MAVLink Include Files: common.xml

MAVLink Protocol Version

The current MAVLink version is 2.2. The minor version numbers (after the dot) range from 1-255.

This file has protocol dialect: 1.

MAVLink Type Enumerations

MAV_AVSS_COMMAND_FAILURE_REASON

Value	Field Name	Description
1	PRS_NOT_STEADY	AVSS defined command failure reason. PRS not steady.
2	PRS_DTM_NOT_ARMED	AVSS defined command failure reason. PRS DTM not armed.
3	PRS_OTM_NOT_ARMED	AVSS defined command failure reason. PRS OTM not armed.

AVSS_M300_OPERATION_MODE

[Enum]

Value	Field Name	Description
0	MODE_M300_MANUAL_CTRL	In manual control mode
1	MODE_M300_ATTITUDE	In attitude mode
6	MODE_M300_P_GPS	In GPS mode
9	MODE_M300_HOTPOINT_MODE	In hotpoint mode
10	MODE_M300_ASSISTED_TAKEOFF	In assisted takeoff mode
11	MODE_M300_AUTO_TAKEOFF	In auto takeoff mode
12	MODE_M300_AUTO_LANDING	In auto landing mode
15	MODE_M300_NAVI_GO_HOME	In go home mode
17	MODE_M300_NAVI_SDK_CTRL	In sdk control mode
31	MODE_M300_S_SPORT	In sport mode
33	MODE_M300_FORCE_AUTO_LANDING	In force auto landing mode
38	MODE_M300_T_TRIPOD	In tripod mode
40	MODE_M300_SEARCH_MODE	In search mode
41	MODE_M300_ENGINE_START	In engine mode

AVSS_HORSEFLY_OPERATION_MODE

[Enum]

Value	Field Name	Description
0	MODE_HORSEFLY_MANUAL_CTRL	In manual control mode
1	MODE_HORSEFLY_AUTO_TAKEOFF	In auto takeoff mode
2	MODE_HORSEFLY_AUTO_LANDING	In auto landing mode
3	MODE_HORSEFLY_NAVI_GO_HOME	In go home mode
4	MODE_HORSEFLY_DROP	In drop mode

MAVLink Commands (MAV_CMD)

MAVLink commands (MAV_CMD) and messages are different! These commands define the values of up to 7 parameters that are packaged INSIDE specific messages used in the Mission Protocol and Command Protocol. Use commands for actions in missions or if you need acknowledgment and/or retry logic from a request. Otherwise use messages.

MAV_CMD_PRS_SET_ARM (60050 )

[Command] AVSS defined command. Set PRS arm statuses.

Param (:Label)	Description
1: ARM status	PRS arm statuses
2	User defined
3	User defined
4	User defined
5	User defined
6	User defined
7	User defined

MAV_CMD_PRS_GET_ARM (60051 )

[Command] AVSS defined command. Gets PRS arm statuses

Param (:Label)	Description
1	User defined
2	User defined
3	User defined
4	User defined
5	User defined
6	User defined
7	User defined

MAV_CMD_PRS_GET_BATTERY (60052 )

[Command] AVSS defined command. Get the PRS battery voltage in millivolts

Param (:Label)	Description
1	User defined
2	User defined
3	User defined
4	User defined
5	User defined
6	User defined
7	User defined

MAV_CMD_PRS_GET_ERR (60053 )

[Command] AVSS defined command. Get the PRS error statuses.

Param (:Label)	Description
1	User defined
2	User defined
3	User defined
4	User defined
5	User defined
6	User defined
7	User defined

MAV_CMD_PRS_SET_ARM_ALTI (60070 )

[Command] AVSS defined command. Set the ATS arming altitude in meters.

Param (:Label)	Description	Units
1: Altitude	ATS arming altitude	m
2	User defined
3	User defined
4	User defined
5	User defined
6	User defined
7	User defined

MAV_CMD_PRS_GET_ARM_ALTI (60071 )

[Command] AVSS defined command. Get the ATS arming altitude in meters.

Param (:Label)	Description
1	User defined
2	User defined
3	User defined
4	User defined
5	User defined
6	User defined
7	User defined

MAV_CMD_PRS_SHUTDOWN (60072 )

[Command] AVSS defined command. Shuts down the PRS system.

Param (:Label)	Description
1	User defined
2	User defined
3	User defined
4	User defined
5	User defined
6	User defined
7	User defined

MAVLink Messages

AVSS_PRS_SYS_STATUS ( #60050 )

[Message] (MAVLink 2) AVSS PRS system status.

Field Name	Type	Units	Description
time_boot_ms	uint32_t	ms	Timestamp (time since PRS boot).
error_status	uint32_t		PRS error statuses
battery_status	uint32_t		Estimated battery run-time without a remote connection and PRS battery voltage
arm_status	uint8_t		PRS arm statuses
charge_status	uint8_t		PRS battery charge statuses

AVSS_DRONE_POSITION ( #60051 )

[Message] (MAVLink 2) Drone position.

Field Name	Type	Units	Description
time_boot_ms	uint32_t	ms	Timestamp (time since FC 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.
ground_alt	float	m	Altitude above ground, This altitude is measured by a ultrasound, Laser rangefinder or millimeter-wave radar
barometer_alt	float	m	This altitude is measured by a barometer

AVSS_DRONE_IMU ( #60052 )

[Message] (MAVLink 2) Drone IMU data. 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 FC 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)
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

AVSS_DRONE_OPERATION_MODE ( #60053 )

[Message] (MAVLink 2) Drone operation mode.

Field Name	Type	Units	Description
time_boot_ms	uint32_t	ms	Timestamp (time since FC boot).
M300_operation_mode	uint8_t		DJI M300 operation mode
horsefly_operation_mode	uint8_t		horsefly operation mode