_diff | float | hPa | Differential pressure 1 |
| temperature | int16_t | cdegC | Temperature |
The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right).
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_boot_ms | uint32_t | ms | Timestamp (time since system boot). |
| roll | float | rad | Roll angle (-pi..+pi) |
| pitch | float | rad | Pitch angle (-pi..+pi) |
| yaw | float | rad | Yaw angle (-pi..+pi) |
| rollspeed | float | rad/s | Roll angular speed |
| pitchspeed | float | rad/s | Pitch angular speed |
| yawspeed | float | rad/s | Yaw angular speed |
The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right), expressed as quaternion. Quaternion order is w, x, y, z and a zero rotation would be expressed as (1 0 0 0).
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_boot_ms | uint32_t | ms | Timestamp (time since system boot). |
| q1 | float | Quaternion component 1, w (1 in null-rotation) | |
| q2 | float | Quaternion component 2, x (0 in null-rotation) | |
| q3 | float | Quaternion component 3, y (0 in null-rotation) | |
| q4 | float | Quaternion component 4, z (0 in null-rotation) | |
| rollspeed | float | rad/s | Roll angular speed |
| pitchspeed | float | rad/s | Pitch angular speed |
| yawspeed | float | rad/s | Yaw angular speed |
The filtered local position (e.g. fused computer vision and accelerometers). Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention)
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_boot_ms | uint32_t | ms | Timestamp (time since system boot). |
| x | float | m | X Position |
| y | float | m | Y Position |
| z | float | m | Z Position |
| vx | float | m/s | X Speed |
| vy | float | m/s | Y Speed |
| vz | float | m/s | Z Speed |
The filtered global position (e.g. fused GPS and accelerometers). The position is in GPS-frame (right-handed, Z-up). It is designed as scaled integer message since the resolution of float is not sufficient.
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_boot_ms | uint32_t | ms | Timestamp (time since system boot). |
| lat | int32_t | degE7 | Latitude, expressed |
| lon | int32_t | degE7 | Longitude, expressed |
| alt | int32_t | mm | Altitude (MSL). Note that virtually all GPS modules provide both WGS84 and MSL. |
| relative_alt | int32_t | mm | Altitude above ground |
| vx | int16_t | cm/s | Ground X Speed (Latitude, positive north) |
| vy | int16_t | cm/s | Ground Y Speed (Longitude, positive east) |
| vz | int16_t | cm/s | Ground Z Speed (Altitude, positive down) |
| hdg | uint16_t | cdeg | Vehicle heading (yaw angle), 0.0..359.99 degrees. If unknown, set to: UINT16_MAX |
The scaled values of the RC channels received: (-100%) -10000, (0%) 0, (100%) 10000. Channels that are inactive should be set to UINT16_MAX.
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_boot_ms | uint32_t | ms | Timestamp (time since system boot). |
| port | uint8_t | Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos. | |
| chan1_scaled | int16_t | RC channel 1 value scaled. | |
| chan2_scaled | int16_t | RC channel 2 value scaled. | |
| chan3_scaled | int16_t | RC channel 3 value scaled. | |
| chan4_scaled | int16_t | RC channel 4 value scaled. | |
| chan5_scaled | int16_t | RC channel 5 value scaled. | |
| chan6_scaled | int16_t | RC channel 6 value scaled. | |
| chan7_scaled | int16_t | RC channel 7 value scaled. | |
| chan8_scaled | int16_t | RC channel 8 value scaled. | |
| rssi | uint8_t | % | Receive signal strength indicator. Values: [0-100], 255: invalid/unknown. |
The RAW values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. A value of UINT16_MAX implies the channel is unused. Individual receivers/transmitters might violate this specification.
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_boot_ms | uint32_t | ms | Timestamp (time since system boot). |
| port | uint8_t | Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos. | |
| chan1_raw | uint16_t | us | RC channel 1 value. |
| chan2_raw | uint16_t | us | RC channel 2 value. |
| chan3_raw | uint16_t | us | RC channel 3 value. |
| chan4_raw | uint16_t | us | RC channel 4 value. |
| chan5_raw | uint16_t | us | RC channel 5 value. |
| chan6_raw | uint16_t | us | RC channel 6 value. |
| chan7_raw | uint16_t | us | RC channel 7 value. |
| chan8_raw | uint16_t | us | RC channel 8 value. |
| rssi | uint8_t | % | Receive signal strength indicator. Values: [0-100], 255: invalid/unknown. |
The RAW values of the servo outputs (for RC input from the remote, use the RC_CHANNELS messages). The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%.
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_usec | uint32_t | us | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. |
| port | uint8_t | Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. | |
| servo1_raw | uint16_t | us | Servo output 1 value |
| servo2_raw | uint16_t | us | Servo output 2 value |
| servo3_raw | uint16_t | us | Servo output 3 value |
| servo4_raw | uint16_t | us | Servo output 4 value |
| servo5_raw | uint16_t | us | Servo output 5 value |
| servo6_raw | uint16_t | us | Servo output 6 value |
| servo7_raw | uint16_t | us | Servo output 7 value |
| servo8_raw | uint16_t | us | Servo output 8 value |
| servo9_raw ** | uint16_t | us | Servo output 9 value |
| servo10_raw ** | uint16_t | us | Servo output 10 value |
| servo11_raw ** | uint16_t | us | Servo output 11 value |
| servo12_raw ** | uint16_t | us | Servo output 12 value |
| servo13_raw ** | uint16_t | us | Servo output 13 value |
| servo14_raw ** | uint16_t | us | Servo output 14 value |
| servo15_raw ** | uint16_t | us | Servo output 15 value |
| servo16_raw ** | uint16_t | us | Servo output 16 value |
Request a partial list of mission items from the system/component. https://mavlink.io/en/protocol/mission.html. If start and end index are the same, just send one waypoint.
| Field Name | Type | Values | Description |
|---|---|---|---|
| target_system | uint8_t | System ID | |
| target_component | uint8_t | Component ID | |
| start_index | int16_t | Start index, 0 by default | |
| end_index | int16_t | End index, -1 by default (-1: send list to end). Else a valid index of the list | |
| mission_type ** | uint8_t | MAV_MISSION_TYPE | Mission type. |
This message is sent to the MAV to write a partial list. If start index == end index, only one item will be transmitted / updated. If the start index is NOT 0 and above the current list size, this request should be REJECTED!
| Field Name | Type | Values | Description |
|---|---|---|---|
| target_system | uint8_t | System ID | |
| target_component | uint8_t | Component ID | |
| start_index | int16_t | Start index, 0 by default and smaller / equal to the largest index of the current onboard list. | |
| end_index | int16_t | End index, equal or greater than start index. | |
| mission_type ** | uint8_t | MAV_MISSION_TYPE | Mission type. |
Message encoding a mission item. This message is emitted to announce the presence of a mission item and to set a mission item on the system. The mission item can be either in x, y, z meters (type: LOCAL) or x:lat, y:lon, z:altitude. Local frame is Z-down, right handed (NED), global frame is Z-up, right handed (ENU). See also https://mavlink.io/en/protocol/mission.html.
| Field Name | Type | Values | Description |
|---|---|---|---|
| target_system | uint8_t | System ID | |
| target_component | uint8_t | Component ID | |
| seq | uint16_t | Sequence | |
| frame | uint8_t | MAV_FRAME | The coordinate system of the waypoint. |
| command | uint16_t | MAV_CMD | The scheduled action for the waypoint. |
| current | uint8_t | false:0, true:1 | |
| autocontinue | uint8_t | Autocontinue to next waypoint | |
| 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 | float | PARAM5 / local: X coordinate, global: latitude | |
| y | float | PARAM6 / local: Y coordinate, global: longitude | |
| z | float | PARAM7 / local: Z coordinate, global: altitude (relative or absolute, depending on frame). | |
| mission_type ** | uint8_t | MAV_MISSION_TYPE | Mission type. |
Request the information of the mission item with the sequence number seq. The response of the system to this message should be a MISSION_ITEM message. https://mavlink.io/en/protocol/mission.html
| Field Name | Type | Values | Description |
|---|---|---|---|
| target_system | uint8_t | System ID | |
| target_component | uint8_t | Component ID | |
| seq | uint16_t | Sequence | |
| mission_type ** | uint8_t | MAV_MISSION_TYPE | Mission type. |
Set the mission item with sequence number seq as current item. This means that the MAV will continue to this mission item on the shortest path (not following the mission items in-between).
| Field Name | Type | Description |
|---|---|---|
| target_system | uint8_t | System ID |
| target_component | uint8_t | Component ID |
| seq | uint16_t | Sequence |
Message that announces the sequence number of the current active mission item. The MAV will fly towards this mission item.
| Field Name | Type | Description |
|---|---|---|
| seq | uint16_t | Sequence |
Request the overall list of mission items from the system/component.
| Field Name | Type | Values | Description |
|---|---|---|---|
| target_system | uint8_t | System ID | |
| target_component | uint8_t | Component ID | |
| mission_type ** | uint8_t | MAV_MISSION_TYPE | Mission type. |
This message is emitted as response to MISSION_REQUEST_LIST by the MAV and to initiate a write transaction. The GCS can then request the individual mission item based on the knowledge of the total number of waypoints.
| Field Name | Type | Values | Description |
|---|---|---|---|
| target_system | uint8_t | System ID | |
| target_component | uint8_t | Component ID | |
| count | uint16_t | Number of mission items in the sequence | |
| mission_type ** | uint8_t | MAV_MISSION_TYPE | Mission type. |
Delete all mission items at once.
| Field Name | Type | Values | Description |
|---|---|---|---|
| target_system | uint8_t | System ID | |
| target_component | uint8_t | Component ID | |
| mission_type ** | uint8_t | MAV_MISSION_TYPE | Mission type. |
A certain mission item has been reached. The system will either hold this position (or circle on the orbit) or (if the autocontinue on the WP was set) continue to the next waypoint.
| Field Name | Type | Description |
|---|---|---|
| seq | uint16_t | Sequence |
Acknowledgment message during waypoint handling. The type field states if this message is a positive ack (type=0) or if an error happened (type=non-zero).
| Field Name | Type | Values | Description |
|---|---|---|---|
| target_system | uint8_t | System ID | |
| target_component | uint8_t | Component ID | |
| type | uint8_t | MAV_MISSION_RESULT | Mission result. |
| mission_type ** | uint8_t | MAV_MISSION_TYPE | Mission type. |
As local waypoints exist, the global waypoint reference allows to transform between the local coordinate frame and the global (GPS) coordinate frame. This can be necessary when e.g. in- and outdoor settings are connected and the MAV should move from in- to outdoor.
| Field Name | Type | Units | Description |
|---|---|---|---|
| target_system | uint8_t | System ID | |
| latitude | int32_t | degE7 | Latitude (WGS84) |
| longitude | int32_t | degE7 | Longitude (WGS84) |
| altitude | int32_t | mm | Altitude (MSL). Positive for up. |
| time_usec ** | uint64_t | us | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. |
Once the MAV sets a new GPS-Local correspondence, this message announces the origin (0,0,0) position
| Field Name | Type | Units | Description |
|---|---|---|---|
| latitude | int32_t | degE7 | Latitude (WGS84) |
| longitude | int32_t | degE7 | Longitude (WGS84) |
| altitude | int32_t | mm | Altitude (MSL). Positive for up. |
| time_usec ** | uint64_t | us | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. |
Bind a RC channel to a parameter. The parameter should change according to the RC channel value.
| Field Name | Type | Description |
|---|---|---|
| target_system | uint8_t | System ID |
| target_component | uint8_t | Component ID |
| param_id | char[16] | Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string |
| param_index | int16_t | Parameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored), send -2 to disable any existing map for this rc_channel_index. |
| parameter_rc_channel_index | uint8_t | Index of parameter RC channel. Not equal to the RC channel id. Typically corresponds to a potentiometer-knob on the RC. |
| param_value0 | float | Initial parameter value |
| scale | float | Scale, maps the RC range [-1, 1] to a parameter value |
| param_value_min | float | Minimum param value. The protocol does not define if this overwrites an onboard minimum value. (Depends on implementation) |
| param_value_max | float | Maximum param value. The protocol does not define if this overwrites an onboard maximum value. (Depends on implementation) |
Request the information of the mission item with the sequence number seq. The response of the system to this message should be a MISSION_ITEM_INT message. https://mavlink.io/en/protocol/mission.html
| Field Name | Type | Values | Description |
|---|---|---|---|
| target_system | uint8_t | System ID | |
| target_component | uint8_t | Component ID | |
| seq | uint16_t | Sequence | |
| mission_type ** | uint8_t | MAV_MISSION_TYPE | Mission type. |
Set a safety zone (volume), which is defined by two corners of a cube. This message can be used to tell the MAV which setpoints/waypoints to accept and which to reject. Safety areas are often enforced by national or competition regulations.
| Field Name | Type | Units | Values | Description |
|---|---|---|---|---|
| target_system | uint8_t | System ID | ||
| target_component | uint8_t | Component ID | ||
| frame | uint8_t | MAV_FRAME | Coordinate frame. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. | |
| p1x | float | m | x position 1 / Latitude 1 | |
| p1y | float | m | y position 1 / Longitude 1 | |
| p1z | float | m | z position 1 / Altitude 1 | |
| p2x | float | m | x position 2 / Latitude 2 | |
| p2y | float | m | y position 2 / Longitude 2 | |
| p2z | float | m | z position 2 / Altitude 2 |
Read out the safety zone the MAV currently assumes.
| Field Name | Type | Units | Values | Description |
|---|---|---|---|---|
| frame | uint8_t | MAV_FRAME | Coordinate frame. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down. | |
| p1x | float | m | x position 1 / Latitude 1 | |
| p1y | float | m | y position 1 / Longitude 1 | |
| p1z | float | m | z position 1 / Altitude 1 | |
| p2x | float | m | x position 2 / Latitude 2 | |
| p2y | float | m | y position 2 / Longitude 2 | |
| p2z | float | m | z position 2 / Altitude 2 |
The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right), expressed as quaternion. Quaternion order is w, x, y, z and a zero rotation would be expressed as (1 0 0 0).
