MAVLINK Common Message Set

The MAVLink common message set is defined in common.xml. It contains the standard definitions that are managed by the MAVLink project.

The definitions cover functionality that is considered useful to most ground control stations and autopilots. MAVLink-compatible systems are expected to use these definitions where possible (if an appropriate message exists) rather than rolling out variants in their own dialects.

This topic is a human-readable form of common.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 Protocol Version

The current MAVLink version is 2.3. The minor version numbers (after the dot) range from 1-255.

This file has protocol dialect: 0.

MAVLink Type Enumerations

MAV_AUTOPILOT

[Enum] Micro air vehicle / autopilot classes. This identifies the individual model.

Value	Field Name	Description
0	MAV_AUTOPILOT_GENERIC	Generic autopilot, full support for everything
1	MAV_AUTOPILOT_RESERVED	Reserved for future use.
2	MAV_AUTOPILOT_SLUGS	SLUGS autopilot, http://slugsuav.soe.ucsc.edu
3	MAV_AUTOPILOT_ARDUPILOTMEGA	ArduPilot - Plane/Copter/Rover/Sub/Tracker, http://ardupilot.org
4	MAV_AUTOPILOT_OPENPILOT	OpenPilot, http://openpilot.org
5	MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLY	Generic autopilot only supporting simple waypoints
6	MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLY	Generic autopilot supporting waypoints and other simple navigation commands
7	MAV_AUTOPILOT_GENERIC_MISSION_FULL	Generic autopilot supporting the full mission command set
8	MAV_AUTOPILOT_INVALID	No valid autopilot, e.g. a GCS or other MAVLink component
9	MAV_AUTOPILOT_PPZ	PPZ UAV - http://nongnu.org/paparazzi
10	MAV_AUTOPILOT_UDB	UAV Dev Board
11	MAV_AUTOPILOT_FP	FlexiPilot
12	MAV_AUTOPILOT_PX4	PX4 Autopilot - http://px4.io/
13	MAV_AUTOPILOT_SMACCMPILOT	SMACCMPilot - http://smaccmpilot.org
14	MAV_AUTOPILOT_AUTOQUAD	AutoQuad -- http://autoquad.org
15	MAV_AUTOPILOT_ARMAZILA	Armazila -- http://armazila.com
16	MAV_AUTOPILOT_AEROB	Aerob -- http://aerob.ru
17	MAV_AUTOPILOT_ASLUAV	ASLUAV autopilot -- http://www.asl.ethz.ch
18	MAV_AUTOPILOT_SMARTAP	SmartAP Autopilot - http://sky-drones.com
19	MAV_AUTOPILOT_AIRRAILS	AirRails - http://uaventure.com

MAV_TYPE

[Enum] 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).

Value	Field Name	Description
0	MAV_TYPE_GENERIC	Generic micro air vehicle
1	MAV_TYPE_FIXED_WING	Fixed wing aircraft.
2	MAV_TYPE_QUADROTOR	Quadrotor
3	MAV_TYPE_COAXIAL	Coaxial helicopter
4	MAV_TYPE_HELICOPTER	Normal helicopter with tail rotor.
5	MAV_TYPE_ANTENNA_TRACKER	Ground installation
6	MAV_TYPE_GCS	Operator control unit / ground control station
7	MAV_TYPE_AIRSHIP	Airship, controlled
8	MAV_TYPE_FREE_BALLOON	Free balloon, uncontrolled
9	MAV_TYPE_ROCKET	Rocket
10	MAV_TYPE_GROUND_ROVER	Ground rover
11	MAV_TYPE_SURFACE_BOAT	Surface vessel, boat, ship
12	MAV_TYPE_SUBMARINE	Submarine
13	MAV_TYPE_HEXAROTOR	Hexarotor
14	MAV_TYPE_OCTOROTOR	Octorotor
15	MAV_TYPE_TRICOPTER	Tricopter
16	MAV_TYPE_FLAPPING_WING	Flapping wing
17	MAV_TYPE_KITE	Kite
18	MAV_TYPE_ONBOARD_CONTROLLER	Onboard companion controller
19	MAV_TYPE_VTOL_DUOROTOR	Two-rotor VTOL using control surfaces in vertical operation in addition. Tailsitter.
20	MAV_TYPE_VTOL_QUADROTOR	Quad-rotor VTOL using a V-shaped quad config in vertical operation. Tailsitter.
21	MAV_TYPE_VTOL_TILTROTOR	Tiltrotor VTOL
22	MAV_TYPE_VTOL_RESERVED2	VTOL reserved 2
23	MAV_TYPE_VTOL_RESERVED3	VTOL reserved 3
24	MAV_TYPE_VTOL_RESERVED4	VTOL reserved 4
25	MAV_TYPE_VTOL_RESERVED5	VTOL reserved 5
26	MAV_TYPE_GIMBAL	Gimbal
27	MAV_TYPE_ADSB	ADSB system
28	MAV_TYPE_PARAFOIL	Steerable, nonrigid airfoil
29	MAV_TYPE_DODECAROTOR	Dodecarotor
30	MAV_TYPE_CAMERA	Camera
31	MAV_TYPE_CHARGING_STATION	Charging station
32	MAV_TYPE_FLARM	FLARM collision avoidance system
33	MAV_TYPE_SERVO	Servo

FIRMWARE_VERSION_TYPE

[Enum] 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.

Value	Field Name	Description
0	FIRMWARE_VERSION_TYPE_DEV	development release
64	FIRMWARE_VERSION_TYPE_ALPHA	alpha release
128	FIRMWARE_VERSION_TYPE_BETA	beta release
192	FIRMWARE_VERSION_TYPE_RC	release candidate
255	FIRMWARE_VERSION_TYPE_OFFICIAL	official stable release

HL_FAILURE_FLAG

[Enum] Flags to report failure cases over the high latency telemtry.

Value	Field Name	Description
1	HL_FAILURE_FLAG_GPS	GPS failure.
2	HL_FAILURE_FLAG_DIFFERENTIAL_PRESSURE	Differential pressure sensor failure.
4	HL_FAILURE_FLAG_ABSOLUTE_PRESSURE	Absolute pressure sensor failure.
8	HL_FAILURE_FLAG_3D_ACCEL	Accelerometer sensor failure.
16	HL_FAILURE_FLAG_3D_GYRO	Gyroscope sensor failure.
32	HL_FAILURE_FLAG_3D_MAG	Magnetometer sensor failure.
64	HL_FAILURE_FLAG_TERRAIN	Terrain subsystem failure.
128	HL_FAILURE_FLAG_BATTERY	Battery failure/critical low battery.
256	HL_FAILURE_FLAG_RC_RECEIVER	RC receiver failure/no rc connection.
512	HL_FAILURE_FLAG_OFFBOARD_LINK	Offboard link failure.
1024	HL_FAILURE_FLAG_ENGINE	Engine failure.
2048	HL_FAILURE_FLAG_GEOFENCE	Geofence violation.
4096	HL_FAILURE_FLAG_ESTIMATOR	Estimator failure, for example measurement rejection or large variances.
8192	HL_FAILURE_FLAG_MISSION	Mission failure.

MAV_MODE_FLAG

[Enum] These flags encode the MAV mode.

Value	Field Name	Description
128	MAV_MODE_FLAG_SAFETY_ARMED	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.
64	MAV_MODE_FLAG_MANUAL_INPUT_ENABLED	0b01000000 remote control input is enabled.
32	MAV_MODE_FLAG_HIL_ENABLED	0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational.
16	MAV_MODE_FLAG_STABILIZE_ENABLED	0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around.
8	MAV_MODE_FLAG_GUIDED_ENABLED	0b00001000 guided mode enabled, system flies waypoints / mission items.
4	MAV_MODE_FLAG_AUTO_ENABLED	0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation.
2	MAV_MODE_FLAG_TEST_ENABLED	0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations.
1	MAV_MODE_FLAG_CUSTOM_MODE_ENABLED	0b00000001 Reserved for future use.

MAV_MODE_FLAG_DECODE_POSITION

[Enum] 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.

Value	Field Name	Description
128	MAV_MODE_FLAG_DECODE_POSITION_SAFETY	First bit: 10000000
64	MAV_MODE_FLAG_DECODE_POSITION_MANUAL	Second bit: 01000000
32	MAV_MODE_FLAG_DECODE_POSITION_HIL	Third bit: 00100000
16	MAV_MODE_FLAG_DECODE_POSITION_STABILIZE	Fourth bit: 00010000
8	MAV_MODE_FLAG_DECODE_POSITION_GUIDED	Fifth bit: 00001000
4	MAV_MODE_FLAG_DECODE_POSITION_AUTO	Sixth bit: 00000100
2	MAV_MODE_FLAG_DECODE_POSITION_TEST	Seventh bit: 00000010
1	MAV_MODE_FLAG_DECODE_POSITION_CUSTOM_MODE	Eighth bit: 00000001

MAV_GOTO

[Enum] Actions that may be specified in MAV_CMD_OVERRIDE_GOTO to override mission execution.

Value	Field Name	Description
0	MAV_GOTO_DO_HOLD	Hold at the current position.
1	MAV_GOTO_DO_CONTINUE	Continue with the next item in mission execution.
2	MAV_GOTO_HOLD_AT_CURRENT_POSITION	Hold at the current position of the system
3	MAV_GOTO_HOLD_AT_SPECIFIED_POSITION	Hold at the position specified in the parameters of the DO_HOLD action

MAV_MODE

[Enum] 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.

Value	Field Name	Description
0	MAV_MODE_PREFLIGHT	System is not ready to fly, booting, calibrating, etc. No flag is set.
80	MAV_MODE_STABILIZE_DISARMED	System is allowed to be active, under assisted RC control.
208	MAV_MODE_STABILIZE_ARMED	System is allowed to be active, under assisted RC control.
64	MAV_MODE_MANUAL_DISARMED	System is allowed to be active, under manual (RC) control, no stabilization
192	MAV_MODE_MANUAL_ARMED	System is allowed to be active, under manual (RC) control, no stabilization
88	MAV_MODE_GUIDED_DISARMED	System is allowed to be active, under autonomous control, manual setpoint
216	MAV_MODE_GUIDED_ARMED	System is allowed to be active, under autonomous control, manual setpoint
92	MAV_MODE_AUTO_DISARMED	System is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by waypoints)
220	MAV_MODE_AUTO_ARMED	System is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by waypoints)
66	MAV_MODE_TEST_DISARMED	UNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only.
194	MAV_MODE_TEST_ARMED	UNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only.

MAV_STATE

[Enum]

Value	Field Name	Description
0	MAV_STATE_UNINIT	Uninitialized system, state is unknown.
	MAV_STATE_BOOT	System is booting up.
	MAV_STATE_CALIBRATING	System is calibrating and not flight-ready.
	MAV_STATE_STANDBY	System is grounded and on standby. It can be launched any time.
	MAV_STATE_ACTIVE	System is active and might be already airborne. Motors are engaged.
	MAV_STATE_CRITICAL	System is in a non-normal flight mode. It can however still navigate.
	MAV_STATE_EMERGENCY	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.
	MAV_STATE_POWEROFF	System just initialized its power-down sequence, will shut down now.
	MAV_STATE_FLIGHT_TERMINATION	System is terminating itself.

MAV_COMPONENT

[Enum] 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.

Value	Field Name	Description
0	MAV_COMP_ID_ALL	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.
1	MAV_COMP_ID_AUTOPILOT1	System flight controller component ("autopilot"). Only one autopilot is expected in a particular system.
25	MAV_COMP_ID_USER1	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.
26	MAV_COMP_ID_USER2	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.
27	MAV_COMP_ID_USER3	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.
28	MAV_COMP_ID_USER4	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.
29	MAV_COMP_ID_USER5	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.
30	MAV_COMP_ID_USER6	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.
31	MAV_COMP_ID_USER7	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.
32	MAV_COMP_ID_USER8	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.
33	MAV_COMP_ID_USER9	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.
34	MAV_COMP_ID_USER10	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.
35	MAV_COMP_ID_USER11	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.
36	MAV_COMP_ID_USER12	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.
37	MAV_COMP_ID_USER13	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.
38	MAV_COMP_ID_USER14	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.
39	MAV_COMP_ID_USER15	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.
40	MAV_COMP_ID_USE16	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.
41	MAV_COMP_ID_USER17	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.
42	MAV_COMP_ID_USER18	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.
43	MAV_COMP_ID_USER19	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.
44	MAV_COMP_ID_USER20	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.
45	MAV_COMP_ID_USER21	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.
46	MAV_COMP_ID_USER22	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.
47	MAV_COMP_ID_USER23	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.
48	MAV_COMP_ID_USER24	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.
49	MAV_COMP_ID_USER25	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.
50	MAV_COMP_ID_USER26	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.
51	MAV_COMP_ID_USER27	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.
52	MAV_COMP_ID_USER28	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.
53	MAV_COMP_ID_USER29	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.
54	MAV_COMP_ID_USER30	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.
55	MAV_COMP_ID_USER31	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.
56	MAV_COMP_ID_USER32	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.
57	MAV_COMP_ID_USER33	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.
58	MAV_COMP_ID_USER34	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.
59	MAV_COMP_ID_USER35	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.
60	MAV_COMP_ID_USER36	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.
61	MAV_COMP_ID_USER37	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.
62	MAV_COMP_ID_USER38	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.
63	MAV_COMP_ID_USER39	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.
64	MAV_COMP_ID_USER40	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.
65	MAV_COMP_ID_USER41	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.
66	MAV_COMP_ID_USER42	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.
67	MAV_COMP_ID_USER43	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.
68	MAV_COMP_ID_USER44	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.
69	MAV_COMP_ID_USER45	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.
70	MAV_COMP_ID_USER46	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.
71	MAV_COMP_ID_USER47	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.
72	MAV_COMP_ID_USER48	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.
73	MAV_COMP_ID_USER49	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.
74	MAV_COMP_ID_USER50	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.
75	MAV_COMP_ID_USER51	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.
76	MAV_COMP_ID_USER52	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.
77	MAV_COMP_ID_USER53	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.
78	MAV_COMP_ID_USER54	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.
79	MAV_COMP_ID_USER55	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.
80	MAV_COMP_ID_USER56	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.
81	MAV_COMP_ID_USER57	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.
82	MAV_COMP_ID_USER58	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.
83	MAV_COMP_ID_USER59	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.
84	MAV_COMP_ID_USER60	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.
85	MAV_COMP_ID_USER61	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.
86	MAV_COMP_ID_USER62	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.
87	MAV_COMP_ID_USER63	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.
88	MAV_COMP_ID_USER64	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.
89	MAV_COMP_ID_USER65	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.
90	MAV_COMP_ID_USER66	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.
91	MAV_COMP_ID_USER67	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.
92	MAV_COMP_ID_USER68	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.
93	MAV_COMP_ID_USER69	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.
94	MAV_COMP_ID_USER70	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.
95	MAV_COMP_ID_USER71	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.
96	MAV_COMP_ID_USER72	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.
97	MAV_COMP_ID_USER73	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.
98	MAV_COMP_ID_USER74	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.
99	MAV_COMP_ID_USER75	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.
100	MAV_COMP_ID_CAMERA	Camera #1.
101	MAV_COMP_ID_CAMERA2	Camera #2.
102	MAV_COMP_ID_CAMERA3	Camera #3.
103	MAV_COMP_ID_CAMERA4	Camera #4.
104	MAV_COMP_ID_CAMERA5	Camera #5.
105	MAV_COMP_ID_CAMERA6	Camera #6.
140	MAV_COMP_ID_SERVO1	Servo #1.
141	MAV_COMP_ID_SERVO2	Servo #2.
142	MAV_COMP_ID_SERVO3	Servo #3.
143	MAV_COMP_ID_SERVO4	Servo #4.
144	MAV_COMP_ID_SERVO5	Servo #5.
145	MAV_COMP_ID_SERVO6	Servo #6.
146	MAV_COMP_ID_SERVO7	Servo #7.
147	MAV_COMP_ID_SERVO8	Servo #8.
148	MAV_COMP_ID_SERVO9	Servo #9.
149	MAV_COMP_ID_SERVO10	Servo #10.
150	MAV_COMP_ID_SERVO11	Servo #11.
151	MAV_COMP_ID_SERVO12	Servo #12.
152	MAV_COMP_ID_SERVO13	Servo #13.
153	MAV_COMP_ID_SERVO14	Servo #14.
154	MAV_COMP_ID_GIMBAL	Gimbal #1.
155	MAV_COMP_ID_LOG	Logging component.
156	MAV_COMP_ID_ADSB	Automatic Dependent Surveillance-Broadcast (ADS-B) component.
157	MAV_COMP_ID_OSD	On Screen Display (OSD) devices for video links.
158	MAV_COMP_ID_PERIPHERAL	Generic autopilot peripheral component ID. Meant for devices that do not implement the parameter microservice.
159	MAV_COMP_ID_QX1_GIMBAL DEPRECATED: Replaced by MAV_COMP_ID_GIMBAL (2018-11). All gimbals should use MAV_COMP_ID_GIMBAL.	Gimbal ID for QX1.
160	MAV_COMP_ID_FLARM	FLARM collision alert component.
171	MAV_COMP_ID_GIMBAL2	Gimbal #2.
172	MAV_COMP_ID_GIMBAL3	Gimbal #3.
173	MAV_COMP_ID_GIMBAL4	Gimbal #4
174	MAV_COMP_ID_GIMBAL5	Gimbal #5.
175	MAV_COMP_ID_GIMBAL6	Gimbal #6.
190	MAV_COMP_ID_MISSIONPLANNER	Component that can generate/supply a mission flight plan (e.g. GCS or developer API).
195	MAV_COMP_ID_PATHPLANNER	Component that finds an optimal path between points based on a certain constraint (e.g. minimum snap, shortest path, cost, etc.).
196	MAV_COMP_ID_OBSTACLE_AVOIDANCE	Component that plans a collision free path between two points.
197	MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRY	Component that provides position estimates using VIO techniques.
200	MAV_COMP_ID_IMU	Inertial Measurement Unit (IMU) #1.
201	MAV_COMP_ID_IMU_2	Inertial Measurement Unit (IMU) #2.
202	MAV_COMP_ID_IMU_3	Inertial Measurement Unit (IMU) #3.
220	MAV_COMP_ID_GPS	GPS #1.
221	MAV_COMP_ID_GPS2	GPS #2.
240	MAV_COMP_ID_UDP_BRIDGE	Component to bridge MAVLink to UDP (i.e. from a UART).
241	MAV_COMP_ID_UART_BRIDGE	Component to bridge to UART (i.e. from UDP).
250	MAV_COMP_ID_SYSTEM_CONTROL DEPRECATED: Replaced by MAV_COMP_ID_ALL (2018-11). System control does not require a separate component ID.	Component for handling system messages (e.g. to ARM, takeoff, etc.).

MAV_SYS_STATUS_SENSOR

[Enum] These encode the sensors whose status is sent as part of the SYS_STATUS message.

Value	Field Name	Description
1	MAV_SYS_STATUS_SENSOR_3D_GYRO	0x01 3D gyro
2	MAV_SYS_STATUS_SENSOR_3D_ACCEL	0x02 3D accelerometer
4	MAV_SYS_STATUS_SENSOR_3D_MAG	0x04 3D magnetometer
8	MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE	0x08 absolute pressure
16	MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE	0x10 differential pressure
32	MAV_SYS_STATUS_SENSOR_GPS	0x20 GPS
64	MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW	0x40 optical flow
128	MAV_SYS_STATUS_SENSOR_VISION_POSITION	0x80 computer vision position
256	MAV_SYS_STATUS_SENSOR_LASER_POSITION	0x100 laser based position
512	MAV_SYS_STATUS_SENSOR_EXTERNAL_GROUND_TRUTH	0x200 external ground truth (Vicon or Leica)
1024	MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL	0x400 3D angular rate control
2048	MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION	0x800 attitude stabilization
4096	MAV_SYS_STATUS_SENSOR_YAW_POSITION	0x1000 yaw position
8192	MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL	0x2000 z/altitude control
16384	MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL	0x4000 x/y position control
32768	MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS	0x8000 motor outputs / control
65536	MAV_SYS_STATUS_SENSOR_RC_RECEIVER	0x10000 rc receiver
131072	MAV_SYS_STATUS_SENSOR_3D_GYRO2	0x20000 2nd 3D gyro
262144	MAV_SYS_STATUS_SENSOR_3D_ACCEL2	0x40000 2nd 3D accelerometer
524288	MAV_SYS_STATUS_SENSOR_3D_MAG2	0x80000 2nd 3D magnetometer
1048576	MAV_SYS_STATUS_GEOFENCE	0x100000 geofence
2097152	MAV_SYS_STATUS_AHRS	0x200000 AHRS subsystem health
4194304	MAV_SYS_STATUS_TERRAIN	0x400000 Terrain subsystem health
8388608	MAV_SYS_STATUS_REVERSE_MOTOR	0x800000 Motors are reversed
16777216	MAV_SYS_STATUS_LOGGING	0x1000000 Logging
33554432	MAV_SYS_STATUS_SENSOR_BATTERY	0x2000000 Battery
67108864	MAV_SYS_STATUS_SENSOR_PROXIMITY	0x4000000 Proximity
134217728	MAV_SYS_STATUS_SENSOR_SATCOM	0x8000000 Satellite Communication

MAV_FRAME

[Enum]

Value	Field Name	Description
0	MAV_FRAME_GLOBAL	Global (WGS84) coordinate frame + MSL altitude. First value / x: latitude, second value / y: longitude, third value / z: positive altitude over mean sea level (MSL).
1	MAV_FRAME_LOCAL_NED	Local coordinate frame, Z-down (x: north, y: east, z: down).
2	MAV_FRAME_MISSION	NOT a coordinate frame, indicates a mission command.
3	MAV_FRAME_GLOBAL_RELATIVE_ALT	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.
4	MAV_FRAME_LOCAL_ENU	Local coordinate frame, Z-up (x: east, y: north, z: up).
5	MAV_FRAME_GLOBAL_INT	Global (WGS84) coordinate frame (scaled) + MSL altitude. First value / x: latitude in degrees1.0e-7, second value / y: longitude in degrees1.0e-7, third value / z: positive altitude over mean sea level (MSL).
6	MAV_FRAME_GLOBAL_RELATIVE_ALT_INT	Global (WGS84) coordinate frame (scaled) + altitude relative to the home position. First value / x: latitude in degrees10e-7, second value / y: longitude in degrees10e-7, third value / z: positive altitude with 0 being at the altitude of the home location.
7	MAV_FRAME_LOCAL_OFFSET_NED	Offset to the current local frame. Anything expressed in this frame should be added to the current local frame position.
8	MAV_FRAME_BODY_NED DEPRECATED: Replaced by MAV_FRAME_BODY_FRD (2019-08).	Setpoint in body NED frame. This makes sense if all position control is externalized - e.g. useful to command 2 m/s^2 acceleration to the right.
9	MAV_FRAME_BODY_OFFSET_NED DEPRECATED: Replaced by MAV_FRAME_BODY_FRD (2019-08).	Offset in body NED frame. This makes sense if adding setpoints to the current flight path, to avoid an obstacle - e.g. useful to command 2 m/s^2 acceleration to the east.
10	MAV_FRAME_GLOBAL_TERRAIN_ALT	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.
11	MAV_FRAME_GLOBAL_TERRAIN_ALT_INT	Global (WGS84) coordinate frame (scaled) with AGL altitude (at the waypoint coordinate). First value / x: latitude in degrees10e-7, second value / y: longitude in degrees10e-7, third value / z: positive altitude in meters with 0 being at ground level in terrain model.
12	MAV_FRAME_BODY_FRD	Body fixed frame of reference, Z-down (x: forward, y: right, z: down).
13	MAV_FRAME_BODY_FLU	Body fixed frame of reference, Z-up (x: forward, y: left, z: up).
14	MAV_FRAME_MOCAP_NED DEPRECATED: Replaced by MAV_FRAME_LOCAL_FRD (2019-08).	Odometry local coordinate frame of data given by a motion capture system, Z-down (x: north, y: east, z: down).
15	MAV_FRAME_MOCAP_ENU DEPRECATED: Replaced by MAV_FRAME_LOCAL_FLU (2019-08).	Odometry local coordinate frame of data given by a motion capture system, Z-up (x: east, y: north, z: up).
16	MAV_FRAME_VISION_NED DEPRECATED: Replaced by MAV_FRAME_LOCAL_FRD (2019-08).	Odometry local coordinate frame of data given by a vision estimation system, Z-down (x: north, y: east, z: down).
17	MAV_FRAME_VISION_ENU DEPRECATED: Replaced by MAV_FRAME_LOCAL_FLU (2019-08).	Odometry local coordinate frame of data given by a vision estimation system, Z-up (x: east, y: north, z: up).
18	MAV_FRAME_ESTIM_NED DEPRECATED: Replaced by MAV_FRAME_LOCAL_FRD (2019-08).	Odometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-down (x: north, y: east, z: down).
19	MAV_FRAME_ESTIM_ENU DEPRECATED: Replaced by MAV_FRAME_LOCAL_FLU (2019-08).	Odometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-up (x: east, y: noth, z: up).
20	MAV_FRAME_LOCAL_FRD	Forward, Right, Down coordinate frame. This is a local frame with Z-down and arbitrary F/R alignment (i.e. not aligned with NED/earth frame).
21	MAV_FRAME_LOCAL_FLU	Forward, Left, Up coordinate frame. This is a local frame with Z-up and arbitrary F/L alignment (i.e. not aligned with ENU/earth frame).

MAVLINK_DATA_STREAM_TYPE

[Enum]

Value	Field Name	Description
	MAVLINK_DATA_STREAM_IMG_JPEG
	MAVLINK_DATA_STREAM_IMG_BMP
	MAVLINK_DATA_STREAM_IMG_RAW8U
	MAVLINK_DATA_STREAM_IMG_RAW32U
	MAVLINK_DATA_STREAM_IMG_PGM
	MAVLINK_DATA_STREAM_IMG_PNG

FENCE_ACTION

[Enum]

Value	Field Name	Description
0	FENCE_ACTION_NONE	Disable fenced mode
1	FENCE_ACTION_GUIDED	Switched to guided mode to return point (fence point 0)
2	FENCE_ACTION_REPORT	Report fence breach, but don't take action
3	FENCE_ACTION_GUIDED_THR_PASS	Switched to guided mode to return point (fence point 0) with manual throttle control
4	FENCE_ACTION_RTL	Switch to RTL (return to launch) mode and head for the return point.

FENCE_BREACH

[Enum]

Value	Field Name	Description
0	FENCE_BREACH_NONE	No last fence breach
1	FENCE_BREACH_MINALT	Breached minimum altitude
2	FENCE_BREACH_MAXALT	Breached maximum altitude
3	FENCE_BREACH_BOUNDARY	Breached fence boundary

FENCE_MITIGATE

[Enum] Actions being taken to mitigate/prevent fence breach

Value	Field Name	Description
0	FENCE_MITIGATE_NONE	No actions being taken
1	FENCE_MITIGATE_VEL_LIMIT	Velocity limiting active to prevent breach

MAV_MOUNT_MODE

[Enum] Enumeration of possible mount operation modes

Value	Field Name	Description
0	MAV_MOUNT_MODE_RETRACT	Load and keep safe position (Roll,Pitch,Yaw) from permant memory and stop stabilization
1	MAV_MOUNT_MODE_NEUTRAL	Load and keep neutral position (Roll,Pitch,Yaw) from permanent memory.
2	MAV_MOUNT_MODE_MAVLINK_TARGETING	Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization
3	MAV_MOUNT_MODE_RC_TARGETING	Load neutral position and start RC Roll,Pitch,Yaw control with stabilization
4	MAV_MOUNT_MODE_GPS_POINT	Load neutral position and start to point to Lat,Lon,Alt

UAVCAN_NODE_HEALTH

[Enum] Generalized UAVCAN node health

Value	Field Name	Description
0	UAVCAN_NODE_HEALTH_OK	The node is functioning properly.
1	UAVCAN_NODE_HEALTH_WARNING	A critical parameter went out of range or the node has encountered a minor failure.
2	UAVCAN_NODE_HEALTH_ERROR	The node has encountered a major failure.
3	UAVCAN_NODE_HEALTH_CRITICAL	The node has suffered a fatal malfunction.

UAVCAN_NODE_MODE

[Enum] Generalized UAVCAN node mode

Value	Field Name	Description
0	UAVCAN_NODE_MODE_OPERATIONAL	The node is performing its primary functions.
1	UAVCAN_NODE_MODE_INITIALIZATION	The node is initializing; this mode is entered immediately after startup.
2	UAVCAN_NODE_MODE_MAINTENANCE	The node is under maintenance.
3	UAVCAN_NODE_MODE_SOFTWARE_UPDATE	The node is in the process of updating its software.
7	UAVCAN_NODE_MODE_OFFLINE	The node is no longer available online.

STORAGE_STATUS

[Enum] Flags to indicate the status of camera storage.

Value	Field Name	Description
0	STORAGE_STATUS_EMPTY	Storage is missing (no microSD card loaded for example.)
1	STORAGE_STATUS_UNFORMATTED	Storage present but unformatted.
2	STORAGE_STATUS_READY	Storage present and ready.
3	STORAGE_STATUS_NOT_SUPPORTED	Camera does not supply storage status information. Capacity information in STORAGE_INFORMATION fields will be ignored.

MAV_DATA_STREAM

DEPRECATED: Replaced by MESSAGE_INTERVAL (2015-06).

[Enum] 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.

Value	Field Name	Description
0	MAV_DATA_STREAM_ALL	Enable all data streams
1	MAV_DATA_STREAM_RAW_SENSORS	Enable IMU_RAW, GPS_RAW, GPS_STATUS packets.
2	MAV_DATA_STREAM_EXTENDED_STATUS	Enable GPS_STATUS, CONTROL_STATUS, AUX_STATUS
3	MAV_DATA_STREAM_RC_CHANNELS	Enable RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW
4	MAV_DATA_STREAM_RAW_CONTROLLER	Enable ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT, NAV_CONTROLLER_OUTPUT.
6	MAV_DATA_STREAM_POSITION	Enable LOCAL_POSITION, GLOBAL_POSITION/GLOBAL_POSITION_INT messages.
10	MAV_DATA_STREAM_EXTRA1	Dependent on the autopilot
11	MAV_DATA_STREAM_EXTRA2	Dependent on the autopilot
12	MAV_DATA_STREAM_EXTRA3	Dependent on the autopilot

MAV_ROI

DEPRECATED: Replaced by MAV_CMD_DO_SET_ROI_* (2018-01).

[Enum] 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).

Value	Field Name	Description
0	MAV_ROI_NONE	No region of interest.
1	MAV_ROI_WPNEXT	Point toward next waypoint, with optional pitch/roll/yaw offset.
2	MAV_ROI_WPINDEX	Point toward given waypoint.
3	MAV_ROI_LOCATION	Point toward fixed location.
4	MAV_ROI_TARGET	Point toward of given id.

MAV_CMD_ACK

[Enum] ACK / NACK / ERROR values as a result of MAV_CMDs and for mission item transmission.

Value	Field Name	Description
	MAV_CMD_ACK_OK	Command / mission item is ok.
	MAV_CMD_ACK_ERR_FAIL	Generic error message if none of the other reasons fails or if no detailed error reporting is implemented.
	MAV_CMD_ACK_ERR_ACCESS_DENIED	The system is refusing to accept this command from this source / communication partner.
	MAV_CMD_ACK_ERR_NOT_SUPPORTED	Command or mission item is not supported, other commands would be accepted.
	MAV_CMD_ACK_ERR_COORDINATE_FRAME_NOT_SUPPORTED	The coordinate frame of this command / mission item is not supported.
	MAV_CMD_ACK_ERR_COORDINATES_OUT_OF_RANGE	The coordinate frame of this command is ok, but he coordinate values exceed the safety limits of this system. This is a generic error, please use the more specific error messages below if possible.
	MAV_CMD_ACK_ERR_X_LAT_OUT_OF_RANGE	The X or latitude value is out of range.
	MAV_CMD_ACK_ERR_Y_LON_OUT_OF_RANGE	The Y or longitude value is out of range.
	MAV_CMD_ACK_ERR_Z_ALT_OUT_OF_RANGE	The Z or altitude value is out of range.

