diff --git a/MAVProxy/modules/mavproxy_chat/assistant_setup/ardupilotmega.xml b/MAVProxy/modules/mavproxy_chat/assistant_setup/ardupilotmega.xml
new file mode 100644
index 0000000000..be538df89e
--- /dev/null
+++ b/MAVProxy/modules/mavproxy_chat/assistant_setup/ardupilotmega.xml
@@ -0,0 +1,1874 @@
+
+
+ common.xml
+
+ uAvionix.xml
+ icarous.xml
+ loweheiser.xml
+ cubepilot.xml
+ csAirLink.xml
+ 2
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Set the distance to be repeated on mission resume
+ Distance.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+
+
+ Control attached liquid sprayer
+ 0: disable sprayer. 1: enable sprayer.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+
+
+ Pass instructions onto scripting, a script should be checking for a new command
+ uint16 ID value to be passed to scripting
+ float value to be passed to scripting
+ float value to be passed to scripting
+ float value to be passed to scripting
+ Empty.
+ Empty.
+ Empty.
+
+
+ Execute auxiliary function
+ Auxiliary Function.
+ Switch Level.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+
+
+ Mission command to wait for an altitude or downwards vertical speed. This is meant for high altitude balloon launches, allowing the aircraft to be idle until either an altitude is reached or a negative vertical speed is reached (indicating early balloon burst). The wiggle time is how often to wiggle the control surfaces to prevent them seizing up.
+ Altitude.
+ Descent speed.
+ How long to wiggle the control surfaces to prevent them seizing up.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+
+
+ A system wide power-off event has been initiated.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+
+
+
+ FLY button has been clicked.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+
+
+ FLY button has been held for 1.5 seconds.
+ Takeoff altitude.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+
+
+ PAUSE button has been clicked.
+ 1 if Solo is in a shot mode, 0 otherwise.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+
+
+ Magnetometer calibration based on fixed position
+ in earth field given by inclination, declination and intensity.
+ Magnetic declination.
+ Magnetic inclination.
+ Magnetic intensity.
+ Yaw.
+ Empty.
+ Empty.
+ Empty.
+
+
+ Magnetometer calibration based on fixed expected field values.
+ Field strength X.
+ Field strength Y.
+ Field strength Z.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+
+
+
+ Set EKF sensor source set.
+ Source Set Id.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+
+
+ Initiate a magnetometer calibration.
+ Bitmask of magnetometers to calibrate. Use 0 to calibrate all sensors that can be started (sensors may not start if disabled, unhealthy, etc.). The command will NACK if calibration does not start for a sensor explicitly specified by the bitmask.
+ Automatically retry on failure (0=no retry, 1=retry).
+ Save without user input (0=require input, 1=autosave).
+ Delay.
+ Autoreboot (0=user reboot, 1=autoreboot).
+ Empty.
+ Empty.
+
+
+ Accept a magnetometer calibration.
+ Bitmask of magnetometers that calibration is accepted (0 means all).
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+
+
+ Cancel a running magnetometer calibration.
+ Bitmask of magnetometers to cancel a running calibration (0 means all).
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+
+
+ Used when doing accelerometer calibration. When sent to the GCS tells it what position to put the vehicle in. When sent to the vehicle says what position the vehicle is in.
+ Position.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+
+
+ Reply with the version banner.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+
+
+ Command autopilot to get into factory test/diagnostic mode.
+ 0: activate test mode, 1: exit test mode.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+
+
+ Causes the gimbal to reset and boot as if it was just powered on.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+
+
+ Reports progress and success or failure of gimbal axis calibration procedure.
+ Gimbal axis we're reporting calibration progress for.
+ Current calibration progress for this axis.
+ Status of the calibration.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+
+
+ Starts commutation calibration on the gimbal.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+
+
+ Erases gimbal application and parameters.
+ Magic number.
+ Magic number.
+ Magic number.
+ Magic number.
+ Magic number.
+ Magic number.
+ Magic number.
+
+
+
+ Update the bootloader
+ Empty
+ Empty
+ Empty
+ Empty
+ Magic number - set to 290876 to actually flash
+ Empty
+ Empty
+
+
+ Reset battery capacity for batteries that accumulate consumed battery via integration.
+ Bitmask of batteries to reset. Least significant bit is for the first battery.
+ Battery percentage remaining to set.
+
+
+ Issue a trap signal to the autopilot process, presumably to enter the debugger.
+ Magic number - set to 32451 to actually trap.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+
+
+ Control onboard scripting.
+ Scripting command to execute
+
+
+ Scripting command as NAV command with wait for completion.
+ integer command number (0 to 255)
+ timeout for operation in seconds. Zero means no timeout (0 to 255)
+ argument1.
+ argument2.
+ argument3.
+ argument4.
+ Empty
+
+
+ Maintain an attitude for a specified time.
+ Time to maintain specified attitude and climb rate
+ Roll angle in degrees (positive is lean right, negative is lean left)
+ Pitch angle in degrees (positive is lean back, negative is lean forward)
+ Yaw angle
+ Climb rate
+ Empty
+ Empty
+
+
+ Change flight speed at a given rate. This slews the vehicle at a controllable rate between it's previous speed and the new one. (affects GUIDED only. Outside GUIDED, aircraft ignores these commands. Designed for onboard companion-computer command-and-control, not normally operator/GCS control.)
+ Airspeed or groundspeed.
+ Target Speed
+ Acceleration rate, 0 to take effect instantly
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+ Change target altitude at a given rate. This slews the vehicle at a controllable rate between it's previous altitude and the new one. (affects GUIDED only. Outside GUIDED, aircraft ignores these commands. Designed for onboard companion-computer command-and-control, not normally operator/GCS control.)
+ Empty
+ Empty
+ Rate of change, toward new altitude. 0 for maximum rate change. Positive numbers only, as negative numbers will not converge on the new target alt.
+ Empty
+ Empty
+ Empty
+ Target Altitude
+
+
+ Change to target heading at a given rate, overriding previous heading/s. This slews the vehicle at a controllable rate between it's previous heading and the new one. (affects GUIDED only. Exiting GUIDED returns aircraft to normal behaviour defined elsewhere. Designed for onboard companion-computer command-and-control, not normally operator/GCS control.)
+ course-over-ground or raw vehicle heading.
+ Target heading.
+ Maximum centripetal accelearation, ie rate of change, toward new heading.
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+ Provide an external position estimate for use when dead-reckoning. This is meant to be used for occasional position resets that may be provided by a external system such as a remote pilot using landmarks over a video link.
+ Timestamp that this message was sent as a time in the transmitters time domain. The sender should wrap this time back to zero based on required timing accuracy for the application and the limitations of a 32 bit float. For example, wrapping at 10 hours would give approximately 1ms accuracy. Recipient must handle time wrap in any timing jitter correction applied to this field. Wrap rollover time should not be at not more than 250 seconds, which would give approximately 10 microsecond accuracy.
+ The time spent in processing the sensor data that is the basis for this position. The recipient can use this to improve time alignment of the data. Set to zero if not known.
+ estimated one standard deviation accuracy of the measurement. Set to NaN if not known.
+ Empty
+ Latitude
+ Longitude
+ Altitude, not used. Should be sent as NaN. May be supported in a future version of this message.
+
+
+
+
+ Start a REPL session.
+
+
+ End a REPL session.
+
+
+ Stop execution of scripts.
+
+
+ Stop execution of scripts and restart.
+
+
+
+
+ Get an 8 byte session key which is used for remote secure updates which operate on flight controller data such as bootloader public keys. Return data will be 8 bytes on success. The session key remains valid until either the flight controller reboots or another SECURE_COMMAND_GET_SESSION_KEY is run.
+
+
+ Get an 8 byte session key which is used for remote secure updates which operate on RemoteID module data. Return data will be 8 bytes on success. The session key remains valid until either the remote ID module reboots or another SECURE_COMMAND_GET_REMOTEID_SESSION_KEY is run.
+
+
+ Remove range of public keys from the bootloader. Command data consists of two bytes, first byte if index of first public key to remove. Second byte is the number of keys to remove. If all keys are removed then secure boot is disabled and insecure firmware can be loaded.
+
+
+ Get current public keys from the bootloader. Command data consists of two bytes, first byte is index of first public key to fetch, 2nd byte is number of keys to fetch. Total data needs to fit in data portion of reply (max 6 keys for 32 byte keys). Reply data has the index of the first key in the first byte, followed by the keys. Returned keys may be less than the number of keys requested if there are less keys installed than requested.
+
+
+ Set current public keys in the bootloader. Data consists of a one byte public key index followed by the public keys. With 32 byte keys this allows for up to 6 keys to be set in one request. Keys outside of the range that is being set will remain unchanged.
+
+
+ Get config data for remote ID module. This command should be sent to the component ID of the flight controller which will forward it to the RemoteID module either over mavlink or DroneCAN. Data format is specific to the RemoteID implementation, see RemoteID firmware documentation for details.
+
+
+ Set config data for remote ID module. This command should be sent to the component ID of the flight controller which will forward it to the RemoteID module either over mavlink or DroneCAN. Data format is specific to the RemoteID implementation, see RemoteID firmware documentation for details.
+
+
+ Flash bootloader from local storage. Data is the filename to use for the bootloader. This is intended to be used with MAVFtp to upload a new bootloader to a microSD before flashing.
+
+
+
+
+
+ Pre-initialization.
+
+
+ Disabled.
+
+
+ Checking limits.
+
+
+ A limit has been breached.
+
+
+ Taking action e.g. Return/RTL.
+
+
+ We're no longer in breach of a limit.
+
+
+
+
+
+ Pre-initialization.
+
+
+ Disabled.
+
+
+ Checking limits.
+
+
+
+
+ Flags in RALLY_POINT message.
+
+ Flag set when requiring favorable winds for landing.
+
+
+ Flag set when plane is to immediately descend to break altitude and land without GCS intervention. Flag not set when plane is to loiter at Rally point until commanded to land.
+
+
+
+
+
+ Camera heartbeat, announce camera component ID at 1Hz.
+
+
+ Camera image triggered.
+
+
+ Camera connection lost.
+
+
+ Camera unknown error.
+
+
+ Camera battery low. Parameter p1 shows reported voltage.
+
+
+ Camera storage low. Parameter p1 shows reported shots remaining.
+
+
+ Camera storage low. Parameter p1 shows reported video minutes remaining.
+
+
+
+
+
+ Shooting photos, not video.
+
+
+ Shooting video, not stills.
+
+
+ Unable to achieve requested exposure (e.g. shutter speed too low).
+
+
+ Closed loop feedback from camera, we know for sure it has successfully taken a picture.
+
+
+ Open loop camera, an image trigger has been requested but we can't know for sure it has successfully taken a picture.
+
+
+
+
+
+ Gimbal is powered on but has not started initializing yet.
+
+
+ Gimbal is currently running calibration on the pitch axis.
+
+
+ Gimbal is currently running calibration on the roll axis.
+
+
+ Gimbal is currently running calibration on the yaw axis.
+
+
+ Gimbal has finished calibrating and initializing, but is relaxed pending reception of first rate command from copter.
+
+
+ Gimbal is actively stabilizing.
+
+
+ Gimbal is relaxed because it missed more than 10 expected rate command messages in a row. Gimbal will move back to active mode when it receives a new rate command.
+
+
+
+
+ Gimbal yaw axis.
+
+
+ Gimbal pitch axis.
+
+
+ Gimbal roll axis.
+
+
+
+
+ Axis calibration is in progress.
+
+
+ Axis calibration succeeded.
+
+
+ Axis calibration failed.
+
+
+
+
+ Whether or not this axis requires calibration is unknown at this time.
+
+
+ This axis requires calibration.
+
+
+ This axis does not require calibration.
+
+
+
+
+
+ No GoPro connected.
+
+
+ The detected GoPro is not HeroBus compatible.
+
+
+ A HeroBus compatible GoPro is connected.
+
+
+ An unrecoverable error was encountered with the connected GoPro, it may require a power cycle.
+
+
+
+
+
+ GoPro is currently recording.
+
+
+
+
+ The write message with ID indicated succeeded.
+
+
+ The write message with ID indicated failed.
+
+
+
+
+ (Get/Set).
+
+
+ (Get/Set).
+
+
+ (___/Set).
+
+
+ (Get/___).
+
+
+ (Get/___).
+
+
+ (Get/Set).
+
+
+
+ (Get/Set).
+
+
+ (Get/Set).
+
+
+ (Get/Set).
+
+
+ (Get/Set).
+
+
+ (Get/Set) Hero 3+ Only.
+
+
+ (Get/Set) Hero 3+ Only.
+
+
+ (Get/Set) Hero 3+ Only.
+
+
+ (Get/Set) Hero 3+ Only.
+
+
+ (Get/Set) Hero 3+ Only.
+
+
+ (Get/Set).
+
+
+
+ (Get/Set).
+
+
+
+
+ Video mode.
+
+
+ Photo mode.
+
+
+ Burst mode, Hero 3+ only.
+
+
+ Time lapse mode, Hero 3+ only.
+
+
+ Multi shot mode, Hero 4 only.
+
+
+ Playback mode, Hero 4 only, silver only except when LCD or HDMI is connected to black.
+
+
+ Playback mode, Hero 4 only.
+
+
+ Mode not yet known.
+
+
+
+
+ 848 x 480 (480p).
+
+
+ 1280 x 720 (720p).
+
+
+ 1280 x 960 (960p).
+
+
+ 1920 x 1080 (1080p).
+
+
+ 1920 x 1440 (1440p).
+
+
+ 2704 x 1440 (2.7k-17:9).
+
+
+ 2704 x 1524 (2.7k-16:9).
+
+
+ 2704 x 2028 (2.7k-4:3).
+
+
+ 3840 x 2160 (4k-16:9).
+
+
+ 4096 x 2160 (4k-17:9).
+
+
+ 1280 x 720 (720p-SuperView).
+
+
+ 1920 x 1080 (1080p-SuperView).
+
+
+ 2704 x 1520 (2.7k-SuperView).
+
+
+ 3840 x 2160 (4k-SuperView).
+
+
+
+
+ 12 FPS.
+
+
+ 15 FPS.
+
+
+ 24 FPS.
+
+
+ 25 FPS.
+
+
+ 30 FPS.
+
+
+ 48 FPS.
+
+
+ 50 FPS.
+
+
+ 60 FPS.
+
+
+ 80 FPS.
+
+
+ 90 FPS.
+
+
+ 100 FPS.
+
+
+ 120 FPS.
+
+
+ 240 FPS.
+
+
+ 12.5 FPS.
+
+
+
+
+ 0x00: Wide.
+
+
+ 0x01: Medium.
+
+
+ 0x02: Narrow.
+
+
+
+
+ 0=NTSC, 1=PAL.
+
+
+
+
+ 5MP Medium.
+
+
+ 7MP Medium.
+
+
+ 7MP Wide.
+
+
+ 10MP Wide.
+
+
+ 12MP Wide.
+
+
+
+
+ Auto.
+
+
+ 3000K.
+
+
+ 5500K.
+
+
+ 6500K.
+
+
+ Camera Raw.
+
+
+
+
+ Auto.
+
+
+ Neutral.
+
+
+
+
+ ISO 400.
+
+
+ ISO 800 (Only Hero 4).
+
+
+ ISO 1600.
+
+
+ ISO 3200 (Only Hero 4).
+
+
+ ISO 6400.
+
+
+
+
+ Low Sharpness.
+
+
+ Medium Sharpness.
+
+
+ High Sharpness.
+
+
+
+
+ -5.0 EV (Hero 3+ Only).
+
+
+ -4.5 EV (Hero 3+ Only).
+
+
+ -4.0 EV (Hero 3+ Only).
+
+
+ -3.5 EV (Hero 3+ Only).
+
+
+ -3.0 EV (Hero 3+ Only).
+
+
+ -2.5 EV (Hero 3+ Only).
+
+
+ -2.0 EV.
+
+
+ -1.5 EV.
+
+
+ -1.0 EV.
+
+
+ -0.5 EV.
+
+
+ 0.0 EV.
+
+
+ +0.5 EV.
+
+
+ +1.0 EV.
+
+
+ +1.5 EV.
+
+
+ +2.0 EV.
+
+
+ +2.5 EV (Hero 3+ Only).
+
+
+ +3.0 EV (Hero 3+ Only).
+
+
+ +3.5 EV (Hero 3+ Only).
+
+
+ +4.0 EV (Hero 3+ Only).
+
+
+ +4.5 EV (Hero 3+ Only).
+
+
+ +5.0 EV (Hero 3+ Only).
+
+
+
+
+ Charging disabled.
+
+
+ Charging enabled.
+
+
+
+
+ Unknown gopro model.
+
+
+ Hero 3+ Silver (HeroBus not supported by GoPro).
+
+
+ Hero 3+ Black.
+
+
+ Hero 4 Silver.
+
+
+ Hero 4 Black.
+
+
+
+
+ 3 Shots / 1 Second.
+
+
+ 5 Shots / 1 Second.
+
+
+ 10 Shots / 1 Second.
+
+
+ 10 Shots / 2 Second.
+
+
+ 10 Shots / 3 Second (Hero 4 Only).
+
+
+ 30 Shots / 1 Second.
+
+
+ 30 Shots / 2 Second.
+
+
+ 30 Shots / 3 Second.
+
+
+ 30 Shots / 6 Second.
+
+
+
+
+ Switch Low.
+
+
+ Switch Middle.
+
+
+ Switch High.
+
+
+
+
+
+ LED patterns off (return control to regular vehicle control).
+
+
+ LEDs show pattern during firmware update.
+
+
+ Custom Pattern using custom bytes fields.
+
+
+
+
+ Flags in EKF_STATUS message.
+
+ Set if EKF's attitude estimate is good.
+
+
+ Set if EKF's horizontal velocity estimate is good.
+
+
+ Set if EKF's vertical velocity estimate is good.
+
+
+ Set if EKF's horizontal position (relative) estimate is good.
+
+
+ Set if EKF's horizontal position (absolute) estimate is good.
+
+
+ Set if EKF's vertical position (absolute) estimate is good.
+
+
+ Set if EKF's vertical position (above ground) estimate is good.
+
+
+ EKF is in constant position mode and does not know it's absolute or relative position.
+
+
+ Set if EKF's predicted horizontal position (relative) estimate is good.
+
+
+ Set if EKF's predicted horizontal position (absolute) estimate is good.
+
+
+ Set if EKF has never been healthy.
+
+
+
+
+
+
+
+
+
+
+
+ Special ACK block numbers control activation of dataflash log streaming.
+
+
+
+ UAV to stop sending DataFlash blocks.
+
+
+
+ UAV to start sending DataFlash blocks.
+
+
+
+
+ Possible remote log data block statuses.
+
+ This block has NOT been received.
+
+
+ This block has been received.
+
+
+
+ Bus types for device operations.
+
+ I2C Device operation.
+
+
+ SPI Device operation.
+
+
+
+ Deepstall flight stage.
+
+ Flying to the landing point.
+
+
+ Building an estimate of the wind.
+
+
+ Waiting to breakout of the loiter to fly the approach.
+
+
+ Flying to the first arc point to turn around to the landing point.
+
+
+ Turning around back to the deepstall landing point.
+
+
+ Approaching the landing point.
+
+
+ Stalling and steering towards the land point.
+
+
+
+ A mapping of plane flight modes for custom_mode field of heartbeat.
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ A mapping of copter flight modes for custom_mode field of heartbeat.
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ A mapping of sub flight modes for custom_mode field of heartbeat.
+
+
+
+
+
+
+
+
+
+
+
+ A mapping of rover flight modes for custom_mode field of heartbeat.
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ A mapping of antenna tracker flight modes for custom_mode field of heartbeat.
+
+
+
+
+
+
+
+
+ The type of parameter for the OSD parameter editor.
+
+
+
+
+
+
+
+
+
+
+
+ The error type for the OSD parameter editor.
+
+
+
+
+
+
+
+
+
+ Offsets and calibrations values for hardware sensors. This makes it easier to debug the calibration process.
+ Magnetometer X offset.
+ Magnetometer Y offset.
+ Magnetometer Z offset.
+ Magnetic declination.
+ Raw pressure from barometer.
+ Raw temperature from barometer.
+ Gyro X calibration.
+ Gyro Y calibration.
+ Gyro Z calibration.
+ Accel X calibration.
+ Accel Y calibration.
+ Accel Z calibration.
+
+
+
+ Set the magnetometer offsets
+ System ID.
+ Component ID.
+ Magnetometer X offset.
+ Magnetometer Y offset.
+ Magnetometer Z offset.
+
+
+ State of autopilot RAM.
+ Heap top.
+ Free memory.
+
+ Free memory (32 bit).
+
+
+ Raw ADC output.
+ ADC output 1.
+ ADC output 2.
+ ADC output 3.
+ ADC output 4.
+ ADC output 5.
+ ADC output 6.
+
+
+
+ Configure on-board Camera Control System.
+ System ID.
+ Component ID.
+ Mode enumeration from 1 to N //P, TV, AV, M, etc. (0 means ignore).
+ Divisor number //e.g. 1000 means 1/1000 (0 means ignore).
+ F stop number x 10 //e.g. 28 means 2.8 (0 means ignore).
+ ISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore).
+ Exposure type enumeration from 1 to N (0 means ignore).
+ Command Identity (incremental loop: 0 to 255). //A command sent multiple times will be executed or pooled just once.
+ Main engine cut-off time before camera trigger (0 means no cut-off).
+ Extra parameters enumeration (0 means ignore).
+ Correspondent value to given extra_param.
+
+
+ Control on-board Camera Control System to take shots.
+ System ID.
+ Component ID.
+ 0: stop, 1: start or keep it up //Session control e.g. show/hide lens.
+ 1 to N //Zoom's absolute position (0 means ignore).
+ -100 to 100 //Zooming step value to offset zoom from the current position.
+ 0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus.
+ 0: ignore, 1: shot or start filming.
+ Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once.
+ Extra parameters enumeration (0 means ignore).
+ Correspondent value to given extra_param.
+
+
+
+ Message to configure a camera mount, directional antenna, etc.
+ System ID.
+ Component ID.
+ Mount operating mode.
+ (1 = yes, 0 = no).
+ (1 = yes, 0 = no).
+ (1 = yes, 0 = no).
+
+
+ Message to control a camera mount, directional antenna, etc.
+ System ID.
+ Component ID.
+ Pitch (centi-degrees) or lat (degE7), depending on mount mode.
+ Roll (centi-degrees) or lon (degE7) depending on mount mode.
+ Yaw (centi-degrees) or alt (cm) depending on mount mode.
+ If "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING).
+
+
+ Message with some status from autopilot to GCS about camera or antenna mount.
+ System ID.
+ Component ID.
+ Pitch.
+ Roll.
+ Yaw.
+
+ Mount operating mode.
+
+
+
+ A fence point. Used to set a point when from GCS -> MAV. Also used to return a point from MAV -> GCS.
+ System ID.
+ Component ID.
+ Point index (first point is 1, 0 is for return point).
+ Total number of points (for sanity checking).
+ Latitude of point.
+ Longitude of point.
+
+
+ Request a current fence point from MAV.
+ System ID.
+ Component ID.
+ Point index (first point is 1, 0 is for return point).
+
+
+ Status of DCM attitude estimator.
+ X gyro drift estimate.
+ Y gyro drift estimate.
+ Z gyro drift estimate.
+ Average accel_weight.
+ Average renormalisation value.
+ Average error_roll_pitch value.
+ Average error_yaw value.
+
+
+ Status of simulation environment, if used.
+ Roll angle.
+ Pitch angle.
+ Yaw angle.
+ X acceleration.
+ Y acceleration.
+ Z acceleration.
+ Angular speed around X axis.
+ Angular speed around Y axis.
+ Angular speed around Z axis.
+ Latitude.
+ Longitude.
+
+
+ Status of key hardware.
+ Board voltage.
+ I2C error count.
+
+
+ Status generated by radio.
+ Local signal strength.
+ Remote signal strength.
+ How full the tx buffer is.
+ Background noise level.
+ Remote background noise level.
+ Receive errors.
+ Count of error corrected packets.
+
+
+
+ Status of AP_Limits. Sent in extended status stream when AP_Limits is enabled.
+ State of AP_Limits.
+ Time (since boot) of last breach.
+ Time (since boot) of last recovery action.
+ Time (since boot) of last successful recovery.
+ Time (since boot) of last all-clear.
+ Number of fence breaches.
+ AP_Limit_Module bitfield of enabled modules.
+ AP_Limit_Module bitfield of required modules.
+ AP_Limit_Module bitfield of triggered modules.
+
+
+ Wind estimation.
+ Wind direction (that wind is coming from).
+ Wind speed in ground plane.
+ Vertical wind speed.
+
+
+ Data packet, size 16.
+ Data type.
+ Data length.
+ Raw data.
+
+
+ Data packet, size 32.
+ Data type.
+ Data length.
+ Raw data.
+
+
+ Data packet, size 64.
+ Data type.
+ Data length.
+ Raw data.
+
+
+ Data packet, size 96.
+ Data type.
+ Data length.
+ Raw data.
+
+
+ Rangefinder reporting.
+ Distance.
+ Raw voltage if available, zero otherwise.
+
+
+ Airspeed auto-calibration.
+ GPS velocity north.
+ GPS velocity east.
+ GPS velocity down.
+ Differential pressure.
+ Estimated to true airspeed ratio.
+ Airspeed ratio.
+ EKF state x.
+ EKF state y.
+ EKF state z.
+ EKF Pax.
+ EKF Pby.
+ EKF Pcz.
+
+
+
+ A rally point. Used to set a point when from GCS -> MAV. Also used to return a point from MAV -> GCS.
+ System ID.
+ Component ID.
+ Point index (first point is 0).
+ Total number of points (for sanity checking).
+ Latitude of point.
+ Longitude of point.
+ Transit / loiter altitude relative to home.
+
+ Break altitude relative to home.
+ Heading to aim for when landing.
+ Configuration flags.
+
+
+ Request a current rally point from MAV. MAV should respond with a RALLY_POINT message. MAV should not respond if the request is invalid.
+ System ID.
+ Component ID.
+ Point index (first point is 0).
+
+
+ Status of compassmot calibration.
+ Throttle.
+ Current.
+ Interference.
+ Motor Compensation X.
+ Motor Compensation Y.
+ Motor Compensation Z.
+
+
+ Status of secondary AHRS filter if available.
+ Roll angle.
+ Pitch angle.
+ Yaw angle.
+ Altitude (MSL).
+ Latitude.
+ Longitude.
+
+
+
+ Camera Event.
+ Image timestamp (since UNIX epoch, according to camera clock).
+ System ID.
+
+ Camera ID.
+
+ Image index.
+
+ Event type.
+ Parameter 1 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).
+ Parameter 2 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).
+ Parameter 3 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).
+ Parameter 4 (meaning depends on event_id, see CAMERA_STATUS_TYPES enum).
+
+
+
+ Camera Capture Feedback.
+ Image timestamp (since UNIX epoch), as passed in by CAMERA_STATUS message (or autopilot if no CCB).
+ System ID.
+
+ Camera ID.
+
+ Image index.
+
+ Latitude.
+ Longitude.
+ Altitude (MSL).
+ Altitude (Relative to HOME location).
+ Camera Roll angle (earth frame, +-180).
+
+ Camera Pitch angle (earth frame, +-180).
+
+ Camera Yaw (earth frame, 0-360, true).
+
+ Focal Length.
+
+ Feedback flags.
+
+
+ Completed image captures.
+
+
+
+ 2nd Battery status
+ Voltage.
+ Battery current, -1: autopilot does not measure the current.
+
+
+ Status of third AHRS filter if available. This is for ANU research group (Ali and Sean).
+ Roll angle.
+ Pitch angle.
+ Yaw angle.
+ Altitude (MSL).
+ Latitude.
+ Longitude.
+ Test variable1.
+ Test variable2.
+ Test variable3.
+ Test variable4.
+
+
+ Request the autopilot version from the system/component.
+ System ID.
+ Component ID.
+
+
+
+ Send a block of log data to remote location.
+ System ID.
+ Component ID.
+ Log data block sequence number.
+ Log data block.
+
+
+ Send Status of each log block that autopilot board might have sent.
+ System ID.
+ Component ID.
+ Log data block sequence number.
+ Log data block status.
+
+
+ Control vehicle LEDs.
+ System ID.
+ Component ID.
+ Instance (LED instance to control or 255 for all LEDs).
+ Pattern (see LED_PATTERN_ENUM).
+ Custom Byte Length.
+ Custom Bytes.
+
+
+ Reports progress of compass calibration.
+ Compass being calibrated.
+ Bitmask of compasses being calibrated.
+ Calibration Status.
+ Attempt number.
+ Completion percentage.
+ Bitmask of sphere sections (see http://en.wikipedia.org/wiki/Geodesic_grid).
+ Body frame direction vector for display.
+ Body frame direction vector for display.
+ Body frame direction vector for display.
+
+
+
+
+ EKF Status message including flags and variances.
+ Flags.
+
+ Velocity variance.
+
+ Horizontal Position variance.
+ Vertical Position variance.
+ Compass variance.
+ Terrain Altitude variance.
+
+ Airspeed variance.
+
+
+
+ PID tuning information.
+ Axis.
+ Desired rate.
+ Achieved rate.
+ FF component.
+ P component.
+ I component.
+ D component.
+
+ Slew rate.
+ P/D oscillation modifier.
+
+
+ Deepstall path planning.
+ Landing latitude.
+ Landing longitude.
+ Final heading start point, latitude.
+ Final heading start point, longitude.
+ Arc entry point, latitude.
+ Arc entry point, longitude.
+ Altitude.
+ Distance the aircraft expects to travel during the deepstall.
+ Deepstall cross track error (only valid when in DEEPSTALL_STAGE_LAND).
+ Deepstall stage.
+
+
+ 3 axis gimbal measurements.
+ System ID.
+ Component ID.
+ Time since last update.
+ Delta angle X.
+ Delta angle Y.
+ Delta angle X.
+ Delta velocity X.
+ Delta velocity Y.
+ Delta velocity Z.
+ Joint ROLL.
+ Joint EL.
+ Joint AZ.
+
+
+ Control message for rate gimbal.
+ System ID.
+ Component ID.
+ Demanded angular rate X.
+ Demanded angular rate Y.
+ Demanded angular rate Z.
+
+
+ 100 Hz gimbal torque command telemetry.
+ System ID.
+ Component ID.
+ Roll Torque Command.
+ Elevation Torque Command.
+ Azimuth Torque Command.
+
+
+
+ Heartbeat from a HeroBus attached GoPro.
+ Status.
+ Current capture mode.
+ Additional status bits.
+
+
+
+ Request a GOPRO_COMMAND response from the GoPro.
+ System ID.
+ Component ID.
+ Command ID.
+
+
+ Response from a GOPRO_COMMAND get request.
+ Command ID.
+ Status.
+ Value.
+
+
+ Request to set a GOPRO_COMMAND with a desired.
+ System ID.
+ Component ID.
+ Command ID.
+ Value.
+
+
+ Response from a GOPRO_COMMAND set request.
+ Command ID.
+ Status.
+
+
+
+
+ RPM sensor output.
+ RPM Sensor1.
+ RPM Sensor2.
+
+
+
+ Read registers for a device.
+ System ID.
+ Component ID.
+ Request ID - copied to reply.
+ The bus type.
+ Bus number.
+ Bus address.
+ Name of device on bus (for SPI).
+ First register to read.
+ Count of registers to read.
+
+ Bank number.
+
+
+ Read registers reply.
+ Request ID - copied from request.
+ 0 for success, anything else is failure code.
+ Starting register.
+ Count of bytes read.
+ Reply data.
+
+ Bank number.
+
+
+ Write registers for a device.
+ System ID.
+ Component ID.
+ Request ID - copied to reply.
+ The bus type.
+ Bus number.
+ Bus address.
+ Name of device on bus (for SPI).
+ First register to write.
+ Count of registers to write.
+ Write data.
+
+ Bank number.
+
+
+ Write registers reply.
+ Request ID - copied from request.
+ 0 for success, anything else is failure code.
+
+
+ Send a secure command. Data should be signed with a private key corresponding with a public key known to the recipient. Signature should be over the concatenation of the sequence number (little-endian format), the operation (little-endian format) the data and the session key. For SECURE_COMMAND_GET_SESSION_KEY the session key should be zero length. The data array consists of the data followed by the signature. The sum of the data_length and the sig_length cannot be more than 220. The format of the data is command specific.
+ System ID.
+ Component ID.
+ Sequence ID for tagging reply.
+ Operation being requested.
+ Data length.
+ Signature length.
+ Signed data.
+
+
+ Reply from secure command.
+ Sequence ID from request.
+ Operation that was requested.
+ Result of command.
+ Data length.
+ Reply data.
+
+
+
+ Adaptive Controller tuning information.
+ Axis.
+ Desired rate.
+ Achieved rate.
+ Error between model and vehicle.
