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MAVLINK ArduPilotMega Message Set

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

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

Warning

The ArduPilot MAVLink fork of ardupilotmega.xml may contain messages that have not yet been merged into this documentation.

Note

MAVLink 2 messages have an ID > 255 and are marked up using (MAVLink 2) in their description.

Note

MAVLink 2 extension fields that have been added to MAVLink 1 messages are displayed in blue.

<html>

MAVLink Include Files: common.xml

MAVLink Include Files: uAvionix.xml

MAVLink Include Files: icarous.xml

This file has protocol dialect: 2.

MAVLink Type Enumerations

ACCELCAL_VEHICLE_POS

CMD ID	Field Name	Description
1	ACCELCAL_VEHICLE_POS_LEVEL
2	ACCELCAL_VEHICLE_POS_LEFT
3	ACCELCAL_VEHICLE_POS_RIGHT
4	ACCELCAL_VEHICLE_POS_NOSEDOWN
5	ACCELCAL_VEHICLE_POS_NOSEUP
6	ACCELCAL_VEHICLE_POS_BACK
16777215	ACCELCAL_VEHICLE_POS_SUCCESS
16777216	ACCELCAL_VEHICLE_POS_FAILED

MAV_CMD

CMD ID	Field Name	Description
211	MAV_CMD_DO_GRIPPER	Mission command to operate EPM gripper

	Mission Param #1	gripper number (a number from 1 to max number of grippers on the vehicle)
	Mission Param #2	gripper action (0=release, 1=grab. See GRIPPER_ACTIONS enum)
	Mission Param #3	Empty
	Mission Param #4	Empty
	Mission Param #5	Empty
	Mission Param #6	Empty
	Mission Param #7	Empty

212	MAV_CMD_DO_AUTOTUNE_ENABLE	Enable/disable autotune

	Mission Param #1	enable (1: enable, 0:disable)
	Mission Param #2	Empty
	Mission Param #3	Empty
	Mission Param #4	Empty
	Mission Param #5	Empty
	Mission Param #6	Empty
	Mission Param #7	Empty

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.

	Mission Param #1	altitude (m)
	Mission Param #2	descent speed (m/s)
	Mission Param #3	Wiggle Time (s)
	Mission Param #4	Empty
	Mission Param #5	Empty
	Mission Param #6	Empty
	Mission Param #7	Empty

42000	MAV_CMD_POWER_OFF_INITIATED	A system wide power-off event has been initiated.

	Mission Param #1	Empty
	Mission Param #2	Empty
	Mission Param #3	Empty
	Mission Param #4	Empty
	Mission Param #5	Empty
	Mission Param #6	Empty
	Mission Param #7	Empty

42001	MAV_CMD_SOLO_BTN_FLY_CLICK	FLY button has been clicked.

	Mission Param #1	Empty
	Mission Param #2	Empty
	Mission Param #3	Empty
	Mission Param #4	Empty
	Mission Param #5	Empty
	Mission Param #6	Empty
	Mission Param #7	Empty

42002	MAV_CMD_SOLO_BTN_FLY_HOLD	FLY button has been held for 1.5 seconds.

	Mission Param #1	Takeoff altitude
	Mission Param #2	Empty
	Mission Param #3	Empty
	Mission Param #4	Empty
	Mission Param #5	Empty
	Mission Param #6	Empty
	Mission Param #7	Empty

42003	MAV_CMD_SOLO_BTN_PAUSE_CLICK	PAUSE button has been clicked.

	Mission Param #1	1 if Solo is in a shot mode, 0 otherwise
	Mission Param #2	Empty
	Mission Param #3	Empty
	Mission Param #4	Empty
	Mission Param #5	Empty
	Mission Param #6	Empty
	Mission Param #7	Empty

42004	MAV_CMD_FIXED_MAG_CAL	Magnetometer calibration based on fixed position in earth field given by inclination, declination and intensity

	Mission Param #1	MagDeclinationDegrees
	Mission Param #2	MagInclinationDegrees
	Mission Param #3	MagIntensityMilliGauss
	Mission Param #4	YawDegrees
	Mission Param #5	Empty
	Mission Param #6	Empty
	Mission Param #7	Empty

42005	MAV_CMD_FIXED_MAG_CAL_FIELD	Magnetometer calibration based on fixed expected field values in milliGauss

	Mission Param #1	FieldX
	Mission Param #2	FieldY
	Mission Param #3	FieldZ
	Mission Param #4	Empty
	Mission Param #5	Empty
	Mission Param #6	Empty
	Mission Param #7	Empty

42424	MAV_CMD_DO_START_MAG_CAL	Initiate a magnetometer calibration

	Mission Param #1	uint8_t bitmask of magnetometers (0 means all)
	Mission Param #2	Automatically retry on failure (0=no retry, 1=retry).
	Mission Param #3	Save without user input (0=require input, 1=autosave).
	Mission Param #4	Delay (seconds)
	Mission Param #5	Autoreboot (0=user reboot, 1=autoreboot)
	Mission Param #6	Empty
	Mission Param #7	Empty

42425	MAV_CMD_DO_ACCEPT_MAG_CAL	Initiate a magnetometer calibration

	Mission Param #1	uint8_t bitmask of magnetometers (0 means all)
	Mission Param #2	Empty
	Mission Param #3	Empty
	Mission Param #4	Empty
	Mission Param #5	Empty
	Mission Param #6	Empty
	Mission Param #7	Empty

42426	MAV_CMD_DO_CANCEL_MAG_CAL	Cancel a running magnetometer calibration

	Mission Param #1	uint8_t bitmask of magnetometers (0 means all)
	Mission Param #2	Empty
	Mission Param #3	Empty
	Mission Param #4	Empty
	Mission Param #5	Empty
	Mission Param #6	Empty
	Mission Param #7	Empty

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.