MAV_PARAM_TYPE

[Enum] Specifies the datatype of a MAVLink parameter.

Value	Field Name	Description
1	MAV_PARAM_TYPE_UINT8	8-bit unsigned integer
2	MAV_PARAM_TYPE_INT8	8-bit signed integer
3	MAV_PARAM_TYPE_UINT16	16-bit unsigned integer
4	MAV_PARAM_TYPE_INT16	16-bit signed integer
5	MAV_PARAM_TYPE_UINT32	32-bit unsigned integer
6	MAV_PARAM_TYPE_INT32	32-bit signed integer
7	MAV_PARAM_TYPE_UINT64	64-bit unsigned integer
8	MAV_PARAM_TYPE_INT64	64-bit signed integer
9	MAV_PARAM_TYPE_REAL32	32-bit floating-point
10	MAV_PARAM_TYPE_REAL64	64-bit floating-point

MAV_PARAM_EXT_TYPE

[Enum] Specifies the datatype of a MAVLink extended parameter.

Value	Field Name	Description
1	MAV_PARAM_EXT_TYPE_UINT8	8-bit unsigned integer
2	MAV_PARAM_EXT_TYPE_INT8	8-bit signed integer
3	MAV_PARAM_EXT_TYPE_UINT16	16-bit unsigned integer
4	MAV_PARAM_EXT_TYPE_INT16	16-bit signed integer
5	MAV_PARAM_EXT_TYPE_UINT32	32-bit unsigned integer
6	MAV_PARAM_EXT_TYPE_INT32	32-bit signed integer
7	MAV_PARAM_EXT_TYPE_UINT64	64-bit unsigned integer
8	MAV_PARAM_EXT_TYPE_INT64	64-bit signed integer
9	MAV_PARAM_EXT_TYPE_REAL32	32-bit floating-point
10	MAV_PARAM_EXT_TYPE_REAL64	64-bit floating-point
11	MAV_PARAM_EXT_TYPE_CUSTOM	Custom Type

MAV_RESULT

[Enum] result from a mavlink command

Value	Field Name	Description
0	MAV_RESULT_ACCEPTED	Command ACCEPTED and EXECUTED
1	MAV_RESULT_TEMPORARILY_REJECTED	Command TEMPORARY REJECTED/DENIED
2	MAV_RESULT_DENIED	Command PERMANENTLY DENIED
3	MAV_RESULT_UNSUPPORTED	Command UNKNOWN/UNSUPPORTED
4	MAV_RESULT_FAILED	Command executed, but failed
5	MAV_RESULT_IN_PROGRESS	WIP: Command being executed

MAV_MISSION_RESULT

[Enum] Result of mission operation (in a MISSION_ACK message).

Value	Field Name	Description
0	MAV_MISSION_ACCEPTED	mission accepted OK
1	MAV_MISSION_ERROR	Generic error / not accepting mission commands at all right now.
2	MAV_MISSION_UNSUPPORTED_FRAME	Coordinate frame is not supported.
3	MAV_MISSION_UNSUPPORTED	Command is not supported.
4	MAV_MISSION_NO_SPACE	Mission item exceeds storage space.
5	MAV_MISSION_INVALID	One of the parameters has an invalid value.
6	MAV_MISSION_INVALID_PARAM1	param1 has an invalid value.
7	MAV_MISSION_INVALID_PARAM2	param2 has an invalid value.
8	MAV_MISSION_INVALID_PARAM3	param3 has an invalid value.
9	MAV_MISSION_INVALID_PARAM4	param4 has an invalid value.
10	MAV_MISSION_INVALID_PARAM5_X	x / param5 has an invalid value.
11	MAV_MISSION_INVALID_PARAM6_Y	y / param6 has an invalid value.
12	MAV_MISSION_INVALID_PARAM7	z / param7 has an invalid value.
13	MAV_MISSION_INVALID_SEQUENCE	Mission item received out of sequence
14	MAV_MISSION_DENIED	Not accepting any mission commands from this communication partner.
15	MAV_MISSION_OPERATION_CANCELLED	Current mission operation cancelled (e.g. mission upload, mission download).

MAV_SEVERITY

[Enum] 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/.

Value	Field Name	Description
0	MAV_SEVERITY_EMERGENCY	System is unusable. This is a "panic" condition.
1	MAV_SEVERITY_ALERT	Action should be taken immediately. Indicates error in non-critical systems.
2	MAV_SEVERITY_CRITICAL	Action must be taken immediately. Indicates failure in a primary system.
3	MAV_SEVERITY_ERROR	Indicates an error in secondary/redundant systems.
4	MAV_SEVERITY_WARNING	Indicates about a possible future error if this is not resolved within a given timeframe. Example would be a low battery warning.
5	MAV_SEVERITY_NOTICE	An unusual event has occurred, though not an error condition. This should be investigated for the root cause.
6	MAV_SEVERITY_INFO	Normal operational messages. Useful for logging. No action is required for these messages.
7	MAV_SEVERITY_DEBUG	Useful non-operational messages that can assist in debugging. These should not occur during normal operation.

MAV_POWER_STATUS

[Enum] Power supply status flags (bitmask)

Value	Field Name	Description
1	MAV_POWER_STATUS_BRICK_VALID	main brick power supply valid
2	MAV_POWER_STATUS_SERVO_VALID	main servo power supply valid for FMU
4	MAV_POWER_STATUS_USB_CONNECTED	USB power is connected
8	MAV_POWER_STATUS_PERIPH_OVERCURRENT	peripheral supply is in over-current state
16	MAV_POWER_STATUS_PERIPH_HIPOWER_OVERCURRENT	hi-power peripheral supply is in over-current state
32	MAV_POWER_STATUS_CHANGED	Power status has changed since boot

SERIAL_CONTROL_DEV

[Enum] SERIAL_CONTROL device types

Value	Field Name	Description
0	SERIAL_CONTROL_DEV_TELEM1	First telemetry port
1	SERIAL_CONTROL_DEV_TELEM2	Second telemetry port
2	SERIAL_CONTROL_DEV_GPS1	First GPS port
3	SERIAL_CONTROL_DEV_GPS2	Second GPS port
10	SERIAL_CONTROL_DEV_SHELL	system shell

SERIAL_CONTROL_FLAG

[Enum] SERIAL_CONTROL flags (bitmask)

Value	Field Name	Description
1	SERIAL_CONTROL_FLAG_REPLY	Set if this is a reply
2	SERIAL_CONTROL_FLAG_RESPOND	Set if the sender wants the receiver to send a response as another SERIAL_CONTROL message
4	SERIAL_CONTROL_FLAG_EXCLUSIVE	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
8	SERIAL_CONTROL_FLAG_BLOCKING	Block on writes to the serial port
16	SERIAL_CONTROL_FLAG_MULTI	Send multiple replies until port is drained

MAV_DISTANCE_SENSOR

[Enum] Enumeration of distance sensor types

Value	Field Name	Description
0	MAV_DISTANCE_SENSOR_LASER	Laser rangefinder, e.g. LightWare SF02/F or PulsedLight units
1	MAV_DISTANCE_SENSOR_ULTRASOUND	Ultrasound rangefinder, e.g. MaxBotix units
2	MAV_DISTANCE_SENSOR_INFRARED	Infrared rangefinder, e.g. Sharp units
3	MAV_DISTANCE_SENSOR_RADAR	Radar type, e.g. uLanding units
4	MAV_DISTANCE_SENSOR_UNKNOWN	Broken or unknown type, e.g. analog units

MAV_SENSOR_ORIENTATION

[Enum] Enumeration of sensor orientation, according to its rotations

Value	Field Name	Description
0	MAV_SENSOR_ROTATION_NONE	Roll: 0, Pitch: 0, Yaw: 0
1	MAV_SENSOR_ROTATION_YAW_45	Roll: 0, Pitch: 0, Yaw: 45
2	MAV_SENSOR_ROTATION_YAW_90	Roll: 0, Pitch: 0, Yaw: 90
3	MAV_SENSOR_ROTATION_YAW_135	Roll: 0, Pitch: 0, Yaw: 135
4	MAV_SENSOR_ROTATION_YAW_180	Roll: 0, Pitch: 0, Yaw: 180
5	MAV_SENSOR_ROTATION_YAW_225	Roll: 0, Pitch: 0, Yaw: 225
6	MAV_SENSOR_ROTATION_YAW_270	Roll: 0, Pitch: 0, Yaw: 270
7	MAV_SENSOR_ROTATION_YAW_315	Roll: 0, Pitch: 0, Yaw: 315
8	MAV_SENSOR_ROTATION_ROLL_180	Roll: 180, Pitch: 0, Yaw: 0
9	MAV_SENSOR_ROTATION_ROLL_180_YAW_45	Roll: 180, Pitch: 0, Yaw: 45
10	MAV_SENSOR_ROTATION_ROLL_180_YAW_90	Roll: 180, Pitch: 0, Yaw: 90
11	MAV_SENSOR_ROTATION_ROLL_180_YAW_135	Roll: 180, Pitch: 0, Yaw: 135
12	MAV_SENSOR_ROTATION_PITCH_180	Roll: 0, Pitch: 180, Yaw: 0
13	MAV_SENSOR_ROTATION_ROLL_180_YAW_225	Roll: 180, Pitch: 0, Yaw: 225
14	MAV_SENSOR_ROTATION_ROLL_180_YAW_270	Roll: 180, Pitch: 0, Yaw: 270
15	MAV_SENSOR_ROTATION_ROLL_180_YAW_315	Roll: 180, Pitch: 0, Yaw: 315
16	MAV_SENSOR_ROTATION_ROLL_90	Roll: 90, Pitch: 0, Yaw: 0
17	MAV_SENSOR_ROTATION_ROLL_90_YAW_45	Roll: 90, Pitch: 0, Yaw: 45
18	MAV_SENSOR_ROTATION_ROLL_90_YAW_90	Roll: 90, Pitch: 0, Yaw: 90
19	MAV_SENSOR_ROTATION_ROLL_90_YAW_135	Roll: 90, Pitch: 0, Yaw: 135
20	MAV_SENSOR_ROTATION_ROLL_270	Roll: 270, Pitch: 0, Yaw: 0
21	MAV_SENSOR_ROTATION_ROLL_270_YAW_45	Roll: 270, Pitch: 0, Yaw: 45
22	MAV_SENSOR_ROTATION_ROLL_270_YAW_90	Roll: 270, Pitch: 0, Yaw: 90
23	MAV_SENSOR_ROTATION_ROLL_270_YAW_135	Roll: 270, Pitch: 0, Yaw: 135
24	MAV_SENSOR_ROTATION_PITCH_90	Roll: 0, Pitch: 90, Yaw: 0
25	MAV_SENSOR_ROTATION_PITCH_270	Roll: 0, Pitch: 270, Yaw: 0
26	MAV_SENSOR_ROTATION_PITCH_180_YAW_90	Roll: 0, Pitch: 180, Yaw: 90
27	MAV_SENSOR_ROTATION_PITCH_180_YAW_270	Roll: 0, Pitch: 180, Yaw: 270
28	MAV_SENSOR_ROTATION_ROLL_90_PITCH_90	Roll: 90, Pitch: 90, Yaw: 0
29	MAV_SENSOR_ROTATION_ROLL_180_PITCH_90	Roll: 180, Pitch: 90, Yaw: 0
30	MAV_SENSOR_ROTATION_ROLL_270_PITCH_90	Roll: 270, Pitch: 90, Yaw: 0
31	MAV_SENSOR_ROTATION_ROLL_90_PITCH_180	Roll: 90, Pitch: 180, Yaw: 0
32	MAV_SENSOR_ROTATION_ROLL_270_PITCH_180	Roll: 270, Pitch: 180, Yaw: 0
33	MAV_SENSOR_ROTATION_ROLL_90_PITCH_270	Roll: 90, Pitch: 270, Yaw: 0
34	MAV_SENSOR_ROTATION_ROLL_180_PITCH_270	Roll: 180, Pitch: 270, Yaw: 0
35	MAV_SENSOR_ROTATION_ROLL_270_PITCH_270	Roll: 270, Pitch: 270, Yaw: 0
36	MAV_SENSOR_ROTATION_ROLL_90_PITCH_180_YAW_90	Roll: 90, Pitch: 180, Yaw: 90
37	MAV_SENSOR_ROTATION_ROLL_90_YAW_270	Roll: 90, Pitch: 0, Yaw: 270
38	MAV_SENSOR_ROTATION_ROLL_90_PITCH_68_YAW_293	Roll: 90, Pitch: 68, Yaw: 293
39	MAV_SENSOR_ROTATION_PITCH_315	Pitch: 315
40	MAV_SENSOR_ROTATION_ROLL_90_PITCH_315	Roll: 90, Pitch: 315
100	MAV_SENSOR_ROTATION_CUSTOM	Custom orientation

MAV_PROTOCOL_CAPABILITY

[Enum] Bitmask of (optional) autopilot capabilities (64 bit). If a bit is set, the autopilot supports this capability.

Value	Field Name	Description
1	MAV_PROTOCOL_CAPABILITY_MISSION_FLOAT	Autopilot supports MISSION float message type.
2	MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT	Autopilot supports the new param float message type.
4	MAV_PROTOCOL_CAPABILITY_MISSION_INT	Autopilot supports MISSION_INT scaled integer message type.
8	MAV_PROTOCOL_CAPABILITY_COMMAND_INT	Autopilot supports COMMAND_INT scaled integer message type.
16	MAV_PROTOCOL_CAPABILITY_PARAM_UNION	Autopilot supports the new param union message type.
32	MAV_PROTOCOL_CAPABILITY_FTP	Autopilot supports the new FILE_TRANSFER_PROTOCOL message type.
64	MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGET	Autopilot supports commanding attitude offboard.
128	MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NED	Autopilot supports commanding position and velocity targets in local NED frame.
256	MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INT	Autopilot supports commanding position and velocity targets in global scaled integers.
512	MAV_PROTOCOL_CAPABILITY_TERRAIN	Autopilot supports terrain protocol / data handling.
1024	MAV_PROTOCOL_CAPABILITY_SET_ACTUATOR_TARGET	Autopilot supports direct actuator control.
2048	MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION	Autopilot supports the flight termination command.
4096	MAV_PROTOCOL_CAPABILITY_COMPASS_CALIBRATION	Autopilot supports onboard compass calibration.
8192	MAV_PROTOCOL_CAPABILITY_MAVLINK2	Autopilot supports MAVLink version 2.
16384	MAV_PROTOCOL_CAPABILITY_MISSION_FENCE	Autopilot supports mission fence protocol.
32768	MAV_PROTOCOL_CAPABILITY_MISSION_RALLY	Autopilot supports mission rally point protocol.
65536	MAV_PROTOCOL_CAPABILITY_FLIGHT_INFORMATION	Autopilot supports the flight information protocol.

MAV_MISSION_TYPE

[Enum] Type of mission items being requested/sent in mission protocol.

Value	Field Name	Description
0	MAV_MISSION_TYPE_MISSION	Items are mission commands for main mission.
1	MAV_MISSION_TYPE_FENCE	Specifies GeoFence area(s). Items are MAV_CMD_NAV_FENCE_ GeoFence items.
2	MAV_MISSION_TYPE_RALLY	Specifies the rally points for the vehicle. Rally points are alternative RTL points. Items are MAV_CMD_NAV_RALLY_POINT rally point items.
255	MAV_MISSION_TYPE_ALL	Only used in MISSION_CLEAR_ALL to clear all mission types.

MAV_ESTIMATOR_TYPE

[Enum] Enumeration of estimator types

Value	Field Name	Description
0	MAV_ESTIMATOR_TYPE_UNKNOWN	Unknown type of the estimator.
1	MAV_ESTIMATOR_TYPE_NAIVE	This is a naive estimator without any real covariance feedback.
2	MAV_ESTIMATOR_TYPE_VISION	Computer vision based estimate. Might be up to scale.
3	MAV_ESTIMATOR_TYPE_VIO	Visual-inertial estimate.
4	MAV_ESTIMATOR_TYPE_GPS	Plain GPS estimate.
5	MAV_ESTIMATOR_TYPE_GPS_INS	Estimator integrating GPS and inertial sensing.
6	MAV_ESTIMATOR_TYPE_MOCAP	Estimate from external motion capturing system.
7	MAV_ESTIMATOR_TYPE_LIDAR	Estimator based on lidar sensor input.
8	MAV_ESTIMATOR_TYPE_AUTOPILOT	Estimator on autopilot.

MAV_BATTERY_TYPE

[Enum] Enumeration of battery types

Value	Field Name	Description
0	MAV_BATTERY_TYPE_UNKNOWN	Not specified.
1	MAV_BATTERY_TYPE_LIPO	Lithium polymer battery
2	MAV_BATTERY_TYPE_LIFE	Lithium-iron-phosphate battery
3	MAV_BATTERY_TYPE_LION	Lithium-ION battery
4	MAV_BATTERY_TYPE_NIMH	Nickel metal hydride battery

MAV_BATTERY_FUNCTION

[Enum] Enumeration of battery functions

Value	Field Name	Description
0	MAV_BATTERY_FUNCTION_UNKNOWN	Battery function is unknown
1	MAV_BATTERY_FUNCTION_ALL	Battery supports all flight systems
2	MAV_BATTERY_FUNCTION_PROPULSION	Battery for the propulsion system
3	MAV_BATTERY_FUNCTION_AVIONICS	Avionics battery
4	MAV_BATTERY_TYPE_PAYLOAD	Payload battery

MAV_BATTERY_CHARGE_STATE

[Enum] Enumeration for battery charge states.

Value	Field Name	Description
0	MAV_BATTERY_CHARGE_STATE_UNDEFINED	Low battery state is not provided
1	MAV_BATTERY_CHARGE_STATE_OK	Battery is not in low state. Normal operation.
2	MAV_BATTERY_CHARGE_STATE_LOW	Battery state is low, warn and monitor close.
3	MAV_BATTERY_CHARGE_STATE_CRITICAL	Battery state is critical, return or abort immediately.
4	MAV_BATTERY_CHARGE_STATE_EMERGENCY	Battery state is too low for ordinary abort sequence. Perform fastest possible emergency stop to prevent damage.
5	MAV_BATTERY_CHARGE_STATE_FAILED	Battery failed, damage unavoidable.
6	MAV_BATTERY_CHARGE_STATE_UNHEALTHY	Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited.
7	MAV_BATTERY_CHARGE_STATE_CHARGING	Battery is charging.

MAV_SMART_BATTERY_FAULT

[Enum] Smart battery supply status/fault flags (bitmask) for health indication.

Value	Field Name	Description
1	MAV_SMART_BATTERY_FAULT_DEEP_DISCHARGE	Battery has deep discharged.
2	MAV_SMART_BATTERY_FAULT_SPIKES	Voltage spikes.
4	MAV_SMART_BATTERY_FAULT_SINGLE_CELL_FAIL	Single cell has failed.
8	MAV_SMART_BATTERY_FAULT_OVER_CURRENT	Over-current fault.
16	MAV_SMART_BATTERY_FAULT_OVER_TEMPERATURE	Over-temperature fault.
32	MAV_SMART_BATTERY_FAULT_UNDER_TEMPERATURE	Under-temperature fault.

MAV_VTOL_STATE

[Enum] Enumeration of VTOL states

Value	Field Name	Description
0	MAV_VTOL_STATE_UNDEFINED	MAV is not configured as VTOL
1	MAV_VTOL_STATE_TRANSITION_TO_FW	VTOL is in transition from multicopter to fixed-wing
2	MAV_VTOL_STATE_TRANSITION_TO_MC	VTOL is in transition from fixed-wing to multicopter
3	MAV_VTOL_STATE_MC	VTOL is in multicopter state
4	MAV_VTOL_STATE_FW	VTOL is in fixed-wing state

MAV_LANDED_STATE

[Enum] Enumeration of landed detector states

Value	Field Name	Description
0	MAV_LANDED_STATE_UNDEFINED	MAV landed state is unknown
1	MAV_LANDED_STATE_ON_GROUND	MAV is landed (on ground)
2	MAV_LANDED_STATE_IN_AIR	MAV is in air
3	MAV_LANDED_STATE_TAKEOFF	MAV currently taking off
4	MAV_LANDED_STATE_LANDING	MAV currently landing

ADSB_ALTITUDE_TYPE

[Enum] Enumeration of the ADSB altimeter types

Value	Field Name	Description
0	ADSB_ALTITUDE_TYPE_PRESSURE_QNH	Altitude reported from a Baro source using QNH reference
1	ADSB_ALTITUDE_TYPE_GEOMETRIC	Altitude reported from a GNSS source

ADSB_EMITTER_TYPE

[Enum] ADSB classification for the type of vehicle emitting the transponder signal

Value	Field Name	Description
0	ADSB_EMITTER_TYPE_NO_INFO
1	ADSB_EMITTER_TYPE_LIGHT
2	ADSB_EMITTER_TYPE_SMALL
3	ADSB_EMITTER_TYPE_LARGE
4	ADSB_EMITTER_TYPE_HIGH_VORTEX_LARGE
5	ADSB_EMITTER_TYPE_HEAVY
6	ADSB_EMITTER_TYPE_HIGHLY_MANUV
7	ADSB_EMITTER_TYPE_ROTOCRAFT
8	ADSB_EMITTER_TYPE_UNASSIGNED
9	ADSB_EMITTER_TYPE_GLIDER
10	ADSB_EMITTER_TYPE_LIGHTER_AIR
11	ADSB_EMITTER_TYPE_PARACHUTE
12	ADSB_EMITTER_TYPE_ULTRA_LIGHT
13	ADSB_EMITTER_TYPE_UNASSIGNED2
14	ADSB_EMITTER_TYPE_UAV
15	ADSB_EMITTER_TYPE_SPACE
16	ADSB_EMITTER_TYPE_UNASSGINED3
17	ADSB_EMITTER_TYPE_EMERGENCY_SURFACE
18	ADSB_EMITTER_TYPE_SERVICE_SURFACE
19	ADSB_EMITTER_TYPE_POINT_OBSTACLE

ADSB_FLAGS

[Enum] These flags indicate status such as data validity of each data source. Set = data valid

Value	Field Name	Description
1	ADSB_FLAGS_VALID_COORDS
2	ADSB_FLAGS_VALID_ALTITUDE
4	ADSB_FLAGS_VALID_HEADING
8	ADSB_FLAGS_VALID_VELOCITY
16	ADSB_FLAGS_VALID_CALLSIGN
32	ADSB_FLAGS_VALID_SQUAWK
64	ADSB_FLAGS_SIMULATED

MAV_DO_REPOSITION_FLAGS

[Enum] Bitmap of options for the MAV_CMD_DO_REPOSITION

Value	Field Name	Description
1	MAV_DO_REPOSITION_FLAGS_CHANGE_MODE	The aircraft should immediately transition into guided. This should not be set for follow me applications

ESTIMATOR_STATUS_FLAGS

[Enum] Flags in EKF_STATUS message

Value	Field Name	Description
1	ESTIMATOR_ATTITUDE	True if the attitude estimate is good
2	ESTIMATOR_VELOCITY_HORIZ	True if the horizontal velocity estimate is good
4	ESTIMATOR_VELOCITY_VERT	True if the vertical velocity estimate is good
8	ESTIMATOR_POS_HORIZ_REL	True if the horizontal position (relative) estimate is good
16	ESTIMATOR_POS_HORIZ_ABS	True if the horizontal position (absolute) estimate is good
32	ESTIMATOR_POS_VERT_ABS	True if the vertical position (absolute) estimate is good
64	ESTIMATOR_POS_VERT_AGL	True if the vertical position (above ground) estimate is good
128	ESTIMATOR_CONST_POS_MODE	True if the EKF is in a constant position mode and is not using external measurements (eg GPS or optical flow)
256	ESTIMATOR_PRED_POS_HORIZ_REL	True if the EKF has sufficient data to enter a mode that will provide a (relative) position estimate
512	ESTIMATOR_PRED_POS_HORIZ_ABS	True if the EKF has sufficient data to enter a mode that will provide a (absolute) position estimate
1024	ESTIMATOR_GPS_GLITCH	True if the EKF has detected a GPS glitch
2048	ESTIMATOR_ACCEL_ERROR	True if the EKF has detected bad accelerometer data

MOTOR_TEST_ORDER

[Enum]

Value	Field Name	Description
0	MOTOR_TEST_ORDER_DEFAULT	default autopilot motor test method
1	MOTOR_TEST_ORDER_SEQUENCE	motor numbers are specified as their index in a predefined vehicle-specific sequence
2	MOTOR_TEST_ORDER_BOARD	motor numbers are specified as the output as labeled on the board

MOTOR_TEST_THROTTLE_TYPE

[Enum]

Value	Field Name	Description
0	MOTOR_TEST_THROTTLE_PERCENT	throttle as a percentage from 0 ~ 100
1	MOTOR_TEST_THROTTLE_PWM	throttle as an absolute PWM value (normally in range of 1000~2000)
2	MOTOR_TEST_THROTTLE_PILOT	throttle pass-through from pilot's transmitter
3	MOTOR_TEST_COMPASS_CAL	per-motor compass calibration test

GPS_INPUT_IGNORE_FLAGS

[Enum]

Value	Field Name	Description
1	GPS_INPUT_IGNORE_FLAG_ALT	ignore altitude field
2	GPS_INPUT_IGNORE_FLAG_HDOP	ignore hdop field
4	GPS_INPUT_IGNORE_FLAG_VDOP	ignore vdop field
8	GPS_INPUT_IGNORE_FLAG_VEL_HORIZ	ignore horizontal velocity field (vn and ve)
16	GPS_INPUT_IGNORE_FLAG_VEL_VERT	ignore vertical velocity field (vd)
32	GPS_INPUT_IGNORE_FLAG_SPEED_ACCURACY	ignore speed accuracy field
64	GPS_INPUT_IGNORE_FLAG_HORIZONTAL_ACCURACY	ignore horizontal accuracy field
128	GPS_INPUT_IGNORE_FLAG_VERTICAL_ACCURACY	ignore vertical accuracy field

MAV_COLLISION_ACTION

[Enum] Possible actions an aircraft can take to avoid a collision.

Value	Field Name	Description
0	MAV_COLLISION_ACTION_NONE	Ignore any potential collisions
1	MAV_COLLISION_ACTION_REPORT	Report potential collision
2	MAV_COLLISION_ACTION_ASCEND_OR_DESCEND	Ascend or Descend to avoid threat
3	MAV_COLLISION_ACTION_MOVE_HORIZONTALLY	Move horizontally to avoid threat
4	MAV_COLLISION_ACTION_MOVE_PERPENDICULAR	Aircraft to move perpendicular to the collision's velocity vector
5	MAV_COLLISION_ACTION_RTL	Aircraft to fly directly back to its launch point
6	MAV_COLLISION_ACTION_HOVER	Aircraft to stop in place

MAV_COLLISION_THREAT_LEVEL

[Enum] Aircraft-rated danger from this threat.

Value	Field Name	Description
0	MAV_COLLISION_THREAT_LEVEL_NONE	Not a threat
1	MAV_COLLISION_THREAT_LEVEL_LOW	Craft is mildly concerned about this threat
2	MAV_COLLISION_THREAT_LEVEL_HIGH	Craft is panicking, and may take actions to avoid threat

MAV_COLLISION_SRC

[Enum] Source of information about this collision.

Value	Field Name	Description
0	MAV_COLLISION_SRC_ADSB	ID field references ADSB_VEHICLE packets
1	MAV_COLLISION_SRC_MAVLINK_GPS_GLOBAL_INT	ID field references MAVLink SRC ID

GPS_FIX_TYPE

[Enum] Type of GPS fix

Value	Field Name	Description
0	GPS_FIX_TYPE_NO_GPS	No GPS connected
1	GPS_FIX_TYPE_NO_FIX	No position information, GPS is connected
2	GPS_FIX_TYPE_2D_FIX	2D position
3	GPS_FIX_TYPE_3D_FIX	3D position
4	GPS_FIX_TYPE_DGPS	DGPS/SBAS aided 3D position
5	GPS_FIX_TYPE_RTK_FLOAT	RTK float, 3D position
6	GPS_FIX_TYPE_RTK_FIXED	RTK Fixed, 3D position
7	GPS_FIX_TYPE_STATIC	Static fixed, typically used for base stations
8	GPS_FIX_TYPE_PPP	PPP, 3D position.

RTK_BASELINE_COORDINATE_SYSTEM

[Enum] RTK GPS baseline coordinate system, used for RTK corrections

Value	Field Name	Description
0	RTK_BASELINE_COORDINATE_SYSTEM_ECEF	Earth-centered, Earth-fixed
1	RTK_BASELINE_COORDINATE_SYSTEM_NED	North, East, Down

LANDING_TARGET_TYPE

[Enum] Type of landing target

Value	Field Name	Description
0	LANDING_TARGET_TYPE_LIGHT_BEACON	Landing target signaled by light beacon (ex: IR-LOCK)
1	LANDING_TARGET_TYPE_RADIO_BEACON	Landing target signaled by radio beacon (ex: ILS, NDB)
2	LANDING_TARGET_TYPE_VISION_FIDUCIAL	Landing target represented by a fiducial marker (ex: ARTag)
3	LANDING_TARGET_TYPE_VISION_OTHER	Landing target represented by a pre-defined visual shape/feature (ex: X-marker, H-marker, square)

VTOL_TRANSITION_HEADING

[Enum] Direction of VTOL transition

Value	Field Name	Description
0	VTOL_TRANSITION_HEADING_VEHICLE_DEFAULT	Respect the heading configuration of the vehicle.
1	VTOL_TRANSITION_HEADING_NEXT_WAYPOINT	Use the heading pointing towards the next waypoint.
2	VTOL_TRANSITION_HEADING_TAKEOFF	Use the heading on takeoff (while sitting on the ground).
3	VTOL_TRANSITION_HEADING_SPECIFIED	Use the specified heading in parameter 4.
4	VTOL_TRANSITION_HEADING_ANY	Use the current heading when reaching takeoff altitude (potentially facing the wind when weather-vaning is active).

CAMERA_CAP_FLAGS

[Enum] Camera capability flags (Bitmap)

Value	Field Name	Description
1	CAMERA_CAP_FLAGS_CAPTURE_VIDEO	Camera is able to record video
2	CAMERA_CAP_FLAGS_CAPTURE_IMAGE	Camera is able to capture images
4	CAMERA_CAP_FLAGS_HAS_MODES	Camera has separate Video and Image/Photo modes (MAV_CMD_SET_CAMERA_MODE)
8	CAMERA_CAP_FLAGS_CAN_CAPTURE_IMAGE_IN_VIDEO_MODE	Camera can capture images while in video mode
16	CAMERA_CAP_FLAGS_CAN_CAPTURE_VIDEO_IN_IMAGE_MODE	Camera can capture videos while in Photo/Image mode
32	CAMERA_CAP_FLAGS_HAS_IMAGE_SURVEY_MODE	Camera has image survey mode (MAV_CMD_SET_CAMERA_MODE)
64	CAMERA_CAP_FLAGS_HAS_BASIC_ZOOM	Camera has basic zoom control (MAV_CMD_SET_CAMERA_ZOOM)
128	CAMERA_CAP_FLAGS_HAS_BASIC_FOCUS	Camera has basic focus control (MAV_CMD_SET_CAMERA_FOCUS)
256	CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM	Camera has video streaming capabilities (use MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION for video streaming info)

VIDEO_STREAM_STATUS_FLAGS

[Enum] Stream status flags (Bitmap)

Value	Field Name	Description
1	VIDEO_STREAM_STATUS_FLAGS_RUNNING	Stream is active (running)
2	VIDEO_STREAM_STATUS_FLAGS_THERMAL	Stream is thermal imaging

VIDEO_STREAM_TYPE

[Enum] Video stream types

Value	Field Name	Description
0	VIDEO_STREAM_TYPE_RTSP	Stream is RTSP
1	VIDEO_STREAM_TYPE_RTPUDP	Stream is RTP UDP (URI gives the port number)
2	VIDEO_STREAM_TYPE_TCP_MPEG	Stream is MPEG on TCP
3	VIDEO_STREAM_TYPE_MPEG_TS_H264	Stream is h.264 on MPEG TS (URI gives the port number)

CAMERA_ZOOM_TYPE

[Enum] Zoom types for MAV_CMD_SET_CAMERA_ZOOM

Value	Field Name	Description
0	ZOOM_TYPE_STEP	Zoom one step increment (-1 for wide, 1 for tele)
1	ZOOM_TYPE_CONTINUOUS	Continuous zoom up/down until stopped (-1 for wide, 1 for tele, 0 to stop zooming)
2	ZOOM_TYPE_RANGE	Zoom value as proportion of full camera range (a value between 0.0 and 100.0)
3	ZOOM_TYPE_FOCAL_LENGTH	Zoom value/variable focal length in milimetres. Note that there is no message to get the valid zoom range of the camera, so this can type can only be used for cameras where the zoom range is known (implying that this cannot reliably be used in a GCS for an arbitrary camera)

SET_FOCUS_TYPE

[Enum] Focus types for MAV_CMD_SET_CAMERA_FOCUS

Value	Field Name	Description
0	FOCUS_TYPE_STEP	Focus one step increment (-1 for focusing in, 1 for focusing out towards infinity).
1	FOCUS_TYPE_CONTINUOUS	Continuous focus up/down until stopped (-1 for focusing in, 1 for focusing out towards infinity, 0 to stop focusing)
2	FOCUS_TYPE_RANGE	Focus value as proportion of full camera focus range (a value between 0.0 and 100.0)
3	FOCUS_TYPE_METERS	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).

