<description>0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around.</description>
<description>0b00001000 guided mode enabled, system flies MISSIONs / mission items.</description>
</entry>
<entryvalue="4"name="MAV_MODE_FLAG_AUTO_ENABLED">
<description>0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation.</description>
</entry>
<entryvalue="2"name="MAV_MODE_FLAG_TEST_ENABLED">
<description>0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations.</description>
<description>0b00000001 Reserved for future use.</description>
</entry>
</enum>
<enumname="MAV_MODE_FLAG_DECODE_POSITION">
<description>These values encode the bit positions of the decode position. These values can be used to read the value of a flag bit by combining the base_mode variable with AND with the flag position value. The result will be either 0 or 1, depending on if the flag is set or not.</description>
<description>System is allowed to be active, under assisted RC control.</description>
</entry>
<entryvalue="208"name="MAV_MODE_STABILIZE_ARMED">
<description>System is allowed to be active, under assisted RC control.</description>
</entry>
<entryvalue="64"name="MAV_MODE_MANUAL_DISARMED">
<description>System is allowed to be active, under manual (RC) control, no stabilization</description>
</entry>
<entryvalue="192"name="MAV_MODE_MANUAL_ARMED">
<description>System is allowed to be active, under manual (RC) control, no stabilization</description>
</entry>
<entryvalue="88"name="MAV_MODE_GUIDED_DISARMED">
<description>System is allowed to be active, under autonomous control, manual setpoint</description>
</entry>
<entryvalue="216"name="MAV_MODE_GUIDED_ARMED">
<description>System is allowed to be active, under autonomous control, manual setpoint</description>
</entry>
<entryvalue="92"name="MAV_MODE_AUTO_DISARMED">
<description>System is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by MISSIONs)</description>
</entry>
<entryvalue="220"name="MAV_MODE_AUTO_ARMED">
<description>System is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by MISSIONs)</description>
</entry>
<entryvalue="66"name="MAV_MODE_TEST_DISARMED">
<description>UNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only.</description>
</entry>
<entryvalue="194"name="MAV_MODE_TEST_ARMED">
<description>UNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only.</description>
</entry>
</enum>
<enumname="MAV_STATE">
<entryvalue="0"name="MAV_STATE_UNINIT">
<description>Uninitialized system, state is unknown.</description>
</entry>
<entryname="MAV_STATE_BOOT">
<description>System is booting up.</description>
</entry>
<entryname="MAV_STATE_CALIBRATING">
<description>System is calibrating and not flight-ready.</description>
</entry>
<entryname="MAV_STATE_STANDBY">
<description>System is grounded and on standby. It can be launched any time.</description>
</entry>
<entryname="MAV_STATE_ACTIVE">
<description>System is active and might be already airborne. Motors are engaged.</description>
</entry>
<entryname="MAV_STATE_CRITICAL">
<description>System is in a non-normal flight mode. It can however still navigate.</description>
</entry>
<entryname="MAV_STATE_EMERGENCY">
<description>System is in a non-normal flight mode. It lost control over parts or over the whole airframe. It is in mayday and going down.</description>
</entry>
<entryname="MAV_STATE_POWEROFF">
<description>System just initialized its power-down sequence, will shut down now.</description>
<description>Global coordinate frame, WGS84 coordinate system. First value / x: latitude, second value / y: longitude, third value / z: positive altitude over mean sea level (MSL)</description>
<description>Global coordinate frame, WGS84 coordinate system, relative altitude over ground with respect to the home position. First value / x: latitude, second value / y: longitude, third value / z: positive altitude with 0 being at the altitude of the home location.</description>
<description>Global coordinate frame, WGS84 coordinate system. First value / x: latitude in degrees*1.0e-7, second value / y: longitude in degrees*1.0e-7, third value / z: positive altitude over mean sea level (MSL)</description>
<description>Global coordinate frame, WGS84 coordinate system, relative altitude over ground with respect to the home position. First value / x: latitude in degrees*10e-7, second value / y: longitude in degrees*10e-7, third value / z: positive altitude with 0 being at the altitude of the home location.</description>
<description>Offset to the current local frame. Anything expressed in this frame should be added to the current local frame position.</description>
</entry>
<entryvalue="8"name="MAV_FRAME_BODY_NED">
<description>Setpoint in body NED frame. This makes sense if all position control is externalized - e.g. useful to command 2 m/s^2 acceleration to the right.</description>
</entry>
<entryvalue="9"name="MAV_FRAME_BODY_OFFSET_NED">
<description>Offset in body NED frame. This makes sense if adding setpoints to the current flight path, to avoid an obstacle - e.g. useful to command 2 m/s^2 acceleration to the east.</description>
<description>Global coordinate frame with above terrain level altitude. WGS84 coordinate system, relative altitude over terrain with respect to the waypoint coordinate. First value / x: latitude in degrees, second value / y: longitude in degrees, third value / z: positive altitude in meters with 0 being at ground level in terrain model.</description>
<description>Global coordinate frame with above terrain level altitude. WGS84 coordinate system, relative altitude over terrain with respect to the waypoint coordinate. First value / x: latitude in degrees*10e-7, second value / y: longitude in degrees*10e-7, third value / z: positive altitude in meters with 0 being at ground level in terrain model.</description>
<description>Enumeration of possible mount operation modes</description>
<entryname="MAV_MOUNT_MODE_RETRACT"value="0"><description>Load and keep safe position (Roll,Pitch,Yaw) from permant memory and stop stabilization</description></entry>
<entryname="MAV_MOUNT_MODE_NEUTRAL"value="1"><description>Load and keep neutral position (Roll,Pitch,Yaw) from permanent memory.</description></entry>
<entryname="MAV_MOUNT_MODE_MAVLINK_TARGETING"value="2"><description>Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization</description></entry>
<entryname="MAV_MOUNT_MODE_RC_TARGETING"value="3"><description>Load neutral position and start RC Roll,Pitch,Yaw control with stabilization</description></entry>
<entryname="MAV_MOUNT_MODE_GPS_POINT"value="4"><description>Load neutral position and start to point to Lat,Lon,Alt</description></entry>
<description>Commands to be executed by the MAV. They can be executed on user request, or as part of a mission script. If the action is used in a mission, the parameter mapping to the waypoint/mission message is as follows: Param 1, Param 2, Param 3, Param 4, X: Param 5, Y:Param 6, Z:Param 7. This command list is similar what ARINC 424 is for commercial aircraft: A data format how to interpret waypoint/mission data.</description>
<entryvalue="16"name="MAV_CMD_NAV_WAYPOINT">
<description>Navigate to MISSION.</description>
<paramindex="1">Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)</param>
<paramindex="2">Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)</param>
<paramindex="3">0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.</param>
<paramindex="4">Desired yaw angle at MISSION (rotary wing)</param>
<paramindex="5">Latitude</param>
<paramindex="6">Longitude</param>
<paramindex="7">Altitude</param>
