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<?xml version="1.0"?>
<mavlink>
<version>3</version>
<dialect>0</dialect>
<enums>
<enum name="MAV_AUTOPILOT">
<description>Micro air vehicle / autopilot classes. This identifies the individual model.</description>
<entry value="0" name="MAV_AUTOPILOT_GENERIC">
<description>Generic autopilot, full support for everything</description>
</entry>
<entry value="1" name="MAV_AUTOPILOT_RESERVED">
<description>Reserved for future use.</description>
</entry>
<entry value="2" name="MAV_AUTOPILOT_SLUGS">
<description>SLUGS autopilot, http://slugsuav.soe.ucsc.edu</description>
</entry>
<entry value="3" name="MAV_AUTOPILOT_ARDUPILOTMEGA">
<description>ArduPilotMega / ArduCopter, http://diydrones.com</description>
</entry>
<entry value="4" name="MAV_AUTOPILOT_OPENPILOT">
<description>OpenPilot, http://openpilot.org</description>
</entry>
<entry value="5" name="MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLY">
<description>Generic autopilot only supporting simple waypoints</description>
</entry>
<entry value="6" name="MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLY">
<description>Generic autopilot supporting waypoints and other simple navigation commands</description>
</entry>
<entry value="7" name="MAV_AUTOPILOT_GENERIC_MISSION_FULL">
<description>Generic autopilot supporting the full mission command set</description>
</entry>
<entry value="8" name="MAV_AUTOPILOT_INVALID">
<description>No valid autopilot, e.g. a GCS or other MAVLink component</description>
</entry>
<entry value="9" name="MAV_AUTOPILOT_PPZ">
<description>PPZ UAV - http://nongnu.org/paparazzi</description>
</entry>
<entry value="10" name="MAV_AUTOPILOT_UDB">
<description>UAV Dev Board</description>
</entry>
<entry value="11" name="MAV_AUTOPILOT_FP">
<description>FlexiPilot</description>
</entry>
<entry value="12" name="MAV_AUTOPILOT_PX4">
<description>PX4 Autopilot - http://pixhawk.ethz.ch/px4/</description>
</entry>
<entry value="13" name="MAV_AUTOPILOT_SMACCMPILOT">
<description>SMACCMPilot - http://smaccmpilot.org</description>
</entry>
<entry value="14" name="MAV_AUTOPILOT_AUTOQUAD">
<description>AutoQuad -- http://autoquad.org</description>
</entry>
<entry value="15" name="MAV_AUTOPILOT_ARMAZILA">
<description>Armazila -- http://armazila.com</description>
</entry>
<entry value="16" name="MAV_AUTOPILOT_AEROB">
<description>Aerob -- http://aerob.ru</description>
</entry>
<entry value="17" name="MAV_AUTOPILOT_ASLUAV">
<description>ASLUAV autopilot -- http://www.asl.ethz.ch</description>
</entry>
<entry value="18" name="MAV_AUTOPILOT_SMARTAP">
<description>SmartAP Autopilot - http://sky-drones.com</description>
</entry>
<entry value="19" name="MAV_AUTOPILOT_AIRRAILS">
<description>AirRails - http://uaventure.com</description>
</entry>
</enum>
<enum name="MAV_TYPE">
<entry value="0" name="MAV_TYPE_GENERIC">
<description>Generic micro air vehicle.</description>
</entry>
<entry value="1" name="MAV_TYPE_FIXED_WING">
<description>Fixed wing aircraft.</description>
</entry>
<entry value="2" name="MAV_TYPE_QUADROTOR">
<description>Quadrotor</description>
</entry>
<entry value="3" name="MAV_TYPE_COAXIAL">
<description>Coaxial helicopter</description>
</entry>
<entry value="4" name="MAV_TYPE_HELICOPTER">
<description>Normal helicopter with tail rotor.</description>
</entry>
<entry value="5" name="MAV_TYPE_ANTENNA_TRACKER">
<description>Ground installation</description>
</entry>
<entry value="6" name="MAV_TYPE_GCS">
<description>Operator control unit / ground control station</description>
</entry>
<entry value="7" name="MAV_TYPE_AIRSHIP">
<description>Airship, controlled</description>
</entry>
<entry value="8" name="MAV_TYPE_FREE_BALLOON">
<description>Free balloon, uncontrolled</description>
</entry>
<entry value="9" name="MAV_TYPE_ROCKET">
<description>Rocket</description>
</entry>
<entry value="10" name="MAV_TYPE_GROUND_ROVER">
<description>Ground rover</description>
</entry>
<entry value="11" name="MAV_TYPE_SURFACE_BOAT">
<description>Surface vessel, boat, ship</description>
</entry>
<entry value="12" name="MAV_TYPE_SUBMARINE">
<description>Submarine</description>
</entry>
<entry value="13" name="MAV_TYPE_HEXAROTOR">
<description>Hexarotor</description>
</entry>
<entry value="14" name="MAV_TYPE_OCTOROTOR">
<description>Octorotor</description>
</entry>
<entry value="15" name="MAV_TYPE_TRICOPTER">
<description>Tricopter</description>
</entry>
<entry value="16" name="MAV_TYPE_FLAPPING_WING">
<description>Flapping wing</description>
</entry>
<entry value="17" name="MAV_TYPE_KITE">
<description>Kite</description>
</entry>
<entry value="18" name="MAV_TYPE_ONBOARD_CONTROLLER">
<description>Onboard companion controller</description>
</entry>
<entry value="19" name="MAV_TYPE_VTOL_DUOROTOR">
<description>Two-rotor VTOL using control surfaces in vertical operation in addition. Tailsitter.</description>
</entry>
<entry value="20" name="MAV_TYPE_VTOL_QUADROTOR">
<description>Quad-rotor VTOL using a V-shaped quad config in vertical operation. Tailsitter.</description>
</entry>
<entry value="21" name="MAV_TYPE_VTOL_TILTROTOR">
<description>Tiltrotor VTOL</description>
</entry>
<!-- Entries up to 25 reserved for other VTOL airframes -->
<entry value="22" name="MAV_TYPE_VTOL_RESERVED2">
<description>VTOL reserved 2</description>
</entry>
<entry value="23" name="MAV_TYPE_VTOL_RESERVED3">
<description>VTOL reserved 3</description>
</entry>
<entry value="24" name="MAV_TYPE_VTOL_RESERVED4">
<description>VTOL reserved 4</description>
</entry>
<entry value="25" name="MAV_TYPE_VTOL_RESERVED5">
<description>VTOL reserved 5</description>
</entry>
<entry value="26" name="MAV_TYPE_GIMBAL">
<description>Onboard gimbal</description>
</entry>
<entry value="27" name="MAV_TYPE_ADSB">
<description>Onboard ADSB peripheral</description>
</entry>
<entry value="28" name="MAV_TYPE_PARAFOIL">
<description>Steerable, nonrigid airfoil</description>
</entry>
<entry value="29" name="MAV_TYPE_DODECAROTOR">
<description>Dodecarotor</description>
</entry>
<entry value="30" name="MAV_TYPE_CAMERA">
<description>Camera</description>
</entry>
<entry value="31" name="MAV_TYPE_CHARGING_STATION">
<description>Charging station</description>
</entry>
<entry value="32" name="MAV_TYPE_FLARM">
<description>Onboard FLARM collision avoidance system</description>
</entry>
</enum>
<enum name="FIRMWARE_VERSION_TYPE">
<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.</description>
<entry value="0" name="FIRMWARE_VERSION_TYPE_DEV">
<description>development release</description>
</entry>
<entry value="64" name="FIRMWARE_VERSION_TYPE_ALPHA">
<description>alpha release</description>
</entry>
<entry value="128" name="FIRMWARE_VERSION_TYPE_BETA">
<description>beta release</description>
</entry>
<entry value="192" name="FIRMWARE_VERSION_TYPE_RC">
<description>release candidate</description>
</entry>
<entry value="255" name="FIRMWARE_VERSION_TYPE_OFFICIAL">
<description>official stable release</description>
</entry>
</enum>
<enum name="HL_FAILURE_FLAG">
<description>Flags to report failure cases over the high latency telemtry.</description>
<entry value="1" name="HL_FAILURE_FLAG_GPS">
<description>GPS failure.</description>
</entry>
<entry value="2" name="HL_FAILURE_FLAG_DIFFERENTIAL_PRESSURE">
<description>Differential pressure sensor failure.</description>
</entry>
<entry value="4" name="HL_FAILURE_FLAG_ABSOLUTE_PRESSURE">
<description>Absolute pressure sensor failure.</description>
</entry>
<entry value="8" name="HL_FAILURE_FLAG_3D_ACCEL">
<description>Accelerometer sensor failure.</description>
</entry>
<entry value="16" name="HL_FAILURE_FLAG_3D_GYRO">
<description>Gyroscope sensor failure.</description>
</entry>
<entry value="32" name="HL_FAILURE_FLAG_3D_MAG">
<description>Magnetometer sensor failure.</description>
</entry>
<entry value="64" name="HL_FAILURE_FLAG_TERRAIN">
<description>Terrain subsystem failure.</description>
</entry>
<entry value="128" name="HL_FAILURE_FLAG_BATTERY">
<description>Battery failure/critical low battery.</description>
</entry>
<entry value="256" name="HL_FAILURE_FLAG_RC_RECEIVER">
<description>RC receiver failure/no rc connection.</description>
</entry>
<entry value="512" name="HL_FAILURE_FLAG_OFFBOARD_LINK">
<description>Offboard link failure.</description>
</entry>
<entry value="1024" name="HL_FAILURE_FLAG_ENGINE">
<description>Engine failure.</description>
</entry>
<entry value="2048" name="HL_FAILURE_FLAG_GEOFENCE">
<description>Geofence violation.</description>
</entry>
<entry value="4096" name="HL_FAILURE_FLAG_ESTIMATOR">
<description>Estimator failure, for example measurement rejection or large variances.</description>
</entry>
<entry value="8192" name="HL_FAILURE_FLAG_MISSION">
<description>Mission failure.</description>
</entry>
</enum>
<!-- WARNING: MAV_ACTION Enum is no longer supported - has been removed. Please use MAV_CMD -->
<enum name="MAV_MODE_FLAG">
<description>These flags encode the MAV mode.</description>
<entry value="128" name="MAV_MODE_FLAG_SAFETY_ARMED">
<description>0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly. Additional note: this flag is to be ignore when sent in the command MAV_CMD_DO_SET_MODE and MAV_CMD_COMPONENT_ARM_DISARM shall be used instead. The flag can still be used to report the armed state.</description>
</entry>
<entry value="64" name="MAV_MODE_FLAG_MANUAL_INPUT_ENABLED">
<description>0b01000000 remote control input is enabled.</description>
</entry>
<entry value="32" name="MAV_MODE_FLAG_HIL_ENABLED">
<description>0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational.</description>
</entry>
<entry value="16" name="MAV_MODE_FLAG_STABILIZE_ENABLED">
<description>0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around.</description>
</entry>
<entry value="8" name="MAV_MODE_FLAG_GUIDED_ENABLED">
<description>0b00001000 guided mode enabled, system flies waypoints / mission items.</description>
</entry>
<entry value="4" name="MAV_MODE_FLAG_AUTO_ENABLED">
<description>0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation.</description>
</entry>
<entry value="2" name="MAV_MODE_FLAG_TEST_ENABLED">
<description>0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations.</description>
</entry>
<entry value="1" name="MAV_MODE_FLAG_CUSTOM_MODE_ENABLED">
<description>0b00000001 Reserved for future use.</description>
</entry>
</enum>
<enum name="MAV_MODE_FLAG_DECODE_POSITION">
<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.</description>
<entry value="128" name="MAV_MODE_FLAG_DECODE_POSITION_SAFETY">
<description>First bit: 10000000</description>
</entry>
<entry value="64" name="MAV_MODE_FLAG_DECODE_POSITION_MANUAL">
<description>Second bit: 01000000</description>
</entry>
<entry value="32" name="MAV_MODE_FLAG_DECODE_POSITION_HIL">
<description>Third bit: 00100000</description>
</entry>
<entry value="16" name="MAV_MODE_FLAG_DECODE_POSITION_STABILIZE">
<description>Fourth bit: 00010000</description>
</entry>
<entry value="8" name="MAV_MODE_FLAG_DECODE_POSITION_GUIDED">
<description>Fifth bit: 00001000</description>
</entry>
<entry value="4" name="MAV_MODE_FLAG_DECODE_POSITION_AUTO">
<description>Sixt bit: 00000100</description>
</entry>
<entry value="2" name="MAV_MODE_FLAG_DECODE_POSITION_TEST">
<description>Seventh bit: 00000010</description>
</entry>
<entry value="1" name="MAV_MODE_FLAG_DECODE_POSITION_CUSTOM_MODE">
<description>Eighth bit: 00000001</description>
</entry>
</enum>
<enum name="MAV_GOTO">
<description>Override command, pauses current mission execution and moves immediately to a position</description>
<entry value="0" name="MAV_GOTO_DO_HOLD">
<description>Hold at the current position.</description>
</entry>
<entry value="1" name="MAV_GOTO_DO_CONTINUE">
<description>Continue with the next item in mission execution.</description>
</entry>
<entry value="2" name="MAV_GOTO_HOLD_AT_CURRENT_POSITION">
<description>Hold at the current position of the system</description>
</entry>
<entry value="3" name="MAV_GOTO_HOLD_AT_SPECIFIED_POSITION">
<description>Hold at the position specified in the parameters of the DO_HOLD action</description>
</entry>
</enum>
<enum name="MAV_MODE">
<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.</description>
<entry value="0" name="MAV_MODE_PREFLIGHT">
<description>System is not ready to fly, booting, calibrating, etc. No flag is set.</description>
</entry>
<entry value="80" name="MAV_MODE_STABILIZE_DISARMED">
<description>System is allowed to be active, under assisted RC control.</description>
</entry>
<entry value="208" name="MAV_MODE_STABILIZE_ARMED">
<description>System is allowed to be active, under assisted RC control.</description>
</entry>
<entry value="64" name="MAV_MODE_MANUAL_DISARMED">
<description>System is allowed to be active, under manual (RC) control, no stabilization</description>
</entry>
<entry value="192" name="MAV_MODE_MANUAL_ARMED">
<description>System is allowed to be active, under manual (RC) control, no stabilization</description>
</entry>
<entry value="88" name="MAV_MODE_GUIDED_DISARMED">
<description>System is allowed to be active, under autonomous control, manual setpoint</description>
</entry>
<entry value="216" name="MAV_MODE_GUIDED_ARMED">
<description>System is allowed to be active, under autonomous control, manual setpoint</description>
</entry>
<entry value="92" name="MAV_MODE_AUTO_DISARMED">
<description>System is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by waypoints)</description>
</entry>
<entry value="220" name="MAV_MODE_AUTO_ARMED">
<description>System is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by waypoints)</description>
</entry>
