<description>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).</description>
<entryvalue="0"name="MAV_TYPE_GENERIC">
<description>Generic micro air vehicle</description>
</entry>
<entryvalue="1"name="MAV_TYPE_FIXED_WING">
<description>Fixed wing aircraft.</description>
</entry>
<entryvalue="2"name="MAV_TYPE_QUADROTOR">
<description>Quadrotor</description>
</entry>
<entryvalue="3"name="MAV_TYPE_COAXIAL">
<description>Coaxial helicopter</description>
</entry>
<entryvalue="4"name="MAV_TYPE_HELICOPTER">
<description>Normal helicopter with tail rotor.</description>
</entry>
<entryvalue="5"name="MAV_TYPE_ANTENNA_TRACKER">
<description>Ground installation</description>
</entry>
<entryvalue="6"name="MAV_TYPE_GCS">
<description>Operator control unit / ground control station</description>
<description>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.</description>
<description>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.</description>
<description>0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around.</description>
<description>0b00001000 guided mode enabled, system flies waypoints / mission items.</description>
</entry>
<entryvalue="4"name="MAV_MODE_FLAG_AUTO_ENABLED">
<description>0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation.</description>
</entry>
<entryvalue="2"name="MAV_MODE_FLAG_TEST_ENABLED">
<description>0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations.</description>
<description>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.</description>
<description>System is allowed to be active, under assisted RC control.</description>
</entry>
<entryvalue="208"name="MAV_MODE_STABILIZE_ARMED">
<description>System is allowed to be active, under assisted RC control.</description>
</entry>
<entryvalue="64"name="MAV_MODE_MANUAL_DISARMED">
<description>System is allowed to be active, under manual (RC) control, no stabilization</description>
</entry>
<entryvalue="192"name="MAV_MODE_MANUAL_ARMED">
<description>System is allowed to be active, under manual (RC) control, no stabilization</description>
</entry>
<entryvalue="88"name="MAV_MODE_GUIDED_DISARMED">
<description>System is allowed to be active, under autonomous control, manual setpoint</description>
</entry>
<entryvalue="216"name="MAV_MODE_GUIDED_ARMED">
<description>System is allowed to be active, under autonomous control, manual setpoint</description>
</entry>
<entryvalue="92"name="MAV_MODE_AUTO_DISARMED">
<description>System is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by waypoints)</description>
</entry>
<entryvalue="220"name="MAV_MODE_AUTO_ARMED">
<description>System is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by waypoints)</description>
</entry>
<entryvalue="66"name="MAV_MODE_TEST_DISARMED">
<description>UNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only.</description>
</entry>
<entryvalue="194"name="MAV_MODE_TEST_ARMED">
<description>UNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only.</description>
</entry>
</enum>
<enumname="MAV_STATE">
<entryvalue="0"name="MAV_STATE_UNINIT">
<description>Uninitialized system, state is unknown.</description>
</entry>
<entryname="MAV_STATE_BOOT">
<description>System is booting up.</description>
</entry>
<entryname="MAV_STATE_CALIBRATING">
<description>System is calibrating and not flight-ready.</description>
</entry>
<entryname="MAV_STATE_STANDBY">
<description>System is grounded and on standby. It can be launched any time.</description>
</entry>
<entryname="MAV_STATE_ACTIVE">
<description>System is active and might be already airborne. Motors are engaged.</description>
</entry>
<entryname="MAV_STATE_CRITICAL">
<description>System is in a non-normal flight mode. It can however still navigate.</description>
</entry>
<entryname="MAV_STATE_EMERGENCY">
<description>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.</description>
</entry>
<entryname="MAV_STATE_POWEROFF">
<description>System just initialized its power-down sequence, will shut down now.</description>
</entry>
<entryname="MAV_STATE_FLIGHT_TERMINATION">
<description>System is terminating itself.</description>
</entry>
</enum>
<enumname="MAV_COMPONENT">
<description>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.</description>
<entryvalue="0"name="MAV_COMP_ID_ALL">
<description>Target id (target_component) 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. Note: This is not a valid *source* component id for a message.</description>
</entry>
<entryvalue="1"name="MAV_COMP_ID_AUTOPILOT1">
<description>System flight controller component ("autopilot"). Only one autopilot is expected in a particular system.</description>
</entry>
<!-- Component ids from 25-99 are reserved for private OEM component definitions (and may be incompatible with other private components). Note that if this range is later reduced, higher ids will be reallocated first. -->
<entryvalue="25"name="MAV_COMP_ID_USER1">
<description>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.</description>
</entry>
<entryvalue="26"name="MAV_COMP_ID_USER2">
<description>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.</description>
</entry>
<entryvalue="27"name="MAV_COMP_ID_USER3">
<description>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.</description>
</entry>
<entryvalue="28"name="MAV_COMP_ID_USER4">
<description>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.</description>
</entry>
<entryvalue="29"name="MAV_COMP_ID_USER5">
<description>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.</description>
</entry>
<entryvalue="30"name="MAV_COMP_ID_USER6">
<description>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.</description>
</entry>
<entryvalue="31"name="MAV_COMP_ID_USER7">
<description>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.</description>
</entry>
<entryvalue="32"name="MAV_COMP_ID_USER8">
<description>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.</description>
</entry>
<entryvalue="33"name="MAV_COMP_ID_USER9">
<description>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.</description>
</entry>
<entryvalue="34"name="MAV_COMP_ID_USER10">
<description>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.</description>
</entry>
<entryvalue="35"name="MAV_COMP_ID_USER11">
<description>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.</description>
</entry>
<entryvalue="36"name="MAV_COMP_ID_USER12">
<description>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.</description>
</entry>
<entryvalue="37"name="MAV_COMP_ID_USER13">
<description>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.</description>
</entry>
<entryvalue="38"name="MAV_COMP_ID_USER14">
<description>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.</description>
</entry>
<entryvalue="39"name="MAV_COMP_ID_USER15">
<description>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.</description>
</entry>
<entryvalue="40"name="MAV_COMP_ID_USE16">
<description>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.</description>
</entry>
<entryvalue="41"name="MAV_COMP_ID_USER17">
<description>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.</description>
</entry>
<entryvalue="42"name="MAV_COMP_ID_USER18">
<description>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.</description>
</entry>
<entryvalue="43"name="MAV_COMP_ID_USER19">
<description>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.</description>
</entry>
<entryvalue="44"name="MAV_COMP_ID_USER20">
<description>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.</description>
</entry>
<entryvalue="45"name="MAV_COMP_ID_USER21">
<description>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.</description>
</entry>
<entryvalue="46"name="MAV_COMP_ID_USER22">
<description>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.</description>
</entry>
<entryvalue="47"name="MAV_COMP_ID_USER23">
<description>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.</description>
</entry>
<entryvalue="48"name="MAV_COMP_ID_USER24">
<description>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.</description>
</entry>
<entryvalue="49"name="MAV_COMP_ID_USER25">
<description>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.</description>
</entry>
<entryvalue="50"name="MAV_COMP_ID_USER26">
<description>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.</description>
</entry>
<entryvalue="51"name="MAV_COMP_ID_USER27">
<description>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.</description>
</entry>
<entryvalue="52"name="MAV_COMP_ID_USER28">
<description>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.</description>
</entry>
<entryvalue="53"name="MAV_COMP_ID_USER29">
<description>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.</description>
</entry>
<entryvalue="54"name="MAV_COMP_ID_USER30">
<description>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.</description>
</entry>
<entryvalue="55"name="MAV_COMP_ID_USER31">
<description>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.</description>
</entry>
<entryvalue="56"name="MAV_COMP_ID_USER32">
<description>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.</description>
</entry>
<entryvalue="57"name="MAV_COMP_ID_USER33">
<description>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.</description>
</entry>
<entryvalue="58"name="MAV_COMP_ID_USER34">
<description>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.</description>
</entry>
<entryvalue="59"name="MAV_COMP_ID_USER35">
<description>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.</description>
</entry>
<entryvalue="60"name="MAV_COMP_ID_USER36">
<description>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.</description>
</entry>
<entryvalue="61"name="MAV_COMP_ID_USER37">
<description>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.</description>
</entry>
<entryvalue="62"name="MAV_COMP_ID_USER38">
<description>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.</description>
</entry>
<entryvalue="63"name="MAV_COMP_ID_USER39">
<description>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.</description>
</entry>
<entryvalue="64"name="MAV_COMP_ID_USER40">
<description>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.</description>
</entry>
<entryvalue="65"name="MAV_COMP_ID_USER41">
<description>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.</description>
</entry>
<entryvalue="66"name="MAV_COMP_ID_USER42">
<description>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.</description>
</entry>
<entryvalue="67"name="MAV_COMP_ID_USER43">
<description>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.</description>
</entry>
<entryvalue="68"name="MAV_COMP_ID_USER44">
<description>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.</description>
</entry>
<entryvalue="69"name="MAV_COMP_ID_USER45">
<description>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.</description>
</entry>
<entryvalue="70"name="MAV_COMP_ID_USER46">
<description>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.</description>
</entry>
<entryvalue="71"name="MAV_COMP_ID_USER47">
<description>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.</description>
</entry>
<entryvalue="72"name="MAV_COMP_ID_USER48">
<description>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.</description>
</entry>
<entryvalue="73"name="MAV_COMP_ID_USER49">
<description>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.</description>
</entry>
<entryvalue="74"name="MAV_COMP_ID_USER50">
<description>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.</description>
</entry>
<entryvalue="75"name="MAV_COMP_ID_USER51">
<description>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.</description>
</entry>
<entryvalue="76"name="MAV_COMP_ID_USER52">
<description>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.</description>
</entry>
<entryvalue="77"name="MAV_COMP_ID_USER53">
<description>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.</description>
</entry>
<entryvalue="78"name="MAV_COMP_ID_USER54">
<description>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.</description>
</entry>
<entryvalue="79"name="MAV_COMP_ID_USER55">
<description>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.</description>
</entry>
<entryvalue="80"name="MAV_COMP_ID_USER56">
<description>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.</description>
</entry>
<entryvalue="81"name="MAV_COMP_ID_USER57">
<description>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.</description>
</entry>
<entryvalue="82"name="MAV_COMP_ID_USER58">
<description>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.</description>
</entry>
<entryvalue="83"name="MAV_COMP_ID_USER59">
<description>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.</description>
</entry>
<entryvalue="84"name="MAV_COMP_ID_USER60">
<description>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.</description>
</entry>
<entryvalue="85"name="MAV_COMP_ID_USER61">
<description>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.</description>
</entry>
<entryvalue="86"name="MAV_COMP_ID_USER62">
<description>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.</description>
</entry>
<entryvalue="87"name="MAV_COMP_ID_USER63">
<description>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.</description>
</entry>
<entryvalue="88"name="MAV_COMP_ID_USER64">
<description>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.</description>
</entry>
<entryvalue="89"name="MAV_COMP_ID_USER65">
<description>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.</description>
</entry>
<entryvalue="90"name="MAV_COMP_ID_USER66">
<description>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.</description>
</entry>
<entryvalue="91"name="MAV_COMP_ID_USER67">
<description>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.</description>
</entry>
<entryvalue="92"name="MAV_COMP_ID_USER68">
<description>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.</description>
</entry>
<entryvalue="93"name="MAV_COMP_ID_USER69">
<description>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.</description>
</entry>
<entryvalue="94"name="MAV_COMP_ID_USER70">
<description>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.</description>
</entry>
<entryvalue="95"name="MAV_COMP_ID_USER71">
<description>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.</description>
</entry>
<entryvalue="96"name="MAV_COMP_ID_USER72">
<description>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.</description>
</entry>
<entryvalue="97"name="MAV_COMP_ID_USER73">
<description>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.</description>
</entry>
<entryvalue="98"name="MAV_COMP_ID_USER74">
<description>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.</description>
</entry>
<entryvalue="99"name="MAV_COMP_ID_USER75">
<description>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.</description>
<description>Component that can generate/supply a mission flight plan (e.g. GCS or developer API).</description>
</entry>
<entryvalue="195"name="MAV_COMP_ID_PATHPLANNER">
<description>Component that finds an optimal path between points based on a certain constraint (e.g. minimum snap, shortest path, cost, etc.).</description>
<description>Global (WGS84) coordinate frame + MSL altitude. First value / x: latitude, second value / y: longitude, third value / z: positive altitude over mean sea level (MSL).</description>
<description>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.</description>
<description>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).</description>
<description>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.</description>
</entry>
<entryvalue="7"name="MAV_FRAME_LOCAL_OFFSET_NED">
<description>Offset to the current local frame. Anything expressed in this frame should be added to the current local frame position.</description>
<description>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.</description>
<description>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.</description>
<description>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.</description>
<description>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.</description>
<description>Odometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-down (x: north, y: east, z: down).</description>
<description>Odometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-up (x: east, y: noth, z: up).</description>
</entry>
<entryvalue="20"name="MAV_FRAME_LOCAL_FRD">
<description>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).</description>
</entry>
<entryvalue="21"name="MAV_FRAME_LOCAL_FLU">
<description>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).</description>
</entry>
</enum>
<enumname="MAVLINK_DATA_STREAM_TYPE">
<entryname="MAVLINK_DATA_STREAM_IMG_JPEG">
<description/>
</entry>
<entryname="MAVLINK_DATA_STREAM_IMG_BMP">
<description/>
</entry>
<entryname="MAVLINK_DATA_STREAM_IMG_RAW8U">
<description/>
</entry>
<entryname="MAVLINK_DATA_STREAM_IMG_RAW32U">
<description/>
</entry>
<entryname="MAVLINK_DATA_STREAM_IMG_PGM">
<description/>
</entry>
<entryname="MAVLINK_DATA_STREAM_IMG_PNG">
<description/>
</entry>
</enum>
<!-- fenced mode enums -->
<enumname="FENCE_ACTION">
<entryvalue="0"name="FENCE_ACTION_NONE">
<description>Disable fenced mode</description>
</entry>
<entryvalue="1"name="FENCE_ACTION_GUIDED">
<description>Switched to guided mode to return point (fence point 0)</description>
</entry>
<entryvalue="2"name="FENCE_ACTION_REPORT">
<description>Report fence breach, but don't take action</description>
<description>Gimbal manager high level capability flags (bitmap). The first 16 bits are identical to the GIMBAL_DEVICE_CAP_FLAGS which are identical with GIMBAL_DEVICE_FLAGS. However, the gimbal manager does not need to copy the flags from the gimbal but can also enhance the capabilities and thus add flags.</description>
<description>Gimbal manager supports pitching and yawing at an angular velocity scaled by focal length (the more zoomed in, the slower the movement).</description>
<description>Set to neutral position (horizontal, forward looking, with stabiliziation), takes presedence over all other flags except RETRACT.</description>
<description>Lock roll angle to absolute angle relative to horizon (not relative to drone). This is generally the default with a stabilizing gimbal.</description>
<description>Lock yaw angle to absolute angle relative to North (not relative to drone). If this flag is set, the quaternion is in the Earth frame with the x-axis pointing North (yaw absolute). If this flag is not set, the quaternion frame is in the Earth frame rotated so that the x-axis is pointing forward (yaw relative to vehicle).</description>
</entry>
</enum>
<enumname="GIMBAL_MANAGER_FLAGS"bitmask="true">
<description>Flags for high level gimbal manager operation The first 16 bytes are identical to the GIMBAL_DEVICE_FLAGS.</description>
<description>Interpret attitude control on top of pointing to a location or tracking. If this flag is set, the quaternion is relative to the existing tracking angle.</description>
<description>Completely override pointing to a location or tracking. If this flag is set, the quaternion is (as usual) according to GIMBAL_MANAGER_FLAGS_YAW_LOCK.</description>
<description>This flag can be set to give up control previously set using MAV_CMD_DO_GIMBAL_MANAGER_ATTITUDE. This flag must not be combined with other flags.</description>
<description>Yaw controlled by RC input.</description>
</entry>
</enum>
<!-- The MAV_CMD enum entries describe either: -->
<!-- * the data payload of mission items (as used in the MISSION_ITEM and MISSION_ITEM_INT messages) -->
<!-- * the data payload of mavlink commands (as used in the COMMAND_INT and COMMAND_LONG messages) -->
<!-- ALL the entries in the MAV_CMD enum have a maximum of 7 parameters -->
<enumname="MAV_CMD">
<description>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. NaN and INT32_MAX may be used in float/integer params (respectively) to indicate optional/default values (e.g. to use the component's current yaw or latitude rather than a specific value). See https://mavlink.io/en/guide/xml_schema.html#MAV_CMD for information about the structure of the MAV_CMD entries</description>
<paramindex="1"label="Hold"units="s"minValue="0">Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)</param>
<paramindex="2"label="Accept Radius"units="m"minValue="0">Acceptance radius (if the sphere with this radius is hit, the waypoint counts as reached)</param>
<paramindex="3"label="Pass Radius"units="m">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.</param>
<paramindex="4"label="Yaw"units="deg">Desired yaw angle at waypoint (rotary wing). NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).</param>
<description>Loiter around this waypoint an unlimited amount of time</description>
<paramindex="1">Empty</param>
<paramindex="2">Empty</param>
<paramindex="3"label="Radius"units="m">Radius around waypoint. If positive loiter clockwise, else counter-clockwise</param>
<paramindex="4"label="Yaw"units="deg">Desired yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).</param>
<description>Loiter around this waypoint for X turns</description>
<paramindex="1"label="Turns"minValue="0">Number of turns.</param>
<paramindex="2">Empty</param>
<paramindex="3"label="Radius"units="m">Radius around waypoint. If positive loiter clockwise, else counter-clockwise</param>
<paramindex="4">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 to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).</param>
<paramindex="3"label="Radius"units="m">Radius around waypoint. If positive loiter clockwise, else counter-clockwise.</param>
<paramindex="4">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 to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).</param>
<paramindex="1"label="Abort Alt"units="m">Minimum target altitude if landing is aborted (0 = undefined/use system default).</param>
<paramindex="2"label="Land Mode"enum="PRECISION_LAND_MODE">Precision land mode.</param>
<paramindex="3">Empty.</param>
<paramindex="4"label="Yaw Angle"units="deg">Desired yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).</param>
<description>Takeoff from ground / hand</description>
<paramindex="1"label="Pitch">Minimum pitch (if airspeed sensor present), desired pitch without sensor</param>
<paramindex="2">Empty</param>
<paramindex="3">Empty</param>
<paramindex="4"label="Yaw"units="deg">Yaw angle (if magnetometer present), ignored without magnetometer. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).</param>
<description>Land at local position (local frame only)</description>
<paramindex="1"label="Target"minValue="0"increment="1">Landing target number (if available)</param>
<paramindex="2"label="Offset"units="m"minValue="0">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</param>
<description>Vehicle following, i.e. this waypoint represents the position of a moving vehicle</description>
<paramindex="1"label="Following"increment="1">Following logic to use (e.g. loitering or sinusoidal following) - depends on specific autopilot implementation</param>
<paramindex="2"label="Ground Speed"units="m/s">Ground speed of vehicle to be followed</param>