</entry>
<entryvalue="17"name="MAV_CMD_NAV_LOITER_UNLIM">
<description>Loiter around this MISSION an unlimited amount of time</description>
<paramindex="1">Empty</param>
<paramindex="2">Empty</param>
<paramindex="3">Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise</param>
<paramindex="4">Desired yaw angle.</param>
<paramindex="5">Latitude</param>
<paramindex="6">Longitude</param>
<paramindex="7">Altitude</param>
</entry>
<entryvalue="18"name="MAV_CMD_NAV_LOITER_TURNS">
<description>Loiter around this MISSION for X turns</description>
<paramindex="1">Turns</param>
<paramindex="2">Empty</param>
<paramindex="3">Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise</param>
<paramindex="4">Desired yaw angle.</param>
<paramindex="5">Latitude</param>
<paramindex="6">Longitude</param>
<paramindex="7">Altitude</param>
</entry>
<entryvalue="19"name="MAV_CMD_NAV_LOITER_TIME">
<description>Loiter around this MISSION for X seconds</description>
<paramindex="1">Seconds (decimal)</param>
<paramindex="2">Empty</param>
<paramindex="3">Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise</param>
<description>Continue on the current course and climb/descend to specified altitude. When the altitude is reached continue to the next command (i.e., don't proceed to the next command until the desired altitude is reached.</description>
<description>Begin loiter at the specified Latitude and Longitude. If Lat=Lon=0, then loiter at the current position. Don't consider the navigation command complete (don't leave loiter) until the altitude has been reached. Additionally, if the Heading Required parameter is non-zero the aircraft will not leave the loiter until heading toward the next waypoint. </description>
<description>Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras.</description>
<paramindex="1">Region of intereset mode. (see MAV_ROI enum)</param>
<paramindex="2">MISSION index/ target ID. (see MAV_ROI enum)</param>
<paramindex="3">ROI index (allows a vehicle to manage multiple ROI's)</param>
<paramindex="4">Empty</param>
<paramindex="5">x the location of the fixed ROI (see MAV_FRAME)</param>
<paramindex="6">y</param>
<paramindex="7">z</param>
</entry>
<entryvalue="81"name="MAV_CMD_NAV_PATHPLANNING">
<description>Control autonomous path planning on the MAV.</description>
<paramindex="1">0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning</param>
<paramindex="2">0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid</param>
<paramindex="3">Empty</param>
<paramindex="4">Yaw angle at goal, in compass degrees, [0..360]</param>
<description>Mission command to perform a landing. This is used as a marker in a mission to tell the autopilot where a sequence of mission items that represents a landing starts. It may also be sent via a COMMAND_LONG to trigger a landing, in which case the nearest (geographically) landing sequence in the mission will be used. The Latitude/Longitude is optional, and may be set to 0/0 if not needed. If specified then it will be used to help find the closest landing sequence.</description>
<description>Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras.</description>
<paramindex="1">Region of intereset mode. (see MAV_ROI enum)</param>
<paramindex="2">MISSION index/ target ID. (see MAV_ROI enum)</param>
<paramindex="3">ROI index (allows a vehicle to manage multiple ROI's)</param>
<paramindex="4">Empty</param>
<paramindex="5">x the location of the fixed ROI (see MAV_FRAME)</param>
<paramindex="2">absolute altitude min (in meters, AMSL) - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit</param>
<paramindex="3">absolute altitude max (in meters)- if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit</param>
<paramindex="4">horizontal move limit (in meters, AMSL) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit</param>
<description>Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity.</description>
<paramindex="1">Operation mode. 0: prepare single payload deploy (overwriting previous requests), but do not execute it. 1: execute payload deploy immediately (rejecting further deploy commands during execution, but allowing abort). 2: add payload deploy to existing deployment list.</param>
<paramindex="2">Desired approach vector in degrees compass heading (0..360). A negative value indicates the system can define the approach vector at will.</param>
<paramindex="3">Desired ground speed at release time. This can be overriden by the airframe in case it needs to meet minimum airspeed. A negative value indicates the system can define the ground speed at will.</param>
<paramindex="4">Minimum altitude clearance to the release position in meters. A negative value indicates the system can define the clearance at will.</param>
<paramindex="5">Latitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT</param>
<paramindex="6">Longitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT</param>
<description>The coordinate frame of this command is ok, but he coordinate values exceed the safety limits of this system. This is a generic error, please use the more specific error messages below if possible.</description>
</entry>
<entryname="MAV_CMD_ACK_ERR_X_LAT_OUT_OF_RANGE">
<description>The X or latitude value is out of range.</description>
</entry>
<entryname="MAV_CMD_ACK_ERR_Y_LON_OUT_OF_RANGE">
<description>The Y or longitude value is out of range.</description>
</entry>
<entryname="MAV_CMD_ACK_ERR_Z_ALT_OUT_OF_RANGE">
<description>The Z or altitude value is out of range.</description>
<description>received waypoint out of sequence</description>
</entry>
<entryvalue="14"name="MAV_MISSION_DENIED">
<description>not accepting any mission commands from this communication partner</description>
</entry>
</enum>
<enumname="MAV_SEVERITY">
<description>Indicates the severity level, generally used for status messages to indicate their relative urgency. Based on RFC-5424 using expanded definitions at: http://www.kiwisyslog.com/kb/info:-syslog-message-levels/.</description>
<entryvalue="0"name="MAV_SEVERITY_EMERGENCY">
<description>System is unusable. This is a "panic" condition.</description>
</entry>
<entryvalue="1"name="MAV_SEVERITY_ALERT">
<description>Action should be taken immediately. Indicates error in non-critical systems.</description>
</entry>
<entryvalue="2"name="MAV_SEVERITY_CRITICAL">
<description>Action must be taken immediately. Indicates failure in a primary system.</description>
</entry>
<entryvalue="3"name="MAV_SEVERITY_ERROR">
<description>Indicates an error in secondary/redundant systems.</description>
</entry>
<entryvalue="4"name="MAV_SEVERITY_WARNING">
<description>Indicates about a possible future error if this is not resolved within a given timeframe. Example would be a low battery warning.</description>
</entry>
<entryvalue="5"name="MAV_SEVERITY_NOTICE">
<description>An unusual event has occured, though not an error condition. This should be investigated for the root cause.</description>
</entry>
<entryvalue="6"name="MAV_SEVERITY_INFO">
<description>Normal operational messages. Useful for logging. No action is required for these messages.</description>
</entry>
<entryvalue="7"name="MAV_SEVERITY_DEBUG">
<description>Useful non-operational messages that can assist in debugging. These should not occur during normal operation.</description>
<description>Set if access to the serial port should be removed from whatever driver is currently using it, giving exclusive access to the SERIAL_CONTROL protocol. The port can be handed back by sending a request without this flag set</description>