<entry value="66" name="MAV_MODE_TEST_DISARMED">
<description>UNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only.</description>
</entry>
<entry value="194" name="MAV_MODE_TEST_ARMED">
<description>UNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only.</description>
</entry>
</enum>
<enum name="MAV_STATE">
<entry value="0" name="MAV_STATE_UNINIT">
<description>Uninitialized system, state is unknown.</description>
</entry>
<entry name="MAV_STATE_BOOT">
<description>System is booting up.</description>
</entry>
<entry name="MAV_STATE_CALIBRATING">
<description>System is calibrating and not flight-ready.</description>
</entry>
<entry name="MAV_STATE_STANDBY">
<description>System is grounded and on standby. It can be launched any time.</description>
</entry>
<entry name="MAV_STATE_ACTIVE">
<description>System is active and might be already airborne. Motors are engaged.</description>
</entry>
<entry name="MAV_STATE_CRITICAL">
<description>System is in a non-normal flight mode. It can however still navigate.</description>
</entry>
<entry name="MAV_STATE_EMERGENCY">
<description>System is in a non-normal flight mode. It lost control over parts or over the whole airframe. It is in mayday and going down.</description>
</entry>
<entry name="MAV_STATE_POWEROFF">
<description>System just initialized its power-down sequence, will shut down now.</description>
</entry>
<entry name="MAV_STATE_FLIGHT_TERMINATION">
<description>System is terminating itself.</description>
</entry>
</enum>
<enum name="MAV_COMPONENT">
<entry value="0" name="MAV_COMP_ID_ALL">
<description/>
</entry>
<entry value="1" name="MAV_COMP_ID_AUTOPILOT1">
<description/>
</entry>
<entry value="100" name="MAV_COMP_ID_CAMERA">
<description/>
</entry>
<entry value="101" name="MAV_COMP_ID_CAMERA2">
<description/>
</entry>
<entry value="102" name="MAV_COMP_ID_CAMERA3">
<description/>
</entry>
<entry value="103" name="MAV_COMP_ID_CAMERA4">
<description/>
</entry>
<entry value="104" name="MAV_COMP_ID_CAMERA5">
<description/>
</entry>
<entry value="105" name="MAV_COMP_ID_CAMERA6">
<description/>
</entry>
<entry value="140" name="MAV_COMP_ID_SERVO1">
<description/>
</entry>
<entry value="141" name="MAV_COMP_ID_SERVO2">
<description/>
</entry>
<entry value="142" name="MAV_COMP_ID_SERVO3">
<description/>
</entry>
<entry value="143" name="MAV_COMP_ID_SERVO4">
<description/>
</entry>
<entry value="144" name="MAV_COMP_ID_SERVO5">
<description/>
</entry>
<entry value="145" name="MAV_COMP_ID_SERVO6">
<description/>
</entry>
<entry value="146" name="MAV_COMP_ID_SERVO7">
<description/>
</entry>
<entry value="147" name="MAV_COMP_ID_SERVO8">
<description/>
</entry>
<entry value="148" name="MAV_COMP_ID_SERVO9">
<description/>
</entry>
<entry value="149" name="MAV_COMP_ID_SERVO10">
<description/>
</entry>
<entry value="150" name="MAV_COMP_ID_SERVO11">
<description/>
</entry>
<entry value="151" name="MAV_COMP_ID_SERVO12">
<description/>
</entry>
<entry value="152" name="MAV_COMP_ID_SERVO13">
<description/>
</entry>
<entry value="153" name="MAV_COMP_ID_SERVO14">
<description/>
</entry>
<entry value="154" name="MAV_COMP_ID_GIMBAL">
<description/>
</entry>
<entry value="155" name="MAV_COMP_ID_LOG">
<description/>
</entry>
<entry value="156" name="MAV_COMP_ID_ADSB">
<description/>
</entry>
<entry value="157" name="MAV_COMP_ID_OSD">
<description>On Screen Display (OSD) devices for video links</description>
</entry>
<entry value="158" name="MAV_COMP_ID_PERIPHERAL">
<description>Generic autopilot peripheral component ID. Meant for devices that do not implement the parameter sub-protocol</description>
</entry>
<entry value="159" name="MAV_COMP_ID_QX1_GIMBAL">
<description/>
</entry>
<entry value="160" name="MAV_COMP_ID_FLARM">
<description/>
</entry>
<entry value="180" name="MAV_COMP_ID_MAPPER">
<description/>
</entry>
<entry value="190" name="MAV_COMP_ID_MISSIONPLANNER">
<description/>
</entry>
<entry value="195" name="MAV_COMP_ID_PATHPLANNER">
<description/>
</entry>
<entry value="200" name="MAV_COMP_ID_IMU">
<description/>
</entry>
<entry value="201" name="MAV_COMP_ID_IMU_2">
<description/>
</entry>
<entry value="202" name="MAV_COMP_ID_IMU_3">
<description/>
</entry>
<entry value="220" name="MAV_COMP_ID_GPS">
<description/>
</entry>
<entry value="221" name="MAV_COMP_ID_GPS2">
<description/>
</entry>
<entry value="240" name="MAV_COMP_ID_UDP_BRIDGE">
<description/>
</entry>
<entry value="241" name="MAV_COMP_ID_UART_BRIDGE">
<description/>
</entry>
<entry value="250" name="MAV_COMP_ID_SYSTEM_CONTROL">
<description/>
</entry>
</enum>
<enum name="MAV_SYS_STATUS_SENSOR">
<description>These encode the sensors whose status is sent as part of the SYS_STATUS message.</description>
<entry value="1" name="MAV_SYS_STATUS_SENSOR_3D_GYRO">
<description>0x01 3D gyro</description>
</entry>
<entry value="2" name="MAV_SYS_STATUS_SENSOR_3D_ACCEL">
<description>0x02 3D accelerometer</description>
</entry>
<entry value="4" name="MAV_SYS_STATUS_SENSOR_3D_MAG">
<description>0x04 3D magnetometer</description>
</entry>
<entry value="8" name="MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE">
<description>0x08 absolute pressure</description>
</entry>
<entry value="16" name="MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE">
<description>0x10 differential pressure</description>
</entry>
<entry value="32" name="MAV_SYS_STATUS_SENSOR_GPS">
<description>0x20 GPS</description>
</entry>
<entry value="64" name="MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW">
<description>0x40 optical flow</description>
</entry>
<entry value="128" name="MAV_SYS_STATUS_SENSOR_VISION_POSITION">
<description>0x80 computer vision position</description>
</entry>
<entry value="256" name="MAV_SYS_STATUS_SENSOR_LASER_POSITION">
<description>0x100 laser based position</description>
</entry>
<entry value="512" name="MAV_SYS_STATUS_SENSOR_EXTERNAL_GROUND_TRUTH">
<description>0x200 external ground truth (Vicon or Leica)</description>
</entry>
<entry value="1024" name="MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL">
<description>0x400 3D angular rate control</description>
</entry>
<entry value="2048" name="MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION">
<description>0x800 attitude stabilization</description>
</entry>
<entry value="4096" name="MAV_SYS_STATUS_SENSOR_YAW_POSITION">
<description>0x1000 yaw position</description>
</entry>
<entry value="8192" name="MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL">
<description>0x2000 z/altitude control</description>
</entry>
<entry value="16384" name="MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL">
<description>0x4000 x/y position control</description>
</entry>
<entry value="32768" name="MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS">
<description>0x8000 motor outputs / control</description>
</entry>
<entry value="65536" name="MAV_SYS_STATUS_SENSOR_RC_RECEIVER">
<description>0x10000 rc receiver</description>
</entry>
<entry value="131072" name="MAV_SYS_STATUS_SENSOR_3D_GYRO2">
<description>0x20000 2nd 3D gyro</description>
</entry>
<entry value="262144" name="MAV_SYS_STATUS_SENSOR_3D_ACCEL2">
<description>0x40000 2nd 3D accelerometer</description>
</entry>
<entry value="524288" name="MAV_SYS_STATUS_SENSOR_3D_MAG2">
<description>0x80000 2nd 3D magnetometer</description>
</entry>
<entry value="1048576" name="MAV_SYS_STATUS_GEOFENCE">
<description>0x100000 geofence</description>
</entry>
<entry value="2097152" name="MAV_SYS_STATUS_AHRS">
<description>0x200000 AHRS subsystem health</description>
</entry>
<entry value="4194304" name="MAV_SYS_STATUS_TERRAIN">
<description>0x400000 Terrain subsystem health</description>
</entry>
<entry value="8388608" name="MAV_SYS_STATUS_REVERSE_MOTOR">
<description>0x800000 Motors are reversed</description>
</entry>
<entry value="16777216" name="MAV_SYS_STATUS_LOGGING">
<description>0x1000000 Logging</description>
</entry>
<entry value="33554432" name="MAV_SYS_STATUS_SENSOR_BATTERY">
<description>0x2000000 Battery</description>
</entry>
<entry value="67108864" name="MAV_SYS_STATUS_SENSOR_PROXIMITY">
<description>0x4000000 Proximity</description>
</entry>
<entry value="134217728" name="MAV_SYS_STATUS_SENSOR_SATCOM">
<description>0x8000000 Satellite Communication </description>
</entry>
</enum>
<enum name="MAV_FRAME">
<entry value="0" name="MAV_FRAME_GLOBAL">
<description>Global coordinate frame, WGS84 coordinate system. First value / x: latitude, second value / y: longitude, third value / z: positive altitude over mean sea level (MSL).</description>
</entry>
<entry value="1" name="MAV_FRAME_LOCAL_NED">
<description>Local coordinate frame, Z-down (x: north, y: east, z: down).</description>
</entry>
<entry value="2" name="MAV_FRAME_MISSION">
<description>NOT a coordinate frame, indicates a mission command.</description>
</entry>
<entry value="3" name="MAV_FRAME_GLOBAL_RELATIVE_ALT">
<description>Global coordinate frame, WGS84 coordinate system, relative altitude over ground with respect to the home position. First value / x: latitude, second value / y: longitude, third value / z: positive altitude with 0 being at the altitude of the home location.</description>
</entry>
<entry value="4" name="MAV_FRAME_LOCAL_ENU">
<description>Local coordinate frame, Z-up (x: east, y: north, z: up).</description>
</entry>
<entry value="5" name="MAV_FRAME_GLOBAL_INT">
<description>Global coordinate frame, WGS84 coordinate system. First value / x: latitude in degrees*1.0e-7, second value / y: longitude in degrees*1.0e-7, third value / z: positive altitude over mean sea level (MSL).</description>
</entry>
<entry value="6" name="MAV_FRAME_GLOBAL_RELATIVE_ALT_INT">
<description>Global coordinate frame, WGS84 coordinate system, relative altitude over ground with respect to the home position. First value / x: latitude in degrees*10e-7, second value / y: longitude in degrees*10e-7, third value / z: positive altitude with 0 being at the altitude of the home location.</description>
</entry>
<entry value="7" name="MAV_FRAME_LOCAL_OFFSET_NED">
<description>Offset to the current local frame. Anything expressed in this frame should be added to the current local frame position.</description>
</entry>
<entry value="8" name="MAV_FRAME_BODY_NED">
<description>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.</description>
</entry>
<entry value="9" name="MAV_FRAME_BODY_OFFSET_NED">
<description>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.</description>
</entry>
<entry value="10" name="MAV_FRAME_GLOBAL_TERRAIN_ALT">
<description>Global coordinate frame with above terrain level altitude. WGS84 coordinate system, relative altitude over terrain with respect to the waypoint coordinate. First value / x: latitude in degrees, second value / y: longitude in degrees, third value / z: positive altitude in meters with 0 being at ground level in terrain model.</description>
</entry>
<entry value="11" name="MAV_FRAME_GLOBAL_TERRAIN_ALT_INT">
<description>Global coordinate frame with above terrain level altitude. WGS84 coordinate system, relative altitude over terrain with respect to the waypoint coordinate. First value / x: latitude in degrees*10e-7, second value / y: longitude in degrees*10e-7, third value / z: positive altitude in meters with 0 being at ground level in terrain model.</description>
</entry>
<entry value="12" name="MAV_FRAME_BODY_FRD">
<description>Body fixed frame of reference, Z-down (x: forward, y: right, z: down).</description>
</entry>
<entry value="13" name="MAV_FRAME_BODY_FLU">
<description>Body fixed frame of reference, Z-up (x: forward, y: left, z: up).</description>
</entry>
<entry value="14" name="MAV_FRAME_MOCAP_NED">
<description>Odometry local coordinate frame of data given by a motion capture system, Z-down (x: north, y: east, z: down).</description>
</entry>
<entry value="15" name="MAV_FRAME_MOCAP_ENU">
<description>Odometry local coordinate frame of data given by a motion capture system, Z-up (x: east, y: north, z: up).</description>
</entry>
<entry value="16" name="MAV_FRAME_VISION_NED">
<description>Odometry local coordinate frame of data given by a vision estimation system, Z-down (x: north, y: east, z: down).</description>
</entry>
<entry value="17" name="MAV_FRAME_VISION_ENU">
<description>Odometry local coordinate frame of data given by a vision estimation system, Z-up (x: east, y: north, z: up).</description>
</entry>
<entry value="18" name="MAV_FRAME_ESTIM_NED">
<description>Odometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-down (x: north, y: east, z: down).</description>
</entry>
<entry value="19" name="MAV_FRAME_ESTIM_ENU">
<description>Odometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-up (x: east, y: noth, z: up).</description>
</entry>
</enum>
<enum name="MAVLINK_DATA_STREAM_TYPE">
<entry name="MAVLINK_DATA_STREAM_IMG_JPEG">
<description/>
</entry>
<entry name="MAVLINK_DATA_STREAM_IMG_BMP">
<description/>
</entry>
<entry name="MAVLINK_DATA_STREAM_IMG_RAW8U">
<description/>
</entry>
<entry name="MAVLINK_DATA_STREAM_IMG_RAW32U">
<description/>
</entry>
<entry name="MAVLINK_DATA_STREAM_IMG_PGM">
<description/>
</entry>
<entry name="MAVLINK_DATA_STREAM_IMG_PNG">
<description/>
</entry>
</enum>
<!-- fenced mode enums -->
<enum name="FENCE_ACTION">
<entry value="0" name="FENCE_ACTION_NONE">
<description>Disable fenced mode</description>
</entry>
<entry value="1" name="FENCE_ACTION_GUIDED">
<description>Switched to guided mode to return point (fence point 0)</description>
</entry>
<entry value="2" name="FENCE_ACTION_REPORT">
<description>Report fence breach, but don't take action</description>
</entry>
<entry value="3" name="FENCE_ACTION_GUIDED_THR_PASS">
