ardupilot/libraries/GCS_MAVLink/message_definitions/autoquad.xml

<?xml version='1.0'?>
<mavlink>
	<include>common.xml</include>
	<version>3</version>
	<enums>
		<enum name="AUTOQUAD_NAV_STATUS">
			<description>Available operating modes/statuses for AutoQuad flight controller. 
				Bitmask up to 32 bits. Low side bits for base modes, high side for 
				additional active features/modifiers/constraints.</description>
			<entry value="0" name="AQ_NAV_STATUS_INIT">
				<description>System is initializing</description>
			</entry>
			<!-- low side basic mode bits -->
			<entry value="0x1" name="AQ_NAV_STATUS_STANDBY">
				<description>System is standing by, not active</description>
			</entry>
			<entry value="0x2" name="AQ_NAV_STATUS_MANUAL">
				<description>Stabilized, under full manual control</description>
			</entry>
			<entry value="0x4" name="AQ_NAV_STATUS_ALTHOLD">
				<description>Altitude hold engaged</description>
			</entry>
			<entry value="0x8" name="AQ_NAV_STATUS_POSHOLD">
				<description>Position hold engaged</description>
			</entry>
			<entry value="0x10" name="AQ_NAV_STATUS_DVH">
				<description>Dynamic Velocity Hold is active</description>
			</entry>
			<entry value="0x20" name="AQ_NAV_STATUS_MISSION">
				<description>Autonomous mission execution mode</description>
			</entry>
			
			<!-- high side feature/modifier/constraint bits (0x8000 0000 = bit 32) -->
			<entry value="0x80000000" name="AQ_NAV_STATUS_FAILSAFE">
				<description>System is in failsafe recovery mode</description>
			</entry>
			<entry value="0x40000000" name="AQ_NAV_STATUS_RTH">
				<description>Automatic Return to Home is active</description>
			</entry>
			<entry value="0x20000000" name="AQ_NAV_STATUS_HF_LOCKED">
				<description>Heading-Free locked mode active</description>
			</entry>
			<entry value="0x10000000" name="AQ_NAV_STATUS_HF_DYNAMIC">
				<description>Heading-Free dynamic mode active</description>
			</entry>
			<entry value="0x8000000" name="AQ_NAV_STATUS_CEILING">
				<description>Ceiling altitude is set</description>
			</entry>
			<entry value="0x4000000" name="AQ_NAV_STATUS_CEILING_REACHED">
				<description>Craft is at ceiling altitude</description>
			</entry>
		</enum>
		<enum name="MAV_CMD">
			<!-- TODO: value 1 reserved for now due to legacy code -->
			<entry value="2" name="MAV_CMD_AQ_TELEMETRY">
			    <description>Start/stop AutoQuad telemetry values stream.</description>
			    <param index="1">Start or stop (1 or 0)</param>
			    <param index="2">Stream frequency in us</param>
			    <param index="3">Dataset ID (refer to aq_mavlink.h::mavlinkCustomDataSets enum in AQ flight controller code)</param>
			    <param index="4">Empty</param>
			    <param index="5">Empty</param>
			    <param index="6">Empty</param>
			    <param index="7">Empty</param>
			</entry>
			<entry value="3" name="MAV_CMD_AQ_FOLLOW">
			    <description>Command AutoQuad to go to a particular place at a set speed.</description>
			    <param index="1">Latitude</param>
			    <param index="2">Lontitude</param>
			    <param index="3">Altitude</param>
			    <param index="4">Speed</param>
			    <param index="5">Empty</param>
			    <param index="6">Empty</param>
			    <param index="7">Empty</param>
			</entry>
			<entry value="4" name="MAV_CMD_AQ_REQUEST_VERSION">
			    <description>Request AutoQuad firmware version number.</description>
			    <param index="1">Empty</param>
			    <param index="2">Empty</param>
			    <param index="3">Empty</param>
			    <param index="4">Empty</param>
			    <param index="5">Empty</param>
			    <param index="6">Empty</param>
			    <param index="7">Empty</param>
			</entry>
		</enum>
		<!-- extend MAV_DATA_STREAM -->
		<enum name="MAV_DATA_STREAM">
			<entry value="13" name="MAV_DATA_STREAM_PROPULSION">
				<description>Motor/ESC telemetry data.</description>
			</entry>
		</enum>
	</enums>
	<messages>
		<message id="150" name="AQ_TELEMETRY_F">
			<description>Sends up to 20 raw float values.</description>
			<field type="uint16_t" name="Index">Index of message</field>
			<field type="float" name="value1">value1</field>
			<field type="float" name="value2">value2</field>
			<field type="float" name="value3">value3</field>
			<field type="float" name="value4">value4</field>
			<field type="float" name="value5">value5</field>
			<field type="float" name="value6">value6</field>
			<field type="float" name="value7">value7</field>
			<field type="float" name="value8">value8</field>
			<field type="float" name="value9">value9</field>
			<field type="float" name="value10">value10</field>
			<field type="float" name="value11">value11</field>
			<field type="float" name="value12">value12</field>
			<field type="float" name="value13">value13</field>
			<field type="float" name="value14">value14</field>
			<field type="float" name="value15">value15</field>
			<field type="float" name="value16">value16</field>
			<field type="float" name="value17">value17</field>
			<field type="float" name="value18">value18</field>
			<field type="float" name="value19">value19</field>
			<field type="float" name="value20">value20</field>
		</message>
		<message id="152" name="AQ_ESC_TELEMETRY">
			<description>Sends ESC32 telemetry data for up to 4 motors. Multiple messages may be sent in sequence when system has > 4 motors. Data is described as follows: 
				// unsigned int state :   3;
			    // unsigned int vin :	  12;  // x 100
			    // unsigned int amps :	  14;  // x 100
			    // unsigned int rpm :	  15;
			    // unsigned int duty :	  8;   // x (255/100)
			    // - Data Version 2 -
			    //     unsigned int errors :    9;   // Bad detects error count
			    // - Data Version 3 -
			    //     unsigned int temp   :    9;   // (Deg C + 32) * 4
			    // unsigned int errCode : 3;
			</description>
			<field type="uint32_t" name="time_boot_ms">Timestamp of the component clock since boot time in ms.</field>
			<field type="uint8_t" name="seq">Sequence number of message (first set of 4 motors is #1, next 4 is #2, etc).</field>
			<field type="uint8_t" name="num_motors">Total number of active ESCs/motors on the system.</field>
			<field type="uint8_t" name="num_in_seq">Number of active ESCs in this sequence (1 through this many array members will be populated with data)</field>
			<field type="uint8_t[4]" name="escid">ESC/Motor ID</field>
			<field type="uint16_t[4]" name="status_age">Age of each ESC telemetry reading in ms compared to boot time. A value of 0xFFFF means timeout/no data.</field>
			<field type="uint8_t[4]" name="data_version">Version of data structure (determines contents).</field>
			<field type="uint32_t[4]" name="data0">Data bits 1-32 for each ESC.</field>
			<field type="uint32_t[4]" name="data1">Data bits 33-64 for each ESC.</field>
		</message>
	</messages>
</mavlink>