<paramindex="3"label="Radius"units="m">Radius around waypoint. If positive loiter clockwise, else counter-clockwise</param>
<description>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.</description>
<paramindex="1"label="Action"minValue="0"maxValue="2"increment="1">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.</param>
<description>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.</description>
<paramindex="2"label="Radius"units="m">Radius. If positive loiter clockwise, negative counter-clockwise, 0 means no change to standard loiter.</param>
<paramindex="3">Empty</param>
<paramindex="4"label="Xtrack Location"minValue="0"maxValue="1"increment="1">Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location</param>
<description>Begin following a target</description>
<paramindex="1"label="System ID"minValue="0"maxValue="255"increment="1">System ID (of the FOLLOW_TARGET beacon). Send 0 to disable follow-me and return to the default position hold mode.</param>
<paramindex="2">RESERVED</param>
<paramindex="3">RESERVED</param>
<paramindex="4"label="Altitude Mode"minValue="0"maxValue="2"increment="1">Altitude mode: 0: Keep current altitude, 1: keep altitude difference to target, 2: go to a fixed altitude above home.</param>
<paramindex="5"label="Altitude"units="m">Altitude above home. (used if mode=2)</param>
<paramindex="6">RESERVED</param>
<paramindex="7"label="Time to Land"units="s"minValue="0">Time to land in which the MAV should go to the default position hold mode after a message RX timeout.</param>
<paramindex="3"label="Yaw Behavior"enum="ORBIT_YAW_BEHAVIOUR">Yaw behavior of the vehicle.</param>
<paramindex="4">Reserved (e.g. for dynamic center beacon options)</param>
<paramindex="5">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.</param>
<paramindex="6">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.</param>
<paramindex="7">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.</param>
<description>Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras.</description>
<paramindex="1"label="ROI Mode"enum="MAV_ROI">Region of interest mode.</param>
<paramindex="2"label="WP Index"minValue="0"increment="1">Waypoint index/ target ID. (see MAV_ROI enum)</param>
<paramindex="3"label="ROI Index"minValue="0"increment="1">ROI index (allows a vehicle to manage multiple ROI's)</param>
<paramindex="4">Empty</param>
<paramindex="5"label="X">x the location of the fixed ROI (see MAV_FRAME)</param>
<description>Control autonomous path planning on the MAV.</description>
<paramindex="1"label="Local Ctrl"minValue="0"maxValue="2"increment="1">0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning</param>
<paramindex="2"label="Global Ctrl"minValue="0"maxValue="3"increment="1">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</param>
<paramindex="3">Empty</param>
<paramindex="4"label="Yaw"units="deg">Yaw angle at goal</param>
<paramindex="4"label="Yaw Angle"units="deg">Yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).</param>
<paramindex="3"label="Approach Altitude"units="m">Approach altitude (with the same reference as the Altitude field). NaN if unspecified.</param>
<paramindex="4"label="Yaw"units="deg">Yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).</param>
<description>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.</description>
<paramindex="1"label="Max Descent"units="m"minValue="0">Maximum distance to descend.</param>
<paramindex="2"label="Custom Mode">Custom mode - this is system specific, please refer to the individual autopilot specifications for details.</param>
<paramindex="3"label="Custom Submode">Custom sub mode - this is system specific, please refer to the individual autopilot specifications for details.</param>
<description>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.</description>
<description>Reposition the vehicle to a specific WGS84 global position.</description>
<paramindex="1"label="Speed"units="m/s"minValue="-1">Ground speed, less than 0 (-1) for default</param>
<paramindex="2"label="Bitmask"enum="MAV_DO_REPOSITION_FLAGS">Bitmask of option flags.</param>
<paramindex="3">Reserved</param>
<paramindex="4"label="Yaw"units="deg">Yaw heading. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.). For planes indicates loiter direction (0: clockwise, 1: counter clockwise)</param>
<description>If in a GPS controlled position mode, hold the current position or continue.</description>
<paramindex="1"label="Continue"minValue="0"maxValue="1"increment="1">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.</param>
<description>Sets the region of interest (ROI) to a location. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal is not to react to this message.</description>
<paramindex="1"label="Gimbal device ID">Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. (Send command multiple times for more than one but not all gimbals.)</param>
<paramindex="2">Empty</param>
<paramindex="3">Empty</param>
<paramindex="4">Empty</param>
<paramindex="5"label="Latitude"units="degE7">Latitude of ROI location</param>
<paramindex="6"label="Longitude"units="degE7">Longitude of ROI location</param>
<paramindex="7"label="Altitude"units="m">Altitude of ROI location</param>
<description>Sets the region of interest (ROI) to be toward next waypoint, with optional pitch/roll/yaw offset. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message.</description>
<paramindex="1"label="Gimbal device ID">Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. (Send command multiple times for more than one but not all gimbals.)</param>
<paramindex="2">Empty</param>
<paramindex="3">Empty</param>
<paramindex="4">Empty</param>
<paramindex="5"label="Pitch Offset">Pitch offset from next waypoint, positive tilting up</param>
<paramindex="6"label="Roll Offset">roll offset from next waypoint, positive banking to the right</param>
<paramindex="7"label="Yaw Offset">yaw offset from next waypoint, positive panning to the right</param>
<description>Cancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message. After this command the gimbal manager should go back to manual input if available, and otherwise assume a neutral position.</description>
<paramindex="1"label="Gimbal device ID">Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. (Send command multiple times for more than one but not all gimbals.)</param>
<paramindex="2">Empty</param>
<paramindex="3">Empty</param>
<paramindex="4">Empty</param>
<paramindex="5">Empty</param>
<paramindex="6">Empty</param>
<paramindex="7">Empty</param>
</entry>
<entryvalue="198"name="MAV_CMD_DO_SET_ROI_SYSID">
<description>Mount tracks system with specified system ID. Determination of target vehicle position may be done with GLOBAL_POSITION_INT or any other means. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message.</description>
<paramindex="2"label="Gimbal device ID">Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. (Send command multiple times for more than one but not all gimbals.)</param>
<description>Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras.</description>
<paramindex="1"label="ROI Mode"enum="MAV_ROI">Region of interest mode.</param>
<paramindex="2"label="WP Index"minValue="0"increment="1">Waypoint index/ target ID (depends on param 1).</param>
<paramindex="3"label="ROI Index"minValue="0"increment="1">Region of interest index. (allows a vehicle to manage multiple ROI's)</param>
<paramindex="4">Empty</param>
<paramindex="5">MAV_ROI_WPNEXT: pitch offset from next waypoint, MAV_ROI_LOCATION: latitude</param>
<paramindex="6">MAV_ROI_WPNEXT: roll offset from next waypoint, MAV_ROI_LOCATION: longitude</param>
<paramindex="7">MAV_ROI_WPNEXT: yaw offset from next waypoint, MAV_ROI_LOCATION: altitude</param>
</entry>
<!-- Camera Controller Mission Commands Enumeration -->
<description>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 ).</description>
<paramindex="1"label="Mode"minValue="0"increment="1">Modes: P, TV, AV, M, Etc.</param>
<paramindex="2"label="Shutter Speed"minValue="0"increment="1">Shutter speed: Divisor number for one second.</param>
<paramindex="3"label="Aperture"minValue="0">Aperture: F stop number.</param>
<paramindex="4"label="ISO"minValue="0"increment="1">ISO number e.g. 80, 100, 200, Etc.</param>
<paramindex="5"label="Exposure">Exposure type enumerator.</param>
<description>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 ).</description>
<paramindex="1"label="Session Control">Session control e.g. show/hide lens</param>
<deprecatedsince="2020-01"replaced_by="MAV_CMD_DO_GIMBAL_MANAGER_ATTITUDE">This message is ambiguous and inconsistent. It has been superseded by MAV_CMD_DO_GIMBAL_MANAGER_ATTITUDE and MAV_CMD_DO_SET_ROI_*. The message can still be used to communicate with legacy gimbals implementing it.</deprecated>
<description>Mission command to control a camera or antenna mount</description>
<paramindex="1">pitch depending on mount mode (degrees or degrees/second depending on pitch input).</param>
<paramindex="2">roll depending on mount mode (degrees or degrees/second depending on roll input).</param>
<paramindex="3">yaw depending on mount mode (degrees or degrees/second depending on yaw input).</param>
<paramindex="4"label="Altitude"units="m">altitude depending on mount mode.</param>
<paramindex="5">latitude, set if appropriate mount mode.</param>
<paramindex="6">longitude, set if appropriate mount mode.</param>
<description>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.</description>
<paramindex="1"label="Distance"units="m"minValue="0">Camera trigger distance. 0 to stop triggering.</param>
<paramindex="2"label="Shutter"units="ms"minValue="-1"increment="1">Camera shutter integration time. -1 or 0 to ignore</param>
<paramindex="3"label="Trigger"minValue="0"maxValue="1"increment="1">Trigger camera once immediately. (0 = no trigger, 1 = trigger)</param>
<paramindex="5"label="Motor Count"minValue="0"increment="1">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...)</param>
<paramindex="6"label="Test Order"enum="MOTOR_TEST_ORDER">Motor test order.</param>
<description>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.</description>
<paramindex="1"label="Trigger Cycle"units="ms"minValue="-1"increment="1">Camera trigger cycle time. -1 or 0 to ignore.</param>
<paramindex="2"label="Shutter Integration"units="ms"minValue="-1"increment="1">Camera shutter integration time. Should be less than trigger cycle time. -1 or 0 to ignore.</param>
<description>Set limits for external control</description>
<paramindex="1"label="Timeout"units="s"minValue="0">Timeout - maximum time that external controller will be allowed to control vehicle. 0 means no timeout.</param>
<paramindex="2"label="Min Altitude"units="m">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.</param>
<paramindex="3"label="Max Altitude"units="m">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.</param>
<paramindex="4"label="Horiz. Move Limit"units="m"minValue="0">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.</param>
<description>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</description>
<paramindex="2"label="Cold Start"minValue="0"maxValue="1"increment="1">0: Warm start, 1:Cold start. Controls use of choke where applicable</param>
<paramindex="3"label="Height Delay"units="m"minValue="0">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.</param>
<description>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).</description>
<paramindex="1"label="Number"minValue="0"increment="1">Mission sequence value to set</param>
<description>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.</description>
<paramindex="1"label="Gyro Temperature"minValue="0"maxValue="3"increment="1">1: gyro calibration, 3: gyro temperature calibration</param>
<description>Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode.</description>
<paramindex="1"label="Parameter Storage"minValue="0"maxValue="2"increment="1">Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults</param>
<paramindex="2"label="Mission Storage"minValue="0"maxValue="2"increment="1">Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults</param>
<paramindex="3"label="Logging Rate"units="Hz"minValue="-1"increment="1">Onboard logging: 0: Ignore, 1: Start default rate logging, -1: Stop logging, > 1: logging rate (e.g. set to 1000 for 1000 Hz logging)</param>
<description>Request the reboot or shutdown of system components.</description>
<paramindex="1"label="Autopilot"minValue="0"maxValue="3"increment="1">0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot, 3: Reboot autopilot and keep it in the bootloader until upgraded.</param>
<paramindex="2"label="Companion"minValue="0"maxValue="3"increment="1">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.</param>
<paramindex="3">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</param>
<paramindex="4">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</param>
<paramindex="5">Reserved, send 0</param>
<paramindex="6">Reserved, send 0</param>
<paramindex="7">WIP: ID (e.g. camera ID -1 for all IDs)</param>
<description>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.</description>
<paramindex="1"label="Continue"enum="MAV_GOTO">MAV_GOTO_DO_HOLD: pause mission and either hold or move to specified position (depending on param2), MAV_GOTO_DO_CONTINUE: resume mission.</param>
<paramindex="2"label="Position"enum="MAV_GOTO">MAV_GOTO_HOLD_AT_CURRENT_POSITION: hold at current position, MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position.</param>
<paramindex="3"label="Frame"enum="MAV_FRAME">Coordinate frame of hold point.</param>
<paramindex="2"label="Force"minValue="0"maxValue="21196"increment="21196">0: arm-disarm unless prevented by safety checks (i.e. when landed), 21196: force arming/disarming (e.g. allow arming to override preflight checks and disarming in flight)</param>
<!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<description>Turns illuminators ON/OFF. An illuminator is a light source that is used for lighting up dark areas external to the sytstem: e.g. a torch or searchlight (as opposed to a light source for illuminating the system itself, e.g. an indicator light).</description>
<description>Request the home position from the vehicle.</description>
<paramindex="1">Reserved</param>
<paramindex="2">Reserved</param>
<paramindex="3">Reserved</param>
<paramindex="4">Reserved</param>
<paramindex="5">Reserved</param>
<paramindex="6">Reserved</param>
<paramindex="7">Reserved</param>
</entry>
<entryvalue="420"name="MAV_CMD_INJECT_FAILURE">
<wip/>
<!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<description>Inject artificial failure for testing purposes. Note that autopilots should implement an additional protection before accepting this command such as a specific param setting.</description>
<paramindex="1"name="Failure unit"enum="FAILURE_UNIT">The unit which is affected by the failure.</param>
<paramindex="2"name="Failure type"enum="FAILURE_TYPE">The type how the failure manifests itself.</param>
<paramindex="3"name="Instance">Instance affected by failure (0 to signal all).</param>
<description>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.</description>
<paramindex="2"label="Interval"units="us"minValue="-1"increment="1">The interval between two messages. Set to -1 to disable and 0 to request default rate.</param>
<paramindex="7"label="Response Target"minValue="0"maxValue="2"increment="1">Target address of message stream (if message has target address fields). 0: Flight-stack default (recommended), 1: address of requestor, 2: broadcast.</param>
<description>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).</description>
<paramindex="1"label="Message ID"minValue="0"maxValue="16777215"increment="1">The MAVLink message ID of the requested message.</param>
<paramindex="2"label="Index ID"minValue="0"increment="1">Index id (if appropriate). The use of this parameter (if any), must be defined in the requested message.</param>
<paramindex="3">The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).</param>
<paramindex="4">The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).</param>
<paramindex="5">The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).</param>
<paramindex="6">The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).</param>
<paramindex="7"label="Response Target"minValue="0"maxValue="2"increment="1">Target address for requested message (if message has target address fields). 0: Flight-stack default, 1: address of requestor, 2: broadcast.</param>
<description>Request autopilot capabilities. The receiver should ACK the command and then emit its capabilities in an AUTOPILOT_VERSION message</description>
<description>Request storage information (STORAGE_INFORMATION). Use the command's target_component to target a specific component's storage.</description>
<paramindex="1"label="Storage ID"minValue="0"increment="1">Storage ID (0 for all, 1 for first, 2 for second, etc.)</param>
<paramindex="2"label="Information"minValue="0"maxValue="1"increment="1">0: No Action 1: Request storage information</param>
<description>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.</description>
<paramindex="1"label="Storage ID"minValue="0"increment="1">Storage ID (1 for first, 2 for second, etc.)</param>
<paramindex="2"label="Format"minValue="0"maxValue="1"increment="1">0: No action 1: Format storage</param>
<description>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.</description>
<description>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.</description>
<paramindex="1"label="Tag"minValue="0"increment="1">Target tag to jump to.</param>
<!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<description>High level setpoint to be sent to a gimbal manager to set a gimbal attitude. It is possible to set combinations of the values below. E.g. an angle as well as a desired angular rate can be used to get to this angle at a certain angular rate, or an angular rate only will result in continuous turning. NaN is to be used to signal unset. Note: a gimbal is never to react to this command but only the gimbal manager.</description>
<paramindex="1"label="Tilt angular velocity"units="deg/s">Tilt/pitch angular velocity (positive to point up).</param>
<paramindex="2"label="Pan angular velocity"units="deg/s">Pan/yaw angular velocity (positive to pan to the right).</param>
<paramindex="3"label="Tilt angle"units="deg"minValue="-180"maxValue="180">Pitch/tilt angle relative to world horizon (negative is to tilt down, positive to tilt up).</param>
<paramindex="4"label="Pan angle"units="deg"minValue="-180"maxValue="180">Yaw/pan angle (positive is pan to the right, relative to vehicle for PAN mode, absolute to North for HOLD mode) </param>
<paramindex="5"label="Gimbal manager flags"enum="GIMBAL_MANAGER_FLAGS">Gimbal manager flags to use.</param>
<paramindex="7"label="Gimbal device ID">Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. (Send command multiple times for more than one but not all gimbals.)</param>
<!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<description>If the gimbal manager supports visual tracking (GIMBAL_MANAGER_CAP_FLAGS_HAS_TRACKING_POINT is set), this command allows to initiate the tracking. Such a tracking gimbal manager would usually be an integrated camera/gimbal, or alternatively a companion computer connected to a camera.</description>
<paramindex="1"label="Point x"minValue="0"maxValue="1">Point to track x value.</param>
<paramindex="2"label="Point y"minValue="0"maxValue="1">Point to track y value.</param>
<paramindex="7"label="Gimbal device ID">Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. (Send command multiple times for more than one but not all gimbals.)</param>
<!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<description>If the gimbal supports visual tracking (GIMBAL_MANAGER_CAP_FLAGS_HAS_TRACKING_RECTANGLE is set), this command allows to initiate the tracking. Such a tracking gimbal manager would usually be an integrated camera/gimbal, or alternatively a companion computer connected to a camera.</description>
<paramindex="1"label="Top left corner x"minValue="0"maxValue="1">Top left corner of rectangle x value (normalized 0..1, 0 is left, 1 is right).</param>
<paramindex="2"label="Top left corner y"minValue="0"maxValue="1">Top left corner of rectangle y value (normalized 0..1, 0 is top, 1 is bottom).</param>
<paramindex="3"label="Bottom right corner x"minValue="0"maxValue="1">Bottom right corner of rectangle x value (normalized 0..1, 0 is left, 1 is right).</param>
<paramindex="4"label="Bottom right corner y"minValue="0"maxValue="1">Bottom right corner of rectangle y value (normalized 0..1, 0 is top, 1 is bottom).</param>
<paramindex="7"label="Gimbal device ID">Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. (Send command multiple times for more than one but not all gimbals.)</param>
<description>Start image capture sequence. Sends CAMERA_IMAGE_CAPTURED after each capture. Use NaN for reserved values.</description>
<paramindex="1">Reserved (Set to 0)</param>
<paramindex="2"label="Interval"units="s"minValue="0">Desired elapsed time between two consecutive pictures (in seconds). Minimum values depend on hardware (typically greater than 2 seconds).</param>
<paramindex="3"label="Capture Count"minValue="0"increment="1">Total number of images to capture. 0 to capture forever/until MAV_CMD_IMAGE_STOP_CAPTURE.</param>
<paramindex="4"label="Sequence Number"minValue="1"increment="1">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.</param>
<description>Enable or disable on-board camera triggering system.</description>
<paramindex="1"label="Enable"minValue="-1"maxValue="1"increment="1">Trigger enable/disable (0 for disable, 1 for start), -1 to ignore</param>
<paramindex="2"label="Reset"minValue="-1"maxValue="1"increment="1">1 to reset the trigger sequence, -1 or 0 to ignore</param>
<paramindex="3"label="Pause"minValue="-1"maxValue="1"increment="2">1 to pause triggering, but without switching the camera off or retracting it. -1 to ignore</param>
<description>Starts video capture (recording). Use NaN for reserved values.</description>
<paramindex="1"label="Stream ID"minValue="0"increment="1">Video Stream ID (0 for all streams)</param>
<paramindex="2"label="Status Frequency"minValue="0"units="Hz">Frequency CAMERA_CAPTURE_STATUS messages should be sent while recording (0 for no messages, otherwise frequency)</param>
<description>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.
</description>
<paramindex="1"label="System ID"minValue="0"maxValue="255"increment="1">Vehicle system id, this way ground station can request arm authorization on behalf of any vehicle</param>
<description>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.
<description>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.
</description>
<paramindex="1"label="Radius">Radius of desired circle in CIRCLE_MODE</param>
<paramindex="2">User defined</param>
<paramindex="3">User defined</param>
<paramindex="4">User defined</param>
<paramindex="5">Unscaled target latitude of center of circle in CIRCLE_MODE</param>
<paramindex="6">Unscaled target longitude of center of circle in CIRCLE_MODE</param>
<description>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.
<description>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.
