3 Micro air vehicle / autopilot classes. This identifies the individual model. Generic autopilot, full support for everything PIXHAWK autopilot, http://pixhawk.ethz.ch SLUGS autopilot, http://slugsuav.soe.ucsc.edu ArduPilotMega / ArduCopter, http://diydrones.com OpenPilot, http://openpilot.org Generic autopilot only supporting simple waypoints Generic autopilot supporting waypoints and other simple navigation commands Generic autopilot supporting the full mission command set No valid autopilot, e.g. a GCS or other MAVLink component PPZ UAV - http://nongnu.org/paparazzi UAV Dev Board FlexiPilot PX4 Autopilot - http://pixhawk.ethz.ch/px4/ SMACCMPilot - http://smaccmpilot.org AutoQuad -- http://autoquad.org Armazila -- http://armazila.com Aerob -- http://aerob.ru ASLUAV autopilot -- http://www.asl.ethz.ch Generic micro air vehicle. Fixed wing aircraft. Quadrotor Coaxial helicopter Normal helicopter with tail rotor. Ground installation Operator control unit / ground control station Airship, controlled Free balloon, uncontrolled Rocket Ground rover Surface vessel, boat, ship Submarine Hexarotor Octorotor Octorotor Flapping wing Flapping wing Onboard companion controller Two-rotor VTOL using control surfaces in vertical operation in addition. Tailsitter. Quad-rotor VTOL using a V-shaped quad config in vertical operation. Tailsitter. VTOL reserved 1 VTOL reserved 2 VTOL reserved 3 VTOL reserved 4 VTOL reserved 5 Onboard gimbal Onboard ADSB peripheral These values define the type of firmware release. These values indicate the first version or release of this type. For example the first alpha release would be 64, the second would be 65. development release alpha release beta release release candidate official stable release These flags encode the MAV mode. 0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly. 0b01000000 remote control input is enabled. 0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational. 0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around. 0b00001000 guided mode enabled, system flies MISSIONs / mission items. 0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation. 0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations. 0b00000001 Reserved for future use. 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. First bit: 10000000 Second bit: 01000000 Third bit: 00100000 Fourth bit: 00010000 Fifth bit: 00001000 Sixt bit: 00000100 Seventh bit: 00000010 Eighth bit: 00000001 Override command, pauses current mission execution and moves immediately to a position Hold at the current position. Continue with the next item in mission execution. Hold at the current position of the system Hold at the position specified in the parameters of the DO_HOLD action These defines are predefined OR-combined mode flags. There is no need to use values from this enum, but it simplifies the use of the mode flags. Note that manual input is enabled in all modes as a safety override. System is not ready to fly, booting, calibrating, etc. No flag is set. System is allowed to be active, under assisted RC control. System is allowed to be active, under assisted RC control. System is allowed to be active, under manual (RC) control, no stabilization System is allowed to be active, under manual (RC) control, no stabilization System is allowed to be active, under autonomous control, manual setpoint System is allowed to be active, under autonomous control, manual setpoint System is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by MISSIONs) System is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by MISSIONs) UNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only. UNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only. Uninitialized system, state is unknown. System is booting up. System is calibrating and not flight-ready. System is grounded and on standby. It can be launched any time. System is active and might be already airborne. Motors are engaged. System is in a non-normal flight mode. It can however still navigate. 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. System just initialized its power-down sequence, will shut down now. These encode the sensors whose status is sent as part of the SYS_STATUS message. 0x01 3D gyro 0x02 3D accelerometer 0x04 3D magnetometer 0x08 absolute pressure 0x10 differential pressure 0x20 GPS 0x40 optical flow 0x80 computer vision position 0x100 laser based position 0x200 external ground truth (Vicon or Leica) 0x400 3D angular rate control 0x800 attitude stabilization 0x1000 yaw position 0x2000 z/altitude control 0x4000 x/y position control 0x8000 motor outputs / control 0x10000 rc receiver 0x20000 2nd 3D gyro 0x40000 2nd 3D accelerometer 0x80000 2nd 3D magnetometer 0x100000 geofence 0x200000 AHRS subsystem health 0x400000 Terrain subsystem health Global coordinate frame, WGS84 coordinate system. First value / x: latitude, second value / y: longitude, third value / z: positive altitude over mean sea level (MSL) Local coordinate frame, Z-up (x: north, y: east, z: down). NOT a coordinate frame, indicates a mission command. 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. Local coordinate frame, Z-down (x: east, y: north, z: up) 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) 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. Offset to the current local frame. Anything expressed in this frame should be added to the current local frame position. 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. 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. 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. 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. Disable fenced mode Switched to guided mode to return point (fence point 0) Report fence breach, but don't take action Switched to guided mode to return point (fence point 0) with manual throttle control No last fence breach Breached minimum altitude Breached maximum altitude Breached fence boundary Enumeration of possible mount operation modes Load and keep safe position (Roll,Pitch,Yaw) from permant memory and stop stabilization Load and keep neutral position (Roll,Pitch,Yaw) from permanent memory. Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization Load neutral position and start RC Roll,Pitch,Yaw control with stabilization Load neutral position and start to point to Lat,Lon,Alt 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. Navigate to MISSION. Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing) Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached) 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. Desired yaw angle at MISSION (rotary wing) Latitude Longitude Altitude Loiter around this MISSION an unlimited amount of time Empty Empty Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise Desired yaw angle. Latitude Longitude Altitude Loiter around this MISSION for X turns Turns Empty Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise Desired yaw angle. Latitude Longitude Altitude Loiter around this MISSION for X seconds Seconds (decimal) Empty Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise Desired yaw angle. Latitude Longitude Altitude Return to launch location Empty Empty Empty Empty Empty Empty Empty Land at location Abort Alt Empty Empty Desired yaw angle. Latitude Longitude Altitude Takeoff from ground / hand Minimum pitch (if airspeed sensor present), desired pitch without sensor Empty Empty Yaw angle (if magnetometer present), ignored without magnetometer Latitude Longitude Altitude 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. Empty Empty Empty Empty Empty Empty Desired altitude in meters 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. Heading Required (0 = False) Radius in meters. If positive loiter clockwise, negative counter-clockwise, 0 means no change to standard loiter. Empty Empty Latitude Longitude Altitude 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. Region of intereset mode. (see MAV_ROI enum) MISSION index/ target ID. (see MAV_ROI enum) ROI index (allows a vehicle to manage multiple ROI's) Empty x the location of the fixed ROI (see MAV_FRAME) y z Control autonomous path planning on the MAV. 0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning 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 Empty Yaw angle at goal, in compass degrees, [0..360] Latitude/X of goal Longitude/Y of goal Altitude/Z of goal Navigate to MISSION using a spline path. Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing) Empty Empty Empty Latitude/X of goal Longitude/Y of goal Altitude/Z of goal hand control over to an external controller On / Off (> 0.5f on) Empty Empty Empty Empty Empty Empty NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration Empty Empty Empty Empty Empty Empty Empty Delay mission state machine. Delay in seconds (decimal) Empty Empty Empty Empty Empty Empty Ascend/descend at rate. Delay mission state machine until desired altitude reached. Descent / Ascend rate (m/s) Empty Empty Empty Empty Empty Finish Altitude Delay mission state machine until within desired distance of next NAV point. Distance (meters) Empty Empty Empty Empty Empty Empty Reach a certain target angle. target angle: [0-360], 0 is north speed during yaw change:[deg per second] direction: negative: counter clockwise, positive: clockwise [-1,1] relative offset or absolute angle: [ 1,0] Empty Empty Empty NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration Empty Empty Empty Empty Empty Empty Empty Set system mode. Mode, as defined by ENUM MAV_MODE Custom mode - this is system specific, please refer to the individual autopilot specifications for details. Empty Empty Empty Empty Empty Jump to the desired command in the mission list. Repeat this action only the specified number of times Sequence number Repeat count Empty Empty Empty Empty Empty Change speed and/or throttle set points. Speed type (0=Airspeed, 1=Ground Speed) Speed (m/s, -1 indicates no change) Throttle ( Percent, -1 indicates no change) Empty Empty Empty Empty Changes the home location either to the current location or a specified location. Use current (1=use current location, 0=use specified location) Empty Empty Empty Latitude Longitude Altitude Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter. Parameter number Parameter value Empty Empty Empty Empty Empty Set a relay to a condition. Relay number Setting (1=on, 0=off, others possible depending on system hardware) Empty Empty Empty Empty Empty Cycle a relay on and off for a desired number of cyles with a desired period. Relay number Cycle count Cycle time (seconds, decimal) Empty Empty Empty Empty Set a servo to a desired PWM value. Servo number PWM (microseconds, 1000 to 2000 typical) Empty Empty Empty Empty Empty Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period. Servo number PWM (microseconds, 1000 to 2000 typical) Cycle count Cycle time (seconds) Empty Empty Empty Terminate flight immediately Flight termination activated if > 0.5 Empty Empty Empty Empty Empty Empty 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. Empty Empty Empty Empty Latitude Longitude Empty Mission command to perform a landing from a rally point. Break altitude (meters) Landing speed (m/s) Empty Empty Empty Empty Empty Mission command to safely abort an autonmous landing. Altitude (meters) Empty Empty Empty Empty Empty Empty Control onboard camera system. Camera ID (-1 for all) Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw Transmission mode: 0: video stream, >0: single images every n seconds (decimal) Recording: 0: disabled, 1: enabled compressed, 2: enabled raw Empty Empty Empty 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. Region of intereset mode. (see MAV_ROI enum) MISSION index/ target ID. (see MAV_ROI enum) ROI index (allows a vehicle to manage multiple ROI's) Empty x the location of the fixed ROI (see MAV_FRAME) y z Mission command to configure an on-board camera controller system. Modes: P, TV, AV, M, Etc Shutter speed: Divisor number for one second Aperture: F stop number ISO number e.g. 80, 100, 200, Etc Exposure type enumerator Command Identity Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off) Mission command to control an on-board camera controller system. Session control e.g. show/hide lens Zoom's absolute position Zooming step value to offset zoom from the current position Focus Locking, Unlocking or Re-locking Shooting Command Command Identity Empty Mission command to configure a camera or antenna mount Mount operation mode (see MAV_MOUNT_MODE enum) stabilize roll? (1 = yes, 0 = no) stabilize pitch? (1 = yes, 0 = no) stabilize yaw? (1 = yes, 0 = no) Empty Empty Empty Mission command to control a camera or antenna mount pitch or lat in degrees, depending on mount mode. roll or lon in degrees depending on mount mode yaw or alt (in meters) depending on mount mode reserved reserved reserved MAV_MOUNT_MODE enum value Mission command to set CAM_TRIGG_DIST for this flight Camera trigger distance (meters) Empty Empty Empty Empty Empty Empty Mission command to enable the geofence enable? (0=disable, 1=enable) Empty Empty Empty Empty Empty Empty Mission command to trigger a parachute action (0=disable, 1=enable, 2=release, for some systems see PARACHUTE_ACTION enum, not in general message set.) Empty Empty Empty Empty Empty Empty Change to/from inverted flight inverted (0=normal, 1=inverted) Empty Empty Empty Empty Empty Empty Mission command to control a camera or antenna mount, using a quaternion as reference. q1 - quaternion param #1, w (1 in null-rotation) q2 - quaternion param #2, x (0 in null-rotation) q3 - quaternion param #3, y (0 in null-rotation) q4 - quaternion param #4, z (0 in null-rotation) Empty Empty Empty set id of master controller System ID Component ID Empty Empty Empty Empty Empty set limits for external control timeout - maximum time (in seconds) that external controller will be allowed to control vehicle. 0 means no timeout 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 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 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 Empty Empty Empty NOP - This command is only used to mark the upper limit of the DO commands in the enumeration Empty Empty Empty Empty Empty Empty Empty Trigger calibration. This command will be only accepted if in pre-flight mode. Gyro calibration: 0: no, 1: yes Magnetometer calibration: 0: no, 1: yes Ground pressure: 0: no, 1: yes Radio calibration: 0: no, 1: yes Accelerometer calibration: 0: no, 1: yes Compass/Motor interference calibration: 0: no, 1: yes Empty Set sensor offsets. This command will be only accepted if in pre-flight mode. Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow, 5: second magnetometer X axis offset (or generic dimension 1), in the sensor's raw units Y axis offset (or generic dimension 2), in the sensor's raw units Z axis offset (or generic dimension 3), in the sensor's raw units Generic dimension 4, in the sensor's raw units Generic dimension 5, in the sensor's raw units Generic dimension 6, in the sensor's raw units Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode. Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM Reserved Reserved Empty Empty Empty Request the reboot or shutdown of system components. 0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot. 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer. Reserved Reserved Empty Empty Empty Hold / continue the current action MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with next item in mission plan MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position MAV_FRAME coordinate frame of hold point Desired yaw angle in degrees Latitude / X position Longitude / Y position Altitude / Z position start running a mission first_item: the first mission item to run last_item: the last mission item to run (after this item is run, the mission ends) Arms / Disarms a component 1 to arm, 0 to disarm 0 to disarm if landed, 21196 to force disarm any time Request the home position from the vehicle. Reserved Reserved Reserved Reserved Reserved Reserved Reserved Starts receiver pairing 0:Spektrum 0:Spektrum DSM2, 1:Spektrum DSMX Request autopilot capabilities 1: Request autopilot version Reserved (all remaining params) Start image capture sequence Duration between two consecutive pictures (in seconds) Number of images to capture total - 0 for unlimited capture Resolution in megapixels (0.3 for 640x480, 1.3 for 1280x720, etc) Stop image capture sequence Reserved Reserved Starts video capture Camera ID (0 for all cameras), 1 for first, 2 for second, etc. Frames per second Resolution in megapixels (0.3 for 640x480, 1.3 for 1280x720, etc) Stop the current video capture Reserved Reserved Create a panorama at the current position Viewing angle horizontal of the panorama (in degrees, +- 0.5 the total angle) Viewing angle vertical of panorama (in degrees) Speed of the horizontal rotation (in degrees per second) Speed of the vertical rotation (in degrees per second) Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity. 