<description>Switched to guided mode to return point (fence point 0) with manual throttle control</description>
</entry>
<entry value="4" name="FENCE_ACTION_RTL">
<description>Switch to RTL (return to launch) mode and head for the return point.</description>
</entry>
</enum>
<enum name="FENCE_BREACH">
<entry value="0" name="FENCE_BREACH_NONE">
<description>No last fence breach</description>
</entry>
<entry value="1" name="FENCE_BREACH_MINALT">
<description>Breached minimum altitude</description>
</entry>
<entry value="2" name="FENCE_BREACH_MAXALT">
<description>Breached maximum altitude</description>
</entry>
<entry value="3" name="FENCE_BREACH_BOUNDARY">
<description>Breached fence boundary</description>
</entry>
</enum>
<!-- Camera Mount mode Enumeration -->
<enum name="MAV_MOUNT_MODE">
<description>Enumeration of possible mount operation modes</description>
<entry value="0" name="MAV_MOUNT_MODE_RETRACT">
<description>Load and keep safe position (Roll,Pitch,Yaw) from permant memory and stop stabilization</description>
</entry>
<entry value="1" name="MAV_MOUNT_MODE_NEUTRAL">
<description>Load and keep neutral position (Roll,Pitch,Yaw) from permanent memory.</description>
</entry>
<entry value="2" name="MAV_MOUNT_MODE_MAVLINK_TARGETING">
<description>Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization</description>
</entry>
<entry value="3" name="MAV_MOUNT_MODE_RC_TARGETING">
<description>Load neutral position and start RC Roll,Pitch,Yaw control with stabilization</description>
</entry>
<entry value="4" name="MAV_MOUNT_MODE_GPS_POINT">
<description>Load neutral position and start to point to Lat,Lon,Alt</description>
</entry>
</enum>
<!-- UAVCAN node health enumeration -->
<enum name="UAVCAN_NODE_HEALTH">
<description>Generalized UAVCAN node health</description>
<entry value="0" name="UAVCAN_NODE_HEALTH_OK">
<description>The node is functioning properly.</description>
</entry>
<entry value="1" name="UAVCAN_NODE_HEALTH_WARNING">
<description>A critical parameter went out of range or the node has encountered a minor failure.</description>
</entry>
<entry value="2" name="UAVCAN_NODE_HEALTH_ERROR">
<description>The node has encountered a major failure.</description>
</entry>
<entry value="3" name="UAVCAN_NODE_HEALTH_CRITICAL">
<description>The node has suffered a fatal malfunction.</description>
</entry>
</enum>
<!-- UAVCAN node mode enumeration -->
<enum name="UAVCAN_NODE_MODE">
<description>Generalized UAVCAN node mode</description>
<entry value="0" name="UAVCAN_NODE_MODE_OPERATIONAL">
<description>The node is performing its primary functions.</description>
</entry>
<entry value="1" name="UAVCAN_NODE_MODE_INITIALIZATION">
<description>The node is initializing; this mode is entered immediately after startup.</description>
</entry>
<entry value="2" name="UAVCAN_NODE_MODE_MAINTENANCE">
<description>The node is under maintenance.</description>
</entry>
<entry value="3" name="UAVCAN_NODE_MODE_SOFTWARE_UPDATE">
<description>The node is in the process of updating its software.</description>
</entry>
<entry value="7" name="UAVCAN_NODE_MODE_OFFLINE">
<description>The node is no longer available online.</description>
</entry>
</enum>
<enum name="MAV_CMD">
<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.</description>
<entry value="16" name="MAV_CMD_NAV_WAYPOINT">
<description>Navigate to waypoint.</description>
<param index="1">Hold time in decimal seconds. (ignored by fixed wing, time to stay at waypoint for rotary wing)</param>
<param index="2">Acceptance radius in meters (if the sphere with this radius is hit, the waypoint counts as reached)</param>
<param index="3">0 to pass through the WP, if &gt; 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.</param>
<param index="4">Desired yaw angle at waypoint (rotary wing). NaN for unchanged.</param>
<param index="5">Latitude</param>
<param index="6">Longitude</param>
<param index="7">Altitude</param>
</entry>
<entry value="17" name="MAV_CMD_NAV_LOITER_UNLIM">
<description>Loiter around this waypoint an unlimited amount of time</description>
<param index="1">Empty</param>
<param index="2">Empty</param>
<param index="3">Radius around waypoint, in meters. If positive loiter clockwise, else counter-clockwise</param>
<param index="4">Desired yaw angle.</param>
<param index="5">Latitude</param>
<param index="6">Longitude</param>
<param index="7">Altitude</param>
</entry>
<entry value="18" name="MAV_CMD_NAV_LOITER_TURNS">
<description>Loiter around this waypoint for X turns</description>
<param index="1">Turns</param>
<param index="2">Empty</param>
<param index="3">Radius around waypoint, in meters. If positive loiter clockwise, else counter-clockwise</param>
<param index="4">Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle</param>
<param index="5">Latitude</param>
<param index="6">Longitude</param>
<param index="7">Altitude</param>
</entry>
<entry value="19" name="MAV_CMD_NAV_LOITER_TIME">
<description>Loiter around this waypoint for X seconds</description>
<param index="1">Seconds (decimal)</param>
<param index="2">Empty</param>
<param index="3">Radius around waypoint, in meters. If positive loiter clockwise, else counter-clockwise</param>
<param index="4">Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle</param>
<param index="5">Latitude</param>
<param index="6">Longitude</param>
<param index="7">Altitude</param>
</entry>
<entry value="20" name="MAV_CMD_NAV_RETURN_TO_LAUNCH">
<description>Return to launch location</description>
<param index="1">Empty</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="21" name="MAV_CMD_NAV_LAND">
<description>Land at location</description>
<param index="1">Abort Alt</param>
<param index="2">Precision land mode. (0 = normal landing, 1 = opportunistic precision landing, 2 = required precsion landing)</param>
<param index="3">Empty</param>
<param index="4">Desired yaw angle. NaN for unchanged.</param>
<param index="5">Latitude</param>
<param index="6">Longitude</param>
<param index="7">Altitude (ground level)</param>
</entry>
<entry value="22" name="MAV_CMD_NAV_TAKEOFF">
<description>Takeoff from ground / hand</description>
<param index="1">Minimum pitch (if airspeed sensor present), desired pitch without sensor</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Yaw angle (if magnetometer present), ignored without magnetometer. NaN for unchanged.</param>
<param index="5">Latitude</param>
<param index="6">Longitude</param>
<param index="7">Altitude</param>
</entry>
<entry value="23" name="MAV_CMD_NAV_LAND_LOCAL">
<description>Land at local position (local frame only)</description>
<param index="1">Landing target number (if available)</param>
<param index="2">Maximum accepted offset from desired landing position [m] - computed magnitude from spherical coordinates: d = sqrt(x^2 + y^2 + z^2), which gives the maximum accepted distance between the desired landing position and the position where the vehicle is about to land</param>
<param index="3">Landing descend rate [ms^-1]</param>
<param index="4">Desired yaw angle [rad]</param>
<param index="5">Y-axis position [m]</param>
<param index="6">X-axis position [m]</param>
<param index="7">Z-axis / ground level position [m]</param>
</entry>
<entry value="24" name="MAV_CMD_NAV_TAKEOFF_LOCAL">
<description>Takeoff from local position (local frame only)</description>
<param index="1">Minimum pitch (if airspeed sensor present), desired pitch without sensor [rad]</param>
<param index="2">Empty</param>
<param index="3">Takeoff ascend rate [ms^-1]</param>
<param index="4">Yaw angle [rad] (if magnetometer or another yaw estimation source present), ignored without one of these</param>
<param index="5">Y-axis position [m]</param>
<param index="6">X-axis position [m]</param>
<param index="7">Z-axis position [m]</param>
</entry>
<entry value="25" name="MAV_CMD_NAV_FOLLOW">
<description>Vehicle following, i.e. this waypoint represents the position of a moving vehicle</description>
<param index="1">Following logic to use (e.g. loitering or sinusoidal following) - depends on specific autopilot implementation</param>
<param index="2">Ground speed of vehicle to be followed</param>
<param index="3">Radius around waypoint, in meters. If positive loiter clockwise, else counter-clockwise</param>
<param index="4">Desired yaw angle.</param>
<param index="5">Latitude</param>
<param index="6">Longitude</param>
<param index="7">Altitude</param>
</entry>
<entry value="30" name="MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT">
<description>Continue on the current course and climb/descend to specified altitude. When the altitude is reached continue to the next command (i.e., don't proceed to the next command until the desired altitude is reached.</description>
<param index="1">Climb or Descend (0 = Neutral, command completes when within 5m of this command's altitude, 1 = Climbing, command completes when at or above this command's altitude, 2 = Descending, command completes when at or below this command's altitude. </param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Desired altitude in meters</param>
</entry>
<entry value="31" name="MAV_CMD_NAV_LOITER_TO_ALT">
<description>Begin loiter at the specified Latitude and Longitude. If Lat=Lon=0, then loiter at the current position. Don't consider the navigation command complete (don't leave loiter) until the altitude has been reached. Additionally, if the Heading Required parameter is non-zero the aircraft will not leave the loiter until heading toward the next waypoint. </description>
<param index="1">Heading Required (0 = False)</param>
<param index="2">Radius in meters. If positive loiter clockwise, negative counter-clockwise, 0 means no change to standard loiter.</param>
<param index="3">Empty</param>
<param index="4">Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location</param>
<param index="5">Latitude</param>
<param index="6">Longitude</param>
<param index="7">Altitude</param>
</entry>
<entry value="32" name="MAV_CMD_DO_FOLLOW">
<description>Being following a target</description>
<param index="1">System ID (the system ID of the FOLLOW_TARGET beacon). Send 0 to disable follow-me and return to the default position hold mode</param>
<param index="2">RESERVED</param>
<param index="3">RESERVED</param>
<param index="4">altitude flag: 0: Keep current altitude, 1: keep altitude difference to target, 2: go to a fixed altitude above home</param>
<param index="5">altitude</param>
<param index="6">RESERVED</param>
<param index="7">TTL in seconds in which the MAV should go to the default position hold mode after a message rx timeout</param>
</entry>
<entry value="33" name="MAV_CMD_DO_FOLLOW_REPOSITION">
<description>Reposition the MAV after a follow target command has been sent</description>
<param index="1">Camera q1 (where 0 is on the ray from the camera to the tracking device)</param>
<param index="2">Camera q2</param>
<param index="3">Camera q3</param>
<param index="4">Camera q4</param>
<param index="5">altitude offset from target (m)</param>
<param index="6">X offset from target (m)</param>
<param index="7">Y offset from target (m)</param>
</entry>
<entry value="34" name="MAV_CMD_DO_ORBIT">
<wip/>
<!-- This message is work-in-progress it can therefore change, and should NOT be used in stable production environments -->
<description>Start orbiting on the circumference of a circle defined by the parameters. Setting any value NaN results in using defaults.</description>
<param index="1">Radius of the circle in meters. positive: Orbit clockwise. negative: Orbit counter-clockwise. </param>
<param index="2">Velocity tangential in m/s. NaN: Vehicle configuration default.</param>
<param index="3">Yaw behavior of the vehicle. 0: vehicle front points to the center (default). 1: Hold last heading. 2: Leave yaw uncontrolled.</param>
<param index="4">Reserved (e.g. for dynamic center beacon options)</param>
<param index="5">Center point latitude (if no MAV_FRAME specified) / X coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.</param>
<param index="6">Center point longitude (if no MAV_FRAME specified) / Y coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.</param>
<param index="7">Center point altitude (AMSL) (if no MAV_FRAME specified) / Z coordinate according to MAV_FRAME. NaN: Use current vehicle position or current center if already orbiting.</param>
</entry>
<entry value="80" name="MAV_CMD_NAV_ROI">
<deprecated since="2018-01" replaced_by="MAV_CMD_DO_SET_ROI_*"/>
<description>Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras.</description>
<param index="1">Region of interest mode. (see MAV_ROI enum)</param>
<param index="2">Waypoint index/ target ID. (see MAV_ROI enum)</param>
<param index="3">ROI index (allows a vehicle to manage multiple ROI's)</param>
<param index="4">Empty</param>
<param index="5">x the location of the fixed ROI (see MAV_FRAME)</param>
<param index="6">y</param>
<param index="7">z</param>
</entry>
<entry value="81" name="MAV_CMD_NAV_PATHPLANNING">
<description>Control autonomous path planning on the MAV.</description>
<param index="1">0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning</param>
<param index="2">0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid</param>
<param index="3">Empty</param>
<param index="4">Yaw angle at goal, in compass degrees, [0..360]</param>
<param index="5">Latitude/X of goal</param>
<param index="6">Longitude/Y of goal</param>
<param index="7">Altitude/Z of goal</param>
</entry>
<entry value="82" name="MAV_CMD_NAV_SPLINE_WAYPOINT">
<description>Navigate to waypoint using a spline path.</description>