<description>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.</description>
<paramindex="1">Reserved (set to 0)</param>
<paramindex="2">Reserved (set to 0)</param>
<paramindex="3">Reserved (set to 0)</param>
<paramindex="4">Reserved (set to 0)</param>
<paramindex="5">Reserved (set to 0)</param>
<paramindex="6">Reserved (set to 0)</param>
<paramindex="7">Reserved (set to 0)</param>
</entry>
<!-- END of UAVCAN range -->
<!-- VALUES FROM 0-40000 are reserved for the common message set. Values from 40000 to UINT16_MAX are available for dialects -->
<description>Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity.</description>
<paramindex="1"label="Operation Mode"minValue="0"maxValue="2"increment="1">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.</param>
<paramindex="2"label="Approach Vector"units="deg"minValue="-1"maxValue="360">Desired approach vector in compass heading. A negative value indicates the system can define the approach vector at will.</param>
<paramindex="3"label="Ground Speed"minValue="-1">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.</param>
<paramindex="4"label="Altitude Clearance"units="m"minValue="-1">Minimum altitude clearance to the release position. A negative value indicates the system can define the clearance at will.</param>
<paramindex="5"label="Latitude">Latitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT</param>
<paramindex="6"label="Longitude">Longitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT</param>
<description>User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.</description>
<description>User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.</description>
<description>User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.</description>
<description>User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.</description>
<description>User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.</description>
<description>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.</description>
</entry>
<entryname="MAV_CMD_ACK_ERR_X_LAT_OUT_OF_RANGE">
<description>The X or latitude value is out of range.</description>
</entry>
<entryname="MAV_CMD_ACK_ERR_Y_LON_OUT_OF_RANGE">
<description>The Y or longitude value is out of range.</description>
</entry>
<entryname="MAV_CMD_ACK_ERR_Z_ALT_OUT_OF_RANGE">
<description>The Z or altitude value is out of range.</description>
</entry>
</enum>
<enumname="MAV_PARAM_TYPE">
<description>Specifies the datatype of a MAVLink parameter.</description>
<description>Command is valid, but cannot be executed at this time. This is used to indicate a problem that should be fixed just by waiting (e.g. a state machine is busy, can't arm because have not got GPS lock, etc.). Retrying later should work.</description>
</entry>
<entryvalue="2"name="MAV_RESULT_DENIED">
<description>Command is invalid (is supported but has invalid parameters). Retrying same command and parameters will not work.</description>
</entry>
<entryvalue="3"name="MAV_RESULT_UNSUPPORTED">
<description>Command is not supported (unknown).</description>
</entry>
<entryvalue="4"name="MAV_RESULT_FAILED">
<description>Command is valid, but execution has failed. This is used to indicate any non-temporary or unexpected problem, i.e. any problem that must be fixed before the command can succeed/be retried. For example, attempting to write a file when out of memory, attempting to arm when sensors are not calibrated, etc.</description>
</entry>
<entryvalue="5"name="MAV_RESULT_IN_PROGRESS">
<description>Command is valid and is being executed. This will be followed by further progress updates, i.e. the component may send further COMMAND_ACK messages with result MAV_RESULT_IN_PROGRESS (at a rate decided by the implementation), and must terminate by sending a COMMAND_ACK message with final result of the operation. The COMMAND_ACK.progress field can be used to indicate the progress of the operation. There is no need for the sender to retry the command, but if done during execution, the component will return MAV_RESULT_IN_PROGRESS with an updated progress.</description>
</entry>
</enum>
<enumname="MAV_MISSION_RESULT">
<description>Result of mission operation (in a MISSION_ACK message).</description>
<entryvalue="0"name="MAV_MISSION_ACCEPTED">
<description>mission accepted OK</description>
</entry>
<entryvalue="1"name="MAV_MISSION_ERROR">
<description>Generic error / not accepting mission commands at all right now.</description>
<description>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/.</description>
<entryvalue="0"name="MAV_SEVERITY_EMERGENCY">
<description>System is unusable. This is a "panic" condition.</description>
</entry>
<entryvalue="1"name="MAV_SEVERITY_ALERT">
<description>Action should be taken immediately. Indicates error in non-critical systems.</description>
</entry>
<entryvalue="2"name="MAV_SEVERITY_CRITICAL">
<description>Action must be taken immediately. Indicates failure in a primary system.</description>
</entry>
<entryvalue="3"name="MAV_SEVERITY_ERROR">
<description>Indicates an error in secondary/redundant systems.</description>
</entry>
<entryvalue="4"name="MAV_SEVERITY_WARNING">
<description>Indicates about a possible future error if this is not resolved within a given timeframe. Example would be a low battery warning.</description>
</entry>
<entryvalue="5"name="MAV_SEVERITY_NOTICE">
<description>An unusual event has occurred, though not an error condition. This should be investigated for the root cause.</description>
</entry>
<entryvalue="6"name="MAV_SEVERITY_INFO">
<description>Normal operational messages. Useful for logging. No action is required for these messages.</description>
</entry>
<entryvalue="7"name="MAV_SEVERITY_DEBUG">
<description>Useful non-operational messages that can assist in debugging. These should not occur during normal operation.</description>
</entry>
</enum>
<enumname="MAV_POWER_STATUS"bitmask="true">
<description>Power supply status flags (bitmask)</description>
<description>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</description>
<description>Autopilot supports the flight information protocol.</description>
</entry>
</enum>
<enumname="MAV_MISSION_TYPE">
<description>Type of mission items being requested/sent in mission protocol.</description>
<entryvalue="0"name="MAV_MISSION_TYPE_MISSION">
<description>Items are mission commands for main mission.</description>
</entry>
<entryvalue="1"name="MAV_MISSION_TYPE_FENCE">
<description>Specifies GeoFence area(s). Items are MAV_CMD_NAV_FENCE_ GeoFence items.</description>
</entry>
<entryvalue="2"name="MAV_MISSION_TYPE_RALLY">
<description>Specifies the rally points for the vehicle. Rally points are alternative RTL points. Items are MAV_CMD_NAV_RALLY_POINT rally point items.</description>
</entry>
<entryvalue="255"name="MAV_MISSION_TYPE_ALL">
<description>Only used in MISSION_CLEAR_ALL to clear all mission types.</description>
</entry>
</enum>
<enumname="MAV_ESTIMATOR_TYPE">
<description>Enumeration of estimator types</description>
<entryvalue="0"name="MAV_ESTIMATOR_TYPE_UNKNOWN">
<description>Unknown type of the estimator.</description>
</entry>
<entryvalue="1"name="MAV_ESTIMATOR_TYPE_NAIVE">
<description>This is a naive estimator without any real covariance feedback.</description>
</entry>
<entryvalue="2"name="MAV_ESTIMATOR_TYPE_VISION">
<description>Computer vision based estimate. Might be up to scale.</description>
<description>Stream is h.264 on MPEG TS (URI gives the port number)</description>
</entry>
</enum>
<enumname="CAMERA_ZOOM_TYPE">
<description>Zoom types for MAV_CMD_SET_CAMERA_ZOOM</description>
<entryvalue="0"name="ZOOM_TYPE_STEP">
<description>Zoom one step increment (-1 for wide, 1 for tele)</description>
</entry>
<entryvalue="1"name="ZOOM_TYPE_CONTINUOUS">
<description>Continuous zoom up/down until stopped (-1 for wide, 1 for tele, 0 to stop zooming)</description>
</entry>
<entryvalue="2"name="ZOOM_TYPE_RANGE">
<description>Zoom value as proportion of full camera range (a value between 0.0 and 100.0)</description>
</entry>
<entryvalue="3"name="ZOOM_TYPE_FOCAL_LENGTH">
<description>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)</description>
</entry>
</enum>
<enumname="SET_FOCUS_TYPE">
<description>Focus types for MAV_CMD_SET_CAMERA_FOCUS</description>
<entryvalue="0"name="FOCUS_TYPE_STEP">
<description>Focus one step increment (-1 for focusing in, 1 for focusing out towards infinity).</description>
</entry>
<entryvalue="1"name="FOCUS_TYPE_CONTINUOUS">
<description>Continuous focus up/down until stopped (-1 for focusing in, 1 for focusing out towards infinity, 0 to stop focusing)</description>
</entry>
<entryvalue="2"name="FOCUS_TYPE_RANGE">
<description>Focus value as proportion of full camera focus range (a value between 0.0 and 100.0)</description>
</entry>
<entryvalue="3"name="FOCUS_TYPE_METERS">
<description>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).</description>
</entry>
</enum>
<enumname="PARAM_ACK">
<description>Result from a PARAM_EXT_SET message.</description>
<entryvalue="0"name="PARAM_ACK_ACCEPTED">
<description>Parameter value ACCEPTED and SET</description>
<description>Parameter value UNKNOWN/UNSUPPORTED</description>
</entry>
<entryvalue="2"name="PARAM_ACK_FAILED">
<description>Parameter failed to set</description>
</entry>
<entryvalue="3"name="PARAM_ACK_IN_PROGRESS">
<description>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.</description>
</entry>
</enum>
<enumname="CAMERA_MODE">
<description>Camera Modes.</description>
<entryvalue="0"name="CAMERA_MODE_IMAGE">
<description>Camera is in image/photo capture mode.</description>
</entry>
<entryvalue="1"name="CAMERA_MODE_VIDEO">
<description>Camera is in video capture mode.</description>
</entry>
<entryvalue="2"name="CAMERA_MODE_IMAGE_SURVEY">
<description>Camera is in image survey capture mode. It allows for camera controller to do specific settings for surveys.</description>
<description>Airspace of the mission in use by another vehicle, second result parameter can have the waypoint id that caused it to be denied.</description>
<description>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.</description>
<description>Use precision landing, searching for beacon if not found when land command accepted (land normally if beacon cannot be found).</description>
<description>Search And Rescue Transponder.</description>
</entry>
<entryvalue="15"name="AIS_NAV_UNKNOWN">
<description>Not available (default).</description>
</entry>
</enum>
<enumname="AIS_FLAGS"bitmask="true">
<!-- This enum is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<description>These flags are used in the AIS_VESSEL.fields bitmask to indicate validity of data in the other message fields. When set, the data is valid.</description>
<!-- This enum is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<description>List of possible failure type to inject.</description>
<entryvalue="0"name="FAILURE_TYPE_OK">
<description>No failure injected, used to reset a previous failure.</description>
</entry>
<entryvalue="1"name="FAILURE_TYPE_OFF">
<description>Sets unit off, so completely non-responsive.</description>
</entry>
<entryvalue="2"name="FAILURE_TYPE_STUCK">
<description>Unit is stuck e.g. keeps reporting the same value.</description>
</entry>
<entryvalue="3"name="FAILURE_TYPE_GARBAGE">
<description>Unit is reporting complete garbage.</description>
</entry>
<entryvalue="4"name="FAILURE_TYPE_WRONG">
<description>Unit is consistently wrong.</description>
</entry>
<entryvalue="5"name="FAILURE_TYPE_SLOW">
<description>Unit is slow, so e.g. reporting at slower than expected rate.</description>
</entry>
<entryvalue="6"name="FAILURE_TYPE_DELAYED">
<description>Data of unit is delayed in time.</description>
</entry>
<entryvalue="7"name="FAILURE_TYPE_INTERMITTENT">
<description>Unit is sometimes working, sometimes not.</description>
</entry>
</enum>
</enums>
<messages>
<messageid="0"name="HEARTBEAT">
<description>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</description>
<fieldtype="uint8_t"name="type"enum="MAV_TYPE">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.</field>
<fieldtype="uint8_t"name="autopilot"enum="MAV_AUTOPILOT">Autopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers.</field>
<fieldtype="uint32_t"name="custom_mode">A bitfield for use for autopilot-specific flags</field>
<fieldtype="uint8_t"name="system_status"enum="MAV_STATE">System status flag.</field>
<fieldtype="uint8_t_mavlink_version"name="mavlink_version">MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version</field>
</message>
<messageid="1"name="SYS_STATUS">
<description>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.</description>
<fieldtype="uint32_t"name="onboard_control_sensors_present"enum="MAV_SYS_STATUS_SENSOR"display="bitmask"print_format="0x%04x">Bitmap showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present.</field>
<fieldtype="uint32_t"name="onboard_control_sensors_enabled"enum="MAV_SYS_STATUS_SENSOR"display="bitmask"print_format="0x%04x">Bitmap showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled.</field>
<fieldtype="uint32_t"name="onboard_control_sensors_health"enum="MAV_SYS_STATUS_SENSOR"display="bitmask"print_format="0x%04x">Bitmap showing which onboard controllers and sensors have an error (or are operational). Value of 0: error. Value of 1: healthy.</field>
<fieldtype="uint16_t"name="load"units="d%">Maximum usage in percent of the mainloop time. Values: [0-1000] - should always be below 1000</field>
<fieldtype="uint16_t"name="voltage_battery"units="mV">Battery voltage, UINT16_MAX: Voltage not sent by autopilot</field>
<fieldtype="int16_t"name="current_battery"units="cA">Battery current, -1: Current not sent by autopilot</field>
<fieldtype="int8_t"name="battery_remaining"units="%">Battery energy remaining, -1: Battery remaining energy not sent by autopilot</field>
<fieldtype="uint16_t"name="drop_rate_comm"units="c%">Communication drop rate, (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)</field>
<fieldtype="uint16_t"name="errors_comm">Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)</field>
<fieldtype="uint32_t"name="time_boot_ms"units="ms">Timestamp (time since system boot).</field>
</message>
<!-- FIXME to be removed / merged with SYSTEM_TIME -->
<messageid="4"name="PING">
<description>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</description>
<fieldtype="uint64_t"name="time_usec"units="us">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 of the number.</field>
<fieldtype="uint8_t"name="target_system">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</field>
<fieldtype="uint8_t"name="target_component">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.</field>
</message>
<messageid="5"name="CHANGE_OPERATOR_CONTROL">
<description>Request to control this MAV</description>
<fieldtype="uint8_t"name="target_system">System the GCS requests control for</field>
<fieldtype="uint8_t"name="control_request">0: request control of this MAV, 1: Release control of this MAV</field>
<fieldtype="uint8_t"name="version"units="rad">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.</field>
<fieldtype="char[25]"name="passkey">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 "!?,.-"</field>
</message>
<messageid="6"name="CHANGE_OPERATOR_CONTROL_ACK">
<description>Accept / deny control of this MAV</description>
<fieldtype="uint8_t"name="gcs_system_id">ID of the GCS this message </field>
<fieldtype="uint8_t"name="control_request">0: request control of this MAV, 1: Release control of this MAV</field>
<description>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.</description>
<fieldtype="char[32]"name="key">key</field>
</message>
<messageid="8"name="LINK_NODE_STATUS">
<wip/>
<!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<description>Status generated in each node in the communication chain and injected into MAVLink stream.</description>
<fieldtype="uint64_t"name="timestamp"units="ms">Timestamp (time since system boot).</field>
<fieldtype="uint32_t"name="messages_received">Messages received (estimated from counting seq)</field>
<fieldtype="uint32_t"name="messages_lost">Messages lost (estimated from counting seq)</field>
</message>
<messageid="11"name="SET_MODE">
<deprecatedsince="2015-12"replaced_by="MAV_CMD_DO_SET_MODE">Use COMMAND_LONG with MAV_CMD_DO_SET_MODE instead</deprecated>
<description>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.</description>
<fieldtype="uint8_t"name="target_system">The system setting the mode</field>
<fieldtype="uint8_t"name="base_mode"enum="MAV_MODE">The new base mode.</field>
<fieldtype="uint32_t"name="custom_mode">The new autopilot-specific mode. This field can be ignored by an autopilot.</field>
</message>
<!-- reserved for PARAM_VALUE_UNION -->
<messageid="20"name="PARAM_REQUEST_READ">
<description>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.</description>
<fieldtype="char[16]"name="param_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</field>
<fieldtype="int16_t"name="param_index">Parameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored)</field>
</message>
<messageid="21"name="PARAM_REQUEST_LIST">
<description>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</description>
<description>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</description>
<fieldtype="char[16]"name="param_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</field>
<fieldtype="uint16_t"name="param_count">Total number of onboard parameters</field>
<fieldtype="uint16_t"name="param_index">Index of this onboard parameter</field>
</message>
<messageid="23"name="PARAM_SET">
<description>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</description>
<fieldtype="char[16]"name="param_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</field>
<description>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.</description>
<fieldtype="uint64_t"name="time_usec"units="us">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 of the number.</field>
<fieldtype="int32_t"name="alt"units="mm">Altitude (MSL). Positive for up. Note that virtually all GPS modules provide the MSL altitude in addition to the WGS84 altitude.</field>
<fieldtype="uint16_t"name="eph">GPS HDOP horizontal dilution of position (unitless). If unknown, set to: UINT16_MAX</field>
<fieldtype="uint16_t"name="epv">GPS VDOP vertical dilution of position (unitless). If unknown, set to: UINT16_MAX</field>
<fieldtype="uint16_t"name="vel"units="cm/s">GPS ground speed. If unknown, set to: UINT16_MAX</field>
<fieldtype="uint16_t"name="cog"units="cdeg">Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX</field>
<fieldtype="uint8_t"name="satellites_visible">Number of satellites visible. If unknown, set to 255</field>
<extensions/>
<fieldtype="int32_t"name="alt_ellipsoid"units="mm">Altitude (above WGS84, EGM96 ellipsoid). Positive for up.</field>
<fieldtype="uint16_t"name="yaw"units="cdeg">Yaw in earth frame from north. Use 0 if this GPS does not provide yaw. Use 65535 if this GPS is configured to provide yaw and is currently unable to provide it. Use 36000 for north.</field>
</message>
<messageid="25"name="GPS_STATUS">
<description>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.</description>
<fieldtype="uint8_t"name="satellites_visible">Number of satellites visible</field>
<fieldtype="int16_t"name="xgyro"units="mrad/s">Angular speed around X axis</field>
<fieldtype="int16_t"name="ygyro"units="mrad/s">Angular speed around Y axis</field>
<fieldtype="int16_t"name="zgyro"units="mrad/s">Angular speed around Z axis</field>
<fieldtype="int16_t"name="xmag"units="mgauss">X Magnetic field</field>
<fieldtype="int16_t"name="ymag"units="mgauss">Y Magnetic field</field>
<fieldtype="int16_t"name="zmag"units="mgauss">Z Magnetic field</field>
<extensions/>
<fieldtype="int16_t"name="temperature"units="cdegC">Temperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).</field>
</message>
<messageid="27"name="RAW_IMU">
<description>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.</description>
<fieldtype="uint64_t"name="time_usec"units="us">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 of the number.</field>
<fieldtype="int16_t"name="xgyro">Angular speed around X axis (raw)</field>
<fieldtype="int16_t"name="ygyro">Angular speed around Y axis (raw)</field>
<fieldtype="int16_t"name="zgyro">Angular speed around Z axis (raw)</field>
<fieldtype="int16_t"name="xmag">X Magnetic field (raw)</field>
<fieldtype="int16_t"name="ymag">Y Magnetic field (raw)</field>
<fieldtype="int16_t"name="zmag">Z Magnetic field (raw)</field>
<extensions/>
<fieldtype="uint8_t"name="id">Id. Ids are numbered from 0 and map to IMUs numbered from 1 (e.g. IMU1 will have a message with id=0)</field>
<fieldtype="int16_t"name="temperature"units="cdegC">Temperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).</field>
</message>
<messageid="28"name="RAW_PRESSURE">
<description>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.</description>
<fieldtype="uint64_t"name="time_usec"units="us">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 of the number.</field>
<fieldtype="int16_t"name="press_diff1">Differential pressure 1 (raw, 0 if nonexistent)</field>
<fieldtype="int16_t"name="press_diff2">Differential pressure 2 (raw, 0 if nonexistent)</field>
<fieldtype="int16_t"name="temperature">Raw Temperature measurement (raw)</field>
</message>
<messageid="29"name="SCALED_PRESSURE">
<description>The pressure readings for the typical setup of one absolute and differential pressure sensor. The units are as specified in each field.</description>