+ Theta estimated state predictor.
+ Omega estimated state predictor.
+ Sigma estimated state predictor.
+ Theta derivative.
+ Omega derivative.
+ Sigma derivative.
+ Projection operator value.
+ Projection operator derivative.
+ u adaptive controlled output command.
+
+
+
+ Camera vision based attitude and position deltas.
+ Timestamp (synced to UNIX time or since system boot).
+ Time since the last reported camera frame.
+ Defines a rotation vector [roll, pitch, yaw] to the current MAV_FRAME_BODY_FRD from the previous MAV_FRAME_BODY_FRD.
+ Change in position to the current MAV_FRAME_BODY_FRD from the previous FRAME_BODY_FRD rotated to the current MAV_FRAME_BODY_FRD.
+ Normalised confidence value from 0 to 100.
+
+
+
+ Angle of Attack and Side Slip Angle.
+ Timestamp (since boot or Unix epoch).
+ Angle of Attack.
+ Side Slip Angle.
+
+
+ ESC Telemetry Data for ESCs 1 to 4, matching data sent by BLHeli ESCs.
+ Temperature.
+ Voltage.
+ Current.
+ Total current.
+ RPM (eRPM).
+ count of telemetry packets received (wraps at 65535).
+
+
+ ESC Telemetry Data for ESCs 5 to 8, matching data sent by BLHeli ESCs.
+ Temperature.
+ Voltage.
+ Current.
+ Total current.
+ RPM (eRPM).
+ count of telemetry packets received (wraps at 65535).
+
+
+ ESC Telemetry Data for ESCs 9 to 12, matching data sent by BLHeli ESCs.
+ Temperature.
+ Voltage.
+ Current.
+ Total current.
+ RPM (eRPM).
+ count of telemetry packets received (wraps at 65535).
+
+
+ Configure an OSD parameter slot.
+ System ID.
+ Component ID.
+ Request ID - copied to reply.
+ OSD parameter screen index.
+ OSD parameter display index.
+ 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
+ Config type.
+ OSD parameter minimum value.
+ OSD parameter maximum value.
+ OSD parameter increment.
+
+
+ Configure OSD parameter reply.
+ Request ID - copied from request.
+ Config error type.
+
+
+ Read a configured an OSD parameter slot.
+ System ID.
+ Component ID.
+ Request ID - copied to reply.
+ OSD parameter screen index.
+ OSD parameter display index.
+
+
+ Read configured OSD parameter reply.
+ Request ID - copied from request.
+ Config error type.
+ 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
+ Config type.
+ OSD parameter minimum value.
+ OSD parameter maximum value.
+ OSD parameter increment.
+
+
+
+ Obstacle located as a 3D vector.
+ Timestamp (time since system boot).
+ Class id of the distance sensor type.
+ Coordinate frame of reference.
+ Unique ID given to each obstacle so that its movement can be tracked. Use UINT16_MAX if object ID is unknown or cannot be determined.
+ X position of the obstacle.
+ Y position of the obstacle.
+ Z position of the obstacle.
+ Minimum distance the sensor can measure.
+ Maximum distance the sensor can measure.
+
+
+ Water depth
+ Timestamp (time since system boot)
+ Onboard ID of the sensor
+ Sensor data healthy (0=unhealthy, 1=healthy)
+ Latitude
+ Longitude
+ Altitude (MSL) of vehicle
+ Roll angle
+ Pitch angle
+ Yaw angle
+ Distance (uncorrected)
+ Water temperature
+
+
+ The MCU status, giving MCU temperature and voltage. The min and max voltages are to allow for detecting power supply instability.
+ MCU instance
+ MCU Internal temperature
+ MCU voltage
+ MCU voltage minimum
+ MCU voltage maximum
+
+
+ ESC Telemetry Data for ESCs 13 to 16, matching data sent by BLHeli ESCs.
+ Temperature.
+ Voltage.
+ Current.
+ Total current.
+ RPM (eRPM).
+ count of telemetry packets received (wraps at 65535).
+
+
+ ESC Telemetry Data for ESCs 17 to 20, matching data sent by BLHeli ESCs.
+ Temperature.
+ Voltage.
+ Current.
+ Total current.
+ RPM (eRPM).
+ count of telemetry packets received (wraps at 65535).
+
+
+ ESC Telemetry Data for ESCs 21 to 24, matching data sent by BLHeli ESCs.
+ Temperature.
+ Voltage.
+ Current.
+ Total current.
+ RPM (eRPM).
+ count of telemetry packets received (wraps at 65535).
+
+
+ ESC Telemetry Data for ESCs 25 to 28, matching data sent by BLHeli ESCs.
+ Temperature.
+ Voltage.
+ Current.
+ Total current.
+ RPM (eRPM).
+ count of telemetry packets received (wraps at 65535).
+
+
+ ESC Telemetry Data for ESCs 29 to 32, matching data sent by BLHeli ESCs.
+ Temperature.
+ Voltage.
+ Current.
+ Total current.
+ RPM (eRPM).
+ count of telemetry packets received (wraps at 65535).
+
+
+
diff --git a/MAVProxy/modules/mavproxy_chat/assistant_setup/assistant_instuctions.txt b/MAVProxy/modules/mavproxy_chat/assistant_setup/assistant_instuctions.txt
new file mode 100644
index 0000000000..dd050abd48
--- /dev/null
+++ b/MAVProxy/modules/mavproxy_chat/assistant_setup/assistant_instuctions.txt
@@ -0,0 +1,35 @@
+These instructions are for the Assistant and should be copy-pasted to its "Instructions" field within the Playground (see https://platform.openai.com/playground)
+-----------------------------------------------------------------------------------------------------------------------------------------------------------------
+
+You are a helpful assistant that helps users control unmanned vehicles running the ArduPilot software.
+
+You should limit your responses to questions and commands that related to ArduPilot and controlling the vehicle. If the user asks unrelated questions or ask you to compare ArduPilot with other systems, please reply with a statement of your main purpose and suggest they speak with a more general purpose AI (e.g. ChatGPT).
+
+You are configured to be able to control several types of ArduPilot vehicles including Copters, Planes, Rovers, Boats and Submarines.
+
+Copter includes all multicopters (quadcopters, hexacopters, bi-copter, octacopter, octaquad, dodecahexa-copter). Traditional Helicopters are also controlled in the same ways as Copters.
+
+Planes includes all fixed wing vehicles including normal planes and quadplanes. Quadplanes are planes that can also fly like multicopters but they use Plane modes that start with "Q" (e.g. QAltHold)
+
+Rovers (aka cars) and Boats are controlled in the same way.
+
+Each type of vehicle (e.g. Copter, Plane, Rover) has different flight modes (Rovers flight modes are often just called "modes" because they can't fly). Each flight mode has a number and name. The mapping between flight mode name and flight mode number is different for each vehicle type and can be found within the appropriately named copter_flightmodes.txt, plane_flightmodes.txt, rover_modes.txt and sub_modes.txt files.
+
+Users normally specify the flight mode using its name. To change the vehicle's flight mode you will need to send a mavlink command_int message (with "command" field set to MAV_CMD_DO_SET_MODE, 176) and include the flight mode number. Param1, the "Mode" field should be set to 1 (e.g. MAV_MODE_FLAG_CUSTOM_MODE_ENABLED) and the flight mode number should be placed in param2, the "Custom Mode" field. The vehicle's mode can be changed at any time including when it is disarmed.
+
+If the user specifically asks to change the vehicle's flight mode you should do it immediately regardless of any other conditions.
+
+Normally you can only control a vehicle when it is in Guided mode and armed. When asked to move the vehicle (e.g. takeoff, fly to a specific location, etc) you should first check that the vehicle is in Guided mode and armed. If it is not then you should ask the user if it is OK to change to Guided mode and arm the vehicle.
+
+For Copters and Planes, after being armed in Guided mode, the user will normally ask that the vehicle takeoff. You can command the vehicle to takeoff by sending a mavlink command_int message (e.g. MAV_CMD_NAV_TAKEOFF). The desired altitude should be placed in "z" field (aka "Altitude" aka "Param7" field)
+
+To move the vehicle to a specified location send a SET_POSITION_TARGET_GLOBAL_INT message. Be careful to set the "coordinate_frame" field depending upon the desired altitude type (e.g. amsl (relative to sea level), relative to home, or relative to terrain). If you are given or can calculate a target latitude, longitude and altitude then these values should be placed in the "lat_int", "lon_int" and "alt" fields respectively. Also be careful to set the "type_mask" field to match which types of targets are being provided (e.g. position target, velocity targets, yaw target).
+
+If a user is not clear about the altitude type then it is normally safe to assume they mean altitude above home. Sometimes "altitude above home" is referred to as "relative altitude".
+
+The short form of "altitude" is "alt".
+The short form of "latitude" is "lat".
+The short form of "longitude" is "lat".
+The words "position" and "location" are often used synonymously.
+
+Rovers and Boats cannot control their altitude
diff --git a/MAVProxy/modules/mavproxy_chat/assistant_setup/common.xml b/MAVProxy/modules/mavproxy_chat/assistant_setup/common.xml
new file mode 100644
index 0000000000..ffb8e4e375
--- /dev/null
+++ b/MAVProxy/modules/mavproxy_chat/assistant_setup/common.xml
@@ -0,0 +1,6515 @@
+
+
+ minimal.xml
+ 3
+ 0
+
+
+ These values define the type of firmware release. These values indicate the first version or release of this type. For example the first alpha release would be 64, the second would be 65.
+
+ development release
+
+
+ alpha release
+
+
+ beta release
+
+
+ release candidate
+
+
+ official stable release
+
+
+
+ Flags to report failure cases over the high latency telemtry.
+
+ GPS failure.
+
+
+ Differential pressure sensor failure.
+
+
+ Absolute pressure sensor failure.
+
+
+ Accelerometer sensor failure.
+
+
+ Gyroscope sensor failure.
+
+
+ Magnetometer sensor failure.
+
+
+ Terrain subsystem failure.
+
+
+ Battery failure/critical low battery.
+
+
+ RC receiver failure/no rc connection.
+
+
+ Offboard link failure.
+
+
+ Engine failure.
+
+
+ Geofence violation.
+
+
+ Estimator failure, for example measurement rejection or large variances.
+
+
+ Mission failure.
+
+
+
+ Actions that may be specified in MAV_CMD_OVERRIDE_GOTO to override mission execution.
+
+ Hold at the current position.
+
+
+ Continue with the next item in mission execution.
+
+
+ Hold at the current position of the system
+
+
+ Hold at the position specified in the parameters of the DO_HOLD action
+
+
+
+ These defines are predefined OR-combined mode flags. There is no need to use values from this enum, but it
+ simplifies the use of the mode flags. Note that manual input is enabled in all modes as a safety override.
+
+ System is not ready to fly, booting, calibrating, etc. No flag is set.
+
+
+ System is allowed to be active, under assisted RC control.
+
+
+ System is allowed to be active, under assisted RC control.
+
+
+ System is allowed to be active, under manual (RC) control, no stabilization
+
+
+ System is allowed to be active, under manual (RC) control, no stabilization
+
+
+ System is allowed to be active, under autonomous control, manual setpoint
+
+
+ System is allowed to be active, under autonomous control, manual setpoint
+
+
+ System is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by waypoints)
+
+
+ System is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by waypoints)
+
+
+ UNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only.
+
+
+ UNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only.
+
+
+
+ These encode the sensors whose status is sent as part of the SYS_STATUS message.
+
+ 0x01 3D gyro
+
+
+ 0x02 3D accelerometer
+
+
+ 0x04 3D magnetometer
+
+
+ 0x08 absolute pressure
+
+
+ 0x10 differential pressure
+
+
+ 0x20 GPS
+
+
+ 0x40 optical flow
+
+
+ 0x80 computer vision position
+
+
+ 0x100 laser based position
+
+
+ 0x200 external ground truth (Vicon or Leica)
+
+
+ 0x400 3D angular rate control
+
+
+ 0x800 attitude stabilization
+
+
+ 0x1000 yaw position
+
+
+ 0x2000 z/altitude control
+
+
+ 0x4000 x/y position control
+
+
+ 0x8000 motor outputs / control
+
+
+ 0x10000 rc receiver
+
+
+ 0x20000 2nd 3D gyro
+
+
+ 0x40000 2nd 3D accelerometer
+
+
+ 0x80000 2nd 3D magnetometer
+
+
+ 0x100000 geofence
+
+
+ 0x200000 AHRS subsystem health
+
+
+ 0x400000 Terrain subsystem health
+
+
+ 0x800000 Motors are reversed
+
+
+ 0x1000000 Logging
+
+
+ 0x2000000 Battery
+
+
+ 0x4000000 Proximity
+
+
+ 0x8000000 Satellite Communication
+
+
+ 0x10000000 pre-arm check status. Always healthy when armed
+
+
+ 0x20000000 Avoidance/collision prevention
+
+
+ 0x40000000 propulsion (actuator, esc, motor or propellor)
+
+
+
+ Co-ordinate frames used by MAVLink. Not all frames are supported by all commands, messages, or vehicles.
+
+ Global frames use the following naming conventions:
+ - "GLOBAL": Global co-ordinate frame with WGS84 latitude/longitude and altitude positive over mean sea level (MSL) by default.
+ The following modifiers may be used with "GLOBAL":
+ - "RELATIVE_ALT": Altitude is relative to the vehicle home position rather than MSL.
+ - "TERRAIN_ALT": Altitude is relative to ground level rather than MSL.
+ - "INT": Latitude/longitude (in degrees) are scaled by multiplying by 1E7.
+
+ Local frames use the following naming conventions:
+ - "LOCAL": Origin of local frame is fixed relative to earth. Unless otherwise specified this origin is the origin of the vehicle position-estimator ("EKF").
+ - "BODY": Origin of local frame travels with the vehicle. NOTE, "BODY" does NOT indicate alignment of frame axis with vehicle attitude.
+ - "OFFSET": Deprecated synonym for "BODY" (origin travels with the vehicle). Not to be used for new frames.
+
+ Some deprecated frames do not follow these conventions (e.g. MAV_FRAME_BODY_NED and MAV_FRAME_BODY_OFFSET_NED).
+
+
+ Global (WGS84) coordinate frame + MSL altitude. First value / x: latitude, second value / y: longitude, third value / z: positive altitude over mean sea level (MSL).
+
+
+ NED local tangent frame (x: North, y: East, z: Down) with origin fixed relative to earth.
+
+
+ NOT a coordinate frame, indicates a mission command.
+
+
+ Global (WGS84) coordinate frame + altitude relative to the home position. First value / x: latitude, second value / y: longitude, third value / z: positive altitude with 0 being at the altitude of the home location.
+
+
+ ENU local tangent frame (x: East, y: North, z: Up) with origin fixed relative to earth.
+
+
+ Global (WGS84) coordinate frame (scaled) + MSL altitude. First value / x: latitude in degrees*1E7, second value / y: longitude in degrees*1E7, third value / z: positive altitude over mean sea level (MSL).
+
+
+ Global (WGS84) coordinate frame (scaled) + altitude relative to the home position. First value / x: latitude in degrees*1E7, second value / y: longitude in degrees*1E7, third value / z: positive altitude with 0 being at the altitude of the home location.
+
+
+ NED local tangent frame (x: North, y: East, z: Down) with origin that travels with the vehicle.
+
+
+
+ Same as MAV_FRAME_LOCAL_NED when used to represent position values. Same as MAV_FRAME_BODY_FRD when used with velocity/accelaration values.
+
+
+
+ This is the same as MAV_FRAME_BODY_FRD.
+
+
+ Global (WGS84) coordinate frame with AGL altitude (at the waypoint coordinate). First value / x: latitude in degrees, second value / y: longitude in degrees, third value / z: positive altitude in meters with 0 being at ground level in terrain model.
+
+
+ Global (WGS84) coordinate frame (scaled) with AGL altitude (at the waypoint coordinate). First value / x: latitude in degrees*1E7, second value / y: longitude in degrees*1E7, third value / z: positive altitude in meters with 0 being at ground level in terrain model.
+
+
+ FRD local tangent frame (x: Forward, y: Right, z: Down) with origin that travels with vehicle. The forward axis is aligned to the front of the vehicle in the horizontal plane.
+
+
+
+ MAV_FRAME_BODY_FLU - Body fixed frame of reference, Z-up (x: Forward, y: Left, z: Up).
+
+
+
+ MAV_FRAME_MOCAP_NED - Odometry local coordinate frame of data given by a motion capture system, Z-down (x: North, y: East, z: Down).
+
+
+
+ MAV_FRAME_MOCAP_ENU - Odometry local coordinate frame of data given by a motion capture system, Z-up (x: East, y: North, z: Up).
+
+
+
+ MAV_FRAME_VISION_NED - Odometry local coordinate frame of data given by a vision estimation system, Z-down (x: North, y: East, z: Down).
+
+
+
+ MAV_FRAME_VISION_ENU - Odometry local coordinate frame of data given by a vision estimation system, Z-up (x: East, y: North, z: Up).
+
+
+
+ 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).
+
+
+
+ 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).
+
+
+ FRD local tangent frame (x: Forward, y: Right, z: Down) with origin fixed relative to earth. The forward axis is aligned to the front of the vehicle in the horizontal plane.
+
+
+ FLU local tangent frame (x: Forward, y: Left, z: Up) with origin fixed relative to earth. The forward axis is aligned to the front of the vehicle in the horizontal plane.
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Disable fenced mode
+
+
+ Switched to guided mode to return point (fence point 0)
+
+
+ Report fence breach, but don't take action
+
+
+ Switched to guided mode to return point (fence point 0) with manual throttle control
+
+
+ Switch to RTL (return to launch) mode and head for the return point.
+
+
+
+
+ No last fence breach
+
+
+ Breached minimum altitude
+
+
+ Breached maximum altitude
+
+
+ Breached fence boundary
+
+
+
+
+ Actions being taken to mitigate/prevent fence breach
+
+ Unknown
+
+
+ No actions being taken
+
+
+ Velocity limiting active to prevent breach
+
+
+
+
+ Enumeration of possible mount operation modes
+
+ Load and keep safe position (Roll,Pitch,Yaw) from permant memory and stop stabilization
+
+
+ Load and keep neutral position (Roll,Pitch,Yaw) from permanent memory.
+
+
+ Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization
+
+
+ Load neutral position and start RC Roll,Pitch,Yaw control with stabilization
+
+
+ Load neutral position and start to point to Lat,Lon,Alt
+
+
+ Gimbal tracks system with specified system ID
+
+
+ Gimbal tracks home location
+
+
+
+
+ Gimbal device (low level) capability flags (bitmap).
+
+ Gimbal device supports a retracted position.
+
+
+ Gimbal device supports a horizontal, forward looking position, stabilized.
+
+
+ Gimbal device supports rotating around roll axis.
+
+
+ Gimbal device supports to follow a roll angle relative to the vehicle.
+
+
+ Gimbal device supports locking to a roll angle (generally that's the default with roll stabilized).
+
+
+ Gimbal device supports rotating around pitch axis.
+
+
+ Gimbal device supports to follow a pitch angle relative to the vehicle.
+
+
+ Gimbal device supports locking to a pitch angle (generally that's the default with pitch stabilized).
+
+
+ Gimbal device supports rotating around yaw axis.
+
+
+ Gimbal device supports to follow a yaw angle relative to the vehicle (generally that's the default).
+
+
+ Gimbal device supports locking to an absolute heading, i.e., yaw angle relative to North (earth frame, often this is an option available).
+
+
+ Gimbal device supports yawing/panning infinetely (e.g. using slip disk).
+
+
+ Gimbal device supports yaw angles and angular velocities relative to North (earth frame). This usually requires support by an autopilot via AUTOPILOT_STATE_FOR_GIMBAL_DEVICE. Support can go on and off during runtime, which is reported by the flag GIMBAL_DEVICE_FLAGS_CAN_ACCEPT_YAW_IN_EARTH_FRAME.
+
+
+ Gimbal device supports radio control inputs as an alternative input for controlling the gimbal orientation.
+
+
+
+ Gimbal manager high level capability flags (bitmap). The first 16 bits are identical to the GIMBAL_DEVICE_CAP_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.
+
+ Based on GIMBAL_DEVICE_CAP_FLAGS_HAS_RETRACT.
+
+
+ Based on GIMBAL_DEVICE_CAP_FLAGS_HAS_NEUTRAL.
+
+
+ Based on GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_AXIS.
+
+
+ Based on GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_FOLLOW.
+
+
+ Based on GIMBAL_DEVICE_CAP_FLAGS_HAS_ROLL_LOCK.
+
+
+ Based on GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_AXIS.
+
+
+ Based on GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_FOLLOW.
+
+
+ Based on GIMBAL_DEVICE_CAP_FLAGS_HAS_PITCH_LOCK.
+
+
+ Based on GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_AXIS.
+
+
+ Based on GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_FOLLOW.
+
+
+ Based on GIMBAL_DEVICE_CAP_FLAGS_HAS_YAW_LOCK.
+
+
+ Based on GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_INFINITE_YAW.
+
+
+ Based on GIMBAL_DEVICE_CAP_FLAGS_SUPPORTS_YAW_IN_EARTH_FRAME.
+
+
+ Based on GIMBAL_DEVICE_CAP_FLAGS_HAS_RC_INPUTS.
+
+
+ Gimbal manager supports to point to a local position.
+
+
+ Gimbal manager supports to point to a global latitude, longitude, altitude position.
+
+
+
+ Flags for gimbal device (lower level) operation.
+
+ Set to retracted safe position (no stabilization), takes presedence over all other flags.
+
+
+ Set to neutral/default position, taking precedence over all other flags except RETRACT. Neutral is commonly forward-facing and horizontal (roll=pitch=yaw=0) but may be any orientation.
+
+
+ Lock roll angle to absolute angle relative to horizon (not relative to vehicle). This is generally the default with a stabilizing gimbal.
+
+
+ Lock pitch angle to absolute angle relative to horizon (not relative to vehicle). This is generally the default with a stabilizing gimbal.
+
+
+ Lock yaw angle to absolute angle relative to North (not relative to vehicle). If this flag is set, the yaw angle and z component of angular velocity are relative to North (earth frame, x-axis pointing North), else they are relative to the vehicle heading (vehicle frame, earth frame rotated so that the x-axis is pointing forward).
+
+
+ Yaw angle and z component of angular velocity are relative to the vehicle heading (vehicle frame, earth frame rotated such that the x-axis is pointing forward).
+
+
+ Yaw angle and z component of angular velocity are relative to North (earth frame, x-axis is pointing North).
+
+
+ Gimbal device can accept yaw angle inputs relative to North (earth frame). This flag is only for reporting (attempts to set this flag are ignored).
+
+
+ The gimbal orientation is set exclusively by the RC signals feed to the gimbal's radio control inputs. MAVLink messages for setting the gimbal orientation (GIMBAL_DEVICE_SET_ATTITUDE) are ignored.
+
+
+ The gimbal orientation is determined by combining/mixing the RC signals feed to the gimbal's radio control inputs and the MAVLink messages for setting the gimbal orientation (GIMBAL_DEVICE_SET_ATTITUDE). How these two controls are combined or mixed is not defined by the protocol but is up to the implementation.
+
+
+
+ Flags for high level gimbal manager operation The first 16 bits are identical to the GIMBAL_DEVICE_FLAGS.
+
+ Based on GIMBAL_DEVICE_FLAGS_RETRACT.
+
+
+ Based on GIMBAL_DEVICE_FLAGS_NEUTRAL.
+
+
+ Based on GIMBAL_DEVICE_FLAGS_ROLL_LOCK.
+
+
+ Based on GIMBAL_DEVICE_FLAGS_PITCH_LOCK.
+
+
+ Based on GIMBAL_DEVICE_FLAGS_YAW_LOCK.
+
+
+ Based on GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME.
+
+
+ Based on GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME.
+
+
+ Based on GIMBAL_DEVICE_FLAGS_ACCEPTS_YAW_IN_EARTH_FRAME.
+
+
+ Based on GIMBAL_DEVICE_FLAGS_RC_EXCLUSIVE.
+
+
+ Based on GIMBAL_DEVICE_FLAGS_RC_MIXED.
+
+
+
+ Gimbal device (low level) error flags (bitmap, 0 means no error)
+
+ Gimbal device is limited by hardware roll limit.
+
+
+ Gimbal device is limited by hardware pitch limit.
+
+
+ Gimbal device is limited by hardware yaw limit.
+
+
+ There is an error with the gimbal encoders.
+
+
+ There is an error with the gimbal power source.
+
+
+ There is an error with the gimbal motors.
+
+
+ There is an error with the gimbal's software.
+
+
+ There is an error with the gimbal's communication.
+
+
+ Gimbal device is currently calibrating.
+
+
+ Gimbal device is not assigned to a gimbal manager.
+
+
+
+
+ Gripper actions.
+
+ Gripper release cargo.
+
+
+ Gripper grab onto cargo.
+
+
+
+
+ Winch actions.
+
+ Allow motor to freewheel.
+
+
+ Wind or unwind specified length of line, optionally using specified rate.
+
+
+ Wind or unwind line at specified rate.
+
+
+ Perform the locking sequence to relieve motor while in the fully retracted position. Only action and instance command parameters are used, others are ignored.
+
+
+ Sequence of drop, slow down, touch down, reel up, lock. Only action and instance command parameters are used, others are ignored.
+
+
+ Engage motor and hold current position. Only action and instance command parameters are used, others are ignored.
+
+
+ Return the reel to the fully retracted position. Only action and instance command parameters are used, others are ignored.
+
+
+ Load the reel with line. The winch will calculate the total loaded length and stop when the tension exceeds a threshold. Only action and instance command parameters are used, others are ignored.
+
+
+ Spool out the entire length of the line. Only action and instance command parameters are used, others are ignored.
+
+
+
+
+ Generalized UAVCAN node health
+
+ The node is functioning properly.
+
+
+ A critical parameter went out of range or the node has encountered a minor failure.
+
+
+ The node has encountered a major failure.
+
+
+ The node has suffered a fatal malfunction.
+
+
+
+
+ Generalized UAVCAN node mode
+
+ The node is performing its primary functions.
+
+
+ The node is initializing; this mode is entered immediately after startup.
+
+
+ The node is under maintenance.
+
+
+ The node is in the process of updating its software.
+
+
+ The node is no longer available online.
+
+
+
+ Flags to indicate the status of camera storage.
+
+ Storage is missing (no microSD card loaded for example.)
+
+
+ Storage present but unformatted.
+
+
+ Storage present and ready.
+
+
+ Camera does not supply storage status information. Capacity information in STORAGE_INFORMATION fields will be ignored.
+
+
+
+ Flags to indicate the type of storage.
+
+ Storage type is not known.
+
+
+ Storage type is USB device.
+
+
+ Storage type is SD card.
+
+
+ Storage type is microSD card.
+
+
+ Storage type is CFast.
+
+
+ Storage type is CFexpress.
+
+
+ Storage type is XQD.
+
+
+ Storage type is HD mass storage type.
+
+
+ Storage type is other, not listed type.
+
+
+
+ Enable axes that will be tuned via autotuning. Used in MAV_CMD_DO_AUTOTUNE_ENABLE.
+
+ Flight stack tunes axis according to its default settings.
+
+
+ Autotune roll axis.
+
+
+ Autotune pitch axis.
+
+
+ Autotune yaw axis.
+
+
+
+
+
+
+
+ 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
+
+ Navigate to waypoint.
+ Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)
+ Acceptance radius (if the sphere with this radius is hit, the waypoint counts as reached)
+ 0 to pass through the WP, if > 0 radius to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.
+ Desired yaw angle at waypoint (rotary wing). NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).
+ Latitude
+ Longitude
+ Altitude
+
+
+ Loiter around this waypoint an unlimited amount of time
+ Empty
+ Empty
+ Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, else counter-clockwise
+ Desired yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).
+ Latitude
+ Longitude
+ Altitude
+
+
+ Loiter around this waypoint for X turns
+ Number of turns.
+ Empty
+ Radius around waypoint. If positive loiter clockwise, else counter-clockwise
+ Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).
+ Latitude
+ Longitude
+ Altitude
+
+
+ Loiter around this waypoint for X seconds
+ Loiter time.
+ Empty
+ Radius around waypoint. If positive loiter clockwise, else counter-clockwise.
+ Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).
+ Latitude
+ Longitude
+ Altitude
+
+
+ Return to launch location
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+ Land at location.
+ Minimum target altitude if landing is aborted (0 = undefined/use system default).
+ Precision land mode.
+ Empty.
+ Desired yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).
+ Latitude.
+ Longitude.
+ Landing altitude (ground level in current frame).
+
+
+ Takeoff from ground / hand. Vehicles that support multiple takeoff modes (e.g. VTOL quadplane) should take off using the currently configured mode.
+ Minimum pitch (if airspeed sensor present), desired pitch without sensor
+ Empty
+ Empty
+ 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.).
+ Latitude
+ Longitude
+ Altitude
+
+
+ Land at local position (local frame only)
+ Landing target number (if available)
+ Maximum accepted offset from desired landing position - computed magnitude from spherical coordinates: d = sqrt(x^2 + y^2 + z^2), which gives the maximum accepted distance between the desired landing position and the position where the vehicle is about to land
+ Landing descend rate
+ Desired yaw angle
+ Y-axis position
+ X-axis position
+ Z-axis / ground level position
+
+
+ Takeoff from local position (local frame only)
+ Minimum pitch (if airspeed sensor present), desired pitch without sensor
+ Empty
+ Takeoff ascend rate
+ Yaw angle (if magnetometer or another yaw estimation source present), ignored without one of these
+ Y-axis position
+ X-axis position
+ Z-axis position
+
+
+ Vehicle following, i.e. this waypoint represents the position of a moving vehicle
+ Following logic to use (e.g. loitering or sinusoidal following) - depends on specific autopilot implementation
+ Ground speed of vehicle to be followed
+ Radius around waypoint. If positive loiter clockwise, else counter-clockwise
+ Desired yaw angle.
+ Latitude
+ Longitude
+ Altitude
+
+
+ Continue on the current course and climb/descend to specified altitude. When the altitude is reached continue to the next command (i.e., don't proceed to the next command until the desired altitude is reached.
+ Climb or Descend (0 = Neutral, command completes when within 5m of this command's altitude, 1 = Climbing, command completes when at or above this command's altitude, 2 = Descending, command completes when at or below this command's altitude.
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Desired altitude
+
+
+ Begin loiter at the specified Latitude and Longitude. If Lat=Lon=0, then loiter at the current position. Don't consider the navigation command complete (don't leave loiter) until the altitude has been reached. Additionally, if the Heading Required parameter is non-zero the aircraft will not leave the loiter until heading toward the next waypoint.
+ Heading Required (0 = False)
+ 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.
+ Empty
+ Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location
+ Latitude
+ Longitude
+ Altitude
+
+
+ Begin following a target
+ System ID (of the FOLLOW_TARGET beacon). Send 0 to disable follow-me and return to the default position hold mode.
+ Reserved
+ Reserved
+ Altitude mode: 0: Keep current altitude, 1: keep altitude difference to target, 2: go to a fixed altitude above home.
+ Altitude above home. (used if mode=2)
+ Reserved
+ Time to land in which the MAV should go to the default position hold mode after a message RX timeout.
+
+
+ Reposition the MAV after a follow target command has been sent
+ Camera q1 (where 0 is on the ray from the camera to the tracking device)
+ Camera q2
+ Camera q3
+ Camera q4
+ altitude offset from target
+ X offset from target
+ Y offset from target
+
+
+
+ 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.
+ Region of interest mode.
+ Waypoint index/ target ID. (see MAV_ROI enum)
+ ROI index (allows a vehicle to manage multiple ROI's)
+ Empty
+ x the location of the fixed ROI (see MAV_FRAME)
+ y
+ z
+
+
+ Control autonomous path planning on the MAV.
+ 0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning
+ 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid
+ Empty
+ Yaw angle at goal
+ Latitude/X of goal
+ Longitude/Y of goal
+ Altitude/Z of goal
+
+
+ Navigate to waypoint using a spline path.
+ Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)
+ Empty
+ Empty
+ Empty
+ Latitude/X of goal
+ Longitude/Y of goal
+ Altitude/Z of goal
+
+
+ Takeoff from ground using VTOL mode, and transition to forward flight with specified heading. The command should be ignored by vehicles that dont support both VTOL and fixed-wing flight (multicopters, boats,etc.).
+ Empty
+ Front transition heading.
+ Empty
+ Yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).
+ Latitude
+ Longitude
+ Altitude
+
+
+ Land using VTOL mode
+ See NAV_VTOL_LAND_OPTIONS enum
+ Empty
+ Approach altitude (with the same reference as the Altitude field). NaN if unspecified.
+ Yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).
