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mavlink protocol description
<?xml version="1.0"?>
<mavlink>
<include>minimal.xml</include>
<version>3</version>
<dialect>0</dialect>
<enums>
<enum name="FIRMWARE_VERSION_TYPE">
<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>
<entry value="0" name="FIRMWARE_VERSION_TYPE_DEV">
<description>development release</description>
</entry>
<entry value="64" name="FIRMWARE_VERSION_TYPE_ALPHA">
<description>alpha release</description>
</entry>
<entry value="128" name="FIRMWARE_VERSION_TYPE_BETA">
<description>beta release</description>
</entry>
<entry value="192" name="FIRMWARE_VERSION_TYPE_RC">
<description>release candidate</description>
</entry>
<entry value="255" name="FIRMWARE_VERSION_TYPE_OFFICIAL">
<description>official stable release</description>
</entry>
</enum>
<enum name="HL_FAILURE_FLAG" bitmask="true">
<description>Flags to report failure cases over the high latency telemtry.</description>
<entry value="1" name="HL_FAILURE_FLAG_GPS">
<description>GPS failure.</description>
</entry>
<entry value="2" name="HL_FAILURE_FLAG_DIFFERENTIAL_PRESSURE">
<description>Differential pressure sensor failure.</description>
</entry>
<entry value="4" name="HL_FAILURE_FLAG_ABSOLUTE_PRESSURE">
<description>Absolute pressure sensor failure.</description>
</entry>
<entry value="8" name="HL_FAILURE_FLAG_3D_ACCEL">
<description>Accelerometer sensor failure.</description>
</entry>
<entry value="16" name="HL_FAILURE_FLAG_3D_GYRO">
<description>Gyroscope sensor failure.</description>
</entry>
<entry value="32" name="HL_FAILURE_FLAG_3D_MAG">
<description>Magnetometer sensor failure.</description>
</entry>
<entry value="64" name="HL_FAILURE_FLAG_TERRAIN">
<description>Terrain subsystem failure.</description>
</entry>
<entry value="128" name="HL_FAILURE_FLAG_BATTERY">
<description>Battery failure/critical low battery.</description>
</entry>
<entry value="256" name="HL_FAILURE_FLAG_RC_RECEIVER">
<description>RC receiver failure/no rc connection.</description>
</entry>
<entry value="512" name="HL_FAILURE_FLAG_OFFBOARD_LINK">
<description>Offboard link failure.</description>
</entry>
<entry value="1024" name="HL_FAILURE_FLAG_ENGINE">
<description>Engine failure.</description>
</entry>
<entry value="2048" name="HL_FAILURE_FLAG_GEOFENCE">
<description>Geofence violation.</description>
</entry>
<entry value="4096" name="HL_FAILURE_FLAG_ESTIMATOR">
<description>Estimator failure, for example measurement rejection or large variances.</description>
</entry>
<entry value="8192" name="HL_FAILURE_FLAG_MISSION">
<description>Mission failure.</description>
</entry>
</enum>
<enum name="MAV_GOTO">
<description>Actions that may be specified in MAV_CMD_OVERRIDE_GOTO to override mission execution.</description>
<entry value="0" name="MAV_GOTO_DO_HOLD">
<description>Hold at the current position.</description>
</entry>
<entry value="1" name="MAV_GOTO_DO_CONTINUE">
<description>Continue with the next item in mission execution.</description>
</entry>
<entry value="2" name="MAV_GOTO_HOLD_AT_CURRENT_POSITION">
<description>Hold at the current position of the system</description>
</entry>
<entry value="3" name="MAV_GOTO_HOLD_AT_SPECIFIED_POSITION">
<description>Hold at the position specified in the parameters of the DO_HOLD action</description>
</entry>
</enum>
<enum name="MAV_MODE">
<description>These defines are predefined OR-combined mode flags. There is no need to use values from this enum, but it
simplifies the use of the mode flags. Note that manual input is enabled in all modes as a safety override.</description>
<entry value="0" name="MAV_MODE_PREFLIGHT">
<description>System is not ready to fly, booting, calibrating, etc. No flag is set.</description>
</entry>
<entry value="80" name="MAV_MODE_STABILIZE_DISARMED">
<description>System is allowed to be active, under assisted RC control.</description>
</entry>
<entry value="208" name="MAV_MODE_STABILIZE_ARMED">
<description>System is allowed to be active, under assisted RC control.</description>
</entry>
<entry value="64" name="MAV_MODE_MANUAL_DISARMED">
<description>System is allowed to be active, under manual (RC) control, no stabilization</description>
</entry>
<entry value="192" name="MAV_MODE_MANUAL_ARMED">
<description>System is allowed to be active, under manual (RC) control, no stabilization</description>
</entry>
<entry value="88" name="MAV_MODE_GUIDED_DISARMED">
<description>System is allowed to be active, under autonomous control, manual setpoint</description>
</entry>
<entry value="216" name="MAV_MODE_GUIDED_ARMED">
<description>System is allowed to be active, under autonomous control, manual setpoint</description>
</entry>
<entry value="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>
<entry value="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>
<entry value="66" name="MAV_MODE_TEST_DISARMED">
<description>UNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only.</description>
</entry>
<entry value="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>
<enum name="MAV_SYS_STATUS_SENSOR" bitmask="true">
<description>These encode the sensors whose status is sent as part of the SYS_STATUS message.</description>
<entry value="1" name="MAV_SYS_STATUS_SENSOR_3D_GYRO">
<description>0x01 3D gyro</description>
</entry>
<entry value="2" name="MAV_SYS_STATUS_SENSOR_3D_ACCEL">
<description>0x02 3D accelerometer</description>
</entry>
<entry value="4" name="MAV_SYS_STATUS_SENSOR_3D_MAG">
<description>0x04 3D magnetometer</description>
</entry>
<entry value="8" name="MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE">
<description>0x08 absolute pressure</description>
</entry>
<entry value="16" name="MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE">
<description>0x10 differential pressure</description>
</entry>
<entry value="32" name="MAV_SYS_STATUS_SENSOR_GPS">
<description>0x20 GPS</description>
</entry>
<entry value="64" name="MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW">
<description>0x40 optical flow</description>
</entry>
<entry value="128" name="MAV_SYS_STATUS_SENSOR_VISION_POSITION">
<description>0x80 computer vision position</description>
</entry>
<entry value="256" name="MAV_SYS_STATUS_SENSOR_LASER_POSITION">
<description>0x100 laser based position</description>
</entry>
<entry value="512" name="MAV_SYS_STATUS_SENSOR_EXTERNAL_GROUND_TRUTH">
<description>0x200 external ground truth (Vicon or Leica)</description>
</entry>
<entry value="1024" name="MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL">
<description>0x400 3D angular rate control</description>
</entry>
<entry value="2048" name="MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION">
<description>0x800 attitude stabilization</description>
</entry>
<entry value="4096" name="MAV_SYS_STATUS_SENSOR_YAW_POSITION">
<description>0x1000 yaw position</description>
</entry>
<entry value="8192" name="MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL">
<description>0x2000 z/altitude control</description>
</entry>
<entry value="16384" name="MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL">
<description>0x4000 x/y position control</description>
</entry>
<entry value="32768" name="MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS">
<description>0x8000 motor outputs / control</description>
</entry>
<entry value="65536" name="MAV_SYS_STATUS_SENSOR_RC_RECEIVER">
<description>0x10000 rc receiver</description>
</entry>
<entry value="131072" name="MAV_SYS_STATUS_SENSOR_3D_GYRO2">
<description>0x20000 2nd 3D gyro</description>
</entry>
<entry value="262144" name="MAV_SYS_STATUS_SENSOR_3D_ACCEL2">
<description>0x40000 2nd 3D accelerometer</description>
</entry>
<entry value="524288" name="MAV_SYS_STATUS_SENSOR_3D_MAG2">
<description>0x80000 2nd 3D magnetometer</description>
</entry>
<entry value="1048576" name="MAV_SYS_STATUS_GEOFENCE">
<description>0x100000 geofence</description>
</entry>
<entry value="2097152" name="MAV_SYS_STATUS_AHRS">
<description>0x200000 AHRS subsystem health</description>
</entry>
<entry value="4194304" name="MAV_SYS_STATUS_TERRAIN">
<description>0x400000 Terrain subsystem health</description>
</entry>
<entry value="8388608" name="MAV_SYS_STATUS_REVERSE_MOTOR">
<description>0x800000 Motors are reversed</description>
</entry>
<entry value="16777216" name="MAV_SYS_STATUS_LOGGING">
<description>0x1000000 Logging</description>
</entry>
<entry value="33554432" name="MAV_SYS_STATUS_SENSOR_BATTERY">
<description>0x2000000 Battery</description>
</entry>
<entry value="67108864" name="MAV_SYS_STATUS_SENSOR_PROXIMITY">
<description>0x4000000 Proximity</description>
</entry>
<entry value="134217728" name="MAV_SYS_STATUS_SENSOR_SATCOM">
<description>0x8000000 Satellite Communication </description>
</entry>
<entry value="268435456" name="MAV_SYS_STATUS_PREARM_CHECK">
<description>0x10000000 pre-arm check status. Always healthy when armed</description>
</entry>
<entry value="536870912" name="MAV_SYS_STATUS_OBSTACLE_AVOIDANCE">
<description>0x20000000 Avoidance/collision prevention</description>
</entry>
</enum>
<enum name="MAV_FRAME">
<entry value="0" name="MAV_FRAME_GLOBAL">
<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>
</entry>
<entry value="1" name="MAV_FRAME_LOCAL_NED">
<description>Local coordinate frame, Z-down (x: North, y: East, z: Down).</description>
</entry>
<entry value="2" name="MAV_FRAME_MISSION">
<description>NOT a coordinate frame, indicates a mission command.</description>
</entry>
<entry value="3" name="MAV_FRAME_GLOBAL_RELATIVE_ALT">
<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>
</entry>
<entry value="4" name="MAV_FRAME_LOCAL_ENU">
<description>Local coordinate frame, Z-up (x: East, y: North, z: Up).</description>
</entry>
<entry value="5" name="MAV_FRAME_GLOBAL_INT">
<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>
</entry>
<entry value="6" name="MAV_FRAME_GLOBAL_RELATIVE_ALT_INT">
<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>
<entry value="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>
</entry>
<entry value="8" name="MAV_FRAME_BODY_NED">
<deprecated since="2019-08" replaced_by="MAV_FRAME_BODY_FRD"/>
<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>
</entry>
<entry value="9" name="MAV_FRAME_BODY_OFFSET_NED">
<deprecated since="2019-08" replaced_by="MAV_FRAME_BODY_FRD"/>
<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>
</entry>
<entry value="10" name="MAV_FRAME_GLOBAL_TERRAIN_ALT">
<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>
</entry>
<entry value="11" name="MAV_FRAME_GLOBAL_TERRAIN_ALT_INT">
<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>
</entry>
<entry value="12" name="MAV_FRAME_BODY_FRD">
<description>Body fixed frame of reference, Z-down (x: Forward, y: Right, z: Down).</description>
</entry>
<entry value="13" name="MAV_FRAME_RESERVED_13">
<deprecated since="2019-04" replaced_by=""/>
<description>MAV_FRAME_BODY_FLU - Body fixed frame of reference, Z-up (x: Forward, y: Left, z: Up).</description>
</entry>
<entry value="14" name="MAV_FRAME_RESERVED_14">
<deprecated since="2019-04" replaced_by="MAV_FRAME_LOCAL_FRD"/>
<description>MAV_FRAME_MOCAP_NED - Odometry local coordinate frame of data given by a motion capture system, Z-down (x: North, y: East, z: Down).</description>
</entry>
<entry value="15" name="MAV_FRAME_RESERVED_15">
<deprecated since="2019-04" replaced_by="MAV_FRAME_LOCAL_FLU"/>
<description>MAV_FRAME_MOCAP_ENU - Odometry local coordinate frame of data given by a motion capture system, Z-up (x: East, y: North, z: Up).</description>
</entry>
<entry value="16" name="MAV_FRAME_RESERVED_16">
<deprecated since="2019-04" replaced_by="MAV_FRAME_LOCAL_FRD"/>
<description>MAV_FRAME_VISION_NED - Odometry local coordinate frame of data given by a vision estimation system, Z-down (x: North, y: East, z: Down).</description>
</entry>
<entry value="17" name="MAV_FRAME_RESERVED_17">
<deprecated since="2019-04" replaced_by="MAV_FRAME_LOCAL_FLU"/>
<description>MAV_FRAME_VISION_ENU - Odometry local coordinate frame of data given by a vision estimation system, Z-up (x: East, y: North, z: Up).</description>
</entry>
<entry value="18" name="MAV_FRAME_RESERVED_18">
<deprecated since="2019-04" replaced_by="MAV_FRAME_LOCAL_FRD"/>
<description>MAV_FRAME_ESTIM_NED - Odometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-down (x: North, y: East, z: Down).</description>
</entry>
<entry value="19" name="MAV_FRAME_RESERVED_19">
<deprecated since="2019-04" replaced_by="MAV_FRAME_LOCAL_FLU"/>
<description>MAV_FRAME_ESTIM_ENU - Odometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-up (x: East, y: North, z: Up).</description>
</entry>
<entry value="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>
<entry value="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>
<enum name="MAVLINK_DATA_STREAM_TYPE">
<entry name="MAVLINK_DATA_STREAM_IMG_JPEG">
<description/>
</entry>
<entry name="MAVLINK_DATA_STREAM_IMG_BMP">
<description/>
</entry>
<entry name="MAVLINK_DATA_STREAM_IMG_RAW8U">
<description/>
</entry>
<entry name="MAVLINK_DATA_STREAM_IMG_RAW32U">
<description/>
</entry>
<entry name="MAVLINK_DATA_STREAM_IMG_PGM">
<description/>
</entry>
<entry name="MAVLINK_DATA_STREAM_IMG_PNG">
<description/>
</entry>
</enum>
<!-- fenced mode enums -->
<enum name="FENCE_ACTION">
<entry value="0" name="FENCE_ACTION_NONE">
<description>Disable fenced mode</description>
</entry>
<entry value="1" name="FENCE_ACTION_GUIDED">
<description>Switched to guided mode to return point (fence point 0)</description>
</entry>
<entry value="2" name="FENCE_ACTION_REPORT">
<description>Report fence breach, but don't take action</description>
</entry>
<entry value="3" name="FENCE_ACTION_GUIDED_THR_PASS">
<description>Switched to guided mode to return point (fence point 0) with manual throttle control</description>
</entry>
<entry value="4" name="FENCE_ACTION_RTL">
<description>Switch to RTL (return to launch) mode and head for the return point.</description>
</entry>
</enum>
<enum name="FENCE_BREACH">
<entry value="0" name="FENCE_BREACH_NONE">
<description>No last fence breach</description>
</entry>
<entry value="1" name="FENCE_BREACH_MINALT">
<description>Breached minimum altitude</description>
</entry>
<entry value="2" name="FENCE_BREACH_MAXALT">
<description>Breached maximum altitude</description>
</entry>
<entry value="3" name="FENCE_BREACH_BOUNDARY">
<description>Breached fence boundary</description>
</entry>
</enum>
<enum name="FENCE_MITIGATE">
<!-- This enum is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<description>Actions being taken to mitigate/prevent fence breach</description>
<entry value="0" name="FENCE_MITIGATE_UNKNOWN">
<description>Unknown</description>
</entry>
<entry value="1" name="FENCE_MITIGATE_NONE">
<description>No actions being taken</description>
</entry>
<entry value="2" name="FENCE_MITIGATE_VEL_LIMIT">
<description>Velocity limiting active to prevent breach</description>
</entry>
</enum>
<!-- Camera Mount mode Enumeration -->
<enum name="MAV_MOUNT_MODE">
<deprecated since="2020-01" replaced_by="GIMBAL_MANAGER_FLAGS"/>
<description>Enumeration of possible mount operation modes. This message is used by obsolete/deprecated gimbal messages.</description>
<entry value="0" name="MAV_MOUNT_MODE_RETRACT">
<description>Load and keep safe position (Roll,Pitch,Yaw) from permant memory and stop stabilization</description>
</entry>
<entry value="1" name="MAV_MOUNT_MODE_NEUTRAL">
<description>Load and keep neutral position (Roll,Pitch,Yaw) from permanent memory.</description>
</entry>
<entry value="2" name="MAV_MOUNT_MODE_MAVLINK_TARGETING">
<description>Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization</description>
</entry>
<entry value="3" name="MAV_MOUNT_MODE_RC_TARGETING">
<description>Load neutral position and start RC Roll,Pitch,Yaw control with stabilization</description>
</entry>
<entry value="4" name="MAV_MOUNT_MODE_GPS_POINT">
<description>Load neutral position and start to point to Lat,Lon,Alt</description>
</entry>
<entry value="5" name="MAV_MOUNT_MODE_SYSID_TARGET">
<description>Gimbal tracks system with specified system ID</description>
</entry>
</enum>
<enum name="GIMBAL_DEVICE_CAP_FLAGS" bitmask="true">
<description>Gimbal device (low level) capability flags (bitmap)</description>
<entry value="1" name="GIMBAL_DEVICE_CAP_FLAGS_HAS_RETRACT">
<description>Gimbal device supports a retracted position</description>
</entry>
<entry value="2" name="GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRAL">
<description>Gimbal device supports a horizontal, forward looking position, stabilized</description>
</entry>
<entry value="4" name="GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_AXIS">
<description>Gimbal device supports rotating around roll axis.</description>
</entry>
<entry value="8" name="GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_FOLLOW">
<description>Gimbal device supports to follow a roll angle relative to the vehicle</description>
</entry>
<entry value="16" name="GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCK">
<description>Gimbal device supports locking to an roll angle (generally that's the default with roll stabilized)</description>
</entry>
<entry value="32" name="GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXIS">
<description>Gimbal device supports rotating around pitch axis.</description>
</entry>
<entry value="64" name="GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_FOLLOW">
<description>Gimbal device supports to follow a pitch angle relative to the vehicle</description>
</entry>
<entry value="128" name="GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCK">
<description>Gimbal device supports locking to an pitch angle (generally that's the default with pitch stabilized)</description>
</entry>
<entry value="256" name="GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXIS">
<description>Gimbal device supports rotating around yaw axis.</description>
</entry>
<entry value="512" name="GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOW">
<description>Gimbal device supports to follow a yaw angle relative to the vehicle (generally that's the default)</description>
</entry>
<entry value="1024" name="GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCK">
<description>Gimbal device supports locking to an absolute heading (often this is an option available)</description>
</entry>
<entry value="2048" name="GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_INFINITE_YAW">
<description>Gimbal device supports yawing/panning infinetely (e.g. using slip disk).</description>
</entry>
</enum>
<enum name="GIMBAL_MANAGER_CAP_FLAGS" bitmask="true">
<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>
<entry value="1" name="GIMBAL_MANAGER_CAP_FLAGS_HAS_RETRACT">
<description>Based on GIMBAL_DEVICE_CAP_FLAGS_HAS_RETRACT.</description>
</entry>
<entry value="2" name="GIMBAL_MANAGER_CAP_FLAGS_HAS_NEUTRAL">
<description>Based on GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRAL.</description>
</entry>
<entry value="4" name="GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_AXIS">
<description>Based on GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_AXIS.</description>
</entry>
<entry value="8" name="GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_FOLLOW">
<description>Based on GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_FOLLOW.</description>
</entry>
<entry value="16" name="GIMBAL_MANAGER_CAP_FLAGS_HAS_ROLL_LOCK">
<description>Based on GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCK.</description>
</entry>
<entry value="32" name="GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_AXIS">
<description>Based on GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXIS.</description>
</entry>
<entry value="64" name="GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_FOLLOW">
<description>Based on GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_FOLLOW.</description>
</entry>
<entry value="128" name="GIMBAL_MANAGER_CAP_FLAGS_HAS_PITCH_LOCK">
<description>Based on GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCK.</description>
</entry>
<entry value="256" name="GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_AXIS">
<description>Based on GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXIS.</description>
</entry>
<entry value="512" name="GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_FOLLOW">
<description>Based on GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOW.</description>
</entry>
<entry value="1024" name="GIMBAL_MANAGER_CAP_FLAGS_HAS_YAW_LOCK">
<description>Based on GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCK.</description>
</entry>
<entry value="2048" name="GIMBAL_MANAGER_CAP_FLAGS_SUPPORTS_INFINITE_YAW">
<description>Based on GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_INFINITE_YAW.</description>
</entry>
<entry value="65536" name="GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_LOCAL">
<description>Gimbal manager supports to point to a local position.</description>
</entry>
<entry value="131072" name="GIMBAL_MANAGER_CAP_FLAGS_CAN_POINT_LOCATION_GLOBAL">
<description>Gimbal manager supports to point to a global latitude, longitude, altitude position.</description>
</entry>
</enum>
<enum name="GIMBAL_DEVICE_FLAGS" bitmask="true">
<description>Flags for gimbal device (lower level) operation.</description>
<entry value="1" name="GIMBAL_DEVICE_FLAGS_RETRACT">
<description>Set to retracted safe position (no stabilization), takes presedence over all other flags.</description>
</entry>
<entry value="2" name="GIMBAL_DEVICE_FLAGS_NEUTRAL">
<description>Set to neutral position (horizontal, forward looking, with stabiliziation), takes presedence over all other flags except RETRACT.</description>
</entry>
<entry value="4" name="GIMBAL_DEVICE_FLAGS_ROLL_LOCK">
<description>Lock roll angle to absolute angle relative to horizon (not relative to drone). This is generally the default with a stabilizing gimbal.</description>
</entry>
<entry value="8" name="GIMBAL_DEVICE_FLAGS_PITCH_LOCK">
<description>Lock pitch angle to absolute angle relative to horizon (not relative to drone). This is generally the default.</description>
</entry>
<entry value="16" name="GIMBAL_DEVICE_FLAGS_YAW_LOCK">
<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>
<enum name="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>
<entry value="1" name="GIMBAL_MANAGER_FLAGS_RETRACT">
<description>Based on GIMBAL_DEVICE_FLAGS_RETRACT</description>
</entry>
<entry value="2" name="GIMBAL_MANAGER_FLAGS_NEUTRAL">
<description>Based on GIMBAL_DEVICE_FLAGS_NEUTRAL</description>
</entry>
<entry value="4" name="GIMBAL_MANAGER_FLAGS_ROLL_LOCK">
<description>Based on GIMBAL_DEVICE_FLAGS_ROLL_LOCK</description>
</entry>
<entry value="8" name="GIMBAL_MANAGER_FLAGS_PITCH_LOCK">
<description>Based on GIMBAL_DEVICE_FLAGS_PITCH_LOCK</description>
</entry>
<entry value="16" name="GIMBAL_MANAGER_FLAGS_YAW_LOCK">
<description>Based on GIMBAL_DEVICE_FLAGS_YAW_LOCK</description>
</entry>
<entry value="1048576" name="GIMBAL_MANAGER_FLAGS_NONE">
<description>This flag can be set to give up control previously set using MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW. This flag must not be combined with other flags.</description>
</entry>
</enum>
<enum name="GIMBAL_DEVICE_ERROR_FLAGS" bitmask="true">
<description>Gimbal device (low level) error flags (bitmap, 0 means no error)</description>
<entry value="1" name="GIMBAL_DEVICE_ERROR_FLAGS_AT_ROLL_LIMIT">
<description>Gimbal device is limited by hardware roll limit.</description>
</entry>
<entry value="2" name="GIMBAL_DEVICE_ERROR_FLAGS_AT_PITCH_LIMIT">
<description>Gimbal device is limited by hardware pitch limit.</description>
</entry>
<entry value="4" name="GIMBAL_DEVICE_ERROR_FLAGS_AT_YAW_LIMIT">
<description>Gimbal device is limited by hardware yaw limit.</description>
</entry>
<entry value="8" name="GIMBAL_DEVICE_ERROR_FLAGS_ENCODER_ERROR">
<description>There is an error with the gimbal encoders.</description>
</entry>
<entry value="16" name="GIMBAL_DEVICE_ERROR_FLAGS_POWER_ERROR">
<description>There is an error with the gimbal power source.</description>
</entry>
<entry value="32" name="GIMBAL_DEVICE_ERROR_FLAGS_MOTOR_ERROR">
<description>There is an error with the gimbal motor's.</description>
</entry>
<entry value="64" name="GIMBAL_DEVICE_ERROR_FLAGS_SOFTWARE_ERROR">
<description>There is an error with the gimbal's software.</description>
</entry>
<entry value="128" name="GIMBAL_DEVICE_ERROR_FLAGS_COMMS_ERROR">
<description>There is an error with the gimbal's communication.</description>
</entry>
<entry value="256" name="GIMBAL_DEVICE_ERROR_FLAGS_CALIBRATION_RUNNING">
<description>Gimbal is currently calibrating.</description>
</entry>
</enum>
<!-- gripper action enum -->
<enum name="GRIPPER_ACTIONS">
<description>Gripper actions.</description>
<entry value="0" name="GRIPPER_ACTION_RELEASE">
<description>Gripper release cargo.</description>
</entry>
<entry value="1" name="GRIPPER_ACTION_GRAB">
<description>Gripper grab onto cargo.</description>
</entry>
</enum>
<!-- winch action enum -->
<enum name="WINCH_ACTIONS">
<description>Winch actions.</description>
<entry value="0" name="WINCH_RELAXED">
<description>Relax winch.</description>
</entry>
<entry value="1" name="WINCH_RELATIVE_LENGTH_CONTROL">
<description>Wind or unwind specified length of cable, optionally using specified rate.</description>
</entry>
<entry value="2" name="WINCH_RATE_CONTROL">
<description>Wind or unwind cable at specified rate.</description>
</entry>
</enum>
<!-- UAVCAN node health enumeration -->
<enum name="UAVCAN_NODE_HEALTH">
<description>Generalized UAVCAN node health</description>
<entry value="0" name="UAVCAN_NODE_HEALTH_OK">
<description>The node is functioning properly.</description>
</entry>
<entry value="1" name="UAVCAN_NODE_HEALTH_WARNING">
<description>A critical parameter went out of range or the node has encountered a minor failure.</description>
</entry>
<entry value="2" name="UAVCAN_NODE_HEALTH_ERROR">
<description>The node has encountered a major failure.</description>
</entry>
<entry value="3" name="UAVCAN_NODE_HEALTH_CRITICAL">
<description>The node has suffered a fatal malfunction.</description>
</entry>
</enum>
<!-- UAVCAN node mode enumeration -->
<enum name="UAVCAN_NODE_MODE">
<description>Generalized UAVCAN node mode</description>
<entry value="0" name="UAVCAN_NODE_MODE_OPERATIONAL">
<description>The node is performing its primary functions.</description>
</entry>
<entry value="1" name="UAVCAN_NODE_MODE_INITIALIZATION">
<description>The node is initializing; this mode is entered immediately after startup.</description>
</entry>
<entry value="2" name="UAVCAN_NODE_MODE_MAINTENANCE">
<description>The node is under maintenance.</description>
</entry>
<entry value="3" name="UAVCAN_NODE_MODE_SOFTWARE_UPDATE">
<description>The node is in the process of updating its software.</description>
</entry>
<entry value="7" name="UAVCAN_NODE_MODE_OFFLINE">
<description>The node is no longer available online.</description>
</entry>
</enum>
<enum name="ESC_CONNECTION_TYPE">
<!-- This enum is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<description>Indicates the ESC connection type.</description>
<entry value="0" name="ESC_CONNECTION_TYPE_PPM">
<description>Traditional PPM ESC.</description>
</entry>
<entry value="1" name="ESC_CONNECTION_TYPE_SERIAL">
<description>Serial Bus connected ESC.</description>
</entry>
<entry value="2" name="ESC_CONNECTION_TYPE_ONESHOT">
<description>One Shot PPM ESC.</description>
</entry>
<entry value="3" name="ESC_CONNECTION_TYPE_I2C">
<description>I2C ESC.</description>
</entry>
<entry value="4" name="ESC_CONNECTION_TYPE_CAN">
<description>CAN-Bus ESC.</description>
</entry>
<entry value="5" name="ESC_CONNECTION_TYPE_DSHOT">
<description>DShot ESC.</description>
</entry>
</enum>
<enum name="ESC_FAILURE_FLAGS" bitmask="true">
<!-- This enum is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<description>Flags to report ESC failures.</description>
<entry value="0" name="ESC_FAILURE_NONE">
<description>No ESC failure.</description>
</entry>
<entry value="1" name="ESC_FAILURE_OVER_CURRENT">
<description>Over current failure.</description>
</entry>
<entry value="2" name="ESC_FAILURE_OVER_VOLTAGE">
<description>Over voltage failure.</description>
</entry>
<entry value="4" name="ESC_FAILURE_OVER_TEMPERATURE">
<description>Over temperature failure.</description>
</entry>
<entry value="8" name="ESC_FAILURE_OVER_RPM">
<description>Over RPM failure.</description>
</entry>
<entry value="16" name="ESC_FAILURE_INCONSISTENT_CMD">
<description>Inconsistent command failure i.e. out of bounds.</description>
</entry>
<entry value="32" name="ESC_FAILURE_MOTOR_STUCK">
<description>Motor stuck failure.</description>
</entry>
<entry value="64" name="ESC_FAILURE_GENERIC">
<description>Generic ESC failure.</description>
</entry>
</enum>
<enum name="STORAGE_STATUS">
<description>Flags to indicate the status of camera storage.</description>
<entry value="0" name="STORAGE_STATUS_EMPTY">
<description>Storage is missing (no microSD card loaded for example.)</description>
</entry>
<entry value="1" name="STORAGE_STATUS_UNFORMATTED">
<description>Storage present but unformatted.</description>
</entry>
<entry value="2" name="STORAGE_STATUS_READY">
<description>Storage present and ready.</description>
</entry>
<entry value="3" name="STORAGE_STATUS_NOT_SUPPORTED">
<description>Camera does not supply storage status information. Capacity information in STORAGE_INFORMATION fields will be ignored.</description>
</entry>
</enum>
<enum name="ORBIT_YAW_BEHAVIOUR">
<description>Yaw behaviour during orbit flight.</description>
<entry value="0" name="ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER">
<description>Vehicle front points to the center (default).</description>
</entry>
<entry value="1" name="ORBIT_YAW_BEHAVIOUR_HOLD_INITIAL_HEADING">
<description>Vehicle front holds heading when message received.</description>
</entry>
<entry value="2" name="ORBIT_YAW_BEHAVIOUR_UNCONTROLLED">
<description>Yaw uncontrolled.</description>
</entry>
<entry value="3" name="ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE">
<description>Vehicle front follows flight path (tangential to circle).</description>
</entry>
<entry value="4" name="ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED">
<description>Yaw controlled by RC input.</description>
</entry>
</enum>
<enum name="WIFI_CONFIG_AP_RESPONSE">
<description>Possible responses from a WIFI_CONFIG_AP message.</description>
<entry value="0" name="WIFI_CONFIG_AP_RESPONSE_UNDEFINED">
<description>Undefined response. Likely an indicative of a system that doesn't support this request.</description>
</entry>
<entry value="1" name="WIFI_CONFIG_AP_RESPONSE_ACCEPTED">
<description>Changes accepted.</description>
</entry>
<entry value="2" name="WIFI_CONFIG_AP_RESPONSE_REJECTED">
<description>Changes rejected.</description>
</entry>
<entry value="3" name="WIFI_CONFIG_AP_RESPONSE_MODE_ERROR">
<description>Invalid Mode.</description>
</entry>
<entry value="4" name="WIFI_CONFIG_AP_RESPONSE_SSID_ERROR">
<description>Invalid SSID.</description>
</entry>
<entry value="5" name="WIFI_CONFIG_AP_RESPONSE_PASSWORD_ERROR">
<description>Invalid Password.</description>
</entry>
</enum>
<enum name="CELLULAR_CONFIG_RESPONSE">
<description>Possible responses from a CELLULAR_CONFIG message.</description>
<entry value="0" name="CELLULAR_CONFIG_RESPONSE_ACCEPTED">
<description>Changes accepted.</description>
</entry>
<entry value="1" name="CELLULAR_CONFIG_RESPONSE_APN_ERROR">
<description>Invalid APN.</description>
</entry>
<entry value="2" name="CELLULAR_CONFIG_RESPONSE_PIN_ERROR">
<description>Invalid PIN.</description>
</entry>
<entry value="3" name="CELLULAR_CONFIG_RESPONSE_REJECTED">
<description>Changes rejected.</description>
</entry>
<entry value="4" name="CELLULAR_CONFIG_BLOCKED_PUK_REQUIRED">
<description>PUK is required to unblock SIM card.</description>
</entry>
</enum>
<enum name="WIFI_CONFIG_AP_MODE">
<description>WiFi Mode.</description>
<entry value="0" name="WIFI_CONFIG_AP_MODE_UNDEFINED">
<description>WiFi mode is undefined.</description>
</entry>
<entry value="1" name="WIFI_CONFIG_AP_MODE_AP">
<description>WiFi configured as an access point.</description>
</entry>
<entry value="2" name="WIFI_CONFIG_AP_MODE_STATION">
<description>WiFi configured as a station connected to an existing local WiFi network.</description>
</entry>
<entry value="3" name="WIFI_CONFIG_AP_MODE_DISABLED">
<description>WiFi disabled.</description>
</entry>
</enum>
<enum name="COMP_METADATA_TYPE">
<description>Possible values for COMPONENT_INFORMATION.comp_metadata_type.</description>
<entry value="0" name="COMP_METADATA_TYPE_VERSION">
<description>Version information which also includes information on other optional supported COMP_METADATA_TYPE's. Must be supported. Only downloadable from vehicle.</description>
</entry>
<entry value="1" name="COMP_METADATA_TYPE_PARAMETER">
<description>Parameter meta data.</description>
</entry>
<entry value="2" name="COMP_METADATA_TYPE_COMMANDS">
<description>Meta data which specifies the commands the vehicle supports. (WIP)</description>
</entry>
</enum>
<enum name="PARAM_TRANSACTION_TRANSPORT">
<description>Possible transport layers to set and get parameters via mavlink during a parameter transaction.</description>
<entry value="0" name="PARAM_TRANSACTION_TRANSPORT_PARAM">
<description>Transaction over param transport.</description>
</entry>
<entry value="1" name="PARAM_TRANSACTION_TRANSPORT_PARAM_EXT">
<description>Transaction over param_ext transport.</description>
</entry>
</enum>
<enum name="PARAM_TRANSACTION_ACTION">
<description>Possible parameter transaction actions.</description>
<entry value="0" name="PARAM_TRANSACTION_ACTION_START">
<description>Commit the current parameter transaction.</description>
</entry>
<entry value="1" name="PARAM_TRANSACTION_ACTION_COMMIT">
<description>Commit the current parameter transaction.</description>
</entry>
<entry value="2" name="PARAM_TRANSACTION_ACTION_CANCEL">
<description>Cancel the current parameter transaction.</description>
</entry>
</enum>
<!-- The MAV_CMD enum entries describe either: -->
<!-- * the data payload of mission items (as used in the MISSION_ITEM_INT message) -->
<!-- * 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 -->
<enum name="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>
<entry value="16" name="MAV_CMD_NAV_WAYPOINT" hasLocation="true" isDestination="true">
<description>Navigate to waypoint.</description>
<param index="1" label="Hold" units="s" minValue="0">Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)</param>
<param index="2" label="Accept Radius" units="m" minValue="0">Acceptance radius (if the sphere with this radius is hit, the waypoint counts as reached)</param>
<param index="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>
<param index="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>
<param index="5" label="Latitude">Latitude</param>
<param index="6" label="Longitude">Longitude</param>
<param index="7" label="Altitude" units="m">Altitude</param>
</entry>
<entry value="17" name="MAV_CMD_NAV_LOITER_UNLIM" hasLocation="true" isDestination="true">
<description>Loiter around this waypoint an unlimited amount of time</description>
<param index="1">Empty</param>
<param index="2">Empty</param>
<param index="3" label="Radius" units="m">Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, else counter-clockwise</param>
<param index="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>
<param index="5" label="Latitude">Latitude</param>
<param index="6" label="Longitude">Longitude</param>
<param index="7" label="Altitude" units="m">Altitude</param>
</entry>
<entry value="18" name="MAV_CMD_NAV_LOITER_TURNS" hasLocation="true" isDestination="true">
<description>Loiter around this waypoint for X turns</description>
<param index="1" label="Turns" minValue="0">Number of turns.</param>
<param index="2" label="Heading Required" minValue="0" maxValue="1" increment="1">Leave loiter circle only once heading towards the next waypoint (0 = False)</param>
<param index="3" label="Radius" units="m">Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, else counter-clockwise</param>
<param index="4" label="Xtrack Location">Loiter circle exit location and/or path to next waypoint ("xtrack") for forward-only moving vehicles (not multicopters). 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use the current system default xtrack behaviour.</param>
<param index="5" label="Latitude">Latitude</param>
<param index="6" label="Longitude">Longitude</param>
<param index="7" label="Altitude" units="m">Altitude</param>
</entry>
<entry value="19" name="MAV_CMD_NAV_LOITER_TIME" hasLocation="true" isDestination="true">
<description>Loiter at the specified latitude, longitude and altitude for a certain amount of time. Multicopter vehicles stop at the point (within a vehicle-specific acceptance radius). Forward-only moving vehicles (e.g. fixed-wing) circle the point with the specified radius/direction. If the Heading Required parameter (2) is non-zero forward moving aircraft will only leave the loiter circle once heading towards the next waypoint.</description>
<param index="1" label="Time" units="s" minValue="0">Loiter time (only starts once Lat, Lon and Alt is reached).</param>
<param index="2" label="Heading Required" minValue="0" maxValue="1" increment="1">Leave loiter circle only once heading towards the next waypoint (0 = False)</param>
<param index="3" label="Radius" units="m">Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, else counter-clockwise.</param>
<param index="4" label="Xtrack Location">Loiter circle exit location and/or path to next waypoint ("xtrack") for forward-only moving vehicles (not multicopters). 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use the current system default xtrack behaviour.</param>
<param index="5" label="Latitude">Latitude</param>
<param index="6" label="Longitude">Longitude</param>
<param index="7" label="Altitude" units="m">Altitude</param>
</entry>
<entry value="20" name="MAV_CMD_NAV_RETURN_TO_LAUNCH" hasLocation="false" isDestination="false">
<description>Return to launch location</description>
<param index="1">Empty</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="21" name="MAV_CMD_NAV_LAND" hasLocation="true" isDestination="true">
<description>Land at location.</description>
<param index="1" label="Abort Alt" units="m">Minimum target altitude if landing is aborted (0 = undefined/use system default).</param>
<param index="2" label="Land Mode" enum="PRECISION_LAND_MODE">Precision land mode.</param>
<param index="3">Empty</param>
<param index="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>
<param index="5" label="Latitude">Latitude.</param>
<param index="6" label="Longitude">Longitude.</param>
<param index="7" label="Altitude" units="m">Landing altitude (ground level in current frame).</param>
</entry>
<entry value="22" name="MAV_CMD_NAV_TAKEOFF" hasLocation="true" isDestination="true">
<description>Takeoff from ground / hand. Vehicles that support multiple takeoff modes (e.g. VTOL quadplane) should take off using the currently configured mode.</description>
<param index="1" label="Pitch" units="deg">Minimum pitch (if airspeed sensor present), desired pitch without sensor</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="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>
<param index="5" label="Latitude">Latitude</param>
<param index="6" label="Longitude">Longitude</param>
<param index="7" label="Altitude" units="m">Altitude</param>
</entry>
<entry value="23" name="MAV_CMD_NAV_LAND_LOCAL" hasLocation="true" isDestination="true">
<description>Land at local position (local frame only)</description>
<param index="1" label="Target" minValue="0" increment="1">Landing target number (if available)</param>
<param index="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>
<param index="3" label="Descend Rate" units="m/s">Landing descend rate</param>
<param index="4" label="Yaw" units="rad">Desired yaw angle</param>
<param index="5" label="Y Position" units="m">Y-axis position</param>
<param index="6" label="X Position" units="m">X-axis position</param>
<param index="7" label="Z Position" units="m">Z-axis / ground level position</param>
</entry>
<entry value="24" name="MAV_CMD_NAV_TAKEOFF_LOCAL" hasLocation="true" isDestination="true">
<description>Takeoff from local position (local frame only)</description>
<param index="1" label="Pitch" units="rad">Minimum pitch (if airspeed sensor present), desired pitch without sensor</param>
<param index="2">Empty</param>
<param index="3" label="Ascend Rate" units="m/s">Takeoff ascend rate</param>
<param index="4" label="Yaw" units="rad">Yaw angle (if magnetometer or another yaw estimation source present), ignored without one of these</param>
<param index="5" label="Y Position" units="m">Y-axis position</param>
<param index="6" label="X Position" units="m">X-axis position</param>
<param index="7" label="Z Position" units="m">Z-axis position</param>
</entry>
<entry value="25" name="MAV_CMD_NAV_FOLLOW" hasLocation="true" isDestination="false">
<description>Vehicle following, i.e. this waypoint represents the position of a moving vehicle</description>
<param index="1" label="Following" increment="1">Following logic to use (e.g. loitering or sinusoidal following) - depends on specific autopilot implementation</param>
<param index="2" label="Ground Speed" units="m/s">Ground speed of vehicle to be followed</param>
<param index="3" label="Radius" units="m">Radius around waypoint. If positive loiter clockwise, else counter-clockwise</param>
<param index="4" label="Yaw" units="deg">Desired yaw angle.</param>
<param index="5" label="Latitude">Latitude</param>
<param index="6" label="Longitude">Longitude</param>
<param index="7" label="Altitude" units="m">Altitude</param>
</entry>
<entry value="30" name="MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT" hasLocation="false" isDestination="true">
<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>
<param index="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>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7" label="Altitude" units="m">Desired altitude</param>
</entry>
<entry value="31" name="MAV_CMD_NAV_LOITER_TO_ALT" hasLocation="true" isDestination="true">
<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>
<param index="1" label="Heading Required" minValue="0" maxValue="1" increment="1">Leave loiter circle only once heading towards the next waypoint (0 = False)</param>
<param index="2" label="Radius" units="m">Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, negative counter-clockwise, 0 means no change to standard loiter.</param>
<param index="3">Empty</param>
<param index="4" label="Xtrack Location" minValue="0" maxValue="1" increment="1">Loiter circle exit location and/or path to next waypoint ("xtrack") for forward-only moving vehicles (not multicopters). 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use the current system default xtrack behaviour.</param>
<param index="5" label="Latitude">Latitude</param>
<param index="6" label="Longitude">Longitude</param>
<param index="7" label="Altitude" units="m">Altitude</param>
</entry>
<entry value="32" name="MAV_CMD_DO_FOLLOW" hasLocation="false" isDestination="false">
<description>Begin following a target</description>
<param index="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>
<param index="2">Reserved</param>
<param index="3">Reserved</param>
<param index="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>
<param index="5" label="Altitude" units="m">Altitude above home. (used if mode=2)</param>
<param index="6">Reserved</param>
<param index="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>
</entry>
<entry value="33" name="MAV_CMD_DO_FOLLOW_REPOSITION" hasLocation="false" isDestination="false">
<description>Reposition the MAV after a follow target command has been sent</description>
<param index="1" label="Camera Q1">Camera q1 (where 0 is on the ray from the camera to the tracking device)</param>
<param index="2" label="Camera Q2">Camera q2</param>
<param index="3" label="Camera Q3">Camera q3</param>
<param index="4" label="Camera Q4">Camera q4</param>
<param index="5" label="Altitude Offset" units="m">altitude offset from target</param>
<param index="6" label="X Offset" units="m">X offset from target</param>
<param index="7" label="Y Offset" units="m">Y offset from target</param>
</entry>
<entry value="34" name="MAV_CMD_DO_ORBIT" hasLocation="true" isDestination="true">
<wip/>
<!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<description>Start orbiting on the circumference of a circle defined by the parameters. Setting any value NaN results in using defaults.</description>
<param index="1" label="Radius" units="m">Radius of the circle. positive: Orbit clockwise. negative: Orbit counter-clockwise.</param>
<param index="2" label="Velocity" units="m/s">Tangential Velocity. NaN: Vehicle configuration default.</param>
<param index="3" label="Yaw Behavior" enum="ORBIT_YAW_BEHAVIOUR">Yaw behavior of the vehicle.</param>
<param index="4">Reserved (e.g. for dynamic center beacon options)</param>
<param index="5" label="Latitude/X">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>
<param index="6" label="Longitude/Y">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>
<param index="7" label="Altitude/Z">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>
</entry>
<entry value="80" name="MAV_CMD_NAV_ROI" hasLocation="true" isDestination="false">
<deprecated since="2018-01" replaced_by="MAV_CMD_DO_SET_ROI_*"/>
<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>
<param index="1" label="ROI Mode" enum="MAV_ROI">Region of interest mode.</param>
<param index="2" label="WP Index" minValue="0" increment="1">Waypoint index/ target ID. (see MAV_ROI enum)</param>
<param index="3" label="ROI Index" minValue="0" increment="1">ROI index (allows a vehicle to manage multiple ROI's)</param>
<param index="4">Empty</param>
<param index="5" label="X">x the location of the fixed ROI (see MAV_FRAME)</param>
<param index="6" label="Y">y</param>
<param index="7" label="Z">z</param>
</entry>
<entry value="81" name="MAV_CMD_NAV_PATHPLANNING" hasLocation="true" isDestination="true">
<description>Control autonomous path planning on the MAV.</description>
<param index="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>
<param index="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>
<param index="3">Empty</param>
<param index="4" label="Yaw" units="deg">Yaw angle at goal</param>
<param index="5" label="Latitude/X">Latitude/X of goal</param>
<param index="6" label="Longitude/Y">Longitude/Y of goal</param>
<param index="7" label="Altitude/Z">Altitude/Z of goal</param>
</entry>
<entry value="82" name="MAV_CMD_NAV_SPLINE_WAYPOINT" hasLocation="true" isDestination="true">
<description>Navigate to waypoint using a spline path.</description>
<param index="1" label="Hold" units="s" minValue="0">Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5" label="Latitude/X">Latitude/X of goal</param>
<param index="6" label="Longitude/Y">Longitude/Y of goal</param>
<param index="7" label="Altitude/Z">Altitude/Z of goal</param>
</entry>
<entry value="84" name="MAV_CMD_NAV_VTOL_TAKEOFF" hasLocation="true" isDestination="true">
<description>Takeoff from ground using VTOL mode, and transition to forward flight with specified heading. The command should be ignored by vehicles that dont support both VTOL and fixed-wing flight (multicopters, boats,etc.).</description>
<param index="1">Empty</param>
<param index="2" label="Transition Heading" enum="VTOL_TRANSITION_HEADING">Front transition heading.</param>
<param index="3">Empty</param>
<param index="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>
<param index="5" label="Latitude">Latitude</param>
<param index="6" label="Longitude">Longitude</param>
<param index="7" label="Altitude" units="m">Altitude</param>
</entry>
<entry value="85" name="MAV_CMD_NAV_VTOL_LAND" hasLocation="true" isDestination="true">
<description>Land using VTOL mode</description>
<param index="1">Empty</param>
<param index="2">Empty</param>
<param index="3" label="Approach Altitude" units="m">Approach altitude (with the same reference as the Altitude field). NaN if unspecified.</param>
<param index="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>
<param index="5" label="Latitude">Latitude</param>
<param index="6" label="Longitude">Longitude</param>
<param index="7" label="Ground Altitude" units="m">Altitude (ground level)</param>
</entry>
<!-- IDs 90 and 91 are reserved until the end of 2014,
as they were used in some conflicting proposals
between PX4 and ArduPilot and need to be kept
unused to prevent errors -->
<entry value="92" name="MAV_CMD_NAV_GUIDED_ENABLE" hasLocation="false" isDestination="false">
<description>hand control over to an external controller</description>
<param index="1" label="Enable" minValue="0" maxValue="1" increment="1">On / Off (> 0.5f on)</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="93" name="MAV_CMD_NAV_DELAY" hasLocation="false" isDestination="false">
<description>Delay the next navigation command a number of seconds or until a specified time</description>
<param index="1" label="Delay" units="s" minValue="-1" increment="1">Delay (-1 to enable time-of-day fields)</param>
<param index="2" label="Hour" minValue="-1" maxValue="23" increment="1">hour (24h format, UTC, -1 to ignore)</param>
<param index="3" label="Minute" minValue="-1" maxValue="59" increment="1">minute (24h format, UTC, -1 to ignore)</param>
<param index="4" label="Second" minValue="-1" maxValue="59" increment="1">second (24h format, UTC, -1 to ignore)</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="94" name="MAV_CMD_NAV_PAYLOAD_PLACE" hasLocation="true" isDestination="true">
<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>
<param index="1" label="Max Descent" units="m" minValue="0">Maximum distance to descend.</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5" label="Latitude">Latitude</param>
<param index="6" label="Longitude">Longitude</param>
<param index="7" label="Altitude" units="m">Altitude</param>
</entry>
<entry value="95" name="MAV_CMD_NAV_LAST" hasLocation="false" isDestination="false">
<description>NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration</description>
<param index="1">Empty</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="112" name="MAV_CMD_CONDITION_DELAY" hasLocation="false" isDestination="false">
<description>Delay mission state machine.</description>
<param index="1" label="Delay" units="s" minValue="0">Delay</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="113" name="MAV_CMD_CONDITION_CHANGE_ALT" hasLocation="false" isDestination="true">
<description>Ascend/descend to target altitude at specified rate. Delay mission state machine until desired altitude reached.</description>
<param index="1" label="Rate" units="m/s">Descent / Ascend rate.</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7" label="Altitude" units="m">Target Altitude</param>
</entry>
<entry value="114" name="MAV_CMD_CONDITION_DISTANCE" hasLocation="false" isDestination="false">
<description>Delay mission state machine until within desired distance of next NAV point.</description>
<param index="1" label="Distance" units="m" minValue="0">Distance.</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="115" name="MAV_CMD_CONDITION_YAW" hasLocation="false" isDestination="false">
<description>Reach a certain target angle.</description>
<param index="1" label="Angle" units="deg">target angle, 0 is north</param>
<param index="2" label="Angular Speed" units="deg/s">angular speed</param>
<param index="3" label="Direction" minValue="-1" maxValue="1" increment="2">direction: -1: counter clockwise, 1: clockwise</param>
<param index="4" label="Relative" minValue="0" maxValue="1" increment="1">0: absolute angle, 1: relative offset</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="159" name="MAV_CMD_CONDITION_LAST" hasLocation="false" isDestination="false">
<description>NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration</description>