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_usec | uint64_t | us | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. |
| q | float[4] | Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation) | |
| rollspeed | float | rad/s | Roll angular speed |
| pitchspeed | float | rad/s | Pitch angular speed |
| yawspeed | float | rad/s | Yaw angular speed |
| covariance | float[9] | Attitude covariance |
The state of the fixed wing navigation and position controller.
| Field Name | Type | Units | Description |
|---|---|---|---|
| nav_roll | float | deg | Current desired roll |
| nav_pitch | float | deg | Current desired pitch |
| nav_bearing | int16_t | deg | Current desired heading |
| target_bearing | int16_t | deg | Bearing to current waypoint/target |
| wp_dist | uint16_t | m | Distance to active waypoint |
| alt_error | float | m | Current altitude error |
| aspd_error | float | m/s | Current airspeed error |
| xtrack_error | float | m | Current crosstrack error on x-y plane |
The filtered global position (e.g. fused GPS and accelerometers). The position is in GPS-frame (right-handed, Z-up). It is designed as scaled integer message since the resolution of float is not sufficient. NOTE: This message is intended for onboard networks / companion computers and higher-bandwidth links and optimized for accuracy and completeness. Please use the GLOBAL_POSITION_INT message for a minimal subset.
| Field Name | Type | Units | Values | Description |
|---|---|---|---|---|
| time_usec | uint64_t | us | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. | |
| estimator_type | uint8_t | MAV_ESTIMATOR_TYPE | Class id of the estimator this estimate originated from. | |
| lat | int32_t | degE7 | Latitude | |
| lon | int32_t | degE7 | Longitude | |
| alt | int32_t | mm | Altitude in meters above MSL | |
| relative_alt | int32_t | mm | Altitude above ground | |
| vx | float | m/s | Ground X Speed (Latitude) | |
| vy | float | m/s | Ground Y Speed (Longitude) | |
| vz | float | m/s | Ground Z Speed (Altitude) | |
| covariance | float[36] | Covariance matrix (first six entries are the first ROW, next six entries are the second row, etc.) |
The filtered local position (e.g. fused computer vision and accelerometers). Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention)
| Field Name | Type | Units | Values | Description |
|---|---|---|---|---|
| time_usec | uint64_t | us | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. | |
| estimator_type | uint8_t | MAV_ESTIMATOR_TYPE | Class id of the estimator this estimate originated from. | |
| x | float | m | X Position | |
| y | float | m | Y Position | |
| z | float | m | Z Position | |
| vx | float | m/s | X Speed | |
| vy | float | m/s | Y Speed | |
| vz | float | m/s | Z Speed | |
| ax | float | m/s/s | X Acceleration | |
| ay | float | m/s/s | Y Acceleration | |
| az | float | m/s/s | Z Acceleration | |
| covariance | float[45] | Covariance matrix upper right triangular (first nine entries are the first ROW, next eight entries are the second row, etc.) |
The PPM values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. A value of UINT16_MAX implies the channel is unused. Individual receivers/transmitters might violate this specification.
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_boot_ms | uint32_t | ms | Timestamp (time since system boot). |
| chancount | uint8_t | Total number of RC channels being received. This can be larger than 18, indicating that more channels are available but not given in this message. This value should be 0 when no RC channels are available. | |
| chan1_raw | uint16_t | us | RC channel 1 value. |
| chan2_raw | uint16_t | us | RC channel 2 value. |
| chan3_raw | uint16_t | us | RC channel 3 value. |
| chan4_raw | uint16_t | us | RC channel 4 value. |
| chan5_raw | uint16_t | us | RC channel 5 value. |
| chan6_raw | uint16_t | us | RC channel 6 value. |
| chan7_raw | uint16_t | us | RC channel 7 value. |
| chan8_raw | uint16_t | us | RC channel 8 value. |
| chan9_raw | uint16_t | us | RC channel 9 value. |
| chan10_raw | uint16_t | us | RC channel 10 value. |
| chan11_raw | uint16_t | us | RC channel 11 value. |
| chan12_raw | uint16_t | us | RC channel 12 value. |
| chan13_raw | uint16_t | us | RC channel 13 value. |
| chan14_raw | uint16_t | us | RC channel 14 value. |
| chan15_raw | uint16_t | us | RC channel 15 value. |
| chan16_raw | uint16_t | us | RC channel 16 value. |
| chan17_raw | uint16_t | us | RC channel 17 value. |
| chan18_raw | uint16_t | us | RC channel 18 value. |
| rssi | uint8_t | % | Receive signal strength indicator. Values: [0-100], 255: invalid/unknown. |
DEPRECATED: Replaced by SET_MESSAGE_INTERVAL (2015-08).
Request a data stream.
| Field Name | Type | Units | Description |
|---|---|---|---|
| target_system | uint8_t | The target requested to send the message stream. | |
| target_component | uint8_t | The target requested to send the message stream. | |
| req_stream_id | uint8_t | The ID of the requested data stream | |
| req_message_rate | uint16_t | Hz | The requested message rate |
| start_stop | uint8_t | 1 to start sending, 0 to stop sending. |
DEPRECATED: Replaced by MESSAGE_INTERVAL (2015-08).
Data stream status information.
| Field Name | Type | Units | Description |
|---|---|---|---|
| stream_id | uint8_t | The ID of the requested data stream | |
| message_rate | uint16_t | Hz | The message rate |
| on_off | uint8_t | 1 stream is enabled, 0 stream is stopped. |
This message provides an API for manually controlling the vehicle using standard joystick axes nomenclature, along with a joystick-like input device. Unused axes can be disabled an buttons are also transmit as boolean values of their
| Field Name | Type | Description |
|---|---|---|
| target | uint8_t | The system to be controlled. |
| x | int16_t | X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle. |
| y | int16_t | Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle. |
| z | int16_t | Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle. Positive values are positive thrust, negative values are negative thrust. |
| r | int16_t | R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle. |
| buttons | uint16_t | A bitfield corresponding to the joystick buttons' current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1. |
The RAW values of the RC channels sent to the MAV to override info received from the RC radio. A value of UINT16_MAX means no change to that channel. A value of 0 means control of that channel should be released back to the RC radio. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. Individual receivers/transmitters might violate this specification.
| Field Name | Type | Units | Description |
|---|---|---|---|
| target_system | uint8_t | System ID | |
| target_component | uint8_t | Component ID | |
| chan1_raw | uint16_t | us | RC channel 1 value. A value of UINT16_MAX means to ignore this field. |
| chan2_raw | uint16_t | us | RC channel 2 value. A value of UINT16_MAX means to ignore this field. |
| chan3_raw | uint16_t | us | RC channel 3 value. A value of UINT16_MAX means to ignore this field. |
| chan4_raw | uint16_t | us | RC channel 4 value. A value of UINT16_MAX means to ignore this field. |
| chan5_raw | uint16_t | us | RC channel 5 value. A value of UINT16_MAX means to ignore this field. |
| chan6_raw | uint16_t | us | RC channel 6 value. A value of UINT16_MAX means to ignore this field. |
| chan7_raw | uint16_t | us | RC channel 7 value. A value of UINT16_MAX means to ignore this field. |
| chan8_raw | uint16_t | us | RC channel 8 value. A value of UINT16_MAX means to ignore this field. |
| chan9_raw ** | uint16_t | us | RC channel 9 value. A value of 0 or UINT16_MAX means to ignore this field. |
| chan10_raw ** | uint16_t | us | RC channel 10 value. A value of 0 or UINT16_MAX means to ignore this field. |
| chan11_raw ** | uint16_t | us | RC channel 11 value. A value of 0 or UINT16_MAX means to ignore this field. |
| chan12_raw ** | uint16_t | us | RC channel 12 value. A value of 0 or UINT16_MAX means to ignore this field. |
| chan13_raw ** | uint16_t | us | RC channel 13 value. A value of 0 or UINT16_MAX means to ignore this field. |
| chan14_raw ** | uint16_t | us | RC channel 14 value. A value of 0 or UINT16_MAX means to ignore this field. |
| chan15_raw ** | uint16_t | us | RC channel 15 value. A value of 0 or UINT16_MAX means to ignore this field. |
| chan16_raw ** | uint16_t | us | RC channel 16 value. A value of 0 or UINT16_MAX means to ignore this field. |
| chan17_raw ** | uint16_t | us | RC channel 17 value. A value of 0 or UINT16_MAX means to ignore this field. |
| chan18_raw ** | uint16_t | us | RC channel 18 value. A value of 0 or UINT16_MAX means to ignore this field. |
Message encoding a mission item. This message is emitted to announce the presence of a mission item and to set a mission item on the system. The mission item can be either in x, y, z meters (type: LOCAL) or x:lat, y:lon, z:altitude. Local frame is Z-down, right handed (NED), global frame is Z-up, right handed (ENU). See also https://mavlink.io/en/protocol/mission.html.
| Field Name | Type | Values | Description |
|---|---|---|---|
| target_system | uint8_t | System ID | |
| target_component | uint8_t | Component ID | |
| seq | uint16_t | Waypoint ID (sequence number). Starts at zero. Increases monotonically for each waypoint, no gaps in the sequence (0,1,2,3,4). | |
| frame | uint8_t | MAV_FRAME | The coordinate system of the waypoint. |
| command | uint16_t | MAV_CMD | The scheduled action for the waypoint. |
| current | uint8_t | false:0, true:1 | |
| autocontinue | uint8_t | Autocontinue to next waypoint | |
| 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 / y position: local: x position in meters * 1e4, global: longitude in degrees *10^7 | |
| z | float | PARAM7 / z position: global: altitude in meters (relative or absolute, depending on frame. | |
| mission_type ** | uint8_t | MAV_MISSION_TYPE | Mission type. |
Metrics typically displayed on a HUD for fixed wing aircraft
| Field Name | Type | Units | Description |
|---|---|---|---|
| airspeed | float | m/s | Current airspeed |
| groundspeed | float | m/s | Current ground speed |
| heading | int16_t | deg | Current heading in degrees, in compass units (0..360, 0=north) |
| throttle | uint16_t | % | Current throttle setting in integer percent, 0 to 100 |
| alt | float | m | Current altitude (MSL) |
| climb | float | m/s | Current climb rate |
Message encoding a command with parameters as scaled integers. Scaling depends on the actual command value.
| Field Name | Type | Values | Description |
|---|---|---|---|
| target_system | uint8_t | System ID | |
| target_component | uint8_t | Component ID | |
| frame | uint8_t | MAV_FRAME | The coordinate system of the COMMAND. |
| command | uint16_t | MAV_CMD | The scheduled action for the mission item. |
| 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 (relative or absolute, depending on frame). |
Send a command with up to seven parameters to the MAV
| Field Name | Type | Values | Description |
|---|---|---|---|
| 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 (of command to send). |
| confirmation | uint8_t | 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) | |
| param1 | float | Parameter 1 (for the specific command). | |
| param2 | float | Parameter 2 (for the specific command). | |
| param3 | float | Parameter 3 (for the specific command). | |
| param4 | float | Parameter 4 (for the specific command). | |
| param5 | float | Parameter 5 (for the specific command). | |
| param6 | float | Parameter 6 (for the specific command). | |
| param7 | float | Parameter 7 (for the specific command). |
Report status of a command. Includes feedback whether the command was executed.
| Field Name | Type | Values | Description |
|---|---|---|---|
| command | uint16_t | MAV_CMD | Command ID (of acknowledged command). |
| result | uint8_t | MAV_RESULT | Result of command. |
| progress ** | uint8_t | WIP: Also used as result_param1, it can be set with a enum containing the errors reasons of why the command was denied or the progress percentage or 255 if unknown the progress when result is MAV_RESULT_IN_PROGRESS. | |
| result_param2 ** | int32_t | WIP: Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied. | |
| target_system ** | uint8_t | WIP: System which requested the command to be executed | |
| target_component ** | uint8_t | WIP: Component which requested the command to be executed |
Setpoint in roll, pitch, yaw and thrust from the operator
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_boot_ms | uint32_t | ms | Timestamp (time since system boot). |
| roll | float | rad/s | Desired roll rate |
| pitch | float | rad/s | Desired pitch rate |
| yaw | float | rad/s | Desired yaw rate |
| thrust | float | Collective thrust, normalized to 0 .. 1 | |
| mode_switch | uint8_t | Flight mode switch position, 0.. 255 | |
| manual_override_switch | uint8_t | Override mode switch position, 0.. 255 |
Sets a desired vehicle attitude. Used by an external controller to command the vehicle (manual controller or other system).
