<!-- THIS FILE IS AUTO-GENERATED: https://github.com/mavlink/mavlink/blob/master/doc/mavlink_xml_to_markdown.py -->

# Dialect: ArduPilotMega

> **Warning** The ArduPilot MAVLink fork of [ardupilotmega.xml](https://github.com/ArduPilot/mavlink/blob/master/message_definitions/v1.0/ardupilotmega.xml) may contain messages that have not yet been merged into this documentation. The documentation below may not be accurate if the dialect owner has not pushed changes.

These messages define the ArduPilot specific message set, which is custom to <http://ardupilot.org>.

This topic is a human-readable form of the XML definition file: [ardupilotmega.xml](https://github.com/mavlink/mavlink/blob/master/message_definitions/v1.0/ardupilotmega.xml).

<span id="mav2_extension_field"></span>

> **Note** MAVLink 2 extension fields that have been added to MAVLink 1 messages are displayed in blue. - Entities from dialects are displayed only as headings (with link to original) 

<style>
span.ext {
    color: blue;
  }
span.warning {
    color: red;
  }
</style>

 

**Protocol dialect:** 2

## MAVLink Include Files

- [common.xml](../messages/common.md)
- [uAvionix.xml](../messages/uAvionix.md)
- [icarous.xml](../messages/icarous.md)
- [cubepilot.xml](../messages/cubepilot.md)
- [csAirLink.xml](../messages/csAirLink.md)

## Summary

| Type                       | Defined | Included |
| -------------------------- | ------- | -------- |
| [Messages](#messages)      | 65      | 240      |
| [Enums](#enumerated-types) | 45      | 157      |
| [Commands](#mav_commands)  | 195     | 0        |

The following sections list all entities in the dialect (both included and defined in this file).

## Messages

### HEARTBEAT (0) — \[from: [minimal](../messages/minimal.md#HEARTBEAT)\] {#HEARTBEAT}

### SYS_STATUS (1) — \[from: [common](../messages/common.md#SYS_STATUS)\] {#SYS_STATUS}

### SYSTEM_TIME (2) — \[from: [common](../messages/common.md#SYSTEM_TIME)\] {#SYSTEM_TIME}

### PING (4) — \[from: [common](../messages/common.md#PING)\] [DEP] {#PING}

### CHANGE_OPERATOR_CONTROL (5) — \[from: [common](../messages/common.md#CHANGE_OPERATOR_CONTROL)\] {#CHANGE_OPERATOR_CONTROL}

### CHANGE_OPERATOR_CONTROL_ACK (6) — \[from: [common](../messages/common.md#CHANGE_OPERATOR_CONTROL_ACK)\] {#CHANGE_OPERATOR_CONTROL_ACK}

### AUTH_KEY (7) — \[from: [common](../messages/common.md#AUTH_KEY)\] {#AUTH_KEY}

### LINK_NODE_STATUS (8) — \[from: [common](../messages/common.md#LINK_NODE_STATUS)\] [WIP] {#LINK_NODE_STATUS}

### SET_MODE (11) — \[from: [common](../messages/common.md#SET_MODE)\] [DEP] {#SET_MODE}

### PARAM_REQUEST_READ (20) — \[from: [common](../messages/common.md#PARAM_REQUEST_READ)\] {#PARAM_REQUEST_READ}

### PARAM_REQUEST_LIST (21) — \[from: [common](../messages/common.md#PARAM_REQUEST_LIST)\] {#PARAM_REQUEST_LIST}

### PARAM_VALUE (22) — \[from: [common](../messages/common.md#PARAM_VALUE)\] {#PARAM_VALUE}

### PARAM_SET (23) — \[from: [common](../messages/common.md#PARAM_SET)\] {#PARAM_SET}

### GPS_RAW_INT (24) — \[from: [common](../messages/common.md#GPS_RAW_INT)\] {#GPS_RAW_INT}

### GPS_STATUS (25) — \[from: [common](../messages/common.md#GPS_STATUS)\] {#GPS_STATUS}

### SCALED_IMU (26) — \[from: [common](../messages/common.md#SCALED_IMU)\] {#SCALED_IMU}

### RAW_IMU (27) — \[from: [common](../messages/common.md#RAW_IMU)\] {#RAW_IMU}

### RAW_PRESSURE (28) — \[from: [common](../messages/common.md#RAW_PRESSURE)\] {#RAW_PRESSURE}

### SCALED_PRESSURE (29) — \[from: [common](../messages/common.md#SCALED_PRESSURE)\] {#SCALED_PRESSURE}

### ATTITUDE (30) — \[from: [common](../messages/common.md#ATTITUDE)\] {#ATTITUDE}

### ATTITUDE_QUATERNION (31) — \[from: [common](../messages/common.md#ATTITUDE_QUATERNION)\] {#ATTITUDE_QUATERNION}

### LOCAL_POSITION_NED (32) — \[from: [common](../messages/common.md#LOCAL_POSITION_NED)\] {#LOCAL_POSITION_NED}

### GLOBAL_POSITION_INT (33) — \[from: [common](../messages/common.md#GLOBAL_POSITION_INT)\] {#GLOBAL_POSITION_INT}

### RC_CHANNELS_SCALED (34) — \[from: [common](../messages/common.md#RC_CHANNELS_SCALED)\] {#RC_CHANNELS_SCALED}

### RC_CHANNELS_RAW (35) — \[from: [common](../messages/common.md#RC_CHANNELS_RAW)\] {#RC_CHANNELS_RAW}

### SERVO_OUTPUT_RAW (36) — \[from: [common](../messages/common.md#SERVO_OUTPUT_RAW)\] {#SERVO_OUTPUT_RAW}

### MISSION_REQUEST_PARTIAL_LIST (37) — \[from: [common](../messages/common.md#MISSION_REQUEST_PARTIAL_LIST)\] {#MISSION_REQUEST_PARTIAL_LIST}

### MISSION_WRITE_PARTIAL_LIST (38) — \[from: [common](../messages/common.md#MISSION_WRITE_PARTIAL_LIST)\] {#MISSION_WRITE_PARTIAL_LIST}

### MISSION_ITEM (39) — \[from: [common](../messages/common.md#MISSION_ITEM)\] [DEP] {#MISSION_ITEM}

### MISSION_REQUEST (40) — \[from: [common](../messages/common.md#MISSION_REQUEST)\] [DEP] {#MISSION_REQUEST}

### MISSION_SET_CURRENT (41) — \[from: [common](../messages/common.md#MISSION_SET_CURRENT)\] [DEP] {#MISSION_SET_CURRENT}

### MISSION_CURRENT (42) — \[from: [common](../messages/common.md#MISSION_CURRENT)\] {#MISSION_CURRENT}

### MISSION_REQUEST_LIST (43) — \[from: [common](../messages/common.md#MISSION_REQUEST_LIST)\] {#MISSION_REQUEST_LIST}

### MISSION_COUNT (44) — \[from: [common](../messages/common.md#MISSION_COUNT)\] {#MISSION_COUNT}

### MISSION_CLEAR_ALL (45) — \[from: [common](../messages/common.md#MISSION_CLEAR_ALL)\] {#MISSION_CLEAR_ALL}

### MISSION_ITEM_REACHED (46) — \[from: [common](../messages/common.md#MISSION_ITEM_REACHED)\] {#MISSION_ITEM_REACHED}

### MISSION_ACK (47) — \[from: [common](../messages/common.md#MISSION_ACK)\] {#MISSION_ACK}

### SET_GPS_GLOBAL_ORIGIN (48) — \[from: [common](../messages/common.md#SET_GPS_GLOBAL_ORIGIN)\] {#SET_GPS_GLOBAL_ORIGIN}

### GPS_GLOBAL_ORIGIN (49) — \[from: [common](../messages/common.md#GPS_GLOBAL_ORIGIN)\] {#GPS_GLOBAL_ORIGIN}

### PARAM_MAP_RC (50) — \[from: [common](../messages/common.md#PARAM_MAP_RC)\] {#PARAM_MAP_RC}

### MISSION_REQUEST_INT (51) — \[from: [common](../messages/common.md#MISSION_REQUEST_INT)\] {#MISSION_REQUEST_INT}

### SAFETY_SET_ALLOWED_AREA (54) — \[from: [common](../messages/common.md#SAFETY_SET_ALLOWED_AREA)\] {#SAFETY_SET_ALLOWED_AREA}

### SAFETY_ALLOWED_AREA (55) — \[from: [common](../messages/common.md#SAFETY_ALLOWED_AREA)\] {#SAFETY_ALLOWED_AREA}

### ATTITUDE_QUATERNION_COV (61) — \[from: [common](../messages/common.md#ATTITUDE_QUATERNION_COV)\] {#ATTITUDE_QUATERNION_COV}

### NAV_CONTROLLER_OUTPUT (62) — \[from: [common](../messages/common.md#NAV_CONTROLLER_OUTPUT)\] {#NAV_CONTROLLER_OUTPUT}

### GLOBAL_POSITION_INT_COV (63) — \[from: [common](../messages/common.md#GLOBAL_POSITION_INT_COV)\] {#GLOBAL_POSITION_INT_COV}

### LOCAL_POSITION_NED_COV (64) — \[from: [common](../messages/common.md#LOCAL_POSITION_NED_COV)\] {#LOCAL_POSITION_NED_COV}

### RC_CHANNELS (65) — \[from: [common](../messages/common.md#RC_CHANNELS)\] {#RC_CHANNELS}

### REQUEST_DATA_STREAM (66) — \[from: [common](../messages/common.md#REQUEST_DATA_STREAM)\] [DEP] {#REQUEST_DATA_STREAM}

### DATA_STREAM (67) — \[from: [common](../messages/common.md#DATA_STREAM)\] [DEP] {#DATA_STREAM}

### MANUAL_CONTROL (69) — \[from: [common](../messages/common.md#MANUAL_CONTROL)\] {#MANUAL_CONTROL}

### RC_CHANNELS_OVERRIDE (70) — \[from: [common](../messages/common.md#RC_CHANNELS_OVERRIDE)\] {#RC_CHANNELS_OVERRIDE}

### MISSION_ITEM_INT (73) — \[from: [common](../messages/common.md#MISSION_ITEM_INT)\] {#MISSION_ITEM_INT}

### VFR_HUD (74) — \[from: [common](../messages/common.md#VFR_HUD)\] {#VFR_HUD}

### COMMAND_INT (75) — \[from: [common](../messages/common.md#COMMAND_INT)\] {#COMMAND_INT}

### COMMAND_LONG (76) — \[from: [common](../messages/common.md#COMMAND_LONG)\] {#COMMAND_LONG}

### COMMAND_ACK (77) — \[from: [common](../messages/common.md#COMMAND_ACK)\] {#COMMAND_ACK}

### COMMAND_CANCEL (80) — \[from: [common](../messages/common.md#COMMAND_CANCEL)\] [WIP] {#COMMAND_CANCEL}

### MANUAL_SETPOINT (81) — \[from: [common](../messages/common.md#MANUAL_SETPOINT)\] {#MANUAL_SETPOINT}

### SET_ATTITUDE_TARGET (82) — \[from: [common](../messages/common.md#SET_ATTITUDE_TARGET)\] {#SET_ATTITUDE_TARGET}

### ATTITUDE_TARGET (83) — \[from: [common](../messages/common.md#ATTITUDE_TARGET)\] {#ATTITUDE_TARGET}

### SET_POSITION_TARGET_LOCAL_NED (84) — \[from: [common](../messages/common.md#SET_POSITION_TARGET_LOCAL_NED)\] {#SET_POSITION_TARGET_LOCAL_NED}

### POSITION_TARGET_LOCAL_NED (85) — \[from: [common](../messages/common.md#POSITION_TARGET_LOCAL_NED)\] {#POSITION_TARGET_LOCAL_NED}

### SET_POSITION_TARGET_GLOBAL_INT (86) — \[from: [common](../messages/common.md#SET_POSITION_TARGET_GLOBAL_INT)\] {#SET_POSITION_TARGET_GLOBAL_INT}

### POSITION_TARGET_GLOBAL_INT (87) — \[from: [common](../messages/common.md#POSITION_TARGET_GLOBAL_INT)\] {#POSITION_TARGET_GLOBAL_INT}

### LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET (89) — \[from: [common](../messages/common.md#LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET)\] {#LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET}

### HIL_STATE (90) — \[from: [common](../messages/common.md#HIL_STATE)\] [DEP] {#HIL_STATE}

### HIL_CONTROLS (91) — \[from: [common](../messages/common.md#HIL_CONTROLS)\] {#HIL_CONTROLS}

### HIL_RC_INPUTS_RAW (92) — \[from: [common](../messages/common.md#HIL_RC_INPUTS_RAW)\] {#HIL_RC_INPUTS_RAW}

### HIL_ACTUATOR_CONTROLS (93) — \[from: [common](../messages/common.md#HIL_ACTUATOR_CONTROLS)\] {#HIL_ACTUATOR_CONTROLS}

### OPTICAL_FLOW (100) — \[from: [common](../messages/common.md#OPTICAL_FLOW)\] {#OPTICAL_FLOW}

### GLOBAL_VISION_POSITION_ESTIMATE (101) — \[from: [common](../messages/common.md#GLOBAL_VISION_POSITION_ESTIMATE)\] {#GLOBAL_VISION_POSITION_ESTIMATE}

### VISION_POSITION_ESTIMATE (102) — \[from: [common](../messages/common.md#VISION_POSITION_ESTIMATE)\] {#VISION_POSITION_ESTIMATE}

### VISION_SPEED_ESTIMATE (103) — \[from: [common](../messages/common.md#VISION_SPEED_ESTIMATE)\] {#VISION_SPEED_ESTIMATE}

### VICON_POSITION_ESTIMATE (104) — \[from: [common](../messages/common.md#VICON_POSITION_ESTIMATE)\] {#VICON_POSITION_ESTIMATE}

### HIGHRES_IMU (105) — \[from: [common](../messages/common.md#HIGHRES_IMU)\] {#HIGHRES_IMU}

### OPTICAL_FLOW_RAD (106) — \[from: [common](../messages/common.md#OPTICAL_FLOW_RAD)\] {#OPTICAL_FLOW_RAD}

### HIL_SENSOR (107) — \[from: [common](../messages/common.md#HIL_SENSOR)\] {#HIL_SENSOR}

### SIM_STATE (108) — \[from: [common](../messages/common.md#SIM_STATE)\] {#SIM_STATE}

### RADIO_STATUS (109) — \[from: [common](../messages/common.md#RADIO_STATUS)\] {#RADIO_STATUS}

### FILE_TRANSFER_PROTOCOL (110) — \[from: [common](../messages/common.md#FILE_TRANSFER_PROTOCOL)\] {#FILE_TRANSFER_PROTOCOL}

### TIMESYNC (111) — \[from: [common](../messages/common.md#TIMESYNC)\] {#TIMESYNC}

### CAMERA_TRIGGER (112) — \[from: [common](../messages/common.md#CAMERA_TRIGGER)\] {#CAMERA_TRIGGER}

### HIL_GPS (113) — \[from: [common](../messages/common.md#HIL_GPS)\] {#HIL_GPS}

### HIL_OPTICAL_FLOW (114) — \[from: [common](../messages/common.md#HIL_OPTICAL_FLOW)\] {#HIL_OPTICAL_FLOW}

### HIL_STATE_QUATERNION (115) — \[from: [common](../messages/common.md#HIL_STATE_QUATERNION)\] {#HIL_STATE_QUATERNION}

### SCALED_IMU2 (116) — \[from: [common](../messages/common.md#SCALED_IMU2)\] {#SCALED_IMU2}

### LOG_REQUEST_LIST (117) — \[from: [common](../messages/common.md#LOG_REQUEST_LIST)\] {#LOG_REQUEST_LIST}

### LOG_ENTRY (118) — \[from: [common](../messages/common.md#LOG_ENTRY)\] {#LOG_ENTRY}

### LOG_REQUEST_DATA (119) — \[from: [common](../messages/common.md#LOG_REQUEST_DATA)\] {#LOG_REQUEST_DATA}

### LOG_DATA (120) — \[from: [common](../messages/common.md#LOG_DATA)\] {#LOG_DATA}

### LOG_ERASE (121) — \[from: [common](../messages/common.md#LOG_ERASE)\] {#LOG_ERASE}

### LOG_REQUEST_END (122) — \[from: [common](../messages/common.md#LOG_REQUEST_END)\] {#LOG_REQUEST_END}

### GPS_INJECT_DATA (123) — \[from: [common](../messages/common.md#GPS_INJECT_DATA)\] [DEP] {#GPS_INJECT_DATA}

### GPS2_RAW (124) — \[from: [common](../messages/common.md#GPS2_RAW)\] {#GPS2_RAW}

### POWER_STATUS (125) — \[from: [common](../messages/common.md#POWER_STATUS)\] {#POWER_STATUS}

### SERIAL_CONTROL (126) — \[from: [common](../messages/common.md#SERIAL_CONTROL)\] {#SERIAL_CONTROL}

### GPS_RTK (127) — \[from: [common](../messages/common.md#GPS_RTK)\] {#GPS_RTK}

### GPS2_RTK (128) — \[from: [common](../messages/common.md#GPS2_RTK)\] {#GPS2_RTK}

### SCALED_IMU3 (129) — \[from: [common](../messages/common.md#SCALED_IMU3)\] {#SCALED_IMU3}

### DATA_TRANSMISSION_HANDSHAKE (130) — \[from: [common](../messages/common.md#DATA_TRANSMISSION_HANDSHAKE)\] {#DATA_TRANSMISSION_HANDSHAKE}

### ENCAPSULATED_DATA (131) — \[from: [common](../messages/common.md#ENCAPSULATED_DATA)\] {#ENCAPSULATED_DATA}

### DISTANCE_SENSOR (132) — \[from: [common](../messages/common.md#DISTANCE_SENSOR)\] {#DISTANCE_SENSOR}

### TERRAIN_REQUEST (133) — \[from: [common](../messages/common.md#TERRAIN_REQUEST)\] {#TERRAIN_REQUEST}

### TERRAIN_DATA (134) — \[from: [common](../messages/common.md#TERRAIN_DATA)\] {#TERRAIN_DATA}

### TERRAIN_CHECK (135) — \[from: [common](../messages/common.md#TERRAIN_CHECK)\] {#TERRAIN_CHECK}

### TERRAIN_REPORT (136) — \[from: [common](../messages/common.md#TERRAIN_REPORT)\] {#TERRAIN_REPORT}

### SCALED_PRESSURE2 (137) — \[from: [common](../messages/common.md#SCALED_PRESSURE2)\] {#SCALED_PRESSURE2}

### ATT_POS_MOCAP (138) — \[from: [common](../messages/common.md#ATT_POS_MOCAP)\] {#ATT_POS_MOCAP}

### SET_ACTUATOR_CONTROL_TARGET (139) — \[from: [common](../messages/common.md#SET_ACTUATOR_CONTROL_TARGET)\] {#SET_ACTUATOR_CONTROL_TARGET}

### ACTUATOR_CONTROL_TARGET (140) — \[from: [common](../messages/common.md#ACTUATOR_CONTROL_TARGET)\] {#ACTUATOR_CONTROL_TARGET}

### ALTITUDE (141) — \[from: [common](../messages/common.md#ALTITUDE)\] {#ALTITUDE}

### RESOURCE_REQUEST (142) — \[from: [common](../messages/common.md#RESOURCE_REQUEST)\] {#RESOURCE_REQUEST}

### SCALED_PRESSURE3 (143) — \[from: [common](../messages/common.md#SCALED_PRESSURE3)\] {#SCALED_PRESSURE3}

### FOLLOW_TARGET (144) — \[from: [common](../messages/common.md#FOLLOW_TARGET)\] {#FOLLOW_TARGET}

### CONTROL_SYSTEM_STATE (146) — \[from: [common](../messages/common.md#CONTROL_SYSTEM_STATE)\] {#CONTROL_SYSTEM_STATE}

### BATTERY_STATUS (147) — \[from: [common](../messages/common.md#BATTERY_STATUS)\] {#BATTERY_STATUS}

### AUTOPILOT_VERSION (148) — \[from: [common](../messages/common.md#AUTOPILOT_VERSION)\] {#AUTOPILOT_VERSION}

### LANDING_TARGET (149) — \[from: [common](../messages/common.md#LANDING_TARGET)\] {#LANDING_TARGET}

### SENSOR_OFFSETS (150) {#SENSOR_OFFSETS}

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

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

### SET_MAG_OFFSETS (151) — [DEP] {#SET_MAG_OFFSETS}

<span class="warning"><strong>DEPRECATED:</strong> Replaced By <a href="#MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS">MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS</a> (2014-07)</span>

Set the magnetometer offsets

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

### MEMINFO (152) {#MEMINFO}

State of autopilot RAM.

| Field Name                                            | Type       | Units | Description           |
| ----------------------------------------------------- | ---------- | ----- | --------------------- |
| brkval                                                | `uint16_t` |       | Heap top.             |
| freemem                                               | `uint16_t` | bytes | Free memory.          |
| <span class='ext'>freemem32</span> [++](#mav2_extension_field) | `uint32_t` | bytes | Free memory (32 bit). |

### AP_ADC (153) {#AP_ADC}

Raw ADC output.

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

### DIGICAM_CONFIGURE (154) {#DIGICAM_CONFIGURE}

Configure on-board Camera Control System.

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

### DIGICAM_CONTROL (155) {#DIGICAM_CONTROL}

Control on-board Camera Control System to take shots.

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

### MOUNT_CONFIGURE (156) {#MOUNT_CONFIGURE}

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

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

### MOUNT_CONTROL (157) {#MOUNT_CONTROL}

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

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

### MOUNT_STATUS (158) {#MOUNT_STATUS}

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

| Field Name                                            | Type      | Units | Values                              | Description           |
| ----------------------------------------------------- | --------- | ----- | ----------------------------------- | --------------------- |
| target_system                                         | `uint8_t` |       |                                     | System ID.            |
| target_component                                      | `uint8_t` |       |                                     | Component ID.         |
| pointing_a                                            | `int32_t` | cdeg  |                                     | Pitch.                |
| pointing_b                                            | `int32_t` | cdeg  |                                     | Roll.                 |
| pointing_c                                            | `int32_t` | cdeg  |                                     | Yaw.                  |
| <span class='ext'>mount_mode</span> [++](#mav2_extension_field) | `uint8_t` |       | [MAV_MOUNT_MODE](#MAV_MOUNT_MODE) | Mount operating mode. |

### FENCE_POINT (160) {#FENCE_POINT}

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

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

### FENCE_FETCH_POINT (161) {#FENCE_FETCH_POINT}

Request a current fence point from MAV.

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

### FENCE_STATUS (162) — \[from: [common](../messages/common.md#FENCE_STATUS)\] {#FENCE_STATUS}

### AHRS (163) {#AHRS}

Status of DCM attitude estimator.

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

### SIMSTATE (164) {#SIMSTATE}

Status of simulation environment, if used.

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

### HWSTATUS (165) {#HWSTATUS}

Status of key hardware.

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

### RADIO (166) {#RADIO}

Status generated by radio.

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

### LIMITS_STATUS (167) {#LIMITS_STATUS}

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

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

### WIND (168) {#WIND}

Wind estimation.

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

### DATA16 (169) {#DATA16}

Data packet, size 16.

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

### DATA32 (170) {#DATA32}

Data packet, size 32.

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

### DATA64 (171) {#DATA64}

Data packet, size 64.

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

### DATA96 (172) {#DATA96}

Data packet, size 96.

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

### RANGEFINDER (173) {#RANGEFINDER}

Rangefinder reporting.

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

### AIRSPEED_AUTOCAL (174) {#AIRSPEED_AUTOCAL}

Airspeed auto-calibration.

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

### RALLY_POINT (175) {#RALLY_POINT}

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

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

### RALLY_FETCH_POINT (176) {#RALLY_FETCH_POINT}

Request a current rally point from MAV. MAV should respond with a [RALLY_POINT](#RALLY_POINT) message. MAV should not respond if the request is invalid.

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

### COMPASSMOT_STATUS (177) {#COMPASSMOT_STATUS}

Status of compassmot calibration.

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

### AHRS2 (178) {#AHRS2}

Status of secondary AHRS filter if available.

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

### CAMERA_STATUS (179) {#CAMERA_STATUS}

Camera Event.