+ Latitude
+ Longitude
+ Altitude (ground level)
+
+
+
+ hand control over to an external controller
+ On / Off (> 0.5f on)
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+ Delay the next navigation command a number of seconds or until a specified time
+ Delay (-1 to enable time-of-day fields)
+ hour (24h format, UTC, -1 to ignore)
+ minute (24h format, UTC, -1 to ignore)
+ second (24h format, UTC, -1 to ignore)
+ Empty
+ Empty
+ Empty
+
+
+ Descend and place payload. Vehicle moves to specified location, descends until it detects a hanging payload has reached the ground, and then releases the payload. If ground is not detected before the reaching the maximum descent value (param1), the command will complete without releasing the payload.
+ Maximum distance to descend.
+ Empty
+ Empty
+ Empty
+ Latitude
+ Longitude
+ Altitude
+
+
+ NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+ Delay mission state machine.
+ Delay
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+ Ascend/descend to target altitude at specified rate. Delay mission state machine until desired altitude reached.
+ Descent / Ascend rate.
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Target Altitude
+
+
+ Delay mission state machine until within desired distance of next NAV point.
+ Distance.
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+ Reach a certain target angle.
+ target angle [0-360]. Absolute angles: 0 is north. Relative angle: 0 is initial yaw. Direction set by param3.
+ angular speed
+ direction: -1: counter clockwise, 0: shortest direction, 1: clockwise
+ 0: absolute angle, 1: relative offset
+ Empty
+ Empty
+ Empty
+
+
+ NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+ Set system mode.
+ Mode
+ Custom mode - this is system specific, please refer to the individual autopilot specifications for details.
+ Custom sub mode - this is system specific, please refer to the individual autopilot specifications for details.
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+ Jump to the desired command in the mission list. Repeat this action only the specified number of times
+ Sequence number
+ Repeat count
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+ Change speed and/or throttle set points
+ Speed type of value set in param2 (such as airspeed, ground speed, and so on)
+ Speed (-1 indicates no change, -2 indicates return to default vehicle speed)
+ Throttle (-1 indicates no change, -2 indicates return to default vehicle throttle value)
+ 0: absolute, 1: relative
+ Empty
+ Empty
+ Empty
+
+
+ Changes the home location either to the current location or a specified location.
+ Use current (1=use current location, 0=use specified location)
+ Empty
+ Empty
+ Empty
+ Latitude
+ Longitude
+ Altitude
+
+
+ Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter.
+ Parameter number
+ Parameter value
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+ Set a relay to a condition.
+ Relay instance number.
+ Setting. (1=on, 0=off, others possible depending on system hardware)
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+ Cycle a relay on and off for a desired number of cycles with a desired period.
+ Relay instance number.
+ Cycle count.
+ Cycle time.
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+ Set a servo to a desired PWM value.
+ Servo instance number.
+ Pulse Width Modulation.
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+ Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period.
+ Servo instance number.
+ Pulse Width Modulation.
+ Cycle count.
+ Cycle time.
+ Empty
+ Empty
+ Empty
+
+
+ Terminate flight immediately
+ Flight termination activated if > 0.5
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+ Change altitude set point.
+ Altitude.
+ Frame of new altitude.
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+ Mission command to perform a landing. This is used as a marker in a mission to tell the autopilot where a sequence of mission items that represents a landing starts.
+ It may also be sent via a COMMAND_LONG to trigger a landing, in which case the nearest (geographically) landing sequence in the mission will be used.
+ The Latitude/Longitude/Altitude is optional, and may be set to 0 if not needed. If specified then it will be used to help find the closest landing sequence.
+
+ Empty
+ Empty
+ Empty
+ Empty
+ Latitude
+ Longitude
+ Altitude
+
+
+ Mission command to perform a landing from a rally point.
+ Break altitude
+ Landing speed
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+ Mission command to safely abort an autonomous landing.
+ Altitude
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+ Reposition the vehicle to a specific WGS84 global position.
+ Ground speed, less than 0 (-1) for default
+ Bitmask of option flags.
+ Loiter radius for planes. Positive values only, direction is controlled by Yaw value. A value of zero or NaN is ignored.
+ 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)
+ Latitude
+ Longitude
+ Altitude
+
+
+ If in a GPS controlled position mode, hold the current position or continue.
+ 0: Pause current mission or reposition command, hold current position. 1: Continue mission. A VTOL capable vehicle should enter hover mode (multicopter and VTOL planes). A plane should loiter with the default loiter radius.
+ Reserved
+ Reserved
+ Reserved
+ Reserved
+ Reserved
+ Reserved
+
+
+ Set moving direction to forward or reverse.
+ Direction (0=Forward, 1=Reverse)
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+ Sets the region of interest (ROI) to a location. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras.
+ Empty
+ Empty
+ Empty
+ Empty
+ Latitude of ROI location
+ Longitude of ROI location
+ Altitude of ROI location
+
+
+ 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.
+ Empty
+ Empty
+ Empty
+ Empty
+ Pitch offset from next waypoint, positive pitching up
+ Roll offset from next waypoint, positive rolling to the right
+ Yaw offset from next waypoint, positive yawing to the right
+
+
+ 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.
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+ Mount tracks system with specified system ID. Determination of target vehicle position may be done with GLOBAL_POSITION_INT or any other means.
+ System ID
+
+
+ Control onboard camera system.
+ Camera ID (-1 for all)
+ Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw
+ Transmission mode: 0: video stream, >0: single images every n seconds
+ Recording: 0: disabled, 1: enabled compressed, 2: enabled raw
+ Empty
+ Empty
+ Empty
+
+
+
+ Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras.
+ Region of interest mode.
+ Waypoint index/ target ID (depends on param 1).
+ Region of interest index. (allows a vehicle to manage multiple ROI's)
+ Empty
+ x the location of the fixed ROI (see MAV_FRAME)
+ y
+ z
+
+
+
+ Configure digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ).
+ Modes: P, TV, AV, M, Etc.
+ Shutter speed: Divisor number for one second.
+ Aperture: F stop number.
+ ISO number e.g. 80, 100, 200, Etc.
+ Exposure type enumerator.
+ Command Identity.
+ Main engine cut-off time before camera trigger. (0 means no cut-off)
+
+
+ Control digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ).
+ Session control e.g. show/hide lens
+ Zoom's absolute position
+ Zooming step value to offset zoom from the current position
+ Focus Locking, Unlocking or Re-locking
+ Shooting Command
+ Command Identity
+ Test shot identifier. If set to 1, image will only be captured, but not counted towards internal frame count.
+
+
+
+ Mission command to configure a camera or antenna mount
+ Mount operation mode
+ stabilize roll? (1 = yes, 0 = no)
+ stabilize pitch? (1 = yes, 0 = no)
+ stabilize yaw? (1 = yes, 0 = no)
+ Empty
+ Empty
+ Empty
+
+
+
+ Mission command to control a camera or antenna mount
+ pitch (WIP: DEPRECATED: or lat in degrees) depending on mount mode.
+ roll (WIP: DEPRECATED: or lon in degrees) depending on mount mode.
+ yaw (WIP: DEPRECATED: or alt in meters) depending on mount mode.
+ WIP: alt in meters depending on mount mode.
+ WIP: latitude in degrees * 1E7, set if appropriate mount mode.
+ WIP: longitude in degrees * 1E7, set if appropriate mount mode.
+ Mount mode.
+
+
+ Mission command to set camera trigger distance for this flight. The camera is triggered each time this distance is exceeded. This command can also be used to set the shutter integration time for the camera.
+ Camera trigger distance. 0 to stop triggering.
+ Camera shutter integration time. -1 or 0 to ignore
+ Trigger camera once immediately. (0 = no trigger, 1 = trigger)
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+ Mission command to enable the geofence
+ enable? (0=disable, 1=enable, 2=disable_floor_only)
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+ Mission item/command to release a parachute or enable/disable auto release.
+ Action
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+ Mission command to perform motor test.
+ Motor instance number. (from 1 to max number of motors on the vehicle)
+ Throttle type.
+ Throttle.
+ Timeout.
+ Motor count. (number of motors to test to test in sequence, waiting for the timeout above between them; 0=1 motor, 1=1 motor, 2=2 motors...)
+ Motor test order.
+ Empty
+
+
+ Change to/from inverted flight.
+ Inverted flight. (0=normal, 1=inverted)
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+ Mission command to operate a gripper.
+ Gripper instance number.
+ Gripper action to perform.
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+ Enable/disable autotune.
+ Enable (1: enable, 0:disable).
+ Specify which axes are autotuned. 0 indicates autopilot default settings.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+
+
+ Sets a desired vehicle turn angle and speed change.
+ Yaw angle to adjust steering by.
+ Speed.
+ Final angle. (0=absolute, 1=relative)
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+ Mission command to set camera trigger interval for this flight. If triggering is enabled, the camera is triggered each time this interval expires. This command can also be used to set the shutter integration time for the camera.
+ Camera trigger cycle time. -1 or 0 to ignore.
+ Camera shutter integration time. Should be less than trigger cycle time. -1 or 0 to ignore.
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+ Mission command to control a camera or antenna mount, using a quaternion as reference.
+ quaternion param q1, w (1 in null-rotation)
+ quaternion param q2, x (0 in null-rotation)
+ quaternion param q3, y (0 in null-rotation)
+ quaternion param q4, z (0 in null-rotation)
+ Empty
+ Empty
+ Empty
+
+
+ set id of master controller
+ System ID
+ Component ID
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+ Set limits for external control
+ Timeout - maximum time that external controller will be allowed to control vehicle. 0 means no timeout.
+ Altitude (MSL) min - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit.
+ Altitude (MSL) max - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit.
+ Horizontal move limit - if vehicle moves more than this distance from its location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal move limit.
+ Empty
+ Empty
+ Empty
+
+
+ Control vehicle engine. This is interpreted by the vehicles engine controller to change the target engine state. It is intended for vehicles with internal combustion engines
+ 0: Stop engine, 1:Start Engine
+ 0: Warm start, 1:Cold start. Controls use of choke where applicable
+ Height delay. This is for commanding engine start only after the vehicle has gained the specified height. Used in VTOL vehicles during takeoff to start engine after the aircraft is off the ground. Zero for no delay.
+ A bitmask of options for engine control
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+ Set the mission item with sequence number seq as current item. This means that the MAV will continue to this mission item on the shortest path (not following the mission items in-between).
+ Mission sequence value to set
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+ NOP - This command is only used to mark the upper limit of the DO commands in the enumeration
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+ Trigger calibration. This command will be only accepted if in pre-flight mode. Except for Temperature Calibration, only one sensor should be set in a single message and all others should be zero.
+ 1: gyro calibration, 3: gyro temperature calibration
+ 1: magnetometer calibration
+ 1: ground pressure calibration
+ 1: radio RC calibration, 2: RC trim calibration
+ 1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature calibration, 4: simple accelerometer calibration
+ 1: APM: compass/motor interference calibration (PX4: airspeed calibration, deprecated), 2: airspeed calibration
+ 1: ESC calibration, 3: barometer temperature calibration
+
+
+ Set sensor offsets. This command will be only accepted if in pre-flight mode.
+ Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow, 5: second magnetometer, 6: third magnetometer
+ X axis offset (or generic dimension 1), in the sensor's raw units
+ Y axis offset (or generic dimension 2), in the sensor's raw units
+ Z axis offset (or generic dimension 3), in the sensor's raw units
+ Generic dimension 4, in the sensor's raw units
+ Generic dimension 5, in the sensor's raw units
+ Generic dimension 6, in the sensor's raw units
+
+
+ Trigger UAVCAN 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).
+ 1: Trigger actuator ID assignment and direction mapping. 0: Cancel command.
+ Reserved
+ Reserved
+ Reserved
+ Reserved
+ Reserved
+ Reserved
+
+
+ Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode.
+ Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults
+ Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults
+ Onboard logging: 0: Ignore, 1: Start default rate logging, -1: Stop logging, > 1: logging rate (e.g. set to 1000 for 1000 Hz logging)
+ Reserved
+ Empty
+ Empty
+ Empty
+
+
+ Request the reboot or shutdown of system components.
+ 0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot, 3: Reboot autopilot and keep it in the bootloader until upgraded.
+ 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer, 3: Reboot onboard computer and keep it in the bootloader until upgraded.
+ WIP: 0: Do nothing for camera, 1: Reboot onboard camera, 2: Shutdown onboard camera, 3: Reboot onboard camera and keep it in the bootloader until upgraded
+ WIP: 0: Do nothing for mount (e.g. gimbal), 1: Reboot mount, 2: Shutdown mount, 3: Reboot mount and keep it in the bootloader until upgraded
+ Reserved (set to 0)
+ Reserved (set to 0)
+ WIP: ID (e.g. camera ID -1 for all IDs)
+
+
+ Override current mission with command to pause mission, pause mission and move to position, continue/resume mission. When param 1 indicates that the mission is paused (MAV_GOTO_DO_HOLD), param 2 defines whether it holds in place or moves to another position.
+ MAV_GOTO_DO_HOLD: pause mission and either hold or move to specified position (depending on param2), MAV_GOTO_DO_CONTINUE: resume mission.
+ MAV_GOTO_HOLD_AT_CURRENT_POSITION: hold at current position, MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position.
+ Coordinate frame of hold point.
+ Desired yaw angle.
+ Latitude/X position.
+ Longitude/Y position.
+ Altitude/Z position.
+
+
+ Mission command to set a Camera Auto Mount Pivoting Oblique Survey (Replaces CAM_TRIGG_DIST for this purpose). The camera is triggered each time this distance is exceeded, then the mount moves to the next position. Params 4~6 set-up the angle limits and number of positions for oblique survey, where mount-enabled vehicles automatically roll the camera between shots to emulate an oblique camera setup (providing an increased HFOV). This command can also be used to set the shutter integration time for the camera.
+ Camera trigger distance. 0 to stop triggering.
+ Camera shutter integration time. 0 to ignore
+ The minimum interval in which the camera is capable of taking subsequent pictures repeatedly. 0 to ignore.
+ Total number of roll positions at which the camera will capture photos (images captures spread evenly across the limits defined by param5).
+ Angle limits that the camera can be rolled to left and right of center.
+ Fixed pitch angle that the camera will hold in oblique mode if the mount is actuated in the pitch axis.
+ Empty
+
+
+ start running a mission
+ first_item: the first mission item to run
+ last_item: the last mission item to run (after this item is run, the mission ends)
+
+
+ Arms / Disarms a component
+ 0: disarm, 1: arm
+ 0: 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)
+
+
+ Instructs system to run pre-arm checks. This command should return MAV_RESULT_TEMPORARILY_REJECTED in the case the system is armed, otherwse MAV_RESULT_ACCEPTED. Note that the return value from executing this command does not indicate whether the vehicle is armable or not, just whether the system has successfully run/is currently running the checks. The result of the checks is reflected in the SYS_STATUS message.
+
+
+ Request the home position from the vehicle.
+ Reserved
+ Reserved
+ Reserved
+ Reserved
+ Reserved
+ Reserved
+ Reserved
+
+
+ Starts receiver pairing.
+ 0:Spektrum.
+ RC type.
+
+
+ Request the interval between messages for a particular MAVLink message ID. The receiver should ACK the command and then emit its response in a MESSAGE_INTERVAL message.
+ The MAVLink message ID
+
+
+ Set the interval between messages for a particular MAVLink message ID. This interface replaces REQUEST_DATA_STREAM.
+ The MAVLink message ID
+ The interval between two messages. Set to -1 to disable and 0 to request default rate.
+ Target address of message stream (if message has target address fields). 0: Flight-stack default (recommended), 1: address of requestor, 2: broadcast.
+
+
+ Request the target system(s) emit a single instance of a specified message (i.e. a "one-shot" version of MAV_CMD_SET_MESSAGE_INTERVAL).
+ The MAVLink message ID of the requested message.
+ Use for index ID, if required. Otherwise, the use of this parameter (if any) must be defined in the requested message. By default assumed not used (0).
+ The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
+ The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
+ The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
+ The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
+ Target address for requested message (if message has target address fields). 0: Flight-stack default, 1: address of requestor, 2: broadcast.
+
+
+
+ Request MAVLink protocol version compatibility. All receivers should ACK the command and then emit their capabilities in an PROTOCOL_VERSION message
+ 1: Request supported protocol versions by all nodes on the network
+ Reserved (all remaining params)
+
+
+
+ Request autopilot capabilities. The receiver should ACK the command and then emit its capabilities in an AUTOPILOT_VERSION message
+ 1: Request autopilot version
+ Reserved (all remaining params)
+
+
+
+ Request camera information (CAMERA_INFORMATION).
+ 0: No action 1: Request camera capabilities
+ Reserved (all remaining params)
+
+
+
+ Request camera settings (CAMERA_SETTINGS).
+ 0: No Action 1: Request camera settings
+ Reserved (all remaining params)
+
+
+
+ Request storage information (STORAGE_INFORMATION). Use the command's target_component to target a specific component's storage.
+ Storage ID (0 for all, 1 for first, 2 for second, etc.)
+ 0: No Action 1: Request storage information
+ Reserved (all remaining params)
+
+
+ Format a storage medium. Once format is complete, a STORAGE_INFORMATION message is sent. Use the command's target_component to target a specific component's storage.
+ Storage ID (1 for first, 2 for second, etc.)
+ 0: No action 1: Format storage
+ Reserved (all remaining params)
+
+
+
+ Request camera capture status (CAMERA_CAPTURE_STATUS)
+ 0: No Action 1: Request camera capture status
+ Reserved (all remaining params)
+
+
+
+ Request flight information (FLIGHT_INFORMATION)
+ 1: Request flight information
+ Reserved (all remaining params)
+
+
+ Reset all camera settings to Factory Default
+ 0: No Action 1: Reset all settings
+ Reserved (all remaining params)
+
+
+ Set camera running mode. Use NaN for reserved values. GCS will send a MAV_CMD_REQUEST_VIDEO_STREAM_STATUS command after a mode change if the camera supports video streaming.
+ Reserved (Set to 0)
+ Camera mode
+
+
+
+
+
+ Set camera zoom. Camera must respond with a CAMERA_SETTINGS message (on success).
+ Zoom type
+ Zoom value. The range of valid values depend on the zoom type.
+
+
+
+
+
+ Set camera focus. Camera must respond with a CAMERA_SETTINGS message (on success).
+ Focus type
+ Focus value
+
+
+
+
+
+ Tagged jump target. Can be jumped to with MAV_CMD_DO_JUMP_TAG.
+ Tag.
+
+
+ Jump to the matching tag in the mission list. Repeat this action for the specified number of times. A mission should contain a single matching tag for each jump. If this is not the case then a jump to a missing tag should complete the mission, and a jump where there are multiple matching tags should always select the one with the lowest mission sequence number.
+ Target tag to jump to.
+ Repeat count.
+
+
+
+ Set gimbal manager pitch/yaw setpoints (low rate command). 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: only the gimbal manager will react to this command - it will be ignored by a gimbal device. Use GIMBAL_MANAGER_SET_PITCHYAW if you need to stream pitch/yaw setpoints at higher rate.
+ Pitch angle (positive to pitch up, relative to vehicle for FOLLOW mode, relative to world horizon for LOCK mode).
+ Yaw angle (positive to yaw to the right, relative to vehicle for FOLLOW mode, absolute to North for LOCK mode).
+ Pitch rate (positive to pitch up).
+ Yaw rate (positive to yaw to the right).
+ Gimbal manager flags to use.
+ 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).
+
+
+ Gimbal configuration to set which sysid/compid is in primary and secondary control.
+ Sysid for primary control (0: no one in control, -1: leave unchanged, -2: set itself in control (for missions where the own sysid is still unknown), -3: remove control if currently in control).
+ Compid for primary control (0: no one in control, -1: leave unchanged, -2: set itself in control (for missions where the own sysid is still unknown), -3: remove control if currently in control).
+ Sysid for secondary control (0: no one in control, -1: leave unchanged, -2: set itself in control (for missions where the own sysid is still unknown), -3: remove control if currently in control).
+ Compid for secondary control (0: no one in control, -1: leave unchanged, -2: set itself in control (for missions where the own sysid is still unknown), -3: remove control if currently in control).
+ 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).
+
+
+ Start image capture sequence. CAMERA_IMAGE_CAPTURED must be emitted after each capture.
+
+ Param1 (id) may be used to specify the target camera: 0: all cameras, 1 to 6: autopilot-connected cameras, 7-255: MAVLink camera component ID.
+ It is needed in order to target specific cameras connected to the autopilot, or specific sensors in a multi-sensor camera (neither of which have a distinct MAVLink component ID).
+ It is also needed to specify the target camera in missions.
+
+ When used in a mission, an autopilot should execute the MAV_CMD for a specified local camera (param1 = 1-6), or resend it as a command if it is intended for a MAVLink camera (param1 = 7 - 255), setting the command's target_component as the param1 value (and setting param1 in the command to zero).
+ If the param1 is 0 the autopilot should do both.
+
+ When sent in a command the target MAVLink address is set using target_component.
+ If addressed specifically to an autopilot: param1 should be used in the same way as it is for missions (though command should NACK with MAV_RESULT_DENIED if a specified local camera does not exist).
+ If addressed to a MAVLink camera, param 1 can be used to address all cameras (0), or to separately address 1 to 7 individual sensors. Other values should be NACKed with MAV_RESULT_DENIED.
+ If the command is broadcast (target_component is 0) then param 1 should be set to 0 (any other value should be NACKED with MAV_RESULT_DENIED). An autopilot would trigger any local cameras and forward the command to all channels.
+
+ Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras that don't have a distinct component id (such as autopilot-attached cameras). 0: all cameras. This is used to specifically target autopilot-connected cameras or individual sensors in a multi-sensor MAVLink camera. It is also used to target specific cameras when the MAV_CMD is used in a mission
+ Desired elapsed time between two consecutive pictures (in seconds). Minimum values depend on hardware (typically greater than 2 seconds).
+ Total number of images to capture. 0 to capture forever/until MAV_CMD_IMAGE_STOP_CAPTURE.
+ Capture sequence number starting from 1. This is only valid for single-capture (param3 == 1), otherwise set to 0. Increment the capture ID for each capture command to prevent double captures when a command is re-transmitted.
+
+
+
+
+
+ Stop image capture sequence.
+
+ Param1 (id) may be used to specify the target camera: 0: all cameras, 1 to 6: autopilot-connected cameras, 7-255: MAVLink camera component ID.
+ It is needed in order to target specific cameras connected to the autopilot, or specific sensors in a multi-sensor camera (neither of which have a distinct MAVLink component ID).
+ It is also needed to specify the target camera in missions.
+
+ When used in a mission, an autopilot should execute the MAV_CMD for a specified local camera (param1 = 1-6), or resend it as a command if it is intended for a MAVLink camera (param1 = 7 - 255), setting the command's target_component as the param1 value (and setting param1 in the command to zero).
+ If the param1 is 0 the autopilot should do both.
+
+ When sent in a command the target MAVLink address is set using target_component.
+ If addressed specifically to an autopilot: param1 should be used in the same way as it is for missions (though command should NACK with MAV_RESULT_DENIED if a specified local camera does not exist).
+ If addressed to a MAVLink camera, param1 can be used to address all cameras (0), or to separately address 1 to 7 individual sensors. Other values should be NACKed with MAV_RESULT_DENIED.
+ If the command is broadcast (target_component is 0) then param 1 should be set to 0 (any other value should be NACKED with MAV_RESULT_DENIED). An autopilot would trigger any local cameras and forward the command to all channels.
+
+ Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras that don't have a distinct component id (such as autopilot-attached cameras). 0: all cameras. This is used to specifically target autopilot-connected cameras or individual sensors in a multi-sensor MAVLink camera. It is also used to target specific cameras when the MAV_CMD is used in a mission
+
+
+
+
+
+
+ Enable or disable on-board camera triggering system.
+ Trigger enable/disable (0 for disable, 1 for start), -1 to ignore
+ 1 to reset the trigger sequence, -1 or 0 to ignore
+ 1 to pause triggering, but without switching the camera off or retracting it. -1 to ignore
+
+
+ If the camera supports point visual tracking (CAMERA_CAP_FLAGS_HAS_TRACKING_POINT is set), this command allows to initiate the tracking.
+ Point to track x value (normalized 0..1, 0 is left, 1 is right).
+ Point to track y value (normalized 0..1, 0 is top, 1 is bottom).
+ Point radius (normalized 0..1, 0 is image left, 1 is image right).
+
+
+ If the camera supports rectangle visual tracking (CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLE is set), this command allows to initiate the tracking.
+ Top left corner of rectangle x value (normalized 0..1, 0 is left, 1 is right).
+ Top left corner of rectangle y value (normalized 0..1, 0 is top, 1 is bottom).
+ Bottom right corner of rectangle x value (normalized 0..1, 0 is left, 1 is right).
+ Bottom right corner of rectangle y value (normalized 0..1, 0 is top, 1 is bottom).
+
+
+ Stops ongoing tracking.
+
+
+ Starts video capture (recording).
+ Video Stream ID (0 for all streams)
+ Frequency CAMERA_CAPTURE_STATUS messages should be sent while recording (0 for no messages, otherwise frequency)
+
+
+
+
+
+
+
+ Stop the current video capture (recording).
+ Video Stream ID (0 for all streams)
+
+
+
+
+
+
+
+
+ Start video streaming
+ Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)
+
+
+ Stop the given video stream
+ Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)
+
+
+
+ Request video stream information (VIDEO_STREAM_INFORMATION)
+ Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)
+
+
+
+ Request video stream status (VIDEO_STREAM_STATUS)
+ Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)
+
+
+ Request to start streaming logging data over MAVLink (see also LOGGING_DATA message)
+ Format: 0: ULog
+ Reserved (set to 0)
+ Reserved (set to 0)
+ Reserved (set to 0)
+ Reserved (set to 0)
+ Reserved (set to 0)
+ Reserved (set to 0)
+
+
+ Request to stop streaming log data over MAVLink
+ Reserved (set to 0)
+ Reserved (set to 0)
+ Reserved (set to 0)
+ Reserved (set to 0)
+ Reserved (set to 0)
+ Reserved (set to 0)
+ Reserved (set to 0)
+
+
+
+ Landing gear ID (default: 0, -1 for all)
+ Landing gear position (Down: 0, Up: 1, NaN for no change)
+
+
+
+
+
+
+
+ Request to start/stop transmitting over the high latency telemetry
+ Control transmission over high latency telemetry (0: stop, 1: start)
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+ Create a panorama at the current position
+ Viewing angle horizontal of the panorama (+- 0.5 the total angle)
+ Viewing angle vertical of panorama.
+ Speed of the horizontal rotation.
+ Speed of the vertical rotation.
+
+
+ Request VTOL transition
+ The target VTOL state. Only MAV_VTOL_STATE_MC and MAV_VTOL_STATE_FW can be used.
+
+
+ Request authorization to arm the vehicle to a external entity, the arm authorizer is responsible to request all data that is needs from the vehicle before authorize or deny the request. If approved the progress of command_ack message should be set with period of time that this authorization is valid in seconds or in case it was denied it should be set with one of the reasons in ARM_AUTH_DENIED_REASON.
+
+ Vehicle system id, this way ground station can request arm authorization on behalf of any vehicle
+
+
+ This command sets the submode to standard guided when vehicle is in guided mode. The vehicle holds position and altitude and the user can input the desired velocities along all three axes.
+
+
+
+ This command sets submode circle when vehicle is in guided mode. Vehicle flies along a circle facing the center of the circle. The user can input the velocity along the circle and change the radius. If no input is given the vehicle will hold position.
+
+ Radius of desired circle in CIRCLE_MODE
+ User defined
+ User defined
+ User defined
+ Target latitude of center of circle in CIRCLE_MODE
+ Target longitude of center of circle in CIRCLE_MODE
+
+
+ Fence return point (there can only be one such point in a geofence definition). If rally points are supported they should be used instead.
+ Reserved
+ Reserved
+ Reserved
+ Reserved
+ Latitude
+ Longitude
+ Altitude
+
+
+ Fence vertex for an inclusion polygon (the polygon must not be self-intersecting). The vehicle must stay within this area. Minimum of 3 vertices required.
+
+ Polygon vertex count
+ Vehicle must be inside ALL inclusion zones in a single group, vehicle must be inside at least one group, must be the same for all points in each polygon
+ Reserved
+ Reserved
+ Latitude
+ Longitude
+ Reserved
+
+
+ Fence vertex for an exclusion polygon (the polygon must not be self-intersecting). The vehicle must stay outside this area. Minimum of 3 vertices required.
+
+ Polygon vertex count
+ Reserved
+ Reserved
+ Reserved
+ Latitude
+ Longitude
+ Reserved
+
+
+ Circular fence area. The vehicle must stay inside this area.
+
+ Radius.
+ Vehicle must be inside ALL inclusion zones in a single group, vehicle must be inside at least one group
+ Reserved
+ Reserved
+ Latitude
+ Longitude
+ Reserved
+
+
+ Circular fence area. The vehicle must stay outside this area.
+
+ Radius.
+ Reserved
+ Reserved
+ Reserved
+ Latitude
+ Longitude
+ Reserved
+
+
+ Rally point. You can have multiple rally points defined.
+
+ Reserved
+ Reserved
+ Reserved
+ Reserved
+ Latitude
+ Longitude
+ Altitude
+
+
+
+
+ Commands the vehicle to respond with a sequence of messages UAVCAN_NODE_INFO, one message per every UAVCAN node that is online. Note that some of the response messages can be lost, which the receiver can detect easily by checking whether every received UAVCAN_NODE_STATUS has a matching message UAVCAN_NODE_INFO received earlier; if not, this command should be sent again in order to request re-transmission of the node information messages.
+ Reserved (set to 0)
+ Reserved (set to 0)
+ Reserved (set to 0)
+ Reserved (set to 0)
+ Reserved (set to 0)
+ Reserved (set to 0)
+ Reserved (set to 0)
+
+
+
+ Trigger the start of an ADSB-out IDENT. This should only be used when requested to do so by an Air Traffic Controller in controlled airspace. This starts the IDENT which is then typically held for 18 seconds by the hardware per the Mode A, C, and S transponder spec.
+ Reserved (set to 0)
+ Reserved (set to 0)
+ Reserved (set to 0)
+ Reserved (set to 0)
+ Reserved (set to 0)
+ Reserved (set to 0)
+ Reserved (set to 0)
+
+
+
+
+ Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity.
+ Operation mode. 0: prepare single payload deploy (overwriting previous requests), but do not execute it. 1: execute payload deploy immediately (rejecting further deploy commands during execution, but allowing abort). 2: add payload deploy to existing deployment list.
+ Desired approach vector in compass heading. A negative value indicates the system can define the approach vector at will.
+ Desired ground speed at release time. This can be overridden by the airframe in case it needs to meet minimum airspeed. A negative value indicates the system can define the ground speed at will.
+ Minimum altitude clearance to the release position. A negative value indicates the system can define the clearance at will.
+ Latitude. Note, if used in MISSION_ITEM (deprecated) the units are degrees (unscaled)
+ Longitude. Note, if used in MISSION_ITEM (deprecated) the units are degrees (unscaled)
+ Altitude (MSL)
+
+
+ Control the payload deployment.
+ Operation mode. 0: Abort deployment, continue normal mission. 1: switch to payload deployment mode. 100: delete first payload deployment request. 101: delete all payload deployment requests.
+ Reserved
+ Reserved
+ Reserved
+ Reserved
+ Reserved
+ Reserved
+
+
+
+ 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.
+ Yaw of vehicle in earth frame.
+ CompassMask, 0 for all.
+ Latitude.
+ Longitude.
+ Empty.
+ Empty.
+ Empty.
+
+
+ Command to operate winch.
+ Winch instance number.
+ Action to perform.
+ Length of cable to release (negative to wind).
+ Release rate (negative to wind).
+ Empty.
+ Empty.
+ Empty.
+
+
+
+
+ User defined waypoint item. Ground Station will show the Vehicle as flying through this item.
+ User defined
+ User defined
+ User defined
+ User defined
+ Latitude unscaled
+ Longitude unscaled
+ Altitude (MSL)
+
+
+ User defined waypoint item. Ground Station will show the Vehicle as flying through this item.
+ User defined
+ User defined
+ User defined
+ User defined
+ Latitude unscaled
+ Longitude unscaled
+ Altitude (MSL)
+
+
+ User defined waypoint item. Ground Station will show the Vehicle as flying through this item.
+ User defined
+ User defined
+ User defined
+ User defined
+ Latitude unscaled
+ Longitude unscaled
+ Altitude (MSL)
+
+
+ User defined waypoint item. Ground Station will show the Vehicle as flying through this item.
+ User defined
+ User defined
+ User defined
+ User defined
+ Latitude unscaled
+ Longitude unscaled
+ Altitude (MSL)
+
+
+ User defined waypoint item. Ground Station will show the Vehicle as flying through this item.
+ User defined
+ User defined
+ User defined
+ User defined
+ Latitude unscaled
+ Longitude unscaled
+ Altitude (MSL)
+
+
+ User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.
+ User defined
+ User defined
+ User defined
+ User defined
+ Latitude unscaled
+ Longitude unscaled
+ Altitude (MSL)
+
+
+ User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.