<fieldtype="uint32_t"name="time_boot_ms"units="ms">Timestamp (time since system boot).</field>
<description>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).</description>
<fieldtype="uint32_t"name="time_boot_ms"units="ms">Timestamp (time since system boot).</field>
<fieldtype="float"name="q1">Quaternion component 1, w (1 in null-rotation)</field>
<fieldtype="float"name="q2">Quaternion component 2, x (0 in null-rotation)</field>
<fieldtype="float"name="q3">Quaternion component 3, y (0 in null-rotation)</field>
<fieldtype="float"name="q4">Quaternion component 4, z (0 in null-rotation)</field>
<fieldtype="float[4]"name="repr_offset_q">Rotation offset by which the attitude quaternion and angular speed vector should be rotated for user display (quaternion with [w, x, y, z] order, zero-rotation is [1, 0, 0, 0], send [0, 0, 0, 0] if field not supported). This field is intended for systems in which the reference attitude may change during flight. For example, tailsitters VTOLs rotate their reference attitude by 90 degrees between hover mode and fixed wing mode, thus repr_offset_q is equal to [1, 0, 0, 0] in hover mode and equal to [0.7071, 0, 0.7071, 0] in fixed wing mode.</field>
</message>
<messageid="32"name="LOCAL_POSITION_NED">
<description>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)</description>
<fieldtype="uint32_t"name="time_boot_ms"units="ms">Timestamp (time since system boot).</field>
<fieldtype="int16_t"name="vx"units="cm/s">Ground X Speed (Latitude, positive north)</field>
<fieldtype="int16_t"name="vy"units="cm/s">Ground Y Speed (Longitude, positive east)</field>
<fieldtype="int16_t"name="vz"units="cm/s">Ground Z Speed (Altitude, positive down)</field>
<fieldtype="uint16_t"name="hdg"units="cdeg">Vehicle heading (yaw angle), 0.0..359.99 degrees. If unknown, set to: UINT16_MAX</field>
</message>
<messageid="34"name="RC_CHANNELS_SCALED">
<description>The scaled values of the RC channels received: (-100%) -10000, (0%) 0, (100%) 10000. Channels that are inactive should be set to UINT16_MAX.</description>
<fieldtype="uint32_t"name="time_boot_ms"units="ms">Timestamp (time since system boot).</field>
<fieldtype="uint8_t"name="port">Servo output port (set of 8 outputs = 1 port). Flight stacks running on Pixhawk should use: 0 = MAIN, 1 = AUX.</field>
<fieldtype="int16_t"name="chan1_scaled">RC channel 1 value scaled.</field>
<fieldtype="int16_t"name="chan2_scaled">RC channel 2 value scaled.</field>
<fieldtype="int16_t"name="chan3_scaled">RC channel 3 value scaled.</field>
<fieldtype="int16_t"name="chan4_scaled">RC channel 4 value scaled.</field>
<fieldtype="int16_t"name="chan5_scaled">RC channel 5 value scaled.</field>
<fieldtype="int16_t"name="chan6_scaled">RC channel 6 value scaled.</field>
<fieldtype="int16_t"name="chan7_scaled">RC channel 7 value scaled.</field>
<fieldtype="int16_t"name="chan8_scaled">RC channel 8 value scaled.</field>
<fieldtype="uint8_t"name="rssi">Receive signal strength indicator in device-dependent units/scale. Values: [0-254], 255: invalid/unknown.</field>
</message>
<messageid="35"name="RC_CHANNELS_RAW">
<description>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.</description>
<fieldtype="uint32_t"name="time_boot_ms"units="ms">Timestamp (time since system boot).</field>
<fieldtype="uint8_t"name="port">Servo output port (set of 8 outputs = 1 port). Flight stacks running on Pixhawk should use: 0 = MAIN, 1 = AUX.</field>
<fieldtype="uint8_t"name="rssi">Receive signal strength indicator in device-dependent units/scale. Values: [0-254], 255: invalid/unknown.</field>
</message>
<messageid="36"name="SERVO_OUTPUT_RAW">
<description>Superseded by ACTUATOR_OUTPUT_STATUS. 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%.</description>
<fieldtype="uint32_t"name="time_usec"units="us">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 of the number.</field>
<fieldtype="uint8_t"name="port">Servo output port (set of 8 outputs = 1 port). Flight stacks running on Pixhawk should use: 0 = MAIN, 1 = AUX.</field>
<description>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.</description>
<description>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!</description>
<description>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). NaN may be used to indicate an optional/default value (e.g. to use the system's current latitude or yaw rather than a specific value). See also https://mavlink.io/en/services/mission.html.</description>
<description>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</description>
<description>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).</description>
<description>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.</description>
<description>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.</description>
<fieldtype="uint16_t"name="seq">Sequence</field>
</message>
<messageid="47"name="MISSION_ACK">
<description>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).</description>
<description>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.</description>
<fieldtype="int32_t"name="altitude"units="mm">Altitude (MSL). Positive for up.</field>
<extensions/>
<fieldtype="uint64_t"name="time_usec"units="us">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 of the number.</field>
</message>
<messageid="49"name="GPS_GLOBAL_ORIGIN">
<description>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.</description>
<fieldtype="int32_t"name="altitude"units="mm">Altitude (MSL). Positive for up.</field>
<extensions/>
<fieldtype="uint64_t"name="time_usec"units="us">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 of the number.</field>
</message>
<messageid="50"name="PARAM_MAP_RC">
<description>Bind a RC channel to a parameter. The parameter should change according to the RC channel value.</description>
<fieldtype="char[16]"name="param_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</field>
<fieldtype="int16_t"name="param_index">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.</field>
<fieldtype="uint8_t"name="parameter_rc_channel_index">Index of parameter RC channel. Not equal to the RC channel id. Typically corresponds to a potentiometer-knob on the RC.</field>
<fieldtype="float"name="scale">Scale, maps the RC range [-1, 1] to a parameter value</field>
<fieldtype="float"name="param_value_min">Minimum param value. The protocol does not define if this overwrites an onboard minimum value. (Depends on implementation)</field>
<fieldtype="float"name="param_value_max">Maximum param value. The protocol does not define if this overwrites an onboard maximum value. (Depends on implementation)</field>
</message>
<messageid="51"name="MISSION_REQUEST_INT">
<description>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</description>
<!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<description>A broadcast message to notify any ground station or SDK if a mission, geofence or safe points have changed on the vehicle.</description>
<fieldtype="int16_t"name="start_index">Start index for partial mission change (-1 for all items).</field>
<fieldtype="int16_t"name="end_index">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.</field>
<fieldtype="uint8_t"name="origin_sysid">System ID of the author of the new mission.</field>
<fieldtype="uint8_t"name="origin_compid"enum="MAV_COMPONENT">Compnent ID of the author of the new mission.</field>
<description>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.</description>
<fieldtype="uint8_t"name="frame"enum="MAV_FRAME">Coordinate frame. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.</field>
<fieldtype="float"name="p1x"units="m">x position 1 / Latitude 1</field>
<fieldtype="float"name="p1y"units="m">y position 1 / Longitude 1</field>
<fieldtype="float"name="p1z"units="m">z position 1 / Altitude 1</field>
<fieldtype="float"name="p2x"units="m">x position 2 / Latitude 2</field>
<fieldtype="float"name="p2y"units="m">y position 2 / Longitude 2</field>
<fieldtype="float"name="p2z"units="m">z position 2 / Altitude 2</field>
</message>
<messageid="55"name="SAFETY_ALLOWED_AREA">
<description>Read out the safety zone the MAV currently assumes.</description>
<fieldtype="uint8_t"name="frame"enum="MAV_FRAME">Coordinate frame. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.</field>
<fieldtype="float"name="p1x"units="m">x position 1 / Latitude 1</field>
<fieldtype="float"name="p1y"units="m">y position 1 / Longitude 1</field>
<fieldtype="float"name="p1z"units="m">z position 1 / Altitude 1</field>
<fieldtype="float"name="p2x"units="m">x position 2 / Latitude 2</field>
<fieldtype="float"name="p2y"units="m">y position 2 / Longitude 2</field>
<fieldtype="float"name="p2z"units="m">z position 2 / Altitude 2</field>
</message>
<messageid="61"name="ATTITUDE_QUATERNION_COV">
<description>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).</description>
<fieldtype="uint64_t"name="time_usec"units="us">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 of the number.</field>
<fieldtype="float[4]"name="q">Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)</field>
<fieldtype="float[9]"name="covariance">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.</field>
</message>
<messageid="62"name="NAV_CONTROLLER_OUTPUT">
<description>The state of the fixed wing navigation and position controller.</description>
<fieldtype="float"name="xtrack_error"units="m">Current crosstrack error on x-y plane</field>
</message>
<messageid="63"name="GLOBAL_POSITION_INT_COV">
<description>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.</description>
<fieldtype="uint64_t"name="time_usec"units="us">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 of the number.</field>
<fieldtype="uint8_t"name="estimator_type"enum="MAV_ESTIMATOR_TYPE">Class id of the estimator this estimate originated from.</field>
<fieldtype="float"name="vx"units="m/s">Ground X Speed (Latitude)</field>
<fieldtype="float"name="vy"units="m/s">Ground Y Speed (Longitude)</field>
<fieldtype="float"name="vz"units="m/s">Ground Z Speed (Altitude)</field>
<fieldtype="float[36]"name="covariance">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.</field>
</message>
<messageid="64"name="LOCAL_POSITION_NED_COV">
<description>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)</description>
<fieldtype="uint64_t"name="time_usec"units="us">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 of the number.</field>
<fieldtype="uint8_t"name="estimator_type"enum="MAV_ESTIMATOR_TYPE">Class id of the estimator this estimate originated from.</field>
<fieldtype="float[45]"name="covariance">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.</field>
</message>
<messageid="65"name="RC_CHANNELS">
<description>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.</description>
<fieldtype="uint32_t"name="time_boot_ms"units="ms">Timestamp (time since system boot).</field>
<fieldtype="uint8_t"name="chancount">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.</field>
<fieldtype="uint8_t"name="on_off">1 stream is enabled, 0 stream is stopped.</field>
</message>
<messageid="69"name="MANUAL_CONTROL">
<description>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 </description>
<fieldtype="uint8_t"name="target">The system to be controlled.</field>
<fieldtype="int16_t"name="x">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.</field>
<fieldtype="int16_t"name="y">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.</field>
<fieldtype="int16_t"name="z">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.</field>
<fieldtype="int16_t"name="r">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.</field>
<fieldtype="uint16_t"name="buttons">A bitfield corresponding to the joystick buttons' current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1.</field>
</message>
<messageid="70"name="RC_CHANNELS_OVERRIDE">
<description>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.</description>
<fieldtype="uint16_t"name="chan1_raw"units="us">RC channel 1 value. A value of UINT16_MAX means to ignore this field.</field>
<fieldtype="uint16_t"name="chan2_raw"units="us">RC channel 2 value. A value of UINT16_MAX means to ignore this field.</field>
<fieldtype="uint16_t"name="chan3_raw"units="us">RC channel 3 value. A value of UINT16_MAX means to ignore this field.</field>
<fieldtype="uint16_t"name="chan4_raw"units="us">RC channel 4 value. A value of UINT16_MAX means to ignore this field.</field>
<fieldtype="uint16_t"name="chan5_raw"units="us">RC channel 5 value. A value of UINT16_MAX means to ignore this field.</field>
<fieldtype="uint16_t"name="chan6_raw"units="us">RC channel 6 value. A value of UINT16_MAX means to ignore this field.</field>
<fieldtype="uint16_t"name="chan7_raw"units="us">RC channel 7 value. A value of UINT16_MAX means to ignore this field.</field>
<fieldtype="uint16_t"name="chan8_raw"units="us">RC channel 8 value. A value of UINT16_MAX means to ignore this field.</field>
<extensions/>
<fieldtype="uint16_t"name="chan9_raw"units="us">RC channel 9 value. A value of 0 or UINT16_MAX means to ignore this field.</field>
<fieldtype="uint16_t"name="chan10_raw"units="us">RC channel 10 value. A value of 0 or UINT16_MAX means to ignore this field.</field>
<fieldtype="uint16_t"name="chan11_raw"units="us">RC channel 11 value. A value of 0 or UINT16_MAX means to ignore this field.</field>
<fieldtype="uint16_t"name="chan12_raw"units="us">RC channel 12 value. A value of 0 or UINT16_MAX means to ignore this field.</field>
<fieldtype="uint16_t"name="chan13_raw"units="us">RC channel 13 value. A value of 0 or UINT16_MAX means to ignore this field.</field>
<fieldtype="uint16_t"name="chan14_raw"units="us">RC channel 14 value. A value of 0 or UINT16_MAX means to ignore this field.</field>
<fieldtype="uint16_t"name="chan15_raw"units="us">RC channel 15 value. A value of 0 or UINT16_MAX means to ignore this field.</field>
<fieldtype="uint16_t"name="chan16_raw"units="us">RC channel 16 value. A value of 0 or UINT16_MAX means to ignore this field.</field>
<fieldtype="uint16_t"name="chan17_raw"units="us">RC channel 17 value. A value of 0 or UINT16_MAX means to ignore this field.</field>
<fieldtype="uint16_t"name="chan18_raw"units="us">RC channel 18 value. A value of 0 or UINT16_MAX means to ignore this field.</field>
</message>
<messageid="73"name="MISSION_ITEM_INT">
<description>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). NaN or INT32_MAX may be used in float/integer params (respectively) to indicate optional/default values (e.g. to use the component's current latitude, yaw rather than a specific value). See also https://mavlink.io/en/services/mission.html.</description>
<fieldtype="uint16_t"name="seq">Waypoint ID (sequence number). Starts at zero. Increases monotonically for each waypoint, no gaps in the sequence (0,1,2,3,4).</field>
<fieldtype="uint8_t"name="frame"enum="MAV_FRAME">The coordinate system of the waypoint.</field>
<fieldtype="uint16_t"name="command"enum="MAV_CMD">The scheduled action for the waypoint.</field>
<description>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</description>
<fieldtype="uint8_t"name="autocontinue">autocontinue to next wp</field>
<fieldtype="float"name="param1">PARAM1, see MAV_CMD enum</field>
<fieldtype="float"name="param2">PARAM2, see MAV_CMD enum</field>
<fieldtype="float"name="param3">PARAM3, see MAV_CMD enum</field>
<fieldtype="float"name="param4">PARAM4, see MAV_CMD enum</field>
<fieldtype="int32_t"name="x">PARAM5 / local: x position in meters * 1e4, global: latitude in degrees * 10^7</field>
<fieldtype="int32_t"name="y">PARAM6 / local: y position in meters * 1e4, global: longitude in degrees * 10^7</field>
<fieldtype="float"name="z">PARAM7 / z position: global: altitude in meters (relative or absolute, depending on frame).</field>
</message>
<messageid="76"name="COMMAND_LONG">
<description>Send a command with up to seven parameters to the MAV. The command microservice is documented at https://mavlink.io/en/services/command.html</description>
<fieldtype="uint8_t"name="target_system">System which should execute the command</field>
<fieldtype="uint8_t"name="target_component">Component which should execute the command, 0 for all components</field>
<fieldtype="uint16_t"name="command"enum="MAV_CMD">Command ID (of command to send).</field>
<fieldtype="uint8_t"name="confirmation">0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)</field>
<fieldtype="float"name="param1">Parameter 1 (for the specific command).</field>
<fieldtype="float"name="param2">Parameter 2 (for the specific command).</field>
<fieldtype="float"name="param3">Parameter 3 (for the specific command).</field>
<fieldtype="float"name="param4">Parameter 4 (for the specific command).</field>
<fieldtype="float"name="param5">Parameter 5 (for the specific command).</field>
<fieldtype="float"name="param6">Parameter 6 (for the specific command).</field>
<fieldtype="float"name="param7">Parameter 7 (for the specific command).</field>
</message>
<messageid="77"name="COMMAND_ACK">
<description>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</description>
<fieldtype="uint16_t"name="command"enum="MAV_CMD">Command ID (of acknowledged command).</field>
<fieldtype="uint8_t"name="result"enum="MAV_RESULT">Result of command.</field>
<extensions/>
<fieldtype="uint8_t"name="progress">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.</field>
<fieldtype="int32_t"name="result_param2">WIP: Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied.</field>
<fieldtype="uint8_t"name="target_system">WIP: System which requested the command to be executed</field>
<fieldtype="uint8_t"name="target_component">WIP: Component which requested the command to be executed</field>
</message>
<messageid="81"name="MANUAL_SETPOINT">
<description>Setpoint in roll, pitch, yaw and thrust from the operator</description>
<fieldtype="uint32_t"name="time_boot_ms"units="ms">Timestamp (time since system boot).</field>
<fieldtype="float"name="roll"units="rad/s">Desired roll rate</field>
<fieldtype="uint8_t"name="type_mask">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</field>
<fieldtype="float[4]"name="q">Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)</field>
<fieldtype="float"name="body_roll_rate"units="rad/s">Body roll rate</field>
<fieldtype="float"name="thrust">Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)</field>
</message>
<messageid="83"name="ATTITUDE_TARGET">
<description>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.</description>
<fieldtype="uint32_t"name="time_boot_ms"units="ms">Timestamp (time since system boot).</field>
<fieldtype="uint8_t"name="type_mask"display="bitmask">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</field>
<fieldtype="float[4]"name="q">Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)</field>
<fieldtype="float"name="body_roll_rate"units="rad/s">Body roll rate</field>
<description>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).</description>
<fieldtype="uint32_t"name="time_boot_ms"units="ms">Timestamp (time since system boot).</field>
<fieldtype="uint16_t"name="type_mask"enum="POSITION_TARGET_TYPEMASK"display="bitmask">Bitmap to indicate which dimensions should be ignored by the vehicle.</field>
<fieldtype="float"name="x"units="m">X Position in NED frame</field>
<fieldtype="float"name="y"units="m">Y Position in NED frame</field>
<fieldtype="float"name="z"units="m">Z Position in NED frame (note, altitude is negative in NED)</field>
<fieldtype="float"name="vx"units="m/s">X velocity in NED frame</field>
<fieldtype="float"name="vy"units="m/s">Y velocity in NED frame</field>
<fieldtype="float"name="vz"units="m/s">Z velocity in NED frame</field>
<fieldtype="float"name="afx"units="m/s/s">X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N</field>
<fieldtype="float"name="afy"units="m/s/s">Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N</field>
<fieldtype="float"name="afz"units="m/s/s">Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N</field>
<description>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.</description>
<fieldtype="uint32_t"name="time_boot_ms"units="ms">Timestamp (time since system boot).</field>
<fieldtype="uint16_t"name="type_mask"enum="POSITION_TARGET_TYPEMASK"display="bitmask">Bitmap to indicate which dimensions should be ignored by the vehicle.</field>
<fieldtype="float"name="x"units="m">X Position in NED frame</field>
<fieldtype="float"name="y"units="m">Y Position in NED frame</field>
<fieldtype="float"name="z"units="m">Z Position in NED frame (note, altitude is negative in NED)</field>
<fieldtype="float"name="vx"units="m/s">X velocity in NED frame</field>
<fieldtype="float"name="vy"units="m/s">Y velocity in NED frame</field>
<fieldtype="float"name="vz"units="m/s">Z velocity in NED frame</field>
<fieldtype="float"name="afx"units="m/s/s">X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N</field>
<fieldtype="float"name="afy"units="m/s/s">Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N</field>
<fieldtype="float"name="afz"units="m/s/s">Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N</field>
<description>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).</description>
<fieldtype="uint32_t"name="time_boot_ms"units="ms">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.</field>
<fieldtype="uint16_t"name="type_mask"enum="POSITION_TARGET_TYPEMASK"display="bitmask">Bitmap to indicate which dimensions should be ignored by the vehicle.</field>
<fieldtype="int32_t"name="lat_int"units="degE7">X Position in WGS84 frame</field>
