3 0 Micro air vehicle / autopilot classes. This identifies the individual model. Generic autopilot, full support for everything Reserved for future use. SLUGS autopilot, http://slugsuav.soe.ucsc.edu ArduPilot - Plane/Copter/Rover/Sub/Tracker, http://ardupilot.org 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://px4.io/ SMACCMPilot - http://smaccmpilot.org AutoQuad -- http://autoquad.org Armazila -- http://armazila.com Aerob -- http://aerob.ru ASLUAV autopilot -- http://www.asl.ethz.ch SmartAP Autopilot - http://sky-drones.com AirRails - http://uaventure.com MAVLINK component type reported in HEARTBEAT message. Flight controllers must report the type of the vehicle on which they are mounted (e.g. MAV_TYPE_OCTOROTOR). All other components must report a value appropriate for their type (e.g. a camera must use MAV_TYPE_CAMERA). 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 Tricopter Flapping wing Kite 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. Tiltrotor VTOL VTOL reserved 2 VTOL reserved 3 VTOL reserved 4 VTOL reserved 5 Gimbal ADSB system Steerable, nonrigid airfoil Dodecarotor Camera Charging station FLARM collision avoidance system Servo 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 Flags to report failure cases over the high latency telemtry. GPS failure. Differential pressure sensor failure. Absolute pressure sensor failure. Accelerometer sensor failure. Gyroscope sensor failure. Magnetometer sensor failure. Terrain subsystem failure. Battery failure/critical low battery. RC receiver failure/no rc connection. Offboard link failure. Engine failure. Geofence violation. Estimator failure, for example measurement rejection or large variances. Mission failure. These flags encode the MAV mode. 0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly. Additional note: this flag is to be ignore when sent in the command MAV_CMD_DO_SET_MODE and MAV_CMD_COMPONENT_ARM_DISARM shall be used instead. The flag can still be used to report the armed state. 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 waypoints / 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 Sixth bit: 00000100 Seventh bit: 00000010 Eighth bit: 00000001 Actions that may be specified in MAV_CMD_OVERRIDE_GOTO to override mission execution. 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 waypoints) System is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by waypoints) 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. System is terminating itself. Component ids (values) for the different types and instances of onboard hardware/software that might make up a MAVLink system (autopilot, cameras, servos, GPS systems, avoidance systems etc.). Components must use the appropriate ID in their source address when sending messages. Components can also use IDs to determine if they are the intended recipient of an incoming message. The MAV_COMP_ID_ALL value is used to indicate messages that must be processed by all components. When creating new entries, components that can have multiple instances (e.g. cameras, servos etc.) should be allocated sequential values. An appropriate number of values should be left free after these components to allow the number of instances to be expanded. Used to broadcast messages to all components of the receiving system. Components should attempt to process messages with this component ID and forward to components on any other interfaces. System flight controller component ("autopilot"). Only one autopilot is expected in a particular system. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network. Camera #1. Camera #2. Camera #3. Camera #4. Camera #5. Camera #6. Servo #1. Servo #2. Servo #3. Servo #4. Servo #5. Servo #6. Servo #7. Servo #8. Servo #9. Servo #10. Servo #11. Servo #12. Servo #13. Servo #14. Gimbal #1. Logging component. Automatic Dependent Surveillance-Broadcast (ADS-B) component. On Screen Display (OSD) devices for video links. Generic autopilot peripheral component ID. Meant for devices that do not implement the parameter microservice. All gimbals should use MAV_COMP_ID_GIMBAL. Gimbal ID for QX1. FLARM collision alert component. Gimbal #2. Gimbal #3. Gimbal #4 Gimbal #5. Gimbal #6. Component that can generate/supply a mission flight plan (e.g. GCS or developer API). Component that finds an optimal path between points based on a certain constraint (e.g. minimum snap, shortest path, cost, etc.). Component that plans a collision free path between two points. Component that provides position estimates using VIO techniques. Inertial Measurement Unit (IMU) #1. Inertial Measurement Unit (IMU) #2. Inertial Measurement Unit (IMU) #3. GPS #1. GPS #2. Component to bridge MAVLink to UDP (i.e. from a UART). Component to bridge to UART (i.e. from UDP). System control does not require a separate component ID. Component for handling system messages (e.g. to ARM, takeoff, etc.). 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 0x800000 Motors are reversed 0x1000000 Logging 0x2000000 Battery 0x4000000 Proximity 0x8000000 Satellite Communication Global (WGS84) coordinate frame + MSL altitude. First value / x: latitude, second value / y: longitude, third value / z: positive altitude over mean sea level (MSL). Local coordinate frame, Z-down (x: north, y: east, z: down). NOT a coordinate frame, indicates a mission command. Global (WGS84) coordinate frame + altitude relative 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-up (x: east, y: north, z: up). Global (WGS84) coordinate frame (scaled) + MSL altitude. 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 (WGS84) coordinate frame (scaled) + altitude relative 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 (WGS84) coordinate frame with AGL altitude (at 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 (WGS84) coordinate frame (scaled) with AGL altitude (at 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. Body fixed frame of reference, Z-down (x: forward, y: right, z: down). Body fixed frame of reference, Z-up (x: forward, y: left, z: up). Odometry local coordinate frame of data given by a motion capture system, Z-down (x: north, y: east, z: down). Odometry local coordinate frame of data given by a motion capture system, Z-up (x: east, y: north, z: up). Odometry local coordinate frame of data given by a vision estimation system, Z-down (x: north, y: east, z: down). Odometry local coordinate frame of data given by a vision estimation system, Z-up (x: east, y: north, z: up). Odometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-down (x: north, y: east, z: down). Odometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-up (x: east, y: noth, z: up). Forward, Right, Down coordinate frame. This is a local frame with Z-down and arbitrary F/R alignment (i.e. not aligned with NED/earth frame). Forward, Left, Up coordinate frame. This is a local frame with Z-up and arbitrary F/L alignment (i.e. not aligned with ENU/earth frame). 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 Switch to RTL (return to launch) mode and head for the return point. No last fence breach Breached minimum altitude Breached maximum altitude Breached fence boundary Actions being taken to mitigate/prevent fence breach No actions being taken Velocity limiting active to prevent breach 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 Generalized UAVCAN node health The node is functioning properly. A critical parameter went out of range or the node has encountered a minor failure. The node has encountered a major failure. The node has suffered a fatal malfunction. Generalized UAVCAN node mode The node is performing its primary functions. The node is initializing; this mode is entered immediately after startup. The node is under maintenance. The node is in the process of updating its software. The node is no longer available online. Flags to indicate the status of camera storage. Storage is missing (no microSD card loaded for example.) Storage present but unformatted. Storage present and ready. Camera does not supply storage status information. Capacity information in STORAGE_INFORMATION fields will be ignored. 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. See https://mavlink.io/en/guide/xml_schema.html#MAV_CMD for information about the structure of the MAV_CMD entries Navigate to waypoint. Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing) Acceptance radius (if the sphere with this radius is hit, the waypoint counts as reached) 0 to pass through the WP, if > 0 radius to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control. Desired yaw angle at waypoint (rotary wing). NaN for unchanged. Latitude Longitude Altitude Loiter around this waypoint an unlimited amount of time Empty Empty Radius around waypoint. If positive loiter clockwise, else counter-clockwise Desired yaw angle. NaN for unchanged. Latitude Longitude Altitude Loiter around this waypoint for X turns Number of turns. Empty Radius around waypoint. If positive loiter clockwise, else counter-clockwise Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle. NaN for unchanged. Latitude Longitude Altitude Loiter around this waypoint for X seconds Loiter time. Empty Radius around waypoint. If positive loiter clockwise, else counter-clockwise. Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle. NaN for unchanged. Latitude Longitude Altitude Return to launch location Empty Empty Empty Empty Empty Empty Empty Land at location. Minimum target altitude if landing is aborted (0 = undefined/use system default). Precision land mode. Empty. Desired yaw angle. NaN for unchanged. Latitude. Longitude. Landing altitude (ground level in current frame). Takeoff from ground / hand Minimum pitch (if airspeed sensor present), desired pitch without sensor Empty Empty Yaw angle (if magnetometer present), ignored without magnetometer. NaN for unchanged. Latitude Longitude Altitude Land at local position (local frame only) Landing target number (if available) Maximum accepted offset from desired landing position - computed magnitude from spherical coordinates: d = sqrt(x^2 + y^2 + z^2), which gives the maximum accepted distance between the desired landing position and the position where the vehicle is about to land Landing descend rate Desired yaw angle Y-axis position X-axis position Z-axis / ground level position Takeoff from local position (local frame only) Minimum pitch (if airspeed sensor present), desired pitch without sensor Empty Takeoff ascend rate Yaw angle (if magnetometer or another yaw estimation source present), ignored without one of these Y-axis position X-axis position Z-axis position Vehicle following, i.e. this waypoint represents the position of a moving vehicle Following logic to use (e.g. loitering or sinusoidal following) - depends on specific autopilot implementation Ground speed of vehicle to be followed Radius around waypoint. If positive loiter clockwise, else counter-clockwise Desired yaw angle. 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. Climb or Descend (0 = Neutral, command completes when within 5m of this command's altitude, 1 = Climbing, command completes when at or above this command's altitude, 2 = Descending, command completes when at or below this command's altitude. Empty Empty Empty Empty Empty Desired altitude 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. If positive loiter clockwise, negative counter-clockwise, 0 means no change to standard loiter. Empty Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location Latitude Longitude Altitude Begin following a target System ID (of the FOLLOW_TARGET beacon). Send 0 to disable follow-me and return to the default position hold mode. RESERVED RESERVED Altitude mode: 0: Keep current altitude, 1: keep altitude difference to target, 2: go to a fixed altitude above home. Altitude above home. (used if mode=2) RESERVED Time to land in which the MAV should go to the default position hold mode after a message RX timeout. Reposition the MAV after a follow target command has been sent Camera q1 (where 0 is on the ray from the camera to the tracking device) Camera q2 Camera q3 Camera q4 altitude offset from target X offset from target Y offset from target Start orbiting on the circumference of a circle defined by the parameters. Setting any value NaN results in using defaults. Radius of the circle. positive: Orbit clockwise. negative: Orbit counter-clockwise. Tangential Velocity. NaN: Vehicle configuration default. Yaw behavior of the vehicle. 0: vehicle front points to the center (default). 1: Hold last heading. 2: Leave yaw uncontrolled. Reserved (e.g. for dynamic center beacon options) Center point latitude (if no MAV_FRAME specified) / X coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting. Center point longitude (if no MAV_FRAME specified) / Y coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting. Center point altitude (MSL) (if no MAV_FRAME specified) / Z coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting. 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 interest mode. Waypoint 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 Latitude/X of goal Longitude/Y of goal Altitude/Z of goal Navigate to waypoint using a spline path. Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing) Empty Empty Empty Latitude/X of goal Longitude/Y of goal Altitude/Z of goal Takeoff from ground using VTOL mode, and transition to forward flight with specified heading. Empty Front transition heading. Empty Yaw angle. NaN for unchanged. Latitude Longitude Altitude Land using VTOL mode Empty Empty Approach altitude (with the same reference as the Altitude field). NaN if unspecified. Yaw angle. NaN for unchanged. Latitude Longitude Altitude (ground level) hand control over to an external controller On / Off (> 0.5f on) Empty Empty Empty Empty Empty Empty Delay the next navigation command a number of seconds or until a specified time Delay (-1 to enable time-of-day fields) hour (24h format, UTC, -1 to ignore) minute (24h format, UTC, -1 to ignore) second (24h format, UTC) Empty Empty Empty Descend and place payload. Vehicle moves to specified location, descends until it detects a hanging payload has reached the ground, and then releases the payload. If ground is not detected before the reaching the maximum descent value (param1), the command will complete without releasing the payload. Maximum distance to descend. Empty Empty Empty Latitude Longitude Altitude 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 Empty Empty Empty Empty Empty Empty Ascend/descend at rate. Delay mission state machine until desired altitude reached. Descent / Ascend rate. Empty Empty Empty Empty Empty Finish Altitude Delay mission state machine until within desired distance of next NAV point. Distance. Empty Empty Empty Empty Empty Empty Reach a certain target angle. target angle, 0 is north angular speed direction: -1: counter clockwise, 1: clockwise 0: absolute angle, 1: relative offset 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 Custom mode - this is system specific, please refer to the individual autopilot specifications for details. Custom sub mode - this is system specific, please refer to the individual autopilot specifications for details. 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, 2=Climb Speed, 3=Descent Speed) Speed (-1 indicates no change) Throttle (-1 indicates no change) 0: absolute, 1: relative 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 instance 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 cycles with a desired period. Relay instance number. Cycle count. Cycle time. Empty Empty Empty Empty Set a servo to a desired PWM value. Servo instance number. Pulse Width Modulation. 