MAVLink Include Files: common.xml

## MAVLink Type Enumerations

### MAV_PREFLIGHT_STORAGE_ACTION

[Enum] Action required when performing CMD_PREFLIGHT_STORAGE

Value | Field Name | Description
--- | --- | ---
0 | MAV_PFS_CMD_READ_ALL | Read all parameters from storage
1 | MAV_PFS_CMD_WRITE_ALL | Write all parameters to storage
2 | MAV_PFS_CMD_CLEAR_ALL | Clear all parameters in storage
3 | MAV_PFS_CMD_READ_SPECIFIC | Read specific parameters from storage
4 | MAV_PFS_CMD_WRITE_SPECIFIC | Write specific parameters to storage
5 | MAV_PFS_CMD_CLEAR_SPECIFIC | Clear specific parameters in storage
6 | MAV_PFS_CMD_DO_NOTHING | do nothing

## MAVLink Commands (MAV_CMD)

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

### MAV_CMD_PREFLIGHT_STORAGE_ADVANCED (0 )

[Command] Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode.

Param (:Label) | Description
--- | ---
1 | Storage action: Action defined by MAV_PREFLIGHT_STORAGE_ACTION_ADVANCED
2 | Storage area as defined by parameter database
3 | Storage flags as defined by parameter database
4 | Empty
5 | Empty
6 | Empty
7 | Empty

## MAVLink Messages

### FLEXIFUNCTION_SET ( #150 )

[Message] Depreciated but used as a compiler flag. Do not remove

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

### FLEXIFUNCTION_READ_REQ ( #151 )

[Message] Request reading of flexifunction data

Field Name | Type | Description
--- | --- | ---
target_system | uint8_t | System ID
target_component | uint8_t | Component ID
read_req_type | int16_t | Type of flexifunction data requested
data_index | int16_t | index into data where needed

### FLEXIFUNCTION_BUFFER_FUNCTION ( #152 )

[Message] Flexifunction type and parameters for component at function index from buffer

Field Name | Type | Description
--- | --- | ---
target_system | uint8_t | System ID
target_component | uint8_t | Component ID
func_index | uint16_t | Function index
func_count | uint16_t | Total count of functions
data_address | uint16_t | Address in the flexifunction data, Set to 0xFFFF to use address in target memory
data_size | uint16_t | Size of the
data | int8_t[48] | Settings data

### FLEXIFUNCTION_BUFFER_FUNCTION_ACK ( #153 )

[Message] Flexifunction type and parameters for component at function index from buffer

Field Name | Type | Description
--- | --- | ---
target_system | uint8_t | System ID
target_component | uint8_t | Component ID
func_index | uint16_t | Function index
result | uint16_t | result of acknowledge, 0=fail, 1=good

### FLEXIFUNCTION_DIRECTORY ( #155 )

[Message] Acknowldge success or failure of a flexifunction command

Field Name | Type | Description
--- | --- | ---
target_system | uint8_t | System ID
target_component | uint8_t | Component ID
directory_type | uint8_t | 0=inputs, 1=outputs
start_index | uint8_t | index of first directory entry to write
count | uint8_t | count of directory entries to write
directory_data | int8_t[48] | Settings data

### FLEXIFUNCTION_DIRECTORY_ACK ( #156 )

[Message] Acknowldge success or failure of a flexifunction command

Field Name | Type | Description
--- | --- | ---
target_system | uint8_t | System ID
target_component | uint8_t | Component ID
directory_type | uint8_t | 0=inputs, 1=outputs
start_index | uint8_t | index of first directory entry to write
count | uint8_t | count of directory entries to write
result | uint16_t | result of acknowledge, 0=fail, 1=good

### FLEXIFUNCTION_COMMAND ( #157 )

[Message] Acknowldge success or failure of a flexifunction command

Field Name | Type | Description
--- | --- | ---
target_system | uint8_t | System ID
target_component | uint8_t | Component ID
command_type | uint8_t | Flexifunction command type

### FLEXIFUNCTION_COMMAND_ACK ( #158 )

[Message] Acknowldge success or failure of a flexifunction command

Field Name | Type | Description
--- | --- | ---
command_type | uint16_t | Command acknowledged
result | uint16_t | result of acknowledge

