common.xml uAvionix.xml 2 Mission command to operate EPM gripper gripper number (a number from 1 to max number of grippers on the vehicle) gripper action (0=release, 1=grab. See GRIPPER_ACTIONS enum) Empty Empty Empty Empty Empty Enable/disable autotune enable (1: enable, 0:disable) Empty Empty Empty Empty Empty Empty Mission command to wait for an altitude or downwards vertical speed. This is meant for high altitude balloon launches, allowing the aircraft to be idle until either an altitude is reached or a negative vertical speed is reached (indicating early balloon burst). The wiggle time is how often to wiggle the control surfaces to prevent them seizing up. altitude (m) descent speed (m/s) Wiggle Time (s) Empty Empty Empty Empty A system wide power-off event has been initiated. Empty Empty Empty Empty Empty Empty Empty FLY button has been clicked. Empty Empty Empty Empty Empty Empty Empty FLY button has been held for 1.5 seconds. Takeoff altitude Empty Empty Empty Empty Empty Empty PAUSE button has been clicked. 1 if Solo is in a shot mode, 0 otherwise Empty Empty Empty Empty Empty Empty Magnetometer calibration based on fixed position in earth field MagDeclinationDegrees MagInclinationDegrees MagIntensityMilliGauss YawDegrees Empty Empty Empty Initiate a magnetometer calibration uint8_t bitmask of magnetometers (0 means all) Automatically retry on failure (0=no retry, 1=retry). Save without user input (0=require input, 1=autosave). Delay (seconds) Autoreboot (0=user reboot, 1=autoreboot) Empty Empty Initiate a magnetometer calibration uint8_t bitmask of magnetometers (0 means all) Empty Empty Empty Empty Empty Empty Cancel a running magnetometer calibration uint8_t bitmask of magnetometers (0 means all) Empty Empty Empty Empty Empty Empty Used when doing accelerometer calibration. When sent to the GCS tells it what position to put the vehicle in. When sent to the vehicle says what position the vehicle is in. Position, one of the ACCELCAL_VEHICLE_POS enum values Empty Empty Empty Empty Empty Empty Reply with the version banner Empty Empty Empty Empty Empty Empty Empty Causes the gimbal to reset and boot as if it was just powered on Empty Empty Empty Empty Empty Empty Empty Command autopilot to get into factory test/diagnostic mode 0 means get out of test mode, 1 means get into test mode Empty Empty Empty Empty Empty Empty Reports progress and success or failure of gimbal axis calibration procedure Gimbal axis we're reporting calibration progress for Current calibration progress for this axis, 0x64=100% Status of the calibration Empty Empty Empty Empty Starts commutation calibration on the gimbal Empty Empty Empty Empty Empty Empty Empty Erases gimbal application and parameters Magic number Magic number Magic number Magic number Magic number Magic number Magic number pre-initialization disabled checking limits a limit has been breached taking action eg. RTL we're no longer in breach of a limit pre-initialization disabled checking limits Flags in RALLY_POINT message Flag set when requiring favorable winds for landing. Flag set when plane is to immediately descend to break altitude and land without GCS intervention. Flag not set when plane is to loiter at Rally point until commanded to land. Disable parachute release Enable parachute release Release parachute Gripper actions. gripper release of cargo gripper grabs onto cargo Camera heartbeat, announce camera component ID at 1hz Camera image triggered Camera connection lost Camera unknown error Camera battery low. Parameter p1 shows reported voltage Camera storage low. Parameter p1 shows reported shots remaining Camera storage low. Parameter p1 shows reported video minutes remaining Shooting photos, not video Shooting video, not stills Unable to achieve requested exposure (e.g. shutter speed too low) Closed loop feedback from camera, we know for sure it has successfully taken a picture Open loop camera, an image trigger has been requested but we can't know for sure it has successfully taken a picture Gimbal is powered on but has not started initializing yet Gimbal is currently running calibration on the pitch axis Gimbal is currently running calibration on the roll axis Gimbal is currently running calibration on the yaw axis Gimbal has finished calibrating and initializing, but is relaxed pending reception of first rate command from copter Gimbal is actively stabilizing Gimbal is relaxed because it missed more than 10 expected rate command messages in a row. Gimbal will move back to active mode when it receives a new rate command Gimbal yaw axis Gimbal pitch axis Gimbal roll axis Axis calibration is in progress Axis calibration succeeded Axis calibration failed Whether or not this axis requires calibration