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 instance number. Pulse Width Modulation. Cycle count. Cycle time. Empty Empty Empty Terminate flight immediately Flight termination activated if > 0.5 Empty Empty Empty Empty Empty Empty Change altitude set point. Altitude. Frame of new altitude. 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 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 Landing speed Empty Empty Empty Empty Empty Mission command to safely abort an autonomous landing. Altitude Empty Empty Empty Empty Empty Empty Reposition the vehicle to a specific WGS84 global position. Ground speed, less than 0 (-1) for default Bitmask of option flags. Reserved Yaw heading, NaN for unchanged. For planes indicates loiter direction (0: clockwise, 1: counter clockwise) Latitude (deg * 1E7) Longitude (deg * 1E7) Altitude (meters) If in a GPS controlled position mode, hold the current position or continue. 0: Pause current mission or reposition command, hold current position. 1: Continue mission. A VTOL capable vehicle should enter hover mode (multicopter and VTOL planes). A plane should loiter with the default loiter radius. Reserved Reserved Reserved Reserved Reserved Reserved Set moving direction to forward or reverse. Direction (0=Forward, 1=Reverse) Empty Empty Empty Empty Empty Empty Sets the region of interest (ROI) to a location. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. Empty Empty Empty Empty Latitude Longitude Altitude Sets the region of interest (ROI) to be toward next waypoint, with optional pitch/roll/yaw offset. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. Empty Empty Empty Empty pitch offset from next waypoint roll offset from next waypoint yaw offset from next waypoint Cancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras. Empty 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 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 interest mode. Waypoint index/ target ID (depends on param 1). Region of interest index. (allows a vehicle to manage multiple ROI's) Empty MAV_ROI_WPNEXT: pitch offset from next waypoint, MAV_ROI_LOCATION: latitude MAV_ROI_WPNEXT: roll offset from next waypoint, MAV_ROI_LOCATION: longitude MAV_ROI_WPNEXT: yaw offset from next waypoint, MAV_ROI_LOCATION: altitude Configure digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ). 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. (0 means no cut-off) Control digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ). 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 Test shot identifier. If set to 1, image will only be captured, but not counted towards internal frame count. Mission command to configure a camera or antenna mount Mount operation mode stabilize roll? (1 = yes, 0 = no) stabilize pitch? (1 = yes, 0 = no) stabilize yaw? (1 = yes, 0 = no) roll input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame) pitch input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame) yaw input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame) Mission command to control a camera or antenna mount pitch depending on mount mode (degrees or degrees/second depending on pitch input). roll depending on mount mode (degrees or degrees/second depending on roll input). yaw depending on mount mode (degrees or degrees/second depending on yaw input). altitude depending on mount mode. latitude in degrees * 1E7, set if appropriate mount mode. longitude in degrees * 1E7, set if appropriate mount mode. Mount mode. Mission command to set camera trigger distance for this flight. The camera is triggered each time this distance is exceeded. This command can also be used to set the shutter integration time for the camera. Camera trigger distance. 0 to stop triggering. Camera shutter integration time. -1 or 0 to ignore Trigger camera once immediately. (0 = no trigger, 1 = trigger) Empty Empty Empty Empty Mission command to enable the geofence enable? (0=disable, 1=enable, 2=disable_floor_only) Empty Empty Empty Empty Empty Empty Mission command to trigger a parachute action Empty Empty Empty Empty Empty Empty Mission command to perform motor test. Motor instance number. (from 1 to max number of motors on the vehicle) Throttle type. Throttle. Timeout. Motor count. (number of motors to test to test in sequence, waiting for the timeout above between them; 0=1 motor, 1=1 motor, 2=2 motors...) Motor test order. Empty Change to/from inverted flight. Inverted flight. (0=normal, 1=inverted) Empty Empty Empty Empty Empty Empty Sets a desired vehicle turn angle and speed change. Yaw angle to adjust steering by. Speed. Final angle. (0=absolute, 1=relative) Empty Empty Empty Empty Mission command to set camera trigger interval for this flight. If triggering is enabled, the camera is triggered each time this interval expires. This command can also be used to set the shutter integration time for the camera. Camera trigger cycle time. -1 or 0 to ignore. Camera shutter integration time. Should be less than trigger cycle time. -1 or 0 to ignore. Empty Empty Empty Empty Empty Mission command to control a camera or antenna mount, using a quaternion as reference. quaternion param q1, w (1 in null-rotation) quaternion param q2, x (0 in null-rotation) quaternion param q3, y (0 in null-rotation) quaternion param q4, 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 that external controller will be allowed to control vehicle. 0 means no timeout. Altitude (MSL) min - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit. Altitude (MSL) max - 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 - if vehicle moves more than this distance from its location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal move limit. Empty Empty Empty Control vehicle engine. This is interpreted by the vehicles engine controller to change the target engine state. It is intended for vehicles with internal combustion engines 0: Stop engine, 1:Start Engine 0: Warm start, 1:Cold start. Controls use of choke where applicable Height delay. This is for commanding engine start only after the vehicle has gained the specified height. Used in VTOL vehicles during takeoff to start engine after the aircraft is off the ground. Zero for no delay. Empty Empty Empty Empty Empty 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). Mission sequence value to set Empty Empty Empty Empty 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. Except for Temperature Calibration, only one sensor should be set in a single message and all others should be zero. 1: gyro calibration, 3: gyro temperature calibration 1: magnetometer calibration 1: ground pressure calibration 1: radio RC calibration, 2: RC trim calibration 1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature calibration, 4: simple accelerometer calibration 1: APM: compass/motor interference calibration (PX4: airspeed calibration, deprecated), 2: airspeed calibration 1: ESC calibration, 3: barometer temperature calibration 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, 6: third 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 Trigger UAVCAN config. This command will be only accepted if in pre-flight mode. 1: Trigger actuator ID assignment and direction mapping. Reserved Reserved Reserved Reserved Reserved Reserved 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, 2: Reset to defaults Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults Onboard logging: 0: Ignore, 1: Start default rate logging, -1: Stop logging, > 1: logging rate (e.g. set to 1000 for 1000 Hz logging) Reserved Empty Empty Empty Request the reboot or shutdown of system components. 0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot, 3: Reboot autopilot and keep it in the bootloader until upgraded. 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer, 3: Reboot onboard computer and keep it in the bootloader until upgraded. WIP: 0: Do nothing for camera, 1: Reboot onboard camera, 2: Shutdown onboard camera, 3: Reboot onboard camera and keep it in the bootloader until upgraded WIP: 0: Do nothing for mount (e.g. gimbal), 1: Reboot mount, 2: Shutdown mount, 3: Reboot mount and keep it in the bootloader until upgraded Reserved, send 0 Reserved, send 0 WIP: ID (e.g. camera ID -1 for all IDs) Override current mission with command to pause mission, pause mission and move to position, continue/resume mission. When param 1 indicates that the mission is paused (MAV_GOTO_DO_HOLD), param 2 defines whether it holds in place or moves to another position. MAV_GOTO_DO_HOLD: pause mission and either hold or move to specified position (depending on param2), MAV_GOTO_DO_CONTINUE: resume mission. MAV_GOTO_HOLD_AT_CURRENT_POSITION: hold at current position, MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position. Coordinate frame of hold point. Desired yaw angle. 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 0: disarm, 1: arm 0: only arm-disarm when landed, 21196: enforce arming/disarming even in-air (during flight) Request the home position from the vehicle. Reserved Reserved Reserved Reserved Reserved Reserved Reserved Starts receiver pairing. 0:Spektrum. RC type. Request the interval between messages for a particular MAVLink message ID. The receiver should ACK the command and then emit its response in a MESSAGE_INTERVAL message. The MAVLink message ID Set the interval between messages for a particular MAVLink message ID. This interface replaces REQUEST_DATA_STREAM. The MAVLink message ID The interval between two messages. Set to -1 to disable and 0 to request default rate. Request the target system(s) emit a single instance of a specified message (i.e. a "one-shot" version of MAV_CMD_SET_MESSAGE_INTERVAL). The MAVLink message ID of the requested message. Index id (if appropriate). The use of this parameter (if any), must be defined in the requested message. Request MAVLink protocol version compatibility 1: Request supported protocol versions by all nodes on the network Reserved (all remaining params) Request autopilot capabilities. The receiver should ACK the command and then emit its capabilities in an AUTOPILOT_VERSION message 1: Request autopilot version Reserved (all remaining params) Request camera information (CAMERA_INFORMATION). 0: No action 1: Request camera capabilities Reserved (all remaining params) Request camera settings (CAMERA_SETTINGS). 0: No Action 1: Request camera settings Reserved (all remaining params) Request storage information (STORAGE_INFORMATION). Use the command's target_component to target a specific component's storage. Storage ID (0 for all, 1 for first, 2 for second, etc.) 0: No Action 1: Request storage information Reserved (all remaining params) Format a storage medium. Once format is complete, a STORAGE_INFORMATION message is sent. Use the command's target_component to target a specific component's storage. Storage ID (1 for first, 2 for second, etc.) 0: No action 1: Format storage Reserved (all remaining params) Request camera capture status (CAMERA_CAPTURE_STATUS) 0: No Action 1: Request camera capture status Reserved (all remaining params) Request flight information (FLIGHT_INFORMATION) 1: Request flight information Reserved (all remaining params) Reset all camera settings to Factory Default 0: No Action 1: Reset all settings Reserved (all remaining params) Set camera running mode. Use NaN for reserved values. GCS will send a MAV_CMD_REQUEST_VIDEO_STREAM_STATUS command after a mode change if the camera supports video streaming. Reserved (Set to 0) Camera mode Reserved (all remaining params) Set camera zoom. Camera must respond with a CAMERA_SETTINGS message (on success). Use NaN for reserved values. Zoom type Zoom value. The range of valid values depend on the zoom type. Reserved (all remaining params) Set camera focus. Camera must respond with a CAMERA_SETTINGS message (on success). Use NaN for reserved values. Focus type Focus value Reserved (all remaining params) Tagged jump target. Can be jumped to with MAV_CMD_DO_JUMP_TAG. Tag. Jump to the matching tag in the mission list. Repeat this action for the specified number of times. A mission should contain a single matching tag for each jump. If this is not the case then a jump to a missing tag should complete the mission, and a jump where there are multiple matching tags should always select the one with the lowest mission sequence number. Target tag to jump to. Repeat count. Start image capture sequence. Sends CAMERA_IMAGE_CAPTURED after each capture. Use NaN for reserved values. Reserved (Set to 0) Desired elapsed time between two consecutive pictures (in seconds). Minimum values depend on hardware (typically greater than 2 seconds). Total number of images to capture. 0 to capture forever/until MAV_CMD_IMAGE_STOP_CAPTURE. Capture sequence number starting from 1. This is only valid for single-capture (param3 == 1). Increment the capture ID for each capture command to prevent double captures when a command is re-transmitted. Use 0 to ignore it. Reserved (all remaining params) Stop image capture sequence Use NaN for reserved values. Reserved (Set to 0) Reserved (all remaining params) Re-request a CAMERA_IMAGE_CAPTURE message. Use NaN for reserved values. Sequence number for missing CAMERA_IMAGE_CAPTURE message Reserved (all remaining params) Enable or disable on-board camera triggering system. Trigger enable/disable (0 for disable, 1 for start), -1 to ignore 1 to reset the trigger sequence, -1 or 0 to ignore 1 to pause triggering, but without switching the camera off or retracting it. -1 to ignore Starts video capture (recording). Use NaN for reserved values. Video Stream ID (0 for all streams) Frequency CAMERA_CAPTURE_STATUS messages should be sent while recording (0 for no messages, otherwise frequency) Reserved (all remaining params) Stop the current video capture (recording). Use NaN for reserved values. Video Stream ID (0 for all streams) Reserved (all remaining params) Start video streaming Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.) Reserved Stop the given video stream Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.) Reserved Request video stream information (VIDEO_STREAM_INFORMATION) Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.) Reserved (all remaining params) Request video stream status (VIDEO_STREAM_STATUS) Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.) Reserved (all remaining params) Request to start streaming logging data over MAVLink (see also LOGGING_DATA message) Format: 0: ULog Reserved (set to 0) Reserved (set to 0) Reserved (set to 0) Reserved (set to 0) Reserved (set to 0) Reserved (set to 0) Request to stop streaming log data over MAVLink Reserved (set to 0) Reserved (set to 0) Reserved (set to 0) Reserved (set to 0) Reserved (set to 0) Reserved (set to 0) Reserved (set to 0) Landing gear ID (default: 0, -1 for all) Landing gear position (Down: 0, Up: 1, NaN for no change) Reserved, set to NaN Reserved, set to NaN Reserved, set to NaN Reserved, set to NaN Reserved, set to NaN Request to start/stop transmitting over the high latency telemetry Control transmission over high latency telemetry (0: stop, 1: start) Empty Empty Empty Empty Empty Empty Create a panorama at the current position Viewing angle horizontal of the panorama (+- 0.5 the total angle) Viewing angle vertical of panorama. Speed of the horizontal rotation. Speed of the vertical rotation. Request VTOL transition The target VTOL state. Only