common.xml Mission command to perform motor test motor sequence number (a number from 1 to max number of motors on the vehicle) throttle type (0=throttle percentage, 1=PWM, 2=pilot throttle channel pass-through. See MOTOR_TEST_THROTTLE_TYPE enum) throttle timeout (in seconds) Empty Empty Empty Mission command to operate EPM gripper gripper number (a number from 1 to max number of grippers on the vehicle) gripper action (0=release, 1=grab. See GRIPPER_ACTIONS enum) Empty Empty Empty Empty Empty Enable/disable autotune enable (1: enable, 0:disable) Empty Empty Empty Empty Empty Empty Mission command to wait for an altitude or downwards vertical speed. This is meant for high altitude balloon launches, allowing the aircraft to be idle until either an altitude is reached or a negative vertical speed is reached (indicating early balloon burst). The wiggle time is how often to wiggle the control surfaces to prevent them seizing up. altitude (m) descent speed (m/s) Wiggle Time (s) Empty Empty Empty Empty Initiate a magnetometer calibration uint8_t bitmask of magnetometers (0 means all) Automatically retry on failure (0=no retry, 1=retry). Save without user input (0=require input, 1=autosave). Delay (seconds) Empty Empty Empty Initiate a magnetometer calibration uint8_t bitmask of magnetometers (0 means all) Empty Empty Empty Empty Empty Empty Cancel a running magnetometer calibration uint8_t bitmask of magnetometers (0 means all) Empty Empty Empty Empty Empty Empty pre-initialization disabled checking limits a limit has been breached taking action eg. RTL we're no longer in breach of a limit pre-initialization disabled checking limits Flags in RALLY_POINT message Flag set when requiring favorable winds for landing. Flag set when plane is to immediately descend to break altitude and land without GCS intervention. Flag not set when plane is to loiter at Rally point until commanded to land. Disable parachute release Enable parachute release Release parachute throttle as a percentage from 0 ~ 100 throttle as an absolute PWM value (normally in range of 1000~2000) throttle pass-through from pilot's transmitter Gripper actions. gripper release of cargo gripper grabs onto cargo Camera heartbeat, announce camera component ID at 1hz Camera image triggered Camera connection lost Camera unknown error Camera battery low. Parameter p1 shows reported voltage Camera storage low. Parameter p1 shows reported shots remaining Camera storage low. Parameter p1 shows reported video minutes remaining Shooting photos, not video Shooting video, not stills Unable to achieve requested exposure (e.g. shutter speed too low) Closed loop feedback from camera, we know for sure it has successfully taken a picture Open loop camera, an image trigger has been requested but we can't know for sure it has successfully taken a picture Gimbal is powered on but has not started initializing yet Gimbal is currently running calibration on the pitch axis Gimbal is currently running calibration on the roll axis Gimbal is currently running calibration on the yaw axis Gimbal has finished calibrating and initializing, but is relaxed pending reception of first rate command from copter Gimbal is actively stabilizing Gimbal is relaxed because it missed more than 10 expected rate command messages in a row. Gimbal will move back to active mode when it receives a new rate command Gimbal yaw axis Gimbal pitch axis Gimbal roll axis Axis calibration is in progress Axis calibration succeeded Axis calibration failed Tests to make sure each axis can move to its mechanical limits Whether or not this axis requires calibration is unknown at this time This axis requires calibration This axis does not require calibration No GoPro connected The detected GoPro is not HeroBus compatible A HeroBus compatible GoPro is connected A HeroBus compatible GoPro is connected A HeroBus compatible GoPro is connected and recording A HeroBus compatible GoPro is connected and overtemperature A HeroBus compatible GoPro is connected and storage is missing or full The write message with ID indicated failed The write message with ID indicated succeeded (Get/Set) (Get/Set) (___/Set) (Get/___) (Get/___) (Get/___) LED patterns off (return control to regular vehicle control) LEDs show pattern during firmware update Custom Pattern using custom bytes fields Flags in EKF_STATUS message set if EKF's attitude estimate is good set if EKF's horizontal velocity estimate is good set if EKF's vertical velocity estimate is good