### SERIAL_UDB_EXTRA_F2_A ( #170 )

[Message] Backwards compatible MAVLink version of SERIAL_UDB_EXTRA - F2: Format Part A

Field Name | Type | Description
--- | --- | ---
sue_time | uint32_t | Serial UDB Extra Time
sue_status | uint8_t | Serial UDB Extra Status
sue_latitude | int32_t | Serial UDB Extra Latitude
sue_longitude | int32_t | Serial UDB Extra Longitude
sue_altitude | int32_t | Serial UDB Extra Altitude
sue_waypoint_index | uint16_t | Serial UDB Extra Waypoint Index
sue_rmat0 | int16_t | Serial UDB Extra Rmat 0
sue_rmat1 | int16_t | Serial UDB Extra Rmat 1
sue_rmat2 | int16_t | Serial UDB Extra Rmat 2
sue_rmat3 | int16_t | Serial UDB Extra Rmat 3
sue_rmat4 | int16_t | Serial UDB Extra Rmat 4
sue_rmat5 | int16_t | Serial UDB Extra Rmat 5
sue_rmat6 | int16_t | Serial UDB Extra Rmat 6
sue_rmat7 | int16_t | Serial UDB Extra Rmat 7
sue_rmat8 | int16_t | Serial UDB Extra Rmat 8
sue_cog | uint16_t | Serial UDB Extra GPS Course Over Ground
sue_sog | int16_t | Serial UDB Extra Speed Over Ground
sue_cpu_load | uint16_t | Serial UDB Extra CPU Load
sue_air_speed_3DIMU | uint16_t | Serial UDB Extra 3D IMU Air Speed
sue_estimated_wind_0 | int16_t | Serial UDB Extra Estimated Wind 0
sue_estimated_wind_1 | int16_t | Serial UDB Extra Estimated Wind 1
sue_estimated_wind_2 | int16_t | Serial UDB Extra Estimated Wind 2
sue_magFieldEarth0 | int16_t | Serial UDB Extra Magnetic Field Earth 0
sue_magFieldEarth1 | int16_t | Serial UDB Extra Magnetic Field Earth 1
sue_magFieldEarth2 | int16_t | Serial UDB Extra Magnetic Field Earth 2
sue_svs | int16_t | Serial UDB Extra Number of Satellites in View
sue_hdop | int16_t | Serial UDB Extra GPS Horizontal Dilution of Precision