<param index="1">Hold time in decimal seconds. (ignored by fixed wing, time to stay at waypoint for rotary wing)</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Latitude/X of goal</param>
<param index="6">Longitude/Y of goal</param>
<param index="7">Altitude/Z of goal</param>
</entry>
<entry value="84" name="MAV_CMD_NAV_VTOL_TAKEOFF">
<description>Takeoff from ground using VTOL mode</description>
<param index="1">Empty</param>
<param index="2">Front transition heading, see VTOL_TRANSITION_HEADING enum.</param>
<param index="3">Empty</param>
<param index="4">Yaw angle in degrees. NaN for unchanged.</param>
<param index="5">Latitude</param>
<param index="6">Longitude</param>
<param index="7">Altitude</param>
</entry>
<entry value="85" name="MAV_CMD_NAV_VTOL_LAND">
<description>Land using VTOL mode</description>
<param index="1">Empty</param>
<param index="2">Empty</param>
<param index="3">Approach altitude (with the same reference as the Altitude field). NaN if unspecified.</param>
<param index="4">Yaw angle in degrees. NaN for unchanged.</param>
<param index="5">Latitude</param>
<param index="6">Longitude</param>
<param index="7">Altitude (ground level)</param>
</entry>
<!-- IDs 90 and 91 are reserved until the end of 2014,
as they were used in some conflicting proposals
between PX4 and ArduPilot and need to be kept
unused to prevent errors -->
<entry value="92" name="MAV_CMD_NAV_GUIDED_ENABLE">
<description>hand control over to an external controller</description>
<param index="1">On / Off (&gt; 0.5f on)</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="93" name="MAV_CMD_NAV_DELAY">
<description>Delay the next navigation command a number of seconds or until a specified time</description>
<param index="1">Delay in seconds (decimal, -1 to enable time-of-day fields)</param>
<param index="2">hour (24h format, UTC, -1 to ignore)</param>
<param index="3">minute (24h format, UTC, -1 to ignore)</param>
<param index="4">second (24h format, UTC)</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="94" name="MAV_CMD_NAV_PAYLOAD_PLACE">
<description>Descend and place payload. Vehicle descends until it detects a hanging payload has reached the ground, the gripper is opened to release the payload</description>
<param index="1">Maximum distance to descend (meters)</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Latitude (deg * 1E7)</param>
<param index="6">Longitude (deg * 1E7)</param>
<param index="7">Altitude (meters)</param>
</entry>
<entry value="95" name="MAV_CMD_NAV_LAST">
<description>NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration</description>
<param index="1">Empty</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="112" name="MAV_CMD_CONDITION_DELAY">
<description>Delay mission state machine.</description>
<param index="1">Delay in seconds (decimal)</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="113" name="MAV_CMD_CONDITION_CHANGE_ALT">
<description>Ascend/descend at rate. Delay mission state machine until desired altitude reached.</description>
<param index="1">Descent / Ascend rate (m/s)</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Finish Altitude</param>
</entry>
<entry value="114" name="MAV_CMD_CONDITION_DISTANCE">
<description>Delay mission state machine until within desired distance of next NAV point.</description>
<param index="1">Distance (meters)</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="115" name="MAV_CMD_CONDITION_YAW">
<description>Reach a certain target angle.</description>
<param index="1">target angle: [0-360], 0 is north</param>
<param index="2">speed during yaw change:[deg per second]</param>
<param index="3">direction: negative: counter clockwise, positive: clockwise [-1,1]</param>
<param index="4">relative offset or absolute angle: [ 1,0]</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="159" name="MAV_CMD_CONDITION_LAST">
<description>NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration</description>
<param index="1">Empty</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="176" name="MAV_CMD_DO_SET_MODE">
<description>Set system mode.</description>
<param index="1">Mode, as defined by ENUM MAV_MODE</param>
<param index="2">Custom mode - this is system specific, please refer to the individual autopilot specifications for details.</param>
<param index="3">Custom sub mode - this is system specific, please refer to the individual autopilot specifications for details.</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="177" name="MAV_CMD_DO_JUMP">
<description>Jump to the desired command in the mission list. Repeat this action only the specified number of times</description>
<param index="1">Sequence number</param>
<param index="2">Repeat count</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="178" name="MAV_CMD_DO_CHANGE_SPEED">
<description>Change speed and/or throttle set points.</description>
<param index="1">Speed type (0=Airspeed, 1=Ground Speed)</param>
<param index="2">Speed (m/s, -1 indicates no change)</param>
<param index="3">Throttle ( Percent, -1 indicates no change)</param>
<param index="4">absolute or relative [0,1]</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="179" name="MAV_CMD_DO_SET_HOME">
<description>Changes the home location either to the current location or a specified location.</description>
<param index="1">Use current (1=use current location, 0=use specified location)</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Latitude</param>
<param index="6">Longitude</param>
<param index="7">Altitude</param>
</entry>
<entry value="180" name="MAV_CMD_DO_SET_PARAMETER">
<description>Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter.</description>
<param index="1">Parameter number</param>
<param index="2">Parameter value</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="181" name="MAV_CMD_DO_SET_RELAY">
<description>Set a relay to a condition.</description>
<param index="1">Relay number</param>
<param index="2">Setting (1=on, 0=off, others possible depending on system hardware)</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="182" name="MAV_CMD_DO_REPEAT_RELAY">
<description>Cycle a relay on and off for a desired number of cycles with a desired period.</description>
<param index="1">Relay number</param>
<param index="2">Cycle count</param>
<param index="3">Cycle time (seconds, decimal)</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="183" name="MAV_CMD_DO_SET_SERVO">
<description>Set a servo to a desired PWM value.</description>
<param index="1">Servo number</param>
<param index="2">PWM (microseconds, 1000 to 2000 typical)</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="184" name="MAV_CMD_DO_REPEAT_SERVO">
<description>Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period.</description>
<param index="1">Servo number</param>
<param index="2">PWM (microseconds, 1000 to 2000 typical)</param>
<param index="3">Cycle count</param>
<param index="4">Cycle time (seconds)</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="185" name="MAV_CMD_DO_FLIGHTTERMINATION">
<description>Terminate flight immediately</description>
<param index="1">Flight termination activated if &gt; 0.5</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="186" name="MAV_CMD_DO_CHANGE_ALTITUDE">
<description>Change altitude set point.</description>
<param index="1">Altitude in meters</param>
<param index="2">Mav frame of new altitude (see MAV_FRAME)</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="189" name="MAV_CMD_DO_LAND_START">
<description>Mission command to perform a landing. This is used as a marker in a mission to tell the autopilot where a sequence of mission items that represents a landing starts. It may also be sent via a COMMAND_LONG to trigger a landing, in which case the nearest (geographically) landing sequence in the mission will be used. The Latitude/Longitude is optional, and may be set to 0 if not needed. If specified then it will be used to help find the closest landing sequence.</description>
<param index="1">Empty</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Latitude</param>
<param index="6">Longitude</param>
<param index="7">Empty</param>
</entry>
<entry value="190" name="MAV_CMD_DO_RALLY_LAND">
<description>Mission command to perform a landing from a rally point.</description>
<param index="1">Break altitude (meters)</param>
<param index="2">Landing speed (m/s)</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="191" name="MAV_CMD_DO_GO_AROUND">
<description>Mission command to safely abort an autonomous landing.</description>
<param index="1">Altitude (meters)</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="192" name="MAV_CMD_DO_REPOSITION">
<description>Reposition the vehicle to a specific WGS84 global position.</description>
<param index="1">Ground speed, less than 0 (-1) for default</param>
<param index="2">Bitmask of option flags, see the MAV_DO_REPOSITION_FLAGS enum.</param>
<param index="3">Reserved</param>
<param index="4">Yaw heading, NaN for unchanged. For planes indicates loiter direction (0: clockwise, 1: counter clockwise)</param>
<param index="5">Latitude (deg * 1E7)</param>
<param index="6">Longitude (deg * 1E7)</param>
<param index="7">Altitude (meters)</param>
</entry>
<entry value="193" name="MAV_CMD_DO_PAUSE_CONTINUE">
<description>If in a GPS controlled position mode, hold the current position or continue.</description>
<param index="1">0: Pause current mission or reposition command, hold current position. 1: Continue mission. A VTOL capable vehicle should enter hover mode (multicopter and VTOL planes). A plane should loiter with the default loiter radius.</param>
<param index="2">Reserved</param>
<param index="3">Reserved</param>
<param index="4">Reserved</param>
<param index="5">Reserved</param>
<param index="6">Reserved</param>
<param index="7">Reserved</param>
</entry>
<entry value="194" name="MAV_CMD_DO_SET_REVERSE">
<description>Set moving direction to forward or reverse.</description>
<param index="1">Direction (0=Forward, 1=Reverse)</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="195" name="MAV_CMD_DO_SET_ROI_LOCATION">
<description>Sets the region of interest (ROI) to a location. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras.</description>
<param index="1">Empty</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Latitude</param>
<param index="6">Longitude</param>
<param index="7">Altitude</param>
</entry>
<entry value="196" name="MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET">
<description>Sets the region of interest (ROI) to be toward next waypoint, with optional pitch/roll/yaw offset. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras.</description>
<param index="1">Empty</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">pitch offset from next waypoint</param>
<param index="6">roll offset from next waypoint</param>
<param index="7">yaw offset from next waypoint</param>
</entry>
<entry value="197" name="MAV_CMD_DO_SET_ROI_NONE">
<description>Cancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras.</description>
<param index="1">Empty</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="200" name="MAV_CMD_DO_CONTROL_VIDEO">
<description>Control onboard camera system.</description>
<param index="1">Camera ID (-1 for all)</param>
<param index="2">Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw</param>
<param index="3">Transmission mode: 0: video stream, &gt;0: single images every n seconds (decimal)</param>
<param index="4">Recording: 0: disabled, 1: enabled compressed, 2: enabled raw</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="201" name="MAV_CMD_DO_SET_ROI">
<deprecated since="2018-01" replaced_by="MAV_CMD_DO_SET_ROI_*"/>
<description>Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras.</description>
<param index="1">Region of interest mode. (see MAV_ROI enum)</param>
<param index="2">Waypoint index/ target ID. (see MAV_ROI enum)</param>
<param index="3">ROI index (allows a vehicle to manage multiple ROI's)</param>
<param index="4">Empty</param>
<param index="5">MAV_ROI_WPNEXT: pitch offset from next waypoint, MAV_ROI_LOCATION: latitude</param>
<param index="6">MAV_ROI_WPNEXT: roll offset from next waypoint, MAV_ROI_LOCATION: longitude</param>
<param index="7">MAV_ROI_WPNEXT: yaw offset from next waypoint, MAV_ROI_LOCATION: altitude</param>
</entry>
<!-- Camera Controller Mission Commands Enumeration -->
<entry value="202" name="MAV_CMD_DO_DIGICAM_CONFIGURE">
<description>THIS INTERFACE IS DEPRECATED since 2018-01. Please use PARAM_EXT_XXX messages and the camera definition format described in https://mavlink.io/en/protocol/camera_def.html.</description>
<param index="1">Modes: P, TV, AV, M, Etc</param>
<param index="2">Shutter speed: Divisor number for one second</param>
<param index="3">Aperture: F stop number</param>
<param index="4">ISO number e.g. 80, 100, 200, Etc</param>
<param index="5">Exposure type enumerator</param>
<param index="6">Command Identity</param>
<param index="7">Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)</param>
</entry>
<entry value="203" name="MAV_CMD_DO_DIGICAM_CONTROL">
<description>THIS INTERFACE IS DEPRECATED since 2018-01. Please use PARAM_EXT_XXX messages and the camera definition format described in https://mavlink.io/en/protocol/camera_def.html.</description>
<param index="1">Session control e.g. show/hide lens</param>
<param index="2">Zoom's absolute position</param>
<param index="3">Zooming step value to offset zoom from the current position</param>
<param index="4">Focus Locking, Unlocking or Re-locking</param>
<param index="5">Shooting Command</param>
<param index="6">Command Identity</param>
