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).
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).
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.
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.
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.
Battery information that is static, or requires infrequent update.
This message should requested using MAV_CMD_REQUEST_MESSAGE and/or streamed at very low rate.
BATTERY_STATUS_V2 is used for higher-rate battery status information.
Information about a captured image. This is emitted every time a message is captured.
MAV_CMD_REQUEST_MESSAGE can be used to (re)request this message for a specific sequence number or range of sequence numbers:
MAV_CMD_REQUEST_MESSAGE.param2 indicates the sequence number the first image to send, or set to -1 to send the message for all sequence numbers.
MAV_CMD_REQUEST_MESSAGE.param3 is used to specify a range of messages to send:
set to 0 (default) to send just the the message for the sequence number in param 2,
set to -1 to send the message for the sequence number in param 2 and all the following sequence numbers,
set to the sequence number of the final message in the range.
Modify the filter of what CAN messages to forward over the mavlink. This can be used to make CAN forwarding work well on low bandwidth 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.
Configure cellular modems.
This message is re-emitted as an acknowledgement by the modem.
The message may also be explicitly requested using MAV_CMD_REQUEST_MESSAGE.
Cancel a long running command. The target system should respond with a COMMAND_ACK to the original command with result=MAV_RESULT_CANCELLED if the long running process was cancelled. If it has already completed, the cancel action can be ignored. The cancel action can be retried until some sort of acknowledgement to the original command has been received. The command microservice is documented at https://mavlink.io/en/services/command.html
Send a command with up to seven parameters to the MAV, where params 5 and 6 are integers and the other values are floats. This is preferred over COMMAND_LONG as it allows the MAV_FRAME to be specified for interpreting positional information, such as altitude. COMMAND_INT is also preferred when sending latitude and longitude data in params 5 and 6, as it allows for greater precision. Param 5 and 6 encode positional data as scaled integers, where the scaling depends on the actual command value. 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). The command microservice is documented at https://mavlink.io/en/services/command.html
Send a command with up to seven parameters to the MAV. COMMAND_INT is generally preferred when sending MAV_CMD commands that include positional information; it offers higher precision and allows the MAV_FRAME to be specified (which may otherwise be ambiguous, particularly for altitude). The command microservice is documented at https://mavlink.io/en/services/command.html
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.
ESC information for higher rate streaming. Recommended streaming rate is ~10 Hz. Information that changes more slowly is sent in ESC_INFO. It should typically only be streamed on high-bandwidth links (i.e. to a companion computer).
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.
Event message. Each new event from a particular component gets a new sequence number. The same message might be sent multiple times if (re-)requested. Most events are broadcast, some can be specific to a target component (as receivers keep track of the sequence for missed events, all events need to be broadcast. Thus we use destination_component instead of target_component).
Flight information.
This includes time since boot for arm, takeoff, and land, and a flight number.
Takeoff and landing values reset to zero on arm.
This can be requested using MAV_CMD_REQUEST_MESSAGE.
Note, some fields are misnamed - timestamps are from boot (not UTC) and the flight_uuid is a sequence number.
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.
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..
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.
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.
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.
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.
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.
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.
Publishes the GPS coordinates 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.
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_INT for the global position estimate.
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_INT for the global position estimate. This message can contain information for up to 20 satellites.
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
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_INT for the global position estimate.
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.
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.
Contains the home position.
The home position is the default position that the system will return to and land on.
The position must be set automatically by the system during the takeoff, and may also be explicitly set using MAV_CMD_DO_SET_HOME.
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.
Note: this message can be requested by sending the MAV_CMD_REQUEST_MESSAGE with param1=242 (or the deprecated MAV_CMD_GET_HOME_POSITION command).
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)
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)
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)
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.
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 and buttons states are transmitted as individual on/off bits of a bitmask
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.
The interval between messages for a particular MAVLink message ID.
This message is sent in response to the MAV_CMD_REQUEST_MESSAGE command with param1=244 (this message) and param2=message_id (the id of the message for which the interval is required).
It may also be sent in response to MAV_CMD_GET_MESSAGE_INTERVAL.