	Mission Param #1	Position, one of the ACCELCAL_VEHICLE_POS enum values
	Mission Param #2	Empty
	Mission Param #3	Empty
	Mission Param #4	Empty
	Mission Param #5	Empty
	Mission Param #6	Empty
	Mission Param #7	Empty

42428	MAV_CMD_DO_SEND_BANNER	Reply with the version banner

	Mission Param #1	Empty
	Mission Param #2	Empty
	Mission Param #3	Empty
	Mission Param #4	Empty
	Mission Param #5	Empty
	Mission Param #6	Empty
	Mission Param #7	Empty

42427	MAV_CMD_SET_FACTORY_TEST_MODE	Command autopilot to get into factory test/diagnostic mode

	Mission Param #1	0 means get out of test mode, 1 means get into test mode
	Mission Param #2	Empty
	Mission Param #3	Empty
	Mission Param #4	Empty
	Mission Param #5	Empty
	Mission Param #6	Empty
	Mission Param #7	Empty

42501	MAV_CMD_GIMBAL_RESET	Causes the gimbal to reset and boot as if it was just powered on

	Mission Param #1	Empty
	Mission Param #2	Empty
	Mission Param #3	Empty
	Mission Param #4	Empty
	Mission Param #5	Empty
	Mission Param #6	Empty
	Mission Param #7	Empty

42502	MAV_CMD_GIMBAL_AXIS_CALIBRATION_STATUS	Reports progress and success or failure of gimbal axis calibration procedure

	Mission Param #1	Gimbal axis we're reporting calibration progress for
	Mission Param #2	Current calibration progress for this axis, 0x64=100%
	Mission Param #3	Status of the calibration
	Mission Param #4	Empty
	Mission Param #5	Empty
	Mission Param #6	Empty
	Mission Param #7	Empty

42503	MAV_CMD_GIMBAL_REQUEST_AXIS_CALIBRATION	Starts commutation calibration on the gimbal

	Mission Param #1	Empty
	Mission Param #2	Empty
	Mission Param #3	Empty
	Mission Param #4	Empty
	Mission Param #5	Empty
	Mission Param #6	Empty
	Mission Param #7	Empty

42505	MAV_CMD_GIMBAL_FULL_RESET	Erases gimbal application and parameters

	Mission Param #1	Magic number
	Mission Param #2	Magic number
	Mission Param #3	Magic number
	Mission Param #4	Magic number
	Mission Param #5	Magic number
	Mission Param #6	Magic number
	Mission Param #7	Magic number

42600	MAV_CMD_DO_WINCH	Command to operate winch

	Mission Param #1	winch number (0 for the default winch, otherwise a number from 1 to max number of winches on the vehicle)
	Mission Param #2	action (0=relax, 1=relative length control, 2=rate control. See WINCH_ACTIONS enum)
	Mission Param #3	release length (cable distance to unwind in meters, negative numbers to wind in cable)
	Mission Param #4	release rate (meters/second)
	Mission Param #5	Empty
	Mission Param #6	Empty
	Mission Param #7	Empty

LIMITS_STATE

CMD ID	Field Name	Description
0	LIMITS_INIT	pre-initialization
1	LIMITS_DISABLED	disabled
2	LIMITS_ENABLED	checking limits
3	LIMITS_TRIGGERED	a limit has been breached
4	LIMITS_RECOVERING	taking action eg. RTL
5	LIMITS_RECOVERED	we're no longer in breach of a limit

LIMIT_MODULE

CMD ID	Field Name	Description
1	LIMIT_GPSLOCK	pre-initialization
2	LIMIT_GEOFENCE	disabled
4	LIMIT_ALTITUDE	checking limits

RALLY_FLAGS

Flags in RALLY_POINT message

CMD ID	Field Name	Description
1	FAVORABLE_WIND	Flag set when requiring favorable winds for landing.
2	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.

PARACHUTE_ACTION

CMD ID	Field Name	Description
0	PARACHUTE_DISABLE	Disable parachute release
1	PARACHUTE_ENABLE	Enable parachute release
2	PARACHUTE_RELEASE	Release parachute

GRIPPER_ACTIONS

Gripper actions.

CMD ID	Field Name	Description
0	GRIPPER_ACTION_RELEASE	gripper release of cargo
1	GRIPPER_ACTION_GRAB	gripper grabs onto cargo

WINCH_ACTIONS

Winch actions

CMD ID	Field Name	Description
0	WINCH_RELAXED	relax winch
1	WINCH_RELATIVE_LENGTH_CONTROL	winch unwinds or winds specified length of cable optionally using specified rate
2	WINCH_RATE_CONTROL	winch unwinds or winds cable at specified rate in meters/seconds

CAMERA_STATUS_TYPES

CMD ID	Field Name	Description
0	CAMERA_STATUS_TYPE_HEARTBEAT	Camera heartbeat, announce camera component ID at 1hz
1	CAMERA_STATUS_TYPE_TRIGGER	Camera image triggered
2	CAMERA_STATUS_TYPE_DISCONNECT	Camera connection lost
3	CAMERA_STATUS_TYPE_ERROR	Camera unknown error
4	CAMERA_STATUS_TYPE_LOWBATT	Camera battery low. Parameter p1 shows reported voltage
5	CAMERA_STATUS_TYPE_LOWSTORE	Camera storage low. Parameter p1 shows reported shots remaining
6	CAMERA_STATUS_TYPE_LOWSTOREV	Camera storage low. Parameter p1 shows reported video minutes remaining

CAMERA_FEEDBACK_FLAGS

CMD ID	Field Name	Description
0	CAMERA_FEEDBACK_PHOTO	Shooting photos, not video
1	CAMERA_FEEDBACK_VIDEO	Shooting video, not stills
2	CAMERA_FEEDBACK_BADEXPOSURE	Unable to achieve requested exposure (e.g. shutter speed too low)
3	CAMERA_FEEDBACK_CLOSEDLOOP	Closed loop feedback from camera, we know for sure it has successfully taken a picture
4	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

CMD ID	Field Name	Description
0	MAV_MODE_GIMBAL_UNINITIALIZED	Gimbal is powered on but has not started initializing yet
1	MAV_MODE_GIMBAL_CALIBRATING_PITCH	Gimbal is currently running calibration on the pitch axis
2	MAV_MODE_GIMBAL_CALIBRATING_ROLL	Gimbal is currently running calibration on the roll axis
3	MAV_MODE_GIMBAL_CALIBRATING_YAW	Gimbal is currently running calibration on the yaw axis
4	MAV_MODE_GIMBAL_INITIALIZED	Gimbal has finished calibrating and initializing, but is relaxed pending reception of first rate command from copter
5	MAV_MODE_GIMBAL_ACTIVE	Gimbal is actively stabilizing
6	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

CMD ID	Field Name	Description
0	GIMBAL_AXIS_YAW	Gimbal yaw axis
1	GIMBAL_AXIS_PITCH	Gimbal pitch axis
2	GIMBAL_AXIS_ROLL	Gimbal roll axis

GIMBAL_AXIS_CALIBRATION_STATUS

CMD ID	Field Name	Description
0	GIMBAL_AXIS_CALIBRATION_STATUS_IN_PROGRESS	Axis calibration is in progress
1	GIMBAL_AXIS_CALIBRATION_STATUS_SUCCEEDED	Axis calibration succeeded
2	GIMBAL_AXIS_CALIBRATION_STATUS_FAILED	Axis calibration failed