<param index="1">Empty</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="176" name="MAV_CMD_DO_SET_MODE" hasLocation="false" isDestination="false">
<description>Set system mode.</description>
<param index="1" label="Mode" enum="MAV_MODE">Mode</param>
<param index="2" label="Custom Mode">Custom mode - this is system specific, please refer to the individual autopilot specifications for details.</param>
<param index="3" label="Custom Submode">Custom sub mode - this is system specific, please refer to the individual autopilot specifications for details.</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="177" name="MAV_CMD_DO_JUMP" hasLocation="false" isDestination="false">
<description>Jump to the desired command in the mission list. Repeat this action only the specified number of times</description>
<param index="1" label="Number" minValue="0" increment="1">Sequence number</param>
<param index="2" label="Repeat" minValue="0" increment="1">Repeat count</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="178" name="MAV_CMD_DO_CHANGE_SPEED" hasLocation="false" isDestination="false">
<description>Change speed and/or throttle set points.</description>
<param index="1" label="Speed Type" minValue="0" maxValue="3" increment="1">Speed type (0=Airspeed, 1=Ground Speed, 2=Climb Speed, 3=Descent Speed)</param>
<param index="2" label="Speed" units="m/s" minValue="-1">Speed (-1 indicates no change)</param>
<param index="3" label="Throttle" units="%" minValue="-1">Throttle (-1 indicates no change)</param>
<param index="4" label="Relative" minValue="0" maxValue="1" increment="1">0: absolute, 1: relative</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="179" name="MAV_CMD_DO_SET_HOME" hasLocation="true" isDestination="false">
<description>Changes the home location either to the current location or a specified location.</description>
<param index="1" label="Use Current" minValue="0" maxValue="1" increment="1">Use current (1=use current location, 0=use specified location)</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4" label="Yaw" units="deg">Yaw angle. NaN to use default heading</param>
<param index="5" label="Latitude">Latitude</param>
<param index="6" label="Longitude">Longitude</param>
<param index="7" label="Altitude" units="m">Altitude</param>
</entry>
<entry value="180" name="MAV_CMD_DO_SET_PARAMETER" hasLocation="false" isDestination="false">
<description>Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter.</description>
<param index="1" label="Number" minValue="0" increment="1">Parameter number</param>
<param index="2" label="Value">Parameter value</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="181" name="MAV_CMD_DO_SET_RELAY" hasLocation="false" isDestination="false">
<description>Set a relay to a condition.</description>
<param index="1" label="Instance" minValue="0" increment="1">Relay instance number.</param>
<param index="2" label="Setting" minValue="0" increment="1">Setting. (1=on, 0=off, others possible depending on system hardware)</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="182" name="MAV_CMD_DO_REPEAT_RELAY" hasLocation="false" isDestination="false">
<description>Cycle a relay on and off for a desired number of cycles with a desired period.</description>
<param index="1" label="Instance" minValue="0" increment="1">Relay instance number.</param>
<param index="2" label="Count" minValue="1" increment="1">Cycle count.</param>
<param index="3" label="Time" units="s" minValue="0">Cycle time.</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="183" name="MAV_CMD_DO_SET_SERVO" hasLocation="false" isDestination="false">
<description>Set a servo to a desired PWM value.</description>
<param index="1" label="Instance" minValue="0" increment="1">Servo instance number.</param>
<param index="2" label="PWM" units="us" minValue="0" increment="1">Pulse Width Modulation.</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="184" name="MAV_CMD_DO_REPEAT_SERVO" hasLocation="false" isDestination="false">
<description>Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period.</description>
<param index="1" label="Instance" minValue="0" increment="1">Servo instance number.</param>
<param index="2" label="PWM" units="us" minValue="0" increment="1">Pulse Width Modulation.</param>
<param index="3" label="Count" minValue="1" increment="1">Cycle count.</param>
<param index="4" label="Time" units="s" minValue="0">Cycle time.</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="185" name="MAV_CMD_DO_FLIGHTTERMINATION" hasLocation="false" isDestination="false">
<description>Terminate flight immediately</description>
<param index="1" label="Terminate" minValue="0" maxValue="1" increment="1">Flight termination activated if > 0.5</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="186" name="MAV_CMD_DO_CHANGE_ALTITUDE" hasLocation="false" isDestination="false">
<description>Change altitude set point.</description>
<param index="1" label="Altitude" units="m">Altitude</param>
<param index="2" label="Frame" enum="MAV_FRAME">Frame of new altitude.</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="187" name="MAV_CMD_DO_SET_ACTUATOR" hasLocation="false" isDestination="false">
<wip/>
<!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<description>Sets actuators (e.g. servos) to a desired value. The actuator numbers are mapped to specific outputs (e.g. on any MAIN or AUX PWM or UAVCAN) using a flight-stack specific mechanism (i.e. a parameter).</description>
<param index="1" label="Actuator 1" minValue="-1" maxValue="1">Actuator 1 value, scaled from [-1 to 1]. NaN to ignore.</param>
<param index="2" label="Actuator 2" minValue="-1" maxValue="1">Actuator 2 value, scaled from [-1 to 1]. NaN to ignore.</param>
<param index="3" label="Actuator 3" minValue="-1" maxValue="1">Actuator 3 value, scaled from [-1 to 1]. NaN to ignore.</param>
<param index="4" label="Actuator 4" minValue="-1" maxValue="1">Actuator 4 value, scaled from [-1 to 1]. NaN to ignore.</param>
<param index="5" label="Actuator 5" minValue="-1" maxValue="1">Actuator 5 value, scaled from [-1 to 1]. NaN to ignore.</param>
<param index="6" label="Actuator 6" minValue="-1" maxValue="1">Actuator 6 value, scaled from [-1 to 1]. NaN to ignore.</param>
<param index="7" label="Index" minValue="0" increment="1">Index of actuator set (i.e if set to 1, Actuator 1 becomes Actuator 7)</param>
</entry>
<entry value="189" name="MAV_CMD_DO_LAND_START" hasLocation="true" isDestination="false">
<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>
<param index="1">Empty</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5" label="Latitude">Latitude</param>
<param index="6" label="Longitude">Longitude</param>
<param index="7">Empty</param>
</entry>
<entry value="190" name="MAV_CMD_DO_RALLY_LAND" hasLocation="false" isDestination="false">
<description>Mission command to perform a landing from a rally point.</description>
<param index="1" label="Altitude" units="m">Break altitude</param>
<param index="2" label="Speed" units="m/s">Landing speed</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="191" name="MAV_CMD_DO_GO_AROUND" hasLocation="false" isDestination="false">
<description>Mission command to safely abort an autonomous landing.</description>
<param index="1" label="Altitude" units="m">Altitude</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="192" name="MAV_CMD_DO_REPOSITION" hasLocation="true" isDestination="true">
<description>Reposition the vehicle to a specific WGS84 global position.</description>
<param index="1" label="Speed" units="m/s" minValue="-1">Ground speed, less than 0 (-1) for default</param>
<param index="2" label="Bitmask" enum="MAV_DO_REPOSITION_FLAGS">Bitmask of option flags.</param>
<param index="3">Reserved</param>
<param index="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>
<param index="5" label="Latitude">Latitude</param>
<param index="6" label="Longitude">Longitude</param>
<param index="7" label="Altitude" units="m">Altitude</param>
</entry>
<entry value="193" name="MAV_CMD_DO_PAUSE_CONTINUE" hasLocation="false" isDestination="false">
<description>If in a GPS controlled position mode, hold the current position or continue.</description>
<param index="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>
<param index="2">Reserved</param>
<param index="3">Reserved</param>
<param index="4">Reserved</param>
<param index="5">Reserved</param>
<param index="6">Reserved</param>
<param index="7">Reserved</param>
</entry>
<entry value="194" name="MAV_CMD_DO_SET_REVERSE" hasLocation="false" isDestination="false">
<description>Set moving direction to forward or reverse.</description>
<param index="1" label="Reverse" minValue="0" maxValue="1" increment="1">Direction (0=Forward, 1=Reverse)</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="195" name="MAV_CMD_DO_SET_ROI_LOCATION" hasLocation="true" isDestination="false">
<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>
<param index="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 gimbal (but not all gimbals).</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5" label="Latitude" units="degE7">Latitude of ROI location</param>
<param index="6" label="Longitude" units="degE7">Longitude of ROI location</param>
<param index="7" label="Altitude" units="m">Altitude of ROI location</param>
</entry>
<entry value="196" name="MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET" hasLocation="false" isDestination="false">
<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>
<param index="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 gimbal (but not all gimbals).</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5" label="Pitch Offset">Pitch offset from next waypoint, positive pitching up</param>
<param index="6" label="Roll Offset">roll offset from next waypoint, positive rolling to the right</param>
<param index="7" label="Yaw Offset">yaw offset from next waypoint, positive yawing to the right</param>
</entry>
<entry value="197" name="MAV_CMD_DO_SET_ROI_NONE" hasLocation="false" isDestination="false">
<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>
<param index="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 gimbal (but not all gimbals).</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="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>
<param index="1" label="System ID" minValue="1" maxValue="255" increment="1">System ID</param>
<param index="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 gimbal (but not all gimbals).</param>
</entry>
<entry value="200" name="MAV_CMD_DO_CONTROL_VIDEO" hasLocation="false" isDestination="false">
<description>Control onboard camera system.</description>
<param index="1" label="ID" minValue="-1" increment="1">Camera ID (-1 for all)</param>
<param index="2" label="Transmission" minValue="0" maxValue="2" increment="1">Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw</param>
<param index="3" label="Interval" units="s" minValue="0">Transmission mode: 0: video stream, >0: single images every n seconds</param>
<param index="4" label="Recording" minValue="0" maxValue="2" increment="1">Recording: 0: disabled, 1: enabled compressed, 2: enabled raw</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="201" name="MAV_CMD_DO_SET_ROI" hasLocation="true" isDestination="false">
<deprecated since="2018-01" replaced_by="MAV_CMD_DO_SET_ROI_*"/>
<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>
<param index="1" label="ROI Mode" enum="MAV_ROI">Region of interest mode.</param>
<param index="2" label="WP Index" minValue="0" increment="1">Waypoint index/ target ID (depends on param 1).</param>
<param index="3" label="ROI Index" minValue="0" increment="1">Region of interest index. (allows a vehicle to manage multiple ROI's)</param>
<param index="4">Empty</param>
<param index="5">MAV_ROI_WPNEXT: pitch offset from next waypoint, MAV_ROI_LOCATION: latitude</param>
<param index="6">MAV_ROI_WPNEXT: roll offset from next waypoint, MAV_ROI_LOCATION: longitude</param>
<param index="7">MAV_ROI_WPNEXT: yaw offset from next waypoint, MAV_ROI_LOCATION: altitude</param>
</entry>
<!-- Camera Controller Mission Commands Enumeration -->
<entry value="202" name="MAV_CMD_DO_DIGICAM_CONFIGURE" hasLocation="false" isDestination="false">
<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>
<param index="1" label="Mode" minValue="0" increment="1">Modes: P, TV, AV, M, Etc.</param>
<param index="2" label="Shutter Speed" minValue="0" increment="1">Shutter speed: Divisor number for one second.</param>
<param index="3" label="Aperture" minValue="0">Aperture: F stop number.</param>
<param index="4" label="ISO" minValue="0" increment="1">ISO number e.g. 80, 100, 200, Etc.</param>
<param index="5" label="Exposure">Exposure type enumerator.</param>
<param index="6" label="Command Identity">Command Identity.</param>
<param index="7" label="Engine Cut-off" units="ds" minValue="0" increment="1">Main engine cut-off time before camera trigger. (0 means no cut-off)</param>
</entry>
<entry value="203" name="MAV_CMD_DO_DIGICAM_CONTROL" hasLocation="false" isDestination="false">
<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>
<param index="1" label="Session Control">Session control e.g. show/hide lens</param>
<param index="2" label="Zoom Absolute">Zoom's absolute position</param>
<param index="3" label="Zoom Relative">Zooming step value to offset zoom from the current position</param>
<param index="4" label="Focus">Focus Locking, Unlocking or Re-locking</param>
<param index="5" label="Shoot Command">Shooting Command</param>
<param index="6" label="Command Identity">Command Identity</param>
<param index="7" label="Shot ID">Test shot identifier. If set to 1, image will only be captured, but not counted towards internal frame count.</param>
</entry>
<!-- Camera Mount Mission Commands Enumeration -->
<entry value="204" name="MAV_CMD_DO_MOUNT_CONFIGURE" hasLocation="false" isDestination="false">
<deprecated since="2020-01" replaced_by="MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE">This message has been superseded by MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE. The message can still be used to communicate with legacy gimbals implementing it.</deprecated>
<description>Mission command to configure a camera or antenna mount</description>
<param index="1" label="Mode" enum="MAV_MOUNT_MODE">Mount operation mode</param>
<param index="2" label="Stabilize Roll" minValue="0" maxValue="1" increment="1">stabilize roll? (1 = yes, 0 = no)</param>
<param index="3" label="Stabilize Pitch" minValue="0" maxValue="1" increment="1">stabilize pitch? (1 = yes, 0 = no)</param>
<param index="4" label="Stabilize Yaw" minValue="0" maxValue="1" increment="1">stabilize yaw? (1 = yes, 0 = no)</param>
<param index="5" label="Roll Input Mode">roll input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)</param>
<param index="6" label="Pitch Input Mode">pitch input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)</param>
<param index="7" label="Yaw Input Mode">yaw input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)</param>
</entry>
<!-- this one is messed up! altitude should be param 7, not param4 -->
<entry value="205" name="MAV_CMD_DO_MOUNT_CONTROL" hasLocation="false" isDestination="false">
<deprecated since="2020-01" replaced_by="MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW">This message is ambiguous and inconsistent. It has been superseded by MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW 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>
<param index="1" label="Pitch">pitch depending on mount mode (degrees or degrees/second depending on pitch input).</param>
<param index="2" label="Roll">roll depending on mount mode (degrees or degrees/second depending on roll input).</param>
<param index="3" label="Yaw">yaw depending on mount mode (degrees or degrees/second depending on yaw input).</param>
<param index="4" label="Altitude" units="m">altitude depending on mount mode.</param>
<param index="5" label="Latitude">latitude, set if appropriate mount mode.</param>
<param index="6" label="Longitude">longitude, set if appropriate mount mode.</param>
<param index="7" label="Mode" enum="MAV_MOUNT_MODE">Mount mode.</param>
</entry>
<entry value="206" name="MAV_CMD_DO_SET_CAM_TRIGG_DIST" hasLocation="false" isDestination="false">
<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>
<param index="1" label="Distance" units="m" minValue="0">Camera trigger distance. 0 to stop triggering.</param>
<param index="2" label="Shutter" units="ms" minValue="-1" increment="1">Camera shutter integration time. -1 or 0 to ignore</param>
<param index="3" label="Trigger" minValue="0" maxValue="1" increment="1">Trigger camera once immediately. (0 = no trigger, 1 = trigger)</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="207" name="MAV_CMD_DO_FENCE_ENABLE" hasLocation="false" isDestination="false">
<description>Mission command to enable the geofence</description>
<param index="1" label="Enable" minValue="0" maxValue="2" increment="1">enable? (0=disable, 1=enable, 2=disable_floor_only)</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="208" name="MAV_CMD_DO_PARACHUTE" hasLocation="false" isDestination="false">
<description>Mission item/command to release a parachute or enable/disable auto release.</description>
<param index="1" label="Action" enum="PARACHUTE_ACTION">Action</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="209" name="MAV_CMD_DO_MOTOR_TEST" hasLocation="false" isDestination="false">
<description>Mission command to perform motor test.</description>
<param index="1" label="Instance" minValue="1" increment="1">Motor instance number. (from 1 to max number of motors on the vehicle)</param>
<param index="2" label="Throttle Type" enum="MOTOR_TEST_THROTTLE_TYPE">Throttle type.</param>
<param index="3" label="Throttle">Throttle.</param>
<param index="4" label="Timeout" units="s" minValue="0">Timeout.</param>
<param index="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>
<param index="6" label="Test Order" enum="MOTOR_TEST_ORDER">Motor test order.</param>
<param index="7">Empty</param>
</entry>
<entry value="210" name="MAV_CMD_DO_INVERTED_FLIGHT" hasLocation="false" isDestination="false">
<description>Change to/from inverted flight.</description>
<param index="1" label="Inverted" minValue="0" maxValue="1" increment="1">Inverted flight. (0=normal, 1=inverted)</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="211" name="MAV_CMD_DO_GRIPPER" hasLocation="false" isDestination="false">
<description>Mission command to operate a gripper.</description>
<param index="1" label="Instance" minValue="1" increment="1">Gripper instance number.</param>
<param index="2" label="Action" enum="GRIPPER_ACTIONS">Gripper action to perform.</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<!-- 212 used in dialects -->
<entry value="213" name="MAV_CMD_NAV_SET_YAW_SPEED" hasLocation="false" isDestination="false">
<description>Sets a desired vehicle turn angle and speed change.</description>
<param index="1" label="Yaw" units="deg">Yaw angle to adjust steering by.</param>
<param index="2" label="Speed" units="m/s">Speed.</param>
<param index="3" label="Angle" minValue="0" maxValue="1" increment="1">Final angle. (0=absolute, 1=relative)</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="214" name="MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL" hasLocation="false" isDestination="false">
<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>
<param index="1" label="Trigger Cycle" units="ms" minValue="-1" increment="1">Camera trigger cycle time. -1 or 0 to ignore.</param>
<param index="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>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="220" name="MAV_CMD_DO_MOUNT_CONTROL_QUAT" hasLocation="false" isDestination="false">
<deprecated since="2020-01" replaced_by="MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW"/>
<description>Mission command to control a camera or antenna mount, using a quaternion as reference.</description>
<param index="1" label="Q1">quaternion param q1, w (1 in null-rotation)</param>
<param index="2" label="Q2">quaternion param q2, x (0 in null-rotation)</param>
<param index="3" label="Q3">quaternion param q3, y (0 in null-rotation)</param>
<param index="4" label="Q4">quaternion param q4, z (0 in null-rotation)</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="221" name="MAV_CMD_DO_GUIDED_MASTER" hasLocation="false" isDestination="false">
<description>set id of master controller</description>
<param index="1" label="System ID" minValue="0" maxValue="255" increment="1">System ID</param>
<param index="2" label="Component ID" minValue="0" maxValue="255" increment="1">Component ID</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="222" name="MAV_CMD_DO_GUIDED_LIMITS" hasLocation="false" isDestination="false">
<description>Set limits for external control</description>
<param index="1" label="Timeout" units="s" minValue="0">Timeout - maximum time that external controller will be allowed to control vehicle. 0 means no timeout.</param>
<param index="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>
<param index="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>
<param index="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>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="223" name="MAV_CMD_DO_ENGINE_CONTROL" hasLocation="false" isDestination="false">
<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>
<param index="1" label="Start Engine" minValue="0" maxValue="1" increment="1">0: Stop engine, 1:Start Engine</param>
<param index="2" label="Cold Start" minValue="0" maxValue="1" increment="1">0: Warm start, 1:Cold start. Controls use of choke where applicable</param>
<param index="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>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="224" name="MAV_CMD_DO_SET_MISSION_CURRENT" hasLocation="false" isDestination="false">
<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>
<param index="1" label="Number" minValue="0" increment="1">Mission sequence value to set</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="240" name="MAV_CMD_DO_LAST" hasLocation="false" isDestination="false">
<description>NOP - This command is only used to mark the upper limit of the DO commands in the enumeration</description>
<param index="1">Empty</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="241" name="MAV_CMD_PREFLIGHT_CALIBRATION" hasLocation="false" isDestination="false">
<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>
<param index="1" label="Gyro Temperature" minValue="0" maxValue="3" increment="1">1: gyro calibration, 3: gyro temperature calibration</param>
<param index="2" label="Magnetometer" minValue="0" maxValue="1" increment="1">1: magnetometer calibration</param>
<param index="3" label="Ground Pressure" minValue="0" maxValue="1" increment="1">1: ground pressure calibration</param>
<param index="4" label="Remote Control" minValue="0" maxValue="1" increment="1">1: radio RC calibration, 2: RC trim calibration</param>
<param index="5" label="Accelerometer" minValue="0" maxValue="4" increment="1">1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature calibration, 4: simple accelerometer calibration</param>
<param index="6" label="Compmot or Airspeed" minValue="0" maxValue="2" increment="1">1: APM: compass/motor interference calibration (PX4: airspeed calibration, deprecated), 2: airspeed calibration</param>
<param index="7" label="ESC or Baro" minValue="0" maxValue="3" increment="1">1: ESC calibration, 3: barometer temperature calibration</param>
</entry>
<entry value="242" name="MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS" hasLocation="false" isDestination="false">
<description>Set sensor offsets. This command will be only accepted if in pre-flight mode.</description>
<param index="1" label="Sensor Type" minValue="0" maxValue="6" increment="1">Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow, 5: second magnetometer, 6: third magnetometer</param>
<param index="2" label="X Offset">X axis offset (or generic dimension 1), in the sensor's raw units</param>
<param index="3" label="Y Offset">Y axis offset (or generic dimension 2), in the sensor's raw units</param>
<param index="4" label="Z Offset">Z axis offset (or generic dimension 3), in the sensor's raw units</param>
<param index="5" label="4th Dimension">Generic dimension 4, in the sensor's raw units</param>
<param index="6" label="5th Dimension">Generic dimension 5, in the sensor's raw units</param>
<param index="7" label="6th Dimension">Generic dimension 6, in the sensor's raw units</param>
</entry>
<entry value="243" name="MAV_CMD_PREFLIGHT_UAVCAN" hasLocation="false" isDestination="false">
<description>Trigger UAVCAN configuration (actuator ID assignment and direction mapping). Note that this maps to the legacy UAVCAN v0 function UAVCAN_ENUMERATE, which is intended to be executed just once during initial vehicle configuration (it is not a normal pre-flight command and has been poorly named).</description>
<param index="1" label="Actuator ID">1: Trigger actuator ID assignment and direction mapping. 0: Cancel command.</param>
<param index="2">Reserved</param>
<param index="3">Reserved</param>
<param index="4">Reserved</param>
<param index="5">Reserved</param>
<param index="6">Reserved</param>
<param index="7">Reserved</param>
</entry>
<entry value="245" name="MAV_CMD_PREFLIGHT_STORAGE" hasLocation="false" isDestination="false">
<description>Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode.</description>
<param index="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>
<param index="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>
<param index="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>
<param index="4">Reserved</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="246" name="MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN" hasLocation="false" isDestination="false">
<description>Request the reboot or shutdown of system components.</description>
<param index="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>
<param index="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>
<param index="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>
<param index="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>
<param index="5">Reserved (set to 0)</param>
<param index="6">Reserved (set to 0)</param>
<param index="7">WIP: ID (e.g. camera ID -1 for all IDs)</param>
</entry>
<entry value="247" name="MAV_CMD_DO_UPGRADE" hasLocation="false" isDestination="false">
<wip/>
<!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<description>Request a target system to start an upgrade of one (or all) of its components. For example, the command might be sent to a companion computer to cause it to upgrade a connected flight controller. The system doing the upgrade will report progress using the normal command protocol sequence for a long running operation. Command protocol information: https://mavlink.io/en/services/command.html.</description>
<param index="1" label="Component ID" enum="MAV_COMPONENT">Component id of the component to be upgraded. If set to 0, all components should be upgraded.</param>
<param index="2" label="Reboot" minValue="0" maxValue="1" increment="1">0: Do not reboot component after the action is executed, 1: Reboot component after the action is executed.</param>
<param index="3">Reserved</param>
<param index="4">Reserved</param>
<param index="5">Reserved</param>
<param index="6">Reserved</param>
<param index="7">WIP: upgrade progress report rate (can be used for more granular control).</param>
</entry>
<entry value="252" name="MAV_CMD_OVERRIDE_GOTO" hasLocation="true" isDestination="true">
<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>
<param index="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>
<param index="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>
<param index="3" label="Frame" enum="MAV_FRAME">Coordinate frame of hold point.</param>
<param index="4" label="Yaw" units="deg">Desired yaw angle.</param>
<param index="5" label="Latitude/X">Latitude/X position.</param>
<param index="6" label="Longitude/Y">Longitude/Y position.</param>
<param index="7" label="Altitude/Z">Altitude/Z position.</param>
</entry>
<entry value="300" name="MAV_CMD_MISSION_START" hasLocation="false" isDestination="false">
<description>start running a mission</description>
<param index="1" label="First Item" minValue="0" increment="1">first_item: the first mission item to run</param>
<param index="2" label="Last Item" minValue="0" increment="1">last_item: the last mission item to run (after this item is run, the mission ends)</param>
</entry>
<entry value="400" name="MAV_CMD_COMPONENT_ARM_DISARM" hasLocation="false" isDestination="false">
<description>Arms / Disarms a component</description>
<param index="1" label="Arm" minValue="0" maxValue="1" increment="1">0: disarm, 1: arm</param>
<param index="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>
</entry>
<entry value="405" name="MAV_CMD_ILLUMINATOR_ON_OFF" hasLocation="false" isDestination="false">
<wip/>
<!-- 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>
<param index="1" label="Enable" minValue="0" maxValue="1" increment="1">0: Illuminators OFF, 1: Illuminators ON</param>
</entry>
<entry value="410" name="MAV_CMD_GET_HOME_POSITION" hasLocation="false" isDestination="false">
<description>Request the home position from the vehicle.</description>
<param index="1">Reserved</param>
<param index="2">Reserved</param>
<param index="3">Reserved</param>
<param index="4">Reserved</param>
<param index="5">Reserved</param>
<param index="6">Reserved</param>
<param index="7">Reserved</param>
</entry>
<entry value="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>
<param index="1" label="Failure unit" enum="FAILURE_UNIT">The unit which is affected by the failure.</param>
<param index="2" label="Failure type" enum="FAILURE_TYPE">The type how the failure manifests itself.</param>
<param index="3" label="Instance">Instance affected by failure (0 to signal all).</param>
</entry>
<entry value="500" name="MAV_CMD_START_RX_PAIR" hasLocation="false" isDestination="false">
<description>Starts receiver pairing.</description>
<param index="1" label="Spektrum">0:Spektrum.</param>
<param index="2" label="RC Type" enum="RC_TYPE">RC type.</param>
</entry>
<entry value="510" name="MAV_CMD_GET_MESSAGE_INTERVAL" hasLocation="false" isDestination="false">
<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>
<param index="1" label="Message ID" minValue="0" maxValue="16777215" increment="1">The MAVLink message ID</param>
</entry>
<entry value="511" name="MAV_CMD_SET_MESSAGE_INTERVAL" hasLocation="false" isDestination="false">
<description>Set the interval between messages for a particular MAVLink message ID. This interface replaces REQUEST_DATA_STREAM.</description>
<param index="1" label="Message ID" minValue="0" maxValue="16777215" increment="1">The MAVLink message ID</param>
<param index="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>
<param index="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>
</entry>
<entry value="519" name="MAV_CMD_REQUEST_PROTOCOL_VERSION" hasLocation="false" isDestination="false">
<deprecated since="2019-08" replaced_by="MAV_CMD_REQUEST_MESSAGE"/>
<description>Request MAVLink protocol version compatibility. All receivers should ACK the command and then emit their capabilities in an PROTOCOL_VERSION message</description>
<param index="1" label="Protocol" minValue="0" maxValue="1" increment="1">1: Request supported protocol versions by all nodes on the network</param>
<param index="2">Reserved (all remaining params)</param>
</entry>
<entry value="520" name="MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES" hasLocation="false" isDestination="false">
<deprecated since="2019-08" replaced_by="MAV_CMD_REQUEST_MESSAGE"/>
<description>Request autopilot capabilities. The receiver should ACK the command and then emit its capabilities in an AUTOPILOT_VERSION message</description>
<param index="1" label="Version" minValue="0" maxValue="1" increment="1">1: Request autopilot version</param>
<param index="2">Reserved (all remaining params)</param>
</entry>
<entry value="521" name="MAV_CMD_REQUEST_CAMERA_INFORMATION" hasLocation="false" isDestination="false">
<deprecated since="2019-08" replaced_by="MAV_CMD_REQUEST_MESSAGE"/>
<description>Request camera information (CAMERA_INFORMATION).</description>
<param index="1" label="Capabilities" minValue="0" maxValue="1" increment="1">0: No action 1: Request camera capabilities</param>
<param index="2">Reserved (all remaining params)</param>
</entry>
<entry value="522" name="MAV_CMD_REQUEST_CAMERA_SETTINGS" hasLocation="false" isDestination="false">
<deprecated since="2019-08" replaced_by="MAV_CMD_REQUEST_MESSAGE"/>
<description>Request camera settings (CAMERA_SETTINGS).</description>
<param index="1" label="Settings" minValue="0" maxValue="1" increment="1">0: No Action 1: Request camera settings</param>
<param index="2">Reserved (all remaining params)</param>
</entry>
<entry value="525" name="MAV_CMD_REQUEST_STORAGE_INFORMATION" hasLocation="false" isDestination="false">
<deprecated since="2019-08" replaced_by="MAV_CMD_REQUEST_MESSAGE"/>
<description>Request storage information (STORAGE_INFORMATION). Use the command's target_component to target a specific component's storage.</description>
<param index="1" label="Storage ID" minValue="0" increment="1">Storage ID (0 for all, 1 for first, 2 for second, etc.)</param>
<param index="2" label="Information" minValue="0" maxValue="1" increment="1">0: No Action 1: Request storage information</param>
<param index="3">Reserved (all remaining params)</param>
</entry>
<entry value="526" name="MAV_CMD_STORAGE_FORMAT" hasLocation="false" isDestination="false">
<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>
<param index="1" label="Storage ID" minValue="0" increment="1">Storage ID (1 for first, 2 for second, etc.)</param>
<param index="2" label="Format" minValue="0" maxValue="1" increment="1">Format storage (and reset image log). 0: No action 1: Format storage</param>
<param index="3" label="Reset Image Log" minValue="0" maxValue="1" increment="1">Reset Image Log (without formatting storage medium). This will reset CAMERA_CAPTURE_STATUS.image_count and CAMERA_IMAGE_CAPTURED.image_index. 0: No action 1: Reset Image Log</param>
<param index="4">Reserved (all remaining params)</param>
</entry>
<entry value="527" name="MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS" hasLocation="false" isDestination="false">
<deprecated since="2019-08" replaced_by="MAV_CMD_REQUEST_MESSAGE"/>
<description>Request camera capture status (CAMERA_CAPTURE_STATUS)</description>
<param index="1" label="Capture Status" minValue="0" maxValue="1" increment="1">0: No Action 1: Request camera capture status</param>
<param index="2">Reserved (all remaining params)</param>
</entry>
<entry value="528" name="MAV_CMD_REQUEST_FLIGHT_INFORMATION" hasLocation="false" isDestination="false">
<deprecated since="2019-08" replaced_by="MAV_CMD_REQUEST_MESSAGE"/>
<description>Request flight information (FLIGHT_INFORMATION)</description>
<param index="1" label="Flight Information" minValue="0" maxValue="1" increment="1">1: Request flight information</param>
<param index="2">Reserved (all remaining params)</param>
</entry>
<entry value="529" name="MAV_CMD_RESET_CAMERA_SETTINGS" hasLocation="false" isDestination="false">
<description>Reset all camera settings to Factory Default</description>
<param index="1" label="Reset" minValue="0" maxValue="1" increment="1">0: No Action 1: Reset all settings</param>
<param index="2">Reserved (all remaining params)</param>
</entry>
<entry value="530" name="MAV_CMD_SET_CAMERA_MODE" hasLocation="false" isDestination="false">
<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>
<param index="1">Reserved (Set to 0)</param>
<param index="2" label="Camera Mode" enum="CAMERA_MODE">Camera mode</param>
<param index="3" reserved="true" default="NaN"/>
<param index="4" reserved="true" default="NaN"/>
<param index="7" reserved="true" default="NaN"/>
</entry>
<entry value="531" name="MAV_CMD_SET_CAMERA_ZOOM" hasLocation="false" isDestination="false">
<!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<wip/>
<description>Set camera zoom. Camera must respond with a CAMERA_SETTINGS message (on success).</description>
<param index="1" label="Zoom Type" enum="CAMERA_ZOOM_TYPE">Zoom type</param>
<param index="2" label="Zoom Value">Zoom value. The range of valid values depend on the zoom type.</param>
<param index="3" reserved="true" default="NaN"/>
<param index="4" reserved="true" default="NaN"/>
<param index="7" reserved="true" default="NaN"/>
</entry>
<entry value="532" name="MAV_CMD_SET_CAMERA_FOCUS" hasLocation="false" isDestination="false">
<!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<wip/>
<description>Set camera focus. Camera must respond with a CAMERA_SETTINGS message (on success).</description>
<param index="1" label="Focus Type" enum="SET_FOCUS_TYPE">Focus type</param>
<param index="2" label="Focus Value">Focus value</param>
<param index="3" reserved="true" default="NaN"/>
<param index="4" reserved="true" default="NaN"/>
<param index="7" reserved="true" default="NaN"/>
</entry>
<entry value="600" name="MAV_CMD_JUMP_TAG" hasLocation="false" isDestination="false">
<description>Tagged jump target. Can be jumped to with MAV_CMD_DO_JUMP_TAG.</description>
<param index="1" label="Tag" minValue="0" increment="1">Tag.</param>
</entry>
<entry value="601" name="MAV_CMD_DO_JUMP_TAG" hasLocation="false" isDestination="false">
<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>
<param index="1" label="Tag" minValue="0" increment="1">Target tag to jump to.</param>
<param index="2" label="Repeat" minValue="0" increment="1">Repeat count.</param>
</entry>
<entry value="900" name="MAV_CMD_PARAM_TRANSACTION" hasLocation="false" isDestination="false">
<wip/>
<!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<description>Request to start or end a parameter transaction. Multiple kinds of transport layers can be used to exchange parameters in the transaction (param, param_ext and mavftp). The command response can either be a success/failure or an in progress in case the receiving side takes some time to apply the parameters.</description>
<param index="1" label="Action" enum="PARAM_TRANSACTION_ACTION">Action to be performed (start, commit, cancel, etc.)</param>
<param index="2" label="Transport" enum="PARAM_TRANSACTION_TRANSPORT">Possible transport layers to set and get parameters via mavlink during a parameter transaction.</param>
<param index="3" label="Transaction ID">Identifier for a specific transaction.</param>
</entry>
<entry value="1000" name="MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW" hasLocation="false" isDestination="false">
<wip/>
<!-- 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>
<param index="1" label="Pitch angle" units="deg" minValue="-180" maxValue="180">Pitch angle (positive to pitch up, relative to vehicle for FOLLOW mode, relative to world horizon for LOCK mode).</param>
<param index="2" label="Yaw angle" units="deg" minValue="-180" maxValue="180">Yaw angle (positive to yaw to the right, relative to vehicle for FOLLOW mode, absolute to North for LOCK mode).</param>
<param index="3" label="Pitch rate" units="deg/s">Pitch rate (positive to pitch up).</param>
<param index="4" label="Yaw rate" units="deg/s">Yaw rate (positive to yaw to the right).</param>
<param index="5" label="Gimbal manager flags" enum="GIMBAL_MANAGER_FLAGS">Gimbal manager flags to use.</param>
<param index="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 gimbal (but not all gimbals).</param>
</entry>
<entry value="1001" name="MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE" hasLocation="false" isDestination="false">
<wip/>
<!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<description>Gimbal configuration to set which sysid/compid is in primary and secondary control.</description>
<param index="1" label="sysid primary control">Sysid for primary control (0: no one in control).</param>
<param index="2" label="compid primary control">Compid for primary control (0: no one in control).</param>
<param index="3" label="sysid secondary control">Sysid for secondary control (0: no one in control).</param>
<param index="4" label="compid secondary control">Compid for secondary control (0: no one in control).</param>
<param index="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 gimbal (but not all gimbals).</param>
</entry>
<entry value="2000" name="MAV_CMD_IMAGE_START_CAPTURE" hasLocation="false" isDestination="false">
<description>Start image capture sequence. Sends CAMERA_IMAGE_CAPTURED after each capture. Use NaN for reserved values.</description>
<param index="1">Reserved (Set to 0)</param>
<param index="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>
<param index="3" label="Total Images" minValue="0" increment="1">Total number of images to capture. 0 to capture forever/until MAV_CMD_IMAGE_STOP_CAPTURE.</param>
<param index="4" label="Sequence Number" minValue="1" increment="1">Capture sequence number starting from 1. This is only valid for single-capture (param3 == 1), otherwise set to 0. Increment the capture ID for each capture command to prevent double captures when a command is re-transmitted.</param>
<param index="5" reserved="true" default="NaN"/>
<param index="6" reserved="true" default="NaN"/>
<param index="7" reserved="true" default="NaN"/>
</entry>
<entry value="2001" name="MAV_CMD_IMAGE_STOP_CAPTURE" hasLocation="false" isDestination="false">
<description>Stop image capture sequence Use NaN for reserved values.</description>
<param index="1">Reserved (Set to 0)</param>
<param index="2" reserved="true" default="NaN"/>
<param index="3" reserved="true" default="NaN"/>
<param index="4" reserved="true" default="NaN"/>
<param index="7" reserved="true" default="NaN"/>
</entry>
<entry value="2002" name="MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE" hasLocation="false" isDestination="false">
<deprecated since="2019-08" replaced_by="MAV_CMD_REQUEST_MESSAGE"/>
<description>Re-request a CAMERA_IMAGE_CAPTURED message.</description>
<param index="1" label="Number" minValue="0" increment="1">Sequence number for missing CAMERA_IMAGE_CAPTURED message</param>
<param index="2" reserved="true" default="NaN"/>
<param index="3" reserved="true" default="NaN"/>
<param index="4" reserved="true" default="NaN"/>
<param index="7" reserved="true" default="NaN"/>
</entry>
<entry value="2003" name="MAV_CMD_DO_TRIGGER_CONTROL" hasLocation="false" isDestination="false">
<description>Enable or disable on-board camera triggering system.</description>
<param index="1" label="Enable" minValue="-1" maxValue="1" increment="1">Trigger enable/disable (0 for disable, 1 for start), -1 to ignore</param>
<param index="2" label="Reset" minValue="-1" maxValue="1" increment="1">1 to reset the trigger sequence, -1 or 0 to ignore</param>
<param index="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>
</entry>
<entry value="2004" name="MAV_CMD_CAMERA_TRACK_POINT" hasLocation="false" isDestination="false">
<wip/>
<!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<description>If the camera supports point visual tracking (CAMERA_CAP_FLAGS_HAS_TRACKING_POINT is set), this command allows to initiate the tracking.</description>
<param index="1" label="Point x" minValue="0" maxValue="1">Point to track x value (normalized 0..1, 0 is left, 1 is right).</param>
<param index="2" label="Point y" minValue="0" maxValue="1">Point to track y value (normalized 0..1, 0 is top, 1 is bottom).</param>
<param index="3" label="Radius" minValue="0" maxValue="1">Point radius (normalized 0..1, 0 is image left, 1 is image right).</param>
</entry>
<entry value="2005" name="MAV_CMD_CAMERA_TRACK_RECTANGLE" hasLocation="false" isDestination="false">
<wip/>
<!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<description>If the camera supports rectangle visual tracking (CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLE is set), this command allows to initiate the tracking.</description>
<param index="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>
<param index="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>
<param index="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>
<param index="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>
</entry>
<entry value="2010" name="MAV_CMD_CAMERA_STOP_TRACKING" hasLocation="false" isDestination="false">
<wip/>
<!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<description>Stops ongoing tracking.</description>
</entry>
<entry value="2500" name="MAV_CMD_VIDEO_START_CAPTURE" hasLocation="false" isDestination="false">
<description>Starts video capture (recording).</description>
<param index="1" label="Stream ID" minValue="0" increment="1">Video Stream ID (0 for all streams)</param>
<param index="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>
<param index="3" reserved="true" default="NaN"/>
<param index="4" reserved="true" default="NaN"/>
<param index="5" reserved="true" default="NaN"/>
<param index="6" reserved="true" default="NaN"/>
<param index="7" reserved="true" default="NaN"/>
</entry>
<entry value="2501" name="MAV_CMD_VIDEO_STOP_CAPTURE" hasLocation="false" isDestination="false">
<description>Stop the current video capture (recording).</description>
<param index="1" label="Stream ID" minValue="0" increment="1">Video Stream ID (0 for all streams)</param>
<param index="2" reserved="true" default="NaN"/>
<param index="3" reserved="true" default="NaN"/>
<param index="4" reserved="true" default="NaN"/>
<param index="5" reserved="true" default="NaN"/>
<param index="6" reserved="true" default="NaN"/>
<param index="7" reserved="true" default="NaN"/>
</entry>
<entry value="2502" name="MAV_CMD_VIDEO_START_STREAMING" hasLocation="false" isDestination="false">
<wip/>
<!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<description>Start video streaming</description>
<param index="1" label="Stream ID" minValue="0" increment="1">Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)</param>
</entry>
<entry value="2503" name="MAV_CMD_VIDEO_STOP_STREAMING" hasLocation="false" isDestination="false">
<wip/>
<!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<description>Stop the given video stream</description>
<param index="1" label="Stream ID" minValue="0" increment="1">Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)</param>
</entry>
<entry value="2504" name="MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION" hasLocation="false" isDestination="false">
<deprecated since="2019-08" replaced_by="MAV_CMD_REQUEST_MESSAGE"/>
<description>Request video stream information (VIDEO_STREAM_INFORMATION)</description>
<param index="1" label="Stream ID" minValue="0" increment="1">Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)</param>
</entry>
<entry value="2505" name="MAV_CMD_REQUEST_VIDEO_STREAM_STATUS" hasLocation="false" isDestination="false">
<deprecated since="2019-08" replaced_by="MAV_CMD_REQUEST_MESSAGE"/>
<description>Request video stream status (VIDEO_STREAM_STATUS)</description>
<param index="1" label="Stream ID" minValue="0" increment="1">Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)</param>
</entry>
<entry value="2510" name="MAV_CMD_LOGGING_START" hasLocation="false" isDestination="false">
<description>Request to start streaming logging data over MAVLink (see also LOGGING_DATA message)</description>
<param index="1" label="Format" minValue="0" increment="1">Format: 0: ULog</param>
<param index="2">Reserved (set to 0)</param>
<param index="3">Reserved (set to 0)</param>
<param index="4">Reserved (set to 0)</param>
<param index="5">Reserved (set to 0)</param>
<param index="6">Reserved (set to 0)</param>
<param index="7">Reserved (set to 0)</param>
</entry>
<entry value="2511" name="MAV_CMD_LOGGING_STOP" hasLocation="false" isDestination="false">
<description>Request to stop streaming log data over MAVLink</description>
<param index="1">Reserved (set to 0)</param>
<param index="2">Reserved (set to 0)</param>
<param index="3">Reserved (set to 0)</param>
<param index="4">Reserved (set to 0)</param>
<param index="5">Reserved (set to 0)</param>
<param index="6">Reserved (set to 0)</param>
<param index="7">Reserved (set to 0)</param>
</entry>
<entry value="2520" name="MAV_CMD_AIRFRAME_CONFIGURATION" hasLocation="false" isDestination="false">
<description/>
<param index="1" label="Landing Gear ID" minValue="-1" increment="1">Landing gear ID (default: 0, -1 for all)</param>
<param index="2" label="Landing Gear Position">Landing gear position (Down: 0, Up: 1, NaN for no change)</param>
<param index="3" reserved="true" default="NaN"/>
<param index="4" reserved="true" default="NaN"/>
<param index="5" reserved="true" default="NaN"/>
<param index="6" reserved="true" default="NaN"/>
<param index="7" reserved="true" default="NaN"/>
</entry>
<entry value="2600" name="MAV_CMD_CONTROL_HIGH_LATENCY" hasLocation="false" isDestination="false">
<description>Request to start/stop transmitting over the high latency telemetry</description>
<param index="1" label="Enable" minValue="0" maxValue="1" increment="1">Control transmission over high latency telemetry (0: stop, 1: start)</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="2800" name="MAV_CMD_PANORAMA_CREATE" hasLocation="false" isDestination="false">
<description>Create a panorama at the current position</description>
<param index="1" label="Horizontal Angle" units="deg">Viewing angle horizontal of the panorama (+- 0.5 the total angle)</param>
<param index="2" label="Vertical Angle" units="deg">Viewing angle vertical of panorama.</param>
<param index="3" label="Horizontal Speed" units="deg/s">Speed of the horizontal rotation.</param>
<param index="4" label="Vertical Speed" units="deg/s">Speed of the vertical rotation.</param>
</entry>
<entry value="3000" name="MAV_CMD_DO_VTOL_TRANSITION" hasLocation="false" isDestination="false">
<description>Request VTOL transition</description>
<param index="1" label="State" enum="MAV_VTOL_STATE">The target VTOL state. Only MAV_VTOL_STATE_MC and MAV_VTOL_STATE_FW can be used.</param>
</entry>
<entry value="3001" name="MAV_CMD_ARM_AUTHORIZATION_REQUEST" hasLocation="false" isDestination="false">
<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>
<param index="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>
</entry>
<entry value="4000" name="MAV_CMD_SET_GUIDED_SUBMODE_STANDARD" hasLocation="false" isDestination="false">
<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>
</entry>
<entry value="4001" name="MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE" hasLocation="true" isDestination="false">
<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>
<param index="1" label="Radius" units="m">Radius of desired circle in CIRCLE_MODE</param>
<param index="2">User defined</param>
<param index="3">User defined</param>
<param index="4">User defined</param>
<param index="5" label="Latitude" units="degE7">Target latitude of center of circle in CIRCLE_MODE</param>
<param index="6" label="Longitude" units="degE7">Target longitude of center of circle in CIRCLE_MODE</param>
</entry>
<entry value="4501" name="MAV_CMD_CONDITION_GATE" hasLocation="true" isDestination="true">
<wip/>
<!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<description>Delay mission state machine until gate has been reached.</description>
<param index="1" label="Geometry" minValue="0" increment="1">Geometry: 0: orthogonal to path between previous and next waypoint.</param>
<param index="2" label="UseAltitude" minValue="0" maxValue="1" increment="1">Altitude: 0: ignore altitude</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5" label="Latitude">Latitude</param>
<param index="6" label="Longitude">Longitude</param>
<param index="7" label="Altitude" units="m">Altitude</param>
</entry>
<entry value="5000" name="MAV_CMD_NAV_FENCE_RETURN_POINT" hasLocation="true" isDestination="true">
<deprecated since="2020-09" replaced_by="MAV_CMD_NAV_RALLY_POINT">This mechanism was superseded by rally points. If rally points are defined then they take precedence.</deprecated>
<description>Fence return point. There can only be one fence return point.