is unknown at this time This axis requires calibration This axis does not require calibration No GoPro connected The detected GoPro is not HeroBus compatible A HeroBus compatible GoPro is connected An unrecoverable error was encountered with the connected GoPro, it may require a power cycle GoPro is currently recording The write message with ID indicated succeeded The write message with ID indicated failed (Get/Set) (Get/Set) (___/Set) (Get/___) (Get/___) (Get/Set) (Get/Set) (Get/Set) (Get/Set) (Get/Set) (Get/Set) Hero 3+ Only (Get/Set) Hero 3+ Only (Get/Set) Hero 3+ Only (Get/Set) Hero 3+ Only (Get/Set) Hero 3+ Only (Get/Set) (Get/Set) Video mode Photo mode Burst mode, hero 3+ only Time lapse mode, hero 3+ only Multi shot mode, hero 4 only Playback mode, hero 4 only, silver only except when LCD or HDMI is connected to black Playback mode, hero 4 only Mode not yet known 848 x 480 (480p) 1280 x 720 (720p) 1280 x 960 (960p) 1920 x 1080 (1080p) 1920 x 1440 (1440p) 2704 x 1440 (2.7k-17:9) 2704 x 1524 (2.7k-16:9) 2704 x 2028 (2.7k-4:3) 3840 x 2160 (4k-16:9) 4096 x 2160 (4k-17:9) 1280 x 720 (720p-SuperView) 1920 x 1080 (1080p-SuperView) 2704 x 1520 (2.7k-SuperView) 3840 x 2160 (4k-SuperView) 12 FPS 15 FPS 24 FPS 25 FPS 30 FPS 48 FPS 50 FPS 60 FPS 80 FPS 90 FPS 100 FPS 120 FPS 240 FPS 12.5 FPS 0x00: Wide 0x01: Medium 0x02: Narrow 0=NTSC, 1=PAL 5MP Medium 7MP Medium 7MP Wide 10MP Wide 12MP Wide Auto 3000K 5500K 6500K Camera Raw Auto Neutral ISO 400 ISO 800 (Only Hero 4) ISO 1600 ISO 3200 (Only Hero 4) ISO 6400 Low Sharpness Medium Sharpness High Sharpness -5.0 EV (Hero 3+ Only) -4.5 EV (Hero 3+ Only) -4.0 EV (Hero 3+ Only) -3.5 EV (Hero 3+ Only) -3.0 EV (Hero 3+ Only) -2.5 EV (Hero 3+ Only) -2.0 EV -1.5 EV -1.0 EV -0.5 EV 0.0 EV +0.5 EV +1.0 EV +1.5 EV +2.0 EV +2.5 EV (Hero 3+ Only) +3.0 EV (Hero 3+ Only) +3.5 EV (Hero 3+ Only) +4.0 EV (Hero 3+ Only) +4.5 EV (Hero 3+ Only) +5.0 EV (Hero 3+ Only) Charging disabled Charging enabled Unknown gopro model Hero 3+ Silver (HeroBus not supported by GoPro) Hero 3+ Black Hero 4 Silver Hero 4 Black 3 Shots / 1 Second 5 Shots / 1 Second 10 Shots / 1 Second 10 Shots / 2 Second 10 Shots / 3 Second (Hero 4 Only) 30 Shots / 1 Second 30 Shots / 2 Second 30 Shots / 3 Second 30 Shots / 6 Second LED patterns off (return control to regular vehicle control) LEDs show pattern during firmware update Custom Pattern using custom bytes fields Flags in EKF_STATUS message set if EKF's attitude estimate is good set if EKF's horizontal velocity estimate is good set if EKF's vertical velocity estimate is good set if EKF's horizontal position (relative) estimate is good set if EKF's horizontal position (absolute) estimate is good set if EKF's vertical position (absolute) estimate is good set if EKF's vertical position (above ground) estimate is good EKF is in constant position mode and does not know it's absolute or relative position set if EKF's predicted horizontal position (relative) estimate is good set if EKF's predicted horizontal position (absolute) estimate is good Special ACK block numbers control activation of dataflash log streaming UAV to stop sending DataFlash blocks UAV to start sending DataFlash blocks Possible remote log data block statuses This block has NOT been received This block has been received Bus types for device operations I2C Device operation SPI Device operation Deepstall flight stage Flying to the landing point Building an estimate of the wind Waiting to breakout of the loiter to fly the approach Flying to the first arc point to turn around to the landing point Turning around back to the deepstall landing point Approaching the landing point Stalling and steering towards the land point Offsets and calibrations values for hardware sensors. This makes it easier to debug the calibration process. magnetometer X offset magnetometer Y offset magnetometer Z offset magnetic declination (radians) raw pressure from barometer raw temperature from barometer gyro X calibration gyro Y calibration gyro Z calibration accel X calibration accel Y calibration accel Z calibration Deprecated. Use MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS instead. Set the magnetometer offsets System ID Component ID magnetometer X offset magnetometer Y offset magnetometer Z offset state of APM memory heap top free memory free memory (32 bit) raw ADC output ADC output 1 ADC output 2 ADC output 3 ADC output 4 ADC output 5 ADC output 6 Configure on-board Camera Control System. System ID Component ID Mode enumeration from 1 to N //P, TV, AV, M, Etc (0 means ignore) Divisor number //e.g. 1000 means 1/1000 (0 means ignore) F stop number x 10 //e.g. 28 means 2.8 (0 means ignore) ISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore) Exposure