PARAM_ACK

[Enum] Result from a PARAM_EXT_SET message.

Value	Field Name	Description
0	PARAM_ACK_ACCEPTED	Parameter value ACCEPTED and SET
1	PARAM_ACK_VALUE_UNSUPPORTED	Parameter value UNKNOWN/UNSUPPORTED
2	PARAM_ACK_FAILED	Parameter failed to set
3	PARAM_ACK_IN_PROGRESS	Parameter value received but not yet validated or set. A subsequent PARAM_EXT_ACK will follow once operation is completed with the actual result. These are for parameters that may take longer to set. Instead of waiting for an ACK and potentially timing out, you will immediately receive this response to let you know it was received.

CAMERA_MODE

[Enum] Camera Modes.

Value	Field Name	Description
0	CAMERA_MODE_IMAGE	Camera is in image/photo capture mode.
1	CAMERA_MODE_VIDEO	Camera is in video capture mode.
2	CAMERA_MODE_IMAGE_SURVEY	Camera is in image survey capture mode. It allows for camera controller to do specific settings for surveys.

MAV_ARM_AUTH_DENIED_REASON

[Enum]

Value	Field Name	Description
0	MAV_ARM_AUTH_DENIED_REASON_GENERIC	Not a specific reason
1	MAV_ARM_AUTH_DENIED_REASON_NONE	Authorizer will send the error as string to GCS
2	MAV_ARM_AUTH_DENIED_REASON_INVALID_WAYPOINT	At least one waypoint have a invalid value
3	MAV_ARM_AUTH_DENIED_REASON_TIMEOUT	Timeout in the authorizer process(in case it depends on network)
4	MAV_ARM_AUTH_DENIED_REASON_AIRSPACE_IN_USE	Airspace of the mission in use by another vehicle, second result parameter can have the waypoint id that caused it to be denied.
5	MAV_ARM_AUTH_DENIED_REASON_BAD_WEATHER	Weather is not good to fly

RC_TYPE

[Enum] RC type

Value	Field Name	Description
0	RC_TYPE_SPEKTRUM_DSM2	Spektrum DSM2
1	RC_TYPE_SPEKTRUM_DSMX	Spektrum DSMX

POSITION_TARGET_TYPEMASK

[Enum] 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.

Value	Field Name	Description
1	POSITION_TARGET_TYPEMASK_X_IGNORE	Ignore position x
2	POSITION_TARGET_TYPEMASK_Y_IGNORE	Ignore position y
4	POSITION_TARGET_TYPEMASK_Z_IGNORE	Ignore position z
8	POSITION_TARGET_TYPEMASK_VX_IGNORE	Ignore velocity x
16	POSITION_TARGET_TYPEMASK_VY_IGNORE	Ignore velocity y
32	POSITION_TARGET_TYPEMASK_VZ_IGNORE	Ignore velocity z
64	POSITION_TARGET_TYPEMASK_AX_IGNORE	Ignore acceleration x
128	POSITION_TARGET_TYPEMASK_AY_IGNORE	Ignore acceleration y
256	POSITION_TARGET_TYPEMASK_AZ_IGNORE	Ignore acceleration z
512	POSITION_TARGET_TYPEMASK_FORCE_SET	Use force instead of acceleration
1024	POSITION_TARGET_TYPEMASK_YAW_IGNORE	Ignore yaw
2048	POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE	Ignore yaw rate

UTM_FLIGHT_STATE

[Enum] Airborne status of UAS.

Value	Field Name	Description
1	UTM_FLIGHT_STATE_UNKNOWN	The flight state can't be determined.
2	UTM_FLIGHT_STATE_GROUND	UAS on ground.
3	UTM_FLIGHT_STATE_AIRBORNE	UAS airborne.
16	UTM_FLIGHT_STATE_EMERGENCY	UAS is in an emergency flight state.
32	UTM_FLIGHT_STATE_NOCTRL	UAS has no active controls.

UTM_DATA_AVAIL_FLAGS

[Enum] Flags for the global position report.

Value	Field Name	Description
1	UTM_DATA_AVAIL_FLAGS_TIME_VALID	The field time contains valid data.
2	UTM_DATA_AVAIL_FLAGS_UAS_ID_AVAILABLE	The field uas_id contains valid data.
4	UTM_DATA_AVAIL_FLAGS_POSITION_AVAILABLE	The fields lat, lon and h_acc contain valid data.
8	UTM_DATA_AVAIL_FLAGS_ALTITUDE_AVAILABLE	The fields alt and v_acc contain valid data.
16	UTM_DATA_AVAIL_FLAGS_RELATIVE_ALTITUDE_AVAILABLE	The field relative_alt contains valid data.
32	UTM_DATA_AVAIL_FLAGS_HORIZONTAL_VELO_AVAILABLE	The fields vx and vy contain valid data.
64	UTM_DATA_AVAIL_FLAGS_VERTICAL_VELO_AVAILABLE	The field vz contains valid data.
128	UTM_DATA_AVAIL_FLAGS_NEXT_WAYPOINT_AVAILABLE	The fields next_lat, next_lon and next_alt contain valid data.

CELLULAR_NETWORK_RADIO_TYPE

[Enum] Cellular network radio type

Value	Field Name	Description
0	CELLULAR_NETWORK_RADIO_TYPE_NONE
1	CELLULAR_NETWORK_RADIO_TYPE_GSM
2	CELLULAR_NETWORK_RADIO_TYPE_CDMA
3	CELLULAR_NETWORK_RADIO_TYPE_WCDMA
4	CELLULAR_NETWORK_RADIO_TYPE_LTE

CELLULAR_NETWORK_STATUS_FLAG

[Enum] These flags encode the cellular network status

Value	Field Name	Description
1	CELLULAR_NETWORK_STATUS_FLAG_ROAMING	Roaming is active

PRECISION_LAND_MODE

[Enum] Precision land modes (used in MAV_CMD_NAV_LAND).

Value	Field Name	Description
0	PRECISION_LAND_MODE_DISABLED	Normal (non-precision) landing.
1	PRECISION_LAND_MODE_OPPORTUNISTIC	Use precision landing if beacon detected when land command accepted, otherwise land normally.
2	PRECISION_LAND_MODE_REQUIRED	Use precision landing, searching for beacon if not found when land command accepted (land normally if beacon cannot be found).

PARACHUTE_ACTION

[Enum]

Value	Field Name	Description
0	PARACHUTE_DISABLE	Disable parachute release.
1	PARACHUTE_ENABLE	Enable parachute release.
2	PARACHUTE_RELEASE	Release parachute.

MAV_TUNNEL_PAYLOAD_TYPE

[Enum]

Value	Field Name	Description
0	MAV_TUNNEL_PAYLOAD_TYPE_UNKNOWN	Encoding of payload unknown.

MAV_ODID_IDTYPE

[Enum]

Value	Field Name	Description
0	MAV_ODID_IDTYPE_NONE	No type defined.
1	MAV_ODID_IDTYPE_SERIAL_NUMBER	Manufacturer Serial Number (ANSI/CTA-2063 format).
2	MAV_ODID_IDTYPE_CAA_ASSIGNED_ID	CAA (Civil Aviation Authority) assigned ID. Format: [ICAO Country Code].[CAA Assigned ID]
3	MAV_ODID_IDTYPE_UTM_ASSIGNED_ID	UTM (Unmanned Traffic Management) assigned ID (UUID RFC4122).

MAV_ODID_UATYPE

[Enum]

Value	Field Name	Description
0	MAV_ODID_UATYPE_NONE	No UA (Unmanned Aircraft) type defined.
1	MAV_ODID_UATYPE_AEROPLANE	Aeroplane/Airplane.
2	MAV_ODID_UATYPE_ROTORCRAFT	Rotorcraft (including Multirotor).
3	MAV_ODID_UATYPE_GYROPLANE	Gyroplane.
4	MAV_ODID_UATYPE_VTOL	VTOL (Vertical Take-Off and Landing). Fixed wing aircraft that can take off vertically.
5	MAV_ODID_UATYPE_ORNITHOPTER	Ornithopter.
6	MAV_ODID_UATYPE_GLIDER	Glider.
7	MAV_ODID_UATYPE_KITE	Kite.
8	MAV_ODID_UATYPE_FREE_BALLOON	Free Balloon.
9	MAV_ODID_UATYPE_CAPTIVE_BALLOON	Captive Balloon.
10	MAV_ODID_UATYPE_AIRSHIP	Airship.
11	MAV_ODID_UATYPE_FREE_FALL_PARACHUTE	Free Fall/Parachute.
12	MAV_ODID_UATYPE_ROCKET	Rocket.
13	MAV_ODID_UATYPE_GROUND_OBSTACLE	Ground Obstacle.
14	MAV_ODID_UATYPE_RESERVED	Reserved.
15	MAV_ODID_UATYPE_OTHER	Other type of aircraft not listed earlier.

MAV_ODID_STATUS

[Enum]

Value	Field Name	Description
0	MAV_ODID_STATUS_UNDECLARED	The status of the (UA) Unmanned Aircraft is undefined.
1	MAV_ODID_STATUS_GROUND	The UA is on the ground.
2	MAV_ODID_STATUS_AIRBORNE	The UA is in the air.

MAV_ODID_HEIGHT_REF

[Enum]

Value	Field Name	Description
0	MAV_ODID_HEIGHT_REF_OVER_TAKEOFF	The height field is relative to the take-off location.
1	MAV_ODID_HEIGHT_REF_OVER_GROUND	The height field is relative to ground.

MAV_ODID_HOR_ACC

[Enum]

Value	Field Name	Description
0	MAV_ODID_HOR_ACC_UNKNOWN	The horizontal accuracy is unknown.
1	MAV_ODID_HOR_ACC_10NM	The horizontal accuracy is smaller than 10 Nautical Miles.
2	MAV_ODID_HOR_ACC_4NM	The horizontal accuracy is smaller than 4 Nautical Miles.
3	MAV_ODID_HOR_ACC_2NM	The horizontal accuracy is smaller than 2 Nautical Miles.
4	MAV_ODID_HOR_ACC_1NM	The horizontal accuracy is smaller than 1 Nautical Miles.
5	MAV_ODID_HOR_ACC_0_5NM	The horizontal accuracy is smaller than 0.5 Nautical Miles.
6	MAV_ODID_HOR_ACC_0_3NM	The horizontal accuracy is smaller than 0.3 Nautical Miles.
7	MAV_ODID_HOR_ACC_0_1NM	The horizontal accuracy is smaller than 0.1 Nautical Miles.
8	MAV_ODID_HOR_ACC_0_05NM	The horizontal accuracy is smaller than 0.05 Nautical Miles.
9	MAV_ODID_HOR_ACC_30_METER	The horizontal accuracy is smaller than 30 meter.
10	MAV_ODID_HOR_ACC_10_METER	The horizontal accuracy is smaller than 10 meter.
11	MAV_ODID_HOR_ACC_3_METER	The horizontal accuracy is smaller than 3 meter.
12	MAV_ODID_HOR_ACC_1_METER	The horizontal accuracy is smaller than 1 meter.

MAV_ODID_VER_ACC

[Enum]

Value	Field Name	Description
0	MAV_ODID_VER_ACC_UNKNOWN	The vertical accuracy is unknown.
1	MAV_ODID_VER_ACC_150_METER	The vertical accuracy is smaller than 150 meter.
2	MAV_ODID_VER_ACC_45_METER	The vertical accuracy is smaller than 45 meter.
3	MAV_ODID_VER_ACC_25_METER	The vertical accuracy is smaller than 25 meter.
4	MAV_ODID_VER_ACC_10_METER	The vertical accuracy is smaller than 10 meter.
5	MAV_ODID_VER_ACC_3_METER	The vertical accuracy is smaller than 3 meter.
6	MAV_ODID_VER_ACC_1_METER	The vertical accuracy is smaller than 1 meter.

MAV_ODID_SPEED_ACC

[Enum]

Value	Field Name	Description
0	MAV_ODID_SPEED_ACC_UNKNOWN	The speed accuracy is unknown.
1	MAV_ODID_SPEED_ACC_10_METER_PER_SECOND	The speed accuracy is smaller than 10 meter per second.
2	MAV_ODID_SPEED_ACC_3_METER_PER_SECOND	The speed accuracy is smaller than 3 meter per second.
3	MAV_ODID_SPEED_ACC_1_METER_PER_SECOND	The speed accuracy is smaller than 1 meter per second.
4	MAV_ODID_SPEED_ACC_0_3_METER_PER_SECOND	The speed accuracy is smaller than 0.3 meter per second.

MAV_ODID_TIME_ACC

[Enum]

Value	Field Name	Description
0	MAV_ODID_TIME_ACC_UNKNOWN	The timestamp accuracy is unknown.
1	MAV_ODID_TIME_ACC_0_1_SECOND	The timestamp accuracy is smaller than 0.1 second.
2	MAV_ODID_TIME_ACC_0_2_SECOND	The timestamp accuracy is smaller than 0.2 second.
3	MAV_ODID_TIME_ACC_0_3_SECOND	The timestamp accuracy is smaller than 0.3 second.
4	MAV_ODID_TIME_ACC_0_4_SECOND	The timestamp accuracy is smaller than 0.4 second.
5	MAV_ODID_TIME_ACC_0_5_SECOND	The timestamp accuracy is smaller than 0.5 second.
6	MAV_ODID_TIME_ACC_0_6_SECOND	The timestamp accuracy is smaller than 0.6 second.
7	MAV_ODID_TIME_ACC_0_7_SECOND	The timestamp accuracy is smaller than 0.7 second.
8	MAV_ODID_TIME_ACC_0_8_SECOND	The timestamp accuracy is smaller than 0.8 second.
9	MAV_ODID_TIME_ACC_0_9_SECOND	The timestamp accuracy is smaller than 0.9 second.
10	MAV_ODID_TIME_ACC_1_0_SECOND	The timestamp accuracy is smaller than 1.0 second.
11	MAV_ODID_TIME_ACC_1_1_SECOND	The timestamp accuracy is smaller than 1.1 second.
12	MAV_ODID_TIME_ACC_1_2_SECOND	The timestamp accuracy is smaller than 1.2 second.
13	MAV_ODID_TIME_ACC_1_3_SECOND	The timestamp accuracy is smaller than 1.3 second.
14	MAV_ODID_TIME_ACC_1_4_SECOND	The timestamp accuracy is smaller than 1.4 second.
15	MAV_ODID_TIME_ACC_1_5_SECOND	The timestamp accuracy is smaller than 1.5 second.

MAV_ODID_AUTH

[Enum]

Value	Field Name	Description
0	MAV_ODID_AUTH_NONE	No authentication type is specified.
1	MAV_ODID_AUTH_MPUID	Manufacturer Programmed Unique ID.

MAV_ODID_DESC_TYPE

[Enum]

Value	Field Name	Description
0	MAV_ODID_DESC_TYPE_TEXT	Free-form text description of the purpose of the flight.
1	MAV_ODID_DESC_TYPE_REMOTE_PILOT_ID	Remote pilot ID as assigned by the Civil Aviation Authority.

MAV_ODID_LOCATION_SRC

[Enum]

Value	Field Name	Description
0	MAV_ODID_LOCATION_SRC_TAKEOFF	The location of the remote pilot is the same as the take-off location.
1	MAV_ODID_LOCATION_SRC_LIVE_GNSS	The location of the remote pilot is based on live GNSS data.
2	MAV_ODID_LOCATION_SRC_FIXED	The location of the remote pilot is a fixed location.

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.

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. See https://mavlink.io/en/guide/xml_schema.html#MAV_CMD for information about the structure of the MAV_CMD entries

MAV_CMD_NAV_WAYPOINT (16 )

[Command] Navigate to waypoint.

Param (:Label)	Description	Values	Units
1: Hold	Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)	min:0	s
2: Accept Radius	Acceptance radius (if the sphere with this radius is hit, the waypoint counts as reached)	min:0	m
3: Pass Radius	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.		m
4: Yaw	Desired yaw angle at waypoint (rotary wing). NaN for unchanged.		deg
5	Latitude
6	Longitude
7	Altitude

MAV_CMD_NAV_LOITER_UNLIM (17 )

[Command] Loiter around this waypoint an unlimited amount of time

Param (:Label)	Description	Units
1	Empty
2	Empty
3: Radius	Radius around waypoint. If positive loiter clockwise, else counter-clockwise	m
4: Yaw	Desired yaw angle. NaN for unchanged.
5	Latitude
6	Longitude
7	Altitude

MAV_CMD_NAV_LOITER_TURNS (18 )

[Command] Loiter around this waypoint for X turns

Param (:Label)	Description	Values	Units
1: Turns	Number of turns.	min:0
2	Empty
3: Radius	Radius around waypoint. If positive loiter clockwise, else counter-clockwise		m
4	Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle. NaN for unchanged.
5	Latitude
6	Longitude
7	Altitude

MAV_CMD_NAV_LOITER_TIME (19 )

[Command] Loiter around this waypoint for X seconds

Param (:Label)	Description	Values	Units
1: Time	Loiter time.	min:0	s
2	Empty
3: Radius	Radius around waypoint. If positive loiter clockwise, else counter-clockwise.		m
4	Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle. NaN for unchanged.
5	Latitude
6	Longitude
7	Altitude

MAV_CMD_NAV_RETURN_TO_LAUNCH (20 )

[Command] Return to launch location

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

MAV_CMD_NAV_LAND (21 )

[Command] Land at location.

Param (:Label)	Description	Values	Units
1: Abort Alt	Minimum target altitude if landing is aborted (0 = undefined/use system default).		m
2: Land Mode	Precision land mode.	PRECISION_LAND_MODE
3	Empty.
4: Yaw Angle	Desired yaw angle. NaN for unchanged.		deg
5	Latitude.
6	Longitude.
7	Landing altitude (ground level in current frame).		m

MAV_CMD_NAV_TAKEOFF (22 )

[Command] Takeoff from ground / hand

Param (:Label)	Description
1: Pitch	Minimum pitch (if airspeed sensor present), desired pitch without sensor
2	Empty
3	Empty
4: Yaw	Yaw angle (if magnetometer present), ignored without magnetometer. NaN for unchanged.
5	Latitude
6	Longitude
7	Altitude

MAV_CMD_NAV_LAND_LOCAL (23 )

[Command] Land at local position (local frame only)

Param (:Label)	Description	Values	Units
1: Target	Landing target number (if available)	min:0 increment:1
2: Offset	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	min:0	m
3: Descend Rate	Landing descend rate		m/s
4: Yaw	Desired yaw angle		rad
5: Y Position	Y-axis position		m
6: X Position	X-axis position		m
7: Z Position	Z-axis / ground level position		m

MAV_CMD_NAV_TAKEOFF_LOCAL (24 )

[Command] Takeoff from local position (local frame only)

Param (:Label)	Description	Units
1: Pitch	Minimum pitch (if airspeed sensor present), desired pitch without sensor	rad
2	Empty
3: Ascend Rate	Takeoff ascend rate	m/s
4: Yaw	Yaw angle (if magnetometer or another yaw estimation source present), ignored without one of these	rad
5: Y Position	Y-axis position	m
6: X Position	X-axis position	m
7: Z Position	Z-axis position	m

MAV_CMD_NAV_FOLLOW (25 )

[Command] Vehicle following, i.e. this waypoint represents the position of a moving vehicle

Param (:Label)	Description	Values	Units
1: Following	Following logic to use (e.g. loitering or sinusoidal following) - depends on specific autopilot implementation	increment:1
2: Ground Speed	Ground speed of vehicle to be followed
3: Radius	Radius around waypoint. If positive loiter clockwise, else counter-clockwise		m
4: Yaw	Desired yaw angle.
5	Latitude
6	Longitude
7	Altitude

MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT (30 )

[Command] 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.

Param (:Label)	Description	Values	Units
1: Action	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.	min:0 max:2 increment:1
2	Empty
3	Empty
4	Empty
5	Empty
6	Empty
7: Altitude	Desired altitude		m

MAV_CMD_NAV_LOITER_TO_ALT (31 )

[Command] 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.

Param (:Label)	Description	Values	Units
1: Heading Required	Heading Required (0 = False)	min:0 max:1 increment:1
2: Radius	Radius. If positive loiter clockwise, negative counter-clockwise, 0 means no change to standard loiter.		m
3	Empty
4: Xtrack Location	Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location	min:0 max:1 increment:1
5	Latitude
6	Longitude
7	Altitude

MAV_CMD_DO_FOLLOW (32 )

[Command] Begin following a target

Param (:Label)	Description	Values	Units
1: System ID	System ID (of the FOLLOW_TARGET beacon). Send 0 to disable follow-me and return to the default position hold mode.	min:0 max:255 increment:1
2	RESERVED
3	RESERVED
4: Altitude Mode	Altitude mode: 0: Keep current altitude, 1: keep altitude difference to target, 2: go to a fixed altitude above home.	min:0 max:2 increment:1
5: Altitude	Altitude above home. (used if mode=2)
6	RESERVED
7: Time to Land	Time to land in which the MAV should go to the default position hold mode after a message RX timeout.	min:0	s

MAV_CMD_DO_FOLLOW_REPOSITION (33 )

[Command] Reposition the MAV after a follow target command has been sent

Param (:Label)	Description	Units
1: Camera Q1	Camera q1 (where 0 is on the ray from the camera to the tracking device)
2: Camera Q2	Camera q2
3: Camera Q3	Camera q3
4: Camera Q4	Camera q4
5: Altitude Offset	altitude offset from target	m
6: X Offset	X offset from target	m
7: Y Offset	Y offset from target	m

MAV_CMD_DO_ORBIT (34 )

WORK IN PROGRESS: Do not use in stable production environments (it may change).

[Command] Start orbiting on the circumference of a circle defined by the parameters. Setting any value NaN results in using defaults.

Param (:Label)	Description	Values	Units
1: Radius	Radius of the circle. positive: Orbit clockwise. negative: Orbit counter-clockwise.		m
2: Velocity	Tangential Velocity. NaN: Vehicle configuration default.		m/s
3: Yaw Behavior	Yaw behavior of the vehicle. 0: vehicle front points to the center (default). 1: Hold last heading. 2: Leave yaw uncontrolled.	min:0 max:2 increment:1
4	Reserved (e.g. for dynamic center beacon options)
5	Center point latitude (if no MAV_FRAME specified) / X coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.
6	Center point longitude (if no MAV_FRAME specified) / Y coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.
7	Center point altitude (MSL) (if no MAV_FRAME specified) / Z coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.

MAV_CMD_NAV_ROI (80 )

DEPRECATED: Replaced by MAV_CMD_DO_SET_ROI_* (2018-01).

[Command] Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras.

Param (:Label)	Description	Values
1: ROI Mode	Region of interest mode.	MAV_ROI
2: WP Index	Waypoint index/ target ID. (see MAV_ROI enum)	min:0 increment:1
3: ROI Index	ROI index (allows a vehicle to manage multiple ROI's)	min:0 increment:1
4	Empty
5: X	x the location of the fixed ROI (see MAV_FRAME)
6: Y	y
7: Z	z

MAV_CMD_NAV_PATHPLANNING (81 )

[Command] Control autonomous path planning on the MAV.

Param (:Label)	Description	Values	Units
1: Local Ctrl	0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning	min:0 max:2 increment:1
2: Global Ctrl	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	min:0 max:3 increment:1
3	Empty
4: Yaw	Yaw angle at goal	min:0 max:360	deg
5	Latitude/X of goal
6	Longitude/Y of goal
7	Altitude/Z of goal

MAV_CMD_NAV_SPLINE_WAYPOINT (82 )

[Command] Navigate to waypoint using a spline path.

Param (:Label)	Description	Values	Units
1: Hold	Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)	min:0	s
2	Empty
3	Empty
4	Empty
5	Latitude/X of goal
6	Longitude/Y of goal
7	Altitude/Z of goal

MAV_CMD_NAV_VTOL_TAKEOFF (84 )

[Command] Takeoff from ground using VTOL mode, and transition to forward flight with specified heading.

Param (:Label)	Description	Values	Units
1	Empty
2: Transition Heading	Front transition heading.	VTOL_TRANSITION_HEADING
3	Empty
4: Yaw Angle	Yaw angle. NaN for unchanged.		deg
5	Latitude
6	Longitude
7	Altitude

MAV_CMD_NAV_VTOL_LAND (85 )

[Command] Land using VTOL mode

Param (:Label)	Description	Units
1	Empty
2	Empty
3: Altitude	Approach altitude (with the same reference as the Altitude field). NaN if unspecified.
4: Yaw	Yaw angle. NaN for unchanged.	deg
5	Latitude
6	Longitude
7	Altitude (ground level)

MAV_CMD_NAV_GUIDED_ENABLE (92 )

[Command] hand control over to an external controller

Param (:Label)	Description	Values
1: Enable	On / Off (> 0.5f on)	min:0 max:1 increment:1
2	Empty
3	Empty
4	Empty
5	Empty
6	Empty
7	Empty

MAV_CMD_NAV_DELAY (93 )

[Command] Delay the next navigation command a number of seconds or until a specified time

Param (:Label)	Description	Values	Units
1: Delay	Delay (-1 to enable time-of-day fields)	min: -1 increment:1	s
2: Hour	hour (24h format, UTC, -1 to ignore)	min: -1 max:23 increment:1
3: Minute	minute (24h format, UTC, -1 to ignore)	min: -1 max:59 increment:1
4: Second	second (24h format, UTC)	min: -1 max:59 increment:1
5	Empty
6	Empty
7	Empty

MAV_CMD_NAV_PAYLOAD_PLACE (94 )

[Command] 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.

Param (:Label)	Description	Values	Units
1: Max Descent	Maximum distance to descend.	min:0	m
2	Empty
3	Empty
4	Empty
5	Latitude
6	Longitude
7	Altitude

MAV_CMD_NAV_LAST (95 )

[Command] NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration

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

MAV_CMD_CONDITION_DELAY (112 )

[Command] Delay mission state machine.

Param (:Label)	Description	Values	Units
1: Delay	Delay	min:0	s
2	Empty
3	Empty
4	Empty
5	Empty
6	Empty
7	Empty

MAV_CMD_CONDITION_CHANGE_ALT (113 )

[Command] Ascend/descend at rate. Delay mission state machine until desired altitude reached.

Param (:Label)	Description	Units
1: Rate	Descent / Ascend rate.	m/s
2	Empty
3	Empty
4	Empty
5	Empty
6	Empty
7	Finish Altitude

MAV_CMD_CONDITION_DISTANCE (114 )

[Command] Delay mission state machine until within desired distance of next NAV point.

Param (:Label)	Description	Values	Units
1: Distance	Distance.	min:0	m
2	Empty
3	Empty
4	Empty
5	Empty
6	Empty
7	Empty

MAV_CMD_CONDITION_YAW (115 )

[Command] Reach a certain target angle.

Param (:Label)	Description	Values	Units
1: Angle	target angle, 0 is north	min:0 max:360	deg
2: Angular Speed	angular speed		deg/s
3: Direction	direction: -1: counter clockwise, 1: clockwise	min: -1 max:1 increment:2
4: Relative	0: absolute angle, 1: relative offset	min:0 max:1 increment:1
5	Empty
6	Empty
7	Empty

MAV_CMD_CONDITION_LAST (159 )

[Command] NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration

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

MAV_CMD_DO_SET_MODE (176 )

[Command] Set system mode.

Param (:Label)	Description	Values
1: Mode	Mode	MAV_MODE
2: Custom Mode	Custom mode - this is system specific, please refer to the individual autopilot specifications for details.
3: Custom Submode	Custom sub mode - this is system specific, please refer to the individual autopilot specifications for details.
4	Empty
5	Empty
6	Empty
7	Empty

MAV_CMD_DO_JUMP (177 )

[Command] Jump to the desired command in the mission list. Repeat this action only the specified number of times

Param (:Label)	Description	Values
1: Number	Sequence number	min:0 increment:1
2: Repeat	Repeat count	min:0 increment:1
3	Empty
4	Empty
5	Empty
6	Empty
7	Empty

MAV_CMD_DO_CHANGE_SPEED (178 )

[Command] Change speed and/or throttle set points.

Param (:Label)	Description	Values	Units
1: Speed Type	Speed type (0=Airspeed, 1=Ground Speed, 2=Climb Speed, 3=Descent Speed)	min:0 max:3 increment:1
2: Speed	Speed (-1 indicates no change)	min: -1	m/s
3: Throttle	Throttle (-1 indicates no change)	min: -1	%
4: Relative	0: absolute, 1: relative	min:0 max:1 increment:1
5	Empty
6	Empty
7	Empty

MAV_CMD_DO_SET_HOME (179 )

[Command] Changes the home location either to the current location or a specified location.

Param (:Label)	Description	Values
1: Use Current	Use current (1=use current location, 0=use specified location)	min:0 max:1 increment:1
2	Empty
3	Empty
4	Empty
5	Latitude
6	Longitude
7	Altitude

MAV_CMD_DO_SET_PARAMETER (180 )

[Command] Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter.

Param (:Label)	Description	Values
1: Number	Parameter number	min:0 increment:1
2: Value	Parameter value
3	Empty
4	Empty
5	Empty
6	Empty
7	Empty

MAV_CMD_DO_SET_RELAY (181 )

[Command] Set a relay to a condition.

Param (:Label)	Description	Values
1: Instance	Relay instance number.	min:0 increment:1
2: Setting	Setting. (1=on, 0=off, others possible depending on system hardware)	min:0 increment:1
3	Empty
4	Empty
5	Empty
6	Empty
7	Empty

MAV_CMD_DO_REPEAT_RELAY (182 )

[Command] Cycle a relay on and off for a desired number of cycles with a desired period.

Param (:Label)	Description	Values	Units
1: Instance	Relay instance number.	min:0 increment:1
2: Count	Cycle count.	min:1 increment:1
3: Time	Cycle time.	min:0	s
4	Empty
5	Empty
6	Empty
7	Empty

MAV_CMD_DO_SET_SERVO (183 )

[Command] Set a servo to a desired PWM value.

Param (:Label)	Description	Values	Units
1: Instance	Servo instance number.	min:0 increment:1
2: PWM	Pulse Width Modulation.	min:0 increment:1	us
3	Empty
4	Empty
5	Empty
6	Empty
7	Empty

MAV_CMD_DO_REPEAT_SERVO (184 )

[Command] Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period.