<description>The heartbeat message shows that a system is present and responding. The type of the MAV and Autopilot hardware allow the receiving system to treat further messages from this system appropriate (e.g. by laying out the user interface based on the autopilot).</description>
<fieldtype="uint8_t"name="type">Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)</field>
<fieldtype="uint8_t"name="autopilot">Autopilot type / class. defined in MAV_AUTOPILOT ENUM</field>
<fieldtype="uint32_t"name="custom_mode">A bitfield for use for autopilot-specific flags.</field>
<fieldtype="uint8_t"name="system_status">System status flag, see MAV_STATE ENUM</field>
<fieldtype="uint8_t_mavlink_version"name="mavlink_version">MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version</field>
</message>
<messageid="1"name="SYS_STATUS">
<description>The general system state. If the system is following the MAVLink standard, the system state is mainly defined by three orthogonal states/modes: The system mode, which is either LOCKED (motors shut down and locked), MANUAL (system under RC control), GUIDED (system with autonomous position control, position setpoint controlled manually) or AUTO (system guided by path/waypoint planner). The NAV_MODE defined the current flight state: LIFTOFF (often an open-loop maneuver), LANDING, WAYPOINTS or VECTOR. This represents the internal navigation state machine. The system status shows wether the system is currently active or not and if an emergency occured. During the CRITICAL and EMERGENCY states the MAV is still considered to be active, but should start emergency procedures autonomously. After a failure occured it should first move from active to critical to allow manual intervention and then move to emergency after a certain timeout.</description>
<fieldtype="uint32_t"name="onboard_control_sensors_present"print_format="0x%04x">Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices defined by ENUM MAV_SYS_STATUS_SENSOR</field>
<fieldtype="uint32_t"name="onboard_control_sensors_enabled"print_format="0x%04x">Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR</field>
<fieldtype="uint32_t"name="onboard_control_sensors_health"print_format="0x%04x">Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR</field>
<fieldtype="uint16_t"name="load">Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000</field>
<fieldtype="uint16_t"name="voltage_battery">Battery voltage, in millivolts (1 = 1 millivolt)</field>
<fieldtype="int16_t"name="current_battery">Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current</field>
<fieldtype="uint16_t"name="drop_rate_comm">Communication drops in percent, (0%: 0, 100%: 10'000), (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)</field>
<fieldtype="uint16_t"name="errors_comm">Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)</field>
<description>The system time is the time of the master clock, typically the computer clock of the main onboard computer.</description>
<fieldtype="uint64_t"name="time_unix_usec">Timestamp of the master clock in microseconds since UNIX epoch.</field>
<fieldtype="uint32_t"name="time_boot_ms">Timestamp of the component clock since boot time in milliseconds.</field>
</message>
<!-- FIXME to be removed / merged with SYSTEM_TIME -->
<messageid="4"name="PING">
<description>A ping message either requesting or responding to a ping. This allows to measure the system latencies, including serial port, radio modem and UDP connections.</description>
<fieldtype="uint8_t"name="target_system">0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system</field>
<fieldtype="uint8_t"name="target_component">0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system</field>
</message>
<messageid="5"name="CHANGE_OPERATOR_CONTROL">
<description>Request to control this MAV</description>
<fieldtype="uint8_t"name="target_system">System the GCS requests control for</field>
<fieldtype="uint8_t"name="control_request">0: request control of this MAV, 1: Release control of this MAV</field>
<fieldtype="uint8_t"name="version">0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch.</field>
<fieldtype="char[25]"name="passkey">Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"</field>
</message>
<messageid="6"name="CHANGE_OPERATOR_CONTROL_ACK">
<description>Accept / deny control of this MAV</description>
<fieldtype="uint8_t"name="gcs_system_id">ID of the GCS this message </field>
<fieldtype="uint8_t"name="control_request">0: request control of this MAV, 1: Release control of this MAV</field>
<description>Emit an encrypted signature / key identifying this system. PLEASE NOTE: This protocol has been kept simple, so transmitting the key requires an encrypted channel for true safety.</description>
<fieldtype="char[32]"name="key">key</field>
</message>
<messageid="11"name="SET_MODE">
<description>Set the system mode, as defined by enum MAV_MODE. There is no target component id as the mode is by definition for the overall aircraft, not only for one component.</description>
<fieldtype="uint8_t"name="target_system">The system setting the mode</field>
<description>Request to read the onboard parameter with the param_id string id. Onboard parameters are stored as key[const char*] -> value[float]. This allows to send a parameter to any other component (such as the GCS) without the need of previous knowledge of possible parameter names. Thus the same GCS can store different parameters for different autopilots. See also http://qgroundcontrol.org/parameter_interface for a full documentation of QGroundControl and IMU code.</description>
<fieldtype="char[16]"name="param_id">Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string</field>
<description>Emit the value of a onboard parameter. The inclusion of param_count and param_index in the message allows the recipient to keep track of received parameters and allows him to re-request missing parameters after a loss or timeout.</description>
<fieldtype="char[16]"name="param_id">Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string</field>
<fieldtype="uint16_t"name="param_count">Total number of onboard parameters</field>
<fieldtype="uint16_t"name="param_index">Index of this onboard parameter</field>
</message>
<messageid="23"name="PARAM_SET">
<description>Set a parameter value TEMPORARILY to RAM. It will be reset to default on system reboot. Send the ACTION MAV_ACTION_STORAGE_WRITE to PERMANENTLY write the RAM contents to EEPROM. IMPORTANT: The receiving component should acknowledge the new parameter value by sending a param_value message to all communication partners. This will also ensure that multiple GCS all have an up-to-date list of all parameters. If the sending GCS did not receive a PARAM_VALUE message within its timeout time, it should re-send the PARAM_SET message.</description>
<fieldtype="char[16]"name="param_id">Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string</field>
NOT the global position estimate of the system, but rather a RAW sensor value. See message GLOBAL_POSITION for the global position estimate. Coordinate frame is right-handed, Z-axis up (GPS frame).</description>
<fieldtype="uint8_t"name="fix_type">0-1: no fix, 2: 2D fix, 3: 3D fix, 4: DGPS, 5: RTK. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.</field>
<fieldtype="int32_t"name="alt">Altitude (AMSL, NOT WGS84), in meters * 1000 (positive for up). Note that virtually all GPS modules provide the AMSL altitude in addition to the WGS84 altitude.</field>
<fieldtype="uint16_t"name="vel">GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX</field>