GIMBAL_AXIS_CALIBRATION_REQUIRED

CMD ID	Field Name	Description
0	GIMBAL_AXIS_CALIBRATION_REQUIRED_UNKNOWN	Whether or not this axis requires calibration is unknown at this time
1	GIMBAL_AXIS_CALIBRATION_REQUIRED_TRUE	This axis requires calibration
2	GIMBAL_AXIS_CALIBRATION_REQUIRED_FALSE	This axis does not require calibration

GOPRO_HEARTBEAT_STATUS

CMD ID	Field Name	Description
0	GOPRO_HEARTBEAT_STATUS_DISCONNECTED	No GoPro connected
1	GOPRO_HEARTBEAT_STATUS_INCOMPATIBLE	The detected GoPro is not HeroBus compatible
2	GOPRO_HEARTBEAT_STATUS_CONNECTED	A HeroBus compatible GoPro is connected
3	GOPRO_HEARTBEAT_STATUS_ERROR	An unrecoverable error was encountered with the connected GoPro, it may require a power cycle

GOPRO_HEARTBEAT_FLAGS

CMD ID	Field Name	Description
1	GOPRO_FLAG_RECORDING	GoPro is currently recording

GOPRO_REQUEST_STATUS

CMD ID	Field Name	Description
0	GOPRO_REQUEST_SUCCESS	The write message with ID indicated succeeded
1	GOPRO_REQUEST_FAILED	The write message with ID indicated failed

GOPRO_COMMAND

CMD ID	Field Name	Description
0	GOPRO_COMMAND_POWER	(Get/Set)
1	GOPRO_COMMAND_CAPTURE_MODE	(Get/Set)
2	GOPRO_COMMAND_SHUTTER	(___/Set)
3	GOPRO_COMMAND_BATTERY	(Get/___)
4	GOPRO_COMMAND_MODEL	(Get/___)
5	GOPRO_COMMAND_VIDEO_SETTINGS	(Get/Set)
6	GOPRO_COMMAND_LOW_LIGHT	(Get/Set)
7	GOPRO_COMMAND_PHOTO_RESOLUTION	(Get/Set)
8	GOPRO_COMMAND_PHOTO_BURST_RATE	(Get/Set)
9	GOPRO_COMMAND_PROTUNE	(Get/Set)
10	GOPRO_COMMAND_PROTUNE_WHITE_BALANCE	(Get/Set) Hero 3+ Only
11	GOPRO_COMMAND_PROTUNE_COLOUR	(Get/Set) Hero 3+ Only
12	GOPRO_COMMAND_PROTUNE_GAIN	(Get/Set) Hero 3+ Only
13	GOPRO_COMMAND_PROTUNE_SHARPNESS	(Get/Set) Hero 3+ Only
14	GOPRO_COMMAND_PROTUNE_EXPOSURE	(Get/Set) Hero 3+ Only
15	GOPRO_COMMAND_TIME	(Get/Set)
16	GOPRO_COMMAND_CHARGING	(Get/Set)

GOPRO_CAPTURE_MODE

CMD ID	Field Name	Description
0	GOPRO_CAPTURE_MODE_VIDEO	Video mode
1	GOPRO_CAPTURE_MODE_PHOTO	Photo mode
2	GOPRO_CAPTURE_MODE_BURST	Burst mode, hero 3+ only
3	GOPRO_CAPTURE_MODE_TIME_LAPSE	Time lapse mode, hero 3+ only
4	GOPRO_CAPTURE_MODE_MULTI_SHOT	Multi shot mode, hero 4 only
5	GOPRO_CAPTURE_MODE_PLAYBACK	Playback mode, hero 4 only, silver only except when LCD or HDMI is connected to black
6	GOPRO_CAPTURE_MODE_SETUP	Playback mode, hero 4 only
255	GOPRO_CAPTURE_MODE_UNKNOWN	Mode not yet known

GOPRO_RESOLUTION

CMD ID	Field Name	Description
0	GOPRO_RESOLUTION_480p	848 x 480 (480p)
1	GOPRO_RESOLUTION_720p	1280 x 720 (720p)
2	GOPRO_RESOLUTION_960p	1280 x 960 (960p)
3	GOPRO_RESOLUTION_1080p	1920 x 1080 (1080p)
4	GOPRO_RESOLUTION_1440p	1920 x 1440 (1440p)
5	GOPRO_RESOLUTION_2_7k_17_9	2704 x 1440 (2.7k-17:9)
6	GOPRO_RESOLUTION_2_7k_16_9	2704 x 1524 (2.7k-16:9)
7	GOPRO_RESOLUTION_2_7k_4_3	2704 x 2028 (2.7k-4:3)
8	GOPRO_RESOLUTION_4k_16_9	3840 x 2160 (4k-16:9)
9	GOPRO_RESOLUTION_4k_17_9	4096 x 2160 (4k-17:9)
10	GOPRO_RESOLUTION_720p_SUPERVIEW	1280 x 720 (720p-SuperView)
11	GOPRO_RESOLUTION_1080p_SUPERVIEW	1920 x 1080 (1080p-SuperView)
12	GOPRO_RESOLUTION_2_7k_SUPERVIEW	2704 x 1520 (2.7k-SuperView)
13	GOPRO_RESOLUTION_4k_SUPERVIEW	3840 x 2160 (4k-SuperView)

GOPRO_FRAME_RATE

CMD ID	Field Name	Description
0	GOPRO_FRAME_RATE_12	12 FPS
1	GOPRO_FRAME_RATE_15	15 FPS
2	GOPRO_FRAME_RATE_24	24 FPS
3	GOPRO_FRAME_RATE_25	25 FPS
4	GOPRO_FRAME_RATE_30	30 FPS
5	GOPRO_FRAME_RATE_48	48 FPS
6	GOPRO_FRAME_RATE_50	50 FPS
7	GOPRO_FRAME_RATE_60	60 FPS
8	GOPRO_FRAME_RATE_80	80 FPS
9	GOPRO_FRAME_RATE_90	90 FPS
10	GOPRO_FRAME_RATE_100	100 FPS
11	GOPRO_FRAME_RATE_120	120 FPS
12	GOPRO_FRAME_RATE_240	240 FPS
13	GOPRO_FRAME_RATE_12_5	12.5 FPS

GOPRO_FIELD_OF_VIEW

CMD ID	Field Name	Description
0	GOPRO_FIELD_OF_VIEW_WIDE	0x00: Wide
1	GOPRO_FIELD_OF_VIEW_MEDIUM	0x01: Medium
2	GOPRO_FIELD_OF_VIEW_NARROW	0x02: Narrow