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

### CAMERA_FEEDBACK (180) {#CAMERA_FEEDBACK}

Camera Capture Feedback.

| Field Name                                            | Type       | Units | Values                                            | Description                                                                                                           |
| ----------------------------------------------------- | ---------- | ----- | ------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------- |
| time_usec                                             | `uint64_t` | us    |                                                   | Image timestamp (since UNIX epoch), as passed in by [CAMERA_STATUS](#CAMERA_STATUS) message (or autopilot if no CCB). |
| target_system                                         | `uint8_t`  |       |                                                   | System ID.                                                                                                            |
| cam_idx                                               | `uint8_t`  |       |                                                   | Camera ID.                                                                                                            |
| img_idx                                               | `uint16_t` |       |                                                   | Image index.                                                                                                          |
| lat                                                   | `int32_t`  | degE7 |                                                   | Latitude.                                                                                                             |
| lng                                                   | `int32_t`  | degE7 |                                                   | Longitude.                                                                                                            |
| alt_msl                                               | `float`    | m     |                                                   | Altitude (MSL).                                                                                                       |
| alt_rel                                               | `float`    | m     |                                                   | Altitude (Relative to HOME location).                                                                                 |
| roll                                                  | `float`    | deg   |                                                   | Camera Roll angle (earth frame, +-180).                                                                               |
| pitch                                                 | `float`    | deg   |                                                   | Camera Pitch angle (earth frame, +-180).                                                                              |
| yaw                                                   | `float`    | deg   |                                                   | Camera Yaw (earth frame, 0-360, true).                                                                                |
| foc_len                                               | `float`    | mm    |                                                   | Focal Length.                                                                                                         |
| flags                                                 | `uint8_t`  |       | [CAMERA_FEEDBACK_FLAGS](#CAMERA_FEEDBACK_FLAGS) | Feedback flags.                                                                                                       |
| <span class='ext'>completed_captures</span> [++](#mav2_extension_field) | `uint16_t` |       |                                                   | Completed image captures.                                                                                             |

### BATTERY2 (181) — [DEP] {#BATTERY2}

<span class="warning"><strong>DEPRECATED:</strong> Replaced By <a href="#BATTERY_STATUS">BATTERY_STATUS</a> (2017-04)</span>

2nd Battery status

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

### AHRS3 (182) {#AHRS3}

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

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

### AUTOPILOT_VERSION_REQUEST (183) {#AUTOPILOT_VERSION_REQUEST}

Request the autopilot version from the system/component.

| Field Name       | Type      | Description   |
| ---------------- | --------- | ------------- |
| target_system    | `uint8_t` | System ID.    |
| target_component | `uint8_t` | Component ID. |

### REMOTE_LOG_DATA_BLOCK (184) {#REMOTE_LOG_DATA_BLOCK}

Send a block of log data to remote location.

| Field Name       | Type           | Values                                                                        | Description                     |
| ---------------- | -------------- | ----------------------------------------------------------------------------- | ------------------------------- |
| target_system    | `uint8_t`      |                                                                               | System ID.                      |
| target_component | `uint8_t`      |                                                                               | Component ID.                   |
| seqno            | `uint32_t`     | [MAV_REMOTE_LOG_DATA_BLOCK_COMMANDS](#MAV_REMOTE_LOG_DATA_BLOCK_COMMANDS) | Log data block sequence number. |
| data             | `uint8_t[200]` |                                                                               | Log data block.                 |

### REMOTE_LOG_BLOCK_STATUS (185) {#REMOTE_LOG_BLOCK_STATUS}

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

| Field Name       | Type       | Values                                                                        | Description                     |
| ---------------- | ---------- | ----------------------------------------------------------------------------- | ------------------------------- |
| target_system    | `uint8_t`  |                                                                               | System ID.                      |
| target_component | `uint8_t`  |                                                                               | Component ID.                   |
| seqno            | `uint32_t` |                                                                               | Log data block sequence number. |
| status           | `uint8_t`  | [MAV_REMOTE_LOG_DATA_BLOCK_STATUSES](#MAV_REMOTE_LOG_DATA_BLOCK_STATUSES) | Log data block status.          |

### LED_CONTROL (186) {#LED_CONTROL}

Control vehicle LEDs.

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

### MAG_CAL_PROGRESS (191) {#MAG_CAL_PROGRESS}

Reports progress of compass calibration.

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

### MAG_CAL_REPORT (192) — \[from: [common](../messages/common.md#MAG_CAL_REPORT)\] {#MAG_CAL_REPORT}

### EKF_STATUS_REPORT (193) {#EKF_STATUS_REPORT}

EKF Status message including flags and variances.

| Field Name                                            | Type       | Values                                  | Description                   |
| ----------------------------------------------------- | ---------- | --------------------------------------- | ----------------------------- |
| flags                                                 | `uint16_t` | [EKF_STATUS_FLAGS](#EKF_STATUS_FLAGS) | Flags.                        |
| velocity_variance                                     | `float`    |                                         | Velocity variance.            |
| pos_horiz_variance                                  | `float`    |                                         | Horizontal Position variance. |
| pos_vert_variance                                   | `float`    |                                         | Vertical Position variance.   |
| compass_variance                                      | `float`    |                                         | Compass variance.             |
| terrain_alt_variance                                | `float`    |                                         | Terrain Altitude variance.    |
| <span class='ext'>airspeed_variance</span> [++](#mav2_extension_field) | `float`    |                                         | Airspeed variance.            |

### PID_TUNING (194) {#PID_TUNING}

PID tuning information.

| Field Name                                            | Type      | Values                                | Description                                                           |
| ----------------------------------------------------- | --------- | ------------------------------------- | --------------------------------------------------------------------- |
| axis                                                  | `uint8_t` | [PID_TUNING_AXIS](#PID_TUNING_AXIS) | Axis.  
Messages with same value are from the same source (instance). |
| desired                                               | `float`   |                                       | Desired rate.                                                         |
| achieved                                              | `float`   |                                       | Achieved rate.                                                        |
| FF                                                    | `float`   |                                       | FF component.                                                         |
| P                                                     | `float`   |                                       | P component.                                                          |
| I                                                     | `float`   |                                       | I component.                                                          |
| D                                                     | `float`   |                                       | D component.                                                          |
| <span class='ext'>SRate</span> [++](#mav2_extension_field) | `float`   |                                       | Slew rate.                                                            |
| <span class='ext'>PDmod</span> [++](#mav2_extension_field) | `float`   |                                       | P/D oscillation modifier.                                             |

### DEEPSTALL (195) {#DEEPSTALL}

Deepstall path planning.

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

### GIMBAL_REPORT (200) {#GIMBAL_REPORT}

3 axis gimbal measurements.

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

### GIMBAL_CONTROL (201) {#GIMBAL_CONTROL}

Control message for rate gimbal.

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

### GIMBAL_TORQUE_CMD_REPORT (214) {#GIMBAL_TORQUE_CMD_REPORT}

100 Hz gimbal torque command telemetry.

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

### GOPRO_HEARTBEAT (215) {#GOPRO_HEARTBEAT}

Heartbeat from a HeroBus attached GoPro.

| Field Name   | Type      | Values                                              | Description             |
| ------------ | --------- | --------------------------------------------------- | ----------------------- |
| status       | `uint8_t` | [GOPRO_HEARTBEAT_STATUS](#GOPRO_HEARTBEAT_STATUS) | Status.                 |
| capture_mode | `uint8_t` | [GOPRO_CAPTURE_MODE](#GOPRO_CAPTURE_MODE)         | Current capture mode.   |
| flags        | `uint8_t` | [GOPRO_HEARTBEAT_FLAGS](#GOPRO_HEARTBEAT_FLAGS)   | Additional status bits. |

### GOPRO_GET_REQUEST (216) {#GOPRO_GET_REQUEST}

Request a [GOPRO_COMMAND](#GOPRO_COMMAND) response from the GoPro.

| Field Name       | Type      | Values                          | Description   |
| ---------------- | --------- | ------------------------------- | ------------- |
| target_system    | `uint8_t` |                                 | System ID.    |
| target_component | `uint8_t` |                                 | Component ID. |
| cmd_id           | `uint8_t` | [GOPRO_COMMAND](#GOPRO_COMMAND) | Command ID.   |

### GOPRO_GET_RESPONSE (217) {#GOPRO_GET_RESPONSE}

Response from a [GOPRO_COMMAND](#GOPRO_COMMAND) get request.

| Field Name | Type         | Values                                          | Description |
| ---------- | ------------ | ----------------------------------------------- | ----------- |
| cmd_id     | `uint8_t`    | [GOPRO_COMMAND](#GOPRO_COMMAND)                 | Command ID. |
| status     | `uint8_t`    | [GOPRO_REQUEST_STATUS](#GOPRO_REQUEST_STATUS) | Status.     |
| value      | `uint8_t[4]` |                                                 | Value.      |

### GOPRO_SET_REQUEST (218) {#GOPRO_SET_REQUEST}

Request to set a [GOPRO_COMMAND](#GOPRO_COMMAND) with a desired.

| Field Name       | Type         | Values                          | Description   |
| ---------------- | ------------ | ------------------------------- | ------------- |
| target_system    | `uint8_t`    |                                 | System ID.    |
| target_component | `uint8_t`    |                                 | Component ID. |
| cmd_id           | `uint8_t`    | [GOPRO_COMMAND](#GOPRO_COMMAND) | Command ID.   |
| value            | `uint8_t[4]` |                                 | Value.        |

### GOPRO_SET_RESPONSE (219) {#GOPRO_SET_RESPONSE}

Response from a [GOPRO_COMMAND](#GOPRO_COMMAND) set request.

| Field Name | Type      | Values                                          | Description |
| ---------- | --------- | ----------------------------------------------- | ----------- |
| cmd_id     | `uint8_t` | [GOPRO_COMMAND](#GOPRO_COMMAND)                 | Command ID. |
| status     | `uint8_t` | [GOPRO_REQUEST_STATUS](#GOPRO_REQUEST_STATUS) | Status.     |

### EFI_STATUS (225) — \[from: [common](../messages/common.md#EFI_STATUS)\] {#EFI_STATUS}

### RPM (226) {#RPM}

RPM sensor output.

| Field Name | Type    | Description  |
| ---------- | ------- | ------------ |
| rpm1       | `float` | RPM Sensor1. |
| rpm2       | `float` | RPM Sensor2. |

### ESTIMATOR_STATUS (230) — \[from: [common](../messages/common.md#ESTIMATOR_STATUS)\] {#ESTIMATOR_STATUS}

### WIND_COV (231) — \[from: [common](../messages/common.md#WIND_COV)\] {#WIND_COV}

### GPS_INPUT (232) — \[from: [common](../messages/common.md#GPS_INPUT)\] {#GPS_INPUT}

### GPS_RTCM_DATA (233) — \[from: [common](../messages/common.md#GPS_RTCM_DATA)\] {#GPS_RTCM_DATA}

### HIGH_LATENCY (234) — \[from: [common](../messages/common.md#HIGH_LATENCY)\] [DEP] {#HIGH_LATENCY}

### HIGH_LATENCY2 (235) — \[from: [common](../messages/common.md#HIGH_LATENCY2)\] {#HIGH_LATENCY2}

### VIBRATION (241) — \[from: [common](../messages/common.md#VIBRATION)\] {#VIBRATION}

### HOME_POSITION (242) — \[from: [common](../messages/common.md#HOME_POSITION)\] {#HOME_POSITION}

### SET_HOME_POSITION (243) — \[from: [common](../messages/common.md#SET_HOME_POSITION)\] [DEP] {#SET_HOME_POSITION}

### MESSAGE_INTERVAL (244) — \[from: [common](../messages/common.md#MESSAGE_INTERVAL)\] {#MESSAGE_INTERVAL}

### EXTENDED_SYS_STATE (245) — \[from: [common](../messages/common.md#EXTENDED_SYS_STATE)\] {#EXTENDED_SYS_STATE}

### ADSB_VEHICLE (246) — \[from: [common](../messages/common.md#ADSB_VEHICLE)\] {#ADSB_VEHICLE}

### COLLISION (247) — \[from: [common](../messages/common.md#COLLISION)\] {#COLLISION}

### V2_EXTENSION (248) — \[from: [common](../messages/common.md#V2_EXTENSION)\] {#V2_EXTENSION}

### MEMORY_VECT (249) — \[from: [common](../messages/common.md#MEMORY_VECT)\] {#MEMORY_VECT}

### DEBUG_VECT (250) — \[from: [common](../messages/common.md#DEBUG_VECT)\] {#DEBUG_VECT}

### NAMED_VALUE_FLOAT (251) — \[from: [common](../messages/common.md#NAMED_VALUE_FLOAT)\] {#NAMED_VALUE_FLOAT}

### NAMED_VALUE_INT (252) — \[from: [common](../messages/common.md#NAMED_VALUE_INT)\] {#NAMED_VALUE_INT}

### STATUSTEXT (253) — \[from: [common](../messages/common.md#STATUSTEXT)\] {#STATUSTEXT}

### DEBUG (254) — \[from: [common](../messages/common.md#DEBUG)\] {#DEBUG}

### SETUP_SIGNING (256) — \[from: [common](../messages/common.md#SETUP_SIGNING)\] {#SETUP_SIGNING}

### BUTTON_CHANGE (257) — \[from: [common](../messages/common.md#BUTTON_CHANGE)\] {#BUTTON_CHANGE}

### PLAY_TUNE (258) — \[from: [common](../messages/common.md#PLAY_TUNE)\] [DEP] {#PLAY_TUNE}

### CAMERA_INFORMATION (259) — \[from: [common](../messages/common.md#CAMERA_INFORMATION)\] {#CAMERA_INFORMATION}

### CAMERA_SETTINGS (260) — \[from: [common](../messages/common.md#CAMERA_SETTINGS)\] {#CAMERA_SETTINGS}

### STORAGE_INFORMATION (261) — \[from: [common](../messages/common.md#STORAGE_INFORMATION)\] {#STORAGE_INFORMATION}

### CAMERA_CAPTURE_STATUS (262) — \[from: [common](../messages/common.md#CAMERA_CAPTURE_STATUS)\] {#CAMERA_CAPTURE_STATUS}

### CAMERA_IMAGE_CAPTURED (263) — \[from: [common](../messages/common.md#CAMERA_IMAGE_CAPTURED)\] {#CAMERA_IMAGE_CAPTURED}

### FLIGHT_INFORMATION (264) — \[from: [common](../messages/common.md#FLIGHT_INFORMATION)\] {#FLIGHT_INFORMATION}

### MOUNT_ORIENTATION (265) — \[from: [common](../messages/common.md#MOUNT_ORIENTATION)\] [DEP] {#MOUNT_ORIENTATION}

### LOGGING_DATA (266) — \[from: [common](../messages/common.md#LOGGING_DATA)\] {#LOGGING_DATA}

### LOGGING_DATA_ACKED (267) — \[from: [common](../messages/common.md#LOGGING_DATA_ACKED)\] {#LOGGING_DATA_ACKED}

### LOGGING_ACK (268) — \[from: [common](../messages/common.md#LOGGING_ACK)\] {#LOGGING_ACK}

### VIDEO_STREAM_INFORMATION (269) — \[from: [common](../messages/common.md#VIDEO_STREAM_INFORMATION)\] {#VIDEO_STREAM_INFORMATION}

### VIDEO_STREAM_STATUS (270) — \[from: [common](../messages/common.md#VIDEO_STREAM_STATUS)\] {#VIDEO_STREAM_STATUS}

### CAMERA_FOV_STATUS (271) — \[from: [common](../messages/common.md#CAMERA_FOV_STATUS)\] {#CAMERA_FOV_STATUS}

### CAMERA_TRACKING_IMAGE_STATUS (275) — \[from: [common](../messages/common.md#CAMERA_TRACKING_IMAGE_STATUS)\] {#CAMERA_TRACKING_IMAGE_STATUS}

### CAMERA_TRACKING_GEO_STATUS (276) — \[from: [common](../messages/common.md#CAMERA_TRACKING_GEO_STATUS)\] {#CAMERA_TRACKING_GEO_STATUS}

### CAMERA_THERMAL_RANGE (277) — \[from: [common](../messages/common.md#CAMERA_THERMAL_RANGE)\] [WIP] {#CAMERA_THERMAL_RANGE}

### GIMBAL_MANAGER_INFORMATION (280) — \[from: [common](../messages/common.md#GIMBAL_MANAGER_INFORMATION)\] {#GIMBAL_MANAGER_INFORMATION}

### GIMBAL_MANAGER_STATUS (281) — \[from: [common](../messages/common.md#GIMBAL_MANAGER_STATUS)\] {#GIMBAL_MANAGER_STATUS}

### GIMBAL_MANAGER_SET_ATTITUDE (282) — \[from: [common](../messages/common.md#GIMBAL_MANAGER_SET_ATTITUDE)\] {#GIMBAL_MANAGER_SET_ATTITUDE}

### GIMBAL_DEVICE_INFORMATION (283) — \[from: [common](../messages/common.md#GIMBAL_DEVICE_INFORMATION)\] {#GIMBAL_DEVICE_INFORMATION}

### GIMBAL_DEVICE_SET_ATTITUDE (284) — \[from: [common](../messages/common.md#GIMBAL_DEVICE_SET_ATTITUDE)\] {#GIMBAL_DEVICE_SET_ATTITUDE}

### GIMBAL_DEVICE_ATTITUDE_STATUS (285) — \[from: [common](../messages/common.md#GIMBAL_DEVICE_ATTITUDE_STATUS)\] {#GIMBAL_DEVICE_ATTITUDE_STATUS}

### AUTOPILOT_STATE_FOR_GIMBAL_DEVICE (286) — \[from: [common](../messages/common.md#AUTOPILOT_STATE_FOR_GIMBAL_DEVICE)\] {#AUTOPILOT_STATE_FOR_GIMBAL_DEVICE}

### GIMBAL_MANAGER_SET_PITCHYAW (287) — \[from: [common](../messages/common.md#GIMBAL_MANAGER_SET_PITCHYAW)\] {#GIMBAL_MANAGER_SET_PITCHYAW}

### GIMBAL_MANAGER_SET_MANUAL_CONTROL (288) — \[from: [common](../messages/common.md#GIMBAL_MANAGER_SET_MANUAL_CONTROL)\] {#GIMBAL_MANAGER_SET_MANUAL_CONTROL}

### ESC_INFO (290) — \[from: [common](../messages/common.md#ESC_INFO)\] [WIP] {#ESC_INFO}

### ESC_STATUS (291) — \[from: [common](../messages/common.md#ESC_STATUS)\] [WIP] {#ESC_STATUS}

### WIFI_CONFIG_AP (299) — \[from: [common](../messages/common.md#WIFI_CONFIG_AP)\] {#WIFI_CONFIG_AP}

### PROTOCOL_VERSION (300) — \[from: [minimal](../messages/minimal.md#PROTOCOL_VERSION)\] [WIP] {#PROTOCOL_VERSION}

### AIS_VESSEL (301) — \[from: [common](../messages/common.md#AIS_VESSEL)\] {#AIS_VESSEL}

### UAVCAN_NODE_STATUS (310) — \[from: [common](../messages/common.md#UAVCAN_NODE_STATUS)\] {#UAVCAN_NODE_STATUS}

### UAVCAN_NODE_INFO (311) — \[from: [common](../messages/common.md#UAVCAN_NODE_INFO)\] {#UAVCAN_NODE_INFO}

### PARAM_EXT_REQUEST_READ (320) — \[from: [common](../messages/common.md#PARAM_EXT_REQUEST_READ)\] {#PARAM_EXT_REQUEST_READ}

### PARAM_EXT_REQUEST_LIST (321) — \[from: [common](../messages/common.md#PARAM_EXT_REQUEST_LIST)\] {#PARAM_EXT_REQUEST_LIST}

### PARAM_EXT_VALUE (322) — \[from: [common](../messages/common.md#PARAM_EXT_VALUE)\] {#PARAM_EXT_VALUE}

### PARAM_EXT_SET (323) — \[from: [common](../messages/common.md#PARAM_EXT_SET)\] {#PARAM_EXT_SET}

### PARAM_EXT_ACK (324) — \[from: [common](../messages/common.md#PARAM_EXT_ACK)\] {#PARAM_EXT_ACK}

### OBSTACLE_DISTANCE (330) — \[from: [common](../messages/common.md#OBSTACLE_DISTANCE)\] {#OBSTACLE_DISTANCE}

### ODOMETRY (331) — \[from: [common](../messages/common.md#ODOMETRY)\] {#ODOMETRY}

### TRAJECTORY_REPRESENTATION_WAYPOINTS (332) — \[from: [common](../messages/common.md#TRAJECTORY_REPRESENTATION_WAYPOINTS)\] {#TRAJECTORY_REPRESENTATION_WAYPOINTS}

### TRAJECTORY_REPRESENTATION_BEZIER (333) — \[from: [common](../messages/common.md#TRAJECTORY_REPRESENTATION_BEZIER)\] {#TRAJECTORY_REPRESENTATION_BEZIER}

### CELLULAR_STATUS (334) — \[from: [common](../messages/common.md#CELLULAR_STATUS)\] {#CELLULAR_STATUS}

### ISBD_LINK_STATUS (335) — \[from: [common](../messages/common.md#ISBD_LINK_STATUS)\] {#ISBD_LINK_STATUS}

### CELLULAR_CONFIG (336) — \[from: [common](../messages/common.md#CELLULAR_CONFIG)\] {#CELLULAR_CONFIG}

### RAW_RPM (339) — \[from: [common](../messages/common.md#RAW_RPM)\] {#RAW_RPM}

### UTM_GLOBAL_POSITION (340) — \[from: [common](../messages/common.md#UTM_GLOBAL_POSITION)\] {#UTM_GLOBAL_POSITION}

### DEBUG_FLOAT_ARRAY (350) — \[from: [common](../messages/common.md#DEBUG_FLOAT_ARRAY)\] {#DEBUG_FLOAT_ARRAY}

### ORBIT_EXECUTION_STATUS (360) — \[from: [common](../messages/common.md#ORBIT_EXECUTION_STATUS)\] [WIP] {#ORBIT_EXECUTION_STATUS}

### BATTERY_INFO (370) — \[from: [common](../messages/common.md#BATTERY_INFO)\] [WIP] {#BATTERY_INFO}

### GENERATOR_STATUS (373) — \[from: [common](../messages/common.md#GENERATOR_STATUS)\] {#GENERATOR_STATUS}

### ACTUATOR_OUTPUT_STATUS (375) — \[from: [common](../messages/common.md#ACTUATOR_OUTPUT_STATUS)\] {#ACTUATOR_OUTPUT_STATUS}

### TIME_ESTIMATE_TO_TARGET (380) — \[from: [common](../messages/common.md#TIME_ESTIMATE_TO_TARGET)\] [WIP] {#TIME_ESTIMATE_TO_TARGET}

### TUNNEL (385) — \[from: [common](../messages/common.md#TUNNEL)\] {#TUNNEL}

### CAN_FRAME (386) — \[from: [common](../messages/common.md#CAN_FRAME)\] {#CAN_FRAME}

### CANFD_FRAME (387) — \[from: [common](../messages/common.md#CANFD_FRAME)\] {#CANFD_FRAME}

### CAN_FILTER_MODIFY (388) — \[from: [common](../messages/common.md#CAN_FILTER_MODIFY)\] {#CAN_FILTER_MODIFY}

### ONBOARD_COMPUTER_STATUS (390) — \[from: [common](../messages/common.md#ONBOARD_COMPUTER_STATUS)\] [WIP] {#ONBOARD_COMPUTER_STATUS}

### COMPONENT_INFORMATION (395) — \[from: [common](../messages/common.md#COMPONENT_INFORMATION)\] [DEP] {#COMPONENT_INFORMATION}

### COMPONENT_INFORMATION_BASIC (396) — \[from: [common](../messages/common.md#COMPONENT_INFORMATION_BASIC)\] {#COMPONENT_INFORMATION_BASIC}

### COMPONENT_METADATA (397) — \[from: [common](../messages/common.md#COMPONENT_METADATA)\] [WIP] {#COMPONENT_METADATA}

### PLAY_TUNE_V2 (400) — \[from: [common](../messages/common.md#PLAY_TUNE_V2)\] {#PLAY_TUNE_V2}

### SUPPORTED_TUNES (401) — \[from: [common](../messages/common.md#SUPPORTED_TUNES)\] {#SUPPORTED_TUNES}

### EVENT (410) — \[from: [common](../messages/common.md#EVENT)\] [WIP] {#EVENT}

### CURRENT_EVENT_SEQUENCE (411) — \[from: [common](../messages/common.md#CURRENT_EVENT_SEQUENCE)\] [WIP] {#CURRENT_EVENT_SEQUENCE}

### REQUEST_EVENT (412) — \[from: [common](../messages/common.md#REQUEST_EVENT)\] [WIP] {#REQUEST_EVENT}

### RESPONSE_EVENT_ERROR (413) — \[from: [common](../messages/common.md#RESPONSE_EVENT_ERROR)\] [WIP] {#RESPONSE_EVENT_ERROR}

### ILLUMINATOR_STATUS (440) — \[from: [common](../messages/common.md#ILLUMINATOR_STATUS)\] {#ILLUMINATOR_STATUS}

### WHEEL_DISTANCE (9000) — \[from: [common](../messages/common.md#WHEEL_DISTANCE)\] {#WHEEL_DISTANCE}

### WINCH_STATUS (9005) — \[from: [common](../messages/common.md#WINCH_STATUS)\] {#WINCH_STATUS}

### UAVIONIX_ADSB_OUT_CFG (10001) — \[from: [uAvionix](../messages/uAvionix.md#UAVIONIX_ADSB_OUT_CFG)\] {#UAVIONIX_ADSB_OUT_CFG}

### UAVIONIX_ADSB_OUT_DYNAMIC (10002) — \[from: [uAvionix](../messages/uAvionix.md#UAVIONIX_ADSB_OUT_DYNAMIC)\] {#UAVIONIX_ADSB_OUT_DYNAMIC}

### UAVIONIX_ADSB_TRANSCEIVER_HEALTH_REPORT (10003) — \[from: [uAvionix](../messages/uAvionix.md#UAVIONIX_ADSB_TRANSCEIVER_HEALTH_REPORT)\] {#UAVIONIX_ADSB_TRANSCEIVER_HEALTH_REPORT}

### DEVICE_OP_READ (11000) {#DEVICE_OP_READ}

Read registers for a device.

| Field Name                                            | Type       | Values                                    | Description                      |
| ----------------------------------------------------- | ---------- | ----------------------------------------- | -------------------------------- |
| target_system                                         | `uint8_t`  |                                           | System ID.                       |
| target_component                                      | `uint8_t`  |                                           | Component ID.                    |
| request_id                                            | `uint32_t` |                                           | Request ID - copied to reply.    |
| bustype                                               | `uint8_t`  | [DEVICE_OP_BUSTYPE](#DEVICE_OP_BUSTYPE) | The bus type.                    |
| bus                                                   | `uint8_t`  |                                           | Bus number.                      |
| address                                               | `uint8_t`  |                                           | Bus address.                     |
| busname                                               | `char[40]` |                                           | Name of device on bus (for SPI). |
| regstart                                              | `uint8_t`  |                                           | First register to read.          |
| count                                                 | `uint8_t`  |                                           | Count of registers to read.      |
| <span class='ext'>bank</span> [++](#mav2_extension_field) | `uint8_t`  |                                           | Bank number.                     |

### DEVICE_OP_READ_REPLY (11001) {#DEVICE_OP_READ_REPLY}

Read registers reply.

| Field Name                                             | Type           | Description                                   |
| ------------------------------------------------------ | -------------- | --------------------------------------------- |
| request_id                                             | `uint32_t`     | Request ID - copied from request.             |
| result                                                 | `uint8_t`      | 0 for success, anything else is failure code. |
| regstart                                               | `uint8_t`      | Starting register.                            |
| count                                                  | `uint8_t`      | Count of bytes read.                          |
| data                                                   | `uint8_t[128]` | Reply data.                                   |
| <span class='ext'>bank</span> [++](#mav2_extension_field) | `uint8_t`      | Bank number.                                  |

### DEVICE_OP_WRITE (11002) {#DEVICE_OP_WRITE}

Write registers for a device.

| Field Name                                             | Type           | Values                                    | Description                      |
| ------------------------------------------------------ | -------------- | ----------------------------------------- | -------------------------------- |
| target_system                                          | `uint8_t`      |                                           | System ID.                       |
| target_component                                       | `uint8_t`      |                                           | Component ID.                    |
| request_id                                             | `uint32_t`     |                                           | Request ID - copied to reply.    |
| bustype                                                | `uint8_t`      | [DEVICE_OP_BUSTYPE](#DEVICE_OP_BUSTYPE) | The bus type.                    |
| bus                                                    | `uint8_t`      |                                           | Bus number.                      |
| address                                                | `uint8_t`      |                                           | Bus address.                     |
| busname                                                | `char[40]`     |                                           | Name of device on bus (for SPI). |
| regstart                                               | `uint8_t`      |                                           | First register to write.         |
| count                                                  | `uint8_t`      |                                           | Count of registers to write.     |
| data                                                   | `uint8_t[128]` |                                           | Write data.                      |
| <span class='ext'>bank</span> [++](#mav2_extension_field) | `uint8_t`      |                                           | Bank number.                     |

### DEVICE_OP_WRITE_REPLY (11003) {#DEVICE_OP_WRITE_REPLY}

Write registers reply.