<param index="7">Test shot identifier. If set to 1, image will only be captured, but not counted towards internal frame count.</param>
</entry>
<!-- Camera Mount Mission Commands Enumeration -->
<entry value="204" name="MAV_CMD_DO_MOUNT_CONFIGURE">
<description>Mission command to configure a camera or antenna mount</description>
<param index="1">Mount operation mode (see MAV_MOUNT_MODE enum)</param>
<param index="2">stabilize roll? (1 = yes, 0 = no)</param>
<param index="3">stabilize pitch? (1 = yes, 0 = no)</param>
<param index="4">stabilize yaw? (1 = yes, 0 = no)</param>
<param index="5">roll input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)</param>
<param index="6">pitch input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)</param>
<param index="7">yaw input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)</param>
</entry>
<entry value="205" name="MAV_CMD_DO_MOUNT_CONTROL">
<description>Mission command to control a camera or antenna mount</description>
<param index="1">pitch depending on mount mode (degrees or degrees/second depending on pitch input).</param>
<param index="2">roll depending on mount mode (degrees or degrees/second depending on roll input).</param>
<param index="3">yaw depending on mount mode (degrees or degrees/second depending on yaw input).</param>
<param index="4">alt in meters depending on mount mode.</param>
<param index="5">latitude in degrees * 1E7, set if appropriate mount mode.</param>
<param index="6">longitude in degrees * 1E7, set if appropriate mount mode.</param>
<param index="7">MAV_MOUNT_MODE enum value</param>
</entry>
<entry value="206" name="MAV_CMD_DO_SET_CAM_TRIGG_DIST">
<description>Mission command to set camera trigger distance for this flight. The camera is triggered each time this distance is exceeded. This command can also be used to set the shutter integration time for the camera.</description>
<param index="1">Camera trigger distance (meters). 0 to stop triggering.</param>
<param index="2">Camera shutter integration time (milliseconds). -1 or 0 to ignore</param>
<param index="3">Trigger camera once immediately. (0 = no trigger, 1 = trigger)</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="207" name="MAV_CMD_DO_FENCE_ENABLE">
<description>Mission command to enable the geofence</description>
<param index="1">enable? (0=disable, 1=enable, 2=disable_floor_only)</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="208" name="MAV_CMD_DO_PARACHUTE">
<description>Mission command to trigger a parachute</description>
<param index="1">action (0=disable, 1=enable, 2=release, for some systems see PARACHUTE_ACTION enum, not in general message set.)</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="209" name="MAV_CMD_DO_MOTOR_TEST">
<description>Mission command to perform motor test</description>
<param index="1">motor number (a number from 1 to max number of motors on the vehicle)</param>
<param index="2">throttle type (0=throttle percentage, 1=PWM, 2=pilot throttle channel pass-through. See MOTOR_TEST_THROTTLE_TYPE enum)</param>
<param index="3">throttle</param>
<param index="4">timeout (in seconds)</param>
<param index="5">motor count (number of motors to test to test in sequence, waiting for the timeout above between them; 0=1 motor, 1=1 motor, 2=2 motors...)</param>
<param index="6">motor test order (See MOTOR_TEST_ORDER enum)</param>
<param index="7">Empty</param>
</entry>
<entry value="210" name="MAV_CMD_DO_INVERTED_FLIGHT">
<description>Change to/from inverted flight</description>
<param index="1">inverted (0=normal, 1=inverted)</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<!-- 211 and 212 used in dialects -->
<entry value="213" name="MAV_CMD_NAV_SET_YAW_SPEED">
<description>Sets a desired vehicle turn angle and speed change</description>
<param index="1">yaw angle to adjust steering by in centidegress</param>
<param index="2">speed - normalized to 0 .. 1</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="214" name="MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL">
<description>Mission command to set camera trigger interval for this flight. If triggering is enabled, the camera is triggered each time this interval expires. This command can also be used to set the shutter integration time for the camera.</description>
<param index="1">Camera trigger cycle time (milliseconds). -1 or 0 to ignore.</param>
<param index="2">Camera shutter integration time (milliseconds). Should be less than trigger cycle time. -1 or 0 to ignore.</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="220" name="MAV_CMD_DO_MOUNT_CONTROL_QUAT">
<description>Mission command to control a camera or antenna mount, using a quaternion as reference.</description>
<param index="1">q1 - quaternion param #1, w (1 in null-rotation)</param>
<param index="2">q2 - quaternion param #2, x (0 in null-rotation)</param>
<param index="3">q3 - quaternion param #3, y (0 in null-rotation)</param>
<param index="4">q4 - quaternion param #4, z (0 in null-rotation)</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="221" name="MAV_CMD_DO_GUIDED_MASTER">
<description>set id of master controller</description>
<param index="1">System ID</param>
<param index="2">Component ID</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="222" name="MAV_CMD_DO_GUIDED_LIMITS">
<description>set limits for external control</description>
<param index="1">timeout - maximum time (in seconds) that external controller will be allowed to control vehicle. 0 means no timeout</param>
<param index="2">Absolute altitude (AMSL) min, in meters - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit</param>
<param index="3">Absolute altitude (AMSL) max, in meters - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit</param>
<param index="4">Horizontal move limit (AMSL), in meters - if vehicle moves more than this distance from its location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="223" name="MAV_CMD_DO_ENGINE_CONTROL">
<description>Control vehicle engine. This is interpreted by the vehicles engine controller to change the target engine state. It is intended for vehicles with internal combustion engines</description>
<param index="1">0: Stop engine, 1:Start Engine</param>
<param index="2">0: Warm start, 1:Cold start. Controls use of choke where applicable</param>
<param index="3">Height delay (meters). This is for commanding engine start only after the vehicle has gained the specified height. Used in VTOL vehicles during takeoff to start engine after the aircraft is off the ground. Zero for no delay.</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="224" name="MAV_CMD_DO_SET_MISSION_CURRENT">
<description>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).</description>
<param index="1">Mission sequence value to set</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="240" name="MAV_CMD_DO_LAST">
<description>NOP - This command is only used to mark the upper limit of the DO commands in the enumeration</description>
<param index="1">Empty</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="241" name="MAV_CMD_PREFLIGHT_CALIBRATION">
<description>Trigger calibration. This command will be only accepted if in pre-flight mode. Except for Temperature Calibration, only one sensor should be set in a single message and all others should be zero.</description>
<param index="1">1: gyro calibration, 3: gyro temperature calibration</param>
<param index="2">1: magnetometer calibration</param>
<param index="3">1: ground pressure calibration</param>
<param index="4">1: radio RC calibration, 2: RC trim calibration</param>
<param index="5">1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature calibration, 4: simple accelerometer calibration</param>
<param index="6">1: APM: compass/motor interference calibration (PX4: airspeed calibration, deprecated), 2: airspeed calibration</param>
<param index="7">1: ESC calibration, 3: barometer temperature calibration</param>
</entry>
<entry value="242" name="MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS">
<description>Set sensor offsets. This command will be only accepted if in pre-flight mode.</description>
<param index="1">Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow, 5: second magnetometer, 6: third magnetometer</param>
<param index="2">X axis offset (or generic dimension 1), in the sensor's raw units</param>
<param index="3">Y axis offset (or generic dimension 2), in the sensor's raw units</param>
<param index="4">Z axis offset (or generic dimension 3), in the sensor's raw units</param>
<param index="5">Generic dimension 4, in the sensor's raw units</param>
<param index="6">Generic dimension 5, in the sensor's raw units</param>
<param index="7">Generic dimension 6, in the sensor's raw units</param>
</entry>
<entry value="243" name="MAV_CMD_PREFLIGHT_UAVCAN">
<description>Trigger UAVCAN config. This command will be only accepted if in pre-flight mode.</description>
<param index="1">1: Trigger actuator ID assignment and direction mapping.</param>
<param index="2">Reserved</param>
<param index="3">Reserved</param>
<param index="4">Reserved</param>
<param index="5">Reserved</param>
<param index="6">Reserved</param>
<param index="7">Reserved</param>
</entry>
<entry value="245" name="MAV_CMD_PREFLIGHT_STORAGE">
<description>Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode.</description>
<param index="1">Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults</param>
<param index="2">Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults</param>
<param index="3">Onboard logging: 0: Ignore, 1: Start default rate logging, -1: Stop logging, &gt; 1: start logging with rate of param 3 in Hz (e.g. set to 1000 for 1000 Hz logging)</param>
<param index="4">Reserved</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="246" name="MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN">
<description>Request the reboot or shutdown of system components.</description>
<param index="1">0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot, 3: Reboot autopilot and keep it in the bootloader until upgraded.</param>
<param index="2">0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer, 3: Reboot onboard computer and keep it in the bootloader until upgraded.</param>
<param index="3">WIP: 0: Do nothing for camera, 1: Reboot onboard camera, 2: Shutdown onboard camera, 3: Reboot onboard camera and keep it in the bootloader until upgraded</param>
<param index="4">WIP: 0: Do nothing for mount (e.g. gimbal), 1: Reboot mount, 2: Shutdown mount, 3: Reboot mount and keep it in the bootloader until upgraded</param>
<param index="5">Reserved, send 0</param>
<param index="6">Reserved, send 0</param>
<param index="7">WIP: ID (e.g. camera ID -1 for all IDs)</param>
</entry>
<entry value="252" name="MAV_CMD_OVERRIDE_GOTO">
<description>Hold / continue the current action</description>
<param index="1">MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with next item in mission plan</param>
<param index="2">MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position</param>
<param index="3">MAV_FRAME coordinate frame of hold point</param>
<param index="4">Desired yaw angle in degrees</param>
<param index="5">Latitude / X position</param>
<param index="6">Longitude / Y position</param>
<param index="7">Altitude / Z position</param>
</entry>
<entry value="300" name="MAV_CMD_MISSION_START">
<description>start running a mission</description>
<param index="1">first_item: the first mission item to run</param>
<param index="2">last_item: the last mission item to run (after this item is run, the mission ends)</param>
</entry>
<entry value="400" name="MAV_CMD_COMPONENT_ARM_DISARM">
<description>Arms / Disarms a component</description>
<param index="1">1 to arm, 0 to disarm</param>
</entry>
<entry value="410" name="MAV_CMD_GET_HOME_POSITION">
<description>Request the home position from the vehicle.</description>
<param index="1">Reserved</param>
<param index="2">Reserved</param>
<param index="3">Reserved</param>
<param index="4">Reserved</param>
<param index="5">Reserved</param>
<param index="6">Reserved</param>
<param index="7">Reserved</param>
</entry>
<entry value="500" name="MAV_CMD_START_RX_PAIR">
<description>Starts receiver pairing</description>
<param index="1">0:Spektrum</param>
<param index="2">RC type (see RC_TYPE enum)</param>
</entry>
<entry value="510" name="MAV_CMD_GET_MESSAGE_INTERVAL">
<description>Request the interval between messages for a particular MAVLink message ID</description>
<param index="1">The MAVLink message ID</param>
</entry>
<entry value="511" name="MAV_CMD_SET_MESSAGE_INTERVAL">
<description>Set the interval between messages for a particular MAVLink message ID. This interface replaces REQUEST_DATA_STREAM</description>
<param index="1">The MAVLink message ID</param>
<param index="2">The interval between two messages, in microseconds. Set to -1 to disable and 0 to request default rate.</param>
</entry>
<entry value="519" name="MAV_CMD_REQUEST_PROTOCOL_VERSION">
<description>Request MAVLink protocol version compatibility</description>
<param index="1">1: Request supported protocol versions by all nodes on the network</param>
<param index="2">Reserved (all remaining params)</param>
</entry>
<entry value="520" name="MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES">
<description>Request autopilot capabilities</description>
<param index="1">1: Request autopilot version</param>
<param index="2">Reserved (all remaining params)</param>
</entry>
<entry value="521" name="MAV_CMD_REQUEST_CAMERA_INFORMATION">
<description>Request camera information (CAMERA_INFORMATION).</description>