Param (:Label)	Description	Values	Units
1: Instance	Servo instance number.	min:0 increment:1
2: PWM	Pulse Width Modulation.	min:0 increment:1	us
3: Count	Cycle count.	min:1 increment:1
4: Time	Cycle time.	min:0	s
5	Empty
6	Empty
7	Empty

MAV_CMD_DO_FLIGHTTERMINATION (185 )

[Command] Terminate flight immediately

Param (:Label)	Description	Values
1: Terminate	Flight termination activated if > 0.5	min:0 max:1 increment:1
2	Empty
3	Empty
4	Empty
5	Empty
6	Empty
7	Empty

MAV_CMD_DO_CHANGE_ALTITUDE (186 )

[Command] Change altitude set point.

Param (:Label)	Description	Values	Units
1: Altitude	Altitude.		m
2: Frame	Frame of new altitude.	MAV_FRAME
3	Empty
4	Empty
5	Empty
6	Empty
7	Empty

MAV_CMD_DO_LAND_START (189 )

[Command] Mission command to perform a landing. This is used as a marker in a mission to tell the autopilot where a sequence of mission items that represents a landing starts. It may also be sent via a COMMAND_LONG to trigger a landing, in which case the nearest (geographically) landing sequence in the mission will be used. The Latitude/Longitude is optional, and may be set to 0 if not needed. If specified then it will be used to help find the closest landing sequence.

Param (:Label)	Description
1	Empty
2	Empty
3	Empty
4	Empty
5	Latitude
6	Longitude
7	Empty

MAV_CMD_DO_RALLY_LAND (190 )

[Command] Mission command to perform a landing from a rally point.

Param (:Label)	Description	Units
1: Altitude	Break altitude	m
2: Speed	Landing speed	m/s
3	Empty
4	Empty
5	Empty
6	Empty
7	Empty

MAV_CMD_DO_GO_AROUND (191 )

[Command] Mission command to safely abort an autonomous landing.

Param (:Label)	Description	Units
1: Altitude	Altitude	m
2	Empty
3	Empty
4	Empty
5	Empty
6	Empty
7	Empty

MAV_CMD_DO_REPOSITION (192 )

[Command] Reposition the vehicle to a specific WGS84 global position.

Param (:Label)	Description	Values	Units
1: Speed	Ground speed, less than 0 (-1) for default	min: -1	m/s
2: Bitmask	Bitmask of option flags.	MAV_DO_REPOSITION_FLAGS
3	Reserved
4: Yaw	Yaw heading, NaN for unchanged. For planes indicates loiter direction (0: clockwise, 1: counter clockwise)
5	Latitude (deg * 1E7)
6	Longitude (deg * 1E7)
7	Altitude (meters)

MAV_CMD_DO_PAUSE_CONTINUE (193 )

[Command] If in a GPS controlled position mode, hold the current position or continue.

Param (:Label)	Description	Values
1: 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.	min:0 max:1 increment:1
2	Reserved
3	Reserved
4	Reserved
5	Reserved
6	Reserved
7	Reserved

MAV_CMD_DO_SET_REVERSE (194 )

[Command] Set moving direction to forward or reverse.

Param (:Label)	Description	Values
1: Reverse	Direction (0=Forward, 1=Reverse)	min:0 max:1 increment:1
2	Empty
3	Empty
4	Empty
5	Empty
6	Empty
7	Empty

MAV_CMD_DO_SET_ROI_LOCATION (195 )

[Command] Sets the region of interest (ROI) to a location. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras.

Param (:Label)	Description
1	Empty
2	Empty
3	Empty
4	Empty
5	Latitude
6	Longitude
7	Altitude

MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET (196 )

[Command] Sets the region of interest (ROI) to be toward next waypoint, with optional pitch/roll/yaw offset. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras.

Param (:Label)	Description
1	Empty
2	Empty
3	Empty
4	Empty
5: Pitch Offset	pitch offset from next waypoint
6: Roll Offset	roll offset from next waypoint
7: Yaw Offset	yaw offset from next waypoint

MAV_CMD_DO_SET_ROI_NONE (197 )

[Command] Cancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras.

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

MAV_CMD_DO_CONTROL_VIDEO (200 )

[Command] Control onboard camera system.

Param (:Label)	Description	Values	Units
1: ID	Camera ID (-1 for all)	min: -1 increment:1
2: Transmission	Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw	min:0 max:2 increment:1
3: Interval	Transmission mode: 0: video stream, >0: single images every n seconds	min:0	s
4: Recording	Recording: 0: disabled, 1: enabled compressed, 2: enabled raw	min:0 max:2 increment:1
5	Empty
6	Empty
7	Empty

MAV_CMD_DO_SET_ROI (201 )

DEPRECATED: Replaced by MAV_CMD_DO_SET_ROI_* (2018-01).

Param (:Label)	Description	Values
1: ROI Mode	Region of interest mode.	MAV_ROI
2: WP Index	Waypoint index/ target ID (depends on param 1).	min:0 increment:1
3: ROI Index	Region of interest index. (allows a vehicle to manage multiple ROI's)	min:0 increment:1
4	Empty
5	MAV_ROI_WPNEXT: pitch offset from next waypoint, MAV_ROI_LOCATION: latitude
6	MAV_ROI_WPNEXT: roll offset from next waypoint, MAV_ROI_LOCATION: longitude
7	MAV_ROI_WPNEXT: yaw offset from next waypoint, MAV_ROI_LOCATION: altitude

MAV_CMD_DO_DIGICAM_CONFIGURE (202 )

[Command] 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 ).

Param (:Label)	Description	Values	Units
1: Mode	Modes: P, TV, AV, M, Etc.	min:0 increment:1
2: Shutter Speed	Shutter speed: Divisor number for one second.	min:0 increment:1
3: Aperture	Aperture: F stop number.	min:0
4: ISO	ISO number e.g. 80, 100, 200, Etc.	min:0 increment:1
5: Exposure	Exposure type enumerator.
6: Command Identity	Command Identity.
7: Engine Cut-off	Main engine cut-off time before camera trigger. (0 means no cut-off)	min:0 increment:1	ds

MAV_CMD_DO_DIGICAM_CONTROL (203 )

[Command] 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 ).

Param (:Label)	Description
1: Session Control	Session control e.g. show/hide lens
2: Zoom Absolute	Zoom's absolute position
3: Zoom Relative	Zooming step value to offset zoom from the current position
4: Focus	Focus Locking, Unlocking or Re-locking
5: Shoot Command	Shooting Command
6: Command Identity	Command Identity
7: Shot ID	Test shot identifier. If set to 1, image will only be captured, but not counted towards internal frame count.

MAV_CMD_DO_MOUNT_CONFIGURE (204 )

[Command] Mission command to configure a camera or antenna mount

Param (:Label)	Description	Values
1: Mode	Mount operation mode	MAV_MOUNT_MODE
2: Stabilize Roll	stabilize roll? (1 = yes, 0 = no)	min:0 max:1 increment:1
3: Stabilize Pitch	stabilize pitch? (1 = yes, 0 = no)	min:0 max:1 increment:1
4: Stabilize Yaw	stabilize yaw? (1 = yes, 0 = no)	min:0 max:1 increment:1
5	roll input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)
6	pitch input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)
7	yaw input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)

MAV_CMD_DO_MOUNT_CONTROL (205 )

[Command] Mission command to control a camera or antenna mount

Param (:Label)	Description	Values	Units
1	pitch depending on mount mode (degrees or degrees/second depending on pitch input).
2	roll depending on mount mode (degrees or degrees/second depending on roll input).
3	yaw depending on mount mode (degrees or degrees/second depending on yaw input).
4: Altitude	altitude depending on mount mode.		m
5	latitude in degrees * 1E7, set if appropriate mount mode.
6	longitude in degrees * 1E7, set if appropriate mount mode.
7: Mode	Mount mode.	MAV_MOUNT_MODE

MAV_CMD_DO_SET_CAM_TRIGG_DIST (206 )

[Command] 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.

Param (:Label)	Description	Values	Units
1: Distance	Camera trigger distance. 0 to stop triggering.	min:0	m
2: Shutter	Camera shutter integration time. -1 or 0 to ignore	min: -1 increment:1	ms
3: Trigger	Trigger camera once immediately. (0 = no trigger, 1 = trigger)	min:0 max:1 increment:1
4	Empty
5	Empty
6	Empty
7	Empty

MAV_CMD_DO_FENCE_ENABLE (207 )

[Command] Mission command to enable the geofence

Param (:Label)	Description	Values
1: Enable	enable? (0=disable, 1=enable, 2=disable_floor_only)	min:0 max:2 increment:1
2	Empty
3	Empty
4	Empty
5	Empty
6	Empty
7	Empty

MAV_CMD_DO_PARACHUTE (208 )

[Command] Mission command to trigger a parachute

Param (:Label)	Description	Values
1: Action	action	PARACHUTE_ACTION
2	Empty
3	Empty
4	Empty
5	Empty
6	Empty
7	Empty

MAV_CMD_DO_MOTOR_TEST (209 )

[Command] Mission command to perform motor test.

Param (:Label)	Description	Values	Units
1: Instance	Motor instance number. (from 1 to max number of motors on the vehicle)	min:1 increment:1
2: Throttle Type	Throttle type.	MOTOR_TEST_THROTTLE_TYPE
3: Throttle	Throttle.
4: Timeout	Timeout.	min:0	s
5: Motor Count	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...)	min:0 increment:1
6: Test Order	Motor test order.	MOTOR_TEST_ORDER
7	Empty

MAV_CMD_DO_INVERTED_FLIGHT (210 )

[Command] Change to/from inverted flight.

Param (:Label)	Description	Values
1: Inverted	Inverted flight. (0=normal, 1=inverted)	min:0 max:1 increment:1
2	Empty
3	Empty
4	Empty
5	Empty
6	Empty
7	Empty

MAV_CMD_NAV_SET_YAW_SPEED (213 )

[Command] Sets a desired vehicle turn angle and speed change.

Param (:Label)	Description	Values	Units
1: Yaw	Yaw angle to adjust steering by.		deg
2: Speed	Speed.		m/s
3: Angle	Final angle. (0=absolute, 1=relative)	min:0 max:1 increment:1
4	Empty
5	Empty
6	Empty
7	Empty

MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL (214 )

[Command] 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.

Param (:Label)	Description	Values	Units
1: Trigger Cycle	Camera trigger cycle time. -1 or 0 to ignore.	min: -1 increment:1	ms
2: Shutter Integration	Camera shutter integration time. Should be less than trigger cycle time. -1 or 0 to ignore.	min: -1 increment:1	ms
3	Empty
4	Empty
5	Empty
6	Empty
7	Empty

MAV_CMD_DO_MOUNT_CONTROL_QUAT (220 )

[Command] Mission command to control a camera or antenna mount, using a quaternion as reference.

Param (:Label)	Description
1: Q1	quaternion param q1, w (1 in null-rotation)
2: Q2	quaternion param q2, x (0 in null-rotation)
3: Q3	quaternion param q3, y (0 in null-rotation)
4: Q4	quaternion param q4, z (0 in null-rotation)
5	Empty
6	Empty
7	Empty

MAV_CMD_DO_GUIDED_MASTER (221 )

[Command] set id of master controller

Param (:Label)	Description	Values
1: System ID	System ID	min:0 max:255 increment:1
2: Component ID	Component ID	min:0 max:255 increment:1
3	Empty
4	Empty
5	Empty
6	Empty
7	Empty

MAV_CMD_DO_GUIDED_LIMITS (222 )

[Command] Set limits for external control

Param (:Label)	Description	Values	Units
1: Timeout	Timeout - maximum time that external controller will be allowed to control vehicle. 0 means no timeout.	min:0	s
2: Min Altitude	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.		m
3: Max Altitude	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.		m
4: Horiz. Move 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.	min:0	m
5	Empty
6	Empty
7	Empty

MAV_CMD_DO_ENGINE_CONTROL (223 )

[Command] 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

Param (:Label)	Description	Values	Units
1: Start Engine	0: Stop engine, 1:Start Engine	min:0 max:1 increment:1
2: Cold Start	0: Warm start, 1:Cold start. Controls use of choke where applicable	min:0 max:1 increment:1
3: Height Delay	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.	min:0	m
4	Empty
5	Empty
5	Empty
6	Empty
7	Empty

MAV_CMD_DO_SET_MISSION_CURRENT (224 )

[Command] 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).

Param (:Label)	Description	Values
1: Number	Mission sequence value to set	min:0 increment:1
2	Empty
3	Empty
4	Empty
5	Empty
5	Empty
6	Empty
7	Empty

MAV_CMD_DO_LAST (240 )

[Command] NOP - This command is only used to mark the upper limit of the DO commands in the enumeration

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

MAV_CMD_PREFLIGHT_CALIBRATION (241 )

[Command] 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.

Param (:Label)	Description	Values
1: Gyro Temperature	1: gyro calibration, 3: gyro temperature calibration	min:0 max:3 increment:1
2: Magnetometer	1: magnetometer calibration	min:0 max:1 increment:1
3: Ground Pressure	1: ground pressure calibration	min:0 max:1 increment:1
4: Remote Control	1: radio RC calibration, 2: RC trim calibration	min:0 max:1 increment:1
5: Accelerometer	1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature calibration, 4: simple accelerometer calibration	min:0 max:4 increment:1
6: Compmot or Airspeed	1: APM: compass/motor interference calibration (PX4: airspeed calibration, deprecated), 2: airspeed calibration	min:0 max:2 increment:1
7: ESC or Baro	1: ESC calibration, 3: barometer temperature calibration	min:0 max:3 increment:1

MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS (242 )

[Command] Set sensor offsets. This command will be only accepted if in pre-flight mode.

Param (:Label)	Description	Values
1: Sensor Type	Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow, 5: second magnetometer, 6: third magnetometer	min:0 max:6 increment:1
2: X Offset	X axis offset (or generic dimension 1), in the sensor's raw units
3: Y Offset	Y axis offset (or generic dimension 2), in the sensor's raw units
4: Z Offset	Z axis offset (or generic dimension 3), in the sensor's raw units
5: 4th Dimension	Generic dimension 4, in the sensor's raw units
6: 5th Dimension	Generic dimension 5, in the sensor's raw units
7: 6th Dimension	Generic dimension 6, in the sensor's raw units

MAV_CMD_PREFLIGHT_UAVCAN (243 )

[Command] Trigger UAVCAN config. This command will be only accepted if in pre-flight mode.

Param (:Label)	Description
1: Actuator ID	1: Trigger actuator ID assignment and direction mapping.
2	Reserved
3	Reserved
4	Reserved
5	Reserved
6	Reserved
7	Reserved

MAV_CMD_PREFLIGHT_STORAGE (245 )

[Command] Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode.

Param (:Label)	Description	Values	Units
1: Parameter Storage	Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults	min:0 max:2 increment:1
2: Mission Storage	Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults	min:0 max:2 increment:1
3: Logging Rate	Onboard logging: 0: Ignore, 1: Start default rate logging, -1: Stop logging, > 1: logging rate (e.g. set to 1000 for 1000 Hz logging)	min: -1 increment:1	Hz
4	Reserved
5	Empty
6	Empty
7	Empty

MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN (246 )

[Command] Request the reboot or shutdown of system components.

Param (:Label)	Description	Values
1: Autopilot	0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot, 3: Reboot autopilot and keep it in the bootloader until upgraded.	min:0 max:3 increment:1
2: Companion	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.	min:0 max:3 increment:1
3	WIP: 0: Do nothing for camera, 1: Reboot onboard camera, 2: Shutdown onboard camera, 3: Reboot onboard camera and keep it in the bootloader until upgraded
4	WIP: 0: Do nothing for mount (e.g. gimbal), 1: Reboot mount, 2: Shutdown mount, 3: Reboot mount and keep it in the bootloader until upgraded
5	Reserved, send 0
6	Reserved, send 0
7	WIP: ID (e.g. camera ID -1 for all IDs)

MAV_CMD_OVERRIDE_GOTO (252 )

[Command] 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.

Param (:Label)	Description	Values	Units
1: Continue	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
2: Position	MAV_GOTO_HOLD_AT_CURRENT_POSITION: hold at current position, MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position.	MAV_GOTO
3: Frame	Coordinate frame of hold point.	MAV_FRAME
4: Yaw	Desired yaw angle.		deg
5	Latitude / X position.
6	Longitude / Y position.
7	Altitude / Z position.

MAV_CMD_MISSION_START (300 )

[Command] start running a mission

Param (:Label)	Description	Values
1: First Item	first_item: the first mission item to run	min:0 increment:1
2: Last Item	last_item: the last mission item to run (after this item is run, the mission ends)	min:0 increment:1

MAV_CMD_COMPONENT_ARM_DISARM (400 )

[Command] Arms / Disarms a component

Param (:Label)	Description	Values
1: Arm	0: disarm, 1: arm	min:0 max:1 increment:1
2: Enforce in-air	0: only arm-disarm when landed, 21196: enforce arming/disarming even in-air (during flight)	min:0 max:21196 increment:21196

MAV_CMD_GET_HOME_POSITION (410 )

[Command] Request the home position from the vehicle.

Param (:Label)	Description
1	Reserved
2	Reserved
3	Reserved
4	Reserved
5	Reserved
6	Reserved
7	Reserved

MAV_CMD_START_RX_PAIR (500 )

[Command] Starts receiver pairing.

Param (:Label)	Description	Values
1: Spektrum	0:Spektrum.
2: RC Type	RC type.	RC_TYPE

MAV_CMD_GET_MESSAGE_INTERVAL (510 )

[Command] 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.

Param (:Label)	Description	Values
1: Message ID	The MAVLink message ID	min:0 max:16777215 increment:1

MAV_CMD_SET_MESSAGE_INTERVAL (511 )

[Command] Set the interval between messages for a particular MAVLink message ID. This interface replaces REQUEST_DATA_STREAM.

Param (:Label)	Description	Values	Units
1: Message ID	The MAVLink message ID	min:0 max:16777215 increment:1
2: Interval	The interval between two messages. Set to -1 to disable and 0 to request default rate.	min: -1 increment:1	us

MAV_CMD_REQUEST_MESSAGE (512 )

[Command] 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).

Param (:Label)	Description	Values
1: Message ID	The MAVLink message ID of the requested message.	min:0 max:16777215 increment:1
2: Index ID	Index id (if appropriate). The use of this parameter (if any), must be defined in the requested message.	min:0 increment:1

MAV_CMD_REQUEST_PROTOCOL_VERSION (519 )

[Command] Request MAVLink protocol version compatibility

Param (:Label)	Description
1: Protocol	1: Request supported protocol versions by all nodes on the network
2	Reserved (all remaining params)

MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES (520 )

[Command] Request autopilot capabilities. The receiver should ACK the command and then emit its capabilities in an AUTOPILOT_VERSION message

Param (:Label)	Description
1: Version	1: Request autopilot version
2	Reserved (all remaining params)

MAV_CMD_REQUEST_CAMERA_INFORMATION (521 )

[Command] Request camera information (CAMERA_INFORMATION).

Param (:Label)	Description	Values
1: Capabilities	0: No action 1: Request camera capabilities	min:0 max:1 increment:1
2	Reserved (all remaining params)

MAV_CMD_REQUEST_CAMERA_SETTINGS (522 )

[Command] Request camera settings (CAMERA_SETTINGS).

Param (:Label)	Description	Values
1: Settings	0: No Action 1: Request camera settings	min:0 max:1 increment:1
2	Reserved (all remaining params)

MAV_CMD_REQUEST_STORAGE_INFORMATION (525 )

[Command] Request storage information (STORAGE_INFORMATION). Use the command's target_component to target a specific component's storage.

Param (:Label)	Description	Values
1: Storage ID	Storage ID (0 for all, 1 for first, 2 for second, etc.)	min:0 increment:1
2: Information	0: No Action 1: Request storage information	min:0 max:1 increment:1
3	Reserved (all remaining params)

MAV_CMD_STORAGE_FORMAT (526 )

[Command] 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.

Param (:Label)	Description	Values
1: Storage ID	Storage ID (1 for first, 2 for second, etc.)	min:0 increment:1
2: Format	0: No action 1: Format storage	min:0 max:1 increment:1
3	Reserved (all remaining params)

MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS (527 )

[Command] Request camera capture status (CAMERA_CAPTURE_STATUS)

Param (:Label)	Description	Values
1: Capture Status	0: No Action 1: Request camera capture status	min:0 max:1 increment:1
2	Reserved (all remaining params)

MAV_CMD_REQUEST_FLIGHT_INFORMATION (528 )

WORK IN PROGRESS: Do not use in stable production environments (it may change).

[Command] Request flight information (FLIGHT_INFORMATION)

Param (:Label)	Description	Values
1: Flight Information	1: Request flight information	min:0 max:1 increment:1
2	Reserved (all remaining params)

MAV_CMD_RESET_CAMERA_SETTINGS (529 )

[Command] Reset all camera settings to Factory Default

Param (:Label)	Description	Values
1: Reset	0: No Action 1: Reset all settings	min:0 max:1 increment:1
2	Reserved (all remaining params)

MAV_CMD_SET_CAMERA_MODE (530 )

[Command] 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.

Param (:Label)	Description	Values
1	Reserved (Set to 0)
2: Camera Mode	Camera mode	CAMERA_MODE
3	Reserved (all remaining params)

MAV_CMD_SET_CAMERA_ZOOM (531 )

WORK IN PROGRESS: Do not use in stable production environments (it may change).

[Command] Set camera zoom. Camera must respond with a CAMERA_SETTINGS message (on success). Use NaN for reserved values.

Param (:Label)	Description	Values
1: Zoom Type	Zoom type	CAMERA_ZOOM_TYPE
2: Zoom Value	Zoom value. The range of valid values depend on the zoom type.
3	Reserved (all remaining params)

MAV_CMD_SET_CAMERA_FOCUS (532 )

WORK IN PROGRESS: Do not use in stable production environments (it may change).

[Command] Set camera focus. Camera must respond with a CAMERA_SETTINGS message (on success). Use NaN for reserved values.

Param (:Label)	Description	Values
1: Focus Type	Focus type	SET_FOCUS_TYPE
2: Focus Value	Focus value
3	Reserved (all remaining params)

MAV_CMD_JUMP_TAG (600 )

[Command] Tagged jump target. Can be jumped to with MAV_CMD_DO_JUMP_TAG.

Param (:Label)	Description	Values
1: Tag	Tag.	min:0 increment:1

MAV_CMD_DO_JUMP_TAG (601 )

[Command] 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.

Param (:Label)	Description	Values
1: Tag	Target tag to jump to.	min:0 increment:1
2: Repeat	Repeat count.	min:0 increment:1

MAV_CMD_IMAGE_START_CAPTURE (2000 )

[Command] Start image capture sequence. Sends CAMERA_IMAGE_CAPTURED after each capture. Use NaN for reserved values.

Param (:Label)	Description	Values	Units
1	Reserved (Set to 0)
2: Interval	Desired elapsed time between two consecutive pictures (in seconds). Minimum values depend on hardware (typically greater than 2 seconds).	min:0	s
3: Capture Count	Total number of images to capture. 0 to capture forever/until MAV_CMD_IMAGE_STOP_CAPTURE.	min:0 increment:1
4: Sequence Number	Capture sequence number starting from 1. This is only valid for single-capture (param3 == 1). Increment the capture ID for each capture command to prevent double captures when a command is re-transmitted. Use 0 to ignore it.	min:1 increment:1
5	Reserved (all remaining params)

MAV_CMD_IMAGE_STOP_CAPTURE (2001 )

[Command] Stop image capture sequence Use NaN for reserved values.

Param (:Label)	Description
1	Reserved (Set to 0)
2	Reserved (all remaining params)

MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE (2002 )

WORK IN PROGRESS: Do not use in stable production environments (it may change).

[Command] Re-request a CAMERA_IMAGE_CAPTURE message. Use NaN for reserved values.

Param (:Label)	Description	Values
1: Number	Sequence number for missing CAMERA_IMAGE_CAPTURE message	min:0 increment:1
2	Reserved (all remaining params)

MAV_CMD_DO_TRIGGER_CONTROL (2003 )

[Command] Enable or disable on-board camera triggering system.

Param (:Label)	Description	Values
1: Enable	Trigger enable/disable (0 for disable, 1 for start), -1 to ignore	min: -1 max:1 increment:1
2: Reset	1 to reset the trigger sequence, -1 or 0 to ignore	min: -1 max:1 increment:1
3: Pause	1 to pause triggering, but without switching the camera off or retracting it. -1 to ignore	min: -1 max:1 increment:2

MAV_CMD_VIDEO_START_CAPTURE (2500 )

[Command] Starts video capture (recording). Use NaN for reserved values.

Param (:Label)	Description	Values	Units
1: Stream ID	Video Stream ID (0 for all streams)	min:0 increment:1
2: Status Frequency	Frequency CAMERA_CAPTURE_STATUS messages should be sent while recording (0 for no messages, otherwise frequency)	min:0	Hz
3	Reserved (all remaining params)

MAV_CMD_VIDEO_STOP_CAPTURE (2501 )

[Command] Stop the current video capture (recording). Use NaN for reserved values.

Param (:Label)	Description	Values
1: Stream ID	Video Stream ID (0 for all streams)	min:0 increment:1
2	Reserved (all remaining params)

MAV_CMD_VIDEO_START_STREAMING (2502 )

WORK IN PROGRESS: Do not use in stable production environments (it may change).

[Command] Start video streaming

Param (:Label)	Description	Values
1: Stream ID	Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)	min:0 increment:1
2	Reserved

MAV_CMD_VIDEO_STOP_STREAMING (2503 )

WORK IN PROGRESS: Do not use in stable production environments (it may change).

[Command] Stop the given video stream

Param (:Label)	Description	Values
1: Stream ID	Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)	min:0 increment:1
2	Reserved

MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION (2504 )

WORK IN PROGRESS: Do not use in stable production environments (it may change).

[Command] Request video stream information (VIDEO_STREAM_INFORMATION)

Param (:Label)	Description	Values
1: Stream ID	Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)	min:0 increment:1
2	Reserved (all remaining params)

MAV_CMD_REQUEST_VIDEO_STREAM_STATUS (2505 )

WORK IN PROGRESS: Do not use in stable production environments (it may change).

[Command] Request video stream status (VIDEO_STREAM_STATUS)

Param (:Label)	Description	Values
1: Stream ID	Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)	min:0 increment:1
2	Reserved (all remaining params)

MAV_CMD_LOGGING_START (2510 )

[Command] Request to start streaming logging data over MAVLink (see also LOGGING_DATA message)

Param (:Label)	Description	Values
1: Format	Format: 0: ULog	min:0 increment:1
2	Reserved (set to 0)
3	Reserved (set to 0)
4	Reserved (set to 0)
5	Reserved (set to 0)
6	Reserved (set to 0)
7	Reserved (set to 0)

MAV_CMD_LOGGING_STOP (2511 )

[Command] Request to stop streaming log data over MAVLink

Param (:Label)	Description
1	Reserved (set to 0)
2	Reserved (set to 0)
3	Reserved (set to 0)
4	Reserved (set to 0)
5	Reserved (set to 0)
6	Reserved (set to 0)
7	Reserved (set to 0)

MAV_CMD_AIRFRAME_CONFIGURATION (2520 )

[Command]

Param (:Label)	Description	Values
1: Landing Gear ID	Landing gear ID (default: 0, -1 for all)	min: -1 increment:1
2: Landing Gear Position	Landing gear position (Down: 0, Up: 1, NaN for no change)
3	Reserved, set to NaN
4	Reserved, set to NaN
5	Reserved, set to NaN
6	Reserved, set to NaN
7	Reserved, set to NaN

MAV_CMD_CONTROL_HIGH_LATENCY (2600 )

[Command] Request to start/stop transmitting over the high latency telemetry

Param (:Label)	Description	Values
1: Enable	Control transmission over high latency telemetry (0: stop, 1: start)	min:0 max:1 increment:1
2	Empty
3	Empty
4	Empty
5	Empty
6	Empty
7	Empty

MAV_CMD_PANORAMA_CREATE (2800 )

[Command] Create a panorama at the current position

Param (:Label)	Description	Units
1: Horizontal Angle	Viewing angle horizontal of the panorama (+- 0.5 the total angle)	deg
2: Vertical Angle	Viewing angle vertical of panorama.	deg
3: Horizontal Speed	Speed of the horizontal rotation.	deg/s
4: Vertical Speed	Speed of the vertical rotation.	deg/s

MAV_CMD_DO_VTOL_TRANSITION (3000 )

[Command] Request VTOL transition

Param (:Label)	Description	Values
1: State	The target VTOL state. Only MAV_VTOL_STATE_MC and MAV_VTOL_STATE_FW can be used.	MAV_VTOL_STATE

MAV_CMD_ARM_AUTHORIZATION_REQUEST (3001 )

[Command] 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.

Param (:Label)	Description	Values
1: System ID	Vehicle system id, this way ground station can request arm authorization on behalf of any vehicle	min:0 max:255 increment:1

MAV_CMD_SET_GUIDED_SUBMODE_STANDARD (4000 )

[Command] 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.

Param (:Label)	Description

MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE (4001 )

[Command] 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.

Param (:Label)	Description
1: Radius	Radius of desired circle in CIRCLE_MODE
2	User defined
3	User defined
4	User defined
5	Unscaled target latitude of center of circle in CIRCLE_MODE
6	Unscaled target longitude of center of circle in CIRCLE_MODE

MAV_CMD_CONDITION_GATE (4501 )

WORK IN PROGRESS: Do not use in stable production environments (it may change).

[Command] Delay mission state machine until gate has been reached.

Param (:Label)	Description	Values
1: Geometry	Geometry: 0: orthogonal to path between previous and next waypoint.	min:0 increment:1
2: Altitude	Altitude: 0: ignore altitude
3	Empty
4	Empty
5	Latitude
6	Longitude
7	Altitude

MAV_CMD_NAV_FENCE_RETURN_POINT (5000 )

[Command] Fence return point. There can only be one fence return point.

Param (:Label)	Description
1	Reserved
2	Reserved
3	Reserved
4	Reserved
5	Latitude
6	Longitude
7	Altitude

MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION (5001 )

[Command] 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.

Param (:Label)	Description	Values
1: Vertex Count	Polygon vertex count	min:3 increment:1
2	Reserved
3	Reserved
4	Reserved
5	Latitude
6	Longitude
7	Reserved

MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION (5002 )

[Command] 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.

Param (:Label)	Description	Values
1: Vertex Count	Polygon vertex count	min:3 increment:1
2	Reserved
3	Reserved
4	Reserved
5	Latitude
6	Longitude
7	Reserved

MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION (5003 )

[Command] Circular fence area. The vehicle must stay inside this area.

Param (:Label)	Description	Units
1: Radius	Radius.	m
2	Reserved
3	Reserved
4	Reserved
5	Latitude
6	Longitude
7	Reserved

MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION (5004 )

[Command] Circular fence area. The vehicle must stay outside this area.

Param (:Label)	Description	Units
1: Radius	Radius.	m
2	Reserved
3	Reserved
4	Reserved
5	Latitude
6	Longitude
7	Reserved

MAV_CMD_NAV_RALLY_POINT (5100 )

[Command] Rally point. You can have multiple rally points defined.

Param (:Label)	Description
1	Reserved
2	Reserved
3	Reserved
4	Reserved
5	Latitude
6	Longitude
7	Altitude

MAV_CMD_UAVCAN_GET_NODE_INFO (5200 )

[Command] 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.

Param (:Label)	Description
1	Reserved (set to 0)
2	Reserved (set to 0)
3	Reserved (set to 0)
4	Reserved (set to 0)
5	Reserved (set to 0)
6	Reserved (set to 0)
7	Reserved (set to 0)

MAV_CMD_PAYLOAD_PREPARE_DEPLOY (30001 )

[Command] Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity.

Param (:Label)	Description	Values	Units
1: Operation Mode	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.	min:0 max:2 increment:1
2: Approach Vector	Desired approach vector in compass heading. A negative value indicates the system can define the approach vector at will.	min: -1 max:360	deg
3: Ground Speed	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.	min: -1
4: Altitude Clearance	Minimum altitude clearance to the release position. A negative value indicates the system can define the clearance at will.	min: -1	m
5	Latitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT
6	Longitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT
7	Altitude (MSL), in meters

MAV_CMD_PAYLOAD_CONTROL_DEPLOY (30002 )

[Command] Control the payload deployment.