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

### ADAP_TUNING (11010) {#ADAP_TUNING}

Adaptive Controller tuning information.

| Field Name | Type      | Units | Values                                | Description                                                           |
| ---------- | --------- | ----- | ------------------------------------- | --------------------------------------------------------------------- |
| axis       | `uint8_t` |       | [PID_TUNING_AXIS](#PID_TUNING_AXIS) | Axis.  
Messages with same value are from the same source (instance). |
| desired    | `float`   | deg/s |                                       | Desired rate.                                                         |
| achieved   | `float`   | deg/s |                                       | Achieved rate.                                                        |
| error      | `float`   |       |                                       | Error between model and vehicle.                                      |
| theta      | `float`   |       |                                       | Theta estimated state predictor.                                      |
| omega      | `float`   |       |                                       | Omega estimated state predictor.                                      |
| sigma      | `float`   |       |                                       | Sigma estimated state predictor.                                      |
| theta_dot  | `float`   |       |                                       | Theta derivative.                                                     |
| omega_dot  | `float`   |       |                                       | Omega derivative.                                                     |
| sigma_dot  | `float`   |       |                                       | Sigma derivative.                                                     |
| f          | `float`   |       |                                       | Projection operator value.                                            |
| f_dot      | `float`   |       |                                       | Projection operator derivative.                                       |
| u          | `float`   |       |                                       | u adaptive controlled output command.                                 |

### VISION_POSITION_DELTA (11011) {#VISION_POSITION_DELTA}

Camera vision based attitude and position deltas.

| Field Name        | Type       | Units | Description                                                                                                                                                                                             |
| ----------------- | ---------- | ----- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| time_usec         | `uint64_t` | us    | Timestamp (synced to UNIX time or since system boot).                                                                                                                                                   |
| time_delta_usec | `uint64_t` | us    | Time since the last reported camera frame.                                                                                                                                                              |
| angle_delta       | `float[3]` | rad   | Defines a rotation vector [roll, pitch, yaw] to the current [MAV_FRAME_BODY_FRD](#MAV_FRAME_BODY_FRD) from the previous [MAV_FRAME_BODY_FRD](#MAV_FRAME_BODY_FRD).                                  |
| position_delta    | `float[3]` | m     | Change in position to the current [MAV_FRAME_BODY_FRD](#MAV_FRAME_BODY_FRD) from the previous [FRAME_BODY_FRD](#FRAME_BODY_FRD) rotated to the current [MAV_FRAME_BODY_FRD](#MAV_FRAME_BODY_FRD). |
| confidence        | `float`    | %     | Normalised confidence value from 0 to 100.                                                                                                                                                              |

### AOA_SSA (11020) {#AOA_SSA}

Angle of Attack and Side Slip Angle.

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

### ESC_TELEMETRY_1_TO_4 (11030) {#ESC_TELEMETRY_1_TO_4}

ESC Telemetry Data for ESCs 1 to 4, matching data sent by BLHeli ESCs.

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

### ESC_TELEMETRY_5_TO_8 (11031) {#ESC_TELEMETRY_5_TO_8}

ESC Telemetry Data for ESCs 5 to 8, matching data sent by BLHeli ESCs.

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

### ESC_TELEMETRY_9_TO_12 (11032) {#ESC_TELEMETRY_9_TO_12}

ESC Telemetry Data for ESCs 9 to 12, matching data sent by BLHeli ESCs.

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

### OSD_PARAM_CONFIG (11033) {#OSD_PARAM_CONFIG}

Configure an OSD parameter slot.

| Field Name       | Type       | Values                                            | Description                                                                                                                                                                                                                                            |
| ---------------- | ---------- | ------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| target_system    | `uint8_t`  |                                                   | System ID.                                                                                                                                                                                                                                             |
| target_component | `uint8_t`  |                                                   | Component ID.                                                                                                                                                                                                                                          |
| request_id       | `uint32_t` |                                                   | Request ID - copied to reply.                                                                                                                                                                                                                          |
| osd_screen       | `uint8_t`  |                                                   | OSD parameter screen index.                                                                                                                                                                                                                            |
| osd_index        | `uint8_t`  |                                                   | OSD parameter display index.                                                                                                                                                                                                                           |
| 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 |
| config_type      | `uint8_t`  | [OSD_PARAM_CONFIG_TYPE](#OSD_PARAM_CONFIG_TYPE) | Config type.                                                                                                                                                                                                                                           |
| min_value        | `float`    |                                                   | OSD parameter minimum value.                                                                                                                                                                                                                           |
| max_value        | `float`    |                                                   | OSD parameter maximum value.                                                                                                                                                                                                                           |
| increment        | `float`    |                                                   | OSD parameter increment.                                                                                                                                                                                                                               |

### OSD_PARAM_CONFIG_REPLY (11034) {#OSD_PARAM_CONFIG_REPLY}

Configure OSD parameter reply.

| Field Name | Type       | Values                                              | Description                       |
| ---------- | ---------- | --------------------------------------------------- | --------------------------------- |
| request_id | `uint32_t` |                                                     | Request ID - copied from request. |
| result     | `uint8_t`  | [OSD_PARAM_CONFIG_ERROR](#OSD_PARAM_CONFIG_ERROR) | Config error type.                |

### OSD_PARAM_SHOW_CONFIG (11035) {#OSD_PARAM_SHOW_CONFIG}

Read a configured an OSD parameter slot.

| Field Name       | Type       | Description                   |
| ---------------- | ---------- | ----------------------------- |
| target_system    | `uint8_t`  | System ID.                    |
| target_component | `uint8_t`  | Component ID.                 |
| request_id       | `uint32_t` | Request ID - copied to reply. |
| osd_screen       | `uint8_t`  | OSD parameter screen index.   |
| osd_index        | `uint8_t`  | OSD parameter display index.  |

### OSD_PARAM_SHOW_CONFIG_REPLY (11036) {#OSD_PARAM_SHOW_CONFIG_REPLY}

Read configured OSD parameter reply.

| Field Name  | Type       | Values                                              | Description                                                                                                                                                                                                                                            |
| ----------- | ---------- | --------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| request_id  | `uint32_t` |                                                     | Request ID - copied from request.                                                                                                                                                                                                                      |
| result      | `uint8_t`  | [OSD_PARAM_CONFIG_ERROR](#OSD_PARAM_CONFIG_ERROR) | Config error type.                                                                                                                                                                                                                                     |
| 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 |
| config_type | `uint8_t`  | [OSD_PARAM_CONFIG_TYPE](#OSD_PARAM_CONFIG_TYPE)   | Config type.                                                                                                                                                                                                                                           |
| min_value   | `float`    |                                                     | OSD parameter minimum value.                                                                                                                                                                                                                           |
| max_value   | `float`    |                                                     | OSD parameter maximum value.                                                                                                                                                                                                                           |
| increment   | `float`    |                                                     | OSD parameter increment.                                                                                                                                                                                                                               |

### OBSTACLE_DISTANCE_3D (11037) — [WIP] {#OBSTACLE_DISTANCE_3D}

<span class="warning"><strong>WORK IN PROGRESS</strong>: Do not use in stable production environments (it may change).</span>

Obstacle located as a 3D vector.

| Field Name     | Type       | Units | Values                                        | Description                                                                                                                                                                                           |
| -------------- | ---------- | ----- | --------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| time_boot_ms | `uint32_t` | ms    |                                               | Timestamp (time since system boot).                                                                                                                                                                   |
| sensor_type    | `uint8_t`  |       | [MAV_DISTANCE_SENSOR](#MAV_DISTANCE_SENSOR) | Class id of the distance sensor type.                                                                                                                                                                 |
| frame          | `uint8_t`  |       | [MAV_FRAME](#MAV_FRAME)                       | Coordinate frame of reference.                                                                                                                                                                        |
| obstacle_id    | `uint16_t` |       |                                               | Unique ID given to each obstacle so that its movement can be tracked. Use UINT16_MAX if object ID is unknown or cannot be determined.  
Messages with same value are from the same source (instance). |
| x              | `float`    | m     |                                               | X position of the obstacle.                                                                                                                                                                           |
| y              | `float`    | m     |                                               | Y position of the obstacle.                                                                                                                                                                           |
| z              | `float`    | m     |                                               | Z position of the obstacle.                                                                                                                                                                           |
| min_distance   | `float`    | m     |                                               | Minimum distance the sensor can measure.                                                                                                                                                              |
| max_distance   | `float`    | m     |                                               | Maximum distance the sensor can measure.                                                                                                                                                              |

### WATER_DEPTH (11038) {#WATER_DEPTH}

Water depth

| Field Name     | Type       | Units | Description                                                                              |
| -------------- | ---------- | ----- | ---------------------------------------------------------------------------------------- |
| time_boot_ms | `uint32_t` | ms    | Timestamp (time since system boot)                                                       |
| id             | `uint8_t`  |       | Onboard ID of the sensor  
Messages with same value are from the same source (instance). |
| healthy        | `uint8_t`  |       | Sensor data healthy (0=unhealthy, 1=healthy)                                             |
| lat            | `int32_t`  | degE7 | Latitude                                                                                 |
| lng            | `int32_t`  | degE7 | Longitude                                                                                |
| alt            | `float`    | m     | Altitude (MSL) of vehicle                                                                |
| roll           | `float`    | rad   | Roll angle                                                                               |
| pitch          | `float`    | rad   | Pitch angle                                                                              |
| yaw            | `float`    | rad   | Yaw angle                                                                                |
| distance       | `float`    | m     | Distance (uncorrected)                                                                   |
| temperature    | `float`    | degC  | Water temperature                                                                        |

### MCU_STATUS (11039) {#MCU_STATUS}

The MCU status, giving MCU temperature and voltage. The min and max voltages are to allow for detecting power supply instability.

| Field Name        | Type       | Units | Description                                                                  |
| ----------------- | ---------- | ----- | ---------------------------------------------------------------------------- |
| id                | `uint8_t`  |       | MCU instance  
Messages with same value are from the same source (instance). |
| MCU_temperature   | `int16_t`  | cdegC | MCU Internal temperature                                                     |
| MCU_voltage       | `uint16_t` | mV    | MCU voltage                                                                  |
| MCU_voltage_min | `uint16_t` | mV    | MCU voltage minimum                                                          |
| MCU_voltage_max | `uint16_t` | mV    | MCU voltage maximum                                                          |

### OPEN_DRONE_ID_BASIC_ID (12900) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_BASIC_ID)\] {#OPEN_DRONE_ID_BASIC_ID}

### OPEN_DRONE_ID_LOCATION (12901) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_LOCATION)\] {#OPEN_DRONE_ID_LOCATION}

### OPEN_DRONE_ID_AUTHENTICATION (12902) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_AUTHENTICATION)\] {#OPEN_DRONE_ID_AUTHENTICATION}

### OPEN_DRONE_ID_SELF_ID (12903) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_SELF_ID)\] {#OPEN_DRONE_ID_SELF_ID}

### OPEN_DRONE_ID_SYSTEM (12904) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_SYSTEM)\] {#OPEN_DRONE_ID_SYSTEM}

### OPEN_DRONE_ID_OPERATOR_ID (12905) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_OPERATOR_ID)\] {#OPEN_DRONE_ID_OPERATOR_ID}

### OPEN_DRONE_ID_MESSAGE_PACK (12915) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_MESSAGE_PACK)\] {#OPEN_DRONE_ID_MESSAGE_PACK}

### OPEN_DRONE_ID_ARM_STATUS (12918) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_ARM_STATUS)\] {#OPEN_DRONE_ID_ARM_STATUS}

### OPEN_DRONE_ID_SYSTEM_UPDATE (12919) — \[from: [common](../messages/common.md#OPEN_DRONE_ID_SYSTEM_UPDATE)\] {#OPEN_DRONE_ID_SYSTEM_UPDATE}

### HYGROMETER_SENSOR (12920) — \[from: [common](../messages/common.md#HYGROMETER_SENSOR)\] {#HYGROMETER_SENSOR}

### ICAROUS_HEARTBEAT (42000) — \[from: [icarous](../messages/icarous.md#ICAROUS_HEARTBEAT)\] {#ICAROUS_HEARTBEAT}

### ICAROUS_KINEMATIC_BANDS (42001) — \[from: [icarous](../messages/icarous.md#ICAROUS_KINEMATIC_BANDS)\] {#ICAROUS_KINEMATIC_BANDS}

### CUBEPILOT_RAW_RC (50001) — \[from: [cubepilot](../messages/cubepilot.md#CUBEPILOT_RAW_RC)\] {#CUBEPILOT_RAW_RC}

### HERELINK_VIDEO_STREAM_INFORMATION (50002) — \[from: [cubepilot](../messages/cubepilot.md#HERELINK_VIDEO_STREAM_INFORMATION)\] {#HERELINK_VIDEO_STREAM_INFORMATION}

### HERELINK_TELEM (50003) — \[from: [cubepilot](../messages/cubepilot.md#HERELINK_TELEM)\] {#HERELINK_TELEM}

### CUBEPILOT_FIRMWARE_UPDATE_START (50004) — \[from: [cubepilot](../messages/cubepilot.md#CUBEPILOT_FIRMWARE_UPDATE_START)\] {#CUBEPILOT_FIRMWARE_UPDATE_START}

### CUBEPILOT_FIRMWARE_UPDATE_RESP (50005) — \[from: [cubepilot](../messages/cubepilot.md#CUBEPILOT_FIRMWARE_UPDATE_RESP)\] {#CUBEPILOT_FIRMWARE_UPDATE_RESP}

### AIRLINK_AUTH (52000) — \[from: [csAirLink](../messages/csAirLink.md#AIRLINK_AUTH)\] {#AIRLINK_AUTH}

### AIRLINK_AUTH_RESPONSE (52001) — \[from: [csAirLink](../messages/csAirLink.md#AIRLINK_AUTH_RESPONSE)\] {#AIRLINK_AUTH_RESPONSE}

### AIRLINK_EYE_GS_HOLE_PUSH_REQUEST (52002) — \[from: [csAirLink](../messages/csAirLink.md#AIRLINK_EYE_GS_HOLE_PUSH_REQUEST)\] {#AIRLINK_EYE_GS_HOLE_PUSH_REQUEST}

### AIRLINK_EYE_GS_HOLE_PUSH_RESPONSE (52003) — \[from: [csAirLink](../messages/csAirLink.md#AIRLINK_EYE_GS_HOLE_PUSH_RESPONSE)\] {#AIRLINK_EYE_GS_HOLE_PUSH_RESPONSE}

### AIRLINK_EYE_HP (52004) — \[from: [csAirLink](../messages/csAirLink.md#AIRLINK_EYE_HP)\] {#AIRLINK_EYE_HP}

### AIRLINK_EYE_TURN_INIT (52005) — \[from: [csAirLink](../messages/csAirLink.md#AIRLINK_EYE_TURN_INIT)\] {#AIRLINK_EYE_TURN_INIT}

## Enumerated Types

### ACCELCAL_VEHICLE_POS {#ACCELCAL_VEHICLE_POS}

| Value                              | Name                                                              | Description |
| ---------------------------------- | ----------------------------------------------------------------- | ----------- |
| <a id='ACCELCAL_VEHICLE_POS_LEVEL'></a>1        | [ACCELCAL_VEHICLE_POS_LEVEL](#ACCELCAL_VEHICLE_POS_LEVEL)       |             |
| <a id='ACCELCAL_VEHICLE_POS_LEFT'></a>2        | [ACCELCAL_VEHICLE_POS_LEFT](#ACCELCAL_VEHICLE_POS_LEFT)         |             |
| <a id='ACCELCAL_VEHICLE_POS_RIGHT'></a>3        | [ACCELCAL_VEHICLE_POS_RIGHT](#ACCELCAL_VEHICLE_POS_RIGHT)       |             |
| <a id='ACCELCAL_VEHICLE_POS_NOSEDOWN'></a>4        | [ACCELCAL_VEHICLE_POS_NOSEDOWN](#ACCELCAL_VEHICLE_POS_NOSEDOWN) |             |
| <a id='ACCELCAL_VEHICLE_POS_NOSEUP'></a>5        | [ACCELCAL_VEHICLE_POS_NOSEUP](#ACCELCAL_VEHICLE_POS_NOSEUP)     |             |
| <a id='ACCELCAL_VEHICLE_POS_BACK'></a>6        | [ACCELCAL_VEHICLE_POS_BACK](#ACCELCAL_VEHICLE_POS_BACK)         |             |
| <a id='ACCELCAL_VEHICLE_POS_SUCCESS'></a>16777215 | [ACCELCAL_VEHICLE_POS_SUCCESS](#ACCELCAL_VEHICLE_POS_SUCCESS)   |             |
| <a id='ACCELCAL_VEHICLE_POS_FAILED'></a>16777216 | [ACCELCAL_VEHICLE_POS_FAILED](#ACCELCAL_VEHICLE_POS_FAILED)     |             |

### HEADING_TYPE {#HEADING_TYPE}

| Value                       | Name                                                                    | Description |
| --------------------------- | ----------------------------------------------------------------------- | ----------- |
| <a id='HEADING_TYPE_COURSE_OVER_GROUND'></a>0 | [HEADING_TYPE_COURSE_OVER_GROUND](#HEADING_TYPE_COURSE_OVER_GROUND) |             |
| <a id='HEADING_TYPE_HEADING'></a>1 | [HEADING_TYPE_HEADING](#HEADING_TYPE_HEADING)                         |             |

### SCRIPTING_CMD {#SCRIPTING_CMD}

| Value                       | Name                                                                  | Description                            |
| --------------------------- | --------------------------------------------------------------------- | -------------------------------------- |
| <a id='SCRIPTING_CMD_REPL_START'></a>0 | [SCRIPTING_CMD_REPL_START](#SCRIPTING_CMD_REPL_START)               | Start a REPL session.                  |
| <a id='SCRIPTING_CMD_REPL_STOP'></a>1 | [SCRIPTING_CMD_REPL_STOP](#SCRIPTING_CMD_REPL_STOP)                 | End a REPL session.                    |
| <a id='SCRIPTING_CMD_STOP'></a>2 | [SCRIPTING_CMD_STOP](#SCRIPTING_CMD_STOP)                           | Stop execution of scripts.             |
| <a id='SCRIPTING_CMD_STOP_AND_RESTART'></a>3 | [SCRIPTING_CMD_STOP_AND_RESTART](#SCRIPTING_CMD_STOP_AND_RESTART) | Stop execution of scripts and restart. |

### LIMITS_STATE {#LIMITS_STATE}

| Value                       | Name                                    | Description                           |
| --------------------------- | --------------------------------------- | ------------------------------------- |
| <a id='LIMITS_INIT'></a>0 | [LIMITS_INIT](#LIMITS_INIT)             | Pre-initialization.                   |
| <a id='LIMITS_DISABLED'></a>1 | [LIMITS_DISABLED](#LIMITS_DISABLED)     | Disabled.                             |
| <a id='LIMITS_ENABLED'></a>2 | [LIMITS_ENABLED](#LIMITS_ENABLED)       | Checking limits.                      |
| <a id='LIMITS_TRIGGERED'></a>3 | [LIMITS_TRIGGERED](#LIMITS_TRIGGERED)   | A limit has been breached.            |
| <a id='LIMITS_RECOVERING'></a>4 | [LIMITS_RECOVERING](#LIMITS_RECOVERING) | Taking action e.g. Return/RTL.        |
| <a id='LIMITS_RECOVERED'></a>5 | [LIMITS_RECOVERED](#LIMITS_RECOVERED)   | We're no longer in breach of a limit. |

### LIMIT_MODULE {#LIMIT_MODULE}

(Bitmask)

| Value                       | Name                              | Description         |
| --------------------------- | --------------------------------- | ------------------- |
| <a id='LIMIT_GPSLOCK'></a>1 | [LIMIT_GPSLOCK](#LIMIT_GPSLOCK)   | Pre-initialization. |
| <a id='LIMIT_GEOFENCE'></a>2 | [LIMIT_GEOFENCE](#LIMIT_GEOFENCE) | Disabled.           |
| <a id='LIMIT_ALTITUDE'></a>4 | [LIMIT_ALTITUDE](#LIMIT_ALTITUDE) | Checking limits.    |

### RALLY_FLAGS {#RALLY_FLAGS}

(Bitmask) Flags in [RALLY_POINT](#RALLY_POINT) message.

| Value                       | Name                                  | Description                                                                                                                                                                     |
| --------------------------- | ------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id='FAVORABLE_WIND'></a>1 | [FAVORABLE_WIND](#FAVORABLE_WIND)     | Flag set when requiring favorable winds for landing.                                                                                                                            |
| <a id='LAND_IMMEDIATELY'></a>2 | [LAND_IMMEDIATELY](#LAND_IMMEDIATELY) | Flag set when plane is to immediately descend to break altitude and land without GCS intervention. Flag not set when plane is to loiter at Rally point until commanded to land. |

### CAMERA_STATUS_TYPES {#CAMERA_STATUS_TYPES}

| Value                       | Name                                                              | Description                                                              |
| --------------------------- | ----------------------------------------------------------------- | ------------------------------------------------------------------------ |
| <a id='CAMERA_STATUS_TYPE_HEARTBEAT'></a>0 | [CAMERA_STATUS_TYPE_HEARTBEAT](#CAMERA_STATUS_TYPE_HEARTBEAT)   | Camera heartbeat, announce camera component ID at 1Hz.                   |
| <a id='CAMERA_STATUS_TYPE_TRIGGER'></a>1 | [CAMERA_STATUS_TYPE_TRIGGER](#CAMERA_STATUS_TYPE_TRIGGER)       | Camera image triggered.                                                  |
| <a id='CAMERA_STATUS_TYPE_DISCONNECT'></a>2 | [CAMERA_STATUS_TYPE_DISCONNECT](#CAMERA_STATUS_TYPE_DISCONNECT) | Camera connection lost.                                                  |
| <a id='CAMERA_STATUS_TYPE_ERROR'></a>3 | [CAMERA_STATUS_TYPE_ERROR](#CAMERA_STATUS_TYPE_ERROR)           | Camera unknown error.                                                    |
| <a id='CAMERA_STATUS_TYPE_LOWBATT'></a>4 | [CAMERA_STATUS_TYPE_LOWBATT](#CAMERA_STATUS_TYPE_LOWBATT)       | Camera battery low. Parameter p1 shows reported voltage.                 |
| <a id='CAMERA_STATUS_TYPE_LOWSTORE'></a>5 | [CAMERA_STATUS_TYPE_LOWSTORE](#CAMERA_STATUS_TYPE_LOWSTORE)     | Camera storage low. Parameter p1 shows reported shots remaining.         |
| <a id='CAMERA_STATUS_TYPE_LOWSTOREV'></a>6 | [CAMERA_STATUS_TYPE_LOWSTOREV](#CAMERA_STATUS_TYPE_LOWSTOREV)   | Camera storage low. Parameter p1 shows reported video minutes remaining. |

### CAMERA_FEEDBACK_FLAGS {#CAMERA_FEEDBACK_FLAGS}

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

### MAV_MODE_GIMBAL {#MAV_MODE_GIMBAL}

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

### GIMBAL_AXIS {#GIMBAL_AXIS}

| Value                       | Name                                      | Description        |
| --------------------------- | ----------------------------------------- | ------------------ |
| <a id='GIMBAL_AXIS_YAW'></a>0 | [GIMBAL_AXIS_YAW](#GIMBAL_AXIS_YAW)     | Gimbal yaw axis.   |
| <a id='GIMBAL_AXIS_PITCH'></a>1 | [GIMBAL_AXIS_PITCH](#GIMBAL_AXIS_PITCH) | Gimbal pitch axis. |
| <a id='GIMBAL_AXIS_ROLL'></a>2 | [GIMBAL_AXIS_ROLL](#GIMBAL_AXIS_ROLL)   | Gimbal roll axis.  |

### GIMBAL_AXIS_CALIBRATION_STATUS {#GIMBAL_AXIS_CALIBRATION_STATUS}

| Value                       | Name                                                                                          | Description                      |
| --------------------------- | --------------------------------------------------------------------------------------------- | -------------------------------- |
| <a id='GIMBAL_AXIS_CALIBRATION_STATUS_IN_PROGRESS'></a>0 | [GIMBAL_AXIS_CALIBRATION_STATUS_IN_PROGRESS](#GIMBAL_AXIS_CALIBRATION_STATUS_IN_PROGRESS) | Axis calibration is in progress. |
| <a id='GIMBAL_AXIS_CALIBRATION_STATUS_SUCCEEDED'></a>1 | [GIMBAL_AXIS_CALIBRATION_STATUS_SUCCEEDED](#GIMBAL_AXIS_CALIBRATION_STATUS_SUCCEEDED)     | Axis calibration succeeded.      |
| <a id='GIMBAL_AXIS_CALIBRATION_STATUS_FAILED'></a>2 | [GIMBAL_AXIS_CALIBRATION_STATUS_FAILED](#GIMBAL_AXIS_CALIBRATION_STATUS_FAILED)           | Axis calibration failed.         |

