Dialect: ASLUAV

This is a human-readable form of the XML definition file: ASLUAV.xml.

MAVLink 2 messages have an ID > 255 and are marked up using (MAVLink 2) in their description.

MAVLink 2 extension fields that have been added to MAVLink 1 messages are displayed in blue.

MAVLink Include Files: common.xml

MAVLink Type Enumerations

GSM_LINK_TYPE

Value	Field Name	Description
0	GSM_LINK_TYPE_NONE	no service
1	GSM_LINK_TYPE_UNKNOWN	link type unknown
2	GSM_LINK_TYPE_2G	2G (GSM/GRPS/EDGE) link
3	GSM_LINK_TYPE_3G	3G link (WCDMA/HSDPA/HSPA)
4	GSM_LINK_TYPE_4G	4G link (LTE)

GSM_MODEM_TYPE

[Enum]

Value	Field Name	Description
0	GSM_MODEM_TYPE_UNKNOWN	not specified
	GSM_MODEM_TYPE_HUAWEI_E3372	HUAWEI LTE USB Stick E3372

MAVLink Commands (MAV_CMD)

MAVLink commands (MAV_CMD) and messages are different! These commands define the values of up to 7 parameters that are packaged INSIDE specific messages used in the Mission Protocol and Command Protocol. Use commands for actions in missions or if you need acknowledgment and/or retry logic from a request. Otherwise use messages.

MAV_CMD_RESET_MPPT (40001 )

[Command] Mission command to reset Maximum Power Point Tracker (MPPT)

Param (:Label)	Description
1	MPPT number
2	Empty
3	Empty
4	Empty
5	Empty
6	Empty
7	Empty

MAV_CMD_PAYLOAD_CONTROL (40002 )

[Command] Mission command to perform a power cycle on payload

Param (:Label)	Description
1	Complete power cycle
2	VISensor power cycle
3	Empty
4	Empty
5	Empty
6	Empty
7	Empty

MAVLink Messages

COMMAND_INT_STAMPED ( #78 )

[Message] Message encoding a command with parameters as scaled integers and additional metadata. Scaling depends on the actual command value.

Field Name	Type	Values	Description
utc_time	uint32_t		UTC time, seconds elapsed since 01.01.1970
vehicle_timestamp	uint64_t		Microseconds elapsed since vehicle boot
target_system	uint8_t		System ID
target_component	uint8_t		Component ID
frame	uint8_t	MAV_FRAME	The coordinate system of the COMMAND, as defined by MAV_FRAME enum
command	uint16_t	MAV_CMD	The scheduled action for the mission item, as defined by MAV_CMD enum
current	uint8_t		false:0, true:1
autocontinue	uint8_t		autocontinue to next wp
param1	float		PARAM1, see MAV_CMD enum
param2	float		PARAM2, see MAV_CMD enum
param3	float		PARAM3, see MAV_CMD enum
param4	float		PARAM4, see MAV_CMD enum
x	int32_t		PARAM5 / local: x position in meters * 1e4, global: latitude in degrees * 10^7
y	int32_t		PARAM6 / local: y position in meters * 1e4, global: longitude in degrees * 10^7
z	float		PARAM7 / z position: global: altitude in meters (MSL, WGS84, AGL or relative to home - depending on frame).

COMMAND_LONG_STAMPED ( #79 )

[Message] Send a command with up to seven parameters to the MAV and additional metadata

Field Name	Type	Values	Description
utc_time	uint32_t		UTC time, seconds elapsed since 01.01.1970
vehicle_timestamp	uint64_t		Microseconds elapsed since vehicle boot
target_system	uint8_t		System which should execute the command
target_component	uint8_t		Component which should execute the command, 0 for all components
command	uint16_t	MAV_CMD	Command ID, as defined by MAV_CMD enum.
confirmation	uint8_t		0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
param1	float		Parameter 1, as defined by MAV_CMD enum.
param2	float		Parameter 2, as defined by MAV_CMD enum.
param3	float		Parameter 3, as defined by MAV_CMD enum.
param4	float		Parameter 4, as defined by MAV_CMD enum.
param5	float		Parameter 5, as defined by MAV_CMD enum.
param6	float		Parameter 6, as defined by MAV_CMD enum.
param7	float		Parameter 7, as defined by MAV_CMD enum.