Param (:Label)	Description	Values
1: Operation Mode	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.	min:0 max:101 increment:1
2	Reserved
3	Reserved
4	Reserved
5	Reserved
6	Reserved
7	Reserved

MAV_CMD_WAYPOINT_USER_1 (31000 )

[Command] User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

Param (:Label)	Description
1	User defined
2	User defined
3	User defined
4	User defined
5	Latitude unscaled
6	Longitude unscaled
7	Altitude (MSL), in meters

MAV_CMD_WAYPOINT_USER_2 (31001 )

[Command] User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

Param (:Label)	Description
1	User defined
2	User defined
3	User defined
4	User defined
5	Latitude unscaled
6	Longitude unscaled
7	Altitude (MSL), in meters

MAV_CMD_WAYPOINT_USER_3 (31002 )

[Command] User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

Param (:Label)	Description
1	User defined
2	User defined
3	User defined
4	User defined
5	Latitude unscaled
6	Longitude unscaled
7	Altitude (MSL), in meters

MAV_CMD_WAYPOINT_USER_4 (31003 )

[Command] User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

Param (:Label)	Description
1	User defined
2	User defined
3	User defined
4	User defined
5	Latitude unscaled
6	Longitude unscaled
7	Altitude (MSL), in meters

MAV_CMD_WAYPOINT_USER_5 (31004 )

[Command] User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

Param (:Label)	Description
1	User defined
2	User defined
3	User defined
4	User defined
5	Latitude unscaled
6	Longitude unscaled
7	Altitude (MSL), in meters

MAV_CMD_SPATIAL_USER_1 (31005 )

[Command] User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

Param (:Label)	Description
1	User defined
2	User defined
3	User defined
4	User defined
5	Latitude unscaled
6	Longitude unscaled
7	Altitude (MSL), in meters

MAV_CMD_SPATIAL_USER_2 (31006 )

[Command] User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

Param (:Label)	Description
1	User defined
2	User defined
3	User defined
4	User defined
5	Latitude unscaled
6	Longitude unscaled
7	Altitude (MSL), in meters

MAV_CMD_SPATIAL_USER_3 (31007 )

[Command] User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

Param (:Label)	Description
1	User defined
2	User defined
3	User defined
4	User defined
5	Latitude unscaled
6	Longitude unscaled
7	Altitude (MSL), in meters

MAV_CMD_SPATIAL_USER_4 (31008 )

[Command] User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

Param (:Label)	Description
1	User defined
2	User defined
3	User defined
4	User defined
5	Latitude unscaled
6	Longitude unscaled
7	Altitude (MSL), in meters

MAV_CMD_SPATIAL_USER_5 (31009 )

[Command] User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

Param (:Label)	Description
1	User defined
2	User defined
3	User defined
4	User defined
5	Latitude unscaled
6	Longitude unscaled
7	Altitude (MSL), in meters

MAV_CMD_USER_1 (31010 )

[Command] User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

Param (:Label)	Description
1	User defined
2	User defined
3	User defined
4	User defined
5	User defined
6	User defined
7	User defined

MAV_CMD_USER_2 (31011 )

[Command] User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

Param (:Label)	Description
1	User defined
2	User defined
3	User defined
4	User defined
5	User defined
6	User defined
7	User defined

MAV_CMD_USER_3 (31012 )

[Command] User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

Param (:Label)	Description
1	User defined
2	User defined
3	User defined
4	User defined
5	User defined
6	User defined
7	User defined

MAV_CMD_USER_4 (31013 )

[Command] User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

Param (:Label)	Description
1	User defined
2	User defined
3	User defined
4	User defined
5	User defined
6	User defined
7	User defined

MAV_CMD_USER_5 (31014 )

[Command] User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

Param (:Label)	Description
1	User defined
2	User defined
3	User defined
4	User defined
5	User defined
6	User defined
7	User defined

MAVLink Messages

HEARTBEAT ( #0 )

[Message] 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

Field Name	Type	Values	Description
type	uint8_t	MAV_TYPE	Vehicle or component type. For a flight controller component the vehicle type (quadrotor, helicopter, etc.). For other components the component type (e.g. camera, gimbal, etc.). This should be used in preference to component id for identifying the component type.
autopilot	uint8_t	MAV_AUTOPILOT	Autopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers.
base_mode	uint8_t	MAV_MODE_FLAG	System mode bitmap.
custom_mode	uint32_t		A bitfield for use for autopilot-specific flags
system_status	uint8_t	MAV_STATE	System status flag.
mavlink_version	uint8_t_mavlink_version		MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version

SYS_STATUS ( #1 )

[Message] 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.

Field Name	Type	Units	Values	Description
onboard_control_sensors_present	uint32_t		MAV_SYS_STATUS_SENSOR	Bitmap showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present.
onboard_control_sensors_enabled	uint32_t		MAV_SYS_STATUS_SENSOR	Bitmap showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled.
onboard_control_sensors_health	uint32_t		MAV_SYS_STATUS_SENSOR	Bitmap showing which onboard controllers and sensors have an error (or are operational). Value of 0: error. Value of 1: healthy.
load	uint16_t	d%		Maximum usage in percent of the mainloop time. Values: [0-1000] - should always be below 1000
voltage_battery	uint16_t	mV		Battery voltage, UINT16_MAX: Voltage not sent by autopilot
current_battery	int16_t	cA		Battery current, -1: Current not sent by autopilot
battery_remaining	int8_t	%		Battery energy remaining, -1: Battery remaining energy not sent by autopilot
drop_rate_comm	uint16_t	c%		Communication drop rate, (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
errors_comm	uint16_t			Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
errors_count1	uint16_t			Autopilot-specific errors
errors_count2	uint16_t			Autopilot-specific errors
errors_count3	uint16_t			Autopilot-specific errors
errors_count4	uint16_t			Autopilot-specific errors

SYSTEM_TIME ( #2 )

[Message] The system time is the time of the master clock, typically the computer clock of the main onboard computer.

Field Name	Type	Units	Description
time_unix_usec	uint64_t	us	Timestamp (UNIX epoch time).
time_boot_ms	uint32_t	ms	Timestamp (time since system boot).

PING ( #4 )

[Message] 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

Field Name	Type	Units	Description
time_usec	uint64_t	us	Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
seq	uint32_t		PING sequence
target_system	uint8_t		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
target_component	uint8_t		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.

CHANGE_OPERATOR_CONTROL ( #5 )

[Message] Request to control this MAV

Field Name	Type	Units	Description
target_system	uint8_t		System the GCS requests control for
control_request	uint8_t		0: request control of this MAV, 1: Release control of this MAV
version	uint8_t	rad	0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch.
passkey	char[25]		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 "!?,.-"

CHANGE_OPERATOR_CONTROL_ACK ( #6 )

[Message] Accept / deny control of this MAV

Field Name	Type	Description
gcs_system_id	uint8_t	ID of the GCS this message
control_request	uint8_t	0: request control of this MAV, 1: Release control of this MAV
ack	uint8_t	0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control

AUTH_KEY ( #7 )

[Message] 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.

Field Name	Type	Description
key	char[32]	key

LINK_NODE_STATUS ( #8 )

WORK IN PROGRESS: Do not use in stable production environments (it may change).

[Message] Status generated in each node in the communication chain and injected into MAVLink stream.

Field Name	Type	Units	Description
timestamp	uint64_t	ms	Timestamp (time since system boot).
tx_buf	uint8_t	%	Remaining free transmit buffer space
rx_buf	uint8_t	%	Remaining free receive buffer space
tx_rate	uint32_t	bytes/s	Transmit rate
rx_rate	uint32_t	bytes/s	Receive rate
rx_parse_err	uint16_t	bytes	Number of bytes that could not be parsed correctly.
tx_overflows	uint16_t	bytes	Transmit buffer overflows. This number wraps around as it reaches UINT16_MAX
rx_overflows	uint16_t	bytes	Receive buffer overflows. This number wraps around as it reaches UINT16_MAX
messages_sent	uint32_t		Messages sent
messages_received	uint32_t		Messages received (estimated from counting seq)
messages_lost	uint32_t		Messages lost (estimated from counting seq)

SET_MODE ( #11 )

DEPRECATED: Replaced by MAV_CMD_DO_SET_MODE (2015-12). Use COMMAND_LONG with MAV_CMD_DO_SET_MODE instead

[Message] 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.

Field Name	Type	Values	Description
target_system	uint8_t		The system setting the mode
base_mode	uint8_t	MAV_MODE	The new base mode.
custom_mode	uint32_t		The new autopilot-specific mode. This field can be ignored by an autopilot.

PARAM_REQUEST_READ ( #20 )

[Message] 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.

Field Name	Type	Description
target_system	uint8_t	System ID
target_component	uint8_t	Component ID
param_id	char[16]	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
param_index	int16_t	Parameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored)

PARAM_REQUEST_LIST ( #21 )

[Message] 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

Field Name	Type	Description
target_system	uint8_t	System ID
target_component	uint8_t	Component ID

PARAM_VALUE ( #22 )

[Message] 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

Field Name	Type	Values	Description
param_id	char[16]		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
param_value	float		Onboard parameter value
param_type	uint8_t	MAV_PARAM_TYPE	Onboard parameter type.
param_count	uint16_t		Total number of onboard parameters
param_index	uint16_t		Index of this onboard parameter

PARAM_SET ( #23 )

[Message] Set a parameter value (write new value to permanent storage). IMPORTANT: The receiving component should acknowledge the new parameter value by sending a PARAM_VALUE message to all communication partners. This will also ensure that multiple GCS all have an up-to-date list of all parameters. If the sending GCS did not receive a PARAM_VALUE message within its timeout time, it should re-send the PARAM_SET message. The parameter microservice is documented at https://mavlink.io/en/services/parameter.html

Field Name	Type	Values	Description
target_system	uint8_t		System ID
target_component	uint8_t		Component ID
param_id	char[16]		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
param_value	float		Onboard parameter value
param_type	uint8_t	MAV_PARAM_TYPE	Onboard parameter type.

GPS_RAW_INT ( #24 )

[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 for the global position estimate.

Field Name	Type	Units	Values	Description
time_usec	uint64_t	us		Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
fix_type	uint8_t		GPS_FIX_TYPE	GPS fix type.
lat	int32_t	degE7		Latitude (WGS84, EGM96 ellipsoid)
lon	int32_t	degE7		Longitude (WGS84, EGM96 ellipsoid)
alt	int32_t	mm		Altitude (MSL). Positive for up. Note that virtually all GPS modules provide the MSL altitude in addition to the WGS84 altitude.
eph	uint16_t			GPS HDOP horizontal dilution of position (unitless). If unknown, set to: UINT16_MAX
epv	uint16_t			GPS VDOP vertical dilution of position (unitless). If unknown, set to: UINT16_MAX
vel	uint16_t	cm/s		GPS ground speed. If unknown, set to: UINT16_MAX
cog	uint16_t	cdeg		Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
satellites_visible	uint8_t			Number of satellites visible. If unknown, set to 255
alt_ellipsoid **	int32_t	mm		Altitude (above WGS84, EGM96 ellipsoid). Positive for up.
h_acc **	uint32_t	mm		Position uncertainty. Positive for up.
v_acc **	uint32_t	mm		Altitude uncertainty. Positive for up.
vel_acc **	uint32_t	mm		Speed uncertainty. Positive for up.
hdg_acc **	uint32_t	degE5		Heading / track uncertainty

GPS_STATUS ( #25 )

[Message] 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.

Field Name	Type	Units	Description
satellites_visible	uint8_t		Number of satellites visible
satellite_prn	uint8_t[20]		Global satellite ID
satellite_used	uint8_t[20]		0: Satellite not used, 1: used for localization
satellite_elevation	uint8_t[20]	deg	Elevation (0: right on top of receiver, 90: on the horizon) of satellite
satellite_azimuth	uint8_t[20]	deg	Direction of satellite, 0: 0 deg, 255: 360 deg.
satellite_snr	uint8_t[20]	dB	Signal to noise ratio of satellite

SCALED_IMU ( #26 )

[Message] The RAW IMU readings for the usual 9DOF sensor setup. This message should contain the scaled values to the described units

Field Name	Type	Units	Description
time_boot_ms	uint32_t	ms	Timestamp (time since system boot).
xacc	int16_t	mG	X acceleration
yacc	int16_t	mG	Y acceleration
zacc	int16_t	mG	Z acceleration
xgyro	int16_t	mrad/s	Angular speed around X axis
ygyro	int16_t	mrad/s	Angular speed around Y axis
zgyro	int16_t	mrad/s	Angular speed around Z axis
xmag	int16_t	mgauss	X Magnetic field
ymag	int16_t	mgauss	Y Magnetic field
zmag	int16_t	mgauss	Z Magnetic field
temperature **	int16_t	cdegC	Temperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).

RAW_IMU ( #27 )

[Message] 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.

Field Name	Type	Units	Description
time_usec	uint64_t	us	Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
xacc	int16_t		X acceleration (raw)
yacc	int16_t		Y acceleration (raw)
zacc	int16_t		Z acceleration (raw)
xgyro	int16_t		Angular speed around X axis (raw)
ygyro	int16_t		Angular speed around Y axis (raw)
zgyro	int16_t		Angular speed around Z axis (raw)
xmag	int16_t		X Magnetic field (raw)
ymag	int16_t		Y Magnetic field (raw)
zmag	int16_t		Z Magnetic field (raw)
id **	uint8_t		Id. Ids are numbered from 0 and map to IMUs numbered from 1 (e.g. IMU1 will have a message with id=0)
temperature **	int16_t	cdegC	Temperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).

RAW_PRESSURE ( #28 )

[Message] 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.

Field Name	Type	Units	Description
time_usec	uint64_t	us	Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
press_abs	int16_t		Absolute pressure (raw)
press_diff1	int16_t		Differential pressure 1 (raw, 0 if nonexistent)
press_diff2	int16_t		Differential pressure 2 (raw, 0 if nonexistent)
temperature	int16_t		Raw Temperature measurement (raw)

SCALED_PRESSURE ( #29 )

[Message] The pressure readings for the typical setup of one absolute and differential pressure sensor. The units are as specified in each field.

Field Name	Type	Units	Description
time_boot_ms	uint32_t	ms	Timestamp (time since system boot).
press_abs	float	hPa	Absolute pressure
press_diff	float	hPa	Differential pressure 1
temperature	int16_t	cdegC	Temperature

ATTITUDE ( #30 )

[Message] The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right).

Field Name	Type	Units	Description
time_boot_ms	uint32_t	ms	Timestamp (time since system boot).
roll	float	rad	Roll angle (-pi..+pi)
pitch	float	rad	Pitch angle (-pi..+pi)
yaw	float	rad	Yaw angle (-pi..+pi)
rollspeed	float	rad/s	Roll angular speed
pitchspeed	float	rad/s	Pitch angular speed
yawspeed	float	rad/s	Yaw angular speed

ATTITUDE_QUATERNION ( #31 )

[Message] 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).

Field Name	Type	Units	Description
time_boot_ms	uint32_t	ms	Timestamp (time since system boot).
q1	float		Quaternion component 1, w (1 in null-rotation)
q2	float		Quaternion component 2, x (0 in null-rotation)
q3	float		Quaternion component 3, y (0 in null-rotation)
q4	float		Quaternion component 4, z (0 in null-rotation)
rollspeed	float	rad/s	Roll angular speed
pitchspeed	float	rad/s	Pitch angular speed
yawspeed	float	rad/s	Yaw angular speed

LOCAL_POSITION_NED ( #32 )

[Message] 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)

Field Name	Type	Units	Description
time_boot_ms	uint32_t	ms	Timestamp (time since system boot).
x	float	m	X Position
y	float	m	Y Position
z	float	m	Z Position
vx	float	m/s	X Speed
vy	float	m/s	Y Speed
vz	float	m/s	Z Speed

GLOBAL_POSITION_INT ( #33 )

Field Name	Type	Units	Description
time_boot_ms	uint32_t	ms	Timestamp (time since system boot).
lat	int32_t	degE7	Latitude, expressed
lon	int32_t	degE7	Longitude, expressed
alt	int32_t	mm	Altitude (MSL). Note that virtually all GPS modules provide both WGS84 and MSL.
relative_alt	int32_t	mm	Altitude above ground
vx	int16_t	cm/s	Ground X Speed (Latitude, positive north)
vy	int16_t	cm/s	Ground Y Speed (Longitude, positive east)
vz	int16_t	cm/s	Ground Z Speed (Altitude, positive down)
hdg	uint16_t	cdeg	Vehicle heading (yaw angle), 0.0..359.99 degrees. If unknown, set to: UINT16_MAX

RC_CHANNELS_SCALED ( #34 )

[Message] The scaled values of the RC channels received: (-100%) -10000, (0%) 0, (100%) 10000. Channels that are inactive should be set to UINT16_MAX.

Field Name	Type	Units	Description
time_boot_ms	uint32_t	ms	Timestamp (time since system boot).
port	uint8_t		Servo output port (set of 8 outputs = 1 port). Flight stacks running on Pixhawk should use: 0 = MAIN, 1 = AUX.
chan1_scaled	int16_t		RC channel 1 value scaled.
chan2_scaled	int16_t		RC channel 2 value scaled.
chan3_scaled	int16_t		RC channel 3 value scaled.
chan4_scaled	int16_t		RC channel 4 value scaled.
chan5_scaled	int16_t		RC channel 5 value scaled.
chan6_scaled	int16_t		RC channel 6 value scaled.
chan7_scaled	int16_t		RC channel 7 value scaled.
chan8_scaled	int16_t		RC channel 8 value scaled.
rssi	uint8_t		Receive signal strength indicator in device-dependent units/scale. Values: [0-254], 255: invalid/unknown.

RC_CHANNELS_RAW ( #35 )

[Message] 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.

Field Name	Type	Units	Description
time_boot_ms	uint32_t	ms	Timestamp (time since system boot).
port	uint8_t		Servo output port (set of 8 outputs = 1 port). Flight stacks running on Pixhawk should use: 0 = MAIN, 1 = AUX.
chan1_raw	uint16_t	us	RC channel 1 value.
chan2_raw	uint16_t	us	RC channel 2 value.
chan3_raw	uint16_t	us	RC channel 3 value.
chan4_raw	uint16_t	us	RC channel 4 value.
chan5_raw	uint16_t	us	RC channel 5 value.
chan6_raw	uint16_t	us	RC channel 6 value.
chan7_raw	uint16_t	us	RC channel 7 value.
chan8_raw	uint16_t	us	RC channel 8 value.
rssi	uint8_t		Receive signal strength indicator in device-dependent units/scale. Values: [0-254], 255: invalid/unknown.

SERVO_OUTPUT_RAW ( #36 )

[Message] 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%.

Field Name	Type	Units	Description
time_usec	uint32_t	us	Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
port	uint8_t		Servo output port (set of 8 outputs = 1 port). Flight stacks running on Pixhawk should use: 0 = MAIN, 1 = AUX.
servo1_raw	uint16_t	us	Servo output 1 value
servo2_raw	uint16_t	us	Servo output 2 value
servo3_raw	uint16_t	us	Servo output 3 value
servo4_raw	uint16_t	us	Servo output 4 value
servo5_raw	uint16_t	us	Servo output 5 value
servo6_raw	uint16_t	us	Servo output 6 value
servo7_raw	uint16_t	us	Servo output 7 value
servo8_raw	uint16_t	us	Servo output 8 value
servo9_raw **	uint16_t	us	Servo output 9 value
servo10_raw **	uint16_t	us	Servo output 10 value
servo11_raw **	uint16_t	us	Servo output 11 value
servo12_raw **	uint16_t	us	Servo output 12 value
servo13_raw **	uint16_t	us	Servo output 13 value
servo14_raw **	uint16_t	us	Servo output 14 value
servo15_raw **	uint16_t	us	Servo output 15 value
servo16_raw **	uint16_t	us	Servo output 16 value

MISSION_REQUEST_PARTIAL_LIST ( #37 )

[Message] 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.

Field Name	Type	Values	Description
target_system	uint8_t		System ID
target_component	uint8_t		Component ID
start_index	int16_t		Start index
end_index	int16_t		End index, -1 by default (-1: send list to end). Else a valid index of the list
mission_type **	uint8_t	MAV_MISSION_TYPE	Mission type.

MISSION_WRITE_PARTIAL_LIST ( #38 )

[Message] 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!

Field Name	Type	Values	Description
target_system	uint8_t		System ID
target_component	uint8_t		Component ID
start_index	int16_t		Start index. Must be smaller / equal to the largest index of the current onboard list.
end_index	int16_t		End index, equal or greater than start index.
mission_type **	uint8_t	MAV_MISSION_TYPE	Mission type.

MISSION_ITEM ( #39 )

[Message] 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). See also https://mavlink.io/en/services/mission.html.

Field Name	Type	Values	Description
target_system	uint8_t		System ID
target_component	uint8_t		Component ID
seq	uint16_t		Sequence
frame	uint8_t	MAV_FRAME	The coordinate system of the waypoint.
command	uint16_t	MAV_CMD	The scheduled action for the waypoint.
current	uint8_t		false:0, true:1
autocontinue	uint8_t		Autocontinue to next waypoint
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	float		PARAM5 / local: X coordinate, global: latitude
y	float		PARAM6 / local: Y coordinate, global: longitude
z	float		PARAM7 / local: Z coordinate, global: altitude (relative or absolute, depending on frame).
mission_type **	uint8_t	MAV_MISSION_TYPE	Mission type.

MISSION_REQUEST ( #40 )

[Message] 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

Field Name	Type	Values	Description
target_system	uint8_t		System ID
target_component	uint8_t		Component ID
seq	uint16_t		Sequence
mission_type **	uint8_t	MAV_MISSION_TYPE	Mission type.

MISSION_SET_CURRENT ( #41 )

[Message] 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).

Field Name	Type	Description
target_system	uint8_t	System ID
target_component	uint8_t	Component ID
seq	uint16_t	Sequence

MISSION_CURRENT ( #42 )

[Message] Message that announces the sequence number of the current active mission item. The MAV will fly towards this mission item.

Field Name	Type	Description
seq	uint16_t	Sequence

MISSION_REQUEST_LIST ( #43 )

[Message] Request the overall list of mission items from the system/component.

Field Name	Type	Values	Description
target_system	uint8_t		System ID
target_component	uint8_t		Component ID
mission_type **	uint8_t	MAV_MISSION_TYPE	Mission type.

MISSION_COUNT ( #44 )

[Message] 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.

Field Name	Type	Values	Description
target_system	uint8_t		System ID
target_component	uint8_t		Component ID
count	uint16_t		Number of mission items in the sequence
mission_type **	uint8_t	MAV_MISSION_TYPE	Mission type.

MISSION_CLEAR_ALL ( #45 )

[Message] Delete all mission items at once.

Field Name	Type	Values	Description
target_system	uint8_t		System ID
target_component	uint8_t		Component ID
mission_type **	uint8_t	MAV_MISSION_TYPE	Mission type.

MISSION_ITEM_REACHED ( #46 )

[Message] 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.

Field Name	Type	Description
seq	uint16_t	Sequence

MISSION_ACK ( #47 )

[Message] 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).

Field Name	Type	Values	Description
target_system	uint8_t		System ID
target_component	uint8_t		Component ID
type	uint8_t	MAV_MISSION_RESULT	Mission result.
mission_type **	uint8_t	MAV_MISSION_TYPE	Mission type.

SET_GPS_GLOBAL_ORIGIN ( #48 )

[Message] 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.

Field Name	Type	Units	Description
target_system	uint8_t		System ID
latitude	int32_t	degE7	Latitude (WGS84)
longitude	int32_t	degE7	Longitude (WGS84)
altitude	int32_t	mm	Altitude (MSL). Positive for up.
time_usec **	uint64_t	us	Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.

GPS_GLOBAL_ORIGIN ( #49 )

[Message] 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.

Field Name	Type	Units	Description
latitude	int32_t	degE7	Latitude (WGS84)
longitude	int32_t	degE7	Longitude (WGS84)
altitude	int32_t	mm	Altitude (MSL). Positive for up.
time_usec **	uint64_t	us	Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.

PARAM_MAP_RC ( #50 )

[Message] Bind a RC channel to a parameter. The parameter should change according to the RC channel value.

Field Name	Type	Description
target_system	uint8_t	System ID
target_component	uint8_t	Component ID
param_id	char[16]	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
param_index	int16_t	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.
parameter_rc_channel_index	uint8_t	Index of parameter RC channel. Not equal to the RC channel id. Typically corresponds to a potentiometer-knob on the RC.
param_value0	float	Initial parameter value
scale	float	Scale, maps the RC range [-1, 1] to a parameter value
param_value_min	float	Minimum param value. The protocol does not define if this overwrites an onboard minimum value. (Depends on implementation)
param_value_max	float	Maximum param value. The protocol does not define if this overwrites an onboard maximum value. (Depends on implementation)

MISSION_REQUEST_INT ( #51 )

[Message] 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

Field Name	Type	Values	Description
target_system	uint8_t		System ID
target_component	uint8_t		Component ID
seq	uint16_t		Sequence
mission_type **	uint8_t	MAV_MISSION_TYPE	Mission type.

MISSION_CHANGED ( #52 )

WORK IN PROGRESS: Do not use in stable production environments (it may change).

[Message] A broadcast message to notify any ground station or SDK if a mission, geofence or safe points have changed on the vehicle.

Field Name	Type	Values	Description
start_index	int16_t		Start index for partial mission change (-1 for all items).
end_index	int16_t		End index of a partial mission change. -1 is a synonym for the last mission item (i.e. selects all items from start_index). Ignore field if start_index=-1.
origin_sysid	uint8_t		System ID of the author of the new mission.
origin_compid	uint8_t	MAV_COMPONENT	Compnent ID of the author of the new mission.
mission_type	uint8_t	MAV_MISSION_TYPE	Mission type.

SAFETY_SET_ALLOWED_AREA ( #54 )

[Message] 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.

Field Name	Type	Units	Values	Description
target_system	uint8_t			System ID
target_component	uint8_t			Component ID
frame	uint8_t		MAV_FRAME	Coordinate frame. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
p1x	float	m		x position 1 / Latitude 1
p1y	float	m		y position 1 / Longitude 1
p1z	float	m		z position 1 / Altitude 1
p2x	float	m		x position 2 / Latitude 2
p2y	float	m		y position 2 / Longitude 2
p2z	float	m		z position 2 / Altitude 2

SAFETY_ALLOWED_AREA ( #55 )

[Message] Read out the safety zone the MAV currently assumes.

Field Name	Type	Units	Values	Description
frame	uint8_t		MAV_FRAME	Coordinate frame. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
p1x	float	m		x position 1 / Latitude 1
p1y	float	m		y position 1 / Longitude 1
p1z	float	m		z position 1 / Altitude 1
p2x	float	m		x position 2 / Latitude 2
p2y	float	m		y position 2 / Longitude 2
p2z	float	m		z position 2 / Altitude 2

ATTITUDE_QUATERNION_COV ( #61 )

[Message] 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).

Field Name	Type	Units	Description
time_usec	uint64_t	us	Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
q	float[4]		Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
rollspeed	float	rad/s	Roll angular speed
pitchspeed	float	rad/s	Pitch angular speed
yawspeed	float	rad/s	Yaw angular speed
covariance	float[9]		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.

NAV_CONTROLLER_OUTPUT ( #62 )

[Message] The state of the fixed wing navigation and position controller.

Field Name	Type	Units	Description
nav_roll	float	deg	Current desired roll
nav_pitch	float	deg	Current desired pitch
nav_bearing	int16_t	deg	Current desired heading
target_bearing	int16_t	deg	Bearing to current waypoint/target
wp_dist	uint16_t	m	Distance to active waypoint
alt_error	float	m	Current altitude error
aspd_error	float	m/s	Current airspeed error
xtrack_error	float	m	Current crosstrack error on x-y plane

GLOBAL_POSITION_INT_COV ( #63 )

[Message] 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.

Field Name	Type	Units	Values	Description
time_usec	uint64_t	us		Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
estimator_type	uint8_t		MAV_ESTIMATOR_TYPE	Class id of the estimator this estimate originated from.
lat	int32_t	degE7		Latitude
lon	int32_t	degE7		Longitude
alt	int32_t	mm		Altitude in meters above MSL
relative_alt	int32_t	mm		Altitude above ground
vx	float	m/s		Ground X Speed (Latitude)
vy	float	m/s		Ground Y Speed (Longitude)
vz	float	m/s		Ground Z Speed (Altitude)
covariance	float[36]			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.

LOCAL_POSITION_NED_COV ( #64 )

[Message] 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)

Field Name	Type	Units	Values	Description
time_usec	uint64_t	us		Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
estimator_type	uint8_t		MAV_ESTIMATOR_TYPE	Class id of the estimator this estimate originated from.
x	float	m		X Position
y	float	m		Y Position
z	float	m		Z Position
vx	float	m/s		X Speed
vy	float	m/s		Y Speed
vz	float	m/s		Z Speed
ax	float	m/s/s		X Acceleration
ay	float	m/s/s		Y Acceleration
az	float	m/s/s		Z Acceleration
covariance	float[45]			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.

RC_CHANNELS ( #65 )

[Message] 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.

Field Name	Type	Units	Description
time_boot_ms	uint32_t	ms	Timestamp (time since system boot).
chancount	uint8_t		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.
chan1_raw	uint16_t	us	RC channel 1 value.
chan2_raw	uint16_t	us	RC channel 2 value.
chan3_raw	uint16_t	us	RC channel 3 value.
chan4_raw	uint16_t	us	RC channel 4 value.
chan5_raw	uint16_t	us	RC channel 5 value.
chan6_raw	uint16_t	us	RC channel 6 value.
chan7_raw	uint16_t	us	RC channel 7 value.
chan8_raw	uint16_t	us	RC channel 8 value.
chan9_raw	uint16_t	us	RC channel 9 value.
chan10_raw	uint16_t	us	RC channel 10 value.
chan11_raw	uint16_t	us	RC channel 11 value.
chan12_raw	uint16_t	us	RC channel 12 value.
chan13_raw	uint16_t	us	RC channel 13 value.
chan14_raw	uint16_t	us	RC channel 14 value.
chan15_raw	uint16_t	us	RC channel 15 value.
chan16_raw	uint16_t	us	RC channel 16 value.
chan17_raw	uint16_t	us	RC channel 17 value.
chan18_raw	uint16_t	us	RC channel 18 value.
rssi	uint8_t		Receive signal strength indicator in device-dependent units/scale. Values: [0-254], 255: invalid/unknown.

REQUEST_DATA_STREAM ( #66 )

DEPRECATED: Replaced by SET_MESSAGE_INTERVAL (2015-08).

[Message] Request a data stream.

Field Name	Type	Units	Description
target_system	uint8_t		The target requested to send the message stream.
target_component	uint8_t		The target requested to send the message stream.
req_stream_id	uint8_t		The ID of the requested data stream
req_message_rate	uint16_t	Hz	The requested message rate
start_stop	uint8_t		1 to start sending, 0 to stop sending.

DATA_STREAM ( #67 )

DEPRECATED: Replaced by MESSAGE_INTERVAL (2015-08).

[Message] Data stream status information.

Field Name	Type	Units	Description
stream_id	uint8_t		The ID of the requested data stream
message_rate	uint16_t	Hz	The message rate
on_off	uint8_t		1 stream is enabled, 0 stream is stopped.

MANUAL_CONTROL ( #69 )

[Message] 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

Field Name	Type	Description
target	uint8_t	The system to be controlled.
x	int16_t	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	int16_t	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	int16_t	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	int16_t	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.
buttons	uint16_t	A bitfield corresponding to the joystick buttons' current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1.

RC_CHANNELS_OVERRIDE ( #70 )

[Message] The RAW values of the RC channels sent to the MAV to override info received from the RC radio. A value of UINT16_MAX means no change to that channel. A value of 0 means control of that channel should be released back to the RC radio. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. Individual receivers/transmitters might violate this specification.