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_boot_ms | uint32_t | ms | Timestamp (time since system boot). |
| target_system | uint8_t | System ID | |
| target_component | uint8_t | Component ID | |
| type_mask | uint8_t | Mappings: If any of these bits are set, the corresponding input should be ignored: bit 1: body roll rate, bit 2: body pitch rate, bit 3: body yaw rate. bit 4-bit 6: reserved, bit 7: throttle, bit 8: attitude | |
| q | float[4] | Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0) | |
| body_roll_rate | float | rad/s | Body roll rate |
| body_pitch_rate | float | rad/s | Body pitch rate |
| body_yaw_rate | float | rad/s | Body yaw rate |
| thrust | float | Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust) |
Reports the current commanded attitude of the vehicle as specified by the autopilot. This should match the commands sent in a SET_ATTITUDE_TARGET message if the vehicle is being controlled this way.
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_boot_ms | uint32_t | ms | Timestamp (time since system boot). |
| type_mask | uint8_t | Mappings: If any of these bits are set, the corresponding input should be ignored: bit 1: body roll rate, bit 2: body pitch rate, bit 3: body yaw rate. bit 4-bit 7: reserved, bit 8: attitude | |
| q | float[4] | Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0) | |
| body_roll_rate | float | rad/s | Body roll rate |
| body_pitch_rate | float | rad/s | Body pitch rate |
| body_yaw_rate | float | rad/s | Body yaw rate |
| thrust | float | Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust) |
Sets a desired vehicle position in a local north-east-down coordinate frame. Used by an external controller to command the vehicle (manual controller or other system).
| Field Name | Type | Units | Values | Description |
|---|---|---|---|---|
| time_boot_ms | uint32_t | ms | Timestamp (time since system boot). | |
| target_system | uint8_t | System ID | ||
| target_component | uint8_t | Component ID | ||
| coordinate_frame | uint8_t | MAV_FRAME | Valid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9 | |
| type_mask | uint16_t | POSITION_TARGET_TYPEMASK | Bitmap to indicate which dimensions should be ignored by the vehicle. | |
| x | float | m | X Position in NED frame | |
| y | float | m | Y Position in NED frame | |
| z | float | m | Z Position in NED frame (note, altitude is negative in NED) | |
| vx | float | m/s | X velocity in NED frame | |
| vy | float | m/s | Y velocity in NED frame | |
| vz | float | m/s | Z velocity in NED frame | |
| afx | float | m/s/s | X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N | |
| afy | float | m/s/s | Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N | |
| afz | float | m/s/s | Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N | |
| yaw | float | rad | yaw setpoint | |
| yaw_rate | float | rad/s | yaw rate setpoint |
Reports the current commanded vehicle position, velocity, and acceleration as specified by the autopilot. This should match the commands sent in SET_POSITION_TARGET_LOCAL_NED if the vehicle is being controlled this way.
| Field Name | Type | Units | Values | Description |
|---|---|---|---|---|
| time_boot_ms | uint32_t | ms | Timestamp (time since system boot). | |
| coordinate_frame | uint8_t | MAV_FRAME | Valid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9 | |
| type_mask | uint16_t | POSITION_TARGET_TYPEMASK | Bitmap to indicate which dimensions should be ignored by the vehicle. | |
| x | float | m | X Position in NED frame | |
| y | float | m | Y Position in NED frame | |
| z | float | m | Z Position in NED frame (note, altitude is negative in NED) | |
| vx | float | m/s | X velocity in NED frame | |
| vy | float | m/s | Y velocity in NED frame | |
| vz | float | m/s | Z velocity in NED frame | |
| afx | float | m/s/s | X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N | |
| afy | float | m/s/s | Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N | |
| afz | float | m/s/s | Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N | |
| yaw | float | rad | yaw setpoint | |
| yaw_rate | float | rad/s | yaw rate setpoint |
Sets a desired vehicle position, velocity, and/or acceleration in a global coordinate system (WGS84). Used by an external controller to command the vehicle (manual controller or other system).
| Field Name | Type | Units | Values | Description |
|---|---|---|---|---|
| time_boot_ms | uint32_t | ms | Timestamp (time since system boot). The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency. | |
| target_system | uint8_t | System ID | ||
| target_component | uint8_t | Component ID | ||
| coordinate_frame | uint8_t | MAV_FRAME | Valid options are: MAV_FRAME_GLOBAL_INT = 5, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT = 6, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT = 11 | |
| type_mask | uint16_t | POSITION_TARGET_TYPEMASK | Bitmap to indicate which dimensions should be ignored by the vehicle. | |
| lat_int | int32_t | degE7 | X Position in WGS84 frame | |
| lon_int | int32_t | degE7 | Y Position in WGS84 frame | |
| alt | float | m | Altitude (MSL, Relative to home, or AGL - depending on frame) | |
| vx | float | m/s | X velocity in NED frame | |
| vy | float | m/s | Y velocity in NED frame | |
| vz | float | m/s | Z velocity in NED frame | |
| afx | float | m/s/s | X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N | |
| afy | float | m/s/s | Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N | |
| afz | float | m/s/s | Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N | |
| yaw | float | rad | yaw setpoint | |
| yaw_rate | float | rad/s | yaw rate setpoint |
Reports the current commanded vehicle position, velocity, and acceleration as specified by the autopilot. This should match the commands sent in SET_POSITION_TARGET_GLOBAL_INT if the vehicle is being controlled this way.
| Field Name | Type | Units | Values | Description |
|---|---|---|---|---|
| time_boot_ms | uint32_t | ms | Timestamp (time since system boot). The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency. | |
| coordinate_frame | uint8_t | MAV_FRAME | Valid options are: MAV_FRAME_GLOBAL_INT = 5, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT = 6, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT = 11 | |
| type_mask | uint16_t | POSITION_TARGET_TYPEMASK | Bitmap to indicate which dimensions should be ignored by the vehicle. | |
| lat_int | int32_t | degE7 | X Position in WGS84 frame | |
| lon_int | int32_t | degE7 | Y Position in WGS84 frame | |
| alt | float | m | Altitude (MSL, AGL or relative to home altitude, depending on frame) | |
| vx | float | m/s | X velocity in NED frame | |
| vy | float | m/s | Y velocity in NED frame | |
| vz | float | m/s | Z velocity in NED frame | |
| afx | float | m/s/s | X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N | |
| afy | float | m/s/s | Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N | |
| afz | float | m/s/s | Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N | |
| yaw | float | rad | yaw setpoint | |
| yaw_rate | float | rad/s | yaw rate setpoint |
The offset in X, Y, Z and yaw between the LOCAL_POSITION_NED messages of MAV X and the global coordinate frame in NED coordinates. Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention)
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_boot_ms | uint32_t | ms | Timestamp (time since system boot). |
| x | float | m | X Position |
| y | float | m | Y Position |
| z | float | m | Z Position |
| roll | float | rad | Roll |
| pitch | float | rad | Pitch |
| yaw | float | rad | Yaw |
DEPRECATED: Replaced by HIL_STATE_QUATERNION (2013-07). Suffers from missing airspeed fields and singularities due to Euler angles
Sent from simulation to autopilot. This packet is useful for high throughput applications such as hardware in the loop simulations.
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_usec | uint64_t | us | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. |
| roll | float | rad | Roll angle |
| pitch | float | rad | Pitch angle |
| yaw | float | rad | Yaw angle |
| rollspeed | float | rad/s | Body frame roll / phi angular speed |
| pitchspeed | float | rad/s | Body frame pitch / theta angular speed |
| yawspeed | float | rad/s | Body frame yaw / psi angular speed |
| lat | int32_t | degE7 | Latitude |
| lon | int32_t | degE7 | Longitude |
| alt | int32_t | mm | Altitude |
| vx | int16_t | cm/s | Ground X Speed (Latitude) |
| vy | int16_t | cm/s | Ground Y Speed (Longitude) |
| vz | int16_t | cm/s | Ground Z Speed (Altitude) |
| xacc | int16_t | mG | X acceleration |
| yacc | int16_t | mG | Y acceleration |
| zacc | int16_t | mG | Z acceleration |
Sent from autopilot to simulation. Hardware in the loop control outputs
| Field Name | Type | Units | Values | Description |
|---|---|---|---|---|
| time_usec | uint64_t | us | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. | |
| roll_ailerons | float | Control output -1 .. 1 | ||
| pitch_elevator | float | Control output -1 .. 1 | ||
| yaw_rudder | float | Control output -1 .. 1 | ||
| throttle | float | Throttle 0 .. 1 | ||
| aux1 | float | Aux 1, -1 .. 1 | ||
| aux2 | float | Aux 2, -1 .. 1 | ||
| aux3 | float | Aux 3, -1 .. 1 | ||
| aux4 | float | Aux 4, -1 .. 1 | ||
| mode | uint8_t | MAV_MODE | System mode. | |
| nav_mode | uint8_t | Navigation mode (MAV_NAV_MODE) |
Sent from simulation to autopilot. The RAW values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. Individual receivers/transmitters might violate this specification.
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_usec | uint64_t | us | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. |
| chan1_raw | uint16_t | us | RC channel 1 value |
| chan2_raw | uint16_t | us | RC channel 2 value |
| chan3_raw | uint16_t | us | RC channel 3 value |
| chan4_raw | uint16_t | us | RC channel 4 value |
| chan5_raw | uint16_t | us | RC channel 5 value |
| chan6_raw | uint16_t | us | RC channel 6 value |
| chan7_raw | uint16_t | us | RC channel 7 value |
| chan8_raw | uint16_t | us | RC channel 8 value |
| chan9_raw | uint16_t | us | RC channel 9 value |
| chan10_raw | uint16_t | us | RC channel 10 value |
| chan11_raw | uint16_t | us | RC channel 11 value |
| chan12_raw | uint16_t | us | RC channel 12 value |
| rssi | uint8_t | Receive signal strength indicator. Values: [0-100], 255: invalid/unknown. |
Sent from autopilot to simulation. Hardware in the loop control outputs (replacement for HIL_CONTROLS)
| Field Name | Type | Units | Values | Description |
|---|---|---|---|---|
| time_usec | uint64_t | us | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. | |
| controls | float[16] | Control outputs -1 .. 1. Channel assignment depends on the simulated hardware. | ||
| mode | uint8_t | MAV_MODE | System mode. Includes arming state. | |
| flags | uint64_t | Flags as bitfield, reserved for future use. |
Optical flow from a flow sensor (e.g. optical mouse sensor)
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_usec | uint64_t | us | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. |
| sensor_id | uint8_t | Sensor ID | |
| flow_x | int16_t | dpix | Flow in x-sensor direction |
| flow_y | int16_t | dpix | Flow in y-sensor direction |
| flow_comp_m_x | float | m | Flow in x-sensor direction, angular-speed compensated |
| flow_comp_m_y | float | m | Flow in y-sensor direction, angular-speed compensated |
| quality | uint8_t | Optical flow quality / confidence. 0: bad, 255: maximum quality | |
| ground_distance | float | m | Ground distance. Positive value: distance known. Negative value: Unknown distance |
| flow_rate_x ** | float | rad/s | Flow rate about X axis |
| flow_rate_y ** | float | rad/s | Flow rate about Y axis |
Global position/attitude estimate from a vision source.
| Field Name | Type | Units | Description |
|---|---|---|---|
| usec | uint64_t | us | Timestamp (UNIX time or since system boot) |
| x | float | m | Global X position |
| y | float | m | Global Y position |
| z | float | m | Global Z position |
| roll | float | rad | Roll angle |
| pitch | float | rad | Pitch angle |
| yaw | float | rad | Yaw angle |
| covariance ** | float[21] | Pose covariance matrix upper right triangular (first six entries are the first ROW, next five entries are the second ROW, etc.) |
Global position/attitude estimate from a vision source.
| Field Name | Type | Units | Description |
|---|---|---|---|
| usec | uint64_t | us | Timestamp (UNIX time or time since system boot) |
| x | float | m | Global X position |
| y | float | m | Global Y position |
| z | float | m | Global Z position |
| roll | float | rad | Roll angle |
| pitch | float | rad | Pitch angle |
| yaw | float | rad | Yaw angle |
| covariance ** | float[21] | Pose covariance matrix upper right triangular (first six entries are the first ROW, next five entries are the second ROW, etc.) |
Speed estimate from a vision source.
| Field Name | Type | Units | Description |
|---|---|---|---|
| usec | uint64_t | us | Timestamp (UNIX time or time since system boot) |
| x | float | m/s | Global X speed |
| y | float | m/s | Global Y speed |
| z | float | m/s | Global Z speed |
| covariance ** | float[9] | Linear velocity covariance matrix (1st three entries - 1st row, etc.) |
Global position estimate from a Vicon motion system source.
