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MAVLink messages update Thu Sep 18 23:03:22 UTC 2025

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2025-09-18 23:03:22 +00:00
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2 changed files with 21 additions and 6 deletions
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en/messages/common.md
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@@ -37,7 +37,7 @@ span.warning {
Type | Defined | Included
--- | --- | ---
[Messages](#messages) | 226 | 3
[Messages](#messages) | 225 | 4
[Enums](#enumerated-types) | 140 | 9
[Commands](#mav_commands) | 165 | 0
@@ -380,11 +380,9 @@ vy | `float` | m/s | Y Speed
vz | `float` | m/s | Z Speed
### GLOBAL_POSITION_INT (33) {#GLOBAL_POSITION_INT}
### GLOBAL_POSITION_INT (33) — \[from: [standard](../messages/standard.md#GLOBAL_POSITION_INT)\] {#GLOBAL_POSITION_INT}
The filtered global position (e.g. fused GPS and accelerometers). The position is in GPS-frame (right-handed, Z-up). It
is designed as scaled integer message since the resolution of float is not sufficient.
The filtered global position (e.g. fused GPS and accelerometers). The position is in GPS-frame (right-handed, Z-up). It is designed as scaled integer message since the resolution of float is not sufficient.
Field Name | Type | Units | Description
--- | --- | --- | ---
en/messages/standard.md
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@@ -34,7 +34,7 @@ span.warning {
Type | Defined | Included
--- | --- | ---
[Messages](#messages) | 1 | 2
[Messages](#messages) | 2 | 2
[Enums](#enumerated-types) | 3 | 6
Commands | 0 | 0
@@ -42,6 +42,23 @@ The following sections list all entities in the dialect (both included and defin
## Messages
### GLOBAL_POSITION_INT (33) {#GLOBAL_POSITION_INT}
The filtered global position (e.g. fused GPS and accelerometers). The position is in GPS-frame (right-handed, Z-up). It is designed as scaled integer message since the resolution of float is not sufficient.
Field Name | Type | Units | Description
--- | --- | --- | ---
time_boot_ms | `uint32_t` | ms | Timestamp (time since system boot).
lat | `int32_t` | degE7 | Latitude, expressed
lon | `int32_t` | degE7 | Longitude, expressed
alt | `int32_t` | mm | Altitude (MSL). Note that virtually all GPS modules provide both WGS84 and MSL.
relative_alt | `int32_t` | mm | Altitude above home
vx | `int16_t` | cm/s | Ground X Speed (Latitude, positive north)
vy | `int16_t` | cm/s | Ground Y Speed (Longitude, positive east)
vz | `int16_t` | cm/s | Ground Z Speed (Altitude, positive down)
hdg | `uint16_t` | cdeg | Vehicle heading (yaw angle), 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
### AUTOPILOT_VERSION (148) {#AUTOPILOT_VERSION}
Version and capability of autopilot software. This should be emitted in response to a request with [MAV_CMD_REQUEST_MESSAGE](#MAV_CMD_REQUEST_MESSAGE).