MAVLink Protocol Version

This file has protocol version: 3. The version numbers range from 1-255.

0

MAVLink Type Enumerations

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

CMD ID Field Name Description

CMD ID Field Name Description

These values define the type of firmware release. These values indicate the first version or release of this type. For example the first alpha release would be 64, the second would be 65.

CMD ID Field Name Description

These flags encode the MAV mode.

CMD ID Field Name Description

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.

CMD ID Field Name Description

Override command, pauses current mission execution and moves immediately to a position

CMD ID Field Name Description

These defines are predefined OR-combined mode flags. There is no need to use values from this enum, but it simplifies the use of the mode flags. Note that manual input is enabled in all modes as a safety override.

CMD ID Field Name Description

CMD ID Field Name Description

CMD ID Field Name Description

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

CMD ID Field Name Description

CMD ID Field Name Description
8 MAV_FRAME_BODY_NED 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 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.

CMD ID Field Name Description

CMD ID Field Name Description

CMD ID Field Name Description

Enumeration of possible mount operation modes

CMD ID Field Name Description

Commands to be executed by the MAV. They can be executed on user request, or as part of a mission script. If the action is used in a mission, the parameter mapping to the waypoint/mission message is as follows: Param 1, Param 2, Param 3, Param 4, X: Param 5, Y:Param 6, Z:Param 7. This command list is similar what ARINC 424 is for commercial aircraft: A data format how to interpret waypoint/mission data.

CMD ID Field Name Description

THIS INTERFACE IS DEPRECATED AS OF JULY 2015. Please use MESSAGE_INTERVAL instead. 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.

CMD ID Field Name Description

The ROI (region of interest) for the vehicle. This can be be used by the vehicle for camera/vehicle attitude alignment (see MAV_CMD_NAV_ROI).

CMD ID Field Name Description

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

CMD ID Field Name Description

Specifies the datatype of a MAVLink parameter.

CMD ID Field Name Description

result from a mavlink command

CMD ID Field Name Description

result in a mavlink mission ack

CMD ID Field Name Description

Indicates the severity level, generally used for status messages to indicate their relative urgency. Based on RFC-5424 using expanded definitions at: http://www.kiwisyslog.com/kb/info:-syslog-message-levels/.

CMD ID Field Name Description

Power supply status flags (bitmask)

CMD ID Field Name Description

SERIAL_CONTROL device types

CMD ID Field Name Description

SERIAL_CONTROL flags (bitmask)

CMD ID Field Name Description

Enumeration of distance sensor types

CMD ID Field Name Description

Enumeration of sensor orientation, according to its rotations

CMD ID Field Name Description

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

CMD ID Field Name Description

Type of mission items being requested/sent in mission protocol.

CMD ID Field Name Description

Enumeration of estimator types

CMD ID Field Name Description

Enumeration of battery types

CMD ID Field Name Description

Enumeration of battery functions

CMD ID Field Name Description

Enumeration of VTOL states

CMD ID Field Name Description

Enumeration of landed detector states

CMD ID Field Name Description

Enumeration of the ADSB altimeter types

CMD ID Field Name Description

ADSB classification for the type of vehicle emitting the transponder signal

CMD ID Field Name Description

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

CMD ID Field Name Description

Bitmask of options for the MAV_CMD_DO_REPOSITION

CMD ID Field Name Description

Flags in EKF_STATUS message

CMD ID Field Name Description

CMD ID Field Name Description

CMD ID Field Name Description

Possible actions an aircraft can take to avoid a collision.

CMD ID Field Name Description

Aircraft-rated danger from this threat.

CMD ID Field Name Description

Source of information about this collision.

CMD ID Field Name Description

Type of GPS fix

CMD ID Field Name Description

MAVLink Messages

The heartbeat message shows that a system is present and responding. The type of the MAV and Autopilot hardware allow the receiving system to treat further messages from this system appropriate (e.g. by laying out the user interface based on the autopilot).

Field Name Type Description
type uint8_t Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
autopilot uint8_t Autopilot type / class. defined in MAV_AUTOPILOT ENUM
base_mode uint8_t System mode bitfield, see MAV_MODE_FLAG ENUM in mavlink/include/mavlink_types.h
custom_mode uint32_t A bitfield for use for autopilot-specific flags.
system_status uint8_t System status flag, see MAV_STATE ENUM
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

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 wether the system is currently active or not and if an emergency occured. During the CRITICAL and EMERGENCY states the MAV is still considered to be active, but should start emergency procedures autonomously. After a failure occured it should first move from active to critical to allow manual intervention and then move to emergency after a certain timeout.

Field Name Type Description
onboard_control_sensors_present uint32_t Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
onboard_control_sensors_enabled uint32_t Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
onboard_control_sensors_health uint32_t Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
load uint16_t Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
voltage_battery uint16_t Battery voltage, in millivolts (1 = 1 millivolt)
current_battery int16_t Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
battery_remaining int8_t Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery
drop_rate_comm uint16_t Communication drops in percent, (0%: 0, 100%: 10'000), (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

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

Field Name Type Description
time_unix_usec uint64_t Timestamp of the master clock in microseconds since UNIX epoch.
time_boot_ms uint32_t Timestamp of the component clock since boot time in milliseconds.

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.

Field Name Type Description
time_usec uint64_t Unix timestamp in microseconds or since system boot if smaller than MAVLink epoch (1.1.2009)
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 system id of the requesting system

Request to control this MAV

Field Name Type 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 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 "!?,.-"

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

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

THIS INTERFACE IS DEPRECATED. USE COMMAND_LONG with MAV_CMD_DO_SET_MODE INSTEAD. Set the system mode, as defined by enum MAV_MODE. There is no target component id as the mode is by definition for the overall aircraft, not only for one component.

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

Request to read the onboard parameter with the param_id string id. Onboard parameters are stored as key[const char*] -> value[float]. This allows to send a parameter to any other component (such as the GCS) without the need of previous knowledge of possible parameter names. Thus the same GCS can store different parameters for different autopilots. See also http://qgroundcontrol.org/parameter_interface 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)

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

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.

Field Name Type 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 Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types.
param_count uint16_t Total number of onboard parameters
param_index uint16_t Index of this onboard parameter

Set a parameter value TEMPORARILY to RAM. It will be reset to default on system reboot. Send the ACTION MAV_ACTION_STORAGE_WRITE to PERMANENTLY write the RAM contents to EEPROM. 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.

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_value float Onboard parameter value
param_type uint8_t Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types.

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. Coordinate frame is right-handed, Z-axis up (GPS frame).

Field Name Type Description
time_usec uint64_t Timestamp (microseconds since UNIX epoch or microseconds since system boot)
fix_type uint8_t See the GPS_FIX_TYPE enum.
lat int32_t Latitude (WGS84), in degrees * 1E7
lon int32_t Longitude (WGS84), in degrees * 1E7
alt int32_t Altitude (AMSL, NOT WGS84), in meters * 1000 (positive for up). Note that virtually all GPS modules provide the AMSL 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 GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX
cog uint16_t 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

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 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] Elevation (0: right on top of receiver, 90: on the horizon) of satellite
satellite_azimuth uint8_t[20] Direction of satellite, 0: 0 deg, 255: 360 deg.
satellite_snr uint8_t[20] Signal to noise ratio of satellite

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

Field Name Type Description
time_boot_ms uint32_t Timestamp (milliseconds since system boot)
xacc int16_t X acceleration (mg)
yacc int16_t Y acceleration (mg)
zacc int16_t Z acceleration (mg)
xgyro int16_t Angular speed around X axis (millirad /sec)
ygyro int16_t Angular speed around Y axis (millirad /sec)
zgyro int16_t Angular speed around Z axis (millirad /sec)
xmag int16_t X Magnetic field (milli tesla)
ymag int16_t Y Magnetic field (milli tesla)
zmag int16_t Z Magnetic field (milli tesla)

The RAW IMU readings for the usual 9DOF sensor setup. This message should always contain the true raw values without any scaling to allow data capture and system debugging.

