common.xml 3 Available operating modes/statuses for AutoQuad flight controller. Bitmask up to 32 bits. Low side bits for base modes, high side for additional active features/modifiers/constraints. System is initializing System is standing by, not active Stabilized, under full manual control Altitude hold engaged Position hold engaged Dynamic Velocity Hold is active Autonomous mission execution mode System is in failsafe recovery mode Automatic Return to Home is active Heading-Free locked mode active Heading-Free dynamic mode active Ceiling altitude is set Craft is at ceiling altitude Start/stop AutoQuad telemetry values stream. Start or stop (1 or 0) Stream frequency in us Dataset ID (refer to aq_mavlink.h::mavlinkCustomDataSets enum in AQ flight controller code) Empty Empty Empty Empty Command AutoQuad to go to a particular place at a set speed. Latitude Lontitude Altitude Speed Empty Empty Empty Request AutoQuad firmware version number. Empty Empty Empty Empty Empty Empty Empty Motor/ESC telemetry data. Sends up to 20 raw float values. Index of message value1 value2 value3 value4 value5 value6 value7 value8 value9 value10 value11 value12 value13 value14 value15 value16 value17 value18 value19 value20 Sends ESC32 telemetry data for up to 4 motors. Multiple messages may be sent in sequence when system has > 4 motors. Data is described as follows: // unsigned int state : 3; // unsigned int vin : 12; // x 100 // unsigned int amps : 14; // x 100 // unsigned int rpm : 15; // unsigned int duty : 8; // x (255/100) // - Data Version 2 - // unsigned int errors : 9; // Bad detects error count // - Data Version 3 - // unsigned int temp : 9; // (Deg C + 32) * 4 // unsigned int errCode : 3; Timestamp of the component clock since boot time in ms. Sequence number of message (first set of 4 motors is #1, next 4 is #2, etc). Total number of active ESCs/motors on the system. Number of active ESCs in this sequence (1 through this many array members will be populated with data) ESC/Motor ID Age of each ESC telemetry reading in ms compared to boot time. A value of 0xFFFF means timeout/no data. Version of data structure (determines contents). Data bits 1-32 for each ESC. Data bits 33-64 for each ESC.