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. Desired approach vector in degrees compass heading (0..360). A negative value indicates the system can define the approach vector at will. 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. Minimum altitude clearance to the release position in meters. A negative value indicates the system can define the clearance at will. Latitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT Longitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT Altitude, in meters AMSL Control the payload deployment. Operation mode. 0: Abort deployment, continue normal mission. 1: switch to payload deploment mode. 100: delete first payload deployment request. 101: delete all payload deployment requests. Reserved Reserved Reserved Reserved Reserved Reserved Data stream IDs. A data stream is not a fixed set of messages, but rather a recommendation to the autopilot software. Individual autopilots may or may not obey the recommended messages. Enable all data streams Enable IMU_RAW, GPS_RAW, GPS_STATUS packets. Enable GPS_STATUS, CONTROL_STATUS, AUX_STATUS Enable RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW Enable ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT, NAV_CONTROLLER_OUTPUT. Enable LOCAL_POSITION, GLOBAL_POSITION/GLOBAL_POSITION_INT messages. Dependent on the autopilot Dependent on the autopilot Dependent on the autopilot The ROI (region of interest) for the vehicle. This can be be used by the vehicle for camera/vehicle attitude alignment (see MAV_CMD_NAV_ROI). No region of interest. Point toward next MISSION. Point toward given MISSION. Point toward fixed location. Point toward of given id. ACK / NACK / ERROR values as a result of MAV_CMDs and for mission item transmission. Command / mission item is ok. Generic error message if none of the other reasons fails or if no detailed error reporting is implemented. The system is refusing to accept this command from this source / communication partner. Command or mission item is not supported, other commands would be accepted. The coordinate frame of this command / mission item is not supported. 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. The X or latitude value is out of range. The Y or longitude value is out of range. The Z or altitude value is out of range. Specifies the datatype of a MAVLink parameter. 8-bit unsigned integer 8-bit signed integer 16-bit unsigned integer 16-bit signed integer 32-bit unsigned integer 32-bit signed integer 64-bit unsigned integer 64-bit signed integer 32-bit floating-point 64-bit floating-point result from a mavlink command Command ACCEPTED and EXECUTED Command TEMPORARY REJECTED/DENIED Command PERMANENTLY DENIED Command UNKNOWN/UNSUPPORTED Command executed, but failed result in a mavlink mission ack mission accepted OK generic error / not accepting mission commands at all right now coordinate frame is not supported command is not supported mission item exceeds storage space one of the parameters has an invalid value param1 has an invalid value param2 has an invalid value param3 has an invalid value param4 has an invalid value x/param5 has an invalid value y/param6 has an invalid value param7 has an invalid value received waypoint out of sequence not accepting any mission commands from this communication partner 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/. System is unusable. This is a "panic" condition. Action should be taken immediately. Indicates error in non-critical systems. Action must be taken immediately. Indicates failure in a primary system. Indicates an error in secondary/redundant systems. Indicates about a possible future error if this is not resolved within a given timeframe. Example would be a low battery warning. An unusual event has occured, though not an error condition. This should be investigated for the root cause. Normal operational messages. Useful for logging. No action is required for these messages. Useful non-operational messages that can assist in debugging. These should not occur during normal operation. Power supply status flags (bitmask) main brick power supply valid main servo power supply valid for FMU USB power is connected peripheral supply is in over-current state hi-power peripheral supply is in over-current state Power status has changed since boot SERIAL_CONTROL device types First telemetry port Second telemetry port First GPS port Second GPS port system shell SERIAL_CONTROL flags (bitmask) Set if this is a reply Set if the sender wants the receiver to send a response as another SERIAL_CONTROL message 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 Block on writes to the serial port Send multiple replies until port is drained Enumeration of distance sensor types Laser altimeter, e.g. LightWare SF02/F or PulsedLight units Ultrasound altimeter, e.g. MaxBotix units Bitmask of (optional) autopilot capabilities (64 bit). If a bit is set, the autopilot supports this capability. Autopilot supports MISSION float message type. Autopilot supports the new param float message type. Autopilot supports MISSION_INT scaled integer message type. Autopilot supports COMMAND_INT scaled integer message type. Autopilot supports the new param union message type. Autopilot supports the new param union message type. Autopilot supports commanding attitude offboard. Autopilot supports commanding position and velocity targets in local NED frame. Autopilot supports commanding position and velocity targets in global scaled integers. Autopilot supports terrain protocol / data handling. Autopilot supports direct actuator control. Autopilot supports the flight termination command. Autopilot supports onboard compass calibration. Enumeration of estimator types This is a naive estimator without any real covariance feedback. Computer vision based estimate. Might be up to scale. Visual-inertial estimate. Plain GPS estimate. Estimator integrating GPS and inertial sensing. Enumeration of battery types Not specified. Lithium polymere battery Lithium ferrite battery Lithium-ION battery Nickel metal hydride battery Enumeration of battery functions Lithium polymere battery Battery supports all flight systems Battery for the propulsion system Avionics battery Payload battery Enumeration of the ADSB altimeter types Altitude reported from a Baro source using QNH reference Altitude reported from a GNSS source ADSB classification for the type of vehicle emitting the transponder signal These flags indicate status such as data validity of each data source. Set = data valid 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). Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) Autopilot type / class. defined in MAV_AUTOPILOT ENUM System mode bitfield, see MAV_MODE_FLAG ENUM in mavlink/include/mavlink_types.h A bitfield for use for autopilot-specific flags. System status flag, see MAV_STATE ENUM MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version 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. 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 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 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 Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000 Battery voltage, in millivolts (1 = 1 millivolt) Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery 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) Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV) Autopilot-specific errors Autopilot-specific errors Autopilot-specific errors Autopilot-specific errors The system time is the time of the master clock, typically the computer clock of the main onboard computer. Timestamp of the master clock in microseconds since UNIX epoch. Timestamp of the component clock since boot time in milliseconds. 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. Unix timestamp in microseconds or since system boot if smaller than MAVLink epoch (1.1.2009) PING sequence 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 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 Request to control this MAV System the GCS requests control for 0: request control of this MAV, 1: Release control of this MAV 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. 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 "!?,.-" Accept / deny control of this MAV ID of the GCS this message 0: request control of this MAV, 1: Release control of this MAV 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control 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. key 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. The system setting the mode The new base mode The new autopilot-specific mode. This field can be ignored by an autopilot. 