Field Name Type Description
time_usec uint64_t Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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)

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 Description
time_usec uint64_t Timestamp (microseconds since UNIX epoch or microseconds since system boot)
press_abs int16_t Absolute pressure (raw)
press_diff1 int16_t Differential pressure 1 (raw, 0 if nonexistant)
press_diff2 int16_t Differential pressure 2 (raw, 0 if nonexistant)
temperature int16_t Raw Temperature measurement (raw)

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

Field Name Type Description
time_boot_ms uint32_t Timestamp (milliseconds since system boot)
press_abs float Absolute pressure (hectopascal)
press_diff float Differential pressure 1 (hectopascal)
temperature int16_t Temperature measurement (0.01 degrees celsius)

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

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

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 Description
time_boot_ms uint32_t Timestamp (milliseconds 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 Roll angular speed (rad/s)
pitchspeed float Pitch angular speed (rad/s)
yawspeed float Yaw angular speed (rad/s)

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 Description
time_boot_ms uint32_t Timestamp (milliseconds since system boot)
x float X Position
y float Y Position
z float Z Position
vx float X Speed
vy float Y Speed
vz float Z Speed

The filtered global position (e.g. fused GPS and accelerometers). The position is in GPS-frame (right-handed, Z-up). It is designed as scaled integer message since the resolution of float is not sufficient.

Field Name Type Description
time_boot_ms uint32_t Timestamp (milliseconds since system boot)
lat int32_t Latitude, expressed as degrees * 1E7
lon int32_t Longitude, expressed as degrees * 1E7
alt int32_t Altitude in meters, expressed as * 1000 (millimeters), AMSL (not WGS84 - note that virtually all GPS modules provide the AMSL as well)
relative_alt int32_t Altitude above ground in meters, expressed as * 1000 (millimeters)
vx int16_t Ground X Speed (Latitude, positive north), expressed as m/s * 100
vy int16_t Ground Y Speed (Longitude, positive east), expressed as m/s * 100
vz int16_t Ground Z Speed (Altitude, positive down), expressed as m/s * 100
hdg uint16_t Vehicle heading (yaw angle) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX

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

Field Name Type Description
time_boot_ms uint32_t Timestamp (milliseconds since system boot)
port uint8_t Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos.
chan1_scaled int16_t RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
chan2_scaled int16_t RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
chan3_scaled int16_t RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
chan4_scaled int16_t RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
chan5_scaled int16_t RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
chan6_scaled int16_t RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
chan7_scaled int16_t RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
chan8_scaled int16_t RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
rssi uint8_t Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown.

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 Description
time_boot_ms uint32_t Timestamp (milliseconds since system boot)
port uint8_t Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos.
chan1_raw uint16_t RC channel 1 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
chan2_raw uint16_t RC channel 2 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
chan3_raw uint16_t RC channel 3 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
chan4_raw uint16_t RC channel 4 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
chan5_raw uint16_t RC channel 5 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
chan6_raw uint16_t RC channel 6 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
chan7_raw uint16_t RC channel 7 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
chan8_raw uint16_t RC channel 8 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
rssi uint8_t Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown.

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 Description
time_usec uint32_t Timestamp (microseconds since system boot)
port uint8_t Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
servo1_raw uint16_t Servo output 1 value, in microseconds
servo2_raw uint16_t Servo output 2 value, in microseconds
servo3_raw uint16_t Servo output 3 value, in microseconds
servo4_raw uint16_t Servo output 4 value, in microseconds
servo5_raw uint16_t Servo output 5 value, in microseconds
servo6_raw uint16_t Servo output 6 value, in microseconds
servo7_raw uint16_t Servo output 7 value, in microseconds
servo8_raw uint16_t Servo output 8 value, in microseconds
servo9_raw uint16_t Servo output 9 value, in microseconds
servo10_raw uint16_t Servo output 10 value, in microseconds
servo11_raw uint16_t Servo output 11 value, in microseconds
servo12_raw uint16_t Servo output 12 value, in microseconds
servo13_raw uint16_t Servo output 13 value, in microseconds
servo14_raw uint16_t Servo output 14 value, in microseconds
servo15_raw uint16_t Servo output 15 value, in microseconds
servo16_raw uint16_t Servo output 16 value, in microseconds

Request a partial list of mission items from the system/component. http://qgroundcontrol.org/mavlink/waypoint_protocol. If start and end index are the same, just send one waypoint.

Field Name Type Description
target_system uint8_t System ID
target_component uint8_t Component ID
start_index int16_t Start index, 0 by default
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 Mission type, see MAV_MISSION_TYPE

This message is sent to the MAV to write a partial list. If start index == end index, only one item will be transmitted / updated. If the start index is NOT 0 and above the current list size, this request should be REJECTED!

Field Name Type Description
target_system uint8_t System ID
target_component uint8_t Component ID
start_index int16_t Start index, 0 by default and 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 Mission type, see MAV_MISSION_TYPE

Message encoding a mission item. This message is emitted to announce the presence of a mission item and to set a mission item on the system. The mission item can be either in x, y, z meters (type: LOCAL) or x:lat, y:lon, z:altitude. Local frame is Z-down, right handed (NED), global frame is Z-up, right handed (ENU). See also http://qgroundcontrol.org/mavlink/waypoint_protocol.

Field Name Type Description
target_system uint8_t System ID
target_component uint8_t Component ID
seq uint16_t Sequence
frame uint8_t The coordinate system of the MISSION. see MAV_FRAME in mavlink_types.h
command uint16_t The scheduled action for the MISSION. see MAV_CMD in common.xml MAVLink specs
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 float PARAM5 / local: x position, global: latitude
y float PARAM6 / y position: global: longitude
z float PARAM7 / z position: global: altitude (relative or absolute, depending on frame.
mission_type uint8_t Mission type, see MAV_MISSION_TYPE

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. http://qgroundcontrol.org/mavlink/waypoint_protocol

Field Name Type Description
target_system uint8_t System ID
target_component uint8_t Component ID
seq uint16_t Sequence
mission_type uint8_t Mission type, see MAV_MISSION_TYPE

Set the mission item with sequence number seq as current item. This means that the MAV will continue to this mission item on the shortest path (not following the mission items in-between).

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

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

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

Field Name Type Description
target_system uint8_t System ID
target_component uint8_t Component ID
mission_type uint8_t Mission type, see MAV_MISSION_TYPE

This message is emitted as response to MISSION_REQUEST_LIST by the MAV and to initiate a write transaction. The GCS can then request the individual mission item based on the knowledge of the total number of MISSIONs.

Field Name Type 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 Mission type, see MAV_MISSION_TYPE

Delete all mission items at once.

Field Name Type Description
target_system uint8_t System ID
target_component uint8_t Component ID
mission_type uint8_t Mission type, see MAV_MISSION_TYPE

A certain mission item has been reached. The system will either hold this position (or circle on the orbit) or (if the autocontinue on the WP was set) continue to the next MISSION.

Field Name Type Description
seq uint16_t Sequence

Ack message during MISSION 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 Description
target_system uint8_t System ID
target_component uint8_t Component ID
type uint8_t See MAV_MISSION_RESULT enum
mission_type uint8_t Mission type, see MAV_MISSION_TYPE

As local waypoints exist, the global MISSION reference allows to transform between the local coordinate frame and the global (GPS) coordinate frame. This can be necessary when e.g. in- and outdoor settings are connected and the MAV should move from in- to outdoor.