SENS_POWER ( #201 )

[Message] Voltage and current sensor data

Field Name	Type	Units	Description
adc121_vspb_volt	float	V	Power board voltage sensor reading
adc121_cspb_amp	float	A	Power board current sensor reading
adc121_cs1_amp	float	A	Board current sensor 1 reading
adc121_cs2_amp	float	A	Board current sensor 2 reading

SENS_MPPT ( #202 )

[Message] Maximum Power Point Tracker (MPPT) sensor data for solar module power performance tracking

Field Name	Type	Units	Description
mppt_timestamp	uint64_t	us	MPPT last timestamp
mppt1_volt	float	V	MPPT1 voltage
mppt1_amp	float	A	MPPT1 current
mppt1_pwm	uint16_t	us	MPPT1 pwm
mppt1_status	uint8_t		MPPT1 status
mppt2_volt	float	V	MPPT2 voltage
mppt2_amp	float	A	MPPT2 current
mppt2_pwm	uint16_t	us	MPPT2 pwm
mppt2_status	uint8_t		MPPT2 status
mppt3_volt	float	V	MPPT3 voltage
mppt3_amp	float	A	MPPT3 current
mppt3_pwm	uint16_t	us	MPPT3 pwm
mppt3_status	uint8_t		MPPT3 status

ASLCTRL_DATA ( #203 )

[Message] ASL-fixed-wing controller data

Field Name	Type	Units	Description
timestamp	uint64_t	us	Timestamp
aslctrl_mode	uint8_t		ASLCTRL control-mode (manual, stabilized, auto, etc...)
h	float		See sourcecode for a description of these values...
hRef	float
hRef_t	float
PitchAngle	float	deg	Pitch angle
PitchAngleRef	float	deg	Pitch angle reference
q	float
qRef	float
uElev	float
uThrot	float
uThrot2	float
nZ	float
AirspeedRef	float	m/s	Airspeed reference
SpoilersEngaged	uint8_t
YawAngle	float	deg	Yaw angle
YawAngleRef	float	deg	Yaw angle reference
RollAngle	float	deg	Roll angle
RollAngleRef	float	deg	Roll angle reference
p	float
pRef	float
r	float
rRef	float
uAil	float
uRud	float

ASLCTRL_DEBUG ( #204 )

[Message] ASL-fixed-wing controller debug data

Field Name	Type	Description
i32_1	uint32_t	Debug data
i8_1	uint8_t	Debug data
i8_2	uint8_t	Debug data
f_1	float	Debug data
f_2	float	Debug data
f_3	float	Debug data
f_4	float	Debug data
f_5	float	Debug data
f_6	float	Debug data
f_7	float	Debug data
f_8	float	Debug data

ASLUAV_STATUS ( #205 )

[Message] Extended state information for ASLUAVs

Field Name	Type	Description
LED_status	uint8_t	Status of the position-indicator LEDs
SATCOM_status	uint8_t	Status of the IRIDIUM satellite communication system
Servo_status	uint8_t[8]	Status vector for up to 8 servos
Motor_rpm	float	Motor RPM

EKF_EXT ( #206 )

[Message] Extended EKF state estimates for ASLUAVs

Field Name	Type	Units	Description
timestamp	uint64_t	us	Time since system start
Windspeed	float	m/s	Magnitude of wind velocity (in lateral inertial plane)
WindDir	float	rad	Wind heading angle from North
WindZ	float	m/s	Z (Down) component of inertial wind velocity
Airspeed	float	m/s	Magnitude of air velocity
beta	float	rad	Sideslip angle
alpha	float	rad	Angle of attack

ASL_OBCTRL ( #207 )

[Message] Off-board controls/commands for ASLUAVs

Field Name	Type	Units	Description
timestamp	uint64_t	us	Time since system start
uElev	float		Elevator command [~]
uThrot	float		Throttle command [~]
uThrot2	float		Throttle 2 command [~]
uAilL	float		Left aileron command [~]
uAilR	float		Right aileron command [~]
uRud	float		Rudder command [~]
obctrl_status	uint8_t		Off-board computer status

SENS_ATMOS ( #208 )

[Message] Atmospheric sensors (temperature, humidity, ...)