| Field Name | Type | Units | Description |
|---|---|---|---|
| usec | uint64_t | us | Timestamp (UNIX time or time since system boot) |
| x | float | m | Global X position |
| y | float | m | Global Y position |
| z | float | m | Global Z position |
| roll | float | rad | Roll angle |
| pitch | float | rad | Pitch angle |
| yaw | float | rad | Yaw angle |
| covariance ** | float[21] | Pose covariance matrix upper right triangular (first six entries are the first ROW, next five entries are the second ROW, etc.) |
The IMU readings in SI units in NED body frame
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_usec | uint64_t | us | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. |
| 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 |
| xmag | float | gauss | X Magnetic field |
| ymag | float | gauss | Y Magnetic field |
| zmag | float | gauss | Z Magnetic field |
| abs_pressure | float | mbar | Absolute pressure |
| diff_pressure | float | mbar | Differential pressure |
| pressure_alt | float | Altitude calculated from pressure | |
| temperature | float | degC | Temperature |
| fields_updated | uint16_t | Bitmap for fields that have updated since last message, bit 0 = xacc, bit 12: temperature |
Optical flow from an angular rate flow sensor (e.g. PX4FLOW or mouse sensor)
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_usec | uint64_t | us | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. |
| sensor_id | uint8_t | Sensor ID | |
| integration_time_us | uint32_t | us | Integration time. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the. |
| integrated_x | float | rad | Flow around X axis (Sensor RH rotation about the X axis induces a positive flow. Sensor linear motion along the positive Y axis induces a negative flow.) |
| integrated_y | float | rad | Flow around Y axis (Sensor RH rotation about the Y axis induces a positive flow. Sensor linear motion along the positive X axis induces a positive flow.) |
| integrated_xgyro | float | rad | RH rotation around X axis |
| integrated_ygyro | float | rad | RH rotation around Y axis |
| integrated_zgyro | float | rad | RH rotation around Z axis |
| temperature | int16_t | cdegC | Temperature |
| quality | uint8_t | Optical flow quality / confidence. 0: no valid flow, 255: maximum quality | |
| time_delta_distance_us | uint32_t | us | Time since the distance was sampled. |
| distance | float | m | Distance to the center of the flow field. Positive value (including zero): distance known. Negative value: Unknown distance. |
The IMU readings in SI units in NED body frame
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_usec | uint64_t | us | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. |
| 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 in body frame |
| ygyro | float | rad/s | Angular speed around Y axis in body frame |
| zgyro | float | rad/s | Angular speed around Z axis in body frame |
| xmag | float | gauss | X Magnetic field |
| ymag | float | gauss | Y Magnetic field |
| zmag | float | gauss | Z Magnetic field |
| abs_pressure | float | mbar | Absolute pressure |
| diff_pressure | float | mbar | Differential pressure (airspeed) |
| pressure_alt | float | Altitude calculated from pressure | |
| temperature | float | degC | Temperature |
| fields_updated | uint32_t | Bitmap for fields that have updated since last message, bit 0 = xacc, bit 12: temperature, bit 31: full reset of attitude/position/velocities/etc was performed in sim. |
Status of simulation environment, if used
| Field Name | Type | Units | Description |
|---|---|---|---|
| q1 | float | True attitude quaternion component 1, w (1 in null-rotation) | |
| q2 | float | True attitude quaternion component 2, x (0 in null-rotation) | |
| q3 | float | True attitude quaternion component 3, y (0 in null-rotation) | |
| q4 | float | True attitude quaternion component 4, z (0 in null-rotation) | |
| roll | float | Attitude roll expressed as Euler angles, not recommended except for human-readable outputs | |
| pitch | float | Attitude pitch expressed as Euler angles, not recommended except for human-readable outputs | |
| yaw | float | Attitude yaw expressed as Euler angles, not recommended except for human-readable outputs | |
| 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 | float | deg | Latitude |
| lon | float | deg | Longitude |
| alt | float | m | Altitude |
| std_dev_horz | float | Horizontal position standard deviation | |
| std_dev_vert | float | Vertical position standard deviation | |
| vn | float | m/s | True velocity in NORTH direction in earth-fixed NED frame |
| ve | float | m/s | True velocity in EAST direction in earth-fixed NED frame |
| vd | float | m/s | True velocity in DOWN direction in earth-fixed NED frame |
Status generated by radio and injected into MAVLink stream.
| Field Name | Type | Units | Description |
|---|---|---|---|
| rssi | uint8_t | Local signal strength | |
| remrssi | uint8_t | Remote signal strength | |
| txbuf | uint8_t | % | Remaining free buffer space. |
| 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 |
File transfer message
| Field Name | Type | Description |
|---|---|---|
| target_network | uint8_t | Network ID (0 for broadcast) |
| target_system | uint8_t | System ID (0 for broadcast) |
| target_component | uint8_t | Component ID (0 for broadcast) |
| payload | uint8_t[251] | Variable length payload. The length is defined by the remaining message length when subtracting the header and other fields. The entire content of this block is opaque unless you understand any the encoding message_type. The particular encoding used can be extension specific and might not always be documented as part of the mavlink specification. |
Time synchronization message.
| Field Name | Type | Description |
|---|---|---|
| tc1 | int64_t | Time sync timestamp 1 |
| ts1 | int64_t | Time sync timestamp 2 |
Camera-IMU triggering and synchronisation message.
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_usec | uint64_t | us | Timestamp for image frame (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. |
| seq | uint32_t | Image frame sequence |
The global position, as returned by the Global Positioning System (GPS). This is NOT the global position estimate of the sytem, but rather a RAW sensor value. See message GLOBAL_POSITION for the global position estimate.
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_usec | uint64_t | us | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. |
| fix_type | uint8_t | 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. | |
| lat | int32_t | degE7 | Latitude (WGS84) |
| lon | int32_t | degE7 | Longitude (WGS84) |
| alt | int32_t | mm | Altitude (MSL). Positive for up. |
| eph | uint16_t | cm | GPS HDOP horizontal dilution of position. If unknown, set to: 65535 |
| epv | uint16_t | cm | GPS VDOP vertical dilution of position. If unknown, set to: 65535 |
| vel | uint16_t | cm/s | GPS ground speed. If unknown, set to: 65535 |
| vn | int16_t | cm/s | GPS velocity in NORTH direction in earth-fixed NED frame |
| ve | int16_t | cm/s | GPS velocity in EAST direction in earth-fixed NED frame |
| vd | int16_t | cm/s | GPS velocity in DOWN direction in earth-fixed NED frame |
| cog | uint16_t | cdeg | Course over ground (NOT heading, but direction of movement), 0.0..359.99 degrees. If unknown, set to: 65535 |
| satellites_visible | uint8_t | Number of satellites visible. If unknown, set to 255 |
Simulated optical flow from a flow sensor (e.g. PX4FLOW or optical mouse sensor)
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_usec | uint64_t | us | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. |
| sensor_id | uint8_t | Sensor ID | |
| integration_time_us | uint32_t | us | Integration time. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the. |
| integrated_x | float | rad | Flow in radians around X axis (Sensor RH rotation about the X axis induces a positive flow. Sensor linear motion along the positive Y axis induces a negative flow.) |
| integrated_y | float | rad | Flow in radians around Y axis (Sensor RH rotation about the Y axis induces a positive flow. Sensor linear motion along the positive X axis induces a positive flow.) |
| integrated_xgyro | float | rad | RH rotation around X axis |
| integrated_ygyro | float | rad | RH rotation around Y axis |
| integrated_zgyro | float | rad | RH rotation around Z axis |
| temperature | int16_t | cdegC | Temperature |
| quality | uint8_t | Optical flow quality / confidence. 0: no valid flow, 255: maximum quality | |
| time_delta_distance_us | uint32_t | us | Time since the distance was sampled. |
| distance | float | m | Distance to the center of the flow field. Positive value (including zero): distance known. Negative value: Unknown distance. |
Sent from simulation to autopilot, avoids in contrast to HIL_STATE singularities. This packet is useful for high throughput applications such as hardware in the loop simulations.
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_usec | uint64_t | us | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. |
| attitude_quaternion | float[4] | Vehicle attitude expressed as normalized quaternion in w, x, y, z order (with 1 0 0 0 being the null-rotation) | |
| rollspeed | float | rad/s | Body frame roll / phi angular speed |
| pitchspeed | float | rad/s | Body frame pitch / theta angular speed |
| yawspeed | float | rad/s | Body frame yaw / psi angular speed |
| lat | int32_t | degE7 | Latitude |
| lon | int32_t | degE7 | Longitude |
| alt | int32_t | mm | Altitude |
| vx | int16_t | cm/s | Ground X Speed (Latitude) |
| vy | int16_t | cm/s | Ground Y Speed (Longitude) |
| vz | int16_t | cm/s | Ground Z Speed (Altitude) |
| ind_airspeed | uint16_t | cm/s | Indicated airspeed |
| true_airspeed | uint16_t | cm/s | True airspeed |
| xacc | int16_t | mG | X acceleration |
| yacc | int16_t | mG | Y acceleration |
| zacc | int16_t | mG | Z acceleration |
The RAW IMU readings for secondary 9DOF sensor setup. This message should contain the scaled values to the described units
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_boot_ms | uint32_t | ms | Timestamp (time since system boot). |
| xacc | int16_t | mG | X acceleration |
| yacc | int16_t | mG | Y acceleration |
| zacc | int16_t | mG | Z acceleration |
| xgyro | int16_t | mrad/s | Angular speed around X axis |
| ygyro | int16_t | mrad/s | Angular speed around Y axis |
| zgyro | int16_t | mrad/s | Angular speed around Z axis |
| xmag | int16_t | mT | X Magnetic field |
| ymag | int16_t | mT | Y Magnetic field |
| zmag | int16_t | mT | Z Magnetic field |
Request a list of available logs. On some systems calling this may stop on-board logging until LOG_REQUEST_END is called.
| Field Name | Type | Description |
|---|---|---|
| target_system | uint8_t | System ID |
| target_component | uint8_t | Component ID |
| start | uint16_t | First log id (0 for first available) |
| end | uint16_t | Last log id (0xffff for last available) |
Reply to LOG_REQUEST_LIST
| Field Name | Type | Units | Description |
|---|---|---|---|
| id | uint16_t | Log id | |
| num_logs | uint16_t | Total number of logs | |
| last_log_num | uint16_t | High log number | |
| time_utc | uint32_t | s | UTC timestamp of log since 1970, or 0 if not available |
| size | uint32_t | bytes | Size of the log (may be approximate) |
Request a chunk of a log
| Field Name | Type | Units | Description |
|---|---|---|---|
| target_system | uint8_t | System ID | |
| target_component | uint8_t | Component ID | |
| id | uint16_t | Log id (from LOG_ENTRY reply) | |
| ofs | uint32_t | Offset into the log | |
| count | uint32_t | bytes | Number of bytes |
Reply to LOG_REQUEST_DATA
| Field Name | Type | Units | Description |
|---|---|---|---|
| id | uint16_t | Log id (from LOG_ENTRY reply) | |
| ofs | uint32_t | Offset into the log | |
| count | uint8_t | bytes | Number of bytes (zero for end of log) |
| data | uint8_t[90] | log data |
Erase all logs
| Field Name | Type | Description |
|---|---|---|
| target_system | uint8_t | System ID |
| target_component | uint8_t | Component ID |
Stop log transfer and resume normal logging
| Field Name | Type | Description |
|---|---|---|
| target_system | uint8_t | System ID |
| target_component | uint8_t | Component ID |
Data for injecting into the onboard GPS (used for DGPS)
| Field Name | Type | Units | Description |
|---|---|---|---|
| target_system | uint8_t | System ID | |
| target_component | uint8_t | Component ID | |
| len | uint8_t | bytes | Data length |
| data | uint8_t[110] | Raw data (110 is enough for 12 satellites of RTCMv2) |
Second GPS data.
| Field Name | Type | Units | Values | Description |
|---|---|---|---|---|
| time_usec | uint64_t | us | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. | |
| fix_type | uint8_t | GPS_FIX_TYPE | GPS fix type. | |
| lat | int32_t | degE7 | Latitude (WGS84) | |
| lon | int32_t | degE7 | Longitude (WGS84) | |
| alt | int32_t | mm | Altitude (MSL). Positive for up. | |
| eph | uint16_t | cm | GPS HDOP horizontal dilution of position. If unknown, set to: UINT16_MAX | |
| epv | uint16_t | cm | GPS VDOP vertical dilution of position. If unknown, set to: UINT16_MAX | |
| vel | uint16_t | cm/s | GPS ground speed. If unknown, set to: UINT16_MAX | |
| cog | uint16_t | cdeg | Course over ground (NOT heading, but direction of movement): 0.0..359.99 degrees. If unknown, set to: UINT16_MAX | |
| satellites_visible | uint8_t | Number of satellites visible. If unknown, set to 255 | ||
| dgps_numch | uint8_t | Number of DGPS satellites | ||
| dgps_age | uint32_t | ms | Age of DGPS info |
Power supply status
| Field Name | Type | Units | Values | Description |
|---|---|---|---|---|
| Vcc | uint16_t | mV | 5V rail voltage. | |
| Vservo | uint16_t | mV | Servo rail voltage. | |
| flags | uint16_t | MAV_POWER_STATUS | Bitmap of power supply status flags. |
Control a serial port. This can be used for raw access to an onboard serial peripheral such as a GPS or telemetry radio. It is designed to make it possible to update the devices firmware via MAVLink messages or change the devices settings. A message with zero bytes can be used to change just the baudrate.