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. System ID Component 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 Parameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored) Request all parameters of this component. After his request, all parameters are emitted. System ID Component ID 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. 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 Onboard parameter value Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types. Total number of onboard parameters Index of this onboard parameter 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. System ID Component 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 Onboard parameter value Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types. The global position, as returned by the Global Positioning System (GPS). This is 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). Timestamp (microseconds since UNIX epoch or microseconds since system boot) 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. Latitude (WGS84), in degrees * 1E7 Longitude (WGS84), in degrees * 1E7 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. GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX Number of satellites visible. If unknown, set to 255 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. Number of satellites visible Global satellite ID 0: Satellite not used, 1: used for localization Elevation (0: right on top of receiver, 90: on the horizon) of satellite Direction of satellite, 0: 0 deg, 255: 360 deg. Signal to noise ratio of satellite The RAW IMU readings for the usual 9DOF sensor setup. This message should contain the scaled values to the described units Timestamp (milliseconds since system boot) X acceleration (mg) Y acceleration (mg) Z acceleration (mg) Angular speed around X axis (millirad /sec) Angular speed around Y axis (millirad /sec) Angular speed around Z axis (millirad /sec) X Magnetic field (milli tesla) Y Magnetic field (milli tesla) Z Magnetic field (milli tesla) 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. Timestamp (microseconds since UNIX epoch or microseconds since system boot) X acceleration (raw) Y acceleration (raw) Z acceleration (raw) Angular speed around X axis (raw) Angular speed around Y axis (raw) Angular speed around Z axis (raw) X Magnetic field (raw) Y Magnetic field (raw) Z Magnetic field (raw) 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. Timestamp (microseconds since UNIX epoch or microseconds since system boot) Absolute pressure (raw) Differential pressure 1 (raw) Differential pressure 2 (raw) Raw Temperature measurement (raw) The pressure readings for the typical setup of one absolute and differential pressure sensor. The units are as specified in each field. Timestamp (milliseconds since system boot) Absolute pressure (hectopascal) Differential pressure 1 (hectopascal) Temperature measurement (0.01 degrees celsius) The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right). Timestamp (milliseconds since system boot) Roll angle (rad, -pi..+pi) Pitch angle (rad, -pi..+pi) Yaw angle (rad, -pi..+pi) Roll angular speed (rad/s) Pitch angular speed (rad/s) Yaw angular speed (rad/s) 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). Timestamp (milliseconds since system boot) Quaternion component 1, w (1 in null-rotation) Quaternion component 2, x (0 in null-rotation) Quaternion component 3, y (0 in null-rotation) Quaternion component 4, z (0 in null-rotation) Roll angular speed (rad/s) Pitch angular speed (rad/s) Yaw angular speed (rad/s) 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) Timestamp (milliseconds since system boot) X Position Y Position Z Position X Speed Y Speed Z Speed 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. Timestamp (milliseconds since system boot) Latitude, expressed as * 1E7 Longitude, expressed as * 1E7 Altitude in meters, expressed as * 1000 (millimeters), AMSL (not WGS84 - note that virtually all GPS modules provide the AMSL as well) Altitude above ground in meters, expressed as * 1000 (millimeters) Ground X Speed (Latitude), expressed as m/s * 100 Ground Y Speed (Longitude), expressed as m/s * 100 Ground Z Speed (Altitude), expressed as m/s * 100 Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX The scaled values of the RC channels received. (-100%) -10000, (0%) 0, (100%) 10000. Channels that are inactive should be set to UINT16_MAX. Timestamp (milliseconds since system boot) Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos. RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX. RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX. RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX. RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX. RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX. RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX. RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX. RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX. Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown. 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. Timestamp (milliseconds since system boot) Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos. RC channel 1 value, in microseconds. A value of UINT16_MAX implies the channel is unused. RC channel 2 value, in microseconds. A value of UINT16_MAX implies the channel is unused. RC channel 3 value, in microseconds. A value of UINT16_MAX implies the channel is unused. RC channel 4 value, in microseconds. A value of UINT16_MAX implies the channel is unused. RC channel 5 value, in microseconds. A value of UINT16_MAX implies the channel is unused. RC channel 6 value, in microseconds. A value of UINT16_MAX implies the channel is unused. RC channel 7 value, in microseconds. A value of UINT16_MAX implies the channel is unused. RC channel 8 value, in microseconds. A value of UINT16_MAX implies the channel is unused. Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown. 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%. Timestamp (microseconds since system boot) Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos. Servo output 1 value, in microseconds Servo output 2 value, in microseconds Servo output 3 value, in microseconds Servo output 4 value, in microseconds Servo output 5 value, in microseconds Servo output 6 value, in microseconds Servo output 7 value, in microseconds Servo output 8 value, in microseconds 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. System ID Component ID Start index, 0 by default End index, -1 by default (-1: send list to end). Else a valid index of the list 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! System ID Component ID Start index, 0 by default and smaller / equal to the largest index of the current onboard list. End index, equal or greater than start index. 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. System ID Component ID Sequence The coordinate system of the MISSION. see MAV_FRAME in mavlink_types.h The scheduled action for the MISSION. see MAV_CMD in common.xml MAVLink specs false:0, true:1 autocontinue to next wp PARAM1, see MAV_CMD enum PARAM2, see MAV_CMD enum PARAM3, see MAV_CMD enum PARAM4, see MAV_CMD enum PARAM5 / local: x position, global: latitude PARAM6 / y position: global: longitude PARAM7 / z position: global: altitude (relative or absolute, depending on frame. 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 System ID Component ID Sequence 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). System ID Component ID Sequence Message that announces the sequence number of the current active mission item. The MAV will fly towards this mission item. Sequence Request the overall list of mission items from the system/component. System ID Component ID 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. System ID Component ID Number of mission items in the sequence Delete all mission items at once. System ID Component ID 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. Sequence 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). System ID Component ID See MAV_MISSION_RESULT enum 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. System ID Latitude (WGS84), in degrees * 1E7 Longitude (WGS84, in degrees * 1E7 Altitude (AMSL), in meters * 1000 (positive for up) Once the MAV sets a new GPS-Local correspondence, this message announces the origin (0,0,0) position Latitude (WGS84), in degrees * 1E7 Longitude (WGS84), in degrees * 1E7 Altitude (AMSL), in meters * 1000 (positive for up) Bind a RC channel to a parameter. The parameter should change accoding to the RC channel value. System ID Component 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 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. Index of parameter RC channel. Not equal to the RC channel id. Typically correpsonds to a potentiometer-knob on the RC. Initial parameter value Scale, maps the RC range [-1, 1] to a parameter value Minimum param value. The protocol does not define if this overwrites an onboard minimum value. (Depends on implementation) Maximum param value. The protocol does not define if this overwrites an onboard maximum value. (Depends on implementation) 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. System ID Component ID 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. x position 1 / Latitude 1 y position 1 / Longitude 1 z position 1 / Altitude 1 x position 2 / Latitude 2 y position 2 / Longitude 2 z position 2 / Altitude 2 Read out the safety zone the MAV currently assumes. 