### SERIAL_UDB_EXTRA_F2_B ( #171 )

[Message] Backwards compatible version of SERIAL_UDB_EXTRA - F2: Part B

Field Name | Type | Description
--- | --- | ---
sue_time | uint32_t | Serial UDB Extra Time
sue_pwm_input_1 | int16_t | Serial UDB Extra PWM Input Channel 1
sue_pwm_input_2 | int16_t | Serial UDB Extra PWM Input Channel 2
sue_pwm_input_3 | int16_t | Serial UDB Extra PWM Input Channel 3
sue_pwm_input_4 | int16_t | Serial UDB Extra PWM Input Channel 4
sue_pwm_input_5 | int16_t | Serial UDB Extra PWM Input Channel 5
sue_pwm_input_6 | int16_t | Serial UDB Extra PWM Input Channel 6
sue_pwm_input_7 | int16_t | Serial UDB Extra PWM Input Channel 7
sue_pwm_input_8 | int16_t | Serial UDB Extra PWM Input Channel 8
sue_pwm_input_9 | int16_t | Serial UDB Extra PWM Input Channel 9
sue_pwm_input_10 | int16_t | Serial UDB Extra PWM Input Channel 10
sue_pwm_input_11 | int16_t | Serial UDB Extra PWM Input Channel 11
sue_pwm_input_12 | int16_t | Serial UDB Extra PWM Input Channel 12
sue_pwm_output_1 | int16_t | Serial UDB Extra PWM Output Channel 1
sue_pwm_output_2 | int16_t | Serial UDB Extra PWM Output Channel 2
sue_pwm_output_3 | int16_t | Serial UDB Extra PWM Output Channel 3
sue_pwm_output_4 | int16_t | Serial UDB Extra PWM Output Channel 4
sue_pwm_output_5 | int16_t | Serial UDB Extra PWM Output Channel 5
sue_pwm_output_6 | int16_t | Serial UDB Extra PWM Output Channel 6
sue_pwm_output_7 | int16_t | Serial UDB Extra PWM Output Channel 7
sue_pwm_output_8 | int16_t | Serial UDB Extra PWM Output Channel 8
sue_pwm_output_9 | int16_t | Serial UDB Extra PWM Output Channel 9
sue_pwm_output_10 | int16_t | Serial UDB Extra PWM Output Channel 10
sue_pwm_output_11 | int16_t | Serial UDB Extra PWM Output Channel 11
sue_pwm_output_12 | int16_t | Serial UDB Extra PWM Output Channel 12
sue_imu_location_x | int16_t | Serial UDB Extra IMU Location X
sue_imu_location_y | int16_t | Serial UDB Extra IMU Location Y
sue_imu_location_z | int16_t | Serial UDB Extra IMU Location Z
sue_location_error_earth_x | int16_t | Serial UDB Location Error Earth X
sue_location_error_earth_y | int16_t | Serial UDB Location Error Earth Y
sue_location_error_earth_z | int16_t | Serial UDB Location Error Earth Z
sue_flags | uint32_t | Serial UDB Extra Status Flags
sue_osc_fails | int16_t | Serial UDB Extra Oscillator Failure Count
sue_imu_velocity_x | int16_t | Serial UDB Extra IMU Velocity X
sue_imu_velocity_y | int16_t | Serial UDB Extra IMU Velocity Y
sue_imu_velocity_z | int16_t | Serial UDB Extra IMU Velocity Z
sue_waypoint_goal_x | int16_t | Serial UDB Extra Current Waypoint Goal X
sue_waypoint_goal_y | int16_t | Serial UDB Extra Current Waypoint Goal Y
sue_waypoint_goal_z | int16_t | Serial UDB Extra Current Waypoint Goal Z
sue_aero_x | int16_t | Aeroforce in UDB X Axis
sue_aero_y | int16_t | Aeroforce in UDB Y Axis
sue_aero_z | int16_t | Aeroforce in UDB Z axis
sue_barom_temp | int16_t | SUE barometer temperature
sue_barom_press | int32_t | SUE barometer pressure
sue_barom_alt | int32_t | SUE barometer altitude
sue_bat_volt | int16_t | SUE battery voltage
sue_bat_amp | int16_t | SUE battery current
sue_bat_amp_hours | int16_t | SUE battery milli amp hours used
sue_desired_height | int16_t | Sue autopilot desired height
sue_memory_stack_free | int16_t | Serial UDB Extra Stack Memory Free

### SERIAL_UDB_EXTRA_F4 ( #172 )

[Message] Backwards compatible version of SERIAL_UDB_EXTRA F4: format

Field Name | Type | Description
--- | --- | ---
sue_ROLL_STABILIZATION_AILERONS | uint8_t | Serial UDB Extra Roll Stabilization with Ailerons Enabled
sue_ROLL_STABILIZATION_RUDDER | uint8_t | Serial UDB Extra Roll Stabilization with Rudder Enabled
sue_PITCH_STABILIZATION | uint8_t | Serial UDB Extra Pitch Stabilization Enabled
sue_YAW_STABILIZATION_RUDDER | uint8_t | Serial UDB Extra Yaw Stabilization using Rudder Enabled
sue_YAW_STABILIZATION_AILERON | uint8_t | Serial UDB Extra Yaw Stabilization using Ailerons Enabled
sue_AILERON_NAVIGATION | uint8_t | Serial UDB Extra Navigation with Ailerons Enabled
sue_RUDDER_NAVIGATION | uint8_t | Serial UDB Extra Navigation with Rudder Enabled
sue_ALTITUDEHOLD_STABILIZED | uint8_t | Serial UDB Extra Type of Alitude Hold when in Stabilized Mode
sue_ALTITUDEHOLD_WAYPOINT | uint8_t | Serial UDB Extra Type of Alitude Hold when in Waypoint Mode
sue_RACING_MODE | uint8_t | Serial UDB Extra Firmware racing mode enabled