| Field Name | Type | Units | Values | Description |
|---|---|---|---|---|
| device | uint8_t | SERIAL_CONTROL_DEV | Serial control device type. | |
| flags | uint8_t | SERIAL_CONTROL_FLAG | Bitmap of serial control flags. | |
| timeout | uint16_t | ms | Timeout for reply data | |
| baudrate | uint32_t | bits/s | Baudrate of transfer. Zero means no change. | |
| count | uint8_t | bytes | how many bytes in this transfer | |
| data | uint8_t[70] | serial data |
RTK GPS data. Gives information on the relative baseline calculation the GPS is reporting
| Field Name | Type | Units | Values | Description |
|---|---|---|---|---|
| time_last_baseline_ms | uint32_t | ms | Time since boot of last baseline message received. | |
| rtk_receiver_id | uint8_t | Identification of connected RTK receiver. | ||
| wn | uint16_t | GPS Week Number of last baseline | ||
| tow | uint32_t | ms | GPS Time of Week of last baseline | |
| rtk_health | uint8_t | GPS-specific health report for RTK data. | ||
| rtk_rate | uint8_t | Hz | Rate of baseline messages being received by GPS | |
| nsats | uint8_t | Current number of sats used for RTK calculation. | ||
| baseline_coords_type | uint8_t | RTK_BASELINE_COORDINATE_SYSTEM | Coordinate system of baseline | |
| baseline_a_mm | int32_t | mm | Current baseline in ECEF x or NED north component. | |
| baseline_b_mm | int32_t | mm | Current baseline in ECEF y or NED east component. | |
| baseline_c_mm | int32_t | mm | Current baseline in ECEF z or NED down component. | |
| accuracy | uint32_t | Current estimate of baseline accuracy. | ||
| iar_num_hypotheses | int32_t | Current number of integer ambiguity hypotheses. |
RTK GPS data. Gives information on the relative baseline calculation the GPS is reporting
| Field Name | Type | Units | Values | Description |
|---|---|---|---|---|
| time_last_baseline_ms | uint32_t | ms | Time since boot of last baseline message received. | |
| rtk_receiver_id | uint8_t | Identification of connected RTK receiver. | ||
| wn | uint16_t | GPS Week Number of last baseline | ||
| tow | uint32_t | ms | GPS Time of Week of last baseline | |
| rtk_health | uint8_t | GPS-specific health report for RTK data. | ||
| rtk_rate | uint8_t | Hz | Rate of baseline messages being received by GPS | |
| nsats | uint8_t | Current number of sats used for RTK calculation. | ||
| baseline_coords_type | uint8_t | RTK_BASELINE_COORDINATE_SYSTEM | Coordinate system of baseline | |
| baseline_a_mm | int32_t | mm | Current baseline in ECEF x or NED north component. | |
| baseline_b_mm | int32_t | mm | Current baseline in ECEF y or NED east component. | |
| baseline_c_mm | int32_t | mm | Current baseline in ECEF z or NED down component. | |
| accuracy | uint32_t | Current estimate of baseline accuracy. | ||
| iar_num_hypotheses | int32_t | Current number of integer ambiguity hypotheses. |
The RAW IMU readings for 3rd 9DOF sensor setup. This message should contain the scaled values to the described units
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_boot_ms | uint32_t | ms | Timestamp (time since system boot). |
| xacc | int16_t | mG | X acceleration |
| yacc | int16_t | mG | Y acceleration |
| zacc | int16_t | mG | Z acceleration |
| xgyro | int16_t | mrad/s | Angular speed around X axis |
| ygyro | int16_t | mrad/s | Angular speed around Y axis |
| zgyro | int16_t | mrad/s | Angular speed around Z axis |
| xmag | int16_t | mT | X Magnetic field |
| ymag | int16_t | mT | Y Magnetic field |
| zmag | int16_t | mT | Z Magnetic field |
Handshake message to initiate, control and stop image streaming when using the Image Transmission Protocol: https://mavlink.io/en/protocol/image_transmission.html.
| Field Name | Type | Units | Values | Description |
|---|---|---|---|---|
| type | uint8_t | DATA_TYPES | Type of requested/acknowledged data. | |
| size | uint32_t | bytes | total data size (set on ACK only). | |
| width | uint16_t | Width of a matrix or image. | ||
| height | uint16_t | Height of a matrix or image. | ||
| packets | uint16_t | Number of packets being sent (set on ACK only). | ||
| payload | uint8_t | bytes | Payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only). | |
| jpg_quality | uint8_t | % | JPEG quality. Values: [1-100]. |
Data packet for images sent using the Image Transmission Protocol: https://mavlink.io/en/protocol/image_transmission.html.
| Field Name | Type | Description |
|---|---|---|
| seqnr | uint16_t | sequence number (starting with 0 on every transmission) |
| data | uint8_t[253] | image data bytes |
Distance sensor information for an onboard rangefinder.
| Field Name | Type | Units | Values | Description |
|---|---|---|---|---|
| time_boot_ms | uint32_t | ms | Timestamp (time since system boot). | |
| min_distance | uint16_t | cm | Minimum distance the sensor can measure | |
| max_distance | uint16_t | cm | Maximum distance the sensor can measure | |
| current_distance | uint16_t | cm | Current distance reading | |
| type | uint8_t | MAV_DISTANCE_SENSOR | Type of distance sensor. | |
| id | uint8_t | Onboard ID of the sensor | ||
| orientation | uint8_t | MAV_SENSOR_ORIENTATION | Direction the sensor faces. downward-facing: ROTATION_PITCH_270, upward-facing: ROTATION_PITCH_90, backward-facing: ROTATION_PITCH_180, forward-facing: ROTATION_NONE, left-facing: ROTATION_YAW_90, right-facing: ROTATION_YAW_270 | |
| covariance | uint8_t | cm | Measurement covariance, 0 for unknown / invalid readings |
Request for terrain data and terrain status
| Field Name | Type | Units | Description |
|---|---|---|---|
| lat | int32_t | degE7 | Latitude of SW corner of first grid |
| lon | int32_t | degE7 | Longitude of SW corner of first grid |
| grid_spacing | uint16_t | m | Grid spacing |
| mask | uint64_t | Bitmask of requested 4x4 grids (row major 8x7 array of grids, 56 bits) |
Terrain data sent from GCS. The lat/lon and grid_spacing must be the same as a lat/lon from a TERRAIN_REQUEST
| Field Name | Type | Units | Description |
|---|---|---|---|
| lat | int32_t | degE7 | Latitude of SW corner of first grid |
| lon | int32_t | degE7 | Longitude of SW corner of first grid |
| grid_spacing | uint16_t | m | Grid spacing |
| gridbit | uint8_t | bit within the terrain request mask | |
| data | int16_t[16] | m | Terrain data MSL |
Request that the vehicle report terrain height at the given location. Used by GCS to check if vehicle has all terrain data needed for a mission.
| Field Name | Type | Units | Description |
|---|---|---|---|
| lat | int32_t | degE7 | Latitude |
| lon | int32_t | degE7 | Longitude |
Response from a TERRAIN_CHECK request
| Field Name | Type | Units | Description |
|---|---|---|---|
| lat | int32_t | degE7 | Latitude |
| lon | int32_t | degE7 | Longitude |
| spacing | uint16_t | grid spacing (zero if terrain at this location unavailable) | |
| terrain_height | float | m | Terrain height MSL |
| current_height | float | m | Current vehicle height above lat/lon terrain height |
| pending | uint16_t | Number of 4x4 terrain blocks waiting to be received or read from disk | |
| loaded | uint16_t | Number of 4x4 terrain blocks in memory |
Barometer readings for 2nd barometer
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_boot_ms | uint32_t | ms | Timestamp (time since system boot). |
| press_abs | float | hPa | Absolute pressure |
| press_diff | float | hPa | Differential pressure |
| temperature | int16_t | cdegC | Temperature measurement |
Motion capture attitude and position
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_usec | uint64_t | us | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. |
| q | float[4] | Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0) | |
| x | float | m | X position (NED) |
| y | float | m | Y position (NED) |
| z | float | m | Z position (NED) |
| covariance ** | float[21] | Pose covariance matrix upper right triangular (first six entries are the first ROW, next five entries are the second ROW, etc.) |
Set the vehicle attitude and body angular rates.
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_usec | uint64_t | us | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. |
| group_mlx | uint8_t | Actuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances. | |
| target_system | uint8_t | System ID | |
| target_component | uint8_t | Component ID | |
| controls | float[8] | Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs. |
Set the vehicle attitude and body angular rates.
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_usec | uint64_t | us | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. |
| group_mlx | uint8_t | Actuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances. | |
| controls | float[8] | Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs. |
The current system altitude.
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_usec | uint64_t | us | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. |
| altitude_monotonic | float | m | This altitude measure is initialized on system boot and monotonic (it is never reset, but represents the local altitude change). The only guarantee on this field is that it will never be reset and is consistent within a flight. The recommended value for this field is the uncorrected barometric altitude at boot time. This altitude will also drift and vary between flights. |
| altitude_amsl | float | m | This altitude measure is strictly above mean sea level and might be non-monotonic (it might reset on events like GPS lock or when a new QNH value is set). It should be the altitude to which global altitude waypoints are compared to. Note that it is *not* the GPS altitude, however, most GPS modules already output MSL by default and not the WGS84 altitude. |
| altitude_local | float | m | This is the local altitude in the local coordinate frame. It is not the altitude above home, but in reference to the coordinate origin (0, 0, 0). It is up-positive. |
| altitude_relative | float | m | This is the altitude above the home position. It resets on each change of the current home position. |
| altitude_terrain | float | m | This is the altitude above terrain. It might be fed by a terrain database or an altimeter. Values smaller than -1000 should be interpreted as unknown. |
| bottom_clearance | float | m | This is not the altitude, but the clear space below the system according to the fused clearance estimate. It generally should max out at the maximum range of e.g. the laser altimeter. It is generally a moving target. A negative value indicates no measurement available. |
The autopilot is requesting a resource (file, binary, other type of data)
| Field Name | Type | Description |
|---|---|---|
| request_id | uint8_t | Request ID. This ID should be re-used when sending back URI contents |
| uri_type | uint8_t | The type of requested URI. 0 = a file via URL. 1 = a UAVCAN binary |
| uri | uint8_t[120] | The requested unique resource identifier (URI). It is not necessarily a straight domain name (depends on the URI type enum) |
| transfer_type | uint8_t | The way the autopilot wants to receive the URI. 0 = MAVLink FTP. 1 = binary stream. |
| storage | uint8_t[120] | The storage path the autopilot wants the URI to be stored in. Will only be valid if the transfer_type has a storage associated (e.g. MAVLink FTP). |
Barometer readings for 3rd barometer
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_boot_ms | uint32_t | ms | Timestamp (time since system boot). |
| press_abs | float | hPa | Absolute pressure |
| press_diff | float | hPa | Differential pressure |
| temperature | int16_t | cdegC | Temperature measurement |
Current motion information from a designated system
| Field Name | Type | Units | Description |
|---|---|---|---|
| timestamp | uint64_t | ms | Timestamp (time since system boot). |
| est_capabilities | uint8_t | bit positions for tracker reporting capabilities (POS = 0, VEL = 1, ACCEL = 2, ATT + RATES = 3) | |
| lat | int32_t | degE7 | Latitude (WGS84) |
| lon | int32_t | degE7 | Longitude (WGS84) |
| alt | float | m | Altitude (MSL) |
| vel | float[3] | m/s | target velocity (0,0,0) for unknown |
| acc | float[3] | m/s/s | linear target acceleration (0,0,0) for unknown |
| attitude_q | float[4] | (1 0 0 0 for unknown) | |
| rates | float[3] | (0 0 0 for unknown) | |
| position_cov | float[3] | eph epv | |
| custom_state | uint64_t | button states or switches of a tracker device |
The smoothed, monotonic system state used to feed the control loops of the system.
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_usec | uint64_t | us | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. |
| x_acc | float | m/s/s | X acceleration in body frame |
| y_acc | float | m/s/s | Y acceleration in body frame |
| z_acc | float | m/s/s | Z acceleration in body frame |
| x_vel | float | m/s | X velocity in body frame |
| y_vel | float | m/s | Y velocity in body frame |
| z_vel | float | m/s | Z velocity in body frame |
| x_pos | float | m | X position in local frame |
| y_pos | float | m | Y position in local frame |
| z_pos | float | m | Z position in local frame |
| airspeed | float | m/s | Airspeed, set to -1 if unknown |
| vel_variance | float[3] | Variance of body velocity estimate | |
| pos_variance | float[3] | Variance in local position | |
| q | float[4] | The attitude, represented as Quaternion | |
| roll_rate | float | rad/s | Angular rate in roll axis |
| pitch_rate | float | rad/s | Angular rate in pitch axis |
| yaw_rate | float | rad/s | Angular rate in yaw axis |
Battery information
| Field Name | Type | Units | Values | Description |
|---|---|---|---|---|
| id | uint8_t | Battery ID | ||
| battery_function | uint8_t | MAV_BATTERY_FUNCTION | Function of the battery | |
| type | uint8_t | MAV_BATTERY_TYPE | Type (chemistry) of the battery | |
| temperature | int16_t | cdegC | Temperature of the battery. INT16_MAX for unknown temperature. | |
| voltages | uint16_t[10] | mV | Battery voltage of cells. Cells above the valid cell count for this battery should have the UINT16_MAX value. | |
| current_battery | int16_t | cA | Battery current, -1: autopilot does not measure the current | |
| current_consumed | int32_t | mAh | Consumed charge, -1: autopilot does not provide consumption estimate | |
| energy_consumed | int32_t | hJ | Consumed energy, -1: autopilot does not provide energy consumption estimate | |
| battery_remaining | int8_t | % | Remaining battery energy. Values: [0-100], -1: autopilot does not estimate the remaining battery. | |
| time_remaining ** | int32_t | s | Remaining battery time, 0: autopilot does not provide remaining battery time estimate | |
| charge_state ** | uint8_t | MAV_BATTERY_CHARGE_STATE | State for extent of discharge, provided by autopilot for warning or external reactions |
Version and capability of autopilot software
| Field Name | Type | Values | Description |
|---|---|---|---|
| capabilities | uint64_t | MAV_PROTOCOL_CAPABILITY | Bitmap of capabilities |
| flight_sw_version | uint32_t | Firmware version number | |
| middleware_sw_version | uint32_t | Middleware version number | |
| os_sw_version | uint32_t | Operating system version number | |
| board_version | uint32_t | HW / board version (last 8 bytes should be silicon ID, if any) | |
| flight_custom_version | uint8_t[8] | Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases. | |
| middleware_custom_version | uint8_t[8] | Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases. | |
| os_custom_version | uint8_t[8] | Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases. | |
| vendor_id | uint16_t | ID of the board vendor | |
| product_id | uint16_t | ID of the product | |
| uid | uint64_t | UID if provided by hardware (see uid2) | |
| uid2 ** | uint8_t[18] | UID if provided by hardware (supersedes the uid field. If this is non-zero, use this field, otherwise use uid) |
The location of a landing target. See: https://mavlink.io/en/protocol/landing_target.html
| Field Name | Type | Units | Values | Description |
|---|---|---|---|---|
| time_usec | uint64_t | us | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. | |
| target_num | uint8_t | The ID of the target if multiple targets are present | ||
| frame | uint8_t | MAV_FRAME | Coordinate frame used for following fields. | |
| angle_x | float | rad | X-axis angular offset of the target from the center of the image | |
| angle_y | float | rad | Y-axis angular offset of the target from the center of the image | |
| distance | float | m | Distance to the target from the vehicle | |
| size_x | float | rad | Size of target along x-axis | |
| size_y | float | rad | Size of target along y-axis | |
| x ** | float | m | X Position of the landing target in MAV_FRAME | |
| y ** | float | m | Y Position of the landing target in MAV_FRAME | |
| z ** | float | m | Z Position of the landing target in MAV_FRAME | |
| q ** | float[4] | Quaternion of landing target orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0) | ||
| type ** | uint8_t | LANDING_TARGET_TYPE | Type of landing target | |
| position_valid ** | uint8_t | Boolean indicating whether the position fields (x, y, z, q, type) contain valid target position information (valid: 1, invalid: 0). Default is 0 (invalid). |
Estimator status message including flags, innovation test ratios and estimated accuracies. The flags message is an integer bitmask containing information on which EKF outputs are valid. See the ESTIMATOR_STATUS_FLAGS enum definition for further information. The innovation test ratios show the magnitude of the sensor innovation divided by the innovation check threshold. Under normal operation the innovation test ratios should be below 0.5 with occasional values up to 1.0. Values greater than 1.0 should be rare under normal operation and indicate that a measurement has been rejected by the filter. The user should be notified if an innovation test ratio greater than 1.0 is recorded. Notifications for values in the range between 0.5 and 1.0 should be optional and controllable by the user.