Field Name	Type	Units	Description
target_system	uint8_t		System ID
target_component	uint8_t		Component ID
chan1_raw	uint16_t	us	RC channel 1 value. A value of UINT16_MAX means to ignore this field.
chan2_raw	uint16_t	us	RC channel 2 value. A value of UINT16_MAX means to ignore this field.
chan3_raw	uint16_t	us	RC channel 3 value. A value of UINT16_MAX means to ignore this field.
chan4_raw	uint16_t	us	RC channel 4 value. A value of UINT16_MAX means to ignore this field.
chan5_raw	uint16_t	us	RC channel 5 value. A value of UINT16_MAX means to ignore this field.
chan6_raw	uint16_t	us	RC channel 6 value. A value of UINT16_MAX means to ignore this field.
chan7_raw	uint16_t	us	RC channel 7 value. A value of UINT16_MAX means to ignore this field.
chan8_raw	uint16_t	us	RC channel 8 value. A value of UINT16_MAX means to ignore this field.
chan9_raw **	uint16_t	us	RC channel 9 value. A value of 0 or UINT16_MAX means to ignore this field.
chan10_raw **	uint16_t	us	RC channel 10 value. A value of 0 or UINT16_MAX means to ignore this field.
chan11_raw **	uint16_t	us	RC channel 11 value. A value of 0 or UINT16_MAX means to ignore this field.
chan12_raw **	uint16_t	us	RC channel 12 value. A value of 0 or UINT16_MAX means to ignore this field.
chan13_raw **	uint16_t	us	RC channel 13 value. A value of 0 or UINT16_MAX means to ignore this field.
chan14_raw **	uint16_t	us	RC channel 14 value. A value of 0 or UINT16_MAX means to ignore this field.
chan15_raw **	uint16_t	us	RC channel 15 value. A value of 0 or UINT16_MAX means to ignore this field.
chan16_raw **	uint16_t	us	RC channel 16 value. A value of 0 or UINT16_MAX means to ignore this field.
chan17_raw **	uint16_t	us	RC channel 17 value. A value of 0 or UINT16_MAX means to ignore this field.
chan18_raw **	uint16_t	us	RC channel 18 value. A value of 0 or UINT16_MAX means to ignore this field.

MISSION_ITEM_INT ( #73 )

Field Name	Type	Values	Description
target_system	uint8_t		System ID
target_component	uint8_t		Component ID
seq	uint16_t		Waypoint ID (sequence number). Starts at zero. Increases monotonically for each waypoint, no gaps in the sequence (0,1,2,3,4).
frame	uint8_t	MAV_FRAME	The coordinate system of the waypoint.
command	uint16_t	MAV_CMD	The scheduled action for the waypoint.
current	uint8_t		false:0, true:1
autocontinue	uint8_t		Autocontinue to next waypoint
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 / y position: local: x position in meters * 1e4, global: longitude in degrees *10^7
z	float		PARAM7 / z position: global: altitude in meters (relative or absolute, depending on frame.
mission_type **	uint8_t	MAV_MISSION_TYPE	Mission type.

VFR_HUD ( #74 )

[Message] Metrics typically displayed on a HUD for fixed wing aircraft.

Field Name	Type	Units	Description
airspeed	float	m/s	Current indicated airspeed (IAS).
groundspeed	float	m/s	Current ground speed.
heading	int16_t	deg	Current heading in compass units (0-360, 0=north).
throttle	uint16_t	%	Current throttle setting (0 to 100).
alt	float	m	Current altitude (MSL).
climb	float	m/s	Current climb rate.

COMMAND_INT ( #75 )

[Message] 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

Field Name	Type	Values	Description
target_system	uint8_t		System ID
target_component	uint8_t		Component ID
frame	uint8_t	MAV_FRAME	The coordinate system of the COMMAND.
command	uint16_t	MAV_CMD	The scheduled action for the mission item.
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 (relative or absolute, depending on frame).

COMMAND_LONG ( #76 )

[Message] Send a command with up to seven parameters to the MAV. The command microservice is documented at https://mavlink.io/en/services/command.html

Field Name	Type	Values	Description
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 (of command to send).
confirmation	uint8_t		0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
param1	float		Parameter 1 (for the specific command).
param2	float		Parameter 2 (for the specific command).
param3	float		Parameter 3 (for the specific command).
param4	float		Parameter 4 (for the specific command).
param5	float		Parameter 5 (for the specific command).
param6	float		Parameter 6 (for the specific command).
param7	float		Parameter 7 (for the specific command).

COMMAND_ACK ( #77 )

[Message] 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

Field Name	Type	Values	Description
command	uint16_t	MAV_CMD	Command ID (of acknowledged command).
result	uint8_t	MAV_RESULT	Result of command.
progress **	uint8_t		WIP: Also used as result_param1, it can be set with a enum containing the errors reasons of why the command was denied or the progress percentage or 255 if unknown the progress when result is MAV_RESULT_IN_PROGRESS.
result_param2 **	int32_t		WIP: Additional parameter of the result, example: which parameter of MAV_CMD_NAV_WAYPOINT caused it to be denied.
target_system **	uint8_t		WIP: System which requested the command to be executed
target_component **	uint8_t		WIP: Component which requested the command to be executed

MANUAL_SETPOINT ( #81 )

[Message] Setpoint in roll, pitch, yaw and thrust from the operator

Field Name	Type	Units	Description
time_boot_ms	uint32_t	ms	Timestamp (time since system boot).
roll	float	rad/s	Desired roll rate
pitch	float	rad/s	Desired pitch rate
yaw	float	rad/s	Desired yaw rate
thrust	float		Collective thrust, normalized to 0 .. 1
mode_switch	uint8_t		Flight mode switch position, 0.. 255
manual_override_switch	uint8_t		Override mode switch position, 0.. 255

SET_ATTITUDE_TARGET ( #82 )

[Message] Sets a desired vehicle attitude. Used by an external controller to command the vehicle (manual controller or other system).

Field Name	Type	Units	Description
time_boot_ms	uint32_t	ms	Timestamp (time since system boot).
target_system	uint8_t		System ID
target_component	uint8_t		Component ID
type_mask	uint8_t		Mappings: If any of these bits are set, the corresponding input should be ignored: bit 1: body roll rate, bit 2: body pitch rate, bit 3: body yaw rate. bit 4-bit 6: reserved, bit 7: throttle, bit 8: attitude
q	float[4]		Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
body_roll_rate	float	rad/s	Body roll rate
body_pitch_rate	float	rad/s	Body pitch rate
body_yaw_rate	float	rad/s	Body yaw rate
thrust	float		Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)

ATTITUDE_TARGET ( #83 )

[Message] 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.

Field Name	Type	Units	Description
time_boot_ms	uint32_t	ms	Timestamp (time since system boot).
type_mask	uint8_t		Mappings: If any of these bits are set, the corresponding input should be ignored: bit 1: body roll rate, bit 2: body pitch rate, bit 3: body yaw rate. bit 4-bit 7: reserved, bit 8: attitude
q	float[4]		Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
body_roll_rate	float	rad/s	Body roll rate
body_pitch_rate	float	rad/s	Body pitch rate
body_yaw_rate	float	rad/s	Body yaw rate
thrust	float		Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)

SET_POSITION_TARGET_LOCAL_NED ( #84 )

[Message] 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).

Field Name	Type	Units	Values	Description
time_boot_ms	uint32_t	ms		Timestamp (time since system boot).
target_system	uint8_t			System ID
target_component	uint8_t			Component ID
coordinate_frame	uint8_t		MAV_FRAME	Valid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9
type_mask	uint16_t		POSITION_TARGET_TYPEMASK	Bitmap to indicate which dimensions should be ignored by the vehicle.
x	float	m		X Position in NED frame
y	float	m		Y Position in NED frame
z	float	m		Z Position in NED frame (note, altitude is negative in NED)
vx	float	m/s		X velocity in NED frame
vy	float	m/s		Y velocity in NED frame
vz	float	m/s		Z velocity in NED frame
afx	float	m/s/s		X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
afy	float	m/s/s		Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
afz	float	m/s/s		Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
yaw	float	rad		yaw setpoint
yaw_rate	float	rad/s		yaw rate setpoint

POSITION_TARGET_LOCAL_NED ( #85 )

[Message] 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.

Field Name	Type	Units	Values	Description
time_boot_ms	uint32_t	ms		Timestamp (time since system boot).
coordinate_frame	uint8_t		MAV_FRAME	Valid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9
type_mask	uint16_t		POSITION_TARGET_TYPEMASK	Bitmap to indicate which dimensions should be ignored by the vehicle.
x	float	m		X Position in NED frame
y	float	m		Y Position in NED frame
z	float	m		Z Position in NED frame (note, altitude is negative in NED)
vx	float	m/s		X velocity in NED frame
vy	float	m/s		Y velocity in NED frame
vz	float	m/s		Z velocity in NED frame
afx	float	m/s/s		X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
afy	float	m/s/s		Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
afz	float	m/s/s		Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
yaw	float	rad		yaw setpoint
yaw_rate	float	rad/s		yaw rate setpoint

SET_POSITION_TARGET_GLOBAL_INT ( #86 )

[Message] 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).

Field Name	Type	Units	Values	Description
time_boot_ms	uint32_t	ms		Timestamp (time since system boot). The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency.
target_system	uint8_t			System ID
target_component	uint8_t			Component ID
coordinate_frame	uint8_t		MAV_FRAME	Valid options are: MAV_FRAME_GLOBAL_INT = 5, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT = 6, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT = 11
type_mask	uint16_t		POSITION_TARGET_TYPEMASK	Bitmap to indicate which dimensions should be ignored by the vehicle.
lat_int	int32_t	degE7		X Position in WGS84 frame
lon_int	int32_t	degE7		Y Position in WGS84 frame
alt	float	m		Altitude (MSL, Relative to home, or AGL - depending on frame)
vx	float	m/s		X velocity in NED frame
vy	float	m/s		Y velocity in NED frame
vz	float	m/s		Z velocity in NED frame
afx	float	m/s/s		X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
afy	float	m/s/s		Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
afz	float	m/s/s		Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
yaw	float	rad		yaw setpoint
yaw_rate	float	rad/s		yaw rate setpoint

POSITION_TARGET_GLOBAL_INT ( #87 )

[Message] 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.

Field Name	Type	Units	Values	Description
time_boot_ms	uint32_t	ms		Timestamp (time since system boot). The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency.
coordinate_frame	uint8_t		MAV_FRAME	Valid options are: MAV_FRAME_GLOBAL_INT = 5, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT = 6, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT = 11
type_mask	uint16_t		POSITION_TARGET_TYPEMASK	Bitmap to indicate which dimensions should be ignored by the vehicle.
lat_int	int32_t	degE7		X Position in WGS84 frame
lon_int	int32_t	degE7		Y Position in WGS84 frame
alt	float	m		Altitude (MSL, AGL or relative to home altitude, depending on frame)
vx	float	m/s		X velocity in NED frame
vy	float	m/s		Y velocity in NED frame
vz	float	m/s		Z velocity in NED frame
afx	float	m/s/s		X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
afy	float	m/s/s		Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
afz	float	m/s/s		Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
yaw	float	rad		yaw setpoint
yaw_rate	float	rad/s		yaw rate setpoint

LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET ( #89 )

[Message] 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)

Field Name	Type	Units	Description
time_boot_ms	uint32_t	ms	Timestamp (time since system boot).
x	float	m	X Position
y	float	m	Y Position
z	float	m	Z Position
roll	float	rad	Roll
pitch	float	rad	Pitch
yaw	float	rad	Yaw

HIL_STATE ( #90 )

DEPRECATED: Replaced by HIL_STATE_QUATERNION (2013-07). Suffers from missing airspeed fields and singularities due to Euler angles

[Message] Sent from simulation to autopilot. This packet is useful for high throughput applications such as hardware in the loop simulations.

Field Name	Type	Units	Description
time_usec	uint64_t	us	Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
roll	float	rad	Roll angle
pitch	float	rad	Pitch angle
yaw	float	rad	Yaw angle
rollspeed	float	rad/s	Body frame roll / phi angular speed
pitchspeed	float	rad/s	Body frame pitch / theta angular speed
yawspeed	float	rad/s	Body frame yaw / psi angular speed
lat	int32_t	degE7	Latitude
lon	int32_t	degE7	Longitude
alt	int32_t	mm	Altitude
vx	int16_t	cm/s	Ground X Speed (Latitude)
vy	int16_t	cm/s	Ground Y Speed (Longitude)
vz	int16_t	cm/s	Ground Z Speed (Altitude)
xacc	int16_t	mG	X acceleration
yacc	int16_t	mG	Y acceleration
zacc	int16_t	mG	Z acceleration

HIL_CONTROLS ( #91 )

[Message] Sent from autopilot to simulation. Hardware in the loop control outputs

Field Name	Type	Units	Values	Description
time_usec	uint64_t	us		Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
roll_ailerons	float			Control output -1 .. 1
pitch_elevator	float			Control output -1 .. 1
yaw_rudder	float			Control output -1 .. 1
throttle	float			Throttle 0 .. 1
aux1	float			Aux 1, -1 .. 1
aux2	float			Aux 2, -1 .. 1
aux3	float			Aux 3, -1 .. 1
aux4	float			Aux 4, -1 .. 1
mode	uint8_t		MAV_MODE	System mode.
nav_mode	uint8_t			Navigation mode (MAV_NAV_MODE)

HIL_RC_INPUTS_RAW ( #92 )

[Message] 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.

Field Name	Type	Units	Description
time_usec	uint64_t	us	Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
chan1_raw	uint16_t	us	RC channel 1 value
chan2_raw	uint16_t	us	RC channel 2 value
chan3_raw	uint16_t	us	RC channel 3 value
chan4_raw	uint16_t	us	RC channel 4 value
chan5_raw	uint16_t	us	RC channel 5 value
chan6_raw	uint16_t	us	RC channel 6 value
chan7_raw	uint16_t	us	RC channel 7 value
chan8_raw	uint16_t	us	RC channel 8 value
chan9_raw	uint16_t	us	RC channel 9 value
chan10_raw	uint16_t	us	RC channel 10 value
chan11_raw	uint16_t	us	RC channel 11 value
chan12_raw	uint16_t	us	RC channel 12 value
rssi	uint8_t		Receive signal strength indicator in device-dependent units/scale. Values: [0-254], 255: invalid/unknown.

HIL_ACTUATOR_CONTROLS ( #93 )

[Message] Sent from autopilot to simulation. Hardware in the loop control outputs (replacement for HIL_CONTROLS)

Field Name	Type	Units	Values	Description
time_usec	uint64_t	us		Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
controls	float[16]			Control outputs -1 .. 1. Channel assignment depends on the simulated hardware.
mode	uint8_t		MAV_MODE_FLAG	System mode. Includes arming state.
flags	uint64_t			Flags as bitfield, reserved for future use.

OPTICAL_FLOW ( #100 )

[Message] Optical flow from a flow sensor (e.g. optical mouse sensor)

Field Name	Type	Units	Description
time_usec	uint64_t	us	Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
sensor_id	uint8_t		Sensor ID
flow_x	int16_t	dpix	Flow in x-sensor direction
flow_y	int16_t	dpix	Flow in y-sensor direction
flow_comp_m_x	float	m/s	Flow in x-sensor direction, angular-speed compensated
flow_comp_m_y	float	m/s	Flow in y-sensor direction, angular-speed compensated
quality	uint8_t		Optical flow quality / confidence. 0: bad, 255: maximum quality
ground_distance	float	m	Ground distance. Positive value: distance known. Negative value: Unknown distance
flow_rate_x **	float	rad/s	Flow rate about X axis
flow_rate_y **	float	rad/s	Flow rate about Y axis

GLOBAL_VISION_POSITION_ESTIMATE ( #101 )

[Message] Global position/attitude estimate from a vision source.

Field Name	Type	Units	Description
usec	uint64_t	us	Timestamp (UNIX time or since system boot)
x	float	m	Global X position
y	float	m	Global Y position
z	float	m	Global Z position
roll	float	rad	Roll angle
pitch	float	rad	Pitch angle
yaw	float	rad	Yaw angle
covariance **	float[21]		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.
reset_counter **	uint8_t		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.

VISION_POSITION_ESTIMATE ( #102 )

[Message] Global position/attitude estimate from a vision source.

Field Name	Type	Units	Description
usec	uint64_t	us	Timestamp (UNIX time or time since system boot)
x	float	m	Global X position
y	float	m	Global Y position
z	float	m	Global Z position
roll	float	rad	Roll angle
pitch	float	rad	Pitch angle
yaw	float	rad	Yaw angle
covariance **	float[21]		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.
reset_counter **	uint8_t		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.

VISION_SPEED_ESTIMATE ( #103 )

[Message] Speed estimate from a vision source.

Field Name	Type	Units	Description
usec	uint64_t	us	Timestamp (UNIX time or time since system boot)
x	float	m/s	Global X speed
y	float	m/s	Global Y speed
z	float	m/s	Global Z speed
covariance **	float[9]		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.
reset_counter **	uint8_t		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.

VICON_POSITION_ESTIMATE ( #104 )

[Message] Global position estimate from a Vicon motion system source.

Field Name	Type	Units	Description
usec	uint64_t	us	Timestamp (UNIX time or time since system boot)
x	float	m	Global X position
y	float	m	Global Y position
z	float	m	Global Z position
roll	float	rad	Roll angle
pitch	float	rad	Pitch angle
yaw	float	rad	Yaw angle
covariance **	float[21]		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.

HIGHRES_IMU ( #105 )

[Message] The IMU readings in SI units in NED body frame

Field Name	Type	Units	Description
time_usec	uint64_t	us	Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
xacc	float	m/s/s	X acceleration
yacc	float	m/s/s	Y acceleration
zacc	float	m/s/s	Z acceleration
xgyro	float	rad/s	Angular speed around X axis
ygyro	float	rad/s	Angular speed around Y axis
zgyro	float	rad/s	Angular speed around Z axis
xmag	float	gauss	X Magnetic field
ymag	float	gauss	Y Magnetic field
zmag	float	gauss	Z Magnetic field
abs_pressure	float	mbar	Absolute pressure
diff_pressure	float	mbar	Differential pressure
pressure_alt	float		Altitude calculated from pressure
temperature	float	degC	Temperature
fields_updated	uint16_t		Bitmap for fields that have updated since last message, bit 0 = xacc, bit 12: temperature
id **	uint8_t		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_RAD ( #106 )

[Message] Optical flow from an angular rate flow sensor (e.g. PX4FLOW or mouse sensor)

Field Name	Type	Units	Description
time_usec	uint64_t	us	Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
sensor_id	uint8_t		Sensor ID
integration_time_us	uint32_t	us	Integration time. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the.
integrated_x	float	rad	Flow around X axis (Sensor RH rotation about the X axis induces a positive flow. Sensor linear motion along the positive Y axis induces a negative flow.)
integrated_y	float	rad	Flow around Y axis (Sensor RH rotation about the Y axis induces a positive flow. Sensor linear motion along the positive X axis induces a positive flow.)
integrated_xgyro	float	rad	RH rotation around X axis
integrated_ygyro	float	rad	RH rotation around Y axis
integrated_zgyro	float	rad	RH rotation around Z axis
temperature	int16_t	cdegC	Temperature
quality	uint8_t		Optical flow quality / confidence. 0: no valid flow, 255: maximum quality
time_delta_distance_us	uint32_t	us	Time since the distance was sampled.
distance	float	m	Distance to the center of the flow field. Positive value (including zero): distance known. Negative value: Unknown distance.

HIL_SENSOR ( #107 )

[Message] The IMU readings in SI units in NED body frame

Field Name	Type	Units	Description
time_usec	uint64_t	us	Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
xacc	float	m/s/s	X acceleration
yacc	float	m/s/s	Y acceleration
zacc	float	m/s/s	Z acceleration
xgyro	float	rad/s	Angular speed around X axis in body frame
ygyro	float	rad/s	Angular speed around Y axis in body frame
zgyro	float	rad/s	Angular speed around Z axis in body frame
xmag	float	gauss	X Magnetic field
ymag	float	gauss	Y Magnetic field
zmag	float	gauss	Z Magnetic field
abs_pressure	float	mbar	Absolute pressure
diff_pressure	float	mbar	Differential pressure (airspeed)
pressure_alt	float		Altitude calculated from pressure
temperature	float	degC	Temperature
fields_updated	uint32_t		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.

SIM_STATE ( #108 )

[Message] Status of simulation environment, if used

Field Name	Type	Units	Description
q1	float		True attitude quaternion component 1, w (1 in null-rotation)
q2	float		True attitude quaternion component 2, x (0 in null-rotation)
q3	float		True attitude quaternion component 3, y (0 in null-rotation)
q4	float		True attitude quaternion component 4, z (0 in null-rotation)
roll	float		Attitude roll expressed as Euler angles, not recommended except for human-readable outputs
pitch	float		Attitude pitch expressed as Euler angles, not recommended except for human-readable outputs
yaw	float		Attitude yaw expressed as Euler angles, not recommended except for human-readable outputs
xacc	float	m/s/s	X acceleration
yacc	float	m/s/s	Y acceleration
zacc	float	m/s/s	Z acceleration
xgyro	float	rad/s	Angular speed around X axis
ygyro	float	rad/s	Angular speed around Y axis
zgyro	float	rad/s	Angular speed around Z axis
lat	float	deg	Latitude
lon	float	deg	Longitude
alt	float	m	Altitude
std_dev_horz	float		Horizontal position standard deviation
std_dev_vert	float		Vertical position standard deviation
vn	float	m/s	True velocity in NORTH direction in earth-fixed NED frame
ve	float	m/s	True velocity in EAST direction in earth-fixed NED frame
vd	float	m/s	True velocity in DOWN direction in earth-fixed NED frame

RADIO_STATUS ( #109 )

[Message] Status generated by radio and injected into MAVLink stream.

Field Name	Type	Units	Description
rssi	uint8_t		Local (message sender) recieved signal strength indication in device-dependent units/scale. Values: [0-254], 255: invalid/unknown.
remrssi	uint8_t		Remote (message receiver) signal strength indication in device-dependent units/scale. Values: [0-254], 255: invalid/unknown.
txbuf	uint8_t	%	Remaining free transmitter buffer space.
noise	uint8_t		Local background noise level. These are device dependent RSSI values (scale as approx 2x dB on SiK radios). Values: [0-254], 255: invalid/unknown.
remnoise	uint8_t		Remote background noise level. These are device dependent RSSI values (scale as approx 2x dB on SiK radios). Values: [0-254], 255: invalid/unknown.
rxerrors	uint16_t		Count of radio packet receive errors (since boot).
fixed	uint16_t		Count of error corrected radio packets (since boot).

FILE_TRANSFER_PROTOCOL ( #110 )

[Message] File transfer message

Field Name	Type	Description
target_network	uint8_t	Network ID (0 for broadcast)
target_system	uint8_t	System ID (0 for broadcast)
target_component	uint8_t	Component ID (0 for broadcast)
payload	uint8_t[251]	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.

TIMESYNC ( #111 )

[Message] Time synchronization message.

Field Name	Type	Description
tc1	int64_t	Time sync timestamp 1
ts1	int64_t	Time sync timestamp 2

CAMERA_TRIGGER ( #112 )

[Message] Camera-IMU triggering and synchronisation message.

Field Name	Type	Units	Description
time_usec	uint64_t	us	Timestamp for image frame (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
seq	uint32_t		Image frame sequence

HIL_GPS ( #113 )

[Message] 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.

Field Name	Type	Units	Description
time_usec	uint64_t	us	Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
fix_type	uint8_t		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.
lat	int32_t	degE7	Latitude (WGS84)
lon	int32_t	degE7	Longitude (WGS84)
alt	int32_t	mm	Altitude (MSL). Positive for up.
eph	uint16_t	cm	GPS HDOP horizontal dilution of position. If unknown, set to: 65535
epv	uint16_t	cm	GPS VDOP vertical dilution of position. If unknown, set to: 65535
vel	uint16_t	cm/s	GPS ground speed. If unknown, set to: 65535
vn	int16_t	cm/s	GPS velocity in NORTH direction in earth-fixed NED frame
ve	int16_t	cm/s	GPS velocity in EAST direction in earth-fixed NED frame
vd	int16_t	cm/s	GPS velocity in DOWN direction in earth-fixed NED frame
cog	uint16_t	cdeg	Course over ground (NOT heading, but direction of movement), 0.0..359.99 degrees. If unknown, set to: 65535
satellites_visible	uint8_t		Number of satellites visible. If unknown, set to 255

HIL_OPTICAL_FLOW ( #114 )

[Message] Simulated optical flow from a flow sensor (e.g. PX4FLOW or optical mouse sensor)

Field Name	Type	Units	Description
time_usec	uint64_t	us	Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
sensor_id	uint8_t		Sensor ID
integration_time_us	uint32_t	us	Integration time. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the.
integrated_x	float	rad	Flow in radians around X axis (Sensor RH rotation about the X axis induces a positive flow. Sensor linear motion along the positive Y axis induces a negative flow.)
integrated_y	float	rad	Flow in radians around Y axis (Sensor RH rotation about the Y axis induces a positive flow. Sensor linear motion along the positive X axis induces a positive flow.)
integrated_xgyro	float	rad	RH rotation around X axis
integrated_ygyro	float	rad	RH rotation around Y axis
integrated_zgyro	float	rad	RH rotation around Z axis
temperature	int16_t	cdegC	Temperature
quality	uint8_t		Optical flow quality / confidence. 0: no valid flow, 255: maximum quality
time_delta_distance_us	uint32_t	us	Time since the distance was sampled.
distance	float	m	Distance to the center of the flow field. Positive value (including zero): distance known. Negative value: Unknown distance.

HIL_STATE_QUATERNION ( #115 )

[Message] 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.

Field Name	Type	Units	Description
time_usec	uint64_t	us	Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
attitude_quaternion	float[4]		Vehicle attitude expressed as normalized quaternion in w, x, y, z order (with 1 0 0 0 being the null-rotation)
rollspeed	float	rad/s	Body frame roll / phi angular speed
pitchspeed	float	rad/s	Body frame pitch / theta angular speed
yawspeed	float	rad/s	Body frame yaw / psi angular speed
lat	int32_t	degE7	Latitude
lon	int32_t	degE7	Longitude
alt	int32_t	mm	Altitude
vx	int16_t	cm/s	Ground X Speed (Latitude)
vy	int16_t	cm/s	Ground Y Speed (Longitude)
vz	int16_t	cm/s	Ground Z Speed (Altitude)
ind_airspeed	uint16_t	cm/s	Indicated airspeed
true_airspeed	uint16_t	cm/s	True airspeed
xacc	int16_t	mG	X acceleration
yacc	int16_t	mG	Y acceleration
zacc	int16_t	mG	Z acceleration

SCALED_IMU2 ( #116 )

[Message] The RAW IMU readings for secondary 9DOF sensor setup. This message should contain the scaled values to the described units

Field Name	Type	Units	Description
time_boot_ms	uint32_t	ms	Timestamp (time since system boot).
xacc	int16_t	mG	X acceleration
yacc	int16_t	mG	Y acceleration
zacc	int16_t	mG	Z acceleration
xgyro	int16_t	mrad/s	Angular speed around X axis
ygyro	int16_t	mrad/s	Angular speed around Y axis
zgyro	int16_t	mrad/s	Angular speed around Z axis
xmag	int16_t	mgauss	X Magnetic field
ymag	int16_t	mgauss	Y Magnetic field
zmag	int16_t	mgauss	Z Magnetic field
temperature **	int16_t	cdegC	Temperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).

LOG_REQUEST_LIST ( #117 )

[Message] Request a list of available logs. On some systems calling this may stop on-board logging until LOG_REQUEST_END is called.

Field Name	Type	Description
target_system	uint8_t	System ID
target_component	uint8_t	Component ID
start	uint16_t	First log id (0 for first available)
end	uint16_t	Last log id (0xffff for last available)

LOG_ENTRY ( #118 )

[Message] Reply to LOG_REQUEST_LIST

Field Name	Type	Units	Description
id	uint16_t		Log id
num_logs	uint16_t		Total number of logs
last_log_num	uint16_t		High log number
time_utc	uint32_t	s	UTC timestamp of log since 1970, or 0 if not available
size	uint32_t	bytes	Size of the log (may be approximate)

LOG_REQUEST_DATA ( #119 )

[Message] Request a chunk of a log

Field Name	Type	Units	Description
target_system	uint8_t		System ID
target_component	uint8_t		Component ID
id	uint16_t		Log id (from LOG_ENTRY reply)
ofs	uint32_t		Offset into the log
count	uint32_t	bytes	Number of bytes

LOG_DATA ( #120 )

[Message] Reply to LOG_REQUEST_DATA

Field Name	Type	Units	Description
id	uint16_t		Log id (from LOG_ENTRY reply)
ofs	uint32_t		Offset into the log
count	uint8_t	bytes	Number of bytes (zero for end of log)
data	uint8_t[90]		log data

LOG_ERASE ( #121 )

[Message] Erase all logs

Field Name	Type	Description
target_system	uint8_t	System ID
target_component	uint8_t	Component ID

LOG_REQUEST_END ( #122 )

[Message] Stop log transfer and resume normal logging

Field Name	Type	Description
target_system	uint8_t	System ID
target_component	uint8_t	Component ID

GPS_INJECT_DATA ( #123 )

[Message] Data for injecting into the onboard GPS (used for DGPS)

Field Name	Type	Units	Description
target_system	uint8_t		System ID
target_component	uint8_t		Component ID
len	uint8_t	bytes	Data length
data	uint8_t[110]		Raw data (110 is enough for 12 satellites of RTCMv2)

GPS2_RAW ( #124 )

[Message] Second GPS data.

Field Name	Type	Units	Values	Description
time_usec	uint64_t	us		Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
fix_type	uint8_t		GPS_FIX_TYPE	GPS fix type.
lat	int32_t	degE7		Latitude (WGS84)
lon	int32_t	degE7		Longitude (WGS84)
alt	int32_t	mm		Altitude (MSL). Positive for up.
eph	uint16_t	cm		GPS HDOP horizontal dilution of position. If unknown, set to: UINT16_MAX
epv	uint16_t	cm		GPS VDOP vertical dilution of position. If unknown, set to: UINT16_MAX
vel	uint16_t	cm/s		GPS ground speed. If unknown, set to: UINT16_MAX
cog	uint16_t	cdeg		Course over ground (NOT heading, but direction of movement): 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
satellites_visible	uint8_t			Number of satellites visible. If unknown, set to 255
dgps_numch	uint8_t			Number of DGPS satellites
dgps_age	uint32_t	ms		Age of DGPS info

POWER_STATUS ( #125 )

[Message] Power supply status

Field Name	Type	Units	Values	Description
Vcc	uint16_t	mV		5V rail voltage.
Vservo	uint16_t	mV		Servo rail voltage.
flags	uint16_t		MAV_POWER_STATUS	Bitmap of power supply status flags.

SERIAL_CONTROL ( #126 )

[Message] 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.

Field Name	Type	Units	Values	Description
device	uint8_t		SERIAL_CONTROL_DEV	Serial control device type.
flags	uint8_t		SERIAL_CONTROL_FLAG	Bitmap of serial control flags.
timeout	uint16_t	ms		Timeout for reply data
baudrate	uint32_t	bits/s		Baudrate of transfer. Zero means no change.
count	uint8_t	bytes		how many bytes in this transfer
data	uint8_t[70]			serial data

GPS_RTK ( #127 )

[Message] RTK GPS data. Gives information on the relative baseline calculation the GPS is reporting

Field Name	Type	Units	Values	Description
time_last_baseline_ms	uint32_t	ms		Time since boot of last baseline message received.
rtk_receiver_id	uint8_t			Identification of connected RTK receiver.
wn	uint16_t			GPS Week Number of last baseline
tow	uint32_t	ms		GPS Time of Week of last baseline
rtk_health	uint8_t			GPS-specific health report for RTK data.
rtk_rate	uint8_t	Hz		Rate of baseline messages being received by GPS
nsats	uint8_t			Current number of sats used for RTK calculation.
baseline_coords_type	uint8_t		RTK_BASELINE_COORDINATE_SYSTEM	Coordinate system of baseline
baseline_a_mm	int32_t	mm		Current baseline in ECEF x or NED north component.
baseline_b_mm	int32_t	mm		Current baseline in ECEF y or NED east component.
baseline_c_mm	int32_t	mm		Current baseline in ECEF z or NED down component.
accuracy	uint32_t			Current estimate of baseline accuracy.
iar_num_hypotheses	int32_t			Current number of integer ambiguity hypotheses.