<fieldtype="int32_t"name="lon_int"units="degE7">Y Position in WGS84 frame</field>
<fieldtype="float"name="alt"units="m">Altitude (MSL, Relative to home, or AGL - depending on frame)</field>
<fieldtype="float"name="vx"units="m/s">X velocity in NED frame</field>
<fieldtype="float"name="vy"units="m/s">Y velocity in NED frame</field>
<fieldtype="float"name="vz"units="m/s">Z velocity in NED frame</field>
<fieldtype="float"name="afx"units="m/s/s">X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N</field>
<fieldtype="float"name="afy"units="m/s/s">Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N</field>
<fieldtype="float"name="afz"units="m/s/s">Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N</field>
<description>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.</description>
<fieldtype="uint32_t"name="time_boot_ms"units="ms">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.</field>
<fieldtype="uint16_t"name="type_mask"enum="POSITION_TARGET_TYPEMASK"display="bitmask">Bitmap to indicate which dimensions should be ignored by the vehicle.</field>
<fieldtype="int32_t"name="lat_int"units="degE7">X Position in WGS84 frame</field>
<fieldtype="int32_t"name="lon_int"units="degE7">Y Position in WGS84 frame</field>
<fieldtype="float"name="alt"units="m">Altitude (MSL, AGL or relative to home altitude, depending on frame)</field>
<fieldtype="float"name="vx"units="m/s">X velocity in NED frame</field>
<fieldtype="float"name="vy"units="m/s">Y velocity in NED frame</field>
<fieldtype="float"name="vz"units="m/s">Z velocity in NED frame</field>
<fieldtype="float"name="afx"units="m/s/s">X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N</field>
<fieldtype="float"name="afy"units="m/s/s">Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N</field>
<fieldtype="float"name="afz"units="m/s/s">Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N</field>
<description>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)</description>
<fieldtype="uint32_t"name="time_boot_ms"units="ms">Timestamp (time since system boot).</field>
<deprecatedsince="2013-07"replaced_by="HIL_STATE_QUATERNION">Suffers from missing airspeed fields and singularities due to Euler angles</deprecated>
<description>Sent from simulation to autopilot. This packet is useful for high throughput applications such as hardware in the loop simulations.</description>
<fieldtype="uint64_t"name="time_usec"units="us">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 of the number.</field>
<description>Sent from autopilot to simulation. Hardware in the loop control outputs</description>
<fieldtype="uint64_t"name="time_usec"units="us">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 of the number.</field>
<description>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.</description>
<fieldtype="uint64_t"name="time_usec"units="us">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 of the number.</field>
<fieldtype="uint8_t"name="rssi">Receive signal strength indicator in device-dependent units/scale. Values: [0-254], 255: invalid/unknown.</field>
</message>
<messageid="93"name="HIL_ACTUATOR_CONTROLS">
<description>Sent from autopilot to simulation. Hardware in the loop control outputs (replacement for HIL_CONTROLS)</description>
<fieldtype="uint64_t"name="time_usec"units="us">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 of the number.</field>
<fieldtype="float[16]"name="controls">Control outputs -1 .. 1. Channel assignment depends on the simulated hardware.</field>
<fieldtype="uint8_t"name="mode"enum="MAV_MODE_FLAG"display="bitmask">System mode. Includes arming state.</field>
<fieldtype="uint64_t"name="flags"display="bitmask">Flags as bitfield, 1: indicate simulation using lockstep.</field>
</message>
<messageid="100"name="OPTICAL_FLOW">
<description>Optical flow from a flow sensor (e.g. optical mouse sensor)</description>
<fieldtype="uint64_t"name="time_usec"units="us">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 of the number.</field>
<fieldtype="float[21]"name="covariance">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.</field>
<fieldtype="uint8_t"name="reset_counter">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.</field>
</message>
<messageid="102"name="VISION_POSITION_ESTIMATE">
<description>Local position/attitude estimate from a vision source.</description>
<fieldtype="uint64_t"name="usec"units="us">Timestamp (UNIX time or time since system boot)</field>
<fieldtype="float"name="x"units="m">Local X position</field>
<fieldtype="float"name="y"units="m">Local Y position</field>
<fieldtype="float"name="z"units="m">Local Z position</field>
<fieldtype="float[21]"name="covariance">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.</field>
<fieldtype="uint8_t"name="reset_counter">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.</field>
</message>
<messageid="103"name="VISION_SPEED_ESTIMATE">
<description>Speed estimate from a vision source.</description>
<fieldtype="uint64_t"name="usec"units="us">Timestamp (UNIX time or time since system boot)</field>
<fieldtype="float"name="x"units="m/s">Global X speed</field>
<fieldtype="float"name="y"units="m/s">Global Y speed</field>
<fieldtype="float"name="z"units="m/s">Global Z speed</field>
<extensions/>
<fieldtype="float[9]"name="covariance">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.</field>
<fieldtype="uint8_t"name="reset_counter">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.</field>
</message>
<messageid="104"name="VICON_POSITION_ESTIMATE">
<description>Global position estimate from a Vicon motion system source.</description>
<fieldtype="uint64_t"name="usec"units="us">Timestamp (UNIX time or time since system boot)</field>
<fieldtype="float"name="x"units="m">Global X position</field>
<fieldtype="float"name="y"units="m">Global Y position</field>
<fieldtype="float"name="z"units="m">Global Z position</field>
<fieldtype="float[21]"name="covariance">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.</field>
</message>
<messageid="105"name="HIGHRES_IMU">
<description>The IMU readings in SI units in NED body frame</description>
<fieldtype="uint64_t"name="time_usec"units="us">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 of the number.</field>
<fieldtype="uint16_t"name="fields_updated"display="bitmask">Bitmap for fields that have updated since last message, bit 0 = xacc, bit 12: temperature</field>
<extensions/>
<fieldtype="uint8_t"name="id">Id. Ids are numbered from 0 and map to IMUs numbered from 1 (e.g. IMU1 will have a message with id=0)</field>
</message>
<messageid="106"name="OPTICAL_FLOW_RAD">
<description>Optical flow from an angular rate flow sensor (e.g. PX4FLOW or mouse sensor)</description>
<fieldtype="uint64_t"name="time_usec"units="us">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 of the number.</field>
<fieldtype="uint32_t"name="integration_time_us"units="us">Integration time. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the.</field>
<fieldtype="float"name="integrated_x"units="rad">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.)</field>
<fieldtype="float"name="integrated_y"units="rad">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.)</field>
<fieldtype="float"name="integrated_xgyro"units="rad">RH rotation around X axis</field>
<fieldtype="float"name="integrated_ygyro"units="rad">RH rotation around Y axis</field>
<fieldtype="float"name="integrated_zgyro"units="rad">RH rotation around Z axis</field>
<fieldtype="uint8_t"name="quality">Optical flow quality / confidence. 0: no valid flow, 255: maximum quality</field>
<fieldtype="uint32_t"name="time_delta_distance_us"units="us">Time since the distance was sampled.</field>
<fieldtype="float"name="distance"units="m">Distance to the center of the flow field. Positive value (including zero): distance known. Negative value: Unknown distance.</field>
</message>
<messageid="107"name="HIL_SENSOR">
<description>The IMU readings in SI units in NED body frame</description>
<fieldtype="uint64_t"name="time_usec"units="us">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 of the number.</field>
<fieldtype="uint32_t"name="fields_updated"display="bitmask">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.</field>
</message>
<messageid="108"name="SIM_STATE">
<description>Status of simulation environment, if used</description>
<fieldtype="float"name="q1">True attitude quaternion component 1, w (1 in null-rotation)</field>
<fieldtype="float"name="q2">True attitude quaternion component 2, x (0 in null-rotation)</field>
<fieldtype="float"name="q3">True attitude quaternion component 3, y (0 in null-rotation)</field>
<fieldtype="float"name="q4">True attitude quaternion component 4, z (0 in null-rotation)</field>
<fieldtype="float"name="roll">Attitude roll expressed as Euler angles, not recommended except for human-readable outputs</field>
<fieldtype="float"name="pitch">Attitude pitch expressed as Euler angles, not recommended except for human-readable outputs</field>
<fieldtype="float"name="yaw">Attitude yaw expressed as Euler angles, not recommended except for human-readable outputs</field>
<fieldtype="uint8_t"name="noise">Local background noise level. These are device dependent RSSI values (scale as approx 2x dB on SiK radios). Values: [0-254], 255: invalid/unknown.</field>
<fieldtype="uint8_t"name="remnoise">Remote background noise level. These are device dependent RSSI values (scale as approx 2x dB on SiK radios). Values: [0-254], 255: invalid/unknown.</field>
<fieldtype="uint16_t"name="rxerrors">Count of radio packet receive errors (since boot).</field>
<fieldtype="uint16_t"name="fixed">Count of error corrected radio packets (since boot).</field>
</message>
<messageid="110"name="FILE_TRANSFER_PROTOCOL">
<description>File transfer message</description>
<fieldtype="uint8_t"name="target_network">Network ID (0 for broadcast)</field>
<fieldtype="uint8_t"name="target_system">System ID (0 for broadcast)</field>
<fieldtype="uint8_t"name="target_component">Component ID (0 for broadcast)</field>
<fieldtype="uint8_t[251]"name="payload">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.</field>
<description>Camera-IMU triggering and synchronisation message.</description>
<fieldtype="uint64_t"name="time_usec"units="us">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 of the number.</field>
<description>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.</description>
<fieldtype="uint64_t"name="time_usec"units="us">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 of the number.</field>
<fieldtype="uint8_t"name="fix_type">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.</field>
<fieldtype="int32_t"name="alt"units="mm">Altitude (MSL). Positive for up.</field>
<fieldtype="uint16_t"name="eph"units="cm">GPS HDOP horizontal dilution of position. If unknown, set to: 65535</field>
<fieldtype="uint16_t"name="epv"units="cm">GPS VDOP vertical dilution of position. If unknown, set to: 65535</field>
<fieldtype="uint16_t"name="vel"units="cm/s">GPS ground speed. If unknown, set to: 65535</field>
<fieldtype="int16_t"name="vn"units="cm/s">GPS velocity in north direction in earth-fixed NED frame</field>
<fieldtype="int16_t"name="ve"units="cm/s">GPS velocity in east direction in earth-fixed NED frame</field>
<fieldtype="int16_t"name="vd"units="cm/s">GPS velocity in down direction in earth-fixed NED frame</field>
<fieldtype="uint16_t"name="cog"units="cdeg">Course over ground (NOT heading, but direction of movement), 0.0..359.99 degrees. If unknown, set to: 65535</field>
<fieldtype="uint8_t"name="satellites_visible">Number of satellites visible. If unknown, set to 255</field>
</message>
<messageid="114"name="HIL_OPTICAL_FLOW">
<description>Simulated optical flow from a flow sensor (e.g. PX4FLOW or optical mouse sensor)</description>
<fieldtype="uint64_t"name="time_usec"units="us">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 of the number.</field>
<fieldtype="uint32_t"name="integration_time_us"units="us">Integration time. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the.</field>
<fieldtype="float"name="integrated_x"units="rad">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.)</field>
<fieldtype="float"name="integrated_y"units="rad">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.)</field>
<fieldtype="float"name="integrated_xgyro"units="rad">RH rotation around X axis</field>
<fieldtype="float"name="integrated_ygyro"units="rad">RH rotation around Y axis</field>
<fieldtype="float"name="integrated_zgyro"units="rad">RH rotation around Z axis</field>
<fieldtype="uint8_t"name="quality">Optical flow quality / confidence. 0: no valid flow, 255: maximum quality</field>
<fieldtype="uint32_t"name="time_delta_distance_us"units="us">Time since the distance was sampled.</field>
<fieldtype="float"name="distance"units="m">Distance to the center of the flow field. Positive value (including zero): distance known. Negative value: Unknown distance.</field>
</message>
<messageid="115"name="HIL_STATE_QUATERNION">
<description>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.</description>
<fieldtype="uint64_t"name="time_usec"units="us">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 of the number.</field>
<fieldtype="float[4]"name="attitude_quaternion">Vehicle attitude expressed as normalized quaternion in w, x, y, z order (with 1 0 0 0 being the null-rotation)</field>
<fieldtype="float"name="rollspeed"units="rad/s">Body frame roll / phi angular speed</field>
<fieldtype="int16_t"name="xgyro"units="mrad/s">Angular speed around X axis</field>
<fieldtype="int16_t"name="ygyro"units="mrad/s">Angular speed around Y axis</field>
<fieldtype="int16_t"name="zgyro"units="mrad/s">Angular speed around Z axis</field>
<fieldtype="int16_t"name="xmag"units="mgauss">X Magnetic field</field>
<fieldtype="int16_t"name="ymag"units="mgauss">Y Magnetic field</field>
<fieldtype="int16_t"name="zmag"units="mgauss">Z Magnetic field</field>
<extensions/>
<fieldtype="int16_t"name="temperature"units="cdegC">Temperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).</field>
</message>
<messageid="117"name="LOG_REQUEST_LIST">
<description>Request a list of available logs. On some systems calling this may stop on-board logging until LOG_REQUEST_END is called.</description>
<fieldtype="uint8_t[110]"name="data">Raw data (110 is enough for 12 satellites of RTCMv2)</field>
</message>
<messageid="124"name="GPS2_RAW">
<description>Second GPS data.</description>
<fieldtype="uint64_t"name="time_usec"units="us">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 of the number.</field>
<fieldtype="int32_t"name="alt"units="mm">Altitude (MSL). Positive for up.</field>
<fieldtype="uint16_t"name="eph"units="cm">GPS HDOP horizontal dilution of position. If unknown, set to: UINT16_MAX</field>
<fieldtype="uint16_t"name="epv"units="cm">GPS VDOP vertical dilution of position. If unknown, set to: UINT16_MAX</field>
<fieldtype="uint16_t"name="vel"units="cm/s">GPS ground speed. If unknown, set to: UINT16_MAX</field>
<fieldtype="uint16_t"name="cog"units="cdeg">Course over ground (NOT heading, but direction of movement): 0.0..359.99 degrees. If unknown, set to: UINT16_MAX</field>
<fieldtype="uint8_t"name="satellites_visible">Number of satellites visible. If unknown, set to 255</field>
<fieldtype="uint8_t"name="dgps_numch">Number of DGPS satellites</field>
<fieldtype="uint32_t"name="dgps_age"units="ms">Age of DGPS info</field>
<extensions/>
<fieldtype="uint16_t"name="yaw"units="cdeg">Yaw in earth frame from north. Use 0 if this GPS does not provide yaw. Use 65535 if this GPS is configured to provide yaw and is currently unable to provide it. Use 36000 for north.</field>
<fieldtype="uint16_t"name="flags"enum="MAV_POWER_STATUS"display="bitmask">Bitmap of power supply status flags.</field>
</message>
<messageid="126"name="SERIAL_CONTROL">
<description>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.</description>
<fieldtype="uint8_t"name="device"enum="SERIAL_CONTROL_DEV">Serial control device type.</field>
<fieldtype="uint8_t"name="flags"enum="SERIAL_CONTROL_FLAG"display="bitmask">Bitmap of serial control flags.</field>
<fieldtype="uint16_t"name="timeout"units="ms">Timeout for reply data</field>
<fieldtype="uint32_t"name="baudrate"units="bits/s">Baudrate of transfer. Zero means no change.</field>
<fieldtype="uint8_t"name="count"units="bytes">how many bytes in this transfer</field>
<fieldtype="int16_t"name="xgyro"units="mrad/s">Angular speed around X axis</field>
<fieldtype="int16_t"name="ygyro"units="mrad/s">Angular speed around Y axis</field>
<fieldtype="int16_t"name="zgyro"units="mrad/s">Angular speed around Z axis</field>
<fieldtype="int16_t"name="xmag"units="mgauss">X Magnetic field</field>
<fieldtype="int16_t"name="ymag"units="mgauss">Y Magnetic field</field>
<fieldtype="int16_t"name="zmag"units="mgauss">Z Magnetic field</field>
<extensions/>
<fieldtype="int16_t"name="temperature"units="cdegC">Temperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).</field>
<description>Handshake message to initiate, control and stop image streaming when using the Image Transmission Protocol: https://mavlink.io/en/services/image_transmission.html.</description>
<fieldtype="uint8_t"name="type"enum="MAVLINK_DATA_STREAM_TYPE">Type of requested/acknowledged data.</field>
<fieldtype="uint32_t"name="size"units="bytes">total data size (set on ACK only).</field>
<fieldtype="uint16_t"name="width">Width of a matrix or image.</field>
<fieldtype="uint16_t"name="height">Height of a matrix or image.</field>
<fieldtype="uint16_t"name="packets">Number of packets being sent (set on ACK only).</field>
<fieldtype="uint8_t"name="payload"units="bytes">Payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only).</field>
<fieldtype="uint8_t"name="covariance"units="cm^2">Measurement variance. Max standard deviation is 6cm. 255 if unknown.</field>
<extensions/>
<fieldtype="float"name="horizontal_fov"units="rad">Horizontal Field of View (angle) where the distance measurement is valid and the field of view is known. Otherwise this is set to 0.</field>
<fieldtype="float"name="vertical_fov"units="rad">Vertical Field of View (angle) where the distance measurement is valid and the field of view is known. Otherwise this is set to 0.</field>
<fieldtype="float[4]"name="quaternion">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."</field>
</message>
<messageid="133"name="TERRAIN_REQUEST">
<description>Request for terrain data and terrain status</description>
<fieldtype="int32_t"name="lat"units="degE7">Latitude of SW corner of first grid</field>
<fieldtype="int32_t"name="lon"units="degE7">Longitude of SW corner of first grid</field>
<fieldtype="uint8_t"name="gridbit">bit within the terrain request mask</field>
<fieldtype="int16_t[16]"name="data"units="m">Terrain data MSL</field>
</message>
<messageid="135"name="TERRAIN_CHECK">
<description>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.</description>
<description>Motion capture attitude and position</description>
<fieldtype="uint64_t"name="time_usec"units="us">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 of the number.</field>
<fieldtype="float[4]"name="q">Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)</field>
<fieldtype="float"name="x"units="m">X position (NED)</field>
<fieldtype="float"name="y"units="m">Y position (NED)</field>
<fieldtype="float"name="z"units="m">Z position (NED)</field>
<extensions/>
<fieldtype="float[21]"name="covariance">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.</field>
<description>Set the vehicle attitude and body angular rates.</description>
<fieldtype="uint64_t"name="time_usec"units="us">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 of the number.</field>
<fieldtype="uint8_t"name="group_mlx">Actuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.</field>
<fieldtype="float[8]"name="controls">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.</field>
</message>
<messageid="140"name="ACTUATOR_CONTROL_TARGET">
<description>Set the vehicle attitude and body angular rates.</description>
<fieldtype="uint64_t"name="time_usec"units="us">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 of the number.</field>
<fieldtype="uint8_t"name="group_mlx">Actuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.</field>
<fieldtype="float[8]"name="controls">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.</field>
</message>
<messageid="141"name="ALTITUDE">
<description>The current system altitude.</description>
<fieldtype="uint64_t"name="time_usec"units="us">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 of the number.</field>
<fieldtype="float"name="altitude_monotonic"units="m">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.</field>
<fieldtype="float"name="altitude_amsl"units="m">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.</field>
<fieldtype="float"name="altitude_local"units="m">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.</field>
<fieldtype="float"name="altitude_relative"units="m">This is the altitude above the home position. It resets on each change of the current home position.</field>
<fieldtype="float"name="altitude_terrain"units="m">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.</field>
<fieldtype="float"name="bottom_clearance"units="m">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.</field>
</message>
<messageid="142"name="RESOURCE_REQUEST">
<description>The autopilot is requesting a resource (file, binary, other type of data)</description>
<fieldtype="uint8_t"name="request_id">Request ID. This ID should be re-used when sending back URI contents</field>