</description>
<param index="1">Reserved</param>
<param index="2">Reserved</param>
<param index="3">Reserved</param>
<param index="4">Reserved</param>
<param index="5" label="Latitude">Latitude</param>
<param index="6" label="Longitude">Longitude</param>
<param index="7" label="Altitude" units="m">Altitude</param>
</entry>
<entry value="5001" name="MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION" hasLocation="true" isDestination="false">
<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>
<param index="1" label="Vertex Count" minValue="3" increment="1">Polygon vertex count</param>
<param index="2">Reserved</param>
<param index="3">Reserved</param>
<param index="4">Reserved</param>
<param index="5" label="Latitude">Latitude</param>
<param index="6" label="Longitude">Longitude</param>
<param index="7">Reserved</param>
</entry>
<entry value="5002" name="MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION" hasLocation="true" isDestination="false">
<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>
<param index="1" label="Vertex Count" minValue="3" increment="1">Polygon vertex count</param>
<param index="2">Reserved</param>
<param index="3">Reserved</param>
<param index="4">Reserved</param>
<param index="5" label="Latitude">Latitude</param>
<param index="6" label="Longitude">Longitude</param>
<param index="7">Reserved</param>
</entry>
<entry value="5003" name="MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION" hasLocation="true" isDestination="false">
<description>Circular fence area. The vehicle must stay inside this area.
</description>
<param index="1" label="Radius" units="m">Radius.</param>
<param index="2">Reserved</param>
<param index="3">Reserved</param>
<param index="4">Reserved</param>
<param index="5" label="Latitude">Latitude</param>
<param index="6" label="Longitude">Longitude</param>
<param index="7">Reserved</param>
</entry>
<entry value="5004" name="MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION" hasLocation="true" isDestination="false">
<description>Circular fence area. The vehicle must stay outside this area.
</description>
<param index="1" label="Radius" units="m">Radius.</param>
<param index="2">Reserved</param>
<param index="3">Reserved</param>
<param index="4">Reserved</param>
<param index="5" label="Latitude">Latitude</param>
<param index="6" label="Longitude">Longitude</param>
<param index="7">Reserved</param>
</entry>
<entry value="5100" name="MAV_CMD_NAV_RALLY_POINT" hasLocation="true" isDestination="false">
<description>Rally point. You can have multiple rally points defined.
</description>
<param index="1">Reserved</param>
<param index="2">Reserved</param>
<param index="3">Reserved</param>
<param index="4">Reserved</param>
<param index="5" label="Latitude">Latitude</param>
<param index="6" label="Longitude">Longitude</param>
<param index="7" label="Altitude" units="m">Altitude</param>
</entry>
<!-- Values in the range [5200, 5210) should be reserved for UAVCAN. -->
<!-- BEGIN UAVCAN range -->
<entry value="5200" name="MAV_CMD_UAVCAN_GET_NODE_INFO" hasLocation="false" isDestination="false">
<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>
<param index="1">Reserved (set to 0)</param>
<param index="2">Reserved (set to 0)</param>
<param index="3">Reserved (set to 0)</param>
<param index="4">Reserved (set to 0)</param>
<param index="5">Reserved (set to 0)</param>
<param index="6">Reserved (set to 0)</param>
<param index="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 -->
<!-- BEGIN of payload range (30000 to 30999) -->
<entry value="30001" name="MAV_CMD_PAYLOAD_PREPARE_DEPLOY" hasLocation="true" isDestination="true">
<description>Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity.</description>
<param index="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>
<param index="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>
<param index="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>
<param index="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>
<param index="5" label="Latitude" units="degE7">Latitude. Note, if used in MISSION_ITEM (deprecated) the units are degrees (unscaled)</param>
<param index="6" label="Longitude" units="degE7">Longitude. Note, if used in MISSION_ITEM (deprecated) the units are degrees (unscaled)</param>
<param index="7" label="Altitude" units="m">Altitude (MSL)</param>
</entry>
<entry value="30002" name="MAV_CMD_PAYLOAD_CONTROL_DEPLOY" hasLocation="false" isDestination="false">
<description>Control the payload deployment.</description>
<param index="1" label="Operation Mode" minValue="0" maxValue="101" increment="1">Operation mode. 0: Abort deployment, continue normal mission. 1: switch to payload deployment mode. 100: delete first payload deployment request. 101: delete all payload deployment requests.</param>
<param index="2">Reserved</param>
<param index="3">Reserved</param>
<param index="4">Reserved</param>
<param index="5">Reserved</param>
<param index="6">Reserved</param>
<param index="7">Reserved</param>
</entry>
<!-- from ardupilotmega.xml (hence ID is in that range) -->
<entry value="42006" name="MAV_CMD_FIXED_MAG_CAL_YAW" hasLocation="true" isDestination="false">
<description>Magnetometer calibration based on provided known yaw. This allows for fast calibration using WMM field tables in the vehicle, given only the known yaw of the vehicle. If Latitude and longitude are both zero then use the current vehicle location.</description>
<param index="1" label="Yaw" units="deg">Yaw of vehicle in earth frame.</param>
<param index="2" label="CompassMask">CompassMask, 0 for all.</param>
<param index="3" label="Latitude" units="deg">Latitude.</param>
<param index="4" label="Longitude" units="deg">Longitude.</param>
<param index="5">Empty.</param>
<param index="6">Empty.</param>
<param index="7">Empty.</param>
</entry>
<entry value="42600" name="MAV_CMD_DO_WINCH" hasLocation="false" isDestination="false">
<description>Command to operate winch.</description>
<param index="1" label="Instance" minValue="1" increment="1">Winch instance number.</param>
<param index="2" label="Action" enum="WINCH_ACTIONS">Action to perform.</param>
<param index="3" label="Length" units="m">Length of cable to release (negative to wind).</param>
<param index="4" label="Rate" units="m/s">Release rate (negative to wind).</param>
<param index="5">Empty.</param>
<param index="6">Empty.</param>
<param index="7">Empty.</param>
</entry>
<!-- END of payload range (30000 to 30999) -->
<!-- BEGIN user defined range (31000 to 31999) -->
<entry value="31000" name="MAV_CMD_WAYPOINT_USER_1" hasLocation="true" isDestination="true">
<description>User defined waypoint item. Ground Station will show the Vehicle as flying through this item.</description>
<param index="1">User defined</param>
<param index="2">User defined</param>
<param index="3">User defined</param>
<param index="4">User defined</param>
<param index="5" label="Latitude">Latitude unscaled</param>
<param index="6" label="Longitude">Longitude unscaled</param>
<param index="7" label="Altitude" units="m">Altitude (MSL)</param>
</entry>
<entry value="31001" name="MAV_CMD_WAYPOINT_USER_2" hasLocation="true" isDestination="true">
<description>User defined waypoint item. Ground Station will show the Vehicle as flying through this item.</description>
<param index="1">User defined</param>
<param index="2">User defined</param>
<param index="3">User defined</param>
<param index="4">User defined</param>
<param index="5" label="Latitude">Latitude unscaled</param>
<param index="6" label="Longitude">Longitude unscaled</param>
<param index="7" label="Altitude" units="m">Altitude (MSL)</param>
</entry>
<entry value="31002" name="MAV_CMD_WAYPOINT_USER_3" hasLocation="true" isDestination="true">
<description>User defined waypoint item. Ground Station will show the Vehicle as flying through this item.</description>
<param index="1">User defined</param>
<param index="2">User defined</param>
<param index="3">User defined</param>
<param index="4">User defined</param>
<param index="5" label="Latitude">Latitude unscaled</param>
<param index="6" label="Longitude">Longitude unscaled</param>
<param index="7" label="Altitude" units="m">Altitude (MSL)</param>
</entry>
<entry value="31003" name="MAV_CMD_WAYPOINT_USER_4" hasLocation="true" isDestination="true">
<description>User defined waypoint item. Ground Station will show the Vehicle as flying through this item.</description>
<param index="1">User defined</param>
<param index="2">User defined</param>
<param index="3">User defined</param>
<param index="4">User defined</param>
<param index="5" label="Latitude">Latitude unscaled</param>
<param index="6" label="Longitude">Longitude unscaled</param>
<param index="7" label="Altitude" units="m">Altitude (MSL)</param>
</entry>
<entry value="31004" name="MAV_CMD_WAYPOINT_USER_5" hasLocation="true" isDestination="true">
<description>User defined waypoint item. Ground Station will show the Vehicle as flying through this item.</description>
<param index="1">User defined</param>
<param index="2">User defined</param>
<param index="3">User defined</param>
<param index="4">User defined</param>
<param index="5" label="Latitude">Latitude unscaled</param>
<param index="6" label="Longitude">Longitude unscaled</param>
<param index="7" label="Altitude" units="m">Altitude (MSL)</param>
</entry>
<entry value="31005" name="MAV_CMD_SPATIAL_USER_1" hasLocation="true" isDestination="false">
<description>User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.</description>
<param index="1">User defined</param>
<param index="2">User defined</param>
<param index="3">User defined</param>
<param index="4">User defined</param>
<param index="5" label="Latitude">Latitude unscaled</param>
<param index="6" label="Longitude">Longitude unscaled</param>
<param index="7" label="Altitude" units="m">Altitude (MSL)</param>
</entry>
<entry value="31006" name="MAV_CMD_SPATIAL_USER_2" hasLocation="true" isDestination="false">
<description>User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.</description>
<param index="1">User defined</param>
<param index="2">User defined</param>
<param index="3">User defined</param>
<param index="4">User defined</param>
<param index="5" label="Latitude">Latitude unscaled</param>
<param index="6" label="Longitude">Longitude unscaled</param>
<param index="7" label="Altitude" units="m">Altitude (MSL)</param>
</entry>
<entry value="31007" name="MAV_CMD_SPATIAL_USER_3" hasLocation="true" isDestination="false">
<description>User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.</description>
<param index="1">User defined</param>
<param index="2">User defined</param>
<param index="3">User defined</param>
<param index="4">User defined</param>
<param index="5" label="Latitude">Latitude unscaled</param>
<param index="6" label="Longitude">Longitude unscaled</param>
<param index="7" label="Altitude" units="m">Altitude (MSL)</param>
</entry>
<entry value="31008" name="MAV_CMD_SPATIAL_USER_4" hasLocation="true" isDestination="false">
<description>User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.</description>
<param index="1">User defined</param>
<param index="2">User defined</param>
<param index="3">User defined</param>
<param index="4">User defined</param>
<param index="5" label="Latitude">Latitude unscaled</param>
<param index="6" label="Longitude">Longitude unscaled</param>
<param index="7" label="Altitude" units="m">Altitude (MSL)</param>
</entry>
<entry value="31009" name="MAV_CMD_SPATIAL_USER_5" hasLocation="true" isDestination="false">
<description>User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.</description>
<param index="1">User defined</param>
<param index="2">User defined</param>
<param index="3">User defined</param>
<param index="4">User defined</param>
<param index="5" label="Latitude">Latitude unscaled</param>
<param index="6" label="Longitude">Longitude unscaled</param>
<param index="7" label="Altitude" units="m">Altitude (MSL)</param>
</entry>
<entry value="31010" name="MAV_CMD_USER_1" hasLocation="false" isDestination="false">
<description>User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.</description>
<param index="1">User defined</param>
<param index="2">User defined</param>
<param index="3">User defined</param>
<param index="4">User defined</param>
<param index="5">User defined</param>
<param index="6">User defined</param>
<param index="7">User defined</param>
</entry>
<entry value="31011" name="MAV_CMD_USER_2" hasLocation="false" isDestination="false">
<description>User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.</description>
<param index="1">User defined</param>
<param index="2">User defined</param>
<param index="3">User defined</param>
<param index="4">User defined</param>
<param index="5">User defined</param>
<param index="6">User defined</param>
<param index="7">User defined</param>
</entry>
<entry value="31012" name="MAV_CMD_USER_3" hasLocation="false" isDestination="false">
<description>User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.</description>
<param index="1">User defined</param>
<param index="2">User defined</param>
<param index="3">User defined</param>
<param index="4">User defined</param>
<param index="5">User defined</param>
<param index="6">User defined</param>
<param index="7">User defined</param>
</entry>
<entry value="31013" name="MAV_CMD_USER_4" hasLocation="false" isDestination="false">
<description>User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.</description>
<param index="1">User defined</param>
<param index="2">User defined</param>
<param index="3">User defined</param>
<param index="4">User defined</param>
<param index="5">User defined</param>
<param index="6">User defined</param>
<param index="7">User defined</param>
</entry>
<entry value="31014" name="MAV_CMD_USER_5" hasLocation="false" isDestination="false">
<description>User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.</description>
<param index="1">User defined</param>
<param index="2">User defined</param>
<param index="3">User defined</param>
<param index="4">User defined</param>
<param index="5">User defined</param>
<param index="6">User defined</param>
<param index="7">User defined</param>
</entry>
<!-- END of user range (31000 to 31999) -->
</enum>
<enum name="MAV_DATA_STREAM">
<deprecated since="2015-06" replaced_by="MESSAGE_INTERVAL"/>
<description>A data stream is not a fixed set of messages, but rather a
recommendation to the autopilot software. Individual autopilots may or may not obey
the recommended messages.</description>
<entry value="0" name="MAV_DATA_STREAM_ALL">
<description>Enable all data streams</description>
</entry>
<entry value="1" name="MAV_DATA_STREAM_RAW_SENSORS">
<description>Enable IMU_RAW, GPS_RAW, GPS_STATUS packets.</description>
</entry>
<entry value="2" name="MAV_DATA_STREAM_EXTENDED_STATUS">
<description>Enable GPS_STATUS, CONTROL_STATUS, AUX_STATUS</description>
</entry>
<entry value="3" name="MAV_DATA_STREAM_RC_CHANNELS">
<description>Enable RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW</description>
</entry>
<entry value="4" name="MAV_DATA_STREAM_RAW_CONTROLLER">
<description>Enable ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT, NAV_CONTROLLER_OUTPUT.</description>
</entry>
<entry value="6" name="MAV_DATA_STREAM_POSITION">
<description>Enable LOCAL_POSITION, GLOBAL_POSITION/GLOBAL_POSITION_INT messages.</description>
</entry>
<entry value="10" name="MAV_DATA_STREAM_EXTRA1">
<description>Dependent on the autopilot</description>
</entry>
<entry value="11" name="MAV_DATA_STREAM_EXTRA2">
<description>Dependent on the autopilot</description>
</entry>
<entry value="12" name="MAV_DATA_STREAM_EXTRA3">
<description>Dependent on the autopilot</description>
</entry>
</enum>
<enum name="MAV_ROI">
<deprecated since="2018-01" replaced_by="MAV_CMD_DO_SET_ROI_*"/>
<description>The ROI (region of interest) for the vehicle. This can be
be used by the vehicle for camera/vehicle attitude alignment (see
MAV_CMD_NAV_ROI).</description>
<entry value="0" name="MAV_ROI_NONE">
<description>No region of interest.</description>
</entry>
<entry value="1" name="MAV_ROI_WPNEXT">
<description>Point toward next waypoint, with optional pitch/roll/yaw offset.</description>
</entry>
<entry value="2" name="MAV_ROI_WPINDEX">
<description>Point toward given waypoint.</description>
</entry>
<entry value="3" name="MAV_ROI_LOCATION">
<description>Point toward fixed location.</description>
</entry>
<entry value="4" name="MAV_ROI_TARGET">
<description>Point toward of given id.</description>
</entry>
</enum>
<enum name="MAV_CMD_ACK">
<description>ACK / NACK / ERROR values as a result of MAV_CMDs and for mission item transmission.</description>
<entry name="MAV_CMD_ACK_OK">
<description>Command / mission item is ok.</description>
</entry>
<entry name="MAV_CMD_ACK_ERR_FAIL">
<description>Generic error message if none of the other reasons fails or if no detailed error reporting is implemented.</description>
</entry>
<entry name="MAV_CMD_ACK_ERR_ACCESS_DENIED">
<description>The system is refusing to accept this command from this source / communication partner.</description>
</entry>
<entry name="MAV_CMD_ACK_ERR_NOT_SUPPORTED">
<description>Command or mission item is not supported, other commands would be accepted.</description>
</entry>
<entry name="MAV_CMD_ACK_ERR_COORDINATE_FRAME_NOT_SUPPORTED">
<description>The coordinate frame of this command / mission item is not supported.</description>
</entry>
<entry name="MAV_CMD_ACK_ERR_COORDINATES_OUT_OF_RANGE">
<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>
<entry name="MAV_CMD_ACK_ERR_X_LAT_OUT_OF_RANGE">
<description>The X or latitude value is out of range.</description>
</entry>
<entry name="MAV_CMD_ACK_ERR_Y_LON_OUT_OF_RANGE">
<description>The Y or longitude value is out of range.</description>
</entry>
<entry name="MAV_CMD_ACK_ERR_Z_ALT_OUT_OF_RANGE">
<description>The Z or altitude value is out of range.</description>
</entry>
</enum>
<enum name="MAV_PARAM_TYPE">
<description>Specifies the datatype of a MAVLink parameter.</description>
<entry value="1" name="MAV_PARAM_TYPE_UINT8">
<description>8-bit unsigned integer</description>
</entry>
<entry value="2" name="MAV_PARAM_TYPE_INT8">
<description>8-bit signed integer</description>
</entry>
<entry value="3" name="MAV_PARAM_TYPE_UINT16">
<description>16-bit unsigned integer</description>
</entry>
<entry value="4" name="MAV_PARAM_TYPE_INT16">
<description>16-bit signed integer</description>
</entry>
<entry value="5" name="MAV_PARAM_TYPE_UINT32">
<description>32-bit unsigned integer</description>
</entry>
<entry value="6" name="MAV_PARAM_TYPE_INT32">
<description>32-bit signed integer</description>
</entry>
<entry value="7" name="MAV_PARAM_TYPE_UINT64">
<description>64-bit unsigned integer</description>
</entry>
<entry value="8" name="MAV_PARAM_TYPE_INT64">
<description>64-bit signed integer</description>
</entry>
<entry value="9" name="MAV_PARAM_TYPE_REAL32">
<description>32-bit floating-point</description>
</entry>
<entry value="10" name="MAV_PARAM_TYPE_REAL64">
<description>64-bit floating-point</description>
</entry>
</enum>
<enum name="MAV_PARAM_EXT_TYPE">
<description>Specifies the datatype of a MAVLink extended parameter.</description>
<entry value="1" name="MAV_PARAM_EXT_TYPE_UINT8">
<description>8-bit unsigned integer</description>
</entry>
<entry value="2" name="MAV_PARAM_EXT_TYPE_INT8">
<description>8-bit signed integer</description>
</entry>
<entry value="3" name="MAV_PARAM_EXT_TYPE_UINT16">
<description>16-bit unsigned integer</description>
</entry>
<entry value="4" name="MAV_PARAM_EXT_TYPE_INT16">
<description>16-bit signed integer</description>
</entry>
<entry value="5" name="MAV_PARAM_EXT_TYPE_UINT32">
<description>32-bit unsigned integer</description>
</entry>
<entry value="6" name="MAV_PARAM_EXT_TYPE_INT32">
<description>32-bit signed integer</description>
</entry>
<entry value="7" name="MAV_PARAM_EXT_TYPE_UINT64">
<description>64-bit unsigned integer</description>
</entry>
<entry value="8" name="MAV_PARAM_EXT_TYPE_INT64">
<description>64-bit signed integer</description>
</entry>
<entry value="9" name="MAV_PARAM_EXT_TYPE_REAL32">
<description>32-bit floating-point</description>
</entry>
<entry value="10" name="MAV_PARAM_EXT_TYPE_REAL64">
<description>64-bit floating-point</description>
</entry>
<entry value="11" name="MAV_PARAM_EXT_TYPE_CUSTOM">
<description>Custom Type</description>
</entry>
</enum>
<enum name="MAV_RESULT">
<description>Result from a MAVLink command (MAV_CMD)</description>
<entry value="0" name="MAV_RESULT_ACCEPTED">
<description>Command is valid (is supported and has valid parameters), and was executed.</description>
</entry>
<entry value="1" name="MAV_RESULT_TEMPORARILY_REJECTED">
<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>
<entry value="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>
<entry value="3" name="MAV_RESULT_UNSUPPORTED">
<description>Command is not supported (unknown).</description>
</entry>
<entry value="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>
<entry value="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.</description>
</entry>
<entry value="6" name="MAV_RESULT_CANCELLED">
<description>Command has been cancelled (as a result of receiving a COMMAND_CANCEL message).</description>
</entry>
</enum>
<enum name="MAV_MISSION_RESULT">
<description>Result of mission operation (in a MISSION_ACK message).</description>
<entry value="0" name="MAV_MISSION_ACCEPTED">
<description>mission accepted OK</description>
</entry>
<entry value="1" name="MAV_MISSION_ERROR">
<description>Generic error / not accepting mission commands at all right now.</description>
</entry>
<entry value="2" name="MAV_MISSION_UNSUPPORTED_FRAME">
<description>Coordinate frame is not supported.</description>
</entry>
<entry value="3" name="MAV_MISSION_UNSUPPORTED">
<description>Command is not supported.</description>
</entry>
<entry value="4" name="MAV_MISSION_NO_SPACE">
<description>Mission items exceed storage space.</description>
</entry>
<entry value="5" name="MAV_MISSION_INVALID">
<description>One of the parameters has an invalid value.</description>
</entry>
<entry value="6" name="MAV_MISSION_INVALID_PARAM1">
<description>param1 has an invalid value.</description>
</entry>
<entry value="7" name="MAV_MISSION_INVALID_PARAM2">
<description>param2 has an invalid value.</description>
</entry>
<entry value="8" name="MAV_MISSION_INVALID_PARAM3">
<description>param3 has an invalid value.</description>
</entry>
<entry value="9" name="MAV_MISSION_INVALID_PARAM4">
<description>param4 has an invalid value.</description>
</entry>
<entry value="10" name="MAV_MISSION_INVALID_PARAM5_X">
<description>x / param5 has an invalid value.</description>
</entry>
<entry value="11" name="MAV_MISSION_INVALID_PARAM6_Y">
<description>y / param6 has an invalid value.</description>
</entry>
<entry value="12" name="MAV_MISSION_INVALID_PARAM7">
<description>z / param7 has an invalid value.</description>
</entry>
<entry value="13" name="MAV_MISSION_INVALID_SEQUENCE">
<description>Mission item received out of sequence</description>
</entry>
<entry value="14" name="MAV_MISSION_DENIED">
<description>Not accepting any mission commands from this communication partner.</description>
</entry>
<entry value="15" name="MAV_MISSION_OPERATION_CANCELLED">
<description>Current mission operation cancelled (e.g. mission upload, mission download).</description>
</entry>
</enum>
<enum name="MAV_SEVERITY">
<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>
<entry value="0" name="MAV_SEVERITY_EMERGENCY">
<description>System is unusable. This is a "panic" condition.</description>
</entry>
<entry value="1" name="MAV_SEVERITY_ALERT">
<description>Action should be taken immediately. Indicates error in non-critical systems.</description>
</entry>
<entry value="2" name="MAV_SEVERITY_CRITICAL">
<description>Action must be taken immediately. Indicates failure in a primary system.</description>
</entry>
<entry value="3" name="MAV_SEVERITY_ERROR">
<description>Indicates an error in secondary/redundant systems.</description>
</entry>
<entry value="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>
<entry value="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>
<entry value="6" name="MAV_SEVERITY_INFO">
<description>Normal operational messages. Useful for logging. No action is required for these messages.</description>
</entry>
<entry value="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>
<enum name="MAV_POWER_STATUS" bitmask="true">
<description>Power supply status flags (bitmask)</description>
<entry value="1" name="MAV_POWER_STATUS_BRICK_VALID">
<description>main brick power supply valid</description>
</entry>
<entry value="2" name="MAV_POWER_STATUS_SERVO_VALID">
<description>main servo power supply valid for FMU</description>
</entry>
<entry value="4" name="MAV_POWER_STATUS_USB_CONNECTED">
<description>USB power is connected</description>
</entry>
<entry value="8" name="MAV_POWER_STATUS_PERIPH_OVERCURRENT">
<description>peripheral supply is in over-current state</description>
</entry>
<entry value="16" name="MAV_POWER_STATUS_PERIPH_HIPOWER_OVERCURRENT">
<description>hi-power peripheral supply is in over-current state</description>
</entry>
<entry value="32" name="MAV_POWER_STATUS_CHANGED">
<description>Power status has changed since boot</description>
</entry>
</enum>
<enum name="SERIAL_CONTROL_DEV">
<description>SERIAL_CONTROL device types</description>
<entry value="0" name="SERIAL_CONTROL_DEV_TELEM1">
<description>First telemetry port</description>
</entry>
<entry value="1" name="SERIAL_CONTROL_DEV_TELEM2">
<description>Second telemetry port</description>
</entry>
<entry value="2" name="SERIAL_CONTROL_DEV_GPS1">
<description>First GPS port</description>
</entry>
<entry value="3" name="SERIAL_CONTROL_DEV_GPS2">
<description>Second GPS port</description>
</entry>
<entry value="10" name="SERIAL_CONTROL_DEV_SHELL">
<description>system shell</description>
</entry>
<entry value="100" name="SERIAL_CONTROL_SERIAL0">
<description>SERIAL0</description>
</entry>
<entry value="101" name="SERIAL_CONTROL_SERIAL1">
<description>SERIAL1</description>
</entry>
<entry value="102" name="SERIAL_CONTROL_SERIAL2">
<description>SERIAL2</description>
</entry>
<entry value="103" name="SERIAL_CONTROL_SERIAL3">
<description>SERIAL3</description>
</entry>
<entry value="104" name="SERIAL_CONTROL_SERIAL4">
<description>SERIAL4</description>
</entry>
<entry value="105" name="SERIAL_CONTROL_SERIAL5">
<description>SERIAL5</description>
</entry>
<entry value="106" name="SERIAL_CONTROL_SERIAL6">
<description>SERIAL6</description>
</entry>
<entry value="107" name="SERIAL_CONTROL_SERIAL7">
<description>SERIAL7</description>
</entry>
<entry value="108" name="SERIAL_CONTROL_SERIAL8">
<description>SERIAL8</description>
</entry>
<entry value="109" name="SERIAL_CONTROL_SERIAL9">
<description>SERIAL9</description>
</entry>
</enum>
<enum name="SERIAL_CONTROL_FLAG" bitmask="true">
<description>SERIAL_CONTROL flags (bitmask)</description>
<entry value="1" name="SERIAL_CONTROL_FLAG_REPLY">
<description>Set if this is a reply</description>
</entry>
<entry value="2" name="SERIAL_CONTROL_FLAG_RESPOND">
<description>Set if the sender wants the receiver to send a response as another SERIAL_CONTROL message</description>
</entry>
<entry value="4" name="SERIAL_CONTROL_FLAG_EXCLUSIVE">
<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>
</entry>
<entry value="8" name="SERIAL_CONTROL_FLAG_BLOCKING">
<description>Block on writes to the serial port</description>
</entry>
<entry value="16" name="SERIAL_CONTROL_FLAG_MULTI">
<description>Send multiple replies until port is drained</description>
</entry>
</enum>
<enum name="MAV_DISTANCE_SENSOR">
<description>Enumeration of distance sensor types</description>
<entry value="0" name="MAV_DISTANCE_SENSOR_LASER">
<description>Laser rangefinder, e.g. LightWare SF02/F or PulsedLight units</description>
</entry>
<entry value="1" name="MAV_DISTANCE_SENSOR_ULTRASOUND">
<description>Ultrasound rangefinder, e.g. MaxBotix units</description>
</entry>
<entry value="2" name="MAV_DISTANCE_SENSOR_INFRARED">
<description>Infrared rangefinder, e.g. Sharp units</description>
</entry>
<entry value="3" name="MAV_DISTANCE_SENSOR_RADAR">
<description>Radar type, e.g. uLanding units</description>
</entry>
<entry value="4" name="MAV_DISTANCE_SENSOR_UNKNOWN">
<description>Broken or unknown type, e.g. analog units</description>
</entry>
</enum>
<enum name="MAV_SENSOR_ORIENTATION">
<description>Enumeration of sensor orientation, according to its rotations</description>
<entry value="0" name="MAV_SENSOR_ROTATION_NONE">
<description>Roll: 0, Pitch: 0, Yaw: 0</description>
</entry>
<entry value="1" name="MAV_SENSOR_ROTATION_YAW_45">
<description>Roll: 0, Pitch: 0, Yaw: 45</description>
</entry>
<entry value="2" name="MAV_SENSOR_ROTATION_YAW_90">
<description>Roll: 0, Pitch: 0, Yaw: 90</description>
</entry>
<entry value="3" name="MAV_SENSOR_ROTATION_YAW_135">
<description>Roll: 0, Pitch: 0, Yaw: 135</description>
</entry>
<entry value="4" name="MAV_SENSOR_ROTATION_YAW_180">
<description>Roll: 0, Pitch: 0, Yaw: 180</description>
</entry>
<entry value="5" name="MAV_SENSOR_ROTATION_YAW_225">
<description>Roll: 0, Pitch: 0, Yaw: 225</description>
</entry>
<entry value="6" name="MAV_SENSOR_ROTATION_YAW_270">
<description>Roll: 0, Pitch: 0, Yaw: 270</description>
</entry>
<entry value="7" name="MAV_SENSOR_ROTATION_YAW_315">
<description>Roll: 0, Pitch: 0, Yaw: 315</description>
</entry>
<entry value="8" name="MAV_SENSOR_ROTATION_ROLL_180">
<description>Roll: 180, Pitch: 0, Yaw: 0</description>
</entry>
<entry value="9" name="MAV_SENSOR_ROTATION_ROLL_180_YAW_45">
<description>Roll: 180, Pitch: 0, Yaw: 45</description>
</entry>
<entry value="10" name="MAV_SENSOR_ROTATION_ROLL_180_YAW_90">
<description>Roll: 180, Pitch: 0, Yaw: 90</description>
</entry>
<entry value="11" name="MAV_SENSOR_ROTATION_ROLL_180_YAW_135">
<description>Roll: 180, Pitch: 0, Yaw: 135</description>
</entry>
<entry value="12" name="MAV_SENSOR_ROTATION_PITCH_180">
<description>Roll: 0, Pitch: 180, Yaw: 0</description>
</entry>
<entry value="13" name="MAV_SENSOR_ROTATION_ROLL_180_YAW_225">
<description>Roll: 180, Pitch: 0, Yaw: 225</description>
</entry>
<entry value="14" name="MAV_SENSOR_ROTATION_ROLL_180_YAW_270">
<description>Roll: 180, Pitch: 0, Yaw: 270</description>
</entry>
<entry value="15" name="MAV_SENSOR_ROTATION_ROLL_180_YAW_315">
<description>Roll: 180, Pitch: 0, Yaw: 315</description>
</entry>
<entry value="16" name="MAV_SENSOR_ROTATION_ROLL_90">
<description>Roll: 90, Pitch: 0, Yaw: 0</description>
</entry>
<entry value="17" name="MAV_SENSOR_ROTATION_ROLL_90_YAW_45">
<description>Roll: 90, Pitch: 0, Yaw: 45</description>
</entry>
<entry value="18" name="MAV_SENSOR_ROTATION_ROLL_90_YAW_90">
<description>Roll: 90, Pitch: 0, Yaw: 90</description>
</entry>
<entry value="19" name="MAV_SENSOR_ROTATION_ROLL_90_YAW_135">
<description>Roll: 90, Pitch: 0, Yaw: 135</description>
</entry>
<entry value="20" name="MAV_SENSOR_ROTATION_ROLL_270">
<description>Roll: 270, Pitch: 0, Yaw: 0</description>
</entry>
<entry value="21" name="MAV_SENSOR_ROTATION_ROLL_270_YAW_45">
<description>Roll: 270, Pitch: 0, Yaw: 45</description>
</entry>
<entry value="22" name="MAV_SENSOR_ROTATION_ROLL_270_YAW_90">
<description>Roll: 270, Pitch: 0, Yaw: 90</description>
</entry>
<entry value="23" name="MAV_SENSOR_ROTATION_ROLL_270_YAW_135">
<description>Roll: 270, Pitch: 0, Yaw: 135</description>
</entry>
<entry value="24" name="MAV_SENSOR_ROTATION_PITCH_90">
<description>Roll: 0, Pitch: 90, Yaw: 0</description>
</entry>
<entry value="25" name="MAV_SENSOR_ROTATION_PITCH_270">
<description>Roll: 0, Pitch: 270, Yaw: 0</description>
</entry>
<entry value="26" name="MAV_SENSOR_ROTATION_PITCH_180_YAW_90">
<description>Roll: 0, Pitch: 180, Yaw: 90</description>
</entry>
<entry value="27" name="MAV_SENSOR_ROTATION_PITCH_180_YAW_270">
<description>Roll: 0, Pitch: 180, Yaw: 270</description>
</entry>
<entry value="28" name="MAV_SENSOR_ROTATION_ROLL_90_PITCH_90">
<description>Roll: 90, Pitch: 90, Yaw: 0</description>
</entry>
<entry value="29" name="MAV_SENSOR_ROTATION_ROLL_180_PITCH_90">
<description>Roll: 180, Pitch: 90, Yaw: 0</description>
</entry>
<entry value="30" name="MAV_SENSOR_ROTATION_ROLL_270_PITCH_90">
<description>Roll: 270, Pitch: 90, Yaw: 0</description>
</entry>
<entry value="31" name="MAV_SENSOR_ROTATION_ROLL_90_PITCH_180">
<description>Roll: 90, Pitch: 180, Yaw: 0</description>
</entry>
<entry value="32" name="MAV_SENSOR_ROTATION_ROLL_270_PITCH_180">
<description>Roll: 270, Pitch: 180, Yaw: 0</description>
</entry>
<entry value="33" name="MAV_SENSOR_ROTATION_ROLL_90_PITCH_270">
<description>Roll: 90, Pitch: 270, Yaw: 0</description>
</entry>
<entry value="34" name="MAV_SENSOR_ROTATION_ROLL_180_PITCH_270">
<description>Roll: 180, Pitch: 270, Yaw: 0</description>
</entry>
<entry value="35" name="MAV_SENSOR_ROTATION_ROLL_270_PITCH_270">
<description>Roll: 270, Pitch: 270, Yaw: 0</description>
</entry>
<entry value="36" name="MAV_SENSOR_ROTATION_ROLL_90_PITCH_180_YAW_90">
<description>Roll: 90, Pitch: 180, Yaw: 90</description>
</entry>
<entry value="37" name="MAV_SENSOR_ROTATION_ROLL_90_YAW_270">
<description>Roll: 90, Pitch: 0, Yaw: 270</description>
</entry>
<entry value="38" name="MAV_SENSOR_ROTATION_ROLL_90_PITCH_68_YAW_293">
<description>Roll: 90, Pitch: 68, Yaw: 293</description>
</entry>
<entry value="39" name="MAV_SENSOR_ROTATION_PITCH_315">
<description>Pitch: 315</description>
</entry>
<entry value="40" name="MAV_SENSOR_ROTATION_ROLL_90_PITCH_315">
<description>Roll: 90, Pitch: 315</description>
</entry>
<entry value="41" name="MAV_SENSOR_ROTATION_ROLL_270_YAW_180">
<description>Roll: 270, Yaw: 180</description>
</entry>
<entry value="100" name="MAV_SENSOR_ROTATION_CUSTOM">
<description>Custom orientation</description>
</entry>
</enum>
<enum name="MAV_PROTOCOL_CAPABILITY" bitmask="true">
<description>Bitmask of (optional) autopilot capabilities (64 bit). If a bit is set, the autopilot supports this capability.</description>
<entry value="1" name="MAV_PROTOCOL_CAPABILITY_MISSION_FLOAT">
<description>Autopilot supports MISSION float message type.</description>
</entry>
<entry value="2" name="MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT">
<description>Autopilot supports the new param float message type.</description>
</entry>
<entry value="4" name="MAV_PROTOCOL_CAPABILITY_MISSION_INT">
<deprecated since="2020-06" replaced_by="">This flag must always be set if missions are supported, because missions must always use MISSION_ITEM_INT (rather than MISSION_ITEM, which is deprecated).</deprecated>
<description>Autopilot supports MISSION_ITEM_INT scaled integer message type.</description>
</entry>
<entry value="8" name="MAV_PROTOCOL_CAPABILITY_COMMAND_INT">
<description>Autopilot supports COMMAND_INT scaled integer message type.</description>
</entry>
<entry value="16" name="MAV_PROTOCOL_CAPABILITY_PARAM_UNION">
<description>Autopilot supports the new param union message type.</description>
</entry>
<entry value="32" name="MAV_PROTOCOL_CAPABILITY_FTP">
<description>Autopilot supports the new FILE_TRANSFER_PROTOCOL message type.</description>
</entry>
<entry value="64" name="MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGET">
<description>Autopilot supports commanding attitude offboard.</description>
</entry>
<entry value="128" name="MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NED">
<description>Autopilot supports commanding position and velocity targets in local NED frame.</description>
</entry>
<entry value="256" name="MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INT">
<description>Autopilot supports commanding position and velocity targets in global scaled integers.</description>
</entry>
<entry value="512" name="MAV_PROTOCOL_CAPABILITY_TERRAIN">
<description>Autopilot supports terrain protocol / data handling.</description>
</entry>
<entry value="1024" name="MAV_PROTOCOL_CAPABILITY_SET_ACTUATOR_TARGET">
<description>Autopilot supports direct actuator control.</description>
</entry>
<entry value="2048" name="MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION">
<description>Autopilot supports the flight termination command.</description>
</entry>
<entry value="4096" name="MAV_PROTOCOL_CAPABILITY_COMPASS_CALIBRATION">
<description>Autopilot supports onboard compass calibration.</description>
</entry>
<entry value="8192" name="MAV_PROTOCOL_CAPABILITY_MAVLINK2">
<description>Autopilot supports MAVLink version 2.</description>
</entry>
<entry value="16384" name="MAV_PROTOCOL_CAPABILITY_MISSION_FENCE">
<description>Autopilot supports mission fence protocol.</description>
</entry>
<entry value="32768" name="MAV_PROTOCOL_CAPABILITY_MISSION_RALLY">
<description>Autopilot supports mission rally point protocol.</description>
</entry>
<entry value="65536" name="MAV_PROTOCOL_CAPABILITY_FLIGHT_INFORMATION">
<description>Autopilot supports the flight information protocol.</description>
</entry>
</enum>
<enum name="MAV_MISSION_TYPE">
<description>Type of mission items being requested/sent in mission protocol.</description>
<entry value="0" name="MAV_MISSION_TYPE_MISSION">
<description>Items are mission commands for main mission.</description>
</entry>
<entry value="1" name="MAV_MISSION_TYPE_FENCE">
<description>Specifies GeoFence area(s). Items are MAV_CMD_NAV_FENCE_ GeoFence items.</description>
</entry>
<entry value="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>
<entry value="255" name="MAV_MISSION_TYPE_ALL">
<description>Only used in MISSION_CLEAR_ALL to clear all mission types.</description>
</entry>
</enum>
<enum name="MAV_ESTIMATOR_TYPE">
<description>Enumeration of estimator types</description>
<entry value="0" name="MAV_ESTIMATOR_TYPE_UNKNOWN">
<description>Unknown type of the estimator.</description>
</entry>
<entry value="1" name="MAV_ESTIMATOR_TYPE_NAIVE">
<description>This is a naive estimator without any real covariance feedback.</description>
</entry>
<entry value="2" name="MAV_ESTIMATOR_TYPE_VISION">
<description>Computer vision based estimate. Might be up to scale.</description>
</entry>
<entry value="3" name="MAV_ESTIMATOR_TYPE_VIO">
<description>Visual-inertial estimate.</description>
</entry>
<entry value="4" name="MAV_ESTIMATOR_TYPE_GPS">
<description>Plain GPS estimate.</description>
</entry>
<entry value="5" name="MAV_ESTIMATOR_TYPE_GPS_INS">
<description>Estimator integrating GPS and inertial sensing.</description>
</entry>
<entry value="6" name="MAV_ESTIMATOR_TYPE_MOCAP">
<description>Estimate from external motion capturing system.</description>
</entry>
<entry value="7" name="MAV_ESTIMATOR_TYPE_LIDAR">
<description>Estimator based on lidar sensor input.</description>
</entry>
<entry value="8" name="MAV_ESTIMATOR_TYPE_AUTOPILOT">
<description>Estimator on autopilot.</description>
</entry>
</enum>
<enum name="MAV_BATTERY_TYPE">
<description>Enumeration of battery types</description>
<entry value="0" name="MAV_BATTERY_TYPE_UNKNOWN">
<description>Not specified.</description>
</entry>
<entry value="1" name="MAV_BATTERY_TYPE_LIPO">
<description>Lithium polymer battery</description>
</entry>
<entry value="2" name="MAV_BATTERY_TYPE_LIFE">
<description>Lithium-iron-phosphate battery</description>
</entry>
<entry value="3" name="MAV_BATTERY_TYPE_LION">
<description>Lithium-ION battery</description>
</entry>
<entry value="4" name="MAV_BATTERY_TYPE_NIMH">
<description>Nickel metal hydride battery</description>
</entry>
</enum>
<enum name="MAV_BATTERY_FUNCTION">
<description>Enumeration of battery functions</description>
<entry value="0" name="MAV_BATTERY_FUNCTION_UNKNOWN">
<description>Battery function is unknown</description>
</entry>
<entry value="1" name="MAV_BATTERY_FUNCTION_ALL">
<description>Battery supports all flight systems</description>
</entry>
<entry value="2" name="MAV_BATTERY_FUNCTION_PROPULSION">
<description>Battery for the propulsion system</description>
</entry>
<entry value="3" name="MAV_BATTERY_FUNCTION_AVIONICS">
<description>Avionics battery</description>
</entry>
<entry value="4" name="MAV_BATTERY_TYPE_PAYLOAD">
<description>Payload battery</description>
</entry>
</enum>
<enum name="MAV_BATTERY_CHARGE_STATE">
<description>Enumeration for battery charge states.</description>
<entry value="0" name="MAV_BATTERY_CHARGE_STATE_UNDEFINED">
<description>Low battery state is not provided</description>
</entry>
<entry value="1" name="MAV_BATTERY_CHARGE_STATE_OK">
<description>Battery is not in low state. Normal operation.</description>
</entry>
<entry value="2" name="MAV_BATTERY_CHARGE_STATE_LOW">
<description>Battery state is low, warn and monitor close.</description>
</entry>
<entry value="3" name="MAV_BATTERY_CHARGE_STATE_CRITICAL">
<description>Battery state is critical, return or abort immediately.</description>
</entry>
<entry value="4" name="MAV_BATTERY_CHARGE_STATE_EMERGENCY">
<description>Battery state is too low for ordinary abort sequence. Perform fastest possible emergency stop to prevent damage.</description>
</entry>
<entry value="5" name="MAV_BATTERY_CHARGE_STATE_FAILED">
<description>Battery failed, damage unavoidable. Possible causes (faults) are listed in MAV_BATTERY_FAULT.</description>
</entry>
<entry value="6" name="MAV_BATTERY_CHARGE_STATE_UNHEALTHY">
<description>Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in MAV_BATTERY_FAULT.</description>
</entry>
<entry value="7" name="MAV_BATTERY_CHARGE_STATE_CHARGING">
<description>Battery is charging.</description>
</entry>
</enum>
<enum name="MAV_BATTERY_MODE">
<description>Battery mode. Note, the normal operation mode (i.e. when flying) should be reported as MAV_BATTERY_MODE_UNKNOWN to allow message trimming in normal flight.</description>
<entry value="0" name="MAV_BATTERY_MODE_UNKNOWN">
<description>Battery mode not supported/unknown battery mode/normal operation.</description>
</entry>
<entry value="1" name="MAV_BATTERY_MODE_AUTO_DISCHARGING">
<description>Battery is auto discharging (towards storage level).</description>
</entry>
<entry value="2" name="MAV_BATTERY_MODE_HOT_SWAP">
<description>Battery in hot-swap mode (current limited to prevent spikes that might damage sensitive electrical circuits).</description>
</entry>
</enum>
<enum name="MAV_BATTERY_FAULT" bitmask="true">
<description>Smart battery supply status/fault flags (bitmask) for health indication. The battery must also report either MAV_BATTERY_CHARGE_STATE_FAILED or MAV_BATTERY_CHARGE_STATE_UNHEALTHY if any of these are set.</description>
<entry value="1" name="MAV_BATTERY_FAULT_DEEP_DISCHARGE">
<description>Battery has deep discharged.</description>
</entry>
<entry value="2" name="MAV_BATTERY_FAULT_SPIKES">
<description>Voltage spikes.</description>
</entry>
<entry value="4" name="MAV_BATTERY_FAULT_CELL_FAIL">
<description>One or more cells have failed. Battery should also report MAV_BATTERY_CHARGE_STATE_FAILE (and should not be used).</description>
</entry>
<entry value="8" name="MAV_BATTERY_FAULT_OVER_CURRENT">
<description>Over-current fault.</description>
</entry>
<entry value="16" name="MAV_BATTERY_FAULT_OVER_TEMPERATURE">
<description>Over-temperature fault.</description>
</entry>
<entry value="32" name="MAV_BATTERY_FAULT_UNDER_TEMPERATURE">
<description>Under-temperature fault.</description>
</entry>
<entry value="64" name="MAV_BATTERY_FAULT_INCOMPATIBLE_VOLTAGE">
<description>Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage).</description>
</entry>
</enum>
<enum name="MAV_GENERATOR_STATUS_FLAG" bitmask="true">
<description>Flags to report status/failure cases for a power generator (used in GENERATOR_STATUS). Note that FAULTS are conditions that cause the generator to fail. Warnings are conditions that require attention before the next use (they indicate the system is not operating properly).</description>
<entry value="1" name="MAV_GENERATOR_STATUS_FLAG_OFF">
<description>Generator is off.</description>
</entry>
<entry value="2" name="MAV_GENERATOR_STATUS_FLAG_READY">
<description>Generator is ready to start generating power.</description>
</entry>
<entry value="4" name="MAV_GENERATOR_STATUS_FLAG_GENERATING">
<description>Generator is generating power.</description>
</entry>
<entry value="8" name="MAV_GENERATOR_STATUS_FLAG_CHARGING">
<description>Generator is charging the batteries (generating enough power to charge and provide the load).</description>
</entry>
<entry value="16" name="MAV_GENERATOR_STATUS_FLAG_REDUCED_POWER">
<description>Generator is operating at a reduced maximum power.</description>
</entry>
<entry value="32" name="MAV_GENERATOR_STATUS_FLAG_MAXPOWER">
<description>Generator is providing the maximum output.</description>
</entry>
<entry value="64" name="MAV_GENERATOR_STATUS_FLAG_OVERTEMP_WARNING">
<description>Generator is near the maximum operating temperature, cooling is insufficient.</description>
</entry>
<entry value="128" name="MAV_GENERATOR_STATUS_FLAG_OVERTEMP_FAULT">
<description>Generator hit the maximum operating temperature and shutdown.</description>
</entry>
<entry value="256" name="MAV_GENERATOR_STATUS_FLAG_ELECTRONICS_OVERTEMP_WARNING">
<description>Power electronics are near the maximum operating temperature, cooling is insufficient.</description>
</entry>
<entry value="512" name="MAV_GENERATOR_STATUS_FLAG_ELECTRONICS_OVERTEMP_FAULT">
<description>Power electronics hit the maximum operating temperature and shutdown.</description>
</entry>
<entry value="1024" name="MAV_GENERATOR_STATUS_FLAG_ELECTRONICS_FAULT">
<description>Power electronics experienced a fault and shutdown.</description>
</entry>
<entry value="2048" name="MAV_GENERATOR_STATUS_FLAG_POWERSOURCE_FAULT">
<description>The power source supplying the generator failed e.g. mechanical generator stopped, tether is no longer providing power, solar cell is in shade, hydrogen reaction no longer happening.</description>
</entry>
<entry value="4096" name="MAV_GENERATOR_STATUS_FLAG_COMMUNICATION_WARNING">
<description>Generator controller having communication problems.</description>
</entry>
<entry value="8192" name="MAV_GENERATOR_STATUS_FLAG_COOLING_WARNING">
<description>Power electronic or generator cooling system error.</description>
</entry>
<entry value="16384" name="MAV_GENERATOR_STATUS_FLAG_POWER_RAIL_FAULT">
<description>Generator controller power rail experienced a fault.</description>
</entry>
<entry value="32768" name="MAV_GENERATOR_STATUS_FLAG_OVERCURRENT_FAULT">
<description>Generator controller exceeded the overcurrent threshold and shutdown to prevent damage.</description>
</entry>
<entry value="65536" name="MAV_GENERATOR_STATUS_FLAG_BATTERY_OVERCHARGE_CURRENT_FAULT">
<description>Generator controller detected a high current going into the batteries and shutdown to prevent battery damage.</description>
</entry>
<entry value="131072" name="MAV_GENERATOR_STATUS_FLAG_OVERVOLTAGE_FAULT">
<description>Generator controller exceeded it's overvoltage threshold and shutdown to prevent it exceeding the voltage rating.</description>
</entry>
<entry value="262144" name="MAV_GENERATOR_STATUS_FLAG_BATTERY_UNDERVOLT_FAULT">
<description>Batteries are under voltage (generator will not start).</description>
</entry>
<entry value="524288" name="MAV_GENERATOR_STATUS_FLAG_START_INHIBITED">
<description>Generator start is inhibited by e.g. a safety switch.</description>
</entry>
<entry value="1048576" name="MAV_GENERATOR_STATUS_FLAG_MAINTENANCE_REQUIRED">
<description>Generator requires maintenance.</description>
</entry>
<entry value="2097152" name="MAV_GENERATOR_STATUS_FLAG_WARMING_UP">
<description>Generator is not ready to generate yet.</description>
</entry>
<entry value="4194304" name="MAV_GENERATOR_STATUS_FLAG_IDLE">
<description>Generator is idle.</description>
</entry>
</enum>
<enum name="MAV_VTOL_STATE">
<description>Enumeration of VTOL states</description>
<entry value="0" name="MAV_VTOL_STATE_UNDEFINED">
<description>MAV is not configured as VTOL</description>
</entry>
<entry value="1" name="MAV_VTOL_STATE_TRANSITION_TO_FW">
<description>VTOL is in transition from multicopter to fixed-wing</description>
</entry>
<entry value="2" name="MAV_VTOL_STATE_TRANSITION_TO_MC">
<description>VTOL is in transition from fixed-wing to multicopter</description>