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. x position 1 / Latitude 1 y position 1 / Longitude 1 z position 1 / Altitude 1 x position 2 / Latitude 2 y position 2 / Longitude 2 z position 2 / Altitude 2 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). Timestamp (milliseconds since system boot) Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation) Roll angular speed (rad/s) Pitch angular speed (rad/s) Yaw angular speed (rad/s) Attitude covariance 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. Current desired roll in degrees Current desired pitch in degrees Current desired heading in degrees Bearing to current MISSION/target in degrees Distance to active MISSION in meters Current altitude error in meters Current airspeed error in meters/second Current crosstrack error on x-y plane in meters 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. Timestamp (milliseconds since system boot) Timestamp (microseconds since UNIX epoch) in UTC. 0 for unknown. Commonly filled by the precision time source of a GPS receiver. Class id of the estimator this estimate originated from. Latitude, expressed as degrees * 1E7 Longitude, expressed as degrees * 1E7 Altitude in meters, expressed as * 1000 (millimeters), above MSL Altitude above ground in meters, expressed as * 1000 (millimeters) Ground X Speed (Latitude), expressed as m/s Ground Y Speed (Longitude), expressed as m/s Ground Z Speed (Altitude), expressed as m/s Covariance matrix (first six entries are the first ROW, next six entries are the second row, etc.) 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) Timestamp (milliseconds since system boot) Timestamp (microseconds since UNIX epoch) in UTC. 0 for unknown. Commonly filled by the precision time source of a GPS receiver. Class id of the estimator this estimate originated from. X Position Y Position Z Position X Speed Y Speed Z Speed Covariance matrix (first six entries are the first ROW, next six entries are the second row, etc.) 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. Timestamp (milliseconds since system boot) 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. RC channel 1 value, in microseconds. A value of UINT16_MAX implies the channel is unused. RC channel 2 value, in microseconds. A value of UINT16_MAX implies the channel is unused. RC channel 3 value, in microseconds. A value of UINT16_MAX implies the channel is unused. RC channel 4 value, in microseconds. A value of UINT16_MAX implies the channel is unused. RC channel 5 value, in microseconds. A value of UINT16_MAX implies the channel is unused. RC channel 6 value, in microseconds. A value of UINT16_MAX implies the channel is unused. RC channel 7 value, in microseconds. A value of UINT16_MAX implies the channel is unused. RC channel 8 value, in microseconds. A value of UINT16_MAX implies the channel is unused. RC channel 9 value, in microseconds. A value of UINT16_MAX implies the channel is unused. RC channel 10 value, in microseconds. A value of UINT16_MAX implies the channel is unused. RC channel 11 value, in microseconds. A value of UINT16_MAX implies the channel is unused. RC channel 12 value, in microseconds. A value of UINT16_MAX implies the channel is unused. RC channel 13 value, in microseconds. A value of UINT16_MAX implies the channel is unused. RC channel 14 value, in microseconds. A value of UINT16_MAX implies the channel is unused. RC channel 15 value, in microseconds. A value of UINT16_MAX implies the channel is unused. RC channel 16 value, in microseconds. A value of UINT16_MAX implies the channel is unused. RC channel 17 value, in microseconds. A value of UINT16_MAX implies the channel is unused. RC channel 18 value, in microseconds. A value of UINT16_MAX implies the channel is unused. Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown. The target requested to send the message stream. The target requested to send the message stream. The ID of the requested data stream The requested interval between two messages of this type 1 to start sending, 0 to stop sending. The ID of the requested data stream The requested interval between two messages of this type 1 stream is enabled, 0 stream is stopped. 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 The system to be controlled. 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. 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. 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. 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. A bitfield corresponding to the joystick buttons' current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1. 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. System ID Component ID RC channel 1 value, in microseconds. A value of UINT16_MAX means to ignore this field. RC channel 2 value, in microseconds. A value of UINT16_MAX means to ignore this field. RC channel 3 value, in microseconds. A value of UINT16_MAX means to ignore this field. RC channel 4 value, in microseconds. A value of UINT16_MAX means to ignore this field. RC channel 5 value, in microseconds. A value of UINT16_MAX means to ignore this field. RC channel 6 value, in microseconds. A value of UINT16_MAX means to ignore this field. RC channel 7 value, in microseconds. A value of UINT16_MAX means to ignore this field. RC channel 8 value, in microseconds. A value of UINT16_MAX means to ignore this field. 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. System ID Component ID Waypoint ID (sequence number). Starts at zero. Increases monotonically for each waypoint, no gaps in the sequence (0,1,2,3,4). The coordinate system of the MISSION. see MAV_FRAME in mavlink_types.h The scheduled action for the MISSION. see MAV_CMD in common.xml MAVLink specs false:0, true:1 autocontinue to next wp PARAM1, see MAV_CMD enum PARAM2, see MAV_CMD enum PARAM3, see MAV_CMD enum PARAM4, see MAV_CMD enum PARAM5 / local: x position in meters * 1e4, global: latitude in degrees * 10^7 PARAM6 / y position: local: x position in meters * 1e4, global: longitude in degrees *10^7 PARAM7 / z position: global: altitude in meters (relative or absolute, depending on frame. Metrics typically displayed on a HUD for fixed wing aircraft Current airspeed in m/s Current ground speed in m/s Current heading in degrees, in compass units (0..360, 0=north) Current throttle setting in integer percent, 0 to 100 Current altitude (MSL), in meters Current climb rate in meters/second Message encoding a command with parameters as scaled integers. Scaling depends on the actual command value. System ID Component ID The coordinate system of the COMMAND. see MAV_FRAME in mavlink_types.h The scheduled action for the mission item. see MAV_CMD in common.xml MAVLink specs false:0, true:1 autocontinue to next wp PARAM1, see MAV_CMD enum PARAM2, see MAV_CMD enum PARAM3, see MAV_CMD enum PARAM4, see MAV_CMD enum PARAM5 / local: x position in meters * 1e4, global: latitude in degrees * 10^7 PARAM6 / local: y position in meters * 1e4, global: longitude in degrees * 10^7 PARAM7 / z position: global: altitude in meters (relative or absolute, depending on frame. Send a command with up to seven parameters to the MAV System which should execute the command Component which should execute the command, 0 for all components Command ID, as defined by MAV_CMD enum. 