+ User defined
+ User defined
+ User defined
+ User defined
+ Latitude unscaled
+ Longitude unscaled
+ Altitude (MSL)
+
+
+ User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.
+ User defined
+ User defined
+ User defined
+ User defined
+ Latitude unscaled
+ Longitude unscaled
+ Altitude (MSL)
+
+
+ User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.
+ User defined
+ User defined
+ User defined
+ User defined
+ Latitude unscaled
+ Longitude unscaled
+ Altitude (MSL)
+
+
+ User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.
+ User defined
+ User defined
+ User defined
+ User defined
+ Latitude unscaled
+ Longitude unscaled
+ Altitude (MSL)
+
+
+ User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.
+ User defined
+ User defined
+ User defined
+ User defined
+ User defined
+ User defined
+ User defined
+
+
+ User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.
+ User defined
+ User defined
+ User defined
+ User defined
+ User defined
+ User defined
+ User defined
+
+
+ User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.
+ User defined
+ User defined
+ User defined
+ User defined
+ User defined
+ User defined
+ User defined
+
+
+ User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.
+ User defined
+ User defined
+ User defined
+ User defined
+ User defined
+ User defined
+ User defined
+
+
+ User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.
+ User defined
+ User defined
+ User defined
+ User defined
+ User defined
+ User defined
+ User defined
+
+
+
+ Request forwarding of CAN packets from the given CAN bus to this interface. CAN Frames are sent using CAN_FRAME and CANFD_FRAME messages
+ Bus number (0 to disable forwarding, 1 for first bus, 2 for 2nd bus, 3 for 3rd bus).
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+ Empty.
+
+
+
+ A data stream is not a fixed set of messages, but rather a
+ recommendation to the autopilot software. Individual autopilots may or may not obey
+ the recommended messages.
+
+ Enable all data streams
+
+
+ Enable IMU_RAW, GPS_RAW, GPS_STATUS packets.
+
+
+ Enable GPS_STATUS, CONTROL_STATUS, AUX_STATUS
+
+
+ Enable RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW
+
+
+ Enable ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT, NAV_CONTROLLER_OUTPUT.
+
+
+ Enable LOCAL_POSITION, GLOBAL_POSITION/GLOBAL_POSITION_INT messages.
+
+
+ Dependent on the autopilot
+
+
+ Dependent on the autopilot
+
+
+ Dependent on the autopilot
+
+
+
+
+ The ROI (region of interest) for the vehicle. This can be
+ be used by the vehicle for camera/vehicle attitude alignment (see
+ MAV_CMD_NAV_ROI).
+
+ No region of interest.
+
+
+ Point toward next waypoint, with optional pitch/roll/yaw offset.
+
+
+ Point toward given waypoint.
+
+
+ Point toward fixed location.
+
+
+ Point toward of given id.
+
+
+
+ Specifies the datatype of a MAVLink parameter.
+
+ 8-bit unsigned integer
+
+
+ 8-bit signed integer
+
+
+ 16-bit unsigned integer
+
+
+ 16-bit signed integer
+
+
+ 32-bit unsigned integer
+
+
+ 32-bit signed integer
+
+
+ 64-bit unsigned integer
+
+
+ 64-bit signed integer
+
+
+ 32-bit floating-point
+
+
+ 64-bit floating-point
+
+
+
+ Specifies the datatype of a MAVLink extended parameter.
+
+ 8-bit unsigned integer
+
+
+ 8-bit signed integer
+
+
+ 16-bit unsigned integer
+
+
+ 16-bit signed integer
+
+
+ 32-bit unsigned integer
+
+
+ 32-bit signed integer
+
+
+ 64-bit unsigned integer
+
+
+ 64-bit signed integer
+
+
+ 32-bit floating-point
+
+
+ 64-bit floating-point
+
+
+ Custom Type
+
+
+
+ Result from a MAVLink command (MAV_CMD)
+
+ Command is valid (is supported and has valid parameters), and was executed.
+
+
+ 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.
+
+
+ Command is invalid (is supported but has invalid parameters). Retrying same command and parameters will not work.
+
+
+ Command is not supported (unknown).
+
+
+ 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.
+
+
+ Command is valid and is being executed. This will be followed by further progress updates, i.e. the component may send further COMMAND_ACK messages with result MAV_RESULT_IN_PROGRESS (at a rate decided by the implementation), and must terminate by sending a COMMAND_ACK message with final result of the operation. The COMMAND_ACK.progress field can be used to indicate the progress of the operation. There is no need for the sender to retry the command, but if done during execution, the component will return MAV_RESULT_IN_PROGRESS with an updated progress.
+
+
+ Command is only accepted when sent as a COMMAND_LONG.
+
+
+ Command is only accepted when sent as a COMMAND_INT.
+
+
+
+ Result of mission operation (in a MISSION_ACK message).
+
+ mission accepted OK
+
+
+ Generic error / not accepting mission commands at all right now.
+
+
+ Coordinate frame is not supported.
+
+
+ Command is not supported.
+
+
+ Mission items exceed storage space.
+
+
+ One of the parameters has an invalid value.
+
+
+ param1 has an invalid value.
+
+
+ param2 has an invalid value.
+
+
+ param3 has an invalid value.
+
+
+ param4 has an invalid value.
+
+
+ x / param5 has an invalid value.
+
+
+ y / param6 has an invalid value.
+
+
+ z / param7 has an invalid value.
+
+
+ Mission item received out of sequence
+
+
+ Not accepting any mission commands from this communication partner.
+
+
+ Current mission operation cancelled (e.g. mission upload, mission download).
+
+
+
+ Indicates the severity level, generally used for status messages to indicate their relative urgency. Based on RFC-5424 using expanded definitions at: http://www.kiwisyslog.com/kb/info:-syslog-message-levels/.
+
+ System is unusable. This is a "panic" condition.
+
+
+ Action should be taken immediately. Indicates error in non-critical systems.
+
+
+ Action must be taken immediately. Indicates failure in a primary system.
+
+
+ Indicates an error in secondary/redundant systems.
+
+
+ Indicates about a possible future error if this is not resolved within a given timeframe. Example would be a low battery warning.
+
+
+ An unusual event has occurred, though not an error condition. This should be investigated for the root cause.
+
+
+ Normal operational messages. Useful for logging. No action is required for these messages.
+
+
+ Useful non-operational messages that can assist in debugging. These should not occur during normal operation.
+
+
+
+ Power supply status flags (bitmask)
+
+ main brick power supply valid
+
+
+ main servo power supply valid for FMU
+
+
+ USB power is connected
+
+
+ peripheral supply is in over-current state
+
+
+ hi-power peripheral supply is in over-current state
+
+
+ Power status has changed since boot
+
+
+
+ SERIAL_CONTROL device types
+
+ First telemetry port
+
+
+ Second telemetry port
+
+
+ First GPS port
+
+
+ Second GPS port
+
+
+ system shell
+
+
+ SERIAL0
+
+
+ SERIAL1
+
+
+ SERIAL2
+
+
+ SERIAL3
+
+
+ SERIAL4
+
+
+ SERIAL5
+
+
+ SERIAL6
+
+
+ SERIAL7
+
+
+ SERIAL8
+
+
+ SERIAL9
+
+
+
+ SERIAL_CONTROL flags (bitmask)
+
+ Set if this is a reply
+
+
+ Set if the sender wants the receiver to send a response as another SERIAL_CONTROL message
+
+
+ Set if access to the serial port should be removed from whatever driver is currently using it, giving exclusive access to the SERIAL_CONTROL protocol. The port can be handed back by sending a request without this flag set
+
+
+ Block on writes to the serial port
+
+
+ Send multiple replies until port is drained
+
+
+
+ Enumeration of distance sensor types
+
+ Laser rangefinder, e.g. LightWare SF02/F or PulsedLight units
+
+
+ Ultrasound rangefinder, e.g. MaxBotix units
+
+
+ Infrared rangefinder, e.g. Sharp units
+
+
+ Radar type, e.g. uLanding units
+
+
+ Broken or unknown type, e.g. analog units
+
+
+
+ Enumeration of sensor orientation, according to its rotations
+
+ Roll: 0, Pitch: 0, Yaw: 0
+
+
+ Roll: 0, Pitch: 0, Yaw: 45
+
+
+ Roll: 0, Pitch: 0, Yaw: 90
+
+
+ Roll: 0, Pitch: 0, Yaw: 135
+
+
+ Roll: 0, Pitch: 0, Yaw: 180
+
+
+ Roll: 0, Pitch: 0, Yaw: 225
+
+
+ Roll: 0, Pitch: 0, Yaw: 270
+
+
+ Roll: 0, Pitch: 0, Yaw: 315
+
+
+ Roll: 180, Pitch: 0, Yaw: 0
+
+
+ Roll: 180, Pitch: 0, Yaw: 45
+
+
+ Roll: 180, Pitch: 0, Yaw: 90
+
+
+ Roll: 180, Pitch: 0, Yaw: 135
+
+
+ Roll: 0, Pitch: 180, Yaw: 0
+
+
+ Roll: 180, Pitch: 0, Yaw: 225
+
+
+ Roll: 180, Pitch: 0, Yaw: 270
+
+
+ Roll: 180, Pitch: 0, Yaw: 315
+
+
+ Roll: 90, Pitch: 0, Yaw: 0
+
+
+ Roll: 90, Pitch: 0, Yaw: 45
+
+
+ Roll: 90, Pitch: 0, Yaw: 90
+
+
+ Roll: 90, Pitch: 0, Yaw: 135
+
+
+ Roll: 270, Pitch: 0, Yaw: 0
+
+
+ Roll: 270, Pitch: 0, Yaw: 45
+
+
+ Roll: 270, Pitch: 0, Yaw: 90
+
+
+ Roll: 270, Pitch: 0, Yaw: 135
+
+
+ Roll: 0, Pitch: 90, Yaw: 0
+
+
+ Roll: 0, Pitch: 270, Yaw: 0
+
+
+ Roll: 0, Pitch: 180, Yaw: 90
+
+
+ Roll: 0, Pitch: 180, Yaw: 270
+
+
+ Roll: 90, Pitch: 90, Yaw: 0
+
+
+ Roll: 180, Pitch: 90, Yaw: 0
+
+
+ Roll: 270, Pitch: 90, Yaw: 0
+
+
+ Roll: 90, Pitch: 180, Yaw: 0
+
+
+ Roll: 270, Pitch: 180, Yaw: 0
+
+
+ Roll: 90, Pitch: 270, Yaw: 0
+
+
+ Roll: 180, Pitch: 270, Yaw: 0
+
+
+ Roll: 270, Pitch: 270, Yaw: 0
+
+
+ Roll: 90, Pitch: 180, Yaw: 90
+
+
+ Roll: 90, Pitch: 0, Yaw: 270
+
+
+ Roll: 90, Pitch: 68, Yaw: 293
+
+
+ Pitch: 315
+
+
+ Roll: 90, Pitch: 315
+
+
+ Custom orientation
+
+
+
+ Bitmask of (optional) autopilot capabilities (64 bit). If a bit is set, the autopilot supports this capability.
+
+ Autopilot supports MISSION float message type.
+
+
+ Autopilot supports the new param float message type.
+
+
+ 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).
+ Autopilot supports MISSION_ITEM_INT scaled integer message type.
+
+
+ Autopilot supports COMMAND_INT scaled integer message type.
+
+
+ Autopilot supports the new param union message type.
+
+
+ Autopilot supports the File Transfer Protocol v1: https://mavlink.io/en/services/ftp.html.
+
+
+ Autopilot supports commanding attitude offboard.
+
+
+ Autopilot supports commanding position and velocity targets in local NED frame.
+
+
+ Autopilot supports commanding position and velocity targets in global scaled integers.
+
+
+ Autopilot supports terrain protocol / data handling.
+
+
+ Autopilot supports direct actuator control.
+
+
+ Autopilot supports the MAV_CMD_DO_FLIGHTTERMINATION command (flight termination).
+
+
+ Autopilot supports onboard compass calibration.
+
+
+ Autopilot supports MAVLink version 2.
+
+
+ Autopilot supports mission fence protocol.
+
+
+ Autopilot supports mission rally point protocol.
+
+
+ Autopilot supports the flight information protocol.
+
+
+
+ Type of mission items being requested/sent in mission protocol.
+
+ Items are mission commands for main mission.
+
+
+ Specifies GeoFence area(s). Items are MAV_CMD_NAV_FENCE_ GeoFence items.
+
+
+ Specifies the rally points for the vehicle. Rally points are alternative RTL points. Items are MAV_CMD_NAV_RALLY_POINT rally point items.
+
+
+ Only used in MISSION_CLEAR_ALL to clear all mission types.
+
+
+
+ Enumeration of estimator types
+
+ Unknown type of the estimator.
+
+
+ This is a naive estimator without any real covariance feedback.
+
+
+ Computer vision based estimate. Might be up to scale.
+
+
+ Visual-inertial estimate.
+
+
+ Plain GPS estimate.
+
+
+ Estimator integrating GPS and inertial sensing.
+
+
+ Estimate from external motion capturing system.
+
+
+ Estimator based on lidar sensor input.
+
+
+ Estimator on autopilot.
+
+
+
+ Enumeration of battery types
+
+ Not specified.
+
+
+ Lithium polymer battery
+
+
+ Lithium-iron-phosphate battery
+
+
+ Lithium-ION battery
+
+
+ Nickel metal hydride battery
+
+
+
+ Enumeration of battery functions
+
+ Battery function is unknown
+
+
+ Battery supports all flight systems
+
+
+ Battery for the propulsion system
+
+
+ Avionics battery
+
+
+ Payload battery
+
+
+
+ Enumeration for battery charge states.
+
+ Low battery state is not provided
+
+
+ Battery is not in low state. Normal operation.
+
+
+ Battery state is low, warn and monitor close.
+
+
+ Battery state is critical, return or abort immediately.
+
+
+ Battery state is too low for ordinary abort sequence. Perform fastest possible emergency stop to prevent damage.
+
+
+ Battery failed, damage unavoidable. Possible causes (faults) are listed in MAV_BATTERY_FAULT.
+
+
+ Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in MAV_BATTERY_FAULT.
+
+
+ Battery is charging.
+
+
+
+ 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.
+
+ Battery mode not supported/unknown battery mode/normal operation.
+
+
+ Battery is auto discharging (towards storage level).
+
+
+ Battery in hot-swap mode (current limited to prevent spikes that might damage sensitive electrical circuits).
+
+
+
+ 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.
+
+ Battery has deep discharged.
+
+
+ Voltage spikes.
+
+
+ One or more cells have failed. Battery should also report MAV_BATTERY_CHARGE_STATE_FAILE (and should not be used).
+
+
+ Over-current fault.
+
+
+ Over-temperature fault.
+
+
+ Under-temperature fault.
+
+
+ Vehicle voltage is not compatible with this battery (batteries on same power rail should have similar voltage).
+
+
+ Battery firmware is not compatible with current autopilot firmware.
+
+
+ Battery is not compatible due to cell configuration (e.g. 5s1p when vehicle requires 6s).
+
+
+
+ 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).
+
+ Generator is off.
+
+
+ Generator is ready to start generating power.
+
+
+ Generator is generating power.
+
+
+ Generator is charging the batteries (generating enough power to charge and provide the load).
+
+
+ Generator is operating at a reduced maximum power.
+
+
+ Generator is providing the maximum output.
+
+
+ Generator is near the maximum operating temperature, cooling is insufficient.
+
+
+ Generator hit the maximum operating temperature and shutdown.
+
+
+ Power electronics are near the maximum operating temperature, cooling is insufficient.
+
+
+ Power electronics hit the maximum operating temperature and shutdown.
+
+
+ Power electronics experienced a fault and shutdown.
+
+
+ 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.
+
+
+ Generator controller having communication problems.
+
+
+ Power electronic or generator cooling system error.
+
+
+ Generator controller power rail experienced a fault.
+
+
+ Generator controller exceeded the overcurrent threshold and shutdown to prevent damage.
+
+
+ Generator controller detected a high current going into the batteries and shutdown to prevent battery damage.
+
+
+ Generator controller exceeded it's overvoltage threshold and shutdown to prevent it exceeding the voltage rating.
+
+
+ Batteries are under voltage (generator will not start).
+
+
+ Generator start is inhibited by e.g. a safety switch.
+
+
+ Generator requires maintenance.
+
+
+ Generator is not ready to generate yet.
+
+
+ Generator is idle.
+
+
+
+ Enumeration of VTOL states
+
+ MAV is not configured as VTOL
+
+
+ VTOL is in transition from multicopter to fixed-wing
+
+
+ VTOL is in transition from fixed-wing to multicopter
+
+
+ VTOL is in multicopter state
+
+
+ VTOL is in fixed-wing state
+
+
+
+ Enumeration of landed detector states
+
+ MAV landed state is unknown
+
+
+ MAV is landed (on ground)
+
+
+ MAV is in air
+
+
+ MAV currently taking off
+
+
+ MAV currently landing
+
+
+
+ Enumeration of the ADSB altimeter types
+
+ Altitude reported from a Baro source using QNH reference
+
+
+ Altitude reported from a GNSS source
+
+
+
+ ADSB classification for the type of vehicle emitting the transponder signal
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ These flags indicate status such as data validity of each data source. Set = data valid
+
+
+
+
+
+
+
+
+
+
+
+
+ Bitmap of options for the MAV_CMD_DO_REPOSITION
+
+ The aircraft should immediately transition into guided. This should not be set for follow me applications
+
+
+
+ Speed setpoint types used in MAV_CMD_DO_CHANGE_SPEED
+
+ Airspeed
+
+
+ Groundspeed
+
+
+ Climb speed
+
+
+ Descent speed
+
+
+
+
+ Flags in ESTIMATOR_STATUS message
+
+ True if the attitude estimate is good
+
+
+ True if the horizontal velocity estimate is good
+
+
+ True if the vertical velocity estimate is good
+
+
+ True if the horizontal position (relative) estimate is good
+
+
+ True if the horizontal position (absolute) estimate is good
+
+
+ True if the vertical position (absolute) estimate is good
+
+
+ True if the vertical position (above ground) estimate is good
+
+
+ True if the EKF is in a constant position mode and is not using external measurements (eg GPS or optical flow)
+
+
+ True if the EKF has sufficient data to enter a mode that will provide a (relative) position estimate
+
+
+ True if the EKF has sufficient data to enter a mode that will provide a (absolute) position estimate
+
+
+ True if the EKF has detected a GPS glitch
+
+
+ True if the EKF has detected bad accelerometer data
+
+
+
+
+ Sequence that motors are tested when using MAV_CMD_DO_MOTOR_TEST.
+
+ Default autopilot motor test method.
+
+
+ Motor numbers are specified as their index in a predefined vehicle-specific sequence.
+
+
+ Motor numbers are specified as the output as labeled on the board.
+
+
+
+
+ Defines how throttle value is represented in MAV_CMD_DO_MOTOR_TEST.
+
+ Throttle as a percentage (0 ~ 100)
+
+
+ Throttle as an absolute PWM value (normally in range of 1000~2000).
+
+
+ Throttle pass-through from pilot's transmitter.
+
+
+ Per-motor compass calibration test.
+
+
+
+
+
+ ignore altitude field
+
+
+ ignore hdop field
+
+
+ ignore vdop field
+
+
+ ignore horizontal velocity field (vn and ve)
+
+
+ ignore vertical velocity field (vd)
+
+
+ ignore speed accuracy field
+
+
+ ignore horizontal accuracy field
+
+
+ ignore vertical accuracy field
+
+
+
+ Possible actions an aircraft can take to avoid a collision.
+
+ Ignore any potential collisions
+
+
+ Report potential collision
+
+
+ Ascend or Descend to avoid threat
+
+
+ Move horizontally to avoid threat
+
+
+ Aircraft to move perpendicular to the collision's velocity vector
+
+
+ Aircraft to fly directly back to its launch point
+
+
+ Aircraft to stop in place
+
+
+
+ Aircraft-rated danger from this threat.
+
+ Not a threat
+
+
+ Craft is mildly concerned about this threat
+
+
+ Craft is panicking, and may take actions to avoid threat
+
+
+
+ Source of information about this collision.
+
+ ID field references ADSB_VEHICLE packets
+
+
+ ID field references MAVLink SRC ID
+
+
+
+ Type of GPS fix
+
+ No GPS connected
+
+
+ No position information, GPS is connected
+
+
+ 2D position
+
+
+ 3D position
+
+
+ DGPS/SBAS aided 3D position
+
+
+ RTK float, 3D position
+
+
+ RTK Fixed, 3D position
+
+
+ Static fixed, typically used for base stations
+
+
+ PPP, 3D position.
+
+
+
+ RTK GPS baseline coordinate system, used for RTK corrections
+
+ Earth-centered, Earth-fixed
+
+
+ RTK basestation centered, north, east, down
+
+
+
+ Type of landing target
+
+ Landing target signaled by light beacon (ex: IR-LOCK)
+
+
+ Landing target signaled by radio beacon (ex: ILS, NDB)
+
+
+ Landing target represented by a fiducial marker (ex: ARTag)
+
+
+ Landing target represented by a pre-defined visual shape/feature (ex: X-marker, H-marker, square)
+
+
+
+ Direction of VTOL transition
+
+ Respect the heading configuration of the vehicle.
+
+
+ Use the heading pointing towards the next waypoint.
+
+
+ Use the heading on takeoff (while sitting on the ground).
+
+
+ Use the specified heading in parameter 4.
+
+
+ Use the current heading when reaching takeoff altitude (potentially facing the wind when weather-vaning is active).
+
+
+
+ Camera capability flags (Bitmap)
+
+ Camera is able to record video
+
+
+ Camera is able to capture images
+
+
+ Camera has separate Video and Image/Photo modes (MAV_CMD_SET_CAMERA_MODE)
+
+
+ Camera can capture images while in video mode
+
+
+ Camera can capture videos while in Photo/Image mode
+
+
+ Camera has image survey mode (MAV_CMD_SET_CAMERA_MODE)
+
+
+ Camera has basic zoom control (MAV_CMD_SET_CAMERA_ZOOM)
+
+
+ Camera has basic focus control (MAV_CMD_SET_CAMERA_FOCUS)
+
+
+ Camera has video streaming capabilities (request VIDEO_STREAM_INFORMATION with MAV_CMD_REQUEST_MESSAGE for video streaming info)
+
+
+ Camera supports tracking of a point on the camera view.
+
+
+ Camera supports tracking of a selection rectangle on the camera view.
+
+
+ Camera supports tracking geo status (CAMERA_TRACKING_GEO_STATUS).
+
+
+
+ Stream status flags (Bitmap)
+
+ Stream is active (running)
+
+
+ Stream is thermal imaging
+
+
+
+ Video stream types
+
+ Stream is RTSP
+
+
+ Stream is RTP UDP (URI gives the port number)
+
+
+ Stream is MPEG on TCP
+
+
+ Stream is h.264 on MPEG TS (URI gives the port number)
+
+
+
+ Camera tracking status flags
+
+ Camera is not tracking
+
+
+ Camera is tracking
+
+
+ Camera tracking in error state
+
+
+
+ Camera tracking modes
+
+ Not tracking
+
+
+ Target is a point
+
+
+ Target is a rectangle
+
+
+
+ Camera tracking target data (shows where tracked target is within image)
+
+ No target data
+
+
+ Target data embedded in image data (proprietary)
+
+
+ Target data rendered in image
+
+
+ Target data within status message (Point or Rectangle)
+
+
+
+ Zoom types for MAV_CMD_SET_CAMERA_ZOOM
+
+ Zoom one step increment (-1 for wide, 1 for tele)
+
+
+ Continuous zoom up/down until stopped (-1 for wide, 1 for tele, 0 to stop zooming)
+
+
+ Zoom value as proportion of full camera range (a percentage value between 0.0 and 100.0)
+
+
+ Zoom value/variable focal length in millimetres. Note that there is no message to get the valid zoom range of the camera, so this can type can only be used for cameras where the zoom range is known (implying that this cannot reliably be used in a GCS for an arbitrary camera)
+
+
+
+ Focus types for MAV_CMD_SET_CAMERA_FOCUS
+
+ Focus one step increment (-1 for focusing in, 1 for focusing out towards infinity).
+
+
+ Continuous focus up/down until stopped (-1 for focusing in, 1 for focusing out towards infinity, 0 to stop focusing)
+
+
+ Focus value as proportion of full camera focus range (a value between 0.0 and 100.0)
+
+
+ Focus value in metres. Note that there is no message to get the valid focus range of the camera, so this can type can only be used for cameras where the range is known (implying that this cannot reliably be used in a GCS for an arbitrary camera).
+
+
+ Focus automatically.
+
+
+ Single auto focus. Mainly used for still pictures. Usually abbreviated as AF-S.
+
+
+ Continuous auto focus. Mainly used for dynamic scenes. Abbreviated as AF-C.
+
+
+
+ Result from PARAM_EXT_SET message (or a PARAM_SET within a transaction).
+
+ Parameter value ACCEPTED and SET
+
+
+ Parameter value UNKNOWN/UNSUPPORTED
+
+
+ Parameter failed to set
+
+
+ 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.
+
+
+
+ Camera Modes.
+
+ Camera is in image/photo capture mode.
+
+
+ Camera is in video capture mode.
+
+
+ Camera is in image survey capture mode. It allows for camera controller to do specific settings for surveys.
+
+
+
+
+ Not a specific reason
+
+
+ Authorizer will send the error as string to GCS
+
+
+ At least one waypoint have a invalid value
+
+
+ Timeout in the authorizer process(in case it depends on network)
+
+
+ Airspace of the mission in use by another vehicle, second result parameter can have the waypoint id that caused it to be denied.
+
+
+ Weather is not good to fly
+
+
+
+ RC type
+
+ Spektrum DSM2
+
+
+ Spektrum DSMX
+
+
+
+ Engine control options
+
+ Allow starting the engine once while disarmed
+
+
+
+ Bitmap to indicate which dimensions should be ignored by the vehicle: a value of 0b0000000000000000 or 0b0000001000000000 indicates that none of the setpoint dimensions should be ignored. If bit 9 is set the floats afx afy afz should be interpreted as force instead of acceleration.
+
+ Ignore position x
+
+
+ Ignore position y
+
+
+ Ignore position z
+
+
+ Ignore velocity x
+
+
+ Ignore velocity y
+
+
+ Ignore velocity z
+
+
+ Ignore acceleration x
+
+
+ Ignore acceleration y
+
+
+ Ignore acceleration z
+
+
+ Use force instead of acceleration
+
+
+ Ignore yaw
+
+
+ Ignore yaw rate
+
+
+
+ Bitmap to indicate which dimensions should be ignored by the vehicle: a value of 0b00000000 indicates that none of the setpoint dimensions should be ignored.
+
+ Ignore body roll rate
+
+
+ Ignore body pitch rate
+
+
+ Ignore body yaw rate
+
+
+ Ignore throttle
+
+
+ Ignore attitude
+
+
+
+ Airborne status of UAS.
+
+ The flight state can't be determined.
+
+
+ UAS on ground.
+
+
+ UAS airborne.
+
+
+ UAS is in an emergency flight state.
+
+
+ UAS has no active controls.
+
+
+
+ Flags for the global position report.
+
+ The field time contains valid data.
+
+
+ The field uas_id contains valid data.
+
+
+ The fields lat, lon and h_acc contain valid data.
+
+
+ The fields alt and v_acc contain valid data.
+
+
+ The field relative_alt contains valid data.
+
+
+ The fields vx and vy contain valid data.
+
+
+ The field vz contains valid data.
+
+
+ The fields next_lat, next_lon and next_alt contain valid data.
+
+
+
+ Precision land modes (used in MAV_CMD_NAV_LAND).
+
+ Normal (non-precision) landing.
+
+
+ Use precision landing if beacon detected when land command accepted, otherwise land normally.
+
+
+ Use precision landing, searching for beacon if not found when land command accepted (land normally if beacon cannot be found).
+
+
+
+
+ Parachute actions. Trigger release and enable/disable auto-release.
+
+ Disable auto-release of parachute (i.e. release triggered by crash detectors).
+
+
+ Enable auto-release of parachute.
+
+
+ Release parachute and kill motors.
+
+
+
+
+
+ Encoding of payload unknown.
+
+
+ Registered for STorM32 gimbal controller.
+
+
+ Registered for STorM32 gimbal controller.
+
+
+ Registered for STorM32 gimbal controller.
+
+
+ Registered for STorM32 gimbal controller.
+
+
+ Registered for STorM32 gimbal controller.
+
+
+ Registered for STorM32 gimbal controller.
+
+
+ Registered for STorM32 gimbal controller.
+
+
+ Registered for STorM32 gimbal controller.
+
+
+ Registered for STorM32 gimbal controller.
+
+
+ Registered for STorM32 gimbal controller.
+
+
+
+
+ No type defined.
+
+
+ Manufacturer Serial Number (ANSI/CTA-2063 format).
+
+
+ CAA (Civil Aviation Authority) registered ID. Format: [ICAO Country Code].[CAA Assigned ID].
+
+
+ UTM (Unmanned Traffic Management) assigned UUID (RFC4122).
+
+
+ A 20 byte ID for a specific flight/session. The exact ID type is indicated by the first byte of uas_id and these type values are managed by ICAO.
+
+
+
+
+ No UA (Unmanned Aircraft) type defined.
+
+
+ Aeroplane/Airplane. Fixed wing.
+
+
+ Helicopter or multirotor.
+
+
+ Gyroplane.
+
+
+ VTOL (Vertical Take-Off and Landing). Fixed wing aircraft that can take off vertically.
+
+
+ Ornithopter.
+
+
+ Glider.
+
+
+ Kite.
+
+
+ Free Balloon.
+
+
+ Captive Balloon.
+
+
+ Airship. E.g. a blimp.
+
+
+ Free Fall/Parachute (unpowered).
+
+
+ Rocket.
+
+
+ Tethered powered aircraft.
+
+
+ Ground Obstacle.
+
+
+ Other type of aircraft not listed earlier.
+
+
+
+
+ The status of the (UA) Unmanned Aircraft is undefined.
+
+
+ The UA is on the ground.
+
+
+ The UA is in the air.
+
+
+ The UA is having an emergency.
+
+
+ The remote ID system is failing or unreliable in some way.
+
+
+
+
+ The height field is relative to the take-off location.
+
+
+ The height field is relative to ground.
+
+
+
+
+ The horizontal accuracy is unknown.
+
+
+ The horizontal accuracy is smaller than 10 Nautical Miles. 18.52 km.
+
+
+ The horizontal accuracy is smaller than 4 Nautical Miles. 7.408 km.
+
+
+ The horizontal accuracy is smaller than 2 Nautical Miles. 3.704 km.
+
+
+ The horizontal accuracy is smaller than 1 Nautical Miles. 1.852 km.
+
+
+ The horizontal accuracy is smaller than 0.5 Nautical Miles. 926 m.
+
+
+ The horizontal accuracy is smaller than 0.3 Nautical Miles. 555.6 m.
+
+
+ The horizontal accuracy is smaller than 0.1 Nautical Miles. 185.2 m.
+
+
+ The horizontal accuracy is smaller than 0.05 Nautical Miles. 92.6 m.
+
+
+ The horizontal accuracy is smaller than 30 meter.
+
+
+ The horizontal accuracy is smaller than 10 meter.
+
+
+ The horizontal accuracy is smaller than 3 meter.
+
+
+ The horizontal accuracy is smaller than 1 meter.
+
+
+
+
+ The vertical accuracy is unknown.
+
+
+ The vertical accuracy is smaller than 150 meter.
+
+
+ The vertical accuracy is smaller than 45 meter.
+
+
+ The vertical accuracy is smaller than 25 meter.
+
+
+ The vertical accuracy is smaller than 10 meter.
+
+
+ The vertical accuracy is smaller than 3 meter.
+
+
+ The vertical accuracy is smaller than 1 meter.
+
+
+
+
+ The speed accuracy is unknown.
+
+
+ The speed accuracy is smaller than 10 meters per second.
+
+
+ The speed accuracy is smaller than 3 meters per second.
+
+
+ The speed accuracy is smaller than 1 meters per second.
+
+
+ The speed accuracy is smaller than 0.3 meters per second.
+
+
+
+
+ The timestamp accuracy is unknown.
+
+
+ The timestamp accuracy is smaller than or equal to 0.1 second.
+
+
+ The timestamp accuracy is smaller than or equal to 0.2 second.
+
+
+ The timestamp accuracy is smaller than or equal to 0.3 second.
+
+
+ The timestamp accuracy is smaller than or equal to 0.4 second.
+
+
+ The timestamp accuracy is smaller than or equal to 0.5 second.
+
+
+ The timestamp accuracy is smaller than or equal to 0.6 second.
+
+
+ The timestamp accuracy is smaller than or equal to 0.7 second.
+
+
+ The timestamp accuracy is smaller than or equal to 0.8 second.