</entry>
<entry value="3" name="MAV_VTOL_STATE_MC">
<description>VTOL is in multicopter state</description>
</entry>
<entry value="4" name="MAV_VTOL_STATE_FW">
<description>VTOL is in fixed-wing state</description>
</entry>
</enum>
<enum name="MAV_LANDED_STATE">
<description>Enumeration of landed detector states</description>
<entry value="0" name="MAV_LANDED_STATE_UNDEFINED">
<description>MAV landed state is unknown</description>
</entry>
<entry value="1" name="MAV_LANDED_STATE_ON_GROUND">
<description>MAV is landed (on ground)</description>
</entry>
<entry value="2" name="MAV_LANDED_STATE_IN_AIR">
<description>MAV is in air</description>
</entry>
<entry value="3" name="MAV_LANDED_STATE_TAKEOFF">
<description>MAV currently taking off</description>
</entry>
<entry value="4" name="MAV_LANDED_STATE_LANDING">
<description>MAV currently landing</description>
</entry>
</enum>
<enum name="ADSB_ALTITUDE_TYPE">
<description>Enumeration of the ADSB altimeter types</description>
<entry value="0" name="ADSB_ALTITUDE_TYPE_PRESSURE_QNH">
<description>Altitude reported from a Baro source using QNH reference</description>
</entry>
<entry value="1" name="ADSB_ALTITUDE_TYPE_GEOMETRIC">
<description>Altitude reported from a GNSS source</description>
</entry>
</enum>
<enum name="ADSB_EMITTER_TYPE">
<description>ADSB classification for the type of vehicle emitting the transponder signal</description>
<entry value="0" name="ADSB_EMITTER_TYPE_NO_INFO"/>
<entry value="1" name="ADSB_EMITTER_TYPE_LIGHT"/>
<entry value="2" name="ADSB_EMITTER_TYPE_SMALL"/>
<entry value="3" name="ADSB_EMITTER_TYPE_LARGE"/>
<entry value="4" name="ADSB_EMITTER_TYPE_HIGH_VORTEX_LARGE"/>
<entry value="5" name="ADSB_EMITTER_TYPE_HEAVY"/>
<entry value="6" name="ADSB_EMITTER_TYPE_HIGHLY_MANUV"/>
<entry value="7" name="ADSB_EMITTER_TYPE_ROTOCRAFT"/>
<entry value="8" name="ADSB_EMITTER_TYPE_UNASSIGNED"/>
<entry value="9" name="ADSB_EMITTER_TYPE_GLIDER"/>
<entry value="10" name="ADSB_EMITTER_TYPE_LIGHTER_AIR"/>
<entry value="11" name="ADSB_EMITTER_TYPE_PARACHUTE"/>
<entry value="12" name="ADSB_EMITTER_TYPE_ULTRA_LIGHT"/>
<entry value="13" name="ADSB_EMITTER_TYPE_UNASSIGNED2"/>
<entry value="14" name="ADSB_EMITTER_TYPE_UAV"/>
<entry value="15" name="ADSB_EMITTER_TYPE_SPACE"/>
<entry value="16" name="ADSB_EMITTER_TYPE_UNASSGINED3"/>
<entry value="17" name="ADSB_EMITTER_TYPE_EMERGENCY_SURFACE"/>
<entry value="18" name="ADSB_EMITTER_TYPE_SERVICE_SURFACE"/>
<entry value="19" name="ADSB_EMITTER_TYPE_POINT_OBSTACLE"/>
</enum>
<enum name="ADSB_FLAGS" bitmask="true">
<description>These flags indicate status such as data validity of each data source. Set = data valid</description>
<entry value="1" name="ADSB_FLAGS_VALID_COORDS"/>
<entry value="2" name="ADSB_FLAGS_VALID_ALTITUDE"/>
<entry value="4" name="ADSB_FLAGS_VALID_HEADING"/>
<entry value="8" name="ADSB_FLAGS_VALID_VELOCITY"/>
<entry value="16" name="ADSB_FLAGS_VALID_CALLSIGN"/>
<entry value="32" name="ADSB_FLAGS_VALID_SQUAWK"/>
<entry value="64" name="ADSB_FLAGS_SIMULATED"/>
<entry value="128" name="ADSB_FLAGS_VERTICAL_VELOCITY_VALID"/>
<entry value="256" name="ADSB_FLAGS_BARO_VALID"/>
<entry value="32768" name="ADSB_FLAGS_SOURCE_UAT"/>
</enum>
<enum name="MAV_DO_REPOSITION_FLAGS" bitmask="true">
<description>Bitmap of options for the MAV_CMD_DO_REPOSITION</description>
<entry value="1" name="MAV_DO_REPOSITION_FLAGS_CHANGE_MODE">
<description>The aircraft should immediately transition into guided. This should not be set for follow me applications</description>
</entry>
</enum>
<!-- ESTIMATOR_STATUS_FLAGS - these values should be bit-and with the messages flags field to know if flag has been set -->
<enum name="ESTIMATOR_STATUS_FLAGS" bitmask="true">
<description>Flags in ESTIMATOR_STATUS message</description>
<entry value="1" name="ESTIMATOR_ATTITUDE">
<description>True if the attitude estimate is good</description>
</entry>
<entry value="2" name="ESTIMATOR_VELOCITY_HORIZ">
<description>True if the horizontal velocity estimate is good</description>
</entry>
<entry value="4" name="ESTIMATOR_VELOCITY_VERT">
<description>True if the vertical velocity estimate is good</description>
</entry>
<entry value="8" name="ESTIMATOR_POS_HORIZ_REL">
<description>True if the horizontal position (relative) estimate is good</description>
</entry>
<entry value="16" name="ESTIMATOR_POS_HORIZ_ABS">
<description>True if the horizontal position (absolute) estimate is good</description>
</entry>
<entry value="32" name="ESTIMATOR_POS_VERT_ABS">
<description>True if the vertical position (absolute) estimate is good</description>
</entry>
<entry value="64" name="ESTIMATOR_POS_VERT_AGL">
<description>True if the vertical position (above ground) estimate is good</description>
</entry>
<entry value="128" name="ESTIMATOR_CONST_POS_MODE">
<description>True if the EKF is in a constant position mode and is not using external measurements (eg GPS or optical flow)</description>
</entry>
<entry value="256" name="ESTIMATOR_PRED_POS_HORIZ_REL">
<description>True if the EKF has sufficient data to enter a mode that will provide a (relative) position estimate</description>
</entry>
<entry value="512" name="ESTIMATOR_PRED_POS_HORIZ_ABS">
<description>True if the EKF has sufficient data to enter a mode that will provide a (absolute) position estimate</description>
</entry>
<entry value="1024" name="ESTIMATOR_GPS_GLITCH">
<description>True if the EKF has detected a GPS glitch</description>
</entry>
<entry value="2048" name="ESTIMATOR_ACCEL_ERROR">
<description>True if the EKF has detected bad accelerometer data</description>
</entry>
</enum>
<!-- motor test type enum -->
<enum name="MOTOR_TEST_ORDER">
<entry name="MOTOR_TEST_ORDER_DEFAULT" value="0">
<description>default autopilot motor test method</description>
</entry>
<entry name="MOTOR_TEST_ORDER_SEQUENCE" value="1">
<description>motor numbers are specified as their index in a predefined vehicle-specific sequence</description>
</entry>
<entry name="MOTOR_TEST_ORDER_BOARD" value="2">
<description>motor numbers are specified as the output as labeled on the board</description>
</entry>
</enum>
<!-- motor test throttle type enum -->
<enum name="MOTOR_TEST_THROTTLE_TYPE">
<entry value="0" name="MOTOR_TEST_THROTTLE_PERCENT">
<description>throttle as a percentage from 0 ~ 100</description>
</entry>
<entry value="1" name="MOTOR_TEST_THROTTLE_PWM">
<description>throttle as an absolute PWM value (normally in range of 1000~2000)</description>
</entry>
<entry value="2" name="MOTOR_TEST_THROTTLE_PILOT">
<description>throttle pass-through from pilot's transmitter</description>
</entry>
<entry value="3" name="MOTOR_TEST_COMPASS_CAL">
<description>per-motor compass calibration test</description>
</entry>
</enum>
<!-- GPS_INPUT ignore flags enum -->
<enum name="GPS_INPUT_IGNORE_FLAGS" bitmask="true">
<entry value="1" name="GPS_INPUT_IGNORE_FLAG_ALT">
<description>ignore altitude field</description>
</entry>
<entry value="2" name="GPS_INPUT_IGNORE_FLAG_HDOP">
<description>ignore hdop field</description>
</entry>
<entry value="4" name="GPS_INPUT_IGNORE_FLAG_VDOP">
<description>ignore vdop field</description>
</entry>
<entry value="8" name="GPS_INPUT_IGNORE_FLAG_VEL_HORIZ">
<description>ignore horizontal velocity field (vn and ve)</description>
</entry>
<entry value="16" name="GPS_INPUT_IGNORE_FLAG_VEL_VERT">
<description>ignore vertical velocity field (vd)</description>
</entry>
<entry value="32" name="GPS_INPUT_IGNORE_FLAG_SPEED_ACCURACY">
<description>ignore speed accuracy field</description>
</entry>
<entry value="64" name="GPS_INPUT_IGNORE_FLAG_HORIZONTAL_ACCURACY">
<description>ignore horizontal accuracy field</description>
</entry>
<entry value="128" name="GPS_INPUT_IGNORE_FLAG_VERTICAL_ACCURACY">
<description>ignore vertical accuracy field</description>
</entry>
</enum>
<enum name="MAV_COLLISION_ACTION">
<description>Possible actions an aircraft can take to avoid a collision.</description>
<entry value="0" name="MAV_COLLISION_ACTION_NONE">
<description>Ignore any potential collisions</description>
</entry>
<entry value="1" name="MAV_COLLISION_ACTION_REPORT">
<description>Report potential collision</description>
</entry>
<entry value="2" name="MAV_COLLISION_ACTION_ASCEND_OR_DESCEND">
<description>Ascend or Descend to avoid threat</description>
</entry>
<entry value="3" name="MAV_COLLISION_ACTION_MOVE_HORIZONTALLY">
<description>Move horizontally to avoid threat</description>
</entry>
<entry value="4" name="MAV_COLLISION_ACTION_MOVE_PERPENDICULAR">
<description>Aircraft to move perpendicular to the collision's velocity vector</description>
</entry>
<entry value="5" name="MAV_COLLISION_ACTION_RTL">
<description>Aircraft to fly directly back to its launch point</description>
</entry>
<entry value="6" name="MAV_COLLISION_ACTION_HOVER">
<description>Aircraft to stop in place</description>
</entry>
</enum>
<enum name="MAV_COLLISION_THREAT_LEVEL">
<description>Aircraft-rated danger from this threat.</description>
<entry value="0" name="MAV_COLLISION_THREAT_LEVEL_NONE">
<description>Not a threat</description>
</entry>
<entry value="1" name="MAV_COLLISION_THREAT_LEVEL_LOW">
<description>Craft is mildly concerned about this threat</description>
</entry>
<entry value="2" name="MAV_COLLISION_THREAT_LEVEL_HIGH">
<description>Craft is panicking, and may take actions to avoid threat</description>
</entry>
</enum>
<enum name="MAV_COLLISION_SRC">
<description>Source of information about this collision.</description>
<entry value="0" name="MAV_COLLISION_SRC_ADSB">
<description>ID field references ADSB_VEHICLE packets</description>
</entry>
<entry value="1" name="MAV_COLLISION_SRC_MAVLINK_GPS_GLOBAL_INT">
<description>ID field references MAVLink SRC ID</description>
</entry>
</enum>
<enum name="GPS_FIX_TYPE">
<description>Type of GPS fix</description>
<entry value="0" name="GPS_FIX_TYPE_NO_GPS">
<description>No GPS connected</description>
</entry>
<entry value="1" name="GPS_FIX_TYPE_NO_FIX">
<description>No position information, GPS is connected</description>
</entry>
<entry value="2" name="GPS_FIX_TYPE_2D_FIX">
<description>2D position</description>
</entry>
<entry value="3" name="GPS_FIX_TYPE_3D_FIX">
<description>3D position</description>
</entry>
<entry value="4" name="GPS_FIX_TYPE_DGPS">
<description>DGPS/SBAS aided 3D position</description>
</entry>
<entry value="5" name="GPS_FIX_TYPE_RTK_FLOAT">
<description>RTK float, 3D position</description>
</entry>
<entry value="6" name="GPS_FIX_TYPE_RTK_FIXED">
<description>RTK Fixed, 3D position</description>
</entry>
<entry value="7" name="GPS_FIX_TYPE_STATIC">
<description>Static fixed, typically used for base stations</description>
</entry>
<entry value="8" name="GPS_FIX_TYPE_PPP">
<description>PPP, 3D position.</description>
</entry>
</enum>
<enum name="RTK_BASELINE_COORDINATE_SYSTEM">
<description>RTK GPS baseline coordinate system, used for RTK corrections</description>
<entry value="0" name="RTK_BASELINE_COORDINATE_SYSTEM_ECEF">
<description>Earth-centered, Earth-fixed</description>
</entry>
<entry value="1" name="RTK_BASELINE_COORDINATE_SYSTEM_NED">
<description>RTK basestation centered, north, east, down</description>
</entry>
</enum>
<enum name="LANDING_TARGET_TYPE">
<description>Type of landing target</description>
<entry value="0" name="LANDING_TARGET_TYPE_LIGHT_BEACON">
<description>Landing target signaled by light beacon (ex: IR-LOCK)</description>
</entry>
<entry value="1" name="LANDING_TARGET_TYPE_RADIO_BEACON">
<description>Landing target signaled by radio beacon (ex: ILS, NDB)</description>
</entry>
<entry value="2" name="LANDING_TARGET_TYPE_VISION_FIDUCIAL">
<description>Landing target represented by a fiducial marker (ex: ARTag)</description>
</entry>
<entry value="3" name="LANDING_TARGET_TYPE_VISION_OTHER">
<description>Landing target represented by a pre-defined visual shape/feature (ex: X-marker, H-marker, square)</description>
</entry>
</enum>
<enum name="VTOL_TRANSITION_HEADING">
<description>Direction of VTOL transition</description>
<entry value="0" name="VTOL_TRANSITION_HEADING_VEHICLE_DEFAULT">
<description>Respect the heading configuration of the vehicle.</description>
</entry>
<entry value="1" name="VTOL_TRANSITION_HEADING_NEXT_WAYPOINT">
<description>Use the heading pointing towards the next waypoint.</description>
</entry>
<entry value="2" name="VTOL_TRANSITION_HEADING_TAKEOFF">
<description>Use the heading on takeoff (while sitting on the ground).</description>
</entry>
<entry value="3" name="VTOL_TRANSITION_HEADING_SPECIFIED">
<description>Use the specified heading in parameter 4.</description>
</entry>
<entry value="4" name="VTOL_TRANSITION_HEADING_ANY">
<description>Use the current heading when reaching takeoff altitude (potentially facing the wind when weather-vaning is active).</description>
</entry>
</enum>
<enum name="CAMERA_CAP_FLAGS" bitmask="true">
<description>Camera capability flags (Bitmap)</description>
<entry value="1" name="CAMERA_CAP_FLAGS_CAPTURE_VIDEO">
<description>Camera is able to record video</description>
</entry>
<entry value="2" name="CAMERA_CAP_FLAGS_CAPTURE_IMAGE">
<description>Camera is able to capture images</description>
</entry>
<entry value="4" name="CAMERA_CAP_FLAGS_HAS_MODES">
<description>Camera has separate Video and Image/Photo modes (MAV_CMD_SET_CAMERA_MODE)</description>
</entry>
<entry value="8" name="CAMERA_CAP_FLAGS_CAN_CAPTURE_IMAGE_IN_VIDEO_MODE">
<description>Camera can capture images while in video mode</description>
</entry>
<entry value="16" name="CAMERA_CAP_FLAGS_CAN_CAPTURE_VIDEO_IN_IMAGE_MODE">
<description>Camera can capture videos while in Photo/Image mode</description>
</entry>
<entry value="32" name="CAMERA_CAP_FLAGS_HAS_IMAGE_SURVEY_MODE">
<description>Camera has image survey mode (MAV_CMD_SET_CAMERA_MODE)</description>
</entry>
<entry value="64" name="CAMERA_CAP_FLAGS_HAS_BASIC_ZOOM">
<description>Camera has basic zoom control (MAV_CMD_SET_CAMERA_ZOOM)</description>
</entry>
<entry value="128" name="CAMERA_CAP_FLAGS_HAS_BASIC_FOCUS">
<description>Camera has basic focus control (MAV_CMD_SET_CAMERA_FOCUS)</description>
</entry>
<entry value="256" name="CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM">
<description>Camera has video streaming capabilities (request VIDEO_STREAM_INFORMATION with MAV_CMD_REQUEST_MESSAGE for video streaming info)</description>
</entry>
<entry value="512" name="CAMERA_CAP_FLAGS_HAS_TRACKING_POINT">
<description>Camera supports tracking of a point on the camera view.</description>
</entry>
<entry value="1024" name="CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLE">
<description>Camera supports tracking of a selection rectangle on the camera view.</description>
</entry>
<entry value="2048" name="CAMERA_CAP_FLAGS_HAS_TRACKING_GEO_STATUS">
<description>Camera supports tracking geo status (CAMERA_TRACKING_GEO_STATUS).</description>
</entry>
</enum>
<enum name="VIDEO_STREAM_STATUS_FLAGS" bitmask="true">
<description>Stream status flags (Bitmap)</description>
<entry value="1" name="VIDEO_STREAM_STATUS_FLAGS_RUNNING">
<description>Stream is active (running)</description>
</entry>
<entry value="2" name="VIDEO_STREAM_STATUS_FLAGS_THERMAL">
<description>Stream is thermal imaging</description>
</entry>
</enum>
<enum name="VIDEO_STREAM_TYPE">
<description>Video stream types</description>
<entry value="0" name="VIDEO_STREAM_TYPE_RTSP">
<description>Stream is RTSP</description>
</entry>
<entry value="1" name="VIDEO_STREAM_TYPE_RTPUDP">
<description>Stream is RTP UDP (URI gives the port number)</description>
</entry>
<entry value="2" name="VIDEO_STREAM_TYPE_TCP_MPEG">
<description>Stream is MPEG on TCP</description>
</entry>
<entry value="3" name="VIDEO_STREAM_TYPE_MPEG_TS_H264">
<description>Stream is h.264 on MPEG TS (URI gives the port number)</description>
</entry>
</enum>
<enum name="CAMERA_TRACKING_STATUS_FLAGS">
<description>Camera tracking status flags</description>
<entry value="0" name="CAMERA_TRACKING_STATUS_FLAGS_IDLE">
<description>Camera is not tracking</description>
</entry>
<entry value="1" name="CAMERA_TRACKING_STATUS_FLAGS_ACTIVE">
<description>Camera is tracking</description>
</entry>
<entry value="2" name="CAMERA_TRACKING_STATUS_FLAGS_ERROR">
<description>Camera tracking in error state</description>
</entry>
</enum>
<enum name="CAMERA_TRACKING_MODE">
<description>Camera tracking modes</description>
<entry value="0" name="CAMERA_TRACKING_NONE">
<description>Not tracking</description>
</entry>
<entry value="1" name="CAMERA_TRACKING_POINT">
<description>Target is a point</description>
</entry>
<entry value="2" name="CAMERA_TRACKING_RECTANGLE">
<description>Target is a rectangle</description>
</entry>
</enum>
<enum name="CAMERA_TRACKING_TARGET_DATA" bitmask="true">
<description>Camera tracking target data (shows where tracked target is within image)</description>
<entry value="0" name="CAMERA_TRACKING_TARGET_NONE">
<description>No target data</description>
</entry>
<entry value="1" name="CAMERA_TRACKING_TARGET_EMBEDDED">
<description>Target data embedded in image data (proprietary)</description>
</entry>
<entry value="2" name="CAMERA_TRACKING_TARGET_RENDERED">
<description>Target data rendered in image</description>
</entry>
<entry value="4" name="CAMERA_TRACKING_TARGET_IN_STATUS">
<description>Target data within status message (Point or Rectangle)</description>
</entry>
</enum>
<enum name="CAMERA_ZOOM_TYPE">
<description>Zoom types for MAV_CMD_SET_CAMERA_ZOOM</description>
<entry value="0" name="ZOOM_TYPE_STEP">
<description>Zoom one step increment (-1 for wide, 1 for tele)</description>
</entry>
<entry value="1" name="ZOOM_TYPE_CONTINUOUS">
<description>Continuous zoom up/down until stopped (-1 for wide, 1 for tele, 0 to stop zooming)</description>
</entry>
<entry value="2" name="ZOOM_TYPE_RANGE">
<description>Zoom value as proportion of full camera range (a value between 0.0 and 100.0)</description>
</entry>
<entry value="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>
<enum name="SET_FOCUS_TYPE">
<description>Focus types for MAV_CMD_SET_CAMERA_FOCUS</description>
<entry value="0" name="FOCUS_TYPE_STEP">
<description>Focus one step increment (-1 for focusing in, 1 for focusing out towards infinity).</description>
</entry>
<entry value="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>
<entry value="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>
<entry value="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>
<enum name="PARAM_ACK">
<description>Result from PARAM_EXT_SET message (or a PARAM_SET within a transaction).</description>
<entry value="0" name="PARAM_ACK_ACCEPTED">
<description>Parameter value ACCEPTED and SET</description>
</entry>
<entry value="1" name="PARAM_ACK_VALUE_UNSUPPORTED">
<description>Parameter value UNKNOWN/UNSUPPORTED</description>
</entry>
<entry value="2" name="PARAM_ACK_FAILED">
<description>Parameter failed to set</description>
</entry>
<entry value="3" name="PARAM_ACK_IN_PROGRESS">
<description>Parameter value received but not yet set/accepted. A subsequent PARAM_ACK_TRANSACTION or PARAM_EXT_ACK with the final result will follow once operation is completed. This is returned immediately for parameters that take longer to set, indicating taht the the parameter was recieved and does not need to be resent.</description>
</entry>
</enum>
<enum name="CAMERA_MODE">
<description>Camera Modes.</description>
<entry value="0" name="CAMERA_MODE_IMAGE">
<description>Camera is in image/photo capture mode.</description>
</entry>
<entry value="1" name="CAMERA_MODE_VIDEO">
<description>Camera is in video capture mode.</description>
</entry>
<entry value="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>
</entry>
</enum>
<enum name="MAV_ARM_AUTH_DENIED_REASON">
<entry value="0" name="MAV_ARM_AUTH_DENIED_REASON_GENERIC">
<description>Not a specific reason</description>
</entry>
<entry value="1" name="MAV_ARM_AUTH_DENIED_REASON_NONE">
<description>Authorizer will send the error as string to GCS</description>
</entry>
<entry value="2" name="MAV_ARM_AUTH_DENIED_REASON_INVALID_WAYPOINT">
<description>At least one waypoint have a invalid value</description>
</entry>
<entry value="3" name="MAV_ARM_AUTH_DENIED_REASON_TIMEOUT">
<description>Timeout in the authorizer process(in case it depends on network)</description>
</entry>
<entry value="4" name="MAV_ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USE">
<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>
</entry>
<entry value="5" name="MAV_ARM_AUTH_DENIED_REASON_BAD_WEATHER">
<description>Weather is not good to fly</description>
</entry>
</enum>
<enum name="RC_TYPE">
<description>RC type</description>
<entry value="0" name="RC_TYPE_SPEKTRUM_DSM2">
<description>Spektrum DSM2</description>
</entry>
<entry value="1" name="RC_TYPE_SPEKTRUM_DSMX">
<description>Spektrum DSMX</description>
</entry>
</enum>
<enum name="POSITION_TARGET_TYPEMASK" bitmask="true">
<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>
<entry value="1" name="POSITION_TARGET_TYPEMASK_X_IGNORE">
<description>Ignore position x</description>
</entry>
<entry value="2" name="POSITION_TARGET_TYPEMASK_Y_IGNORE">
<description>Ignore position y</description>
</entry>
<entry value="4" name="POSITION_TARGET_TYPEMASK_Z_IGNORE">
<description>Ignore position z</description>
</entry>
<entry value="8" name="POSITION_TARGET_TYPEMASK_VX_IGNORE">
<description>Ignore velocity x</description>
</entry>
<entry value="16" name="POSITION_TARGET_TYPEMASK_VY_IGNORE">
<description>Ignore velocity y</description>
</entry>
<entry value="32" name="POSITION_TARGET_TYPEMASK_VZ_IGNORE">
<description>Ignore velocity z</description>
</entry>
<entry value="64" name="POSITION_TARGET_TYPEMASK_AX_IGNORE">
<description>Ignore acceleration x</description>
</entry>
<entry value="128" name="POSITION_TARGET_TYPEMASK_AY_IGNORE">
<description>Ignore acceleration y</description>
</entry>
<entry value="256" name="POSITION_TARGET_TYPEMASK_AZ_IGNORE">
<description>Ignore acceleration z</description>
</entry>
<entry value="512" name="POSITION_TARGET_TYPEMASK_FORCE_SET">
<description>Use force instead of acceleration</description>
</entry>
<entry value="1024" name="POSITION_TARGET_TYPEMASK_YAW_IGNORE">
<description>Ignore yaw</description>
</entry>
<entry value="2048" name="POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE">
<description>Ignore yaw rate</description>
</entry>
</enum>
<enum name="UTM_FLIGHT_STATE">
<description>Airborne status of UAS.</description>
<entry value="1" name="UTM_FLIGHT_STATE_UNKNOWN">
<description>The flight state can't be determined.</description>
</entry>
<entry value="2" name="UTM_FLIGHT_STATE_GROUND">
<description>UAS on ground.</description>
</entry>
<entry value="3" name="UTM_FLIGHT_STATE_AIRBORNE">
<description>UAS airborne.</description>
</entry>
<entry value="16" name="UTM_FLIGHT_STATE_EMERGENCY">
<description>UAS is in an emergency flight state.</description>
</entry>
<entry value="32" name="UTM_FLIGHT_STATE_NOCTRL">
<description>UAS has no active controls.</description>
</entry>
</enum>
<enum name="UTM_DATA_AVAIL_FLAGS" bitmask="true">
<description>Flags for the global position report.</description>
<entry value="1" name="UTM_DATA_AVAIL_FLAGS_TIME_VALID">
<description>The field time contains valid data.</description>
</entry>
<entry value="2" name="UTM_DATA_AVAIL_FLAGS_UAS_ID_AVAILABLE">
<description>The field uas_id contains valid data.</description>
</entry>
<entry value="4" name="UTM_DATA_AVAIL_FLAGS_POSITION_AVAILABLE">
<description>The fields lat, lon and h_acc contain valid data.</description>
</entry>
<entry value="8" name="UTM_DATA_AVAIL_FLAGS_ALTITUDE_AVAILABLE">
<description>The fields alt and v_acc contain valid data.</description>
</entry>
<entry value="16" name="UTM_DATA_AVAIL_FLAGS_RELATIVE_ALTITUDE_AVAILABLE">
<description>The field relative_alt contains valid data.</description>
</entry>
<entry value="32" name="UTM_DATA_AVAIL_FLAGS_HORIZONTAL_VELO_AVAILABLE">
<description>The fields vx and vy contain valid data.</description>
</entry>
<entry value="64" name="UTM_DATA_AVAIL_FLAGS_VERTICAL_VELO_AVAILABLE">
<description>The field vz contains valid data.</description>
</entry>
<entry value="128" name="UTM_DATA_AVAIL_FLAGS_NEXT_WAYPOINT_AVAILABLE">
<description>The fields next_lat, next_lon and next_alt contain valid data.</description>
</entry>
</enum>
<enum name="CELLULAR_NETWORK_RADIO_TYPE">
<description>Cellular network radio type</description>
<entry value="0" name="CELLULAR_NETWORK_RADIO_TYPE_NONE"/>
<entry value="1" name="CELLULAR_NETWORK_RADIO_TYPE_GSM"/>
<entry value="2" name="CELLULAR_NETWORK_RADIO_TYPE_CDMA"/>
<entry value="3" name="CELLULAR_NETWORK_RADIO_TYPE_WCDMA"/>
<entry value="4" name="CELLULAR_NETWORK_RADIO_TYPE_LTE"/>
</enum>
<enum name="CELLULAR_STATUS_FLAG">
<description>These flags encode the cellular network status</description>
<entry value="0" name="CELLULAR_STATUS_FLAG_UNKNOWN">
<description>State unknown or not reportable.</description>
</entry>
<entry value="1" name="CELLULAR_STATUS_FLAG_FAILED">
<description>Modem is unusable</description>
</entry>
<entry value="2" name="CELLULAR_STATUS_FLAG_INITIALIZING">
<description>Modem is being initialized</description>
</entry>
<entry value="3" name="CELLULAR_STATUS_FLAG_LOCKED">
<description>Modem is locked</description>
</entry>
<entry value="4" name="CELLULAR_STATUS_FLAG_DISABLED">
<description>Modem is not enabled and is powered down</description>
</entry>
<entry value="5" name="CELLULAR_STATUS_FLAG_DISABLING">
<description>Modem is currently transitioning to the CELLULAR_STATUS_FLAG_DISABLED state</description>
</entry>
<entry value="6" name="CELLULAR_STATUS_FLAG_ENABLING">
<description>Modem is currently transitioning to the CELLULAR_STATUS_FLAG_ENABLED state</description>
</entry>
<entry value="7" name="CELLULAR_STATUS_FLAG_ENABLED">
<description>Modem is enabled and powered on but not registered with a network provider and not available for data connections</description>
</entry>
<entry value="8" name="CELLULAR_STATUS_FLAG_SEARCHING">
<description>Modem is searching for a network provider to register</description>
</entry>
<entry value="9" name="CELLULAR_STATUS_FLAG_REGISTERED">
<description>Modem is registered with a network provider, and data connections and messaging may be available for use</description>
</entry>
<entry value="10" name="CELLULAR_STATUS_FLAG_DISCONNECTING">
<description>Modem is disconnecting and deactivating the last active packet data bearer. This state will not be entered if more than one packet data bearer is active and one of the active bearers is deactivated</description>
</entry>
<entry value="11" name="CELLULAR_STATUS_FLAG_CONNECTING">
<description>Modem is activating and connecting the first packet data bearer. Subsequent bearer activations when another bearer is already active do not cause this state to be entered</description>
</entry>
<entry value="12" name="CELLULAR_STATUS_FLAG_CONNECTED">
<description>One or more packet data bearers is active and connected</description>
</entry>
</enum>
<enum name="CELLULAR_NETWORK_FAILED_REASON">
<description>These flags are used to diagnose the failure state of CELLULAR_STATUS</description>
<entry value="0" name="CELLULAR_NETWORK_FAILED_REASON_NONE">
<description>No error</description>
</entry>
<entry value="1" name="CELLULAR_NETWORK_FAILED_REASON_UNKNOWN">
<description>Error state is unknown</description>
</entry>
<entry value="2" name="CELLULAR_NETWORK_FAILED_REASON_SIM_MISSING">
<description>SIM is required for the modem but missing</description>
</entry>
<entry value="3" name="CELLULAR_NETWORK_FAILED_REASON_SIM_ERROR">
<description>SIM is available, but not usuable for connection</description>
</entry>
</enum>
<enum name="PRECISION_LAND_MODE">
<description>Precision land modes (used in MAV_CMD_NAV_LAND).</description>
<entry value="0" name="PRECISION_LAND_MODE_DISABLED">
<description>Normal (non-precision) landing.</description>
</entry>
<entry value="1" name="PRECISION_LAND_MODE_OPPORTUNISTIC">
<description>Use precision landing if beacon detected when land command accepted, otherwise land normally.</description>
</entry>
<entry value="2" name="PRECISION_LAND_MODE_REQUIRED">
<description>Use precision landing, searching for beacon if not found when land command accepted (land normally if beacon cannot be found).</description>
</entry>
</enum>
<!-- parachute action enum -->
<enum name="PARACHUTE_ACTION">
<description>Parachute actions. Trigger release and enable/disable auto-release.</description>
<entry value="0" name="PARACHUTE_DISABLE">
<description>Disable auto-release of parachute (i.e. release triggered by crash detectors).</description>
</entry>
<entry value="1" name="PARACHUTE_ENABLE">
<description>Enable auto-release of parachute.</description>
</entry>
<entry value="2" name="PARACHUTE_RELEASE">
<description>Release parachute and kill motors.</description>
</entry>
</enum>
<enum name="MAV_TUNNEL_PAYLOAD_TYPE">
<entry value="0" name="MAV_TUNNEL_PAYLOAD_TYPE_UNKNOWN">
<description>Encoding of payload unknown.</description>
</entry>
<entry value="200" name="MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED0">
<description>Registered for STorM32 gimbal controller.</description>
</entry>
<entry value="201" name="MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED1">
<description>Registered for STorM32 gimbal controller.</description>
</entry>
<entry value="202" name="MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED2">
<description>Registered for STorM32 gimbal controller.</description>
</entry>
<entry value="203" name="MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED3">
<description>Registered for STorM32 gimbal controller.</description>
</entry>
<entry value="204" name="MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED4">
<description>Registered for STorM32 gimbal controller.</description>
</entry>
<entry value="205" name="MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED5">
<description>Registered for STorM32 gimbal controller.</description>
</entry>
<entry value="206" name="MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED6">
<description>Registered for STorM32 gimbal controller.</description>
</entry>
<entry value="207" name="MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED7">
<description>Registered for STorM32 gimbal controller.</description>
</entry>
<entry value="208" name="MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED8">
<description>Registered for STorM32 gimbal controller.</description>
</entry>
<entry value="209" name="MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED9">
<description>Registered for STorM32 gimbal controller.</description>
</entry>
</enum>
<enum name="MAV_ODID_ID_TYPE">
<entry value="0" name="MAV_ODID_ID_TYPE_NONE">
<description>No type defined.</description>
</entry>
<entry value="1" name="MAV_ODID_ID_TYPE_SERIAL_NUMBER">
<description>Manufacturer Serial Number (ANSI/CTA-2063 format).</description>
</entry>
<entry value="2" name="MAV_ODID_ID_TYPE_CAA_REGISTRATION_ID">
<description>CAA (Civil Aviation Authority) registered ID. Format: [ICAO Country Code].[CAA Assigned ID].</description>
</entry>
<entry value="3" name="MAV_ODID_ID_TYPE_UTM_ASSIGNED_UUID">
<description>UTM (Unmanned Traffic Management) assigned UUID (RFC4122).</description>
</entry>
</enum>
<enum name="MAV_ODID_UA_TYPE">
<entry value="0" name="MAV_ODID_UA_TYPE_NONE">
<description>No UA (Unmanned Aircraft) type defined.</description>
</entry>
<entry value="1" name="MAV_ODID_UA_TYPE_AEROPLANE">
<description>Aeroplane/Airplane. Fixed wing.</description>
</entry>
<entry value="2" name="MAV_ODID_UA_TYPE_HELICOPTER_OR_MULTIROTOR">
<description>Helicopter or multirotor.</description>
</entry>
<entry value="3" name="MAV_ODID_UA_TYPE_GYROPLANE">
<description>Gyroplane.</description>
</entry>
<entry value="4" name="MAV_ODID_UA_TYPE_HYBRID_LIFT">
<description>VTOL (Vertical Take-Off and Landing). Fixed wing aircraft that can take off vertically.</description>
</entry>
<entry value="5" name="MAV_ODID_UA_TYPE_ORNITHOPTER">
<description>Ornithopter.</description>
</entry>
<entry value="6" name="MAV_ODID_UA_TYPE_GLIDER">
<description>Glider.</description>
</entry>
<entry value="7" name="MAV_ODID_UA_TYPE_KITE">
<description>Kite.</description>
</entry>
<entry value="8" name="MAV_ODID_UA_TYPE_FREE_BALLOON">
<description>Free Balloon.</description>
</entry>
<entry value="9" name="MAV_ODID_UA_TYPE_CAPTIVE_BALLOON">
<description>Captive Balloon.</description>
</entry>
<entry value="10" name="MAV_ODID_UA_TYPE_AIRSHIP">
<description>Airship. E.g. a blimp.</description>
</entry>
<entry value="11" name="MAV_ODID_UA_TYPE_FREE_FALL_PARACHUTE">
<description>Free Fall/Parachute (unpowered).</description>
</entry>
<entry value="12" name="MAV_ODID_UA_TYPE_ROCKET">
<description>Rocket.</description>
</entry>
<entry value="13" name="MAV_ODID_UA_TYPE_TETHERED_POWERED_AIRCRAFT">
<description>Tethered powered aircraft.</description>
</entry>
<entry value="14" name="MAV_ODID_UA_TYPE_GROUND_OBSTACLE">
<description>Ground Obstacle.</description>
</entry>
<entry value="15" name="MAV_ODID_UA_TYPE_OTHER">
<description>Other type of aircraft not listed earlier.</description>
</entry>
</enum>
<enum name="MAV_ODID_STATUS">
<entry value="0" name="MAV_ODID_STATUS_UNDECLARED">
<description>The status of the (UA) Unmanned Aircraft is undefined.</description>
</entry>
<entry value="1" name="MAV_ODID_STATUS_GROUND">
<description>The UA is on the ground.</description>
</entry>
<entry value="2" name="MAV_ODID_STATUS_AIRBORNE">
<description>The UA is in the air.</description>
</entry>
<entry value="3" name="MAV_ODID_STATUS_EMERGENCY">
<description>The UA is having an emergency.</description>
</entry>
</enum>
<enum name="MAV_ODID_HEIGHT_REF">
<entry value="0" name="MAV_ODID_HEIGHT_REF_OVER_TAKEOFF">
<description>The height field is relative to the take-off location.</description>
</entry>
<entry value="1" name="MAV_ODID_HEIGHT_REF_OVER_GROUND">
<description>The height field is relative to ground.</description>
</entry>
</enum>
<enum name="MAV_ODID_HOR_ACC">
<entry value="0" name="MAV_ODID_HOR_ACC_UNKNOWN">
<description>The horizontal accuracy is unknown.</description>
</entry>
<entry value="1" name="MAV_ODID_HOR_ACC_10NM">
<description>The horizontal accuracy is smaller than 10 Nautical Miles. 18.52 km.</description>
</entry>
<entry value="2" name="MAV_ODID_HOR_ACC_4NM">
<description>The horizontal accuracy is smaller than 4 Nautical Miles. 7.408 km.</description>
</entry>
<entry value="3" name="MAV_ODID_HOR_ACC_2NM">
<description>The horizontal accuracy is smaller than 2 Nautical Miles. 3.704 km.</description>
</entry>
<entry value="4" name="MAV_ODID_HOR_ACC_1NM">
<description>The horizontal accuracy is smaller than 1 Nautical Miles. 1.852 km.</description>
</entry>
<entry value="5" name="MAV_ODID_HOR_ACC_0_5NM">
<description>The horizontal accuracy is smaller than 0.5 Nautical Miles. 926 m.</description>
</entry>
<entry value="6" name="MAV_ODID_HOR_ACC_0_3NM">
<description>The horizontal accuracy is smaller than 0.3 Nautical Miles. 555.6 m.</description>
</entry>
<entry value="7" name="MAV_ODID_HOR_ACC_0_1NM">
<description>The horizontal accuracy is smaller than 0.1 Nautical Miles. 185.2 m.</description>
</entry>
<entry value="8" name="MAV_ODID_HOR_ACC_0_05NM">
<description>The horizontal accuracy is smaller than 0.05 Nautical Miles. 92.6 m.</description>
</entry>
<entry value="9" name="MAV_ODID_HOR_ACC_30_METER">
<description>The horizontal accuracy is smaller than 30 meter.</description>
</entry>
<entry value="10" name="MAV_ODID_HOR_ACC_10_METER">
<description>The horizontal accuracy is smaller than 10 meter.</description>
</entry>
<entry value="11" name="MAV_ODID_HOR_ACC_3_METER">
<description>The horizontal accuracy is smaller than 3 meter.</description>
</entry>
<entry value="12" name="MAV_ODID_HOR_ACC_1_METER">
<description>The horizontal accuracy is smaller than 1 meter.</description>
</entry>
</enum>
<enum name="MAV_ODID_VER_ACC">
<entry value="0" name="MAV_ODID_VER_ACC_UNKNOWN">
<description>The vertical accuracy is unknown.</description>
</entry>
<entry value="1" name="MAV_ODID_VER_ACC_150_METER">
<description>The vertical accuracy is smaller than 150 meter.</description>
</entry>
<entry value="2" name="MAV_ODID_VER_ACC_45_METER">
<description>The vertical accuracy is smaller than 45 meter.</description>
</entry>
<entry value="3" name="MAV_ODID_VER_ACC_25_METER">
<description>The vertical accuracy is smaller than 25 meter.</description>
</entry>
<entry value="4" name="MAV_ODID_VER_ACC_10_METER">
<description>The vertical accuracy is smaller than 10 meter.</description>
</entry>
<entry value="5" name="MAV_ODID_VER_ACC_3_METER">
<description>The vertical accuracy is smaller than 3 meter.</description>
</entry>
<entry value="6" name="MAV_ODID_VER_ACC_1_METER">
<description>The vertical accuracy is smaller than 1 meter.</description>
</entry>
</enum>
<enum name="MAV_ODID_SPEED_ACC">
<entry value="0" name="MAV_ODID_SPEED_ACC_UNKNOWN">
<description>The speed accuracy is unknown.</description>
</entry>
<entry value="1" name="MAV_ODID_SPEED_ACC_10_METERS_PER_SECOND">
<description>The speed accuracy is smaller than 10 meters per second.</description>
</entry>
<entry value="2" name="MAV_ODID_SPEED_ACC_3_METERS_PER_SECOND">
<description>The speed accuracy is smaller than 3 meters per second.</description>
</entry>
<entry value="3" name="MAV_ODID_SPEED_ACC_1_METERS_PER_SECOND">
<description>The speed accuracy is smaller than 1 meters per second.</description>
</entry>
<entry value="4" name="MAV_ODID_SPEED_ACC_0_3_METERS_PER_SECOND">
<description>The speed accuracy is smaller than 0.3 meters per second.</description>
</entry>
</enum>
<enum name="MAV_ODID_TIME_ACC">
<entry value="0" name="MAV_ODID_TIME_ACC_UNKNOWN">
<description>The timestamp accuracy is unknown.</description>
</entry>
<entry value="1" name="MAV_ODID_TIME_ACC_0_1_SECOND">
<description>The timestamp accuracy is smaller than or equal to 0.1 second.</description>
</entry>
<entry value="2" name="MAV_ODID_TIME_ACC_0_2_SECOND">
<description>The timestamp accuracy is smaller than or equal to 0.2 second.</description>
</entry>
<entry value="3" name="MAV_ODID_TIME_ACC_0_3_SECOND">
<description>The timestamp accuracy is smaller than or equal to 0.3 second.</description>
</entry>
<entry value="4" name="MAV_ODID_TIME_ACC_0_4_SECOND">
<description>The timestamp accuracy is smaller than or equal to 0.4 second.</description>
</entry>
<entry value="5" name="MAV_ODID_TIME_ACC_0_5_SECOND">
<description>The timestamp accuracy is smaller than or equal to 0.5 second.</description>
</entry>
<entry value="6" name="MAV_ODID_TIME_ACC_0_6_SECOND">
<description>The timestamp accuracy is smaller than or equal to 0.6 second.</description>
</entry>
<entry value="7" name="MAV_ODID_TIME_ACC_0_7_SECOND">
<description>The timestamp accuracy is smaller than or equal to 0.7 second.</description>
</entry>
<entry value="8" name="MAV_ODID_TIME_ACC_0_8_SECOND">
<description>The timestamp accuracy is smaller than or equal to 0.8 second.</description>
</entry>
<entry value="9" name="MAV_ODID_TIME_ACC_0_9_SECOND">
<description>The timestamp accuracy is smaller than or equal to 0.9 second.</description>
</entry>
<entry value="10" name="MAV_ODID_TIME_ACC_1_0_SECOND">
<description>The timestamp accuracy is smaller than or equal to 1.0 second.</description>
</entry>
<entry value="11" name="MAV_ODID_TIME_ACC_1_1_SECOND">
<description>The timestamp accuracy is smaller than or equal to 1.1 second.</description>
</entry>
<entry value="12" name="MAV_ODID_TIME_ACC_1_2_SECOND">
<description>The timestamp accuracy is smaller than or equal to 1.2 second.</description>
</entry>
<entry value="13" name="MAV_ODID_TIME_ACC_1_3_SECOND">
<description>The timestamp accuracy is smaller than or equal to 1.3 second.</description>
</entry>
<entry value="14" name="MAV_ODID_TIME_ACC_1_4_SECOND">
<description>The timestamp accuracy is smaller than or equal to 1.4 second.</description>
</entry>
<entry value="15" name="MAV_ODID_TIME_ACC_1_5_SECOND">
<description>The timestamp accuracy is smaller than or equal to 1.5 second.</description>
</entry>
</enum>
<enum name="MAV_ODID_AUTH_TYPE">
<entry value="0" name="MAV_ODID_AUTH_TYPE_NONE">
<description>No authentication type is specified.</description>
</entry>
<entry value="1" name="MAV_ODID_AUTH_TYPE_UAS_ID_SIGNATURE">
<description>Signature for the UAS (Unmanned Aircraft System) ID.</description>
</entry>
<entry value="2" name="MAV_ODID_AUTH_TYPE_OPERATOR_ID_SIGNATURE">
<description>Signature for the Operator ID.</description>
</entry>
<entry value="3" name="MAV_ODID_AUTH_TYPE_MESSAGE_SET_SIGNATURE">
<description>Signature for the entire message set.</description>
</entry>
<entry value="4" name="MAV_ODID_AUTH_TYPE_NETWORK_REMOTE_ID">
<description>Authentication is provided by Network Remote ID.</description>
</entry>
</enum>
<enum name="MAV_ODID_DESC_TYPE">
<entry value="0" name="MAV_ODID_DESC_TYPE_TEXT">
<description>Free-form text description of the purpose of the flight.</description>
</entry>
</enum>
<enum name="MAV_ODID_OPERATOR_LOCATION_TYPE">
<entry value="0" name="MAV_ODID_OPERATOR_LOCATION_TYPE_TAKEOFF">
<description>The location of the operator is the same as the take-off location.</description>
</entry>
<entry value="1" name="MAV_ODID_OPERATOR_LOCATION_TYPE_LIVE_GNSS">
<description>The location of the operator is based on live GNSS data.</description>
</entry>
<entry value="2" name="MAV_ODID_OPERATOR_LOCATION_TYPE_FIXED">
<description>The location of the operator is a fixed location.</description>
</entry>
</enum>
<enum name="MAV_ODID_CLASSIFICATION_TYPE">
<entry value="0" name="MAV_ODID_CLASSIFICATION_TYPE_UNDECLARED">
<description>The classification type for the UA is undeclared.</description>
</entry>
<entry value="1" name="MAV_ODID_CLASSIFICATION_TYPE_EU">
<description>The classification type for the UA follows EU (European Union) specifications.</description>
</entry>
</enum>
<enum name="MAV_ODID_CATEGORY_EU">
<entry value="0" name="MAV_ODID_CATEGORY_EU_UNDECLARED">
<description>The category for the UA, according to the EU specification, is undeclared.</description>
</entry>
<entry value="1" name="MAV_ODID_CATEGORY_EU_OPEN">
<description>The category for the UA, according to the EU specification, is the Open category.</description>
</entry>
<entry value="2" name="MAV_ODID_CATEGORY_EU_SPECIFIC">
<description>The category for the UA, according to the EU specification, is the Specific category.</description>
</entry>
<entry value="3" name="MAV_ODID_CATEGORY_EU_CERTIFIED">
<description>The category for the UA, according to the EU specification, is the Certified category.</description>
</entry>
</enum>
<enum name="MAV_ODID_CLASS_EU">
<entry value="0" name="MAV_ODID_CLASS_EU_UNDECLARED">
<description>The class for the UA, according to the EU specification, is undeclared.</description>
</entry>
<entry value="1" name="MAV_ODID_CLASS_EU_CLASS_0">
<description>The class for the UA, according to the EU specification, is Class 0.</description>
</entry>
<entry value="2" name="MAV_ODID_CLASS_EU_CLASS_1">
<description>The class for the UA, according to the EU specification, is Class 1.</description>
</entry>
<entry value="3" name="MAV_ODID_CLASS_EU_CLASS_2">
<description>The class for the UA, according to the EU specification, is Class 2.</description>
</entry>
<entry value="4" name="MAV_ODID_CLASS_EU_CLASS_3">
<description>The class for the UA, according to the EU specification, is Class 3.</description>
</entry>
<entry value="5" name="MAV_ODID_CLASS_EU_CLASS_4">
<description>The class for the UA, according to the EU specification, is Class 4.</description>
</entry>
<entry value="6" name="MAV_ODID_CLASS_EU_CLASS_5">
<description>The class for the UA, according to the EU specification, is Class 5.</description>
</entry>
<entry value="7" name="MAV_ODID_CLASS_EU_CLASS_6">
<description>The class for the UA, according to the EU specification, is Class 6.</description>
</entry>
</enum>
<enum name="MAV_ODID_OPERATOR_ID_TYPE">
<entry value="0" name="MAV_ODID_OPERATOR_ID_TYPE_CAA">
<description>CAA (Civil Aviation Authority) registered operator ID.</description>
</entry>
</enum>
<enum name="TUNE_FORMAT">
<description>Tune formats (used for vehicle buzzer/tone generation).</description>
<entry value="1" name="TUNE_FORMAT_QBASIC1_1">
<description>Format is QBasic 1.1 Play: https://www.qbasic.net/en/reference/qb11/Statement/PLAY-006.htm.</description>
</entry>
<entry value="2" name="TUNE_FORMAT_MML_MODERN">
<description>Format is Modern Music Markup Language (MML): https://en.wikipedia.org/wiki/Music_Macro_Language#Modern_MML.</description>
</entry>
</enum>
<enum name="COMPONENT_CAP_FLAGS" bitmask="true">
<description>Component capability flags (Bitmap)</description>
<entry value="1" name="COMPONENT_CAP_FLAGS_PARAM">
<description>Component has parameters, and supports the parameter protocol (PARAM messages).</description>
</entry>
<entry value="2" name="COMPONENT_CAP_FLAGS_PARAM_EXT">
<description>Component has parameters, and supports the extended parameter protocol (PARAM_EXT messages).</description>
</entry>
</enum>
<!-- AIS related enums-->
<enum name="AIS_TYPE">
<description>Type of AIS vessel, enum duplicated from AIS standard, https://gpsd.gitlab.io/gpsd/AIVDM.html</description>
<entry value="0" name="AIS_TYPE_UNKNOWN">
<description>Not available (default).</description>
</entry>
<entry value="1" name="AIS_TYPE_RESERVED_1"/>
<entry value="2" name="AIS_TYPE_RESERVED_2"/>
<entry value="3" name="AIS_TYPE_RESERVED_3"/>
<entry value="4" name="AIS_TYPE_RESERVED_4"/>
<entry value="5" name="AIS_TYPE_RESERVED_5"/>
<entry value="6" name="AIS_TYPE_RESERVED_6"/>
<entry value="7" name="AIS_TYPE_RESERVED_7"/>
<entry value="8" name="AIS_TYPE_RESERVED_8"/>
<entry value="9" name="AIS_TYPE_RESERVED_9"/>
<entry value="10" name="AIS_TYPE_RESERVED_10"/>
<entry value="11" name="AIS_TYPE_RESERVED_11"/>
<entry value="12" name="AIS_TYPE_RESERVED_12"/>
<entry value="13" name="AIS_TYPE_RESERVED_13"/>
<entry value="14" name="AIS_TYPE_RESERVED_14"/>
<entry value="15" name="AIS_TYPE_RESERVED_15"/>
<entry value="16" name="AIS_TYPE_RESERVED_16"/>
<entry value="17" name="AIS_TYPE_RESERVED_17"/>
<entry value="18" name="AIS_TYPE_RESERVED_18"/>
<entry value="19" name="AIS_TYPE_RESERVED_19"/>
<entry value="20" name="AIS_TYPE_WIG">
<description>Wing In Ground effect.</description>
</entry>
<entry value="21" name="AIS_TYPE_WIG_HAZARDOUS_A"/>
<entry value="22" name="AIS_TYPE_WIG_HAZARDOUS_B"/>
<entry value="23" name="AIS_TYPE_WIG_HAZARDOUS_C"/>
<entry value="24" name="AIS_TYPE_WIG_HAZARDOUS_D"/>
<entry value="25" name="AIS_TYPE_WIG_RESERVED_1"/>
<entry value="26" name="AIS_TYPE_WIG_RESERVED_2"/>
<entry value="27" name="AIS_TYPE_WIG_RESERVED_3"/>
<entry value="28" name="AIS_TYPE_WIG_RESERVED_4"/>
<entry value="29" name="AIS_TYPE_WIG_RESERVED_5"/>
<entry value="30" name="AIS_TYPE_FISHING"/>
<entry value="31" name="AIS_TYPE_TOWING"/>
<entry value="32" name="AIS_TYPE_TOWING_LARGE">
<description>Towing: length exceeds 200m or breadth exceeds 25m.</description>
</entry>
<entry value="33" name="AIS_TYPE_DREDGING">
<description>Dredging or other underwater ops.</description>
</entry>
<entry value="34" name="AIS_TYPE_DIVING"/>
<entry value="35" name="AIS_TYPE_MILITARY"/>
<entry value="36" name="AIS_TYPE_SAILING"/>
<entry value="37" name="AIS_TYPE_PLEASURE"/>
<entry value="38" name="AIS_TYPE_RESERVED_20"/>
<entry value="39" name="AIS_TYPE_RESERVED_21"/>
<entry value="40" name="AIS_TYPE_HSC">
<description>High Speed Craft.</description>
</entry>
<entry value="41" name="AIS_TYPE_HSC_HAZARDOUS_A"/>
<entry value="42" name="AIS_TYPE_HSC_HAZARDOUS_B"/>
<entry value="43" name="AIS_TYPE_HSC_HAZARDOUS_C"/>
<entry value="44" name="AIS_TYPE_HSC_HAZARDOUS_D"/>
<entry value="45" name="AIS_TYPE_HSC_RESERVED_1"/>
<entry value="46" name="AIS_TYPE_HSC_RESERVED_2"/>
<entry value="47" name="AIS_TYPE_HSC_RESERVED_3"/>
<entry value="48" name="AIS_TYPE_HSC_RESERVED_4"/>
<entry value="49" name="AIS_TYPE_HSC_UNKNOWN"/>
<entry value="50" name="AIS_TYPE_PILOT"/>
<entry value="51" name="AIS_TYPE_SAR">
<description>Search And Rescue vessel.</description>
</entry>
<entry value="52" name="AIS_TYPE_TUG"/>
<entry value="53" name="AIS_TYPE_PORT_TENDER"/>
<entry value="54" name="AIS_TYPE_ANTI_POLLUTION">
