ardupilot/libraries/GCS_MAVLink/message_definitions/ardupilotmega.xml

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<?xml version='1.0'?>
<mavlink>
<include>common.xml</include>
<!-- note that APM specific messages should use the command id
range from 150 to 250, to leave plenty of room for growth
of common.xml
If you prototype a message here, then you should consider if it
is general enough to move into common.xml later
-->
<messages>
<message id="150" name="SENSOR_OFFSETS">
<description>Offsets and calibrations values for hardware
sensors. This makes it easier to debug the calibration process.</description>
<field type="int16_t" name="mag_ofs_x">magnetometer X offset</field>
<field type="int16_t" name="mag_ofs_y">magnetometer Y offset</field>
<field type="int16_t" name="mag_ofs_z">magnetometer Z offset</field>
<field type="float" name="mag_declination">magnetic declination (radians)</field>
<field type="int32_t" name="raw_press">raw pressure from barometer</field>
<field type="int32_t" name="raw_temp">raw temperature from barometer</field>
<field type="float" name="gyro_cal_x">gyro X calibration</field>
<field type="float" name="gyro_cal_y">gyro Y calibration</field>
<field type="float" name="gyro_cal_z">gyro Z calibration</field>
<field type="float" name="accel_cal_x">accel X calibration</field>
<field type="float" name="accel_cal_y">accel Y calibration</field>
<field type="float" name="accel_cal_z">accel Z calibration</field>
</message>
<message id="151" name="SET_MAG_OFFSETS">
<description>set the magnetometer offsets</description>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="int16_t" name="mag_ofs_x">magnetometer X offset</field>
<field type="int16_t" name="mag_ofs_y">magnetometer Y offset</field>
<field type="int16_t" name="mag_ofs_z">magnetometer Z offset</field>
</message>
<message id="152" name="MEMINFO">
<description>state of APM memory</description>
<field type="uint16_t" name="brkval">heap top</field>
<field type="uint16_t" name="freemem">free memory</field>
</message>
<message id="153" name="AP_ADC">
<description>raw ADC output</description>
<field type="uint16_t" name="adc1">ADC output 1</field>
<field type="uint16_t" name="adc2">ADC output 2</field>
<field type="uint16_t" name="adc3">ADC output 3</field>
<field type="uint16_t" name="adc4">ADC output 4</field>
<field type="uint16_t" name="adc5">ADC output 5</field>
<field type="uint16_t" name="adc6">ADC output 6</field>
</message>
</messages>
</mavlink>