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