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) Parameter 1, as defined by MAV_CMD enum. Parameter 2, as defined by MAV_CMD enum. Parameter 3, as defined by MAV_CMD enum. Parameter 4, as defined by MAV_CMD enum. Parameter 5, as defined by MAV_CMD enum. Parameter 6, as defined by MAV_CMD enum. Parameter 7, as defined by MAV_CMD enum. Report status of a command. Includes feedback wether the command was executed. Command ID, as defined by MAV_CMD enum. See MAV_RESULT enum Setpoint in roll, pitch, yaw and thrust from the operator Timestamp in milliseconds since system boot Desired roll rate in radians per second Desired pitch rate in radians per second Desired yaw rate in radians per second Collective thrust, normalized to 0 .. 1 Flight mode switch position, 0.. 255 Override mode switch position, 0.. 255 Set the vehicle attitude and body angular rates. Timestamp in milliseconds since system boot System ID Component ID 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 Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0) Body roll rate in radians per second Body roll rate in radians per second Body roll rate in radians per second Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust) Set the vehicle attitude and body angular rates. Timestamp in milliseconds since system boot 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 Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0) Body roll rate in radians per second Body roll rate in radians per second Body roll rate in radians per second Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust) Set vehicle position, velocity and acceleration setpoint in local frame. Timestamp in milliseconds since system boot System ID Component ID Valid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9 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 X Position in NED frame in meters Y Position in NED frame in meters Z Position in NED frame in meters (note, altitude is negative in NED) X velocity in NED frame in meter / s Y velocity in NED frame in meter / s Z velocity in NED frame in meter / s X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N yaw setpoint in rad yaw rate setpoint in rad/s Set vehicle position, velocity and acceleration setpoint in local frame. Timestamp in milliseconds since system boot Valid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9 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 X Position in NED frame in meters Y Position in NED frame in meters Z Position in NED frame in meters (note, altitude is negative in NED) X velocity in NED frame in meter / s Y velocity in NED frame in meter / s Z velocity in NED frame in meter / s X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N yaw setpoint in rad yaw rate setpoint in rad/s Set vehicle position, velocity and acceleration setpoint in the WGS84 coordinate system. 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. System ID Component ID Valid options are: MAV_FRAME_GLOBAL_INT = 5, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT = 6, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT = 11 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 X Position in WGS84 frame in 1e7 * meters Y Position in WGS84 frame in 1e7 * meters Altitude in meters in AMSL altitude, not WGS84 if absolute or relative, above terrain if GLOBAL_TERRAIN_ALT_INT X velocity in NED frame in meter / s Y velocity in NED frame in meter / s Z velocity in NED frame in meter / s X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N yaw setpoint in rad yaw rate setpoint in rad/s Set vehicle position, velocity and acceleration setpoint in the WGS84 coordinate system. 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. Valid options are: MAV_FRAME_GLOBAL_INT = 5, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT = 6, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT = 11 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 X Position in WGS84 frame in 1e7 * meters Y Position in WGS84 frame in 1e7 * meters Altitude in meters in AMSL altitude, not WGS84 if absolute or relative, above terrain if GLOBAL_TERRAIN_ALT_INT X velocity in NED frame in meter / s Y velocity in NED frame in meter / s Z velocity in NED frame in meter / s X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N yaw setpoint in rad yaw rate setpoint in rad/s 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) Timestamp (milliseconds since system boot) X Position Y Position Z Position Roll Pitch Yaw 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. Timestamp (microseconds since UNIX epoch or microseconds since system boot) Roll angle (rad) Pitch angle (rad) Yaw angle (rad) Body frame roll / phi angular speed (rad/s) Body frame pitch / theta angular speed (rad/s) Body frame yaw / psi angular speed (rad/s) Latitude, expressed as * 1E7 Longitude, expressed as * 1E7 Altitude in meters, expressed as * 1000 (millimeters) Ground X Speed (Latitude), expressed as m/s * 100 Ground Y Speed (Longitude), expressed as m/s * 100 Ground Z Speed (Altitude), expressed as m/s * 100 X acceleration (mg) Y acceleration (mg) Z acceleration (mg) Sent from autopilot to simulation. Hardware in the loop control outputs Timestamp (microseconds since UNIX epoch or microseconds since system boot) Control output -1 .. 1 Control output -1 .. 1 Control output -1 .. 1 Throttle 0 .. 1 Aux 1, -1 .. 1 Aux 2, -1 .. 1 Aux 3, -1 .. 1 Aux 4, -1 .. 1 System mode (MAV_MODE) Navigation mode (MAV_NAV_MODE) 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. Timestamp (microseconds since UNIX epoch or microseconds since system boot) RC channel 1 value, in microseconds RC channel 2 value, in microseconds RC channel 3 value, in microseconds RC channel 4 value, in microseconds RC channel 5 value, in microseconds RC channel 6 value, in microseconds RC channel 7 value, in microseconds RC channel 8 value, in microseconds RC channel 9 value, in microseconds RC channel 10 value, in microseconds RC channel 11 value, in microseconds RC channel 12 value, in microseconds Receive signal strength indicator, 0: 0%, 255: 100% Optical flow from a flow sensor (e.g. optical mouse sensor) Timestamp (UNIX) Sensor ID Flow in pixels * 10 in x-sensor direction (dezi-pixels) Flow in pixels * 10 in y-sensor direction (dezi-pixels) Flow in meters in x-sensor direction, angular-speed compensated Flow in meters in y-sensor direction, angular-speed compensated Optical flow quality / confidence. 0: bad, 255: maximum quality Ground distance in meters. Positive value: distance known. Negative value: Unknown distance Timestamp (microseconds, synced to UNIX time or since system boot) Global X position Global Y position Global Z position Roll angle in rad Pitch angle in rad Yaw angle in rad Timestamp (microseconds, synced to UNIX time or since system boot) Global X position Global Y position Global Z position Roll angle in rad Pitch angle in rad Yaw angle in rad Timestamp (microseconds, synced to UNIX time or since system boot) Global X speed Global Y speed Global Z speed Timestamp (microseconds, synced to UNIX time or since system boot) Global X position Global Y position Global Z position Roll angle in rad Pitch angle in rad Yaw angle in rad The IMU readings in SI units in NED body frame Timestamp (microseconds, synced to UNIX time or since system boot) X acceleration (m/s^2) Y acceleration (m/s^2) Z acceleration (m/s^2) Angular speed around X axis (rad / sec) Angular speed around Y axis (rad / sec) Angular speed around Z axis (rad / sec) X Magnetic field (Gauss) Y Magnetic field (Gauss) Z Magnetic field (Gauss) Absolute pressure in millibar Differential pressure in millibar Altitude calculated from pressure Temperature in degrees celsius Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature Optical flow from an angular rate flow sensor (e.g. PX4FLOW or mouse sensor) Timestamp (microseconds, synced to UNIX time or since system boot) Sensor ID Integration time in microseconds. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the. 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.) 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.) RH rotation around X axis (rad) RH rotation around Y axis (rad) RH rotation around Z axis (rad) Temperature * 100 in centi-degrees Celsius Optical flow quality / confidence. 