### GIMBAL_AXIS_CALIBRATION_REQUIRED {#GIMBAL_AXIS_CALIBRATION_REQUIRED}

| Value                       | Name                                                                                      | Description                                                            |
| --------------------------- | ----------------------------------------------------------------------------------------- | ---------------------------------------------------------------------- |
| <a id='GIMBAL_AXIS_CALIBRATION_REQUIRED_UNKNOWN'></a>0 | [GIMBAL_AXIS_CALIBRATION_REQUIRED_UNKNOWN](#GIMBAL_AXIS_CALIBRATION_REQUIRED_UNKNOWN) | Whether or not this axis requires calibration is unknown at this time. |
| <a id='GIMBAL_AXIS_CALIBRATION_REQUIRED_TRUE'></a>1 | [GIMBAL_AXIS_CALIBRATION_REQUIRED_TRUE](#GIMBAL_AXIS_CALIBRATION_REQUIRED_TRUE)       | This axis requires calibration.                                        |
| <a id='GIMBAL_AXIS_CALIBRATION_REQUIRED_FALSE'></a>2 | [GIMBAL_AXIS_CALIBRATION_REQUIRED_FALSE](#GIMBAL_AXIS_CALIBRATION_REQUIRED_FALSE)     | This axis does not require calibration.                                |

### GOPRO_HEARTBEAT_STATUS {#GOPRO_HEARTBEAT_STATUS}

| Value                       | Name                                                                          | Description                                                                                    |
| --------------------------- | ----------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------- |
| <a id='GOPRO_HEARTBEAT_STATUS_DISCONNECTED'></a>0 | [GOPRO_HEARTBEAT_STATUS_DISCONNECTED](#GOPRO_HEARTBEAT_STATUS_DISCONNECTED) | No GoPro connected.                                                                            |
| <a id='GOPRO_HEARTBEAT_STATUS_INCOMPATIBLE'></a>1 | [GOPRO_HEARTBEAT_STATUS_INCOMPATIBLE](#GOPRO_HEARTBEAT_STATUS_INCOMPATIBLE) | The detected GoPro is not HeroBus compatible.                                                  |
| <a id='GOPRO_HEARTBEAT_STATUS_CONNECTED'></a>2 | [GOPRO_HEARTBEAT_STATUS_CONNECTED](#GOPRO_HEARTBEAT_STATUS_CONNECTED)       | A HeroBus compatible GoPro is connected.                                                       |
| <a id='GOPRO_HEARTBEAT_STATUS_ERROR'></a>3 | [GOPRO_HEARTBEAT_STATUS_ERROR](#GOPRO_HEARTBEAT_STATUS_ERROR)               | An unrecoverable error was encountered with the connected GoPro, it may require a power cycle. |

### GOPRO_HEARTBEAT_FLAGS {#GOPRO_HEARTBEAT_FLAGS}

(Bitmask)

| Value                       | Name                                            | Description                   |
| --------------------------- | ----------------------------------------------- | ----------------------------- |
| <a id='GOPRO_FLAG_RECORDING'></a>1 | [GOPRO_FLAG_RECORDING](#GOPRO_FLAG_RECORDING) | GoPro is currently recording. |

### GOPRO_REQUEST_STATUS {#GOPRO_REQUEST_STATUS}

| Value                       | Name                                              | Description                                    |
| --------------------------- | ------------------------------------------------- | ---------------------------------------------- |
| <a id='GOPRO_REQUEST_SUCCESS'></a>0 | [GOPRO_REQUEST_SUCCESS](#GOPRO_REQUEST_SUCCESS) | The write message with ID indicated succeeded. |
| <a id='GOPRO_REQUEST_FAILED'></a>1 | [GOPRO_REQUEST_FAILED](#GOPRO_REQUEST_FAILED)   | The write message with ID indicated failed.    |

### GOPRO_COMMAND {#GOPRO_COMMAND}

| Value                        | Name                                                                            | Description             |
| ---------------------------- | ------------------------------------------------------------------------------- | ----------------------- |
| <a id='GOPRO_COMMAND_POWER'></a>0  | [GOPRO_COMMAND_POWER](#GOPRO_COMMAND_POWER)                                   | (Get/Set).              |
| <a id='GOPRO_COMMAND_CAPTURE_MODE'></a>1  | [GOPRO_COMMAND_CAPTURE_MODE](#GOPRO_COMMAND_CAPTURE_MODE)                     | (Get/Set).              |
| <a id='GOPRO_COMMAND_SHUTTER'></a>2  | [GOPRO_COMMAND_SHUTTER](#GOPRO_COMMAND_SHUTTER)                               | (___/Set).             |
| <a id='GOPRO_COMMAND_BATTERY'></a>3  | [GOPRO_COMMAND_BATTERY](#GOPRO_COMMAND_BATTERY)                               | (Get/___).             |
| <a id='GOPRO_COMMAND_MODEL'></a>4  | [GOPRO_COMMAND_MODEL](#GOPRO_COMMAND_MODEL)                                   | (Get/___).             |
| <a id='GOPRO_COMMAND_VIDEO_SETTINGS'></a>5  | [GOPRO_COMMAND_VIDEO_SETTINGS](#GOPRO_COMMAND_VIDEO_SETTINGS)                 | (Get/Set).              |
| <a id='GOPRO_COMMAND_LOW_LIGHT'></a>6  | [GOPRO_COMMAND_LOW_LIGHT](#GOPRO_COMMAND_LOW_LIGHT)                           | (Get/Set).              |
| <a id='GOPRO_COMMAND_PHOTO_RESOLUTION'></a>7  | [GOPRO_COMMAND_PHOTO_RESOLUTION](#GOPRO_COMMAND_PHOTO_RESOLUTION)             | (Get/Set).              |
| <a id='GOPRO_COMMAND_PHOTO_BURST_RATE'></a>8  | [GOPRO_COMMAND_PHOTO_BURST_RATE](#GOPRO_COMMAND_PHOTO_BURST_RATE)           | (Get/Set).              |
| <a id='GOPRO_COMMAND_PROTUNE'></a>9  | [GOPRO_COMMAND_PROTUNE](#GOPRO_COMMAND_PROTUNE)                               | (Get/Set).              |
| <a id='GOPRO_COMMAND_PROTUNE_WHITE_BALANCE'></a>10 | [GOPRO_COMMAND_PROTUNE_WHITE_BALANCE](#GOPRO_COMMAND_PROTUNE_WHITE_BALANCE) | (Get/Set) Hero 3+ Only. |
| <a id='GOPRO_COMMAND_PROTUNE_COLOUR'></a>11 | [GOPRO_COMMAND_PROTUNE_COLOUR](#GOPRO_COMMAND_PROTUNE_COLOUR)                 | (Get/Set) Hero 3+ Only. |
| <a id='GOPRO_COMMAND_PROTUNE_GAIN'></a>12 | [GOPRO_COMMAND_PROTUNE_GAIN](#GOPRO_COMMAND_PROTUNE_GAIN)                     | (Get/Set) Hero 3+ Only. |
| <a id='GOPRO_COMMAND_PROTUNE_SHARPNESS'></a>13 | [GOPRO_COMMAND_PROTUNE_SHARPNESS](#GOPRO_COMMAND_PROTUNE_SHARPNESS)           | (Get/Set) Hero 3+ Only. |
| <a id='GOPRO_COMMAND_PROTUNE_EXPOSURE'></a>14 | [GOPRO_COMMAND_PROTUNE_EXPOSURE](#GOPRO_COMMAND_PROTUNE_EXPOSURE)             | (Get/Set) Hero 3+ Only. |
| <a id='GOPRO_COMMAND_TIME'></a>15 | [GOPRO_COMMAND_TIME](#GOPRO_COMMAND_TIME)                                     | (Get/Set).              |
| <a id='GOPRO_COMMAND_CHARGING'></a>16 | [GOPRO_COMMAND_CHARGING](#GOPRO_COMMAND_CHARGING)                             | (Get/Set).              |

### GOPRO_CAPTURE_MODE {#GOPRO_CAPTURE_MODE}

| Value                         | Name                                                                | Description                                                                            |
| ----------------------------- | ------------------------------------------------------------------- | -------------------------------------------------------------------------------------- |
| <a id='GOPRO_CAPTURE_MODE_VIDEO'></a>0   | [GOPRO_CAPTURE_MODE_VIDEO](#GOPRO_CAPTURE_MODE_VIDEO)             | Video mode.                                                                            |
| <a id='GOPRO_CAPTURE_MODE_PHOTO'></a>1   | [GOPRO_CAPTURE_MODE_PHOTO](#GOPRO_CAPTURE_MODE_PHOTO)             | Photo mode.                                                                            |
| <a id='GOPRO_CAPTURE_MODE_BURST'></a>2   | [GOPRO_CAPTURE_MODE_BURST](#GOPRO_CAPTURE_MODE_BURST)             | Burst mode, Hero 3+ only.                                                              |
| <a id='GOPRO_CAPTURE_MODE_TIME_LAPSE'></a>3   | [GOPRO_CAPTURE_MODE_TIME_LAPSE](#GOPRO_CAPTURE_MODE_TIME_LAPSE) | Time lapse mode, Hero 3+ only.                                                         |
| <a id='GOPRO_CAPTURE_MODE_MULTI_SHOT'></a>4   | [GOPRO_CAPTURE_MODE_MULTI_SHOT](#GOPRO_CAPTURE_MODE_MULTI_SHOT) | Multi shot mode, Hero 4 only.                                                          |
| <a id='GOPRO_CAPTURE_MODE_PLAYBACK'></a>5   | [GOPRO_CAPTURE_MODE_PLAYBACK](#GOPRO_CAPTURE_MODE_PLAYBACK)       | Playback mode, Hero 4 only, silver only except when LCD or HDMI is connected to black. |
| <a id='GOPRO_CAPTURE_MODE_SETUP'></a>6   | [GOPRO_CAPTURE_MODE_SETUP](#GOPRO_CAPTURE_MODE_SETUP)             | Playback mode, Hero 4 only.                                                            |
| <a id='GOPRO_CAPTURE_MODE_UNKNOWN'></a>255 | [GOPRO_CAPTURE_MODE_UNKNOWN](#GOPRO_CAPTURE_MODE_UNKNOWN)         | Mode not yet known.                                                                    |

### GOPRO_RESOLUTION {#GOPRO_RESOLUTION}

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

### GOPRO_FRAME_RATE {#GOPRO_FRAME_RATE}

| Value                         | Name                                                | Description |
| ----------------------------- | --------------------------------------------------- | ----------- |
| <a id='GOPRO_FRAME_RATE_12'></a>0  | [GOPRO_FRAME_RATE_12](#GOPRO_FRAME_RATE_12)       | 12 FPS.     |
| <a id='GOPRO_FRAME_RATE_15'></a>1  | [GOPRO_FRAME_RATE_15](#GOPRO_FRAME_RATE_15)       | 15 FPS.     |
| <a id='GOPRO_FRAME_RATE_24'></a>2  | [GOPRO_FRAME_RATE_24](#GOPRO_FRAME_RATE_24)       | 24 FPS.     |
| <a id='GOPRO_FRAME_RATE_25'></a>3  | [GOPRO_FRAME_RATE_25](#GOPRO_FRAME_RATE_25)       | 25 FPS.     |
| <a id='GOPRO_FRAME_RATE_30'></a>4  | [GOPRO_FRAME_RATE_30](#GOPRO_FRAME_RATE_30)       | 30 FPS.     |
| <a id='GOPRO_FRAME_RATE_48'></a>5  | [GOPRO_FRAME_RATE_48](#GOPRO_FRAME_RATE_48)       | 48 FPS.     |
| <a id='GOPRO_FRAME_RATE_50'></a>6  | [GOPRO_FRAME_RATE_50](#GOPRO_FRAME_RATE_50)       | 50 FPS.     |
| <a id='GOPRO_FRAME_RATE_60'></a>7  | [GOPRO_FRAME_RATE_60](#GOPRO_FRAME_RATE_60)       | 60 FPS.     |
| <a id='GOPRO_FRAME_RATE_80'></a>8  | [GOPRO_FRAME_RATE_80](#GOPRO_FRAME_RATE_80)       | 80 FPS.     |
| <a id='GOPRO_FRAME_RATE_90'></a>9  | [GOPRO_FRAME_RATE_90](#GOPRO_FRAME_RATE_90)       | 90 FPS.     |
| <a id='GOPRO_FRAME_RATE_100'></a>10 | [GOPRO_FRAME_RATE_100](#GOPRO_FRAME_RATE_100)     | 100 FPS.    |
| <a id='GOPRO_FRAME_RATE_120'></a>11 | [GOPRO_FRAME_RATE_120](#GOPRO_FRAME_RATE_120)     | 120 FPS.    |
| <a id='GOPRO_FRAME_RATE_240'></a>12 | [GOPRO_FRAME_RATE_240](#GOPRO_FRAME_RATE_240)     | 240 FPS.    |
| <a id='GOPRO_FRAME_RATE_12_5'></a>13 | [GOPRO_FRAME_RATE_12_5](#GOPRO_FRAME_RATE_12_5) | 12.5 FPS.   |

### GOPRO_FIELD_OF_VIEW {#GOPRO_FIELD_OF_VIEW}

| Value                        | Name                                                          | Description   |
| ---------------------------- | ------------------------------------------------------------- | ------------- |
| <a id='GOPRO_FIELD_OF_VIEW_WIDE'></a>0 | [GOPRO_FIELD_OF_VIEW_WIDE](#GOPRO_FIELD_OF_VIEW_WIDE)     | 0x00: Wide.   |
| <a id='GOPRO_FIELD_OF_VIEW_MEDIUM'></a>1 | [GOPRO_FIELD_OF_VIEW_MEDIUM](#GOPRO_FIELD_OF_VIEW_MEDIUM) | 0x01: Medium. |
| <a id='GOPRO_FIELD_OF_VIEW_NARROW'></a>2 | [GOPRO_FIELD_OF_VIEW_NARROW](#GOPRO_FIELD_OF_VIEW_NARROW) | 0x02: Narrow. |

### GOPRO_VIDEO_SETTINGS_FLAGS {#GOPRO_VIDEO_SETTINGS_FLAGS}

(Bitmask)

| Value                        | Name                                                              | Description    |
| ---------------------------- | ----------------------------------------------------------------- | -------------- |
| <a id='GOPRO_VIDEO_SETTINGS_TV_MODE'></a>1 | [GOPRO_VIDEO_SETTINGS_TV_MODE](#GOPRO_VIDEO_SETTINGS_TV_MODE) | 0=NTSC, 1=PAL. |

### GOPRO_PHOTO_RESOLUTION {#GOPRO_PHOTO_RESOLUTION}

| Value                        | Name                                                                        | Description |
| ---------------------------- | --------------------------------------------------------------------------- | ----------- |
| <a id='GOPRO_PHOTO_RESOLUTION_5MP_MEDIUM'></a>0 | [GOPRO_PHOTO_RESOLUTION_5MP_MEDIUM](#GOPRO_PHOTO_RESOLUTION_5MP_MEDIUM) | 5MP Medium. |
| <a id='GOPRO_PHOTO_RESOLUTION_7MP_MEDIUM'></a>1 | [GOPRO_PHOTO_RESOLUTION_7MP_MEDIUM](#GOPRO_PHOTO_RESOLUTION_7MP_MEDIUM) | 7MP Medium. |
| <a id='GOPRO_PHOTO_RESOLUTION_7MP_WIDE'></a>2 | [GOPRO_PHOTO_RESOLUTION_7MP_WIDE](#GOPRO_PHOTO_RESOLUTION_7MP_WIDE)     | 7MP Wide.   |
| <a id='GOPRO_PHOTO_RESOLUTION_10MP_WIDE'></a>3 | [GOPRO_PHOTO_RESOLUTION_10MP_WIDE](#GOPRO_PHOTO_RESOLUTION_10MP_WIDE)   | 10MP Wide.  |
| <a id='GOPRO_PHOTO_RESOLUTION_12MP_WIDE'></a>4 | [GOPRO_PHOTO_RESOLUTION_12MP_WIDE](#GOPRO_PHOTO_RESOLUTION_12MP_WIDE)   | 12MP Wide.  |

### GOPRO_PROTUNE_WHITE_BALANCE {#GOPRO_PROTUNE_WHITE_BALANCE}

| Value                        | Name                                                                        | Description |
| ---------------------------- | --------------------------------------------------------------------------- | ----------- |
| <a id='GOPRO_PROTUNE_WHITE_BALANCE_AUTO'></a>0 | [GOPRO_PROTUNE_WHITE_BALANCE_AUTO](#GOPRO_PROTUNE_WHITE_BALANCE_AUTO)   | Auto.       |
| <a id='GOPRO_PROTUNE_WHITE_BALANCE_3000K'></a>1 | [GOPRO_PROTUNE_WHITE_BALANCE_3000K](#GOPRO_PROTUNE_WHITE_BALANCE_3000K) | 3000K.      |
| <a id='GOPRO_PROTUNE_WHITE_BALANCE_5500K'></a>2 | [GOPRO_PROTUNE_WHITE_BALANCE_5500K](#GOPRO_PROTUNE_WHITE_BALANCE_5500K) | 5500K.      |
| <a id='GOPRO_PROTUNE_WHITE_BALANCE_6500K'></a>3 | [GOPRO_PROTUNE_WHITE_BALANCE_6500K](#GOPRO_PROTUNE_WHITE_BALANCE_6500K) | 6500K.      |
| <a id='GOPRO_PROTUNE_WHITE_BALANCE_RAW'></a>4 | [GOPRO_PROTUNE_WHITE_BALANCE_RAW](#GOPRO_PROTUNE_WHITE_BALANCE_RAW)     | Camera Raw. |

### GOPRO_PROTUNE_COLOUR {#GOPRO_PROTUNE_COLOUR}

| Value                        | Name                                                              | Description |
| ---------------------------- | ----------------------------------------------------------------- | ----------- |
| <a id='GOPRO_PROTUNE_COLOUR_STANDARD'></a>0 | [GOPRO_PROTUNE_COLOUR_STANDARD](#GOPRO_PROTUNE_COLOUR_STANDARD) | Auto.       |
| <a id='GOPRO_PROTUNE_COLOUR_NEUTRAL'></a>1 | [GOPRO_PROTUNE_COLOUR_NEUTRAL](#GOPRO_PROTUNE_COLOUR_NEUTRAL)   | Neutral.    |

### GOPRO_PROTUNE_GAIN {#GOPRO_PROTUNE_GAIN}

| Value                        | Name                                                  | Description             |
| ---------------------------- | ----------------------------------------------------- | ----------------------- |
| <a id='GOPRO_PROTUNE_GAIN_400'></a>0 | [GOPRO_PROTUNE_GAIN_400](#GOPRO_PROTUNE_GAIN_400)   | ISO 400.                |
| <a id='GOPRO_PROTUNE_GAIN_800'></a>1 | [GOPRO_PROTUNE_GAIN_800](#GOPRO_PROTUNE_GAIN_800)   | ISO 800 (Only Hero 4).  |
| <a id='GOPRO_PROTUNE_GAIN_1600'></a>2 | [GOPRO_PROTUNE_GAIN_1600](#GOPRO_PROTUNE_GAIN_1600) | ISO 1600.               |
| <a id='GOPRO_PROTUNE_GAIN_3200'></a>3 | [GOPRO_PROTUNE_GAIN_3200](#GOPRO_PROTUNE_GAIN_3200) | ISO 3200 (Only Hero 4). |
| <a id='GOPRO_PROTUNE_GAIN_6400'></a>4 | [GOPRO_PROTUNE_GAIN_6400](#GOPRO_PROTUNE_GAIN_6400) | ISO 6400.               |

### GOPRO_PROTUNE_SHARPNESS {#GOPRO_PROTUNE_SHARPNESS}

| Value                        | Name                                                                | Description       |
| ---------------------------- | ------------------------------------------------------------------- | ----------------- |
| <a id='GOPRO_PROTUNE_SHARPNESS_LOW'></a>0 | [GOPRO_PROTUNE_SHARPNESS_LOW](#GOPRO_PROTUNE_SHARPNESS_LOW)       | Low Sharpness.    |
| <a id='GOPRO_PROTUNE_SHARPNESS_MEDIUM'></a>1 | [GOPRO_PROTUNE_SHARPNESS_MEDIUM](#GOPRO_PROTUNE_SHARPNESS_MEDIUM) | Medium Sharpness. |
| <a id='GOPRO_PROTUNE_SHARPNESS_HIGH'></a>2 | [GOPRO_PROTUNE_SHARPNESS_HIGH](#GOPRO_PROTUNE_SHARPNESS_HIGH)     | High Sharpness.   |

### GOPRO_PROTUNE_EXPOSURE {#GOPRO_PROTUNE_EXPOSURE}

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

### GOPRO_CHARGING {#GOPRO_CHARGING}

| Value                        | Name                                                  | Description        |
| ---------------------------- | ----------------------------------------------------- | ------------------ |
| <a id='GOPRO_CHARGING_DISABLED'></a>0 | [GOPRO_CHARGING_DISABLED](#GOPRO_CHARGING_DISABLED) | Charging disabled. |
| <a id='GOPRO_CHARGING_ENABLED'></a>1 | [GOPRO_CHARGING_ENABLED](#GOPRO_CHARGING_ENABLED)   | Charging enabled.  |

### GOPRO_MODEL {#GOPRO_MODEL}

| Value                        | Name                                                                  | Description                                      |
| ---------------------------- | --------------------------------------------------------------------- | ------------------------------------------------ |
| <a id='GOPRO_MODEL_UNKNOWN'></a>0 | [GOPRO_MODEL_UNKNOWN](#GOPRO_MODEL_UNKNOWN)                         | Unknown gopro model.                             |
| <a id='GOPRO_MODEL_HERO_3_PLUS_SILVER'></a>1 | [GOPRO_MODEL_HERO_3_PLUS_SILVER](#GOPRO_MODEL_HERO_3_PLUS_SILVER) | Hero 3+ Silver (HeroBus not supported by GoPro). |
| <a id='GOPRO_MODEL_HERO_3_PLUS_BLACK'></a>2 | [GOPRO_MODEL_HERO_3_PLUS_BLACK](#GOPRO_MODEL_HERO_3_PLUS_BLACK)   | Hero 3+ Black.                                   |
| <a id='GOPRO_MODEL_HERO_4_SILVER'></a>3 | [GOPRO_MODEL_HERO_4_SILVER](#GOPRO_MODEL_HERO_4_SILVER)           | Hero 4 Silver.                                   |
| <a id='GOPRO_MODEL_HERO_4_BLACK'></a>4 | [GOPRO_MODEL_HERO_4_BLACK](#GOPRO_MODEL_HERO_4_BLACK)             | Hero 4 Black.                                    |

### GOPRO_BURST_RATE {#GOPRO_BURST_RATE}

| Value                        | Name                                                                      | Description                        |
| ---------------------------- | ------------------------------------------------------------------------- | ---------------------------------- |
| <a id='GOPRO_BURST_RATE_3_IN_1_SECOND'></a>0 | [GOPRO_BURST_RATE_3_IN_1_SECOND](#GOPRO_BURST_RATE_3_IN_1_SECOND)   | 3 Shots / 1 Second.                |
| <a id='GOPRO_BURST_RATE_5_IN_1_SECOND'></a>1 | [GOPRO_BURST_RATE_5_IN_1_SECOND](#GOPRO_BURST_RATE_5_IN_1_SECOND)   | 5 Shots / 1 Second.                |
| <a id='GOPRO_BURST_RATE_10_IN_1_SECOND'></a>2 | [GOPRO_BURST_RATE_10_IN_1_SECOND](#GOPRO_BURST_RATE_10_IN_1_SECOND) | 10 Shots / 1 Second.               |
| <a id='GOPRO_BURST_RATE_10_IN_2_SECOND'></a>3 | [GOPRO_BURST_RATE_10_IN_2_SECOND](#GOPRO_BURST_RATE_10_IN_2_SECOND) | 10 Shots / 2 Second.               |
| <a id='GOPRO_BURST_RATE_10_IN_3_SECOND'></a>4 | [GOPRO_BURST_RATE_10_IN_3_SECOND](#GOPRO_BURST_RATE_10_IN_3_SECOND) | 10 Shots / 3 Second (Hero 4 Only). |
| <a id='GOPRO_BURST_RATE_30_IN_1_SECOND'></a>5 | [GOPRO_BURST_RATE_30_IN_1_SECOND](#GOPRO_BURST_RATE_30_IN_1_SECOND) | 30 Shots / 1 Second.               |
| <a id='GOPRO_BURST_RATE_30_IN_2_SECOND'></a>6 | [GOPRO_BURST_RATE_30_IN_2_SECOND](#GOPRO_BURST_RATE_30_IN_2_SECOND) | 30 Shots / 2 Second.               |
| <a id='GOPRO_BURST_RATE_30_IN_3_SECOND'></a>7 | [GOPRO_BURST_RATE_30_IN_3_SECOND](#GOPRO_BURST_RATE_30_IN_3_SECOND) | 30 Shots / 3 Second.               |
| <a id='GOPRO_BURST_RATE_30_IN_6_SECOND'></a>8 | [GOPRO_BURST_RATE_30_IN_6_SECOND](#GOPRO_BURST_RATE_30_IN_6_SECOND) | 30 Shots / 6 Second.               |

### MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL {#MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL}

| Value                        | Name                                                                                              | Description    |
| ---------------------------- | ------------------------------------------------------------------------------------------------- | -------------- |
| <a id='MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL_LOW'></a>0 | [MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL_LOW](#MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL_LOW)       | Switch Low.    |
| <a id='MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL_MIDDLE'></a>1 | [MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL_MIDDLE](#MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL_MIDDLE) | Switch Middle. |
| <a id='MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL_HIGH'></a>2 | [MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL_HIGH](#MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL_HIGH)     | Switch High.   |

### LED_CONTROL_PATTERN {#LED_CONTROL_PATTERN}

| Value                          | Name                                                                        | Description                                                   |
| ------------------------------ | --------------------------------------------------------------------------- | ------------------------------------------------------------- |
| <a id='LED_CONTROL_PATTERN_OFF'></a>0   | [LED_CONTROL_PATTERN_OFF](#LED_CONTROL_PATTERN_OFF)                       | LED patterns off (return control to regular vehicle control). |
| <a id='LED_CONTROL_PATTERN_FIRMWAREUPDATE'></a>1   | [LED_CONTROL_PATTERN_FIRMWAREUPDATE](#LED_CONTROL_PATTERN_FIRMWAREUPDATE) | LEDs show pattern during firmware update.                     |
| <a id='LED_CONTROL_PATTERN_CUSTOM'></a>255 | [LED_CONTROL_PATTERN_CUSTOM](#LED_CONTROL_PATTERN_CUSTOM)                 | Custom Pattern using custom bytes fields.                     |