### SERIAL_UDB_EXTRA_F5 ( #173 )

[Message] Backwards compatible version of SERIAL_UDB_EXTRA F5: format

Field Name | Type | Description
--- | --- | ---
sue_YAWKP_AILERON | float | Serial UDB YAWKP_AILERON Gain for Proporional control of navigation
sue_YAWKD_AILERON | float | Serial UDB YAWKD_AILERON Gain for Rate control of navigation
sue_ROLLKP | float | Serial UDB Extra ROLLKP Gain for Proportional control of roll stabilization
sue_ROLLKD | float | Serial UDB Extra ROLLKD Gain for Rate control of roll stabilization

### SERIAL_UDB_EXTRA_F6 ( #174 )

[Message] Backwards compatible version of SERIAL_UDB_EXTRA F6: format

Field Name | Type | Description
--- | --- | ---
sue_PITCHGAIN | float | Serial UDB Extra PITCHGAIN Proportional Control
sue_PITCHKD | float | Serial UDB Extra Pitch Rate Control
sue_RUDDER_ELEV_MIX | float | Serial UDB Extra Rudder to Elevator Mix
sue_ROLL_ELEV_MIX | float | Serial UDB Extra Roll to Elevator Mix
sue_ELEVATOR_BOOST | float | Gain For Boosting Manual Elevator control When Plane Stabilized

### SERIAL_UDB_EXTRA_F7 ( #175 )

[Message] Backwards compatible version of SERIAL_UDB_EXTRA F7: format

Field Name | Type | Description
--- | --- | ---
sue_YAWKP_RUDDER | float | Serial UDB YAWKP_RUDDER Gain for Proporional control of navigation
sue_YAWKD_RUDDER | float | Serial UDB YAWKD_RUDDER Gain for Rate control of navigation
sue_ROLLKP_RUDDER | float | Serial UDB Extra ROLLKP_RUDDER Gain for Proportional control of roll stabilization
sue_ROLLKD_RUDDER | float | Serial UDB Extra ROLLKD_RUDDER Gain for Rate control of roll stabilization
sue_RUDDER_BOOST | float | SERIAL UDB EXTRA Rudder Boost Gain to Manual Control when stabilized
sue_RTL_PITCH_DOWN | float | Serial UDB Extra Return To Landing - Angle to Pitch Plane Down

### SERIAL_UDB_EXTRA_F8 ( #176 )

[Message] Backwards compatible version of SERIAL_UDB_EXTRA F8: format

Field Name | Type | Description
--- | --- | ---
sue_HEIGHT_TARGET_MAX | float | Serial UDB Extra HEIGHT_TARGET_MAX
sue_HEIGHT_TARGET_MIN | float | Serial UDB Extra HEIGHT_TARGET_MIN
sue_ALT_HOLD_THROTTLE_MIN | float | Serial UDB Extra ALT_HOLD_THROTTLE_MIN
sue_ALT_HOLD_THROTTLE_MAX | float | Serial UDB Extra ALT_HOLD_THROTTLE_MAX
sue_ALT_HOLD_PITCH_MIN | float | Serial UDB Extra ALT_HOLD_PITCH_MIN
sue_ALT_HOLD_PITCH_MAX | float | Serial UDB Extra ALT_HOLD_PITCH_MAX
sue_ALT_HOLD_PITCH_HIGH | float | Serial UDB Extra ALT_HOLD_PITCH_HIGH

### SERIAL_UDB_EXTRA_F13 ( #177 )

[Message] Backwards compatible version of SERIAL_UDB_EXTRA F13: format

Field Name | Type | Description
--- | --- | ---
sue_week_no | int16_t | Serial UDB Extra GPS Week Number
sue_lat_origin | int32_t | Serial UDB Extra MP Origin Latitude
sue_lon_origin | int32_t | Serial UDB Extra MP Origin Longitude
sue_alt_origin | int32_t | Serial UDB Extra MP Origin Altitude Above Sea Level

