common.xml Pass control to an external controller. Timeout in seconds. The maximum amount of time that the external controller will be allowed to control the vehicle. 0 means no timeout Altitude min. If vehicle moves below this altitude the command will be aborted and the mission will continue. 0 for no lower alt limit Altitude max. If vehicle moves above this altitude the command will be aborted and the mission will continue. 0 for no upper alt limit Horizontal move limit. If vehicle moves more than this distance from it's location at the moment the command was begun, the command will be aborted and the mission will continue. 0 for no horizontal movement limit Empty Empty Empty Navigate at the specified velocity coordinate_frame - see MAV_FRAME enum Empty Empty Empty x velocity y velocity z velocity Mission command to perform motor test motor sequence number (a number from 1 to max number of motors on the vehicle) throttle type (0=throttle percentage, 1=PWM, 2=pilot throttle channel pass-through. See MOTOR_TEST_THROTTLE_TYPE enum) throttle timeout (in seconds) Empty Empty Empty pre-initialization disabled checking limits a limit has been breached taking action eg. RTL we're no longer in breach of a limit pre-initialization disabled checking limits Flags in RALLY_POINT message Flag set when requiring favorable winds for landing. 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. Disable parachute release Enable parachute release Release parachute throttle as a percentage from 0 ~ 100 throttle as an absolute PWM value (normally in range of 1000~2000) throttle pass-through from pilot's transmitter Camera heartbeat, announce camera component ID at 1hz Camera image triggered Camera connection lost Camera unknown error Camera battery low. Parameter p1 shows reported voltage Camera storage low. Parameter p1 shows reported shots remaining Camera storage low. Parameter p1 shows reported video minutes remaining Shooting video, not stills Unable to achieve requested exposure (e.g. shutter speed too low) Closed loop feedback from camera, we know for sure it has successfully taken a picture Open loop camera, an image trigger has been requested but we can't know for sure it has successfully taken a picture Offsets and calibrations values for hardware sensors. This makes it easier to debug the calibration process. magnetometer X offset magnetometer Y offset magnetometer Z offset magnetic declination (radians) raw pressure from barometer raw temperature from barometer gyro X calibration gyro Y calibration gyro Z calibration accel X calibration accel Y calibration accel Z calibration set the magnetometer offsets System ID Component ID magnetometer X offset magnetometer Y offset magnetometer Z offset state of APM memory heap top free memory raw ADC output ADC output 1 ADC output 2 ADC output 3 ADC output 4 ADC output 5 ADC output 6 Configure on-board Camera Control System. System ID Component ID Mode enumeration from 1 to N //P, TV, AV, M, Etc (0 means ignore) Divisor number //e.g. 1000 means 1/1000 (0 means ignore) F stop number x 10 //e.g. 28 means 2.8 (0 means ignore) ISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore) Exposure type enumeration from 1 to N (0 means ignore) Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off) Extra parameters enumeration (0 means ignore) Correspondent value to given extra_param Control on-board Camera Control System to take shots. System ID Component ID 0: stop, 1: start or keep it up //Session control e.g. show/hide lens 1 to N //Zoom's absolute position (0 means ignore) -100 to 100 //Zooming step value to offset zoom from the current position 0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus 0: ignore, 1: shot or start filming Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once Extra parameters enumeration (0 means ignore) Correspondent value to given extra_param Message to configure a camera mount, directional antenna, etc. System ID Component ID mount operating mode (see MAV_MOUNT_MODE enum) (1 = yes, 0 = no) (1 = yes, 0 = no) (1 = yes, 0 = no) Message to control a camera mount, directional antenna, etc. System ID Component ID pitch(deg*100) or lat, depending on mount mode roll(deg*100) or lon depending on mount mode yaw(deg*100) or alt (in cm) depending on mount mode if "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING) Message with some status from APM to GCS about camera or antenna mount System ID Component ID pitch(deg*100) or lat, depending on mount mode roll(deg*100) or lon depending on mount mode yaw(deg*100) or alt (in cm) depending on mount mode A fence point. Used