Field Name Type Description
target_system uint8_t System ID
latitude int32_t Latitude (WGS84), in degrees * 1E7
longitude int32_t Longitude (WGS84, in degrees * 1E7
altitude int32_t Altitude (AMSL), in meters * 1000 (positive for up)

Once the MAV sets a new GPS-Local correspondence, this message announces the origin (0,0,0) position

Field Name Type Description
latitude int32_t Latitude (WGS84), in degrees * 1E7
longitude int32_t Longitude (WGS84), in degrees * 1E7
altitude int32_t Altitude (AMSL), in meters * 1000 (positive for up)

Bind a RC channel to a parameter. The parameter should change accoding 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 correpsonds 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)

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. http://qgroundcontrol.org/mavlink/waypoint_protocol

Field Name Type Description
target_system uint8_t System ID
target_component uint8_t Component ID
seq uint16_t Sequence
mission_type uint8_t Mission type, see MAV_MISSION_TYPE

Set a safety zone (volume), which is defined by two corners of a cube. This message can be used to tell the MAV which setpoints/MISSIONs to accept and which to reject. Safety areas are often enforced by national or competition regulations.

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

Read out the safety zone the MAV currently assumes.

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

The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right), expressed as quaternion. Quaternion order is w, x, y, z and a zero rotation would be expressed as (1 0 0 0).

Field Name Type Description
time_usec uint64_t Timestamp (microseconds since system boot or since UNIX epoch)
q float[4] Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
rollspeed float Roll angular speed (rad/s)
pitchspeed float Pitch angular speed (rad/s)
yawspeed float Yaw angular speed (rad/s)
covariance float[9] Attitude covariance

The state of the fixed wing navigation and position controller.

Field Name Type Description
nav_roll float Current desired roll in degrees
nav_pitch float Current desired pitch in degrees
nav_bearing int16_t Current desired heading in degrees
target_bearing int16_t Bearing to current MISSION/target in degrees
wp_dist uint16_t Distance to active MISSION in meters
alt_error float Current altitude error in meters
aspd_error float Current airspeed error in meters/second
xtrack_error float Current crosstrack error on x-y plane in meters

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 Description
time_usec uint64_t Timestamp (microseconds since system boot or since UNIX epoch)
estimator_type uint8_t Class id of the estimator this estimate originated from.
lat int32_t Latitude, expressed as degrees * 1E7
lon int32_t Longitude, expressed as degrees * 1E7
alt int32_t Altitude in meters, expressed as * 1000 (millimeters), above MSL
relative_alt int32_t Altitude above ground in meters, expressed as * 1000 (millimeters)
vx float Ground X Speed (Latitude), expressed as m/s
vy float Ground Y Speed (Longitude), expressed as m/s
vz float Ground Z Speed (Altitude), expressed as m/s
covariance float[36] Covariance matrix (first six entries are the first ROW, next six entries are the second row, etc.)

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 Description
time_usec uint64_t Timestamp (microseconds since system boot or since UNIX epoch)
estimator_type uint8_t Class id of the estimator this estimate originated from.
x float X Position
y float Y Position
z float Z Position
vx float X Speed (m/s)
vy float Y Speed (m/s)
vz float Z Speed (m/s)
ax float X Acceleration (m/s^2)
ay float Y Acceleration (m/s^2)
az float Z Acceleration (m/s^2)
covariance float[45] Covariance matrix upper right triangular (first nine entries are the first ROW, next eight entries are the second row, etc.)

The PPM 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 Description
time_boot_ms uint32_t Timestamp (milliseconds 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 RC channel 1 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
chan2_raw uint16_t RC channel 2 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
chan3_raw uint16_t RC channel 3 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
chan4_raw uint16_t RC channel 4 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
chan5_raw uint16_t RC channel 5 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
chan6_raw uint16_t RC channel 6 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
chan7_raw uint16_t RC channel 7 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
chan8_raw uint16_t RC channel 8 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
chan9_raw uint16_t RC channel 9 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
chan10_raw uint16_t RC channel 10 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
chan11_raw uint16_t RC channel 11 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
chan12_raw uint16_t RC channel 12 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
chan13_raw uint16_t RC channel 13 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
chan14_raw uint16_t RC channel 14 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
chan15_raw uint16_t RC channel 15 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
chan16_raw uint16_t RC channel 16 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
chan17_raw uint16_t RC channel 17 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
chan18_raw uint16_t RC channel 18 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
rssi uint8_t Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown.

THIS INTERFACE IS DEPRECATED. USE SET_MESSAGE_INTERVAL INSTEAD.

Field Name Type 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 The requested message rate
start_stop uint8_t 1 to start sending, 0 to stop sending.

THIS INTERFACE IS DEPRECATED. USE MESSAGE_INTERVAL INSTEAD.

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

This message provides an API for manually controlling the vehicle using standard joystick axes nomenclature, along with a joystick-like input device. Unused axes can be disabled an buttons are also transmit as boolean values of their

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.

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 Description
target_system uint8_t System ID
target_component uint8_t Component ID
chan1_raw uint16_t RC channel 1 value, in microseconds. A value of UINT16_MAX means to ignore this field.
chan2_raw uint16_t RC channel 2 value, in microseconds. A value of UINT16_MAX means to ignore this field.
chan3_raw uint16_t RC channel 3 value, in microseconds. A value of UINT16_MAX means to ignore this field.
chan4_raw uint16_t RC channel 4 value, in microseconds. A value of UINT16_MAX means to ignore this field.
chan5_raw uint16_t RC channel 5 value, in microseconds. A value of UINT16_MAX means to ignore this field.
chan6_raw uint16_t RC channel 6 value, in microseconds. A value of UINT16_MAX means to ignore this field.
chan7_raw uint16_t RC channel 7 value, in microseconds. A value of UINT16_MAX means to ignore this field.
chan8_raw uint16_t RC channel 8 value, in microseconds. A value of UINT16_MAX means to ignore this field.

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 alsohttp://qgroundcontrol.org/mavlink/waypoint_protocol.

Field Name Type 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 The coordinate system of the MISSION. see MAV_FRAME in mavlink_types.h
command uint16_t The scheduled action for the MISSION. see MAV_CMD in common.xml MAVLink specs
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 / 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 Mission type, see MAV_MISSION_TYPE

Metrics typically displayed on a HUD for fixed wing aircraft

Field Name Type Description
airspeed float Current airspeed in m/s
groundspeed float Current ground speed in m/s
heading int16_t Current heading in degrees, in compass units (0..360, 0=north)
throttle uint16_t Current throttle setting in integer percent, 0 to 100
alt float Current altitude (MSL), in meters
climb float Current climb rate in meters/second

Message encoding a command with parameters as scaled integers. Scaling depends on the actual command value.

Field Name Type Description
target_system uint8_t System ID
target_component uint8_t Component ID
frame uint8_t The coordinate system of the COMMAND. see MAV_FRAME in mavlink_types.h
command uint16_t The scheduled action for the mission item. see MAV_CMD in common.xml MAVLink specs
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.

Send a command with up to seven parameters to the MAV

Field Name Type 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 Command ID, as defined by MAV_CMD enum.
confirmation uint8_t 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
param1 float Parameter 1, as defined by MAV_CMD enum.
param2 float Parameter 2, as defined by MAV_CMD enum.
param3 float Parameter 3, as defined by MAV_CMD enum.
param4 float Parameter 4, as defined by MAV_CMD enum.
param5 float Parameter 5, as defined by MAV_CMD enum.
param6 float Parameter 6, as defined by MAV_CMD enum.
param7 float Parameter 7, as defined by MAV_CMD enum.

Report status of a command. Includes feedback wether the command was executed.

Field Name Type Description
command uint16_t Command ID, as defined by MAV_CMD enum.
result uint8_t See MAV_RESULT enum
progress uint8_t WIP: Needs to be set when MAV_RESULT is MAV_RESULT_IN_PROGRESS, values from 0 to 100 for progress percentage, 255 for unknown progress.