+
+
+ The timestamp accuracy is smaller than or equal to 0.9 second.
+
+
+ The timestamp accuracy is smaller than or equal to 1.0 second.
+
+
+ The timestamp accuracy is smaller than or equal to 1.1 second.
+
+
+ The timestamp accuracy is smaller than or equal to 1.2 second.
+
+
+ The timestamp accuracy is smaller than or equal to 1.3 second.
+
+
+ The timestamp accuracy is smaller than or equal to 1.4 second.
+
+
+ The timestamp accuracy is smaller than or equal to 1.5 second.
+
+
+
+
+ No authentication type is specified.
+
+
+ Signature for the UAS (Unmanned Aircraft System) ID.
+
+
+ Signature for the Operator ID.
+
+
+ Signature for the entire message set.
+
+
+ Authentication is provided by Network Remote ID.
+
+
+ The exact authentication type is indicated by the first byte of authentication_data and these type values are managed by ICAO.
+
+
+
+
+ Free-form text description of the purpose of the flight.
+
+
+ Optional additional clarification when status == MAV_ODID_STATUS_EMERGENCY.
+
+
+ Optional additional clarification when status != MAV_ODID_STATUS_EMERGENCY.
+
+
+
+
+ The location of the operator is the same as the take-off location.
+
+
+ The location of the operator is based on live GNSS data.
+
+
+ The location of the operator is a fixed location.
+
+
+
+
+ The classification type for the UA is undeclared.
+
+
+ The classification type for the UA follows EU (European Union) specifications.
+
+
+
+
+ The category for the UA, according to the EU specification, is undeclared.
+
+
+ The category for the UA, according to the EU specification, is the Open category.
+
+
+ The category for the UA, according to the EU specification, is the Specific category.
+
+
+ The category for the UA, according to the EU specification, is the Certified category.
+
+
+
+
+ The class for the UA, according to the EU specification, is undeclared.
+
+
+ The class for the UA, according to the EU specification, is Class 0.
+
+
+ The class for the UA, according to the EU specification, is Class 1.
+
+
+ The class for the UA, according to the EU specification, is Class 2.
+
+
+ The class for the UA, according to the EU specification, is Class 3.
+
+
+ The class for the UA, according to the EU specification, is Class 4.
+
+
+ The class for the UA, according to the EU specification, is Class 5.
+
+
+ The class for the UA, according to the EU specification, is Class 6.
+
+
+
+
+ CAA (Civil Aviation Authority) registered operator ID.
+
+
+
+
+ Passing arming checks.
+
+
+ Generic arming failure, see error string for details.
+
+
+
+
+ Type of AIS vessel, enum duplicated from AIS standard, https://gpsd.gitlab.io/gpsd/AIVDM.html
+
+ Not available (default).
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Wing In Ground effect.
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Towing: length exceeds 200m or breadth exceeds 25m.
+
+
+ Dredging or other underwater ops.
+
+
+
+
+
+
+
+
+ High Speed Craft.
+
+
+
+
+
+
+
+
+
+
+
+
+ Search And Rescue vessel.
+
+
+
+
+ Anti-pollution equipment.
+
+
+
+
+
+
+ Noncombatant ship according to RR Resolution No. 18.
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Navigational status of AIS vessel, enum duplicated from AIS standard, https://gpsd.gitlab.io/gpsd/AIVDM.html
+
+ Under way using engine.
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Search And Rescue Transponder.
+
+
+ Not available (default).
+
+
+
+
+ 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.
+
+ 1 = Position accuracy less than 10m, 0 = position accuracy greater than 10m.
+
+
+
+
+ 1 = Velocity over 52.5765m/s (102.2 knots)
+
+
+
+ Only the sign of the returned turn rate value is valid, either greater than 5deg/30s or less than -5deg/30s
+
+
+
+ Distance to bow is larger than 511m
+
+
+ Distance to stern is larger than 511m
+
+
+ Distance to port side is larger than 63m
+
+
+ Distance to starboard side is larger than 63m
+
+
+
+
+
+ Winch status flags used in WINCH_STATUS
+
+ Winch is healthy
+
+
+ Winch thread is fully retracted
+
+
+ Winch motor is moving
+
+
+ Winch clutch is engaged allowing motor to move freely
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Default autopilot landing behaviour.
+
+
+ Use a fixed wing spiral desent approach before landing.
+
+
+ Use a fixed wing approach before detransitioning and landing vertically.
+
+
+
+
+ States of the mission state machine.
+ Note that these states are independent of whether the mission is in a mode that can execute mission items or not (is suspended).
+ They may not all be relevant on all vehicles.
+
+
+ The mission status reporting is not supported.
+
+
+ No mission on the vehicle.
+
+
+ Mission has not started. This is the case after a mission has uploaded but not yet started executing.
+
+
+ Mission is active, and will execute mission items when in auto mode.
+
+
+ Mission is paused when in auto mode.
+
+
+ Mission has executed all mission items.
+
+
+
+
+
+ The general system state. If the system is following the MAVLink standard, the system state is mainly defined by three orthogonal states/modes: The system mode, which is either LOCKED (motors shut down and locked), MANUAL (system under RC control), GUIDED (system with autonomous position control, position setpoint controlled manually) or AUTO (system guided by path/waypoint planner). The NAV_MODE defined the current flight state: LIFTOFF (often an open-loop maneuver), LANDING, WAYPOINTS or VECTOR. This represents the internal navigation state machine. The system status shows whether the system is currently active or not and if an emergency occurred. During the CRITICAL and EMERGENCY states the MAV is still considered to be active, but should start emergency procedures autonomously. After a failure occurred it should first move from active to critical to allow manual intervention and then move to emergency after a certain timeout.
+ Bitmap showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present.
+ Bitmap showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled.
+ Bitmap showing which onboard controllers and sensors have an error (or are operational). Value of 0: error. Value of 1: healthy.
+ Maximum usage in percent of the mainloop time. Values: [0-1000] - should always be below 1000
+ Battery voltage, UINT16_MAX: Voltage not sent by autopilot
+ Battery current, -1: Current not sent by autopilot
+ Battery energy remaining, -1: Battery remaining energy not sent by autopilot
+ Communication drop rate, (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
+ Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
+ Autopilot-specific errors
+ Autopilot-specific errors
+ Autopilot-specific errors
+ Autopilot-specific errors
+
+
+ The system time is the time of the master clock, typically the computer clock of the main onboard computer.
+ Timestamp (UNIX epoch time).
+ Timestamp (time since system boot).
+
+
+ to be removed / merged with SYSTEM_TIME
+ A ping message either requesting or responding to a ping. This allows to measure the system latencies, including serial port, radio modem and UDP connections. The ping microservice is documented at https://mavlink.io/en/services/ping.html
+ Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
+ PING sequence
+ 0: request ping from all receiving systems. If greater than 0: message is a ping response and number is the system id of the requesting system
+ 0: request ping from all receiving components. If greater than 0: message is a ping response and number is the component id of the requesting component.
+
+
+ Request to control this MAV
+ System the GCS requests control for
+ 0: request control of this MAV, 1: Release control of this MAV
+ 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch.
+ Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"
+
+
+ Accept / deny control of this MAV
+ ID of the GCS this message
+ 0: request control of this MAV, 1: Release control of this MAV
+ 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control
+
+
+ Emit an encrypted signature / key identifying this system. PLEASE NOTE: This protocol has been kept simple, so transmitting the key requires an encrypted channel for true safety.
+ key
+
+
+ Use COMMAND_LONG with MAV_CMD_DO_SET_MODE instead
+ Set the system mode, as defined by enum MAV_MODE. There is no target component id as the mode is by definition for the overall aircraft, not only for one component.
+ The system setting the mode
+ The new base mode.
+ The new autopilot-specific mode. This field can be ignored by an autopilot.
+
+
+
+
+ Request to read the onboard parameter with the param_id string id. Onboard parameters are stored as key[const char*] -> value[float]. This allows to send a parameter to any other component (such as the GCS) without the need of previous knowledge of possible parameter names. Thus the same GCS can store different parameters for different autopilots. See also https://mavlink.io/en/services/parameter.html for a full documentation of QGroundControl and IMU code.
+ System ID
+ Component ID
+ Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
+ Parameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored)
+
+
+ Request all parameters of this component. After this request, all parameters are emitted. The parameter microservice is documented at https://mavlink.io/en/services/parameter.html
+ System ID
+ Component ID
+
+
+ Emit the value of a onboard parameter. The inclusion of param_count and param_index in the message allows the recipient to keep track of received parameters and allows him to re-request missing parameters after a loss or timeout. The parameter microservice is documented at https://mavlink.io/en/services/parameter.html
+ Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
+ Onboard parameter value
+ Onboard parameter type.
+ Total number of onboard parameters
+ Index of this onboard parameter
+
+
+ Set a parameter value (write new value to permanent storage).
+ The receiving component should acknowledge the new parameter value by broadcasting a PARAM_VALUE message (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 within its timeout time, it should re-send the PARAM_SET message. The parameter microservice is documented at https://mavlink.io/en/services/parameter.html.
+
+ System ID
+ Component ID
+ Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
+ Onboard parameter value
+ Onboard parameter type.
+
+
+ The global position, as returned by the Global Positioning System (GPS). This is
+ NOT the global position estimate of the system, but rather a RAW sensor value. See message GLOBAL_POSITION for the global position estimate.
+ Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
+ GPS fix type.
+ Latitude (WGS84, EGM96 ellipsoid)
+ Longitude (WGS84, EGM96 ellipsoid)
+ Altitude (MSL). Positive for up. Note that virtually all GPS modules provide the MSL altitude in addition to the WGS84 altitude.
+ GPS HDOP horizontal dilution of position (unitless). If unknown, set to: UINT16_MAX
+ GPS VDOP vertical dilution of position (unitless). If unknown, set to: UINT16_MAX
+ GPS ground speed. If unknown, set to: UINT16_MAX
+ Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
+ Number of satellites visible. If unknown, set to 255
+
+ Altitude (above WGS84, EGM96 ellipsoid). Positive for up.
+ Position uncertainty.
+ Altitude uncertainty.
+ Speed uncertainty.
+ Heading / track uncertainty
+ 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.
+
+
+ The positioning status, as reported by GPS. This message is intended to display status information about each satellite visible to the receiver. See message GLOBAL_POSITION for the global position estimate. This message can contain information for up to 20 satellites.
+ Number of satellites visible
+ Global satellite ID
+ 0: Satellite not used, 1: used for localization
+ Elevation (0: right on top of receiver, 90: on the horizon) of satellite
+ Direction of satellite, 0: 0 deg, 255: 360 deg.
+ Signal to noise ratio of satellite
+
+
+ The RAW IMU readings for the usual 9DOF sensor setup. This message should contain the scaled values to the described units
+ Timestamp (time since system boot).
+ X acceleration
+ Y acceleration
+ Z acceleration
+ Angular speed around X axis
+ Angular speed around Y axis
+ Angular speed around Z axis
+ X Magnetic field
+ Y Magnetic field
+ Z Magnetic field
+
+ Temperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).
+
+
+ The RAW IMU readings for a 9DOF sensor, which is identified by the id (default IMU1). This message should always contain the true raw values without any scaling to allow data capture and system debugging.
+ Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
+ X acceleration (raw)
+ Y acceleration (raw)
+ Z acceleration (raw)
+ Angular speed around X axis (raw)
+ Angular speed around Y axis (raw)
+ Angular speed around Z axis (raw)
+ X Magnetic field (raw)
+ Y Magnetic field (raw)
+ Z Magnetic field (raw)
+
+ Id. Ids are numbered from 0 and map to IMUs numbered from 1 (e.g. IMU1 will have a message with id=0)
+ Temperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).
+
+
+ The RAW pressure readings for the typical setup of one absolute pressure and one differential pressure sensor. The sensor values should be the raw, UNSCALED ADC values.
+ Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
+ Absolute pressure (raw)
+ Differential pressure 1 (raw, 0 if nonexistent)
+ Differential pressure 2 (raw, 0 if nonexistent)
+ Raw Temperature measurement (raw)
+
+
+ The pressure readings for the typical setup of one absolute and differential pressure sensor. The units are as specified in each field.
+ Timestamp (time since system boot).
+ Absolute pressure
+ Differential pressure 1
+ Absolute pressure temperature
+
+ Differential pressure temperature (0, if not available). Report values of 0 (or 1) as 1 cdegC.
+
+
+ The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right).
+ Timestamp (time since system boot).
+ Roll angle (-pi..+pi)
+ Pitch angle (-pi..+pi)
+ Yaw angle (-pi..+pi)
+ Roll angular speed
+ Pitch angular speed
+ Yaw angular speed
+
+
+ The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right), expressed as quaternion. Quaternion order is w, x, y, z and a zero rotation would be expressed as (1 0 0 0).
+ Timestamp (time since system boot).
+ Quaternion component 1, w (1 in null-rotation)
+ Quaternion component 2, x (0 in null-rotation)
+ Quaternion component 3, y (0 in null-rotation)
+ Quaternion component 4, z (0 in null-rotation)
+ Roll angular speed
+ Pitch angular speed
+ Yaw angular speed
+
+ 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.
+
+
+ The filtered local position (e.g. fused computer vision and accelerometers). Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention)
+ Timestamp (time since system boot).
+ X Position
+ Y Position
+ Z Position
+ X Speed
+ Y Speed
+ Z Speed
+
+
+ The filtered global position (e.g. fused GPS and accelerometers). The position is in GPS-frame (right-handed, Z-up). It
+ is designed as scaled integer message since the resolution of float is not sufficient.
+ Timestamp (time since system boot).
+ Latitude, expressed
+ Longitude, expressed
+ Altitude (MSL). Note that virtually all GPS modules provide both WGS84 and MSL.
+ Altitude above ground
+ Ground X Speed (Latitude, positive north)
+ Ground Y Speed (Longitude, positive east)
+ Ground Z Speed (Altitude, positive down)
+ Vehicle heading (yaw angle), 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
+
+
+ The scaled values of the RC channels received: (-100%) -10000, (0%) 0, (100%) 10000. Channels that are inactive should be set to UINT16_MAX.
+ Timestamp (time since system boot).
+ Servo output port (set of 8 outputs = 1 port). Flight stacks running on Pixhawk should use: 0 = MAIN, 1 = AUX.
+ RC channel 1 value scaled.
+ RC channel 2 value scaled.
+ RC channel 3 value scaled.
+ RC channel 4 value scaled.
+ RC channel 5 value scaled.
+ RC channel 6 value scaled.
+ RC channel 7 value scaled.
+ RC channel 8 value scaled.
+ Receive signal strength indicator in device-dependent units/scale. Values: [0-254], 255: invalid/unknown.
+
+
+ The RAW values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. A value of UINT16_MAX implies the channel is unused. Individual receivers/transmitters might violate this specification.
+ Timestamp (time since system boot).
+ Servo output port (set of 8 outputs = 1 port). Flight stacks running on Pixhawk should use: 0 = MAIN, 1 = AUX.
+ RC channel 1 value.
+ RC channel 2 value.
+ RC channel 3 value.
+ RC channel 4 value.
+ RC channel 5 value.
+ RC channel 6 value.
+ RC channel 7 value.
+ RC channel 8 value.
+ Receive signal strength indicator in device-dependent units/scale. Values: [0-254], 255: invalid/unknown.
+
+
+ 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%.
+ 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.
+ Servo output port (set of 8 outputs = 1 port). Flight stacks running on Pixhawk should use: 0 = MAIN, 1 = AUX.
+ Servo output 1 value
+ Servo output 2 value
+ Servo output 3 value
+ Servo output 4 value
+ Servo output 5 value
+ Servo output 6 value
+ Servo output 7 value
+ Servo output 8 value
+
+ Servo output 9 value
+ Servo output 10 value
+ Servo output 11 value
+ Servo output 12 value
+ Servo output 13 value
+ Servo output 14 value
+ Servo output 15 value
+ Servo output 16 value
+
+
+ Request a partial list of mission items from the system/component. https://mavlink.io/en/services/mission.html. If start and end index are the same, just send one waypoint.
+ System ID
+ Component ID
+ Start index
+ End index, -1 by default (-1: send list to end). Else a valid index of the list
+
+ Mission type.
+
+
+ This message is sent to the MAV to write a partial list. If start index == end index, only one item will be transmitted / updated. If the start index is NOT 0 and above the current list size, this request should be REJECTED!
+ System ID
+ Component ID
+ Start index. Must be smaller / equal to the largest index of the current onboard list.
+ End index, equal or greater than start index.
+
+ Mission type.
+
+
+
+ Message encoding a mission item. This message is emitted to announce
+ the presence of a mission item and to set a mission item on the system. The mission item can be either in x, y, z meters (type: LOCAL) or x:lat, y:lon, z:altitude. Local frame is Z-down, right handed (NED), global frame is Z-up, right handed (ENU). 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.
+ System ID
+ Component ID
+ Sequence
+ The coordinate system of the waypoint.
+ The scheduled action for the waypoint.
+ false:0, true:1
+ Autocontinue to next waypoint
+ PARAM1, see MAV_CMD enum
+ PARAM2, see MAV_CMD enum
+ PARAM3, see MAV_CMD enum
+ PARAM4, see MAV_CMD enum
+ PARAM5 / local: X coordinate, global: latitude
+ PARAM6 / local: Y coordinate, global: longitude
+ PARAM7 / local: Z coordinate, global: altitude (relative or absolute, depending on frame).
+
+ Mission type.
+
+
+ A system that gets this request should respond with MISSION_ITEM_INT (as though MISSION_REQUEST_INT was received).
+ Request the information of the mission item with the sequence number seq. The response of the system to this message should be a MISSION_ITEM message. https://mavlink.io/en/services/mission.html
+ System ID
+ Component ID
+ Sequence
+
+ Mission type.
+
+
+ Set the mission item with sequence number seq as current item. This means that the MAV will continue to this mission item on the shortest path (not following the mission items in-between).
+ System ID
+ Component ID
+ Sequence
+
+
+ Message that announces the sequence number of the current active mission item. The MAV will fly towards this mission item.
+ Sequence
+
+ Total number of mission items on vehicle (on last item, sequence == total). If the autopilot stores its home location as part of the mission this will be excluded from the total. 0: Not supported, UINT16_MAX if no mission is present on the vehicle.
+ Mission state machine state. MISSION_STATE_UNKNOWN if state reporting not supported.
+ Vehicle is in a mode that can execute mission items or suspended. 0: Unknown, 1: In mission mode, 2: Suspended (not in mission mode).
+
+
+ Request the overall list of mission items from the system/component.
+ System ID
+ Component ID
+
+ Mission type.
+
+
+ This message is emitted as response to MISSION_REQUEST_LIST by the MAV and to initiate a write transaction. The GCS can then request the individual mission item based on the knowledge of the total number of waypoints.
+ System ID
+ Component ID
+ Number of mission items in the sequence
+
+ Mission type.
+
+
+ Delete all mission items at once.
+ System ID
+ Component ID
+
+ Mission type.
+
+
+ A certain mission item has been reached. The system will either hold this position (or circle on the orbit) or (if the autocontinue on the WP was set) continue to the next waypoint.
+ Sequence
+
+
+ Acknowledgment message during waypoint handling. The type field states if this message is a positive ack (type=0) or if an error happened (type=non-zero).
+ System ID
+ Component ID
+ Mission result.
+
+ Mission type.
+
+
+ Sets the GPS co-ordinates of the vehicle local origin (0,0,0) position. Vehicle should emit GPS_GLOBAL_ORIGIN irrespective of whether the origin is changed. This enables transform between the local coordinate frame and the global (GPS) coordinate frame, which may be necessary when (for example) indoor and outdoor settings are connected and the MAV should move from in- to outdoor.
+ System ID
+ Latitude (WGS84)
+ Longitude (WGS84)
+ Altitude (MSL). Positive for up.
+
+ Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
+
+
+ Publishes the GPS co-ordinates of the vehicle local origin (0,0,0) position. Emitted whenever a new GPS-Local position mapping is requested or set - e.g. following SET_GPS_GLOBAL_ORIGIN message.
+ Latitude (WGS84)
+ Longitude (WGS84)
+ Altitude (MSL). Positive for up.
+
+ Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
+
+
+ Bind a RC channel to a parameter. The parameter should change according to the RC channel value.
+ System ID
+ Component ID
+ Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
+ Parameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored), send -2 to disable any existing map for this rc_channel_index.
+ Index of parameter RC channel. Not equal to the RC channel id. Typically corresponds to a potentiometer-knob on the RC.
+ Initial parameter value
+ Scale, maps the RC range [-1, 1] to a parameter value
+ Minimum param value. The protocol does not define if this overwrites an onboard minimum value. (Depends on implementation)
+ Maximum param value. The protocol does not define if this overwrites an onboard maximum value. (Depends on implementation)
+
+
+ Request the information of the mission item with the sequence number seq. The response of the system to this message should be a MISSION_ITEM_INT message. https://mavlink.io/en/services/mission.html
+ System ID
+ Component ID
+ Sequence
+
+ Mission type.
+
+
+ Set a safety zone (volume), which is defined by two corners of a cube. This message can be used to tell the MAV which setpoints/waypoints to accept and which to reject. Safety areas are often enforced by national or competition regulations.
+ System ID
+ Component ID
+ Coordinate frame. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
+ x position 1 / Latitude 1
+ y position 1 / Longitude 1
+ z position 1 / Altitude 1
+ x position 2 / Latitude 2
+ y position 2 / Longitude 2
+ z position 2 / Altitude 2
+
+
+ Read out the safety zone the MAV currently assumes.
+ Coordinate frame. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
+ x position 1 / Latitude 1
+ y position 1 / Longitude 1
+ z position 1 / Altitude 1
+ x position 2 / Latitude 2
+ y position 2 / Longitude 2
+ z position 2 / Altitude 2
+
+
+ The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right), expressed as quaternion. Quaternion order is w, x, y, z and a zero rotation would be expressed as (1 0 0 0).
+ Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
+ Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
+ Roll angular speed
+ Pitch angular speed
+ Yaw angular speed
+ Row-major representation of a 3x3 attitude covariance matrix (states: roll, pitch, yaw; first three entries are the first ROW, next three entries are the second row, etc.). If unknown, assign NaN value to first element in the array.
+
+
+ The state of the fixed wing navigation and position controller.
+ Current desired roll
+ Current desired pitch
+ Current desired heading
+ Bearing to current waypoint/target
+ Distance to active waypoint
+ Current altitude error
+ Current airspeed error
+ Current crosstrack error on x-y plane
+
+
+ The filtered global position (e.g. fused GPS and accelerometers). The position is in GPS-frame (right-handed, Z-up). It is designed as scaled integer message since the resolution of float is not sufficient. NOTE: This message is intended for onboard networks / companion computers and higher-bandwidth links and optimized for accuracy and completeness. Please use the GLOBAL_POSITION_INT message for a minimal subset.
+ Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
+ Class id of the estimator this estimate originated from.
+ Latitude
+ Longitude
+ Altitude in meters above MSL
+ Altitude above ground
+ Ground X Speed (Latitude)
+ Ground Y Speed (Longitude)
+ Ground Z Speed (Altitude)
+ Row-major representation of a 6x6 position and velocity 6x6 cross-covariance matrix (states: lat, lon, alt, vx, vy, vz; first six entries are the first ROW, next six entries are the second row, etc.). If unknown, assign NaN value to first element in the array.
+
+
+ The filtered local position (e.g. fused computer vision and accelerometers). Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention)
+ Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
+ Class id of the estimator this estimate originated from.
+ X Position
+ Y Position
+ Z Position
+ X Speed
+ Y Speed
+ Z Speed
+ X Acceleration
+ Y Acceleration
+ Z Acceleration
+ Row-major representation of position, velocity and acceleration 9x9 cross-covariance matrix upper right triangle (states: x, y, z, vx, vy, vz, ax, ay, az; first nine entries are the first ROW, next eight entries are the second row, etc.). If unknown, assign NaN value to first element in the array.
+
+
+ The PPM values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. A value of UINT16_MAX implies the channel is unused. Individual receivers/transmitters might violate this specification.
+ Timestamp (time since system boot).
+ Total number of RC channels being received. This can be larger than 18, indicating that more channels are available but not given in this message. This value should be 0 when no RC channels are available.
+ RC channel 1 value.
+ RC channel 2 value.
+ RC channel 3 value.
+ RC channel 4 value.
+ RC channel 5 value.
+ RC channel 6 value.
+ RC channel 7 value.
+ RC channel 8 value.
+ RC channel 9 value.
+ RC channel 10 value.
+ RC channel 11 value.
+ RC channel 12 value.
+ RC channel 13 value.
+ RC channel 14 value.
+ RC channel 15 value.
+ RC channel 16 value.
+ RC channel 17 value.
+ RC channel 18 value.
+ Receive signal strength indicator in device-dependent units/scale. Values: [0-254], 255: invalid/unknown.
+
+
+ Request a data stream.
+ The target requested to send the message stream.
+ The target requested to send the message stream.
+ The ID of the requested data stream
+ The requested message rate
+ 1 to start sending, 0 to stop sending.
+
+
+ Data stream status information.
+ The ID of the requested data stream
+ The message rate
+ 1 stream is enabled, 0 stream is stopped.
+
+
+ This message provides an API for manually controlling the vehicle using standard joystick axes nomenclature, along with a joystick-like input device. Unused axes can be disabled an buttons are also transmit as boolean values of their
+ The system to be controlled.
+ X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle.
+ Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle.
+ Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle. Positive values are positive thrust, negative values are negative thrust.
+ R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle.
+ A bitfield corresponding to the joystick buttons' current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1.
+
+ A bitfield corresponding to the joystick buttons' 16-31 current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 16.
+ Set bits to 1 to indicate which of the following extension fields contain valid data: bit 0: pitch, bit 1: roll, bit 2: aux1, bit 3: aux2, bit 4: aux3, bit 5: aux4, bit 6: aux5, bit 7: aux6
+ Pitch-only-axis, normalized to the range [-1000,1000]. Generally corresponds to pitch on vehicles with additional degrees of freedom. Valid if bit 0 of enabled_extensions field is set. Set to 0 if invalid.
+ Roll-only-axis, normalized to the range [-1000,1000]. Generally corresponds to roll on vehicles with additional degrees of freedom. Valid if bit 1 of enabled_extensions field is set. Set to 0 if invalid.
+ Aux continuous input field 1. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 2 of enabled_extensions field is set. 0 if bit 2 is unset.
+ Aux continuous input field 2. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 3 of enabled_extensions field is set. 0 if bit 3 is unset.
+ Aux continuous input field 3. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 4 of enabled_extensions field is set. 0 if bit 4 is unset.
+ Aux continuous input field 4. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 5 of enabled_extensions field is set. 0 if bit 5 is unset.
+ Aux continuous input field 5. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 6 of enabled_extensions field is set. 0 if bit 6 is unset.
+ Aux continuous input field 6. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 7 of enabled_extensions field is set. 0 if bit 7 is unset.
+
+
+ The RAW values of the RC channels sent to the MAV to override info received from the RC radio. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. Individual receivers/transmitters might violate this specification. Note carefully the semantic differences between the first 8 channels and the subsequent channels
+ System ID
+ Component ID
+ RC channel 1 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
+ RC channel 2 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
+ RC channel 3 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
+ RC channel 4 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
+ RC channel 5 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
+ RC channel 6 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
+ RC channel 7 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
+ RC channel 8 value. A value of UINT16_MAX means to ignore this field. A value of 0 means to release this channel back to the RC radio.
+
+ RC channel 9 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
+ RC channel 10 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
+ RC channel 11 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
+ RC channel 12 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
+ RC channel 13 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
+ RC channel 14 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
+ RC channel 15 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
+ RC channel 16 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
+ RC channel 17 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
+ RC channel 18 value. A value of 0 or UINT16_MAX means to ignore this field. A value of UINT16_MAX-1 means to release this channel back to the RC radio.
+
+
+ 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.
+ System ID
+ Component ID
+ Waypoint ID (sequence number). Starts at zero. Increases monotonically for each waypoint, no gaps in the sequence (0,1,2,3,4).
+ The coordinate system of the waypoint.
+ The scheduled action for the waypoint.
+ false:0, true:1
+ Autocontinue to next waypoint
+ PARAM1, see MAV_CMD enum
+ PARAM2, see MAV_CMD enum
+ PARAM3, see MAV_CMD enum
+ PARAM4, see MAV_CMD enum
+ PARAM5 / local: x position in meters * 1e4, global: latitude in degrees * 10^7
+ PARAM6 / y position: local: x position in meters * 1e4, global: longitude in degrees *10^7
+ PARAM7 / z position: global: altitude in meters (relative or absolute, depending on frame.
+
+ Mission type.
+
+
+ Metrics typically displayed on a HUD for fixed wing aircraft.
+ 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.
+ Current ground speed.
+ Current heading in compass units (0-360, 0=north).
+ Current throttle setting (0 to 100).
+ Current altitude (MSL).
+ Current climb rate.
+
+
+ Message encoding a command with parameters as scaled integers. Scaling depends on the actual command value. The command microservice is documented at https://mavlink.io/en/services/command.html
+ System ID
+ Component ID
+ The coordinate system of the COMMAND.
+ The scheduled action for the mission item.
+ Not used.
+ Not used (set 0).
+ PARAM1, see MAV_CMD enum
+ PARAM2, see MAV_CMD enum
+ PARAM3, see MAV_CMD enum
+ PARAM4, see MAV_CMD enum
+ PARAM5 / local: x position in meters * 1e4, global: latitude in degrees * 10^7
+ PARAM6 / local: y position in meters * 1e4, global: longitude in degrees * 10^7
+ PARAM7 / z position: global: altitude in meters (relative or absolute, depending on frame).
+
+
+ Send a command with up to seven parameters to the MAV. The command microservice is documented at https://mavlink.io/en/services/command.html
+ System which should execute the command
+ Component which should execute the command, 0 for all components
+ Command ID (of command to send).
+ 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
+ Parameter 1 (for the specific command).
+ Parameter 2 (for the specific command).
+ Parameter 3 (for the specific command).
+ Parameter 4 (for the specific command).
+ Parameter 5 (for the specific command).
+ Parameter 6 (for the specific command).
+ Parameter 7 (for the specific command).
+
+
+ Report status of a command. Includes feedback whether the command was executed. The command microservice is documented at https://mavlink.io/en/services/command.html
+ Command ID (of acknowledged command).
+ Result of command.
+
+ Also used as result_param1, it can be set with a enum containing the errors reasons of why the command was denied or the progress percentage or 255 if unknown the progress when result is MAV_RESULT_IN_PROGRESS.
+ Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied.
+ System which requested the command to be executed
+ Component which requested the command to be executed
+
+
+ Setpoint in roll, pitch, yaw and thrust from the operator
+ Timestamp (time since system boot).
+ Desired roll rate
+ Desired pitch rate
+ Desired yaw rate
+ Collective thrust, normalized to 0 .. 1
+ Flight mode switch position, 0.. 255
+ Override mode switch position, 0.. 255
+
+
+ Sets a desired vehicle attitude. Used by an external controller to command the vehicle (manual controller or other system).
+ Timestamp (time since system boot).
+ System ID
+ Component ID
+ Bitmap to indicate which dimensions should be ignored by the vehicle.
+ Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
+ Body roll rate
+ Body pitch rate
+ Body yaw rate
+ Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)
+
+
+ Reports the current commanded attitude of the vehicle as specified by the autopilot. This should match the commands sent in a SET_ATTITUDE_TARGET message if the vehicle is being controlled this way.
+ Timestamp (time since system boot).
+ Bitmap to indicate which dimensions should be ignored by the vehicle.
+ Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
+ Body roll rate
+ Body pitch rate
+ Body yaw rate
+ Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)
+
+
+ Sets a desired vehicle position in a local north-east-down coordinate frame. Used by an external controller to command the vehicle (manual controller or other system).
+ Timestamp (time since system boot).
+ System ID
+ Component ID
+ Valid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9
+ Bitmap to indicate which dimensions should be ignored by the vehicle.
+ X Position in NED frame
+ Y Position in NED frame
+ Z Position in NED frame (note, altitude is negative in NED)
+ X velocity in NED frame
+ Y velocity in NED frame
+ Z velocity in NED frame
+ X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
+ Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
+ Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
+ yaw setpoint
+ yaw rate setpoint
+
+
+ Reports the current commanded vehicle position, velocity, and acceleration as specified by the autopilot. This should match the commands sent in SET_POSITION_TARGET_LOCAL_NED if the vehicle is being controlled this way.
+ Timestamp (time since system boot).
+ Valid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9
+ Bitmap to indicate which dimensions should be ignored by the vehicle.
+ X Position in NED frame
+ Y Position in NED frame
+ Z Position in NED frame (note, altitude is negative in NED)
+ X velocity in NED frame
+ Y velocity in NED frame
+ Z velocity in NED frame
+ X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
+ Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
+ Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
+ yaw setpoint
+ yaw rate setpoint
+
+
+ Sets a desired vehicle position, velocity, and/or acceleration in a global coordinate system (WGS84). Used by an external controller to command the vehicle (manual controller or other system).