<fieldtype="uint8_t"name="uri_type">The type of requested URI. 0 = a file via URL. 1 = a UAVCAN binary</field>
<fieldtype="uint8_t[120]"name="uri">The requested unique resource identifier (URI). It is not necessarily a straight domain name (depends on the URI type enum)</field>
<fieldtype="uint8_t"name="transfer_type">The way the autopilot wants to receive the URI. 0 = MAVLink FTP. 1 = binary stream.</field>
<fieldtype="uint8_t[120]"name="storage">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).</field>
</message>
<messageid="143"name="SCALED_PRESSURE3">
<description>Barometer readings for 3rd barometer</description>
<fieldtype="uint32_t"name="time_boot_ms"units="ms">Timestamp (time since system boot).</field>
<fieldtype="uint64_t"name="custom_state">button states or switches of a tracker device</field>
</message>
<messageid="146"name="CONTROL_SYSTEM_STATE">
<description>The smoothed, monotonic system state used to feed the control loops of the system.</description>
<fieldtype="uint64_t"name="time_usec"units="us">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 of the number.</field>
<fieldtype="float"name="x_acc"units="m/s/s">X acceleration in body frame</field>
<fieldtype="float"name="y_acc"units="m/s/s">Y acceleration in body frame</field>
<fieldtype="float"name="z_acc"units="m/s/s">Z acceleration in body frame</field>
<fieldtype="float"name="x_vel"units="m/s">X velocity in body frame</field>
<fieldtype="float"name="y_vel"units="m/s">Y velocity in body frame</field>
<fieldtype="float"name="z_vel"units="m/s">Z velocity in body frame</field>
<fieldtype="float"name="x_pos"units="m">X position in local frame</field>
<fieldtype="float"name="y_pos"units="m">Y position in local frame</field>
<fieldtype="float"name="z_pos"units="m">Z position in local frame</field>
<fieldtype="float"name="airspeed"units="m/s">Airspeed, set to -1 if unknown</field>
<fieldtype="float[3]"name="vel_variance">Variance of body velocity estimate</field>
<fieldtype="float[3]"name="pos_variance">Variance in local position</field>
<fieldtype="float[4]"name="q">The attitude, represented as Quaternion</field>
<fieldtype="float"name="roll_rate"units="rad/s">Angular rate in roll axis</field>
<fieldtype="float"name="pitch_rate"units="rad/s">Angular rate in pitch axis</field>
<fieldtype="float"name="yaw_rate"units="rad/s">Angular rate in yaw axis</field>
</message>
<messageid="147"name="BATTERY_STATUS">
<description>Battery information. Updates GCS with flight controller battery status. Use SMART_BATTERY_* messages instead for smart batteries.</description>
<fieldtype="uint8_t"name="id">Battery ID</field>
<fieldtype="uint8_t"name="battery_function"enum="MAV_BATTERY_FUNCTION">Function of the battery</field>
<fieldtype="uint8_t"name="type"enum="MAV_BATTERY_TYPE">Type (chemistry) of the battery</field>
<fieldtype="int16_t"name="temperature"units="cdegC">Temperature of the battery. INT16_MAX for unknown temperature.</field>
<fieldtype="uint16_t[10]"name="voltages"units="mV">Battery voltage of cells. Cells above the valid cell count for this battery should have the UINT16_MAX value. If individual cell voltages are unknown or not measured for this battery, then the overall battery voltage should be filled in cell 0, with all others set to UINT16_MAX. If the voltage of the battery is greater than (UINT16_MAX - 1), then cell 0 should be set to (UINT16_MAX - 1), and cell 1 to the remaining voltage. This can be extended to multiple cells if the total voltage is greater than 2 * (UINT16_MAX - 1).</field>
<fieldtype="int16_t"name="current_battery"units="cA">Battery current, -1: autopilot does not measure the current</field>
<fieldtype="int32_t"name="current_consumed"units="mAh">Consumed charge, -1: autopilot does not provide consumption estimate</field>
<fieldtype="int32_t"name="energy_consumed"units="hJ">Consumed energy, -1: autopilot does not provide energy consumption estimate</field>
<fieldtype="int8_t"name="battery_remaining"units="%">Remaining battery energy. Values: [0-100], -1: autopilot does not estimate the remaining battery.</field>
<extensions/>
<fieldtype="int32_t"name="time_remaining"units="s">Remaining battery time, 0: autopilot does not provide remaining battery time estimate</field>
<fieldtype="uint8_t"name="charge_state"enum="MAV_BATTERY_CHARGE_STATE">State for extent of discharge, provided by autopilot for warning or external reactions</field>
</message>
<messageid="148"name="AUTOPILOT_VERSION">
<description>Version and capability of autopilot software. This should be emitted in response to a MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES command.</description>
<fieldtype="uint64_t"name="capabilities"enum="MAV_PROTOCOL_CAPABILITY"display="bitmask">Bitmap of capabilities</field>
<fieldtype="uint32_t"name="flight_sw_version">Firmware version number</field>
<fieldtype="uint32_t"name="middleware_sw_version">Middleware version number</field>
<fieldtype="uint32_t"name="os_sw_version">Operating system version number</field>
<fieldtype="uint32_t"name="board_version">HW / board version (last 8 bytes should be silicon ID, if any)</field>
<fieldtype="uint8_t[8]"name="flight_custom_version">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.</field>
<fieldtype="uint8_t[8]"name="middleware_custom_version">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.</field>
<fieldtype="uint8_t[8]"name="os_custom_version">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.</field>
<fieldtype="uint16_t"name="vendor_id">ID of the board vendor</field>
<fieldtype="uint16_t"name="product_id">ID of the product</field>
<fieldtype="uint64_t"name="uid">UID if provided by hardware (see uid2)</field>
<extensions/>
<fieldtype="uint8_t[18]"name="uid2">UID if provided by hardware (supersedes the uid field. If this is non-zero, use this field, otherwise use uid)</field>
</message>
<messageid="149"name="LANDING_TARGET">
<description>The location of a landing target. See: https://mavlink.io/en/services/landing_target.html</description>
<fieldtype="uint64_t"name="time_usec"units="us">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 of the number.</field>
<fieldtype="uint8_t"name="target_num">The ID of the target if multiple targets are present</field>
<fieldtype="uint8_t"name="frame"enum="MAV_FRAME">Coordinate frame used for following fields.</field>
<fieldtype="float"name="angle_x"units="rad">X-axis angular offset of the target from the center of the image</field>
<fieldtype="float"name="angle_y"units="rad">Y-axis angular offset of the target from the center of the image</field>
<fieldtype="float"name="distance"units="m">Distance to the target from the vehicle</field>
<fieldtype="float"name="size_x"units="rad">Size of target along x-axis</field>
<fieldtype="float"name="size_y"units="rad">Size of target along y-axis</field>
<extensions/>
<fieldtype="float"name="x"units="m">X Position of the landing target in MAV_FRAME</field>
<fieldtype="float"name="y"units="m">Y Position of the landing target in MAV_FRAME</field>
<fieldtype="float"name="z"units="m">Z Position of the landing target in MAV_FRAME</field>
<fieldtype="float[4]"name="q">Quaternion of landing target orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0)</field>
<fieldtype="uint8_t"name="type"enum="LANDING_TARGET_TYPE">Type of landing target</field>
<fieldtype="uint8_t"name="position_valid">Boolean indicating whether the position fields (x, y, z, q, type) contain valid target position information (valid: 1, invalid: 0). Default is 0 (invalid).</field>
</message>
<!-- imported from ardupilotmega.xml (2019) -->
<messageid="162"name="FENCE_STATUS">
<description>Status of geo-fencing. Sent in extended status stream when fencing enabled.</description>
<fieldtype="uint8_t"name="breach_status">Breach status (0 if currently inside fence, 1 if outside).</field>
<fieldtype="uint16_t"name="breach_count">Number of fence breaches.</field>
<fieldtype="uint32_t"name="breach_time"units="ms">Time (since boot) of last breach.</field>
<extensions/>
<fieldtype="uint8_t"name="breach_mitigation"enum="FENCE_MITIGATE">Active action to prevent fence breach</field>
</message>
<!-- MESSAGE IDs 180 - 229: Space for custom messages in individual projectname_messages.xml files -->
<messageid="230"name="ESTIMATOR_STATUS">
<description>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.</description>
<fieldtype="uint64_t"name="time_usec"units="us">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 of the number.</field>
<fieldtype="uint16_t"name="flags"enum="ESTIMATOR_STATUS_FLAGS"display="bitmask">Bitmap indicating which EKF outputs are valid.</field>
<fieldtype="float"name="vel_ratio">Velocity innovation test ratio</field>
<fieldtype="float"name="pos_horiz_ratio">Horizontal position innovation test ratio</field>
<fieldtype="float"name="pos_vert_ratio">Vertical position innovation test ratio</field>
<fieldtype="float"name="mag_ratio">Magnetometer innovation test ratio</field>
<fieldtype="float"name="hagl_ratio">Height above terrain innovation test ratio</field>
<fieldtype="float"name="tas_ratio">True airspeed innovation test ratio</field>
<fieldtype="float"name="pos_horiz_accuracy"units="m">Horizontal position 1-STD accuracy relative to the EKF local origin</field>
<fieldtype="float"name="pos_vert_accuracy"units="m">Vertical position 1-STD accuracy relative to the EKF local origin</field>
</message>
<messageid="231"name="WIND_COV">
<description>Wind covariance estimate from vehicle.</description>
<fieldtype="uint64_t"name="time_usec"units="us">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 of the number.</field>
<fieldtype="float"name="wind_x"units="m/s">Wind in X (NED) direction</field>
<fieldtype="float"name="wind_y"units="m/s">Wind in Y (NED) direction</field>
<fieldtype="float"name="wind_z"units="m/s">Wind in Z (NED) direction</field>
<fieldtype="float"name="var_horiz"units="m/s">Variability of the wind in XY. RMS of a 1 Hz lowpassed wind estimate.</field>
<fieldtype="float"name="var_vert"units="m/s">Variability of the wind in Z. RMS of a 1 Hz lowpassed wind estimate.</field>
<fieldtype="float"name="wind_alt"units="m">Altitude (MSL) that this measurement was taken at</field>
<description>GPS sensor input message. This is a raw sensor value sent by the GPS. This is NOT the global position estimate of the system.</description>
<fieldtype="uint64_t"name="time_usec"units="us">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 of the number.</field>
<fieldtype="uint8_t"name="gps_id">ID of the GPS for multiple GPS inputs</field>
<fieldtype="uint16_t"name="ignore_flags"enum="GPS_INPUT_IGNORE_FLAGS"display="bitmask">Bitmap indicating which GPS input flags fields to ignore. All other fields must be provided.</field>
<fieldtype="uint32_t"name="time_week_ms"units="ms">GPS time (from start of GPS week)</field>
<fieldtype="uint8_t"name="satellites_visible">Number of satellites visible.</field>
<extensions/>
<fieldtype="uint16_t"name="yaw"units="cdeg">Yaw of vehicle relative to Earth's North, zero means not available, use 36000 for north</field>
</message>
<messageid="233"name="GPS_RTCM_DATA">
<description>RTCM message for injecting into the onboard GPS (used for DGPS)</description>
<fieldtype="uint8_t"name="flags">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.</field>
<fieldtype="uint8_t[180]"name="data">RTCM message (may be fragmented)</field>
</message>
<messageid="234"name="HIGH_LATENCY">
<description>Message appropriate for high latency connections like Iridium</description>
<fieldtype="uint8_t"name="base_mode"enum="MAV_MODE_FLAG"display="bitmask">Bitmap of enabled system modes.</field>
<fieldtype="uint32_t"name="custom_mode"display="bitmask">A bitfield for use for autopilot-specific flags.</field>
<fieldtype="uint8_t"name="landed_state"enum="MAV_LANDED_STATE">The landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.</field>
<fieldtype="int8_t"name="temperature"units="degC">Autopilot temperature (degrees C)</field>
<fieldtype="int8_t"name="temperature_air"units="degC">Air temperature (degrees C) from airspeed sensor</field>
<fieldtype="uint8_t"name="failsafe">failsafe (each bit represents a failsafe where 0=ok, 1=failsafe active (bit0:RC, bit1:batt, bit2:GPS, bit3:GCS, bit4:fence)</field>
<fieldtype="uint16_t"name="wp_distance"units="m">distance to target</field>
</message>
<messageid="235"name="HIGH_LATENCY2">
<wip/>
<!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<description>Message appropriate for high latency connections like Iridium (version 2)</description>
<fieldtype="uint32_t"name="timestamp"units="ms">Timestamp (milliseconds since boot or Unix epoch)</field>
<fieldtype="uint8_t"name="type"enum="MAV_TYPE">Type of the MAV (quadrotor, helicopter, etc.)</field>
<fieldtype="uint8_t"name="autopilot"enum="MAV_AUTOPILOT">Autopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers.</field>
<fieldtype="uint16_t"name="custom_mode"display="bitmask">A bitfield for use for autopilot-specific flags (2 byte version).</field>
<fieldtype="uint16_t"name="failure_flags"enum="HL_FAILURE_FLAG"display="bitmask">Bitmap of failure flags.</field>
<fieldtype="int8_t"name="custom0">Field for custom payload.</field>
<fieldtype="int8_t"name="custom1">Field for custom payload.</field>
<fieldtype="int8_t"name="custom2">Field for custom payload.</field>
</message>
<messageid="241"name="VIBRATION">
<description>Vibration levels and accelerometer clipping</description>
<fieldtype="uint64_t"name="time_usec"units="us">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 of the number.</field>
<fieldtype="float"name="vibration_x">Vibration levels on X-axis</field>
<fieldtype="float"name="vibration_y">Vibration levels on Y-axis</field>
<fieldtype="float"name="vibration_z">Vibration levels on Z-axis</field>
<description>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 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.</description>
<fieldtype="int32_t"name="altitude"units="mm">Altitude (MSL). Positive for up.</field>
<fieldtype="float"name="x"units="m">Local X position of this position in the local coordinate frame</field>
<fieldtype="float"name="y"units="m">Local Y position of this position in the local coordinate frame</field>
<fieldtype="float"name="z"units="m">Local Z position of this position in the local coordinate frame</field>
<fieldtype="float[4]"name="q">World to surface normal and heading transformation of the takeoff position. Used to indicate the heading and slope of the ground</field>
<fieldtype="float"name="approach_x"units="m">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.</field>
<fieldtype="float"name="approach_y"units="m">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.</field>
<fieldtype="float"name="approach_z"units="m">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.</field>
<extensions/>
<fieldtype="uint64_t"name="time_usec"units="us">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 of the number.</field>
</message>
<messageid="243"name="SET_HOME_POSITION">
<description>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.</description>
<fieldtype="int32_t"name="altitude"units="mm">Altitude (MSL). Positive for up.</field>
<fieldtype="float"name="x"units="m">Local X position of this position in the local coordinate frame</field>
<fieldtype="float"name="y"units="m">Local Y position of this position in the local coordinate frame</field>
<fieldtype="float"name="z"units="m">Local Z position of this position in the local coordinate frame</field>
<fieldtype="float[4]"name="q">World to surface normal and heading transformation of the takeoff position. Used to indicate the heading and slope of the ground</field>
<fieldtype="float"name="approach_x"units="m">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.</field>
<fieldtype="float"name="approach_y"units="m">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.</field>
<fieldtype="float"name="approach_z"units="m">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.</field>
<extensions/>
<fieldtype="uint64_t"name="time_usec"units="us">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 of the number.</field>
</message>
<messageid="244"name="MESSAGE_INTERVAL">
<description>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.</description>
<fieldtype="uint16_t"name="message_id">The ID of the requested MAVLink message. v1.0 is limited to 254 messages.</field>
<fieldtype="int32_t"name="interval_us"units="us">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.</field>
</message>
<messageid="245"name="EXTENDED_SYS_STATE">
<description>Provides state for additional features</description>
<fieldtype="uint8_t"name="vtol_state"enum="MAV_VTOL_STATE">The VTOL state if applicable. Is set to MAV_VTOL_STATE_UNDEFINED if UAV is not in VTOL configuration.</field>
<fieldtype="uint8_t"name="landed_state"enum="MAV_LANDED_STATE">The landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.</field>
</message>
<messageid="246"name="ADSB_VEHICLE">
<description>The location and information of an ADSB vehicle</description>
<description>Information about a potential collision</description>
<fieldtype="uint8_t"name="src"enum="MAV_COLLISION_SRC">Collision data source</field>
<fieldtype="uint32_t"name="id">Unique identifier, domain based on src field</field>
<fieldtype="uint8_t"name="action"enum="MAV_COLLISION_ACTION">Action that is being taken to avoid this collision</field>
<fieldtype="uint8_t"name="threat_level"enum="MAV_COLLISION_THREAT_LEVEL">How concerned the aircraft is about this collision</field>
<fieldtype="float"name="time_to_minimum_delta"units="s">Estimated time until collision occurs</field>
<fieldtype="float"name="altitude_minimum_delta"units="m">Closest vertical distance between vehicle and object</field>
<fieldtype="float"name="horizontal_minimum_delta"units="m">Closest horizontal distance between vehicle and object</field>
</message>
<messageid="248"name="V2_EXTENSION">
<description>Message implementing parts of the V2 payload specs in V1 frames for transitional support.</description>
<fieldtype="uint8_t"name="target_network">Network ID (0 for broadcast)</field>
<fieldtype="uint8_t"name="target_system">System ID (0 for broadcast)</field>
<fieldtype="uint8_t"name="target_component">Component ID (0 for broadcast)</field>
<fieldtype="uint16_t"name="message_type">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.</field>
<fieldtype="uint8_t[249]"name="payload">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.</field>
</message>
<messageid="249"name="MEMORY_VECT">
<description>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.</description>
<fieldtype="uint16_t"name="address">Starting address of the debug variables</field>
<fieldtype="uint8_t"name="ver">Version code of the type variable. 0=unknown, type ignored and assumed int16_t. 1=as below</field>
<fieldtype="uint8_t"name="type">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</field>
<fieldtype="int8_t[32]"name="value">Memory contents at specified address</field>
</message>
<messageid="250"name="DEBUG_VECT">
<description>To debug something using a named 3D vector.</description>
<fieldtype="char[10]"name="name">Name</field>
<fieldtype="uint64_t"name="time_usec"units="us">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 of the number.</field>
<fieldtype="float"name="x">x</field>
<fieldtype="float"name="y">y</field>
<fieldtype="float"name="z">z</field>
</message>
<messageid="251"name="NAMED_VALUE_FLOAT">
<description>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.</description>
<fieldtype="uint32_t"name="time_boot_ms"units="ms">Timestamp (time since system boot).</field>
<fieldtype="char[10]"name="name">Name of the debug variable</field>
<fieldtype="float"name="value">Floating point value</field>
</message>
<messageid="252"name="NAMED_VALUE_INT">
<description>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.</description>
<fieldtype="uint32_t"name="time_boot_ms"units="ms">Timestamp (time since system boot).</field>
<fieldtype="char[10]"name="name">Name of the debug variable</field>
<description>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).</description>
<fieldtype="uint8_t"name="severity"enum="MAV_SEVERITY">Severity of status. Relies on the definitions within RFC-5424.</field>
<fieldtype="char[50]"name="text">Status text message, without null termination character</field>
<extensions/>
<fieldtype="uint16_t"name="id">Unique (opaque) identifier for this statustext message. May be used to reassemble a logical long-statustext message from a sequence of chunks. A value of zero indicates this is the only chunk in the sequence and the message can be emitted immediately.</field>
<fieldtype="uint8_t"name="chunk_seq">This chunk's sequence number; indexing is from zero. Any null character in the text field is taken to mean this was the last chunk.</field>
</message>
<messageid="254"name="DEBUG">
<description>Send a debug value. The index is used to discriminate between values. These values show up in the plot of QGroundControl as DEBUG N.</description>
<fieldtype="uint32_t"name="time_boot_ms"units="ms">Timestamp (time since system boot).</field>
<fieldtype="uint8_t"name="ind">index of debug variable</field>
<fieldtype="char[30]"name="tune">tune in board specific format</field>
<extensions/>
<fieldtype="char[200]"name="tune2">tune extension (appended to tune)</field>
</message>
<messageid="259"name="CAMERA_INFORMATION">
<description>Information about a camera</description>
<fieldtype="uint32_t"name="time_boot_ms"units="ms">Timestamp (time since system boot).</field>