### EKF_STATUS_FLAGS {#EKF_STATUS_FLAGS}

(Bitmask) Flags in [EKF_STATUS](#EKF_STATUS) message.

| Value                           | Name                                                  | Description                                                                            |
| ------------------------------- | ----------------------------------------------------- | -------------------------------------------------------------------------------------- |
| <a id='EKF_ATTITUDE'></a>1    | [EKF_ATTITUDE](#EKF_ATTITUDE)                         | Set if EKF's attitude estimate is good.                                                |
| <a id='EKF_VELOCITY_HORIZ'></a>2    | [EKF_VELOCITY_HORIZ](#EKF_VELOCITY_HORIZ)           | Set if EKF's horizontal velocity estimate is good.                                     |
| <a id='EKF_VELOCITY_VERT'></a>4    | [EKF_VELOCITY_VERT](#EKF_VELOCITY_VERT)             | Set if EKF's vertical velocity estimate is good.                                       |
| <a id='EKF_POS_HORIZ_REL'></a>8    | [EKF_POS_HORIZ_REL](#EKF_POS_HORIZ_REL)             | Set if EKF's horizontal position (relative) estimate is good.                          |
| <a id='EKF_POS_HORIZ_ABS'></a>16   | [EKF_POS_HORIZ_ABS](#EKF_POS_HORIZ_ABS)             | Set if EKF's horizontal position (absolute) estimate is good.                          |
| <a id='EKF_POS_VERT_ABS'></a>32   | [EKF_POS_VERT_ABS](#EKF_POS_VERT_ABS)               | Set if EKF's vertical position (absolute) estimate is good.                            |
| <a id='EKF_POS_VERT_AGL'></a>64   | [EKF_POS_VERT_AGL](#EKF_POS_VERT_AGL)               | Set if EKF's vertical position (above ground) estimate is good.                        |
| <a id='EKF_CONST_POS_MODE'></a>128  | [EKF_CONST_POS_MODE](#EKF_CONST_POS_MODE)           | EKF is in constant position mode and does not know it's absolute or relative position. |
| <a id='EKF_PRED_POS_HORIZ_REL'></a>256  | [EKF_PRED_POS_HORIZ_REL](#EKF_PRED_POS_HORIZ_REL) | Set if EKF's predicted horizontal position (relative) estimate is good.                |
| <a id='EKF_PRED_POS_HORIZ_ABS'></a>512  | [EKF_PRED_POS_HORIZ_ABS](#EKF_PRED_POS_HORIZ_ABS) | Set if EKF's predicted horizontal position (absolute) estimate is good.                |
| <a id='EKF_UNINITIALIZED'></a>1024 | [EKF_UNINITIALIZED](#EKF_UNINITIALIZED)               | Set if EKF has never been healthy.                                                     |

### PID_TUNING_AXIS {#PID_TUNING_AXIS}

| Value                        | Name                                        | Description |
| ---------------------------- | ------------------------------------------- | ----------- |
| <a id='PID_TUNING_ROLL'></a>1 | [PID_TUNING_ROLL](#PID_TUNING_ROLL)       |             |
| <a id='PID_TUNING_PITCH'></a>2 | [PID_TUNING_PITCH](#PID_TUNING_PITCH)     |             |
| <a id='PID_TUNING_YAW'></a>3 | [PID_TUNING_YAW](#PID_TUNING_YAW)         |             |
| <a id='PID_TUNING_ACCZ'></a>4 | [PID_TUNING_ACCZ](#PID_TUNING_ACCZ)       |             |
| <a id='PID_TUNING_STEER'></a>5 | [PID_TUNING_STEER](#PID_TUNING_STEER)     |             |
| <a id='PID_TUNING_LANDING'></a>6 | [PID_TUNING_LANDING](#PID_TUNING_LANDING) |             |

### MAV_REMOTE_LOG_DATA_BLOCK_COMMANDS {#MAV_REMOTE_LOG_DATA_BLOCK_COMMANDS}

Special ACK block numbers control activation of dataflash log streaming.

| Value                                 | Name                                                                    | Description                            |
| ------------------------------------- | ----------------------------------------------------------------------- | -------------------------------------- |
| <a id='MAV_REMOTE_LOG_DATA_BLOCK_STOP'></a>2147483645 | [MAV_REMOTE_LOG_DATA_BLOCK_STOP](#MAV_REMOTE_LOG_DATA_BLOCK_STOP)   | UAV to stop sending DataFlash blocks.  |
| <a id='MAV_REMOTE_LOG_DATA_BLOCK_START'></a>2147483646 | [MAV_REMOTE_LOG_DATA_BLOCK_START](#MAV_REMOTE_LOG_DATA_BLOCK_START) | UAV to start sending DataFlash blocks. |

### MAV_REMOTE_LOG_DATA_BLOCK_STATUSES {#MAV_REMOTE_LOG_DATA_BLOCK_STATUSES}

Possible remote log data block statuses.

| Value                        | Name                                                                  | Description                       |
| ---------------------------- | --------------------------------------------------------------------- | --------------------------------- |
| <a id='MAV_REMOTE_LOG_DATA_BLOCK_NACK'></a>0 | [MAV_REMOTE_LOG_DATA_BLOCK_NACK](#MAV_REMOTE_LOG_DATA_BLOCK_NACK) | This block has NOT been received. |
| <a id='MAV_REMOTE_LOG_DATA_BLOCK_ACK'></a>1 | [MAV_REMOTE_LOG_DATA_BLOCK_ACK](#MAV_REMOTE_LOG_DATA_BLOCK_ACK)   | This block has been received.     |

### DEVICE_OP_BUSTYPE {#DEVICE_OP_BUSTYPE}

Bus types for device operations.

| Value                        | Name                                              | Description           |
| ---------------------------- | ------------------------------------------------- | --------------------- |
| <a id='DEVICE_OP_BUSTYPE_I2C'></a>0 | [DEVICE_OP_BUSTYPE_I2C](#DEVICE_OP_BUSTYPE_I2C) | I2C Device operation. |
| <a id='DEVICE_OP_BUSTYPE_SPI'></a>1 | [DEVICE_OP_BUSTYPE_SPI](#DEVICE_OP_BUSTYPE_SPI) | SPI Device operation. |

### DEEPSTALL_STAGE {#DEEPSTALL_STAGE}

Deepstall flight stage.

| Value                        | Name                                                                        | Description                                                        |
| ---------------------------- | --------------------------------------------------------------------------- | ------------------------------------------------------------------ |
| <a id='DEEPSTALL_STAGE_FLY_TO_LANDING'></a>0 | [DEEPSTALL_STAGE_FLY_TO_LANDING](#DEEPSTALL_STAGE_FLY_TO_LANDING)       | Flying to the landing point.                                       |
| <a id='DEEPSTALL_STAGE_ESTIMATE_WIND'></a>1 | [DEEPSTALL_STAGE_ESTIMATE_WIND](#DEEPSTALL_STAGE_ESTIMATE_WIND)           | Building an estimate of the wind.                                  |
| <a id='DEEPSTALL_STAGE_WAIT_FOR_BREAKOUT'></a>2 | [DEEPSTALL_STAGE_WAIT_FOR_BREAKOUT](#DEEPSTALL_STAGE_WAIT_FOR_BREAKOUT) | Waiting to breakout of the loiter to fly the approach.             |
| <a id='DEEPSTALL_STAGE_FLY_TO_ARC'></a>3 | [DEEPSTALL_STAGE_FLY_TO_ARC](#DEEPSTALL_STAGE_FLY_TO_ARC)               | Flying to the first arc point to turn around to the landing point. |
| <a id='DEEPSTALL_STAGE_ARC'></a>4 | [DEEPSTALL_STAGE_ARC](#DEEPSTALL_STAGE_ARC)                               | Turning around back to the deepstall landing point.                |
| <a id='DEEPSTALL_STAGE_APPROACH'></a>5 | [DEEPSTALL_STAGE_APPROACH](#DEEPSTALL_STAGE_APPROACH)                     | Approaching the landing point.                                     |
| <a id='DEEPSTALL_STAGE_LAND'></a>6 | [DEEPSTALL_STAGE_LAND](#DEEPSTALL_STAGE_LAND)                             | Stalling and steering towards the land point.                      |

### PLANE_MODE {#PLANE_MODE}

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

| Value                         | Name                                                      | Description |
| ----------------------------- | --------------------------------------------------------- | ----------- |
| <a id='PLANE_MODE_MANUAL'></a>0  | [PLANE_MODE_MANUAL](#PLANE_MODE_MANUAL)                 |             |
| <a id='PLANE_MODE_CIRCLE'></a>1  | [PLANE_MODE_CIRCLE](#PLANE_MODE_CIRCLE)                 |             |
| <a id='PLANE_MODE_STABILIZE'></a>2  | [PLANE_MODE_STABILIZE](#PLANE_MODE_STABILIZE)           |             |
| <a id='PLANE_MODE_TRAINING'></a>3  | [PLANE_MODE_TRAINING](#PLANE_MODE_TRAINING)             |             |
| <a id='PLANE_MODE_ACRO'></a>4  | [PLANE_MODE_ACRO](#PLANE_MODE_ACRO)                     |             |
| <a id='PLANE_MODE_FLY_BY_WIRE_A'></a>5  | [PLANE_MODE_FLY_BY_WIRE_A](#PLANE_MODE_FLY_BY_WIRE_A) |             |
| <a id='PLANE_MODE_FLY_BY_WIRE_B'></a>6  | [PLANE_MODE_FLY_BY_WIRE_B](#PLANE_MODE_FLY_BY_WIRE_B) |             |
| <a id='PLANE_MODE_CRUISE'></a>7  | [PLANE_MODE_CRUISE](#PLANE_MODE_CRUISE)                 |             |
| <a id='PLANE_MODE_AUTOTUNE'></a>8  | [PLANE_MODE_AUTOTUNE](#PLANE_MODE_AUTOTUNE)             |             |
| <a id='PLANE_MODE_AUTO'></a>10 | [PLANE_MODE_AUTO](#PLANE_MODE_AUTO)                     |             |
| <a id='PLANE_MODE_RTL'></a>11 | [PLANE_MODE_RTL](#PLANE_MODE_RTL)                       |             |
| <a id='PLANE_MODE_LOITER'></a>12 | [PLANE_MODE_LOITER](#PLANE_MODE_LOITER)                 |             |
| <a id='PLANE_MODE_TAKEOFF'></a>13 | [PLANE_MODE_TAKEOFF](#PLANE_MODE_TAKEOFF)               |             |
| <a id='PLANE_MODE_AVOID_ADSB'></a>14 | [PLANE_MODE_AVOID_ADSB](#PLANE_MODE_AVOID_ADSB)         |             |
| <a id='PLANE_MODE_GUIDED'></a>15 | [PLANE_MODE_GUIDED](#PLANE_MODE_GUIDED)                 |             |
| <a id='PLANE_MODE_INITIALIZING'></a>16 | [PLANE_MODE_INITIALIZING](#PLANE_MODE_INITIALIZING)     |             |
| <a id='PLANE_MODE_QSTABILIZE'></a>17 | [PLANE_MODE_QSTABILIZE](#PLANE_MODE_QSTABILIZE)         |             |
| <a id='PLANE_MODE_QHOVER'></a>18 | [PLANE_MODE_QHOVER](#PLANE_MODE_QHOVER)                 |             |
| <a id='PLANE_MODE_QLOITER'></a>19 | [PLANE_MODE_QLOITER](#PLANE_MODE_QLOITER)               |             |
| <a id='PLANE_MODE_QLAND'></a>20 | [PLANE_MODE_QLAND](#PLANE_MODE_QLAND)                   |             |
| <a id='PLANE_MODE_QRTL'></a>21 | [PLANE_MODE_QRTL](#PLANE_MODE_QRTL)                     |             |
| <a id='PLANE_MODE_QAUTOTUNE'></a>22 | [PLANE_MODE_QAUTOTUNE](#PLANE_MODE_QAUTOTUNE)           |             |
| <a id='PLANE_MODE_QACRO'></a>23 | [PLANE_MODE_QACRO](#PLANE_MODE_QACRO)                   |             |
| <a id='PLANE_MODE_THERMAL'></a>24 | [PLANE_MODE_THERMAL](#PLANE_MODE_THERMAL)               |             |

### COPTER_MODE {#COPTER_MODE}

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

| Value                         | Name                                                    | Description |
| ----------------------------- | ------------------------------------------------------- | ----------- |
| <a id='COPTER_MODE_STABILIZE'></a>0  | [COPTER_MODE_STABILIZE](#COPTER_MODE_STABILIZE)       |             |
| <a id='COPTER_MODE_ACRO'></a>1  | [COPTER_MODE_ACRO](#COPTER_MODE_ACRO)                 |             |
| <a id='COPTER_MODE_ALT_HOLD'></a>2  | [COPTER_MODE_ALT_HOLD](#COPTER_MODE_ALT_HOLD)         |             |
| <a id='COPTER_MODE_AUTO'></a>3  | [COPTER_MODE_AUTO](#COPTER_MODE_AUTO)                 |             |
| <a id='COPTER_MODE_GUIDED'></a>4  | [COPTER_MODE_GUIDED](#COPTER_MODE_GUIDED)             |             |
| <a id='COPTER_MODE_LOITER'></a>5  | [COPTER_MODE_LOITER](#COPTER_MODE_LOITER)             |             |
| <a id='COPTER_MODE_RTL'></a>6  | [COPTER_MODE_RTL](#COPTER_MODE_RTL)                   |             |
| <a id='COPTER_MODE_CIRCLE'></a>7  | [COPTER_MODE_CIRCLE](#COPTER_MODE_CIRCLE)             |             |
| <a id='COPTER_MODE_LAND'></a>9  | [COPTER_MODE_LAND](#COPTER_MODE_LAND)                 |             |
| <a id='COPTER_MODE_DRIFT'></a>11 | [COPTER_MODE_DRIFT](#COPTER_MODE_DRIFT)               |             |
| <a id='COPTER_MODE_SPORT'></a>13 | [COPTER_MODE_SPORT](#COPTER_MODE_SPORT)               |             |
| <a id='COPTER_MODE_FLIP'></a>14 | [COPTER_MODE_FLIP](#COPTER_MODE_FLIP)                 |             |
| <a id='COPTER_MODE_AUTOTUNE'></a>15 | [COPTER_MODE_AUTOTUNE](#COPTER_MODE_AUTOTUNE)         |             |
| <a id='COPTER_MODE_POSHOLD'></a>16 | [COPTER_MODE_POSHOLD](#COPTER_MODE_POSHOLD)           |             |
| <a id='COPTER_MODE_BRAKE'></a>17 | [COPTER_MODE_BRAKE](#COPTER_MODE_BRAKE)               |             |
| <a id='COPTER_MODE_THROW'></a>18 | [COPTER_MODE_THROW](#COPTER_MODE_THROW)               |             |
| <a id='COPTER_MODE_AVOID_ADSB'></a>19 | [COPTER_MODE_AVOID_ADSB](#COPTER_MODE_AVOID_ADSB)     |             |
| <a id='COPTER_MODE_GUIDED_NOGPS'></a>20 | [COPTER_MODE_GUIDED_NOGPS](#COPTER_MODE_GUIDED_NOGPS) |             |
| <a id='COPTER_MODE_SMART_RTL'></a>21 | [COPTER_MODE_SMART_RTL](#COPTER_MODE_SMART_RTL)       |             |
| <a id='COPTER_MODE_FLOWHOLD'></a>22 | [COPTER_MODE_FLOWHOLD](#COPTER_MODE_FLOWHOLD)         |             |
| <a id='COPTER_MODE_FOLLOW'></a>23 | [COPTER_MODE_FOLLOW](#COPTER_MODE_FOLLOW)             |             |
| <a id='COPTER_MODE_ZIGZAG'></a>24 | [COPTER_MODE_ZIGZAG](#COPTER_MODE_ZIGZAG)             |             |
| <a id='COPTER_MODE_SYSTEMID'></a>25 | [COPTER_MODE_SYSTEMID](#COPTER_MODE_SYSTEMID)         |             |
| <a id='COPTER_MODE_AUTOROTATE'></a>26 | [COPTER_MODE_AUTOROTATE](#COPTER_MODE_AUTOROTATE)     |             |
| <a id='COPTER_MODE_AUTO_RTL'></a>27 | [COPTER_MODE_AUTO_RTL](#COPTER_MODE_AUTO_RTL)         |             |

### SUB_MODE {#SUB_MODE}

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

| Value                         | Name                                        | Description |
| ----------------------------- | ------------------------------------------- | ----------- |
| <a id='SUB_MODE_STABILIZE'></a>0  | [SUB_MODE_STABILIZE](#SUB_MODE_STABILIZE) |             |
| <a id='SUB_MODE_ACRO'></a>1  | [SUB_MODE_ACRO](#SUB_MODE_ACRO)           |             |
| <a id='SUB_MODE_ALT_HOLD'></a>2  | [SUB_MODE_ALT_HOLD](#SUB_MODE_ALT_HOLD)   |             |
| <a id='SUB_MODE_AUTO'></a>3  | [SUB_MODE_AUTO](#SUB_MODE_AUTO)           |             |
| <a id='SUB_MODE_GUIDED'></a>4  | [SUB_MODE_GUIDED](#SUB_MODE_GUIDED)       |             |
| <a id='SUB_MODE_CIRCLE'></a>7  | [SUB_MODE_CIRCLE](#SUB_MODE_CIRCLE)       |             |
| <a id='SUB_MODE_SURFACE'></a>9  | [SUB_MODE_SURFACE](#SUB_MODE_SURFACE)     |             |
| <a id='SUB_MODE_POSHOLD'></a>16 | [SUB_MODE_POSHOLD](#SUB_MODE_POSHOLD)     |             |
| <a id='SUB_MODE_MANUAL'></a>19 | [SUB_MODE_MANUAL](#SUB_MODE_MANUAL)       |             |

### ROVER_MODE {#ROVER_MODE}

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

| Value                         | Name                                                  | Description |
| ----------------------------- | ----------------------------------------------------- | ----------- |
| <a id='ROVER_MODE_MANUAL'></a>0  | [ROVER_MODE_MANUAL](#ROVER_MODE_MANUAL)             |             |
| <a id='ROVER_MODE_ACRO'></a>1  | [ROVER_MODE_ACRO](#ROVER_MODE_ACRO)                 |             |
| <a id='ROVER_MODE_STEERING'></a>3  | [ROVER_MODE_STEERING](#ROVER_MODE_STEERING)         |             |
| <a id='ROVER_MODE_HOLD'></a>4  | [ROVER_MODE_HOLD](#ROVER_MODE_HOLD)                 |             |
| <a id='ROVER_MODE_LOITER'></a>5  | [ROVER_MODE_LOITER](#ROVER_MODE_LOITER)             |             |
| <a id='ROVER_MODE_FOLLOW'></a>6  | [ROVER_MODE_FOLLOW](#ROVER_MODE_FOLLOW)             |             |
| <a id='ROVER_MODE_SIMPLE'></a>7  | [ROVER_MODE_SIMPLE](#ROVER_MODE_SIMPLE)             |             |
| <a id='ROVER_MODE_AUTO'></a>10 | [ROVER_MODE_AUTO](#ROVER_MODE_AUTO)                 |             |
| <a id='ROVER_MODE_RTL'></a>11 | [ROVER_MODE_RTL](#ROVER_MODE_RTL)                   |             |
| <a id='ROVER_MODE_SMART_RTL'></a>12 | [ROVER_MODE_SMART_RTL](#ROVER_MODE_SMART_RTL)       |             |
| <a id='ROVER_MODE_GUIDED'></a>15 | [ROVER_MODE_GUIDED](#ROVER_MODE_GUIDED)             |             |
| <a id='ROVER_MODE_INITIALIZING'></a>16 | [ROVER_MODE_INITIALIZING](#ROVER_MODE_INITIALIZING) |             |

### TRACKER_MODE {#TRACKER_MODE}

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

| Value                         | Name                                                      | Description |
| ----------------------------- | --------------------------------------------------------- | ----------- |
| <a id='TRACKER_MODE_MANUAL'></a>0  | [TRACKER_MODE_MANUAL](#TRACKER_MODE_MANUAL)             |             |
| <a id='TRACKER_MODE_STOP'></a>1  | [TRACKER_MODE_STOP](#TRACKER_MODE_STOP)                 |             |
| <a id='TRACKER_MODE_SCAN'></a>2  | [TRACKER_MODE_SCAN](#TRACKER_MODE_SCAN)                 |             |
| <a id='TRACKER_MODE_SERVO_TEST'></a>3  | [TRACKER_MODE_SERVO_TEST](#TRACKER_MODE_SERVO_TEST)     |             |
| <a id='TRACKER_MODE_AUTO'></a>10 | [TRACKER_MODE_AUTO](#TRACKER_MODE_AUTO)                 |             |
| <a id='TRACKER_MODE_INITIALIZING'></a>16 | [TRACKER_MODE_INITIALIZING](#TRACKER_MODE_INITIALIZING) |             |

### OSD_PARAM_CONFIG_TYPE {#OSD_PARAM_CONFIG_TYPE}

The type of parameter for the OSD parameter editor.

| Value                        | Name                                                            | Description |
| ---------------------------- | --------------------------------------------------------------- | ----------- |
| <a id='OSD_PARAM_NONE'></a>0 | [OSD_PARAM_NONE](#OSD_PARAM_NONE)                             |             |
| <a id='OSD_PARAM_SERIAL_PROTOCOL'></a>1 | [OSD_PARAM_SERIAL_PROTOCOL](#OSD_PARAM_SERIAL_PROTOCOL)       |             |
| <a id='OSD_PARAM_SERVO_FUNCTION'></a>2 | [OSD_PARAM_SERVO_FUNCTION](#OSD_PARAM_SERVO_FUNCTION)         |             |
| <a id='OSD_PARAM_AUX_FUNCTION'></a>3 | [OSD_PARAM_AUX_FUNCTION](#OSD_PARAM_AUX_FUNCTION)             |             |
| <a id='OSD_PARAM_FLIGHT_MODE'></a>4 | [OSD_PARAM_FLIGHT_MODE](#OSD_PARAM_FLIGHT_MODE)               |             |
| <a id='OSD_PARAM_FAILSAFE_ACTION'></a>5 | [OSD_PARAM_FAILSAFE_ACTION](#OSD_PARAM_FAILSAFE_ACTION)       |             |
| <a id='OSD_PARAM_FAILSAFE_ACTION_1'></a>6 | [OSD_PARAM_FAILSAFE_ACTION_1](#OSD_PARAM_FAILSAFE_ACTION_1) |             |
| <a id='OSD_PARAM_FAILSAFE_ACTION_2'></a>7 | [OSD_PARAM_FAILSAFE_ACTION_2](#OSD_PARAM_FAILSAFE_ACTION_2) |             |
| <a id='OSD_PARAM_NUM_TYPES'></a>8 | [OSD_PARAM_NUM_TYPES](#OSD_PARAM_NUM_TYPES)                   |             |

### OSD_PARAM_CONFIG_ERROR {#OSD_PARAM_CONFIG_ERROR}

The error type for the OSD parameter editor.

| Value                        | Name                                                                        | Description |
| ---------------------------- | --------------------------------------------------------------------------- | ----------- |
| <a id='OSD_PARAM_SUCCESS'></a>0 | [OSD_PARAM_SUCCESS](#OSD_PARAM_SUCCESS)                                   |             |
| <a id='OSD_PARAM_INVALID_SCREEN'></a>1 | [OSD_PARAM_INVALID_SCREEN](#OSD_PARAM_INVALID_SCREEN)                     |             |
| <a id='OSD_PARAM_INVALID_PARAMETER_INDEX'></a>2 | [OSD_PARAM_INVALID_PARAMETER_INDEX](#OSD_PARAM_INVALID_PARAMETER_INDEX) |             |
| <a id='OSD_PARAM_INVALID_PARAMETER'></a>3 | [OSD_PARAM_INVALID_PARAMETER](#OSD_PARAM_INVALID_PARAMETER)               |             |

### FIRMWARE_VERSION_TYPE — \[from: [common](../messages/common.md#FIRMWARE_VERSION_TYPE)\] {#FIRMWARE_VERSION_TYPE}

### HL_FAILURE_FLAG — \[from: [common](../messages/common.md#HL_FAILURE_FLAG)\] {#HL_FAILURE_FLAG}

### MAV_GOTO — \[from: [common](../messages/common.md#MAV_GOTO)\] {#MAV_GOTO}

### MAV_MODE — \[from: [common](../messages/common.md#MAV_MODE)\] {#MAV_MODE}

### MAV_SYS_STATUS_SENSOR — \[from: [common](../messages/common.md#MAV_SYS_STATUS_SENSOR)\] {#MAV_SYS_STATUS_SENSOR}

### MAV_SYS_STATUS_SENSOR_EXTENDED — \[from: [common](../messages/common.md#MAV_SYS_STATUS_SENSOR_EXTENDED)\] {#MAV_SYS_STATUS_SENSOR_EXTENDED}

### MAV_FRAME — \[from: [common](../messages/common.md#MAV_FRAME)\] {#MAV_FRAME}

### MAVLINK_DATA_STREAM_TYPE — \[from: [common](../messages/common.md#MAVLINK_DATA_STREAM_TYPE)\] {#MAVLINK_DATA_STREAM_TYPE}

### FENCE_ACTION — \[from: [common](../messages/common.md#FENCE_ACTION)\] {#FENCE_ACTION}

### FENCE_BREACH — \[from: [common](../messages/common.md#FENCE_BREACH)\] {#FENCE_BREACH}

### FENCE_MITIGATE — \[from: [common](../messages/common.md#FENCE_MITIGATE)\] {#FENCE_MITIGATE}

### FENCE_TYPE — \[from: [common](../messages/common.md#FENCE_TYPE)\] {#FENCE_TYPE}

### MAV_MOUNT_MODE — \[from: [common](../messages/common.md#MAV_MOUNT_MODE)\] [DEP] {#MAV_MOUNT_MODE}

### GIMBAL_DEVICE_CAP_FLAGS — \[from: [common](../messages/common.md#GIMBAL_DEVICE_CAP_FLAGS)\] {#GIMBAL_DEVICE_CAP_FLAGS}