+ Timestamp (time since system boot). The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency.
+ System ID
+ Component ID
+ Valid options are: MAV_FRAME_GLOBAL_INT = 5, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT = 6, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT = 11
+ Bitmap to indicate which dimensions should be ignored by the vehicle.
+ X Position in WGS84 frame
+ Y Position in WGS84 frame
+ Altitude (MSL, Relative to home, or AGL - depending on frame)
+ X velocity in NED frame
+ Y velocity in NED frame
+ Z velocity in NED frame
+ X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
+ Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
+ Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
+ yaw setpoint
+ yaw rate setpoint
+
+
+ Reports the current commanded vehicle position, velocity, and acceleration as specified by the autopilot. This should match the commands sent in SET_POSITION_TARGET_GLOBAL_INT if the vehicle is being controlled this way.
+ Timestamp (time since system boot). The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency.
+ Valid options are: MAV_FRAME_GLOBAL_INT = 5, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT = 6, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT = 11
+ Bitmap to indicate which dimensions should be ignored by the vehicle.
+ X Position in WGS84 frame
+ Y Position in WGS84 frame
+ Altitude (MSL, AGL or relative to home altitude, depending on frame)
+ X velocity in NED frame
+ Y velocity in NED frame
+ Z velocity in NED frame
+ X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
+ Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
+ Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
+ yaw setpoint
+ yaw rate setpoint
+
+
+ The offset in X, Y, Z and yaw between the LOCAL_POSITION_NED messages of MAV X and the global coordinate frame in NED coordinates. Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention)
+ Timestamp (time since system boot).
+ X Position
+ Y Position
+ Z Position
+ Roll
+ Pitch
+ Yaw
+
+
+ Suffers from missing airspeed fields and singularities due to Euler angles
+ Sent from simulation to autopilot. This packet is useful for high throughput applications such as hardware in the loop simulations.
+ Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
+ Roll angle
+ Pitch angle
+ Yaw angle
+ Body frame roll / phi angular speed
+ Body frame pitch / theta angular speed
+ Body frame yaw / psi angular speed
+ Latitude
+ Longitude
+ Altitude
+ Ground X Speed (Latitude)
+ Ground Y Speed (Longitude)
+ Ground Z Speed (Altitude)
+ X acceleration
+ Y acceleration
+ Z acceleration
+
+
+ Sent from autopilot to simulation. Hardware in the loop control outputs
+ Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
+ Control output -1 .. 1
+ Control output -1 .. 1
+ Control output -1 .. 1
+ Throttle 0 .. 1
+ Aux 1, -1 .. 1
+ Aux 2, -1 .. 1
+ Aux 3, -1 .. 1
+ Aux 4, -1 .. 1
+ System mode.
+ Navigation mode (MAV_NAV_MODE)
+
+
+ Sent from simulation to autopilot. The RAW values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. Individual receivers/transmitters might violate this specification.
+ Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
+ RC channel 1 value
+ RC channel 2 value
+ RC channel 3 value
+ RC channel 4 value
+ RC channel 5 value
+ RC channel 6 value
+ RC channel 7 value
+ RC channel 8 value
+ RC channel 9 value
+ RC channel 10 value
+ RC channel 11 value
+ RC channel 12 value
+ Receive signal strength indicator in device-dependent units/scale. Values: [0-254], 255: invalid/unknown.
+
+
+ Sent from autopilot to simulation. Hardware in the loop control outputs (replacement for HIL_CONTROLS)
+ Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
+ Control outputs -1 .. 1. Channel assignment depends on the simulated hardware.
+ System mode. Includes arming state.
+ Flags as bitfield, 1: indicate simulation using lockstep.
+
+
+ Optical flow from a flow sensor (e.g. optical mouse sensor)
+ Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
+ Sensor ID
+ Flow in x-sensor direction
+ Flow in y-sensor direction
+ Flow in x-sensor direction, angular-speed compensated
+ Flow in y-sensor direction, angular-speed compensated
+ Optical flow quality / confidence. 0: bad, 255: maximum quality
+ Ground distance. Positive value: distance known. Negative value: Unknown distance
+
+ Flow rate about X axis
+ Flow rate about Y axis
+
+
+ Global position/attitude estimate from a vision source.
+ Timestamp (UNIX time or since system boot)
+ Global X position
+ Global Y position
+ Global Z position
+ Roll angle
+ Pitch angle
+ Yaw angle
+
+ Row-major representation of pose 6x6 cross-covariance matrix upper right triangle (states: x_global, y_global, z_global, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
+ Estimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.
+
+
+ Local position/attitude estimate from a vision source.
+ Timestamp (UNIX time or time since system boot)
+ Local X position
+ Local Y position
+ Local Z position
+ Roll angle
+ Pitch angle
+ Yaw angle
+
+ Row-major representation of pose 6x6 cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
+ Estimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.
+
+
+ Speed estimate from a vision source.
+ Timestamp (UNIX time or time since system boot)
+ Global X speed
+ Global Y speed
+ Global Z speed
+
+ Row-major representation of 3x3 linear velocity covariance matrix (states: vx, vy, vz; 1st three entries - 1st row, etc.). If unknown, assign NaN value to first element in the array.
+ Estimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.
+
+
+ Global position estimate from a Vicon motion system source.
+ Timestamp (UNIX time or time since system boot)
+ Global X position
+ Global Y position
+ Global Z position
+ Roll angle
+ Pitch angle
+ Yaw angle
+
+ Row-major representation of 6x6 pose cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
+
+
+ The IMU readings in SI units in NED body frame
+ Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
+ X acceleration
+ Y acceleration
+ Z acceleration
+ Angular speed around X axis
+ Angular speed around Y axis
+ Angular speed around Z axis
+ X Magnetic field
+ Y Magnetic field
+ Z Magnetic field
+ Absolute pressure
+ Differential pressure
+ Altitude calculated from pressure
+ Temperature
+ Bitmap for fields that have updated since last message, bit 0 = xacc, bit 12: temperature
+
+ Id. Ids are numbered from 0 and map to IMUs numbered from 1 (e.g. IMU1 will have a message with id=0)
+
+
+ Optical flow from an angular rate flow sensor (e.g. PX4FLOW or mouse sensor)
+ Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
+ Sensor ID
+ Integration time. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the.
+ Flow around X axis (Sensor RH rotation about the X axis induces a positive flow. Sensor linear motion along the positive Y axis induces a negative flow.)
+ Flow around Y axis (Sensor RH rotation about the Y axis induces a positive flow. Sensor linear motion along the positive X axis induces a positive flow.)
+ RH rotation around X axis
+ RH rotation around Y axis
+ RH rotation around Z axis
+ Temperature
+ Optical flow quality / confidence. 0: no valid flow, 255: maximum quality
+ Time since the distance was sampled.
+ Distance to the center of the flow field. Positive value (including zero): distance known. Negative value: Unknown distance.
+
+
+ The IMU readings in SI units in NED body frame
+ Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
+ X acceleration
+ Y acceleration
+ Z acceleration
+ Angular speed around X axis in body frame
+ Angular speed around Y axis in body frame
+ Angular speed around Z axis in body frame
+ X Magnetic field
+ Y Magnetic field
+ Z Magnetic field
+ Absolute pressure
+ Differential pressure (airspeed)
+ Altitude calculated from pressure
+ Temperature
+ Bitmap for fields that have updated since last message, bit 0 = xacc, bit 12: temperature, bit 31: full reset of attitude/position/velocities/etc was performed in sim.
+
+ Sensor ID (zero indexed). Used for multiple sensor inputs
+
+
+ Status of simulation environment, if used
+ True attitude quaternion component 1, w (1 in null-rotation)
+ True attitude quaternion component 2, x (0 in null-rotation)
+ True attitude quaternion component 3, y (0 in null-rotation)
+ True attitude quaternion component 4, z (0 in null-rotation)
+ Attitude roll expressed as Euler angles, not recommended except for human-readable outputs
+ Attitude pitch expressed as Euler angles, not recommended except for human-readable outputs
+ Attitude yaw expressed as Euler angles, not recommended except for human-readable outputs
+ X acceleration
+ Y acceleration
+ Z acceleration
+ Angular speed around X axis
+ Angular speed around Y axis
+ Angular speed around Z axis
+ Latitude
+ Longitude
+ Altitude
+ Horizontal position standard deviation
+ Vertical position standard deviation
+ True velocity in north direction in earth-fixed NED frame
+ True velocity in east direction in earth-fixed NED frame
+ True velocity in down direction in earth-fixed NED frame
+
+ Latitude (higher precision). If 0, recipients should use the lat field value (otherwise this field is preferred).
+ Longitude (higher precision). If 0, recipients should use the lon field value (otherwise this field is preferred).
+
+
+ Status generated by radio and injected into MAVLink stream.
+ Local (message sender) recieved signal strength indication in device-dependent units/scale. Values: [0-254], 255: invalid/unknown.
+ Remote (message receiver) signal strength indication in device-dependent units/scale. Values: [0-254], 255: invalid/unknown.
+ Remaining free transmitter buffer space.
+ Local background noise level. These are device dependent RSSI values (scale as approx 2x dB on SiK radios). Values: [0-254], 255: invalid/unknown.
+ Remote background noise level. These are device dependent RSSI values (scale as approx 2x dB on SiK radios). Values: [0-254], 255: invalid/unknown.
+ Count of radio packet receive errors (since boot).
+ Count of error corrected radio packets (since boot).
+
+
+ File transfer message
+ Network ID (0 for broadcast)
+ System ID (0 for broadcast)
+ Component ID (0 for broadcast)
+ Variable length payload. The length is defined by the remaining message length when subtracting the header and other fields. The entire content of this block is opaque unless you understand any the encoding message_type. The particular encoding used can be extension specific and might not always be documented as part of the mavlink specification.
+
+
+ Time synchronization message.
+ Time sync timestamp 1
+ Time sync timestamp 2
+
+
+ Camera-IMU triggering and synchronisation message.
+ Timestamp for image frame (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
+ Image frame sequence
+
+
+ The global position, as returned by the Global Positioning System (GPS). This is
+ NOT the global position estimate of the sytem, but rather a RAW sensor value. See message GLOBAL_POSITION for the global position estimate.
+ Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
+ 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
+ Latitude (WGS84)
+ Longitude (WGS84)
+ Altitude (MSL). Positive for up.
+ GPS HDOP horizontal dilution of position (unitless). If unknown, set to: UINT16_MAX
+ GPS VDOP vertical dilution of position (unitless). If unknown, set to: UINT16_MAX
+ GPS ground speed. If unknown, set to: 65535
+ GPS velocity in north direction in earth-fixed NED frame
+ GPS velocity in east direction in earth-fixed NED frame
+ GPS velocity in down direction in earth-fixed NED frame
+ Course over ground (NOT heading, but direction of movement), 0.0..359.99 degrees. If unknown, set to: 65535
+ Number of satellites visible. If unknown, set to 255
+
+ GPS ID (zero indexed). Used for multiple GPS inputs
+ Yaw of vehicle relative to Earth's North, zero means not available, use 36000 for north
+
+
+ Simulated optical flow from a flow sensor (e.g. PX4FLOW or optical mouse sensor)
+ Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
+ Sensor ID
+ Integration time. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the.
+ Flow in radians around X axis (Sensor RH rotation about the X axis induces a positive flow. Sensor linear motion along the positive Y axis induces a negative flow.)
+ Flow in radians around Y axis (Sensor RH rotation about the Y axis induces a positive flow. Sensor linear motion along the positive X axis induces a positive flow.)
+ RH rotation around X axis
+ RH rotation around Y axis
+ RH rotation around Z axis
+ Temperature
+ Optical flow quality / confidence. 0: no valid flow, 255: maximum quality
+ Time since the distance was sampled.
+ Distance to the center of the flow field. Positive value (including zero): distance known. Negative value: Unknown distance.
+
+
+ Sent from simulation to autopilot, avoids in contrast to HIL_STATE singularities. This packet is useful for high throughput applications such as hardware in the loop simulations.
+ Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
+ Vehicle attitude expressed as normalized quaternion in w, x, y, z order (with 1 0 0 0 being the null-rotation)
+ Body frame roll / phi angular speed
+ Body frame pitch / theta angular speed
+ Body frame yaw / psi angular speed
+ Latitude
+ Longitude
+ Altitude
+ Ground X Speed (Latitude)
+ Ground Y Speed (Longitude)
+ Ground Z Speed (Altitude)
+ Indicated airspeed
+ True airspeed
+ X acceleration
+ Y acceleration
+ Z acceleration
+
+
+ The RAW IMU readings for secondary 9DOF sensor setup. This message should contain the scaled values to the described units
+ Timestamp (time since system boot).
+ X acceleration
+ Y acceleration
+ Z acceleration
+ Angular speed around X axis
+ Angular speed around Y axis
+ Angular speed around Z axis
+ X Magnetic field
+ Y Magnetic field
+ Z Magnetic field
+
+ Temperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).
+
+
+ Request a list of available logs. On some systems calling this may stop on-board logging until LOG_REQUEST_END is called. If there are no log files available this request shall be answered with one LOG_ENTRY message with id = 0 and num_logs = 0.
+ System ID
+ Component ID
+ First log id (0 for first available)
+ Last log id (0xffff for last available)
+
+
+ Reply to LOG_REQUEST_LIST
+ Log id
+ Total number of logs
+ High log number
+ UTC timestamp of log since 1970, or 0 if not available
+ Size of the log (may be approximate)
+
+
+ Request a chunk of a log
+ System ID
+ Component ID
+ Log id (from LOG_ENTRY reply)
+ Offset into the log
+ Number of bytes
+
+
+ Reply to LOG_REQUEST_DATA
+ Log id (from LOG_ENTRY reply)
+ Offset into the log
+ Number of bytes (zero for end of log)
+ log data
+
+
+ Erase all logs
+ System ID
+ Component ID
+
+
+ Stop log transfer and resume normal logging
+ System ID
+ Component ID
+
+
+ Data for injecting into the onboard GPS (used for DGPS)
+ System ID
+ Component ID
+ Data length
+ Raw data (110 is enough for 12 satellites of RTCMv2)
+
+
+ Second GPS data.
+ Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
+ GPS fix type.
+ Latitude (WGS84)
+ Longitude (WGS84)
+ Altitude (MSL). Positive for up.
+ GPS HDOP horizontal dilution of position (unitless). If unknown, set to: UINT16_MAX
+ GPS VDOP vertical dilution of position (unitless). If unknown, set to: UINT16_MAX
+ GPS ground speed. If unknown, set to: UINT16_MAX
+ Course over ground (NOT heading, but direction of movement): 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
+ Number of satellites visible. If unknown, set to 255
+ Number of DGPS satellites
+ Age of DGPS info
+
+ 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.
+ Altitude (above WGS84, EGM96 ellipsoid). Positive for up.
+ Position uncertainty.
+ Altitude uncertainty.
+ Speed uncertainty.
+ Heading / track uncertainty
+
+
+ Power supply status
+ 5V rail voltage.
+ Servo rail voltage.
+ Bitmap of power supply status flags.
+
+
+ Control a serial port. This can be used for raw access to an onboard serial peripheral such as a GPS or telemetry radio. It is designed to make it possible to update the devices firmware via MAVLink messages or change the devices settings. A message with zero bytes can be used to change just the baudrate.
+ Serial control device type.
+ Bitmap of serial control flags.
+ Timeout for reply data
+ Baudrate of transfer. Zero means no change.
+ how many bytes in this transfer
+ serial data
+
+
+ RTK GPS data. Gives information on the relative baseline calculation the GPS is reporting
+ Time since boot of last baseline message received.
+ Identification of connected RTK receiver.
+ GPS Week Number of last baseline
+ GPS Time of Week of last baseline
+ GPS-specific health report for RTK data.
+ Rate of baseline messages being received by GPS
+ Current number of sats used for RTK calculation.
+ Coordinate system of baseline
+ Current baseline in ECEF x or NED north component.
+ Current baseline in ECEF y or NED east component.
+ Current baseline in ECEF z or NED down component.
+ Current estimate of baseline accuracy.
+ Current number of integer ambiguity hypotheses.
+
+
+ RTK GPS data. Gives information on the relative baseline calculation the GPS is reporting
+ Time since boot of last baseline message received.
+ Identification of connected RTK receiver.
+ GPS Week Number of last baseline
+ GPS Time of Week of last baseline
+ GPS-specific health report for RTK data.
+ Rate of baseline messages being received by GPS
+ Current number of sats used for RTK calculation.
+ Coordinate system of baseline
+ Current baseline in ECEF x or NED north component.
+ Current baseline in ECEF y or NED east component.
+ Current baseline in ECEF z or NED down component.
+ Current estimate of baseline accuracy.
+ Current number of integer ambiguity hypotheses.
+
+
+ The RAW IMU readings for 3rd 9DOF sensor setup. This message should contain the scaled values to the described units
+ Timestamp (time since system boot).
+ X acceleration
+ Y acceleration
+ Z acceleration
+ Angular speed around X axis
+ Angular speed around Y axis
+ Angular speed around Z axis
+ X Magnetic field
+ Y Magnetic field
+ Z Magnetic field
+
+ Temperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).
+
+
+ Handshake message to initiate, control and stop image streaming when using the Image Transmission Protocol: https://mavlink.io/en/services/image_transmission.html.
+ Type of requested/acknowledged data.
+ total data size (set on ACK only).
+ Width of a matrix or image.
+ Height of a matrix or image.
+ Number of packets being sent (set on ACK only).
+ Payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only).
+ JPEG quality. Values: [1-100].
+
+
+ Data packet for images sent using the Image Transmission Protocol: https://mavlink.io/en/services/image_transmission.html.
+ sequence number (starting with 0 on every transmission)
+ image data bytes
+
+
+ Distance sensor information for an onboard rangefinder.
+ Timestamp (time since system boot).
+ Minimum distance the sensor can measure
+ Maximum distance the sensor can measure
+ Current distance reading
+ Type of distance sensor.
+ Onboard ID of the sensor
+ Direction the sensor faces. downward-facing: ROTATION_PITCH_270, upward-facing: ROTATION_PITCH_90, backward-facing: ROTATION_PITCH_180, forward-facing: ROTATION_NONE, left-facing: ROTATION_YAW_90, right-facing: ROTATION_YAW_270
+ Measurement variance. Max standard deviation is 6cm. 255 if unknown.
+
+ Horizontal Field of View (angle) where the distance measurement is valid and the field of view is known. Otherwise this is set to 0.
+ Vertical Field of View (angle) where the distance measurement is valid and the field of view is known. Otherwise this is set to 0.
+ Quaternion of the sensor orientation in vehicle body frame (w, x, y, z order, zero-rotation is 1, 0, 0, 0). Zero-rotation is along the vehicle body x-axis. This field is required if the orientation is set to MAV_SENSOR_ROTATION_CUSTOM. Set it to 0 if invalid."
+ 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.
+
+
+ Request for terrain data and terrain status. See terrain protocol docs: https://mavlink.io/en/services/terrain.html
+ Latitude of SW corner of first grid
+ Longitude of SW corner of first grid
+ Grid spacing
+ Bitmask of requested 4x4 grids (row major 8x7 array of grids, 56 bits)
+
+
+ Terrain data sent from GCS. The lat/lon and grid_spacing must be the same as a lat/lon from a TERRAIN_REQUEST. See terrain protocol docs: https://mavlink.io/en/services/terrain.html
+ Latitude of SW corner of first grid
+ Longitude of SW corner of first grid
+ Grid spacing
+ bit within the terrain request mask
+ Terrain data MSL
+
+
+ Request that the vehicle report terrain height at the given location (expected response is a TERRAIN_REPORT). Used by GCS to check if vehicle has all terrain data needed for a mission.
+ Latitude
+ Longitude
+
+
+ Streamed from drone to report progress of terrain map download (initiated by TERRAIN_REQUEST), or sent as a response to a TERRAIN_CHECK request. See terrain protocol docs: https://mavlink.io/en/services/terrain.html
+ Latitude
+ Longitude
+ grid spacing (zero if terrain at this location unavailable)
+ Terrain height MSL
+ Current vehicle height above lat/lon terrain height
+ Number of 4x4 terrain blocks waiting to be received or read from disk
+ Number of 4x4 terrain blocks in memory
+
+
+ Barometer readings for 2nd barometer
+ Timestamp (time since system boot).
+ Absolute pressure
+ Differential pressure
+ Absolute pressure temperature
+
+ Differential pressure temperature (0, if not available). Report values of 0 (or 1) as 1 cdegC.
+
+
+ Motion capture attitude and position
+ Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
+ Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
+ X position (NED)
+ Y position (NED)
+ Z position (NED)
+
+ Row-major representation of a pose 6x6 cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
+
+
+ Set the vehicle attitude and body angular rates.
+ Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
+ Actuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.
+ System ID
+ Component ID
+ Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.
+
+
+ Set the vehicle attitude and body angular rates.
+ Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
+ Actuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.
+ Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.
+
+
+ The current system altitude.
+ Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
+ This altitude measure is initialized on system boot and monotonic (it is never reset, but represents the local altitude change). The only guarantee on this field is that it will never be reset and is consistent within a flight. The recommended value for this field is the uncorrected barometric altitude at boot time. This altitude will also drift and vary between flights.
+ This altitude measure is strictly above mean sea level and might be non-monotonic (it might reset on events like GPS lock or when a new QNH value is set). It should be the altitude to which global altitude waypoints are compared to. Note that it is *not* the GPS altitude, however, most GPS modules already output MSL by default and not the WGS84 altitude.
+ This is the local altitude in the local coordinate frame. It is not the altitude above home, but in reference to the coordinate origin (0, 0, 0). It is up-positive.
+ This is the altitude above the home position. It resets on each change of the current home position.
+ This is the altitude above terrain. It might be fed by a terrain database or an altimeter. Values smaller than -1000 should be interpreted as unknown.
+ This is not the altitude, but the clear space below the system according to the fused clearance estimate. It generally should max out at the maximum range of e.g. the laser altimeter. It is generally a moving target. A negative value indicates no measurement available.
+
+
+ The autopilot is requesting a resource (file, binary, other type of data)
+ Request ID. This ID should be re-used when sending back URI contents
+ The type of requested URI. 0 = a file via URL. 1 = a UAVCAN binary
+ The requested unique resource identifier (URI). It is not necessarily a straight domain name (depends on the URI type enum)
+ The way the autopilot wants to receive the URI. 0 = MAVLink FTP. 1 = binary stream.
+ The storage path the autopilot wants the URI to be stored in. Will only be valid if the transfer_type has a storage associated (e.g. MAVLink FTP).
+
+
+ Barometer readings for 3rd barometer
+ Timestamp (time since system boot).
+ Absolute pressure
+ Differential pressure
+ Absolute pressure temperature
+
+ Differential pressure temperature (0, if not available). Report values of 0 (or 1) as 1 cdegC.
+
+
+ Current motion information from a designated system
+ Timestamp (time since system boot).
+ bit positions for tracker reporting capabilities (POS = 0, VEL = 1, ACCEL = 2, ATT + RATES = 3)
+ Latitude (WGS84)
+ Longitude (WGS84)
+ Altitude (MSL)
+ target velocity (0,0,0) for unknown
+ linear target acceleration (0,0,0) for unknown
+ (1 0 0 0 for unknown)
+ (0 0 0 for unknown)
+ eph epv
+ button states or switches of a tracker device
+
+
+ The smoothed, monotonic system state used to feed the control loops of the system.
+ Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
+ X acceleration in body frame
+ Y acceleration in body frame
+ Z acceleration in body frame
+ X velocity in body frame
+ Y velocity in body frame
+ Z velocity in body frame
+ X position in local frame
+ Y position in local frame
+ Z position in local frame
+ Airspeed, set to -1 if unknown
+ Variance of body velocity estimate
+ Variance in local position
+ The attitude, represented as Quaternion
+ Angular rate in roll axis
+ Angular rate in pitch axis
+ Angular rate in yaw axis
+
+
+ Battery information
+ Battery ID
+ Function of the battery
+ Type (chemistry) of the battery
+ Temperature of the battery. INT16_MAX for unknown temperature.
+ 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).
+ Battery current, -1: autopilot does not measure the current
+ Consumed charge, -1: autopilot does not provide consumption estimate
+ Consumed energy, -1: autopilot does not provide energy consumption estimate
+ Remaining battery energy. Values: [0-100], -1: autopilot does not estimate the remaining battery.
+
+ Remaining battery time, 0: autopilot does not provide remaining battery time estimate
+ State for extent of discharge, provided by autopilot for warning or external reactions
+ 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.
+ Battery mode. Default (0) is that battery mode reporting is not supported or battery is in normal-use mode.
+ 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).
+
+
+ Version and capability of autopilot software. This should be emitted in response to a request with MAV_CMD_REQUEST_MESSAGE.
+ Bitmap of capabilities
+ Firmware version number
+ Middleware version number
+ Operating system version number
+ HW / board version (last 8 bits should be silicon ID, if any). The first 16 bits of this field specify https://github.com/ardupilot/ardupilot/blob/master/Tools/AP_Bootloader/board_types.txt
+ Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.
+ Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.
+ Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.
+ ID of the board vendor
+ ID of the product
+ UID if provided by hardware (see uid2)
+
+ UID if provided by hardware (supersedes the uid field. If this is non-zero, use this field, otherwise use uid)
+
+
+ The location of a landing target. See: https://mavlink.io/en/services/landing_target.html
+ Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
+ The ID of the target if multiple targets are present
+ Coordinate frame used for following fields.
+ X-axis angular offset of the target from the center of the image
+ Y-axis angular offset of the target from the center of the image
+ Distance to the target from the vehicle
+ Size of target along x-axis
+ Size of target along y-axis
+
+ X Position of the landing target in MAV_FRAME
+ Y Position of the landing target in MAV_FRAME
+ Z Position of the landing target in MAV_FRAME
+ Quaternion of landing target orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
+ Type of landing target
+ Boolean indicating whether the position fields (x, y, z, q, type) contain valid target position information (valid: 1, invalid: 0). Default is 0 (invalid).
+
+
+
+ Status of geo-fencing. Sent in extended status stream when fencing enabled.
+ Breach status (0 if currently inside fence, 1 if outside).
+ Number of fence breaches.
+ Last breach type.
+ Time (since boot) of last breach.
+
+ Active action to prevent fence breach
+
+
+
+
+ Reports results of completed compass calibration. Sent until MAG_CAL_ACK received.
+ Compass being calibrated.
+ Bitmask of compasses being calibrated.
+ Calibration Status.
+ 0=requires a MAV_CMD_DO_ACCEPT_MAG_CAL, 1=saved to parameters.
+ RMS milligauss residuals.
+ X offset.
+ Y offset.
+ Z offset.
+ X diagonal (matrix 11).
+ Y diagonal (matrix 22).
+ Z diagonal (matrix 33).
+ X off-diagonal (matrix 12 and 21).
+ Y off-diagonal (matrix 13 and 31).
+ Z off-diagonal (matrix 32 and 23).
+
+ Confidence in orientation (higher is better).
+ orientation before calibration.
+ orientation after calibration.
+ field radius correction factor
+
+
+
+ EFI status output
+ EFI health status
+ ECU index
+ RPM
+ Fuel consumed
+ Fuel flow rate
+ Engine load
+ Throttle position
+ Spark dwell time
+ Barometric pressure
+ Intake manifold pressure(
+ Intake manifold temperature
+ Cylinder head temperature
+ Ignition timing (Crank angle degrees)
+ Injection time
+ Exhaust gas temperature
+ Output throttle
+ Pressure/temperature compensation
+
+ Supply voltage to EFI sparking system. Zero in this value means "unknown", so if the supply voltage really is zero volts use 0.0001 instead.
+ Fuel pressure. Zero in this value means "unknown", so if the fuel pressure really is zero kPa use 0.0001 instead.
+
+
+
+ Estimator status message including flags, innovation test ratios and estimated accuracies. The flags message is an integer bitmask containing information on which EKF outputs are valid. See the ESTIMATOR_STATUS_FLAGS enum definition for further information. The innovation test ratios show the magnitude of the sensor innovation divided by the innovation check threshold. Under normal operation the innovation test ratios should be below 0.5 with occasional values up to 1.0. Values greater than 1.0 should be rare under normal operation and indicate that a measurement has been rejected by the filter. The user should be notified if an innovation test ratio greater than 1.0 is recorded. Notifications for values in the range between 0.5 and 1.0 should be optional and controllable by the user.
+ Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
+ Bitmap indicating which EKF outputs are valid.
+ Velocity innovation test ratio
+ Horizontal position innovation test ratio
+ Vertical position innovation test ratio
+ Magnetometer innovation test ratio
+ Height above terrain innovation test ratio
+ True airspeed innovation test ratio
+ Horizontal position 1-STD accuracy relative to the EKF local origin
+ Vertical position 1-STD accuracy relative to the EKF local origin
+
+
+ Wind covariance estimate from vehicle.
+ Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
+ Wind in X (NED) direction
+ Wind in Y (NED) direction
+ Wind in Z (NED) direction
+ Variability of the wind in XY. RMS of a 1 Hz lowpassed wind estimate.
+ Variability of the wind in Z. RMS of a 1 Hz lowpassed wind estimate.
+ Altitude (MSL) that this measurement was taken at
+ Horizontal speed 1-STD accuracy
+ Vertical speed 1-STD accuracy
+
+
+ GPS sensor input message. This is a raw sensor value sent by the GPS. This is NOT the global position estimate of the system.
+ Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
+ ID of the GPS for multiple GPS inputs
+ Bitmap indicating which GPS input flags fields to ignore. All other fields must be provided.
+ GPS time (from start of GPS week)
+ GPS week number
+ 0-1: no fix, 2: 2D fix, 3: 3D fix. 4: 3D with DGPS. 5: 3D with RTK
+ Latitude (WGS84)
+ Longitude (WGS84)
+ Altitude (MSL). Positive for up.
+ GPS HDOP horizontal dilution of position (unitless). If unknown, set to: UINT16_MAX
+ GPS VDOP vertical dilution of position (unitless). If unknown, set to: UINT16_MAX
+ GPS velocity in north direction in earth-fixed NED frame
+ GPS velocity in east direction in earth-fixed NED frame
+ GPS velocity in down direction in earth-fixed NED frame
+ GPS speed accuracy
+ GPS horizontal accuracy
+ GPS vertical accuracy
+ Number of satellites visible.
+
+ Yaw of vehicle relative to Earth's North, zero means not available, use 36000 for north
+
+
+ RTCM message for injecting into the onboard GPS (used for DGPS)
+ LSB: 1 means message is fragmented, next 2 bits are the fragment ID, the remaining 5 bits are used for the sequence ID. Messages are only to be flushed to the GPS when the entire message has been reconstructed on the autopilot. The fragment ID specifies which order the fragments should be assembled into a buffer, while the sequence ID is used to detect a mismatch between different buffers. The buffer is considered fully reconstructed when either all 4 fragments are present, or all the fragments before the first fragment with a non full payload is received. This management is used to ensure that normal GPS operation doesn't corrupt RTCM data, and to recover from a unreliable transport delivery order.
+ data length
+ RTCM message (may be fragmented)
+
+
+
+ Message appropriate for high latency connections like Iridium
+ Bitmap of enabled system modes.
+ A bitfield for use for autopilot-specific flags.
+ The landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.
+ roll
+ pitch
+ heading
+ throttle (percentage)
+ heading setpoint
+ Latitude
+ Longitude
+ Altitude above mean sea level
+ Altitude setpoint relative to the home position
+ airspeed
+ airspeed setpoint
+ groundspeed
+ climb rate
+ Number of satellites visible. If unknown, set to 255
+ GPS Fix type.
+ Remaining battery (percentage)
+ Autopilot temperature (degrees C)
+ Air temperature (degrees C) from airspeed sensor
+ failsafe (each bit represents a failsafe where 0=ok, 1=failsafe active (bit0:RC, bit1:batt, bit2:GPS, bit3:GCS, bit4:fence)
+ current waypoint number
+ distance to target
+
+
+ Message appropriate for high latency connections like Iridium (version 2)
+ Timestamp (milliseconds since boot or Unix epoch)
+ Type of the MAV (quadrotor, helicopter, etc.)
+ Autopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers.
+ A bitfield for use for autopilot-specific flags (2 byte version).
+ Latitude
+ Longitude
+ Altitude above mean sea level
+ Altitude setpoint
+ Heading
+ Heading setpoint
+ Distance to target waypoint or position
+ Throttle
+ Airspeed
+ Airspeed setpoint
+ Groundspeed
+ Windspeed
+ Wind heading
+ Maximum error horizontal position since last message
+ Maximum error vertical position since last message
+ Air temperature from airspeed sensor
+ Maximum climb rate magnitude since last message
+ Battery level (-1 if field not provided).
+ Current waypoint number
+ Bitmap of failure flags.
+ Field for custom payload.
+ Field for custom payload.
+ Field for custom payload.