GOPRO_VIDEO_SETTINGS_FLAGS

CMD ID	Field Name	Description
1	GOPRO_VIDEO_SETTINGS_TV_MODE	0=NTSC, 1=PAL

GOPRO_PHOTO_RESOLUTION

CMD ID	Field Name	Description
0	GOPRO_PHOTO_RESOLUTION_5MP_MEDIUM	5MP Medium
1	GOPRO_PHOTO_RESOLUTION_7MP_MEDIUM	7MP Medium
2	GOPRO_PHOTO_RESOLUTION_7MP_WIDE	7MP Wide
3	GOPRO_PHOTO_RESOLUTION_10MP_WIDE	10MP Wide
4	GOPRO_PHOTO_RESOLUTION_12MP_WIDE	12MP Wide

GOPRO_PROTUNE_WHITE_BALANCE

CMD ID	Field Name	Description
0	GOPRO_PROTUNE_WHITE_BALANCE_AUTO	Auto
1	GOPRO_PROTUNE_WHITE_BALANCE_3000K	3000K
2	GOPRO_PROTUNE_WHITE_BALANCE_5500K	5500K
3	GOPRO_PROTUNE_WHITE_BALANCE_6500K	6500K
4	GOPRO_PROTUNE_WHITE_BALANCE_RAW	Camera Raw

GOPRO_PROTUNE_COLOUR

CMD ID	Field Name	Description
0	GOPRO_PROTUNE_COLOUR_STANDARD	Auto
1	GOPRO_PROTUNE_COLOUR_NEUTRAL	Neutral

GOPRO_PROTUNE_GAIN

CMD ID	Field Name	Description
0	GOPRO_PROTUNE_GAIN_400	ISO 400
1	GOPRO_PROTUNE_GAIN_800	ISO 800 (Only Hero 4)
2	GOPRO_PROTUNE_GAIN_1600	ISO 1600
3	GOPRO_PROTUNE_GAIN_3200	ISO 3200 (Only Hero 4)
4	GOPRO_PROTUNE_GAIN_6400	ISO 6400

GOPRO_PROTUNE_SHARPNESS

CMD ID	Field Name	Description
0	GOPRO_PROTUNE_SHARPNESS_LOW	Low Sharpness
1	GOPRO_PROTUNE_SHARPNESS_MEDIUM	Medium Sharpness
2	GOPRO_PROTUNE_SHARPNESS_HIGH	High Sharpness

GOPRO_PROTUNE_EXPOSURE

CMD ID	Field Name	Description
0	GOPRO_PROTUNE_EXPOSURE_NEG_5_0	-5.0 EV (Hero 3+ Only)
1	GOPRO_PROTUNE_EXPOSURE_NEG_4_5	-4.5 EV (Hero 3+ Only)
2	GOPRO_PROTUNE_EXPOSURE_NEG_4_0	-4.0 EV (Hero 3+ Only)
3	GOPRO_PROTUNE_EXPOSURE_NEG_3_5	-3.5 EV (Hero 3+ Only)
4	GOPRO_PROTUNE_EXPOSURE_NEG_3_0	-3.0 EV (Hero 3+ Only)
5	GOPRO_PROTUNE_EXPOSURE_NEG_2_5	-2.5 EV (Hero 3+ Only)
6	GOPRO_PROTUNE_EXPOSURE_NEG_2_0	-2.0 EV
7	GOPRO_PROTUNE_EXPOSURE_NEG_1_5	-1.5 EV
8	GOPRO_PROTUNE_EXPOSURE_NEG_1_0	-1.0 EV
9	GOPRO_PROTUNE_EXPOSURE_NEG_0_5	-0.5 EV
10	GOPRO_PROTUNE_EXPOSURE_ZERO	0.0 EV
11	GOPRO_PROTUNE_EXPOSURE_POS_0_5	+0.5 EV
12	GOPRO_PROTUNE_EXPOSURE_POS_1_0	+1.0 EV
13	GOPRO_PROTUNE_EXPOSURE_POS_1_5	+1.5 EV
14	GOPRO_PROTUNE_EXPOSURE_POS_2_0	+2.0 EV
15	GOPRO_PROTUNE_EXPOSURE_POS_2_5	+2.5 EV (Hero 3+ Only)
16	GOPRO_PROTUNE_EXPOSURE_POS_3_0	+3.0 EV (Hero 3+ Only)
17	GOPRO_PROTUNE_EXPOSURE_POS_3_5	+3.5 EV (Hero 3+ Only)
18	GOPRO_PROTUNE_EXPOSURE_POS_4_0	+4.0 EV (Hero 3+ Only)
19	GOPRO_PROTUNE_EXPOSURE_POS_4_5	+4.5 EV (Hero 3+ Only)
20	GOPRO_PROTUNE_EXPOSURE_POS_5_0	+5.0 EV (Hero 3+ Only)

GOPRO_CHARGING

CMD ID	Field Name	Description
0	GOPRO_CHARGING_DISABLED	Charging disabled
1	GOPRO_CHARGING_ENABLED	Charging enabled

GOPRO_MODEL

CMD ID	Field Name	Description
0	GOPRO_MODEL_UNKNOWN	Unknown gopro model
1	GOPRO_MODEL_HERO_3_PLUS_SILVER	Hero 3+ Silver (HeroBus not supported by GoPro)
2	GOPRO_MODEL_HERO_3_PLUS_BLACK	Hero 3+ Black
3	GOPRO_MODEL_HERO_4_SILVER	Hero 4 Silver
4	GOPRO_MODEL_HERO_4_BLACK	Hero 4 Black

GOPRO_BURST_RATE

CMD ID	Field Name	Description
0	GOPRO_BURST_RATE_3_IN_1_SECOND	3 Shots / 1 Second
1	GOPRO_BURST_RATE_5_IN_1_SECOND	5 Shots / 1 Second
2	GOPRO_BURST_RATE_10_IN_1_SECOND	10 Shots / 1 Second
3	GOPRO_BURST_RATE_10_IN_2_SECOND	10 Shots / 2 Second
4	GOPRO_BURST_RATE_10_IN_3_SECOND	10 Shots / 3 Second (Hero 4 Only)
5	GOPRO_BURST_RATE_30_IN_1_SECOND	30 Shots / 1 Second
6	GOPRO_BURST_RATE_30_IN_2_SECOND	30 Shots / 2 Second
7	GOPRO_BURST_RATE_30_IN_3_SECOND	30 Shots / 3 Second
8	GOPRO_BURST_RATE_30_IN_6_SECOND	30 Shots / 6 Second