### GIMBAL_MANAGER_CAP_FLAGS — \[from: [common](../messages/common.md#GIMBAL_MANAGER_CAP_FLAGS)\] {#GIMBAL_MANAGER_CAP_FLAGS}

### GIMBAL_DEVICE_FLAGS — \[from: [common](../messages/common.md#GIMBAL_DEVICE_FLAGS)\] {#GIMBAL_DEVICE_FLAGS}

### GIMBAL_MANAGER_FLAGS — \[from: [common](../messages/common.md#GIMBAL_MANAGER_FLAGS)\] {#GIMBAL_MANAGER_FLAGS}

### GIMBAL_DEVICE_ERROR_FLAGS — \[from: [common](../messages/common.md#GIMBAL_DEVICE_ERROR_FLAGS)\] {#GIMBAL_DEVICE_ERROR_FLAGS}

### GRIPPER_ACTIONS — \[from: [common](../messages/common.md#GRIPPER_ACTIONS)\] {#GRIPPER_ACTIONS}

### WINCH_ACTIONS — \[from: [common](../messages/common.md#WINCH_ACTIONS)\] {#WINCH_ACTIONS}

### UAVCAN_NODE_HEALTH — \[from: [common](../messages/common.md#UAVCAN_NODE_HEALTH)\] {#UAVCAN_NODE_HEALTH}

### UAVCAN_NODE_MODE — \[from: [common](../messages/common.md#UAVCAN_NODE_MODE)\] {#UAVCAN_NODE_MODE}

### ESC_CONNECTION_TYPE — \[from: [common](../messages/common.md#ESC_CONNECTION_TYPE)\] {#ESC_CONNECTION_TYPE}

### ESC_FAILURE_FLAGS — \[from: [common](../messages/common.md#ESC_FAILURE_FLAGS)\] {#ESC_FAILURE_FLAGS}

### STORAGE_STATUS — \[from: [common](../messages/common.md#STORAGE_STATUS)\] {#STORAGE_STATUS}

### STORAGE_TYPE — \[from: [common](../messages/common.md#STORAGE_TYPE)\] {#STORAGE_TYPE}

### STORAGE_USAGE_FLAG — \[from: [common](../messages/common.md#STORAGE_USAGE_FLAG)\] {#STORAGE_USAGE_FLAG}

### ORBIT_YAW_BEHAVIOUR — \[from: [common](../messages/common.md#ORBIT_YAW_BEHAVIOUR)\] {#ORBIT_YAW_BEHAVIOUR}

### WIFI_CONFIG_AP_RESPONSE — \[from: [common](../messages/common.md#WIFI_CONFIG_AP_RESPONSE)\] {#WIFI_CONFIG_AP_RESPONSE}

### CELLULAR_CONFIG_RESPONSE — \[from: [common](../messages/common.md#CELLULAR_CONFIG_RESPONSE)\] {#CELLULAR_CONFIG_RESPONSE}

### WIFI_CONFIG_AP_MODE — \[from: [common](../messages/common.md#WIFI_CONFIG_AP_MODE)\] {#WIFI_CONFIG_AP_MODE}

### COMP_METADATA_TYPE — \[from: [common](../messages/common.md#COMP_METADATA_TYPE)\] {#COMP_METADATA_TYPE}

### ACTUATOR_CONFIGURATION — \[from: [common](../messages/common.md#ACTUATOR_CONFIGURATION)\] {#ACTUATOR_CONFIGURATION}

### ACTUATOR_OUTPUT_FUNCTION — \[from: [common](../messages/common.md#ACTUATOR_OUTPUT_FUNCTION)\] {#ACTUATOR_OUTPUT_FUNCTION}

### AUTOTUNE_AXIS — \[from: [common](../messages/common.md#AUTOTUNE_AXIS)\] {#AUTOTUNE_AXIS}

### PREFLIGHT_STORAGE_PARAMETER_ACTION — \[from: [common](../messages/common.md#PREFLIGHT_STORAGE_PARAMETER_ACTION)\] {#PREFLIGHT_STORAGE_PARAMETER_ACTION}

### PREFLIGHT_STORAGE_MISSION_ACTION — \[from: [common](../messages/common.md#PREFLIGHT_STORAGE_MISSION_ACTION)\] {#PREFLIGHT_STORAGE_MISSION_ACTION}

### MAV_DATA_STREAM — \[from: [common](../messages/common.md#MAV_DATA_STREAM)\] [DEP] {#MAV_DATA_STREAM}

### MAV_ROI — \[from: [common](../messages/common.md#MAV_ROI)\] [DEP] {#MAV_ROI}

### MAV_PARAM_TYPE — \[from: [common](../messages/common.md#MAV_PARAM_TYPE)\] {#MAV_PARAM_TYPE}

### MAV_PARAM_EXT_TYPE — \[from: [common](../messages/common.md#MAV_PARAM_EXT_TYPE)\] {#MAV_PARAM_EXT_TYPE}

### MAV_RESULT — \[from: [common](../messages/common.md#MAV_RESULT)\] {#MAV_RESULT}

### MAV_MISSION_RESULT — \[from: [common](../messages/common.md#MAV_MISSION_RESULT)\] {#MAV_MISSION_RESULT}

### MAV_SEVERITY — \[from: [common](../messages/common.md#MAV_SEVERITY)\] {#MAV_SEVERITY}

### MAV_POWER_STATUS — \[from: [common](../messages/common.md#MAV_POWER_STATUS)\] {#MAV_POWER_STATUS}

### SERIAL_CONTROL_DEV — \[from: [common](../messages/common.md#SERIAL_CONTROL_DEV)\] {#SERIAL_CONTROL_DEV}

### SERIAL_CONTROL_FLAG — \[from: [common](../messages/common.md#SERIAL_CONTROL_FLAG)\] {#SERIAL_CONTROL_FLAG}

### MAV_DISTANCE_SENSOR — \[from: [common](../messages/common.md#MAV_DISTANCE_SENSOR)\] {#MAV_DISTANCE_SENSOR}

### MAV_SENSOR_ORIENTATION — \[from: [common](../messages/common.md#MAV_SENSOR_ORIENTATION)\] {#MAV_SENSOR_ORIENTATION}

### MAV_PROTOCOL_CAPABILITY — \[from: [common](../messages/common.md#MAV_PROTOCOL_CAPABILITY)\] {#MAV_PROTOCOL_CAPABILITY}

### MAV_MISSION_TYPE — \[from: [common](../messages/common.md#MAV_MISSION_TYPE)\] {#MAV_MISSION_TYPE}

### MAV_ESTIMATOR_TYPE — \[from: [common](../messages/common.md#MAV_ESTIMATOR_TYPE)\] {#MAV_ESTIMATOR_TYPE}

### MAV_BATTERY_TYPE — \[from: [common](../messages/common.md#MAV_BATTERY_TYPE)\] {#MAV_BATTERY_TYPE}

### MAV_BATTERY_FUNCTION — \[from: [common](../messages/common.md#MAV_BATTERY_FUNCTION)\] {#MAV_BATTERY_FUNCTION}

### MAV_BATTERY_CHARGE_STATE — \[from: [common](../messages/common.md#MAV_BATTERY_CHARGE_STATE)\] {#MAV_BATTERY_CHARGE_STATE}

### MAV_BATTERY_MODE — \[from: [common](../messages/common.md#MAV_BATTERY_MODE)\] {#MAV_BATTERY_MODE}

### MAV_BATTERY_FAULT — \[from: [common](../messages/common.md#MAV_BATTERY_FAULT)\] {#MAV_BATTERY_FAULT}

### MAV_GENERATOR_STATUS_FLAG — \[from: [common](../messages/common.md#MAV_GENERATOR_STATUS_FLAG)\] {#MAV_GENERATOR_STATUS_FLAG}

### MAV_VTOL_STATE — \[from: [common](../messages/common.md#MAV_VTOL_STATE)\] {#MAV_VTOL_STATE}

### MAV_LANDED_STATE — \[from: [common](../messages/common.md#MAV_LANDED_STATE)\] {#MAV_LANDED_STATE}

### ADSB_ALTITUDE_TYPE — \[from: [common](../messages/common.md#ADSB_ALTITUDE_TYPE)\] {#ADSB_ALTITUDE_TYPE}

### ADSB_EMITTER_TYPE — \[from: [common](../messages/common.md#ADSB_EMITTER_TYPE)\] {#ADSB_EMITTER_TYPE}

### ADSB_FLAGS — \[from: [common](../messages/common.md#ADSB_FLAGS)\] {#ADSB_FLAGS}

### MAV_DO_REPOSITION_FLAGS — \[from: [common](../messages/common.md#MAV_DO_REPOSITION_FLAGS)\] {#MAV_DO_REPOSITION_FLAGS}

### SPEED_TYPE — \[from: [common](../messages/common.md#SPEED_TYPE)\] {#SPEED_TYPE}

### ESTIMATOR_STATUS_FLAGS — \[from: [common](../messages/common.md#ESTIMATOR_STATUS_FLAGS)\] {#ESTIMATOR_STATUS_FLAGS}

### MOTOR_TEST_ORDER — \[from: [common](../messages/common.md#MOTOR_TEST_ORDER)\] {#MOTOR_TEST_ORDER}

### MOTOR_TEST_THROTTLE_TYPE — \[from: [common](../messages/common.md#MOTOR_TEST_THROTTLE_TYPE)\] {#MOTOR_TEST_THROTTLE_TYPE}

### GPS_INPUT_IGNORE_FLAGS — \[from: [common](../messages/common.md#GPS_INPUT_IGNORE_FLAGS)\] {#GPS_INPUT_IGNORE_FLAGS}

### MAV_COLLISION_ACTION — \[from: [common](../messages/common.md#MAV_COLLISION_ACTION)\] {#MAV_COLLISION_ACTION}

### MAV_COLLISION_THREAT_LEVEL — \[from: [common](../messages/common.md#MAV_COLLISION_THREAT_LEVEL)\] {#MAV_COLLISION_THREAT_LEVEL}

### MAV_COLLISION_SRC — \[from: [common](../messages/common.md#MAV_COLLISION_SRC)\] {#MAV_COLLISION_SRC}

### GPS_FIX_TYPE — \[from: [common](../messages/common.md#GPS_FIX_TYPE)\] {#GPS_FIX_TYPE}

### RTK_BASELINE_COORDINATE_SYSTEM — \[from: [common](../messages/common.md#RTK_BASELINE_COORDINATE_SYSTEM)\] {#RTK_BASELINE_COORDINATE_SYSTEM}

### LANDING_TARGET_TYPE — \[from: [common](../messages/common.md#LANDING_TARGET_TYPE)\] {#LANDING_TARGET_TYPE}

### VTOL_TRANSITION_HEADING — \[from: [common](../messages/common.md#VTOL_TRANSITION_HEADING)\] {#VTOL_TRANSITION_HEADING}

### CAMERA_CAP_FLAGS — \[from: [common](../messages/common.md#CAMERA_CAP_FLAGS)\] {#CAMERA_CAP_FLAGS}

### VIDEO_STREAM_STATUS_FLAGS — \[from: [common](../messages/common.md#VIDEO_STREAM_STATUS_FLAGS)\] {#VIDEO_STREAM_STATUS_FLAGS}

### VIDEO_STREAM_TYPE — \[from: [common](../messages/common.md#VIDEO_STREAM_TYPE)\] {#VIDEO_STREAM_TYPE}

### VIDEO_STREAM_ENCODING — \[from: [common](../messages/common.md#VIDEO_STREAM_ENCODING)\] {#VIDEO_STREAM_ENCODING}

### CAMERA_TRACKING_STATUS_FLAGS — \[from: [common](../messages/common.md#CAMERA_TRACKING_STATUS_FLAGS)\] {#CAMERA_TRACKING_STATUS_FLAGS}

### CAMERA_TRACKING_MODE — \[from: [common](../messages/common.md#CAMERA_TRACKING_MODE)\] {#CAMERA_TRACKING_MODE}

### CAMERA_TRACKING_TARGET_DATA — \[from: [common](../messages/common.md#CAMERA_TRACKING_TARGET_DATA)\] {#CAMERA_TRACKING_TARGET_DATA}

### CAMERA_ZOOM_TYPE — \[from: [common](../messages/common.md#CAMERA_ZOOM_TYPE)\] {#CAMERA_ZOOM_TYPE}

### SET_FOCUS_TYPE — \[from: [common](../messages/common.md#SET_FOCUS_TYPE)\] {#SET_FOCUS_TYPE}

### CAMERA_SOURCE — \[from: [common](../messages/common.md#CAMERA_SOURCE)\] {#CAMERA_SOURCE}

### PARAM_ACK — \[from: [common](../messages/common.md#PARAM_ACK)\] {#PARAM_ACK}

### CAMERA_MODE — \[from: [common](../messages/common.md#CAMERA_MODE)\] {#CAMERA_MODE}

### MAV_ARM_AUTH_DENIED_REASON — \[from: [common](../messages/common.md#MAV_ARM_AUTH_DENIED_REASON)\] {#MAV_ARM_AUTH_DENIED_REASON}

### RC_TYPE — \[from: [common](../messages/common.md#RC_TYPE)\] {#RC_TYPE}

### POSITION_TARGET_TYPEMASK — \[from: [common](../messages/common.md#POSITION_TARGET_TYPEMASK)\] {#POSITION_TARGET_TYPEMASK}

### ATTITUDE_TARGET_TYPEMASK — \[from: [common](../messages/common.md#ATTITUDE_TARGET_TYPEMASK)\] {#ATTITUDE_TARGET_TYPEMASK}

### UTM_FLIGHT_STATE — \[from: [common](../messages/common.md#UTM_FLIGHT_STATE)\] {#UTM_FLIGHT_STATE}

### UTM_DATA_AVAIL_FLAGS — \[from: [common](../messages/common.md#UTM_DATA_AVAIL_FLAGS)\] {#UTM_DATA_AVAIL_FLAGS}

### CELLULAR_STATUS_FLAG — \[from: [common](../messages/common.md#CELLULAR_STATUS_FLAG)\] {#CELLULAR_STATUS_FLAG}

### CELLULAR_NETWORK_FAILED_REASON — \[from: [common](../messages/common.md#CELLULAR_NETWORK_FAILED_REASON)\] {#CELLULAR_NETWORK_FAILED_REASON}

### CELLULAR_NETWORK_RADIO_TYPE — \[from: [common](../messages/common.md#CELLULAR_NETWORK_RADIO_TYPE)\] {#CELLULAR_NETWORK_RADIO_TYPE}

### PRECISION_LAND_MODE — \[from: [common](../messages/common.md#PRECISION_LAND_MODE)\] {#PRECISION_LAND_MODE}

### PARACHUTE_ACTION — \[from: [common](../messages/common.md#PARACHUTE_ACTION)\] {#PARACHUTE_ACTION}

### MAV_TUNNEL_PAYLOAD_TYPE — \[from: [common](../messages/common.md#MAV_TUNNEL_PAYLOAD_TYPE)\] {#MAV_TUNNEL_PAYLOAD_TYPE}

### MAV_ODID_ID_TYPE — \[from: [common](../messages/common.md#MAV_ODID_ID_TYPE)\] {#MAV_ODID_ID_TYPE}

### MAV_ODID_UA_TYPE — \[from: [common](../messages/common.md#MAV_ODID_UA_TYPE)\] {#MAV_ODID_UA_TYPE}

### MAV_ODID_STATUS — \[from: [common](../messages/common.md#MAV_ODID_STATUS)\] {#MAV_ODID_STATUS}

### MAV_ODID_HEIGHT_REF — \[from: [common](../messages/common.md#MAV_ODID_HEIGHT_REF)\] {#MAV_ODID_HEIGHT_REF}

### MAV_ODID_HOR_ACC — \[from: [common](../messages/common.md#MAV_ODID_HOR_ACC)\] {#MAV_ODID_HOR_ACC}

### MAV_ODID_VER_ACC — \[from: [common](../messages/common.md#MAV_ODID_VER_ACC)\] {#MAV_ODID_VER_ACC}

### MAV_ODID_SPEED_ACC — \[from: [common](../messages/common.md#MAV_ODID_SPEED_ACC)\] {#MAV_ODID_SPEED_ACC}

### MAV_ODID_TIME_ACC — \[from: [common](../messages/common.md#MAV_ODID_TIME_ACC)\] {#MAV_ODID_TIME_ACC}

### MAV_ODID_AUTH_TYPE — \[from: [common](../messages/common.md#MAV_ODID_AUTH_TYPE)\] {#MAV_ODID_AUTH_TYPE}

### MAV_ODID_DESC_TYPE — \[from: [common](../messages/common.md#MAV_ODID_DESC_TYPE)\] {#MAV_ODID_DESC_TYPE}

### MAV_ODID_OPERATOR_LOCATION_TYPE — \[from: [common](../messages/common.md#MAV_ODID_OPERATOR_LOCATION_TYPE)\] {#MAV_ODID_OPERATOR_LOCATION_TYPE}

### MAV_ODID_CLASSIFICATION_TYPE — \[from: [common](../messages/common.md#MAV_ODID_CLASSIFICATION_TYPE)\] {#MAV_ODID_CLASSIFICATION_TYPE}

### MAV_ODID_CATEGORY_EU — \[from: [common](../messages/common.md#MAV_ODID_CATEGORY_EU)\] {#MAV_ODID_CATEGORY_EU}

### MAV_ODID_CLASS_EU — \[from: [common](../messages/common.md#MAV_ODID_CLASS_EU)\] {#MAV_ODID_CLASS_EU}

### MAV_ODID_OPERATOR_ID_TYPE — \[from: [common](../messages/common.md#MAV_ODID_OPERATOR_ID_TYPE)\] {#MAV_ODID_OPERATOR_ID_TYPE}

### MAV_ODID_ARM_STATUS — \[from: [common](../messages/common.md#MAV_ODID_ARM_STATUS)\] {#MAV_ODID_ARM_STATUS}

### TUNE_FORMAT — \[from: [common](../messages/common.md#TUNE_FORMAT)\] {#TUNE_FORMAT}

### AIS_TYPE — \[from: [common](../messages/common.md#AIS_TYPE)\] {#AIS_TYPE}

### AIS_NAV_STATUS — \[from: [common](../messages/common.md#AIS_NAV_STATUS)\] {#AIS_NAV_STATUS}

### AIS_FLAGS — \[from: [common](../messages/common.md#AIS_FLAGS)\] {#AIS_FLAGS}

### FAILURE_UNIT — \[from: [common](../messages/common.md#FAILURE_UNIT)\] {#FAILURE_UNIT}

### FAILURE_TYPE — \[from: [common](../messages/common.md#FAILURE_TYPE)\] {#FAILURE_TYPE}

### NAV_VTOL_LAND_OPTIONS — \[from: [common](../messages/common.md#NAV_VTOL_LAND_OPTIONS)\] {#NAV_VTOL_LAND_OPTIONS}

### MAV_WINCH_STATUS_FLAG — \[from: [common](../messages/common.md#MAV_WINCH_STATUS_FLAG)\] {#MAV_WINCH_STATUS_FLAG}

### MAG_CAL_STATUS — \[from: [common](../messages/common.md#MAG_CAL_STATUS)\] {#MAG_CAL_STATUS}

### MAV_EVENT_ERROR_REASON — \[from: [common](../messages/common.md#MAV_EVENT_ERROR_REASON)\] {#MAV_EVENT_ERROR_REASON}

### MAV_EVENT_CURRENT_SEQUENCE_FLAGS — \[from: [common](../messages/common.md#MAV_EVENT_CURRENT_SEQUENCE_FLAGS)\] {#MAV_EVENT_CURRENT_SEQUENCE_FLAGS}

### HIL_SENSOR_UPDATED_FLAGS — \[from: [common](../messages/common.md#HIL_SENSOR_UPDATED_FLAGS)\] {#HIL_SENSOR_UPDATED_FLAGS}

### HIGHRES_IMU_UPDATED_FLAGS — \[from: [common](../messages/common.md#HIGHRES_IMU_UPDATED_FLAGS)\] {#HIGHRES_IMU_UPDATED_FLAGS}

### CAN_FILTER_OP — \[from: [common](../messages/common.md#CAN_FILTER_OP)\] {#CAN_FILTER_OP}

### MAV_FTP_ERR — \[from: [common](../messages/common.md#MAV_FTP_ERR)\] {#MAV_FTP_ERR}

### MAV_FTP_OPCODE — \[from: [common](../messages/common.md#MAV_FTP_OPCODE)\] {#MAV_FTP_OPCODE}

### MISSION_STATE — \[from: [common](../messages/common.md#MISSION_STATE)\] {#MISSION_STATE}

### SAFETY_SWITCH_STATE — \[from: [common](../messages/common.md#SAFETY_SWITCH_STATE)\] {#SAFETY_SWITCH_STATE}

### ILLUMINATOR_MODE — \[from: [common](../messages/common.md#ILLUMINATOR_MODE)\] {#ILLUMINATOR_MODE}

### ILLUMINATOR_ERROR_FLAGS — \[from: [common](../messages/common.md#ILLUMINATOR_ERROR_FLAGS)\] {#ILLUMINATOR_ERROR_FLAGS}

### MAV_AUTOPILOT — \[from: [minimal](../messages/minimal.md#MAV_AUTOPILOT)\] {#MAV_AUTOPILOT}

### MAV_TYPE — \[from: [minimal](../messages/minimal.md#MAV_TYPE)\] {#MAV_TYPE}

### MAV_MODE_FLAG — \[from: [minimal](../messages/minimal.md#MAV_MODE_FLAG)\] {#MAV_MODE_FLAG}

### MAV_MODE_FLAG_DECODE_POSITION — \[from: [minimal](../messages/minimal.md#MAV_MODE_FLAG_DECODE_POSITION)\] {#MAV_MODE_FLAG_DECODE_POSITION}

### MAV_STATE — \[from: [minimal](../messages/minimal.md#MAV_STATE)\] {#MAV_STATE}

### MAV_COMPONENT — \[from: [minimal](../messages/minimal.md#MAV_COMPONENT)\] {#MAV_COMPONENT}

### UAVIONIX_ADSB_OUT_DYNAMIC_STATE — \[from: [uAvionix](../messages/uAvionix.md#UAVIONIX_ADSB_OUT_DYNAMIC_STATE)\] {#UAVIONIX_ADSB_OUT_DYNAMIC_STATE}

### UAVIONIX_ADSB_OUT_RF_SELECT — \[from: [uAvionix](../messages/uAvionix.md#UAVIONIX_ADSB_OUT_RF_SELECT)\] {#UAVIONIX_ADSB_OUT_RF_SELECT}

### UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX — \[from: [uAvionix](../messages/uAvionix.md#UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX)\] {#UAVIONIX_ADSB_OUT_DYNAMIC_GPS_FIX}

### UAVIONIX_ADSB_RF_HEALTH — \[from: [uAvionix](../messages/uAvionix.md#UAVIONIX_ADSB_RF_HEALTH)\] {#UAVIONIX_ADSB_RF_HEALTH}

### UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE — \[from: [uAvionix](../messages/uAvionix.md#UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE)\] {#UAVIONIX_ADSB_OUT_CFG_AIRCRAFT_SIZE}

### UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT — \[from: [uAvionix](../messages/uAvionix.md#UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT)\] {#UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LAT}

### UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LON — \[from: [uAvionix](../messages/uAvionix.md#UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LON)\] {#UAVIONIX_ADSB_OUT_CFG_GPS_OFFSET_LON}

### UAVIONIX_ADSB_EMERGENCY_STATUS — \[from: [uAvionix](../messages/uAvionix.md#UAVIONIX_ADSB_EMERGENCY_STATUS)\] {#UAVIONIX_ADSB_EMERGENCY_STATUS}

### ICAROUS_TRACK_BAND_TYPES — \[from: [icarous](../messages/icarous.md#ICAROUS_TRACK_BAND_TYPES)\] {#ICAROUS_TRACK_BAND_TYPES}

### ICAROUS_FMS_STATE — \[from: [icarous](../messages/icarous.md#ICAROUS_FMS_STATE)\] {#ICAROUS_FMS_STATE}

### AIRLINK_AUTH_RESPONSE_TYPE — \[from: [csAirLink](../messages/csAirLink.md#AIRLINK_AUTH_RESPONSE_TYPE)\] {#AIRLINK_AUTH_RESPONSE_TYPE}

### AIRLINK_EYE_GS_HOLE_PUSH_RESP_TYPE — \[from: [csAirLink](../messages/csAirLink.md#AIRLINK_EYE_GS_HOLE_PUSH_RESP_TYPE)\] {#AIRLINK_EYE_GS_HOLE_PUSH_RESP_TYPE}

### AIRLINK_EYE_IP_VERSION — \[from: [csAirLink](../messages/csAirLink.md#AIRLINK_EYE_IP_VERSION)\] {#AIRLINK_EYE_IP_VERSION}

### AIRLINK_EYE_HOLE_PUSH_TYPE — \[from: [csAirLink](../messages/csAirLink.md#AIRLINK_EYE_HOLE_PUSH_TYPE)\] {#AIRLINK_EYE_HOLE_PUSH_TYPE}

### AIRLINK_EYE_TURN_INIT_TYPE — \[from: [csAirLink](../messages/csAirLink.md#AIRLINK_EYE_TURN_INIT_TYPE)\] {#AIRLINK_EYE_TURN_INIT_TYPE}

## Commands (MAV_CMD) {#mav_commands}

### MAV_CMD_NAV_WAYPOINT (16) — \[from: [common](../messages/common.md#MAV_CMD_NAV_WAYPOINT)\] {#MAV_CMD_NAV_WAYPOINT}

### MAV_CMD_NAV_LOITER_UNLIM (17) — \[from: [common](../messages/common.md#MAV_CMD_NAV_LOITER_UNLIM)\] {#MAV_CMD_NAV_LOITER_UNLIM}

### MAV_CMD_NAV_LOITER_TURNS (18) — \[from: [common](../messages/common.md#MAV_CMD_NAV_LOITER_TURNS)\] {#MAV_CMD_NAV_LOITER_TURNS}