<fieldtype="uint8_t[32]"name="vendor_name">Name of the camera vendor</field>
<fieldtype="uint8_t[32]"name="model_name">Name of the camera model</field>
<fieldtype="uint32_t"name="firmware_version">Version of the camera firmware (v << 24 & 0xff = Dev, v << 16 & 0xff = Patch, v << 8 & 0xff = Minor, v & 0xff = Major)</field>
<fieldtype="uint8_t"name="lens_id">Reserved for a lens ID</field>
<fieldtype="uint32_t"name="flags"enum="CAMERA_CAP_FLAGS"display="bitmask">Bitmap of camera capability flags.</field>
<fieldtype="uint16_t"name="cam_definition_version">Camera definition version (iteration)</field>
<fieldtype="char[140]"name="cam_definition_uri">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).</field>
</message>
<messageid="260"name="CAMERA_SETTINGS">
<description>Settings of a camera, can be requested using MAV_CMD_REQUEST_CAMERA_SETTINGS.</description>
<fieldtype="uint32_t"name="time_boot_ms"units="ms">Timestamp (time since system boot).</field>
<fieldtype="float"name="zoomLevel">Current zoom level (0.0 to 100.0, NaN if not known)</field>
<fieldtype="float"name="focusLevel">Current focus level (0.0 to 100.0, NaN if not known)</field>
</message>
<messageid="261"name="STORAGE_INFORMATION">
<description>Information about a storage medium. This message is sent in response to a request and whenever the status of the storage changes (STORAGE_STATUS).</description>
<fieldtype="uint32_t"name="time_boot_ms"units="ms">Timestamp (time since system boot).</field>
<fieldtype="uint8_t"name="storage_id">Storage ID (1 for first, 2 for second, etc.)</field>
<fieldtype="uint8_t"name="storage_count">Number of storage devices</field>
<fieldtype="uint8_t"name="status"enum="STORAGE_STATUS">Status of storage</field>
<fieldtype="float"name="total_capacity"units="MiB">Total capacity. If storage is not ready (STORAGE_STATUS_READY) value will be ignored.</field>
<fieldtype="float"name="used_capacity"units="MiB">Used capacity. If storage is not ready (STORAGE_STATUS_READY) value will be ignored.</field>
<fieldtype="float"name="available_capacity"units="MiB">Available storage capacity. If storage is not ready (STORAGE_STATUS_READY) value will be ignored.</field>
<description>Information about the status of a capture.</description>
<fieldtype="uint32_t"name="time_boot_ms"units="ms">Timestamp (time since system boot).</field>
<fieldtype="uint8_t"name="image_status">Current status of image capturing (0: idle, 1: capture in progress, 2: interval set but idle, 3: interval set and capture in progress)</field>
<fieldtype="uint8_t"name="video_status">Current status of video capturing (0: idle, 1: capture in progress)</field>
<fieldtype="float[4]"name="q">Quaternion of camera orientation (w, x, y, z order, zero-rotation is 0, 0, 0, 0)</field>
<fieldtype="int32_t"name="image_index">Zero based index of this image (image count since armed -1)</field>
<fieldtype="int8_t"name="capture_result">Boolean indicating success (1) or failure (0) while capturing this image.</field>
<fieldtype="char[205]"name="file_url">URL of image taken. Either local storage or http://foo.jpg if camera provides an HTTP interface.</field>
</message>
<messageid="264"name="FLIGHT_INFORMATION">
<wip/>
<!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<description>Information about flight since last arming.</description>
<fieldtype="uint32_t"name="time_boot_ms"units="ms">Timestamp (time since system boot).</field>
<fieldtype="uint64_t"name="arming_time_utc"units="us">Timestamp at arming (time since UNIX epoch) in UTC, 0 for unknown</field>
<fieldtype="uint64_t"name="takeoff_time_utc"units="us">Timestamp at takeoff (time since UNIX epoch) in UTC, 0 for unknown</field>
<fieldtype="uint64_t"name="flight_uuid">Universally unique identifier (UUID) of flight, should correspond to name of log files</field>
</message>
<messageid="265"name="MOUNT_ORIENTATION">
<deprecatedsince="2020-01"replaced_by="MAV_CMD_DO_GIMBAL_MANAGER_ATTITUDE">This message is being superseded by MAV_CMD_DO_GIMBAL_MANAGER_ATTITUDE. The message can still be used to communicate with legacy gimbals implementing it.</deprecated>
<description>Orientation of a mount</description>
<fieldtype="uint32_t"name="time_boot_ms"units="ms">Timestamp (time since system boot).</field>
<fieldtype="float"name="roll"units="deg">Roll in global frame (set to NaN for invalid).</field>
<fieldtype="float"name="pitch"units="deg">Pitch in global frame (set to NaN for invalid).</field>
<fieldtype="float"name="yaw"units="deg">Yaw relative to vehicle (set to NaN for invalid).</field>
<extensions/>
<fieldtype="float"name="yaw_absolute"units="deg">Yaw in absolute frame relative to Earth's North, north is 0 (set to NaN for invalid).</field>
</message>
<messageid="266"name="LOGGING_DATA">
<description>A message containing logged data (see also MAV_CMD_LOGGING_START)</description>
<fieldtype="uint8_t"name="target_system">system ID of the target</field>
<fieldtype="uint8_t"name="target_component">component ID of the target</field>
<fieldtype="uint16_t"name="sequence">sequence number (can wrap)</field>
<fieldtype="uint8_t"name="first_message_offset"units="bytes">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).</field>
<fieldtype="uint8_t"name="first_message_offset"units="bytes">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).</field>
<fieldtype="char[160]"name="uri">Video stream URI (TCP or RTSP URI ground station should connect to) or port number (UDP port ground station should listen to).</field>
</message>
<messageid="270"name="VIDEO_STREAM_STATUS">
<wip/>
<!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<description>Information about the status of a video stream.</description>
<fieldtype="uint8_t"name="stream_id">Video Stream ID (1 for first, 2 for second, etc.)</field>
<fieldtype="uint16_t"name="flags"enum="VIDEO_STREAM_STATUS_FLAGS">Bitmap of stream status flags</field>
<!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<description>Information about a high level gimbal manager. This message should be requested by a ground station using MAV_CMD_REQUEST_MESSAGE.</description>
<fieldtype="uint32_t"name="time_boot_ms"units="ms">Timestamp (time since system boot).</field>
<fieldtype="uint32_t"name="cap_flags"enum="GIMBAL_MANAGER_CAP_FLAGS"display="bitmask">Bitmap of gimbal capability flags.</field>
<fieldtype="uint8_t"name="gimbal_device_id">Gimbal device ID that this gimbal manager is responsible for.</field>
<!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<description>High level message to control a gimbal's attitude. This message is to be sent to the gimbal manager (e.g. from a ground station). Angles and rates can be set to NaN according to use case.</description>
<fieldtype="uint32_t"name="flags"enum="GIMBAL_MANAGER_FLAGS">High level gimbal manager flags to use.</field>
<fieldtype="uint8_t"name="gimbal_device_id">Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. (Send command multiple times for more than one but not all gimbals.)</field>
<fieldtype="float[4]"name="q">Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation, the frame is depends on whether the flag GIMBAL_MANAGER_FLAGS_YAW_LOCK is set)</field>
<fieldtype="float"name="angular_velocity_x"units="rad/s">X component of angular velocity, positive is banking to the right, NaN to be ignored.</field>
<fieldtype="float"name="angular_velocity_y"units="rad/s">Y component of angular velocity, positive is tilting up, NaN to be ignored.</field>
<fieldtype="float"name="angular_velocity_z"units="rad/s">Z component of angular velocity, positive is panning to the right, NaN to be ignored.</field>
</message>
<messageid="283"name="GIMBAL_DEVICE_INFORMATION">
<wip/>
<!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<description>Information about a low level gimbal. This message should be requested by the gimbal manager or a ground station using MAV_CMD_REQUEST_MESSAGE.</description>
<fieldtype="uint32_t"name="time_boot_ms"units="ms">Timestamp (time since system boot).</field>
<fieldtype="uint8_t[32]"name="vendor_name">Name of the gimbal vendor</field>
<fieldtype="uint8_t[32]"name="model_name">Name of the gimbal model</field>
<fieldtype="uint32_t"name="firmware_version">Version of the gimbal firmware (v << 24 & 0xff = Dev, v << 16 & 0xff = Patch, v << 8 & 0xff = Minor, v & 0xff = Major)</field>
<fieldtype="uint16_t"name="cap_flags"enum="GIMBAL_DEVICE_CAP_FLAGS"display="bitmask">Bitmap of gimbal capability flags.</field>
<!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<description>Low level message to control a gimbal device's attitude. This message is to be sent from the gimbal manager to the gimbal device component. Angles and rates can be set to NaN according to use case.</description>
<fieldtype="float[4]"name="q">Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation, the frame is depends on whether the flag GIMBAL_DEVICE_FLAGS_YAW_LOCK is set, set all fields to NaN if only angular velocity should be used)</field>
<fieldtype="float"name="angular_velocity_x"units="rad/s">X component of angular velocity, positive is banking to the right, NaN to be ignored.</field>
<fieldtype="float"name="angular_velocity_y"units="rad/s">Y component of angular velocity, positive is tilting up, NaN to be ignored.</field>
<fieldtype="float"name="angular_velocity_z"units="rad/s">Z component of angular velocity, positive is panning to the right, NaN to be ignored.</field>
<!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<description>Message reporting the status of a gimbal device. This message should be broadcasted by a gimbal device component. The angles encoded in the quaternion are in the global frame (roll: positive is tilt to the right, pitch: positive is tilting up, yaw is turn to the right). This message should be broadcast at a low regular rate (e.g. 10Hz).</description>
<fieldtype="uint32_t"name="time_boot_ms"units="ms">Timestamp (time since system boot).</field>
<fieldtype="float[4]"name="q">Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation, the frame is depends on whether the flag GIMBAL_DEVICE_FLAGS_YAW_LOCK is set)</field>
<fieldtype="float"name="angular_velocity_x"units="rad/s">X component of angular velocity (NaN if unknown)</field>
<fieldtype="float"name="angular_velocity_y"units="rad/s">Y component of angular velocity (NaN if unknown)</field>
<fieldtype="float"name="angular_velocity_z"units="rad/s">Z component of angular velocity (NaN if unknown)</field>
<fieldtype="uint32_t"name="failure_flags"display="bitmask"enum="GIMBAL_DEVICE_ERROR_FLAGS">Failure flags (0 for no failure)</field>
<!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<description>Low level message containing autopilot state relevant for a gimbal device. This message is to be sent from the gimbal manager to the gimbal device component. The data of this message server for the gimbal's estimator corrections in particular horizon compensation, as well as the autopilot's control intention e.g. feed forward angular control in z-axis.</description>
<fieldtype="uint64_t"name="time_boot_us"units="us">Timestamp (time since system boot).</field>
<fieldtype="float[4]"name="q">Quaternion components of autopilot attitude: w, x, y, z (1 0 0 0 is the null-rotation, Hamiltonian convention).</field>
<fieldtype="uint32_t"name="q_estimated_delay_us"units="us">Estimated delay of the attitude data.</field>
<fieldtype="float"name="vx"units="m/s">X Speed in NED (North, East, Down).</field>
<fieldtype="float"name="vy"units="m/s">Y Speed in NED (North, East, Down).</field>
<fieldtype="float"name="vz"units="m/s">Z Speed in NED (North, East, Down).</field>
<fieldtype="uint32_t"name="v_estimated_delay_us"units="us">Estimated delay of the speed data.</field>
<fieldtype="float"name="feed_forward_angular_velocity_z"units="rad/s">Feed forward Z component of angular velocity, positive is yawing to the right, NaN to be ignored. This is to indicate if the autopilot is actively yawing.</field>
</message>
<messageid="299"name="WIFI_CONFIG_AP">
<description>Configure AP SSID and Password.</description>
<fieldtype="char[32]"name="ssid">Name of Wi-Fi network (SSID). Leave it blank to leave it unchanged.</field>
<fieldtype="char[64]"name="password">Password. Leave it blank for an open AP.</field>
</message>
<messageid="300"name="PROTOCOL_VERSION">
<wip/>
<!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<description>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.</description>
<fieldtype="uint16_t"name="version">Currently active MAVLink version number * 100: v1.0 is 100, v2.0 is 200, etc.</field>
<fieldtype="uint16_t"name="min_version">Minimum MAVLink version supported</field>
<fieldtype="uint16_t"name="max_version">Maximum MAVLink version supported (set to the same value as version by default)</field>
<fieldtype="uint8_t[8]"name="spec_version_hash">The first 8 bytes (not characters printed in hex!) of the git hash.</field>
<fieldtype="uint8_t[8]"name="library_version_hash">The first 8 bytes (not characters printed in hex!) of the git hash.</field>
</message>
<messageid="301"name="AIS_VESSEL">
<wip/>
<!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<description>The location and information of an AIS vessel</description>
<fieldtype="uint32_t"name="MMSI">Mobile Marine Service Identifier, 9 decimal digits</field>
<fieldtype="uint16_t"name="tslc"units="s">Time since last communication in seconds</field>
<fieldtype="uint16_t"name="flags"enum="AIS_FLAGS"display="bitmask">Bitmask to indicate various statuses including valid data fields</field>
</message>
<!-- UAVCAN related messages. Please keep the range [310, 320) reserved for UAVCAN. -->
<messageid="310"name="UAVCAN_NODE_STATUS">
<description>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.</description>
<fieldtype="uint64_t"name="time_usec"units="us">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 of the number.</field>
<fieldtype="uint32_t"name="uptime_sec"units="s">Time since the start-up of the node.</field>
<fieldtype="uint8_t"name="health"enum="UAVCAN_NODE_HEALTH">Generalized node health status.</field>
<fieldtype="uint8_t"name="sub_mode">Not used currently.</field>
<fieldtype="uint16_t"name="vendor_specific_status_code">Vendor-specific status information.</field>
</message>
<messageid="311"name="UAVCAN_NODE_INFO">
<description>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.</description>
<fieldtype="uint64_t"name="time_usec"units="us">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 of the number.</field>
<fieldtype="uint32_t"name="uptime_sec"units="s">Time since the start-up of the node.</field>
<fieldtype="char[80]"name="name">Node name string. For example, "sapog.px4.io".</field>
<fieldtype="uint8_t"name="hw_version_major">Hardware major version number.</field>
<fieldtype="uint8_t"name="hw_version_minor">Hardware minor version number.</field>
<fieldtype="char[16]"name="param_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</field>
<fieldtype="int16_t"name="param_index">Parameter index. Set to -1 to use the Parameter ID field as identifier (else param_id will be ignored)</field>
</message>
<messageid="321"name="PARAM_EXT_REQUEST_LIST">
<description>Request all parameters of this component. After this request, all parameters are emitted.</description>
<description>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.</description>
<fieldtype="char[16]"name="param_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</field>
<fieldtype="uint16_t"name="param_count">Total number of parameters</field>
<fieldtype="uint16_t"name="param_index">Index of this parameter</field>
</message>
<messageid="323"name="PARAM_EXT_SET">
<description>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.</description>
<fieldtype="char[16]"name="param_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</field>
<description>Response from a PARAM_EXT_SET message.</description>
<fieldtype="char[16]"name="param_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</field>
<fieldtype="char[128]"name="param_value">Parameter value (new value if PARAM_ACK_ACCEPTED, current value otherwise)</field>
<description>Obstacle distances in front of the sensor, starting from the left in increment degrees to the right</description>
<fieldtype="uint64_t"name="time_usec"units="us">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 of the number.</field>
<fieldtype="uint8_t"name="sensor_type"enum="MAV_DISTANCE_SENSOR">Class id of the distance sensor type.</field>
<fieldtype="uint16_t[72]"name="distances"units="cm">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.</field>
<fieldtype="uint8_t"name="increment"units="deg">Angular width in degrees of each array element. Increment direction is clockwise. This field is ignored if increment_f is non-zero.</field>
<fieldtype="uint16_t"name="min_distance"units="cm">Minimum distance the sensor can measure.</field>
<fieldtype="uint16_t"name="max_distance"units="cm">Maximum distance the sensor can measure.</field>
<extensions/>
<fieldtype="float"name="increment_f"units="deg">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.</field>
<fieldtype="float"name="angle_offset"units="deg">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.</field>
<fieldtype="uint8_t"name="frame"enum="MAV_FRAME">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.</field>
</message>
<messageid="331"name="ODOMETRY">
<description>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).</description>
<fieldtype="uint64_t"name="time_usec"units="us">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 of the number.</field>
<fieldtype="uint8_t"name="frame_id"enum="MAV_FRAME">Coordinate frame of reference for the pose data.</field>
<fieldtype="uint8_t"name="child_frame_id"enum="MAV_FRAME">Coordinate frame of reference for the velocity in free space (twist) data.</field>
<fieldtype="float[21]"name="pose_covariance">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.</field>
<fieldtype="float[21]"name="velocity_covariance">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.</field>
<extensions/>
<fieldtype="uint8_t"name="reset_counter">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.</field>
<fieldtype="uint8_t"name="estimator_type"enum="MAV_ESTIMATOR_TYPE">Type of estimator that is providing the odometry.</field>
<description>Describe a trajectory using an array of up-to 5 waypoints in the local frame (MAV_FRAME_LOCAL_NED).</description>
<fieldtype="uint64_t"name="time_usec"units="us">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 of the number.</field>
<fieldtype="uint8_t"name="valid_points">Number of valid points (up-to 5 waypoints are possible)</field>
<fieldtype="float[5]"name="pos_x"units="m">X-coordinate of waypoint, set to NaN if not being used</field>
<fieldtype="float[5]"name="pos_y"units="m">Y-coordinate of waypoint, set to NaN if not being used</field>
<fieldtype="float[5]"name="pos_z"units="m">Z-coordinate of waypoint, set to NaN if not being used</field>
<fieldtype="float[5]"name="vel_x"units="m/s">X-velocity of waypoint, set to NaN if not being used</field>
<fieldtype="float[5]"name="vel_y"units="m/s">Y-velocity of waypoint, set to NaN if not being used</field>
<fieldtype="float[5]"name="vel_z"units="m/s">Z-velocity of waypoint, set to NaN if not being used</field>
<fieldtype="float[5]"name="acc_x"units="m/s/s">X-acceleration of waypoint, set to NaN if not being used</field>
<fieldtype="float[5]"name="acc_y"units="m/s/s">Y-acceleration of waypoint, set to NaN if not being used</field>
<fieldtype="float[5]"name="acc_z"units="m/s/s">Z-acceleration of waypoint, set to NaN if not being used</field>
<fieldtype="float[5]"name="pos_yaw"units="rad">Yaw angle, set to NaN if not being used</field>
<fieldtype="float[5]"name="vel_yaw"units="rad/s">Yaw rate, set to NaN if not being used</field>
<fieldtype="uint16_t[5]"name="command"enum="MAV_CMD">Scheduled action for each waypoint, UINT16_MAX if not being used.</field>
<description>Describe a trajectory using an array of up-to 5 bezier control points in the local frame (MAV_FRAME_LOCAL_NED).</description>
<fieldtype="uint64_t"name="time_usec"units="us">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 of the number.</field>
<fieldtype="uint8_t"name="valid_points">Number of valid control points (up-to 5 points are possible)</field>
<fieldtype="float[5]"name="pos_x"units="m">X-coordinate of bezier control points. Set to NaN if not being used</field>
<fieldtype="float[5]"name="pos_y"units="m">Y-coordinate of bezier control points. Set to NaN if not being used</field>
<fieldtype="float[5]"name="pos_z"units="m">Z-coordinate of bezier control points. Set to NaN if not being used</field>
<fieldtype="float[5]"name="delta"units="s">Bezier time horizon. Set to NaN if velocity/acceleration should not be incorporated</field>
<fieldtype="float[5]"name="pos_yaw"units="rad">Yaw. Set to NaN for unchanged</field>
</message>
<messageid="334"name="CELLULAR_STATUS">
<wip/>
<description>Report current used cellular network status</description>
<fieldtype="uint8_t"name="type"enum="CELLULAR_NETWORK_RADIO_TYPE">Cellular network radio type: gsm, cdma, lte...</field>
<fieldtype="uint8_t"name="quality">Cellular network RSSI/RSRP in dBm, absolute value</field>
<fieldtype="uint16_t"name="mcc">Mobile country code. If unknown, set to: UINT16_MAX</field>
<fieldtype="uint16_t"name="mnc">Mobile network code. If unknown, set to: UINT16_MAX</field>
<fieldtype="uint16_t"name="lac">Location area code. If unknown, set to: 0</field>
<fieldtype="uint32_t"name="cid">Cell ID. If unknown, set to: UINT32_MAX</field>
</message>
<messageid="335"name="ISBD_LINK_STATUS">