<fieldtype="uint16_t"name="cog">Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX</field>
<fieldtype="uint8_t"name="satellites_visible">Number of satellites visible. If unknown, set to 255</field>
</message>
<messageid="25"name="GPS_STATUS">
<description>The positioning status, as reported by GPS. This message is intended to display status information about each satellite visible to the receiver. See message GLOBAL_POSITION for the global position estimate. This message can contain information for up to 20 satellites.</description>
<fieldtype="uint8_t"name="satellites_visible">Number of satellites visible</field>
<fieldtype="int16_t"name="xgyro">Angular speed around X axis (millirad /sec)</field>
<fieldtype="int16_t"name="ygyro">Angular speed around Y axis (millirad /sec)</field>
<fieldtype="int16_t"name="zgyro">Angular speed around Z axis (millirad /sec)</field>
<fieldtype="int16_t"name="xmag">X Magnetic field (milli tesla)</field>
<fieldtype="int16_t"name="ymag">Y Magnetic field (milli tesla)</field>
<fieldtype="int16_t"name="zmag">Z Magnetic field (milli tesla)</field>
</message>
<messageid="27"name="RAW_IMU">
<description>The RAW IMU readings for the usual 9DOF sensor setup. This message should always contain the true raw values without any scaling to allow data capture and system debugging.</description>
<fieldtype="uint64_t"name="time_usec">Timestamp (microseconds since UNIX epoch or microseconds since system boot)</field>
<fieldtype="int16_t"name="xgyro">Angular speed around X axis (raw)</field>
<fieldtype="int16_t"name="ygyro">Angular speed around Y axis (raw)</field>
<fieldtype="int16_t"name="zgyro">Angular speed around Z axis (raw)</field>
<fieldtype="int16_t"name="xmag">X Magnetic field (raw)</field>
<fieldtype="int16_t"name="ymag">Y Magnetic field (raw)</field>
<fieldtype="int16_t"name="zmag">Z Magnetic field (raw)</field>
</message>
<messageid="28"name="RAW_PRESSURE">
<description>The RAW pressure readings for the typical setup of one absolute pressure and one differential pressure sensor. The sensor values should be the raw, UNSCALED ADC values.</description>
<fieldtype="uint64_t"name="time_usec">Timestamp (microseconds since UNIX epoch or microseconds since system boot)</field>
<fieldtype="int16_t"name="temperature">Raw Temperature measurement (raw)</field>
</message>
<messageid="29"name="SCALED_PRESSURE">
<description>The pressure readings for the typical setup of one absolute and differential pressure sensor. The units are as specified in each field.</description>
<description>The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right), expressed as quaternion. Quaternion order is w, x, y, z and a zero rotation would be expressed as (1 0 0 0).</description>
<description>The filtered local position (e.g. fused computer vision and accelerometers). Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention)</description>
<fieldtype="uint32_t"name="time_boot_ms">Timestamp (milliseconds since system boot)</field>
<fieldtype="float"name="x">X Position</field>
<fieldtype="float"name="y">Y Position</field>
<fieldtype="float"name="z">Z Position</field>
<fieldtype="float"name="vx">X Speed</field>
<fieldtype="float"name="vy">Y Speed</field>
<fieldtype="float"name="vz">Z Speed</field>
</message>
<messageid="33"name="GLOBAL_POSITION_INT">
<description>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.</description>
<fieldtype="uint32_t"name="time_boot_ms">Timestamp (milliseconds since system boot)</field>
<fieldtype="int32_t"name="lat">Latitude, expressed as * 1E7</field>
<fieldtype="int32_t"name="lon">Longitude, expressed as * 1E7</field>
<fieldtype="int32_t"name="alt">Altitude in meters, expressed as * 1000 (millimeters), AMSL (not WGS84 - note that virtually all GPS modules provide the AMSL as well)</field>
<description>The scaled values of the RC channels received. (-100%) -10000, (0%) 0, (100%) 10000. Channels that are inactive should be set to UINT16_MAX.</description>
<fieldtype="uint8_t"name="port">Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos.</field>
<description>The RAW values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. Individual receivers/transmitters might violate this specification.</description>
<fieldtype="uint32_t"name="time_boot_ms">Timestamp (milliseconds since system boot)</field>
<fieldtype="uint8_t"name="port">Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos.</field>
<description>The RAW values of the servo outputs (for RC input from the remote, use the RC_CHANNELS messages). The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%.</description>
<fieldtype="uint8_t"name="port">Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.</field>
<fieldtype="uint16_t"name="servo1_raw">Servo output 1 value, in microseconds</field>
<fieldtype="uint16_t"name="servo2_raw">Servo output 2 value, in microseconds</field>
<fieldtype="uint16_t"name="servo3_raw">Servo output 3 value, in microseconds</field>
<fieldtype="uint16_t"name="servo4_raw">Servo output 4 value, in microseconds</field>
<fieldtype="uint16_t"name="servo5_raw">Servo output 5 value, in microseconds</field>
<fieldtype="uint16_t"name="servo6_raw">Servo output 6 value, in microseconds</field>
<fieldtype="uint16_t"name="servo7_raw">Servo output 7 value, in microseconds</field>
<fieldtype="uint16_t"name="servo8_raw">Servo output 8 value, in microseconds</field>
<description>Request a partial list of mission items from the system/component. http://qgroundcontrol.org/mavlink/waypoint_protocol. If start and end index are the same, just send one waypoint.</description>
<fieldtype="int16_t"name="start_index">Start index, 0 by default</field>
<fieldtype="int16_t"name="end_index">End index, -1 by default (-1: send list to end). Else a valid index of the list</field>
</message>
<messageid="38"name="MISSION_WRITE_PARTIAL_LIST">
<description>This message is sent to the MAV to write a partial list. If start index == end index, only one item will be transmitted / updated. If the start index is NOT 0 and above the current list size, this request should be REJECTED!</description>
<fieldtype="int16_t"name="start_index">Start index, 0 by default and smaller / equal to the largest index of the current onboard list.</field>
<fieldtype="int16_t"name="end_index">End index, equal or greater than start index.</field>
</message>
<messageid="39"name="MISSION_ITEM">
<description>Message encoding a mission item. This message is emitted to announce
the presence of a mission item and to set a mission item on the system. The mission item can be either in x, y, z meters (type: LOCAL) or x:lat, y:lon, z:altitude. Local frame is Z-down, right handed (NED), global frame is Z-up, right handed (ENU). See also http://qgroundcontrol.org/mavlink/waypoint_protocol.</description>
<description>Request the information of the mission item with the sequence number seq. The response of the system to this message should be a MISSION_ITEM message. http://qgroundcontrol.org/mavlink/waypoint_protocol</description>
<description>Set the mission item with sequence number seq as current item. This means that the MAV will continue to this mission item on the shortest path (not following the mission items in-between).</description>
<description>This message is emitted as response to MISSION_REQUEST_LIST by the MAV and to initiate a write transaction. The GCS can then request the individual mission item based on the knowledge of the total number of MISSIONs.</description>
<description>A certain mission item has been reached. The system will either hold this position (or circle on the orbit) or (if the autocontinue on the WP was set) continue to the next MISSION.</description>