MAV_VTOL_STATE_MC and MAV_VTOL_STATE_FW can be used. Request authorization to arm the vehicle to a external entity, the arm authorizer is responsible to request all data that is needs from the vehicle before authorize or deny the request. If approved the progress of command_ack message should be set with period of time that this authorization is valid in seconds or in case it was denied it should be set with one of the reasons in ARM_AUTH_DENIED_REASON. Vehicle system id, this way ground station can request arm authorization on behalf of any vehicle This command sets the submode to standard guided when vehicle is in guided mode. The vehicle holds position and altitude and the user can input the desired velocities along all three axes. This command sets submode circle when vehicle is in guided mode. Vehicle flies along a circle facing the center of the circle. The user can input the velocity along the circle and change the radius. If no input is given the vehicle will hold position. Radius of desired circle in CIRCLE_MODE User defined User defined User defined Unscaled target latitude of center of circle in CIRCLE_MODE Unscaled target longitude of center of circle in CIRCLE_MODE Delay mission state machine until gate has been reached. Geometry: 0: orthogonal to path between previous and next waypoint. Altitude: 0: ignore altitude Empty Empty Latitude Longitude Altitude Fence return point. There can only be one fence return point. Reserved Reserved Reserved Reserved Latitude Longitude Altitude Fence vertex for an inclusion polygon (the polygon must not be self-intersecting). The vehicle must stay within this area. Minimum of 3 vertices required. Polygon vertex count Reserved Reserved Reserved Latitude Longitude Reserved Fence vertex for an exclusion polygon (the polygon must not be self-intersecting). The vehicle must stay outside this area. Minimum of 3 vertices required. Polygon vertex count Reserved Reserved Reserved Latitude Longitude Reserved Circular fence area. The vehicle must stay inside this area. Radius. Reserved Reserved Reserved Latitude Longitude Reserved Circular fence area. The vehicle must stay outside this area. Radius. Reserved Reserved Reserved Latitude Longitude Reserved Rally point. You can have multiple rally points defined. Reserved Reserved Reserved Reserved Latitude Longitude Altitude Commands the vehicle to respond with a sequence of messages UAVCAN_NODE_INFO, one message per every UAVCAN node that is online. Note that some of the response messages can be lost, which the receiver can detect easily by checking whether every received UAVCAN_NODE_STATUS has a matching message UAVCAN_NODE_INFO received earlier; if not, this command should be sent again in order to request re-transmission of the node information messages. Reserved (set to 0) Reserved (set to 0) Reserved (set to 0) Reserved (set to 0) Reserved (set to 0) Reserved (set to 0) Reserved (set to 0) 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 compass heading. A negative value indicates the system can define the approach vector at will. Desired ground speed at release time. This can be overridden 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. 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 (MSL), in meters Control the payload deployment. Operation mode. 0: Abort deployment, continue normal mission. 1: switch to payload deployment mode. 100: delete first payload deployment request. 101: delete all payload deployment requests. Reserved Reserved Reserved Reserved Reserved Reserved User defined waypoint item. Ground Station will show the Vehicle as flying through this item. User defined User defined User defined User defined Latitude unscaled Longitude unscaled Altitude (MSL), in meters User defined waypoint item. Ground Station will show the Vehicle as flying through this item. User defined User defined User defined User defined Latitude unscaled Longitude unscaled Altitude (MSL), in meters User defined waypoint item. Ground Station will show the Vehicle as flying through this item. User defined User defined User defined User defined Latitude unscaled Longitude unscaled Altitude (MSL), in meters User defined waypoint item. Ground Station will show the Vehicle as flying through this item. User defined User defined User defined User defined Latitude unscaled Longitude unscaled Altitude (MSL), in meters User defined waypoint item. Ground Station will show the Vehicle as flying through this item. User defined User defined User defined User defined Latitude unscaled Longitude unscaled Altitude (MSL), in meters User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. User defined User defined User defined User defined Latitude unscaled Longitude unscaled Altitude (MSL), in meters User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. User defined User defined User defined User defined Latitude unscaled Longitude unscaled Altitude (MSL), in meters User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. User defined User defined User defined User defined Latitude unscaled Longitude unscaled Altitude (MSL), in meters User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. User defined User defined User defined User defined Latitude unscaled Longitude unscaled Altitude (MSL), in meters User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item. User defined User defined User defined User defined Latitude unscaled Longitude unscaled Altitude (MSL), in meters User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. User defined User defined User defined User defined User defined User defined User defined User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. User defined User defined User defined User defined User defined User defined User defined User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. User defined User defined User defined User defined User defined User defined User defined User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. User defined User defined User defined User defined User defined User defined User defined User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item. User defined User defined User defined User defined User defined User defined User defined 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 waypoint, with optional pitch/roll/yaw offset. Point toward given waypoint. 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 Specifies the datatype of a MAVLink extended 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 Custom Type result from a mavlink command Command ACCEPTED and EXECUTED Command TEMPORARY REJECTED/DENIED Command PERMANENTLY DENIED Command UNKNOWN/UNSUPPORTED Command executed, but failed WIP: Command being executed Result of mission operation (in a MISSION_ACK message). 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. z / param7 has an invalid value. Mission item received out of sequence Not accepting any mission commands from this communication partner. Current mission operation cancelled (e.g. mission upload, mission download). 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 occurred, 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 rangefinder, e.g. LightWare SF02/F or PulsedLight units Ultrasound rangefinder, e.g. MaxBotix units Infrared rangefinder, e.g. Sharp units Radar type, e.g. uLanding units Broken or unknown type, e.g. analog units Enumeration of sensor orientation, according to its rotations Roll: 0, Pitch: 0, Yaw: 0 Roll: 0, Pitch: 0, Yaw: 45 Roll: 0, Pitch: 0, Yaw: 90 Roll: 0, Pitch: 0, Yaw: 135 Roll: 0, Pitch: 0, Yaw: 180 Roll: 0, Pitch: 0, Yaw: 225 Roll: 0, Pitch: 0, Yaw: 270 Roll: 0, Pitch: 0, Yaw: 315 Roll: 180, Pitch: 0, Yaw: 0 Roll: 180, Pitch: 0, Yaw: 45 Roll: 180, Pitch: 0, Yaw: 90 Roll: 180, Pitch: 0, Yaw: 135 Roll: 0, Pitch: 180, Yaw: 0 Roll: 180, Pitch: 0, Yaw: 225 Roll: 180, Pitch: 0, Yaw: 270 Roll: 180, Pitch: 0, Yaw: 315 Roll: 90, Pitch: 0, Yaw: 0 Roll: 90, Pitch: 0, Yaw: 45 Roll: 90, Pitch: 0, Yaw: 90 Roll: 90, Pitch: 0, Yaw: 135 Roll: 270, Pitch: 0, Yaw: 0 Roll: 270, Pitch: 0, Yaw: 45 Roll: 270, Pitch: 0, Yaw: 90 Roll: 270, Pitch: 0, Yaw: 135 Roll: 0, Pitch: 90, Yaw: 0 Roll: 0, Pitch: 270, Yaw: 0 Roll: 0, Pitch: 180, Yaw: 90 Roll: 0, Pitch: 180, Yaw: 270 Roll: 90, Pitch: 90, Yaw: 0 Roll: 180, Pitch: 90, Yaw: 0 Roll: 270, Pitch: 90, Yaw: 0 Roll: 90, Pitch: 180, Yaw: 0 Roll: 270, Pitch: 180, Yaw: 0 Roll: 90, Pitch: 270, Yaw: 0 Roll: 180, Pitch: 270, Yaw: 0 Roll: 270, Pitch: 270, Yaw: 0 Roll: 90, Pitch: 180, Yaw: 90 Roll: 90, Pitch: 0, Yaw: 270 Roll: 90, Pitch: 68, Yaw: 293 Pitch: 315 Roll: 90, Pitch: 315 Custom orientation 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 FILE_TRANSFER_PROTOCOL 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. Autopilot supports MAVLink version 2. Autopilot supports mission fence protocol. Autopilot supports mission rally point protocol. Autopilot supports the flight information protocol. Type of mission items being requested/sent in mission protocol. Items are mission commands for main mission. Specifies GeoFence area(s). Items are MAV_CMD_NAV_FENCE_ GeoFence items. Specifies the rally points for the vehicle. Rally points are alternative RTL points. Items are MAV_CMD_NAV_RALLY_POINT rally point items. Only used in MISSION_CLEAR_ALL to clear all mission types. Enumeration of estimator types Unknown type of the estimator. 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. Estimate from external motion capturing system. Estimator based on lidar sensor input. Estimator on autopilot. Enumeration of battery types Not specified. Lithium polymer battery Lithium-iron-phosphate battery Lithium-ION battery Nickel metal hydride battery Enumeration of battery functions Battery function is unknown Battery supports all flight systems Battery for the propulsion system Avionics battery Payload battery Enumeration for battery charge states. Low battery state is not provided Battery is not in low state. Normal operation. Battery state is low, warn and monitor close. Battery state is critical, return or abort immediately. Battery state is too low for ordinary abort sequence. Perform fastest possible emergency stop to prevent damage. Battery failed, damage unavoidable. Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Battery is charging. Smart battery supply status/fault flags (bitmask) for health indication. Battery has deep discharged. Voltage spikes. Single cell has failed. Over-current fault. Over-temperature fault. Under-temperature fault. Enumeration of VTOL states MAV is not configured as VTOL VTOL is in transition from multicopter to fixed-wing VTOL is in transition from fixed-wing to multicopter VTOL is in multicopter state VTOL is in fixed-wing state Enumeration of landed detector states MAV landed state is unknown MAV is landed (on ground) MAV is in air MAV currently taking off MAV currently landing 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 Bitmap of options for the MAV_CMD_DO_REPOSITION The aircraft should immediately transition into guided. This should not be set for follow me applications Flags in EKF_STATUS message True if the attitude estimate is good True if the horizontal velocity estimate is good True if the vertical velocity estimate is good True if the horizontal position (relative) estimate is good True if the horizontal position (absolute) estimate is good True if the vertical position (absolute) estimate is good True if the vertical position (above ground) estimate is good True if the EKF is in a constant position mode and is not using external measurements (eg GPS or optical flow) True if the EKF has sufficient data to enter a mode that will provide a (relative) position estimate True if the EKF has sufficient data to enter a mode that will provide a (absolute) position estimate True if the EKF has detected a GPS glitch True if the EKF has detected bad accelerometer data default autopilot motor test method motor numbers are specified as their index in a predefined vehicle-specific sequence motor numbers are specified as the output as labeled on the board 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 per-motor compass calibration test ignore altitude field ignore hdop field ignore vdop field ignore horizontal velocity field (vn and ve) ignore vertical velocity field (vd) ignore speed accuracy field ignore horizontal accuracy field ignore vertical accuracy field Possible actions an aircraft can take to avoid a collision. Ignore any potential collisions Report potential collision Ascend or Descend to avoid threat Move horizontally to avoid threat Aircraft to move perpendicular to the collision's velocity vector Aircraft to fly directly back to its launch point Aircraft to stop in place Aircraft-rated danger from this threat. Not a threat Craft is mildly concerned about this threat Craft is panicking, and may take actions to avoid threat Source of information about this collision. ID field references ADSB_VEHICLE packets ID field references MAVLink SRC ID Type of GPS fix No GPS connected No position information, GPS is connected 2D position 3D position DGPS/SBAS aided 3D position RTK float, 3D position RTK Fixed, 3D position Static fixed, typically used for base stations PPP, 3D position. RTK GPS baseline coordinate system, used for RTK corrections Earth-centered, Earth-fixed North, East, Down Type of landing target Landing target signaled by light beacon (ex: IR-LOCK) Landing target signaled by radio beacon (ex: ILS, NDB) Landing target represented by a fiducial marker (ex: ARTag) Landing target represented by a pre-defined visual shape/feature (ex: X-marker, H-marker, square) Direction of VTOL transition Respect the heading configuration of the vehicle. Use the heading pointing towards the next waypoint. Use the heading on takeoff (while sitting on the ground). Use the specified heading in parameter 4. Use the current heading when reaching takeoff altitude (potentially facing the wind when weather-vaning is active). Camera capability flags (Bitmap) Camera is able to record video Camera is able to capture images Camera has separate Video and Image/Photo modes (MAV_CMD_SET_CAMERA_MODE) Camera can capture images while in video mode Camera can capture videos while in Photo/Image mode Camera has image survey mode (MAV_CMD_SET_CAMERA_MODE) Camera has basic zoom control (MAV_CMD_SET_CAMERA_ZOOM) Camera has basic focus control (MAV_CMD_SET_CAMERA_FOCUS) Camera has video streaming capabilities (use MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION for video streaming info) Stream status flags (Bitmap) Stream is active (running) Stream is thermal imaging Video stream types Stream is RTSP Stream is RTP UDP (URI gives the port number) Stream is MPEG on TCP Stream is h.264 on MPEG TS (URI gives the port number) Zoom types for MAV_CMD_SET_CAMERA_ZOOM Zoom one step increment (-1 for wide, 1 for tele) Continuous zoom up/down until stopped (-1 for wide, 1 for tele, 0 to stop zooming) Zoom value as proportion of full camera range (a value between 0.0 and 100.0) Zoom value/variable focal length in milimetres. Note that there is no message to get the valid zoom range of the camera, so this can type can only be used for cameras where the zoom range is known (implying that this cannot reliably be used in a GCS for an arbitrary camera) Focus types for MAV_CMD_SET_CAMERA_FOCUS Focus one step increment (-1 for focusing in, 1 for focusing out towards infinity). Continuous focus up/down until stopped (-1 for focusing in, 1 for focusing out towards infinity, 0 to stop focusing) Focus value as proportion of full camera focus range (a