<description>Status of the Iridium SBD link.</description>
<fieldtype="uint64_t"name="timestamp"units="us">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 of the number.</field>
<fieldtype="uint64_t"name="last_heartbeat"units="us">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 of the number.</field>
<fieldtype="uint16_t"name="failed_sessions">Number of failed SBD sessions.</field>
<fieldtype="uint16_t"name="successful_sessions">Number of successful SBD sessions.</field>
<fieldtype="uint8_t"name="signal_quality">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.</field>
<fieldtype="uint8_t"name="ring_pending">1: Ring call pending, 0: No call pending.</field>
<fieldtype="uint8_t"name="tx_session_pending">1: Transmission session pending, 0: No transmission session pending.</field>
<fieldtype="uint8_t"name="rx_session_pending">1: Receiving session pending, 0: No receiving session pending.</field>
</message>
<messageid="340"name="UTM_GLOBAL_POSITION">
<wip/>
<!-- This message is work-in-progress it can therefore change, and should NOT be used in stable production environments -->
<description>The global position resulting from GPS and sensor fusion.</description>
<fieldtype="uint64_t"name="time"units="us">Time of applicability of position (microseconds since UNIX epoch).</field>
<fieldtype="uint8_t"name="flags"enum="UTM_DATA_AVAIL_FLAGS"display="bitmask">Bitwise OR combination of the data available flags.</field>
</message>
<messageid="350"name="DEBUG_FLOAT_ARRAY">
<description>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.</description>
<fieldtype="uint64_t"name="time_usec"units="us">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 of the number.</field>
<fieldtype="char[10]"name="name">Name, for human-friendly display in a Ground Control Station</field>
<fieldtype="uint16_t"name="array_id">Unique ID used to discriminate between arrays</field>
<extensions/>
<fieldtype="float[58]"name="data">data</field>
</message>
<messageid="360"name="ORBIT_EXECUTION_STATUS">
<wip/>
<!-- This message is work-in-progress it can therefore change, and should NOT be used in stable production environments -->
<description>Vehicle status report that is sent out while orbit execution is in progress (see MAV_CMD_DO_ORBIT).</description>
<fieldtype="uint64_t"name="time_usec"units="us">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 of the number.</field>
<fieldtype="float"name="radius"units="m">Radius of the orbit circle. Positive values orbit clockwise, negative values orbit counter-clockwise.</field>
<fieldtype="uint8_t"name="frame"enum="MAV_FRAME">The coordinate system of the fields: x, y, z.</field>
<fieldtype="int32_t"name="x">X coordinate of center point. Coordinate system depends on frame field: local = x position in meters * 1e4, global = latitude in degrees * 1e7.</field>
<fieldtype="int32_t"name="y">Y coordinate of center point. Coordinate system depends on frame field: local = x position in meters * 1e4, global = latitude in degrees * 1e7.</field>
<fieldtype="float"name="z"units="m">Altitude of center point. Coordinate system depends on frame field.</field>
</message>
<!-- Smart battery messages -->
<messageid="370"name="SMART_BATTERY_INFO">
<wip/>
<!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<description>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.</description>
<fieldtype="uint8_t"name="id">Battery ID</field>
<fieldtype="int32_t"name="capacity_full_specification"units="mAh">Capacity when full according to manufacturer, -1: field not provided.</field>
<fieldtype="int32_t"name="capacity_full"units="mAh">Capacity when full (accounting for battery degradation), -1: field not provided.</field>
<fieldtype="uint16_t"name="cycle_count">Charge/discharge cycle count. -1: field not provided.</field>
<fieldtype="int32_t"name="serial_number">Serial number. -1: field not provided.</field>
<fieldtype="char[50]"name="device_name">Static device name. Encode as manufacturer and product names separated using an underscore.</field>
<fieldtype="uint16_t"name="weight"units="g">Battery weight. 0: field not provided.</field>
<fieldtype="uint16_t"name="discharge_minimum_voltage"units="mV">Minimum per-cell voltage when discharging. If not supplied set to UINT16_MAX value.</field>
<fieldtype="uint16_t"name="charging_minimum_voltage"units="mV">Minimum per-cell voltage when charging. If not supplied set to UINT16_MAX value.</field>
<fieldtype="uint16_t"name="resting_minimum_voltage"units="mV">Minimum per-cell voltage when resting. If not supplied set to UINT16_MAX value.</field>
</message>
<messageid="371"name="SMART_BATTERY_STATUS">
<wip/>
<!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<description>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.</description>
<fieldtype="uint16_t"name="id">Battery ID</field>
<fieldtype="int16_t"name="capacity_remaining"units="%">Remaining battery energy. Values: [0-100], -1: field not provided.</field>
<fieldtype="int16_t"name="current"units="cA">Battery current (through all cells/loads). Positive if discharging, negative if charging. UINT16_MAX: field not provided.</field>
<fieldtype="int16_t"name="temperature"units="cdegC">Battery temperature. -1: field not provided.</field>
<fieldtype="int32_t"name="time_remaining"units="s">Estimated remaining battery time. -1: field not provided.</field>
<fieldtype="uint16_t"default="0"name="cell_offset">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.</field>
<fieldtype="uint16_t[16]"name="voltages"units="mV">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.</field>
</message>
<messageid="375"name="ACTUATOR_OUTPUT_STATUS">
<description>The raw values of the actuator outputs (e.g. on Pixhawk, from MAIN, AUX ports). This message supersedes SERVO_OUTPUT_RAW.</description>
<fieldtype="uint64_t"name="time_usec"units="us">Timestamp (since system boot).</field>
<fieldtype="float[32]"name="actuator">Servo / motor output array values. Zero values indicate unused channels.</field>
</message>
<messageid="380"name="TIME_ESTIMATE_TO_TARGET">
<wip/>
<!-- This message is work-in-progress it can therefore change, and should NOT be used in stable production environments -->
<description>Time/duration estimates for various events and actions given the current vehicle state and position.</description>
<fieldtype="int32_t"name="safe_return"units="s">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.</field>
<fieldtype="int32_t"name="land"units="s">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.</field>
<fieldtype="int32_t"name="mission_next_item"units="s">Estimated time for reaching/completing the currently active mission item. -1 means no time estimate available.</field>
<fieldtype="int32_t"name="mission_end"units="s">Estimated time for completing the current mission. -1 means no mission active and/or no estimate available.</field>
<fieldtype="int32_t"name="commanded_action"units="s">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.</field>
</message>
<messageid="385"name="TUNNEL">
<wip/>
<!-- This message is work-in-progress it can therefore change, and should NOT be used in stable production environments -->
<description>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.</description>
<fieldtype="uint8_t"name="target_system">System ID (can be 0 for broadcast, but this is discouraged)</field>
<fieldtype="uint8_t"name="target_component">Component ID (can be 0 for broadcast, but this is discouraged)</field>
<fieldtype="uint16_t"name="payload_type"enum="MAV_TUNNEL_PAYLOAD_TYPE">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. 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.</field>
<fieldtype="uint8_t"name="payload_length">Length of the data transported in payload</field>
<fieldtype="uint8_t[128]"name="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.</field>
</message>
<messageid="390"name="ONBOARD_COMPUTER_STATUS">
<wip/>
<!-- This message is work-in-progress it can therefore change, and should NOT be used in stable production environments -->
<description>Hardware status sent by an onboard computer.</description>
<fieldtype="uint64_t"name="time_usec"units="us">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 of the number.</field>
<fieldtype="uint32_t"name="uptime"units="ms">Time since system boot.</field>
<fieldtype="uint8_t[8]"name="cpu_cores">CPU usage on the component in percent (100 - idle). A value of UINT8_MAX implies the field is unused.</field>
<fieldtype="uint8_t[10]"name="cpu_combined">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.</field>
<fieldtype="uint8_t[4]"name="gpu_cores">GPU usage on the component in percent (100 - idle). A value of UINT8_MAX implies the field is unused.</field>
<fieldtype="uint8_t[10]"name="gpu_combined">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.</field>
<fieldtype="int8_t"name="temperature_board"units="degC">Temperature of the board. A value of INT8_MAX implies the field is unused.</field>
<fieldtype="int8_t[8]"name="temperature_core"units="degC">Temperature of the CPU core. A value of INT8_MAX implies the field is unused.</field>
<fieldtype="int16_t[4]"name="fan_speed"units="rpm">Fan speeds. A value of INT16_MAX implies the field is unused.</field>
<fieldtype="uint32_t"name="ram_usage"units="MiB">Amount of used RAM on the component system. A value of UINT32_MAX implies the field is unused.</field>
<fieldtype="uint32_t"name="ram_total"units="MiB">Total amount of RAM on the component system. A value of UINT32_MAX implies the field is unused.</field>
<fieldtype="uint32_t[4]"name="storage_type">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.</field>
<fieldtype="uint32_t[4]"name="storage_usage"units="MiB">Amount of used storage space on the component system. A value of UINT32_MAX implies the field is unused.</field>
<fieldtype="uint32_t[4]"name="storage_total"units="MiB">Total amount of storage space on the component system. A value of UINT32_MAX implies the field is unused.</field>
<fieldtype="uint32_t[6]"name="link_tx_rate"units="KiB/s">Network traffic from the component system. A value of UINT32_MAX implies the field is unused.</field>
<fieldtype="uint32_t[6]"name="link_rx_rate"units="KiB/s">Network traffic to the component system. A value of UINT32_MAX implies the field is unused.</field>
<fieldtype="uint32_t[6]"name="link_tx_max"units="KiB/s">Network capacity from the component system. A value of UINT32_MAX implies the field is unused.</field>
<fieldtype="uint32_t[6]"name="link_rx_max"units="KiB/s">Network capacity to the component system. A value of UINT32_MAX implies the field is unused.</field>
</message>
<messageid="395"name="COMPONENT_INFORMATION">
<wip/>
<!-- This message is work-in-progress it can therefore change, and should NOT be used in stable production environments -->
<description>Information about a component. For camera components instead use CAMERA_INFORMATION, and for autopilots use AUTOPILOT_VERSION. Components including GCSes should consider supporting requests of this message via MAV_CMD_REQUEST_MESSAGE.</description>
<fieldtype="uint32_t"name="time_boot_ms"units="ms">Timestamp (time since system boot).</field>
<fieldtype="uint8_t[32]"name="vendor_name">Name of the component vendor</field>
<fieldtype="uint8_t[32]"name="model_name">Name of the component model</field>
<fieldtype="uint32_t"name="firmware_version">Version of the component firmware (v << 24 & 0xff = Dev, v << 16 & 0xff = Patch, v << 8 & 0xff = Minor, v & 0xff = Major)</field>
<fieldtype="uint32_t"name="hardware_version">Version of the component hardware (v << 24 & 0xff = Dev, v << 16 & 0xff = Patch, v << 8 & 0xff = Minor, v & 0xff = Major)</field>
<fieldtype="uint32_t"name="capability_flags"enum="COMPONENT_CAP_FLAGS">Bitmap of component capability flags.</field>
<fieldtype="uint16_t"name="component_definition_version">Component definition version (iteration)</field>
<fieldtype="char[140]"name="component_definition_uri">Component definition URI (if any, otherwise only basic functions will be available). The XML format is not yet specified and work in progress. </field>
</message>
<messageid="400"name="PLAY_TUNE_V2">
<wip/>
<!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<fieldtype="uint32_t"name="format"enum="TUNE_FORMAT"display="bitmask">Bitfield of supported tune formats.</field>
</message>
<!-- Rover specific messages -->
<messageid="9000"name="WHEEL_DISTANCE">
<description>Cumulative distance traveled for each reported wheel.</description>
<fieldtype="uint64_t"name="time_usec"units="us">Timestamp (synced to UNIX time or since system boot).</field>
<fieldtype="uint8_t"name="count">Number of wheels reported.</field>
<fieldtype="double[16]"name="distance"units="m">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.</field>
</message>
<messageid="12900"name="OPEN_DRONE_ID_BASIC_ID">
<wip/>
<!-- This message is work-in-progress and it can therefore change, and should NOT be used in stable production environments -->
<description>Data for filling the OpenDroneID Basic ID message. This and the below messages are primarily meant for feeding data to/from an OpenDroneID implementation. E.g. https://github.com/opendroneid/opendroneid-core-c. See also the ASTM Remote ID standard at https://www.astm.org/Standards/F3411.htm. The usage of these messages is documented at https://mavlink.io/en/services/opendroneid.html.</description>
<fieldtype="uint8_t"name="id_type"enum="MAV_ODID_ID_TYPE">Indicates the format for the uas_id field of this message.</field>
<fieldtype="uint8_t"name="ua_type"enum="MAV_ODID_UA_TYPE">Indicates the type of UA (Unmanned Aircraft).</field>
<fieldtype="uint8_t[20]"name="uas_id">UAS (Unmanned Aircraft System) ID following the format specified by id_type. Shall be filled with nulls in the unused portion of the field.</field>
</message>
<messageid="12901"name="OPEN_DRONE_ID_LOCATION">
<wip/>
<!-- This message is work-in-progress and it can therefore change, and should NOT be used in stable production environments -->
<description>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.</description>
<fieldtype="uint8_t"name="status"enum="MAV_ODID_STATUS">Indicates whether the unmanned aircraft is on the ground or in the air.</field>
<fieldtype="uint16_t"name="direction"units="cdeg">Direction over ground (not heading, but direction of movement) measured clockwise from true North: 0 - 35999 centi-degrees. If unknown: 36100 centi-degrees.</field>
<fieldtype="uint16_t"name="speed_horizontal"units="cm/s">Ground speed. Positive only. If unknown: 25500 cm/s. If speed is larger than 25425 cm/s, use 25425 cm/s.</field>
<fieldtype="int16_t"name="speed_vertical"units="cm/s">The vertical speed. Up is positive. If unknown: 6300 cm/s. If speed is larger than 6200 cm/s, use 6200 cm/s. If lower than -6200 cm/s, use -6200 cm/s.</field>
<fieldtype="int32_t"name="latitude"units="degE7">Current latitude of the unmanned aircraft. If unknown: 0 (both Lat/Lon).</field>
<fieldtype="int32_t"name="longitude"units="degE7">Current longitude of the unmanned aircraft. If unknown: 0 (both Lat/Lon).</field>
<fieldtype="float"name="altitude_barometric"units="m">The altitude calculated from the barometric pressue. Reference is against 29.92inHg or 1013.2mb. If unknown: -1000 m.</field>
<fieldtype="float"name="altitude_geodetic"units="m">The geodetic altitude as defined by WGS84. If unknown: -1000 m.</field>
<fieldtype="uint8_t"name="height_reference"enum="MAV_ODID_HEIGHT_REF">Indicates the reference point for the height field.</field>
<fieldtype="float"name="height"units="m">The current height of the unmanned aircraft above the take-off location or the ground as indicated by height_reference. If unknown: -1000 m.</field>
<fieldtype="uint8_t"name="horizontal_accuracy"enum="MAV_ODID_HOR_ACC">The accuracy of the horizontal position.</field>
<fieldtype="uint8_t"name="vertical_accuracy"enum="MAV_ODID_VER_ACC">The accuracy of the vertical position.</field>
<fieldtype="uint8_t"name="barometer_accuracy"enum="MAV_ODID_VER_ACC">The accuracy of the barometric altitude.</field>
<fieldtype="uint8_t"name="speed_accuracy"enum="MAV_ODID_SPEED_ACC">The accuracy of the horizontal and vertical speed.</field>
<fieldtype="float"name="timestamp"units="s">Seconds after the full hour with reference to UTC time. Typically the GPS outputs a time-of-week value in milliseconds. First convert that to UTC and then convert for this field using ((float) (time_week_ms % (60*60*1000))) / 1000.</field>
<fieldtype="uint8_t"name="timestamp_accuracy"enum="MAV_ODID_TIME_ACC">The accuracy of the timestamps.</field>
<!-- This message is work-in-progress and it can therefore change, and should NOT be used in stable production environments -->
<description>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). The Authentication message can have two different formats. Five data pages are supported. For data page 0, the fields PageCount, Length and TimeStamp are present and AuthData is only 17 bytes. For data page 1 through 4, PageCount, Length and TimeStamp are not present and the size of AuthData is 23 bytes.</description>
<fieldtype="uint8_t"name="authentication_type"enum="MAV_ODID_AUTH_TYPE">Indicates the type of authentication.</field>
<fieldtype="uint8_t"name="data_page">Allowed range is 0 - 4.</field>
<fieldtype="uint8_t"name="page_count">This field is only present for page 0. Allowed range is 0 - 5.</field>
<fieldtype="uint8_t"name="length"units="bytes">This field is only present for page 0. Total bytes of authentication_data from all data pages. Allowed range is 0 - 109 (17 + 23*4).</field>
<fieldtype="uint32_t"name="timestamp"units="s">This field is only present for page 0. 32 bit Unix Timestamp in seconds since 00:00:00 01/01/2019.</field>
<fieldtype="uint8_t[23]"name="authentication_data">Opaque authentication data. For page 0, the size is only 17 bytes. For other pages, the size is 23 bytes. Shall be filled with nulls in the unused portion of the field.</field>
</message>
<messageid="12903"name="OPEN_DRONE_ID_SELF_ID">
<wip/>
<!-- This message is work-in-progress and it can therefore change, and should NOT be used in stable production environments -->
<description>Data for filling the OpenDroneID Self ID message. The Self ID Message is an opportunity for the operator 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 (Unmanned Aircraft) flying in a particular area or manner.</description>
<fieldtype="uint8_t"name="description_type"enum="MAV_ODID_DESC_TYPE">Indicates the type of the description field.</field>
<fieldtype="char[23]"name="description">Text description or numeric value expressed as ASCII characters. Shall be filled with nulls in the unused portion of the field.</field>
</message>
<messageid="12904"name="OPEN_DRONE_ID_SYSTEM">
<wip/>
<!-- This message is work-in-progress and it can therefore change, and should NOT be used in stable production environments -->
<description>Data for filling the OpenDroneID System message. The System Message contains general system information including the operator location and possible aircraft group information.</description>
<fieldtype="uint8_t"name="flags"enum="MAV_ODID_LOCATION_SRC">Specifies the location source for the operator location.</field>
<fieldtype="int32_t"name="operator_latitude"units="degE7">Latitude of the operator. If unknown: 0 (both Lat/Lon).</field>
<fieldtype="int32_t"name="operator_longitude"units="degE7">Longitude of the operator. If unknown: 0 (both Lat/Lon).</field>
<fieldtype="uint16_t"name="area_count">Number of aircraft in the area, group or formation (default 1).</field>
<fieldtype="uint16_t"name="area_radius"units="m">Radius of the cylindrical area of the group or formation (default 0).</field>
<fieldtype="float"name="area_ceiling"units="m">Area Operations Ceiling relative to WGS84. If unknown: -1000 m.</field>
<fieldtype="float"name="area_floor"units="m">Area Operations Floor relative to WGS84. If unknown: -1000 m.</field>
<!-- This message is work-in-progress and it can therefore change, and should NOT be used in stable production environments -->
<description>Data for filling the OpenDroneID Operator ID message, which contains the CAA (Civil Aviation Authority) issued operator ID.</description>
<fieldtype="uint8_t"name="operator_id_type"enum="MAV_ODID_OPERATOR_ID_TYPE">Indicates the type of the operator_id field.</field>
<fieldtype="char[20]"name="operator_id">Text description or numeric value expressed as ASCII characters. Shall be filled with nulls in the unused portion of the field.</field>
</message>
<!-- The message ids 12906 - 12914 are reserved for OpenDroneID. -->
<!-- This message is work-in-progress and it can therefore change, and should NOT be used in stable production environments -->
<description>An OpenDroneID message pack is a container for multiple encoded OpenDroneID messages (i.e. not in the format given for the above messages descriptions but after encoding into the compressed OpenDroneID byte format). Used e.g. when transmitting on Bluetooth 5.0 Long Range/Extended Advertising or on WiFi Neighbor Aware Networking.</description>
<fieldtype="uint8_t"name="single_message_size"units="bytes">This field must currently always be equal to 25 bytes, since all encoded OpenDroneID messages are specificed to have this length.</field>
<fieldtype="uint8_t"name="msg_pack_size">Number of encoded messages in the pack (not the number of bytes). Allowed range is 1 - 10.</field>
<fieldtype="uint8_t[250]"name="messages">Concatenation of encoded OpenDroneID messages. Shall be filled with nulls in the unused portion of the field.</field>