LED_CONTROL_PATTERN

CMD ID	Field Name	Description
0	LED_CONTROL_PATTERN_OFF	LED patterns off (return control to regular vehicle control)
1	LED_CONTROL_PATTERN_FIRMWAREUPDATE	LEDs show pattern during firmware update
255	LED_CONTROL_PATTERN_CUSTOM	Custom Pattern using custom bytes fields

EKF_STATUS_FLAGS

Flags in EKF_STATUS message

CMD ID	Field Name	Description
1	EKF_ATTITUDE	set if EKF's attitude estimate is good
2	EKF_VELOCITY_HORIZ	set if EKF's horizontal velocity estimate is good
4	EKF_VELOCITY_VERT	set if EKF's vertical velocity estimate is good
8	EKF_POS_HORIZ_REL	set if EKF's horizontal position (relative) estimate is good
16	EKF_POS_HORIZ_ABS	set if EKF's horizontal position (absolute) estimate is good
32	EKF_POS_VERT_ABS	set if EKF's vertical position (absolute) estimate is good
64	EKF_POS_VERT_AGL	set if EKF's vertical position (above ground) estimate is good
128	EKF_CONST_POS_MODE	EKF is in constant position mode and does not know it's absolute or relative position
256	EKF_PRED_POS_HORIZ_REL	set if EKF's predicted horizontal position (relative) estimate is good
512	EKF_PRED_POS_HORIZ_ABS	set if EKF's predicted horizontal position (absolute) estimate is good

PID_TUNING_AXIS

CMD ID	Field Name	Description
1	PID_TUNING_ROLL
2	PID_TUNING_PITCH
3	PID_TUNING_YAW
4	PID_TUNING_ACCZ
5	PID_TUNING_STEER
6	PID_TUNING_LANDING

MAG_CAL_STATUS

CMD ID	Field Name	Description
0	MAG_CAL_NOT_STARTED
1	MAG_CAL_WAITING_TO_START
2	MAG_CAL_RUNNING_STEP_ONE
3	MAG_CAL_RUNNING_STEP_TWO
4	MAG_CAL_SUCCESS
5	MAG_CAL_FAILED

MAV_REMOTE_LOG_DATA_BLOCK_COMMANDS

Special ACK block numbers control activation of dataflash log streaming

CMD ID	Field Name	Description
2147483645	MAV_REMOTE_LOG_DATA_BLOCK_STOP	UAV to stop sending DataFlash blocks
2147483646	MAV_REMOTE_LOG_DATA_BLOCK_START	UAV to start sending DataFlash blocks

MAV_REMOTE_LOG_DATA_BLOCK_STATUSES

Possible remote log data block statuses

CMD ID	Field Name	Description
0	MAV_REMOTE_LOG_DATA_BLOCK_NACK	This block has NOT been received
1	MAV_REMOTE_LOG_DATA_BLOCK_ACK	This block has been received

DEVICE_OP_BUSTYPE

Bus types for device operations

CMD ID	Field Name	Description
0	DEVICE_OP_BUSTYPE_I2C	I2C Device operation
1	DEVICE_OP_BUSTYPE_SPI	SPI Device operation

DEEPSTALL_STAGE

Deepstall flight stage

CMD ID	Field Name	Description
0	DEEPSTALL_STAGE_FLY_TO_LANDING	Flying to the landing point
1	DEEPSTALL_STAGE_ESTIMATE_WIND	Building an estimate of the wind
2	DEEPSTALL_STAGE_WAIT_FOR_BREAKOUT	Waiting to breakout of the loiter to fly the approach
3	DEEPSTALL_STAGE_FLY_TO_ARC	Flying to the first arc point to turn around to the landing point
4	DEEPSTALL_STAGE_ARC	Turning around back to the deepstall landing point
5	DEEPSTALL_STAGE_APPROACH	Approaching the landing point
6	DEEPSTALL_STAGE_LAND	Stalling and steering towards the land point

PLANE_MODE

A mapping of plane flight modes for custom_mode field of heartbeat

CMD ID	Field Name	Description
0	PLANE_MODE_MANUAL
1	PLANE_MODE_CIRCLE
2	PLANE_MODE_STABILIZE
3	PLANE_MODE_TRAINING
4	PLANE_MODE_ACRO
5	PLANE_MODE_FLY_BY_WIRE_A
6	PLANE_MODE_FLY_BY_WIRE_B
7	PLANE_MODE_CRUISE
8	PLANE_MODE_AUTOTUNE
10	PLANE_MODE_AUTO
11	PLANE_MODE_RTL
12	PLANE_MODE_LOITER
14	PLANE_MODE_AVOID_ADSB
15	PLANE_MODE_GUIDED
16	PLANE_MODE_INITIALIZING
17	PLANE_MODE_QSTABILIZE
18	PLANE_MODE_QHOVER
19	PLANE_MODE_QLOITER
20	PLANE_MODE_QLAND
21	PLANE_MODE_QRTL

COPTER_MODE

A mapping of copter flight modes for custom_mode field of heartbeat

CMD ID	Field Name	Description
0	COPTER_MODE_STABILIZE
1	COPTER_MODE_ACRO
2	COPTER_MODE_ALT_HOLD
3	COPTER_MODE_AUTO
4	COPTER_MODE_GUIDED
5	COPTER_MODE_LOITER
6	COPTER_MODE_RTL
7	COPTER_MODE_CIRCLE
9	COPTER_MODE_LAND
11	COPTER_MODE_DRIFT
13	COPTER_MODE_SPORT
14	COPTER_MODE_FLIP
15	COPTER_MODE_AUTOTUNE
16	COPTER_MODE_POSHOLD
17	COPTER_MODE_BRAKE
18	COPTER_MODE_THROW
19	COPTER_MODE_AVOID_ADSB
20	COPTER_MODE_GUIDED_NOGPS
21	COPTER_MODE_SMART_RTL

SUB_MODE

A mapping of sub flight modes for custom_mode field of heartbeat

CMD ID	Field Name	Description
0	SUB_MODE_STABILIZE
1	SUB_MODE_ACRO
2	SUB_MODE_ALT_HOLD
3	SUB_MODE_AUTO
4	SUB_MODE_GUIDED
7	SUB_MODE_CIRCLE
9	SUB_MODE_SURFACE
16	SUB_MODE_POSHOLD
19	SUB_MODE_MANUAL