value between 0.0 and 100.0) Focus value in metres. Note that there is no message to get the valid focus range of the camera, so this can type can only be used for cameras where the range is known (implying that this cannot reliably be used in a GCS for an arbitrary camera). Result from a PARAM_EXT_SET message. Parameter value ACCEPTED and SET Parameter value UNKNOWN/UNSUPPORTED Parameter failed to set Parameter value received but not yet validated or set. A subsequent PARAM_EXT_ACK will follow once operation is completed with the actual result. These are for parameters that may take longer to set. Instead of waiting for an ACK and potentially timing out, you will immediately receive this response to let you know it was received. Camera Modes. Camera is in image/photo capture mode. Camera is in video capture mode. Camera is in image survey capture mode. It allows for camera controller to do specific settings for surveys. Not a specific reason Authorizer will send the error as string to GCS At least one waypoint have a invalid value Timeout in the authorizer process(in case it depends on network) Airspace of the mission in use by another vehicle, second result parameter can have the waypoint id that caused it to be denied. Weather is not good to fly RC type Spektrum DSM2 Spektrum DSMX Bitmap 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 9 is set the floats afx afy afz should be interpreted as force instead of acceleration. Ignore position x Ignore position y Ignore position z Ignore velocity x Ignore velocity y Ignore velocity z Ignore acceleration x Ignore acceleration y Ignore acceleration z Use force instead of acceleration Ignore yaw Ignore yaw rate Airborne status of UAS. The flight state can't be determined. UAS on ground. UAS airborne. UAS is in an emergency flight state. UAS has no active controls. Flags for the global position report. The field time contains valid data. The field uas_id contains valid data. The fields lat, lon and h_acc contain valid data. The fields alt and v_acc contain valid data. The field relative_alt contains valid data. The fields vx and vy contain valid data. The field vz contains valid data. The fields next_lat, next_lon and next_alt contain valid data. Cellular network radio type These flags encode the cellular network status Roaming is active Precision land modes (used in MAV_CMD_NAV_LAND). Normal (non-precision) landing. Use precision landing if beacon detected when land command accepted, otherwise land normally. Use precision landing, searching for beacon if not found when land command accepted (land normally if beacon cannot be found). Disable parachute release. Enable parachute release. Release parachute. Encoding of payload unknown. No type defined. Manufacturer Serial Number (ANSI/CTA-2063 format). CAA (Civil Aviation Authority) assigned ID. Format: [ICAO Country Code].[CAA Assigned ID] UTM (Unmanned Traffic Management) assigned ID (UUID RFC4122). No UA (Unmanned Aircraft) type defined. Aeroplane/Airplane. Rotorcraft (including Multirotor). Gyroplane. VTOL (Vertical Take-Off and Landing). Fixed wing aircraft that can take off vertically. Ornithopter. Glider. Kite. Free Balloon. Captive Balloon. Airship. Free Fall/Parachute. Rocket. Ground Obstacle. Reserved. Other type of aircraft not listed earlier. The status of the (UA) Unmanned Aircraft is undefined. The UA is on the ground. The UA is in the air. The height field is relative to the take-off location. The height field is relative to ground. The horizontal accuracy is unknown. The horizontal accuracy is smaller than 10 Nautical Miles. The horizontal accuracy is smaller than 4 Nautical Miles. The horizontal accuracy is smaller than 2 Nautical Miles. The horizontal accuracy is smaller than 1 Nautical Miles. The horizontal accuracy is smaller than 0.5 Nautical Miles. The horizontal accuracy is smaller than 0.3 Nautical Miles. The horizontal accuracy is smaller than 0.1 Nautical Miles. The horizontal accuracy is smaller than 0.05 Nautical Miles. The horizontal accuracy is smaller than 30 meter. The horizontal accuracy is smaller than 10 meter. The horizontal accuracy is smaller than 3 meter. The horizontal accuracy is smaller than 1 meter. The vertical accuracy is unknown. The vertical accuracy is smaller than 150 meter. The vertical accuracy is smaller than 45 meter. The vertical accuracy is smaller than 25 meter. The vertical accuracy is smaller than 10 meter. The vertical accuracy is smaller than 3 meter. The vertical accuracy is smaller than 1 meter. The speed accuracy is unknown. The speed accuracy is smaller than 10 meter per second. The speed accuracy is smaller than 3 meter per second. The speed accuracy is smaller than 1 meter per second. The speed accuracy is smaller than 0.3 meter per second. The timestamp accuracy is unknown. The timestamp accuracy is smaller than 0.1 second. The timestamp accuracy is smaller than 0.2 second. The timestamp accuracy is smaller than 0.3 second. The timestamp accuracy is smaller than 0.4 second. The timestamp accuracy is smaller than 0.5 second. The timestamp accuracy is smaller than 0.6 second. The timestamp accuracy is smaller than 0.7 second. The timestamp accuracy is smaller than 0.8 second. The timestamp accuracy is smaller than 0.9 second. The timestamp accuracy is smaller than 1.0 second. The timestamp accuracy is smaller than 1.1 second. The timestamp accuracy is smaller than 1.2 second. The timestamp accuracy is smaller than 1.3 second. The timestamp accuracy is smaller than 1.4 second. The timestamp accuracy is smaller than 1.5 second. No authentication type is specified. Manufacturer Programmed Unique ID. Free-form text description of the purpose of the flight. Remote pilot ID as assigned by the Civil Aviation Authority. The location of the remote pilot is the same as the take-off location. The location of the remote pilot is based on live GNSS data. The location of the remote pilot is a fixed location. The heartbeat message shows that a system or component is present and responding. The type and autopilot fields (along with the message component id), allow the receiving system to treat further messages from this system appropriately (e.g. by laying out the user interface based on the autopilot). This microservice is documented at https://mavlink.io/en/services/heartbeat.html Vehicle or component type. For a flight controller component the vehicle type (quadrotor, helicopter, etc.). For other components the component type (e.g. camera, gimbal, etc.). This should be used in preference to component id for identifying the component type. Autopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers. System mode bitmap. A bitfield for use for autopilot-specific flags System status flag. 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 whether the system is currently active or not and if an emergency occurred. During the CRITICAL and EMERGENCY states the MAV is still considered to be active, but should start emergency procedures autonomously. After a failure occurred it should first move from active to critical to allow manual intervention and then move to emergency after a certain timeout. Bitmap showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Bitmap showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Bitmap showing which onboard controllers and sensors have an error (or are operational). Value of 0: error. Value of 1: healthy. Maximum usage in percent of the mainloop time. Values: [0-1000] - should always be below 1000 Battery voltage, UINT16_MAX: Voltage not sent by autopilot Battery current, -1: Current not sent by autopilot Battery energy remaining, -1: Battery remaining energy not sent by autopilot Communication drop rate, (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 (UNIX epoch time). Timestamp (time since system boot). 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. The ping microservice is documented at https://mavlink.io/en/services/ping.html Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. 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 component id of the requesting component. 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 Status generated in each node in the communication chain and injected into MAVLink stream. Timestamp (time since system boot). Remaining free transmit buffer space Remaining free receive buffer space Transmit rate Receive rate Number of bytes that could not be parsed correctly. Transmit buffer overflows. This number wraps around as it reaches UINT16_MAX Receive buffer overflows. This number wraps around as it reaches UINT16_MAX Messages sent Messages received (estimated from counting seq) Messages lost (estimated from counting seq) Use COMMAND_LONG with MAV_CMD_DO_SET_MODE instead 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 https://mavlink.io/en/services/parameter.html 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 this request, all parameters are emitted. The parameter microservice is documented at https://mavlink.io/en/services/parameter.html 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. The parameter microservice is documented at https://mavlink.io/en/services/parameter.html 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. Total number of onboard parameters Index of this onboard parameter Set a parameter value (write new value to permanent storage). 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. The parameter microservice is documented at https://mavlink.io/en/services/parameter.html 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. 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. Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. GPS fix type. Latitude (WGS84, EGM96 ellipsoid) Longitude (WGS84, EGM96 ellipsoid) Altitude (MSL). Positive for up. Note that virtually all GPS modules provide the MSL altitude in addition to the WGS84 altitude. GPS HDOP horizontal dilution of position (unitless). If unknown, set to: UINT16_MAX GPS VDOP vertical dilution of position (unitless). If unknown, set to: UINT16_MAX GPS ground speed. 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 Altitude (above WGS84, EGM96 ellipsoid). Positive for up. Position uncertainty. Positive for up. Altitude uncertainty. Positive for up. Speed uncertainty. Positive for up. Heading / track uncertainty 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 (time since system boot). X acceleration Y acceleration Z acceleration Angular speed around X axis Angular speed around Y axis Angular speed around Z axis X Magnetic field Y Magnetic field Z Magnetic field Temperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C). The RAW IMU readings for a 9DOF sensor, which is identified by the id (default IMU1). This message should always contain the true raw values without any scaling to allow data capture and system debugging. Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. 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) Id. Ids are numbered from 0 and map to IMUs numbered from 1 (e.g. IMU1 will have a message with id=0) Temperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C). 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 (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. Absolute pressure (raw) Differential pressure 1 (raw, 0 if nonexistent) Differential pressure 2 (raw, 0 if nonexistent) 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 (time since system boot). Absolute pressure Differential pressure 1 Temperature The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right). Timestamp (time since system boot). Roll angle (-pi..+pi) Pitch angle (-pi..+pi) Yaw angle (-pi..+pi) Roll angular speed Pitch angular speed Yaw angular speed 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 (time 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 Pitch angular speed Yaw angular speed 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 (time 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 (time since system boot). Latitude, expressed Longitude, expressed Altitude (MSL). Note that virtually all GPS modules provide both WGS84 and MSL. Altitude above ground Ground X Speed (Latitude, positive north) Ground Y Speed (Longitude, positive east) Ground Z Speed (Altitude, positive down) Vehicle heading (yaw angle), 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 (time since system boot). Servo output port (set of 8 outputs = 1 port). Flight stacks running on Pixhawk should use: 0 = MAIN, 1 = AUX. RC channel 1 value scaled. RC channel 2 value scaled. RC channel 3 value scaled. RC channel 4 value scaled. RC channel 5 value scaled. RC channel 6 value scaled. RC channel 7 value scaled. RC channel 8 value scaled. Receive signal strength indicator in device-dependent units/scale. Values: [0-254], 255: invalid/unknown. The RAW values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. A value of UINT16_MAX implies the channel is unused. Individual receivers/transmitters might violate this specification. Timestamp (time since system boot). Servo output port (set of 8 outputs = 1 port). Flight stacks running on Pixhawk should use: 0 = MAIN, 1 = AUX. RC channel 1 value. RC channel 2 value. RC channel 3 value. RC channel 4 value. RC channel 5 value. RC channel 6 value. RC channel 7 value. RC channel 8 value. Receive signal strength indicator in device-dependent units/scale. Values: [0-254], 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 (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. Servo output port (set of 8 outputs = 1 port). Flight stacks running on Pixhawk should use: 0 = MAIN, 1 = AUX. Servo output 1 value Servo output 2 value Servo output 3 value Servo output 4 value Servo output 5 value Servo output 6 value Servo output 7 value Servo output 8 value Servo output 9 value Servo output 10 value Servo output 11 value Servo output 12 value Servo output 13 value Servo output 14 value Servo output 15 value Servo output 16 value Request a partial list of mission items from the system/component. https://mavlink.io/en/services/mission.html. If start and end index are the same, just send one waypoint. System ID Component ID Start index End index, -1 by default (-1: send list to end). Else a valid index of the list Mission type. 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. Must be smaller / equal to the largest index of the current onboard list. End index, equal or greater than start index. Mission type. 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 https://mavlink.io/en/services/mission.html. System ID Component ID Sequence The coordinate system of the waypoint. The scheduled action for the waypoint. false:0, true:1 Autocontinue to next waypoint PARAM1, see MAV_CMD enum PARAM2, see MAV_CMD enum PARAM3, see MAV_CMD enum PARAM4, see MAV_CMD enum PARAM5 / local: X coordinate, global: latitude PARAM6 / local: Y coordinate, global: longitude PARAM7 / local: Z coordinate, global: altitude (relative or absolute, depending on frame). Mission type. 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. https://mavlink.io/en/services/mission.html System ID Component ID Sequence Mission type. 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 Mission type. 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 waypoints. System ID Component ID Number of mission items in the sequence Mission type. Delete all mission items at once. System ID Component ID Mission type. 