<fieldtype="uint16_t"name="seq">Sequence</field>
</message>
<messageid="47"name="MISSION_ACK">
<description>Ack message during MISSION handling. The type field states if this message is a positive ack (type=0) or if an error happened (type=non-zero).</description>
<description>As local waypoints exist, the global MISSION reference allows to transform between the local coordinate frame and the global (GPS) coordinate frame. This can be necessary when e.g. in- and outdoor settings are connected and the MAV should move from in- to outdoor.</description>
<fieldtype="char[16]"name="param_id">Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string</field>
<fieldtype="int16_t"name="param_index">Parameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored), send -2 to disable any existing map for this rc_channel_index.</field>
<fieldtype="uint8_t"name="parameter_rc_channel_index">Index of parameter RC channel. Not equal to the RC channel id. Typically correpsonds to a potentiometer-knob on the RC.</field>
<fieldtype="float"name="scale">Scale, maps the RC range [-1, 1] to a parameter value</field>
<fieldtype="float"name="param_value_min">Minimum param value. The protocol does not define if this overwrites an onboard minimum value. (Depends on implementation)</field>
<fieldtype="float"name="param_value_max">Maximum param value. The protocol does not define if this overwrites an onboard maximum value. (Depends on implementation)</field>
<description>Set a safety zone (volume), which is defined by two corners of a cube. This message can be used to tell the MAV which setpoints/MISSIONs to accept and which to reject. Safety areas are often enforced by national or competition regulations.</description>
<fieldtype="uint8_t"name="frame"enum="MAV_FRAME">Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.</field>
<fieldtype="uint8_t"name="frame"enum="MAV_FRAME">Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.</field>
<description>The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right), expressed as quaternion. Quaternion order is w, x, y, z and a zero rotation would be expressed as (1 0 0 0).</description>
<fieldtype="uint32_t"name="time_boot_ms">Timestamp (milliseconds since system boot)</field>
<fieldtype="float[4]"name="q">Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)</field>
<description>Outputs of the APM navigation controller. The primary use of this message is to check the response and signs of the controller before actual flight and to assist with tuning controller parameters.</description>
<fieldtype="float"name="nav_roll">Current desired roll in degrees</field>
<fieldtype="float"name="nav_pitch">Current desired pitch in degrees</field>
<fieldtype="int16_t"name="nav_bearing">Current desired heading in degrees</field>
<fieldtype="int16_t"name="target_bearing">Bearing to current MISSION/target in degrees</field>
<fieldtype="uint16_t"name="wp_dist">Distance to active MISSION in meters</field>
<fieldtype="float"name="alt_error">Current altitude error in meters</field>
<fieldtype="float"name="aspd_error">Current airspeed error in meters/second</field>
<fieldtype="float"name="xtrack_error">Current crosstrack error on x-y plane in meters</field>
<description>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. NOTE: This message is intended for onboard networks / companion computers and higher-bandwidth links and optimized for accuracy and completeness. Please use the GLOBAL_POSITION_INT message for a minimal subset.</description>
<fieldtype="uint32_t"name="time_boot_ms">Timestamp (milliseconds since system boot)</field>
<fieldtype="uint64_t"name="time_utc">Timestamp (microseconds since UNIX epoch) in UTC. 0 for unknown. Commonly filled by the precision time source of a GPS receiver.</field>
<fieldtype="uint8_t"name="estimator_type"enum="MAV_ESTIMATOR_TYPE">Class id of the estimator this estimate originated from.</field>
<fieldtype="int32_t"name="lat">Latitude, expressed as degrees * 1E7</field>
<fieldtype="int32_t"name="lon">Longitude, expressed as degrees * 1E7</field>
<fieldtype="int32_t"name="alt">Altitude in meters, expressed as * 1000 (millimeters), above MSL</field>
<fieldtype="int32_t"name="relative_alt">Altitude above ground in meters, expressed as * 1000 (millimeters)</field>
<fieldtype="float"name="vx">Ground X Speed (Latitude), expressed as m/s</field>
<fieldtype="float"name="vy">Ground Y Speed (Longitude), expressed as m/s</field>
<fieldtype="float"name="vz">Ground Z Speed (Altitude), expressed as m/s</field>
<fieldtype="float[36]"name="covariance">Covariance matrix (first six entries are the first ROW, next six entries are the second row, etc.)</field>
</message>
<messageid="64"name="LOCAL_POSITION_NED_COV">
<description>The filtered local position (e.g. fused computer vision and accelerometers). Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention)</description>
<fieldtype="uint32_t"name="time_boot_ms">Timestamp (milliseconds since system boot)</field>
<fieldtype="uint64_t"name="time_utc">Timestamp (microseconds since UNIX epoch) in UTC. 0 for unknown. Commonly filled by the precision time source of a GPS receiver.</field>
<fieldtype="uint8_t"name="estimator_type"enum="MAV_ESTIMATOR_TYPE">Class id of the estimator this estimate originated from.</field>
<fieldtype="float"name="x">X Position</field>
<fieldtype="float"name="y">Y Position</field>
<fieldtype="float"name="z">Z Position</field>
<fieldtype="float"name="vx">X Speed</field>
<fieldtype="float"name="vy">Y Speed</field>
<fieldtype="float"name="vz">Z Speed</field>
<fieldtype="float[36]"name="covariance">Covariance matrix (first six entries are the first ROW, next six entries are the second row, etc.)</field>
<description>The PPM values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. Individual receivers/transmitters might violate this specification.</description>
<fieldtype="uint32_t"name="time_boot_ms">Timestamp (milliseconds since system boot)</field>
<fieldtype="uint8_t"name="chancount">Total number of RC channels being received. This can be larger than 18, indicating that more channels are available but not given in this message. This value should be 0 when no RC channels are available.</field>
<fieldtype="uint16_t"name="chan1_raw">RC channel 1 value, in microseconds. A value of UINT16_MAX implies the channel is unused.</field>
<fieldtype="uint16_t"name="chan2_raw">RC channel 2 value, in microseconds. A value of UINT16_MAX implies the channel is unused.</field>
<fieldtype="uint16_t"name="chan3_raw">RC channel 3 value, in microseconds. A value of UINT16_MAX implies the channel is unused.</field>
<fieldtype="uint16_t"name="chan4_raw">RC channel 4 value, in microseconds. A value of UINT16_MAX implies the channel is unused.</field>
<fieldtype="uint16_t"name="chan5_raw">RC channel 5 value, in microseconds. A value of UINT16_MAX implies the channel is unused.</field>
<fieldtype="uint16_t"name="chan6_raw">RC channel 6 value, in microseconds. A value of UINT16_MAX implies the channel is unused.</field>
<fieldtype="uint16_t"name="chan7_raw">RC channel 7 value, in microseconds. A value of UINT16_MAX implies the channel is unused.</field>
<fieldtype="uint16_t"name="chan8_raw">RC channel 8 value, in microseconds. A value of UINT16_MAX implies the channel is unused.</field>
<fieldtype="uint16_t"name="chan9_raw">RC channel 9 value, in microseconds. A value of UINT16_MAX implies the channel is unused.</field>
<fieldtype="uint16_t"name="chan10_raw">RC channel 10 value, in microseconds. A value of UINT16_MAX implies the channel is unused.</field>
