MAVLink Include Files: common.xml

## MAVLink Protocol Version

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

This file has protocol dialect: 1.

## MAVLink Type Enumerations

### MAV_AVSS_COMMAND_FAILURE_REASON

[Enum]

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

### AVSS_M300_OPERATION_MODE

[Enum]

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

### AVSS_HORSEFLY_OPERATION_MODE

[Enum]

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

## MAVLink Commands (MAV_CMD)

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

### MAV_CMD_PRS_SET_ARM (60050 )

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

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

### MAV_CMD_PRS_GET_ARM (60051 )

[Command] AVSS defined command. Gets PRS arm statuses

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

### MAV_CMD_PRS_GET_BATTERY (60052 )

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

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

### MAV_CMD_PRS_GET_ERR (60053 )

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

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

### MAV_CMD_PRS_SET_ARM_ALTI (60070 )

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

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

### MAV_CMD_PRS_GET_ARM_ALTI (60071 )

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

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

### MAV_CMD_PRS_SHUTDOWN (60072 )

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

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

## MAVLink Messages

### AVSS_PRS_SYS_STATUS ( #60050 )

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

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

### AVSS_DRONE_POSITION ( #60051 )

[Message] (MAVLink 2) Drone position.

Field Name | Type | Units | Description
--- | --- | --- | ---
time_boot_ms | uint32_t | ms | Timestamp (time since FC boot).
lat | int32_t | degE7 | Latitude, expressed
lon | int32_t | degE7 | Longitude, expressed
alt | int32_t | mm | Altitude (MSL). Note that virtually all GPS modules provide both WGS84 and MSL.
ground_alt | float | m | Altitude above ground, This altitude is measured by a ultrasound, Laser rangefinder or millimeter-wave radar
barometer_alt | float | m | This altitude is measured by a barometer

### AVSS_DRONE_IMU ( #60052 )

[Message] (MAVLink 2) Drone IMU data. Quaternion order is w, x, y, z and a zero rotation would be expressed as (1 0 0 0).

Field Name | Type | Units | Description
--- | --- | --- | ---
time_boot_ms | uint32_t | ms | Timestamp (time since FC boot).
q1 | float |  | Quaternion component 1, w (1 in null-rotation)
q2 | float |  | Quaternion component 2, x (0 in null-rotation)
q3 | float |  | Quaternion component 3, y (0 in null-rotation)
q4 | float |  | Quaternion component 4, z (0 in null-rotation)
xacc | float | m/s/s | X acceleration
yacc | float | m/s/s | Y acceleration
zacc | float | m/s/s | Z acceleration
xgyro | float | rad/s | Angular speed around X axis
ygyro | float | rad/s | Angular speed around Y axis
zgyro | float | rad/s | Angular speed around Z axis

### AVSS_DRONE_OPERATION_MODE ( #60053 )

[Message] (MAVLink 2) Drone operation mode.

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