<param index="1">0: No action 1: Request camera capabilities</param>
<param index="2">Reserved (all remaining params)</param>
</entry>
<entry value="522" name="MAV_CMD_REQUEST_CAMERA_SETTINGS">
<description>Request camera settings (CAMERA_SETTINGS).</description>
<param index="1">0: No Action 1: Request camera settings</param>
<param index="2">Reserved (all remaining params)</param>
</entry>
<entry value="525" name="MAV_CMD_REQUEST_STORAGE_INFORMATION">
<wip/>
<!-- This message is work-in-progress it can therefore change, and should NOT be used in stable production environments -->
<description>Request storage information (STORAGE_INFORMATION). Use the command's target_component to target a specific component's storage.</description>
<param index="1">Storage ID (0 for all, 1 for first, 2 for second, etc.)</param>
<param index="2">0: No Action 1: Request storage information</param>
<param index="3">Reserved (all remaining params)</param>
</entry>
<entry value="526" name="MAV_CMD_STORAGE_FORMAT">
<wip/>
<!-- This message is work-in-progress it can therefore change, and should NOT be used in stable production environments -->
<description>Format a storage medium. Once format is complete, a STORAGE_INFORMATION message is sent. Use the command's target_component to target a specific component's storage.</description>
<param index="1">Storage ID (1 for first, 2 for second, etc.)</param>
<param index="2">0: No action 1: Format storage</param>
<param index="3">Reserved (all remaining params)</param>
</entry>
<entry value="527" name="MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS">
<description>Request camera capture status (CAMERA_CAPTURE_STATUS)</description>
<param index="1">0: No Action 1: Request camera capture status</param>
<param index="2">Reserved (all remaining params)</param>
</entry>
<entry value="528" name="MAV_CMD_REQUEST_FLIGHT_INFORMATION">
<wip/>
<!-- This message is work-in-progress it can therefore change, and should NOT be used in stable production environments -->
<description>Request flight information (FLIGHT_INFORMATION)</description>
<param index="1">1: Request flight information</param>
<param index="2">Reserved (all remaining params)</param>
</entry>
<entry value="529" name="MAV_CMD_RESET_CAMERA_SETTINGS">
<description>Reset all camera settings to Factory Default</description>
<param index="1">0: No Action 1: Reset all settings</param>
<param index="2">Reserved (all remaining params)</param>
</entry>
<entry value="530" name="MAV_CMD_SET_CAMERA_MODE">
<description>Set camera running mode. Use NAN for reserved values.</description>
<param index="1">Reserved (Set to 0)</param>
<param index="2">Camera mode (see CAMERA_MODE enum)</param>
<param index="3">Reserved (all remaining params)</param>
</entry>
<entry value="2000" name="MAV_CMD_IMAGE_START_CAPTURE">
<description>Start image capture sequence. Sends CAMERA_IMAGE_CAPTURED after each capture. Use NAN for reserved values.</description>
<param index="1">Reserved (Set to 0)</param>
<param index="2">Duration between two consecutive pictures (in seconds)</param>
<param index="3">Number of images to capture total - 0 for unlimited capture</param>
<param index="4">Capture sequence (ID to prevent double captures when a command is retransmitted, 0: unused, &gt;= 1: used)</param>
<param index="5">Reserved (all remaining params)</param>
</entry>
<entry value="2001" name="MAV_CMD_IMAGE_STOP_CAPTURE">
<description>Stop image capture sequence Use NAN for reserved values.</description>
<param index="1">Reserved (Set to 0)</param>
<param index="2">Reserved (all remaining params)</param>
</entry>
<entry value="2002" name="MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE">
<wip/>
<!-- This message is work-in-progress it can therefore change, and should NOT be used in stable production environments -->
<description>Re-request a CAMERA_IMAGE_CAPTURE packet. Use NAN for reserved values.</description>
<param index="1">Sequence number for missing CAMERA_IMAGE_CAPTURE packet</param>
<param index="2">Reserved (all remaining params)</param>
</entry>
<entry value="2003" name="MAV_CMD_DO_TRIGGER_CONTROL">
<description>Enable or disable on-board camera triggering system.</description>
<param index="1">Trigger enable/disable (0 for disable, 1 for start), -1 to ignore</param>
<param index="2">1 to reset the trigger sequence, -1 or 0 to ignore</param>
<param index="3">1 to pause triggering, but without switching the camera off or retracting it. -1 to ignore</param>
</entry>
<entry value="2500" name="MAV_CMD_VIDEO_START_CAPTURE">
<description>Starts video capture (recording). Use NAN for reserved values.</description>
<param index="1">Reserved (Set to 0)</param>
<param index="2">Frequency CAMERA_CAPTURE_STATUS messages should be sent while recording (0 for no messages, otherwise frequency in Hz)</param>
<param index="3">Reserved (all remaining params)</param>
</entry>
<entry value="2501" name="MAV_CMD_VIDEO_STOP_CAPTURE">
<description>Stop the current video capture (recording). Use NAN for reserved values.</description>
<param index="1">Reserved (Set to 0)</param>
<param index="2">Reserved (all remaining params)</param>
</entry>
<entry value="2502" name="MAV_CMD_VIDEO_START_STREAMING">
<wip/>
<!-- This message is work-in-progress it can therefore change, and should NOT be used in stable production environments -->
<description>Start video streaming</description>
<param index="1">Camera ID (0 for all cameras, 1 for first, 2 for second, etc.)</param>
<param index="2">Reserved</param>
</entry>
<entry value="2503" name="MAV_CMD_VIDEO_STOP_STREAMING">
<wip/>
<!-- This message is work-in-progress it can therefore change, and should NOT be used in stable production environments -->
<description>Stop the current video streaming</description>
<param index="1">Camera ID (0 for all cameras, 1 for first, 2 for second, etc.)</param>
<param index="2">Reserved</param>
</entry>
<entry value="2504" name="MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION">
<wip/>
<!-- This message is work-in-progress it can therefore change, and should NOT be used in stable production environments -->
<description>Request video stream information (VIDEO_STREAM_INFORMATION)</description>
<param index="1">Camera ID (0 for all cameras, 1 for first, 2 for second, etc.)</param>
<param index="2">0: No Action 1: Request video stream information</param>
<param index="3">Reserved (all remaining params)</param>
</entry>
<entry value="2510" name="MAV_CMD_LOGGING_START">
<description>Request to start streaming logging data over MAVLink (see also LOGGING_DATA message)</description>
<param index="1">Format: 0: ULog</param>
<param index="2">Reserved (set to 0)</param>
<param index="3">Reserved (set to 0)</param>
<param index="4">Reserved (set to 0)</param>
<param index="5">Reserved (set to 0)</param>
<param index="6">Reserved (set to 0)</param>
<param index="7">Reserved (set to 0)</param>
</entry>
<entry value="2511" name="MAV_CMD_LOGGING_STOP">
<description>Request to stop streaming log data over MAVLink</description>
<param index="1">Reserved (set to 0)</param>
<param index="2">Reserved (set to 0)</param>
<param index="3">Reserved (set to 0)</param>
<param index="4">Reserved (set to 0)</param>
<param index="5">Reserved (set to 0)</param>
<param index="6">Reserved (set to 0)</param>
<param index="7">Reserved (set to 0)</param>
</entry>
<entry value="2520" name="MAV_CMD_AIRFRAME_CONFIGURATION">
<description/>
<param index="1">Landing gear ID (default: 0, -1 for all)</param>
<param index="2">Landing gear position (Down: 0, Up: 1, NAN for no change)</param>
<param index="3">Reserved, set to NAN</param>
<param index="4">Reserved, set to NAN</param>
<param index="5">Reserved, set to NAN</param>
<param index="6">Reserved, set to NAN</param>
<param index="7">Reserved, set to NAN</param>
</entry>
<entry value="2600" name="MAV_CMD_CONTROL_HIGH_LATENCY">
<description>Request to start/stop transmitting over the high latency telemetry</description>
<param index="1">Control transmission over high latency telemetry (0: stop, 1: start)</param>
<param index="2">Empty</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Empty</param>
<param index="6">Empty</param>
<param index="7">Empty</param>
</entry>
<entry value="2800" name="MAV_CMD_PANORAMA_CREATE">
<description>Create a panorama at the current position</description>
<param index="1">Viewing angle horizontal of the panorama (in degrees, +- 0.5 the total angle)</param>
<param index="2">Viewing angle vertical of panorama (in degrees)</param>
<param index="3">Speed of the horizontal rotation (in degrees per second)</param>
<param index="4">Speed of the vertical rotation (in degrees per second)</param>
</entry>
<entry value="3000" name="MAV_CMD_DO_VTOL_TRANSITION">
<description>Request VTOL transition</description>
<param index="1">The target VTOL state, as defined by ENUM MAV_VTOL_STATE. Only MAV_VTOL_STATE_MC and MAV_VTOL_STATE_FW can be used.</param>
</entry>
<entry value="3001" name="MAV_CMD_ARM_AUTHORIZATION_REQUEST">
<description>Request authorization to arm the vehicle to a external entity, the arm authorizer is responsible to request all data that is needs from the vehicle before authorize or deny the request. If approved the progress of command_ack message should be set with period of time that this authorization is valid in seconds or in case it was denied it should be set with one of the reasons in ARM_AUTH_DENIED_REASON.
</description>
<param index="1">Vehicle system id, this way ground station can request arm authorization on behalf of any vehicle</param>
</entry>
<entry value="4000" name="MAV_CMD_SET_GUIDED_SUBMODE_STANDARD">
<description>This command sets the submode to standard guided when vehicle is in guided mode. The vehicle holds position and altitude and the user can input the desired velocities along all three axes.
</description>
</entry>
<entry value="4001" name="MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE">
<description>This command sets submode circle when vehicle is in guided mode. Vehicle flies along a circle facing the center of the circle. The user can input the velocity along the circle and change the radius. If no input is given the vehicle will hold position.
</description>
<param index="1">Radius of desired circle in CIRCLE_MODE</param>
<param index="2">User defined</param>
<param index="3">User defined</param>
<param index="4">User defined</param>
<param index="5">Unscaled target latitude of center of circle in CIRCLE_MODE</param>
<param index="6">Unscaled target longitude of center of circle in CIRCLE_MODE</param>
</entry>
<entry value="4501" name="MAV_CMD_CONDITION_GATE">
<wip/>
<!-- This message is work-in-progress it can therefore change, and should NOT be used in stable production environments -->
<description>Delay mission state machine until gate has been reached.</description>
<param index="1">Geometry: 0: orthogonal to path between previous and next waypoint.</param>
<param index="2">Altitude: 0: ignore altitude</param>
<param index="3">Empty</param>
<param index="4">Empty</param>
<param index="5">Latitude</param>
<param index="6">Longitude</param>
<param index="7">Altitude</param>
</entry>
<entry value="5000" name="MAV_CMD_NAV_FENCE_RETURN_POINT">
<description>Fence return point. There can only be one fence return point.
</description>
<param index="1">Reserved</param>
<param index="2">Reserved</param>
<param index="3">Reserved</param>
<param index="4">Reserved</param>
<param index="5">Latitude</param>
<param index="6">Longitude</param>
<param index="7">Altitude</param>
</entry>
<entry value="5001" name="MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION">
<description>Fence vertex for an inclusion polygon (the polygon must not be self-intersecting). The vehicle must stay within this area. Minimum of 3 vertices required.
</description>
<param index="1">Polygon vertex count</param>
<param index="2">Reserved</param>
<param index="3">Reserved</param>
<param index="4">Reserved</param>
<param index="5">Latitude</param>
<param index="6">Longitude</param>
<param index="7">Reserved</param>
</entry>
<entry value="5002" name="MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION">
<description>Fence vertex for an exclusion polygon (the polygon must not be self-intersecting). The vehicle must stay outside this area. Minimum of 3 vertices required.
</description>
<param index="1">Polygon vertex count</param>
<param index="2">Reserved</param>
<param index="3">Reserved</param>
<param index="4">Reserved</param>
<param index="5">Latitude</param>
<param index="6">Longitude</param>
<param index="7">Reserved</param>
</entry>
<entry value="5003" name="MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION">
<description>Circular fence area. The vehicle must stay inside this area.
</description>
<param index="1">radius in meters</param>
<param index="2">Reserved</param>
<param index="3">Reserved</param>
<param index="4">Reserved</param>
<param index="5">Latitude</param>
<param index="6">Longitude</param>
<param index="7">Reserved</param>
</entry>
<entry value="5004" name="MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION">
<description>Circular fence area. The vehicle must stay outside this area.
</description>
<param index="1">radius in meters</param>
<param index="2">Reserved</param>
<param index="3">Reserved</param>
<param index="4">Reserved</param>
<param index="5">Latitude</param>
<param index="6">Longitude</param>
<param index="7">Reserved</param>
</entry>
<entry value="5100" name="MAV_CMD_NAV_RALLY_POINT">
<description>Rally point. You can have multiple rally points defined.