Setpoint in roll, pitch, yaw and thrust from the operator

Field Name Type Description
time_boot_ms uint32_t Timestamp in milliseconds since system boot
roll float Desired roll rate in radians per second
pitch float Desired pitch rate in radians per second
yaw float Desired yaw rate in radians per second
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

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

Field Name Type Description
time_boot_ms uint32_t Timestamp in milliseconds 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 Body roll rate in radians per second
body_pitch_rate float Body roll rate in radians per second
body_yaw_rate float Body roll rate in radians per second
thrust float Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)

Reports the current commanded attitude of the vehicle as specified by the autopilot. This should match the commands sent in a SET_ATTITUDE_TARGET message if the vehicle is being controlled this way.

Field Name Type Description
time_boot_ms uint32_t Timestamp in milliseconds 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 Body roll rate in radians per second
body_pitch_rate float Body pitch rate in radians per second
body_yaw_rate float Body yaw rate in radians per second
thrust float Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)

Sets a desired vehicle position in a local north-east-down coordinate frame. Used by an external controller to command the vehicle (manual controller or other system).

Field Name Type Description
time_boot_ms uint32_t Timestamp in milliseconds since system boot
target_system uint8_t System ID
target_component uint8_t Component ID
coordinate_frame uint8_t 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 Bitmask 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 10 is set the floats afx afy afz should be interpreted as force instead of acceleration. Mapping: bit 1: x, bit 2: y, bit 3: z, bit 4: vx, bit 5: vy, bit 6: vz, bit 7: ax, bit 8: ay, bit 9: az, bit 10: is force setpoint, bit 11: yaw, bit 12: yaw rate
x float X Position in NED frame in meters
y float Y Position in NED frame in meters
z float Z Position in NED frame in meters (note, altitude is negative in NED)
vx float X velocity in NED frame in meter / s
vy float Y velocity in NED frame in meter / s
vz float Z velocity in NED frame in meter / s
afx float X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
afy float Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
afz float Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
yaw float yaw setpoint in rad
yaw_rate float yaw rate setpoint in rad/s

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 Description
time_boot_ms uint32_t Timestamp in milliseconds since system boot
coordinate_frame uint8_t 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 Bitmask 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 10 is set the floats afx afy afz should be interpreted as force instead of acceleration. Mapping: bit 1: x, bit 2: y, bit 3: z, bit 4: vx, bit 5: vy, bit 6: vz, bit 7: ax, bit 8: ay, bit 9: az, bit 10: is force setpoint, bit 11: yaw, bit 12: yaw rate
x float X Position in NED frame in meters
y float Y Position in NED frame in meters
z float Z Position in NED frame in meters (note, altitude is negative in NED)
vx float X velocity in NED frame in meter / s
vy float Y velocity in NED frame in meter / s
vz float Z velocity in NED frame in meter / s
afx float X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
afy float Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
afz float Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
yaw float yaw setpoint in rad
yaw_rate float yaw rate setpoint in rad/s

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 Description
time_boot_ms uint32_t Timestamp in milliseconds 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 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 Bitmask 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 10 is set the floats afx afy afz should be interpreted as force instead of acceleration. Mapping: bit 1: x, bit 2: y, bit 3: z, bit 4: vx, bit 5: vy, bit 6: vz, bit 7: ax, bit 8: ay, bit 9: az, bit 10: is force setpoint, bit 11: yaw, bit 12: yaw rate
lat_int int32_t X Position in WGS84 frame in 1e7 * meters
lon_int int32_t Y Position in WGS84 frame in 1e7 * meters
alt float Altitude in meters in AMSL altitude, not WGS84 if absolute or relative, above terrain if GLOBAL_TERRAIN_ALT_INT
vx float X velocity in NED frame in meter / s
vy float Y velocity in NED frame in meter / s
vz float Z velocity in NED frame in meter / s
afx float X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
afy float Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
afz float Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
yaw float yaw setpoint in rad
yaw_rate float yaw rate setpoint in rad/s

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 Description
time_boot_ms uint32_t Timestamp in milliseconds 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 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 Bitmask 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 10 is set the floats afx afy afz should be interpreted as force instead of acceleration. Mapping: bit 1: x, bit 2: y, bit 3: z, bit 4: vx, bit 5: vy, bit 6: vz, bit 7: ax, bit 8: ay, bit 9: az, bit 10: is force setpoint, bit 11: yaw, bit 12: yaw rate
lat_int int32_t X Position in WGS84 frame in 1e7 * meters
lon_int int32_t Y Position in WGS84 frame in 1e7 * meters
alt float Altitude in meters in AMSL altitude, not WGS84 if absolute or relative, above terrain if GLOBAL_TERRAIN_ALT_INT
vx float X velocity in NED frame in meter / s
vy float Y velocity in NED frame in meter / s
vz float Z velocity in NED frame in meter / s
afx float X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
afy float Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
afz float Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
yaw float yaw setpoint in rad
yaw_rate float yaw rate setpoint in rad/s

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 Description
time_boot_ms uint32_t Timestamp (milliseconds since system boot)
x float X Position
y float Y Position
z float Z Position
roll float Roll
pitch float Pitch
yaw float Yaw

DEPRECATED PACKET! Suffers from missing airspeed fields and singularities due to Euler angles. Please use HIL_STATE_QUATERNION instead. Sent from simulation to autopilot. This packet is useful for high throughput applications such as hardware in the loop simulations.

Field Name Type Description
time_usec uint64_t Timestamp (microseconds since UNIX epoch or microseconds since system boot)
roll float Roll angle (rad)
pitch float Pitch angle (rad)
yaw float Yaw angle (rad)
rollspeed float Body frame roll / phi angular speed (rad/s)
pitchspeed float Body frame pitch / theta angular speed (rad/s)
yawspeed float Body frame yaw / psi angular speed (rad/s)
lat int32_t Latitude, expressed as * 1E7
lon int32_t Longitude, expressed as * 1E7
alt int32_t Altitude in meters, expressed as * 1000 (millimeters)
vx int16_t Ground X Speed (Latitude), expressed as m/s * 100
vy int16_t Ground Y Speed (Longitude), expressed as m/s * 100
vz int16_t Ground Z Speed (Altitude), expressed as m/s * 100
xacc int16_t X acceleration (mg)
yacc int16_t Y acceleration (mg)
zacc int16_t Z acceleration (mg)

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

Field Name Type Description
time_usec uint64_t Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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 System mode (MAV_MODE)
nav_mode uint8_t Navigation mode (MAV_NAV_MODE)

Sent from simulation to autopilot. The RAW values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. Individual receivers/transmitters might violate this specification.

Field Name Type Description
time_usec uint64_t Timestamp (microseconds since UNIX epoch or microseconds since system boot)
chan1_raw uint16_t RC channel 1 value, in microseconds
chan2_raw uint16_t RC channel 2 value, in microseconds
chan3_raw uint16_t RC channel 3 value, in microseconds
chan4_raw uint16_t RC channel 4 value, in microseconds
chan5_raw uint16_t RC channel 5 value, in microseconds
chan6_raw uint16_t RC channel 6 value, in microseconds
chan7_raw uint16_t RC channel 7 value, in microseconds
chan8_raw uint16_t RC channel 8 value, in microseconds
chan9_raw uint16_t RC channel 9 value, in microseconds
chan10_raw uint16_t RC channel 10 value, in microseconds
chan11_raw uint16_t RC channel 11 value, in microseconds
chan12_raw uint16_t RC channel 12 value, in microseconds
rssi uint8_t Receive signal strength indicator, 0: 0%, 255: 100%

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

Field Name Type Description
time_usec uint64_t Timestamp (microseconds since UNIX epoch or microseconds since system boot)
controls float[16] Control outputs -1 .. 1. Channel assignment depends on the simulated hardware.
mode uint8_t System mode (MAV_MODE), includes arming state.
flags uint64_t Flags as bitfield, reserved for future use.