### MAV_CMD_NAV_LOITER_TIME (19) — \[from: [common](../messages/common.md#MAV_CMD_NAV_LOITER_TIME)\] {#MAV_CMD_NAV_LOITER_TIME}

### MAV_CMD_NAV_RETURN_TO_LAUNCH (20) — \[from: [common](../messages/common.md#MAV_CMD_NAV_RETURN_TO_LAUNCH)\] {#MAV_CMD_NAV_RETURN_TO_LAUNCH}

### MAV_CMD_NAV_LAND (21) — \[from: [common](../messages/common.md#MAV_CMD_NAV_LAND)\] {#MAV_CMD_NAV_LAND}

### MAV_CMD_NAV_TAKEOFF (22) — \[from: [common](../messages/common.md#MAV_CMD_NAV_TAKEOFF)\] {#MAV_CMD_NAV_TAKEOFF}

### MAV_CMD_NAV_LAND_LOCAL (23) — \[from: [common](../messages/common.md#MAV_CMD_NAV_LAND_LOCAL)\] {#MAV_CMD_NAV_LAND_LOCAL}

### MAV_CMD_NAV_TAKEOFF_LOCAL (24) — \[from: [common](../messages/common.md#MAV_CMD_NAV_TAKEOFF_LOCAL)\] {#MAV_CMD_NAV_TAKEOFF_LOCAL}

### MAV_CMD_NAV_FOLLOW (25) — \[from: [common](../messages/common.md#MAV_CMD_NAV_FOLLOW)\] {#MAV_CMD_NAV_FOLLOW}

### MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT (30) — \[from: [common](../messages/common.md#MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT)\] {#MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT}

### MAV_CMD_NAV_LOITER_TO_ALT (31) — \[from: [common](../messages/common.md#MAV_CMD_NAV_LOITER_TO_ALT)\] {#MAV_CMD_NAV_LOITER_TO_ALT}

### MAV_CMD_DO_FOLLOW (32) — \[from: [common](../messages/common.md#MAV_CMD_DO_FOLLOW)\] {#MAV_CMD_DO_FOLLOW}

### MAV_CMD_DO_FOLLOW_REPOSITION (33) — \[from: [common](../messages/common.md#MAV_CMD_DO_FOLLOW_REPOSITION)\] {#MAV_CMD_DO_FOLLOW_REPOSITION}

### MAV_CMD_DO_ORBIT (34) — \[from: [common](../messages/common.md#MAV_CMD_DO_ORBIT)\] [WIP] {#MAV_CMD_DO_ORBIT}

### MAV_CMD_NAV_ROI (80) — \[from: [common](../messages/common.md#MAV_CMD_NAV_ROI)\] [DEP] {#MAV_CMD_NAV_ROI}

### MAV_CMD_NAV_PATHPLANNING (81) — \[from: [common](../messages/common.md#MAV_CMD_NAV_PATHPLANNING)\] {#MAV_CMD_NAV_PATHPLANNING}

### MAV_CMD_NAV_SPLINE_WAYPOINT (82) — \[from: [common](../messages/common.md#MAV_CMD_NAV_SPLINE_WAYPOINT)\] {#MAV_CMD_NAV_SPLINE_WAYPOINT}

### MAV_CMD_NAV_ALTITUDE_WAIT (83) {#MAV_CMD_NAV_ALTITUDE_WAIT}

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

| Param (Label)     | Description                                                         | Units |
| ----------------- | ------------------------------------------------------------------- | ----- |
| 1 (Altitude)      | Altitude.                                                           | m     |
| 2 (Descent Speed) | Descent speed.                                                      | m/s   |
| 3 (Wiggle Time)   | How long to wiggle the control surfaces to prevent them seizing up. | s     |
| 4                 | Empty.                                                              |       |
| 5                 | Empty.                                                              |       |
| 6                 | Empty.                                                              |       |
| 7                 | Empty.                                                              |       |

### MAV_CMD_NAV_VTOL_TAKEOFF (84) — \[from: [common](../messages/common.md#MAV_CMD_NAV_VTOL_TAKEOFF)\] {#MAV_CMD_NAV_VTOL_TAKEOFF}

### MAV_CMD_NAV_VTOL_LAND (85) — \[from: [common](../messages/common.md#MAV_CMD_NAV_VTOL_LAND)\] {#MAV_CMD_NAV_VTOL_LAND}

### MAV_CMD_NAV_GUIDED_ENABLE (92) — \[from: [common](../messages/common.md#MAV_CMD_NAV_GUIDED_ENABLE)\] {#MAV_CMD_NAV_GUIDED_ENABLE}

### MAV_CMD_NAV_DELAY (93) — \[from: [common](../messages/common.md#MAV_CMD_NAV_DELAY)\] {#MAV_CMD_NAV_DELAY}

### MAV_CMD_NAV_PAYLOAD_PLACE (94) — \[from: [common](../messages/common.md#MAV_CMD_NAV_PAYLOAD_PLACE)\] {#MAV_CMD_NAV_PAYLOAD_PLACE}

### MAV_CMD_NAV_LAST (95) — \[from: [common](../messages/common.md#MAV_CMD_NAV_LAST)\] {#MAV_CMD_NAV_LAST}

### MAV_CMD_CONDITION_DELAY (112) — \[from: [common](../messages/common.md#MAV_CMD_CONDITION_DELAY)\] {#MAV_CMD_CONDITION_DELAY}

### MAV_CMD_CONDITION_CHANGE_ALT (113) — \[from: [common](../messages/common.md#MAV_CMD_CONDITION_CHANGE_ALT)\] {#MAV_CMD_CONDITION_CHANGE_ALT}

### MAV_CMD_CONDITION_DISTANCE (114) — \[from: [common](../messages/common.md#MAV_CMD_CONDITION_DISTANCE)\] {#MAV_CMD_CONDITION_DISTANCE}

### MAV_CMD_CONDITION_YAW (115) — \[from: [common](../messages/common.md#MAV_CMD_CONDITION_YAW)\] {#MAV_CMD_CONDITION_YAW}

### MAV_CMD_CONDITION_LAST (159) — \[from: [common](../messages/common.md#MAV_CMD_CONDITION_LAST)\] {#MAV_CMD_CONDITION_LAST}

### MAV_CMD_DO_SET_MODE (176) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_MODE)\] {#MAV_CMD_DO_SET_MODE}

### MAV_CMD_DO_JUMP (177) — \[from: [common](../messages/common.md#MAV_CMD_DO_JUMP)\] {#MAV_CMD_DO_JUMP}

### MAV_CMD_DO_CHANGE_SPEED (178) — \[from: [common](../messages/common.md#MAV_CMD_DO_CHANGE_SPEED)\] {#MAV_CMD_DO_CHANGE_SPEED}

### MAV_CMD_DO_SET_HOME (179) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_HOME)\] {#MAV_CMD_DO_SET_HOME}

### MAV_CMD_DO_SET_PARAMETER (180) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_PARAMETER)\] [DEP] {#MAV_CMD_DO_SET_PARAMETER}

### MAV_CMD_DO_SET_RELAY (181) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_RELAY)\] {#MAV_CMD_DO_SET_RELAY}

### MAV_CMD_DO_REPEAT_RELAY (182) — \[from: [common](../messages/common.md#MAV_CMD_DO_REPEAT_RELAY)\] {#MAV_CMD_DO_REPEAT_RELAY}

### MAV_CMD_DO_SET_SERVO (183) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_SERVO)\] {#MAV_CMD_DO_SET_SERVO}

### MAV_CMD_DO_REPEAT_SERVO (184) — \[from: [common](../messages/common.md#MAV_CMD_DO_REPEAT_SERVO)\] {#MAV_CMD_DO_REPEAT_SERVO}

### MAV_CMD_DO_FLIGHTTERMINATION (185) — \[from: [common](../messages/common.md#MAV_CMD_DO_FLIGHTTERMINATION)\] {#MAV_CMD_DO_FLIGHTTERMINATION}

### MAV_CMD_DO_CHANGE_ALTITUDE (186) — \[from: [common](../messages/common.md#MAV_CMD_DO_CHANGE_ALTITUDE)\] {#MAV_CMD_DO_CHANGE_ALTITUDE}

### MAV_CMD_DO_SET_ACTUATOR (187) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_ACTUATOR)\] {#MAV_CMD_DO_SET_ACTUATOR}

### MAV_CMD_DO_RETURN_PATH_START (188) — \[from: [common](../messages/common.md#MAV_CMD_DO_RETURN_PATH_START)\] [WIP] {#MAV_CMD_DO_RETURN_PATH_START}

### MAV_CMD_DO_LAND_START (189) — \[from: [common](../messages/common.md#MAV_CMD_DO_LAND_START)\] {#MAV_CMD_DO_LAND_START}

### MAV_CMD_DO_RALLY_LAND (190) — \[from: [common](../messages/common.md#MAV_CMD_DO_RALLY_LAND)\] {#MAV_CMD_DO_RALLY_LAND}

### MAV_CMD_DO_GO_AROUND (191) — \[from: [common](../messages/common.md#MAV_CMD_DO_GO_AROUND)\] {#MAV_CMD_DO_GO_AROUND}

### MAV_CMD_DO_REPOSITION (192) — \[from: [common](../messages/common.md#MAV_CMD_DO_REPOSITION)\] {#MAV_CMD_DO_REPOSITION}

### MAV_CMD_DO_PAUSE_CONTINUE (193) — \[from: [common](../messages/common.md#MAV_CMD_DO_PAUSE_CONTINUE)\] {#MAV_CMD_DO_PAUSE_CONTINUE}

### MAV_CMD_DO_SET_REVERSE (194) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_REVERSE)\] {#MAV_CMD_DO_SET_REVERSE}

### MAV_CMD_DO_SET_ROI_LOCATION (195) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_ROI_LOCATION)\] {#MAV_CMD_DO_SET_ROI_LOCATION}

### MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET (196) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET)\] {#MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET}

### MAV_CMD_DO_SET_ROI_NONE (197) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_ROI_NONE)\] {#MAV_CMD_DO_SET_ROI_NONE}

### MAV_CMD_DO_SET_ROI_SYSID (198) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_ROI_SYSID)\] {#MAV_CMD_DO_SET_ROI_SYSID}

### MAV_CMD_DO_CONTROL_VIDEO (200) — \[from: [common](../messages/common.md#MAV_CMD_DO_CONTROL_VIDEO)\] {#MAV_CMD_DO_CONTROL_VIDEO}

### MAV_CMD_DO_SET_ROI (201) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_ROI)\] [DEP] {#MAV_CMD_DO_SET_ROI}

### MAV_CMD_DO_DIGICAM_CONFIGURE (202) — \[from: [common](../messages/common.md#MAV_CMD_DO_DIGICAM_CONFIGURE)\] {#MAV_CMD_DO_DIGICAM_CONFIGURE}

### MAV_CMD_DO_DIGICAM_CONTROL (203) — \[from: [common](../messages/common.md#MAV_CMD_DO_DIGICAM_CONTROL)\] {#MAV_CMD_DO_DIGICAM_CONTROL}

### MAV_CMD_DO_MOUNT_CONFIGURE (204) — \[from: [common](../messages/common.md#MAV_CMD_DO_MOUNT_CONFIGURE)\] [DEP] {#MAV_CMD_DO_MOUNT_CONFIGURE}

### MAV_CMD_DO_MOUNT_CONTROL (205) — \[from: [common](../messages/common.md#MAV_CMD_DO_MOUNT_CONTROL)\] [DEP] {#MAV_CMD_DO_MOUNT_CONTROL}

### MAV_CMD_DO_SET_CAM_TRIGG_DIST (206) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_CAM_TRIGG_DIST)\] {#MAV_CMD_DO_SET_CAM_TRIGG_DIST}

### MAV_CMD_DO_FENCE_ENABLE (207) — \[from: [common](../messages/common.md#MAV_CMD_DO_FENCE_ENABLE)\] {#MAV_CMD_DO_FENCE_ENABLE}

### MAV_CMD_DO_PARACHUTE (208) — \[from: [common](../messages/common.md#MAV_CMD_DO_PARACHUTE)\] {#MAV_CMD_DO_PARACHUTE}

### MAV_CMD_DO_MOTOR_TEST (209) — \[from: [common](../messages/common.md#MAV_CMD_DO_MOTOR_TEST)\] {#MAV_CMD_DO_MOTOR_TEST}

### MAV_CMD_DO_INVERTED_FLIGHT (210) — \[from: [common](../messages/common.md#MAV_CMD_DO_INVERTED_FLIGHT)\] {#MAV_CMD_DO_INVERTED_FLIGHT}

### MAV_CMD_DO_GRIPPER (211) — \[from: [common](../messages/common.md#MAV_CMD_DO_GRIPPER)\] {#MAV_CMD_DO_GRIPPER}

### MAV_CMD_DO_AUTOTUNE_ENABLE (212) — \[from: [common](../messages/common.md#MAV_CMD_DO_AUTOTUNE_ENABLE)\] {#MAV_CMD_DO_AUTOTUNE_ENABLE}

### MAV_CMD_NAV_SET_YAW_SPEED (213) — \[from: [common](../messages/common.md#MAV_CMD_NAV_SET_YAW_SPEED)\] {#MAV_CMD_NAV_SET_YAW_SPEED}

### MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL (214) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL)\] {#MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL}

### MAV_CMD_DO_SET_RESUME_REPEAT_DIST (215) {#MAV_CMD_DO_SET_RESUME_REPEAT_DIST}

Set the distance to be repeated on mission resume

| Param (Label) | Description | Units |
| ------------- | ----------- | ----- |
| 1 (Distance)  | Distance.   | m     |
| 2             | Empty.      |       |
| 3             | Empty.      |       |
| 4             | Empty.      |       |
| 5             | Empty.      |       |
| 6             | Empty.      |       |
| 7             | Empty.      |       |

### MAV_CMD_DO_SPRAYER (216) {#MAV_CMD_DO_SPRAYER}

Control attached liquid sprayer

| Param (Label)      | Description                            | Values               |
| ------------------ | -------------------------------------- | -------------------- |
| 1 (Sprayer Enable) | 0: disable sprayer. 1: enable sprayer. | min: 0 max: 1 inc: 1 |
| 2                  | Empty.                                 |                      |
| 3                  | Empty.                                 |                      |
| 4                  | Empty.                                 |                      |
| 5                  | Empty.                                 |                      |
| 6                  | Empty.                                 |                      |
| 7                  | Empty.                                 |                      |

### MAV_CMD_DO_SEND_SCRIPT_MESSAGE (217) {#MAV_CMD_DO_SEND_SCRIPT_MESSAGE}

Pass instructions onto scripting, a script should be checking for a new command

| Param (Label) | Description                               | Values                   |
| ------------- | ----------------------------------------- | ------------------------ |
| 1 (ID)        | uint16 ID value to be passed to scripting | min: 0 max: 65535 inc: 1 |
| 2 (param 1)   | float value to be passed to scripting     |                          |
| 3 (param 2)   | float value to be passed to scripting     |                          |
| 4 (param 3)   | float value to be passed to scripting     |                          |
| 5             | Empty.                                    |                          |
| 6             | Empty.                                    |                          |
| 7             | Empty.                                    |                          |

### MAV_CMD_DO_AUX_FUNCTION (218) {#MAV_CMD_DO_AUX_FUNCTION}

Execute auxiliary function

| Param (Label)         | Description         | Values                                                                              |
| --------------------- | ------------------- | ----------------------------------------------------------------------------------- |
| 1 (AuxiliaryFunction) | Auxiliary Function. |                                                                                     |
| 2 (SwitchPosition)    | Switch Level.       | [MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL](#MAV_CMD_DO_AUX_FUNCTION_SWITCH_LEVEL) |
| 3                     | Empty.              |                                                                                     |
| 4                     | Empty.              |                                                                                     |
| 5                     | Empty.              |                                                                                     |
| 6                     | Empty.              |                                                                                     |
| 7                     | Empty.              |                                                                                     |

### MAV_CMD_DO_MOUNT_CONTROL_QUAT (220) — \[from: [common](../messages/common.md#MAV_CMD_DO_MOUNT_CONTROL_QUAT)\] [DEP] {#MAV_CMD_DO_MOUNT_CONTROL_QUAT}

### MAV_CMD_DO_GUIDED_MASTER (221) — \[from: [common](../messages/common.md#MAV_CMD_DO_GUIDED_MASTER)\] {#MAV_CMD_DO_GUIDED_MASTER}

### MAV_CMD_DO_GUIDED_LIMITS (222) — \[from: [common](../messages/common.md#MAV_CMD_DO_GUIDED_LIMITS)\] {#MAV_CMD_DO_GUIDED_LIMITS}

### MAV_CMD_DO_ENGINE_CONTROL (223) — \[from: [common](../messages/common.md#MAV_CMD_DO_ENGINE_CONTROL)\] {#MAV_CMD_DO_ENGINE_CONTROL}

### MAV_CMD_DO_SET_MISSION_CURRENT (224) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_MISSION_CURRENT)\] {#MAV_CMD_DO_SET_MISSION_CURRENT}

### MAV_CMD_DO_LAST (240) — \[from: [common](../messages/common.md#MAV_CMD_DO_LAST)\] {#MAV_CMD_DO_LAST}

### MAV_CMD_PREFLIGHT_CALIBRATION (241) — \[from: [common](../messages/common.md#MAV_CMD_PREFLIGHT_CALIBRATION)\] {#MAV_CMD_PREFLIGHT_CALIBRATION}

### MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS (242) — \[from: [common](../messages/common.md#MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS)\] {#MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS}

### MAV_CMD_PREFLIGHT_UAVCAN (243) — \[from: [common](../messages/common.md#MAV_CMD_PREFLIGHT_UAVCAN)\] {#MAV_CMD_PREFLIGHT_UAVCAN}

### MAV_CMD_PREFLIGHT_STORAGE (245) — \[from: [common](../messages/common.md#MAV_CMD_PREFLIGHT_STORAGE)\] {#MAV_CMD_PREFLIGHT_STORAGE}

### MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN (246) — \[from: [common](../messages/common.md#MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN)\] {#MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN}

### MAV_CMD_OVERRIDE_GOTO (252) — \[from: [common](../messages/common.md#MAV_CMD_OVERRIDE_GOTO)\] {#MAV_CMD_OVERRIDE_GOTO}

### MAV_CMD_OBLIQUE_SURVEY (260) — \[from: [common](../messages/common.md#MAV_CMD_OBLIQUE_SURVEY)\] {#MAV_CMD_OBLIQUE_SURVEY}

### MAV_CMD_MISSION_START (300) — \[from: [common](../messages/common.md#MAV_CMD_MISSION_START)\] {#MAV_CMD_MISSION_START}

### MAV_CMD_ACTUATOR_TEST (310) — \[from: [common](../messages/common.md#MAV_CMD_ACTUATOR_TEST)\] {#MAV_CMD_ACTUATOR_TEST}

### MAV_CMD_CONFIGURE_ACTUATOR (311) — \[from: [common](../messages/common.md#MAV_CMD_CONFIGURE_ACTUATOR)\] {#MAV_CMD_CONFIGURE_ACTUATOR}

### MAV_CMD_COMPONENT_ARM_DISARM (400) — \[from: [common](../messages/common.md#MAV_CMD_COMPONENT_ARM_DISARM)\] {#MAV_CMD_COMPONENT_ARM_DISARM}

### MAV_CMD_RUN_PREARM_CHECKS (401) — \[from: [common](../messages/common.md#MAV_CMD_RUN_PREARM_CHECKS)\] {#MAV_CMD_RUN_PREARM_CHECKS}

### MAV_CMD_ILLUMINATOR_ON_OFF (405) — \[from: [common](../messages/common.md#MAV_CMD_ILLUMINATOR_ON_OFF)\] {#MAV_CMD_ILLUMINATOR_ON_OFF}

### MAV_CMD_DO_ILLUMINATOR_CONFIGURE (406) — \[from: [common](../messages/common.md#MAV_CMD_DO_ILLUMINATOR_CONFIGURE)\] {#MAV_CMD_DO_ILLUMINATOR_CONFIGURE}

### MAV_CMD_GET_HOME_POSITION (410) — \[from: [common](../messages/common.md#MAV_CMD_GET_HOME_POSITION)\] [DEP] {#MAV_CMD_GET_HOME_POSITION}

### MAV_CMD_INJECT_FAILURE (420) — \[from: [common](../messages/common.md#MAV_CMD_INJECT_FAILURE)\] {#MAV_CMD_INJECT_FAILURE}

### MAV_CMD_START_RX_PAIR (500) — \[from: [common](../messages/common.md#MAV_CMD_START_RX_PAIR)\] {#MAV_CMD_START_RX_PAIR}

### MAV_CMD_GET_MESSAGE_INTERVAL (510) — \[from: [common](../messages/common.md#MAV_CMD_GET_MESSAGE_INTERVAL)\] [DEP] {#MAV_CMD_GET_MESSAGE_INTERVAL}

### MAV_CMD_SET_MESSAGE_INTERVAL (511) — \[from: [common](../messages/common.md#MAV_CMD_SET_MESSAGE_INTERVAL)\] {#MAV_CMD_SET_MESSAGE_INTERVAL}

### MAV_CMD_REQUEST_MESSAGE (512) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_MESSAGE)\] {#MAV_CMD_REQUEST_MESSAGE}

### MAV_CMD_REQUEST_PROTOCOL_VERSION (519) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_PROTOCOL_VERSION)\] [DEP] {#MAV_CMD_REQUEST_PROTOCOL_VERSION}

### MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES (520) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES)\] [DEP] {#MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES}

### MAV_CMD_REQUEST_CAMERA_INFORMATION (521) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_CAMERA_INFORMATION)\] [DEP] {#MAV_CMD_REQUEST_CAMERA_INFORMATION}

### MAV_CMD_REQUEST_CAMERA_SETTINGS (522) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_CAMERA_SETTINGS)\] [DEP] {#MAV_CMD_REQUEST_CAMERA_SETTINGS}

### MAV_CMD_REQUEST_STORAGE_INFORMATION (525) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_STORAGE_INFORMATION)\] [DEP] {#MAV_CMD_REQUEST_STORAGE_INFORMATION}

### MAV_CMD_STORAGE_FORMAT (526) — \[from: [common](../messages/common.md#MAV_CMD_STORAGE_FORMAT)\] {#MAV_CMD_STORAGE_FORMAT}

### MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS (527) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS)\] [DEP] {#MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS}

### MAV_CMD_REQUEST_FLIGHT_INFORMATION (528) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_FLIGHT_INFORMATION)\] [DEP] {#MAV_CMD_REQUEST_FLIGHT_INFORMATION}

### MAV_CMD_RESET_CAMERA_SETTINGS (529) — \[from: [common](../messages/common.md#MAV_CMD_RESET_CAMERA_SETTINGS)\] {#MAV_CMD_RESET_CAMERA_SETTINGS}

### MAV_CMD_SET_CAMERA_MODE (530) — \[from: [common](../messages/common.md#MAV_CMD_SET_CAMERA_MODE)\] {#MAV_CMD_SET_CAMERA_MODE}

### MAV_CMD_SET_CAMERA_ZOOM (531) — \[from: [common](../messages/common.md#MAV_CMD_SET_CAMERA_ZOOM)\] {#MAV_CMD_SET_CAMERA_ZOOM}

### MAV_CMD_SET_CAMERA_FOCUS (532) — \[from: [common](../messages/common.md#MAV_CMD_SET_CAMERA_FOCUS)\] {#MAV_CMD_SET_CAMERA_FOCUS}

### MAV_CMD_SET_STORAGE_USAGE (533) — \[from: [common](../messages/common.md#MAV_CMD_SET_STORAGE_USAGE)\] {#MAV_CMD_SET_STORAGE_USAGE}

### MAV_CMD_SET_CAMERA_SOURCE (534) — \[from: [common](../messages/common.md#MAV_CMD_SET_CAMERA_SOURCE)\] {#MAV_CMD_SET_CAMERA_SOURCE}

### MAV_CMD_JUMP_TAG (600) — \[from: [common](../messages/common.md#MAV_CMD_JUMP_TAG)\] {#MAV_CMD_JUMP_TAG}

### MAV_CMD_DO_JUMP_TAG (601) — \[from: [common](../messages/common.md#MAV_CMD_DO_JUMP_TAG)\] {#MAV_CMD_DO_JUMP_TAG}

### MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (1000) — \[from: [common](../messages/common.md#MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW)\] {#MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW}

### MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE (1001) — \[from: [common](../messages/common.md#MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE)\] {#MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE}

### MAV_CMD_IMAGE_START_CAPTURE (2000) — \[from: [common](../messages/common.md#MAV_CMD_IMAGE_START_CAPTURE)\] {#MAV_CMD_IMAGE_START_CAPTURE}

### MAV_CMD_IMAGE_STOP_CAPTURE (2001) — \[from: [common](../messages/common.md#MAV_CMD_IMAGE_STOP_CAPTURE)\] {#MAV_CMD_IMAGE_STOP_CAPTURE}

### MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE (2002) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE)\] [DEP] {#MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE}

### MAV_CMD_DO_TRIGGER_CONTROL (2003) — \[from: [common](../messages/common.md#MAV_CMD_DO_TRIGGER_CONTROL)\] {#MAV_CMD_DO_TRIGGER_CONTROL}

### MAV_CMD_CAMERA_TRACK_POINT (2004) — \[from: [common](../messages/common.md#MAV_CMD_CAMERA_TRACK_POINT)\] {#MAV_CMD_CAMERA_TRACK_POINT}

### MAV_CMD_CAMERA_TRACK_RECTANGLE (2005) — \[from: [common](../messages/common.md#MAV_CMD_CAMERA_TRACK_RECTANGLE)\] {#MAV_CMD_CAMERA_TRACK_RECTANGLE}

### MAV_CMD_CAMERA_STOP_TRACKING (2010) — \[from: [common](../messages/common.md#MAV_CMD_CAMERA_STOP_TRACKING)\] {#MAV_CMD_CAMERA_STOP_TRACKING}

### MAV_CMD_VIDEO_START_CAPTURE (2500) — \[from: [common](../messages/common.md#MAV_CMD_VIDEO_START_CAPTURE)\] {#MAV_CMD_VIDEO_START_CAPTURE}

### MAV_CMD_VIDEO_STOP_CAPTURE (2501) — \[from: [common](../messages/common.md#MAV_CMD_VIDEO_STOP_CAPTURE)\] {#MAV_CMD_VIDEO_STOP_CAPTURE}