### SERIAL_UDB_EXTRA_F14 ( #178 )

[Message] Backwards compatible version of SERIAL_UDB_EXTRA F14: format

Field Name | Type | Description
--- | --- | ---
sue_WIND_ESTIMATION | uint8_t | Serial UDB Extra Wind Estimation Enabled
sue_GPS_TYPE | uint8_t | Serial UDB Extra Type of GPS Unit
sue_DR | uint8_t | Serial UDB Extra Dead Reckoning Enabled
sue_BOARD_TYPE | uint8_t | Serial UDB Extra Type of UDB Hardware
sue_AIRFRAME | uint8_t | Serial UDB Extra Type of Airframe
sue_RCON | int16_t | Serial UDB Extra Reboot Register of DSPIC
sue_TRAP_FLAGS | int16_t | Serial UDB Extra Last dspic Trap Flags
sue_TRAP_SOURCE | uint32_t | Serial UDB Extra Type Program Address of Last Trap
sue_osc_fail_count | int16_t | Serial UDB Extra Number of Ocillator Failures
sue_CLOCK_CONFIG | uint8_t | Serial UDB Extra UDB Internal Clock Configuration
sue_FLIGHT_PLAN_TYPE | uint8_t | Serial UDB Extra Type of Flight Plan

### SERIAL_UDB_EXTRA_F15 ( #179 )

[Message] Backwards compatible version of SERIAL_UDB_EXTRA F15 format

Field Name | Type | Description
--- | --- | ---
sue_ID_VEHICLE_MODEL_NAME | uint8_t[40] | Serial UDB Extra Model Name Of Vehicle
sue_ID_VEHICLE_REGISTRATION | uint8_t[20] | Serial UDB Extra Registraton Number of Vehicle

### SERIAL_UDB_EXTRA_F16 ( #180 )

[Message] Backwards compatible version of SERIAL_UDB_EXTRA F16 format

Field Name | Type | Description
--- | --- | ---
sue_ID_LEAD_PILOT | uint8_t[40] | Serial UDB Extra Name of Expected Lead Pilot
sue_ID_DIY_DRONES_URL | uint8_t[70] | Serial UDB Extra URL of Lead Pilot or Team

### ALTITUDES ( #181 )

[Message] The altitude measured by sensors and IMU

Field Name | Type | Description
--- | --- | ---
time_boot_ms | uint32_t | Timestamp (milliseconds since system boot)
alt_gps | int32_t | GPS altitude (MSL) in meters, expressed as * 1000 (millimeters)
alt_imu | int32_t | IMU altitude above ground in meters, expressed as * 1000 (millimeters)
alt_barometric | int32_t | barometeric altitude above ground in meters, expressed as * 1000 (millimeters)
alt_optical_flow | int32_t | Optical flow altitude above ground in meters, expressed as * 1000 (millimeters)
alt_range_finder | int32_t | Rangefinder Altitude above ground in meters, expressed as * 1000 (millimeters)
alt_extra | int32_t | Extra altitude above ground in meters, expressed as * 1000 (millimeters)

### AIRSPEEDS ( #182 )

[Message] The airspeed measured by sensors and IMU

Field Name | Type | Description
--- | --- | ---
time_boot_ms | uint32_t | Timestamp (milliseconds since system boot)
airspeed_imu | int16_t | Airspeed estimate from IMU, cm/s
airspeed_pitot | int16_t | Pitot measured forward airpseed, cm/s
airspeed_hot_wire | int16_t | Hot wire anenometer measured airspeed, cm/s
airspeed_ultrasonic | int16_t | Ultrasonic measured airspeed, cm/s
aoa | int16_t | Angle of attack sensor, degrees * 10
aoy | int16_t | Yaw angle sensor, degrees * 10

### SERIAL_UDB_EXTRA_F17 ( #183 )

[Message] Backwards compatible version of SERIAL_UDB_EXTRA F17 format

Field Name | Type | Description
--- | --- | ---
sue_feed_forward | float | SUE Feed Forward Gain
sue_turn_rate_nav | float | SUE Max Turn Rate when Navigating
sue_turn_rate_fbw | float | SUE Max Turn Rate in Fly By Wire Mode