ROVER_MODE

A mapping of rover flight modes for custom_mode field of heartbeat

CMD ID	Field Name	Description
0	ROVER_MODE_MANUAL
1	ROVER_MODE_ACRO
3	ROVER_MODE_STEERING
4	ROVER_MODE_HOLD
10	ROVER_MODE_AUTO
11	ROVER_MODE_RTL
12	ROVER_MODE_SMART_RTL
15	ROVER_MODE_GUIDED
16	ROVER_MODE_INITIALIZING

TRACKER_MODE

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

CMD ID	Field Name	Description
0	TRACKER_MODE_MANUAL
1	TRACKER_MODE_STOP
2	TRACKER_MODE_SCAN
3	TRACKER_MODE_SERVO_TEST
10	TRACKER_MODE_AUTO
16	TRACKER_MODE_INITIALIZING

MAVLink Messages

SENSOR_OFFSETS ( #150 )

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

Field Name	Type	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	magnetic declination (radians) (Units: rad)
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 )

Deprecated. Use MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS instead. 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 )

state of APM memory

Field Name	Type	Description
brkval	uint16_t	heap top
freemem	uint16_t	free memory (Units: bytes)
freemem32 **	uint32_t	free memory (32 bit) (Units: bytes)

AP_ADC ( #153 )

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 )

Configure on-board Camera Control System.

Field Name	Type	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	Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off) (Units: ds)
extra_param	uint8_t	Extra parameters enumeration (0 means ignore)
extra_value	float	Correspondent value to given extra_param

DIGICAM_CONTROL ( #155 )

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 )

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

Field Name	Type	Description
target_system	uint8_t	System ID
target_component	uint8_t	Component ID
mount_mode	uint8_t	mount operating mode (see MAV_MOUNT_MODE enum) (Enum:MAV_MOUNT_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 )

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(deg*100) or lat, depending on mount mode
input_b	int32_t	roll(deg*100) or lon depending on mount mode
input_c	int32_t	yaw(deg*100) or alt (in 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 )

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

Field Name	Type	Description
target_system	uint8_t	System ID
target_component	uint8_t	Component ID
pointing_a	int32_t	pitch(deg*100) (Units: cdeg)
pointing_b	int32_t	roll(deg*100) (Units: cdeg)
pointing_c	int32_t	yaw(deg*100) (Units: cdeg)

FENCE_POINT ( #160 )

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

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)
count	uint8_t	total number of points (for sanity checking)
lat	float	Latitude of point (Units: deg)
lng	float	Longitude of point (Units: deg)

FENCE_FETCH_POINT ( #161 )

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 )

Status of geo-fencing. Sent in extended status stream when fencing enabled

Field Name	Type	Description
breach_status	uint8_t	0 if currently inside fence, 1 if outside
breach_count	uint16_t	number of fence breaches
breach_type	uint8_t	last breach type (see FENCE_BREACH_* enum) (Enum:FENCE_BREACH )
breach_time	uint32_t	time of last breach in milliseconds since boot (Units: ms)

AHRS ( #163 )

Status of DCM attitude estimator

Field Name	Type	Description
omegaIx	float	X gyro drift estimate rad/s (Units: rad/s)
omegaIy	float	Y gyro drift estimate rad/s (Units: rad/s)
omegaIz	float	Z gyro drift estimate rad/s (Units: rad/s)
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 )

Status of simulation environment, if used

Field Name	Type	Description
roll	float	Roll angle (rad) (Units: rad)
pitch	float	Pitch angle (rad) (Units: rad)
yaw	float	Yaw angle (rad) (Units: rad)
xacc	float	X acceleration m/s/s (Units: m/s/s)
yacc	float	Y acceleration m/s/s (Units: m/s/s)
zacc	float	Z acceleration m/s/s (Units: m/s/s)
xgyro	float	Angular speed around X axis rad/s (Units: rad/s)
ygyro	float	Angular speed around Y axis rad/s (Units: rad/s)
zgyro	float	Angular speed around Z axis rad/s (Units: rad/s)
lat	int32_t	Latitude in degrees * 1E7 (Units: degE7)
lng	int32_t	Longitude in degrees * 1E7 (Units: degE7)

HWSTATUS ( #165 )

Status of key hardware

Field Name	Type	Description
Vcc	uint16_t	board voltage (mV) (Units: mV)
I2Cerr	uint8_t	I2C error count

RADIO ( #166 )

Status generated by radio

Field Name	Type	Description
rssi	uint8_t	local signal strength
remrssi	uint8_t	remote signal strength
txbuf	uint8_t	how full the tx buffer is as a percentage (Units: %)
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 )

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

Field Name	Type	Description
limits_state	uint8_t	state of AP_Limits, (see enum LimitState, LIMITS_STATE) (Enum:LIMITS_STATE )
last_trigger	uint32_t	time of last breach in milliseconds since boot (Units: ms)
last_action	uint32_t	time of last recovery action in milliseconds since boot (Units: ms)
last_recovery	uint32_t	time of last successful recovery in milliseconds since boot (Units: ms)
last_clear	uint32_t	time of last all-clear in milliseconds since boot (Units: ms)
breach_count	uint16_t	number of fence breaches
mods_enabled	uint8_t	AP_Limit_Module bitfield of enabled modules, (see enum moduleid or LIMIT_MODULE) (Enum:LIMIT_MODULE )
mods_required	uint8_t	AP_Limit_Module bitfield of required modules, (see enum moduleid or LIMIT_MODULE) (Enum:LIMIT_MODULE )
mods_triggered	uint8_t	AP_Limit_Module bitfield of triggered modules, (see enum moduleid or LIMIT_MODULE) (Enum:LIMIT_MODULE )

WIND ( #168 )

Wind estimation

Field Name	Type	Description
direction	float	wind direction that wind is coming from (degrees) (Units: deg)
speed	float	wind speed in ground plane (m/s) (Units: m/s)
speed_z	float	vertical wind speed (m/s) (Units: m/s)

DATA16 ( #169 )

Data packet, size 16

Field Name	Type	Description
type	uint8_t	data type
len	uint8_t	data length (Units: bytes)
data	uint8_t[16]	raw data

DATA32 ( #170 )

Data packet, size 32

Field Name	Type	Description
type	uint8_t	data type
len	uint8_t	data length (Units: bytes)
data	uint8_t[32]	raw data

DATA64 ( #171 )

Data packet, size 64

Field Name	Type	Description
type	uint8_t	data type
len	uint8_t	data length (Units: bytes)
data	uint8_t[64]	raw data

DATA96 ( #172 )

Data packet, size 96

Field Name	Type	Description
type	uint8_t	data type
len	uint8_t	data length (Units: bytes)
data	uint8_t[96]	raw data