to set a point when from GCS -> MAV. Also used to return a point from MAV -> GCS System ID Component ID point index (first point is 1, 0 is for return point) total number of points (for sanity checking) Latitude of point Longitude of point Request a current fence point from MAV System ID Component ID point index (first point is 1, 0 is for return point) Status of geo-fencing. Sent in extended status stream when fencing enabled 0 if currently inside fence, 1 if outside number of fence breaches last breach type (see FENCE_BREACH_* enum) time of last breach in milliseconds since boot Status of DCM attitude estimator X gyro drift estimate rad/s Y gyro drift estimate rad/s Z gyro drift estimate rad/s average accel_weight average renormalisation value average error_roll_pitch value average error_yaw value Status of simulation environment, if used Roll angle (rad) Pitch angle (rad) Yaw angle (rad) X acceleration m/s/s Y acceleration m/s/s Z acceleration m/s/s Angular speed around X axis rad/s Angular speed around Y axis rad/s Angular speed around Z axis rad/s Latitude in degrees * 1E7 Longitude in degrees * 1E7 Status of key hardware board voltage (mV) I2C error count Status generated by radio local signal strength remote signal strength how full the tx buffer is as a percentage background noise level remote background noise level receive errors count of error corrected packets Status of AP_Limits. Sent in extended status stream when AP_Limits is enabled state of AP_Limits, (see enum LimitState, LIMITS_STATE) time of last breach in milliseconds since boot time of last recovery action in milliseconds since boot time of last successful recovery in milliseconds since boot time of last all-clear in milliseconds since boot number of fence breaches AP_Limit_Module bitfield of enabled modules, (see enum moduleid or LIMIT_MODULE) AP_Limit_Module bitfield of required modules, (see enum moduleid or LIMIT_MODULE) AP_Limit_Module bitfield of triggered modules, (see enum moduleid or LIMIT_MODULE) Wind estimation wind direction that wind is coming from (degrees) wind speed in ground plane (m/s) vertical wind speed (m/s) Data packet, size 16 data type data length raw data Data packet, size 32 data type data length raw data Data packet, size 64 data type data length raw data Data packet, size 96 data type data length raw data Rangefinder reporting distance in meters raw voltage if available, zero otherwise Airspeed auto-calibration GPS velocity north m/s GPS velocity east m/s GPS velocity down m/s Differential pressure pascals Estimated to true airspeed ratio Airspeed ratio EKF state x EKF state y EKF state z EKF Pax EKF Pby EKF Pcz A rally point. Used to set a point when from GCS -> MAV. Also used to return a point from MAV -> GCS System ID Component ID point index (first point is 0) total number of points (for sanity checking) Latitude of point in degrees * 1E7 Longitude of point in degrees * 1E7 Transit / loiter altitude in meters relative to home Break altitude in meters relative to home Heading to aim for when landing. In centi-degrees. See RALLY_FLAGS enum for definition of the bitmask. Request a current rally point from MAV. MAV should respond with a RALLY_POINT message. MAV should not respond if the request is invalid. System ID Component ID point index (first point is 0) Status of compassmot calibration throttle (percent*10) current (amps) interference (percent) Motor Compensation X Motor Compensation Y Motor Compensation Z Status of secondary AHRS filter if available Roll angle (rad) Pitch angle (rad) Yaw angle (rad) Altitude (MSL) Latitude in degrees * 1E7 Longitude in degrees * 1E7 Camera Event Image timestamp (microseconds since UNIX epoch, according to camera clock) System ID Camera ID Image index See CAMERA_STATUS_TYPES enum for definition of the bitmask Parameter 1 (meaning depends on event, see CAMERA_STATUS_TYPES enum) Parameter 2 (meaning depends on event, see CAMERA_STATUS_TYPES enum) Parameter 3 (meaning depends on event, see CAMERA_STATUS_TYPES enum) Parameter 4 (meaning depends on event, see CAMERA_STATUS_TYPES enum) Camera Capture Feedback Image timestamp (microseconds since UNIX epoch), as passed in by CAMERA_STATUS message (or autopilot if no CCB) System ID Camera ID Image index Latitude in (deg * 1E7) Longitude in (deg * 1E7) Altitude Absolute (meters AMSL) Altitude Relative (meters above HOME location) Camera Roll angle (earth frame, degrees, +-180) Camera Pitch angle (earth frame, degrees, +-180) Camera Yaw (earth frame, degrees, 0-360, true) Focal Length (mm) See CAMERA_FEEDBACK_FLAGS enum for definition of the bitmask