| Field Name | Type | Units | Values | Description |
|---|---|---|---|---|
| time_usec | uint64_t | us | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. | |
| flags | uint16_t | ESTIMATOR_STATUS_FLAGS | Bitmap indicating which EKF outputs are valid. | |
| vel_ratio | float | Velocity innovation test ratio | ||
| pos_horiz_ratio | float | Horizontal position innovation test ratio | ||
| pos_vert_ratio | float | Vertical position innovation test ratio | ||
| mag_ratio | float | Magnetometer innovation test ratio | ||
| hagl_ratio | float | Height above terrain innovation test ratio | ||
| tas_ratio | float | True airspeed innovation test ratio | ||
| pos_horiz_accuracy | float | m | Horizontal position 1-STD accuracy relative to the EKF local origin | |
| pos_vert_accuracy | float | m | Vertical position 1-STD accuracy relative to the EKF local origin |
Wind covariance estimate from vehicle.
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_usec | uint64_t | us | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. |
| wind_x | float | m/s | Wind in X (NED) direction |
| wind_y | float | m/s | Wind in Y (NED) direction |
| wind_z | float | m/s | Wind in Z (NED) direction |
| var_horiz | float | m/s | Variability of the wind in XY. RMS of a 1 Hz lowpassed wind estimate. |
| var_vert | float | m/s | Variability of the wind in Z. RMS of a 1 Hz lowpassed wind estimate. |
| wind_alt | float | m | Altitude (MSL) that this measurement was taken at |
| horiz_accuracy | float | m | Horizontal speed 1-STD accuracy |
| vert_accuracy | float | m | Vertical speed 1-STD accuracy |
GPS sensor input message. This is a raw sensor value sent by the GPS. This is NOT the global position estimate of the system.
| Field Name | Type | Units | Values | Description |
|---|---|---|---|---|
| time_usec | uint64_t | us | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. | |
| gps_id | uint8_t | ID of the GPS for multiple GPS inputs | ||
| ignore_flags | uint16_t | GPS_INPUT_IGNORE_FLAGS | Bitmap indicating which GPS input flags fields to ignore. All other fields must be provided. | |
| time_week_ms | uint32_t | ms | GPS time (from start of GPS week) | |
| time_week | uint16_t | GPS week number | ||
| fix_type | uint8_t | 0-1: no fix, 2: 2D fix, 3: 3D fix. 4: 3D with DGPS. 5: 3D with RTK | ||
| lat | int32_t | degE7 | Latitude (WGS84) | |
| lon | int32_t | degE7 | Longitude (WGS84) | |
| alt | float | m | Altitude (MSL). Positive for up. | |
| hdop | float | m | GPS HDOP horizontal dilution of position | |
| vdop | float | m | GPS VDOP vertical dilution of position | |
| vn | float | m/s | GPS velocity in NORTH direction in earth-fixed NED frame | |
| ve | float | m/s | GPS velocity in EAST direction in earth-fixed NED frame | |
| vd | float | m/s | GPS velocity in DOWN direction in earth-fixed NED frame | |
| speed_accuracy | float | m/s | GPS speed accuracy | |
| horiz_accuracy | float | m | GPS horizontal accuracy | |
| vert_accuracy | float | m | GPS vertical accuracy | |
| satellites_visible | uint8_t | Number of satellites visible. |
RTCM message for injecting into the onboard GPS (used for DGPS)
| Field Name | Type | Units | Description |
|---|---|---|---|
| flags | uint8_t | LSB: 1 means message is fragmented, next 2 bits are the fragment ID, the remaining 5 bits are used for the sequence ID. Messages are only to be flushed to the GPS when the entire message has been reconstructed on the autopilot. The fragment ID specifies which order the fragments should be assembled into a buffer, while the sequence ID is used to detect a mismatch between different buffers. The buffer is considered fully reconstructed when either all 4 fragments are present, or all the fragments before the first fragment with a non full payload is received. This management is used to ensure that normal GPS operation doesn't corrupt RTCM data, and to recover from a unreliable transport delivery order. | |
| len | uint8_t | bytes | data length |
| data | uint8_t[180] | RTCM message (may be fragmented) |
Message appropriate for high latency connections like Iridium
| Field Name | Type | Units | Values | Description |
|---|---|---|---|---|
| base_mode | uint8_t | MAV_MODE_FLAG | Bitmap of enabled system modes. | |
| custom_mode | uint32_t | A bitfield for use for autopilot-specific flags. | ||
| landed_state | uint8_t | MAV_LANDED_STATE | The landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown. | |
| roll | int16_t | cdeg | roll | |
| pitch | int16_t | cdeg | pitch | |
| heading | uint16_t | cdeg | heading | |
| throttle | int8_t | % | throttle (percentage) | |
| heading_sp | int16_t | cdeg | heading setpoint | |
| latitude | int32_t | degE7 | Latitude | |
| longitude | int32_t | degE7 | Longitude | |
| altitude_amsl | int16_t | m | Altitude above mean sea level | |
| altitude_sp | int16_t | m | Altitude setpoint relative to the home position | |
| airspeed | uint8_t | m/s | airspeed | |
| airspeed_sp | uint8_t | m/s | airspeed setpoint | |
| groundspeed | uint8_t | m/s | groundspeed | |
| climb_rate | int8_t | m/s | climb rate | |
| gps_nsat | uint8_t | Number of satellites visible. If unknown, set to 255 | ||
| gps_fix_type | uint8_t | GPS_FIX_TYPE | GPS Fix type. | |
| battery_remaining | uint8_t | % | Remaining battery (percentage) | |
| temperature | int8_t | degC | Autopilot temperature (degrees C) | |
| temperature_air | int8_t | degC | Air temperature (degrees C) from airspeed sensor | |
| failsafe | uint8_t | failsafe (each bit represents a failsafe where 0=ok, 1=failsafe active (bit0:RC, bit1:batt, bit2:GPS, bit3:GCS, bit4:fence) | ||
| wp_num | uint8_t | current waypoint number | ||
| wp_distance | uint16_t | m | distance to target |
WORK IN PROGRESS: Do not use in stable production environments (it may change).
Message appropriate for high latency connections like Iridium (version 2)
| Field Name | Type | Units | Values | Description |
|---|---|---|---|---|
| timestamp | uint32_t | ms | Timestamp (milliseconds since boot or Unix epoch) | |
| type | uint8_t | MAV_TYPE | Type of the MAV (quadrotor, helicopter, etc.) | |
| autopilot | uint8_t | MAV_AUTOPILOT | Autopilot type / class. | |
| custom_mode | uint16_t | A bitfield for use for autopilot-specific flags (2 byte version). | ||
| latitude | int32_t | degE7 | Latitude | |
| longitude | int32_t | degE7 | Longitude | |
| altitude | int16_t | m | Altitude above mean sea level | |
| target_altitude | int16_t | m | Altitude setpoint | |
| heading | uint8_t | deg/2 | Heading | |
| target_heading | uint8_t | deg/2 | Heading setpoint | |
| target_distance | uint16_t | dam | Distance to target waypoint or position | |
| throttle | uint8_t | % | Throttle | |
| airspeed | uint8_t | m/s*5 | Airspeed | |
| airspeed_sp | uint8_t | m/s*5 | Airspeed setpoint | |
| groundspeed | uint8_t | m/s*5 | Groundspeed | |
| windspeed | uint8_t | m/s*5 | Windspeed | |
| wind_heading | uint8_t | deg/2 | Wind heading | |
| eph | uint8_t | dm | Maximum error horizontal position since last message | |
| epv | uint8_t | dm | Maximum error vertical position since last message | |
| temperature_air | int8_t | degC | Air temperature from airspeed sensor | |
| climb_rate | int8_t | dm/s | Maximum climb rate magnitude since last message | |
| battery | int8_t | % | Battery (percentage, -1 for DNU) | |
| wp_num | uint16_t | Current waypoint number | ||
| failure_flags | uint16_t | HL_FAILURE_FLAG | Bitmap of failure flags. | |
| custom0 | int8_t | Field for custom payload. | ||
| custom1 | int8_t | Field for custom payload. | ||
| custom2 | int8_t | Field for custom payload. |
Vibration levels and accelerometer clipping
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_usec | uint64_t | us | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. |
| vibration_x | float | Vibration levels on X-axis | |
| vibration_y | float | Vibration levels on Y-axis | |
| vibration_z | float | Vibration levels on Z-axis | |
| clipping_0 | uint32_t | first accelerometer clipping count | |
| clipping_1 | uint32_t | second accelerometer clipping count | |
| clipping_2 | uint32_t | third accelerometer clipping count |
This message can be requested by sending the MAV_CMD_GET_HOME_POSITION command. The position the system will return to and land on. The position is set automatically by the system during the takeoff in case it was not explicitly set by the operator before or after. The position the system will return to and land on. The global and local positions encode the position in the respective coordinate frames, while the q parameter encodes the orientation of the surface. Under normal conditions it describes the heading and terrain slope, which can be used by the aircraft to adjust the approach. The approach 3D vector describes the point to which the system should fly in normal flight mode and then perform a landing sequence along the vector.
| Field Name | Type | Units | Description |
|---|---|---|---|
| latitude | int32_t | degE7 | Latitude (WGS84) |
| longitude | int32_t | degE7 | Longitude (WGS84) |
| altitude | int32_t | mm | Altitude (MSL). Positive for up. |
| x | float | m | Local X position of this position in the local coordinate frame |
| y | float | m | Local Y position of this position in the local coordinate frame |
| z | float | m | Local Z position of this position in the local coordinate frame |
| q | float[4] | World to surface normal and heading transformation of the takeoff position. Used to indicate the heading and slope of the ground | |
| approach_x | float | m | Local X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone. |
| approach_y | float | m | Local Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone. |
| approach_z | float | m | Local Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone. |
| time_usec ** | uint64_t | us | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. |
The position the system will return to and land on. The position is set automatically by the system during the takeoff in case it was not explicitly set by the operator before or after. The global and local positions encode the position in the respective coordinate frames, while the q parameter encodes the orientation of the surface. Under normal conditions it describes the heading and terrain slope, which can be used by the aircraft to adjust the approach. The approach 3D vector describes the point to which the system should fly in normal flight mode and then perform a landing sequence along the vector.