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

Field Name Type Description
time_usec uint64_t Timestamp (UNIX)
sensor_id uint8_t Sensor ID
flow_x int16_t Flow in pixels * 10 in x-sensor direction (dezi-pixels)
flow_y int16_t Flow in pixels * 10 in y-sensor direction (dezi-pixels)
flow_comp_m_x float Flow in meters in x-sensor direction, angular-speed compensated
flow_comp_m_y float Flow in meters in y-sensor direction, angular-speed compensated
quality uint8_t Optical flow quality / confidence. 0: bad, 255: maximum quality
ground_distance float Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
flow_rate_x float Flow rate in radians/second about X axis
flow_rate_y float Flow rate in radians/second about Y axis

Field Name Type Description
usec uint64_t Timestamp (microseconds, synced to UNIX time or since system boot)
x float Global X position
y float Global Y position
z float Global Z position
roll float Roll angle in rad
pitch float Pitch angle in rad
yaw float Yaw angle in rad

Field Name Type Description
usec uint64_t Timestamp (microseconds, synced to UNIX time or since system boot)
x float Global X position
y float Global Y position
z float Global Z position
roll float Roll angle in rad
pitch float Pitch angle in rad
yaw float Yaw angle in rad

Field Name Type Description
usec uint64_t Timestamp (microseconds, synced to UNIX time or since system boot)
x float Global X speed
y float Global Y speed
z float Global Z speed

Field Name Type Description
usec uint64_t Timestamp (microseconds, synced to UNIX time or since system boot)
x float Global X position
y float Global Y position
z float Global Z position
roll float Roll angle in rad
pitch float Pitch angle in rad
yaw float Yaw angle in rad

The IMU readings in SI units in NED body frame

Field Name Type Description
time_usec uint64_t Timestamp (microseconds, synced to UNIX time or since system boot)
xacc float X acceleration (m/s^2)
yacc float Y acceleration (m/s^2)
zacc float Z acceleration (m/s^2)
xgyro float Angular speed around X axis (rad / sec)
ygyro float Angular speed around Y axis (rad / sec)
zgyro float Angular speed around Z axis (rad / sec)
xmag float X Magnetic field (Gauss)
ymag float Y Magnetic field (Gauss)
zmag float Z Magnetic field (Gauss)
abs_pressure float Absolute pressure in millibar
diff_pressure float Differential pressure in millibar
pressure_alt float Altitude calculated from pressure
temperature float Temperature in degrees celsius
fields_updated uint16_t Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature

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

Field Name Type Description
time_usec uint64_t Timestamp (microseconds, synced to UNIX time or since system boot)
sensor_id uint8_t Sensor ID
integration_time_us uint32_t Integration time in microseconds. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the.
integrated_x float 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 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 RH rotation around X axis (rad)
integrated_ygyro float RH rotation around Y axis (rad)
integrated_zgyro float RH rotation around Z axis (rad)
temperature int16_t Temperature * 100 in centi-degrees Celsius
quality uint8_t Optical flow quality / confidence. 0: no valid flow, 255: maximum quality
time_delta_distance_us uint32_t Time in microseconds since the distance was sampled.
distance float Distance to the center of the flow field in meters. Positive value (including zero): distance known. Negative value: Unknown distance.

The IMU readings in SI units in NED body frame

Field Name Type Description
time_usec uint64_t Timestamp (microseconds, synced to UNIX time or since system boot)
xacc float X acceleration (m/s^2)
yacc float Y acceleration (m/s^2)
zacc float Z acceleration (m/s^2)
xgyro float Angular speed around X axis in body frame (rad / sec)
ygyro float Angular speed around Y axis in body frame (rad / sec)
zgyro float Angular speed around Z axis in body frame (rad / sec)
xmag float X Magnetic field (Gauss)
ymag float Y Magnetic field (Gauss)
zmag float Z Magnetic field (Gauss)
abs_pressure float Absolute pressure in millibar
diff_pressure float Differential pressure (airspeed) in millibar
pressure_alt float Altitude calculated from pressure
temperature float Temperature in degrees celsius
fields_updated uint32_t Bitmask 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.

Status of simulation environment, if used

Field Name Type 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 X acceleration m/s/s
yacc float Y acceleration m/s/s
zacc float Z acceleration m/s/s
xgyro float Angular speed around X axis rad/s
ygyro float Angular speed around Y axis rad/s
zgyro float Angular speed around Z axis rad/s
lat float Latitude in degrees
lon float Longitude in degrees
alt float Altitude in meters
std_dev_horz float Horizontal position standard deviation
std_dev_vert float Vertical position standard deviation
vn float True velocity in m/s in NORTH direction in earth-fixed NED frame
ve float True velocity in m/s in EAST direction in earth-fixed NED frame
vd float True velocity in m/s in DOWN direction in earth-fixed NED frame

Status generated by radio and injected into MAVLink stream.

Field Name Type Description
rssi uint8_t Local signal strength
remrssi uint8_t Remote signal strength
txbuf uint8_t Remaining free buffer space in percent.
noise uint8_t Background noise level
remnoise uint8_t Remote background noise level
rxerrors uint16_t Receive errors
fixed uint16_t Count of error corrected packets

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.

Time synchronization message.

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

Camera-IMU triggering and synchronisation message.

Field Name Type Description
time_usec uint64_t Timestamp for the image frame in microseconds
seq uint32_t Image frame sequence

The global position, as returned by the Global Positioning System (GPS). This is NOT the global position estimate of the sytem, but rather a RAW sensor value. See message GLOBAL_POSITION for the global position estimate. Coordinate frame is right-handed, Z-axis up (GPS frame).

Field Name Type Description
time_usec uint64_t Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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 Latitude (WGS84), in degrees * 1E7
lon int32_t Longitude (WGS84), in degrees * 1E7
alt int32_t Altitude (AMSL, not WGS84), in meters * 1000 (positive for up)
eph uint16_t GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
epv uint16_t GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: 65535
vel uint16_t GPS ground speed in cm/s. If unknown, set to: 65535
vn int16_t GPS velocity in cm/s in NORTH direction in earth-fixed NED frame
ve int16_t GPS velocity in cm/s in EAST direction in earth-fixed NED frame
vd int16_t GPS velocity in cm/s in DOWN direction in earth-fixed NED frame
cog uint16_t Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535
satellites_visible uint8_t Number of satellites visible. If unknown, set to 255

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

Field Name Type Description
time_usec uint64_t Timestamp (microseconds, synced to UNIX time or since system boot)
sensor_id uint8_t Sensor ID
integration_time_us uint32_t Integration time in microseconds. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the.
integrated_x float 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 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 RH rotation around X axis (rad)
integrated_ygyro float RH rotation around Y axis (rad)
integrated_zgyro float RH rotation around Z axis (rad)
temperature int16_t Temperature * 100 in centi-degrees Celsius
quality uint8_t Optical flow quality / confidence. 0: no valid flow, 255: maximum quality
time_delta_distance_us uint32_t Time in microseconds since the distance was sampled.
distance float Distance to the center of the flow field in meters. Positive value (including zero): distance known. Negative value: Unknown distance.

Sent from simulation to autopilot, avoids in contrast to HIL_STATE singularities. This packet is useful for high throughput applications such as hardware in the loop simulations.