### SERIAL_UDB_EXTRA_F18 ( #184 )

[Message] Backwards compatible version of SERIAL_UDB_EXTRA F18 format

Field Name | Type | Description
--- | --- | ---
angle_of_attack_normal | float | SUE Angle of Attack Normal
angle_of_attack_inverted | float | SUE Angle of Attack Inverted
elevator_trim_normal | float | SUE Elevator Trim Normal
elevator_trim_inverted | float | SUE Elevator Trim Inverted
reference_speed | float | SUE reference_speed

### SERIAL_UDB_EXTRA_F19 ( #185 )

[Message] Backwards compatible version of SERIAL_UDB_EXTRA F19 format

Field Name | Type | Description
--- | --- | ---
sue_aileron_output_channel | uint8_t | SUE aileron output channel
sue_aileron_reversed | uint8_t | SUE aileron reversed
sue_elevator_output_channel | uint8_t | SUE elevator output channel
sue_elevator_reversed | uint8_t | SUE elevator reversed
sue_throttle_output_channel | uint8_t | SUE throttle output channel
sue_throttle_reversed | uint8_t | SUE throttle reversed
sue_rudder_output_channel | uint8_t | SUE rudder output channel
sue_rudder_reversed | uint8_t | SUE rudder reversed

### SERIAL_UDB_EXTRA_F20 ( #186 )

[Message] Backwards compatible version of SERIAL_UDB_EXTRA F20 format

Field Name | Type | Description
--- | --- | ---
sue_number_of_inputs | uint8_t | SUE Number of Input Channels
sue_trim_value_input_1 | int16_t | SUE UDB PWM Trim Value on Input 1
sue_trim_value_input_2 | int16_t | SUE UDB PWM Trim Value on Input 2
sue_trim_value_input_3 | int16_t | SUE UDB PWM Trim Value on Input 3
sue_trim_value_input_4 | int16_t | SUE UDB PWM Trim Value on Input 4
sue_trim_value_input_5 | int16_t | SUE UDB PWM Trim Value on Input 5
sue_trim_value_input_6 | int16_t | SUE UDB PWM Trim Value on Input 6
sue_trim_value_input_7 | int16_t | SUE UDB PWM Trim Value on Input 7
sue_trim_value_input_8 | int16_t | SUE UDB PWM Trim Value on Input 8
sue_trim_value_input_9 | int16_t | SUE UDB PWM Trim Value on Input 9
sue_trim_value_input_10 | int16_t | SUE UDB PWM Trim Value on Input 10
sue_trim_value_input_11 | int16_t | SUE UDB PWM Trim Value on Input 11
sue_trim_value_input_12 | int16_t | SUE UDB PWM Trim Value on Input 12

### SERIAL_UDB_EXTRA_F21 ( #187 )

[Message] Backwards compatible version of SERIAL_UDB_EXTRA F21 format

Field Name | Type | Description
--- | --- | ---
sue_accel_x_offset | int16_t | SUE X accelerometer offset
sue_accel_y_offset | int16_t | SUE Y accelerometer offset
sue_accel_z_offset | int16_t | SUE Z accelerometer offset
sue_gyro_x_offset | int16_t | SUE X gyro offset
sue_gyro_y_offset | int16_t | SUE Y gyro offset
sue_gyro_z_offset | int16_t | SUE Z gyro offset

### SERIAL_UDB_EXTRA_F22 ( #188 )

[Message] Backwards compatible version of SERIAL_UDB_EXTRA F22 format

Field Name | Type | Description
--- | --- | ---
sue_accel_x_at_calibration | int16_t | SUE X accelerometer at calibration time
sue_accel_y_at_calibration | int16_t | SUE Y accelerometer at calibration time
sue_accel_z_at_calibration | int16_t | SUE Z accelerometer at calibration time
sue_gyro_x_at_calibration | int16_t | SUE X gyro at calibration time
sue_gyro_y_at_calibration | int16_t | SUE Y gyro at calibration time
sue_gyro_z_at_calibration | int16_t | SUE Z gyro at calibration time