</description>
<param index="1">Reserved</param>
<param index="2">Reserved</param>
<param index="3">Reserved</param>
<param index="4">Reserved</param>
<param index="5">Latitude</param>
<param index="6">Longitude</param>
<param index="7">Altitude</param>
</entry>
<!-- Values in the range [5200, 5210) should be reserved for UAVCAN. -->
<!-- BEGIN UAVCAN range -->
<entry value="5200" name="MAV_CMD_UAVCAN_GET_NODE_INFO">
<description>Commands the vehicle to respond with a sequence of messages UAVCAN_NODE_INFO, one message per every UAVCAN node that is online. Note that some of the response messages can be lost, which the receiver can detect easily by checking whether every received UAVCAN_NODE_STATUS has a matching message UAVCAN_NODE_INFO received earlier; if not, this command should be sent again in order to request re-transmission of the node information messages.</description>
<param index="1">Reserved (set to 0)</param>
<param index="2">Reserved (set to 0)</param>
<param index="3">Reserved (set to 0)</param>
<param index="4">Reserved (set to 0)</param>
<param index="5">Reserved (set to 0)</param>
<param index="6">Reserved (set to 0)</param>
<param index="7">Reserved (set to 0)</param>
</entry>
<!-- END of UAVCAN range -->
<!-- VALUES FROM 0-40000 are reserved for the common message set. Values from 40000 to UINT16_MAX are available for dialects -->
<!-- BEGIN of payload range (30000 to 30999) -->
<entry value="30001" name="MAV_CMD_PAYLOAD_PREPARE_DEPLOY">
<description>Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity.</description>
<param index="1">Operation mode. 0: prepare single payload deploy (overwriting previous requests), but do not execute it. 1: execute payload deploy immediately (rejecting further deploy commands during execution, but allowing abort). 2: add payload deploy to existing deployment list.</param>
<param index="2">Desired approach vector in degrees compass heading (0..360). A negative value indicates the system can define the approach vector at will.</param>
<param index="3">Desired ground speed at release time. This can be overridden by the airframe in case it needs to meet minimum airspeed. A negative value indicates the system can define the ground speed at will.</param>
<param index="4">Minimum altitude clearance to the release position in meters. A negative value indicates the system can define the clearance at will.</param>
<param index="5">Latitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT</param>
<param index="6">Longitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT</param>
<param index="7">Altitude (AMSL), in meters</param>
</entry>
<entry value="30002" name="MAV_CMD_PAYLOAD_CONTROL_DEPLOY">
<description>Control the payload deployment.</description>
<param index="1">Operation mode. 0: Abort deployment, continue normal mission. 1: switch to payload deployment mode. 100: delete first payload deployment request. 101: delete all payload deployment requests.</param>
<param index="2">Reserved</param>
<param index="3">Reserved</param>
<param index="4">Reserved</param>
<param index="5">Reserved</param>
<param index="6">Reserved</param>
<param index="7">Reserved</param>
</entry>
<!-- END of payload range (30000 to 30999) -->
<!-- BEGIN user defined range (31000 to 31999) -->
<entry value="31000" name="MAV_CMD_WAYPOINT_USER_1">
<description>User defined waypoint item. Ground Station will show the Vehicle as flying through this item.</description>
<param index="1">User defined</param>
<param index="2">User defined</param>
<param index="3">User defined</param>
<param index="4">User defined</param>
<param index="5">Latitude unscaled</param>
<param index="6">Longitude unscaled</param>
<param index="7">Altitude (AMSL), in meters</param>
</entry>
<entry value="31001" name="MAV_CMD_WAYPOINT_USER_2">
<description>User defined waypoint item. Ground Station will show the Vehicle as flying through this item.</description>
<param index="1">User defined</param>
<param index="2">User defined</param>
<param index="3">User defined</param>
<param index="4">User defined</param>
<param index="5">Latitude unscaled</param>
<param index="6">Longitude unscaled</param>
<param index="7">Altitude (AMSL), in meters</param>
</entry>
<entry value="31002" name="MAV_CMD_WAYPOINT_USER_3">
<description>User defined waypoint item. Ground Station will show the Vehicle as flying through this item.</description>
<param index="1">User defined</param>
<param index="2">User defined</param>
<param index="3">User defined</param>
<param index="4">User defined</param>
<param index="5">Latitude unscaled</param>
<param index="6">Longitude unscaled</param>
<param index="7">Altitude (AMSL), in meters</param>
</entry>
<entry value="31003" name="MAV_CMD_WAYPOINT_USER_4">
<description>User defined waypoint item. Ground Station will show the Vehicle as flying through this item.</description>
<param index="1">User defined</param>
<param index="2">User defined</param>
<param index="3">User defined</param>
<param index="4">User defined</param>
<param index="5">Latitude unscaled</param>
<param index="6">Longitude unscaled</param>
<param index="7">Altitude (AMSL), in meters</param>
</entry>
<entry value="31004" name="MAV_CMD_WAYPOINT_USER_5">
<description>User defined waypoint item. Ground Station will show the Vehicle as flying through this item.</description>
<param index="1">User defined</param>
<param index="2">User defined</param>
<param index="3">User defined</param>
<param index="4">User defined</param>
<param index="5">Latitude unscaled</param>
<param index="6">Longitude unscaled</param>
<param index="7">Altitude (AMSL), in meters</param>
</entry>
<entry value="31005" name="MAV_CMD_SPATIAL_USER_1">
<description>User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.</description>
<param index="1">User defined</param>
<param index="2">User defined</param>
<param index="3">User defined</param>
<param index="4">User defined</param>
<param index="5">Latitude unscaled</param>
<param index="6">Longitude unscaled</param>
<param index="7">Altitude (AMSL), in meters</param>
</entry>
<entry value="31006" name="MAV_CMD_SPATIAL_USER_2">
<description>User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.</description>
<param index="1">User defined</param>
<param index="2">User defined</param>
<param index="3">User defined</param>
<param index="4">User defined</param>
<param index="5">Latitude unscaled</param>
<param index="6">Longitude unscaled</param>
<param index="7">Altitude (AMSL), in meters</param>
</entry>
<entry value="31007" name="MAV_CMD_SPATIAL_USER_3">
<description>User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.</description>
<param index="1">User defined</param>
<param index="2">User defined</param>
<param index="3">User defined</param>
<param index="4">User defined</param>
<param index="5">Latitude unscaled</param>
<param index="6">Longitude unscaled</param>
<param index="7">Altitude (AMSL), in meters</param>
</entry>
<entry value="31008" name="MAV_CMD_SPATIAL_USER_4">
<description>User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.</description>
<param index="1">User defined</param>
<param index="2">User defined</param>
<param index="3">User defined</param>
<param index="4">User defined</param>
<param index="5">Latitude unscaled</param>
<param index="6">Longitude unscaled</param>
<param index="7">Altitude (AMSL), in meters</param>
</entry>
<entry value="31009" name="MAV_CMD_SPATIAL_USER_5">
<description>User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.</description>
<param index="1">User defined</param>
<param index="2">User defined</param>
<param index="3">User defined</param>
<param index="4">User defined</param>
<param index="5">Latitude unscaled</param>
<param index="6">Longitude unscaled</param>
<param index="7">Altitude (AMSL), in meters</param>
</entry>
<entry value="31010" name="MAV_CMD_USER_1">
<description>User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.</description>
<param index="1">User defined</param>
<param index="2">User defined</param>
<param index="3">User defined</param>
<param index="4">User defined</param>
<param index="5">User defined</param>
<param index="6">User defined</param>
<param index="7">User defined</param>
</entry>
<entry value="31011" name="MAV_CMD_USER_2">
<description>User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.</description>
<param index="1">User defined</param>
<param index="2">User defined</param>
<param index="3">User defined</param>
<param index="4">User defined</param>
<param index="5">User defined</param>
<param index="6">User defined</param>
<param index="7">User defined</param>
</entry>
<entry value="31012" name="MAV_CMD_USER_3">
<description>User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.</description>
<param index="1">User defined</param>
<param index="2">User defined</param>
<param index="3">User defined</param>
<param index="4">User defined</param>
<param index="5">User defined</param>
<param index="6">User defined</param>
<param index="7">User defined</param>
</entry>
<entry value="31013" name="MAV_CMD_USER_4">
<description>User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.</description>
<param index="1">User defined</param>
<param index="2">User defined</param>
<param index="3">User defined</param>
<param index="4">User defined</param>
<param index="5">User defined</param>
<param index="6">User defined</param>
<param index="7">User defined</param>
</entry>
<entry value="31014" name="MAV_CMD_USER_5">
<description>User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.</description>
<param index="1">User defined</param>
<param index="2">User defined</param>
<param index="3">User defined</param>
<param index="4">User defined</param>
<param index="5">User defined</param>
<param index="6">User defined</param>
<param index="7">User defined</param>
</entry>
<!-- END of user range (31000 to 31999) -->
</enum>
<enum name="MAV_DATA_STREAM">
<deprecated since="2015-06" replaced_by="MESSAGE_INTERVAL"/>
<description>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.</description>
<entry value="0" name="MAV_DATA_STREAM_ALL">
<description>Enable all data streams</description>
</entry>
<entry value="1" name="MAV_DATA_STREAM_RAW_SENSORS">
<description>Enable IMU_RAW, GPS_RAW, GPS_STATUS packets.</description>
</entry>
<entry value="2" name="MAV_DATA_STREAM_EXTENDED_STATUS">
<description>Enable GPS_STATUS, CONTROL_STATUS, AUX_STATUS</description>
</entry>
<entry value="3" name="MAV_DATA_STREAM_RC_CHANNELS">
<description>Enable RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW</description>
</entry>
<entry value="4" name="MAV_DATA_STREAM_RAW_CONTROLLER">
<description>Enable ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT, NAV_CONTROLLER_OUTPUT.</description>
</entry>
<entry value="6" name="MAV_DATA_STREAM_POSITION">
<description>Enable LOCAL_POSITION, GLOBAL_POSITION/GLOBAL_POSITION_INT messages.</description>
</entry>
<entry value="10" name="MAV_DATA_STREAM_EXTRA1">
<description>Dependent on the autopilot</description>
</entry>
<entry value="11" name="MAV_DATA_STREAM_EXTRA2">
<description>Dependent on the autopilot</description>
</entry>
<entry value="12" name="MAV_DATA_STREAM_EXTRA3">
<description>Dependent on the autopilot</description>
</entry>
</enum>
<enum name="MAV_ROI">
<deprecated since="2018-01" replaced_by="MAV_CMD_DO_SET_ROI_*"/>
<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).</description>
<entry value="0" name="MAV_ROI_NONE">
<description>No region of interest.</description>
</entry>
<entry value="1" name="MAV_ROI_WPNEXT">
<description>Point toward next waypoint, with optional pitch/roll/yaw offset.</description>
</entry>
<entry value="2" name="MAV_ROI_WPINDEX">
<description>Point toward given waypoint.</description>
</entry>
<entry value="3" name="MAV_ROI_LOCATION">
<description>Point toward fixed location.</description>
</entry>
<entry value="4" name="MAV_ROI_TARGET">
<description>Point toward of given id.</description>
</entry>
</enum>
<enum name="MAV_CMD_ACK">
<description>ACK / NACK / ERROR values as a result of MAV_CMDs and for mission item transmission.</description>
<entry name="MAV_CMD_ACK_OK">
<description>Command / mission item is ok.</description>
</entry>
<entry name="MAV_CMD_ACK_ERR_FAIL">
<description>Generic error message if none of the other reasons fails or if no detailed error reporting is implemented.</description>
</entry>
<entry name="MAV_CMD_ACK_ERR_ACCESS_DENIED">
<description>The system is refusing to accept this command from this source / communication partner.</description>
</entry>
<entry name="MAV_CMD_ACK_ERR_NOT_SUPPORTED">
<description>Command or mission item is not supported, other commands would be accepted.</description>
</entry>
<entry name="MAV_CMD_ACK_ERR_COORDINATE_FRAME_NOT_SUPPORTED">
<description>The coordinate frame of this command / mission item is not supported.</description>
</entry>
<entry name="MAV_CMD_ACK_ERR_COORDINATES_OUT_OF_RANGE">
<description>The coordinate frame of this command is ok, but he coordinate values exceed the safety limits of this system. This is a generic error, please use the more specific error messages below if possible.</description>