0: no valid flow, 255: maximum quality Time in microseconds since the distance was sampled. Distance to the center of the flow field in meters. Positive value (including zero): distance known. Negative value: Unknown distance. The IMU readings in SI units in NED body frame Timestamp (microseconds, synced to UNIX time or since system boot) X acceleration (m/s^2) Y acceleration (m/s^2) Z acceleration (m/s^2) Angular speed around X axis in body frame (rad / sec) Angular speed around Y axis in body frame (rad / sec) Angular speed around Z axis in body frame (rad / sec) X Magnetic field (Gauss) Y Magnetic field (Gauss) Z Magnetic field (Gauss) Absolute pressure in millibar Differential pressure (airspeed) in millibar Altitude calculated from pressure Temperature in degrees celsius Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature Status of simulation environment, if used True attitude quaternion component 1, w (1 in null-rotation) True attitude quaternion component 2, x (0 in null-rotation) True attitude quaternion component 3, y (0 in null-rotation) True attitude quaternion component 4, z (0 in null-rotation) Attitude roll expressed as Euler angles, not recommended except for human-readable outputs Attitude pitch expressed as Euler angles, not recommended except for human-readable outputs Attitude yaw expressed as Euler angles, not recommended except for human-readable outputs 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 Longitude in degrees Altitude in meters Horizontal position standard deviation Vertical position standard deviation True velocity in m/s in NORTH direction in earth-fixed NED frame True velocity in m/s in EAST direction in earth-fixed NED frame True velocity in m/s in DOWN direction in earth-fixed NED frame Status generated by radio and injected into MAVLink stream. Local signal strength Remote signal strength Remaining free buffer space in percent. Background noise level Remote background noise level Receive errors Count of error corrected packets File transfer message Network ID (0 for broadcast) System ID (0 for broadcast) Component ID (0 for broadcast) 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. Time synchronization message. Time sync timestamp 1 Time sync timestamp 2 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). Timestamp (microseconds since UNIX epoch or microseconds since system boot) 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. Latitude (WGS84), in degrees * 1E7 Longitude (WGS84), in degrees * 1E7 Altitude (AMSL, not WGS84), in meters * 1000 (positive for up) GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535 GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: 65535 GPS ground speed (m/s * 100). If unknown, set to: 65535 GPS velocity in cm/s in NORTH direction in earth-fixed NED frame GPS velocity in cm/s in EAST direction in earth-fixed NED frame GPS velocity in cm/s in DOWN direction in earth-fixed NED frame Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535 Number of satellites visible. If unknown, set to 255 Simulated optical flow from a flow sensor (e.g. PX4FLOW or optical mouse sensor) Timestamp (microseconds, synced to UNIX time or since system boot) Sensor ID Integration time in microseconds. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the. 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.) 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.) RH rotation around X axis (rad) RH rotation around Y axis (rad) RH rotation around Z axis (rad) Temperature * 100 in centi-degrees Celsius Optical flow quality / confidence. 0: no valid flow, 255: maximum quality Time in microseconds since the distance was sampled. Distance to the center of the flow field in meters. Positive value (including zero): distance known. Negative value: Unknown distance. 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. Timestamp (microseconds since UNIX epoch or microseconds since system boot) Vehicle attitude expressed as normalized quaternion in w, x, y, z order (with 1 0 0 0 being the null-rotation) Body frame roll / phi angular speed (rad/s) Body frame pitch / theta angular speed (rad/s) Body frame yaw / psi angular speed (rad/s) Latitude, expressed as * 1E7 Longitude, expressed as * 1E7 Altitude in meters, expressed as * 1000 (millimeters) Ground X Speed (Latitude), expressed as m/s * 100 Ground Y Speed (Longitude), expressed as m/s * 100 Ground Z Speed (Altitude), expressed as m/s * 100 Indicated airspeed, expressed as m/s * 100 True airspeed, expressed as m/s * 100 X acceleration (mg) Y acceleration (mg) Z acceleration (mg) The RAW IMU readings for secondary 9DOF sensor setup. This message should contain the scaled values to the described units Timestamp (milliseconds since system boot) X acceleration (mg) Y acceleration (mg) Z acceleration (mg) Angular speed around X axis (millirad /sec) Angular speed around Y axis (millirad /sec) Angular speed around Z axis (millirad /sec) X Magnetic field (milli tesla) Y Magnetic field (milli tesla) Z Magnetic field (milli tesla) Request a list of available logs. On some systems calling this may stop on-board logging until LOG_REQUEST_END is called. System ID Component ID First log id (0 for first available) Last log id (0xffff for last available) Reply to LOG_REQUEST_LIST Log id Total number of logs High log number UTC timestamp of log in seconds since 1970, or 0 if not available Size of the log (may be approximate) in bytes Request a chunk of a log System ID Component ID Log id (from LOG_ENTRY reply) Offset into the log Number of bytes Reply to LOG_REQUEST_DATA Log id (from LOG_ENTRY reply) Offset into the log Number of bytes (zero for end of log) log data Erase all logs System ID Component ID Stop log transfer and resume normal logging System ID Component ID data for injecting into the onboard GPS (used for DGPS) System ID Component ID data length raw data (110 is enough for 12 satellites of RTCMv2) Second GPS data. Coordinate frame is right-handed, Z-axis up (GPS frame). Timestamp (microseconds since UNIX epoch or microseconds since system boot) 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. Latitude (WGS84), in degrees * 1E7 Longitude (WGS84), in degrees * 1E7 Altitude (AMSL, not WGS84), in meters * 1000 (positive for up) GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX Number of satellites visible. If unknown, set to 255 Number of DGPS satellites Age of DGPS info Power supply status 5V rail voltage in millivolts servo rail voltage in millivolts power supply status flags (see MAV_POWER_STATUS enum) 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. See SERIAL_CONTROL_DEV enum See SERIAL_CONTROL_FLAG enum Timeout for reply data in milliseconds Baudrate of transfer. Zero means no change. how many bytes in this transfer serial data RTK GPS data. Gives information on the relative baseline calculation the GPS is reporting Time since boot of last baseline message received in ms. Identification of connected RTK receiver. GPS Week Number of last baseline GPS Time of Week of last baseline GPS-specific health report for RTK data. Rate of baseline messages being received by GPS, in HZ Current number of sats used for RTK calculation. Coordinate system of baseline. 0 == ECEF, 1 == NED Current baseline in ECEF x or NED north component in mm. Current baseline in ECEF y or NED east component in mm. Current baseline in ECEF z or NED down component in mm. Current estimate of baseline accuracy. Current number of integer ambiguity hypotheses. RTK GPS data. Gives information on the relative baseline calculation the GPS is reporting Time since boot of last baseline message received in ms. Identification of connected RTK receiver. GPS Week Number of last baseline GPS Time of Week of last baseline GPS-specific health report for RTK data. Rate of baseline messages being received by GPS, in HZ Current number of sats used for RTK calculation. Coordinate system of baseline. 