set if EKF's horizontal position (relative) estimate is good set if EKF's horizontal position (absolute) estimate is good set if EKF's vertical position (absolute) estimate is good set if EKF's vertical position (above ground) estimate is good EKF is in constant position mode and does not know it's absolute or relative position set if EKF's predicted horizontal position (relative) estimate is good set if EKF's predicted horizontal position (absolute) estimate is good Offsets and calibrations values for hardware sensors. This makes it easier to debug the calibration process. magnetometer X offset magnetometer Y offset magnetometer Z offset magnetic declination (radians) raw pressure from barometer raw temperature from barometer gyro X calibration gyro Y calibration gyro Z calibration accel X calibration accel Y calibration accel Z calibration Deprecated. Use MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS instead. Set the magnetometer offsets System ID Component ID magnetometer X offset magnetometer Y offset magnetometer Z offset state of APM memory heap top free memory raw ADC output ADC output 1 ADC output 2 ADC output 3 ADC output 4 ADC output 5 ADC output 6 Configure on-board Camera Control System. System ID Component ID Mode enumeration from 1 to N //P, TV, AV, M, Etc (0 means ignore) Divisor number //e.g. 1000 means 1/1000 (0 means ignore) F stop number x 10 //e.g. 28 means 2.8 (0 means ignore) ISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore) Exposure type enumeration from 1 to N (0 means ignore) Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off) Extra parameters enumeration (0 means ignore) Correspondent value to given extra_param Control on-board Camera Control System to take shots. System ID Component ID 0: stop, 1: start or keep it up //Session control e.g. show/hide lens 1 to N //Zoom's absolute position (0 means ignore) -100 to 100 //Zooming step value to offset zoom from the current position 0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus 0: ignore, 1: shot or start filming Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once Extra parameters enumeration (0 means ignore) Correspondent value to given extra_param Message to configure a camera mount, directional antenna, etc. System ID Component ID mount operating mode (see MAV_MOUNT_MODE enum) (1 = yes, 0 = no) (1 = yes, 0 = no) (1 = yes, 0 = no) Message to control a camera mount, directional antenna, etc. System ID Component ID pitch(deg*100) or lat, depending on mount mode roll(deg*100) or lon depending on mount mode yaw(deg*100) or alt (in cm) depending on mount mode if "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING) Message with some status from APM to GCS about camera or antenna mount System ID Component ID pitch(deg*100) roll(deg*100) yaw(deg*100) A fence point. Used to set a point when from GCS -> MAV. Also used to return a point from MAV -> GCS System ID Component ID point index (first point is 1, 0 is for return point) total number of points (for sanity checking) Latitude of point Longitude of point Request a current fence point from MAV System ID Component ID point index (first point is 1, 0 is for return point) Status of geo-fencing. Sent in extended status stream when fencing enabled 0 if currently inside fence, 1 if outside number of fence breaches last breach type (see FENCE_BREACH_* enum) time of last breach in milliseconds since boot Status of DCM attitude estimator X gyro drift estimate rad/s Y gyro drift estimate rad/s Z gyro drift estimate rad/s average accel_weight average renormalisation value average error_roll_pitch value average error_yaw value Status of simulation environment, if used Roll angle (rad) Pitch angle (rad) Yaw angle (rad) X acceleration m/s/s Y acceleration m/s/s Z acceleration m/s/s Angular speed around X axis rad/s Angular speed around Y axis rad/s Angular speed around Z axis rad/s Latitude in degrees * 1E7 Longitude in degrees * 1E7 Status of key hardware board voltage (mV) I2C error count Status generated by radio local signal strength remote signal strength how full the tx buffer is as a percentage background noise level remote background noise level receive errors count of error corrected packets Status of AP_Limits. Sent in extended status stream when AP_Limits is enabled state of AP_Limits, (see enum LimitState, LIMITS_STATE) time of last breach in milliseconds since boot time of last recovery action in milliseconds since boot time of last successful recovery in