<fieldtype="uint16_t"name="chan11_raw">RC channel 11 value, in microseconds. A value of UINT16_MAX implies the channel is unused.</field>
<fieldtype="uint16_t"name="chan12_raw">RC channel 12 value, in microseconds. A value of UINT16_MAX implies the channel is unused.</field>
<fieldtype="uint16_t"name="chan13_raw">RC channel 13 value, in microseconds. A value of UINT16_MAX implies the channel is unused.</field>
<fieldtype="uint16_t"name="chan14_raw">RC channel 14 value, in microseconds. A value of UINT16_MAX implies the channel is unused.</field>
<fieldtype="uint16_t"name="chan15_raw">RC channel 15 value, in microseconds. A value of UINT16_MAX implies the channel is unused.</field>
<fieldtype="uint16_t"name="chan16_raw">RC channel 16 value, in microseconds. A value of UINT16_MAX implies the channel is unused.</field>
<fieldtype="uint16_t"name="chan17_raw">RC channel 17 value, in microseconds. A value of UINT16_MAX implies the channel is unused.</field>
<fieldtype="uint16_t"name="chan18_raw">RC channel 18 value, in microseconds. A value of UINT16_MAX implies the channel is unused.</field>
<fieldtype="uint8_t"name="rssi">Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown.</field>
<description>This message provides an API for manually controlling the vehicle using standard joystick axes nomenclature, along with a joystick-like input device. Unused axes can be disabled an buttons are also transmit as boolean values of their </description>
<fieldtype="uint8_t"name="target">The system to be controlled.</field>
<fieldtype="int16_t"name="x">X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle.</field>
<fieldtype="int16_t"name="y">Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle.</field>
<fieldtype="int16_t"name="z">Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle.</field>
<fieldtype="int16_t"name="r">R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle.</field>
<fieldtype="uint16_t"name="buttons">A bitfield corresponding to the joystick buttons' current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1.</field>
<description>The RAW values of the RC channels sent to the MAV to override info received from the RC radio. A value of UINT16_MAX means no change to that channel. A value of 0 means control of that channel should be released back to the RC radio. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. Individual receivers/transmitters might violate this specification.</description>
<description>Message encoding a mission item. This message is emitted to announce
the presence of a mission item and to set a mission item on the system. The mission item can be either in x, y, z meters (type: LOCAL) or x:lat, y:lon, z:altitude. Local frame is Z-down, right handed (NED), global frame is Z-up, right handed (ENU). See alsohttp://qgroundcontrol.org/mavlink/waypoint_protocol.</description>
<fieldtype="uint16_t"name="seq">Waypoint ID (sequence number). Starts at zero. Increases monotonically for each waypoint, no gaps in the sequence (0,1,2,3,4).</field>
<fieldtype="uint8_t"name="frame">The coordinate system of the MISSION. see MAV_FRAME in mavlink_types.h</field>
<fieldtype="uint16_t"name="command">The scheduled action for the MISSION. see MAV_CMD in common.xml MAVLink specs</field>
<fieldtype="uint8_t"name="type_mask">Mappings: If any of these bits are set, the corresponding input should be ignored: bit 1: body roll rate, bit 2: body pitch rate, bit 3: body yaw rate. bit 4-bit 6: reserved, bit 7: throttle, bit 8: attitude</field>
<fieldtype="float[4]"name="q">Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)</field>
<fieldtype="float"name="body_roll_rate">Body roll rate in radians per second</field>
<fieldtype="float"name="body_pitch_rate">Body roll rate in radians per second</field>
<fieldtype="float"name="body_yaw_rate">Body roll rate in radians per second</field>
<fieldtype="float"name="thrust">Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)</field>
</message>
<messageid="83"name="ATTITUDE_TARGET">
<description>Set the vehicle attitude and body angular rates.</description>
<fieldtype="uint32_t"name="time_boot_ms">Timestamp in milliseconds since system boot</field>
<fieldtype="uint8_t"name="type_mask">Mappings: If any of these bits are set, the corresponding input should be ignored: bit 1: body roll rate, bit 2: body pitch rate, bit 3: body yaw rate. bit 4-bit 7: reserved, bit 8: attitude</field>
<fieldtype="float[4]"name="q">Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)</field>
<fieldtype="float"name="body_roll_rate">Body roll rate in radians per second</field>
<fieldtype="float"name="body_pitch_rate">Body roll rate in radians per second</field>
<fieldtype="float"name="body_yaw_rate">Body roll rate in radians per second</field>
<fieldtype="float"name="thrust">Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)</field>
<fieldtype="uint16_t"name="type_mask">Bitmask to indicate which dimensions should be ignored by the vehicle: a value of 0b0000000000000000 or 0b0000001000000000 indicates that none of the setpoint dimensions should be ignored. If bit 10 is set the floats afx afy afz should be interpreted as force instead of acceleration. Mapping: bit 1: x, bit 2: y, bit 3: z, bit 4: vx, bit 5: vy, bit 6: vz, bit 7: ax, bit 8: ay, bit 9: az, bit 10: is force setpoint, bit 11: yaw, bit 12: yaw rate</field>
<fieldtype="uint16_t"name="type_mask">Bitmask to indicate which dimensions should be ignored by the vehicle: a value of 0b0000000000000000 or 0b0000001000000000 indicates that none of the setpoint dimensions should be ignored. If bit 10 is set the floats afx afy afz should be interpreted as force instead of acceleration. Mapping: bit 1: x, bit 2: y, bit 3: z, bit 4: vx, bit 5: vy, bit 6: vz, bit 7: ax, bit 8: ay, bit 9: az, bit 10: is force setpoint, bit 11: yaw, bit 12: yaw rate</field>
<description>Set vehicle position, velocity and acceleration setpoint in the WGS84 coordinate system.</description>
<fieldtype="uint32_t"name="time_boot_ms">Timestamp in milliseconds since system boot. The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency.</field>
<fieldtype="uint16_t"name="type_mask">Bitmask to indicate which dimensions should be ignored by the vehicle: a value of 0b0000000000000000 or 0b0000001000000000 indicates that none of the setpoint dimensions should be ignored. If bit 10 is set the floats afx afy afz should be interpreted as force instead of acceleration. Mapping: bit 1: x, bit 2: y, bit 3: z, bit 4: vx, bit 5: vy, bit 6: vz, bit 7: ax, bit 8: ay, bit 9: az, bit 10: is force setpoint, bit 11: yaw, bit 12: yaw rate</field>
<description>Set vehicle position, velocity and acceleration setpoint in the WGS84 coordinate system.</description>
<fieldtype="uint32_t"name="time_boot_ms">Timestamp in milliseconds since system boot. The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency.</field>
<fieldtype="uint16_t"name="type_mask">Bitmask to indicate which dimensions should be ignored by the vehicle: a value of 0b0000000000000000 or 0b0000001000000000 indicates that none of the setpoint dimensions should be ignored. If bit 10 is set the floats afx afy afz should be interpreted as force instead of acceleration. Mapping: bit 1: x, bit 2: y, bit 3: z, bit 4: vx, bit 5: vy, bit 6: vz, bit 7: ax, bit 8: ay, bit 9: az, bit 10: is force setpoint, bit 11: yaw, bit 12: yaw rate</field>
<description>The offset in X, Y, Z and yaw between the LOCAL_POSITION_NED messages of MAV X and the global coordinate frame in NED coordinates. Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention)</description>