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 waypoint. Sequence Acknowledgment message during waypoint 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 Mission result. Mission type. Sets the GPS co-ordinates of the vehicle local origin (0,0,0) position. Vehicle should emit GPS_GLOBAL_ORIGIN irrespective of whether the origin is changed. This enables transform between the local coordinate frame and the global (GPS) coordinate frame, which may be necessary when (for example) indoor and outdoor settings are connected and the MAV should move from in- to outdoor. System ID Latitude (WGS84) Longitude (WGS84) Altitude (MSL). Positive for up. Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. Publishes the GPS co-ordinates of the vehicle local origin (0,0,0) position. Emitted whenever a new GPS-Local position mapping is requested or set - e.g. following SET_GPS_GLOBAL_ORIGIN message. Latitude (WGS84) Longitude (WGS84) Altitude (MSL). Positive for up. Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. Bind a RC channel to a parameter. The parameter should change according 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 corresponds 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) 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_INT message. https://mavlink.io/en/services/mission.html System ID Component ID Sequence Mission type. A broadcast message to notify any ground station or SDK if a mission, geofence or safe points have changed on the vehicle. Start index for partial mission change (-1 for all items). End index of a partial mission change. -1 is a synonym for the last mission item (i.e. selects all items from start_index). Ignore field if start_index=-1. System ID of the author of the new mission. Compnent ID of the author of the new mission. Mission type. 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/waypoints to accept and which to reject. Safety areas are often enforced by national or competition regulations. System ID Component ID Coordinate frame. 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. 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 (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation) Roll angular speed Pitch angular speed Yaw angular speed Row-major representation of a 3x3 attitude covariance matrix (states: roll, pitch, yaw; first three entries are the first ROW, next three entries are the second row, etc.). If unknown, assign NaN value to first element in the array. The state of the fixed wing navigation and position controller. Current desired roll Current desired pitch Current desired heading Bearing to current waypoint/target Distance to active waypoint Current altitude error Current airspeed error Current crosstrack error on x-y plane 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 (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. Class id of the estimator this estimate originated from. Latitude Longitude Altitude in meters above MSL Altitude above ground Ground X Speed (Latitude) Ground Y Speed (Longitude) Ground Z Speed (Altitude) Row-major representation of a 6x6 position and velocity 6x6 cross-covariance matrix (states: lat, lon, alt, vx, vy, vz; first six entries are the first ROW, next six entries are the second row, etc.). If unknown, assign NaN value to first element in the array. 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 (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. Class id of the estimator this estimate originated from. X Position Y Position Z Position X Speed Y Speed Z Speed X Acceleration Y Acceleration Z Acceleration Row-major representation of position, velocity and acceleration 9x9 cross-covariance matrix upper right triangle (states: x, y, z, vx, vy, vz, ax, ay, az; first nine entries are the first ROW, next eight entries are the second row, etc.). If unknown, assign NaN value to first element in the array. The PPM values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. A value of UINT16_MAX implies the channel is unused. Individual receivers/transmitters might violate this specification. Timestamp (time 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. RC channel 2 value. RC channel 3 value. RC channel 4 value. RC channel 5 value. RC channel 6 value. RC channel 7 value. RC channel 8 value. RC channel 9 value. RC channel 10 value. RC channel 11 value. RC channel 12 value. RC channel 13 value. RC channel 14 value. RC channel 15 value. RC channel 16 value. RC channel 17 value. RC channel 18 value. Receive signal strength indicator in device-dependent units/scale. Values: [0-254], 255: invalid/unknown. Request a data stream. 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 message rate 1 to start sending, 0 to stop sending. Data stream status information. The ID of the requested data stream The message rate 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. Positive values are positive thrust, negative values are negative thrust. 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. A value of UINT16_MAX means to ignore this field. RC channel 2 value. A value of UINT16_MAX means to ignore this field. RC channel 3 value. A value of UINT16_MAX means to ignore this field. RC channel 4 value. A value of UINT16_MAX means to ignore this field. RC channel 5 value. A value of UINT16_MAX means to ignore this field. RC channel 6 value. A value of UINT16_MAX means to ignore this field. RC channel 7 value. A value of UINT16_MAX means to ignore this field. RC channel 8 value. A value of UINT16_MAX means to ignore this field. RC channel 9 value. A value of 0 or UINT16_MAX means to ignore this field. RC channel 10 value. A value of 0 or UINT16_MAX means to ignore this field. RC channel 11 value. A value of 0 or UINT16_MAX means to ignore this field. RC channel 12 value. A value of 0 or UINT16_MAX means to ignore this field. RC channel 13 value. A value of 0 or UINT16_MAX means to ignore this field. RC channel 14 value. A value of 0 or UINT16_MAX means to ignore this field. RC channel 15 value. A value of 0 or UINT16_MAX means to ignore this field. RC channel 16 value. A value of 0 or UINT16_MAX means to ignore this field. RC channel 17 value. A value of 0 or UINT16_MAX means to ignore this field. RC channel 18 value. A value of 0 or 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 also https://mavlink.io/en/services/mission.html. 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 waypoint. The scheduled action for the waypoint. false:0, true:1 Autocontinue to next waypoint 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. Mission type. Metrics typically displayed on a HUD for fixed wing aircraft. Current indicated airspeed (IAS). Current ground speed. Current heading in compass units (0-360, 0=north). Current throttle setting (0 to 100). Current altitude (MSL). Current climb rate. Message encoding a command with parameters as scaled integers. Scaling depends on the actual command value. The command microservice is documented at https://mavlink.io/en/services/command.html System ID Component ID The coordinate system of the COMMAND. The scheduled action for the mission item. 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. The command microservice is documented at https://mavlink.io/en/services/command.html System which should execute the command Component which should execute the command, 0 for all components Command ID (of command to send). 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) Parameter 1 (for the specific command). Parameter 2 (for the specific command). Parameter 3 (for the specific command). Parameter 4 (for the specific command). Parameter 5 (for the specific command). Parameter 6 (for the specific command). Parameter 7 (for the specific command). Report status of a command. Includes feedback whether the command was executed. The command microservice is documented at https://mavlink.io/en/services/command.html Command ID (of acknowledged command). Result of command. WIP: Also used as result_param1, it can be set with a enum containing the errors reasons of why the command was denied or the progress percentage or 255 if unknown the progress when result is MAV_RESULT_IN_PROGRESS. WIP: Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied. WIP: System which requested the command to be executed WIP: Component which requested the command to be executed Setpoint in roll, pitch, yaw and thrust from the operator Timestamp (time since system boot). Desired roll rate Desired pitch rate Desired yaw rate Collective thrust, normalized to 0 .. 1 Flight mode switch position, 0.. 255 Override mode switch position, 0.. 255 Sets a desired vehicle attitude. Used by an external controller to command the vehicle (manual controller or other system). Timestamp (time 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 Body pitch rate Body yaw rate Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust) Reports the current commanded attitude of the vehicle as specified by the autopilot. This should match the commands sent in a SET_ATTITUDE_TARGET message if the vehicle is being controlled this way. Timestamp (time 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 Body pitch rate Body yaw rate Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust) Sets a desired vehicle position in a local north-east-down coordinate frame. Used by an external controller to command the vehicle (manual controller or other system). Timestamp (time 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 Bitmap to indicate which dimensions should be ignored by the vehicle. X Position in NED frame Y Position in NED frame Z Position in NED frame (note, altitude is negative in NED) X velocity in NED frame Y velocity in NED frame Z velocity in NED frame 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 yaw rate setpoint Reports the current commanded vehicle position, velocity, and acceleration as specified by the autopilot. This should match the commands sent in SET_POSITION_TARGET_LOCAL_NED if the vehicle is being controlled this way. Timestamp (time 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 Bitmap to indicate which dimensions should be ignored by the vehicle. X Position in NED frame Y Position in NED frame Z Position in NED frame (note, altitude is negative in NED) X velocity in NED frame Y velocity in NED frame Z velocity in NED frame 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 yaw rate setpoint Sets a desired vehicle position, velocity, and/or acceleration in a global coordinate system (WGS84). Used by an external controller to command the vehicle (manual controller or other system). Timestamp (time 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 Bitmap to indicate which dimensions should be ignored by the vehicle. X Position in WGS84 frame Y Position in WGS84 frame Altitude (MSL, Relative to home, or AGL - depending on frame) X velocity in NED frame Y velocity in NED frame Z velocity in NED frame 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 yaw rate setpoint Reports the current commanded vehicle position, velocity, and acceleration as specified by the autopilot. This should match the commands sent in SET_POSITION_TARGET_GLOBAL_INT if the vehicle is being controlled this way. Timestamp (time 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 Bitmap to indicate which dimensions should be ignored by the vehicle. X Position in WGS84 frame Y Position in WGS84 frame Altitude (MSL, AGL or relative to home altitude, depending on frame) X velocity in NED frame Y velocity in NED frame Z velocity in NED frame 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 yaw rate setpoint 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 (time since system boot). X Position Y Position Z Position Roll Pitch Yaw Suffers from missing airspeed fields and singularities due to Euler angles Sent from simulation to autopilot. This packet is useful for high throughput applications such as hardware in the loop simulations. Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. Roll angle Pitch angle Yaw angle Body frame roll / phi angular speed Body frame pitch / theta angular speed Body frame yaw / psi angular speed Latitude Longitude Altitude Ground X Speed (Latitude) Ground Y Speed (Longitude) Ground Z Speed (Altitude) X acceleration Y acceleration Z acceleration Sent from autopilot to simulation. Hardware in the loop control outputs Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. 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. 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 (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. RC channel 1 value RC channel 2 value RC channel 3 value RC channel 4 value RC channel 5 value RC channel 6 value RC channel 7 value RC channel 8 value RC channel 9 value RC channel 10 value RC channel 11 value RC channel 12 value Receive signal strength indicator in device-dependent units/scale. Values: [0-254], 255: invalid/unknown. Sent from autopilot to simulation. Hardware in the loop control outputs (replacement for HIL_CONTROLS) Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. Control outputs -1 .. 1. Channel assignment depends on the simulated hardware. System mode. Includes arming state. Flags as bitfield, reserved for future use. Optical flow from a flow sensor (e.g. optical mouse sensor) Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. Sensor ID Flow in x-sensor direction Flow in y-sensor direction Flow in x-sensor direction, angular-speed compensated Flow in y-sensor direction, angular-speed compensated Optical flow quality / confidence. 0: bad, 255: maximum quality Ground distance. Positive value: distance known. Negative value: Unknown distance Flow rate about X axis Flow rate about Y axis Global position/attitude estimate from a vision source. Timestamp (UNIX time or since system boot) Global X position Global Y position Global Z position Roll angle Pitch angle Yaw angle Row-major representation of pose 6x6 cross-covariance matrix upper right triangle (states: x_global, y_global, z_global, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array. Estimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps. Global position/attitude estimate from a vision source. Timestamp (UNIX time or time since system boot) Global X position Global Y position Global Z position Roll angle Pitch angle Yaw angle Row-major representation of pose 6x6 cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array. Estimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps. Speed estimate from a vision source. Timestamp (UNIX time or time since system boot) Global X speed Global Y speed Global Z speed Row-major representation of 3x3 linear velocity covariance matrix (states: vx, vy, vz; 1st three entries - 1st row, etc.). If unknown, assign NaN value to first element in the array. Estimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps. Global position estimate from a Vicon motion system source. Timestamp (UNIX time or time since system boot) Global X position Global Y position Global Z position Roll angle Pitch angle Yaw angle Row-major representation of 6x6 pose cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array. The IMU readings in SI units in NED body frame Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. X acceleration Y acceleration Z acceleration Angular speed around X axis Angular speed around Y axis Angular speed around Z axis X Magnetic field Y Magnetic field Z Magnetic field Absolute pressure Differential pressure Altitude calculated from pressure Temperature Bitmap for fields that have updated since last message, bit 0 = xacc, bit 12: temperature Id. Ids are numbered from 0 and map to IMUs numbered from 1 (e.g. IMU1 will have a message with id=0) Optical flow from an angular rate flow sensor (e.g. PX4FLOW or mouse sensor) Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. Sensor ID Integration time. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the. Flow 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 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 RH rotation around Y axis RH rotation around Z axis Temperature Optical flow quality / confidence. 0: no valid flow, 255: maximum quality Time since the distance was sampled. Distance to the center of the flow field. Positive value (including zero): distance known. Negative value: Unknown distance. The IMU readings in SI units in NED body frame Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. X acceleration Y acceleration Z acceleration Angular speed around X axis in body frame Angular speed around Y axis in body frame Angular speed around Z axis in body frame X Magnetic field Y Magnetic field Z Magnetic field Absolute pressure Differential pressure (airspeed) Altitude calculated from pressure Temperature Bitmap for fields that have updated since last message, bit 0 = xacc, bit 12: temperature, bit 31: full reset of attitude/position/velocities/etc was performed in sim. 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 Y acceleration Z acceleration Angular speed around X axis Angular speed around Y axis Angular speed around Z axis Latitude Longitude Altitude Horizontal position standard deviation Vertical position standard deviation True velocity in NORTH direction in earth-fixed NED frame True velocity in EAST direction in earth-fixed NED frame True velocity in DOWN direction in earth-fixed NED frame Status generated by radio and injected into MAVLink stream. Local (message sender) recieved signal strength indication in device-dependent units/scale. Values: [0-254], 255: invalid/unknown. Remote (message receiver) signal strength indication in device-dependent units/scale. Values: [0-254], 255: invalid/unknown. Remaining free transmitter buffer space. Local background noise level. These are device dependent RSSI values (scale as approx 2x dB on SiK radios). Values: [0-254], 255: invalid/unknown. Remote background noise level. These are device dependent RSSI values (scale as approx 2x dB on SiK radios). Values: [0-254], 255: invalid/unknown. Count of radio packet receive errors (since boot). Count of error corrected radio packets (since boot). 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 Camera-IMU triggering and synchronisation message. Timestamp for image frame (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. Image frame sequence 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. Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. 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) Longitude (WGS84) Altitude (MSL). Positive for up. GPS HDOP horizontal dilution of position. If unknown, set to: 65535 GPS VDOP vertical dilution of position. If unknown, set to: 65535 GPS ground speed. If unknown, set to: 65535 GPS velocity in NORTH direction in earth-fixed NED frame GPS velocity in EAST direction in earth-fixed NED frame GPS velocity in DOWN direction in earth-fixed NED frame Course over ground (NOT heading, but direction of movement), 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 (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. Sensor ID Integration time. 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 RH rotation around Y axis RH rotation around Z axis Temperature Optical flow quality / confidence. 0: no valid flow, 255: maximum quality Time since the distance was sampled. Distance to the center of the flow field. 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 (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. 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 Body frame pitch / theta angular speed Body frame yaw / psi angular speed Latitude Longitude Altitude Ground X Speed (Latitude) Ground Y Speed (Longitude) Ground Z Speed (Altitude) Indicated airspeed True airspeed X acceleration Y acceleration Z acceleration The RAW IMU readings for secondary 9DOF sensor setup. This message should contain the scaled values to the described units Timestamp (time since system boot). X acceleration Y acceleration Z acceleration Angular speed around X axis Angular speed around Y axis Angular speed around Z axis X Magnetic field Y Magnetic field Z Magnetic field Temperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C). 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 since 1970, or 0 if not available Size of the log (may be approximate) 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. Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. GPS fix type. Latitude (WGS84) Longitude (WGS84) Altitude (MSL). Positive for up. GPS HDOP horizontal dilution of position. If unknown, set to: UINT16_MAX GPS VDOP vertical dilution of position. If unknown, set to: UINT16_MAX GPS ground speed. If unknown, set to: UINT16_MAX Course over ground (NOT heading, but direction of movement): 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. Servo rail voltage. Bitmap of power supply status flags. 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. Serial control device type. Bitmap of serial control flags. Timeout for reply data 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. 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 Current number of sats used for RTK calculation. Coordinate system of baseline Current baseline in ECEF x or NED north component. Current baseline in ECEF y or NED east component. Current baseline in ECEF z or NED down component. 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. 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 Current number of sats used for RTK calculation. Coordinate system of baseline Current baseline in ECEF x or NED north component. Current baseline in ECEF y or NED east component. Current baseline in ECEF z or NED down component. 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 (time since system boot). X acceleration Y acceleration Z acceleration Angular speed around X axis Angular speed around Y axis Angular speed around Z axis X Magnetic field Y Magnetic field Z Magnetic field Temperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C). Handshake message to initiate, control and stop image streaming when using the Image Transmission Protocol: https://mavlink.io/en/services/image_transmission.html. Type of requested/acknowledged data. total data size (set on ACK only). Width of a matrix or image. Height of a matrix or image. Number of packets being 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. Values: [1-100]. Data packet for images sent using the Image Transmission Protocol: https://mavlink.io/en/services/image_transmission.html. sequence number (starting with 0 on every transmission) image data bytes Distance sensor information for an onboard rangefinder. Timestamp (time since system boot). Minimum distance the sensor can measure Maximum distance the sensor can measure Current distance reading Type of distance sensor. Onboard ID of the sensor Direction the sensor faces. downward-facing: ROTATION_PITCH_270, upward-facing: ROTATION_PITCH_90, backward-facing: ROTATION_PITCH_180, forward-facing: ROTATION_NONE, left-facing: ROTATION_YAW_90, right-facing: ROTATION_YAW_270 Measurement variance. Max standard deviation is 6cm. 255 if unknown. Horizontal Field of View (angle) where the distance measurement is valid and the field of view is known. Otherwise this is set to 0. Vertical Field of View (angle) where the distance measurement is valid and the field of view is known. Otherwise this is set to 0. Quaternion of the sensor orientation in vehicle body frame (w, x, y, z order, zero-rotation is 1, 0, 0, 0). Zero-rotation is along the vehicle body x-axis. This field is required if the orientation is set to MAV_SENSOR_ROTATION_CUSTOM. Set it to 0 if invalid." Request for terrain data and terrain status Latitude of SW corner of first grid Longitude of SW corner of first grid Grid spacing 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 Longitude of SW corner of first grid Grid spacing bit within the terrain request mask Terrain data MSL 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 Longitude Response from a TERRAIN_CHECK request Latitude Longitude grid spacing (zero if terrain at this location unavailable) Terrain height MSL Current vehicle height above lat/lon terrain height 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 (time since system boot). Absolute pressure Differential pressure Temperature measurement Motion capture attitude and position Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0) X position (NED) Y position (NED) Z position (NED) Row-major representation of a pose 6x6 cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array. Set the vehicle attitude and body angular rates. Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. 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 (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. 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. The current system altitude. Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. This altitude measure is initialized on system boot and monotonic (it is never reset, but represents the local altitude change). The only guarantee on this field is that it will never be reset and is consistent within a flight. The recommended value for this field is the uncorrected barometric altitude at boot time. This altitude will also drift and vary between flights. This altitude measure is strictly above mean sea level and might be non-monotonic (it might reset on events like GPS lock or when a new QNH value is set). It should be the altitude to which global altitude waypoints are compared to. Note that it is *not* the GPS altitude, however, most GPS modules already output MSL by default and not the WGS84 altitude. This is the local altitude in the local coordinate frame. It is not the altitude above home, but in reference to the coordinate origin (0, 0, 0). It is up-positive. This is the altitude above the home position. It resets on each change of the current home position. This is the altitude above terrain. It might be fed by a terrain database or an altimeter. Values smaller than -1000 should be interpreted as unknown. This is not the altitude, but the clear space below the system according to the fused clearance estimate. It generally should max out at the maximum range of e.g. the laser altimeter. It is generally a moving target. A negative value indicates no measurement available. The autopilot is requesting a resource (file, binary, other type of data) Request ID. This ID should be re-used when sending back URI contents The type of requested URI. 0 = a file via URL. 1 = a UAVCAN binary The requested unique resource identifier (URI). It is not necessarily a straight domain name (depends on the URI type enum) The way the autopilot wants to receive the URI. 0 = MAVLink FTP. 1 = binary stream. The storage path the autopilot wants the URI to be stored in. Will only be valid if the transfer_type has a storage associated (e.g. MAVLink FTP). Barometer readings for 3rd barometer Timestamp (time since system boot). Absolute pressure Differential pressure Temperature measurement Current motion information from a designated system Timestamp (time since system boot). bit positions for tracker reporting capabilities (POS = 0, VEL = 1, ACCEL = 2, ATT + RATES = 3) Latitude (WGS84) Longitude (WGS84) Altitude (MSL) target velocity (0,0,0) for unknown linear target acceleration (0,0,0) for unknown (1 0 0 0 for unknown) (0 0 0 for unknown) eph epv button states or switches of a tracker device The smoothed, monotonic system state used to feed the control loops of the system. Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. X acceleration in body frame Y acceleration in body frame Z acceleration in body frame X velocity in body frame Y velocity in body frame Z velocity in body frame X position in local frame Y position in local frame Z position in local frame Airspeed, set to -1 if unknown Variance of body velocity estimate Variance in local position The attitude, represented as Quaternion Angular rate in roll axis Angular rate in pitch axis Angular rate in yaw axis Battery information. Updates GCS with flight controller battery status. Use SMART_BATTERY_* messages instead for smart batteries. Battery ID Function of the battery Type (chemistry) of the battery Temperature of the battery. INT16_MAX for unknown temperature. Battery voltage of cells. Cells above the valid cell count for this battery should have the UINT16_MAX value. Battery current, -1: autopilot does not measure the current Consumed charge, -1: autopilot does not provide consumption estimate Consumed energy, -1: autopilot does not provide energy consumption estimate Remaining battery energy. Values: [0-100], -1: autopilot does not estimate the remaining battery. Remaining battery time, 0: autopilot does not provide remaining battery time estimate State for extent of discharge, provided by autopilot for warning or external reactions Version and capability of autopilot software. This should be emitted in response to a MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES command. Bitmap of capabilities 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 (see uid2) UID if provided by hardware (supersedes the uid field. If this is non-zero, use this field, otherwise use uid) The location of a landing target. See: https://mavlink.io/en/services/landing_target.html Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. The ID of the target if multiple targets are present Coordinate frame used for following fields. X-axis angular offset of the target from the center of the image Y-axis angular offset of the target from the center of the image Distance to the target from the vehicle Size of target along x-axis Size of target along y-axis X Position of the landing target in MAV_FRAME Y Position of the landing target in MAV_FRAME Z Position of the landing target in MAV_FRAME Quaternion of landing target orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0) Type of landing target Boolean indicating whether the position fields (x, y, z, q, type) contain valid target position information (valid: 1, invalid: 0). Default is 0 (invalid). Estimator status message including flags, innovation test ratios and estimated accuracies. The flags message is an integer bitmask containing information on which EKF outputs are valid. See the ESTIMATOR_STATUS_FLAGS enum definition for further information. The innovation test ratios show the magnitude of the sensor innovation divided by the innovation check threshold. Under normal operation the innovation test ratios should be below 0.5 with occasional values up to 1.0. Values greater than 1.0 should be rare under normal operation and indicate that a measurement has been rejected by the filter. The user should be notified if an innovation test ratio greater than 1.0 is recorded. Notifications for values in the range between 0.5 and 1.0 should be optional and controllable by the user. Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. Bitmap indicating which EKF outputs are valid. Velocity innovation test ratio Horizontal position innovation test ratio Vertical position innovation test ratio Magnetometer innovation test ratio Height above terrain innovation test ratio True airspeed innovation test ratio Horizontal position 1-STD accuracy relative to the EKF local origin Vertical position 1-STD accuracy relative to the EKF local origin Wind covariance estimate from vehicle. Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. Wind in X (NED) direction Wind in Y (NED) direction Wind in Z (NED) direction Variability of the wind in XY. RMS of a 1 Hz lowpassed wind estimate. Variability of the wind in Z. RMS of a 1 Hz lowpassed wind estimate. Altitude (MSL) that this measurement was taken at Horizontal speed 1-STD accuracy Vertical speed 1-STD accuracy GPS sensor input message. This is a raw sensor value sent by the GPS. This is NOT the global position estimate of the system. Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. ID of the GPS for multiple GPS inputs Bitmap indicating which GPS input flags fields to ignore. All other fields must be provided. GPS time (from start of GPS week) GPS week number 0-1: no fix, 2: 2D fix, 3: 3D fix. 4: 3D with DGPS. 5: 3D with RTK Latitude (WGS84) Longitude (WGS84) Altitude (MSL). Positive for up. GPS HDOP horizontal dilution of position GPS VDOP vertical dilution of position GPS velocity in NORTH direction in earth-fixed NED frame GPS velocity in EAST direction in earth-fixed NED frame GPS velocity in DOWN direction in earth-fixed NED frame GPS speed accuracy GPS horizontal accuracy GPS vertical accuracy Number of satellites visible. RTCM message for injecting into the onboard GPS (used for DGPS) LSB: 1 means message is fragmented, next 2 bits are the fragment ID, the remaining 5 bits are used for the sequence ID. Messages are only to be flushed to the GPS when the entire message has been reconstructed on the autopilot. The fragment ID specifies which order the fragments should be assembled into a buffer, while the sequence ID is used to detect a mismatch between different buffers. The buffer is considered fully reconstructed when either all 4 fragments are present, or all the fragments before the first fragment with a non full payload is received. This management is used to ensure that normal GPS operation doesn't corrupt RTCM data, and to recover from a unreliable transport delivery order. data length RTCM message (may be fragmented) Message appropriate for high latency connections like Iridium Bitmap of enabled system modes. A bitfield for use for autopilot-specific flags. The landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown. roll pitch heading throttle (percentage) heading setpoint Latitude Longitude Altitude above mean sea level Altitude setpoint relative to the home position airspeed airspeed setpoint groundspeed climb rate Number of satellites visible. If unknown, set to 255 GPS Fix type. Remaining battery (percentage) Autopilot temperature (degrees C) Air temperature (degrees C) from airspeed sensor failsafe (each bit represents a failsafe where 0=ok, 1=failsafe active (bit0:RC, bit1:batt, bit2:GPS, bit3:GCS, bit4:fence) current waypoint number distance to target Message appropriate for high latency connections like Iridium (version 2) Timestamp (milliseconds since boot or Unix epoch) Type of the MAV (quadrotor, helicopter, etc.) Autopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers. A bitfield for use for autopilot-specific flags (2 byte version). Latitude Longitude Altitude above mean sea level Altitude setpoint Heading Heading setpoint Distance to target waypoint or position Throttle Airspeed Airspeed setpoint Groundspeed Windspeed Wind heading Maximum error horizontal position since last message Maximum error vertical position since last message Air temperature from airspeed sensor Maximum climb rate magnitude since last message Battery level (-1 if field not provided). Current waypoint number Bitmap of failure flags. Field for custom payload. Field for custom payload. Field for custom payload. Vibration levels and accelerometer clipping Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. 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 explicitly 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) Longitude (WGS84) Altitude (MSL). 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. Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. 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 explicitly 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) Longitude (WGS84) Altitude (MSL). 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. Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. The interval between messages for a particular MAVLink message ID. This message is the response to the MAV_CMD_GET_MESSAGE_INTERVAL command. This interface replaces DATA_STREAM. The ID of the requested MAVLink message. v1.0 is limited to 254 messages. The interval between two messages. A value of -1 indicates this stream is disabled, 0 indicates it is not available, > 0 indicates the interval at which it is sent. Provides state for additional features The VTOL state if applicable. Is set to MAV_VTOL_STATE_UNDEFINED if UAV is not in VTOL configuration. The landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown. The location and information of an ADSB vehicle ICAO address Latitude Longitude ADSB altitude type. Altitude(ASL) Course over ground The horizontal velocity The vertical velocity. Positive is up The callsign, 8+null ADSB emitter type. Time since last communication in seconds Bitmap to indicate various statuses including valid data fields Squawk code Information about a potential collision Collision data source Unique identifier, domain based on src field Action that is being taken to avoid this collision How concerned the aircraft is about this collision Estimated time until collision occurs Closest vertical distance between vehicle and object Closest horizontal distance between vehicle and object 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/definition_files/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 must be encoded in the payload as part of the message_type protocol, e.g. by including the length as payload data, or by terminating the payload data with a non-zero marker. This is required in order to reconstruct zero-terminated payloads that are (or otherwise would be) trimmed by MAVLink 2 empty-byte truncation. The entire content of the payload block is opaque unless you understand 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 To debug something using a named 3D vector. Name Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. 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 (time 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 (time 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. 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 (time since system boot). index of debug variable DEBUG value Setup a MAVLink2 signing key. If called with secret_key of all zero and zero initial_timestamp will disable signing system id of the target component ID of the target signing key initial timestamp Report button state change. Timestamp (time since system boot). Time of last change of button state. Bitmap for state of buttons. Control vehicle tone generation (buzzer) System ID Component ID tune in board specific format tune extension (appended to tune) Information about a camera Timestamp (time since system boot). Name of the camera vendor Name of the camera model Version of the camera firmware (v << 24 & 0xff = Dev, v << 16 & 0xff = Patch, v << 8 & 0xff = Minor, v & 0xff = Major) Focal length Image sensor size horizontal Image sensor size vertical Horizontal image resolution Vertical image resolution Reserved for a lens ID Bitmap of camera capability flags. Camera definition version (iteration) Camera definition URI (if any, otherwise only basic functions will be available). HTTP- (http://) and MAVLink FTP- (mavlinkftp://) formatted URIs are allowed (and both must be supported by any GCS that implements the Camera Protocol). Settings of a camera, can be requested using MAV_CMD_REQUEST_CAMERA_SETTINGS. Timestamp (time since system boot). Camera mode Current zoom level (0.0 to 100.0, NaN if not known) Current focus level (0.0 to 100.0, NaN if not known) Information about a storage medium. This message is sent in response to a request and whenever the status of the storage changes (STORAGE_STATUS). Timestamp (time since system boot). Storage ID (1 for first, 2 for second, etc.) Number of storage devices Status of storage Total capacity. If storage is not ready (STORAGE_STATUS_READY) value will be ignored. Used capacity. If storage is not ready (STORAGE_STATUS_READY) value will be ignored. Available storage capacity. If storage is not ready (STORAGE_STATUS_READY) value will be ignored. Read speed. Write speed. Information about the status of a capture. Timestamp (time since system boot). Current status of image capturing (0: idle, 1: capture in progress, 2: interval set but idle, 3: interval set and capture in progress) Current status of video capturing (0: idle, 1: capture in progress) Image capture interval Time since recording started Available storage capacity. Information about a captured image Timestamp (time since system boot). Timestamp (time since UNIX epoch) in UTC. 0 for unknown. Camera ID (1 for first, 2 for second, etc.) Latitude where image was taken Longitude where capture was taken Altitude (MSL) where image was taken Altitude above ground Quaternion of camera orientation (w, x, y, z order, zero-rotation is 0, 0, 0, 0) Zero based index of this image (image count since armed -1) Boolean indicating success (1) or failure (0) while capturing this image. URL of image taken. Either local storage or http://foo.jpg if camera provides an HTTP interface. Information about flight since last arming. Timestamp (time since system boot). Timestamp at arming (time since UNIX epoch) in UTC, 0 for unknown Timestamp at takeoff (time since UNIX epoch) in UTC, 0 for unknown Universally unique identifier (UUID) of flight, should correspond to name of log files Orientation of a mount Timestamp (time since system boot). Roll in global frame (set to NaN for invalid). Pitch in global frame (set to NaN for invalid). Yaw relative to vehicle(set to NaN for invalid). Yaw in absolute frame, North is 0 (set to NaN for invalid). A message containing logged data (see also MAV_CMD_LOGGING_START) system ID of the target component ID of the target sequence number (can wrap) data length offset into data where first message starts. This can be used for recovery, when a previous message got lost (set to 255 if no start exists). logged data A message containing logged data which requires a LOGGING_ACK to be sent back system ID of the target component ID of the target sequence number (can wrap) data length offset into data where first message starts. This can be used for recovery, when a previous message got lost (set to 255 if no start exists). logged data An ack for a LOGGING_DATA_ACKED message system ID of the target component ID of the target sequence number (must match the one in LOGGING_DATA_ACKED) Information about video stream Video Stream ID (1 for first, 2 for second, etc.) Number of streams available. Type of stream. Bitmap of stream status flags. Frame rate. Horizontal resolution. Vertical resolution. Bit rate. Video image rotation clockwise. Horizontal Field of view. Stream name. Video stream URI (TCP or RTSP URI ground station should connect to) or port number (UDP port ground station should listen to). Information about the status of a video stream. Video Stream ID (1 for first, 2 for second, etc.) Bitmap of stream status flags Frame rate Horizontal resolution Vertical resolution Bit rate Video image rotation clockwise Horizontal Field of view Configure AP SSID and Password. Name of Wi-Fi network (SSID). Leave it blank to leave it unchanged. Password. Leave it blank for an open AP. Version and capability of protocol version. This message is the response to REQUEST_PROTOCOL_VERSION and is used as part of the handshaking to establish which MAVLink version should be used on the network. Every node should respond to REQUEST_PROTOCOL_VERSION to enable the handshaking. Library implementers should consider adding this into the default decoding state machine to allow the protocol core to respond directly. Currently active MAVLink version number * 100: v1.0 is 100, v2.0 is 200, etc. Minimum MAVLink version supported Maximum MAVLink version supported (set to the same value as version by default) The first 8 bytes (not characters printed in hex!) of the git hash. The first 8 bytes (not characters printed in hex!) of the git hash. General status information of an UAVCAN node. Please refer to the definition of the UAVCAN message "uavcan.protocol.NodeStatus" for the background information. The UAVCAN specification is available at http://uavcan.org. Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. Time since the start-up of the node. Generalized node health status. Generalized operating mode. Not used currently. Vendor-specific status information. General information describing a particular UAVCAN node. Please refer to the definition of the UAVCAN service "uavcan.protocol.GetNodeInfo" for the background information. This message should be emitted by the system whenever a new node appears online, or an existing node reboots. Additionally, it can be emitted upon request from the other end of the MAVLink channel (see MAV_CMD_UAVCAN_GET_NODE_INFO). It is also not prohibited to emit this message unconditionally at a low frequency. The UAVCAN specification is available at http://uavcan.org. Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. Time since the start-up of the node. Node name string. For example, "sapog.px4.io". Hardware major version number. Hardware minor version number. Hardware unique 128-bit ID. Software major version number. Software minor version number. Version control system (VCS) revision identifier (e.g. git short commit hash). Zero if unknown. Request to read the value of a parameter with the either the param_id string id or param_index. System ID Component ID 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. Set to -1 to use the Parameter ID field as identifier (else param_id will be ignored) Request all parameters of this component. After this request, all parameters are emitted. System ID Component ID Emit the value of a parameter. The inclusion of param_count and param_index in the message allows the recipient to keep track of received parameters and allows them to re-request missing parameters after a loss or timeout. 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 value Parameter type. Total number of parameters Index of this parameter Set a parameter value. In order to deal with message loss (and retransmission of PARAM_EXT_SET), when setting a parameter value and the new value is the same as the current value, you will immediately get a PARAM_ACK_ACCEPTED response. If the current state is PARAM_ACK_IN_PROGRESS, you will accordingly receive a PARAM_ACK_IN_PROGRESS in response. System ID Component ID 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 value Parameter type. Response from a PARAM_EXT_SET message. 