Field Name	Type	Units	Description
timestamp	uint64_t	us	Time since system boot
TempAmbient	float	degC	Ambient temperature
Humidity	float	%	Relative humidity

SENS_BATMON ( #209 )

[Message] Battery pack monitoring data for Li-Ion batteries

Field Name	Type	Units	Description
batmon_timestamp	uint64_t	us	Time since system start
temperature	float	degC	Battery pack temperature
voltage	uint16_t	mV	Battery pack voltage
current	int16_t	mA	Battery pack current
SoC	uint8_t		Battery pack state-of-charge
batterystatus	uint16_t		Battery monitor status report bits in Hex
serialnumber	uint16_t		Battery monitor serial number in Hex
safetystatus	uint32_t		Battery monitor safetystatus report bits in Hex
operationstatus	uint32_t		Battery monitor operation status report bits in Hex
cellvoltage1	uint16_t	mV	Battery pack cell 1 voltage
cellvoltage2	uint16_t	mV	Battery pack cell 2 voltage
cellvoltage3	uint16_t	mV	Battery pack cell 3 voltage
cellvoltage4	uint16_t	mV	Battery pack cell 4 voltage
cellvoltage5	uint16_t	mV	Battery pack cell 5 voltage
cellvoltage6	uint16_t	mV	Battery pack cell 6 voltage

FW_SOARING_DATA ( #210 )

[Message] Fixed-wing soaring (i.e. thermal seeking) data

Field Name	Type	Units	Description
timestamp	uint64_t	ms	Timestamp
timestampModeChanged	uint64_t	ms	Timestamp since last mode change
xW	float	m/s	Thermal core updraft strength
xR	float	m	Thermal radius
xLat	float	deg	Thermal center latitude
xLon	float	deg	Thermal center longitude
VarW	float		Variance W
VarR	float		Variance R
VarLat	float		Variance Lat
VarLon	float		Variance Lon
LoiterRadius	float	m	Suggested loiter radius
LoiterDirection	float		Suggested loiter direction
DistToSoarPoint	float	m	Distance to soar point
vSinkExp	float	m/s	Expected sink rate at current airspeed, roll and throttle
z1_LocalUpdraftSpeed	float	m/s	Measurement / updraft speed at current/local airplane position
z2_DeltaRoll	float	deg	Measurement / roll angle tracking error
z1_exp	float		Expected measurement 1
z2_exp	float		Expected measurement 2
ThermalGSNorth	float	m/s	Thermal drift (from estimator prediction step only)
ThermalGSEast	float	m/s	Thermal drift (from estimator prediction step only)
TSE_dot	float	m/s	Total specific energy change (filtered)
DebugVar1	float		Debug variable 1
DebugVar2	float		Debug variable 2
ControlMode	uint8_t		Control Mode [-]
valid	uint8_t		Data valid [-]

SENSORPOD_STATUS ( #211 )

[Message] Monitoring of sensorpod status

Field Name	Type	Units	Description
timestamp	uint64_t	ms	Timestamp in linuxtime (since 1.1.1970)
visensor_rate_1	uint8_t		Rate of ROS topic 1
visensor_rate_2	uint8_t		Rate of ROS topic 2
visensor_rate_3	uint8_t		Rate of ROS topic 3
visensor_rate_4	uint8_t		Rate of ROS topic 4
recording_nodes_count	uint8_t		Number of recording nodes
cpu_temp	uint8_t	degC	Temperature of sensorpod CPU in
free_space	uint16_t		Free space available in recordings directory in [Gb] * 1e2

SENS_POWER_BOARD ( #212 )

[Message] Monitoring of power board status

Field Name	Type	Units	Description
timestamp	uint64_t	us	Timestamp
pwr_brd_status	uint8_t		Power board status register
pwr_brd_led_status	uint8_t		Power board leds status
pwr_brd_system_volt	float	V	Power board system voltage
pwr_brd_servo_volt	float	V	Power board servo voltage
pwr_brd_digital_volt	float	V	Power board digital voltage
pwr_brd_mot_l_amp	float	A	Power board left motor current sensor
pwr_brd_mot_r_amp	float	A	Power board right motor current sensor
pwr_brd_analog_amp	float	A	Power board analog current sensor
pwr_brd_digital_amp	float	A	Power board digital current sensor
pwr_brd_ext_amp	float	A	Power board extension current sensor
pwr_brd_aux_amp	float	A	Power board aux current sensor

GSM_LINK_STATUS ( #213 )

[Message] Status of GSM modem (connected to onboard computer)

Field Name	Type	Units	Values	Description
timestamp	uint64_t	us		Timestamp (of OBC)
gsm_modem_type	uint8_t		GSM_MODEM_TYPE	GSM modem used
gsm_link_type	uint8_t		GSM_LINK_TYPE	GSM link type
rssi	uint8_t			RSSI as reported by modem (unconverted)
rsrp_rscp	uint8_t			RSRP (LTE) or RSCP (WCDMA) as reported by modem (unconverted)
sinr_ecio	uint8_t			SINR (LTE) or ECIO (WCDMA) as reported by modem (unconverted)
rsrq	uint8_t			RSRQ (LTE only) as reported by modem (unconverted)

ASLUAV.xml