0 == ECEF, 1 == NED Current baseline in ECEF x or NED north component in mm. Current baseline in ECEF y or NED east component in mm. Current baseline in ECEF z or NED down component in mm. Current estimate of baseline accuracy. Current number of integer ambiguity hypotheses. The RAW IMU readings for 3rd 9DOF sensor setup. This message should contain the scaled values to the described units Timestamp (milliseconds since system boot) X acceleration (mg) Y acceleration (mg) Z acceleration (mg) Angular speed around X axis (millirad /sec) Angular speed around Y axis (millirad /sec) Angular speed around Z axis (millirad /sec) X Magnetic field (milli tesla) Y Magnetic field (milli tesla) Z Magnetic field (milli tesla) type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h) total data size in bytes (set on ACK only) Width of a matrix or image Height of a matrix or image number of packets beeing sent (set on ACK only) payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only) JPEG quality out of [1,100] sequence number (starting with 0 on every transmission) image data bytes Time since system boot Minimum distance the sensor can measure in centimeters Maximum distance the sensor can measure in centimeters Current distance reading Type from MAV_DISTANCE_SENSOR enum. Onboard ID of the sensor Direction the sensor faces from FIXME enum. Measurement covariance in centimeters, 0 for unknown / invalid readings Request for terrain data and terrain status Latitude of SW corner of first grid (degrees *10^7) Longitude of SW corner of first grid (in degrees *10^7) Grid spacing in meters Bitmask of requested 4x4 grids (row major 8x7 array of grids, 56 bits) Terrain data sent from GCS. The lat/lon and grid_spacing must be the same as a lat/lon from a TERRAIN_REQUEST Latitude of SW corner of first grid (degrees *10^7) Longitude of SW corner of first grid (in degrees *10^7) Grid spacing in meters bit within the terrain request mask Terrain data in meters AMSL 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. Latitude (degrees *10^7) Longitude (degrees *10^7) Response from a TERRAIN_CHECK request Latitude (degrees *10^7) Longitude (degrees *10^7) grid spacing (zero if terrain at this location unavailable) Terrain height in meters AMSL Current vehicle height above lat/lon terrain height (meters) Number of 4x4 terrain blocks waiting to be received or read from disk Number of 4x4 terrain blocks in memory Barometer readings for 2nd barometer Timestamp (milliseconds since system boot) Absolute pressure (hectopascal) Differential pressure 1 (hectopascal) Temperature measurement (0.01 degrees celsius) Motion capture attitude and position Timestamp (micros since boot or Unix epoch) Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0) X position in meters (NED) Y position in meters (NED) Z position in meters (NED) Set the vehicle attitude and body angular rates. Timestamp (micros since boot or Unix epoch) Actuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances. System ID Component ID 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. Set the vehicle attitude and body angular rates. Timestamp (micros since boot or Unix epoch) Actuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances. 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. Barometer readings for 3rd barometer Timestamp (milliseconds since system boot) Absolute pressure (hectopascal) Differential pressure 1 (hectopascal) Temperature measurement (0.01 degrees celsius) Battery information Battery ID Function of the battery Type (chemistry) of the battery Temperature of the battery in centi-degrees celsius. INT16_MAX for unknown temperature. Battery voltage of cells, in millivolts (1 = 1 millivolt) Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current Consumed charge, in milliampere hours (1 = 1 mAh), -1: autopilot does not provide mAh consumption estimate Consumed energy, in 100*Joules (intergrated U*I*dt) (1 = 100 Joule), -1: autopilot does not provide energy consumption estimate Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery Version and capability of autopilot software bitmask of capabilities (see MAV_PROTOCOL_CAPABILITY enum) Firmware version number Middleware version number Operating system version number HW / board version (last 8 bytes should be silicon ID, if any) 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. 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. 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. ID of the board vendor ID of the product UID if provided by hardware The location of a landing area captured from a downward facing camera Timestamp (micros since boot or Unix epoch) The ID of the target if multiple targets are present MAV_FRAME enum specifying the whether the following feilds are earth-frame, body-frame, etc. X-axis angular offset (in radians) of the target from the center of the image Y-axis angular offset (in radians) of the target from the center of the image Distance to the target from the vehicle in meters Size in radians of target along x-axis Size in radians of target along y-axis Vibration levels and accelerometer clipping Timestamp (micros since boot or Unix epoch) Vibration levels on X-axis Vibration levels on Y-axis Vibration levels on Z-axis first accelerometer clipping count second accelerometer clipping count third accelerometer clipping count This message can be requested by sending the MAV_CMD_GET_HOME_POSITION command. The position the system will return to and land on. The position is set automatically by the system during the takeoff in case it was not explicitely set by the operator before or after. The position the system will return to and land on. The global and local positions encode the position in the respective coordinate frames, while the q parameter encodes the orientation of the surface. Under normal conditions it describes the heading and terrain slope, which can be used by the aircraft to adjust the approach. The approach 3D vector describes the point to which the system should fly in normal flight mode and then perform a landing sequence along the vector. Latitude (WGS84), in degrees * 1E7 Longitude (WGS84, in degrees * 1E7 Altitude (AMSL), in meters * 1000 (positive for up) Local X position of this position in the local coordinate frame Local Y position of this position in the local coordinate frame Local Z position of this position in the local coordinate frame World to surface normal and heading transformation of the takeoff position. Used to indicate the heading and slope of the ground Local X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone. Local Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone. Local Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone. The position the system will return to and land on. The position is set automatically by the system during the takeoff in case it was not explicitely set by the operator before or after. The global and local positions encode the position in the respective coordinate frames, while the q parameter encodes the orientation of the surface. Under normal conditions it describes the heading and terrain slope, which can be used by the aircraft to adjust the approach. The approach 3D vector describes the point to which the system should fly in normal flight mode and then perform a landing sequence along the vector. System ID. Latitude (WGS84), in degrees * 1E7 Longitude (WGS84, in degrees * 1E7 Altitude (AMSL), in meters * 1000 (positive for up) Local X position of this position in the local coordinate frame Local Y position of this position in the local coordinate frame Local Z position of this position in the local coordinate frame World to surface normal and heading transformation of the takeoff position. Used to indicate the heading and slope of the ground Local X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone. Local Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone. Local Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone. The location and information of an ADSB vehicle ICAO address Latitude, expressed as degrees * 1E7 Longitude, expressed as degrees * 1E7 Type from ADSB_ALTITUDE_TYPE enum Altitude(ASL) in meters Course over ground in centidegrees The horizontal velocity in meters/second The vertical velocity in meters/second, positive is up The callsign, 8+null Type from ADSB_EMITTER_TYPE enum Time since last communication in seconds Flags to indicate various statuses including valid data fields Squawk code Message implementing parts of the V2 payload specs in V1 frames for transitional support. Network ID (0 for broadcast) System ID (0 for broadcast) Component ID (0 for broadcast) 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. 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. 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. Starting address of the debug variables Version code of the type variable. 0=unknown, type ignored and assumed int16_t. 1=as below 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 Memory contents at specified address Name Timestamp x y z 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. Timestamp (milliseconds since system boot) Name of the debug variable Floating point value 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. Timestamp (milliseconds since system boot) Name of the debug variable Signed integer value 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). Severity of status. Relies on the definitions within RFC-5424. See enum MAV_SEVERITY. Status text message, without null termination character Send a debug value. The index is used to discriminate between values. These values show up in the plot of QGroundControl as DEBUG N. Timestamp (milliseconds since system boot) index of debug variable DEBUG value