+
+
+ Vibration levels and accelerometer clipping
+ Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
+ Vibration levels on X-axis
+ Vibration levels on Y-axis
+ Vibration levels on Z-axis
+ first accelerometer clipping count
+ second accelerometer clipping count
+ third accelerometer clipping count
+
+
+ This message can be requested by sending the MAV_CMD_GET_HOME_POSITION command. The position the system will return to and land on. The position is set automatically by the system during the takeoff in case it was not explicitly set by the operator before or after. The global and local positions encode the position in the respective coordinate frames, while the q parameter encodes the orientation of the surface. Under normal conditions it describes the heading and terrain slope, which can be used by the aircraft to adjust the approach. The approach 3D vector describes the point to which the system should fly in normal flight mode and then perform a landing sequence along the vector.
+ Latitude (WGS84)
+ Longitude (WGS84)
+ Altitude (MSL). Positive for up.
+ Local X position of this position in the local coordinate frame
+ Local Y position of this position in the local coordinate frame
+ Local Z position of this position in the local coordinate frame
+ World to surface normal and heading transformation of the takeoff position. Used to indicate the heading and slope of the ground
+ Local X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
+ Local Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
+ Local Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
+
+ Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
+
+
+ This message is being superseded by MAV_CMD_DO_SET_HOME. Using the command protocols allows a GCS to detect setting of the home position has failed.
+ The position the system will return to and land on. The position is set automatically by the system during the takeoff in case it was not explicitly set by the operator before or after. The global and local positions encode the position in the respective coordinate frames, while the q parameter encodes the orientation of the surface. Under normal conditions it describes the heading and terrain slope, which can be used by the aircraft to adjust the approach. The approach 3D vector describes the point to which the system should fly in normal flight mode and then perform a landing sequence along the vector.
+ System ID.
+ Latitude (WGS84)
+ Longitude (WGS84)
+ Altitude (MSL). Positive for up.
+ Local X position of this position in the local coordinate frame
+ Local Y position of this position in the local coordinate frame
+ Local Z position of this position in the local coordinate frame
+ World to surface normal and heading transformation of the takeoff position. Used to indicate the heading and slope of the ground
+ Local X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
+ Local Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
+ Local Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
+
+ Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
+
+
+ The interval between messages for a particular MAVLink message ID. This message is the response to the MAV_CMD_GET_MESSAGE_INTERVAL command. This interface replaces DATA_STREAM.
+ The ID of the requested MAVLink message. v1.0 is limited to 254 messages.
+ The interval between two messages. A value of -1 indicates this stream is disabled, 0 indicates it is not available, > 0 indicates the interval at which it is sent.
+
+
+ Provides state for additional features
+ The VTOL state if applicable. Is set to MAV_VTOL_STATE_UNDEFINED if UAV is not in VTOL configuration.
+ The landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.
+
+
+ The location and information of an ADSB vehicle
+ ICAO address
+ Latitude
+ Longitude
+ ADSB altitude type.
+ Altitude(ASL)
+ Course over ground
+ The horizontal velocity
+ The vertical velocity. Positive is up
+ The callsign, 8+null
+ ADSB emitter type.
+ Time since last communication in seconds
+ Bitmap to indicate various statuses including valid data fields
+ Squawk code
+
+
+ Information about a potential collision
+ Collision data source
+ Unique identifier, domain based on src field
+ Action that is being taken to avoid this collision
+ How concerned the aircraft is about this collision
+ Estimated time until collision occurs
+ Closest vertical distance between vehicle and object
+ Closest horizontal distance between vehicle and object
+
+
+ Message implementing parts of the V2 payload specs in V1 frames for transitional support.
+ Network ID (0 for broadcast)
+ System ID (0 for broadcast)
+ Component ID (0 for broadcast)
+ A code that identifies the software component that understands this message (analogous to USB device classes or mime type strings). If this code is less than 32768, it is considered a 'registered' protocol extension and the corresponding entry should be added to https://github.com/mavlink/mavlink/definition_files/extension_message_ids.xml. Software creators can register blocks of message IDs as needed (useful for GCS specific metadata, etc...). Message_types greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase.
+ Variable length payload. The length must be encoded in the payload as part of the message_type protocol, e.g. by including the length as payload data, or by terminating the payload data with a non-zero marker. This is required in order to reconstruct zero-terminated payloads that are (or otherwise would be) trimmed by MAVLink 2 empty-byte truncation. The entire content of the payload block is opaque unless you understand the encoding message_type. The particular encoding used can be extension specific and might not always be documented as part of the MAVLink specification.
+
+
+ Send raw controller memory. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output.
+ Starting address of the debug variables
+ Version code of the type variable. 0=unknown, type ignored and assumed int16_t. 1=as below
+ Type code of the memory variables. for ver = 1: 0=16 x int16_t, 1=16 x uint16_t, 2=16 x Q15, 3=16 x 1Q14
+ Memory contents at specified address
+
+
+ To debug something using a named 3D vector.
+ Name
+ Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
+ x
+ y
+ z
+
+
+ Send a key-value pair as float. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output.
+ Timestamp (time since system boot).
+ Name of the debug variable
+ Floating point value
+
+
+ Send a key-value pair as integer. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output.
+ Timestamp (time since system boot).
+ Name of the debug variable
+ Signed integer value
+
+
+ Status text message. These messages are printed in yellow in the COMM console of QGroundControl. WARNING: They consume quite some bandwidth, so use only for important status and error messages. If implemented wisely, these messages are buffered on the MCU and sent only at a limited rate (e.g. 10 Hz).
+ Severity of status. Relies on the definitions within RFC-5424.
+ Status text message, without null termination character
+
+ 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.
+ 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.
+
+
+ Send a debug value. The index is used to discriminate between values. These values show up in the plot of QGroundControl as DEBUG N.
+ Timestamp (time since system boot).
+ index of debug variable
+ DEBUG value
+
+
+
+ Setup a MAVLink2 signing key. If called with secret_key of all zero and zero initial_timestamp will disable signing
+ system id of the target
+ component ID of the target
+ signing key
+ initial timestamp
+
+
+ Report button state change.
+ Timestamp (time since system boot).
+ Time of last change of button state.
+ Bitmap for state of buttons.
+
+
+ Control vehicle tone generation (buzzer).
+ System ID
+ Component ID
+ tune in board specific format
+
+ tune extension (appended to tune)
+
+
+ Information about a camera. Can be requested with a MAV_CMD_REQUEST_MESSAGE command.
+ Timestamp (time since system boot).
+ Name of the camera vendor
+ Name of the camera model
+ Version of the camera firmware, encoded as: (Dev & 0xff) << 24 | (Patch & 0xff) << 16 | (Minor & 0xff) << 8 | (Major & 0xff). Use 0 if not known.
+ Focal length. Use NaN if not known.
+ Image sensor size horizontal. Use NaN if not known.
+ Image sensor size vertical. Use NaN if not known.
+ Horizontal image resolution. Use 0 if not known.
+ Vertical image resolution. Use 0 if not known.
+ Reserved for a lens ID. Use 0 if not known.
+ Bitmap of camera capability flags.
+ Camera definition version (iteration). Use 0 if not known.
+ 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). The definition file may be xz compressed, which will be indicated by the file extension .xml.xz (a GCS that implements the protocol must support decompressing the file). The string needs to be zero terminated. Use a zero-length string if not known.
+
+ Gimbal id of a gimbal associated with this camera. This is the component id of the gimbal device, or 1-6 for non mavlink gimbals. Use 0 if no gimbal is associated with the camera.
+
+
+ Settings of a camera. Can be requested with a MAV_CMD_REQUEST_MESSAGE command.
+ Timestamp (time since system boot).
+ Camera mode
+
+ Current zoom level as a percentage of the full range (0.0 to 100.0, NaN if not known)
+ Current focus level as a percentage of the full range (0.0 to 100.0, NaN if not known)
+
+
+ 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.
+ Timestamp (time since system boot).
+ Storage ID (1 for first, 2 for second, etc.)
+ Number of storage devices
+ Status of storage
+ Total capacity. If storage is not ready (STORAGE_STATUS_READY) value will be ignored.
+ Used capacity. If storage is not ready (STORAGE_STATUS_READY) value will be ignored.
+ Available storage capacity. If storage is not ready (STORAGE_STATUS_READY) value will be ignored.
+ Read speed.
+ Write speed.
+
+ Type of storage
+ Textual storage name to be used in UI (microSD 1, Internal Memory, etc.) This is a NULL terminated string. If it is exactly 32 characters long, add a terminating NULL. If this string is empty, the generic type is shown to the user.
+
+
+ Information about the status of a capture. Can be requested with a MAV_CMD_REQUEST_MESSAGE command.
+ Timestamp (time since system boot).
+ Current status of image capturing (0: idle, 1: capture in progress, 2: interval set but idle, 3: interval set and capture in progress)
+ Current status of video capturing (0: idle, 1: capture in progress)
+ Image capture interval
+ Time since recording started
+ Available storage capacity.
+
+ Total number of images captured ('forever', or until reset using MAV_CMD_STORAGE_FORMAT).
+
+
+ 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.
+ Timestamp (time since system boot).
+ Timestamp (time since UNIX epoch) in UTC. 0 for unknown.
+ Deprecated/unused. Component IDs are used to differentiate multiple cameras.
+ Latitude where image was taken
+ Longitude where capture was taken
+ Altitude (MSL) where image was taken
+ Altitude above ground
+ Quaternion of camera orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
+ Zero based index of this image (i.e. a new image will have index CAMERA_CAPTURE_STATUS.image count -1)
+ Boolean indicating success (1) or failure (0) while capturing this image.
+ URL of image taken. Either local storage or http://foo.jpg if camera provides an HTTP interface.
+
+
+ Information about flight since last arming.
+ Timestamp (time since system boot).
+ Timestamp at arming (time since UNIX epoch) in UTC, 0 for unknown
+ Timestamp at takeoff (time since UNIX epoch) in UTC, 0 for unknown
+ Universally unique identifier (UUID) of flight, should correspond to name of log files
+
+
+ Orientation of a mount
+ Timestamp (time since system boot).
+ Roll in global frame (set to NaN for invalid).
+ Pitch in global frame (set to NaN for invalid).
+ Yaw relative to vehicle (set to NaN for invalid).
+
+ Yaw in absolute frame relative to Earth's North, north is 0 (set to NaN for invalid).
+
+
+ A message containing logged data (see also MAV_CMD_LOGGING_START)
+ system ID of the target
+ component ID of the target
+ sequence number (can wrap)
+ data length
+ offset into data where first message starts. This can be used for recovery, when a previous message got lost (set to 255 if no start exists).
+ logged data
+
+
+ A message containing logged data which requires a LOGGING_ACK to be sent back
+ system ID of the target
+ component ID of the target
+ sequence number (can wrap)
+ data length
+ offset into data where first message starts. This can be used for recovery, when a previous message got lost (set to 255 if no start exists).
+ logged data
+
+
+ An ack for a LOGGING_DATA_ACKED message
+ system ID of the target
+ component ID of the target
+ sequence number (must match the one in LOGGING_DATA_ACKED)
+
+
+ Information about video stream. 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.
+ Video Stream ID (1 for first, 2 for second, etc.)
+ Number of streams available.
+ Type of stream.
+ Bitmap of stream status flags.
+ Frame rate.
+ Horizontal resolution.
+ Vertical resolution.
+ Bit rate.
+ Video image rotation clockwise.
+ Horizontal Field of view.
+ Stream name.
+ Video stream URI (TCP or RTSP URI ground station should connect to) or port number (UDP port ground station should listen to).
+
+
+ Information about the status of a video stream. It may be requested using MAV_CMD_REQUEST_MESSAGE.
+ Video Stream ID (1 for first, 2 for second, etc.)
+ Bitmap of stream status flags
+ Frame rate
+ Horizontal resolution
+ Vertical resolution
+ Bit rate
+ Video image rotation clockwise
+ Horizontal Field of view
+
+
+ Information about the field of view of a camera. Can be requested with a MAV_CMD_REQUEST_MESSAGE command.
+ Timestamp (time since system boot).
+ Latitude of camera (INT32_MAX if unknown).
+ Longitude of camera (INT32_MAX if unknown).
+ Altitude (MSL) of camera (INT32_MAX if unknown).
+ Latitude of center of image (INT32_MAX if unknown, INT32_MIN if at infinity, not intersecting with horizon).
+ Longitude of center of image (INT32_MAX if unknown, INT32_MIN if at infinity, not intersecting with horizon).
+ Altitude (MSL) of center of image (INT32_MAX if unknown, INT32_MIN if at infinity, not intersecting with horizon).
+ Quaternion of camera orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
+ Horizontal field of view (NaN if unknown).
+ Vertical field of view (NaN if unknown).
+
+
+ Camera tracking status, sent while in active tracking. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval.
+ Current tracking status
+ Current tracking mode
+ Defines location of target data
+ Current tracked point x value if CAMERA_TRACKING_MODE_POINT (normalized 0..1, 0 is left, 1 is right), NAN if unknown
+ Current tracked point y value if CAMERA_TRACKING_MODE_POINT (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown
+ Current tracked radius if CAMERA_TRACKING_MODE_POINT (normalized 0..1, 0 is image left, 1 is image right), NAN if unknown
+ Current tracked rectangle top x value if CAMERA_TRACKING_MODE_RECTANGLE (normalized 0..1, 0 is left, 1 is right), NAN if unknown
+ Current tracked rectangle top y value if CAMERA_TRACKING_MODE_RECTANGLE (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown
+ Current tracked rectangle bottom x value if CAMERA_TRACKING_MODE_RECTANGLE (normalized 0..1, 0 is left, 1 is right), NAN if unknown
+ Current tracked rectangle bottom y value if CAMERA_TRACKING_MODE_RECTANGLE (normalized 0..1, 0 is top, 1 is bottom), NAN if unknown
+
+
+ Camera tracking status, sent while in active tracking. Use MAV_CMD_SET_MESSAGE_INTERVAL to define message interval.
+ Current tracking status
+ Latitude of tracked object
+ Longitude of tracked object
+ Altitude of tracked object(AMSL, WGS84)
+ Horizontal accuracy. NAN if unknown
+ Vertical accuracy. NAN if unknown
+ North velocity of tracked object. NAN if unknown
+ East velocity of tracked object. NAN if unknown
+ Down velocity of tracked object. NAN if unknown
+ Velocity accuracy. NAN if unknown
+ Distance between camera and tracked object. NAN if unknown
+ Heading in radians, in NED. NAN if unknown
+ Accuracy of heading, in NED. NAN if unknown
+
+
+ Information about a high level gimbal manager. This message should be requested by a ground station using MAV_CMD_REQUEST_MESSAGE.
+ Timestamp (time since system boot).
+ Bitmap of gimbal capability flags.
+ Gimbal device ID that this gimbal manager is responsible for. Component ID of gimbal device (or 1-6 for non-MAVLink gimbal).
+ Minimum hardware roll angle (positive: rolling to the right, negative: rolling to the left)
+ Maximum hardware roll angle (positive: rolling to the right, negative: rolling to the left)
+ Minimum pitch angle (positive: up, negative: down)
+ Maximum pitch angle (positive: up, negative: down)
+ Minimum yaw angle (positive: to the right, negative: to the left)
+ Maximum yaw angle (positive: to the right, negative: to the left)
+
+
+ Current status about a high level gimbal manager. This message should be broadcast at a low regular rate (e.g. 5Hz).
+ Timestamp (time since system boot).
+ High level gimbal manager flags currently applied.
+ Gimbal device ID that this gimbal manager is responsible for. Component ID of gimbal device (or 1-6 for non-MAVLink gimbal).
+ System ID of MAVLink component with primary control, 0 for none.
+ Component ID of MAVLink component with primary control, 0 for none.
+ System ID of MAVLink component with secondary control, 0 for none.
+ Component ID of MAVLink component with secondary control, 0 for none.
+
+
+ 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.
+ System ID
+ Component ID
+ High level gimbal manager flags to use.
+ 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).
+ 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)
+ X component of angular velocity, positive is rolling to the right, NaN to be ignored.
+ Y component of angular velocity, positive is pitching up, NaN to be ignored.
+ Z component of angular velocity, positive is yawing to the right, NaN to be ignored.
+
+
+ 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..
+ Timestamp (time since system boot).
+ Name of the gimbal vendor.
+ Name of the gimbal model.
+ Custom name of the gimbal given to it by the user.
+ Version of the gimbal firmware, encoded as: (Dev & 0xff) << 24 | (Patch & 0xff) << 16 | (Minor & 0xff) << 8 | (Major & 0xff).
+ Version of the gimbal hardware, encoded as: (Dev & 0xff) << 24 | (Patch & 0xff) << 16 | (Minor & 0xff) << 8 | (Major & 0xff).
+ UID of gimbal hardware (0 if unknown).
+ Bitmap of gimbal capability flags.
+ Bitmap for use for gimbal-specific capability flags.
+ Minimum hardware roll angle (positive: rolling to the right, negative: rolling to the left). NAN if unknown.
+ Maximum hardware roll angle (positive: rolling to the right, negative: rolling to the left). NAN if unknown.
+ Minimum hardware pitch angle (positive: up, negative: down). NAN if unknown.
+ Maximum hardware pitch angle (positive: up, negative: down). NAN if unknown.
+ Minimum hardware yaw angle (positive: to the right, negative: to the left). NAN if unknown.
+ Maximum hardware yaw angle (positive: to the right, negative: to the left). NAN if unknown.
+
+ This field is to be used if the gimbal manager and the gimbal device are the same component and hence have the same component ID. This field is then set to a number between 1-6. If the component ID is separate, this field is not required and must be set to 0.
+
+
+ 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.
+ The quaternion and angular velocities can be set to NaN according to use case.
+ For the angles encoded in the quaternion and the angular velocities holds:
+ If the flag GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME is set, then they are relative to the vehicle heading (vehicle frame).
+ If the flag GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME is set, then they are relative to absolute North (earth frame).
+ If neither of these flags are set, then (for backwards compatibility) it holds:
+ If the flag GIMBAL_DEVICE_FLAGS_YAW_LOCK is set, then they are relative to absolute North (earth frame),
+ else they are relative to the vehicle heading (vehicle frame).
+ Setting both GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME and GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME is not allowed.
+ These rules are to ensure backwards compatibility.
+ New implementations should always set either GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME or GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME.
+ System ID
+ Component ID
+ Low level gimbal flags.
+ Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation). The frame is described in the message description. Set fields to NaN to be ignored.
+ X component of angular velocity (positive: rolling to the right). The frame is described in the message description. NaN to be ignored.
+ Y component of angular velocity (positive: pitching up). The frame is described in the message description. NaN to be ignored.
+ Z component of angular velocity (positive: yawing to the right). The frame is described in the message description. NaN to be ignored.
+
+
+ Message reporting the status of a gimbal device.
+ This message should be broadcast by a gimbal device component at a low regular rate (e.g. 5 Hz).
+ For the angles encoded in the quaternion and the angular velocities holds:
+ If the flag GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME is set, then they are relative to the vehicle heading (vehicle frame).
+ If the flag GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME is set, then they are relative to absolute North (earth frame).
+ If neither of these flags are set, then (for backwards compatibility) it holds:
+ If the flag GIMBAL_DEVICE_FLAGS_YAW_LOCK is set, then they are relative to absolute North (earth frame),
+ else they are relative to the vehicle heading (vehicle frame).
+ Other conditions of the flags are not allowed.
+ The quaternion and angular velocities in the other frame can be calculated from delta_yaw and delta_yaw_velocity as
+ q_earth = q_delta_yaw * q_vehicle and w_earth = w_delta_yaw_velocity + w_vehicle (if not NaN).
+ If neither the GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME nor the GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME flag is set,
+ then (for backwards compatibility) the data in the delta_yaw and delta_yaw_velocity fields are to be ignored.
+ New implementations should always set either GIMBAL_DEVICE_FLAGS_YAW_IN_VEHICLE_FRAME or GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME,
+ and always should set delta_yaw and delta_yaw_velocity either to the proper value or NaN.
+ System ID
+ Component ID
+ Timestamp (time since system boot).
+ Current gimbal flags set.
+ Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation). The frame is described in the message description.
+ X component of angular velocity (positive: rolling to the right). The frame is described in the message description. NaN if unknown.
+ Y component of angular velocity (positive: pitching up). The frame is described in the message description. NaN if unknown.
+ Z component of angular velocity (positive: yawing to the right). The frame is described in the message description. NaN if unknown.
+ Failure flags (0 for no failure)
+
+ Yaw angle relating the quaternions in earth and body frames (see message description). NaN if unknown.
+ Yaw angular velocity relating the angular velocities in earth and body frames (see message description). NaN if unknown.
+ This field is to be used if the gimbal manager and the gimbal device are the same component and hence have the same component ID. This field is then set a number between 1-6. If the component ID is separate, this field is not required and must be set to 0.
+
+
+ Low level message containing autopilot state relevant for a gimbal device. This message is to be sent from the autopilot to the gimbal device component. The data of this message are for the gimbal device's estimator corrections, in particular horizon compensation, as well as indicates autopilot control intentions, e.g. feed forward angular control in the z-axis.
+ System ID
+ Component ID
+ Timestamp (time since system boot).
+ Quaternion components of autopilot attitude: w, x, y, z (1 0 0 0 is the null-rotation, Hamilton convention).
+ Estimated delay of the attitude data. 0 if unknown.
+ X Speed in NED (North, East, Down). NAN if unknown.
+ Y Speed in NED (North, East, Down). NAN if unknown.
+ Z Speed in NED (North, East, Down). NAN if unknown.
+ Estimated delay of the speed data. 0 if unknown.
+ Feed forward Z component of angular velocity (positive: yawing to the right). NaN to be ignored. This is to indicate if the autopilot is actively yawing.
+ Bitmap indicating which estimator outputs are valid.
+ The landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.
+
+ Z component of angular velocity in NED (North, East, Down). NaN if unknown.
+
+
+ Set gimbal manager pitch and yaw angles (high rate message). This message is to be sent to the gimbal manager (e.g. from a ground station) and will be ignored by gimbal devices. Angles and rates can be set to NaN according to use case. Use MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW for low-rate adjustments that require confirmation.
+ System ID
+ Component ID
+ High level gimbal manager flags to use.
+ 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).
+ Pitch angle (positive: up, negative: down, NaN to be ignored).
+ Yaw angle (positive: to the right, negative: to the left, NaN to be ignored).
+ Pitch angular rate (positive: up, negative: down, NaN to be ignored).
+ Yaw angular rate (positive: to the right, negative: to the left, NaN to be ignored).
+
+
+ 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.
+ System ID
+ Component ID
+ High level gimbal manager flags.
+ 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).
+ Pitch angle unitless (-1..1, positive: up, negative: down, NaN to be ignored).
+ Yaw angle unitless (-1..1, positive: to the right, negative: to the left, NaN to be ignored).
+ Pitch angular rate unitless (-1..1, positive: up, negative: down, NaN to be ignored).
+ Yaw angular rate unitless (-1..1, positive: to the right, negative: to the left, NaN to be ignored).
+
+
+ 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
+ Name of Wi-Fi network (SSID). Blank to leave it unchanged when setting. Current SSID when sent back as a response.
+ Password. Blank for an open AP. MD5 hash when message is sent back as a response.
+
+
+
+ The location and information of an AIS vessel
+ Mobile Marine Service Identifier, 9 decimal digits
+ Latitude
+ Longitude
+ Course over ground
+ True heading
+ Speed over ground
+ Turn rate
+ Navigational status
+ Type of vessels
+ Distance from lat/lon location to bow
+ Distance from lat/lon location to stern
+ Distance from lat/lon location to port side
+ Distance from lat/lon location to starboard side
+ The vessel callsign
+ The vessel name
+ Time since last communication in seconds
+ Bitmask to indicate various statuses including valid data fields
+
+
+
+ General status information of an UAVCAN node. Please refer to the definition of the UAVCAN message "uavcan.protocol.NodeStatus" for the background information. The UAVCAN specification is available at http://uavcan.org.
+ Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
+ Time since the start-up of the node.
+ Generalized node health status.
+ Generalized operating mode.
+ Not used currently.
+ Vendor-specific status information.
+
+
+ General information describing a particular UAVCAN node. Please refer to the definition of the UAVCAN service "uavcan.protocol.GetNodeInfo" for the background information. This message should be emitted by the system whenever a new node appears online, or an existing node reboots. Additionally, it can be emitted upon request from the other end of the MAVLink channel (see MAV_CMD_UAVCAN_GET_NODE_INFO). It is also not prohibited to emit this message unconditionally at a low frequency. The UAVCAN specification is available at http://uavcan.org.
+ Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
+ Time since the start-up of the node.
+ Node name string. For example, "sapog.px4.io".
+ Hardware major version number.
+ Hardware minor version number.
+ Hardware unique 128-bit ID.
+ Software major version number.
+ Software minor version number.
+ Version control system (VCS) revision identifier (e.g. git short commit hash). Zero if unknown.
+
+
+ Request to read the value of a parameter with either the param_id string id or param_index. PARAM_EXT_VALUE should be emitted in response.
+ System ID
+ Component ID
+ Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
+ Parameter index. Set to -1 to use the Parameter ID field as identifier (else param_id will be ignored)
+
+
+ Request all parameters of this component. All parameters should be emitted in response as PARAM_EXT_VALUE.
+ System ID
+ Component ID
+
+
+ Emit the value of a parameter. The inclusion of param_count and param_index in the message allows the recipient to keep track of received parameters and allows them to re-request missing parameters after a loss or timeout.
+ Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
+ Parameter value
+ Parameter type.
+ Total number of parameters
+ Index of this parameter
+
+
+ Set a parameter value. In order to deal with message loss (and retransmission of PARAM_EXT_SET), when setting a parameter value and the new value is the same as the current value, you will immediately get a PARAM_ACK_ACCEPTED response. If the current state is PARAM_ACK_IN_PROGRESS, you will accordingly receive a PARAM_ACK_IN_PROGRESS in response.
+ System ID
+ Component ID
+ Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
+ Parameter value
+ Parameter type.
+
+
+ Response from a PARAM_EXT_SET message.
+ Parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
+ Parameter value (new value if PARAM_ACK_ACCEPTED, current value otherwise)
+ Parameter type.
+ Result code.
+
+
+ Obstacle distances in front of the sensor, starting from the left in increment degrees to the right
+ Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
+ Class id of the distance sensor type.
+ Distance of obstacles around the vehicle with index 0 corresponding to north + angle_offset, unless otherwise specified in the frame. A value of 0 is valid and means that the obstacle is practically touching the sensor. A value of max_distance +1 means no obstacle is present. A value of UINT16_MAX for unknown/not used. In a array element, one unit corresponds to 1cm.
+ Angular width in degrees of each array element. Increment direction is clockwise. This field is ignored if increment_f is non-zero.
+ Minimum distance the sensor can measure.
+ Maximum distance the sensor can measure.
+
+ Angular width in degrees of each array element as a float. If non-zero then this value is used instead of the uint8_t increment field. Positive is clockwise direction, negative is counter-clockwise.
+ Relative angle offset of the 0-index element in the distances array. Value of 0 corresponds to forward. Positive is clockwise direction, negative is counter-clockwise.
+ Coordinate frame of reference for the yaw rotation and offset of the sensor data. Defaults to MAV_FRAME_GLOBAL, which is north aligned. For body-mounted sensors use MAV_FRAME_BODY_FRD, which is vehicle front aligned.
+
+
+ Odometry message to communicate odometry information with an external interface. Fits ROS REP 147 standard for aerial vehicles (http://www.ros.org/reps/rep-0147.html).
+ Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
+ Coordinate frame of reference for the pose data.
+ Coordinate frame of reference for the velocity in free space (twist) data.
+ X Position
+ Y Position
+ Z Position
+ Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
+ X linear speed
+ Y linear speed
+ Z linear speed
+ Roll angular speed
+ Pitch angular speed
+ Yaw angular speed
+ Row-major representation of a 6x6 pose cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
+ Row-major representation of a 6x6 velocity cross-covariance matrix upper right triangle (states: vx, vy, vz, rollspeed, pitchspeed, yawspeed; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
+
+ Estimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.
+ Type of estimator that is providing the odometry.
+ Optional odometry quality metric as a percentage. -1 = odometry has failed, 0 = unknown/unset quality, 1 = worst quality, 100 = best quality
+
+
+ Status of the Iridium SBD link.
+ Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
+ Timestamp of the last successful sbd session. The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
+ Number of failed SBD sessions.
+ Number of successful SBD sessions.
+ Signal quality equal to the number of bars displayed on the ISU signal strength indicator. Range is 0 to 5, where 0 indicates no signal and 5 indicates maximum signal strength.
+ 1: Ring call pending, 0: No call pending.
+ 1: Transmission session pending, 0: No transmission session pending.
+ 1: Receiving session pending, 0: No receiving session pending.
+
+
+
+
+ RPM sensor data message.
+ Index of this RPM sensor (0-indexed)
+ Indicated rate
+
+
+ The global position resulting from GPS and sensor fusion.
+ Time of applicability of position (microseconds since UNIX epoch).
+ Unique UAS ID.
+ Latitude (WGS84)
+ Longitude (WGS84)
+ Altitude (WGS84)
+ Altitude above ground
+ Ground X speed (latitude, positive north)
+ Ground Y speed (longitude, positive east)
+ Ground Z speed (altitude, positive down)
+ Horizontal position uncertainty (standard deviation)
+ Altitude uncertainty (standard deviation)
+ Speed uncertainty (standard deviation)
+ Next waypoint, latitude (WGS84)
+ Next waypoint, longitude (WGS84)
+ Next waypoint, altitude (WGS84)
+ Time until next update. Set to 0 if unknown or in data driven mode.
+ Flight state
+ Bitwise OR combination of the data available flags.
+
+
+ Large debug/prototyping array. The message uses the maximum available payload for data. The array_id and name fields are used to discriminate between messages in code and in user interfaces (respectively). Do not use in production code.
+ Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
+ Name, for human-friendly display in a Ground Control Station
+ Unique ID used to discriminate between arrays
+
+ data
+
+
+ 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.
+ Battery ID
+ Function of the battery
+ Type (chemistry) of the battery
+ Capacity when full according to manufacturer, -1: field not provided.
+ Capacity when full (accounting for battery degradation), -1: field not provided.
+ Charge/discharge cycle count. UINT16_MAX: field not provided.
+ Serial number in ASCII characters, 0 terminated. All 0: field not provided.
+ Static device name in ASCII characters, 0 terminated. All 0: field not provided. Encode as manufacturer name then product name separated using an underscore.
+ Battery weight. 0: field not provided.
+ Minimum per-cell voltage when discharging. If not supplied set to UINT16_MAX value.
+ Minimum per-cell voltage when charging. If not supplied set to UINT16_MAX value.
+ Minimum per-cell voltage when resting. If not supplied set to UINT16_MAX value.
+
+ Maximum per-cell voltage when charged. 0: field not provided.
+ Number of battery cells in series. 0: field not provided.
+ Maximum pack discharge current. 0: field not provided.
+ Maximum pack discharge burst current. 0: field not provided.
+ Manufacture date (DD/MM/YYYY) in ASCII characters, 0 terminated. All 0: field not provided.
+
+
+ Telemetry of power generation system. Alternator or mechanical generator.
+ Status flags.
+ Speed of electrical generator or alternator. UINT16_MAX: field not provided.
+ Current into/out of battery. Positive for out. Negative for in. NaN: field not provided.
+ 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
+ The power being generated. NaN: field not provided
+ 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.
+ The temperature of the rectifier or power converter. INT16_MAX: field not provided.
+ The target battery current. Positive for out. Negative for in. NaN: field not provided
+ The temperature of the mechanical motor, fuel cell core or generator. INT16_MAX: field not provided.
+ Seconds this generator has run since it was rebooted. UINT32_MAX: field not provided.
+ Seconds until this generator requires maintenance. A negative value indicates maintenance is past-due. INT32_MAX: field not provided.
+
+
+ The raw values of the actuator outputs (e.g. on Pixhawk, from MAIN, AUX ports). This message supersedes SERVO_OUTPUT_RAW.
+ Timestamp (since system boot).
+ Active outputs
+ Servo / motor output array values. Zero values indicate unused channels.
+
+
+ Reports the on/off state of relays, as controlled by MAV_CMD_DO_SET_RELAY.
+ Timestamp (time since system boot).
+ Relay states. Relay instance numbers are represented as individual bits in this mask by offset.
+ Relay present. Relay instance numbers are represented as individual bits in this mask by offset. Bits will be true if a relay instance is configured.
+
+
+ Message for transporting "arbitrary" variable-length data from one component to another (broadcast is not forbidden, but discouraged). The encoding of the data is usually extension specific, i.e. determined by the source, and is usually not documented as part of the MAVLink specification.
+ System ID (can be 0 for broadcast, but this is discouraged)
+ Component ID (can be 0 for broadcast, but this is discouraged)
+ A code that identifies the content of the payload (0 for unknown, which is the default). If this code is less than 32768, it is a 'registered' payload type and the corresponding code should be added to the MAV_TUNNEL_PAYLOAD_TYPE enum. Software creators can register blocks of types as needed. Codes greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase.