<description>Anti-pollution equipment.</description>
</entry>
<entry value="55" name="AIS_TYPE_LAW_ENFORCEMENT"/>
<entry value="56" name="AIS_TYPE_SPARE_LOCAL_1"/>
<entry value="57" name="AIS_TYPE_SPARE_LOCAL_2"/>
<entry value="58" name="AIS_TYPE_MEDICAL_TRANSPORT"/>
<entry value="59" name="AIS_TYPE_NONECOMBATANT">
<description>Noncombatant ship according to RR Resolution No. 18.</description>
</entry>
<entry value="60" name="AIS_TYPE_PASSENGER"/>
<entry value="61" name="AIS_TYPE_PASSENGER_HAZARDOUS_A"/>
<entry value="62" name="AIS_TYPE_PASSENGER_HAZARDOUS_B"/>
<entry value="63" name="AIS_TYPE_AIS_TYPE_PASSENGER_HAZARDOUS_C"/>
<entry value="64" name="AIS_TYPE_PASSENGER_HAZARDOUS_D"/>
<entry value="65" name="AIS_TYPE_PASSENGER_RESERVED_1"/>
<entry value="66" name="AIS_TYPE_PASSENGER_RESERVED_2"/>
<entry value="67" name="AIS_TYPE_PASSENGER_RESERVED_3"/>
<entry value="68" name="AIS_TYPE_AIS_TYPE_PASSENGER_RESERVED_4"/>
<entry value="69" name="AIS_TYPE_PASSENGER_UNKNOWN"/>
<entry value="70" name="AIS_TYPE_CARGO"/>
<entry value="71" name="AIS_TYPE_CARGO_HAZARDOUS_A"/>
<entry value="72" name="AIS_TYPE_CARGO_HAZARDOUS_B"/>
<entry value="73" name="AIS_TYPE_CARGO_HAZARDOUS_C"/>
<entry value="74" name="AIS_TYPE_CARGO_HAZARDOUS_D"/>
<entry value="75" name="AIS_TYPE_CARGO_RESERVED_1"/>
<entry value="76" name="AIS_TYPE_CARGO_RESERVED_2"/>
<entry value="77" name="AIS_TYPE_CARGO_RESERVED_3"/>
<entry value="78" name="AIS_TYPE_CARGO_RESERVED_4"/>
<entry value="79" name="AIS_TYPE_CARGO_UNKNOWN"/>
<entry value="80" name="AIS_TYPE_TANKER"/>
<entry value="81" name="AIS_TYPE_TANKER_HAZARDOUS_A"/>
<entry value="82" name="AIS_TYPE_TANKER_HAZARDOUS_B"/>
<entry value="83" name="AIS_TYPE_TANKER_HAZARDOUS_C"/>
<entry value="84" name="AIS_TYPE_TANKER_HAZARDOUS_D"/>
<entry value="85" name="AIS_TYPE_TANKER_RESERVED_1"/>
<entry value="86" name="AIS_TYPE_TANKER_RESERVED_2"/>
<entry value="87" name="AIS_TYPE_TANKER_RESERVED_3"/>
<entry value="88" name="AIS_TYPE_TANKER_RESERVED_4"/>
<entry value="89" name="AIS_TYPE_TANKER_UNKNOWN"/>
<entry value="90" name="AIS_TYPE_OTHER"/>
<entry value="91" name="AIS_TYPE_OTHER_HAZARDOUS_A"/>
<entry value="92" name="AIS_TYPE_OTHER_HAZARDOUS_B"/>
<entry value="93" name="AIS_TYPE_OTHER_HAZARDOUS_C"/>
<entry value="94" name="AIS_TYPE_OTHER_HAZARDOUS_D"/>
<entry value="95" name="AIS_TYPE_OTHER_RESERVED_1"/>
<entry value="96" name="AIS_TYPE_OTHER_RESERVED_2"/>
<entry value="97" name="AIS_TYPE_OTHER_RESERVED_3"/>
<entry value="98" name="AIS_TYPE_OTHER_RESERVED_4"/>
<entry value="99" name="AIS_TYPE_OTHER_UNKNOWN"/>
</enum>
<enum name="AIS_NAV_STATUS">
<description>Navigational status of AIS vessel, enum duplicated from AIS standard, https://gpsd.gitlab.io/gpsd/AIVDM.html</description>
<entry value="0" name="UNDER_WAY">
<description>Under way using engine.</description>
</entry>
<entry value="1" name="AIS_NAV_ANCHORED"/>
<entry value="2" name="AIS_NAV_UN_COMMANDED"/>
<entry value="3" name="AIS_NAV_RESTRICTED_MANOEUVERABILITY"/>
<entry value="4" name="AIS_NAV_DRAUGHT_CONSTRAINED"/>
<entry value="5" name="AIS_NAV_MOORED"/>
<entry value="6" name="AIS_NAV_AGROUND"/>
<entry value="7" name="AIS_NAV_FISHING"/>
<entry value="8" name="AIS_NAV_SAILING"/>
<entry value="9" name="AIS_NAV_RESERVED_HSC"/>
<entry value="10" name="AIS_NAV_RESERVED_WIG"/>
<entry value="11" name="AIS_NAV_RESERVED_1"/>
<entry value="12" name="AIS_NAV_RESERVED_2"/>
<entry value="13" name="AIS_NAV_RESERVED_3"/>
<entry value="14" name="AIS_NAV_AIS_SART">
<description>Search And Rescue Transponder.</description>
</entry>
<entry value="15" name="AIS_NAV_UNKNOWN">
<description>Not available (default).</description>
</entry>
</enum>
<enum name="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>
<entry value="1" name="AIS_FLAGS_POSITION_ACCURACY">
<description>1 = Position accuracy less than 10m, 0 = position accuracy greater than 10m.</description>
</entry>
<entry value="2" name="AIS_FLAGS_VALID_COG"/>
<entry value="4" name="AIS_FLAGS_VALID_VELOCITY"/>
<entry value="8" name="AIS_FLAGS_HIGH_VELOCITY">
<description>1 = Velocity over 52.5765m/s (102.2 knots)</description>
</entry>
<entry value="16" name="AIS_FLAGS_VALID_TURN_RATE"/>
<entry value="32" name="AIS_FLAGS_TURN_RATE_SIGN_ONLY">
<description>Only the sign of the returned turn rate value is valid, either greater than 5deg/30s or less than -5deg/30s</description>
</entry>
<entry value="64" name="AIS_FLAGS_VALID_DIMENSIONS"/>
<entry value="128" name="AIS_FLAGS_LARGE_BOW_DIMENSION">
<description>Distance to bow is larger than 511m</description>
</entry>
<entry value="256" name="AIS_FLAGS_LARGE_STERN_DIMENSION">
<description>Distance to stern is larger than 511m</description>
</entry>
<entry value="512" name="AIS_FLAGS_LARGE_PORT_DIMENSION">
<description>Distance to port side is larger than 63m</description>
</entry>
<entry value="1024" name="AIS_FLAGS_LARGE_STARBOARD_DIMENSION">
<description>Distance to starboard side is larger than 63m</description>
</entry>
<entry value="2048" name="AIS_FLAGS_VALID_CALLSIGN"/>
<entry value="4096" name="AIS_FLAGS_VALID_NAME"/>
</enum>
<enum name="FAILURE_UNIT">
<!-- This enum is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<description>List of possible units where failures can be injected.</description>
<entry value="0" name="FAILURE_UNIT_SENSOR_GYRO"/>
<entry value="1" name="FAILURE_UNIT_SENSOR_ACCEL"/>
<entry value="2" name="FAILURE_UNIT_SENSOR_MAG"/>
<entry value="3" name="FAILURE_UNIT_SENSOR_BARO"/>
<entry value="4" name="FAILURE_UNIT_SENSOR_GPS"/>
<entry value="5" name="FAILURE_UNIT_SENSOR_OPTICAL_FLOW"/>
<entry value="6" name="FAILURE_UNIT_SENSOR_VIO"/>
<entry value="7" name="FAILURE_UNIT_SENSOR_DISTANCE_SENSOR"/>
<entry value="8" name="FAILURE_UNIT_SENSOR_AIRSPEED"/>
<entry value="100" name="FAILURE_UNIT_SYSTEM_BATTERY"/>
<entry value="101" name="FAILURE_UNIT_SYSTEM_MOTOR"/>
<entry value="102" name="FAILURE_UNIT_SYSTEM_SERVO"/>
<entry value="103" name="FAILURE_UNIT_SYSTEM_AVOIDANCE"/>
<entry value="104" name="FAILURE_UNIT_SYSTEM_RC_SIGNAL"/>
<entry value="105" name="FAILURE_UNIT_SYSTEM_MAVLINK_SIGNAL"/>
</enum>
<enum name="FAILURE_TYPE">
<!-- 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>
<entry value="0" name="FAILURE_TYPE_OK">
<description>No failure injected, used to reset a previous failure.</description>
</entry>
<entry value="1" name="FAILURE_TYPE_OFF">
<description>Sets unit off, so completely non-responsive.</description>
</entry>
<entry value="2" name="FAILURE_TYPE_STUCK">
<description>Unit is stuck e.g. keeps reporting the same value.</description>
</entry>
<entry value="3" name="FAILURE_TYPE_GARBAGE">
<description>Unit is reporting complete garbage.</description>
</entry>
<entry value="4" name="FAILURE_TYPE_WRONG">
<description>Unit is consistently wrong.</description>
</entry>
<entry value="5" name="FAILURE_TYPE_SLOW">
<description>Unit is slow, so e.g. reporting at slower than expected rate.</description>
</entry>
<entry value="6" name="FAILURE_TYPE_DELAYED">
<description>Data of unit is delayed in time.</description>
</entry>
<entry value="7" name="FAILURE_TYPE_INTERMITTENT">
<description>Unit is sometimes working, sometimes not.</description>
</entry>
</enum>
<enum name="MAV_WINCH_STATUS_FLAG" bitmask="true">
<description>Winch status flags used in WINCH_STATUS</description>
<entry value="1" name="MAV_WINCH_STATUS_HEALTHY">
<description>Winch is healthy</description>
</entry>
<entry value="2" name="MAV_WINCH_STATUS_FULLY_RETRACTED">
<description>Winch thread is fully retracted</description>
</entry>
<entry value="4" name="MAV_WINCH_STATUS_MOVING">
<description>Winch motor is moving</description>
</entry>
<entry value="8" name="MAV_WINCH_STATUS_CLUTCH_ENGAGED">
<description>Winch clutch is engaged allowing motor to move freely</description>
</entry>
</enum>
<enum name="MAG_CAL_STATUS">
<entry value="0" name="MAG_CAL_NOT_STARTED"/>
<entry value="1" name="MAG_CAL_WAITING_TO_START"/>
<entry value="2" name="MAG_CAL_RUNNING_STEP_ONE"/>
<entry value="3" name="MAG_CAL_RUNNING_STEP_TWO"/>
<entry value="4" name="MAG_CAL_SUCCESS"/>
<entry value="5" name="MAG_CAL_FAILED"/>
<entry value="6" name="MAG_CAL_BAD_ORIENTATION"/>
<entry value="7" name="MAG_CAL_BAD_RADIUS"/>
</enum>
</enums>
<messages>
<message id="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>
<field type="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>
<field type="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>
<field type="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>
<field type="uint16_t" name="load" units="d%">Maximum usage in percent of the mainloop time. Values: [0-1000] - should always be below 1000</field>
<field type="uint16_t" name="voltage_battery" units="mV">Battery voltage, UINT16_MAX: Voltage not sent by autopilot</field>
<field type="int16_t" name="current_battery" units="cA">Battery current, -1: Current not sent by autopilot</field>
<field type="int8_t" name="battery_remaining" units="%">Battery energy remaining, -1: Battery remaining energy not sent by autopilot</field>
<field type="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>
<field type="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>
<field type="uint16_t" name="errors_count1">Autopilot-specific errors</field>
<field type="uint16_t" name="errors_count2">Autopilot-specific errors</field>
<field type="uint16_t" name="errors_count3">Autopilot-specific errors</field>
<field type="uint16_t" name="errors_count4">Autopilot-specific errors</field>
</message>
<message id="2" name="SYSTEM_TIME">
<description>The system time is the time of the master clock, typically the computer clock of the main onboard computer.</description>
<field type="uint64_t" name="time_unix_usec" units="us">Timestamp (UNIX epoch time).</field>
<field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
</message>
<message id="4" name="PING">
<deprecated since="2011-08" replaced_by="SYSTEM_TIME">to be removed / merged with SYSTEM_TIME</deprecated>
<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>
<field type="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>
<field type="uint32_t" name="seq">PING sequence</field>
<field type="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>
<field type="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>
<message id="5" name="CHANGE_OPERATOR_CONTROL">
<description>Request to control this MAV</description>
<field type="uint8_t" name="target_system">System the GCS requests control for</field>
<field type="uint8_t" name="control_request">0: request control of this MAV, 1: Release control of this MAV</field>
<field type="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>
<field type="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>
<message id="6" name="CHANGE_OPERATOR_CONTROL_ACK">
<description>Accept / deny control of this MAV</description>
<field type="uint8_t" name="gcs_system_id">ID of the GCS this message </field>
<field type="uint8_t" name="control_request">0: request control of this MAV, 1: Release control of this MAV</field>
<field type="uint8_t" name="ack">0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control</field>
</message>
<message id="7" name="AUTH_KEY">
<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>
<field type="char[32]" name="key">key</field>
</message>
<message id="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>
<field type="uint64_t" name="timestamp" units="ms">Timestamp (time since system boot).</field>
<field type="uint8_t" name="tx_buf" units="%">Remaining free transmit buffer space</field>
<field type="uint8_t" name="rx_buf" units="%">Remaining free receive buffer space</field>
<field type="uint32_t" name="tx_rate" units="bytes/s">Transmit rate</field>
<field type="uint32_t" name="rx_rate" units="bytes/s">Receive rate</field>
<field type="uint16_t" name="rx_parse_err" units="bytes">Number of bytes that could not be parsed correctly.</field>
<field type="uint16_t" name="tx_overflows" units="bytes">Transmit buffer overflows. This number wraps around as it reaches UINT16_MAX</field>
<field type="uint16_t" name="rx_overflows" units="bytes">Receive buffer overflows. This number wraps around as it reaches UINT16_MAX</field>
<field type="uint32_t" name="messages_sent">Messages sent</field>
<field type="uint32_t" name="messages_received">Messages received (estimated from counting seq)</field>
<field type="uint32_t" name="messages_lost">Messages lost (estimated from counting seq)</field>
</message>
<message id="11" name="SET_MODE">
<deprecated since="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>
<field type="uint8_t" name="target_system">The system setting the mode</field>
<field type="uint8_t" name="base_mode" enum="MAV_MODE">The new base mode.</field>
<field type="uint32_t" name="custom_mode">The new autopilot-specific mode. This field can be ignored by an autopilot.</field>
</message>
<!-- IDs 15-17 reserved for PARAM_VALUE_UNION and other param messages -->
<message id="19" name="PARAM_ACK_TRANSACTION">
<wip/>
<!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<description>Response from a PARAM_SET message when it is used in a transaction.</description>
<field type="uint8_t" name="target_system">Id of system that sent PARAM_SET message.</field>
<field type="uint8_t" name="target_component">Id of system that sent PARAM_SET message.</field>
<field type="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>
<field type="float" name="param_value">Parameter value (new value if PARAM_ACCEPTED, current value otherwise)</field>
<field type="uint8_t" name="param_type" enum="MAV_PARAM_TYPE">Parameter type.</field>
<field type="uint8_t" name="param_result" enum="PARAM_ACK">Result code.</field>
</message>
<message id="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>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="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>
<field type="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>
<message id="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>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
</message>
<message id="22" name="PARAM_VALUE">
<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>
<field type="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>
<field type="float" name="param_value">Onboard parameter value</field>
<field type="uint8_t" name="param_type" enum="MAV_PARAM_TYPE">Onboard parameter type.</field>
<field type="uint16_t" name="param_count">Total number of onboard parameters</field>
<field type="uint16_t" name="param_index">Index of this onboard parameter</field>
</message>
<message id="23" name="PARAM_SET">
<description>Set a parameter value (write new value to permanent storage). Within a transaction the recieving componenent should respond with PARAM_ACK_TRANSACTION to the setter component. IMPORTANT: If sent outside a transaction the receiving component should acknowledge the new parameter value by broadcasting a PARAM_VALUE message to all communication partners (broadcasting ensures that multiple GCS all have an up-to-date list of all parameters). If the sending GCS did not receive a PARAM_VALUE or PARAM_ACK_TRANSACTION 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>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="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>
<field type="float" name="param_value">Onboard parameter value</field>
<field type="uint8_t" name="param_type" enum="MAV_PARAM_TYPE">Onboard parameter type.</field>
</message>
<message id="24" name="GPS_RAW_INT">
<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>
<field type="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>
<field type="uint8_t" name="fix_type" enum="GPS_FIX_TYPE">GPS fix type.</field>
<field type="int32_t" name="lat" units="degE7">Latitude (WGS84, EGM96 ellipsoid)</field>
<field type="int32_t" name="lon" units="degE7">Longitude (WGS84, EGM96 ellipsoid)</field>
<field type="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>
<field type="uint16_t" name="eph">GPS HDOP horizontal dilution of position (unitless). If unknown, set to: UINT16_MAX</field>
<field type="uint16_t" name="epv">GPS VDOP vertical dilution of position (unitless). If unknown, set to: UINT16_MAX</field>
<field type="uint16_t" name="vel" units="cm/s">GPS ground speed. If unknown, set to: UINT16_MAX</field>
<field type="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>
<field type="uint8_t" name="satellites_visible">Number of satellites visible. If unknown, set to 255</field>
<extensions/>
<field type="int32_t" name="alt_ellipsoid" units="mm">Altitude (above WGS84, EGM96 ellipsoid). Positive for up.</field>
<field type="uint32_t" name="h_acc" units="mm">Position uncertainty.</field>
<field type="uint32_t" name="v_acc" units="mm">Altitude uncertainty.</field>
<field type="uint32_t" name="vel_acc" units="mm">Speed uncertainty.</field>
<field type="uint32_t" name="hdg_acc" units="degE5">Heading / track uncertainty</field>
<field type="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>
<message id="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>
<field type="uint8_t" name="satellites_visible">Number of satellites visible</field>
<field type="uint8_t[20]" name="satellite_prn">Global satellite ID</field>
<field type="uint8_t[20]" name="satellite_used">0: Satellite not used, 1: used for localization</field>
<field type="uint8_t[20]" name="satellite_elevation" units="deg">Elevation (0: right on top of receiver, 90: on the horizon) of satellite</field>
<field type="uint8_t[20]" name="satellite_azimuth" units="deg">Direction of satellite, 0: 0 deg, 255: 360 deg.</field>
<field type="uint8_t[20]" name="satellite_snr" units="dB">Signal to noise ratio of satellite</field>
</message>
<message id="26" name="SCALED_IMU">
<description>The RAW IMU readings for the usual 9DOF sensor setup. This message should contain the scaled values to the described units</description>
<field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
<field type="int16_t" name="xacc" units="mG">X acceleration</field>
<field type="int16_t" name="yacc" units="mG">Y acceleration</field>
<field type="int16_t" name="zacc" units="mG">Z acceleration</field>
<field type="int16_t" name="xgyro" units="mrad/s">Angular speed around X axis</field>
<field type="int16_t" name="ygyro" units="mrad/s">Angular speed around Y axis</field>
<field type="int16_t" name="zgyro" units="mrad/s">Angular speed around Z axis</field>
<field type="int16_t" name="xmag" units="mgauss">X Magnetic field</field>
<field type="int16_t" name="ymag" units="mgauss">Y Magnetic field</field>
<field type="int16_t" name="zmag" units="mgauss">Z Magnetic field</field>
<extensions/>
<field type="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>
<message id="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>
<field type="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>
<field type="int16_t" name="xacc">X acceleration (raw)</field>
<field type="int16_t" name="yacc">Y acceleration (raw)</field>
<field type="int16_t" name="zacc">Z acceleration (raw)</field>
<field type="int16_t" name="xgyro">Angular speed around X axis (raw)</field>
<field type="int16_t" name="ygyro">Angular speed around Y axis (raw)</field>
<field type="int16_t" name="zgyro">Angular speed around Z axis (raw)</field>
<field type="int16_t" name="xmag">X Magnetic field (raw)</field>
<field type="int16_t" name="ymag">Y Magnetic field (raw)</field>
<field type="int16_t" name="zmag">Z Magnetic field (raw)</field>
<extensions/>
<field type="uint8_t" name="id" instance="true">Id. Ids are numbered from 0 and map to IMUs numbered from 1 (e.g. IMU1 will have a message with id=0)</field>
<field type="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>
<message id="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>
<field type="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>
<field type="int16_t" name="press_abs">Absolute pressure (raw)</field>
<field type="int16_t" name="press_diff1">Differential pressure 1 (raw, 0 if nonexistent)</field>
<field type="int16_t" name="press_diff2">Differential pressure 2 (raw, 0 if nonexistent)</field>
<field type="int16_t" name="temperature">Raw Temperature measurement (raw)</field>
</message>
<message id="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>
<field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
<field type="float" name="press_abs" units="hPa">Absolute pressure</field>
<field type="float" name="press_diff" units="hPa">Differential pressure 1</field>
<field type="int16_t" name="temperature" units="cdegC">Absolute pressure temperature</field>
<extensions/>
<field type="int16_t" name="temperature_press_diff" units="cdegC">Differential pressure temperature (0, if not available). Report values of 0 (or 1) as 1 cdegC.</field>
</message>
<message id="30" name="ATTITUDE">
<description>The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right).</description>
<field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
<field type="float" name="roll" units="rad">Roll angle (-pi..+pi)</field>
<field type="float" name="pitch" units="rad">Pitch angle (-pi..+pi)</field>
<field type="float" name="yaw" units="rad">Yaw angle (-pi..+pi)</field>
<field type="float" name="rollspeed" units="rad/s">Roll angular speed</field>
<field type="float" name="pitchspeed" units="rad/s">Pitch angular speed</field>
<field type="float" name="yawspeed" units="rad/s">Yaw angular speed</field>
</message>
<message id="31" name="ATTITUDE_QUATERNION">
<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>
<field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
<field type="float" name="q1">Quaternion component 1, w (1 in null-rotation)</field>
<field type="float" name="q2">Quaternion component 2, x (0 in null-rotation)</field>
<field type="float" name="q3">Quaternion component 3, y (0 in null-rotation)</field>
<field type="float" name="q4">Quaternion component 4, z (0 in null-rotation)</field>
<field type="float" name="rollspeed" units="rad/s">Roll angular speed</field>
<field type="float" name="pitchspeed" units="rad/s">Pitch angular speed</field>
<field type="float" name="yawspeed" units="rad/s">Yaw angular speed</field>
<extensions/>
<field type="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>
<message id="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>
<field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
<field type="float" name="x" units="m">X Position</field>
<field type="float" name="y" units="m">Y Position</field>
<field type="float" name="z" units="m">Z Position</field>
<field type="float" name="vx" units="m/s">X Speed</field>
<field type="float" name="vy" units="m/s">Y Speed</field>
<field type="float" name="vz" units="m/s">Z Speed</field>
</message>
<message id="33" name="GLOBAL_POSITION_INT">
<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.</description>
<field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
<field type="int32_t" name="lat" units="degE7">Latitude, expressed</field>
<field type="int32_t" name="lon" units="degE7">Longitude, expressed</field>
<field type="int32_t" name="alt" units="mm">Altitude (MSL). Note that virtually all GPS modules provide both WGS84 and MSL.</field>
<field type="int32_t" name="relative_alt" units="mm">Altitude above ground</field>
<field type="int16_t" name="vx" units="cm/s">Ground X Speed (Latitude, positive north)</field>
<field type="int16_t" name="vy" units="cm/s">Ground Y Speed (Longitude, positive east)</field>
<field type="int16_t" name="vz" units="cm/s">Ground Z Speed (Altitude, positive down)</field>
<field type="uint16_t" name="hdg" units="cdeg">Vehicle heading (yaw angle), 0.0..359.99 degrees. If unknown, set to: UINT16_MAX</field>
</message>
<message id="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>
<field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
<field type="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>
<field type="int16_t" name="chan1_scaled">RC channel 1 value scaled.</field>
<field type="int16_t" name="chan2_scaled">RC channel 2 value scaled.</field>
<field type="int16_t" name="chan3_scaled">RC channel 3 value scaled.</field>
<field type="int16_t" name="chan4_scaled">RC channel 4 value scaled.</field>
<field type="int16_t" name="chan5_scaled">RC channel 5 value scaled.</field>
<field type="int16_t" name="chan6_scaled">RC channel 6 value scaled.</field>
<field type="int16_t" name="chan7_scaled">RC channel 7 value scaled.</field>
<field type="int16_t" name="chan8_scaled">RC channel 8 value scaled.</field>
<field type="uint8_t" name="rssi">Receive signal strength indicator in device-dependent units/scale. Values: [0-254], 255: invalid/unknown.</field>
</message>
<message id="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>
<field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
<field type="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>
<field type="uint16_t" name="chan1_raw" units="us">RC channel 1 value.</field>
<field type="uint16_t" name="chan2_raw" units="us">RC channel 2 value.</field>
<field type="uint16_t" name="chan3_raw" units="us">RC channel 3 value.</field>
<field type="uint16_t" name="chan4_raw" units="us">RC channel 4 value.</field>
<field type="uint16_t" name="chan5_raw" units="us">RC channel 5 value.</field>
<field type="uint16_t" name="chan6_raw" units="us">RC channel 6 value.</field>
<field type="uint16_t" name="chan7_raw" units="us">RC channel 7 value.</field>
<field type="uint16_t" name="chan8_raw" units="us">RC channel 8 value.</field>
<field type="uint8_t" name="rssi">Receive signal strength indicator in device-dependent units/scale. Values: [0-254], 255: invalid/unknown.</field>
</message>
<message id="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>
<field type="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>
<field type="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>
<field type="uint16_t" name="servo1_raw" units="us">Servo output 1 value</field>
<field type="uint16_t" name="servo2_raw" units="us">Servo output 2 value</field>
<field type="uint16_t" name="servo3_raw" units="us">Servo output 3 value</field>
<field type="uint16_t" name="servo4_raw" units="us">Servo output 4 value</field>
<field type="uint16_t" name="servo5_raw" units="us">Servo output 5 value</field>
<field type="uint16_t" name="servo6_raw" units="us">Servo output 6 value</field>
<field type="uint16_t" name="servo7_raw" units="us">Servo output 7 value</field>
<field type="uint16_t" name="servo8_raw" units="us">Servo output 8 value</field>
<extensions/>
<field type="uint16_t" name="servo9_raw" units="us">Servo output 9 value</field>
<field type="uint16_t" name="servo10_raw" units="us">Servo output 10 value</field>
<field type="uint16_t" name="servo11_raw" units="us">Servo output 11 value</field>
<field type="uint16_t" name="servo12_raw" units="us">Servo output 12 value</field>
<field type="uint16_t" name="servo13_raw" units="us">Servo output 13 value</field>
<field type="uint16_t" name="servo14_raw" units="us">Servo output 14 value</field>
<field type="uint16_t" name="servo15_raw" units="us">Servo output 15 value</field>
<field type="uint16_t" name="servo16_raw" units="us">Servo output 16 value</field>
</message>
<message id="37" name="MISSION_REQUEST_PARTIAL_LIST">
<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>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="int16_t" name="start_index">Start index</field>
<field type="int16_t" name="end_index">End index, -1 by default (-1: send list to end). Else a valid index of the list</field>
<extensions/>
<field type="uint8_t" name="mission_type" enum="MAV_MISSION_TYPE">Mission type.</field>
</message>
<message id="38" name="MISSION_WRITE_PARTIAL_LIST">
<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>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="int16_t" name="start_index">Start index. Must be smaller / equal to the largest index of the current onboard list.</field>
<field type="int16_t" name="end_index">End index, equal or greater than start index.</field>
<extensions/>
<field type="uint8_t" name="mission_type" enum="MAV_MISSION_TYPE">Mission type.</field>
</message>
<message id="39" name="MISSION_ITEM">
<deprecated since="2020-06" replaced_by="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 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>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="uint16_t" name="seq">Sequence</field>
<field type="uint8_t" name="frame" enum="MAV_FRAME">The coordinate system of the waypoint.</field>
<field type="uint16_t" name="command" enum="MAV_CMD">The scheduled action for the waypoint.</field>
<field type="uint8_t" name="current">false:0, true:1</field>
<field type="uint8_t" name="autocontinue">Autocontinue to next waypoint</field>
<field type="float" name="param1">PARAM1, see MAV_CMD enum</field>
<field type="float" name="param2">PARAM2, see MAV_CMD enum</field>
<field type="float" name="param3">PARAM3, see MAV_CMD enum</field>
<field type="float" name="param4">PARAM4, see MAV_CMD enum</field>
<field type="float" name="x">PARAM5 / local: X coordinate, global: latitude</field>
<field type="float" name="y">PARAM6 / local: Y coordinate, global: longitude</field>
<field type="float" name="z">PARAM7 / local: Z coordinate, global: altitude (relative or absolute, depending on frame).</field>
<extensions/>
<field type="uint8_t" name="mission_type" enum="MAV_MISSION_TYPE">Mission type.</field>
</message>
<message id="40" name="MISSION_REQUEST">
<deprecated since="2020-06" replaced_by="MISSION_REQUEST_INT">A system that gets this request should respond with MISSION_ITEM_INT (as though MISSION_REQUEST_INT was received).</deprecated>
<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>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="uint16_t" name="seq">Sequence</field>
<extensions/>
<field type="uint8_t" name="mission_type" enum="MAV_MISSION_TYPE">Mission type.</field>
</message>
<message id="41" name="MISSION_SET_CURRENT">
<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>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="uint16_t" name="seq">Sequence</field>
</message>
<message id="42" name="MISSION_CURRENT">
<description>Message that announces the sequence number of the current active mission item. The MAV will fly towards this mission item.</description>
<field type="uint16_t" name="seq">Sequence</field>
</message>
<message id="43" name="MISSION_REQUEST_LIST">
<description>Request the overall list of mission items from the system/component.</description>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<extensions/>
<field type="uint8_t" name="mission_type" enum="MAV_MISSION_TYPE">Mission type.</field>
</message>
<message id="44" name="MISSION_COUNT">
<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>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="uint16_t" name="count">Number of mission items in the sequence</field>
<extensions/>
<field type="uint8_t" name="mission_type" enum="MAV_MISSION_TYPE">Mission type.</field>
</message>
<message id="45" name="MISSION_CLEAR_ALL">
<description>Delete all mission items at once.</description>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<extensions/>
<field type="uint8_t" name="mission_type" enum="MAV_MISSION_TYPE">Mission type.</field>
</message>
<message id="46" name="MISSION_ITEM_REACHED">
<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>
<field type="uint16_t" name="seq">Sequence</field>
</message>
<message id="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>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="uint8_t" name="type" enum="MAV_MISSION_RESULT">Mission result.</field>
<extensions/>
<field type="uint8_t" name="mission_type" enum="MAV_MISSION_TYPE">Mission type.</field>
</message>
<message id="48" name="SET_GPS_GLOBAL_ORIGIN">
<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>
<field type="uint8_t" name="target_system">System ID</field>
<field type="int32_t" name="latitude" units="degE7">Latitude (WGS84)</field>
<field type="int32_t" name="longitude" units="degE7">Longitude (WGS84)</field>
<field type="int32_t" name="altitude" units="mm">Altitude (MSL). Positive for up.</field>
<extensions/>
<field type="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>
<message id="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>
<field type="int32_t" name="latitude" units="degE7">Latitude (WGS84)</field>
<field type="int32_t" name="longitude" units="degE7">Longitude (WGS84)</field>
<field type="int32_t" name="altitude" units="mm">Altitude (MSL). Positive for up.</field>
<extensions/>
<field type="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>
<message id="50" name="PARAM_MAP_RC">
<description>Bind a RC channel to a parameter. The parameter should change according to the RC channel value.</description>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="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>
<field type="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>
<field type="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>
<field type="float" name="param_value0">Initial parameter value</field>
<field type="float" name="scale">Scale, maps the RC range [-1, 1] to a parameter value</field>
<field type="float" name="param_value_min">Minimum param value. The protocol does not define if this overwrites an onboard minimum value. (Depends on implementation)</field>
<field type="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>
<message id="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>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="uint16_t" name="seq">Sequence</field>
<extensions/>
<field type="uint8_t" name="mission_type" enum="MAV_MISSION_TYPE">Mission type.</field>
</message>
<message id="52" name="MISSION_CHANGED">
<wip/>
<!-- 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>
<field type="int16_t" name="start_index">Start index for partial mission change (-1 for all items).</field>
<field type="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>
<field type="uint8_t" name="origin_sysid">System ID of the author of the new mission.</field>
<field type="uint8_t" name="origin_compid" enum="MAV_COMPONENT">Compnent ID of the author of the new mission.</field>
<field type="uint8_t" name="mission_type" enum="MAV_MISSION_TYPE">Mission type.</field>
</message>
<message id="54" name="SAFETY_SET_ALLOWED_AREA">
<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>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="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>
<field type="float" name="p1x" units="m">x position 1 / Latitude 1</field>
<field type="float" name="p1y" units="m">y position 1 / Longitude 1</field>
<field type="float" name="p1z" units="m">z position 1 / Altitude 1</field>
<field type="float" name="p2x" units="m">x position 2 / Latitude 2</field>
<field type="float" name="p2y" units="m">y position 2 / Longitude 2</field>
<field type="float" name="p2z" units="m">z position 2 / Altitude 2</field>
</message>
<message id="55" name="SAFETY_ALLOWED_AREA">
<description>Read out the safety zone the MAV currently assumes.</description>
<field type="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>
<field type="float" name="p1x" units="m">x position 1 / Latitude 1</field>
<field type="float" name="p1y" units="m">y position 1 / Longitude 1</field>
<field type="float" name="p1z" units="m">z position 1 / Altitude 1</field>
<field type="float" name="p2x" units="m">x position 2 / Latitude 2</field>
<field type="float" name="p2y" units="m">y position 2 / Longitude 2</field>
<field type="float" name="p2z" units="m">z position 2 / Altitude 2</field>
</message>
<message id="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>
<field type="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>
<field type="float[4]" name="q">Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)</field>
<field type="float" name="rollspeed" units="rad/s">Roll angular speed</field>
<field type="float" name="pitchspeed" units="rad/s">Pitch angular speed</field>
<field type="float" name="yawspeed" units="rad/s">Yaw angular speed</field>
<field type="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>
<message id="62" name="NAV_CONTROLLER_OUTPUT">
<description>The state of the fixed wing navigation and position controller.</description>
<field type="float" name="nav_roll" units="deg">Current desired roll</field>
<field type="float" name="nav_pitch" units="deg">Current desired pitch</field>
<field type="int16_t" name="nav_bearing" units="deg">Current desired heading</field>
<field type="int16_t" name="target_bearing" units="deg">Bearing to current waypoint/target</field>
<field type="uint16_t" name="wp_dist" units="m">Distance to active waypoint</field>
<field type="float" name="alt_error" units="m">Current altitude error</field>
<field type="float" name="aspd_error" units="m/s">Current airspeed error</field>
<field type="float" name="xtrack_error" units="m">Current crosstrack error on x-y plane</field>
</message>
<message id="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>
<field type="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>
<field type="uint8_t" name="estimator_type" enum="MAV_ESTIMATOR_TYPE">Class id of the estimator this estimate originated from.</field>
<field type="int32_t" name="lat" units="degE7">Latitude</field>
<field type="int32_t" name="lon" units="degE7">Longitude</field>
<field type="int32_t" name="alt" units="mm">Altitude in meters above MSL</field>
<field type="int32_t" name="relative_alt" units="mm">Altitude above ground</field>
<field type="float" name="vx" units="m/s">Ground X Speed (Latitude)</field>
<field type="float" name="vy" units="m/s">Ground Y Speed (Longitude)</field>
<field type="float" name="vz" units="m/s">Ground Z Speed (Altitude)</field>
<field type="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>
<message id="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>
<field type="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>
<field type="uint8_t" name="estimator_type" enum="MAV_ESTIMATOR_TYPE">Class id of the estimator this estimate originated from.</field>
<field type="float" name="x" units="m">X Position</field>
<field type="float" name="y" units="m">Y Position</field>
<field type="float" name="z" units="m">Z Position</field>
<field type="float" name="vx" units="m/s">X Speed</field>
<field type="float" name="vy" units="m/s">Y Speed</field>
<field type="float" name="vz" units="m/s">Z Speed</field>
<field type="float" name="ax" units="m/s/s">X Acceleration</field>
<field type="float" name="ay" units="m/s/s">Y Acceleration</field>
<field type="float" name="az" units="m/s/s">Z Acceleration</field>
<field type="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>
<message id="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>
<field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
<field type="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>
<field type="uint16_t" name="chan1_raw" units="us">RC channel 1 value.</field>
<field type="uint16_t" name="chan2_raw" units="us">RC channel 2 value.</field>
<field type="uint16_t" name="chan3_raw" units="us">RC channel 3 value.</field>
<field type="uint16_t" name="chan4_raw" units="us">RC channel 4 value.</field>
<field type="uint16_t" name="chan5_raw" units="us">RC channel 5 value.</field>
<field type="uint16_t" name="chan6_raw" units="us">RC channel 6 value.</field>
<field type="uint16_t" name="chan7_raw" units="us">RC channel 7 value.</field>
<field type="uint16_t" name="chan8_raw" units="us">RC channel 8 value.</field>
<field type="uint16_t" name="chan9_raw" units="us">RC channel 9 value.</field>
<field type="uint16_t" name="chan10_raw" units="us">RC channel 10 value.</field>
<field type="uint16_t" name="chan11_raw" units="us">RC channel 11 value.</field>
<field type="uint16_t" name="chan12_raw" units="us">RC channel 12 value.</field>
<field type="uint16_t" name="chan13_raw" units="us">RC channel 13 value.</field>
<field type="uint16_t" name="chan14_raw" units="us">RC channel 14 value.</field>
<field type="uint16_t" name="chan15_raw" units="us">RC channel 15 value.</field>
<field type="uint16_t" name="chan16_raw" units="us">RC channel 16 value.</field>
<field type="uint16_t" name="chan17_raw" units="us">RC channel 17 value.</field>
<field type="uint16_t" name="chan18_raw" units="us">RC channel 18 value.</field>
<field type="uint8_t" name="rssi">Receive signal strength indicator in device-dependent units/scale. Values: [0-254], 255: invalid/unknown.</field>
</message>
<message id="66" name="REQUEST_DATA_STREAM">
<deprecated since="2015-08" replaced_by="SET_MESSAGE_INTERVAL"/>
<description>Request a data stream.</description>
<field type="uint8_t" name="target_system">The target requested to send the message stream.</field>
<field type="uint8_t" name="target_component">The target requested to send the message stream.</field>
<field type="uint8_t" name="req_stream_id">The ID of the requested data stream</field>
<field type="uint16_t" name="req_message_rate" units="Hz">The requested message rate</field>
<field type="uint8_t" name="start_stop">1 to start sending, 0 to stop sending.</field>
</message>
<message id="67" name="DATA_STREAM">
<deprecated since="2015-08" replaced_by="MESSAGE_INTERVAL"/>
<description>Data stream status information.</description>
<field type="uint8_t" name="stream_id">The ID of the requested data stream</field>
<field type="uint16_t" name="message_rate" units="Hz">The message rate</field>
<field type="uint8_t" name="on_off">1 stream is enabled, 0 stream is stopped.</field>
</message>
<message id="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>
<field type="uint8_t" name="target">The system to be controlled.</field>
<field type="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>
<field type="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>
<field type="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>
<field type="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>
<field type="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>
<message id="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>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="uint16_t" name="chan1_raw" units="us">RC channel 1 value. A value of UINT16_MAX means to ignore this field.</field>
<field type="uint16_t" name="chan2_raw" units="us">RC channel 2 value. A value of UINT16_MAX means to ignore this field.</field>
<field type="uint16_t" name="chan3_raw" units="us">RC channel 3 value. A value of UINT16_MAX means to ignore this field.</field>
<field type="uint16_t" name="chan4_raw" units="us">RC channel 4 value. A value of UINT16_MAX means to ignore this field.</field>
<field type="uint16_t" name="chan5_raw" units="us">RC channel 5 value. A value of UINT16_MAX means to ignore this field.</field>
<field type="uint16_t" name="chan6_raw" units="us">RC channel 6 value. A value of UINT16_MAX means to ignore this field.</field>
<field type="uint16_t" name="chan7_raw" units="us">RC channel 7 value. A value of UINT16_MAX means to ignore this field.</field>
<field type="uint16_t" name="chan8_raw" units="us">RC channel 8 value. A value of UINT16_MAX means to ignore this field.</field>
<extensions/>
<field type="uint16_t" name="chan9_raw" units="us">RC channel 9 value. A value of 0 or UINT16_MAX means to ignore this field.</field>
<field type="uint16_t" name="chan10_raw" units="us">RC channel 10 value. A value of 0 or UINT16_MAX means to ignore this field.</field>
<field type="uint16_t" name="chan11_raw" units="us">RC channel 11 value. A value of 0 or UINT16_MAX means to ignore this field.</field>
<field type="uint16_t" name="chan12_raw" units="us">RC channel 12 value. A value of 0 or UINT16_MAX means to ignore this field.</field>
<field type="uint16_t" name="chan13_raw" units="us">RC channel 13 value. A value of 0 or UINT16_MAX means to ignore this field.</field>
<field type="uint16_t" name="chan14_raw" units="us">RC channel 14 value. A value of 0 or UINT16_MAX means to ignore this field.</field>
<field type="uint16_t" name="chan15_raw" units="us">RC channel 15 value. A value of 0 or UINT16_MAX means to ignore this field.</field>
<field type="uint16_t" name="chan16_raw" units="us">RC channel 16 value. A value of 0 or UINT16_MAX means to ignore this field.</field>
<field type="uint16_t" name="chan17_raw" units="us">RC channel 17 value. A value of 0 or UINT16_MAX means to ignore this field.</field>
<field type="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>
<message id="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>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="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>
<field type="uint8_t" name="frame" enum="MAV_FRAME">The coordinate system of the waypoint.</field>
<field type="uint16_t" name="command" enum="MAV_CMD">The scheduled action for the waypoint.</field>
<field type="uint8_t" name="current">false:0, true:1</field>
<field type="uint8_t" name="autocontinue">Autocontinue to next waypoint</field>
<field type="float" name="param1">PARAM1, see MAV_CMD enum</field>
<field type="float" name="param2">PARAM2, see MAV_CMD enum</field>
<field type="float" name="param3">PARAM3, see MAV_CMD enum</field>
<field type="float" name="param4">PARAM4, see MAV_CMD enum</field>
<field type="int32_t" name="x">PARAM5 / local: x position in meters * 1e4, global: latitude in degrees * 10^7</field>
<field type="int32_t" name="y">PARAM6 / y position: local: x position in meters * 1e4, global: longitude in degrees *10^7</field>
<field type="float" name="z">PARAM7 / z position: global: altitude in meters (relative or absolute, depending on frame.</field>
<extensions/>
<field type="uint8_t" name="mission_type" enum="MAV_MISSION_TYPE">Mission type.</field>
</message>
<message id="74" name="VFR_HUD">
<description>Metrics typically displayed on a HUD for fixed wing aircraft.</description>
<field type="float" name="airspeed" units="m/s">Vehicle speed in form appropriate for vehicle type. For standard aircraft this is typically calibrated airspeed (CAS) or indicated airspeed (IAS) - either of which can be used by a pilot to estimate stall speed.</field>
<field type="float" name="groundspeed" units="m/s">Current ground speed.</field>
<field type="int16_t" name="heading" units="deg">Current heading in compass units (0-360, 0=north).</field>
<field type="uint16_t" name="throttle" units="%">Current throttle setting (0 to 100).</field>
<field type="float" name="alt" units="m">Current altitude (MSL).</field>
<field type="float" name="climb" units="m/s">Current climb rate.</field>
</message>
<message id="75" name="COMMAND_INT">
<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>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="uint8_t" name="frame" enum="MAV_FRAME">The coordinate system of the COMMAND.</field>
<field type="uint16_t" name="command" enum="MAV_CMD">The scheduled action for the mission item.</field>
<field type="uint8_t" name="current">false:0, true:1</field>
<field type="uint8_t" name="autocontinue">Not used (set 0).</field>
<field type="float" name="param1">PARAM1, see MAV_CMD enum</field>
<field type="float" name="param2">PARAM2, see MAV_CMD enum</field>
<field type="float" name="param3">PARAM3, see MAV_CMD enum</field>
<field type="float" name="param4">PARAM4, see MAV_CMD enum</field>
<field type="int32_t" name="x">PARAM5 / local: x position in meters * 1e4, global: latitude in degrees * 10^7</field>
<field type="int32_t" name="y">PARAM6 / local: y position in meters * 1e4, global: longitude in degrees * 10^7</field>
<field type="float" name="z">PARAM7 / z position: global: altitude in meters (relative or absolute, depending on frame).</field>
</message>
<message id="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>
<field type="uint8_t" name="target_system">System which should execute the command</field>
<field type="uint8_t" name="target_component">Component which should execute the command, 0 for all components</field>
<field type="uint16_t" name="command" enum="MAV_CMD">Command ID (of command to send).</field>
<field type="uint8_t" name="confirmation">0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)</field>
<field type="float" name="param1">Parameter 1 (for the specific command).</field>
<field type="float" name="param2">Parameter 2 (for the specific command).</field>
