mavlink-devguide/en/messages/AVSSUAS.md

Dialect: AVSSUAS

Warning

This topic documents the version of the dialect file in the mavlink/mavlink Github repository, which may not be up to date with the file in the source repository (it is up to the dialect owner to push changes when needed). The source repo should be listed in the comments at the top of the XML definition file listed below (but may not be).

This topic is a human-readable form of the XML definition file: AVSSUAS.xml.

Note

• MAVLink 2 extension fields 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: 1

Protocol version: 2

MAVLink Include Files

• common.xml

Summary

Type	Defined	Included
Messages	4	226
Enums	3	144
Commands	171	0

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

Messages

AVSS_PRS_SYS_STATUS (60050)

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)

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)

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)

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

Enumerated Types

MAV_AVSS_COMMAND_FAILURE_REASON

Value	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

Value	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

Value	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

Commands (MAV_CMD)

MAV_CMD_PRS_SET_ARM (60050)

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)

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)

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)

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)

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)

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)

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