This interface replaces DATA_STREAM.
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).
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.
Message that announces the sequence number of the current target mission item (that the system will fly towards/execute when the mission is running).
This message should be streamed all the time (nominally at 1Hz).
This message should be emitted following a call to MAV_CMD_DO_SET_MISSION_CURRENT or SET_MISSION_CURRENT.
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.
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.
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.
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
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
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.
Set the mission item with sequence number seq as the current item and emit MISSION_CURRENT (whether or not the mission number changed).
If a mission is currently being executed, the system will continue to this new mission item on the shortest path, skipping any intermediate mission items.
Note that mission jump repeat counters are not reset (see MAV_CMD_DO_JUMP param2).
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!
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.
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.
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).
Transmitter (remote ID system) is enabled and ready to start sending location and other required information. This is streamed by transmitter. A flight controller uses it as a condition to arm.
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.
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.
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.
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.
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.
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.
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.
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.
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.
Request to read the onboard parameter with the param_id string id. Onboard parameters are stored as keyconst char* -> valuefloat. 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.
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.
PARAM_SET may also be called within the context of a transaction (started with MAV_CMD_PARAM_TRANSACTION). Within a transaction the receiving component should respond with PARAM_ACK_TRANSACTION to the setter component (instead of broadcasting PARAM_VALUE), and PARAM_SET should be re-sent if this is ACK not received.
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
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
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.
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.
Version and capability of protocol version. This message can be requested with MAV_CMD_REQUEST_MESSAGE and is used as part of the handshaking to establish which MAVLink version should be used on the network. Every node should respond to a request for PROTOCOL_VERSION to enable the handshaking. Library implementers should consider adding this into the default decoding state machine to allow the protocol core to respond directly.
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.
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.
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.
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
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.
Request one or more events to be (re-)sent. If first_sequence==last_sequence, only a single event is requested. Note that first_sequence can be larger than last_sequence (because the sequence number can wrap). Each sequence will trigger an EVENT or EVENT_ERROR response.
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.
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.
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%.
Sets the GPS coordinates 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.
Sets the home position.
The home position is the default position that the system will return to and land on.
The position is set automatically by the system during the takeoff (and may also be set using this message).
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.
Note: the current home position may be emitted in a HOME_POSITION message on request (using MAV_CMD_REQUEST_MESSAGE with param1=242).
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.
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).
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).
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).
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.
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.
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.
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
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
Time synchronization message.
The message is used for both timesync requests and responses.
The request is sent with ts1=syncing component timestamp and tc1=0, and may be broadcast or targeted to a specific system/component.
The response is sent with ts1=syncing component timestamp (mirror back unchanged), and tc1=responding component timestamp, with the target_system and target_component set to ids of the original request.
Systems can determine if they are receiving a request or response based on the value of tc.
If the response has target_system==target_component==0 the remote system has not been updated to use the component IDs and cannot reliably timesync; the requestor may report an error.
Timestamps are UNIX Epoch time or time since system boot in nanoseconds (the timestamp format can be inferred by checking for the magnitude of the number; generally it doesn't matter as only the offset is used).
The message sequence is repeated numerous times with results being filtered/averaged to estimate the offset.
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.
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.
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.
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.
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
Wind estimate from vehicle. Note that despite the name, this message does not actually contain any covariances but instead variability and accuracy fields in terms of standard deviation (1-STD).
Modem is activating and connecting the first packet data bearer. Subsequent bearer activations when another bearer is already active do not cause this state to be entered
Modem is disconnecting and deactivating the last active packet data bearer. This state will not be entered if more than one packet data bearer is active and one of the active bearers is deactivated
General information about the component. General metadata includes information about other metadata types supported by the component. Files of this type must be supported, and must be downloadable from vehicle using a MAVLink FTP URI.
Fly to geofence MAV_CMD_NAV_FENCE_RETURN_POINT in GUIDED mode. Note: This action is only supported by ArduPlane, and may not be supported in all versions.
Fly to geofence MAV_CMD_NAV_FENCE_RETURN_POINT with manual throttle control in GUIDED mode. Note: This action is only supported by ArduPlane, and may not be supported in all versions.