GPS2_RTK ( #128 )

[Message] RTK GPS data. Gives information on the relative baseline calculation the GPS is reporting

Field Name	Type	Units	Values	Description
time_last_baseline_ms	uint32_t	ms		Time since boot of last baseline message received.
rtk_receiver_id	uint8_t			Identification of connected RTK receiver.
wn	uint16_t			GPS Week Number of last baseline
tow	uint32_t	ms		GPS Time of Week of last baseline
rtk_health	uint8_t			GPS-specific health report for RTK data.
rtk_rate	uint8_t	Hz		Rate of baseline messages being received by GPS
nsats	uint8_t			Current number of sats used for RTK calculation.
baseline_coords_type	uint8_t		RTK_BASELINE_COORDINATE_SYSTEM	Coordinate system of baseline
baseline_a_mm	int32_t	mm		Current baseline in ECEF x or NED north component.
baseline_b_mm	int32_t	mm		Current baseline in ECEF y or NED east component.
baseline_c_mm	int32_t	mm		Current baseline in ECEF z or NED down component.
accuracy	uint32_t			Current estimate of baseline accuracy.
iar_num_hypotheses	int32_t			Current number of integer ambiguity hypotheses.

SCALED_IMU3 ( #129 )

[Message] The RAW IMU readings for 3rd 9DOF sensor setup. This message should contain the scaled values to the described units

Field Name	Type	Units	Description
time_boot_ms	uint32_t	ms	Timestamp (time since system boot).
xacc	int16_t	mG	X acceleration
yacc	int16_t	mG	Y acceleration
zacc	int16_t	mG	Z acceleration
xgyro	int16_t	mrad/s	Angular speed around X axis
ygyro	int16_t	mrad/s	Angular speed around Y axis
zgyro	int16_t	mrad/s	Angular speed around Z axis
xmag	int16_t	mgauss	X Magnetic field
ymag	int16_t	mgauss	Y Magnetic field
zmag	int16_t	mgauss	Z Magnetic field
temperature **	int16_t	cdegC	Temperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).

DATA_TRANSMISSION_HANDSHAKE ( #130 )

[Message] Handshake message to initiate, control and stop image streaming when using the Image Transmission Protocol: https://mavlink.io/en/services/image_transmission.html.

Field Name	Type	Units	Values	Description
type	uint8_t		MAVLINK_DATA_STREAM_TYPE	Type of requested/acknowledged data.
size	uint32_t	bytes		total data size (set on ACK only).
width	uint16_t			Width of a matrix or image.
height	uint16_t			Height of a matrix or image.
packets	uint16_t			Number of packets being sent (set on ACK only).
payload	uint8_t	bytes		Payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only).
jpg_quality	uint8_t	%		JPEG quality. Values: [1-100].

ENCAPSULATED_DATA ( #131 )

[Message] Data packet for images sent using the Image Transmission Protocol: https://mavlink.io/en/services/image_transmission.html.

Field Name	Type	Description
seqnr	uint16_t	sequence number (starting with 0 on every transmission)
data	uint8_t[253]	image data bytes

DISTANCE_SENSOR ( #132 )

[Message] Distance sensor information for an onboard rangefinder.

Field Name	Type	Units	Values	Description
time_boot_ms	uint32_t	ms		Timestamp (time since system boot).
min_distance	uint16_t	cm		Minimum distance the sensor can measure
max_distance	uint16_t	cm		Maximum distance the sensor can measure
current_distance	uint16_t	cm		Current distance reading
type	uint8_t		MAV_DISTANCE_SENSOR	Type of distance sensor.
id	uint8_t			Onboard ID of the sensor
orientation	uint8_t		MAV_SENSOR_ORIENTATION	Direction the sensor faces. downward-facing: ROTATION_PITCH_270, upward-facing: ROTATION_PITCH_90, backward-facing: ROTATION_PITCH_180, forward-facing: ROTATION_NONE, left-facing: ROTATION_YAW_90, right-facing: ROTATION_YAW_270
covariance	uint8_t	cm^2		Measurement variance. Max standard deviation is 6cm. 255 if unknown.
horizontal_fov **	float	rad		Horizontal Field of View (angle) where the distance measurement is valid and the field of view is known. Otherwise this is set to 0.
vertical_fov **	float	rad		Vertical Field of View (angle) where the distance measurement is valid and the field of view is known. Otherwise this is set to 0.
quaternion **	float[4]			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."

TERRAIN_REQUEST ( #133 )

[Message] Request for terrain data and terrain status

Field Name	Type	Units	Description
lat	int32_t	degE7	Latitude of SW corner of first grid
lon	int32_t	degE7	Longitude of SW corner of first grid
grid_spacing	uint16_t	m	Grid spacing
mask	uint64_t		Bitmask of requested 4x4 grids (row major 8x7 array of grids, 56 bits)

TERRAIN_DATA ( #134 )

[Message] Terrain data sent from GCS. The lat/lon and grid_spacing must be the same as a lat/lon from a TERRAIN_REQUEST

Field Name	Type	Units	Description
lat	int32_t	degE7	Latitude of SW corner of first grid
lon	int32_t	degE7	Longitude of SW corner of first grid
grid_spacing	uint16_t	m	Grid spacing
gridbit	uint8_t		bit within the terrain request mask
data	int16_t[16]	m	Terrain data MSL

TERRAIN_CHECK ( #135 )

[Message] Request that the vehicle report terrain height at the given location. Used by GCS to check if vehicle has all terrain data needed for a mission.

Field Name	Type	Units	Description
lat	int32_t	degE7	Latitude
lon	int32_t	degE7	Longitude

TERRAIN_REPORT ( #136 )

[Message] Response from a TERRAIN_CHECK request

Field Name	Type	Units	Description
lat	int32_t	degE7	Latitude
lon	int32_t	degE7	Longitude
spacing	uint16_t		grid spacing (zero if terrain at this location unavailable)
terrain_height	float	m	Terrain height MSL
current_height	float	m	Current vehicle height above lat/lon terrain height
pending	uint16_t		Number of 4x4 terrain blocks waiting to be received or read from disk
loaded	uint16_t		Number of 4x4 terrain blocks in memory

SCALED_PRESSURE2 ( #137 )

[Message] Barometer readings for 2nd barometer

Field Name	Type	Units	Description
time_boot_ms	uint32_t	ms	Timestamp (time since system boot).
press_abs	float	hPa	Absolute pressure
press_diff	float	hPa	Differential pressure
temperature	int16_t	cdegC	Temperature measurement

ATT_POS_MOCAP ( #138 )

[Message] Motion capture attitude and position

Field Name	Type	Units	Description
time_usec	uint64_t	us	Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
q	float[4]		Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
x	float	m	X position (NED)
y	float	m	Y position (NED)
z	float	m	Z position (NED)
covariance **	float[21]		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_ACTUATOR_CONTROL_TARGET ( #139 )

[Message] Set the vehicle attitude and body angular rates.

Field Name	Type	Units	Description
time_usec	uint64_t	us	Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
group_mlx	uint8_t		Actuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.
target_system	uint8_t		System ID
target_component	uint8_t		Component ID
controls	float[8]		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.

ACTUATOR_CONTROL_TARGET ( #140 )

[Message] Set the vehicle attitude and body angular rates.

Field Name	Type	Units	Description
time_usec	uint64_t	us	Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
group_mlx	uint8_t		Actuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.
controls	float[8]		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.

ALTITUDE ( #141 )

[Message] The current system altitude.

Field Name	Type	Units	Description
time_usec	uint64_t	us	Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
altitude_monotonic	float	m	This altitude measure is initialized on system boot and monotonic (it is never reset, but represents the local altitude change). The only guarantee on this field is that it will never be reset and is consistent within a flight. The recommended value for this field is the uncorrected barometric altitude at boot time. This altitude will also drift and vary between flights.
altitude_amsl	float	m	This altitude measure is strictly above mean sea level and might be non-monotonic (it might reset on events like GPS lock or when a new QNH value is set). It should be the altitude to which global altitude waypoints are compared to. Note that it is not the GPS altitude, however, most GPS modules already output MSL by default and not the WGS84 altitude.
altitude_local	float	m	This is the local altitude in the local coordinate frame. It is not the altitude above home, but in reference to the coordinate origin (0, 0, 0). It is up-positive.
altitude_relative	float	m	This is the altitude above the home position. It resets on each change of the current home position.
altitude_terrain	float	m	This is the altitude above terrain. It might be fed by a terrain database or an altimeter. Values smaller than -1000 should be interpreted as unknown.
bottom_clearance	float	m	This is not the altitude, but the clear space below the system according to the fused clearance estimate. It generally should max out at the maximum range of e.g. the laser altimeter. It is generally a moving target. A negative value indicates no measurement available.

RESOURCE_REQUEST ( #142 )

[Message] The autopilot is requesting a resource (file, binary, other type of data)

Field Name	Type	Description
request_id	uint8_t	Request ID. This ID should be re-used when sending back URI contents
uri_type	uint8_t	The type of requested URI. 0 = a file via URL. 1 = a UAVCAN binary
uri	uint8_t[120]	The requested unique resource identifier (URI). It is not necessarily a straight domain name (depends on the URI type enum)
transfer_type	uint8_t	The way the autopilot wants to receive the URI. 0 = MAVLink FTP. 1 = binary stream.
storage	uint8_t[120]	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).

SCALED_PRESSURE3 ( #143 )

[Message] Barometer readings for 3rd barometer

Field Name	Type	Units	Description
time_boot_ms	uint32_t	ms	Timestamp (time since system boot).
press_abs	float	hPa	Absolute pressure
press_diff	float	hPa	Differential pressure
temperature	int16_t	cdegC	Temperature measurement

FOLLOW_TARGET ( #144 )

[Message] Current motion information from a designated system

Field Name	Type	Units	Description
timestamp	uint64_t	ms	Timestamp (time since system boot).
est_capabilities	uint8_t		bit positions for tracker reporting capabilities (POS = 0, VEL = 1, ACCEL = 2, ATT + RATES = 3)
lat	int32_t	degE7	Latitude (WGS84)
lon	int32_t	degE7	Longitude (WGS84)
alt	float	m	Altitude (MSL)
vel	float[3]	m/s	target velocity (0,0,0) for unknown
acc	float[3]	m/s/s	linear target acceleration (0,0,0) for unknown
attitude_q	float[4]		(1 0 0 0 for unknown)
rates	float[3]		(0 0 0 for unknown)
position_cov	float[3]		eph epv
custom_state	uint64_t		button states or switches of a tracker device

CONTROL_SYSTEM_STATE ( #146 )

[Message] The smoothed, monotonic system state used to feed the control loops of the system.

Field Name	Type	Units	Description
time_usec	uint64_t	us	Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
x_acc	float	m/s/s	X acceleration in body frame
y_acc	float	m/s/s	Y acceleration in body frame
z_acc	float	m/s/s	Z acceleration in body frame
x_vel	float	m/s	X velocity in body frame
y_vel	float	m/s	Y velocity in body frame
z_vel	float	m/s	Z velocity in body frame
x_pos	float	m	X position in local frame
y_pos	float	m	Y position in local frame
z_pos	float	m	Z position in local frame
airspeed	float	m/s	Airspeed, set to -1 if unknown
vel_variance	float[3]		Variance of body velocity estimate
pos_variance	float[3]		Variance in local position
q	float[4]		The attitude, represented as Quaternion
roll_rate	float	rad/s	Angular rate in roll axis
pitch_rate	float	rad/s	Angular rate in pitch axis
yaw_rate	float	rad/s	Angular rate in yaw axis

BATTERY_STATUS ( #147 )

[Message] Battery information. Updates GCS with flight controller battery status. Use SMART_BATTERY_* messages instead for smart batteries.

Field Name	Type	Units	Values	Description
id	uint8_t			Battery ID
battery_function	uint8_t		MAV_BATTERY_FUNCTION	Function of the battery
type	uint8_t		MAV_BATTERY_TYPE	Type (chemistry) of the battery
temperature	int16_t	cdegC		Temperature of the battery. INT16_MAX for unknown temperature.
voltages	uint16_t[10]	mV		Battery voltage of cells. Cells above the valid cell count for this battery should have the UINT16_MAX value.
current_battery	int16_t	cA		Battery current, -1: autopilot does not measure the current
current_consumed	int32_t	mAh		Consumed charge, -1: autopilot does not provide consumption estimate
energy_consumed	int32_t	hJ		Consumed energy, -1: autopilot does not provide energy consumption estimate
battery_remaining	int8_t	%		Remaining battery energy. Values: [0-100], -1: autopilot does not estimate the remaining battery.
time_remaining **	int32_t	s		Remaining battery time, 0: autopilot does not provide remaining battery time estimate
charge_state **	uint8_t		MAV_BATTERY_CHARGE_STATE	State for extent of discharge, provided by autopilot for warning or external reactions

AUTOPILOT_VERSION ( #148 )

[Message] Version and capability of autopilot software. This should be emitted in response to a MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES command.

Field Name	Type	Values	Description
capabilities	uint64_t	MAV_PROTOCOL_CAPABILITY	Bitmap of capabilities
flight_sw_version	uint32_t		Firmware version number
middleware_sw_version	uint32_t		Middleware version number
os_sw_version	uint32_t		Operating system version number
board_version	uint32_t		HW / board version (last 8 bytes should be silicon ID, if any)
flight_custom_version	uint8_t[8]		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.
middleware_custom_version	uint8_t[8]		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.
os_custom_version	uint8_t[8]		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.
vendor_id	uint16_t		ID of the board vendor
product_id	uint16_t		ID of the product
uid	uint64_t		UID if provided by hardware (see uid2)
uid2 **	uint8_t[18]		UID if provided by hardware (supersedes the uid field. If this is non-zero, use this field, otherwise use uid)

LANDING_TARGET ( #149 )

[Message] The location of a landing target. See: https://mavlink.io/en/services/landing_target.html

Field Name	Type	Units	Values	Description
time_usec	uint64_t	us		Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
target_num	uint8_t			The ID of the target if multiple targets are present
frame	uint8_t		MAV_FRAME	Coordinate frame used for following fields.
angle_x	float	rad		X-axis angular offset of the target from the center of the image
angle_y	float	rad		Y-axis angular offset of the target from the center of the image
distance	float	m		Distance to the target from the vehicle
size_x	float	rad		Size of target along x-axis
size_y	float	rad		Size of target along y-axis
x **	float	m		X Position of the landing target in MAV_FRAME
y **	float	m		Y Position of the landing target in MAV_FRAME
z **	float	m		Z Position of the landing target in MAV_FRAME
q **	float[4]			Quaternion of landing target orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
type **	uint8_t		LANDING_TARGET_TYPE	Type of landing target
position_valid **	uint8_t			Boolean indicating whether the position fields (x, y, z, q, type) contain valid target position information (valid: 1, invalid: 0). Default is 0 (invalid).

FENCE_STATUS ( #162 )

[Message] Status of geo-fencing. Sent in extended status stream when fencing enabled.

Field Name	Type	Units	Values	Description
breach_status	uint8_t			Breach status (0 if currently inside fence, 1 if outside).
breach_count	uint16_t			Number of fence breaches.
breach_type	uint8_t		FENCE_BREACH	Last breach type.
breach_time	uint32_t	ms		Time (since boot) of last breach.
breach_mitigation **	uint8_t		FENCE_MITIGATE	Active action to prevent fence breach

ESTIMATOR_STATUS ( #230 )

[Message] 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.

Field Name	Type	Units	Values	Description
time_usec	uint64_t	us		Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
flags	uint16_t		ESTIMATOR_STATUS_FLAGS	Bitmap indicating which EKF outputs are valid.
vel_ratio	float			Velocity innovation test ratio
pos_horiz_ratio	float			Horizontal position innovation test ratio
pos_vert_ratio	float			Vertical position innovation test ratio
mag_ratio	float			Magnetometer innovation test ratio
hagl_ratio	float			Height above terrain innovation test ratio
tas_ratio	float			True airspeed innovation test ratio
pos_horiz_accuracy	float	m		Horizontal position 1-STD accuracy relative to the EKF local origin
pos_vert_accuracy	float	m		Vertical position 1-STD accuracy relative to the EKF local origin

WIND_COV ( #231 )

[Message] Wind covariance estimate from vehicle.

Field Name	Type	Units	Description
time_usec	uint64_t	us	Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
wind_x	float	m/s	Wind in X (NED) direction
wind_y	float	m/s	Wind in Y (NED) direction
wind_z	float	m/s	Wind in Z (NED) direction
var_horiz	float	m/s	Variability of the wind in XY. RMS of a 1 Hz lowpassed wind estimate.
var_vert	float	m/s	Variability of the wind in Z. RMS of a 1 Hz lowpassed wind estimate.
wind_alt	float	m	Altitude (MSL) that this measurement was taken at
horiz_accuracy	float	m	Horizontal speed 1-STD accuracy
vert_accuracy	float	m	Vertical speed 1-STD accuracy

GPS_INPUT ( #232 )

[Message] GPS sensor input message. This is a raw sensor value sent by the GPS. This is NOT the global position estimate of the system.

Field Name	Type	Units	Values	Description
time_usec	uint64_t	us		Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
gps_id	uint8_t			ID of the GPS for multiple GPS inputs
ignore_flags	uint16_t		GPS_INPUT_IGNORE_FLAGS	Bitmap indicating which GPS input flags fields to ignore. All other fields must be provided.
time_week_ms	uint32_t	ms		GPS time (from start of GPS week)
time_week	uint16_t			GPS week number
fix_type	uint8_t			0-1: no fix, 2: 2D fix, 3: 3D fix. 4: 3D with DGPS. 5: 3D with RTK
lat	int32_t	degE7		Latitude (WGS84)
lon	int32_t	degE7		Longitude (WGS84)
alt	float	m		Altitude (MSL). Positive for up.
hdop	float	m		GPS HDOP horizontal dilution of position
vdop	float	m		GPS VDOP vertical dilution of position
vn	float	m/s		GPS velocity in NORTH direction in earth-fixed NED frame
ve	float	m/s		GPS velocity in EAST direction in earth-fixed NED frame
vd	float	m/s		GPS velocity in DOWN direction in earth-fixed NED frame
speed_accuracy	float	m/s		GPS speed accuracy
horiz_accuracy	float	m		GPS horizontal accuracy
vert_accuracy	float	m		GPS vertical accuracy
satellites_visible	uint8_t			Number of satellites visible.

GPS_RTCM_DATA ( #233 )

[Message] RTCM message for injecting into the onboard GPS (used for DGPS)

Field Name	Type	Units	Description
flags	uint8_t		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.
len	uint8_t	bytes	data length
data	uint8_t[180]		RTCM message (may be fragmented)

HIGH_LATENCY ( #234 )

[Message] Message appropriate for high latency connections like Iridium

Field Name	Type	Units	Values	Description
base_mode	uint8_t		MAV_MODE_FLAG	Bitmap of enabled system modes.
custom_mode	uint32_t			A bitfield for use for autopilot-specific flags.
landed_state	uint8_t		MAV_LANDED_STATE	The landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.
roll	int16_t	cdeg		roll
pitch	int16_t	cdeg		pitch
heading	uint16_t	cdeg		heading
throttle	int8_t	%		throttle (percentage)
heading_sp	int16_t	cdeg		heading setpoint
latitude	int32_t	degE7		Latitude
longitude	int32_t	degE7		Longitude
altitude_amsl	int16_t	m		Altitude above mean sea level
altitude_sp	int16_t	m		Altitude setpoint relative to the home position
airspeed	uint8_t	m/s		airspeed
airspeed_sp	uint8_t	m/s		airspeed setpoint
groundspeed	uint8_t	m/s		groundspeed
climb_rate	int8_t	m/s		climb rate
gps_nsat	uint8_t			Number of satellites visible. If unknown, set to 255
gps_fix_type	uint8_t		GPS_FIX_TYPE	GPS Fix type.
battery_remaining	uint8_t	%		Remaining battery (percentage)
temperature	int8_t	degC		Autopilot temperature (degrees C)
temperature_air	int8_t	degC		Air temperature (degrees C) from airspeed sensor
failsafe	uint8_t			failsafe (each bit represents a failsafe where 0=ok, 1=failsafe active (bit0:RC, bit1:batt, bit2:GPS, bit3:GCS, bit4:fence)
wp_num	uint8_t			current waypoint number
wp_distance	uint16_t	m		distance to target

HIGH_LATENCY2 ( #235 )

WORK IN PROGRESS: Do not use in stable production environments (it may change).

[Message] Message appropriate for high latency connections like Iridium (version 2)

Field Name	Type	Units	Values	Description
timestamp	uint32_t	ms		Timestamp (milliseconds since boot or Unix epoch)
type	uint8_t		MAV_TYPE	Type of the MAV (quadrotor, helicopter, etc.)
autopilot	uint8_t		MAV_AUTOPILOT	Autopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers.
custom_mode	uint16_t			A bitfield for use for autopilot-specific flags (2 byte version).
latitude	int32_t	degE7		Latitude
longitude	int32_t	degE7		Longitude
altitude	int16_t	m		Altitude above mean sea level
target_altitude	int16_t	m		Altitude setpoint
heading	uint8_t	deg/2		Heading
target_heading	uint8_t	deg/2		Heading setpoint
target_distance	uint16_t	dam		Distance to target waypoint or position
throttle	uint8_t	%		Throttle
airspeed	uint8_t	m/s*5		Airspeed
airspeed_sp	uint8_t	m/s*5		Airspeed setpoint
groundspeed	uint8_t	m/s*5		Groundspeed
windspeed	uint8_t	m/s*5		Windspeed
wind_heading	uint8_t	deg/2		Wind heading
eph	uint8_t	dm		Maximum error horizontal position since last message
epv	uint8_t	dm		Maximum error vertical position since last message
temperature_air	int8_t	degC		Air temperature from airspeed sensor
climb_rate	int8_t	dm/s		Maximum climb rate magnitude since last message
battery	int8_t	%		Battery level (-1 if field not provided).
wp_num	uint16_t			Current waypoint number
failure_flags	uint16_t		HL_FAILURE_FLAG	Bitmap of failure flags.
custom0	int8_t			Field for custom payload.
custom1	int8_t			Field for custom payload.
custom2	int8_t			Field for custom payload.

VIBRATION ( #241 )

[Message] Vibration levels and accelerometer clipping

Field Name	Type	Units	Description
time_usec	uint64_t	us	Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
vibration_x	float		Vibration levels on X-axis
vibration_y	float		Vibration levels on Y-axis
vibration_z	float		Vibration levels on Z-axis
clipping_0	uint32_t		first accelerometer clipping count
clipping_1	uint32_t		second accelerometer clipping count
clipping_2	uint32_t		third accelerometer clipping count

HOME_POSITION ( #242 )

[Message] 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 position the system will return to and land on. 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.

Field Name	Type	Units	Description
latitude	int32_t	degE7	Latitude (WGS84)
longitude	int32_t	degE7	Longitude (WGS84)
altitude	int32_t	mm	Altitude (MSL). Positive for up.
x	float	m	Local X position of this position in the local coordinate frame
y	float	m	Local Y position of this position in the local coordinate frame
z	float	m	Local Z position of this position in the local coordinate frame
q	float[4]		World to surface normal and heading transformation of the takeoff position. Used to indicate the heading and slope of the ground
approach_x	float	m	Local X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
approach_y	float	m	Local Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
approach_z	float	m	Local Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
time_usec **	uint64_t	us	Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.

SET_HOME_POSITION ( #243 )

[Message] 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.

Field Name	Type	Units	Description
target_system	uint8_t		System ID.
latitude	int32_t	degE7	Latitude (WGS84)
longitude	int32_t	degE7	Longitude (WGS84)
altitude	int32_t	mm	Altitude (MSL). Positive for up.
x	float	m	Local X position of this position in the local coordinate frame
y	float	m	Local Y position of this position in the local coordinate frame
z	float	m	Local Z position of this position in the local coordinate frame
q	float[4]		World to surface normal and heading transformation of the takeoff position. Used to indicate the heading and slope of the ground
approach_x	float	m	Local X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
approach_y	float	m	Local Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
approach_z	float	m	Local Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
time_usec **	uint64_t	us	Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.

MESSAGE_INTERVAL ( #244 )

[Message] 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.

Field Name	Type	Units	Description
message_id	uint16_t		The ID of the requested MAVLink message. v1.0 is limited to 254 messages.
interval_us	int32_t	us	The interval between two messages. A value of -1 indicates this stream is disabled, 0 indicates it is not available, > 0 indicates the interval at which it is sent.

EXTENDED_SYS_STATE ( #245 )

[Message] Provides state for additional features

Field Name	Type	Values	Description
vtol_state	uint8_t	MAV_VTOL_STATE	The VTOL state if applicable. Is set to MAV_VTOL_STATE_UNDEFINED if UAV is not in VTOL configuration.
landed_state	uint8_t	MAV_LANDED_STATE	The landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.

ADSB_VEHICLE ( #246 )

[Message] The location and information of an ADSB vehicle

Field Name	Type	Units	Values	Description
ICAO_address	uint32_t			ICAO address
lat	int32_t	degE7		Latitude
lon	int32_t	degE7		Longitude
altitude_type	uint8_t		ADSB_ALTITUDE_TYPE	ADSB altitude type.
altitude	int32_t	mm		Altitude(ASL)
heading	uint16_t	cdeg		Course over ground
hor_velocity	uint16_t	cm/s		The horizontal velocity
ver_velocity	int16_t	cm/s		The vertical velocity. Positive is up
callsign	char[9]			The callsign, 8+null
emitter_type	uint8_t		ADSB_EMITTER_TYPE	ADSB emitter type.
tslc	uint8_t	s		Time since last communication in seconds
flags	uint16_t		ADSB_FLAGS	Bitmap to indicate various statuses including valid data fields
squawk	uint16_t			Squawk code

COLLISION ( #247 )

[Message] Information about a potential collision

Field Name	Type	Units	Values	Description
src	uint8_t		MAV_COLLISION_SRC	Collision data source
id	uint32_t			Unique identifier, domain based on src field
action	uint8_t		MAV_COLLISION_ACTION	Action that is being taken to avoid this collision
threat_level	uint8_t		MAV_COLLISION_THREAT_LEVEL	How concerned the aircraft is about this collision
time_to_minimum_delta	float	s		Estimated time until collision occurs
altitude_minimum_delta	float	m		Closest vertical distance between vehicle and object
horizontal_minimum_delta	float	m		Closest horizontal distance between vehicle and object

V2_EXTENSION ( #248 )

[Message] Message implementing parts of the V2 payload specs in V1 frames for transitional support.

Field Name	Type	Description
target_network	uint8_t	Network ID (0 for broadcast)
target_system	uint8_t	System ID (0 for broadcast)
target_component	uint8_t	Component ID (0 for broadcast)
message_type	uint16_t	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.
payload	uint8_t[249]	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.

MEMORY_VECT ( #249 )

[Message] 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.

Field Name	Type	Description
address	uint16_t	Starting address of the debug variables
ver	uint8_t	Version code of the type variable. 0=unknown, type ignored and assumed int16_t. 1=as below
type	uint8_t	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
value	int8_t[32]	Memory contents at specified address

DEBUG_VECT ( #250 )

[Message] To debug something using a named 3D vector.

Field Name	Type	Units	Description
name	char[10]		Name
time_usec	uint64_t	us	Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
x	float		x
y	float		y
z	float		z

NAMED_VALUE_FLOAT ( #251 )

[Message] 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.

Field Name	Type	Units	Description
time_boot_ms	uint32_t	ms	Timestamp (time since system boot).
name	char[10]		Name of the debug variable
value	float		Floating point value

NAMED_VALUE_INT ( #252 )

[Message] 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.

Field Name	Type	Units	Description
time_boot_ms	uint32_t	ms	Timestamp (time since system boot).
name	char[10]		Name of the debug variable
value	int32_t		Signed integer value

STATUSTEXT ( #253 )

[Message] 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).

Field Name	Type	Values	Description
severity	uint8_t	MAV_SEVERITY	Severity of status. Relies on the definitions within RFC-5424.
text	char[50]		Status text message, without null termination character

DEBUG ( #254 )

[Message] Send a debug value. The index is used to discriminate between values. These values show up in the plot of QGroundControl as DEBUG N.

Field Name	Type	Units	Description
time_boot_ms	uint32_t	ms	Timestamp (time since system boot).
ind	uint8_t		index of debug variable
value	float		DEBUG value

SETUP_SIGNING ( #256 )

[Message] (MAVLink 2) Setup a MAVLink2 signing key. If called with secret_key of all zero and zero initial_timestamp will disable signing

Field Name	Type	Description
target_system	uint8_t	system id of the target
target_component	uint8_t	component ID of the target
secret_key	uint8_t[32]	signing key
initial_timestamp	uint64_t	initial timestamp

BUTTON_CHANGE ( #257 )

[Message] (MAVLink 2) Report button state change.

Field Name	Type	Units	Description
time_boot_ms	uint32_t	ms	Timestamp (time since system boot).
last_change_ms	uint32_t	ms	Time of last change of button state.
state	uint8_t		Bitmap for state of buttons.

PLAY_TUNE ( #258 )

[Message] (MAVLink 2) Control vehicle tone generation (buzzer)

Field Name	Type	Description
target_system	uint8_t	System ID
target_component	uint8_t	Component ID
tune	char[30]	tune in board specific format
tune2 **	char[200]	tune extension (appended to tune)

CAMERA_INFORMATION ( #259 )

[Message] (MAVLink 2) Information about a camera

Field Name	Type	Units	Values	Description
time_boot_ms	uint32_t	ms		Timestamp (time since system boot).
vendor_name	uint8_t[32]			Name of the camera vendor
model_name	uint8_t[32]			Name of the camera model
firmware_version	uint32_t			Version of the camera firmware (v << 24 & 0xff = Dev, v << 16 & 0xff = Patch, v << 8 & 0xff = Minor, v & 0xff = Major)
focal_length	float	mm		Focal length
sensor_size_h	float	mm		Image sensor size horizontal
sensor_size_v	float	mm		Image sensor size vertical
resolution_h	uint16_t	pix		Horizontal image resolution
resolution_v	uint16_t	pix		Vertical image resolution
lens_id	uint8_t			Reserved for a lens ID
flags	uint32_t		CAMERA_CAP_FLAGS	Bitmap of camera capability flags.
cam_definition_version	uint16_t			Camera definition version (iteration)
cam_definition_uri	char[140]			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).

CAMERA_SETTINGS ( #260 )

[Message] (MAVLink 2) Settings of a camera, can be requested using MAV_CMD_REQUEST_CAMERA_SETTINGS.

Field Name	Type	Units	Values	Description
time_boot_ms	uint32_t	ms		Timestamp (time since system boot).
mode_id	uint8_t		CAMERA_MODE	Camera mode
zoomLevel **	float			Current zoom level (0.0 to 100.0, NaN if not known)
focusLevel **	float			Current focus level (0.0 to 100.0, NaN if not known)

STORAGE_INFORMATION ( #261 )

[Message] (MAVLink 2) Information about a storage medium. This message is sent in response to a request and whenever the status of the storage changes (STORAGE_STATUS).

Field Name	Type	Units	Values	Description
time_boot_ms	uint32_t	ms		Timestamp (time since system boot).
storage_id	uint8_t			Storage ID (1 for first, 2 for second, etc.)
storage_count	uint8_t			Number of storage devices
status	uint8_t		STORAGE_STATUS	Status of storage
total_capacity	float	MiB		Total capacity. If storage is not ready (STORAGE_STATUS_READY) value will be ignored.
used_capacity	float	MiB		Used capacity. If storage is not ready (STORAGE_STATUS_READY) value will be ignored.
available_capacity	float	MiB		Available storage capacity. If storage is not ready (STORAGE_STATUS_READY) value will be ignored.
read_speed	float	MiB/s		Read speed.
write_speed	float	MiB/s		Write speed.