<field type="float" name="param3">Parameter 3 (for the specific command).</field>
<field type="float" name="param4">Parameter 4 (for the specific command).</field>
<field type="float" name="param5">Parameter 5 (for the specific command).</field>
<field type="float" name="param6">Parameter 6 (for the specific command).</field>
<field type="float" name="param7">Parameter 7 (for the specific command).</field>
</message>
<message id="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>
<field type="uint16_t" name="command" enum="MAV_CMD">Command ID (of acknowledged command).</field>
<field type="uint8_t" name="result" enum="MAV_RESULT">Result of command.</field>
<extensions/>
<field type="uint8_t" name="progress">WIP: Also used as result_param1, it can be set with an enum containing the errors reasons of why the command was denied, or the progress percentage when result is MAV_RESULT_IN_PROGRESS (255 if the progress is unknown).</field>
<field type="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>
<field type="uint8_t" name="target_system">WIP: System ID of the target recipient. This is the ID of the system that sent the command for which this COMMAND_ACK is an acknowledgement.</field>
<field type="uint8_t" name="target_component">WIP: Component ID of the target recipient. This is the ID of the system that sent the command for which this COMMAND_ACK is an acknowledgement.</field>
</message>
<message id="80" name="COMMAND_CANCEL">
<wip/>
<!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<description>Cancel a long running command. The target system should respond with a COMMAND_ACK to the original command with result=MAV_RESULT_CANCELLED if the long running process was cancelled. If it has already completed, the cancel action can be ignored. The cancel action can be retried until some sort of acknowledgement to the original command has been received. The command microservice is documented at https://mavlink.io/en/services/command.html</description>
<field type="uint8_t" name="target_system">System executing long running command. Should not be broadcast (0).</field>
<field type="uint8_t" name="target_component">Component executing long running command.</field>
<field type="uint16_t" name="command" enum="MAV_CMD">Command ID (of command to cancel).</field>
</message>
<message id="81" name="MANUAL_SETPOINT">
<description>Setpoint in roll, pitch, yaw and thrust from the operator</description>
<field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
<field type="float" name="roll" units="rad/s">Desired roll rate</field>
<field type="float" name="pitch" units="rad/s">Desired pitch rate</field>
<field type="float" name="yaw" units="rad/s">Desired yaw rate</field>
<field type="float" name="thrust">Collective thrust, normalized to 0 .. 1</field>
<field type="uint8_t" name="mode_switch">Flight mode switch position, 0.. 255</field>
<field type="uint8_t" name="manual_override_switch">Override mode switch position, 0.. 255</field>
</message>
<message id="82" name="SET_ATTITUDE_TARGET">
<description>Sets a desired vehicle attitude. Used by an external controller to command the vehicle (manual controller or other system).</description>
<field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="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>
<field type="float[4]" name="q">Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)</field>
<field type="float" name="body_roll_rate" units="rad/s">Body roll rate</field>
<field type="float" name="body_pitch_rate" units="rad/s">Body pitch rate</field>
<field type="float" name="body_yaw_rate" units="rad/s">Body yaw rate</field>
<field type="float" name="thrust">Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)</field>
</message>
<message id="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>
<field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
<field type="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>
<field type="float[4]" name="q">Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)</field>
<field type="float" name="body_roll_rate" units="rad/s">Body roll rate</field>
<field type="float" name="body_pitch_rate" units="rad/s">Body pitch rate</field>
<field type="float" name="body_yaw_rate" units="rad/s">Body yaw rate</field>
<field type="float" name="thrust">Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)</field>
</message>
<message id="84" name="SET_POSITION_TARGET_LOCAL_NED">
<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>
<field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="uint8_t" name="coordinate_frame" enum="MAV_FRAME">Valid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9</field>
<field type="uint16_t" name="type_mask" enum="POSITION_TARGET_TYPEMASK" display="bitmask">Bitmap to indicate which dimensions should be ignored by the vehicle.</field>
<field type="float" name="x" units="m">X Position in NED frame</field>
<field type="float" name="y" units="m">Y Position in NED frame</field>
<field type="float" name="z" units="m">Z Position in NED frame (note, altitude is negative in NED)</field>
<field type="float" name="vx" units="m/s">X velocity in NED frame</field>
<field type="float" name="vy" units="m/s">Y velocity in NED frame</field>
<field type="float" name="vz" units="m/s">Z velocity in NED frame</field>
<field type="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>
<field type="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>
<field type="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>
<field type="float" name="yaw" units="rad">yaw setpoint</field>
<field type="float" name="yaw_rate" units="rad/s">yaw rate setpoint</field>
</message>
<message id="85" name="POSITION_TARGET_LOCAL_NED">
<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>
<field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
<field type="uint8_t" name="coordinate_frame" enum="MAV_FRAME">Valid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9</field>
<field type="uint16_t" name="type_mask" enum="POSITION_TARGET_TYPEMASK" display="bitmask">Bitmap to indicate which dimensions should be ignored by the vehicle.</field>
<field type="float" name="x" units="m">X Position in NED frame</field>
<field type="float" name="y" units="m">Y Position in NED frame</field>
<field type="float" name="z" units="m">Z Position in NED frame (note, altitude is negative in NED)</field>
<field type="float" name="vx" units="m/s">X velocity in NED frame</field>
<field type="float" name="vy" units="m/s">Y velocity in NED frame</field>
<field type="float" name="vz" units="m/s">Z velocity in NED frame</field>
<field type="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>
<field type="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>
<field type="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>
<field type="float" name="yaw" units="rad">yaw setpoint</field>
<field type="float" name="yaw_rate" units="rad/s">yaw rate setpoint</field>
</message>
<message id="86" name="SET_POSITION_TARGET_GLOBAL_INT">
<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>
<field type="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>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="uint8_t" name="coordinate_frame" enum="MAV_FRAME">Valid options are: MAV_FRAME_GLOBAL_INT = 5, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT = 6, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT = 11</field>
<field type="uint16_t" name="type_mask" enum="POSITION_TARGET_TYPEMASK" display="bitmask">Bitmap to indicate which dimensions should be ignored by the vehicle.</field>
<field type="int32_t" name="lat_int" units="degE7">X Position in WGS84 frame</field>
<field type="int32_t" name="lon_int" units="degE7">Y Position in WGS84 frame</field>
<field type="float" name="alt" units="m">Altitude (MSL, Relative to home, or AGL - depending on frame)</field>
<field type="float" name="vx" units="m/s">X velocity in NED frame</field>
<field type="float" name="vy" units="m/s">Y velocity in NED frame</field>
<field type="float" name="vz" units="m/s">Z velocity in NED frame</field>
<field type="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>
<field type="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>
<field type="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>
<field type="float" name="yaw" units="rad">yaw setpoint</field>
<field type="float" name="yaw_rate" units="rad/s">yaw rate setpoint</field>
</message>
<message id="87" name="POSITION_TARGET_GLOBAL_INT">
<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>
<field type="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>
<field type="uint8_t" name="coordinate_frame" enum="MAV_FRAME">Valid options are: MAV_FRAME_GLOBAL_INT = 5, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT = 6, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT = 11</field>
<field type="uint16_t" name="type_mask" enum="POSITION_TARGET_TYPEMASK" display="bitmask">Bitmap to indicate which dimensions should be ignored by the vehicle.</field>
<field type="int32_t" name="lat_int" units="degE7">X Position in WGS84 frame</field>
<field type="int32_t" name="lon_int" units="degE7">Y Position in WGS84 frame</field>
<field type="float" name="alt" units="m">Altitude (MSL, AGL or relative to home altitude, depending on frame)</field>
<field type="float" name="vx" units="m/s">X velocity in NED frame</field>
<field type="float" name="vy" units="m/s">Y velocity in NED frame</field>
<field type="float" name="vz" units="m/s">Z velocity in NED frame</field>
<field type="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>
<field type="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>
<field type="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>
<field type="float" name="yaw" units="rad">yaw setpoint</field>
<field type="float" name="yaw_rate" units="rad/s">yaw rate setpoint</field>
</message>
<message id="89" name="LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET">
<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>
<field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
<field type="float" name="x" units="m">X Position</field>
<field type="float" name="y" units="m">Y Position</field>
<field type="float" name="z" units="m">Z Position</field>
<field type="float" name="roll" units="rad">Roll</field>
<field type="float" name="pitch" units="rad">Pitch</field>
<field type="float" name="yaw" units="rad">Yaw</field>
</message>
<message id="90" name="HIL_STATE">
<deprecated since="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>
<field type="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>
<field type="float" name="roll" units="rad">Roll angle</field>
<field type="float" name="pitch" units="rad">Pitch angle</field>
<field type="float" name="yaw" units="rad">Yaw angle</field>
<field type="float" name="rollspeed" units="rad/s">Body frame roll / phi angular speed</field>
<field type="float" name="pitchspeed" units="rad/s">Body frame pitch / theta angular speed</field>
<field type="float" name="yawspeed" units="rad/s">Body frame yaw / psi angular speed</field>
<field type="int32_t" name="lat" units="degE7">Latitude</field>
<field type="int32_t" name="lon" units="degE7">Longitude</field>
<field type="int32_t" name="alt" units="mm">Altitude</field>
<field type="int16_t" name="vx" units="cm/s">Ground X Speed (Latitude)</field>
<field type="int16_t" name="vy" units="cm/s">Ground Y Speed (Longitude)</field>
<field type="int16_t" name="vz" units="cm/s">Ground Z Speed (Altitude)</field>
<field type="int16_t" name="xacc" units="mG">X acceleration</field>
<field type="int16_t" name="yacc" units="mG">Y acceleration</field>
<field type="int16_t" name="zacc" units="mG">Z acceleration</field>
</message>
<message id="91" name="HIL_CONTROLS">
<description>Sent from autopilot to simulation. Hardware in the loop control outputs</description>
<field type="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>
<field type="float" name="roll_ailerons">Control output -1 .. 1</field>
<field type="float" name="pitch_elevator">Control output -1 .. 1</field>
<field type="float" name="yaw_rudder">Control output -1 .. 1</field>
<field type="float" name="throttle">Throttle 0 .. 1</field>
<field type="float" name="aux1">Aux 1, -1 .. 1</field>
<field type="float" name="aux2">Aux 2, -1 .. 1</field>
<field type="float" name="aux3">Aux 3, -1 .. 1</field>
<field type="float" name="aux4">Aux 4, -1 .. 1</field>
<field type="uint8_t" name="mode" enum="MAV_MODE">System mode.</field>
<field type="uint8_t" name="nav_mode">Navigation mode (MAV_NAV_MODE)</field>
</message>
<message id="92" name="HIL_RC_INPUTS_RAW">
<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>
<field type="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>
<field type="uint16_t" name="chan1_raw" units="us">RC channel 1 value</field>
<field type="uint16_t" name="chan2_raw" units="us">RC channel 2 value</field>
<field type="uint16_t" name="chan3_raw" units="us">RC channel 3 value</field>
<field type="uint16_t" name="chan4_raw" units="us">RC channel 4 value</field>
<field type="uint16_t" name="chan5_raw" units="us">RC channel 5 value</field>
<field type="uint16_t" name="chan6_raw" units="us">RC channel 6 value</field>
<field type="uint16_t" name="chan7_raw" units="us">RC channel 7 value</field>
<field type="uint16_t" name="chan8_raw" units="us">RC channel 8 value</field>
<field type="uint16_t" name="chan9_raw" units="us">RC channel 9 value</field>
<field type="uint16_t" name="chan10_raw" units="us">RC channel 10 value</field>
<field type="uint16_t" name="chan11_raw" units="us">RC channel 11 value</field>
<field type="uint16_t" name="chan12_raw" units="us">RC channel 12 value</field>
<field type="uint8_t" name="rssi">Receive signal strength indicator in device-dependent units/scale. Values: [0-254], 255: invalid/unknown.</field>
</message>
<message id="93" name="HIL_ACTUATOR_CONTROLS">
<description>Sent from autopilot to simulation. Hardware in the loop control outputs (replacement for HIL_CONTROLS)</description>
<field type="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>
<field type="float[16]" name="controls">Control outputs -1 .. 1. Channel assignment depends on the simulated hardware.</field>
<field type="uint8_t" name="mode" enum="MAV_MODE_FLAG" display="bitmask">System mode. Includes arming state.</field>
<field type="uint64_t" name="flags" display="bitmask">Flags as bitfield, 1: indicate simulation using lockstep.</field>
</message>
<message id="100" name="OPTICAL_FLOW">
<description>Optical flow from a flow sensor (e.g. optical mouse sensor)</description>
<field type="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>
<field type="uint8_t" name="sensor_id">Sensor ID</field>
<field type="int16_t" name="flow_x" units="dpix">Flow in x-sensor direction</field>
<field type="int16_t" name="flow_y" units="dpix">Flow in y-sensor direction</field>
<field type="float" name="flow_comp_m_x" units="m/s">Flow in x-sensor direction, angular-speed compensated</field>
<field type="float" name="flow_comp_m_y" units="m/s">Flow in y-sensor direction, angular-speed compensated</field>
<field type="uint8_t" name="quality">Optical flow quality / confidence. 0: bad, 255: maximum quality</field>
<field type="float" name="ground_distance" units="m">Ground distance. Positive value: distance known. Negative value: Unknown distance</field>
<extensions/>
<field type="float" name="flow_rate_x" units="rad/s">Flow rate about X axis</field>
<field type="float" name="flow_rate_y" units="rad/s">Flow rate about Y axis</field>
</message>
<message id="101" name="GLOBAL_VISION_POSITION_ESTIMATE">
<description>Global position/attitude estimate from a vision source.</description>
<field type="uint64_t" name="usec" units="us">Timestamp (UNIX time or since system boot)</field>
<field type="float" name="x" units="m">Global X position</field>
<field type="float" name="y" units="m">Global Y position</field>
<field type="float" name="z" units="m">Global Z position</field>
<field type="float" name="roll" units="rad">Roll angle</field>
<field type="float" name="pitch" units="rad">Pitch angle</field>
<field type="float" name="yaw" units="rad">Yaw angle</field>
<extensions/>
<field type="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>
<field type="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>
<message id="102" name="VISION_POSITION_ESTIMATE">
<description>Local position/attitude estimate from a vision source.</description>
<field type="uint64_t" name="usec" units="us">Timestamp (UNIX time or time since system boot)</field>
<field type="float" name="x" units="m">Local X position</field>
<field type="float" name="y" units="m">Local Y position</field>
<field type="float" name="z" units="m">Local Z position</field>
<field type="float" name="roll" units="rad">Roll angle</field>
<field type="float" name="pitch" units="rad">Pitch angle</field>
<field type="float" name="yaw" units="rad">Yaw angle</field>
<extensions/>
<field type="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>
<field type="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>
<message id="103" name="VISION_SPEED_ESTIMATE">
<description>Speed estimate from a vision source.</description>
<field type="uint64_t" name="usec" units="us">Timestamp (UNIX time or time since system boot)</field>
<field type="float" name="x" units="m/s">Global X speed</field>
<field type="float" name="y" units="m/s">Global Y speed</field>
<field type="float" name="z" units="m/s">Global Z speed</field>
<extensions/>
<field type="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>
<field type="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>
<message id="104" name="VICON_POSITION_ESTIMATE">
<description>Global position estimate from a Vicon motion system source.</description>
<field type="uint64_t" name="usec" units="us">Timestamp (UNIX time or time since system boot)</field>
<field type="float" name="x" units="m">Global X position</field>
<field type="float" name="y" units="m">Global Y position</field>
<field type="float" name="z" units="m">Global Z position</field>
<field type="float" name="roll" units="rad">Roll angle</field>
<field type="float" name="pitch" units="rad">Pitch angle</field>
<field type="float" name="yaw" units="rad">Yaw angle</field>
<extensions/>
<field type="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>
<message id="105" name="HIGHRES_IMU">
<description>The IMU readings in SI units in NED body frame</description>
<field type="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>
<field type="float" name="xacc" units="m/s/s">X acceleration</field>
<field type="float" name="yacc" units="m/s/s">Y acceleration</field>
<field type="float" name="zacc" units="m/s/s">Z acceleration</field>
<field type="float" name="xgyro" units="rad/s">Angular speed around X axis</field>
<field type="float" name="ygyro" units="rad/s">Angular speed around Y axis</field>
<field type="float" name="zgyro" units="rad/s">Angular speed around Z axis</field>
<field type="float" name="xmag" units="gauss">X Magnetic field</field>
<field type="float" name="ymag" units="gauss">Y Magnetic field</field>
<field type="float" name="zmag" units="gauss">Z Magnetic field</field>
<field type="float" name="abs_pressure" units="hPa">Absolute pressure</field>
<field type="float" name="diff_pressure" units="hPa">Differential pressure</field>
<field type="float" name="pressure_alt">Altitude calculated from pressure</field>
<field type="float" name="temperature" units="degC">Temperature</field>
<field type="uint16_t" name="fields_updated" display="bitmask">Bitmap for fields that have updated since last message, bit 0 = xacc, bit 12: temperature</field>
<extensions/>
<field type="uint8_t" name="id" instance="true">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>
<message id="106" name="OPTICAL_FLOW_RAD">
<description>Optical flow from an angular rate flow sensor (e.g. PX4FLOW or mouse sensor)</description>
<field type="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>
<field type="uint8_t" name="sensor_id" instance="true">Sensor ID</field>
<field type="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>
<field type="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>
<field type="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>
<field type="float" name="integrated_xgyro" units="rad">RH rotation around X axis</field>
<field type="float" name="integrated_ygyro" units="rad">RH rotation around Y axis</field>
<field type="float" name="integrated_zgyro" units="rad">RH rotation around Z axis</field>
<field type="int16_t" name="temperature" units="cdegC">Temperature</field>
<field type="uint8_t" name="quality">Optical flow quality / confidence. 0: no valid flow, 255: maximum quality</field>
<field type="uint32_t" name="time_delta_distance_us" units="us">Time since the distance was sampled.</field>
<field type="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>
<message id="107" name="HIL_SENSOR">
<description>The IMU readings in SI units in NED body frame</description>
<field type="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>
<field type="float" name="xacc" units="m/s/s">X acceleration</field>
<field type="float" name="yacc" units="m/s/s">Y acceleration</field>
<field type="float" name="zacc" units="m/s/s">Z acceleration</field>
<field type="float" name="xgyro" units="rad/s">Angular speed around X axis in body frame</field>
<field type="float" name="ygyro" units="rad/s">Angular speed around Y axis in body frame</field>
<field type="float" name="zgyro" units="rad/s">Angular speed around Z axis in body frame</field>
<field type="float" name="xmag" units="gauss">X Magnetic field</field>
<field type="float" name="ymag" units="gauss">Y Magnetic field</field>
<field type="float" name="zmag" units="gauss">Z Magnetic field</field>
<field type="float" name="abs_pressure" units="hPa">Absolute pressure</field>
<field type="float" name="diff_pressure" units="hPa">Differential pressure (airspeed)</field>
<field type="float" name="pressure_alt">Altitude calculated from pressure</field>
<field type="float" name="temperature" units="degC">Temperature</field>
<field type="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>
<extensions/>
<field type="uint8_t" name="id">Sensor ID (zero indexed). Used for multiple sensor inputs</field>
</message>
<message id="108" name="SIM_STATE">
<description>Status of simulation environment, if used</description>
<field type="float" name="q1">True attitude quaternion component 1, w (1 in null-rotation)</field>
<field type="float" name="q2">True attitude quaternion component 2, x (0 in null-rotation)</field>
<field type="float" name="q3">True attitude quaternion component 3, y (0 in null-rotation)</field>
<field type="float" name="q4">True attitude quaternion component 4, z (0 in null-rotation)</field>
<field type="float" name="roll">Attitude roll expressed as Euler angles, not recommended except for human-readable outputs</field>
<field type="float" name="pitch">Attitude pitch expressed as Euler angles, not recommended except for human-readable outputs</field>
<field type="float" name="yaw">Attitude yaw expressed as Euler angles, not recommended except for human-readable outputs</field>
<field type="float" name="xacc" units="m/s/s">X acceleration</field>
<field type="float" name="yacc" units="m/s/s">Y acceleration</field>
<field type="float" name="zacc" units="m/s/s">Z acceleration</field>
<field type="float" name="xgyro" units="rad/s">Angular speed around X axis</field>
<field type="float" name="ygyro" units="rad/s">Angular speed around Y axis</field>
<field type="float" name="zgyro" units="rad/s">Angular speed around Z axis</field>
<field type="float" name="lat" units="deg">Latitude</field>
<field type="float" name="lon" units="deg">Longitude</field>
<field type="float" name="alt" units="m">Altitude</field>
<field type="float" name="std_dev_horz">Horizontal position standard deviation</field>
<field type="float" name="std_dev_vert">Vertical position standard deviation</field>
<field type="float" name="vn" units="m/s">True velocity in north direction in earth-fixed NED frame</field>
<field type="float" name="ve" units="m/s">True velocity in east direction in earth-fixed NED frame</field>
<field type="float" name="vd" units="m/s">True velocity in down direction in earth-fixed NED frame</field>
</message>
<message id="109" name="RADIO_STATUS">
<description>Status generated by radio and injected into MAVLink stream.</description>
<field type="uint8_t" name="rssi">Local (message sender) recieved signal strength indication in device-dependent units/scale. Values: [0-254], 255: invalid/unknown.</field>
<field type="uint8_t" name="remrssi">Remote (message receiver) signal strength indication in device-dependent units/scale. Values: [0-254], 255: invalid/unknown.</field>
<field type="uint8_t" name="txbuf" units="%">Remaining free transmitter buffer space.</field>
<field type="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>
<field type="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>
<field type="uint16_t" name="rxerrors">Count of radio packet receive errors (since boot).</field>
<field type="uint16_t" name="fixed">Count of error corrected radio packets (since boot).</field>
</message>
<message id="110" name="FILE_TRANSFER_PROTOCOL">
<description>File transfer message</description>
<field type="uint8_t" name="target_network">Network ID (0 for broadcast)</field>
<field type="uint8_t" name="target_system">System ID (0 for broadcast)</field>
<field type="uint8_t" name="target_component">Component ID (0 for broadcast)</field>
<field type="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>
</message>
<message id="111" name="TIMESYNC">
<description>Time synchronization message.</description>
<field type="int64_t" name="tc1">Time sync timestamp 1</field>
<field type="int64_t" name="ts1">Time sync timestamp 2</field>
</message>
<message id="112" name="CAMERA_TRIGGER">
<description>Camera-IMU triggering and synchronisation message.</description>
<field type="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>
<field type="uint32_t" name="seq">Image frame sequence</field>
</message>
<message id="113" name="HIL_GPS">
<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>
<field type="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>
<field type="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>
<field type="int32_t" name="lat" units="degE7">Latitude (WGS84)</field>
<field type="int32_t" name="lon" units="degE7">Longitude (WGS84)</field>
<field type="int32_t" name="alt" units="mm">Altitude (MSL). Positive for up.</field>
<field type="uint16_t" name="eph" units="cm">GPS HDOP horizontal dilution of position. If unknown, set to: 65535</field>
<field type="uint16_t" name="epv" units="cm">GPS VDOP vertical dilution of position. If unknown, set to: 65535</field>
<field type="uint16_t" name="vel" units="cm/s">GPS ground speed. If unknown, set to: 65535</field>
<field type="int16_t" name="vn" units="cm/s">GPS velocity in north direction in earth-fixed NED frame</field>
<field type="int16_t" name="ve" units="cm/s">GPS velocity in east direction in earth-fixed NED frame</field>
<field type="int16_t" name="vd" units="cm/s">GPS velocity in down direction in earth-fixed NED frame</field>
<field type="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>
<field type="uint8_t" name="satellites_visible">Number of satellites visible. If unknown, set to 255</field>
<extensions/>
<field type="uint8_t" name="id">GPS ID (zero indexed). Used for multiple GPS inputs</field>
<field type="uint16_t" name="yaw" units="cdeg">Yaw of vehicle relative to Earth's North, zero means not available, use 36000 for north</field>
</message>
<message id="114" name="HIL_OPTICAL_FLOW">
<description>Simulated optical flow from a flow sensor (e.g. PX4FLOW or optical mouse sensor)</description>
<field type="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>
<field type="uint8_t" name="sensor_id">Sensor ID</field>
<field type="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>
<field type="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>
<field type="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>
<field type="float" name="integrated_xgyro" units="rad">RH rotation around X axis</field>
<field type="float" name="integrated_ygyro" units="rad">RH rotation around Y axis</field>
<field type="float" name="integrated_zgyro" units="rad">RH rotation around Z axis</field>
<field type="int16_t" name="temperature" units="cdegC">Temperature</field>
<field type="uint8_t" name="quality">Optical flow quality / confidence. 0: no valid flow, 255: maximum quality</field>
<field type="uint32_t" name="time_delta_distance_us" units="us">Time since the distance was sampled.</field>
<field type="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>
<message id="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>
<field type="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>
<field type="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>
<field type="float" name="rollspeed" units="rad/s">Body frame roll / phi angular speed</field>
<field type="float" name="pitchspeed" units="rad/s">Body frame pitch / theta angular speed</field>
<field type="float" name="yawspeed" units="rad/s">Body frame yaw / psi angular speed</field>
<field type="int32_t" name="lat" units="degE7">Latitude</field>
<field type="int32_t" name="lon" units="degE7">Longitude</field>
<field type="int32_t" name="alt" units="mm">Altitude</field>
<field type="int16_t" name="vx" units="cm/s">Ground X Speed (Latitude)</field>
<field type="int16_t" name="vy" units="cm/s">Ground Y Speed (Longitude)</field>
<field type="int16_t" name="vz" units="cm/s">Ground Z Speed (Altitude)</field>
<field type="uint16_t" name="ind_airspeed" units="cm/s">Indicated airspeed</field>
<field type="uint16_t" name="true_airspeed" units="cm/s">True airspeed</field>
<field type="int16_t" name="xacc" units="mG">X acceleration</field>
<field type="int16_t" name="yacc" units="mG">Y acceleration</field>
<field type="int16_t" name="zacc" units="mG">Z acceleration</field>
</message>
<message id="116" name="SCALED_IMU2">
<description>The RAW IMU readings for secondary 9DOF sensor setup. This message should contain the scaled values to the described units</description>
<field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
<field type="int16_t" name="xacc" units="mG">X acceleration</field>
<field type="int16_t" name="yacc" units="mG">Y acceleration</field>
<field type="int16_t" name="zacc" units="mG">Z acceleration</field>
<field type="int16_t" name="xgyro" units="mrad/s">Angular speed around X axis</field>
<field type="int16_t" name="ygyro" units="mrad/s">Angular speed around Y axis</field>
<field type="int16_t" name="zgyro" units="mrad/s">Angular speed around Z axis</field>
<field type="int16_t" name="xmag" units="mgauss">X Magnetic field</field>
<field type="int16_t" name="ymag" units="mgauss">Y Magnetic field</field>
<field type="int16_t" name="zmag" units="mgauss">Z Magnetic field</field>
<extensions/>
<field type="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>
<message id="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. If there are no log files available this request shall be answered with one LOG_ENTRY message with id = 0 and num_logs = 0.</description>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="uint16_t" name="start">First log id (0 for first available)</field>
<field type="uint16_t" name="end">Last log id (0xffff for last available)</field>
</message>
<message id="118" name="LOG_ENTRY">
<description>Reply to LOG_REQUEST_LIST</description>
<field type="uint16_t" name="id">Log id</field>
<field type="uint16_t" name="num_logs">Total number of logs</field>
<field type="uint16_t" name="last_log_num">High log number</field>
<field type="uint32_t" name="time_utc" units="s">UTC timestamp of log since 1970, or 0 if not available</field>
<field type="uint32_t" name="size" units="bytes">Size of the log (may be approximate)</field>
</message>
<message id="119" name="LOG_REQUEST_DATA">
<description>Request a chunk of a log</description>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="uint16_t" name="id">Log id (from LOG_ENTRY reply)</field>
<field type="uint32_t" name="ofs">Offset into the log</field>
<field type="uint32_t" name="count" units="bytes">Number of bytes</field>
</message>
<message id="120" name="LOG_DATA">
<description>Reply to LOG_REQUEST_DATA</description>
<field type="uint16_t" name="id">Log id (from LOG_ENTRY reply)</field>
<field type="uint32_t" name="ofs">Offset into the log</field>
<field type="uint8_t" name="count" units="bytes">Number of bytes (zero for end of log)</field>
<field type="uint8_t[90]" name="data">log data</field>
</message>
<message id="121" name="LOG_ERASE">
<description>Erase all logs</description>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
</message>
<message id="122" name="LOG_REQUEST_END">
<description>Stop log transfer and resume normal logging</description>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
</message>
<message id="123" name="GPS_INJECT_DATA">
<description>Data for injecting into the onboard GPS (used for DGPS)</description>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="uint8_t" name="len" units="bytes">Data length</field>
<field type="uint8_t[110]" name="data">Raw data (110 is enough for 12 satellites of RTCMv2)</field>
</message>
<message id="124" name="GPS2_RAW">
<description>Second GPS data.</description>
<field type="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>
<field type="uint8_t" name="fix_type" enum="GPS_FIX_TYPE">GPS fix type.</field>
<field type="int32_t" name="lat" units="degE7">Latitude (WGS84)</field>
<field type="int32_t" name="lon" units="degE7">Longitude (WGS84)</field>
<field type="int32_t" name="alt" units="mm">Altitude (MSL). Positive for up.</field>
<field type="uint16_t" name="eph" units="cm">GPS HDOP horizontal dilution of position. If unknown, set to: UINT16_MAX</field>
<field type="uint16_t" name="epv" units="cm">GPS VDOP vertical dilution of position. If unknown, set to: UINT16_MAX</field>
<field type="uint16_t" name="vel" units="cm/s">GPS ground speed. If unknown, set to: UINT16_MAX</field>
<field type="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>
<field type="uint8_t" name="satellites_visible">Number of satellites visible. If unknown, set to 255</field>
<field type="uint8_t" name="dgps_numch">Number of DGPS satellites</field>
<field type="uint32_t" name="dgps_age" units="ms">Age of DGPS info</field>
<extensions/>
<field type="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>
<message id="125" name="POWER_STATUS">
<description>Power supply status</description>
<field type="uint16_t" name="Vcc" units="mV">5V rail voltage.</field>
<field type="uint16_t" name="Vservo" units="mV">Servo rail voltage.</field>
<field type="uint16_t" name="flags" enum="MAV_POWER_STATUS" display="bitmask">Bitmap of power supply status flags.</field>
</message>
<message id="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>
<field type="uint8_t" name="device" enum="SERIAL_CONTROL_DEV">Serial control device type.</field>
<field type="uint8_t" name="flags" enum="SERIAL_CONTROL_FLAG" display="bitmask">Bitmap of serial control flags.</field>
<field type="uint16_t" name="timeout" units="ms">Timeout for reply data</field>
<field type="uint32_t" name="baudrate" units="bits/s">Baudrate of transfer. Zero means no change.</field>
<field type="uint8_t" name="count" units="bytes">how many bytes in this transfer</field>
<field type="uint8_t[70]" name="data">serial data</field>
</message>
<message id="127" name="GPS_RTK">
<description>RTK GPS data. Gives information on the relative baseline calculation the GPS is reporting</description>
<field type="uint32_t" name="time_last_baseline_ms" units="ms">Time since boot of last baseline message received.</field>
<field type="uint8_t" name="rtk_receiver_id">Identification of connected RTK receiver.</field>
<field type="uint16_t" name="wn">GPS Week Number of last baseline</field>
<field type="uint32_t" name="tow" units="ms">GPS Time of Week of last baseline</field>
<field type="uint8_t" name="rtk_health">GPS-specific health report for RTK data.</field>
<field type="uint8_t" name="rtk_rate" units="Hz">Rate of baseline messages being received by GPS</field>
<field type="uint8_t" name="nsats">Current number of sats used for RTK calculation.</field>
<field type="uint8_t" name="baseline_coords_type" enum="RTK_BASELINE_COORDINATE_SYSTEM">Coordinate system of baseline</field>
<field type="int32_t" name="baseline_a_mm" units="mm">Current baseline in ECEF x or NED north component.</field>
<field type="int32_t" name="baseline_b_mm" units="mm">Current baseline in ECEF y or NED east component.</field>
<field type="int32_t" name="baseline_c_mm" units="mm">Current baseline in ECEF z or NED down component.</field>
<field type="uint32_t" name="accuracy">Current estimate of baseline accuracy.</field>
<field type="int32_t" name="iar_num_hypotheses">Current number of integer ambiguity hypotheses.</field>
</message>
<message id="128" name="GPS2_RTK">
<description>RTK GPS data. Gives information on the relative baseline calculation the GPS is reporting</description>
<field type="uint32_t" name="time_last_baseline_ms" units="ms">Time since boot of last baseline message received.</field>
<field type="uint8_t" name="rtk_receiver_id">Identification of connected RTK receiver.</field>
<field type="uint16_t" name="wn">GPS Week Number of last baseline</field>
<field type="uint32_t" name="tow" units="ms">GPS Time of Week of last baseline</field>
<field type="uint8_t" name="rtk_health">GPS-specific health report for RTK data.</field>
<field type="uint8_t" name="rtk_rate" units="Hz">Rate of baseline messages being received by GPS</field>
<field type="uint8_t" name="nsats">Current number of sats used for RTK calculation.</field>
<field type="uint8_t" name="baseline_coords_type" enum="RTK_BASELINE_COORDINATE_SYSTEM">Coordinate system of baseline</field>
<field type="int32_t" name="baseline_a_mm" units="mm">Current baseline in ECEF x or NED north component.</field>
<field type="int32_t" name="baseline_b_mm" units="mm">Current baseline in ECEF y or NED east component.</field>
<field type="int32_t" name="baseline_c_mm" units="mm">Current baseline in ECEF z or NED down component.</field>
<field type="uint32_t" name="accuracy">Current estimate of baseline accuracy.</field>
<field type="int32_t" name="iar_num_hypotheses">Current number of integer ambiguity hypotheses.</field>
</message>
<message id="129" name="SCALED_IMU3">
<description>The RAW IMU readings for 3rd 9DOF sensor setup. This message should contain the scaled values to the described units</description>
<field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
<field type="int16_t" name="xacc" units="mG">X acceleration</field>
<field type="int16_t" name="yacc" units="mG">Y acceleration</field>
<field type="int16_t" name="zacc" units="mG">Z acceleration</field>
<field type="int16_t" name="xgyro" units="mrad/s">Angular speed around X axis</field>
<field type="int16_t" name="ygyro" units="mrad/s">Angular speed around Y axis</field>
<field type="int16_t" name="zgyro" units="mrad/s">Angular speed around Z axis</field>
<field type="int16_t" name="xmag" units="mgauss">X Magnetic field</field>
<field type="int16_t" name="ymag" units="mgauss">Y Magnetic field</field>
<field type="int16_t" name="zmag" units="mgauss">Z Magnetic field</field>
<extensions/>
<field type="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>
<message id="130" name="DATA_TRANSMISSION_HANDSHAKE">
<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>
<field type="uint8_t" name="type" enum="MAVLINK_DATA_STREAM_TYPE">Type of requested/acknowledged data.</field>
<field type="uint32_t" name="size" units="bytes">total data size (set on ACK only).</field>
<field type="uint16_t" name="width">Width of a matrix or image.</field>
<field type="uint16_t" name="height">Height of a matrix or image.</field>
<field type="uint16_t" name="packets">Number of packets being sent (set on ACK only).</field>
<field type="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>
<field type="uint8_t" name="jpg_quality" units="%">JPEG quality. Values: [1-100].</field>
</message>
<message id="131" name="ENCAPSULATED_DATA">
<description>Data packet for images sent using the Image Transmission Protocol: https://mavlink.io/en/services/image_transmission.html.</description>
<field type="uint16_t" name="seqnr">sequence number (starting with 0 on every transmission)</field>
<field type="uint8_t[253]" name="data">image data bytes</field>
</message>
<message id="132" name="DISTANCE_SENSOR">
<description>Distance sensor information for an onboard rangefinder.</description>
<field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
<field type="uint16_t" name="min_distance" units="cm">Minimum distance the sensor can measure</field>
<field type="uint16_t" name="max_distance" units="cm">Maximum distance the sensor can measure</field>
<field type="uint16_t" name="current_distance" units="cm">Current distance reading</field>
<field type="uint8_t" name="type" enum="MAV_DISTANCE_SENSOR">Type of distance sensor.</field>
<field type="uint8_t" name="id" instance="true">Onboard ID of the sensor</field>
<field type="uint8_t" name="orientation" enum="MAV_SENSOR_ORIENTATION">Direction the sensor faces. downward-facing: ROTATION_PITCH_270, upward-facing: ROTATION_PITCH_90, backward-facing: ROTATION_PITCH_180, forward-facing: ROTATION_NONE, left-facing: ROTATION_YAW_90, right-facing: ROTATION_YAW_270</field>
<field type="uint8_t" name="covariance" units="cm^2">Measurement variance. Max standard deviation is 6cm. 255 if unknown.</field>
<extensions/>
<field type="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>
<field type="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>
<field type="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>
<field type="uint8_t" name="signal_quality" units="%">Signal quality of the sensor. Specific to each sensor type, representing the relation of the signal strength with the target reflectivity, distance, size or aspect, but normalised as a percentage. 0 = unknown/unset signal quality, 1 = invalid signal, 100 = perfect signal.</field>
</message>
<message id="133" name="TERRAIN_REQUEST">
<description>Request for terrain data and terrain status. See terrain protocol docs: https://mavlink.io/en/services/terrain.html</description>
<field type="int32_t" name="lat" units="degE7">Latitude of SW corner of first grid</field>
<field type="int32_t" name="lon" units="degE7">Longitude of SW corner of first grid</field>
<field type="uint16_t" name="grid_spacing" units="m">Grid spacing</field>
<field type="uint64_t" name="mask" display="bitmask" print_format="0x%07x">Bitmask of requested 4x4 grids (row major 8x7 array of grids, 56 bits)</field>
</message>
<message id="134" name="TERRAIN_DATA">
<description>Terrain data sent from GCS. The lat/lon and grid_spacing must be the same as a lat/lon from a TERRAIN_REQUEST. See terrain protocol docs: https://mavlink.io/en/services/terrain.html</description>
<field type="int32_t" name="lat" units="degE7">Latitude of SW corner of first grid</field>
<field type="int32_t" name="lon" units="degE7">Longitude of SW corner of first grid</field>
<field type="uint16_t" name="grid_spacing" units="m">Grid spacing</field>
<field type="uint8_t" name="gridbit">bit within the terrain request mask</field>
<field type="int16_t[16]" name="data" units="m">Terrain data MSL</field>
</message>
<message id="135" name="TERRAIN_CHECK">
<deprecated since="2020-08" replaced_by="">Deprecated (without replacement) as is not part of terrain protocol: https://mavlink.io/en/services/terrain.html.</deprecated>
<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>
<field type="int32_t" name="lat" units="degE7">Latitude</field>
<field type="int32_t" name="lon" units="degE7">Longitude</field>
</message>
<message id="136" name="TERRAIN_REPORT">
<description>Streamed from drone to report progress of terrain map download (or response from a TERRAIN_CHECK request - deprecated). See terrain protocol docs: https://mavlink.io/en/services/terrain.html</description>
<field type="int32_t" name="lat" units="degE7">Latitude</field>
<field type="int32_t" name="lon" units="degE7">Longitude</field>
<field type="uint16_t" name="spacing">grid spacing (zero if terrain at this location unavailable)</field>
<field type="float" name="terrain_height" units="m">Terrain height MSL</field>
<field type="float" name="current_height" units="m">Current vehicle height above lat/lon terrain height</field>
<field type="uint16_t" name="pending">Number of 4x4 terrain blocks waiting to be received or read from disk</field>
<field type="uint16_t" name="loaded">Number of 4x4 terrain blocks in memory</field>
</message>
<message id="137" name="SCALED_PRESSURE2">
<description>Barometer readings for 2nd barometer</description>
<field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
<field type="float" name="press_abs" units="hPa">Absolute pressure</field>
<field type="float" name="press_diff" units="hPa">Differential pressure</field>
<field type="int16_t" name="temperature" units="cdegC">Absolute pressure temperature</field>
<extensions/>
<field type="int16_t" name="temperature_press_diff" units="cdegC">Differential pressure temperature (0, if not available). Report values of 0 (or 1) as 1 cdegC.</field>
</message>
<message id="138" name="ATT_POS_MOCAP">
<description>Motion capture attitude and position</description>
<field type="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>
<field type="float[4]" name="q">Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)</field>
<field type="float" name="x" units="m">X position (NED)</field>
<field type="float" name="y" units="m">Y position (NED)</field>
<field type="float" name="z" units="m">Z position (NED)</field>
<extensions/>
<field type="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>
</message>
<message id="139" name="SET_ACTUATOR_CONTROL_TARGET">
<description>Set the vehicle attitude and body angular rates.</description>
<field type="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>
<field type="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>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="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>
<message id="140" name="ACTUATOR_CONTROL_TARGET">
<description>Set the vehicle attitude and body angular rates.</description>
<field type="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>
<field type="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>
<field type="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>
<message id="141" name="ALTITUDE">
<description>The current system altitude.</description>
<field type="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>
<field type="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>
<field type="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>
<field type="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>
<field type="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>
<field type="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>
<field type="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>
<message id="142" name="RESOURCE_REQUEST">
<description>The autopilot is requesting a resource (file, binary, other type of data)</description>
<field type="uint8_t" name="request_id">Request ID. This ID should be re-used when sending back URI contents</field>
<field type="uint8_t" name="uri_type">The type of requested URI. 0 = a file via URL. 1 = a UAVCAN binary</field>
<field type="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>
<field type="uint8_t" name="transfer_type">The way the autopilot wants to receive the URI. 0 = MAVLink FTP. 1 = binary stream.</field>
<field type="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>
<message id="143" name="SCALED_PRESSURE3">
<description>Barometer readings for 3rd barometer</description>
<field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
<field type="float" name="press_abs" units="hPa">Absolute pressure</field>
<field type="float" name="press_diff" units="hPa">Differential pressure</field>