Field Name Type Description
time_usec uint64_t Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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 Body frame roll / phi angular speed (rad/s)
pitchspeed float Body frame pitch / theta angular speed (rad/s)
yawspeed float Body frame yaw / psi angular speed (rad/s)
lat int32_t Latitude, expressed as * 1E7
lon int32_t Longitude, expressed as * 1E7
alt int32_t Altitude in meters, expressed as * 1000 (millimeters)
vx int16_t Ground X Speed (Latitude), expressed as cm/s
vy int16_t Ground Y Speed (Longitude), expressed as cm/s
vz int16_t Ground Z Speed (Altitude), expressed as cm/s
ind_airspeed uint16_t Indicated airspeed, expressed as cm/s
true_airspeed uint16_t True airspeed, expressed as cm/s
xacc int16_t X acceleration (mg)
yacc int16_t Y acceleration (mg)
zacc int16_t Z acceleration (mg)

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

Field Name Type Description
time_boot_ms uint32_t Timestamp (milliseconds since system boot)
xacc int16_t X acceleration (mg)
yacc int16_t Y acceleration (mg)
zacc int16_t Z acceleration (mg)
xgyro int16_t Angular speed around X axis (millirad /sec)
ygyro int16_t Angular speed around Y axis (millirad /sec)
zgyro int16_t Angular speed around Z axis (millirad /sec)
xmag int16_t X Magnetic field (milli tesla)
ymag int16_t Y Magnetic field (milli tesla)
zmag int16_t Z Magnetic field (milli tesla)

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 )

Reply to LOG_REQUEST_LIST

Field Name Type 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 UTC timestamp of log in seconds since 1970, or 0 if not available
size uint32_t Size of the log (may be approximate) in bytes

Request a chunk of a log

Field Name Type 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 Number of bytes

Reply to LOG_REQUEST_DATA

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

Erase all logs

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

Stop log transfer and resume normal logging

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

data for injecting into the onboard GPS (used for DGPS)

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

Second GPS data. Coordinate frame is right-handed, Z-axis up (GPS frame).

Field Name Type Description
time_usec uint64_t Timestamp (microseconds since UNIX epoch or microseconds since system boot)
fix_type uint8_t See the GPS_FIX_TYPE enum.
lat int32_t Latitude (WGS84), in degrees * 1E7
lon int32_t Longitude (WGS84), in degrees * 1E7
alt int32_t Altitude (AMSL, not WGS84), in meters * 1000 (positive for up)
eph uint16_t GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
epv uint16_t GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
vel uint16_t GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX
cog uint16_t 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
dgps_numch uint8_t Number of DGPS satellites
dgps_age uint32_t Age of DGPS info

Power supply status

Field Name Type Description
Vcc uint16_t 5V rail voltage in millivolts
Vservo uint16_t servo rail voltage in millivolts
flags uint16_t power supply status flags (see MAV_POWER_STATUS enum)

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 Description
device uint8_t See SERIAL_CONTROL_DEV enum
flags uint8_t See SERIAL_CONTROL_FLAG enum
timeout uint16_t Timeout for reply data in milliseconds
baudrate uint32_t Baudrate of transfer. Zero means no change.
count uint8_t how many bytes in this transfer
data uint8_t[70] serial data

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

Field Name Type Description
time_last_baseline_ms uint32_t Time since boot of last baseline message received in ms.
rtk_receiver_id uint8_t Identification of connected RTK receiver.
wn uint16_t GPS Week Number of last baseline
tow uint32_t GPS Time of Week of last baseline
rtk_health uint8_t GPS-specific health report for RTK data.
rtk_rate uint8_t Rate of baseline messages being received by GPS, in HZ
nsats uint8_t Current number of sats used for RTK calculation.
baseline_coords_type uint8_t Coordinate system of baseline. 0 == ECEF, 1 == NED
baseline_a_mm int32_t Current baseline in ECEF x or NED north component in mm.
baseline_b_mm int32_t Current baseline in ECEF y or NED east component in mm.
baseline_c_mm int32_t Current baseline in ECEF z or NED down component in mm.
accuracy uint32_t Current estimate of baseline accuracy.
iar_num_hypotheses int32_t Current number of integer ambiguity hypotheses.

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

Field Name Type Description
time_last_baseline_ms uint32_t Time since boot of last baseline message received in ms.
rtk_receiver_id uint8_t Identification of connected RTK receiver.
wn uint16_t GPS Week Number of last baseline
tow uint32_t GPS Time of Week of last baseline
rtk_health uint8_t GPS-specific health report for RTK data.
rtk_rate uint8_t Rate of baseline messages being received by GPS, in HZ
nsats uint8_t Current number of sats used for RTK calculation.
baseline_coords_type uint8_t Coordinate system of baseline. 0 == ECEF, 1 == NED
baseline_a_mm int32_t Current baseline in ECEF x or NED north component in mm.
baseline_b_mm int32_t Current baseline in ECEF y or NED east component in mm.
baseline_c_mm int32_t Current baseline in ECEF z or NED down component in mm.
accuracy uint32_t Current estimate of baseline accuracy.
iar_num_hypotheses int32_t Current number of integer ambiguity hypotheses.

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

Field Name Type Description
time_boot_ms uint32_t Timestamp (milliseconds since system boot)
xacc int16_t X acceleration (mg)
yacc int16_t Y acceleration (mg)
zacc int16_t Z acceleration (mg)
xgyro int16_t Angular speed around X axis (millirad /sec)
ygyro int16_t Angular speed around Y axis (millirad /sec)
zgyro int16_t Angular speed around Z axis (millirad /sec)
xmag int16_t X Magnetic field (milli tesla)
ymag int16_t Y Magnetic field (milli tesla)
zmag int16_t Z Magnetic field (milli tesla)

Field Name Type Description
type uint8_t type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h)
size uint32_t total data size in bytes (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 beeing sent (set on ACK only)
payload uint8_t 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 out of [1,100]

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

Field Name Type Description
time_boot_ms uint32_t Time since system boot
min_distance uint16_t Minimum distance the sensor can measure in centimeters
max_distance uint16_t Maximum distance the sensor can measure in centimeters
current_distance uint16_t Current distance reading
type uint8_t Type from MAV_DISTANCE_SENSOR enum.
id uint8_t Onboard ID of the sensor
orientation uint8_t Direction the sensor faces from MAV_SENSOR_ORIENTATION enum.
covariance uint8_t Measurement covariance in centimeters, 0 for unknown / invalid readings

Request for terrain data and terrain status

Field Name Type Description
lat int32_t Latitude of SW corner of first grid (degrees *10^7)
lon int32_t Longitude of SW corner of first grid (in degrees *10^7)
grid_spacing uint16_t Grid spacing in meters
mask uint64_t Bitmask of requested 4x4 grids (row major 8x7 array of grids, 56 bits)

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

Field Name Type Description
lat int32_t Latitude of SW corner of first grid (degrees *10^7)
lon int32_t Longitude of SW corner of first grid (in degrees *10^7)
grid_spacing uint16_t Grid spacing in meters
gridbit uint8_t bit within the terrain request mask
data int16_t[16] Terrain data in meters AMSL

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 Description
lat int32_t Latitude (degrees *10^7)
lon int32_t Longitude (degrees *10^7)

Response from a TERRAIN_CHECK request

Field Name Type Description
lat int32_t Latitude (degrees *10^7)
lon int32_t Longitude (degrees *10^7)
spacing uint16_t grid spacing (zero if terrain at this location unavailable)
terrain_height float Terrain height in meters AMSL
current_height float Current vehicle height above lat/lon terrain height (meters)
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

Barometer readings for 2nd barometer

Field Name Type Description
time_boot_ms uint32_t Timestamp (milliseconds since system boot)
press_abs float Absolute pressure (hectopascal)
press_diff float Differential pressure 1 (hectopascal)
temperature int16_t Temperature measurement (0.01 degrees celsius)

Motion capture attitude and position

Field Name Type Description
time_usec uint64_t Timestamp (micros since boot or Unix epoch)
q float[4] Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
x float X position in meters (NED)
y float Y position in meters (NED)
z float Z position in meters (NED)

Set the vehicle attitude and body angular rates.

Field Name Type Description
time_usec uint64_t Timestamp (micros since boot or Unix epoch)
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.

Set the vehicle attitude and body angular rates.

Field Name Type Description
time_usec uint64_t Timestamp (micros since boot or Unix epoch)
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.

The current system altitude.