milliseconds since boot time of last all-clear in milliseconds since boot number of fence breaches AP_Limit_Module bitfield of enabled modules, (see enum moduleid or LIMIT_MODULE) AP_Limit_Module bitfield of required modules, (see enum moduleid or LIMIT_MODULE) AP_Limit_Module bitfield of triggered modules, (see enum moduleid or LIMIT_MODULE) Wind estimation wind direction that wind is coming from (degrees) wind speed in ground plane (m/s) vertical wind speed (m/s) Data packet, size 16 data type data length raw data Data packet, size 32 data type data length raw data Data packet, size 64 data type data length raw data Data packet, size 96 data type data length raw data Rangefinder reporting distance in meters raw voltage if available, zero otherwise Airspeed auto-calibration GPS velocity north m/s GPS velocity east m/s GPS velocity down m/s Differential pressure pascals Estimated to true airspeed ratio Airspeed ratio EKF state x EKF state y EKF state z EKF Pax EKF Pby EKF Pcz A rally point. Used to set a point when from GCS -> MAV. Also used to return a point from MAV -> GCS System ID Component ID point index (first point is 0) total number of points (for sanity checking) Latitude of point in degrees * 1E7 Longitude of point in degrees * 1E7 Transit / loiter altitude in meters relative to home Break altitude in meters relative to home Heading to aim for when landing. In centi-degrees. See RALLY_FLAGS enum for definition of the bitmask. Request a current rally point from MAV. MAV should respond with a RALLY_POINT message. MAV should not respond if the request is invalid. System ID Component ID point index (first point is 0) Status of compassmot calibration throttle (percent*10) current (amps) interference (percent) Motor Compensation X Motor Compensation Y Motor Compensation Z Status of secondary AHRS filter if available Roll angle (rad) Pitch angle (rad) Yaw angle (rad) Altitude (MSL) Latitude in degrees * 1E7 Longitude in degrees * 1E7 Camera Event Image timestamp (microseconds since UNIX epoch, according to camera clock) System ID Camera ID Image index See CAMERA_STATUS_TYPES enum for definition of the bitmask Parameter 1 (meaning depends on event, see CAMERA_STATUS_TYPES enum) Parameter 2 (meaning depends on event, see CAMERA_STATUS_TYPES enum) Parameter 3 (meaning depends on event, see CAMERA_STATUS_TYPES enum) Parameter 4 (meaning depends on event, see CAMERA_STATUS_TYPES enum) Camera Capture Feedback Image timestamp (microseconds since UNIX epoch), as passed in by CAMERA_STATUS message (or autopilot if no CCB) System ID Camera ID Image index Latitude in (deg * 1E7) Longitude in (deg * 1E7) Altitude Absolute (meters AMSL) Altitude Relative (meters above HOME location) Camera Roll angle (earth frame, degrees, +-180) Camera Pitch angle (earth frame, degrees, +-180) Camera Yaw (earth frame, degrees, 0-360, true) Focal Length (mm) See CAMERA_FEEDBACK_FLAGS enum for definition of the bitmask 2nd Battery status voltage in millivolts Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current Status of third AHRS filter if available. This is for ANU research group (Ali and Sean) Roll angle (rad) Pitch angle (rad) Yaw angle (rad) Altitude (MSL) Latitude in degrees * 1E7 Longitude in degrees * 1E7 test variable1 test variable2 test variable3 test variable4 Request the autopilot version from the system/component. System ID Component ID Control vehicle LEDs System ID Component ID Instance (LED instance to control or 255 for all LEDs) Pattern (see LED_PATTERN_ENUM) Custom Byte Length Custom Bytes Reports progress of compass calibration. Compass being calibrated Bitmask of compasses being calibrated Status (see MAG_CAL_STATUS enum) Attempt number Completion percentage Bitmask of sphere sections (see http://en.wikipedia.org/wiki/Geodesic_grid) Body frame direction vector for display Body frame direction vector for display Body frame direction vector for display Reports results of completed compass calibration. Sent until MAG_CAL_ACK received. Compass being calibrated Bitmask of compasses being calibrated Status (see MAG_CAL_STATUS enum) 0=requires a MAV_CMD_DO_ACCEPT_MAG_CAL, 1=saved to parameters RMS milligauss residuals X offset Y offset Z offset X diagonal (matrix 11) Y diagonal (matrix 22) Z diagonal (matrix 33) X off-diagonal (matrix 12 and 21) Y off-diagonal (matrix 13 and 31) Z off-diagonal (matrix 32 and 23) EKF Status message including flags and variances Flags Velocity variance Horizontal Position variance Vertical