<fieldtype="uint32_t"name="time_boot_ms">Timestamp (milliseconds since system boot)</field>
<description>DEPRECATED PACKET! Suffers from missing airspeed fields and singularities due to Euler angles. Please use HIL_STATE_QUATERNION instead. Sent from simulation to autopilot. This packet is useful for high throughput applications such as hardware in the loop simulations.</description>
<description>Sent from simulation to autopilot. The RAW values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. Individual receivers/transmitters might violate this specification.</description>
<fieldtype="uint64_t"name="time_usec">Timestamp (microseconds since UNIX epoch or microseconds since system boot)</field>
<fieldtype="uint16_t"name="chan1_raw">RC channel 1 value, in microseconds</field>
<fieldtype="uint16_t"name="chan2_raw">RC channel 2 value, in microseconds</field>
<fieldtype="uint16_t"name="chan3_raw">RC channel 3 value, in microseconds</field>
<fieldtype="uint16_t"name="chan4_raw">RC channel 4 value, in microseconds</field>
<fieldtype="uint16_t"name="chan5_raw">RC channel 5 value, in microseconds</field>
<fieldtype="uint16_t"name="chan6_raw">RC channel 6 value, in microseconds</field>
<fieldtype="uint16_t"name="chan7_raw">RC channel 7 value, in microseconds</field>
<fieldtype="uint16_t"name="chan8_raw">RC channel 8 value, in microseconds</field>
<fieldtype="uint16_t"name="chan9_raw">RC channel 9 value, in microseconds</field>
<fieldtype="uint16_t"name="chan10_raw">RC channel 10 value, in microseconds</field>
<fieldtype="uint16_t"name="chan11_raw">RC channel 11 value, in microseconds</field>
<fieldtype="uint16_t"name="chan12_raw">RC channel 12 value, in microseconds</field>
<fieldtype="uint8_t"name="rssi">Receive signal strength indicator, 0: 0%, 255: 100%</field>
</message>
<messageid="100"name="OPTICAL_FLOW">
<description>Optical flow from a flow sensor (e.g. optical mouse sensor)</description>
<fieldtype="uint32_t"name="integration_time_us">Integration time in microseconds. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the.</field>
<fieldtype="float"name="integrated_x">Flow in radians around X axis (Sensor RH rotation about the X axis induces a positive flow. Sensor linear motion along the positive Y axis induces a negative flow.)</field>
<fieldtype="float"name="integrated_y">Flow in radians around Y axis (Sensor RH rotation about the Y axis induces a positive flow. Sensor linear motion along the positive X axis induces a positive flow.)</field>
<fieldtype="float"name="integrated_xgyro">RH rotation around X axis (rad)</field>
<fieldtype="float"name="integrated_ygyro">RH rotation around Y axis (rad)</field>
<fieldtype="float"name="integrated_zgyro">RH rotation around Z axis (rad)</field>
<fieldtype="int16_t"name="temperature">Temperature * 100 in centi-degrees Celsius</field>
<fieldtype="uint8_t"name="quality">Optical flow quality / confidence. 0: no valid flow, 255: maximum quality</field>
<fieldtype="uint32_t"name="time_delta_distance_us">Time in microseconds since the distance was sampled.</field>
<fieldtype="float"name="distance">Distance to the center of the flow field in meters. Positive value (including zero): distance known. Negative value: Unknown distance.</field>
<fieldtype="uint8_t"name="target_network">Network ID (0 for broadcast)</field>
<fieldtype="uint8_t"name="target_system">System ID (0 for broadcast)</field>
<fieldtype="uint8_t"name="target_component">Component ID (0 for broadcast)</field>
<fieldtype="uint8_t[251]"name="payload">Variable length payload. The length is defined by the remaining message length when subtracting the header and other fields. The entire content of this block is opaque unless you understand any the encoding message_type. The particular encoding used can be extension specific and might not always be documented as part of the mavlink specification.</field>
<description>The global position, as returned by the Global Positioning System (GPS). This is
NOT the global position estimate of the sytem, but rather a RAW sensor value. See message GLOBAL_POSITION for the global position estimate. Coordinate frame is right-handed, Z-axis up (GPS frame).</description>
<fieldtype="uint64_t"name="time_usec">Timestamp (microseconds since UNIX epoch or microseconds since system boot)</field>
<fieldtype="uint8_t"name="fix_type">0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.</field>
<fieldtype="int32_t"name="lat">Latitude (WGS84), in degrees * 1E7</field>
<fieldtype="int32_t"name="lon">Longitude (WGS84), in degrees * 1E7</field>
<fieldtype="uint16_t"name="vel">GPS ground speed (m/s * 100). If unknown, set to: 65535</field>
<fieldtype="int16_t"name="vn">GPS velocity in cm/s in NORTH direction in earth-fixed NED frame</field>
<fieldtype="int16_t"name="ve">GPS velocity in cm/s in EAST direction in earth-fixed NED frame</field>
<fieldtype="int16_t"name="vd">GPS velocity in cm/s in DOWN direction in earth-fixed NED frame</field>
<fieldtype="uint16_t"name="cog">Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535</field>
<fieldtype="uint8_t"name="satellites_visible">Number of satellites visible. If unknown, set to 255</field>
<fieldtype="uint32_t"name="integration_time_us">Integration time in microseconds. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the.</field>
<fieldtype="float"name="integrated_x">Flow in radians around X axis (Sensor RH rotation about the X axis induces a positive flow. Sensor linear motion along the positive Y axis induces a negative flow.)</field>
<fieldtype="float"name="integrated_y">Flow in radians around Y axis (Sensor RH rotation about the Y axis induces a positive flow. Sensor linear motion along the positive X axis induces a positive flow.)</field>
<fieldtype="float"name="integrated_xgyro">RH rotation around X axis (rad)</field>
<fieldtype="float"name="integrated_ygyro">RH rotation around Y axis (rad)</field>
<fieldtype="float"name="integrated_zgyro">RH rotation around Z axis (rad)</field>
<fieldtype="int16_t"name="temperature">Temperature * 100 in centi-degrees Celsius</field>
<fieldtype="uint8_t"name="quality">Optical flow quality / confidence. 0: no valid flow, 255: maximum quality</field>
<fieldtype="uint32_t"name="time_delta_distance_us">Time in microseconds since the distance was sampled.</field>
<fieldtype="float"name="distance">Distance to the center of the flow field in meters. Positive value (including zero): distance known. Negative value: Unknown distance.</field>
<description>Sent from simulation to autopilot, avoids in contrast to HIL_STATE singularities. This packet is useful for high throughput applications such as hardware in the loop simulations.</description>
<fieldtype="uint64_t"name="time_usec">Timestamp (microseconds since UNIX epoch or microseconds since system boot)</field>
<fieldtype="float[4]"name="attitude_quaternion">Vehicle attitude expressed as normalized quaternion in w, x, y, z order (with 1 0 0 0 being the null-rotation)</field>
<fieldtype="uint8_t"name="fix_type">0-1: no fix, 2: 2D fix, 3: 3D fix, 4: DGPS fix, 5: RTK Fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.</field>
<fieldtype="uint16_t"name="eph">GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX</field>
<fieldtype="uint16_t"name="epv">GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX</field>
<fieldtype="uint16_t"name="vel">GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX</field>
<fieldtype="uint16_t"name="cog">Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX</field>
<fieldtype="uint8_t"name="satellites_visible">Number of satellites visible. If unknown, set to 255</field>