type enumeration from 1 to N (0 means ignore) Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off) Extra parameters enumeration (0 means ignore) Correspondent value to given extra_param Control on-board Camera Control System to take shots. System ID Component ID 0: stop, 1: start or keep it up //Session control e.g. show/hide lens 1 to N //Zoom's absolute position (0 means ignore) -100 to 100 //Zooming step value to offset zoom from the current position 0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus 0: ignore, 1: shot or start filming Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once Extra parameters enumeration (0 means ignore) Correspondent value to given extra_param Message to configure a camera mount, directional antenna, etc. System ID Component ID mount operating mode (see MAV_MOUNT_MODE enum) (1 = yes, 0 = no) (1 = yes, 0 = no) (1 = yes, 0 = no) Message to control a camera mount, directional antenna, etc. System ID Component ID pitch(deg*100) or lat, depending on mount mode roll(deg*100) or lon depending on mount mode yaw(deg*100) or alt (in cm) depending on mount mode if "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING) Message with some status from APM to GCS about camera or antenna mount System ID Component ID pitch(deg*100) roll(deg*100) yaw(deg*100) A fence point. Used to set a point when from GCS -> MAV. Also used to return a point from MAV -> GCS System ID Component ID point index (first point is 1, 0 is for return point) total number of points (for sanity checking) Latitude of point Longitude of point Request a current fence point from MAV System ID Component ID point index (first point is 1, 0 is for return point) Status of geo-fencing. Sent in extended status stream when fencing enabled 0 if currently inside fence, 1 if outside number of fence breaches last breach type (see FENCE_BREACH_* enum) time of last breach in milliseconds since boot Status of DCM attitude estimator X gyro drift estimate rad/s Y gyro drift estimate rad/s Z gyro drift estimate rad/s average accel_weight average renormalisation value average error_roll_pitch value average error_yaw value Status of simulation environment, if used Roll angle (rad) Pitch angle (rad) Yaw angle (rad) X acceleration m/s/s Y acceleration m/s/s Z acceleration m/s/s Angular speed around X axis rad/s Angular speed around Y axis rad/s Angular speed around Z axis rad/s Latitude in degrees * 1E7 Longitude in degrees * 1E7 Status of key hardware board voltage (mV) I2C error count Status generated by radio local signal strength remote signal strength how full the tx buffer is as a percentage background noise level remote background noise level receive errors count of error corrected packets Status of AP_Limits. Sent in extended status stream when AP_Limits is enabled state of AP_Limits, (see enum LimitState, LIMITS_STATE) time of last breach in milliseconds since boot time of last recovery action in milliseconds since boot time of last successful recovery in milliseconds since boot time of last all-clear in milliseconds since boot number of fence breaches AP_Limit_Module bitfield of enabled modules, (see enum moduleid or LIMIT_MODULE) AP_Limit_Module bitfield of required modules, (see enum moduleid or LIMIT_MODULE) AP_Limit_Module bitfield of triggered modules, (see enum moduleid or LIMIT_MODULE) Wind estimation wind direction that wind is coming from (degrees) wind speed in ground plane (m/s) vertical wind speed (m/s) Data packet, size 16 data type data length raw data Data packet, size 32 data type data length raw data Data packet, size 64 data type data length raw data Data packet, size 96 data type data length raw data Rangefinder reporting distance in meters raw voltage if available, zero otherwise Airspeed auto-calibration GPS velocity north m/s GPS velocity east m/s GPS velocity down m/s Differential pressure pascals Estimated to true airspeed ratio Airspeed ratio EKF state x EKF state y EKF state z EKF Pax EKF Pby EKF Pcz A rally point. Used to set a point when from GCS -> MAV. Also used to return a point from MAV -> GCS System ID Component ID point index (first point is 0) total number of points (for sanity checking) Latitude of point in degrees * 1E7 Longitude of point in degrees * 1E7 Transit / loiter altitude in meters relative to home Break altitude in meters relative to home Heading to aim for when landing. In centi-degrees. See RALLY_FLAGS enum for definition of the bitmask. Request a current rally point from MAV. MAV should respond with a RALLY_POINT message. MAV should not respond if the request is invalid. System ID Component ID point index (first point is 0) Status of compassmot calibration throttle (percent*10) current (Ampere) interference (percent) Motor Compensation X Motor Compensation Y Motor Compensation Z Status of secondary AHRS filter if available Roll angle (rad) Pitch angle (rad) Yaw angle (rad) Altitude (MSL) Latitude in degrees * 1E7 Longitude in degrees * 1E7 Camera Event Image timestamp (microseconds since UNIX epoch, according to camera clock) System ID Camera ID Image index See CAMERA_STATUS_TYPES enum for definition of the bitmask Parameter 1 (meaning depends on event, see CAMERA_STATUS_TYPES enum) Parameter 2 (meaning depends on event, see CAMERA_STATUS_TYPES enum) Parameter 3 (meaning depends on event, see CAMERA_STATUS_TYPES enum) Parameter 4 (meaning depends on event, see CAMERA_STATUS_TYPES enum) Camera Capture Feedback Image timestamp (microseconds since UNIX epoch), as passed in by CAMERA_STATUS message (or autopilot if no CCB) System ID Camera ID Image index Latitude in (deg * 1E7) Longitude in (deg * 1E7) Altitude Absolute (meters AMSL) Altitude Relative (meters above HOME location) Camera Roll angle (earth frame, degrees, +-180) Camera Pitch angle (earth frame, degrees, +-180) Camera Yaw (earth frame, degrees, 0-360, true) Focal Length (mm) See CAMERA_FEEDBACK_FLAGS enum for definition of the bitmask Deprecated. Use BATTERY_STATUS instead. 2nd Battery status voltage in millivolts Battery current, in centiamperes (1 = 10 milliampere), -1: autopilot does not measure the current Status of third AHRS filter if available. This is for ANU research group (Ali and Sean) Roll angle (rad) Pitch angle (rad) Yaw angle (rad) Altitude (MSL) Latitude in degrees * 1E7 Longitude in degrees * 1E7 test variable1 test variable2 test variable3 test variable4 Request the autopilot version from the system/component. System ID Component ID Send a block of log data to remote location System ID Component ID log data block sequence number log data block Send Status of each log block that autopilot board might have sent System ID Component ID log data block sequence number log data block status Control vehicle LEDs System ID Component ID Instance (LED instance to control or 255 for all LEDs) Pattern (see LED_PATTERN_ENUM) Custom Byte Length Custom Bytes Reports progress of compass calibration. Compass being calibrated Bitmask of compasses being calibrated Status (see MAG_CAL_STATUS enum) Attempt number Completion percentage Bitmask of sphere sections (see http://en.wikipedia.org/wiki/Geodesic_grid) Body frame direction vector for display Body frame direction vector for display Body frame direction vector for display Reports results of completed compass calibration. Sent until MAG_CAL_ACK received. Compass being calibrated Bitmask of compasses being calibrated Status (see MAG_CAL_STATUS enum) 0=requires a MAV_CMD_DO_ACCEPT_MAG_CAL, 1=saved to parameters RMS milligauss residuals X offset Y offset Z offset X diagonal (matrix 11) Y diagonal (matrix 22) Z diagonal (matrix 33) X off-diagonal (matrix 12 and 21) Y off-diagonal (matrix 13 and 31) Z off-diagonal (matrix 32 and 23) EKF Status message including flags and variances Flags Velocity variance Horizontal Position variance Vertical Position variance Compass variance Terrain Altitude variance PID tuning information axis desired rate (degrees/s) achieved rate (degrees/s) FF component P component I component D component Deepstall path planning Landing latitude (deg * 1E7) Landing longitude (deg * 1E7) Final heading start point, latitude (deg * 1E7) Final heading start point, longitude (deg * 1E7) Arc entry point, latitude (deg * 1E7) Arc entry point, longitude (deg * 1E7) Altitude (meters) Distance the aircraft expects to travel during the deepstall Deepstall cross track error in meters (only valid when in DEEPSTALL_STAGE_LAND) Deepstall stage, see enum MAV_DEEPSTALL_STAGE 3 axis gimbal mesuraments System ID Component ID Time since last update (seconds) Delta angle X (radians) Delta angle Y (radians) Delta angle X (radians) Delta velocity X (m/s) Delta velocity Y (m/s) Delta velocity Z (m/s) Joint ROLL (radians) Joint EL (radians) Joint AZ (radians) Control message for rate gimbal System ID Component ID Demanded angular rate X (rad/s) Demanded angular rate Y (rad/s) Demanded angular rate Z (rad/s) 100 Hz gimbal torque command telemetry System ID Component ID Roll Torque Command Elevation Torque Command Azimuth Torque Command Heartbeat from a HeroBus attached GoPro Status Current capture mode additional status bits Request a GOPRO_COMMAND response from the GoPro System ID Component ID Command ID Response from a GOPRO_COMMAND get request Command ID Status Value Request to set a GOPRO_COMMAND with a desired System ID Component ID Command ID Value Response from a GOPRO_COMMAND set request Command ID Status RPM sensor output RPM Sensor1 RPM Sensor2