### MAV_CMD_VIDEO_START_STREAMING (2502) — \[from: [common](../messages/common.md#MAV_CMD_VIDEO_START_STREAMING)\] {#MAV_CMD_VIDEO_START_STREAMING}

### MAV_CMD_VIDEO_STOP_STREAMING (2503) — \[from: [common](../messages/common.md#MAV_CMD_VIDEO_STOP_STREAMING)\] {#MAV_CMD_VIDEO_STOP_STREAMING}

### MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION (2504) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION)\] [DEP] {#MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION}

### MAV_CMD_REQUEST_VIDEO_STREAM_STATUS (2505) — \[from: [common](../messages/common.md#MAV_CMD_REQUEST_VIDEO_STREAM_STATUS)\] [DEP] {#MAV_CMD_REQUEST_VIDEO_STREAM_STATUS}

### MAV_CMD_LOGGING_START (2510) — \[from: [common](../messages/common.md#MAV_CMD_LOGGING_START)\] {#MAV_CMD_LOGGING_START}

### MAV_CMD_LOGGING_STOP (2511) — \[from: [common](../messages/common.md#MAV_CMD_LOGGING_STOP)\] {#MAV_CMD_LOGGING_STOP}

### MAV_CMD_AIRFRAME_CONFIGURATION (2520) — \[from: [common](../messages/common.md#MAV_CMD_AIRFRAME_CONFIGURATION)\] {#MAV_CMD_AIRFRAME_CONFIGURATION}

### MAV_CMD_CONTROL_HIGH_LATENCY (2600) — \[from: [common](../messages/common.md#MAV_CMD_CONTROL_HIGH_LATENCY)\] {#MAV_CMD_CONTROL_HIGH_LATENCY}

### MAV_CMD_PANORAMA_CREATE (2800) — \[from: [common](../messages/common.md#MAV_CMD_PANORAMA_CREATE)\] {#MAV_CMD_PANORAMA_CREATE}

### MAV_CMD_DO_VTOL_TRANSITION (3000) — \[from: [common](../messages/common.md#MAV_CMD_DO_VTOL_TRANSITION)\] {#MAV_CMD_DO_VTOL_TRANSITION}

### MAV_CMD_ARM_AUTHORIZATION_REQUEST (3001) — \[from: [common](../messages/common.md#MAV_CMD_ARM_AUTHORIZATION_REQUEST)\] {#MAV_CMD_ARM_AUTHORIZATION_REQUEST}

### MAV_CMD_SET_GUIDED_SUBMODE_STANDARD (4000) — \[from: [common](../messages/common.md#MAV_CMD_SET_GUIDED_SUBMODE_STANDARD)\] {#MAV_CMD_SET_GUIDED_SUBMODE_STANDARD}

### MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE (4001) — \[from: [common](../messages/common.md#MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE)\] {#MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE}

### MAV_CMD_CONDITION_GATE (4501) — \[from: [common](../messages/common.md#MAV_CMD_CONDITION_GATE)\] [WIP] {#MAV_CMD_CONDITION_GATE}

### MAV_CMD_NAV_FENCE_RETURN_POINT (5000) — \[from: [common](../messages/common.md#MAV_CMD_NAV_FENCE_RETURN_POINT)\] {#MAV_CMD_NAV_FENCE_RETURN_POINT}

### MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION (5001) — \[from: [common](../messages/common.md#MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION)\] {#MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION}

### MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION (5002) — \[from: [common](../messages/common.md#MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION)\] {#MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION}

### MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION (5003) — \[from: [common](../messages/common.md#MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION)\] {#MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION}

### MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION (5004) — \[from: [common](../messages/common.md#MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION)\] {#MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION}

### MAV_CMD_NAV_RALLY_POINT (5100) — \[from: [common](../messages/common.md#MAV_CMD_NAV_RALLY_POINT)\] {#MAV_CMD_NAV_RALLY_POINT}

### MAV_CMD_UAVCAN_GET_NODE_INFO (5200) — \[from: [common](../messages/common.md#MAV_CMD_UAVCAN_GET_NODE_INFO)\] {#MAV_CMD_UAVCAN_GET_NODE_INFO}

### MAV_CMD_DO_SET_SAFETY_SWITCH_STATE (5300) — \[from: [common](../messages/common.md#MAV_CMD_DO_SET_SAFETY_SWITCH_STATE)\] {#MAV_CMD_DO_SET_SAFETY_SWITCH_STATE}

### MAV_CMD_DO_ADSB_OUT_IDENT (10001) — \[from: [common](../messages/common.md#MAV_CMD_DO_ADSB_OUT_IDENT)\] {#MAV_CMD_DO_ADSB_OUT_IDENT}

### MAV_CMD_PAYLOAD_PREPARE_DEPLOY (30001) — \[from: [common](../messages/common.md#MAV_CMD_PAYLOAD_PREPARE_DEPLOY)\] [DEP] {#MAV_CMD_PAYLOAD_PREPARE_DEPLOY}

### MAV_CMD_PAYLOAD_CONTROL_DEPLOY (30002) — \[from: [common](../messages/common.md#MAV_CMD_PAYLOAD_CONTROL_DEPLOY)\] [DEP] {#MAV_CMD_PAYLOAD_CONTROL_DEPLOY}

### MAV_CMD_WAYPOINT_USER_1 (31000) — \[from: [common](../messages/common.md#MAV_CMD_WAYPOINT_USER_1)\] {#MAV_CMD_WAYPOINT_USER_1}

### MAV_CMD_WAYPOINT_USER_2 (31001) — \[from: [common](../messages/common.md#MAV_CMD_WAYPOINT_USER_2)\] {#MAV_CMD_WAYPOINT_USER_2}

### MAV_CMD_WAYPOINT_USER_3 (31002) — \[from: [common](../messages/common.md#MAV_CMD_WAYPOINT_USER_3)\] {#MAV_CMD_WAYPOINT_USER_3}

### MAV_CMD_WAYPOINT_USER_4 (31003) — \[from: [common](../messages/common.md#MAV_CMD_WAYPOINT_USER_4)\] {#MAV_CMD_WAYPOINT_USER_4}

### MAV_CMD_WAYPOINT_USER_5 (31004) — \[from: [common](../messages/common.md#MAV_CMD_WAYPOINT_USER_5)\] {#MAV_CMD_WAYPOINT_USER_5}

### MAV_CMD_SPATIAL_USER_1 (31005) — \[from: [common](../messages/common.md#MAV_CMD_SPATIAL_USER_1)\] {#MAV_CMD_SPATIAL_USER_1}

### MAV_CMD_SPATIAL_USER_2 (31006) — \[from: [common](../messages/common.md#MAV_CMD_SPATIAL_USER_2)\] {#MAV_CMD_SPATIAL_USER_2}

### MAV_CMD_SPATIAL_USER_3 (31007) — \[from: [common](../messages/common.md#MAV_CMD_SPATIAL_USER_3)\] {#MAV_CMD_SPATIAL_USER_3}

### MAV_CMD_SPATIAL_USER_4 (31008) — \[from: [common](../messages/common.md#MAV_CMD_SPATIAL_USER_4)\] {#MAV_CMD_SPATIAL_USER_4}

### MAV_CMD_SPATIAL_USER_5 (31009) — \[from: [common](../messages/common.md#MAV_CMD_SPATIAL_USER_5)\] {#MAV_CMD_SPATIAL_USER_5}

### MAV_CMD_USER_1 (31010) — \[from: [common](../messages/common.md#MAV_CMD_USER_1)\] {#MAV_CMD_USER_1}

### MAV_CMD_USER_2 (31011) — \[from: [common](../messages/common.md#MAV_CMD_USER_2)\] {#MAV_CMD_USER_2}

### MAV_CMD_USER_3 (31012) — \[from: [common](../messages/common.md#MAV_CMD_USER_3)\] {#MAV_CMD_USER_3}

### MAV_CMD_USER_4 (31013) — \[from: [common](../messages/common.md#MAV_CMD_USER_4)\] {#MAV_CMD_USER_4}

### MAV_CMD_USER_5 (31014) — \[from: [common](../messages/common.md#MAV_CMD_USER_5)\] {#MAV_CMD_USER_5}

### MAV_CMD_CAN_FORWARD (32000) — \[from: [common](../messages/common.md#MAV_CMD_CAN_FORWARD)\] {#MAV_CMD_CAN_FORWARD}

### MAV_CMD_POWER_OFF_INITIATED (42000) {#MAV_CMD_POWER_OFF_INITIATED}

A system wide power-off event has been initiated.

| Param (Label) | Description |
| ------------- | ----------- |
| 1             | Empty.      |
| 2             | Empty.      |
| 3             | Empty.      |
| 4             | Empty.      |
| 5             | Empty.      |
| 6             | Empty.      |
| 7             | Empty.      |

### MAV_CMD_SOLO_BTN_FLY_CLICK (42001) {#MAV_CMD_SOLO_BTN_FLY_CLICK}

FLY button has been clicked.

| Param (Label) | Description |
| ------------- | ----------- |
| 1             | Empty.      |
| 2             | Empty.      |
| 3             | Empty.      |
| 4             | Empty.      |
| 5             | Empty.      |
| 6             | Empty.      |
| 7             | Empty.      |

### MAV_CMD_SOLO_BTN_FLY_HOLD (42002) {#MAV_CMD_SOLO_BTN_FLY_HOLD}

FLY button has been held for 1.5 seconds.

| Param (Label)        | Description       | Units |
| -------------------- | ----------------- | ----- |
| 1 (Takeoff Altitude) | Takeoff altitude. | m     |
| 2                    | Empty.            |       |
| 3                    | Empty.            |       |
| 4                    | Empty.            |       |
| 5                    | Empty.            |       |
| 6                    | Empty.            |       |
| 7                    | Empty.            |       |

### MAV_CMD_SOLO_BTN_PAUSE_CLICK (42003) {#MAV_CMD_SOLO_BTN_PAUSE_CLICK}

PAUSE button has been clicked.

| Param (Label) | Description                               | Values               |
| ------------- | ----------------------------------------- | -------------------- |
| 1 (Shot Mode) | 1 if Solo is in a shot mode, 0 otherwise. | min: 0 max: 1 inc: 1 |
| 2             | Empty.                                    |                      |
| 3             | Empty.                                    |                      |
| 4             | Empty.                                    |                      |
| 5             | Empty.                                    |                      |
| 6             | Empty.                                    |                      |
| 7             | Empty.                                    |                      |

### MAV_CMD_FIXED_MAG_CAL (42004) {#MAV_CMD_FIXED_MAG_CAL}

Magnetometer calibration based on fixed position

in earth field given by inclination, declination and intensity.

| Param (Label)   | Description           | Units  |
| --------------- | --------------------- | ------ |
| 1 (Declination) | Magnetic declination. | deg    |
| 2 (Inclination) | Magnetic inclination. | deg    |
| 3 (Intensity)   | Magnetic intensity.   | mgauss |
| 4 (Yaw)         | Yaw.                  | deg    |
| 5               | Empty.                |        |
| 6               | Empty.                |        |
| 7               | Empty.                |        |

### MAV_CMD_FIXED_MAG_CAL_FIELD (42005) {#MAV_CMD_FIXED_MAG_CAL_FIELD}

Magnetometer calibration based on fixed expected field values.

| Param (Label) | Description       | Units  |
| ------------- | ----------------- | ------ |
| 1 (Field X)   | Field strength X. | mgauss |
| 2 (Field Y)   | Field strength Y. | mgauss |
| 3 (Field Z)   | Field strength Z. | mgauss |
| 4             | Empty.            |        |
| 5             | Empty.            |        |
| 6             | Empty.            |        |
| 7             | Empty.            |        |

### MAV_CMD_FIXED_MAG_CAL_YAW (42006) — \[from: [common](../messages/common.md#MAV_CMD_FIXED_MAG_CAL_YAW)\] {#MAV_CMD_FIXED_MAG_CAL_YAW}

### MAV_CMD_SET_EKF_SOURCE_SET (42007) {#MAV_CMD_SET_EKF_SOURCE_SET}

Set EKF sensor source set.

| Param (Label)   | Description    | Values               |
| --------------- | -------------- | -------------------- |
| 1 (SourceSetId) | Source Set Id. | min: 1 max: 3 inc: 1 |
| 2               | Empty.         |                      |
| 3               | Empty.         |                      |
| 4               | Empty.         |                      |
| 5               | Empty.         |                      |
| 6               | Empty.         |                      |
| 7               | Empty.         |                      |

### MAV_CMD_DO_START_MAG_CAL (42424) {#MAV_CMD_DO_START_MAG_CAL}

Initiate a magnetometer calibration.

| Param (Label)             | Description                                                                                                                                                                                                                                           | Values                 | Units |
| ------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------- | ----- |
| 1 (Magnetometers Bitmask) | Bitmask of magnetometers to calibrate. Use 0 to calibrate all sensors that can be started (sensors may not start if disabled, unhealthy, etc.). The command will NACK if calibration does not start for a sensor explicitly specified by the bitmask. | min: 0 max: 255 inc: 1 |       |
| 2 (Retry on Failure)      | Automatically retry on failure (0=no retry, 1=retry).                                                                                                                                                                                                 | min: 0 max: 1 inc: 1   |       |
| 3 (Autosave)              | Save without user input (0=require input, 1=autosave).                                                                                                                                                                                                | min: 0 max: 1 inc: 1   |       |
| 4 (Delay)                 | Delay.                                                                                                                                                                                                                                                |                        | s     |
| 5 (Autoreboot)            | Autoreboot (0=user reboot, 1=autoreboot).                                                                                                                                                                                                             | min: 0 max: 1 inc: 1   |       |
| 6                         | Empty.                                                                                                                                                                                                                                                |                        |       |
| 7                         | Empty.                                                                                                                                                                                                                                                |                        |       |

### MAV_CMD_DO_ACCEPT_MAG_CAL (42425) {#MAV_CMD_DO_ACCEPT_MAG_CAL}

Accept a magnetometer calibration.

| Param (Label)             | Description                                                          | Values                 |
| ------------------------- | -------------------------------------------------------------------- | ---------------------- |
| 1 (Magnetometers Bitmask) | Bitmask of magnetometers that calibration is accepted (0 means all). | min: 0 max: 255 inc: 1 |
| 2                         | Empty.                                                               |                        |
| 3                         | Empty.                                                               |                        |
| 4                         | Empty.                                                               |                        |
| 5                         | Empty.                                                               |                        |
| 6                         | Empty.                                                               |                        |
| 7                         | Empty.                                                               |                        |

### MAV_CMD_DO_CANCEL_MAG_CAL (42426) {#MAV_CMD_DO_CANCEL_MAG_CAL}

Cancel a running magnetometer calibration.

| Param (Label)             | Description                                                             | Values                 |
| ------------------------- | ----------------------------------------------------------------------- | ---------------------- |
| 1 (Magnetometers Bitmask) | Bitmask of magnetometers to cancel a running calibration (0 means all). | min: 0 max: 255 inc: 1 |
| 2                         | Empty.                                                                  |                        |
| 3                         | Empty.                                                                  |                        |
| 4                         | Empty.                                                                  |                        |
| 5                         | Empty.                                                                  |                        |
| 6                         | Empty.                                                                  |                        |
| 7                         | Empty.                                                                  |                        |

### MAV_CMD_SET_FACTORY_TEST_MODE (42427) {#MAV_CMD_SET_FACTORY_TEST_MODE}

Command autopilot to get into factory test/diagnostic mode.

| Param (Label) | Description                               | Values               |
| ------------- | ----------------------------------------- | -------------------- |
| 1 (Test Mode) | 0: activate test mode, 1: exit test mode. | min: 0 max: 1 inc: 1 |
| 2             | Empty.                                    |                      |
| 3             | Empty.                                    |                      |
| 4             | Empty.                                    |                      |
| 5             | Empty.                                    |                      |
| 6             | Empty.                                    |                      |
| 7             | Empty.                                    |                      |

### MAV_CMD_DO_SEND_BANNER (42428) {#MAV_CMD_DO_SEND_BANNER}

Reply with the version banner.

| Param (Label) | Description |
| ------------- | ----------- |
| 1             | Empty.      |
| 2             | Empty.      |
| 3             | Empty.      |
| 4             | Empty.      |
| 5             | Empty.      |
| 6             | Empty.      |
| 7             | Empty.      |

### MAV_CMD_ACCELCAL_VEHICLE_POS (42429) {#MAV_CMD_ACCELCAL_VEHICLE_POS}

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

| Param (Label) | Description | Values                                          |
| ------------- | ----------- | ----------------------------------------------- |
| 1 (Position)  | Position.   | [ACCELCAL_VEHICLE_POS](#ACCELCAL_VEHICLE_POS) |
| 2             | Empty.      |                                                 |
| 3             | Empty.      |                                                 |
| 4             | Empty.      |                                                 |
| 5             | Empty.      |                                                 |
| 6             | Empty.      |                                                 |
| 7             | Empty.      |                                                 |

### MAV_CMD_GIMBAL_RESET (42501) {#MAV_CMD_GIMBAL_RESET}

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

| Param (Label) | Description |
| ------------- | ----------- |
| 1             | Empty.      |
| 2             | Empty.      |
| 3             | Empty.      |
| 4             | Empty.      |
| 5             | Empty.      |
| 6             | Empty.      |
| 7             | Empty.      |

### MAV_CMD_GIMBAL_AXIS_CALIBRATION_STATUS (42502) {#MAV_CMD_GIMBAL_AXIS_CALIBRATION_STATUS}

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

| Param (Label) | Description                                           | Values                                                              | Units |
| ------------- | ----------------------------------------------------- | ------------------------------------------------------------------- | ----- |
| 1 (Axis)      | Gimbal axis we're reporting calibration progress for. | [GIMBAL_AXIS](#GIMBAL_AXIS)                                         |       |
| 2 (Progress)  | Current calibration progress for this axis.           | min: 0 max: 100                                                     | %     |
| 3 (Status)    | Status of the calibration.                            | [GIMBAL_AXIS_CALIBRATION_STATUS](#GIMBAL_AXIS_CALIBRATION_STATUS) |       |
| 4             | Empty.                                                |                                                                     |       |
| 5             | Empty.                                                |                                                                     |       |
| 6             | Empty.                                                |                                                                     |       |
| 7             | Empty.                                                |                                                                     |       |

### MAV_CMD_GIMBAL_REQUEST_AXIS_CALIBRATION (42503) {#MAV_CMD_GIMBAL_REQUEST_AXIS_CALIBRATION}

Starts commutation calibration on the gimbal.

| Param (Label) | Description |
| ------------- | ----------- |
| 1             | Empty.      |
| 2             | Empty.      |
| 3             | Empty.      |
| 4             | Empty.      |
| 5             | Empty.      |
| 6             | Empty.      |
| 7             | Empty.      |

### MAV_CMD_GIMBAL_FULL_RESET (42505) {#MAV_CMD_GIMBAL_FULL_RESET}

Erases gimbal application and parameters.

| Param (Label) | Description   |
| ------------- | ------------- |
| 1             | Magic number. |
| 2             | Magic number. |
| 3             | Magic number. |
| 4             | Magic number. |
| 5             | Magic number. |
| 6             | Magic number. |
| 7             | Magic number. |

### MAV_CMD_DO_WINCH (42600) — \[from: [common](../messages/common.md#MAV_CMD_DO_WINCH)\] {#MAV_CMD_DO_WINCH}

### MAV_CMD_FLASH_BOOTLOADER (42650) {#MAV_CMD_FLASH_BOOTLOADER}

Update the bootloader

| Param (Label)    | Description                                    | Values |
| ---------------- | ---------------------------------------------- | ------ |
| 1                | Empty                                          |        |
| 2                | Empty                                          |        |
| 3                | Empty                                          |        |
| 4                | Empty                                          |        |
| 5 (Magic Number) | Magic number - set to 290876 to actually flash | inc: 1 |
| 6                | Empty                                          |        |
| 7                | Empty                                          |        |

### MAV_CMD_BATTERY_RESET (42651) {#MAV_CMD_BATTERY_RESET}

Reset battery capacity for batteries that accumulate consumed battery via integration.

| Param (Label)    | Description                                                                    | Values                 |
| ---------------- | ------------------------------------------------------------------------------ | ---------------------- |
| 1 (battery mask) | Bitmask of batteries to reset. Least significant bit is for the first battery. |                        |
| 2 (percentage)   | Battery percentage remaining to set.                                           | min: 0 max: 100 inc: 1 |

### MAV_CMD_DEBUG_TRAP (42700) {#MAV_CMD_DEBUG_TRAP}

Issue a trap signal to the autopilot process, presumably to enter the debugger.

| Param (Label) | Description                                   |
| ------------- | --------------------------------------------- |
| 1             | Magic number - set to 32451 to actually trap. |
| 2             | Empty.                                        |
| 3             | Empty.                                        |
| 4             | Empty.                                        |
| 5             | Empty.                                        |
| 6             | Empty.                                        |
| 7             | Empty.                                        |

### MAV_CMD_SCRIPTING (42701) {#MAV_CMD_SCRIPTING}

Control onboard scripting.

| Param (Label) | Description                  | Values                          |
| ------------- | ---------------------------- | ------------------------------- |
| 1             | Scripting command to execute | [SCRIPTING_CMD](#SCRIPTING_CMD) |

### MAV_CMD_NAV_SCRIPT_TIME (42702) {#MAV_CMD_NAV_SCRIPT_TIME}

Scripting command as NAV command with wait for completion.

| Param (Label) | Description                                                        | Units |
| ------------- | ------------------------------------------------------------------ | ----- |
| 1 (command)   | integer command number (0 to 255)                                  |       |
| 2 (timeout)   | timeout for operation in seconds. Zero means no timeout (0 to 255) | s     |
| 3 (arg1)      | argument1.                                                         |       |
| 4 (arg2)      | argument2.                                                         |       |
| 5             | Empty                                                              |       |
| 6             | Empty                                                              |       |
| 7             | Empty                                                              |       |

### MAV_CMD_NAV_ATTITUDE_TIME (42703) {#MAV_CMD_NAV_ATTITUDE_TIME}

Maintain an attitude for a specified time.

| Param (Label)  | Description                                                              | Units |
| -------------- | ------------------------------------------------------------------------ | ----- |
| 1 (time)       | Time to maintain specified attitude and climb rate                       | s     |
| 2 (roll)       | Roll angle in degrees (positive is lean right, negative is lean left)    | deg   |
| 3 (pitch)      | Pitch angle in degrees (positive is lean back, negative is lean forward) | deg   |
| 4 (yaw)        | Yaw angle                                                                | deg   |
| 5 (climb_rate) | Climb rate                                                               | m/s   |
| 6              | Empty                                                                    |       |
| 7              | Empty                                                                    |       |

### MAV_CMD_GUIDED_CHANGE_SPEED (43000) {#MAV_CMD_GUIDED_CHANGE_SPEED}

Change flight speed at a given rate. This slews the vehicle at a controllable rate between it's previous speed and the new one. (affects GUIDED only. Outside GUIDED, aircraft ignores these commands. Designed for onboard companion-computer command-and-control, not normally operator/GCS control.)

| Param (Label)            | Description                                   | Values                    | Units |
| ------------------------ | --------------------------------------------- | ------------------------- | ----- |
| 1 (speed type)           | Airspeed or groundspeed.                      | [SPEED_TYPE](#SPEED_TYPE) |       |
| 2 (speed target)         | Target Speed                                  |                           | m/s   |
| 3 (speed rate-of-change) | Acceleration rate, 0 to take effect instantly |                           | m/s/s |
| 4                        | Empty                                         |                           |       |
| 5                        | Empty                                         |                           |       |
| 6                        | Empty                                         |                           |       |
| 7                        | Empty                                         |                           |       |

### MAV_CMD_GUIDED_CHANGE_ALTITUDE (43001) {#MAV_CMD_GUIDED_CHANGE_ALTITUDE}

Change target altitude at a given rate. This slews the vehicle at a controllable rate between it's previous altitude and the new one. (affects GUIDED only. Outside GUIDED, aircraft ignores these commands. Designed for onboard companion-computer command-and-control, not normally operator/GCS control.)

| Param (Label)          | Description                                                                                                                                         | Values | Units |
| ---------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------- | ------ | ----- |
| 1                      | Empty                                                                                                                                               |        |       |
| 2                      | Empty                                                                                                                                               |        |       |
| 3 (alt rate-of-change) | Rate of change, toward new altitude. 0 for maximum rate change. Positive numbers only, as negative numbers will not converge on the new target alt. | min: 0 | m/s/s |
| 4                      | Empty                                                                                                                                               |        |       |
| 5                      | Empty                                                                                                                                               |        |       |
| 6                      | Empty                                                                                                                                               |        |       |
| 7 (target alt)         | Target Altitude                                                                                                                                     |        | m     |

### MAV_CMD_GUIDED_CHANGE_HEADING (43002) {#MAV_CMD_GUIDED_CHANGE_HEADING}

Change to target heading at a given rate, overriding previous heading/s. This slews the vehicle at a controllable rate between it's previous heading and the new one. (affects GUIDED only. Exiting GUIDED returns aircraft to normal behaviour defined elsewhere. Designed for onboard companion-computer command-and-control, not normally operator/GCS control.)

| Param (Label)              | Description                                                               | Values                        | Units |
| -------------------------- | ------------------------------------------------------------------------- | ----------------------------- | ----- |
| 1 (heading type)           | course-over-ground or raw vehicle heading.                                | [HEADING_TYPE](#HEADING_TYPE) |       |
| 2 (heading target)         | Target heading.                                                           | min: 0 max: 359.99            | deg   |
| 3 (heading rate-of-change) | Maximum centripetal accelearation, ie rate of change, toward new heading. |                               | m/s/s |
| 4                          | Empty                                                                     |                               |       |
| 5                          | Empty                                                                     |                               |       |
| 6                          | Empty                                                                     |                               |       |
| 7                          | Empty                                                                     |                               |       |

### MAV_CMD_EXTERNAL_POSITION_ESTIMATE (43003) — \[from: [common](../messages/common.md#MAV_CMD_EXTERNAL_POSITION_ESTIMATE)\] {#MAV_CMD_EXTERNAL_POSITION_ESTIMATE}