+ Length of the data transported in payload
+ Variable length payload. The payload length is defined by payload_length. The entire content of this block is opaque unless you understand the encoding specified by payload_type.
+
+
+ A forwarded CAN frame as requested by MAV_CMD_CAN_FORWARD.
+ System ID.
+ Component ID.
+ bus number
+ Frame length
+ Frame ID
+ Frame data
+
+
+ A forwarded CANFD frame as requested by MAV_CMD_CAN_FORWARD. These are separated from CAN_FRAME as they need different handling (eg. TAO handling)
+ System ID.
+ Component ID.
+ bus number
+ Frame length
+ Frame ID
+ Frame data
+
+
+ Modify the filter of what CAN messages to forward over the mavlink. This can be used to make CAN forwarding work well on low bandwith links. The filtering is applied on bits 8 to 24 of the CAN id (2nd and 3rd bytes) which corresponds to the DroneCAN message ID for DroneCAN. Filters with more than 16 IDs can be constructed by sending multiple CAN_FILTER_MODIFY messages.
+ System ID.
+ Component ID.
+ bus number
+ what operation to perform on the filter list. See CAN_FILTER_OP enum.
+ number of IDs in filter list
+ filter IDs, length num_ids
+
+
+
+ Cumulative distance traveled for each reported wheel.
+ Timestamp (synced to UNIX time or since system boot).
+ Number of wheels reported.
+ Distance reported by individual wheel encoders. Forward rotations increase values, reverse rotations decrease them. Not all wheels will necessarily have wheel encoders; the mapping of encoders to wheel positions must be agreed/understood by the endpoints.
+
+
+ Winch status.
+ Timestamp (synced to UNIX time or since system boot).
+ Length of line released. NaN if unknown
+ Speed line is being released or retracted. Positive values if being released, negative values if being retracted, NaN if unknown
+ Tension on the line. NaN if unknown
+ Voltage of the battery supplying the winch. NaN if unknown
+ Current draw from the winch. NaN if unknown
+ Temperature of the motor. INT16_MAX if unknown
+ Status flags
+
+
+
+
+ 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 F3411 Remote ID standard and the ASD-STAN prEN 4709-002 Direct Remote ID standard. Additional information and usage of these messages is documented at https://mavlink.io/en/services/opendroneid.html.
+ System ID (0 for broadcast).
+ Component ID (0 for broadcast).
+ Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
+ Indicates the format for the uas_id field of this message.
+ Indicates the type of UA (Unmanned Aircraft).
+ UAS (Unmanned Aircraft System) ID following the format specified by id_type. Shall be filled with nulls in the unused portion of the field.
+
+
+
+
+ Data for filling the OpenDroneID Location message. The float data types are 32-bit IEEE 754. The Location message provides the location, altitude, direction and speed of the aircraft.
+ System ID (0 for broadcast).
+ Component ID (0 for broadcast).
+ Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
+ Indicates whether the unmanned aircraft is on the ground or in the air.
+ Direction over ground (not heading, but direction of movement) measured clockwise from true North: 0 - 35999 centi-degrees. If unknown: 36100 centi-degrees.
+ Ground speed. Positive only. If unknown: 25500 cm/s. If speed is larger than 25425 cm/s, use 25425 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.
+ Current latitude of the unmanned aircraft. If unknown: 0 (both Lat/Lon).
+ Current longitude of the unmanned aircraft. If unknown: 0 (both Lat/Lon).
+ The altitude calculated from the barometric pressue. Reference is against 29.92inHg or 1013.2mb. If unknown: -1000 m.
+ The geodetic altitude as defined by WGS84. If unknown: -1000 m.
+ Indicates the reference point for the height field.
+ The current height of the unmanned aircraft above the take-off location or the ground as indicated by height_reference. If unknown: -1000 m.
+ The accuracy of the horizontal position.
+ The accuracy of the vertical position.
+ The accuracy of the barometric altitude.
+ The accuracy of the horizontal and vertical speed.
+ Seconds after the full hour 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. If unknown: 0xFFFF.
+ The accuracy of the timestamps.
+
+
+
+
+ Data for filling the OpenDroneID Authentication message. The Authentication Message defines a field that can provide a means of authenticity for the identity of the UAS (Unmanned Aircraft System). The Authentication message can have two different formats. For data page 0, the fields PageCount, Length and TimeStamp are present and AuthData is only 17 bytes. For data page 1 through 15, PageCount, Length and TimeStamp are not present and the size of AuthData is 23 bytes.
+ System ID (0 for broadcast).
+ Component ID (0 for broadcast).
+ Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
+ Indicates the type of authentication.
+ Allowed range is 0 - 15.
+ This field is only present for page 0. Allowed range is 0 - 15. See the description of struct ODID_Auth_data at https://github.com/opendroneid/opendroneid-core-c/blob/master/libopendroneid/opendroneid.h.
+ This field is only present for page 0. Total bytes of authentication_data from all data pages. See the description of struct ODID_Auth_data at https://github.com/opendroneid/opendroneid-core-c/blob/master/libopendroneid/opendroneid.h.
+ This field is only present for page 0. 32 bit Unix Timestamp in seconds since 00:00:00 01/01/2019.
+ 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.
+
+
+
+
+ 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. This message can also be used to provide optional additional clarification in an emergency/remote ID system failure situation.
+ System ID (0 for broadcast).
+ Component ID (0 for broadcast).
+ Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
+ Indicates the type of the description field.
+ Text description or numeric value expressed as ASCII characters. Shall be filled with nulls in the unused portion of the field.
+
+
+
+
+ Data for filling the OpenDroneID System message. The System Message contains general system information including the operator location/altitude and possible aircraft group and/or category/class information.
+ System ID (0 for broadcast).
+ Component ID (0 for broadcast).
+ Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
+ Specifies the operator location type.
+ Specifies the classification type of the UA.
+ Latitude of the operator. If unknown: 0 (both Lat/Lon).
+ Longitude of the operator. If unknown: 0 (both Lat/Lon).
+ Number of aircraft in the area, group or formation (default 1).
+ Radius of the cylindrical area of the group or formation (default 0).
+ Area Operations Ceiling relative to WGS84. If unknown: -1000 m.
+ Area Operations Floor relative to WGS84. If unknown: -1000 m.
+ When classification_type is MAV_ODID_CLASSIFICATION_TYPE_EU, specifies the category of the UA.
+ When classification_type is MAV_ODID_CLASSIFICATION_TYPE_EU, specifies the class of the UA.
+ Geodetic altitude of the operator relative to WGS84. If unknown: -1000 m.
+ 32 bit Unix Timestamp in seconds since 00:00:00 01/01/2019.
+
+
+
+
+ Data for filling the OpenDroneID Operator ID message, which contains the CAA (Civil Aviation Authority) issued operator ID.
+ System ID (0 for broadcast).
+ Component ID (0 for broadcast).
+ Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
+ Indicates the type of the operator_id field.
+ Text description or numeric value expressed as ASCII characters. Shall be filled with nulls in the unused portion of the field.
+
+
+ Status from the transmitter telling the flight controller if the remote ID system is ready for arming.
+ Status level indicating if arming is allowed.
+ Text error message, should be empty if status is good to arm. Fill with nulls in unused portion.
+
+
+
+
+
+ An OpenDroneID message pack is a container for multiple encoded OpenDroneID messages (i.e. not in the format given for the above message 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 or on WiFi Beacon.
+ System ID (0 for broadcast).
+ Component ID (0 for broadcast).
+ Only used for drone ID data received from other UAs. See detailed description at https://mavlink.io/en/services/opendroneid.html.
+ This field must currently always be equal to 25 (bytes), since all encoded OpenDroneID messages are specificed to have this length.
+ Number of encoded messages in the pack (not the number of bytes). Allowed range is 1 - 9.
+ Concatenation of encoded OpenDroneID messages. Shall be filled with nulls in the unused portion of the field.
+
+
+ Update the data in the OPEN_DRONE_ID_SYSTEM message with new location information. This can be sent to update the location information for the operator when no other information in the SYSTEM message has changed. This message allows for efficient operation on radio links which have limited uplink bandwidth while meeting requirements for update frequency of the operator location.
+ System ID (0 for broadcast).
+ Component ID (0 for broadcast).
+ Latitude of the operator. If unknown: 0 (both Lat/Lon).
+ Longitude of the operator. If unknown: 0 (both Lat/Lon).
+ Geodetic altitude of the operator relative to WGS84. If unknown: -1000 m.
+ 32 bit Unix Timestamp in seconds since 00:00:00 01/01/2019.
+
+
+ Temperature and humidity from hygrometer.
+ Hygrometer ID
+ Temperature
+ Humidity
+
+
+
diff --git a/MAVProxy/modules/mavproxy_chat/assistant_setup/copter_flightmodes.txt b/MAVProxy/modules/mavproxy_chat/assistant_setup/copter_flightmodes.txt
new file mode 100644
index 0000000000..4b5fc4cd09
--- /dev/null
+++ b/MAVProxy/modules/mavproxy_chat/assistant_setup/copter_flightmodes.txt
@@ -0,0 +1,29 @@
+This file holds the Copter flight mode name to number mapping
+
+STABILIZE = 0, // pilot directly controls the airframe angle with roll, pitch and yaw stick inputs. Pilot directly controls throttle
+ACRO = 1, // pilot directly controls the body-frame angular rate. pilot directly controls throttle
+ALT_HOLD = 2, // pilot directly controls the vehicle roll, pitch and yaw angles. Pilot's throttle control controls climb rate
+AUTO = 3, // fully automatic waypoint control using mission commands
+GUIDED = 4, // fully automatic fly to coordinate or fly at velocity/direction using mavlink commands.
+LOITER = 5, // pilot controls the vehicle's 3D speed and acceleration with roll, pitch and throttle input. Heading is controlled with the yaw stick
+RTL = 6, // automatic return to launching point
+CIRCLE = 7, // automatic circular flight with automatic throttle
+LAND = 9, // automatic landing with horizontal position control
+DRIFT = 11, // semi-autonomous position, yaw and throttle control. rarely used.
+SPORT = 13, // manual earth-frame angular rate control with manual throttle. very rarely used
+FLIP = 14, // automatically flip the vehicle 360 degrees
+AUTOTUNE = 15, // automatically tune the vehicle's roll and pitch gains
+POSHOLD = 16, // automatic position hold with manual override, with automatic throttle. very similar to Loiter mode
+BRAKE = 17, // full-brake using inertial/GPS system, no pilot input
+THROW = 18, // throw to launch mode using inertial/GPS system, no pilot input
+AVOID_ADSB = 19, // automatic avoidance of manned vehicle. very rarely used
+GUIDED_NOGPS = 20, // guided mode but only accepts attitude and altitude commands
+SMART_RTL = 21, // SMART_RTL returns vehicle home by retracing its steps
+FLOWHOLD = 22, // FLOWHOLD holds position with optical flow without rangefinder. similar to Loiter. very rarely used
+FOLLOW = 23, // follow attempts to follow another vehicle or ground station
+ZIGZAG = 24, // ZIGZAG mode is able to fly in a zigzag manner with predefined point A and point B. Normally used for crop spraying vehicles.
+SYSTEMID = 25, // System ID mode produces automated system identification signals in the controllers. very rarely used
+AUTOROTATE = 26, // Autonomous autorotation. Used only for traditional helicopters
+AUTO_RTL = 27, // return to launch but using an Auto mission starting from the DO_LAND_START command
+TURTLE = 28, // Flip vehicle to recover after crash
+
diff --git a/MAVProxy/modules/mavproxy_chat/assistant_setup/function-definitions.txt b/MAVProxy/modules/mavproxy_chat/assistant_setup/function-definitions.txt
new file mode 100644
index 0000000000..08a7f952a6
--- /dev/null
+++ b/MAVProxy/modules/mavproxy_chat/assistant_setup/function-definitions.txt
@@ -0,0 +1,106 @@
+These Assistant json function definitions should be added one by one to the Tools/Functions area within the Playground (see https://platform.openai.com/playground)
+-------------------------------------------------------------------------------------------------------------------------------------------------------------------
+
+{
+ "name": "get_current_datetime",
+ "description": "Get the current date and time, e.g. 'Saturday, June 24, 2023 6:14:14 PM'",
+ "parameters": {
+ "type": "object",
+ "properties": {},
+ "required": []
+ }
+}
+
+{
+ "name": "get_vehicle_type",
+ "description": "Get the vehicle type (e.g. Copter, Plane, Rover, Boat, etc)",
+ "parameters": {
+ "type": "object",
+ "properties": {
+ "vehicle_type": {"type": "string", "description": "the vehicle type. Unknown if not known"}
+ },
+ "required": []
+ }
+}
+
+{
+ "name": "get_vehicle_state",
+ "description": "Get the vehicle state including armed status and (flight) mode",
+ "parameters": {
+ "type": "object",
+ "properties": {
+ "armed": {"type": "boolean", "description": "vehicle armed status. True means motors can spin and vehicle can move."},
+ "mode": {"type": "number", "description": "flight flight mode. The number is specific to the vehicle type (e.g. Copter, Plane, Rover"}
+ },
+ "required": []
+ }
+}
+
+{
+ "name": "get_vehicle_location_and_yaw",
+ "description": "Get the vehicle's current location including latitude, longitude, altitude above sea level and altitude above home",
+ "parameters": {
+ "type": "object",
+ "properties": {
+ "latitude": {"type": "number", "description": "latitude in degrees"},
+ "longitude": {"type": "number", "description": "longitude in degrees"},
+ "altitude_amsl": {"type": "number", "description": "altitude above sea level in meters (aka AMSL)"},
+ "altitude_above_home": {"type": "number", "description": "altitude above home in meters"},
+ "yaw": {"type": "number", "description": "vehicle yaw (aka heading) in degrees"}
+ },
+ "required": []
+ }
+}
+
+// COMMAND_INT
+{
+ "name": "send_mavlink_command_int",
+ "description": "Send a mavlink COMMAND_INT message to the vehicle. Available commands including changing the flight mode, arming, disarming, takeoff and commanding the vehicle to fly to a specific location",
+ "parameters": {
+ "type": "object",
+ "properties": {
+ "target_system": {"type": "integer", "minimum":0, "maximum":255, "description": "vehicle autopilot System ID. normally 1"},
+ "target_component": {"type": "integer", "minimum":0, "maximum":255, "description": "vehicle autopilot Component ID. normally 1"},
+ "frame": {"type": "integer", "minimum":0, "maximum":21, "description": "altitude type. see MAV_FRAME. 0 for altitude above sea level, 3 for altitude above home, 10 for altitude above terrain"},
+ "command": {"type": "integer", "minimum":0, "maximum":65535, "description": "MAVLink command id. See MAV_CMD for a full list of available commands"},
+ "current": {"type": "integer", "description": "not used. always zero"},
+ "autocontinue": {"type": "integer", "description": "not used. always zero"},
+ "param1": {"type": "number", "description": "parameter 1. see MAV_CMD enum"},
+ "param2": {"type": "number", "description": "parameter 2. see MAV_CMD enum"},
+ "param3": {"type": "number", "description": "parameter 3. see MAV_CMD enum"},
+ "param4": {"type": "number", "description": "parameter 4. see MAV_CMD enum"},
+ "x": {"type": "integer", "description": "latitude in degrees * 10^7"},
+ "y": {"type": "integer", "description": "longitude in degrees * 10^7"},
+ "z": {"type": "number", "description": "altitude in meters (relative to sea level, home or terrain depending on frame field)."}
+ },
+ "required": ["frame", "command"]
+ }
+}
+
+// SET_POSITION_TARGET_GLOBAL_INT
+{
+ "name": "send_mavlink_set_position_target_global_int",
+ "description": "Send a mavlink SET_POSITION_TARGET_GLOBAL_INT message to the vehicle. This message is the preferred way to command a vehicle to fly to a specified location or to fly at a specfied velocity",
+ "parameters": {
+ "type": "object",
+ "properties": {
+ "time_boot_ms": {"type": "integer", "description": "system timestamp. can be left as 0"},
+ "target_system": {"type": "integer", "minimum":0, "maximum":255, "description": "vehicle autopilot System ID. normally 1"},
+ "target_component": {"type": "integer", "minimum":0, "maximum":255, "description": "vehicle autopilot Component ID. normally 1"},
+ "coordinate_frame": {"type": "integer", "minimum":0, "maximum":21, "description": "altitude type. see MAV_FRAME. 5 for altitude above sea level, 6 for altitude above home, 11 for altitude above terrain"},
+ "type_mask": {"type": "integer", "minimum":0, "maximum":65535, "description": "Bitmap to indicate which dimensions should be ignored by the vehicle. see POSITION_TARGET_TYPEMASK. If location (e.g. lat_int, lon_int and alt) are sent use 3576. If a location (e.g. lat_int, lon_int and alt) and yaw are sent use 2552. If velocity (e.g. vx, vy, vz) is sent use 2552. if velocity (e.g. vx, vy, vz) and yaw are sent use 2503. If only yaw is sent use 2559"},
+ "lat_int": {"type": "integer", "description": "latitude in degrees * 10^7"},
+ "lon_int": {"type": "integer", "description": "longitude in degrees * 10^7"},
+ "alt": {"type": "number", "description": "altitude in meters (relative to sea level, home or terrain depending on frame field)"},
+ "vx": {"type": "number", "description": "velocity North in m/s"},
+ "vy": {"type": "number", "description": "velocity East in m/s"},
+ "vz": {"type": "number", "description": "velocity Down in m/s"},
+ "afx": {"type": "number", "description": "acceleration North in m/s/s. rarely used, normally 0"},
+ "afy": {"type": "number", "description": "acceleration East in m/s/s. rarely used, normally 0"},
+ "afz": {"type": "number", "description": "acceleration Down in m/s/s. rarely used, normally 0"},
+ "yaw": {"type": "number", "minimum":-6.28318530717959, "maximum":6.28318530717959, "description": "yaw (aka heading) in radians"},
+ "yaw_rate": {"type": "number", "description": "yaw (aka heading) rotation rate in radians/second. rarely used, normally 0"}
+ },
+ "required": ["coordinate_frame", "type_mask"]
+ }
+}
diff --git a/MAVProxy/modules/mavproxy_chat/assistant_setup/minimal.xml b/MAVProxy/modules/mavproxy_chat/assistant_setup/minimal.xml
new file mode 100644
index 0000000000..6e371a690b
--- /dev/null
+++ b/MAVProxy/modules/mavproxy_chat/assistant_setup/minimal.xml
@@ -0,0 +1,709 @@
+
+
+ 3
+
+
+ Micro air vehicle / autopilot classes. This identifies the individual model.
+
+ Generic autopilot, full support for everything
+
+
+ Reserved for future use.
+
+
+ SLUGS autopilot, http://slugsuav.soe.ucsc.edu
+
+
+ ArduPilot - Plane/Copter/Rover/Sub/Tracker, https://ardupilot.org
+
+
+ OpenPilot, http://openpilot.org
+
+
+ Generic autopilot only supporting simple waypoints
+
+
+ Generic autopilot supporting waypoints and other simple navigation commands
+
+
+ Generic autopilot supporting the full mission command set
+
+
+ No valid autopilot, e.g. a GCS or other MAVLink component
+
+
+ PPZ UAV - http://nongnu.org/paparazzi
+
+
+ UAV Dev Board
+
+
+ FlexiPilot
+
+
+ PX4 Autopilot - http://px4.io/
+
+
+ SMACCMPilot - http://smaccmpilot.org
+
+
+ AutoQuad -- http://autoquad.org
+
+
+ Armazila -- http://armazila.com
+
+
+ Aerob -- http://aerob.ru
+
+
+ ASLUAV autopilot -- http://www.asl.ethz.ch
+
+
+ SmartAP Autopilot - http://sky-drones.com
+
+
+ AirRails - http://uaventure.com
+
+
+ Fusion Reflex - https://fusion.engineering
+
+
+
+ MAVLINK component type reported in HEARTBEAT message. Flight controllers must report the type of the vehicle on which they are mounted (e.g. MAV_TYPE_OCTOROTOR). All other components must report a value appropriate for their type (e.g. a camera must use MAV_TYPE_CAMERA).
+
+ Generic micro air vehicle
+
+
+ Fixed wing aircraft.
+
+
+ Quadrotor
+
+
+ Coaxial helicopter
+
+
+ Normal helicopter with tail rotor.
+
+
+ Ground installation
+
+
+ Operator control unit / ground control station
+
+
+ Airship, controlled
+
+
+ Free balloon, uncontrolled
+
+
+ Rocket
+
+
+ Ground rover
+
+
+ Surface vessel, boat, ship
+
+
+ Submarine
+
+
+ Hexarotor
+
+
+ Octorotor
+
+
+ Tricopter
+
+
+ Flapping wing
+
+
+ Kite
+
+
+ Onboard companion controller
+
+
+ Two-rotor VTOL using control surfaces in vertical operation in addition. Tailsitter.
+
+
+ Quad-rotor VTOL using a V-shaped quad config in vertical operation. Tailsitter.
+
+
+ Tiltrotor VTOL
+
+
+
+ VTOL reserved 2
+
+
+ VTOL reserved 3
+
+
+ VTOL reserved 4
+
+
+ VTOL reserved 5
+
+
+ Gimbal
+
+
+ ADSB system
+
+
+ Steerable, nonrigid airfoil
+
+
+ Dodecarotor
+
+
+ Camera
+
+
+ Charging station
+
+
+ FLARM collision avoidance system
+
+
+ Servo
+
+
+ Open Drone ID. See https://mavlink.io/en/services/opendroneid.html.
+
+
+ Decarotor
+
+
+ Battery
+
+
+ Parachute
+
+
+ Log
+
+
+ OSD
+
+
+ IMU
+
+
+ GPS
+
+
+ Winch
+
+
+
+ These flags encode the MAV mode.
+
+ 0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly. Additional note: this flag is to be ignore when sent in the command MAV_CMD_DO_SET_MODE and MAV_CMD_COMPONENT_ARM_DISARM shall be used instead. The flag can still be used to report the armed state.
+
+
+ 0b01000000 remote control input is enabled.
+
+
+ 0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational.
+
+
+ 0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around.
+
+
+ 0b00001000 guided mode enabled, system flies waypoints / mission items.
+
+
+ 0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation.
+
+
+ 0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations.
+
+
+ 0b00000001 Reserved for future use.
+
+
+
+ These values encode the bit positions of the decode position. These values can be used to read the value of a flag bit by combining the base_mode variable with AND with the flag position value. The result will be either 0 or 1, depending on if the flag is set or not.
+
+ First bit: 10000000
+
+
+ Second bit: 01000000
+
+
+ Third bit: 00100000
+
+
+ Fourth bit: 00010000
+
+
+ Fifth bit: 00001000
+
+
+ Sixth bit: 00000100
+
+
+ Seventh bit: 00000010
+
+
+ Eighth bit: 00000001
+
+
+
+
+ Uninitialized system, state is unknown.
+
+
+ System is booting up.
+
+
+ System is calibrating and not flight-ready.
+
+
+ System is grounded and on standby. It can be launched any time.
+
+
+ System is active and might be already airborne. Motors are engaged.
+
+
+ System is in a non-normal flight mode. It can however still navigate.
+
+
+ System is in a non-normal flight mode. It lost control over parts or over the whole airframe. It is in mayday and going down.
+
+
+ System just initialized its power-down sequence, will shut down now.
+
+
+ System is terminating itself.
+
+
+
+ Component ids (values) for the different types and instances of onboard hardware/software that might make up a MAVLink system (autopilot, cameras, servos, GPS systems, avoidance systems etc.).
+ Components must use the appropriate ID in their source address when sending messages. Components can also use IDs to determine if they are the intended recipient of an incoming message. The MAV_COMP_ID_ALL value is used to indicate messages that must be processed by all components.
+ When creating new entries, components that can have multiple instances (e.g. cameras, servos etc.) should be allocated sequential values. An appropriate number of values should be left free after these components to allow the number of instances to be expanded.
+
+ Target id (target_component) used to broadcast messages to all components of the receiving system. Components should attempt to process messages with this component ID and forward to components on any other interfaces. Note: This is not a valid *source* component id for a message.
+
+
+ System flight controller component ("autopilot"). Only one autopilot is expected in a particular system.
+
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Telemetry radio (e.g. SiK radio, or other component that emits RADIO_STATUS messages).
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
+
+
+ Camera #1.
+
+
+ Camera #2.
+
+
+ Camera #3.
+
+
+ Camera #4.
+
+
+ Camera #5.
+
+
+ Camera #6.
+
+
+ Servo #1.
+
+
+ Servo #2.
+
+
+ Servo #3.
+
+
+ Servo #4.
+
+
+ Servo #5.
+
+
+ Servo #6.
+
+
+ Servo #7.
+
+
+ Servo #8.
+
+
+ Servo #9.
+
+
+ Servo #10.
+
+
+ Servo #11.
+
+
+ Servo #12.
+
+
+ Servo #13.
+
+
+ Servo #14.
+
+
+ Gimbal #1.
+
+
+ Logging component.
+
+
+ Automatic Dependent Surveillance-Broadcast (ADS-B) component.
+
+
+ On Screen Display (OSD) devices for video links.
+
+
+ Generic autopilot peripheral component ID. Meant for devices that do not implement the parameter microservice.
+
+
+ All gimbals should use MAV_COMP_ID_GIMBAL.
+ Gimbal ID for QX1.
+
+
+ FLARM collision alert component.
+
+
+ Parachute component.
+
+
+ Gimbal #2.
+
+
+ Gimbal #3.
+
+
+ Gimbal #4
+
+
+ Gimbal #5.
+
+
+ Gimbal #6.
+
+
+ Battery #1.
+
+
+ Battery #2.
+
+
+ CAN over MAVLink client.
+
+
+ Component that can generate/supply a mission flight plan (e.g. GCS or developer API).
+
+
+ Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
+
+
+ Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
+
+
+ Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
+
+
+ Component that lives on the onboard computer (companion computer) and has some generic functionalities, such as settings system parameters and monitoring the status of some processes that don't directly speak mavlink and so on.
+
+
+ Component that finds an optimal path between points based on a certain constraint (e.g. minimum snap, shortest path, cost, etc.).
+
+
+ Component that plans a collision free path between two points.
+
+
+ Component that provides position estimates using VIO techniques.
+
+
+ Component that manages pairing of vehicle and GCS.
+
+
+ Inertial Measurement Unit (IMU) #1.
+
+
+ Inertial Measurement Unit (IMU) #2.
+
+
+ Inertial Measurement Unit (IMU) #3.
+
+
+ GPS #1.
+
+
+ GPS #2.
+
+
+ Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
+
+
+ Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
+
+
+ Open Drone ID transmitter/receiver (Bluetooth/WiFi/Internet).
+
+
+ Component to bridge MAVLink to UDP (i.e. from a UART).
+
+
+ Component to bridge to UART (i.e. from UDP).
+
+
+ Component handling TUNNEL messages (e.g. vendor specific GUI of a component).
+
+
+ System control does not require a separate component ID.
+ Component for handling system messages (e.g. to ARM, takeoff, etc.).
+
+
+
+
+
+ The heartbeat message shows that a system or component is present and responding. The type and autopilot fields (along with the message component id), allow the receiving system to treat further messages from this system appropriately (e.g. by laying out the user interface based on the autopilot). This microservice is documented at https://mavlink.io/en/services/heartbeat.html
+ Vehicle or component type. For a flight controller component the vehicle type (quadrotor, helicopter, etc.). For other components the component type (e.g. camera, gimbal, etc.). This should be used in preference to component id for identifying the component type.
+ Autopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers.
+ System mode bitmap.
+ A bitfield for use for autopilot-specific flags
+ System status flag.
+ MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version
+
+
+
diff --git a/MAVProxy/modules/mavproxy_chat/assistant_setup/plane_flightmodes.txt b/MAVProxy/modules/mavproxy_chat/assistant_setup/plane_flightmodes.txt
new file mode 100644
index 0000000000..e5bf0c736c
--- /dev/null
+++ b/MAVProxy/modules/mavproxy_chat/assistant_setup/plane_flightmodes.txt
@@ -0,0 +1,28 @@
+This file holds the Plane flight mode name to number mapping. Modes starting with Q are only for use with QuadPlanes.
+
+MANUAL = 0, // pilot has direct control over servos without stabilization
+CIRCLE = 1, // Circle around a GPS waypoint
+STABILIZE = 2, // Level flight stabilization
+TRAINING = 3, // Limits the roll and pitch angles to keep the aircraft stable
+ACRO = 4, // Full manual aerobatic control with some stabilization
+FLY_BY_WIRE_A = 5, // Stabilized flight with manual throttle
+FLY_BY_WIRE_B = 6, // More stabilization than FLY_BY_WIRE_A
+CRUISE = 7, // Mixed manual and automatic throttle control
+AUTOTUNE = 8, // Automatically tune the PID controller for optimal performance
+AUTO = 10, // Fully autonomous flight, following a pre-programmed mission
+RTL = 11, // Return to Launch point
+LOITER = 12, // Circle around a point while maintaining altitude
+TAKEOFF = 13, // Automated takeoff sequence
+AVOID_ADSB = 14, // Avoidance maneuver triggered by ADS-B aircraft detection
+GUIDED = 15, // Remotely guided commands from GCS or companion computer
+INITIALISING = 16, // Initialization mode at startup
+QSTABILIZE = 17, // QuadPlane's stabilize mode. Similar to Copter's stabilize mode
+QHOVER = 18, // QuadPlane's hover mode. Similar to Copter's AltHold mode
+QLOITER = 19, // QuadPlane's loiter mode. Similar to Copter's Loiter mode
+QLAND = 20, // QuadPlane's land mode. Similar to Copter's Land mode
+QRTL = 21, // QuadPlane's Return to Launch mode. Similar to Copter's RTL mode
+QAUTOTUNE = 22, // QuadPlane's autotune mode. Similar to Copter's AutoTune mode
+QACRO = 23, // QuadPlane's acrobatic mode. Similar to Copter's Acro mode
+THERMAL = 24, // Thermal detection and exploitation mode
+LOITER_ALT_QLAND = 25, // QuadPlane's loiter to alt then land mode
+
diff --git a/MAVProxy/modules/mavproxy_chat/assistant_setup/rover_modes.txt b/MAVProxy/modules/mavproxy_chat/assistant_setup/rover_modes.txt
new file mode 100644
index 0000000000..a7b990faaf
--- /dev/null
+++ b/MAVProxy/modules/mavproxy_chat/assistant_setup/rover_modes.txt
@@ -0,0 +1,16 @@
+This file holds the Rover (aka car) and boat mode name to number mapping. Rover "modes" are the same as "flight modes" for other vehicles. "Rover" is synonymous with "car"
+
+MANUAL = 0, // Pilot directly controls the vehicle's steering and throttle
+ACRO = 1, // Pilot controls the turn rate and speed
+STEERING = 3, // Pilot controls the steering using lateral acceleration. throttle stick controls speed
+HOLD = 4, // motor and steering outputs are disabled. Rovers will stop, boats will drift in this mode
+LOITER = 5, // hold position at the current location
+FOLLOW = 6, // follow a GPS-enabled device
+SIMPLE = 7, // Pilot controls the vehicles by moving the combined steering and throttle stick in the direction they wish to move. The direction of movement is relative to the vehicle's heading when first powered on
+DOCK = 8, // Automatic docking mode
+CIRCLE = 9, // Circle around a location recorded when the vehicle entered this mode
+AUTO = 10, // Fully autonomous mode following pre-programmed waypoints
+RTL = 11, // Return to Launch point
+SMART_RTL = 12, // Creates a path back to the launch point based on the rover's traveled path
+GUIDED = 15, // Guided control via a ground station or companion computer
+INITIALISING = 16, // Initialization mode at startup
diff --git a/MAVProxy/modules/mavproxy_chat/assistant_setup/sub_modes.txt b/MAVProxy/modules/mavproxy_chat/assistant_setup/sub_modes.txt
new file mode 100644
index 0000000000..6238988903
--- /dev/null
+++ b/MAVProxy/modules/mavproxy_chat/assistant_setup/sub_modes.txt
@@ -0,0 +1,12 @@
+This file holds the Sub (aka submarine) mode name to number mapping.
+
+STABILIZE = 0, // manual angle with manual depth/throttle
+ACRO = 1, // manual body-frame angular rate with manual depth/throttle
+ALT_HOLD = 2, // manual angle with automatic depth/throttle
+AUTO = 3, // fully automatic waypoint control using mission commands
+GUIDED = 4, // fully automatic fly to coordinate or fly at velocity/direction using GCS immediate commands
+CIRCLE = 7, // automatic circular flight with automatic throttle
+SURFACE = 9, // automatically return to surface, pilot maintains horizontal control
+POSHOLD = 16, // automatic position hold with manual override, with automatic throttle
+MANUAL = 19, // Pass-through input with no stabilization
+MOTOR_DETECT = 20 // Automatically detect motors orientation