<field type="int16_t" name="temperature" units="cdegC">Absolute pressure temperature</field>
<extensions/>
<field type="int16_t" name="temperature_press_diff" units="cdegC">Differential pressure temperature (0, if not available). Report values of 0 (or 1) as 1 cdegC.</field>
</message>
<message id="144" name="FOLLOW_TARGET">
<description>Current motion information from a designated system</description>
<field type="uint64_t" name="timestamp" units="ms">Timestamp (time since system boot).</field>
<field type="uint8_t" name="est_capabilities">bit positions for tracker reporting capabilities (POS = 0, VEL = 1, ACCEL = 2, ATT + RATES = 3)</field>
<field type="int32_t" name="lat" units="degE7">Latitude (WGS84)</field>
<field type="int32_t" name="lon" units="degE7">Longitude (WGS84)</field>
<field type="float" name="alt" units="m">Altitude (MSL)</field>
<field type="float[3]" name="vel" units="m/s">target velocity (0,0,0) for unknown</field>
<field type="float[3]" name="acc" units="m/s/s">linear target acceleration (0,0,0) for unknown</field>
<field type="float[4]" name="attitude_q">(1 0 0 0 for unknown)</field>
<field type="float[3]" name="rates">(0 0 0 for unknown)</field>
<field type="float[3]" name="position_cov">eph epv</field>
<field type="uint64_t" name="custom_state">button states or switches of a tracker device</field>
</message>
<message id="146" name="CONTROL_SYSTEM_STATE">
<description>The smoothed, monotonic system state used to feed the control loops of the system.</description>
<field type="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>
<field type="float" name="x_acc" units="m/s/s">X acceleration in body frame</field>
<field type="float" name="y_acc" units="m/s/s">Y acceleration in body frame</field>
<field type="float" name="z_acc" units="m/s/s">Z acceleration in body frame</field>
<field type="float" name="x_vel" units="m/s">X velocity in body frame</field>
<field type="float" name="y_vel" units="m/s">Y velocity in body frame</field>
<field type="float" name="z_vel" units="m/s">Z velocity in body frame</field>
<field type="float" name="x_pos" units="m">X position in local frame</field>
<field type="float" name="y_pos" units="m">Y position in local frame</field>
<field type="float" name="z_pos" units="m">Z position in local frame</field>
<field type="float" name="airspeed" units="m/s">Airspeed, set to -1 if unknown</field>
<field type="float[3]" name="vel_variance">Variance of body velocity estimate</field>
<field type="float[3]" name="pos_variance">Variance in local position</field>
<field type="float[4]" name="q">The attitude, represented as Quaternion</field>
<field type="float" name="roll_rate" units="rad/s">Angular rate in roll axis</field>
<field type="float" name="pitch_rate" units="rad/s">Angular rate in pitch axis</field>
<field type="float" name="yaw_rate" units="rad/s">Angular rate in yaw axis</field>
</message>
<message id="147" name="BATTERY_STATUS">
<description>Battery information. Updates GCS with flight controller battery status. Smart batteries also use this message, but may additionally send SMART_BATTERY_INFO.</description>
<field type="uint8_t" name="id" instance="true">Battery ID</field>
<field type="uint8_t" name="battery_function" enum="MAV_BATTERY_FUNCTION">Function of the battery</field>
<field type="uint8_t" name="type" enum="MAV_BATTERY_TYPE">Type (chemistry) of the battery</field>
<field type="int16_t" name="temperature" units="cdegC">Temperature of the battery. INT16_MAX for unknown temperature.</field>
<field type="uint16_t[10]" name="voltages" units="mV">Battery voltage of cells 1 to 10 (see voltages_ext for cells 11-14). Cells in this field 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>
<field type="int16_t" name="current_battery" units="cA">Battery current, -1: autopilot does not measure the current</field>
<field type="int32_t" name="current_consumed" units="mAh">Consumed charge, -1: autopilot does not provide consumption estimate</field>
<field type="int32_t" name="energy_consumed" units="hJ">Consumed energy, -1: autopilot does not provide energy consumption estimate</field>
<field type="int8_t" name="battery_remaining" units="%">Remaining battery energy. Values: [0-100], -1: autopilot does not estimate the remaining battery.</field>
<extensions/>
<field type="int32_t" name="time_remaining" units="s">Remaining battery time, 0: autopilot does not provide remaining battery time estimate</field>
<field type="uint8_t" name="charge_state" enum="MAV_BATTERY_CHARGE_STATE">State for extent of discharge, provided by autopilot for warning or external reactions</field>
<field type="uint16_t[4]" name="voltages_ext" units="mV">Battery voltages for cells 11 to 14. Cells above the valid cell count for this battery should have a value of 0, where zero indicates not supported (note, this is different than for the voltages field and allows empty byte truncation). If the measured value is 0 then 1 should be sent instead.</field>
<field type="uint8_t" name="mode" enum="MAV_BATTERY_MODE">Battery mode. Default (0) is that battery mode reporting is not supported or battery is in normal-use mode.</field>
<field type="uint32_t" name="fault_bitmask" display="bitmask" enum="MAV_BATTERY_FAULT">Fault/health indications. These should be set when charge_state is MAV_BATTERY_CHARGE_STATE_FAILED or MAV_BATTERY_CHARGE_STATE_UNHEALTHY (if not, fault reporting is not supported).</field>
</message>
<message id="148" name="AUTOPILOT_VERSION">
<description>Version and capability of autopilot software. This should be emitted in response to a request with MAV_CMD_REQUEST_MESSAGE.</description>
<field type="uint64_t" name="capabilities" enum="MAV_PROTOCOL_CAPABILITY" display="bitmask">Bitmap of capabilities</field>
<field type="uint32_t" name="flight_sw_version">Firmware version number</field>
<field type="uint32_t" name="middleware_sw_version">Middleware version number</field>
<field type="uint32_t" name="os_sw_version">Operating system version number</field>
<field type="uint32_t" name="board_version">HW / board version (last 8 bytes should be silicon ID, if any)</field>
<field type="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>
<field type="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>
<field type="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>
<field type="uint16_t" name="vendor_id">ID of the board vendor</field>
<field type="uint16_t" name="product_id">ID of the product</field>
<field type="uint64_t" name="uid">UID if provided by hardware (see uid2)</field>
<extensions/>
<field type="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>
<message id="149" name="LANDING_TARGET">
<description>The location of a landing target. See: https://mavlink.io/en/services/landing_target.html</description>
<field type="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>
<field type="uint8_t" name="target_num">The ID of the target if multiple targets are present</field>
<field type="uint8_t" name="frame" enum="MAV_FRAME">Coordinate frame used for following fields.</field>
<field type="float" name="angle_x" units="rad">X-axis angular offset of the target from the center of the image</field>
<field type="float" name="angle_y" units="rad">Y-axis angular offset of the target from the center of the image</field>
<field type="float" name="distance" units="m">Distance to the target from the vehicle</field>
<field type="float" name="size_x" units="rad">Size of target along x-axis</field>
<field type="float" name="size_y" units="rad">Size of target along y-axis</field>
<extensions/>
<field type="float" name="x" units="m">X Position of the landing target in MAV_FRAME</field>
<field type="float" name="y" units="m">Y Position of the landing target in MAV_FRAME</field>
<field type="float" name="z" units="m">Z Position of the landing target in MAV_FRAME</field>
<field type="float[4]" name="q">Quaternion of landing target orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0)</field>
<field type="uint8_t" name="type" enum="LANDING_TARGET_TYPE">Type of landing target</field>
<field type="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) -->
<message id="162" name="FENCE_STATUS">
<description>Status of geo-fencing. Sent in extended status stream when fencing enabled.</description>
<field type="uint8_t" name="breach_status">Breach status (0 if currently inside fence, 1 if outside).</field>
<field type="uint16_t" name="breach_count">Number of fence breaches.</field>
<field type="uint8_t" name="breach_type" enum="FENCE_BREACH">Last breach type.</field>
<field type="uint32_t" name="breach_time" units="ms">Time (since boot) of last breach.</field>
<extensions/>
<field type="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 -->
<!-- 192 MAG_CAL_REPORT imported from ardupilotmega.xml -->
<message id="192" name="MAG_CAL_REPORT">
<description>Reports results of completed compass calibration. Sent until MAG_CAL_ACK received.</description>
<field type="uint8_t" name="compass_id" instance="true">Compass being calibrated.</field>
<field type="uint8_t" name="cal_mask" display="bitmask">Bitmask of compasses being calibrated.</field>
<field type="uint8_t" name="cal_status" enum="MAG_CAL_STATUS">Calibration Status.</field>
<field type="uint8_t" name="autosaved">0=requires a MAV_CMD_DO_ACCEPT_MAG_CAL, 1=saved to parameters.</field>
<field type="float" name="fitness" units="mgauss">RMS milligauss residuals.</field>
<field type="float" name="ofs_x">X offset.</field>
<field type="float" name="ofs_y">Y offset.</field>
<field type="float" name="ofs_z">Z offset.</field>
<field type="float" name="diag_x">X diagonal (matrix 11).</field>
<field type="float" name="diag_y">Y diagonal (matrix 22).</field>
<field type="float" name="diag_z">Z diagonal (matrix 33).</field>
<field type="float" name="offdiag_x">X off-diagonal (matrix 12 and 21).</field>
<field type="float" name="offdiag_y">Y off-diagonal (matrix 13 and 31).</field>
<field type="float" name="offdiag_z">Z off-diagonal (matrix 32 and 23).</field>
<extensions/>
<field type="float" name="orientation_confidence">Confidence in orientation (higher is better).</field>
<field type="uint8_t" name="old_orientation" enum="MAV_SENSOR_ORIENTATION">orientation before calibration.</field>
<field type="uint8_t" name="new_orientation" enum="MAV_SENSOR_ORIENTATION">orientation after calibration.</field>
<field type="float" name="scale_factor">field radius correction factor</field>
</message>
<!-- 225 EFI_STATUS imported from ardupilotmega.xml -->
<message id="225" name="EFI_STATUS">
<description>EFI status output</description>
<field type="uint8_t" name="health">EFI health status</field>
<field type="float" name="ecu_index">ECU index</field>
<field type="float" name="rpm">RPM</field>
<field type="float" name="fuel_consumed" units="g">Fuel consumed</field>
<field type="float" name="fuel_flow" units="g/min">Fuel flow rate</field>
<field type="float" name="engine_load" units="%">Engine load</field>
<field type="float" name="throttle_position" units="%">Throttle position</field>
<field type="float" name="spark_dwell_time" units="ms">Spark dwell time</field>
<field type="float" name="barometric_pressure" units="kPa">Barometric pressure</field>
<field type="float" name="intake_manifold_pressure" units="kPa">Intake manifold pressure(</field>
<field type="float" name="intake_manifold_temperature" units="degC">Intake manifold temperature</field>
<field type="float" name="cylinder_head_temperature" units="degC">Cylinder head temperature</field>
<field type="float" name="ignition_timing" units="deg">Ignition timing (Crank angle degrees)</field>
<field type="float" name="injection_time" units="ms">Injection time</field>
<field type="float" name="exhaust_gas_temperature" units="degC">Exhaust gas temperature</field>
<field type="float" name="throttle_out" units="%">Output throttle</field>
<field type="float" name="pt_compensation">Pressure/temperature compensation</field>
</message>
<!-- MESSAGE IDs 180 - 229: Space for custom messages in individual projectname_messages.xml files -->
<message id="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>
<field type="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>
<field type="uint16_t" name="flags" enum="ESTIMATOR_STATUS_FLAGS" display="bitmask">Bitmap indicating which EKF outputs are valid.</field>
<field type="float" name="vel_ratio">Velocity innovation test ratio</field>
<field type="float" name="pos_horiz_ratio">Horizontal position innovation test ratio</field>
<field type="float" name="pos_vert_ratio">Vertical position innovation test ratio</field>
<field type="float" name="mag_ratio">Magnetometer innovation test ratio</field>
<field type="float" name="hagl_ratio">Height above terrain innovation test ratio</field>
<field type="float" name="tas_ratio">True airspeed innovation test ratio</field>
<field type="float" name="pos_horiz_accuracy" units="m">Horizontal position 1-STD accuracy relative to the EKF local origin</field>
<field type="float" name="pos_vert_accuracy" units="m">Vertical position 1-STD accuracy relative to the EKF local origin</field>
</message>
<message id="231" name="WIND_COV">
<description>Wind covariance estimate from vehicle.</description>
<field type="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>
<field type="float" name="wind_x" units="m/s">Wind in X (NED) direction</field>
<field type="float" name="wind_y" units="m/s">Wind in Y (NED) direction</field>
<field type="float" name="wind_z" units="m/s">Wind in Z (NED) direction</field>
<field type="float" name="var_horiz" units="m/s">Variability of the wind in XY. RMS of a 1 Hz lowpassed wind estimate.</field>
<field type="float" name="var_vert" units="m/s">Variability of the wind in Z. RMS of a 1 Hz lowpassed wind estimate.</field>
<field type="float" name="wind_alt" units="m">Altitude (MSL) that this measurement was taken at</field>
<field type="float" name="horiz_accuracy" units="m">Horizontal speed 1-STD accuracy</field>
<field type="float" name="vert_accuracy" units="m">Vertical speed 1-STD accuracy</field>
</message>
<message id="232" name="GPS_INPUT">
<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>
<field type="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>
<field type="uint8_t" name="gps_id" instance="true">ID of the GPS for multiple GPS inputs</field>
<field type="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>
<field type="uint32_t" name="time_week_ms" units="ms">GPS time (from start of GPS week)</field>
<field type="uint16_t" name="time_week">GPS week number</field>
<field type="uint8_t" name="fix_type">0-1: no fix, 2: 2D fix, 3: 3D fix. 4: 3D with DGPS. 5: 3D with RTK</field>
<field type="int32_t" name="lat" units="degE7">Latitude (WGS84)</field>
<field type="int32_t" name="lon" units="degE7">Longitude (WGS84)</field>
<field type="float" name="alt" units="m">Altitude (MSL). Positive for up.</field>
<field type="float" name="hdop" units="m">GPS HDOP horizontal dilution of position</field>
<field type="float" name="vdop" units="m">GPS VDOP vertical dilution of position</field>
<field type="float" name="vn" units="m/s">GPS velocity in north direction in earth-fixed NED frame</field>
<field type="float" name="ve" units="m/s">GPS velocity in east direction in earth-fixed NED frame</field>
<field type="float" name="vd" units="m/s">GPS velocity in down direction in earth-fixed NED frame</field>
<field type="float" name="speed_accuracy" units="m/s">GPS speed accuracy</field>
<field type="float" name="horiz_accuracy" units="m">GPS horizontal accuracy</field>
<field type="float" name="vert_accuracy" units="m">GPS vertical accuracy</field>
<field type="uint8_t" name="satellites_visible">Number of satellites visible.</field>
<extensions/>
<field type="uint16_t" name="yaw" units="cdeg">Yaw of vehicle relative to Earth's North, zero means not available, use 36000 for north</field>
</message>
<message id="233" name="GPS_RTCM_DATA">
<description>RTCM message for injecting into the onboard GPS (used for DGPS)</description>
<field type="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>
<field type="uint8_t" name="len" units="bytes">data length</field>
<field type="uint8_t[180]" name="data">RTCM message (may be fragmented)</field>
</message>
<message id="234" name="HIGH_LATENCY">
<deprecated since="2020-10" replaced_by="HIGH_LATENCY2"/>
<description>Message appropriate for high latency connections like Iridium</description>
<field type="uint8_t" name="base_mode" enum="MAV_MODE_FLAG" display="bitmask">Bitmap of enabled system modes.</field>
<field type="uint32_t" name="custom_mode" display="bitmask">A bitfield for use for autopilot-specific flags.</field>
<field type="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>
<field type="int16_t" name="roll" units="cdeg">roll</field>
<field type="int16_t" name="pitch" units="cdeg">pitch</field>
<field type="uint16_t" name="heading" units="cdeg">heading</field>
<field type="int8_t" name="throttle" units="%">throttle (percentage)</field>
<field type="int16_t" name="heading_sp" units="cdeg">heading setpoint</field>
<field type="int32_t" name="latitude" units="degE7">Latitude</field>
<field type="int32_t" name="longitude" units="degE7">Longitude</field>
<field type="int16_t" name="altitude_amsl" units="m">Altitude above mean sea level</field>
<field type="int16_t" name="altitude_sp" units="m">Altitude setpoint relative to the home position</field>
<field type="uint8_t" name="airspeed" units="m/s">airspeed</field>
<field type="uint8_t" name="airspeed_sp" units="m/s">airspeed setpoint</field>
<field type="uint8_t" name="groundspeed" units="m/s">groundspeed</field>
<field type="int8_t" name="climb_rate" units="m/s">climb rate</field>
<field type="uint8_t" name="gps_nsat">Number of satellites visible. If unknown, set to 255</field>
<field type="uint8_t" name="gps_fix_type" enum="GPS_FIX_TYPE">GPS Fix type.</field>
<field type="uint8_t" name="battery_remaining" units="%">Remaining battery (percentage)</field>
<field type="int8_t" name="temperature" units="degC">Autopilot temperature (degrees C)</field>
<field type="int8_t" name="temperature_air" units="degC">Air temperature (degrees C) from airspeed sensor</field>
<field type="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>
<field type="uint8_t" name="wp_num">current waypoint number</field>
<field type="uint16_t" name="wp_distance" units="m">distance to target</field>
</message>
<message id="235" name="HIGH_LATENCY2">
<description>Message appropriate for high latency connections like Iridium (version 2)</description>
<field type="uint32_t" name="timestamp" units="ms">Timestamp (milliseconds since boot or Unix epoch)</field>
<field type="uint8_t" name="type" enum="MAV_TYPE">Type of the MAV (quadrotor, helicopter, etc.)</field>
<field type="uint8_t" name="autopilot" enum="MAV_AUTOPILOT">Autopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers.</field>
<field type="uint16_t" name="custom_mode" display="bitmask">A bitfield for use for autopilot-specific flags (2 byte version).</field>
<field type="int32_t" name="latitude" units="degE7">Latitude</field>
<field type="int32_t" name="longitude" units="degE7">Longitude</field>
<field type="int16_t" name="altitude" units="m">Altitude above mean sea level</field>
<field type="int16_t" name="target_altitude" units="m">Altitude setpoint</field>
<field type="uint8_t" name="heading" units="deg/2">Heading</field>
<field type="uint8_t" name="target_heading" units="deg/2">Heading setpoint</field>
<field type="uint16_t" name="target_distance" units="dam">Distance to target waypoint or position</field>
<field type="uint8_t" name="throttle" units="%">Throttle</field>
<field type="uint8_t" name="airspeed" units="m/s*5">Airspeed</field>
<field type="uint8_t" name="airspeed_sp" units="m/s*5">Airspeed setpoint</field>
<field type="uint8_t" name="groundspeed" units="m/s*5">Groundspeed</field>
<field type="uint8_t" name="windspeed" units="m/s*5">Windspeed</field>
<field type="uint8_t" name="wind_heading" units="deg/2">Wind heading</field>
<field type="uint8_t" name="eph" units="dm">Maximum error horizontal position since last message</field>
<field type="uint8_t" name="epv" units="dm">Maximum error vertical position since last message</field>
<field type="int8_t" name="temperature_air" units="degC">Air temperature from airspeed sensor</field>
<field type="int8_t" name="climb_rate" units="dm/s">Maximum climb rate magnitude since last message</field>
<field type="int8_t" name="battery" units="%">Battery level (-1 if field not provided).</field>
<field type="uint16_t" name="wp_num">Current waypoint number</field>
<field type="uint16_t" name="failure_flags" enum="HL_FAILURE_FLAG" display="bitmask">Bitmap of failure flags.</field>
<field type="int8_t" name="custom0">Field for custom payload.</field>
<field type="int8_t" name="custom1">Field for custom payload.</field>
<field type="int8_t" name="custom2">Field for custom payload.</field>
</message>
<message id="241" name="VIBRATION">
<description>Vibration levels and accelerometer clipping</description>
<field type="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>
<field type="float" name="vibration_x">Vibration levels on X-axis</field>
<field type="float" name="vibration_y">Vibration levels on Y-axis</field>
<field type="float" name="vibration_z">Vibration levels on Z-axis</field>
<field type="uint32_t" name="clipping_0">first accelerometer clipping count</field>
<field type="uint32_t" name="clipping_1">second accelerometer clipping count</field>
<field type="uint32_t" name="clipping_2">third accelerometer clipping count</field>
</message>
<message id="242" name="HOME_POSITION">
<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>
<field type="int32_t" name="latitude" units="degE7">Latitude (WGS84)</field>
<field type="int32_t" name="longitude" units="degE7">Longitude (WGS84)</field>
<field type="int32_t" name="altitude" units="mm">Altitude (MSL). Positive for up.</field>
<field type="float" name="x" units="m">Local X position of this position in the local coordinate frame</field>
<field type="float" name="y" units="m">Local Y position of this position in the local coordinate frame</field>
<field type="float" name="z" units="m">Local Z position of this position in the local coordinate frame</field>
<field type="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>
<field type="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>
<field type="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>
<field type="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/>
<field type="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>
<message id="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>
<field type="uint8_t" name="target_system">System ID.</field>
<field type="int32_t" name="latitude" units="degE7">Latitude (WGS84)</field>
<field type="int32_t" name="longitude" units="degE7">Longitude (WGS84)</field>
<field type="int32_t" name="altitude" units="mm">Altitude (MSL). Positive for up.</field>
<field type="float" name="x" units="m">Local X position of this position in the local coordinate frame</field>
<field type="float" name="y" units="m">Local Y position of this position in the local coordinate frame</field>
<field type="float" name="z" units="m">Local Z position of this position in the local coordinate frame</field>
<field type="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>
<field type="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>
<field type="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>
<field type="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/>
<field type="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>
<message id="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>
<field type="uint16_t" name="message_id">The ID of the requested MAVLink message. v1.0 is limited to 254 messages.</field>
<field type="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>
<message id="245" name="EXTENDED_SYS_STATE">
<description>Provides state for additional features</description>
<field type="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>
<field type="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>
<message id="246" name="ADSB_VEHICLE">
<description>The location and information of an ADSB vehicle</description>
<field type="uint32_t" name="ICAO_address">ICAO address</field>
<field type="int32_t" name="lat" units="degE7">Latitude</field>
<field type="int32_t" name="lon" units="degE7">Longitude</field>
<field type="uint8_t" name="altitude_type" enum="ADSB_ALTITUDE_TYPE">ADSB altitude type.</field>
<field type="int32_t" name="altitude" units="mm">Altitude(ASL)</field>
<field type="uint16_t" name="heading" units="cdeg">Course over ground</field>
<field type="uint16_t" name="hor_velocity" units="cm/s">The horizontal velocity</field>
<field type="int16_t" name="ver_velocity" units="cm/s">The vertical velocity. Positive is up</field>
<field type="char[9]" name="callsign">The callsign, 8+null</field>
<field type="uint8_t" name="emitter_type" enum="ADSB_EMITTER_TYPE">ADSB emitter type.</field>
<field type="uint8_t" name="tslc" units="s">Time since last communication in seconds</field>
<field type="uint16_t" name="flags" enum="ADSB_FLAGS" display="bitmask">Bitmap to indicate various statuses including valid data fields</field>
<field type="uint16_t" name="squawk">Squawk code</field>
</message>
<message id="247" name="COLLISION">
<description>Information about a potential collision</description>
<field type="uint8_t" name="src" enum="MAV_COLLISION_SRC">Collision data source</field>
<field type="uint32_t" name="id">Unique identifier, domain based on src field</field>
<field type="uint8_t" name="action" enum="MAV_COLLISION_ACTION">Action that is being taken to avoid this collision</field>
<field type="uint8_t" name="threat_level" enum="MAV_COLLISION_THREAT_LEVEL">How concerned the aircraft is about this collision</field>
<field type="float" name="time_to_minimum_delta" units="s">Estimated time until collision occurs</field>
<field type="float" name="altitude_minimum_delta" units="m">Closest vertical distance between vehicle and object</field>
<field type="float" name="horizontal_minimum_delta" units="m">Closest horizontal distance between vehicle and object</field>
</message>
<message id="248" name="V2_EXTENSION">
<description>Message implementing parts of the V2 payload specs in V1 frames for transitional support.</description>
<field type="uint8_t" name="target_network">Network ID (0 for broadcast)</field>
<field type="uint8_t" name="target_system">System ID (0 for broadcast)</field>
<field type="uint8_t" name="target_component">Component ID (0 for broadcast)</field>
<field type="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>
<field type="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>
<message id="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>
<field type="uint16_t" name="address">Starting address of the debug variables</field>
<field type="uint8_t" name="ver">Version code of the type variable. 0=unknown, type ignored and assumed int16_t. 1=as below</field>
<field type="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>
<field type="int8_t[32]" name="value">Memory contents at specified address</field>
</message>
<message id="250" name="DEBUG_VECT">
<description>To debug something using a named 3D vector.</description>
<field type="char[10]" name="name" instance="true">Name</field>
<field type="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>
<field type="float" name="x">x</field>
<field type="float" name="y">y</field>
<field type="float" name="z">z</field>
</message>
<message id="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>
<field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
<field type="char[10]" name="name" instance="true">Name of the debug variable</field>
<field type="float" name="value">Floating point value</field>
</message>
<message id="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>
<field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
<field type="char[10]" name="name" instance="true">Name of the debug variable</field>
<field type="int32_t" name="value">Signed integer value</field>
</message>
<message id="253" name="STATUSTEXT">
<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>
<field type="uint8_t" name="severity" enum="MAV_SEVERITY">Severity of status. Relies on the definitions within RFC-5424.</field>
<field type="char[50]" name="text">Status text message, without null termination character</field>
<extensions/>
<field type="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>
<field type="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>
<message id="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>
<field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
<field type="uint8_t" name="ind">index of debug variable</field>
<field type="float" name="value">DEBUG value</field>
</message>
<!-- messages with ID 256 and above are only available in MAVLink2 -->
<message id="256" name="SETUP_SIGNING">
<description>Setup a MAVLink2 signing key. If called with secret_key of all zero and zero initial_timestamp will disable signing</description>
<field type="uint8_t" name="target_system">system id of the target</field>
<field type="uint8_t" name="target_component">component ID of the target</field>
<field type="uint8_t[32]" name="secret_key">signing key</field>
<field type="uint64_t" name="initial_timestamp">initial timestamp</field>
</message>
<message id="257" name="BUTTON_CHANGE">
<description>Report button state change.</description>
<field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
<field type="uint32_t" name="last_change_ms" units="ms">Time of last change of button state.</field>
<field type="uint8_t" name="state" display="bitmask">Bitmap for state of buttons.</field>
</message>
<message id="258" name="PLAY_TUNE">
<deprecated since="2019-10" replaced_by="PLAY_TUNE_V2">New version explicitly defines format. More interoperable.</deprecated>
<description>Control vehicle tone generation (buzzer).</description>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="char[30]" name="tune">tune in board specific format</field>
<extensions/>
<field type="char[200]" name="tune2">tune extension (appended to tune)</field>
</message>
<message id="259" name="CAMERA_INFORMATION">
<description>Information about a camera. Can be requested with a MAV_CMD_REQUEST_MESSAGE command.</description>
<field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
<field type="uint8_t[32]" name="vendor_name">Name of the camera vendor</field>
<field type="uint8_t[32]" name="model_name">Name of the camera model</field>
<field type="uint32_t" name="firmware_version">Version of the camera firmware, encoded as: (Dev & 0xff) << 24 | (Patch & 0xff) << 16 | (Minor & 0xff) << 8 | (Major & 0xff)</field>
<field type="float" name="focal_length" units="mm">Focal length</field>
<field type="float" name="sensor_size_h" units="mm">Image sensor size horizontal</field>
<field type="float" name="sensor_size_v" units="mm">Image sensor size vertical</field>
<field type="uint16_t" name="resolution_h" units="pix">Horizontal image resolution</field>
<field type="uint16_t" name="resolution_v" units="pix">Vertical image resolution</field>
<field type="uint8_t" name="lens_id">Reserved for a lens ID</field>
<field type="uint32_t" name="flags" enum="CAMERA_CAP_FLAGS" display="bitmask">Bitmap of camera capability flags.</field>
<field type="uint16_t" name="cam_definition_version">Camera definition version (iteration)</field>
<field type="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>
<message id="260" name="CAMERA_SETTINGS">
<description>Settings of a camera. Can be requested with a MAV_CMD_REQUEST_MESSAGE command.</description>
<field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
<field type="uint8_t" name="mode_id" enum="CAMERA_MODE">Camera mode</field>
<extensions/>
<field type="float" name="zoomLevel">Current zoom level (0.0 to 100.0, NaN if not known)</field>
<field type="float" name="focusLevel">Current focus level (0.0 to 100.0, NaN if not known)</field>
</message>
<message id="261" name="STORAGE_INFORMATION">
<description>Information about a storage medium. This message is sent in response to a request with MAV_CMD_REQUEST_MESSAGE and whenever the status of the storage changes (STORAGE_STATUS). Use MAV_CMD_REQUEST_MESSAGE.param2 to indicate the index/id of requested storage: 0 for all, 1 for first, 2 for second, etc.</description>
<field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
<field type="uint8_t" name="storage_id" instance="true">Storage ID (1 for first, 2 for second, etc.)</field>
<field type="uint8_t" name="storage_count">Number of storage devices</field>
<field type="uint8_t" name="status" enum="STORAGE_STATUS">Status of storage</field>
<field type="float" name="total_capacity" units="MiB">Total capacity. If storage is not ready (STORAGE_STATUS_READY) value will be ignored.</field>
<field type="float" name="used_capacity" units="MiB">Used capacity. If storage is not ready (STORAGE_STATUS_READY) value will be ignored.</field>
<field type="float" name="available_capacity" units="MiB">Available storage capacity. If storage is not ready (STORAGE_STATUS_READY) value will be ignored.</field>
<field type="float" name="read_speed" units="MiB/s">Read speed.</field>
<field type="float" name="write_speed" units="MiB/s">Write speed.</field>
</message>
<message id="262" name="CAMERA_CAPTURE_STATUS">
<description>Information about the status of a capture. Can be requested with a MAV_CMD_REQUEST_MESSAGE command.</description>
<field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
<field type="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>
<field type="uint8_t" name="video_status">Current status of video capturing (0: idle, 1: capture in progress)</field>
<field type="float" name="image_interval" units="s">Image capture interval</field>
<field type="uint32_t" name="recording_time_ms" units="ms">Time since recording started</field>
<field type="float" name="available_capacity" units="MiB">Available storage capacity.</field>
<extensions/>
<field type="int32_t" name="image_count">Total number of images captured ('forever', or until reset using MAV_CMD_STORAGE_FORMAT).</field>
</message>
<message id="263" name="CAMERA_IMAGE_CAPTURED">
<description>Information about a captured image. This is emitted every time a message is captured. It may be re-requested using MAV_CMD_REQUEST_MESSAGE, using param2 to indicate the sequence number for the missing image.</description>
<field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
<field type="uint64_t" name="time_utc" units="us">Timestamp (time since UNIX epoch) in UTC. 0 for unknown.</field>
<field type="uint8_t" name="camera_id">Deprecated/unused. Component IDs are used to differentiate multiple cameras.</field>
<field type="int32_t" name="lat" units="degE7">Latitude where image was taken</field>
<field type="int32_t" name="lon" units="degE7">Longitude where capture was taken</field>
<field type="int32_t" name="alt" units="mm">Altitude (MSL) where image was taken</field>
<field type="int32_t" name="relative_alt" units="mm">Altitude above ground</field>
<field type="float[4]" name="q">Quaternion of camera orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0)</field>
<field type="int32_t" name="image_index">Zero based index of this image (i.e. a new image will have index CAMERA_CAPTURE_STATUS.image count -1)</field>
<field type="int8_t" name="capture_result">Boolean indicating success (1) or failure (0) while capturing this image.</field>
<field type="char[205]" name="file_url">URL of image taken. Either local storage or http://foo.jpg if camera provides an HTTP interface.</field>
</message>
<message id="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>
<field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
<field type="uint64_t" name="arming_time_utc" units="us">Timestamp at arming (time since UNIX epoch) in UTC, 0 for unknown</field>
<field type="uint64_t" name="takeoff_time_utc" units="us">Timestamp at takeoff (time since UNIX epoch) in UTC, 0 for unknown</field>
<field type="uint64_t" name="flight_uuid">Universally unique identifier (UUID) of flight, should correspond to name of log files</field>
</message>
<message id="265" name="MOUNT_ORIENTATION">
<deprecated since="2020-01" replaced_by="MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW">This message is being superseded by MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW. The message can still be used to communicate with legacy gimbals implementing it.</deprecated>
<description>Orientation of a mount</description>
<field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
<field type="float" name="roll" units="deg">Roll in global frame (set to NaN for invalid).</field>
<field type="float" name="pitch" units="deg">Pitch in global frame (set to NaN for invalid).</field>
<field type="float" name="yaw" units="deg">Yaw relative to vehicle (set to NaN for invalid).</field>
<extensions/>
<field type="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>
<message id="266" name="LOGGING_DATA">
<description>A message containing logged data (see also MAV_CMD_LOGGING_START)</description>
<field type="uint8_t" name="target_system">system ID of the target</field>
<field type="uint8_t" name="target_component">component ID of the target</field>
<field type="uint16_t" name="sequence">sequence number (can wrap)</field>
<field type="uint8_t" name="length" units="bytes">data length</field>
<field type="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>
<field type="uint8_t[249]" name="data">logged data</field>
</message>
<message id="267" name="LOGGING_DATA_ACKED">
<description>A message containing logged data which requires a LOGGING_ACK to be sent back</description>
<field type="uint8_t" name="target_system">system ID of the target</field>
<field type="uint8_t" name="target_component">component ID of the target</field>
<field type="uint16_t" name="sequence">sequence number (can wrap)</field>
<field type="uint8_t" name="length" units="bytes">data length</field>
<field type="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>
<field type="uint8_t[249]" name="data">logged data</field>
</message>
<message id="268" name="LOGGING_ACK">
<description>An ack for a LOGGING_DATA_ACKED message</description>
<field type="uint8_t" name="target_system">system ID of the target</field>
<field type="uint8_t" name="target_component">component ID of the target</field>
<field type="uint16_t" name="sequence">sequence number (must match the one in LOGGING_DATA_ACKED)</field>
</message>
<message id="269" name="VIDEO_STREAM_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 video stream. It may be requested using MAV_CMD_REQUEST_MESSAGE, where param2 indicates the video stream id: 0 for all streams, 1 for first, 2 for second, etc.</description>
<field type="uint8_t" name="stream_id" instance="true">Video Stream ID (1 for first, 2 for second, etc.)</field>
<field type="uint8_t" name="count">Number of streams available.</field>
<field type="uint8_t" name="type" enum="VIDEO_STREAM_TYPE">Type of stream.</field>
<field type="uint16_t" name="flags" enum="VIDEO_STREAM_STATUS_FLAGS">Bitmap of stream status flags.</field>
<field type="float" name="framerate" units="Hz">Frame rate.</field>
<field type="uint16_t" name="resolution_h" units="pix">Horizontal resolution.</field>
<field type="uint16_t" name="resolution_v" units="pix">Vertical resolution.</field>
<field type="uint32_t" name="bitrate" units="bits/s">Bit rate.</field>
<field type="uint16_t" name="rotation" units="deg">Video image rotation clockwise.</field>
<field type="uint16_t" name="hfov" units="deg">Horizontal Field of view.</field>
<field type="char[32]" name="name">Stream name.</field>
<field type="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>
<message id="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. It may be requested using MAV_CMD_REQUEST_MESSAGE.</description>
<field type="uint8_t" name="stream_id" instance="true">Video Stream ID (1 for first, 2 for second, etc.)</field>
<field type="uint16_t" name="flags" enum="VIDEO_STREAM_STATUS_FLAGS">Bitmap of stream status flags</field>
<field type="float" name="framerate" units="Hz">Frame rate</field>
<field type="uint16_t" name="resolution_h" units="pix">Horizontal resolution</field>
<field type="uint16_t" name="resolution_v" units="pix">Vertical resolution</field>
<field type="uint32_t" name="bitrate" units="bits/s">Bit rate</field>
<field type="uint16_t" name="rotation" units="deg">Video image rotation clockwise</field>
<field type="uint16_t" name="hfov" units="deg">Horizontal Field of view</field>
</message>
<message id="271" name="CAMERA_FOV_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 field of view of a camera. Can be requested with a MAV_CMD_REQUEST_MESSAGE command.</description>
<field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
<field type="int32_t" name="lat_camera" units="degE7">Latitude of camera (INT32_MAX if unknown).</field>
<field type="int32_t" name="lon_camera" units="degE7">Longitude of camera (INT32_MAX if unknown).</field>
<field type="int32_t" name="alt_camera" units="mm">Altitude (MSL) of camera (INT32_MAX if unknown).</field>
<field type="int32_t" name="lat_image" units="degE7">Latitude of center of image (INT32_MAX if unknown, INT32_MIN if at infinity, not intersecting with horizon).</field>
<field type="int32_t" name="lon_image" units="degE7">Longitude of center of image (INT32_MAX if unknown, INT32_MIN if at infinity, not intersecting with horizon).</field>
<field type="int32_t" name="alt_image" units="mm">Altitude (MSL) of center of image (INT32_MAX if unknown, INT32_MIN if at infinity, not intersecting with horizon).</field>
<field type="float[4]" name="q">Quaternion of camera orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0)</field>
<field type="float" name="hfov" units="deg">Horizontal field of view (NaN if unknown).</field>
<field type="float" name="vfov" units="deg">Vertical field of view (NaN if unknown).</field>
</message>
<message id="275" name="CAMERA_TRACKING_IMAGE_STATUS">
<wip/>
<!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<description>Camera tracking status, sent while in active tracking. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval.</description>
<field type="uint8_t" name="tracking_status" enum="CAMERA_TRACKING_STATUS_FLAGS">Current tracking status</field>
<field type="uint8_t" name="tracking_mode" enum="CAMERA_TRACKING_MODE">Current tracking mode</field>
<field type="uint8_t" name="target_data" enum="CAMERA_TRACKING_TARGET_DATA">Defines location of target data</field>
<field type="float" name="point_x">Current tracked point x value if CAMERA_TRACKING_POINT (normalized 0..1, 0 is left, 1 is right), NAN if unknown</field>
<field type="float" name="point_y">Current tracked point y value if CAMERA_TRACKING_POINT (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown</field>
<field type="float" name="radius">Current tracked radius if CAMERA_TRACKING_POINT (normalized 0..1, 0 is image left, 1 is image right), NAN if unknown</field>
<field type="float" name="rec_top_x">Current tracked rectangle top x value if CAMERA_TRACKING_RECTANGLE (normalized 0..1, 0 is left, 1 is right), NAN if unknown</field>
<field type="float" name="rec_top_y">Current tracked rectangle top y value if CAMERA_TRACKING_RECTANGLE (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown</field>
<field type="float" name="rec_bottom_x">Current tracked rectangle bottom x value if CAMERA_TRACKING_RECTANGLE (normalized 0..1, 0 is left, 1 is right), NAN if unknown</field>
<field type="float" name="rec_bottom_y">Current tracked rectangle bottom y value if CAMERA_TRACKING_RECTANGLE (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown</field>
</message>
<message id="276" name="CAMERA_TRACKING_GEO_STATUS">
<wip/>
<!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<description>Camera tracking status, sent while in active tracking. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval.</description>
<field type="uint8_t" name="tracking_status" enum="CAMERA_TRACKING_STATUS_FLAGS">Current tracking status</field>
<field type="int32_t" name="lat" units="degE7">Latitude of tracked object</field>
<field type="int32_t" name="lon" units="degE7">Longitude of tracked object</field>
<field type="float" name="alt" units="m">Altitude of tracked object(AMSL, WGS84)</field>
<field type="float" name="h_acc" units="m">Horizontal accuracy. NAN if unknown</field>
<field type="float" name="v_acc" units="m">Vertical accuracy. NAN if unknown</field>
<field type="float" name="vel_n" units="m/s">North velocity of tracked object. NAN if unknown</field>
<field type="float" name="vel_e" units="m/s">East velocity of tracked object. NAN if unknown</field>
<field type="float" name="vel_d" units="m/s">Down velocity of tracked object. NAN if unknown</field>
<field type="float" name="vel_acc" units="m/s">Velocity accuracy. NAN if unknown</field>
<field type="float" name="dist" units="m">Distance between camera and tracked object. NAN if unknown</field>
<field type="float" name="hdg" units="rad">Heading in radians, in NED. NAN if unknown</field>
<field type="float" name="hdg_acc" units="rad">Accuracy of heading, in NED. NAN if unknown</field>
</message>
<message id="280" name="GIMBAL_MANAGER_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 high level gimbal manager. This message should be requested by a ground station using MAV_CMD_REQUEST_MESSAGE.</description>
<field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
<field type="uint32_t" name="cap_flags" enum="GIMBAL_MANAGER_CAP_FLAGS" display="bitmask">Bitmap of gimbal capability flags.</field>
<field type="uint8_t" name="gimbal_device_id" instance="true">Gimbal device ID that this gimbal manager is responsible for.</field>
<field type="float" name="roll_min" units="rad">Minimum hardware roll angle (positive: rolling to the right, negative: rolling to the left)</field>
<field type="float" name="roll_max" units="rad">Maximum hardware roll angle (positive: rolling to the right, negative: rolling to the left)</field>
<field type="float" name="pitch_min" units="rad">Minimum pitch angle (positive: up, negative: down)</field>
<field type="float" name="pitch_max" units="rad">Maximum pitch angle (positive: up, negative: down)</field>
<field type="float" name="yaw_min" units="rad">Minimum yaw angle (positive: to the right, negative: to the left)</field>
<field type="float" name="yaw_max" units="rad">Maximum yaw angle (positive: to the right, negative: to the left)</field>
</message>
<message id="281" name="GIMBAL_MANAGER_STATUS">
<wip/>
<!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<description>Current status about a high level gimbal manager. This message should be broadcast at a low regular rate (e.g. 5Hz).</description>
<field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
<field type="uint32_t" name="flags" enum="GIMBAL_MANAGER_FLAGS">High level gimbal manager flags currently applied.</field>
<field type="uint8_t" name="gimbal_device_id" instance="true">Gimbal device ID that this gimbal manager is responsible for.</field>
<field type="uint8_t" name="primary_control_sysid">System ID of MAVLink component with primary control, 0 for none.</field>
<field type="uint8_t" name="primary_control_compid">Component ID of MAVLink component with primary control, 0 for none.</field>
<field type="uint8_t" name="secondary_control_sysid">System ID of MAVLink component with secondary control, 0 for none.</field>
<field type="uint8_t" name="secondary_control_compid">Component ID of MAVLink component with secondary control, 0 for none.</field>
</message>
<message id="282" name="GIMBAL_MANAGER_SET_ATTITUDE">
<wip/>
<!-- 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>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="uint32_t" name="flags" enum="GIMBAL_MANAGER_FLAGS">High level gimbal manager flags to use.</field>
<field type="uint8_t" name="gimbal_device_id" instance="true">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 gimbal (but not all gimbals).</field>
<field type="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>