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).
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.
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.
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.
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).
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).
Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in MAV_BATTERY_FAULT.
Actuator testing command. This is similar to MAV_CMD_DO_MOTOR_TEST but operates on the level of output functions, i.e. it is possible to test Motor1 independent from which output it is configured on. Autopilots typically refuse this command while armed.
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 COMMAND_ACK message progress field should be set with period of time that this authorization is valid in seconds.
If the authorization is denied COMMAND_ACK.result_param2 should be set with one of the reasons in ARM_AUTH_DENIED_REASON.
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.
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 ).
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 ).
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
Terminate flight immediately.
Flight termination immediately and irreversibly terminates the current flight, returning the vehicle to ground.
The vehicle will ignore RC or other input until it has been power-cycled.
Termination may trigger safety measures, including: disabling motors and deployment of parachute on multicopters, and setting flight surfaces to initiate a landing pattern on fixed-wing).
On multicopters without a parachute it may trigger a crash landing.
Support for this command can be tested using the protocol bit: MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION.
Support for this command can also be tested by sending the command with param1=0 (< 0.5); the ACK should be either MAV_RESULT_FAILED or MAV_RESULT_UNSUPPORTED.
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.
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.
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.
WIP.
Start orbiting on the circumference of a circle defined by the parameters. Setting values to NaN/INT32_MAX (as appropriate) results in using defaults.
Reposition the vehicle to a specific WGS84 global position. This command is intended for guided commands (for missions use MAV_CMD_NAV_WAYPOINT instead).
Sets actuators (e.g. servos) to a desired value. The actuator numbers are mapped to specific outputs (e.g. on any MAIN or AUX PWM or UAVCAN) using a flight-stack specific mechanism (i.e. a parameter).
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.
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.
Sets the home position to either to the current position or a specified position.
The home position is the default position that the system will return to and land on.
The position is set automatically by the system during the takeoff (and may also be set using this command).
Note: the current home position may be emitted in a HOME_POSITION message on request (using MAV_CMD_REQUEST_MESSAGE with param1=242).
Set the mission item with sequence number seq as the current item and emit MISSION_CURRENT (whether or not the mission number changed).
If a mission is currently being executed, the system will continue to this new mission item on the shortest path, skipping any intermediate mission items.
Note that mission jump repeat counters are not reset unless param2 is set (see MAV_CMD_DO_JUMP param2).
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.
Sets the region of interest (ROI) to a location. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal is not to react to this message.
Cancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message. After this command the gimbal manager should go back to manual input if available, and otherwise assume a neutral position.
Mount tracks system with specified system ID. Determination of target vehicle position may be done with GLOBAL_POSITION_INT or any other means. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message.
Sets the region of interest (ROI) to be toward next waypoint, with optional pitch/roll/yaw offset. This can then be used by the vehicle's control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message.
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.
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.
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.
WIP.
Turns illuminators ON/OFF. An illuminator is a light source that is used for lighting up dark areas external to the system: e.g. a torch or searchlight (as opposed to a light source for illuminating the system itself, e.g. an indicator light).
Inject artificial failure for testing purposes. Note that autopilots should implement an additional protection before accepting this command such as a specific param setting.
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.
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.
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.
Loiter at the specified latitude, longitude and altitude for a certain amount of time. Multicopter vehicles stop at the point (within a vehicle-specific acceptance radius). Forward-only moving vehicles (e.g. fixed-wing) circle the point with the specified radius/direction. If the Heading Required parameter (2) is non-zero forward moving aircraft will only leave the loiter circle once heading towards the next waypoint.
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.
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.
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.
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.).
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.
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.
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.
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).
Instructs a target system to run pre-arm checks.
This allows preflight checks to be run on demand, which may be useful on systems that normally run them at low rate, or which do not trigger checks when the armable state might have changed.
This command should return MAV_RESULT_ACCEPTED if it will run the checks.
The results of the checks are usually then reported in SYS_STATUS messages (this is system-specific).
The command should return MAV_RESULT_TEMPORARILY_REJECTED if the system is already armed.