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 value (new value if PARAM_ACK_ACCEPTED, current value otherwise) Parameter type. Result code. Obstacle distances in front of the sensor, starting from the left in increment degrees to the right Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. Class id of the distance sensor type. Distance of obstacles around the vehicle with index 0 corresponding to North + angle_offset, unless otherwise specified in the frame. A value of 0 is valid and means that the obstacle is practically touching the sensor. A value of max_distance +1 means no obstacle is present. A value of UINT16_MAX for unknown/not used. In a array element, one unit corresponds to 1cm. Angular width in degrees of each array element. Increment direction is clockwise. This field is ignored if increment_f is non-zero. Minimum distance the sensor can measure. Maximum distance the sensor can measure. Angular width in degrees of each array element as a float. If non-zero then this value is used instead of the uint8_t increment field. Positive is clockwise direction, negative is counter-clockwise. Relative angle offset of the 0-index element in the distances array. Value of 0 corresponds to forward. Positive is clockwise direction, negative is counter-clockwise. Coordinate frame of reference for the yaw rotation and offset of the sensor data. Defaults to MAV_FRAME_GLOBAL, which is North aligned. For body-mounted sensors use MAV_FRAME_BODY_FRD, which is vehicle front aligned. Odometry message to communicate odometry information with an external interface. Fits ROS REP 147 standard for aerial vehicles (http://www.ros.org/reps/rep-0147.html). Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. Coordinate frame of reference for the pose data. Coordinate frame of reference for the velocity in free space (twist) data. X Position Y Position Z Position Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation) X linear speed Y linear speed Z linear speed Roll angular speed Pitch angular speed Yaw angular speed Row-major representation of a 6x6 pose cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array. Row-major representation of a 6x6 velocity cross-covariance matrix upper right triangle (states: vx, vy, vz, rollspeed, pitchspeed, yawspeed; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array. Estimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps. Type of estimator that is providing the odometry. Describe a trajectory using an array of up-to 5 waypoints in the local frame. Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. Number of valid points (up-to 5 waypoints are possible) X-coordinate of waypoint, set to NaN if not being used Y-coordinate of waypoint, set to NaN if not being used Z-coordinate of waypoint, set to NaN if not being used X-velocity of waypoint, set to NaN if not being used Y-velocity of waypoint, set to NaN if not being used Z-velocity of waypoint, set to NaN if not being used X-acceleration of waypoint, set to NaN if not being used Y-acceleration of waypoint, set to NaN if not being used Z-acceleration of waypoint, set to NaN if not being used Yaw angle, set to NaN if not being used Yaw rate, set to NaN if not being used Scheduled action for each waypoint, UINT16_MAX if not being used. Describe a trajectory using an array of up-to 5 bezier points in the local frame. Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. Number of valid points (up-to 5 waypoints are possible) X-coordinate of starting bezier point, set to NaN if not being used Y-coordinate of starting bezier point, set to NaN if not being used Z-coordinate of starting bezier point, set to NaN if not being used Bezier time horizon, set to NaN if velocity/acceleration should not be incorporated Yaw, set to NaN for unchanged Report current used cellular network status Status bitmap Cellular network radio type: gsm, cdma, lte... Cellular network RSSI/RSRP in dBm, absolute value Mobile country code. If unknown, set to: UINT16_MAX Mobile network code. If unknown, set to: UINT16_MAX Location area code. If unknown, set to: 0 Cell ID. If unknown, set to: UINT32_MAX Status of the Iridium SBD link. Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. Timestamp of the last successful sbd session. The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. Number of failed SBD sessions. Number of successful SBD sessions. Signal quality equal to the number of bars displayed on the ISU signal strength indicator. Range is 0 to 5, where 0 indicates no signal and 5 indicates maximum signal strength. 1: Ring call pending, 0: No call pending. 1: Transmission session pending, 0: No transmission session pending. 1: Receiving session pending, 0: No receiving session pending. The global position resulting from GPS and sensor fusion. Time of applicability of position (microseconds since UNIX epoch). Unique UAS ID. Latitude (WGS84) Longitude (WGS84) Altitude (WGS84) Altitude above ground Ground X speed (latitude, positive north) Ground Y speed (longitude, positive east) Ground Z speed (altitude, positive down) Horizontal position uncertainty (standard deviation) Altitude uncertainty (standard deviation) Speed uncertainty (standard deviation) Next waypoint, latitude (WGS84) Next waypoint, longitude (WGS84) Next waypoint, altitude (WGS84) Time until next update. Set to 0 if unknown or in data driven mode. Flight state Bitwise OR combination of the data available flags. Large debug/prototyping array. The message uses the maximum available payload for data. The array_id and name fields are used to discriminate between messages in code and in user interfaces (respectively). Do not use in production code. Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. Name, for human-friendly display in a Ground Control Station Unique ID used to discriminate between arrays data Vehicle status report that is sent out while orbit execution is in progress (see MAV_CMD_DO_ORBIT). Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. Radius of the orbit circle. Positive values orbit clockwise, negative values orbit counter-clockwise. The coordinate system of the fields: x, y, z. X coordinate of center point. Coordinate system depends on frame field: local = x position in meters * 1e4, global = latitude in degrees * 1e7. Y coordinate of center point. Coordinate system depends on frame field: local = x position in meters * 1e4, global = latitude in degrees * 1e7. Altitude of center point. Coordinate system depends on frame field. Status text message (use only for important status and error messages). The full message payload can be used for status text, but we recommend that updates be kept concise. Note: The message is intended as a less restrictive replacement for STATUSTEXT. Severity of status. Relies on the definitions within RFC-5424. Status text message, without null termination character. Smart Battery information (static/infrequent update). Use for updates from: smart battery to flight stack, flight stack to GCS. Use instead of BATTERY_STATUS for smart batteries. Battery ID Capacity when full according to manufacturer, -1: field not provided. Capacity when full (accounting for battery degradation), -1: field not provided. Charge/discharge cycle count. -1: field not provided. Serial number. -1: field not provided. Static device name. Encode as manufacturer and product names separated using an underscore. Battery weight. 0: field not provided. Minimum per-cell voltage when discharging. If not supplied set to UINT16_MAX value. Minimum per-cell voltage when charging. If not supplied set to UINT16_MAX value. Minimum per-cell voltage when resting. If not supplied set to UINT16_MAX value. Smart Battery information (dynamic). Use for updates from: smart battery to flight stack, flight stack to GCS. Use instead of BATTERY_STATUS for smart batteries. Battery ID Remaining battery energy. Values: [0-100], -1: field not provided. Battery current (through all cells/loads). Positive if discharging, negative if charging. UINT16_MAX: field not provided. Battery temperature. -1: field not provided. Fault/health indications. Estimated remaining battery time. -1: field not provided. The cell number of the first index in the 'voltages' array field. Using this field allows you to specify cell voltages for batteries with more than 16 cells. Individual cell voltages. Batteries with more 16 cells can use the cell_offset field to specify the cell offset for the array specified in the current message . Index values above the valid cell count for this battery should have the UINT16_MAX value. The raw values of the actuator outputs. Timestamp (since system boot). Active outputs Servo / motor output array values. Zero values indicate unused channels. Time/duration estimates for various events and actions given the current vehicle state and position. Estimated time to complete the vehicle's configured "safe return" action from its current position (e.g. RTL, Smart RTL, etc.). -1 indicates that the vehicle is landed, or that no time estimate available. Estimated time for vehicle to complete the LAND action from its current position. -1 indicates that the vehicle is landed, or that no time estimate available. Estimated time for reaching/completing the currently active mission item. -1 means no time estimate available. Estimated time for completing the current mission. -1 means no mission active and/or no estimate available. Estimated time for completing the current commanded action (i.e. Go To, Takeoff, Land, etc.). -1 means no action active and/or no estimate available. Message for transporting "arbitrary" variable-length data from one component to another (broadcast is not forbidden, but discouraged). The encoding of the data is usually extension specific, i.e. determined by the source, and is usually not documented as part of the MAVLink specification. System ID (can be 0 for broadcast, but this is discouraged) Component ID (can be 0 for broadcast, but this is discouraged) A code that identifies the content of the payload (0 for unknown, which is the default). If this code is less than 32768, it is a 'registered' payload type and the corresponding code should be added to the MAV_TUNNEL_PAYLOAD_TYPE enum, and the entry possibly to https://github.com/mavlink/mavlink/definition_files/tunnel_message_payload_types.xml. Software creators can register blocks of types as needed. Codes greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase. Length of the data transported in payload Variable length payload. The payload length is defined by payload_length. The entire content of this block is opaque unless you understand the encoding specified by payload_type. Hardware status sent by an onboard computer. Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number. Time since system boot. Type of the onboard computer: 0: Mission computer primary, 1: Mission computer backup 1, 2: Mission computer backup 2, 3: Compute node, 4-5: Compute spares, 6-9: Payload computers. CPU usage on the component in percent (100 - idle). A value of UINT8_MAX implies the field is unused. Combined CPU usage as the last 10 slices of 100 MS (a histogram). This allows to identify spikes in load that max out the system, but only for a short amount of time. A value of UINT8_MAX implies the field is unused. GPU usage on the component in percent (100 - idle). A value of UINT8_MAX implies the field is unused. Combined GPU usage as the last 10 slices of 100 MS (a histogram). This allows to identify spikes in load that max out the system, but only for a short amount of time. A value of UINT8_MAX implies the field is unused. Temperature of the board. A value of INT8_MAX implies the field is unused. Temperature of the CPU core. A value of INT8_MAX implies the field is unused. Fan speeds. A value of INT16_MAX implies the field is unused. Amount of used RAM on the component system. A value of UINT32_MAX implies the field is unused. Total amount of RAM on the component system. A value of UINT32_MAX implies the field is unused. Storage type: 0: HDD, 1: SSD, 2: EMMC, 3: SD card (non-removable), 4: SD card (removable). A value of UINT32_MAX implies the field is unused. Amount of used storage space on the component system. A value of UINT32_MAX implies the field is unused. Total amount of storage space on the component system. A value of UINT32_MAX implies the field is unused. Link type: 0-9: UART, 10-19: Wired network, 20-29: Wifi, 30-39: Point-to-point proprietary, 40-49: Mesh proprietary Network traffic from the component system. A value of UINT32_MAX implies the field is unused. Network traffic to the component system. A value of UINT32_MAX implies the field is unused. Network capacity from the component system. A value of UINT32_MAX implies the field is unused. Network capacity to the component system. A value of UINT32_MAX implies the field is unused. Cumulative distance traveled for each reported wheel. Timestamp (synced to UNIX time or since system boot). Number of wheels reported. Distance reported by individual wheel encoders. Forward rotations increase values, reverse rotations decrease them. Not all wheels will necessarily have wheel encoders; the mapping of encoders to wheel positions must be agreed/understood by the endpoints. Data for filling the OpenDroneID Basic ID message. Indicates the format for the uas_id field of this message. Indicates the type of UA (Unmanned Aircraft). UAS ID following the format specified by id_type. Shall be filled with nulls in the unused portion of the field. Data for filling the OpenDroneID Location message. The float data types are 32-bit IEEE 754. The Location message provides the location, altitude, direction and speed of the aircraft. Indicates whether the Unmanned Aircraft is on the ground or in the air. Direction over ground (not heading, but direction of movement) in degrees * 100: 0.0 - 359.99 degrees. Ground speed. The vertical speed. Up is positive. Current latitude of the UA. Current longitude of the UA. The altitude calculated from the barometric pressue. Reference is against 29.92inHg or 1013.2mb. The geodetic altitude as defined by WGS84. Indicates the reference point for the height field. The current height of the UA above the take-off location or the ground as indicated by height_reference. The accuracy of the horizontal position. The accuracy of the vertical position. The accuracy of the barometric altitude. The accuracy of the horizontal and vertical speed. Seconds after the full hour. Typically the GPS outputs a time of week value in milliseconds. That value can be easily converted for this field using ((float) (time_week_ms % (60*60*1000))) / 1000. The accuracy of the timestamps. Data for filling the OpenDroneID Authentication message. The Authentication Message defines a field that can provide a means of authenticity for the identity of the UAS (Unmanned Aircraft System) sending the message. Indicates the type of authentication. Allowed range is 0 - 15. Opaque authentication data. Sixteen pages are supported for a total of 16 * 23 = 368 bytes. Shall be filled with nulls in the unused portion of the field. Data for filling the OpenDroneID Self-ID message. The Self-ID Message is an opportunity for the Remote Pilot to (optionally) declare their identity and purpose of the flight. This message can provide additional information that could reduce the threat profile of a UA flying in a particular area or manner. Indicates the type of the description field. Text description or numeric value expressed as ASCII characters. Shall be filled with nulls in the unused portion of the field. Data for filling the OpenDroneID System message. The System Message contains general system information including the remote pilot location and possible aircraft group information. Specifies the location source for the remote pilot location. Latitude of the remote pilot. Longitude of the remote pilot. Number of aircraft in group or formation (default 0). Radius of cylindrical area of group or formation (default 0). Group Operations Ceiling relative to WGS84. Group Operations Floor relative to WGS84.