uint64 timestamp # time since system start (microseconds) uint8 SWITCH_POS_NONE = 0 # switch is not mapped uint8 SWITCH_POS_ON = 1 # switch activated (value = 1) uint8 SWITCH_POS_MIDDLE = 2 # middle position (value = 0) uint8 SWITCH_POS_OFF = 3 # switch not activated (value = -1) int8 MODE_SLOT_NONE = -1 # no mode slot assigned int8 MODE_SLOT_1 = 0 # mode slot 1 selected int8 MODE_SLOT_2 = 1 # mode slot 2 selected int8 MODE_SLOT_3 = 2 # mode slot 3 selected int8 MODE_SLOT_4 = 3 # mode slot 4 selected int8 MODE_SLOT_5 = 4 # mode slot 5 selected int8 MODE_SLOT_6 = 5 # mode slot 6 selected int8 MODE_SLOT_MAX = 6 # number of slots plus one uint8 SOURCE_RC = 1 # radio control uint8 SOURCE_MAVLINK_0 = 2 # mavlink instance 0 uint8 SOURCE_MAVLINK_1 = 3 # mavlink instance 1 uint8 SOURCE_MAVLINK_2 = 4 # mavlink instance 2 uint8 SOURCE_MAVLINK_3 = 5 # mavlink instance 4 # Any of the channels may not be available and be set to NaN # to indicate that it does not contain valid data. # The variable names follow the definition of the # MANUAL_CONTROL mavlink message. # The default range is from -1 to 1 (mavlink message -1000 to 1000) # The range for the z variable is defined from 0 to 1. (The z field of # the MANUAL_CONTROL mavlink message is defined from -1000 to 1000) float32 x # stick position in x direction -1..1 # in general corresponds to forward/back motion or pitch of vehicle, # in general a positive value means forward or negative pitch and # a negative value means backward or positive pitch float32 y # stick position in y direction -1..1 # in general corresponds to right/left motion or roll of vehicle, # in general a positive value means right or positive roll and # a negative value means left or negative roll float32 z # throttle stick position 0..1 # in general corresponds to up/down motion or thrust of vehicle, # in general the value corresponds to the demanded throttle by the user, # if the input is used for setting the setpoint of a vertical position # controller any value > 0.5 means up and any value < 0.5 means down float32 r # yaw stick/twist position, -1..1 # in general corresponds to the righthand rotation around the vertical # (downwards) axis of the vehicle float32 flaps # flap position float32 aux1 # default function: camera yaw / azimuth float32 aux2 # default function: camera pitch / tilt float32 aux3 # default function: camera trigger float32 aux4 # default function: camera roll float32 aux5 # default function: payload drop uint8 mode_switch # main mode 3 position switch (mandatory): _MANUAL_, ASSIST, AUTO uint8 return_switch # return to launch 2 position switch (mandatory): _NORMAL_, RTL uint8 rattitude_switch # rattitude control 2 position switch (optional): _MANUAL, RATTITUDE uint8 posctl_switch # position control 2 position switch (optional): _ALTCTL_, POSCTL uint8 loiter_switch # loiter 2 position switch (optional): _MISSION_, LOITER uint8 acro_switch # acro 2 position switch (optional): _MANUAL_, ACRO uint8 offboard_switch # offboard 2 position switch (optional): _NORMAL_, OFFBOARD uint8 kill_switch # throttle kill: _NORMAL_, KILL uint8 arm_switch # arm/disarm switch: _DISARMED_, ARMED uint8 transition_switch # VTOL transition switch: _HOVER, FORWARD_FLIGHT uint8 gear_switch # landing gear switch: _DOWN_, UP int8 mode_slot # the slot a specific model selector is in uint8 data_source # where this input is coming from uint8 stab_switch # stabilize switch (only relevant for fixed wings, optional): _MANUAL, STABILIZED uint8 man_switch # manual switch (only relevant for fixed wings, optional): _STABILIZED_, MANUAL