Field Name Type Description
time_usec uint64_t Timestamp (micros since boot or Unix epoch)
altitude_monotonic float 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 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 AMSL by default and not the WGS84 altitude.
altitude_local float 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 This is the altitude above the home position. It resets on each change of the current home position.
altitude_terrain float 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 This is not the altitude, but the clear space below the system according to the fused clearance estimate. It generally should max out at the maximum range of e.g. the laser altimeter. It is generally a moving target. A negative value indicates no measurement available.

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

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).

Barometer readings for 3rd barometer

Field Name Type Description
time_boot_ms uint32_t Timestamp (milliseconds since system boot)
press_abs float Absolute pressure (hectopascal)
press_diff float Differential pressure 1 (hectopascal)
temperature int16_t Temperature measurement (0.01 degrees celsius)

current motion information from a designated system

Field Name Type Description
timestamp uint64_t Timestamp in milliseconds 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 Latitude (WGS84), in degrees * 1E7
lon int32_t Longitude (WGS84), in degrees * 1E7
alt float AMSL, in meters
vel float[3] target velocity (0,0,0) for unknown
acc float[3] 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

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

Field Name Type Description
time_usec uint64_t Timestamp (micros since boot or Unix epoch)
x_acc float X acceleration in body frame
y_acc float Y acceleration in body frame
z_acc float Z acceleration in body frame
x_vel float X velocity in body frame
y_vel float Y velocity in body frame
z_vel float Z velocity in body frame
x_pos float X position in local frame
y_pos float Y position in local frame
z_pos float Z position in local frame
airspeed float 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 Angular rate in roll axis
pitch_rate float Angular rate in pitch axis
yaw_rate float Angular rate in yaw axis

Battery information

Field Name Type Description
id uint8_t Battery ID
battery_function uint8_t Function of the battery
type uint8_t Type (chemistry) of the battery
temperature int16_t Temperature of the battery in centi-degrees celsius. INT16_MAX for unknown temperature.
voltages uint16_t[10] Battery voltage of cells, in millivolts (1 = 1 millivolt). Cells above the valid cell count for this battery should have the UINT16_MAX value.
current_battery int16_t Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
current_consumed int32_t Consumed charge, in milliampere hours (1 = 1 mAh), -1: autopilot does not provide mAh consumption estimate
energy_consumed int32_t Consumed energy, in HectoJoules (intergrated U*I*dt) (1 = 100 Joule), -1: autopilot does not provide energy consumption estimate
battery_remaining int8_t Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery

Version and capability of autopilot software

Field Name Type Description
capabilities uint64_t bitmask of capabilities (see MAV_PROTOCOL_CAPABILITY enum)
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

The location of a landing area captured from a downward facing camera

Field Name Type Description
time_usec uint64_t Timestamp (micros since boot or Unix epoch)
target_num uint8_t The ID of the target if multiple targets are present
frame uint8_t MAV_FRAME enum specifying the whether the following feilds are earth-frame, body-frame, etc.
angle_x float X-axis angular offset (in radians) of the target from the center of the image
angle_y float Y-axis angular offset (in radians) of the target from the center of the image
distance float Distance to the target from the vehicle in meters
size_x float Size in radians of target along x-axis
size_y float Size in radians of target along y-axis

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 innovaton test ratios show the magnitude of the sensor innovation divided by the innovation check threshold. Under normal operation the innovaton 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 Description
time_usec uint64_t Timestamp (micros since boot or Unix epoch)
flags uint16_t Integer bitmask indicating which EKF outputs are valid. See definition for ESTIMATOR_STATUS_FLAGS.
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 Horizontal position 1-STD accuracy relative to the EKF local origin (m)
pos_vert_accuracy float Vertical position 1-STD accuracy relative to the EKF local origin (m)

Field Name Type Description
time_usec uint64_t Timestamp (micros since boot or Unix epoch)
wind_x float Wind in X (NED) direction in m/s
wind_y float Wind in Y (NED) direction in m/s
wind_z float Wind in Z (NED) direction in m/s
var_horiz float Variability of the wind in XY. RMS of a 1 Hz lowpassed wind estimate.
var_vert float Variability of the wind in Z. RMS of a 1 Hz lowpassed wind estimate.
wind_alt float AMSL altitude (m) this measurement was taken at
horiz_accuracy float Horizontal speed 1-STD accuracy
vert_accuracy float Vertical speed 1-STD accuracy

GPS sensor input message. This is a raw sensor value sent by the GPS. This is NOT the global position estimate of the sytem.

Field Name Type Description
time_usec uint64_t Timestamp (micros since boot or Unix epoch)
gps_id uint8_t ID of the GPS for multiple GPS inputs
ignore_flags uint16_t Flags indicating which fields to ignore (see GPS_INPUT_IGNORE_FLAGS enum). All other fields must be provided.
time_week_ms uint32_t GPS time (milliseconds 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 Latitude (WGS84), in degrees * 1E7
lon int32_t Longitude (WGS84), in degrees * 1E7
alt float Altitude (AMSL, not WGS84), in m (positive for up)
hdop float GPS HDOP horizontal dilution of position in m
vdop float GPS VDOP vertical dilution of position in m
vn float GPS velocity in m/s in NORTH direction in earth-fixed NED frame
ve float GPS velocity in m/s in EAST direction in earth-fixed NED frame
vd float GPS velocity in m/s in DOWN direction in earth-fixed NED frame
speed_accuracy float GPS speed accuracy in m/s
horiz_accuracy float GPS horizontal accuracy in m
vert_accuracy float GPS vertical accuracy in m
satellites_visible uint8_t Number of satellites visible.

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

Field Name Type 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 data length
data uint8_t[180] RTCM message (may be fragmented)

Message appropriate for high latency connections like Iridium

Field Name Type Description
base_mode uint8_t System mode bitfield, see MAV_MODE_FLAG ENUM in mavlink/include/mavlink_types.h
custom_mode uint32_t A bitfield for use for autopilot-specific flags.
landed_state uint8_t The landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.
roll int16_t roll (centidegrees)
pitch int16_t pitch (centidegrees)
heading uint16_t heading (centidegrees)
throttle int8_t throttle (percentage)
heading_sp int16_t heading setpoint (centidegrees)
latitude int32_t Latitude, expressed as degrees * 1E7
longitude int32_t Longitude, expressed as degrees * 1E7
altitude_amsl int16_t Altitude above mean sea level (meters)
altitude_sp int16_t Altitude setpoint relative to the home position (meters)
airspeed uint8_t airspeed (m/s)
airspeed_sp uint8_t airspeed setpoint (m/s)
groundspeed uint8_t groundspeed (m/s)
climb_rate int8_t climb rate (m/s)
gps_nsat uint8_t Number of satellites visible. If unknown, set to 255
gps_fix_type uint8_t See the GPS_FIX_TYPE enum.
battery_remaining uint8_t Remaining battery (percentage)
temperature int8_t Autopilot temperature (degrees C)
temperature_air int8_t 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 distance to target (meters)

Vibration levels and accelerometer clipping

Field Name Type Description
time_usec uint64_t Timestamp (micros since boot or Unix epoch)
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

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 explicitely 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 Description
latitude int32_t Latitude (WGS84), in degrees * 1E7
longitude int32_t Longitude (WGS84, in degrees * 1E7
altitude int32_t Altitude (AMSL), in meters * 1000 (positive for up)
x float Local X position of this position in the local coordinate frame
y float Local Y position of this position in the local coordinate frame
z float 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 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 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 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.

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 explicitely 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 Description
target_system uint8_t System ID.
latitude int32_t Latitude (WGS84), in degrees * 1E7
longitude int32_t Longitude (WGS84, in degrees * 1E7
altitude int32_t Altitude (AMSL), in meters * 1000 (positive for up)
x float Local X position of this position in the local coordinate frame
y float Local Y position of this position in the local coordinate frame
z float 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 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 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 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.