<fieldtype="uint8_t"name="dgps_numch">Number of DGPS satellites</field>
<fieldtype="uint32_t"name="dgps_age">Age of DGPS info</field>
<description>Control a serial port. This can be used for raw access to an onboard serial peripheral such as a GPS or telemetry radio. It is designed to make it possible to update the devices firmware via MAVLink messages or change the devices settings. A message with zero bytes can be used to change just the baudrate.</description>
<fieldtype="uint8_t"name="type">type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h)</field>
<fieldtype="uint32_t"name="size">total data size in bytes (set on ACK only)</field>
<fieldtype="uint16_t"name="width">Width of a matrix or image</field>
<fieldtype="uint16_t"name="height">Height of a matrix or image</field>
<fieldtype="uint16_t"name="packets">number of packets beeing sent (set on ACK only)</field>
<fieldtype="uint8_t"name="payload">payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only)</field>
<fieldtype="uint8_t"name="jpg_quality">JPEG quality out of [1,100]</field>
</message>
<messageid="131"name="ENCAPSULATED_DATA">
<fieldtype="uint16_t"name="seqnr">sequence number (starting with 0 on every transmission)</field>
<fieldtype="uint8_t[253]"name="data">image data bytes</field>
<description>Request that the vehicle report terrain height at the given location. Used by GCS to check if vehicle has all terrain data needed for a mission.</description>
<description>Set the vehicle attitude and body angular rates.</description>
<fieldtype="uint64_t"name="time_usec">Timestamp (micros since boot or Unix epoch)</field>
<fieldtype="uint8_t"name="group_mlx">Actuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.</field>
<fieldtype="float[8]"name="controls">Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.</field>
</message>
<messageid="140"name="ACTUATOR_CONTROL_TARGET">
<description>Set the vehicle attitude and body angular rates.</description>
<fieldtype="uint64_t"name="time_usec">Timestamp (micros since boot or Unix epoch)</field>
<fieldtype="uint8_t"name="group_mlx">Actuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.</field>
<fieldtype="float[8]"name="controls">Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.</field>
<fieldtype="uint8_t"name="type"enum="MAV_BATTERY_TYPE">Type (chemistry) of the battery</field>
<fieldtype="int16_t"name="temperature">Temperature of the battery in centi-degrees celsius. INT16_MAX for unknown temperature.</field>
<fieldtype="uint16_t[10]"name="voltages">Battery voltage of cells, in millivolts (1 = 1 millivolt)</field>
<fieldtype="int16_t"name="current_battery">Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current</field>
<fieldtype="int32_t"name="current_consumed">Consumed charge, in milliampere hours (1 = 1 mAh), -1: autopilot does not provide mAh consumption estimate</field>
<fieldtype="int32_t"name="energy_consumed">Consumed energy, in 100*Joules (intergrated U*I*dt) (1 = 100 Joule), -1: autopilot does not provide energy consumption estimate</field>
<fieldtype="int8_t"name="battery_remaining">Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery</field>
</message>
<messageid="148"name="AUTOPILOT_VERSION">
<description>Version and capability of autopilot software</description>
<fieldtype="uint64_t"name="capabilities">bitmask of capabilities (see MAV_PROTOCOL_CAPABILITY enum)</field>
<fieldtype="uint32_t"name="flight_sw_version">Firmware version number</field>
<fieldtype="uint32_t"name="middleware_sw_version">Middleware version number</field>
<fieldtype="uint32_t"name="os_sw_version">Operating system version number</field>
<fieldtype="uint32_t"name="board_version">HW / board version (last 8 bytes should be silicon ID, if any)</field>
<fieldtype="uint8_t[8]"name="flight_custom_version">Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.</field>
<fieldtype="uint8_t[8]"name="middleware_custom_version">Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.</field>
<fieldtype="uint8_t[8]"name="os_custom_version">Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.</field>
<fieldtype="uint16_t"name="vendor_id">ID of the board vendor</field>
<fieldtype="uint16_t"name="product_id">ID of the product</field>
<fieldtype="uint64_t"name="uid">UID if provided by hardware</field>
<description>Message implementing parts of the V2 payload specs in V1 frames for transitional support.</description>
<fieldtype="uint8_t"name="target_network">Network ID (0 for broadcast)</field>
<fieldtype="uint8_t"name="target_system">System ID (0 for broadcast)</field>
<fieldtype="uint8_t"name="target_component">Component ID (0 for broadcast)</field>
<fieldtype="uint16_t"name="message_type">A code that identifies the software component that understands this message (analogous to usb device classes or mime type strings). If this code is less than 32768, it is considered a 'registered' protocol extension and the corresponding entry should be added to https://github.com/mavlink/mavlink/extension-message-ids.xml. Software creators can register blocks of message IDs as needed (useful for GCS specific metadata, etc...). Message_types greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase.</field>
<fieldtype="uint8_t[249]"name="payload">Variable length payload. The length is defined by the remaining message length when subtracting the header and other fields. The entire content of this block is opaque unless you understand any the encoding message_type. The particular encoding used can be extension specific and might not always be documented as part of the mavlink specification.</field>
<description>Send raw controller memory. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output.</description>
<fieldtype="uint16_t"name="address">Starting address of the debug variables</field>
<fieldtype="uint8_t"name="ver">Version code of the type variable. 0=unknown, type ignored and assumed int16_t. 1=as below</field>
<fieldtype="uint8_t"name="type">Type code of the memory variables. for ver = 1: 0=16 x int16_t, 1=16 x uint16_t, 2=16 x Q15, 3=16 x 1Q14</field>
<fieldtype="int8_t[32]"name="value">Memory contents at specified address</field>
<description>Send a key-value pair as float. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output.</description>
<fieldtype="uint32_t"name="time_boot_ms">Timestamp (milliseconds since system boot)</field>
<fieldtype="char[10]"name="name">Name of the debug variable</field>
<fieldtype="float"name="value">Floating point value</field>
</message>
<messageid="252"name="NAMED_VALUE_INT">
<description>Send a key-value pair as integer. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output.</description>
<fieldtype="uint32_t"name="time_boot_ms">Timestamp (milliseconds since system boot)</field>
<fieldtype="char[10]"name="name">Name of the debug variable</field>
<description>Status text message. These messages are printed in yellow in the COMM console of QGroundControl. WARNING: They consume quite some bandwidth, so use only for important status and error messages. If implemented wisely, these messages are buffered on the MCU and sent only at a limited rate (e.g. 10 Hz).</description>
<fieldtype="char[50]"name="text">Status text message, without null termination character</field>
</message>
<messageid="254"name="DEBUG">
<description>Send a debug value. The index is used to discriminate between values. These values show up in the plot of QGroundControl as DEBUG N.</description>
<fieldtype="uint32_t"name="time_boot_ms">Timestamp (milliseconds since system boot)</field>
<fieldtype="uint8_t"name="ind">index of debug variable</field>