RANGEFINDER ( #173 )

Rangefinder reporting

Field Name	Type	Description
distance	float	distance in meters (Units: m)
voltage	float	raw voltage if available, zero otherwise (Units: V)

AIRSPEED_AUTOCAL ( #174 )

Airspeed auto-calibration

Field Name	Type	Description
vx	float	GPS velocity north m/s (Units: m/s)
vy	float	GPS velocity east m/s (Units: m/s)
vz	float	GPS velocity down m/s (Units: m/s)
diff_pressure	float	Differential pressure pascals (Units: Pa)
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 )

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

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)
count	uint8_t	total number of points (for sanity checking)
lat	int32_t	Latitude of point in degrees * 1E7 (Units: degE7)
lng	int32_t	Longitude of point in degrees * 1E7 (Units: degE7)
alt	int16_t	Transit / loiter altitude in meters relative to home (Units: m)
break_alt	int16_t	Break altitude in meters relative to home (Units: m)
land_dir	uint16_t	Heading to aim for when landing. In centi-degrees. (Units: cdeg)
flags	uint8_t	See RALLY_FLAGS enum for definition of the bitmask. (Enum:RALLY_FLAGS )

RALLY_FETCH_POINT ( #176 )

Request a current rally point from MAV. MAV should respond with a 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 )

Status of compassmot calibration

Field Name	Type	Description
throttle	uint16_t	throttle (percent*10) (Units: d%)
current	float	current (Ampere) (Units: A)
interference	uint16_t	interference (percent) (Units: %)
CompensationX	float	Motor Compensation X
CompensationY	float	Motor Compensation Y
CompensationZ	float	Motor Compensation Z

AHRS2 ( #178 )

Status of secondary AHRS filter if available

Field Name	Type	Description
roll	float	Roll angle (rad) (Units: rad)
pitch	float	Pitch angle (rad) (Units: rad)
yaw	float	Yaw angle (rad) (Units: rad)
altitude	float	Altitude (MSL) (Units: m)
lat	int32_t	Latitude in degrees * 1E7 (Units: degE7)
lng	int32_t	Longitude in degrees * 1E7 (Units: degE7)

CAMERA_STATUS ( #179 )

Camera Event

Field Name	Type	Description
time_usec	uint64_t	Image timestamp (microseconds since UNIX epoch, according to camera clock) (Units: us)
target_system	uint8_t	System ID
cam_idx	uint8_t	Camera ID
img_idx	uint16_t	Image index
event_id	uint8_t	See CAMERA_STATUS_TYPES enum for definition of the bitmask (Enum:CAMERA_STATUS_TYPES )
p1	float	Parameter 1 (meaning depends on event, see CAMERA_STATUS_TYPES enum)
p2	float	Parameter 2 (meaning depends on event, see CAMERA_STATUS_TYPES enum)
p3	float	Parameter 3 (meaning depends on event, see CAMERA_STATUS_TYPES enum)
p4	float	Parameter 4 (meaning depends on event, see CAMERA_STATUS_TYPES enum)

CAMERA_FEEDBACK ( #180 )

Camera Capture Feedback

Field Name	Type	Description
time_usec	uint64_t	Image timestamp (microseconds since UNIX epoch), as passed in by CAMERA_STATUS message (or autopilot if no CCB) (Units: us)
target_system	uint8_t	System ID
cam_idx	uint8_t	Camera ID
img_idx	uint16_t	Image index
lat	int32_t	Latitude in (deg * 1E7) (Units: degE7)
lng	int32_t	Longitude in (deg * 1E7) (Units: degE7)
alt_msl	float	Altitude Absolute (meters AMSL) (Units: m)
alt_rel	float	Altitude Relative (meters above HOME location) (Units: m)
roll	float	Camera Roll angle (earth frame, degrees, +-180) (Units: deg)
pitch	float	Camera Pitch angle (earth frame, degrees, +-180) (Units: deg)
yaw	float	Camera Yaw (earth frame, degrees, 0-360, true) (Units: deg)
foc_len	float	Focal Length (mm) (Units: mm)
flags	uint8_t	See CAMERA_FEEDBACK_FLAGS enum for definition of the bitmask (Enum:CAMERA_FEEDBACK_FLAGS )

BATTERY2 ( #181 )

2nd Battery status

Field Name	Type	Description
voltage	uint16_t	voltage in millivolts (Units: mV)
current_battery	int16_t	Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current (Units: cA)

AHRS3 ( #182 )

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

Field Name	Type	Description
roll	float	Roll angle (rad) (Units: rad)
pitch	float	Pitch angle (rad) (Units: rad)
yaw	float	Yaw angle (rad) (Units: rad)
altitude	float	Altitude (MSL) (Units: m)
lat	int32_t	Latitude in degrees * 1E7 (Units: degE7)
lng	int32_t	Longitude in degrees * 1E7 (Units: degE7)
v1	float	test variable1
v2	float	test variable2
v3	float	test variable3
v4	float	test variable4

AUTOPILOT_VERSION_REQUEST ( #183 )

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 )

Send a block of log data to remote location

Field Name	Type	Description
target_system	uint8_t	System ID
target_component	uint8_t	Component ID
seqno	uint32_t	log data block sequence number (Enum:MAV_REMOTE_LOG_DATA_BLOCK_COMMANDS )
data	uint8_t[200]	log data block

REMOTE_LOG_BLOCK_STATUS ( #185 )

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

Field Name	Type	Description
target_system	uint8_t	System ID
target_component	uint8_t	Component ID
seqno	uint32_t	log data block sequence number
status	uint8_t	log data block status (Enum:MAV_REMOTE_LOG_DATA_BLOCK_STATUSES )

LED_CONTROL ( #186 )

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)
custom_len	uint8_t	Custom Byte Length
custom_bytes	uint8_t[24]	Custom Bytes

MAG_CAL_PROGRESS ( #191 )

Reports progress of compass calibration.

Field Name	Type	Description
compass_id	uint8_t	Compass being calibrated
cal_mask	uint8_t	Bitmask of compasses being calibrated
cal_status	uint8_t	Status (see MAG_CAL_STATUS enum) (Enum:MAG_CAL_STATUS )
attempt	uint8_t	Attempt number
completion_pct	uint8_t	Completion percentage (Units: %)
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 )

Reports results of completed compass calibration. Sent until MAG_CAL_ACK received.