Position variance Compass variance Terrain Altitude variance PID tuning information axis desired rate (degrees/s) achieved rate (degrees/s) FF component P component I component D component 3 axis gimbal mesuraments System ID Component ID Time since last update (seconds) Delta angle X (radians) Delta angle Y (radians) Delta angle X (radians) Delta velocity X (m/s) Delta velocity Y (m/s) Delta velocity Z (m/s) Joint ROLL (radians) Joint EL (radians) Joint AZ (radians) Control message for rate gimbal System ID Component ID Demanded angular rate X (rad/s) Demanded angular rate Y (rad/s) Demanded angular rate Z (rad/s) Causes the gimbal to reset and boot as if it was just powered on System ID Component ID Reports progress and success or failure of gimbal axis calibration procedure Which gimbal axis we're reporting calibration progress for The current calibration progress for this axis, 0x64=100% The status of the running calibration Instructs the gimbal to set its current position as its new home position. Will primarily be used for factory calibration System ID Component ID Sent by the gimbal after it receives a SET_HOME_OFFSETS message to indicate the result of the home offset calibration The result of the home offset calibration Set factory configuration parameters (such as assembly date and time, and serial number). This is only intended to be used during manufacture, not by end users, so it is protected by a simple checksum of sorts (this won't stop anybody determined, it's mostly just to keep the average user from trying to modify these values. This will need to be revisited if that isn't adequate. System ID Component ID Magic number 1 for validation Magic number 2 for validation Magic number 3 for validation Assembly Date Year Assembly Date Month Assembly Date Day Assembly Time Hour Assembly Time Minute Assembly Time Second Unit Serial Number Part 1 (part code, design, language/country) Unit Serial Number Part 2 (option, year, month) Unit Serial Number Part 3 (incrementing serial number per month) Sent by the gimbal after the factory parameters are successfully loaded, to inform the factory software that the load is complete Dummy field because mavgen doesn't allow messages with no fields Commands the gimbal to erase its firmware image and flash configuration, leaving only the bootloader. The gimbal will then reboot into the bootloader, ready for the load of a new application firmware image. Erasing the flash configuration will cause the gimbal to re-perform axis calibration when a new firmware image is loaded, and will cause all tuning parameters to return to their factory defaults. WARNING: sending this command will render a gimbal inoperable until a new firmware image is loaded onto it. For this reason, a particular "knock" value must be sent for the command to take effect. Use this command at your own risk System ID Component ID Knock value to confirm this is a valid request Command the gimbal to perform a series of factory tests. Should not be needed by end users System ID Component ID Reports the current status of a section of a running factory test Which factory test is currently running Which section of the test is currently running. The meaning of this is test-dependent The progress of the current test section, 0x64=100% The status of the currently executing test section. The meaning of this is test and section-dependent Requests the calibration status for all gimbal axes. Should result in a GIMBAL_REPORT_AXIS_CALIBRATION_STATUS message being generated by the gimbal System ID Component ID Reports the calibration status for each gimbal axis (whether the axis requires calibration or not) Whether or not the yaw axis requires calibration, see GIMBAL_AXIS_CALIBRATION_REQUIRED enumeration Whether or not the pitch axis requires calibration, see GIMBAL_AXIS_CALIBRATION_REQUIRED enumeration Whether or not the roll axis requires calibration, see GIMBAL_AXIS_CALIBRATION_REQUIRED enumeration Requests any currently uncalibrated gimbal axes to run the axis calibration procedure. An axis is considered uncalibrated if its commutation calibration slope and intercept are 0 System ID Component ID Heartbeat from a HeroBus attached GoPro Status Request a GOPRO_COMMAND response from the GoPro System ID Component ID Command ID Response from a GOPRO_COMMAND get request Command ID Value Request to set a GOPRO_COMMAND with a desired System ID Component ID Command ID Value Response from a GOPRO_COMMAND set request Command ID Result