This interface replaces DATA_STREAM

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

Provides state for additional features

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

The location and information of an ADSB vehicle

Field Name Type Description
ICAO_address uint32_t ICAO address
lat int32_t Latitude, expressed as degrees * 1E7
lon int32_t Longitude, expressed as degrees * 1E7
altitude_type uint8_t Type from ADSB_ALTITUDE_TYPE enum
altitude int32_t Altitude(ASL) in millimeters
heading uint16_t Course over ground in centidegrees
hor_velocity uint16_t The horizontal velocity in centimeters/second
ver_velocity int16_t The vertical velocity in centimeters/second, positive is up
callsign char[9] The callsign, 8+null
emitter_type uint8_t Type from ADSB_EMITTER_TYPE enum
tslc uint8_t Time since last communication in seconds
flags uint16_t Flags to indicate various statuses including valid data fields
squawk uint16_t Squawk code

Information about a potential collision

Field Name Type Description
src uint8_t Collision data source
id uint32_t Unique identifier, domain based on src field
action uint8_t Action that is being taken to avoid this collision
threat_level uint8_t How concerned the aircraft is about this collision
time_to_minimum_delta float Estimated time until collision occurs (seconds)
altitude_minimum_delta float Closest vertical distance in meters between vehicle and object
horizontal_minimum_delta float Closest horizontal distance in meteres between vehicle and object

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/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 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.

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

Field Name Type Description
name char[10] Name
time_usec uint64_t Timestamp
x float x
y float y
z float z

Send a key-value pair as float. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output.

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

Send a key-value pair as integer. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output.

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

Status text message. These messages are printed in yellow in the COMM console of QGroundControl. WARNING: They consume quite some bandwidth, so use only for important status and error messages. If implemented wisely, these messages are buffered on the MCU and sent only at a limited rate (e.g. 10 Hz).

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

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 Description
time_boot_ms uint32_t Timestamp (milliseconds since system boot)
ind uint8_t index of debug variable
value float DEBUG value

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

Report button state change

Field Name Type Description
time_boot_ms uint32_t Timestamp (milliseconds since system boot)
last_change_ms uint32_t Time of last change of button state
state uint8_t Bitmap state of buttons

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

WIP: Information about a camera

Field Name Type Description
time_boot_ms uint32_t Timestamp (milliseconds since system boot)
camera_id uint8_t Camera ID (1 for first, 2 for second, etc.)
camera_count uint8_t Number of cameras
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
focal_length float Focal length in mm
sensor_size_h float Image sensor size horizontal in mm
sensor_size_v float Image sensor size vertical in mm
resolution_h uint16_t Image resolution in pixels horizontal
resolution_v uint16_t Image resolution in pixels vertical
lens_id uint8_t Reserved for a lens ID

WIP: Settings of a camera, can be requested using MAV_CMD_REQUEST_CAMERA_SETTINGS and written using MAV_CMD_SET_CAMERA_SETTINGS

Field Name Type Description
time_boot_ms uint32_t Timestamp (milliseconds since system boot)
camera_id uint8_t Camera ID (1 for first, 2 for second, etc.)
exposure_mode uint8_t 0: full auto 1: full manual 2: aperture priority 3: shutter priority
aperture float Aperture is 1/value
shutter_speed float Shutter speed in seconds
iso_sensitivity float ISO sensitivity
ev float Exposure Value
white_balance float Color temperature in degrees Kelvin. (0: Auto WB)
mode_id uint8_t Reserved for a camera mode ID. (0: Photo 1: Video)
audio_recording uint8_t Audio recording enabled (0: off 1: on)
color_mode_id uint8_t Reserved for a color mode ID (Neutral, Vivid, etc.)
image_format_id uint8_t Reserved for image format ID (Jpeg/Raw/Jpeg+Raw)
image_quality_id uint8_t Reserved for image quality ID (Compression)
metering_mode_id uint8_t Reserved for metering mode ID (Average, Center, Spot, etc.)
flicker_mode_id uint8_t Reserved for flicker mode ID (Auto, 60Hz, 50Hz, etc.)

WIP: Information about a storage medium

Field Name Type Description
time_boot_ms uint32_t Timestamp (milliseconds 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 Status of storage (0 not available, 1 unformatted, 2 formatted)
total_capacity float Total capacity in MiB
used_capacity float Used capacity in MiB
available_capacity float Available capacity in MiB
read_speed float Read speed in MiB/s
write_speed float Write speed in MiB/s

WIP: Information about the status of a capture

Field Name Type Description
time_boot_ms uint32_t Timestamp (milliseconds since system boot)
camera_id uint8_t Camera ID (1 for first, 2 for second, etc.)
image_status uint8_t Current status of image capturing (0: not running, 1: interval capture in progress)
video_status uint8_t Current status of video capturing (0: not running, 1: capture in progress)
image_interval float Image capture interval in seconds
video_framerate float Video frame rate in Hz
image_resolution_h uint16_t Image resolution in pixels horizontal
image_resolution_v uint16_t Image resolution in pixels vertical
video_resolution_h uint16_t Video resolution in pixels horizontal
video_resolution_v uint16_t Video resolution in pixels vertical
recording_time_ms uint32_t Time in milliseconds since recording started
available_capacity float Available storage capacity in MiB

WIP: Information about a captured image

Field Name Type Description
time_boot_ms uint32_t Timestamp (milliseconds since system boot)
time_utc uint64_t Timestamp (microseconds since UNIX epoch) in UTC. 0 for unknown.
camera_id uint8_t Camera ID (1 for first, 2 for second, etc.)
lat int32_t Latitude, expressed as degrees * 1E7 where image was taken
lon int32_t Longitude, expressed as degrees * 1E7 where capture was taken
alt int32_t Altitude in meters, expressed as * 1E3 (AMSL, not WGS84) where image was taken
relative_alt int32_t Altitude above ground in meters, expressed as * 1E3 where image was taken
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.

WIP: Information about flight since last arming

Field Name Type Description
time_boot_ms uint32_t Timestamp (milliseconds since system boot)
arming_time_utc uint64_t Timestamp at arming (microseconds since UNIX epoch) in UTC, 0 for unknown
takeoff_time_utc uint64_t Timestamp at takeoff (microseconds since UNIX epoch) in UTC, 0 for unknown
flight_uuid uint64_t Universally unique identifier (UUID) of flight, should correspond to name of logfiles

WIP: Orientation of a mount

Field Name Type Description
time_boot_ms uint32_t Timestamp (milliseconds since system boot)
roll float Roll in degrees
pitch float Pitch in degrees
yaw float Yaw in degrees

A message containing logged data (see also MAV_CMD_LOGGING_START)

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 (can wrap)
length uint8_t data length
first_message_offset uint8_t 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

A message containing logged data which requires a LOGGING_ACK to be sent back

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 (can wrap)
length uint8_t data length
first_message_offset uint8_t 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

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)

WIP: Information about video stream

Field Name Type Description
camera_id uint8_t Camera ID (1 for first, 2 for second, etc.)
status uint8_t Current status of video streaming (0: not running, 1: in progress)
framerate float Frames per second
resolution_h uint16_t Resolution horizontal in pixels
resolution_v uint16_t Resolution vertical in pixels
bitrate uint32_t Bit rate in bits per second
rotation uint16_t Video image rotation clockwise
uri char[230] Video stream URI

WIP: Message that sets video stream settings

Field Name Type Description
target_system uint8_t system ID of the target
target_component uint8_t component ID of the target
camera_id uint8_t Camera ID (1 for first, 2 for second, etc.)
framerate float Frames per second (set to -1 for highest framerate possible)
resolution_h uint16_t Resolution horizontal in pixels (set to -1 for highest resolution possible)
resolution_v uint16_t Resolution vertical in pixels (set to -1 for highest resolution possible)
bitrate uint32_t Bit rate in bits per second (set to -1 for auto)
rotation uint16_t Video image rotation clockwise (0-359 degrees)
uri char[230] Video stream URI

WIP: 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.
© Someone. License: CC BY 4.0            Updated: 2017-12-05 22:41:17

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