CAMERA_CAPTURE_STATUS ( #262 )

[Message] (MAVLink 2) Information about the status of a capture.

Field Name	Type	Units	Description
time_boot_ms	uint32_t	ms	Timestamp (time since system boot).
image_status	uint8_t		Current status of image capturing (0: idle, 1: capture in progress, 2: interval set but idle, 3: interval set and capture in progress)
video_status	uint8_t		Current status of video capturing (0: idle, 1: capture in progress)
image_interval	float	s	Image capture interval
recording_time_ms	uint32_t	ms	Time since recording started
available_capacity	float	MiB	Available storage capacity.

CAMERA_IMAGE_CAPTURED ( #263 )

[Message] (MAVLink 2) Information about a captured image

Field Name	Type	Units	Description
time_boot_ms	uint32_t	ms	Timestamp (time since system boot).
time_utc	uint64_t	us	Timestamp (time since UNIX epoch) in UTC. 0 for unknown.
camera_id	uint8_t		Camera ID (1 for first, 2 for second, etc.)
lat	int32_t	degE7	Latitude where image was taken
lon	int32_t	degE7	Longitude where capture was taken
alt	int32_t	mm	Altitude (MSL) where image was taken
relative_alt	int32_t	mm	Altitude above ground
q	float[4]		Quaternion of camera orientation (w, x, y, z order, zero-rotation is 0, 0, 0, 0)
image_index	int32_t		Zero based index of this image (image count since armed -1)
capture_result	int8_t		Boolean indicating success (1) or failure (0) while capturing this image.
file_url	char[205]		URL of image taken. Either local storage or http://foo.jpg if camera provides an HTTP interface.

FLIGHT_INFORMATION ( #264 )

WORK IN PROGRESS: Do not use in stable production environments (it may change).

[Message] (MAVLink 2) Information about flight since last arming.

Field Name	Type	Units	Description
time_boot_ms	uint32_t	ms	Timestamp (time since system boot).
arming_time_utc	uint64_t	us	Timestamp at arming (time since UNIX epoch) in UTC, 0 for unknown
takeoff_time_utc	uint64_t	us	Timestamp at takeoff (time since UNIX epoch) in UTC, 0 for unknown
flight_uuid	uint64_t		Universally unique identifier (UUID) of flight, should correspond to name of log files

MOUNT_ORIENTATION ( #265 )

[Message] (MAVLink 2) Orientation of a mount

Field Name	Type	Units	Description
time_boot_ms	uint32_t	ms	Timestamp (time since system boot).
roll	float	deg	Roll in global frame (set to NaN for invalid).
pitch	float	deg	Pitch in global frame (set to NaN for invalid).
yaw	float	deg	Yaw relative to vehicle(set to NaN for invalid).
yaw_absolute **	float	deg	Yaw in absolute frame, North is 0 (set to NaN for invalid).

LOGGING_DATA ( #266 )

[Message] (MAVLink 2) A message containing logged data (see also MAV_CMD_LOGGING_START)

Field Name	Type	Units	Description
target_system	uint8_t		system ID of the target
target_component	uint8_t		component ID of the target
sequence	uint16_t		sequence number (can wrap)
length	uint8_t	bytes	data length
first_message_offset	uint8_t	bytes	offset into data where first message starts. This can be used for recovery, when a previous message got lost (set to 255 if no start exists).
data	uint8_t[249]		logged data

LOGGING_DATA_ACKED ( #267 )

[Message] (MAVLink 2) A message containing logged data which requires a LOGGING_ACK to be sent back

Field Name	Type	Units	Description
target_system	uint8_t		system ID of the target
target_component	uint8_t		component ID of the target
sequence	uint16_t		sequence number (can wrap)
length	uint8_t	bytes	data length
first_message_offset	uint8_t	bytes	offset into data where first message starts. This can be used for recovery, when a previous message got lost (set to 255 if no start exists).
data	uint8_t[249]		logged data

LOGGING_ACK ( #268 )

[Message] (MAVLink 2) An ack for a LOGGING_DATA_ACKED message

Field Name	Type	Description
target_system	uint8_t	system ID of the target
target_component	uint8_t	component ID of the target
sequence	uint16_t	sequence number (must match the one in LOGGING_DATA_ACKED)

VIDEO_STREAM_INFORMATION ( #269 )

WORK IN PROGRESS: Do not use in stable production environments (it may change).

[Message] (MAVLink 2) Information about video stream

Field Name	Type	Units	Values	Description
stream_id	uint8_t			Video Stream ID (1 for first, 2 for second, etc.)
count	uint8_t			Number of streams available.
type	uint8_t		VIDEO_STREAM_TYPE	Type of stream.
flags	uint16_t		VIDEO_STREAM_STATUS_FLAGS	Bitmap of stream status flags.
framerate	float	Hz		Frame rate.
resolution_h	uint16_t	pix		Horizontal resolution.
resolution_v	uint16_t	pix		Vertical resolution.
bitrate	uint32_t	bits/s		Bit rate.
rotation	uint16_t	deg		Video image rotation clockwise.
hfov	uint16_t	deg		Horizontal Field of view.
name	char[32]			Stream name.
uri	char[160]			Video stream URI (TCP or RTSP URI ground station should connect to) or port number (UDP port ground station should listen to).

VIDEO_STREAM_STATUS ( #270 )

WORK IN PROGRESS: Do not use in stable production environments (it may change).

[Message] (MAVLink 2) Information about the status of a video stream.

Field Name	Type	Units	Values	Description
stream_id	uint8_t			Video Stream ID (1 for first, 2 for second, etc.)
flags	uint16_t		VIDEO_STREAM_STATUS_FLAGS	Bitmap of stream status flags
framerate	float	Hz		Frame rate
resolution_h	uint16_t	pix		Horizontal resolution
resolution_v	uint16_t	pix		Vertical resolution
bitrate	uint32_t	bits/s		Bit rate
rotation	uint16_t	deg		Video image rotation clockwise
hfov	uint16_t	deg		Horizontal Field of view

WIFI_CONFIG_AP ( #299 )

[Message] (MAVLink 2) Configure AP SSID and Password.

Field Name	Type	Description
ssid	char[32]	Name of Wi-Fi network (SSID). Leave it blank to leave it unchanged.
password	char[64]	Password. Leave it blank for an open AP.

PROTOCOL_VERSION ( #300 )

WORK IN PROGRESS: Do not use in stable production environments (it may change).

[Message] (MAVLink 2) Version and capability of protocol version. This message is the response to REQUEST_PROTOCOL_VERSION and is used as part of the handshaking to establish which MAVLink version should be used on the network. Every node should respond to REQUEST_PROTOCOL_VERSION to enable the handshaking. Library implementers should consider adding this into the default decoding state machine to allow the protocol core to respond directly.

Field Name	Type	Description
version	uint16_t	Currently active MAVLink version number * 100: v1.0 is 100, v2.0 is 200, etc.
min_version	uint16_t	Minimum MAVLink version supported
max_version	uint16_t	Maximum MAVLink version supported (set to the same value as version by default)
spec_version_hash	uint8_t[8]	The first 8 bytes (not characters printed in hex!) of the git hash.
library_version_hash	uint8_t[8]	The first 8 bytes (not characters printed in hex!) of the git hash.

UAVCAN_NODE_STATUS ( #310 )

[Message] (MAVLink 2) 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.

Field Name	Type	Units	Values	Description
time_usec	uint64_t	us		Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
uptime_sec	uint32_t	s		Time since the start-up of the node.
health	uint8_t		UAVCAN_NODE_HEALTH	Generalized node health status.
mode	uint8_t		UAVCAN_NODE_MODE	Generalized operating mode.
sub_mode	uint8_t			Not used currently.
vendor_specific_status_code	uint16_t			Vendor-specific status information.

UAVCAN_NODE_INFO ( #311 )

[Message] (MAVLink 2) 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.

Field Name	Type	Units	Description
time_usec	uint64_t	us	Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
uptime_sec	uint32_t	s	Time since the start-up of the node.
name	char[80]		Node name string. For example, "sapog.px4.io".
hw_version_major	uint8_t		Hardware major version number.
hw_version_minor	uint8_t		Hardware minor version number.
hw_unique_id	uint8_t[16]		Hardware unique 128-bit ID.
sw_version_major	uint8_t		Software major version number.
sw_version_minor	uint8_t		Software minor version number.
sw_vcs_commit	uint32_t		Version control system (VCS) revision identifier (e.g. git short commit hash). Zero if unknown.

PARAM_EXT_REQUEST_READ ( #320 )

[Message] (MAVLink 2) Request to read the value of a parameter with the either the param_id string id or param_index.

Field Name	Type	Description
target_system	uint8_t	System ID
target_component	uint8_t	Component ID
param_id	char[16]	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
param_index	int16_t	Parameter index. Set to -1 to use the Parameter ID field as identifier (else param_id will be ignored)

PARAM_EXT_REQUEST_LIST ( #321 )

[Message] (MAVLink 2) Request all parameters of this component. After this request, all parameters are emitted.

Field Name	Type	Description
target_system	uint8_t	System ID
target_component	uint8_t	Component ID

PARAM_EXT_VALUE ( #322 )

[Message] (MAVLink 2) 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.

Field Name	Type	Values	Description
param_id	char[16]		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
param_value	char[128]		Parameter value
param_type	uint8_t	MAV_PARAM_EXT_TYPE	Parameter type.
param_count	uint16_t		Total number of parameters
param_index	uint16_t		Index of this parameter

PARAM_EXT_SET ( #323 )

[Message] (MAVLink 2) 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.

Field Name	Type	Values	Description
target_system	uint8_t		System ID
target_component	uint8_t		Component ID
param_id	char[16]		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
param_value	char[128]		Parameter value
param_type	uint8_t	MAV_PARAM_EXT_TYPE	Parameter type.

PARAM_EXT_ACK ( #324 )

[Message] (MAVLink 2) Response from a PARAM_EXT_SET message.

Field Name	Type	Values	Description
param_id	char[16]		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
param_value	char[128]		Parameter value (new value if PARAM_ACK_ACCEPTED, current value otherwise)
param_type	uint8_t	MAV_PARAM_EXT_TYPE	Parameter type.
param_result	uint8_t	PARAM_ACK	Result code.

OBSTACLE_DISTANCE ( #330 )

[Message] (MAVLink 2) Obstacle distances in front of the sensor, starting from the left in increment degrees to the right

Field Name	Type	Units	Values	Description
time_usec	uint64_t	us		Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
sensor_type	uint8_t		MAV_DISTANCE_SENSOR	Class id of the distance sensor type.
distances	uint16_t[72]	cm		Distance of obstacles around the vehicle with index 0 corresponding to North + angle_offset, unless otherwise specified in the frame. A value of 0 is valid and means that the obstacle is practically touching the sensor. A value of max_distance +1 means no obstacle is present. A value of UINT16_MAX for unknown/not used. In a array element, one unit corresponds to 1cm.
increment	uint8_t	deg		Angular width in degrees of each array element. Increment direction is clockwise. This field is ignored if increment_f is non-zero.
min_distance	uint16_t	cm		Minimum distance the sensor can measure.
max_distance	uint16_t	cm		Maximum distance the sensor can measure.
increment_f **	float	deg		Angular width in degrees of each array element as a float. If non-zero then this value is used instead of the uint8_t increment field. Positive is clockwise direction, negative is counter-clockwise.
angle_offset **	float	deg		Relative angle offset of the 0-index element in the distances array. Value of 0 corresponds to forward. Positive is clockwise direction, negative is counter-clockwise.
frame **	uint8_t		MAV_FRAME	Coordinate frame of reference for the yaw rotation and offset of the sensor data. Defaults to MAV_FRAME_GLOBAL, which is North aligned. For body-mounted sensors use MAV_FRAME_BODY_FRD, which is vehicle front aligned.

ODOMETRY ( #331 )

[Message] (MAVLink 2) 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).

Field Name	Type	Units	Values	Description
time_usec	uint64_t	us		Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
frame_id	uint8_t		MAV_FRAME	Coordinate frame of reference for the pose data.
child_frame_id	uint8_t		MAV_FRAME	Coordinate frame of reference for the velocity in free space (twist) data.
x	float	m		X Position
y	float	m		Y Position
z	float	m		Z Position
q	float[4]			Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
vx	float	m/s		X linear speed
vy	float	m/s		Y linear speed
vz	float	m/s		Z linear speed
rollspeed	float	rad/s		Roll angular speed
pitchspeed	float	rad/s		Pitch angular speed
yawspeed	float	rad/s		Yaw angular speed
pose_covariance	float[21]			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.
velocity_covariance	float[21]			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.
reset_counter **	uint8_t			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.
estimator_type **	uint8_t		MAV_ESTIMATOR_TYPE	Type of estimator that is providing the odometry.

TRAJECTORY_REPRESENTATION_WAYPOINTS ( #332 )

WORK IN PROGRESS: Do not use in stable production environments (it may change).

[Message] (MAVLink 2) Describe a trajectory using an array of up-to 5 waypoints in the local frame.

Field Name	Type	Units	Values	Description
time_usec	uint64_t	us		Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
valid_points	uint8_t			Number of valid points (up-to 5 waypoints are possible)
pos_x	float[5]	m		X-coordinate of waypoint, set to NaN if not being used
pos_y	float[5]	m		Y-coordinate of waypoint, set to NaN if not being used
pos_z	float[5]	m		Z-coordinate of waypoint, set to NaN if not being used
vel_x	float[5]	m/s		X-velocity of waypoint, set to NaN if not being used
vel_y	float[5]	m/s		Y-velocity of waypoint, set to NaN if not being used
vel_z	float[5]	m/s		Z-velocity of waypoint, set to NaN if not being used
acc_x	float[5]	m/s/s		X-acceleration of waypoint, set to NaN if not being used
acc_y	float[5]	m/s/s		Y-acceleration of waypoint, set to NaN if not being used
acc_z	float[5]	m/s/s		Z-acceleration of waypoint, set to NaN if not being used
pos_yaw	float[5]	rad		Yaw angle, set to NaN if not being used
vel_yaw	float[5]	rad/s		Yaw rate, set to NaN if not being used
command	uint16_t[5]		MAV_CMD	Scheduled action for each waypoint, UINT16_MAX if not being used.

TRAJECTORY_REPRESENTATION_BEZIER ( #333 )

WORK IN PROGRESS: Do not use in stable production environments (it may change).

[Message] (MAVLink 2) Describe a trajectory using an array of up-to 5 bezier points in the local frame.

Field Name	Type	Units	Description
time_usec	uint64_t	us	Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
valid_points	uint8_t		Number of valid points (up-to 5 waypoints are possible)
pos_x	float[5]	m	X-coordinate of starting bezier point, set to NaN if not being used
pos_y	float[5]	m	Y-coordinate of starting bezier point, set to NaN if not being used
pos_z	float[5]	m	Z-coordinate of starting bezier point, set to NaN if not being used
delta	float[5]	s	Bezier time horizon, set to NaN if velocity/acceleration should not be incorporated
pos_yaw	float[5]	rad	Yaw, set to NaN for unchanged

CELLULAR_STATUS ( #334 )

WORK IN PROGRESS: Do not use in stable production environments (it may change).

[Message] (MAVLink 2) Report current used cellular network status

Field Name	Type	Values	Description
status	uint16_t	CELLULAR_NETWORK_STATUS_FLAG	Status bitmap
type	uint8_t	CELLULAR_NETWORK_RADIO_TYPE	Cellular network radio type: gsm, cdma, lte...
quality	uint8_t		Cellular network RSSI/RSRP in dBm, absolute value
mcc	uint16_t		Mobile country code. If unknown, set to: UINT16_MAX
mnc	uint16_t		Mobile network code. If unknown, set to: UINT16_MAX
lac	uint16_t		Location area code. If unknown, set to: 0
cid	uint32_t		Cell ID. If unknown, set to: UINT32_MAX

ISBD_LINK_STATUS ( #335 )

[Message] (MAVLink 2) Status of the Iridium SBD link.

Field Name	Type	Units	Description
timestamp	uint64_t	us	Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
last_heartbeat	uint64_t	us	Timestamp of the last successful sbd session. The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
failed_sessions	uint16_t		Number of failed SBD sessions.
successful_sessions	uint16_t		Number of successful SBD sessions.
signal_quality	uint8_t		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.
ring_pending	uint8_t		1: Ring call pending, 0: No call pending.
tx_session_pending	uint8_t		1: Transmission session pending, 0: No transmission session pending.
rx_session_pending	uint8_t		1: Receiving session pending, 0: No receiving session pending.

UTM_GLOBAL_POSITION ( #340 )

WORK IN PROGRESS: Do not use in stable production environments (it may change).

[Message] (MAVLink 2) The global position resulting from GPS and sensor fusion.

Field Name	Type	Units	Values	Description
time	uint64_t	us		Time of applicability of position (microseconds since UNIX epoch).
uas_id	uint8_t[18]			Unique UAS ID.
lat	int32_t	degE7		Latitude (WGS84)
lon	int32_t	degE7		Longitude (WGS84)
alt	int32_t	mm		Altitude (WGS84)
relative_alt	int32_t	mm		Altitude above ground
vx	int16_t	cm/s		Ground X speed (latitude, positive north)
vy	int16_t	cm/s		Ground Y speed (longitude, positive east)
vz	int16_t	cm/s		Ground Z speed (altitude, positive down)
h_acc	uint16_t	mm		Horizontal position uncertainty (standard deviation)
v_acc	uint16_t	mm		Altitude uncertainty (standard deviation)
vel_acc	uint16_t	cm/s		Speed uncertainty (standard deviation)
next_lat	int32_t	degE7		Next waypoint, latitude (WGS84)
next_lon	int32_t	degE7		Next waypoint, longitude (WGS84)
next_alt	int32_t	mm		Next waypoint, altitude (WGS84)
update_rate	uint16_t	cs		Time until next update. Set to 0 if unknown or in data driven mode.
flight_state	uint8_t		UTM_FLIGHT_STATE	Flight state
flags	uint8_t		UTM_DATA_AVAIL_FLAGS	Bitwise OR combination of the data available flags.

DEBUG_FLOAT_ARRAY ( #350 )

[Message] (MAVLink 2) 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.

Field Name	Type	Units	Description
time_usec	uint64_t	us	Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
name	char[10]		Name, for human-friendly display in a Ground Control Station
array_id	uint16_t		Unique ID used to discriminate between arrays
data **	float[58]		data

ORBIT_EXECUTION_STATUS ( #360 )

WORK IN PROGRESS: Do not use in stable production environments (it may change).

[Message] (MAVLink 2) Vehicle status report that is sent out while orbit execution is in progress (see MAV_CMD_DO_ORBIT).

Field Name	Type	Units	Values	Description
time_usec	uint64_t	us		Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
radius	float	m		Radius of the orbit circle. Positive values orbit clockwise, negative values orbit counter-clockwise.
frame	uint8_t		MAV_FRAME	The coordinate system of the fields: x, y, z.
x	int32_t			X coordinate of center point. Coordinate system depends on frame field: local = x position in meters * 1e4, global = latitude in degrees * 1e7.
y	int32_t			Y coordinate of center point. Coordinate system depends on frame field: local = x position in meters * 1e4, global = latitude in degrees * 1e7.
z	float	m		Altitude of center point. Coordinate system depends on frame field.

STATUSTEXT_LONG ( #365 )

[Message] (MAVLink 2) Status text message (use only for important status and error messages). The full message payload can be used for status text, but we recommend that updates be kept concise. Note: The message is intended as a less restrictive replacement for STATUSTEXT.

Field Name	Type	Values	Description
severity	uint8_t	MAV_SEVERITY	Severity of status. Relies on the definitions within RFC-5424.
text	char[254]		Status text message, without null termination character.

SMART_BATTERY_INFO ( #370 )

WORK IN PROGRESS: Do not use in stable production environments (it may change).

[Message] (MAVLink 2) Smart Battery information (static/infrequent update). Use for updates from: smart battery to flight stack, flight stack to GCS. Use instead of BATTERY_STATUS for smart batteries.

Field Name	Type	Units	Description
id	uint8_t		Battery ID
capacity_full_specification	int32_t	mAh	Capacity when full according to manufacturer, -1: field not provided.
capacity_full	int32_t	mAh	Capacity when full (accounting for battery degradation), -1: field not provided.
cycle_count	uint16_t		Charge/discharge cycle count. -1: field not provided.
serial_number	int32_t		Serial number. -1: field not provided.
device_name	char[50]		Static device name. Encode as manufacturer and product names separated using an underscore.
weight	uint16_t	g	Battery weight. 0: field not provided.
discharge_minimum_voltage	uint16_t	mV	Minimum per-cell voltage when discharging. If not supplied set to UINT16_MAX value.
charging_minimum_voltage	uint16_t	mV	Minimum per-cell voltage when charging. If not supplied set to UINT16_MAX value.
resting_minimum_voltage	uint16_t	mV	Minimum per-cell voltage when resting. If not supplied set to UINT16_MAX value.

SMART_BATTERY_STATUS ( #371 )

WORK IN PROGRESS: Do not use in stable production environments (it may change).

[Message] (MAVLink 2) Smart Battery information (dynamic). Use for updates from: smart battery to flight stack, flight stack to GCS. Use instead of BATTERY_STATUS for smart batteries.

Field Name	Type	Units	Values	Description
id	uint16_t			Battery ID
capacity_remaining	int16_t	%		Remaining battery energy. Values: [0-100], -1: field not provided.
current	int16_t	cA		Battery current (through all cells/loads). Positive if discharging, negative if charging. UINT16_MAX: field not provided.
temperature	int16_t	cdegC		Battery temperature. -1: field not provided.
fault_bitmask	int32_t		MAV_SMART_BATTERY_FAULT	Fault/health indications.
time_remaining	int32_t	s		Estimated remaining battery time. -1: field not provided.
cell_offset	uint16_t			The cell number of the first index in the 'voltages' array field. Using this field allows you to specify cell voltages for batteries with more than 16 cells.
voltages	uint16_t[16]	mV		Individual cell voltages. Batteries with more 16 cells can use the cell_offset field to specify the cell offset for the array specified in the current message . Index values above the valid cell count for this battery should have the UINT16_MAX value.

ACTUATOR_OUTPUT_STATUS ( #375 )

[Message] (MAVLink 2) The raw values of the actuator outputs.

Field Name	Type	Units	Description
time_usec	uint64_t	us	Timestamp (since system boot).
active	uint32_t		Active outputs
actuator	float[32]		Servo / motor output array values. Zero values indicate unused channels.

TIME_ESTIMATE_TO_TARGET ( #380 )

WORK IN PROGRESS: Do not use in stable production environments (it may change).

[Message] (MAVLink 2) Time/duration estimates for various events and actions given the current vehicle state and position.

Field Name	Type	Units	Description
safe_return	int32_t	s	Estimated time to complete the vehicle's configured "safe return" action from its current position (e.g. RTL, Smart RTL, etc.). -1 indicates that the vehicle is landed, or that no time estimate available.
land	int32_t	s	Estimated time for vehicle to complete the LAND action from its current position. -1 indicates that the vehicle is landed, or that no time estimate available.
mission_next_item	int32_t	s	Estimated time for reaching/completing the currently active mission item. -1 means no time estimate available.
mission_end	int32_t	s	Estimated time for completing the current mission. -1 means no mission active and/or no estimate available.
commanded_action	int32_t	s	Estimated time for completing the current commanded action (i.e. Go To, Takeoff, Land, etc.). -1 means no action active and/or no estimate available.

TUNNEL ( #385 )

WORK IN PROGRESS: Do not use in stable production environments (it may change).

[Message] (MAVLink 2) 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.

Field Name	Type	Values	Description
target_system	uint8_t		System ID (can be 0 for broadcast, but this is discouraged)
target_component	uint8_t		Component ID (can be 0 for broadcast, but this is discouraged)
payload_type	uint16_t	MAV_TUNNEL_PAYLOAD_TYPE	A code that identifies the content of the payload (0 for unknown, which is the default). If this code is less than 32768, it is a 'registered' payload type and the corresponding code should be added to the MAV_TUNNEL_PAYLOAD_TYPE enum, and the entry possibly to https://github.com/mavlink/mavlink/definition_files/tunnel_message_payload_types.xml. 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.
payload_length	uint8_t		Length of the data transported in payload
payload	uint8_t[128]		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.

ONBOARD_COMPUTER_STATUS ( #390 )

WORK IN PROGRESS: Do not use in stable production environments (it may change).

[Message] (MAVLink 2) Hardware status sent by an onboard computer.

Field Name	Type	Units	Description
time_usec	uint64_t	us	Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
uptime	uint32_t	ms	Time since system boot.
type	uint8_t		Type of the onboard computer: 0: Mission computer primary, 1: Mission computer backup 1, 2: Mission computer backup 2, 3: Compute node, 4-5: Compute spares, 6-9: Payload computers.
cpu_cores	uint8_t[8]		CPU usage on the component in percent (100 - idle). A value of UINT8_MAX implies the field is unused.
cpu_combined	uint8_t[10]		Combined CPU usage as the last 10 slices of 100 MS (a histogram). This allows to identify spikes in load that max out the system, but only for a short amount of time. A value of UINT8_MAX implies the field is unused.
gpu_cores	uint8_t[4]		GPU usage on the component in percent (100 - idle). A value of UINT8_MAX implies the field is unused.
gpu_combined	uint8_t[10]		Combined GPU usage as the last 10 slices of 100 MS (a histogram). This allows to identify spikes in load that max out the system, but only for a short amount of time. A value of UINT8_MAX implies the field is unused.
temperature_board	int8_t	degC	Temperature of the board. A value of INT8_MAX implies the field is unused.
temperature_core	int8_t[8]	degC	Temperature of the CPU core. A value of INT8_MAX implies the field is unused.
fan_speed	int16_t[4]	rpm	Fan speeds. A value of INT16_MAX implies the field is unused.
ram_usage	uint32_t	MiB	Amount of used RAM on the component system. A value of UINT32_MAX implies the field is unused.
ram_total	uint32_t	MiB	Total amount of RAM on the component system. A value of UINT32_MAX implies the field is unused.
storage_type	uint32_t[4]		Storage type: 0: HDD, 1: SSD, 2: EMMC, 3: SD card (non-removable), 4: SD card (removable). A value of UINT32_MAX implies the field is unused.
storage_usage	uint32_t[4]	MiB	Amount of used storage space on the component system. A value of UINT32_MAX implies the field is unused.
storage_total	uint32_t[4]	MiB	Total amount of storage space on the component system. A value of UINT32_MAX implies the field is unused.
link_type	uint32_t[6]		Link type: 0-9: UART, 10-19: Wired network, 20-29: Wifi, 30-39: Point-to-point proprietary, 40-49: Mesh proprietary
link_tx_rate	uint32_t[6]	KiB/s	Network traffic from the component system. A value of UINT32_MAX implies the field is unused.
link_rx_rate	uint32_t[6]	KiB/s	Network traffic to the component system. A value of UINT32_MAX implies the field is unused.
link_tx_max	uint32_t[6]	KiB/s	Network capacity from the component system. A value of UINT32_MAX implies the field is unused.
link_rx_max	uint32_t[6]	KiB/s	Network capacity to the component system. A value of UINT32_MAX implies the field is unused.

WHEEL_DISTANCE ( #9000 )

[Message] (MAVLink 2) Cumulative distance traveled for each reported wheel.

Field Name	Type	Units	Description
time_usec	uint64_t	us	Timestamp (synced to UNIX time or since system boot).
count	uint8_t		Number of wheels reported.
distance	double[16]	m	Distance reported by individual wheel encoders. Forward rotations increase values, reverse rotations decrease them. Not all wheels will necessarily have wheel encoders; the mapping of encoders to wheel positions must be agreed/understood by the endpoints.

OPEN_DRONE_ID_BASIC_ID ( #12900 )

WORK IN PROGRESS: Do not use in stable production environments (it may change).

[Message] (MAVLink 2) Data for filling the OpenDroneID Basic ID message.

Field Name	Type	Values	Description
id_type	uint8_t	MAV_ODID_IDTYPE	Indicates the format for the uas_id field of this message.
ua_type	uint8_t	MAV_ODID_UATYPE	Indicates the type of UA (Unmanned Aircraft).
uas_id	uint8_t[20]		UAS ID following the format specified by id_type. Shall be filled with nulls in the unused portion of the field.

OPEN_DRONE_ID_LOCATION ( #12901 )

WORK IN PROGRESS: Do not use in stable production environments (it may change).

[Message] (MAVLink 2) 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.

Field Name	Type	Units	Values	Description
status	uint8_t		MAV_ODID_STATUS	Indicates whether the Unmanned Aircraft is on the ground or in the air.
direction	uint16_t	cdeg		Direction over ground (not heading, but direction of movement) in degrees * 100: 0.0 - 359.99 degrees.
speed_horizontal	uint16_t	cm/s		Ground speed.
speed_vertical	int16_t	cm/s		The vertical speed. Up is positive.
latitude	int32_t	degE7		Current latitude of the UA.
longitude	int32_t	degE7		Current longitude of the UA.
altitude_barometric	float	m		The altitude calculated from the barometric pressue. Reference is against 29.92inHg or 1013.2mb.
altitude_geodetic	float	m		The geodetic altitude as defined by WGS84.
height_reference	uint8_t		MAV_ODID_HEIGHT_REF	Indicates the reference point for the height field.
height	float	m		The current height of the UA above the take-off location or the ground as indicated by height_reference.
horizontal_accuracy	uint8_t		MAV_ODID_HOR_ACC	The accuracy of the horizontal position.
vertical_accuracy	uint8_t		MAV_ODID_VER_ACC	The accuracy of the vertical position.
barometer_accuracy	uint8_t		MAV_ODID_VER_ACC	The accuracy of the barometric altitude.
speed_accuracy	uint8_t		MAV_ODID_SPEED_ACC	The accuracy of the horizontal and vertical speed.
timestamp	float	s		Seconds after the full hour. Typically the GPS outputs a time of week value in milliseconds. That value can be easily converted for this field using ((float) (time_week_ms % (60601000))) / 1000.
timestamp_accuracy	uint8_t		MAV_ODID_TIME_ACC	The accuracy of the timestamps.

OPEN_DRONE_ID_AUTHENTICATION ( #12902 )

WORK IN PROGRESS: Do not use in stable production environments (it may change).

[Message] (MAVLink 2) 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) sending the message.

Field Name	Type	Values	Description
authentication_type	uint8_t	MAV_ODID_AUTH	Indicates the type of authentication.
data_page	uint8_t		Allowed range is 0 - 15.
authentication_data	uint8_t[23]		Opaque authentication data. Sixteen pages are supported for a total of 16 * 23 = 368 bytes. Shall be filled with nulls in the unused portion of the field.

OPEN_DRONE_ID_SELFID ( #12903 )

WORK IN PROGRESS: Do not use in stable production environments (it may change).

[Message] (MAVLink 2) Data for filling the OpenDroneID Self-ID message. The Self-ID Message is an opportunity for the Remote Pilot 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 flying in a particular area or manner.

Field Name	Type	Values	Description
description_type	uint8_t	MAV_ODID_DESC_TYPE	Indicates the type of the description field.
description	char[23]		Text description or numeric value expressed as ASCII characters. Shall be filled with nulls in the unused portion of the field.

OPEN_DRONE_ID_SYSTEM ( #12904 )

WORK IN PROGRESS: Do not use in stable production environments (it may change).

[Message] (MAVLink 2) Data for filling the OpenDroneID System message. The System Message contains general system information including the remote pilot location and possible aircraft group information.

Field Name	Type	Units	Values	Description
flags	uint8_t		MAV_ODID_LOCATION_SRC	Specifies the location source for the remote pilot location.
remote_pilot_latitude	int32_t	degE7		Latitude of the remote pilot.
remote_pilot_longitude	int32_t	degE7		Longitude of the remote pilot.
group_count	uint16_t			Number of aircraft in group or formation (default 0).
group_radius	uint16_t	m		Radius of cylindrical area of group or formation (default 0).
group_ceiling	float	m		Group Operations Ceiling relative to WGS84.
group_floor	float	m		Group Operations Floor relative to WGS84.