Field Name	Type	Description
compass_id	uint8_t	Compass being calibrated
cal_mask	uint8_t	Bitmask of compasses being calibrated
cal_status	uint8_t	Status (see MAG_CAL_STATUS enum) (Enum:MAG_CAL_STATUS )
autosaved	uint8_t	0=requires a MAV_CMD_DO_ACCEPT_MAG_CAL, 1=saved to parameters
fitness	float	RMS milligauss residuals (Units: mgauss)
ofs_x	float	X offset
ofs_y	float	Y offset
ofs_z	float	Z offset
diag_x	float	X diagonal (matrix 11)
diag_y	float	Y diagonal (matrix 22)
diag_z	float	Z diagonal (matrix 33)
offdiag_x	float	X off-diagonal (matrix 12 and 21)
offdiag_y	float	Y off-diagonal (matrix 13 and 31)
offdiag_z	float	Z off-diagonal (matrix 32 and 23)

EKF_STATUS_REPORT ( #193 )

EKF Status message including flags and variances

Field Name	Type	Description
flags	uint16_t	Flags (Enum:EKF_STATUS_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

PID_TUNING ( #194 )

PID tuning information

Field Name	Type	Description
axis	uint8_t	axis (Enum:PID_TUNING_AXIS )
desired	float	desired rate (degrees/s) (Units: deg/s)
achieved	float	achieved rate (degrees/s) (Units: deg/s)
FF	float	FF component
P	float	P component
I	float	I component
D	float	D component

DEEPSTALL ( #195 )

Deepstall path planning

Field Name	Type	Description
landing_lat	int32_t	Landing latitude (deg * 1E7) (Units: degE7)
landing_lon	int32_t	Landing longitude (deg * 1E7) (Units: degE7)
path_lat	int32_t	Final heading start point, latitude (deg * 1E7) (Units: degE7)
path_lon	int32_t	Final heading start point, longitude (deg * 1E7) (Units: degE7)
arc_entry_lat	int32_t	Arc entry point, latitude (deg * 1E7) (Units: degE7)
arc_entry_lon	int32_t	Arc entry point, longitude (deg * 1E7) (Units: degE7)
altitude	float	Altitude (meters) (Units: m)
expected_travel_distance	float	Distance the aircraft expects to travel during the deepstall (Units: m)
cross_track_error	float	Deepstall cross track error in meters (only valid when in DEEPSTALL_STAGE_LAND) (Units: m)
stage	uint8_t	Deepstall stage, see enum MAV_DEEPSTALL_STAGE (Enum:DEEPSTALL_STAGE )

GIMBAL_REPORT ( #200 )

3 axis gimbal mesuraments

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

GIMBAL_CONTROL ( #201 )

Control message for rate gimbal

Field Name	Type	Description
target_system	uint8_t	System ID
target_component	uint8_t	Component ID
demanded_rate_x	float	Demanded angular rate X (rad/s) (Units: rad/s)
demanded_rate_y	float	Demanded angular rate Y (rad/s) (Units: rad/s)
demanded_rate_z	float	Demanded angular rate Z (rad/s) (Units: rad/s)

GIMBAL_TORQUE_CMD_REPORT ( #214 )

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 )

Heartbeat from a HeroBus attached GoPro

Field Name	Type	Description
status	uint8_t	Status (Enum:GOPRO_HEARTBEAT_STATUS )
capture_mode	uint8_t	Current capture mode (Enum:GOPRO_CAPTURE_MODE )
flags	uint8_t	additional status bits (Enum:GOPRO_HEARTBEAT_FLAGS )

GOPRO_GET_REQUEST ( #216 )

Request a GOPRO_COMMAND response from the GoPro

Field Name	Type	Description
target_system	uint8_t	System ID
target_component	uint8_t	Component ID
cmd_id	uint8_t	Command ID (Enum:GOPRO_COMMAND )

GOPRO_GET_RESPONSE ( #217 )

Response from a GOPRO_COMMAND get request

Field Name	Type	Description
cmd_id	uint8_t	Command ID (Enum:GOPRO_COMMAND )
status	uint8_t	Status (Enum:GOPRO_REQUEST_STATUS )
value	uint8_t[4]	Value

GOPRO_SET_REQUEST ( #218 )

Request to set a GOPRO_COMMAND with a desired

Field Name	Type	Description
target_system	uint8_t	System ID
target_component	uint8_t	Component ID
cmd_id	uint8_t	Command ID (Enum:GOPRO_COMMAND )
value	uint8_t[4]	Value

GOPRO_SET_RESPONSE ( #219 )

Response from a GOPRO_COMMAND set request

Field Name	Type	Description
cmd_id	uint8_t	Command ID (Enum:GOPRO_COMMAND )
status	uint8_t	Status (Enum:GOPRO_REQUEST_STATUS )

RPM ( #226 )

RPM sensor output

Field Name	Type	Description
rpm1	float	RPM Sensor1
rpm2	float	RPM Sensor2

DEVICE_OP_READ ( #11000 )

(MAVLink 2) Read registers for a device

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
bustype	uint8_t	The bus type (Enum:DEVICE_OP_BUSTYPE )
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

DEVICE_OP_READ_REPLY ( #11001 )

(MAVLink 2) 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

DEVICE_OP_WRITE ( #11002 )

(MAVLink 2) Write registers for a device

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
bustype	uint8_t	The bus type (Enum:DEVICE_OP_BUSTYPE )
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

DEVICE_OP_WRITE_REPLY ( #11003 )

(MAVLink 2) 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 )

(MAVLink 2) Adaptive Controller tuning information

Field Name	Type	Description
axis	uint8_t	axis (Enum:PID_TUNING_AXIS )
desired	float	desired rate (degrees/s) (Units: deg/s)
achieved	float	achieved rate (degrees/s) (Units: deg/s)
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 )

(MAVLink 2) camera vision based attitude and position deltas

Field Name	Type	Description
time_usec	uint64_t	Timestamp (microseconds, synced to UNIX time or since system boot) (Units: us)
time_delta_usec	uint64_t	Time in microseconds since the last reported camera frame (Units: us)
angle_delta	float[3]	Defines a rotation vector in body frame that rotates the vehicle from the previous to the current orientation
position_delta	float[3]	Change in position in meters from previous to current frame rotated into body frame (0=forward, 1=right, 2=down) (Units: m)
confidence	float	normalised confidence value from 0 to 100 (Units: %)

AOA_SSA ( #11020 )

(MAVLink 2) Angle of Attack and Side Slip Angle

Field Name	Type	Description
time_usec	uint64_t	Timestamp (micros since boot or Unix epoch) (Units: us)
AOA	float	Angle of Attack (degrees) (Units: deg)
SSA	float	Side Slip Angle (degrees) (Units: deg)

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