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.
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.
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.
Set that a particular storage is the preferred location for saving photos, videos, and/or other media (e.g. to set that an SD card is used for storing videos).
There can only be one preferred save location for each particular media type: setting a media usage flag will clear/reset that same flag if set on any other storage.
If no flag is set the system should use its default storage.
A target system can choose to always use default storage, in which case it should ACK the command with MAV_RESULT_UNSUPPORTED.
A target system can choose to not allow a particular storage to be set as preferred storage, in which case it should ACK the command with MAV_RESULT_DENIED.
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.
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.
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.
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.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Id for a component on privately managed MAVLink network. Can be used for any purpose but may not be published by components outside of the private network.
Global (WGS84) coordinate frame + MSL altitude. First value / x: latitude, second value / y: longitude, third value / z: positive altitude over mean sea level (MSL).
Global (WGS84) coordinate frame (scaled) + MSL altitude. First value / x: latitude in degrees1E7, second value / y: longitude in degrees1E7, third value / z: positive altitude over mean sea level (MSL).
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 position.
Global (WGS84) coordinate frame (scaled) + altitude relative to the home position.
First value / x: latitude in degrees1E7, second value / y: longitude in degrees1E7, third value / z: positive altitude with 0 being at the altitude of the home position.
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 degrees1E7, second value / y: longitude in degrees1E7, third value / z: positive altitude in meters with 0 being at ground level in terrain model.
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.
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.
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.
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.
Autopilot supports MISSION_ITEM_INT scaled integer message type.
Note that 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).
Parameter protocol uses byte-wise encoding of parameter values into param_value (float) fields: https://mavlink.io/en/services/parameter.html#parameter-encoding.
Note that either this flag or MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_C_CAST should be set if the parameter protocol is supported.
Parameter protocol uses C-cast of parameter values to set the param_value (float) fields: https://mavlink.io/en/services/parameter.html#parameter-encoding.
Note that either this flag or MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISE should be set if the parameter protocol is supported.
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.
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.
Tailsitter VTOL. Fuselage and wings orientation changes depending on flight phase: vertical for hover, horizontal for cruise. Use more specific VTOL MAV_TYPE_VTOL_TAILSITTER_DUOROTOR or MAV_TYPE_VTOL_TAILSITTER_QUADROTOR if appropriate.
Tiltwing VTOL. Fuselage stays horizontal in all flight phases. The whole wing, along with any attached engine, can tilt between vertical and horizontal mode.
Winch is abandoning the line and possibly payload. Winch unspools the entire calculated line length. This is a failover state from REDELIVER if the number of attempts exceeds a threshold.
Descend in fixed wing mode, transitioning to multicopter mode for vertical landing when close to the ground.
The fixed wing descent pattern is at the discretion of the vehicle (e.g. transition altitude, loiter direction, radius, and speed, etc.).
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 that the the parameter was received and does not need to be resent.
Reset all user configurable parameters to their default value (including airframe selection, sensor calibration data, safety settings, and so on). Does not reset values that contain operation counters and vehicle computed statistics.
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
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.
Perform the locking sequence to relieve motor while in the fully retracted position. Only action and instance command parameters are used, others are ignored.
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)
Actuator configuration, used to change a setting on an actuator. Component information metadata can be used to know which outputs support which commands.
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.
Supported component metadata types. These are used in the "general" metadata file returned by COMPONENT_METADATA to provide information about supported metadata types. The types are not used directly in MAVLink messages.
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.
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.
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 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.
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
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.
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.
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).
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.
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.
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).
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.
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.
Actions for reading and writing plan information (mission, rally points, geofence) between persistent and volatile storage when using MAV_CMD_PREFLIGHT_STORAGE.
(Commonly missions are loaded from persistent storage (flash/EEPROM) into volatile storage (RAM) on startup and written back when they are changed.)
Actions for reading/writing parameters between persistent and volatile storage when using MAV_CMD_PREFLIGHT_STORAGE.
(Commonly parameters are loaded from persistent storage (flash/EEPROM) into volatile storage (RAM) on startup and written back when they are changed.)