<field type="float" name="angular_velocity_x" units="rad/s">X component of angular velocity, positive is rolling to the right, NaN to be ignored.</field>
<field type="float" name="angular_velocity_y" units="rad/s">Y component of angular velocity, positive is pitching up, NaN to be ignored.</field>
<field type="float" name="angular_velocity_z" units="rad/s">Z component of angular velocity, positive is yawing to the right, NaN to be ignored.</field>
</message>
<message id="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. The maximum angles and rates are the limits by hardware. However, the limits by software used are likely different/smaller and dependent on mode/settings/etc..</description>
<field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
<field type="char[32]" name="vendor_name">Name of the gimbal vendor.</field>
<field type="char[32]" name="model_name">Name of the gimbal model.</field>
<field type="char[32]" name="custom_name">Custom name of the gimbal given to it by the user.</field>
<field type="uint32_t" name="firmware_version">Version of the gimbal firmware, encoded as: (Dev & 0xff) << 24 | (Patch & 0xff) << 16 | (Minor & 0xff) << 8 | (Major & 0xff).</field>
<field type="uint32_t" name="hardware_version">Version of the gimbal hardware, encoded as: (Dev & 0xff) << 24 | (Patch & 0xff) << 16 | (Minor & 0xff) << 8 | (Major & 0xff).</field>
<field type="uint64_t" name="uid">UID of gimbal hardware (0 if unknown).</field>
<field type="uint16_t" name="cap_flags" enum="GIMBAL_DEVICE_CAP_FLAGS" display="bitmask">Bitmap of gimbal capability flags.</field>
<field type="uint16_t" name="custom_cap_flags" display="bitmask">Bitmap for use for gimbal-specific capability flags.</field>
<field type="float" name="roll_min" units="rad">Minimum hardware roll angle (positive: rolling to the right, negative: rolling to the left)</field>
<field type="float" name="roll_max" units="rad">Maximum hardware roll angle (positive: rolling to the right, negative: rolling to the left)</field>
<field type="float" name="pitch_min" units="rad">Minimum hardware pitch angle (positive: up, negative: down)</field>
<field type="float" name="pitch_max" units="rad">Maximum hardware pitch angle (positive: up, negative: down)</field>
<field type="float" name="yaw_min" units="rad">Minimum hardware yaw angle (positive: to the right, negative: to the left)</field>
<field type="float" name="yaw_max" units="rad">Maximum hardware yaw angle (positive: to the right, negative: to the left)</field>
</message>
<message id="284" name="GIMBAL_DEVICE_SET_ATTITUDE">
<wip/>
<!-- 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>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="uint16_t" name="flags" enum="GIMBAL_DEVICE_FLAGS">Low level gimbal flags.</field>
<field type="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>
<field type="float" name="angular_velocity_x" units="rad/s">X component of angular velocity, positive is rolling to the right, NaN to be ignored.</field>
<field type="float" name="angular_velocity_y" units="rad/s">Y component of angular velocity, positive is pitching up, NaN to be ignored.</field>
<field type="float" name="angular_velocity_z" units="rad/s">Z component of angular velocity, positive is yawing to the right, NaN to be ignored.</field>
</message>
<message id="285" name="GIMBAL_DEVICE_ATTITUDE_STATUS">
<wip/>
<!-- 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 rolling to the right, pitch: positive is pitching up, yaw is turn to the right). This message should be broadcast at a low regular rate (e.g. 10Hz).</description>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
<field type="uint16_t" name="flags" enum="GIMBAL_DEVICE_FLAGS">Current gimbal flags set.</field>
<field type="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>
<field type="float" name="angular_velocity_x" units="rad/s">X component of angular velocity (NaN if unknown)</field>
<field type="float" name="angular_velocity_y" units="rad/s">Y component of angular velocity (NaN if unknown)</field>
<field type="float" name="angular_velocity_z" units="rad/s">Z component of angular velocity (NaN if unknown)</field>
<field type="uint32_t" name="failure_flags" display="bitmask" enum="GIMBAL_DEVICE_ERROR_FLAGS">Failure flags (0 for no failure)</field>
</message>
<message id="286" name="AUTOPILOT_STATE_FOR_GIMBAL_DEVICE">
<wip/>
<!-- 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>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="uint64_t" name="time_boot_us" units="us">Timestamp (time since system boot).</field>
<field type="float[4]" name="q">Quaternion components of autopilot attitude: w, x, y, z (1 0 0 0 is the null-rotation, Hamilton convention).</field>
<field type="uint32_t" name="q_estimated_delay_us" units="us">Estimated delay of the attitude data.</field>
<field type="float" name="vx" units="m/s">X Speed in NED (North, East, Down).</field>
<field type="float" name="vy" units="m/s">Y Speed in NED (North, East, Down).</field>
<field type="float" name="vz" units="m/s">Z Speed in NED (North, East, Down).</field>
<field type="uint32_t" name="v_estimated_delay_us" units="us">Estimated delay of the speed data.</field>
<field type="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>
<field type="uint16_t" name="estimator_status" enum="ESTIMATOR_STATUS_FLAGS" display="bitmask">Bitmap indicating which estimator outputs are valid.</field>
<field type="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>
<message id="287" name="GIMBAL_MANAGER_SET_PITCHYAW">
<wip/>
<!-- 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 pitch and yaw angles. 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>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="uint32_t" name="flags" enum="GIMBAL_MANAGER_FLAGS">High level gimbal manager flags to use.</field>
<field type="uint8_t" name="gimbal_device_id" instance="true">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 gimbal (but not all gimbals).</field>
<field type="float" name="pitch" units="rad">Pitch angle (positive: up, negative: down, NaN to be ignored).</field>
<field type="float" name="yaw" units="rad">Yaw angle (positive: to the right, negative: to the left, NaN to be ignored).</field>
<field type="float" name="pitch_rate" units="rad/s">Pitch angular rate (positive: up, negative: down, NaN to be ignored).</field>
<field type="float" name="yaw_rate" units="rad/s">Yaw angular rate (positive: to the right, negative: to the left, NaN to be ignored).</field>
</message>
<message id="288" name="GIMBAL_MANAGER_SET_MANUAL_CONTROL">
<wip/>
<!-- 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 manually. The angles or angular rates are unitless; the actual rates will depend on internal gimbal manager settings/configuration (e.g. set by parameters). 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>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="uint32_t" name="flags" enum="GIMBAL_MANAGER_FLAGS">High level gimbal manager flags.</field>
<field type="uint8_t" name="gimbal_device_id" instance="true">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 gimbal (but not all gimbals).</field>
<field type="float" name="pitch">Pitch angle unitless (-1..1, positive: up, negative: down, NaN to be ignored).</field>
<field type="float" name="yaw">Yaw angle unitless (-1..1, positive: to the right, negative: to the left, NaN to be ignored).</field>
<field type="float" name="pitch_rate">Pitch angular rate unitless (-1..1, positive: up, negative: down, NaN to be ignored).</field>
<field type="float" name="yaw_rate">Yaw angular rate unitless (-1..1, positive: to the right, negative: to the left, NaN to be ignored).</field>
</message>
<message id="290" name="ESC_INFO">
<wip/>
<!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<description>ESC information for lower rate streaming. Recommended streaming rate 1Hz. See ESC_STATUS for higher-rate ESC data.</description>
<field type="uint8_t" name="index" instance="true">Index of the first ESC in this message. minValue = 0, maxValue = 60, increment = 4.</field>
<field type="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 the number.</field>
<field type="uint16_t" name="counter">Counter of data packets received.</field>
<field type="uint8_t" name="count">Total number of ESCs in all messages of this type. Message fields with an index higher than this should be ignored because they contain invalid data.</field>
<field type="uint8_t" name="connection_type" enum="ESC_CONNECTION_TYPE">Connection type protocol for all ESC.</field>
<field type="uint8_t" name="info" display="bitmask">Information regarding online/offline status of each ESC.</field>
<field type="uint16_t[4]" name="failure_flags" enum="ESC_FAILURE_FLAGS" display="bitmask">Bitmap of ESC failure flags.</field>
<field type="uint32_t[4]" name="error_count">Number of reported errors by each ESC since boot.</field>
<field type="uint8_t[4]" name="temperature" units="degC">Temperature measured by each ESC. UINT8_MAX if data not supplied by ESC.</field>
</message>
<message id="291" name="ESC_STATUS">
<wip/>
<!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<description>ESC information for higher rate streaming. Recommended streaming rate is ~10 Hz. Information that changes more slowly is sent in ESC_INFO. It should typically only be streamed on high-bandwidth links (i.e. to a companion computer).</description>
<field type="uint8_t" name="index" instance="true">Index of the first ESC in this message. minValue = 0, maxValue = 60, increment = 4.</field>
<field type="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 the number.</field>
<field type="int32_t[4]" name="rpm" units="rpm">Reported motor RPM from each ESC (negative for reverse rotation).</field>
<field type="float[4]" name="voltage" units="V">Voltage measured from each ESC.</field>
<field type="float[4]" name="current" units="A">Current measured from each ESC.</field>
</message>
<message id="299" name="WIFI_CONFIG_AP">
<description>Configure WiFi AP SSID, password, and mode. This message is re-emitted as an acknowledgement by the AP. The message may also be explicitly requested using MAV_CMD_REQUEST_MESSAGE</description>
<field type="char[32]" name="ssid">Name of Wi-Fi network (SSID). Blank to leave it unchanged when setting. Current SSID when sent back as a response.</field>
<field type="char[64]" name="password">Password. Blank for an open AP. MD5 hash when message is sent back as a response.</field>
<extensions/>
<field type="int8_t" name="mode" enum="WIFI_CONFIG_AP_MODE">WiFi Mode.</field>
<field type="int8_t" name="response" enum="WIFI_CONFIG_AP_RESPONSE">Message acceptance response (sent back to GS).</field>
</message>
<message id="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>
<field type="uint32_t" name="MMSI">Mobile Marine Service Identifier, 9 decimal digits</field>
<field type="int32_t" name="lat" units="degE7">Latitude</field>
<field type="int32_t" name="lon" units="degE7">Longitude</field>
<field type="uint16_t" name="COG" units="cdeg">Course over ground</field>
<field type="uint16_t" name="heading" units="cdeg">True heading</field>
<field type="uint16_t" name="velocity" units="cm/s">Speed over ground</field>
<field type="int8_t" name="turn_rate" units="cdeg/s">Turn rate</field>
<field type="uint8_t" name="navigational_status" enum="AIS_NAV_STATUS">Navigational status</field>
<field type="uint8_t" name="type" enum="AIS_TYPE">Type of vessels</field>
<field type="uint16_t" name="dimension_bow" units="m">Distance from lat/lon location to bow</field>
<field type="uint16_t" name="dimension_stern" units="m">Distance from lat/lon location to stern</field>
<field type="uint8_t" name="dimension_port" units="m">Distance from lat/lon location to port side</field>
<field type="uint8_t" name="dimension_starboard" units="m">Distance from lat/lon location to starboard side</field>
<field type="char[7]" name="callsign">The vessel callsign</field>
<field type="char[20]" name="name">The vessel name</field>
<field type="uint16_t" name="tslc" units="s">Time since last communication in seconds</field>
<field type="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. -->
<message id="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>
<field type="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>
<field type="uint32_t" name="uptime_sec" units="s">Time since the start-up of the node.</field>
<field type="uint8_t" name="health" enum="UAVCAN_NODE_HEALTH">Generalized node health status.</field>
<field type="uint8_t" name="mode" enum="UAVCAN_NODE_MODE">Generalized operating mode.</field>
<field type="uint8_t" name="sub_mode">Not used currently.</field>
<field type="uint16_t" name="vendor_specific_status_code">Vendor-specific status information.</field>
</message>
<message id="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>
<field type="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>
<field type="uint32_t" name="uptime_sec" units="s">Time since the start-up of the node.</field>
<field type="char[80]" name="name">Node name string. For example, "sapog.px4.io".</field>
<field type="uint8_t" name="hw_version_major">Hardware major version number.</field>
<field type="uint8_t" name="hw_version_minor">Hardware minor version number.</field>
<field type="uint8_t[16]" name="hw_unique_id">Hardware unique 128-bit ID.</field>
<field type="uint8_t" name="sw_version_major">Software major version number.</field>
<field type="uint8_t" name="sw_version_minor">Software minor version number.</field>
<field type="uint32_t" name="sw_vcs_commit">Version control system (VCS) revision identifier (e.g. git short commit hash). Zero if unknown.</field>
</message>
<message id="320" name="PARAM_EXT_REQUEST_READ">
<description>Request to read the value of a parameter with either the param_id string id or param_index. PARAM_EXT_VALUE or PARAM_EXT_VALUE_TRIMMED should be emitted in response (see field: trimmed).</description>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="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>
<field type="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>
<extensions/>
<field type="uint8_t" name="trimmed">Request _TRIMMED variants of PARAM_EXT_ messages. Set to 1 if _TRIMMED message variants are supported, and 0 otherwise. This signals the recipient that _TRIMMED messages are supported by the sender (and should be used if supported by the recipient).</field>
</message>
<message id="321" name="PARAM_EXT_REQUEST_LIST">
<description>Request all parameters of this component. All parameters should be emitted in response (as PARAM_EXT_VALUE or PARAM_EXT_VALUE_TRIMMED messages - see field: trimmed).</description>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<extensions/>
<field type="uint8_t" name="trimmed">Request _TRIMMED variants of PARAM_EXT_ messages. Set to 1 if _TRIMMED message variants are supported, and 0 otherwise. This signals the recipient that _TRIMMED messages are supported by the sender (and should be used if supported by the recipient).</field>
</message>
<message id="322" name="PARAM_EXT_VALUE">
<deprecated since="2020-07" replaced_by="PARAM_EXT_VALUE_TRIMMED">The new version of this message correctly trims zeros.</deprecated>
<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>
<field type="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>
<field type="char[128]" name="param_value">Parameter value</field>
<field type="uint8_t" name="param_type" enum="MAV_PARAM_EXT_TYPE">Parameter type.</field>
<field type="uint16_t" name="param_count">Total number of parameters</field>
<field type="uint16_t" name="param_index">Index of this parameter</field>
</message>
<message id="323" name="PARAM_EXT_SET">
<deprecated since="2020-07" replaced_by="PARAM_EXT_SET_TRIMMED">New version of PARAM_EXT_SET that correctly trims zeros.</deprecated>
<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>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="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>
<field type="char[128]" name="param_value">Parameter value</field>
<field type="uint8_t" name="param_type" enum="MAV_PARAM_EXT_TYPE">Parameter type.</field>
</message>
<message id="324" name="PARAM_EXT_ACK">
<deprecated since="2020-07" replaced_by="PARAM_EXT_ACK_TRIMMED">New version of PARAM_EXT_ACK that correctly trims zeros.</deprecated>
<description>Response from a PARAM_EXT_SET message.</description>
<field type="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>
<field type="char[128]" name="param_value">Parameter value (new value if PARAM_ACK_ACCEPTED, current value otherwise)</field>
<field type="uint8_t" name="param_type" enum="MAV_PARAM_EXT_TYPE">Parameter type.</field>
<field type="uint8_t" name="param_result" enum="PARAM_ACK">Result code.</field>
</message>
<message id="325" name="PARAM_EXT_VALUE_TRIMMED">
<wip/>
<!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<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. Replacement for PARAM_EXT_VALUE.</description>
<field type="uint16_t" name="param_count">Total number of parameters</field>
<field type="uint16_t" name="param_index">Index of this parameter</field>
<field type="uint8_t" name="param_type" enum="MAV_PARAM_EXT_TYPE">Parameter type.</field>
<field type="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>
<field type="char[128]" name="param_value">Parameter value (zeros get trimmed)</field>
</message>
<message id="326" name="PARAM_EXT_SET_TRIMMED">
<wip/>
<!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<description>Set a parameter value. In order to deal with message loss (and retransmission of PARAM_EXT_SET_TRIMMED), 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. If there is no response to this message, and it is unknown whether the _TRIMMED messages are supported (because no PARAM_EXT_REQUEST_READ or PARAM_EXT_REQUEST_LIST has been performed yet), then fall back to PARAM_EXT_SET.</description>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="uint8_t" name="param_type" enum="MAV_PARAM_EXT_TYPE">Parameter type.</field>
<field type="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>
<field type="char[128]" name="param_value">Parameter value (zeros get trimmed)</field>
</message>
<message id="327" name="PARAM_EXT_ACK_TRIMMED">
<wip/>
<!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<description>Response from a PARAM_EXT_SET_TRIMMED message.</description>
<field type="uint8_t" name="param_result" enum="PARAM_ACK">Result code.</field>
<field type="uint8_t" name="param_type" enum="MAV_PARAM_EXT_TYPE">Parameter type.</field>
<field type="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>
<field type="char[128]" name="param_value">Parameter value (new value if PARAM_ACK_ACCEPTED, current value otherwise, zeros get trimmed)</field>
</message>
<message id="330" name="OBSTACLE_DISTANCE">
<description>Obstacle distances in front of the sensor, starting from the left in increment degrees to the right</description>
<field type="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>
<field type="uint8_t" name="sensor_type" enum="MAV_DISTANCE_SENSOR">Class id of the distance sensor type.</field>
<field type="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>
<field type="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>
<field type="uint16_t" name="min_distance" units="cm">Minimum distance the sensor can measure.</field>
<field type="uint16_t" name="max_distance" units="cm">Maximum distance the sensor can measure.</field>
<extensions/>
<field type="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>
<field type="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>
<field type="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>
<message id="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>
<field type="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>
<field type="uint8_t" name="frame_id" enum="MAV_FRAME">Coordinate frame of reference for the pose data.</field>
<field type="uint8_t" name="child_frame_id" enum="MAV_FRAME">Coordinate frame of reference for the velocity in free space (twist) data.</field>
<field type="float" name="x" units="m">X Position</field>
<field type="float" name="y" units="m">Y Position</field>
<field type="float" name="z" units="m">Z Position</field>
<field type="float[4]" name="q">Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)</field>
<field type="float" name="vx" units="m/s">X linear speed</field>
<field type="float" name="vy" units="m/s">Y linear speed</field>
<field type="float" name="vz" units="m/s">Z linear speed</field>
<field type="float" name="rollspeed" units="rad/s">Roll angular speed</field>
<field type="float" name="pitchspeed" units="rad/s">Pitch angular speed</field>
<field type="float" name="yawspeed" units="rad/s">Yaw angular speed</field>
<field type="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>
<field type="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/>
<field type="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>
<field type="uint8_t" name="estimator_type" enum="MAV_ESTIMATOR_TYPE">Type of estimator that is providing the odometry.</field>
</message>
<message id="332" name="TRAJECTORY_REPRESENTATION_WAYPOINTS">
<description>Describe a trajectory using an array of up-to 5 waypoints in the local frame (MAV_FRAME_LOCAL_NED).</description>
<field type="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>
<field type="uint8_t" name="valid_points">Number of valid points (up-to 5 waypoints are possible)</field>
<field type="float[5]" name="pos_x" units="m">X-coordinate of waypoint, set to NaN if not being used</field>
<field type="float[5]" name="pos_y" units="m">Y-coordinate of waypoint, set to NaN if not being used</field>
<field type="float[5]" name="pos_z" units="m">Z-coordinate of waypoint, set to NaN if not being used</field>
<field type="float[5]" name="vel_x" units="m/s">X-velocity of waypoint, set to NaN if not being used</field>
<field type="float[5]" name="vel_y" units="m/s">Y-velocity of waypoint, set to NaN if not being used</field>
<field type="float[5]" name="vel_z" units="m/s">Z-velocity of waypoint, set to NaN if not being used</field>
<field type="float[5]" name="acc_x" units="m/s/s">X-acceleration of waypoint, set to NaN if not being used</field>
<field type="float[5]" name="acc_y" units="m/s/s">Y-acceleration of waypoint, set to NaN if not being used</field>
<field type="float[5]" name="acc_z" units="m/s/s">Z-acceleration of waypoint, set to NaN if not being used</field>
<field type="float[5]" name="pos_yaw" units="rad">Yaw angle, set to NaN if not being used</field>
<field type="float[5]" name="vel_yaw" units="rad/s">Yaw rate, set to NaN if not being used</field>
<field type="uint16_t[5]" name="command" enum="MAV_CMD">Scheduled action for each waypoint, UINT16_MAX if not being used.</field>
</message>
<message id="333" name="TRAJECTORY_REPRESENTATION_BEZIER">
<description>Describe a trajectory using an array of up-to 5 bezier control points in the local frame (MAV_FRAME_LOCAL_NED).</description>
<field type="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>
<field type="uint8_t" name="valid_points">Number of valid control points (up-to 5 points are possible)</field>
<field type="float[5]" name="pos_x" units="m">X-coordinate of bezier control points. Set to NaN if not being used</field>
<field type="float[5]" name="pos_y" units="m">Y-coordinate of bezier control points. Set to NaN if not being used</field>
<field type="float[5]" name="pos_z" units="m">Z-coordinate of bezier control points. Set to NaN if not being used</field>
<field type="float[5]" name="delta" units="s">Bezier time horizon. Set to NaN if velocity/acceleration should not be incorporated</field>
<field type="float[5]" name="pos_yaw" units="rad">Yaw. Set to NaN for unchanged</field>
</message>
<message id="334" name="CELLULAR_STATUS">
<wip/>
<description>Report current used cellular network status</description>
<field type="uint8_t" name="status" enum="CELLULAR_STATUS_FLAG">Cellular modem status</field>
<field type="uint8_t" name="failure_reason" enum="CELLULAR_NETWORK_FAILED_REASON">Failure reason when status in in CELLUAR_STATUS_FAILED</field>
<field type="uint8_t" name="type" enum="CELLULAR_NETWORK_RADIO_TYPE">Cellular network radio type: gsm, cdma, lte...</field>
<field type="uint8_t" name="quality">Signal quality in percent. If unknown, set to UINT8_MAX</field>
<field type="uint16_t" name="mcc">Mobile country code. If unknown, set to UINT16_MAX</field>
<field type="uint16_t" name="mnc">Mobile network code. If unknown, set to UINT16_MAX</field>
<field type="uint16_t" name="lac">Location area code. If unknown, set to 0</field>
</message>
<message id="335" name="ISBD_LINK_STATUS">
<description>Status of the Iridium SBD link.</description>
<field type="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>
<field type="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>
<field type="uint16_t" name="failed_sessions">Number of failed SBD sessions.</field>
<field type="uint16_t" name="successful_sessions">Number of successful SBD sessions.</field>
<field type="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>
<field type="uint8_t" name="ring_pending">1: Ring call pending, 0: No call pending.</field>
<field type="uint8_t" name="tx_session_pending">1: Transmission session pending, 0: No transmission session pending.</field>
<field type="uint8_t" name="rx_session_pending">1: Receiving session pending, 0: No receiving session pending.</field>
</message>
<message id="336" name="CELLULAR_CONFIG">
<wip/>
<!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<description>Configure cellular modems. This message is re-emitted as an acknowledgement by the modem. The message may also be explicitly requested using MAV_CMD_REQUEST_MESSAGE.</description>
<field type="uint8_t" name="enable_lte">Enable/disable LTE. 0: setting unchanged, 1: disabled, 2: enabled. Current setting when sent back as a response.</field>
<field type="uint8_t" name="enable_pin">Enable/disable PIN on the SIM card. 0: setting unchanged, 1: disabled, 2: enabled. Current setting when sent back as a response.</field>
<field type="char[16]" name="pin">PIN sent to the SIM card. Blank when PIN is disabled. Empty when message is sent back as a response.</field>
<field type="char[16]" name="new_pin">New PIN when changing the PIN. Blank to leave it unchanged. Empty when message is sent back as a response.</field>
<field type="char[32]" name="apn">Name of the cellular APN. Blank to leave it unchanged. Current APN when sent back as a response.</field>
<field type="char[16]" name="puk">Required PUK code in case the user failed to authenticate 3 times with the PIN. Empty when message is sent back as a response.</field>
<field type="uint8_t" name="roaming">Enable/disable roaming. 0: setting unchanged, 1: disabled, 2: enabled. Current setting when sent back as a response.</field>
<field type="uint8_t" name="response" enum="CELLULAR_CONFIG_RESPONSE">Message acceptance response (sent back to GS).</field>
</message>
<message id="339" name="RAW_RPM">
<wip/>
<!-- This message is work-in-progress it can therefore change, and should NOT be used in stable production environments -->
<description>RPM sensor data message.</description>
<field type="uint8_t" name="index">Index of this RPM sensor (0-indexed)</field>
<field type="float" name="frequency" units="rpm">Indicated rate</field>
</message>
<message id="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>
<field type="uint64_t" name="time" units="us">Time of applicability of position (microseconds since UNIX epoch).</field>
<field type="uint8_t[18]" name="uas_id">Unique UAS ID.</field>
<field type="int32_t" name="lat" units="degE7">Latitude (WGS84)</field>
<field type="int32_t" name="lon" units="degE7">Longitude (WGS84)</field>
<field type="int32_t" name="alt" units="mm">Altitude (WGS84)</field>
<field type="int32_t" name="relative_alt" units="mm">Altitude above ground</field>
<field type="int16_t" name="vx" units="cm/s">Ground X speed (latitude, positive north)</field>
<field type="int16_t" name="vy" units="cm/s">Ground Y speed (longitude, positive east)</field>
<field type="int16_t" name="vz" units="cm/s">Ground Z speed (altitude, positive down)</field>
<field type="uint16_t" name="h_acc" units="mm">Horizontal position uncertainty (standard deviation)</field>
<field type="uint16_t" name="v_acc" units="mm">Altitude uncertainty (standard deviation)</field>
<field type="uint16_t" name="vel_acc" units="cm/s">Speed uncertainty (standard deviation)</field>
<field type="int32_t" name="next_lat" units="degE7">Next waypoint, latitude (WGS84)</field>
<field type="int32_t" name="next_lon" units="degE7">Next waypoint, longitude (WGS84)</field>
<field type="int32_t" name="next_alt" units="mm">Next waypoint, altitude (WGS84)</field>
<field type="uint16_t" name="update_rate" units="cs">Time until next update. Set to 0 if unknown or in data driven mode.</field>
<field type="uint8_t" name="flight_state" enum="UTM_FLIGHT_STATE">Flight state</field>
<field type="uint8_t" name="flags" enum="UTM_DATA_AVAIL_FLAGS" display="bitmask">Bitwise OR combination of the data available flags.</field>
</message>
<message id="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>
<field type="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>
<field type="char[10]" name="name">Name, for human-friendly display in a Ground Control Station</field>
<field type="uint16_t" name="array_id" instance="true">Unique ID used to discriminate between arrays</field>
<extensions/>
<field type="float[58]" name="data">data</field>
</message>
<message id="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>
<field type="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>
<field type="float" name="radius" units="m">Radius of the orbit circle. Positive values orbit clockwise, negative values orbit counter-clockwise.</field>
<field type="uint8_t" name="frame" enum="MAV_FRAME">The coordinate system of the fields: x, y, z.</field>
<field type="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>
<field type="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>
<field type="float" name="z" units="m">Altitude of center point. Coordinate system depends on frame field.</field>
</message>
<!-- Smart battery messages -->
<message id="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 BATTERY_STATUS for smart battery frequent updates.</description>
<field type="uint8_t" name="id" instance="true">Battery ID</field>
<field type="uint8_t" name="battery_function" enum="MAV_BATTERY_FUNCTION">Function of the battery</field>
<field type="uint8_t" name="type" enum="MAV_BATTERY_TYPE">Type (chemistry) of the battery</field>
<field type="int32_t" name="capacity_full_specification" units="mAh">Capacity when full according to manufacturer, -1: field not provided.</field>
<field type="int32_t" name="capacity_full" units="mAh">Capacity when full (accounting for battery degradation), -1: field not provided.</field>
<field type="uint16_t" name="cycle_count">Charge/discharge cycle count. -1: field not provided.</field>
<field type="int32_t" name="serial_number">Serial number. -1: field not provided.</field>
<field type="char[50]" name="device_name">Static device name. Encode as manufacturer and product names separated using an underscore.</field>
<field type="uint16_t" name="weight" units="g">Battery weight. 0: field not provided.</field>
<field type="uint16_t" name="discharge_minimum_voltage" units="mV">Minimum per-cell voltage when discharging. If not supplied set to UINT16_MAX value.</field>
<field type="uint16_t" name="charging_minimum_voltage" units="mV">Minimum per-cell voltage when charging. If not supplied set to UINT16_MAX value.</field>
<field type="uint16_t" name="resting_minimum_voltage" units="mV">Minimum per-cell voltage when resting. If not supplied set to UINT16_MAX value.</field>
</message>
<message id="373" name="GENERATOR_STATUS">
<description>Telemetry of power generation system. Alternator or mechanical generator.</description>
<field type="uint64_t" name="status" display="bitmask" enum="MAV_GENERATOR_STATUS_FLAG">Status flags.</field>
<field type="uint16_t" name="generator_speed" units="rpm">Speed of electrical generator or alternator. UINT16_MAX: field not provided.</field>
<field type="float" name="battery_current" units="A">Current into/out of battery. Positive for out. Negative for in. NaN: field not provided.</field>
<field type="float" name="load_current" units="A">Current going to the UAV. If battery current not available this is the DC current from the generator. Positive for out. Negative for in. NaN: field not provided</field>
<field type="float" name="power_generated" units="W">The power being generated. NaN: field not provided</field>
<field type="float" name="bus_voltage" units="V">Voltage of the bus seen at the generator, or battery bus if battery bus is controlled by generator and at a different voltage to main bus.</field>
<field type="int16_t" name="rectifier_temperature" units="degC">The temperature of the rectifier or power converter. INT16_MAX: field not provided.</field>
<field type="float" name="bat_current_setpoint" units="A">The target battery current. Positive for out. Negative for in. NaN: field not provided</field>
<field type="int16_t" name="generator_temperature" units="degC">The temperature of the mechanical motor, fuel cell core or generator. INT16_MAX: field not provided.</field>
<field type="uint32_t" name="runtime" units="s">Seconds this generator has run since it was rebooted. UINT32_MAX: field not provided.</field>
<field type="int32_t" name="time_until_maintenance" units="s">Seconds until this generator requires maintenance. A negative value indicates maintenance is past-due. INT32_MAX: field not provided.</field>
</message>
<message id="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>
<field type="uint64_t" name="time_usec" units="us">Timestamp (since system boot).</field>
<field type="uint32_t" name="active" display="bitmask">Active outputs</field>
<field type="float[32]" name="actuator">Servo / motor output array values. Zero values indicate unused channels.</field>
</message>
<message id="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>
<field type="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>
<field type="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>
<field type="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>
<field type="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>
<field type="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>
<message id="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>
<field type="uint8_t" name="target_system">System ID (can be 0 for broadcast, but this is discouraged)</field>
<field type="uint8_t" name="target_component">Component ID (can be 0 for broadcast, but this is discouraged)</field>
<field type="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>
<field type="uint8_t" name="payload_length">Length of the data transported in payload</field>
<field type="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>
<message id="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>
<field type="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>
<field type="uint32_t" name="uptime" units="ms">Time since system boot.</field>
<field type="uint8_t" name="type">Type of the onboard computer: 0: Mission computer primary, 1: Mission computer backup 1, 2: Mission computer backup 2, 3: Compute node, 4-5: Compute spares, 6-9: Payload computers.</field>
<field type="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>
<field type="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>
<field type="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>
<field type="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>
<field type="int8_t" name="temperature_board" units="degC">Temperature of the board. A value of INT8_MAX implies the field is unused.</field>
<field type="int8_t[8]" name="temperature_core" units="degC">Temperature of the CPU core. A value of INT8_MAX implies the field is unused.</field>
<field type="int16_t[4]" name="fan_speed" units="rpm">Fan speeds. A value of INT16_MAX implies the field is unused.</field>
<field type="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>
<field type="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>
<field type="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>
<field type="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>
<field type="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>
<field type="uint32_t[6]" name="link_type">Link type: 0-9: UART, 10-19: Wired network, 20-29: Wifi, 30-39: Point-to-point proprietary, 40-49: Mesh proprietary</field>
<field type="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>
<field type="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>
<field type="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>
<field type="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>
<message id="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>
<field type="uint32_t" name="time_boot_ms" units="ms">Timestamp (time since system boot).</field>
<field type="uint32_t" name="metadata_type" enum="COMP_METADATA_TYPE">The type of metadata being requested.</field>
<field type="uint32_t" name="metadata_uid">Unique uid for this metadata which a gcs can use for created cached metadata and understanding whether it's cache it up to date or whether it needs to download new data.</field>
<field type="char[70]" name="metadata_uri">Component definition URI. If prefix mavlinkftp:// file is downloaded from vehicle over mavlink ftp protocol. If prefix http[s]:// file is downloaded over internet. Files are json format. They can end in .gz to indicate file is in gzip format.</field>
<field type="uint32_t" name="translation_uid">Unique uid for the translation file associated with the metadata.</field>
<field type="char[70]" name="translation_uri">The translations for strings within the metadata file. If null the either do not exist or may be included in the metadata file itself. The translations specified here supercede any which may be in the metadata file itself. The uri format is the same as component_metadata_uri . Files are in Json Translation spec format. Empty string indicates no tranlsation file.</field>
</message>
<message id="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. -->
<description>Play vehicle tone/tune (buzzer). Supersedes message PLAY_TUNE.</description>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="uint32_t" name="format" enum="TUNE_FORMAT" display="bitmask">Tune format</field>
<field type="char[248]" name="tune">Tune definition as a NULL-terminated string.</field>
</message>
<message id="401" name="SUPPORTED_TUNES">
<wip/>
<!-- This message is work-in-progress and it can therefore change. It should NOT be used in stable production environments. -->
<description>Tune formats supported by vehicle. This should be emitted as response to MAV_CMD_REQUEST_MESSAGE.</description>
<field type="uint8_t" name="target_system">System ID</field>
<field type="uint8_t" name="target_component">Component ID</field>
<field type="uint32_t" name="format" enum="TUNE_FORMAT" display="bitmask">Bitfield of supported tune formats.</field>
</message>
<!-- Rover specific messages -->
<message id="9000" name="WHEEL_DISTANCE">
<description>Cumulative distance traveled for each reported wheel.</description>
<field type="uint64_t" name="time_usec" units="us">Timestamp (synced to UNIX time or since system boot).</field>
<field type="uint8_t" name="count">Number of wheels reported.</field>
<field type="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>
<message id="9005" name="WINCH_STATUS">
<wip/>
<!-- This message is work-in-progress and it can therefore change, and should NOT be used in stable production environments -->
<description>Winch status.</description>
<field type="uint64_t" name="time_usec" units="us">Timestamp (synced to UNIX time or since system boot).</field>
<field type="float" name="line_length" units="m">Length of line released. NaN if unknown</field>
<field type="float" name="speed" units="m/s">Speed line is being released or retracted. Positive values if being released, negative values if being retracted, NaN if unknown</field>
<field type="float" name="tension" units="kg">Tension on the line. NaN if unknown</field>
<field type="float" name="voltage" units="V">Voltage of the battery supplying the winch. NaN if unknown</field>
<field type="float" name="current" units="A">Current draw from the winch. NaN if unknown</field>
<field type="int16_t" name="temperature" units="degC">Temperature of the motor. INT16_MAX if unknown</field>
<field type="uint32_t" name="status" display="bitmask" enum="MAV_WINCH_STATUS_FLAG">Status flags</field>
</message>
<message id="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. These messages are compatible with the ASTM Remote ID standard at https://www.astm.org/Standards/F3411.htm and the ASD-STAN Direct Remote ID standard. The usage of these messages is documented at https://mavlink.io/en/services/opendroneid.html.</description>
<field type="uint8_t" name="target_system">System ID (0 for broadcast).</field>
<field type="uint8_t" name="target_component">Component ID (0 for broadcast).</field>
<field type="uint8_t[20]" name="id_or_mac">Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html. </field>
<field type="uint8_t" name="id_type" enum="MAV_ODID_ID_TYPE">Indicates the format for the uas_id field of this message.</field>
<field type="uint8_t" name="ua_type" enum="MAV_ODID_UA_TYPE">Indicates the type of UA (Unmanned Aircraft).</field>
<field type="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>
<message id="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>
<field type="uint8_t" name="target_system">System ID (0 for broadcast).</field>
<field type="uint8_t" name="target_component">Component ID (0 for broadcast).</field>
<field type="uint8_t[20]" name="id_or_mac">Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html. </field>
<field type="uint8_t" name="status" enum="MAV_ODID_STATUS">Indicates whether the unmanned aircraft is on the ground or in the air.</field>
<field type="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>
<field type="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>
<field type="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>
<field type="int32_t" name="latitude" units="degE7">Current latitude of the unmanned aircraft. If unknown: 0 (both Lat/Lon).</field>
<field type="int32_t" name="longitude" units="degE7">Current longitude of the unmanned aircraft. If unknown: 0 (both Lat/Lon).</field>
<field type="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>
<field type="float" name="altitude_geodetic" units="m">The geodetic altitude as defined by WGS84. If unknown: -1000 m.</field>
<field type="uint8_t" name="height_reference" enum="MAV_ODID_HEIGHT_REF">Indicates the reference point for the height field.</field>
<field type="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>
<field type="uint8_t" name="horizontal_accuracy" enum="MAV_ODID_HOR_ACC">The accuracy of the horizontal position.</field>
<field type="uint8_t" name="vertical_accuracy" enum="MAV_ODID_VER_ACC">The accuracy of the vertical position.</field>
<field type="uint8_t" name="barometer_accuracy" enum="MAV_ODID_VER_ACC">The accuracy of the barometric altitude.</field>
<field type="uint8_t" name="speed_accuracy" enum="MAV_ODID_SPEED_ACC">The accuracy of the horizontal and vertical speed.</field>
<field type="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>
<field type="uint8_t" name="timestamp_accuracy" enum="MAV_ODID_TIME_ACC">The accuracy of the timestamps.</field>
</message>
<message id="12902" name="OPEN_DRONE_ID_AUTHENTICATION">
<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 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>
<field type="uint8_t" name="target_system">System ID (0 for broadcast).</field>
<field type="uint8_t" name="target_component">Component ID (0 for broadcast).</field>
<field type="uint8_t[20]" name="id_or_mac">Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html. </field>
<field type="uint8_t" name="authentication_type" enum="MAV_ODID_AUTH_TYPE">Indicates the type of authentication.</field>
<field type="uint8_t" name="data_page">Allowed range is 0 - 4.</field>
<field type="uint8_t" name="page_count">This field is only present for page 0. Allowed range is 0 - 5.</field>
<field type="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>
<field type="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>
<field type="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>
<message id="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>
<field type="uint8_t" name="target_system">System ID (0 for broadcast).</field>
<field type="uint8_t" name="target_component">Component ID (0 for broadcast).</field>
<field type="uint8_t[20]" name="id_or_mac">Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html. </field>
<field type="uint8_t" name="description_type" enum="MAV_ODID_DESC_TYPE">Indicates the type of the description field.</field>
<field type="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>
<message id="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>
<field type="uint8_t" name="target_system">System ID (0 for broadcast).</field>
<field type="uint8_t" name="target_component">Component ID (0 for broadcast).</field>
<field type="uint8_t[20]" name="id_or_mac">Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html. </field>
<field type="uint8_t" name="operator_location_type" enum="MAV_ODID_OPERATOR_LOCATION_TYPE">Specifies the operator location type.</field>
<field type="uint8_t" name="classification_type" enum="MAV_ODID_CLASSIFICATION_TYPE">Specifies the classification type of the UA.</field>
<field type="int32_t" name="operator_latitude" units="degE7">Latitude of the operator. If unknown: 0 (both Lat/Lon).</field>
<field type="int32_t" name="operator_longitude" units="degE7">Longitude of the operator. If unknown: 0 (both Lat/Lon).</field>
<field type="uint16_t" name="area_count">Number of aircraft in the area, group or formation (default 1).</field>
<field type="uint16_t" name="area_radius" units="m">Radius of the cylindrical area of the group or formation (default 0).</field>
<field type="float" name="area_ceiling" units="m">Area Operations Ceiling relative to WGS84. If unknown: -1000 m.</field>
<field type="float" name="area_floor" units="m">Area Operations Floor relative to WGS84. If unknown: -1000 m.</field>
<field type="uint8_t" name="category_eu" enum="MAV_ODID_CATEGORY_EU">When classification_type is MAV_ODID_CLASSIFICATION_TYPE_EU, specifies the category of the UA.</field>
<field type="uint8_t" name="class_eu" enum="MAV_ODID_CLASS_EU">When classification_type is MAV_ODID_CLASSIFICATION_TYPE_EU, specifies the class of the UA.</field>
</message>
<message id="12905" name="OPEN_DRONE_ID_OPERATOR_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 Operator ID message, which contains the CAA (Civil Aviation Authority) issued operator ID.</description>
<field type="uint8_t" name="target_system">System ID (0 for broadcast).</field>
<field type="uint8_t" name="target_component">Component ID (0 for broadcast).</field>
<field type="uint8_t[20]" name="id_or_mac">Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html. </field>
<field type="uint8_t" name="operator_id_type" enum="MAV_ODID_OPERATOR_ID_TYPE">Indicates the type of the operator_id field.</field>
<field type="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. -->
<message id="12915" name="OPEN_DRONE_ID_MESSAGE_PACK">
<wip/>
<!-- 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>
<field type="uint8_t" name="target_system">System ID (0 for broadcast).</field>
<field type="uint8_t" name="target_component">Component ID (0 for broadcast).</field>
<field type="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>
<field type="uint8_t" name="msg_pack_size">Number of encoded messages in the pack (not the number of bytes). Allowed range is 1 - 10.</field>
<field type="uint8_t[250]" name="messages">Concatenation of encoded OpenDroneID messages. Shall be filled with nulls in the unused portion of the field.</field>
</message>
</messages>
</mavlink>