| Field Name | Type | Units | Description |
|---|---|---|---|
| target_system | uint8_t | System ID. | |
| latitude | int32_t | degE7 | Latitude (WGS84) |
| longitude | int32_t | degE7 | Longitude (WGS84) |
| altitude | int32_t | mm | Altitude (MSL). Positive for up. |
| x | float | m | Local X position of this position in the local coordinate frame |
| y | float | m | Local Y position of this position in the local coordinate frame |
| z | float | m | Local Z position of this position in the local coordinate frame |
| q | float[4] | World to surface normal and heading transformation of the takeoff position. Used to indicate the heading and slope of the ground | |
| approach_x | float | m | Local X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone. |
| approach_y | float | m | Local Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone. |
| approach_z | float | m | Local Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone. |
| time_usec ** | uint64_t | us | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. |
The interval between messages for a particular MAVLink message ID. This interface replaces DATA_STREAM
| Field Name | Type | Units | Description |
|---|---|---|---|
| message_id | uint16_t | The ID of the requested MAVLink message. v1.0 is limited to 254 messages. | |
| interval_us | int32_t | us | The interval between two messages. A value of -1 indicates this stream is disabled, 0 indicates it is not available, > 0 indicates the interval at which it is sent. |
Provides state for additional features
| Field Name | Type | Values | Description |
|---|---|---|---|
| vtol_state | uint8_t | MAV_VTOL_STATE | The VTOL state if applicable. Is set to MAV_VTOL_STATE_UNDEFINED if UAV is not in VTOL configuration. |
| landed_state | uint8_t | MAV_LANDED_STATE | The landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown. |
The location and information of an ADSB vehicle
| Field Name | Type | Units | Values | Description |
|---|---|---|---|---|
| ICAO_address | uint32_t | ICAO address | ||
| lat | int32_t | degE7 | Latitude | |
| lon | int32_t | degE7 | Longitude | |
| altitude_type | uint8_t | ADSB_ALTITUDE_TYPE | ADSB altitude type. | |
| altitude | int32_t | mm | Altitude(ASL) | |
| heading | uint16_t | cdeg | Course over ground | |
| hor_velocity | uint16_t | cm/s | The horizontal velocity | |
| ver_velocity | int16_t | cm/s | The vertical velocity. Positive is up | |
| callsign | char[9] | The callsign, 8+null | ||
| emitter_type | uint8_t | ADSB_EMITTER_TYPE | ADSB emitter type. | |
| tslc | uint8_t | s | Time since last communication in seconds | |
| flags | uint16_t | ADSB_FLAGS | Bitmap to indicate various statuses including valid data fields | |
| squawk | uint16_t | Squawk code |
Information about a potential collision
| Field Name | Type | Units | Values | Description |
|---|---|---|---|---|
| src | uint8_t | MAV_COLLISION_SRC | Collision data source | |
| id | uint32_t | Unique identifier, domain based on src field | ||
| action | uint8_t | MAV_COLLISION_ACTION | Action that is being taken to avoid this collision | |
| threat_level | uint8_t | MAV_COLLISION_THREAT_LEVEL | How concerned the aircraft is about this collision | |
| time_to_minimum_delta | float | s | Estimated time until collision occurs | |
| altitude_minimum_delta | float | m | Closest vertical distance between vehicle and object | |
| horizontal_minimum_delta | float | m | Closest horizontal distance between vehicle and object |
Message implementing parts of the V2 payload specs in V1 frames for transitional support.
| Field Name | Type | Description |
|---|---|---|
| target_network | uint8_t | Network ID (0 for broadcast) |
| target_system | uint8_t | System ID (0 for broadcast) |
| target_component | uint8_t | Component ID (0 for broadcast) |
| message_type | uint16_t | A code that identifies the software component that understands this message (analogous to USB device classes or mime type strings). If this code is less than 32768, it is considered a 'registered' protocol extension and the corresponding entry should be added to https://github.com/mavlink/mavlink/extension-message-ids.xml. Software creators can register blocks of message IDs as needed (useful for GCS specific metadata, etc...). Message_types greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase. |
| payload | uint8_t[249] | Variable length payload. The length is defined by the remaining message length when subtracting the header and other fields. The entire content of this block is opaque unless you understand any the encoding message_type. The particular encoding used can be extension specific and might not always be documented as part of the mavlink specification. |
Send raw controller memory. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output.
| Field Name | Type | Description |
|---|---|---|
| address | uint16_t | Starting address of the debug variables |
| ver | uint8_t | Version code of the type variable. 0=unknown, type ignored and assumed int16_t. 1=as below |
| type | uint8_t | Type code of the memory variables. for ver = 1: 0=16 x int16_t, 1=16 x uint16_t, 2=16 x Q15, 3=16 x 1Q14 |
| value | int8_t[32] | Memory contents at specified address |
To debug something using a named 3D vector.
| Field Name | Type | Units | Description |
|---|---|---|---|
| name | char[10] | Name | |
| time_usec | uint64_t | us | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. |
| x | float | x | |
| y | float | y | |
| z | float | z |
Send a key-value pair as float. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output.
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_boot_ms | uint32_t | ms | Timestamp (time since system boot). |
| name | char[10] | Name of the debug variable | |
| value | float | Floating point value |
Send a key-value pair as integer. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output.
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_boot_ms | uint32_t | ms | Timestamp (time since system boot). |
| name | char[10] | Name of the debug variable | |
| value | int32_t | Signed integer value |
Status text message. These messages are printed in yellow in the COMM console of QGroundControl. WARNING: They consume quite some bandwidth, so use only for important status and error messages. If implemented wisely, these messages are buffered on the MCU and sent only at a limited rate (e.g. 10 Hz).
| Field Name | Type | Values | Description |
|---|---|---|---|
| severity | uint8_t | MAV_SEVERITY | Severity of status. Relies on the definitions within RFC-5424. |
| text | char[50] | Status text message, without null termination character |
Send a debug value. The index is used to discriminate between values. These values show up in the plot of QGroundControl as DEBUG N.
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_boot_ms | uint32_t | ms | Timestamp (time since system boot). |
| ind | uint8_t | index of debug variable | |
| value | float | DEBUG value |
(MAVLink 2) Setup a MAVLink2 signing key. If called with secret_key of all zero and zero initial_timestamp will disable signing
| Field Name | Type | Description |
|---|---|---|
| target_system | uint8_t | system id of the target |
| target_component | uint8_t | component ID of the target |
| secret_key | uint8_t[32] | signing key |
| initial_timestamp | uint64_t | initial timestamp |
(MAVLink 2) Report button state change.
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_boot_ms | uint32_t | ms | Timestamp (time since system boot). |
| last_change_ms | uint32_t | ms | Time of last change of button state. |
| state | uint8_t | Bitmap for state of buttons. |
(MAVLink 2) Control vehicle tone generation (buzzer)
| Field Name | Type | Description |
|---|---|---|
| target_system | uint8_t | System ID |
| target_component | uint8_t | Component ID |
| tune | char[30] | tune in board specific format |
| tune2 ** | char[200] | tune extension (appended to tune) |
(MAVLink 2) Information about a camera
| Field Name | Type | Units | Values | Description |
|---|---|---|---|---|
| time_boot_ms | uint32_t | ms | Timestamp (time since system boot). | |
| vendor_name | uint8_t[32] | Name of the camera vendor | ||
| model_name | uint8_t[32] | Name of the camera model | ||
| firmware_version | uint32_t | Version of the camera firmware (v << 24 & 0xff = Dev, v << 16 & 0xff = Patch, v << 8 & 0xff = Minor, v & 0xff = Major) | ||
| focal_length | float | mm | Focal length | |
| sensor_size_h | float | mm | Image sensor size horizontal | |
| sensor_size_v | float | mm | Image sensor size vertical | |
| resolution_h | uint16_t | pix | Horizontal image resolution | |
| resolution_v | uint16_t | pix | Vertical image resolution | |
| lens_id | uint8_t | Reserved for a lens ID | ||
| flags | uint32_t | CAMERA_CAP_FLAGS | Bitmap of camera capability flags. | |
| cam_definition_version | uint16_t | Camera definition version (iteration) | ||
| cam_definition_uri | char[140] | Camera definition URI (if any, otherwise only basic functions will be available). |
(MAVLink 2) Settings of a camera, can be requested using MAV_CMD_REQUEST_CAMERA_SETTINGS.
| Field Name | Type | Units | Values | Description |
|---|---|---|---|---|
| time_boot_ms | uint32_t | ms | Timestamp (time since system boot). | |
| mode_id | uint8_t | CAMERA_MODE | Camera mode | |
| zoomLevel ** | float | Current zoom level (0.0 to 100.0, NaN if not known) | ||
| focusLevel ** | float | Current focus level (0.0 to 100.0, NaN if not known) |
WORK IN PROGRESS: Do not use in stable production environments (it may change).
(MAVLink 2) Information about a storage medium.
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_boot_ms | uint32_t | ms | Timestamp (time since system boot). |
| storage_id | uint8_t | Storage ID (1 for first, 2 for second, etc.) | |
| storage_count | uint8_t | Number of storage devices | |
| status | uint8_t | Status of storage (0 not available, 1 unformatted, 2 formatted) | |
| total_capacity | float | MiB | Total capacity. |
| used_capacity | float | MiB | Used capacity. |
| available_capacity | float | MiB | Available storage capacity. |
| read_speed | float | MiB/s | Read speed. |
| write_speed | float | MiB/s | Write speed. |
(MAVLink 2) Information about the status of a capture.
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_boot_ms | uint32_t | ms | Timestamp (time since system boot). |
| image_status | uint8_t | Current status of image capturing (0: idle, 1: capture in progress, 2: interval set but idle, 3: interval set and capture in progress) | |
| video_status | uint8_t | Current status of video capturing (0: idle, 1: capture in progress) | |
| image_interval | float | s | Image capture interval |
| recording_time_ms | uint32_t | ms | Time since recording started |
| available_capacity | float | MiB | Available storage capacity. |
(MAVLink 2) Information about a captured image
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_boot_ms | uint32_t | ms | Timestamp (time since system boot). |
| time_utc | uint64_t | us | Timestamp (time since UNIX epoch) in UTC. 0 for unknown. |
| camera_id | uint8_t | Camera ID (1 for first, 2 for second, etc.) | |
| lat | int32_t | degE7 | Latitude where image was taken |
| lon | int32_t | degE7 | Longitude where capture was taken |
| alt | int32_t | mm | Altitude (MSL) where image was taken |
| relative_alt | int32_t | mm | Altitude above ground |
| q | float[4] | Quaternion of camera orientation (w, x, y, z order, zero-rotation is 0, 0, 0, 0) | |
| image_index | int32_t | Zero based index of this image (image count since armed -1) | |
| capture_result | int8_t | Boolean indicating success (1) or failure (0) while capturing this image. | |
| file_url | char[205] | URL of image taken. Either local storage or http://foo.jpg if camera provides an HTTP interface. |
WORK IN PROGRESS: Do not use in stable production environments (it may change).
(MAVLink 2) Information about flight since last arming.
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_boot_ms | uint32_t | ms | Timestamp (time since system boot). |
| arming_time_utc | uint64_t | us | Timestamp at arming (time since UNIX epoch) in UTC, 0 for unknown |
| takeoff_time_utc | uint64_t | us | Timestamp at takeoff (time since UNIX epoch) in UTC, 0 for unknown |
| flight_uuid | uint64_t | Universally unique identifier (UUID) of flight, should correspond to name of log files |
(MAVLink 2) Orientation of a mount
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_boot_ms | uint32_t | ms | Timestamp (time since system boot). |
| roll | float | deg | Roll in global frame (set to NaN for invalid). |
| pitch | float | deg | Pitch in global frame (set to NaN for invalid). |
| yaw | float | deg | Yaw relative to vehicle(set to NaN for invalid). |
| yaw_absolute ** | float | deg | Yaw in absolute frame, North is 0 (set to NaN for invalid). |
(MAVLink 2) A message containing logged data (see also MAV_CMD_LOGGING_START)
| Field Name | Type | Units | Description |
|---|---|---|---|
| target_system | uint8_t | system ID of the target | |
| target_component | uint8_t | component ID of the target | |
| sequence | uint16_t | sequence number (can wrap) | |
| length | uint8_t | bytes | data length |
| first_message_offset | uint8_t | bytes | offset into data where first message starts. This can be used for recovery, when a previous message got lost (set to 255 if no start exists). |
| data | uint8_t[249] | logged data |
(MAVLink 2) A message containing logged data which requires a LOGGING_ACK to be sent back
| Field Name | Type | Units | Description |
|---|---|---|---|
| target_system | uint8_t | system ID of the target | |
| target_component | uint8_t | component ID of the target | |
| sequence | uint16_t | sequence number (can wrap) | |
| length | uint8_t | bytes | data length |
| first_message_offset | uint8_t | bytes | offset into data where first message starts. This can be used for recovery, when a previous message got lost (set to 255 if no start exists). |
| data | uint8_t[249] | logged data |
(MAVLink 2) An ack for a LOGGING_DATA_ACKED message
| Field Name | Type | Description |
|---|---|---|
| target_system | uint8_t | system ID of the target |
| target_component | uint8_t | component ID of the target |
| sequence | uint16_t | sequence number (must match the one in LOGGING_DATA_ACKED) |
WORK IN PROGRESS: Do not use in stable production environments (it may change).
(MAVLink 2) Information about video stream
| Field Name | Type | Units | Values | Description |
|---|---|---|---|---|
| stream_id | uint8_t | Stream ID (1 for first, 2 for second, etc.) | ||
| count | uint8_t | Number of streams available | ||
| flags | uint16_t | VIDEO_STREAM_STATUS_FLAGS | Bitmap of stream status flags | |
| framerate | float | Hz | Frame rate | |
| resolution_h | uint16_t | pix | Horizontal resolution | |
| resolution_v | uint16_t | pix | Vertical resolution | |
| bitrate | uint32_t | bits/s | Bit rate in bits per second | |
| rotation | uint16_t | deg | Video image rotation clockwise | |
| hfov | uint16_t | deg | Horizontal Field of view | |
| uri | char[160] | Video stream URI |
WORK IN PROGRESS: Do not use in stable production environments (it may change).
(MAVLink 2) Message that sets video stream settings
| Field Name | Type | Units | Description |
|---|---|---|---|
| target_system | uint8_t | system ID of the target | |
| target_component | uint8_t | component ID of the target | |
| camera_id | uint8_t | Stream ID (1 for first, 2 for second, etc.) | |
| framerate | float | Hz | Frame rate (set to -1 for highest framerate possible) |
| resolution_h | uint16_t | pix | Horizontal resolution (set to -1 for highest resolution possible) |
| resolution_v | uint16_t | pix | Vertical resolution (set to -1 for highest resolution possible) |
| bitrate | uint32_t | bits/s | Bit rate (set to -1 for auto) |
| rotation | uint16_t | deg | Video image rotation clockwise (0-359 degrees) |
| uri | char[160] | Video stream URI (mostly for UDP/RTP) |
(MAVLink 2) Configure AP SSID and Password.
| Field Name | Type | Description |
|---|---|---|
| ssid | char[32] | Name of Wi-Fi network (SSID). Leave it blank to leave it unchanged. |
| password | char[64] | Password. Leave it blank for an open AP. |
WORK IN PROGRESS: Do not use in stable production environments (it may change).
(MAVLink 2) Version and capability of protocol version. This message is the response to REQUEST_PROTOCOL_VERSION and is used as part of the handshaking to establish which MAVLink version should be used on the network. Every node should respond to REQUEST_PROTOCOL_VERSION to enable the handshaking. Library implementers should consider adding this into the default decoding state machine to allow the protocol core to respond directly.
| Field Name | Type | Description |
|---|---|---|
| version | uint16_t | Currently active MAVLink version number * 100: v1.0 is 100, v2.0 is 200, etc. |
| min_version | uint16_t | Minimum MAVLink version supported |
| max_version | uint16_t | Maximum MAVLink version supported (set to the same value as version by default) |
| spec_version_hash | uint8_t[8] | The first 8 bytes (not characters printed in hex!) of the git hash. |
| library_version_hash | uint8_t[8] | The first 8 bytes (not characters printed in hex!) of the git hash. |
(MAVLink 2) General status information of an UAVCAN node. Please refer to the definition of the UAVCAN message "uavcan.protocol.NodeStatus" for the background information. The UAVCAN specification is available at http://uavcan.org.
| Field Name | Type | Units | Values | Description |
|---|---|---|---|---|
| time_usec | uint64_t | us | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. | |
| uptime_sec | uint32_t | s | Time since the start-up of the node. | |
| health | uint8_t | UAVCAN_NODE_HEALTH | Generalized node health status. | |
| mode | uint8_t | UAVCAN_NODE_MODE | Generalized operating mode. | |
| sub_mode | uint8_t | Not used currently. | ||
| vendor_specific_status_code | uint16_t | Vendor-specific status information. |
(MAVLink 2) General information describing a particular UAVCAN node. Please refer to the definition of the UAVCAN service "uavcan.protocol.GetNodeInfo" for the background information. This message should be emitted by the system whenever a new node appears online, or an existing node reboots. Additionally, it can be emitted upon request from the other end of the MAVLink channel (see MAV_CMD_UAVCAN_GET_NODE_INFO). It is also not prohibited to emit this message unconditionally at a low frequency. The UAVCAN specification is available at http://uavcan.org.
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_usec | uint64_t | us | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. |
| uptime_sec | uint32_t | s | Time since the start-up of the node. |
| name | char[80] | Node name string. For example, "sapog.px4.io". | |
| hw_version_major | uint8_t | Hardware major version number. | |
| hw_version_minor | uint8_t | Hardware minor version number. | |
| hw_unique_id | uint8_t[16] | Hardware unique 128-bit ID. | |
| sw_version_major | uint8_t | Software major version number. | |
| sw_version_minor | uint8_t | Software minor version number. | |
| sw_vcs_commit | uint32_t | Version control system (VCS) revision identifier (e.g. git short commit hash). Zero if unknown. |
(MAVLink 2) Request to read the value of a parameter with the either the param_id string id or param_index.
| Field Name | Type | Description |
|---|---|---|
| target_system | uint8_t | System ID |
| target_component | uint8_t | Component ID |
| param_id | char[16] | Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string |
| param_index | int16_t | Parameter index. Set to -1 to use the Parameter ID field as identifier (else param_id will be ignored) |
(MAVLink 2) Request all parameters of this component. After this request, all parameters are emitted.
| Field Name | Type | Description |
|---|---|---|
| target_system | uint8_t | System ID |
| target_component | uint8_t | Component ID |
(MAVLink 2) Emit the value of a parameter. The inclusion of param_count and param_index in the message allows the recipient to keep track of received parameters and allows them to re-request missing parameters after a loss or timeout.
| Field Name | Type | Values | Description |
|---|---|---|---|
| param_id | char[16] | Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string | |
| param_value | char[128] | Parameter value | |
| param_type | uint8_t | MAV_PARAM_EXT_TYPE | Parameter type. |
| param_count | uint16_t | Total number of parameters | |
| param_index | uint16_t | Index of this parameter |
(MAVLink 2) Set a parameter value. In order to deal with message loss (and retransmission of PARAM_EXT_SET), when setting a parameter value and the new value is the same as the current value, you will immediately get a PARAM_ACK_ACCEPTED response. If the current state is PARAM_ACK_IN_PROGRESS, you will accordingly receive a PARAM_ACK_IN_PROGRESS in response.
| Field Name | Type | Values | Description |
|---|---|---|---|
| target_system | uint8_t | System ID | |
| target_component | uint8_t | Component ID | |
| param_id | char[16] | Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string | |
| param_value | char[128] | Parameter value | |
| param_type | uint8_t | MAV_PARAM_EXT_TYPE | Parameter type. |
(MAVLink 2) Response from a PARAM_EXT_SET message.
| Field Name | Type | Values | Description |
|---|---|---|---|
| param_id | char[16] | Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string | |
| param_value | char[128] | Parameter value (new value if PARAM_ACK_ACCEPTED, current value otherwise) | |
| param_type | uint8_t | MAV_PARAM_EXT_TYPE | Parameter type. |
| param_result | uint8_t | PARAM_ACK | Result code. |
(MAVLink 2) Obstacle distances in front of the sensor, starting from the left in increment degrees to the right
| Field Name | Type | Units | Values | Description |
|---|---|---|---|---|
| time_usec | uint64_t | us | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. | |
| sensor_type | uint8_t | MAV_DISTANCE_SENSOR | Class id of the distance sensor type. | |
| distances | uint16_t[72] | cm | Distance of obstacles around the UAV with index 0 corresponding to local North. A value of 0 means that the obstacle is right in front of the sensor. A value of max_distance +1 means no obstacle is present. A value of UINT16_MAX for unknown/not used. In a array element, one unit corresponds to 1cm. | |
| increment | uint8_t | deg | Angular width in degrees of each array element. | |
| min_distance | uint16_t | cm | Minimum distance the sensor can measure. | |
| max_distance | uint16_t | cm | Maximum distance the sensor can measure. |
(MAVLink 2) Odometry message to communicate odometry information with an external interface. Fits ROS REP 147 standard for aerial vehicles (http://www.ros.org/reps/rep-0147.html).
| Field Name | Type | Units | Values | Description |
|---|---|---|---|---|
| time_usec | uint64_t | us | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. | |
| frame_id | uint8_t | MAV_FRAME | Coordinate frame of reference for the pose data. | |
| child_frame_id | uint8_t | MAV_FRAME | Coordinate frame of reference for the velocity in free space (twist) data. | |
| x | float | m | X Position | |
| y | float | m | Y Position | |
| z | float | m | Z Position | |
| q | float[4] | Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation) | ||
| vx | float | m/s | X linear speed | |
| vy | float | m/s | Y linear speed | |
| vz | float | m/s | Z linear speed | |
| rollspeed | float | rad/s | Roll angular speed | |
| pitchspeed | float | rad/s | Pitch angular speed | |
| yawspeed | float | rad/s | Yaw angular speed | |
| pose_covariance | float[21] | Pose (states: x, y, z, roll, pitch, yaw) covariance matrix upper right triangle (first six entries are the first ROW, next five entries are the second ROW, etc.) | ||
| twist_covariance | float[21] | Twist (states: vx, vy, vz, rollspeed, pitchspeed, yawspeed) covariance matrix upper right triangle (first six entries are the first ROW, next five entries are the second ROW, etc.) |
WORK IN PROGRESS: Do not use in stable production environments (it may change).
(MAVLink 2) Describe a trajectory using an array of up-to 5 waypoints in the local frame.
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_usec | uint64_t | us | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. |
| valid_points | uint8_t | Number of valid points (up-to 5 waypoints are possible) | |
| pos_x | float[5] | m | X-coordinate of waypoint, set to NaN if not being used |
| pos_y | float[5] | m | Y-coordinate of waypoint, set to NaN if not being used |
| pos_z | float[5] | m | Z-coordinate of waypoint, set to NaN if not being used |
| vel_x | float[5] | m/s | X-velocity of waypoint, set to NaN if not being used |
| vel_y | float[5] | m/s | Y-velocity of waypoint, set to NaN if not being used |
| vel_z | float[5] | m/s | Z-velocity of waypoint, set to NaN if not being used |
| acc_x | float[5] | m/s/s | X-acceleration of waypoint, set to NaN if not being used |
| acc_y | float[5] | m/s/s | Y-acceleration of waypoint, set to NaN if not being used |
| acc_z | float[5] | m/s/s | Z-acceleration of waypoint, set to NaN if not being used |
| pos_yaw | float[5] | rad | Yaw angle, set to NaN if not being used |
| vel_yaw | float[5] | rad/s | Yaw rate, set to NaN if not being used |
WORK IN PROGRESS: Do not use in stable production environments (it may change).
(MAVLink 2) Describe a trajectory using an array of up-to 5 bezier points in the local frame.
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_usec | uint64_t | us | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. |
| valid_points | uint8_t | Number of valid points (up-to 5 waypoints are possible) | |
| pos_x | float[5] | m | X-coordinate of starting bezier point, set to NaN if not being used |
| pos_y | float[5] | m | Y-coordinate of starting bezier point, set to NaN if not being used |
| pos_z | float[5] | m | Z-coordinate of starting bezier point, set to NaN if not being used |
| delta | float[5] | s | Bezier time horizon, set to NaN if velocity/acceleration should not be incorporated |
| pos_yaw | float[5] | rad | Yaw, set to NaN for unchanged |
WORK IN PROGRESS: Do not use in stable production environments (it may change).
(MAVLink 2) The global position resulting from GPS and sensor fusion.
| Field Name | Type | Units | Values | Description |
|---|---|---|---|---|
| time | uint64_t | us | Time of applicability of position (microseconds since UNIX epoch). | |
| uas_id | uint8_t[18] | Unique UAS ID. | ||
| lat | int32_t | degE7 | Latitude (WGS84) | |
| lon | int32_t | degE7 | Longitude (WGS84) | |
| alt | int32_t | mm | Altitude (WGS84) | |
| relative_alt | int32_t | mm | Altitude above ground | |
| vx | int16_t | cm/s | Ground X speed (latitude, positive north) | |
| vy | int16_t | cm/s | Ground Y speed (longitude, positive east) | |
| vz | int16_t | cm/s | Ground Z speed (altitude, positive down) | |
| h_acc | uint16_t | mm | Horizontal position uncertainty (standard deviation) | |
| v_acc | uint16_t | mm | Altitude uncertainty (standard deviation) | |
| vel_acc | uint16_t | cm/s | Speed uncertainty (standard deviation) | |
| next_lat | int32_t | degE7 | Next waypoint, latitude (WGS84) | |
| next_lon | int32_t | degE7 | Next waypoint, longitude (WGS84) | |
| next_alt | int32_t | mm | Next waypoint, altitude (WGS84) | |
| update_rate | uint16_t | Seconds * 1E2 until next update. Set to 0 if unknown or in data driven mode. | ||
| flight_state | uint8_t | UTM_FLIGHT_STATE | Flight state | |
| flags | uint8_t | UTM_DATA_AVAIL_FLAGS | Bitwise OR combination of the data available flags. |
(MAVLink 2) Large debug/prototyping array. The message uses the maximum available payload for data. The array_id and name fields are used to discriminate between messages in code and in user interfaces (respectively). Do not use in production code.
| Field Name | Type | Units | Description |
|---|---|---|---|
| time_usec | uint64_t | us | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. |
| name | char[10] | Name, for human-friendly display in a Ground Control Station | |
| array_id | uint16_t | Unique ID used to discriminate between arrays | |
| data ** | float[58] | data |
WORK IN PROGRESS: Do not use in stable production environments (it may change).
(MAVLink 2) Vehicle status report that is sent out while orbit execution is in progress (see MAV_CMD_DO_ORBIT).
| Field Name | Type | Units | Values | Description |
|---|---|---|---|---|
| time_usec | uint64_t | us | Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. | |
| radius | float | m | Radius of the orbit circle. Positive values orbit clockwise, negative values orbit counter-clockwise. | |
| frame | uint8_t | MAV_FRAME | The coordinate system of the fields: x, y, z. | |
| x | int32_t | X coordinate of center point. Coordinate system depends on frame field: local = x position in meters * 1e4, global = latitude in degrees * 1e7. | ||
| y | int32_t | Y coordinate of center point. Coordinate system depends on frame field: local = x position in meters * 1e4, global = latitude in degrees * 1e7. | ||
| z | float | m | Altitude of center point. Coordinate system depends on frame field. |