</entry>
<entry name="MAV_CMD_ACK_ERR_X_LAT_OUT_OF_RANGE">
<description>The X or latitude value is out of range.</description>
</entry>
<entry name="MAV_CMD_ACK_ERR_Y_LON_OUT_OF_RANGE">
<description>The Y or longitude value is out of range.</description>
</entry>
<entry name="MAV_CMD_ACK_ERR_Z_ALT_OUT_OF_RANGE">
<description>The Z or altitude value is out of range.</description>
</entry>
</enum>
<enum name="MAV_PARAM_TYPE">
<description>Specifies the datatype of a MAVLink parameter.</description>
<entry value="1" name="MAV_PARAM_TYPE_UINT8">
<description>8-bit unsigned integer</description>
</entry>
<entry value="2" name="MAV_PARAM_TYPE_INT8">
<description>8-bit signed integer</description>
</entry>
<entry value="3" name="MAV_PARAM_TYPE_UINT16">
<description>16-bit unsigned integer</description>
</entry>
<entry value="4" name="MAV_PARAM_TYPE_INT16">
<description>16-bit signed integer</description>
</entry>
<entry value="5" name="MAV_PARAM_TYPE_UINT32">
<description>32-bit unsigned integer</description>
</entry>
<entry value="6" name="MAV_PARAM_TYPE_INT32">
<description>32-bit signed integer</description>
</entry>
<entry value="7" name="MAV_PARAM_TYPE_UINT64">
<description>64-bit unsigned integer</description>
</entry>
<entry value="8" name="MAV_PARAM_TYPE_INT64">
<description>64-bit signed integer</description>
</entry>
<entry value="9" name="MAV_PARAM_TYPE_REAL32">
<description>32-bit floating-point</description>
</entry>
<entry value="10" name="MAV_PARAM_TYPE_REAL64">
<description>64-bit floating-point</description>
</entry>
</enum>
<enum name="MAV_PARAM_EXT_TYPE">
<description>Specifies the datatype of a MAVLink extended parameter.</description>
<entry value="1" name="MAV_PARAM_EXT_TYPE_UINT8">
<description>8-bit unsigned integer</description>
</entry>
<entry value="2" name="MAV_PARAM_EXT_TYPE_INT8">
<description>8-bit signed integer</description>
</entry>
<entry value="3" name="MAV_PARAM_EXT_TYPE_UINT16">
<description>16-bit unsigned integer</description>
</entry>
<entry value="4" name="MAV_PARAM_EXT_TYPE_INT16">
<description>16-bit signed integer</description>
</entry>
<entry value="5" name="MAV_PARAM_EXT_TYPE_UINT32">
<description>32-bit unsigned integer</description>
</entry>
<entry value="6" name="MAV_PARAM_EXT_TYPE_INT32">
<description>32-bit signed integer</description>
</entry>
<entry value="7" name="MAV_PARAM_EXT_TYPE_UINT64">
<description>64-bit unsigned integer</description>
</entry>
<entry value="8" name="MAV_PARAM_EXT_TYPE_INT64">
<description>64-bit signed integer</description>
</entry>
<entry value="9" name="MAV_PARAM_EXT_TYPE_REAL32">
<description>32-bit floating-point</description>
</entry>
<entry value="10" name="MAV_PARAM_EXT_TYPE_REAL64">
<description>64-bit floating-point</description>
</entry>
<entry value="11" name="MAV_PARAM_EXT_TYPE_CUSTOM">
<description>Custom Type</description>
</entry>
</enum>
<enum name="MAV_RESULT">
<description>result from a mavlink command</description>
<entry value="0" name="MAV_RESULT_ACCEPTED">
<description>Command ACCEPTED and EXECUTED</description>
</entry>
<entry value="1" name="MAV_RESULT_TEMPORARILY_REJECTED">
<description>Command TEMPORARY REJECTED/DENIED</description>
</entry>
<entry value="2" name="MAV_RESULT_DENIED">
<description>Command PERMANENTLY DENIED</description>
</entry>
<entry value="3" name="MAV_RESULT_UNSUPPORTED">
<description>Command UNKNOWN/UNSUPPORTED</description>
</entry>
<entry value="4" name="MAV_RESULT_FAILED">
<description>Command executed, but failed</description>
</entry>
<entry value="5" name="MAV_RESULT_IN_PROGRESS">
<description>WIP: Command being executed</description>
</entry>
</enum>
<enum name="MAV_MISSION_RESULT">
<description>result in a MAVLink mission ack</description>
<entry value="0" name="MAV_MISSION_ACCEPTED">
<description>mission accepted OK</description>
</entry>
<entry value="1" name="MAV_MISSION_ERROR">
<description>generic error / not accepting mission commands at all right now</description>
</entry>
<entry value="2" name="MAV_MISSION_UNSUPPORTED_FRAME">
<description>coordinate frame is not supported</description>
</entry>
<entry value="3" name="MAV_MISSION_UNSUPPORTED">
<description>command is not supported</description>
</entry>
<entry value="4" name="MAV_MISSION_NO_SPACE">
<description>mission item exceeds storage space</description>
</entry>
<entry value="5" name="MAV_MISSION_INVALID">
<description>one of the parameters has an invalid value</description>
</entry>
<entry value="6" name="MAV_MISSION_INVALID_PARAM1">
<description>param1 has an invalid value</description>
</entry>
<entry value="7" name="MAV_MISSION_INVALID_PARAM2">
<description>param2 has an invalid value</description>
</entry>
<entry value="8" name="MAV_MISSION_INVALID_PARAM3">
<description>param3 has an invalid value</description>
</entry>
<entry value="9" name="MAV_MISSION_INVALID_PARAM4">
<description>param4 has an invalid value</description>
</entry>
<entry value="10" name="MAV_MISSION_INVALID_PARAM5_X">
<description>x/param5 has an invalid value</description>
</entry>
<entry value="11" name="MAV_MISSION_INVALID_PARAM6_Y">
<description>y/param6 has an invalid value</description>
</entry>
<entry value="12" name="MAV_MISSION_INVALID_PARAM7">
<description>param7 has an invalid value</description>
</entry>
<entry value="13" name="MAV_MISSION_INVALID_SEQUENCE">
<description>received waypoint out of sequence</description>
</entry>
<entry value="14" name="MAV_MISSION_DENIED">
<description>not accepting any mission commands from this communication partner</description>
</entry>
</enum>
<enum name="MAV_SEVERITY">
<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/.</description>
<entry value="0" name="MAV_SEVERITY_EMERGENCY">
<description>System is unusable. This is a "panic" condition.</description>
</entry>
<entry value="1" name="MAV_SEVERITY_ALERT">
<description>Action should be taken immediately. Indicates error in non-critical systems.</description>
</entry>
<entry value="2" name="MAV_SEVERITY_CRITICAL">
<description>Action must be taken immediately. Indicates failure in a primary system.</description>
</entry>
<entry value="3" name="MAV_SEVERITY_ERROR">
<description>Indicates an error in secondary/redundant systems.</description>
</entry>
<entry value="4" name="MAV_SEVERITY_WARNING">
<description>Indicates about a possible future error if this is not resolved within a given timeframe. Example would be a low battery warning.</description>
</entry>
<entry value="5" name="MAV_SEVERITY_NOTICE">
<description>An unusual event has occurred, though not an error condition. This should be investigated for the root cause.</description>
</entry>
<entry value="6" name="MAV_SEVERITY_INFO">
<description>Normal operational messages. Useful for logging. No action is required for these messages.</description>
</entry>
<entry value="7" name="MAV_SEVERITY_DEBUG">
<description>Useful non-operational messages that can assist in debugging. These should not occur during normal operation.</description>
</entry>
</enum>
<enum name="MAV_POWER_STATUS">
<description>Power supply status flags (bitmask)</description>
<entry value="1" name="MAV_POWER_STATUS_BRICK_VALID">
<description>main brick power supply valid</description>
</entry>
<entry value="2" name="MAV_POWER_STATUS_SERVO_VALID">
<description>main servo power supply valid for FMU</description>
</entry>
<entry value="4" name="MAV_POWER_STATUS_USB_CONNECTED">
<description>USB power is connected</description>
</entry>
<entry value="8" name="MAV_POWER_STATUS_PERIPH_OVERCURRENT">
<description>peripheral supply is in over-current state</description>
</entry>
<entry value="16" name="MAV_POWER_STATUS_PERIPH_HIPOWER_OVERCURRENT">
<description>hi-power peripheral supply is in over-current state</description>
</entry>
<entry value="32" name="MAV_POWER_STATUS_CHANGED">
<description>Power status has changed since boot</description>
</entry>
</enum>
<enum name="SERIAL_CONTROL_DEV">
<description>SERIAL_CONTROL device types</description>
<entry value="0" name="SERIAL_CONTROL_DEV_TELEM1">
<description>First telemetry port</description>
</entry>
<entry value="1" name="SERIAL_CONTROL_DEV_TELEM2">
<description>Second telemetry port</description>
</entry>
<entry value="2" name="SERIAL_CONTROL_DEV_GPS1">
<description>First GPS port</description>
</entry>
<entry value="3" name="SERIAL_CONTROL_DEV_GPS2">
<description>Second GPS port</description>
</entry>
<entry value="10" name="SERIAL_CONTROL_DEV_SHELL">
<description>system shell</description>
</entry>
</enum>
<enum name="SERIAL_CONTROL_FLAG">
<description>SERIAL_CONTROL flags (bitmask)</description>
<entry value="1" name="SERIAL_CONTROL_FLAG_REPLY">
<description>Set if this is a reply</description>
</entry>
<entry value="2" name="SERIAL_CONTROL_FLAG_RESPOND">
<description>Set if the sender wants the receiver to send a response as another SERIAL_CONTROL message</description>
</entry>
<entry value="4" name="SERIAL_CONTROL_FLAG_EXCLUSIVE">
<description>Set if access to the serial port should be removed from whatever driver is currently using it, giving exclusive access to the SERIAL_CONTROL protocol. The port can be handed back by sending a request without this flag set</description>
</entry>
<entry value="8" name="SERIAL_CONTROL_FLAG_BLOCKING">
<description>Block on writes to the serial port</description>
</entry>
<entry value="16" name="SERIAL_CONTROL_FLAG_MULTI">
<description>Send multiple replies until port is drained</description>
</entry>
</enum>
<enum name="MAV_DISTANCE_SENSOR">
<description>Enumeration of distance sensor types</description>
<entry value="0" name="MAV_DISTANCE_SENSOR_LASER">
<description>Laser rangefinder, e.g. LightWare SF02/F or PulsedLight units</description>
</entry>
<entry value="1" name="MAV_DISTANCE_SENSOR_ULTRASOUND">
<description>Ultrasound rangefinder, e.g. MaxBotix units</description>
</entry>
<entry value="2" name="MAV_DISTANCE_SENSOR_INFRARED">
<description>Infrared rangefinder, e.g. Sharp units</description>
</entry>
<entry value="3" name="MAV_DISTANCE_SENSOR_RADAR">
<description>Radar type, e.g. uLanding units</description>
</entry>
<entry value="4" name="MAV_DISTANCE_SENSOR_UNKNOWN">
<description>Broken or unknown type, e.g. analog units</description>
</entry>
</enum>
<enum name="MAV_SENSOR_ORIENTATION">
<description>Enumeration of sensor orientation, according to its rotations</description>
<entry value="0" name="MAV_SENSOR_ROTATION_NONE">
<description>Roll: 0, Pitch: 0, Yaw: 0</description>
</entry>
<entry value="1" name="MAV_SENSOR_ROTATION_YAW_45">
<description>Roll: 0, Pitch: 0, Yaw: 45</description>
</entry>
<entry value="2" name="MAV_SENSOR_ROTATION_YAW_90">
<description>Roll: 0, Pitch: 0, Yaw: 90</description>
</entry>
<entry value="3" name="MAV_SENSOR_ROTATION_YAW_135">
<description>Roll: 0, Pitch: 0, Yaw: 135</description>
</entry>
<entry value="4" name="MAV_SENSOR_ROTATION_YAW_180">
<description>Roll: 0, Pitch: 0, Yaw: 180</description>
</entry>
<entry value="5" name="MAV_SENSOR_ROTATION_YAW_225">
<description>Roll: 0, Pitch: 0, Yaw: 225</description>
</entry>
<entry value="6" name="MAV_SENSOR_ROTATION_YAW_270">
<description>Roll: 0, Pitch: 0, Yaw: 270</description>
</entry>
<entry value="7" name="MAV_SENSOR_ROTATION_YAW_315">
<description>Roll: 0, Pitch: 0, Yaw: 315</description>
</entry>
<entry value="8" name="MAV_SENSOR_ROTATION_ROLL_180">
<description>Roll: 180, Pitch: 0, Yaw: 0</description>
</entry>
<entry value="9" name="MAV_SENSOR_ROTATION_ROLL_180_YAW_45">
<description>Roll: 180, Pitch: 0, Yaw: 45</description>
</entry>
<entry value="10" name="MAV_SENSOR_ROTATION_ROLL_180_YAW_90">
<description>Roll: 180, Pitch: 0, Yaw: 90</description>
</entry>
<entry value="11" name="MAV_SENSOR_ROTATION_ROLL_180_YAW_135">
<description>Roll: 180, Pitch: 0, Yaw: 135</description>
</entry>
<entry value="12" name="MAV_SENSOR_ROTATION_PITCH_180">
<description>Roll: 0, Pitch: 180, Yaw: 0</description>
</entry>
<entry value="13" name="MAV_SENSOR_ROTATION_ROLL_180_YAW_225">
<description>Roll: 180, Pitch: 0, Yaw: 225</description>
</entry>
<entry value="14" name="MAV_SENSOR_ROTATION_ROLL_180_YAW_270">
<description>Roll: 180, Pitch: 0, Yaw: 270</description>
</entry>
<entry value="15" name="MAV_SENSOR_ROTATION_ROLL_180_YAW_315">
<description>Roll: 180, Pitch: 0, Yaw: 315</description>
</entry>
<entry value="16" name="MAV_SENSOR_ROTATION_ROLL_90">
<description>Roll: 90, Pitch: 0, Yaw: 0</description>
</entry>
<entry value="17" name="MAV_SENSOR_ROTATION_ROLL_90_YAW_45">
<description>Roll: 90, Pitch: 0, Yaw: 45</description>
</entry>
<entry value="18" name="MAV_SENSOR_ROTATION_ROLL_90_YAW_90">
<description>Roll: 90, Pitch: 0, Yaw: 90</description>
</entry>
<entry value="19" name="MAV_SENSOR_ROTATION_ROLL_90_YAW_135">
<description>Roll: 90, Pitch: 0, Yaw: 135</description>
</entry>
<entry value="20" name="MAV_SENSOR_ROTATION_ROLL_270">
<description>Roll: 270, Pitch: 0, Yaw: 0</description>
</entry>
<entry value="21" name="MAV_SENSOR_ROTATION_ROLL_270_YAW_45">
<description>Roll: 270, Pitch: 0, Yaw: 45</description>
</entry>
<entry value="22" name="MAV_SENSOR_ROTATION_ROLL_270_YAW_90">
<description>Roll: 270, Pitch: 0, Yaw: 90</description>
</entry>
<entry value="23" name="MAV_SENSOR_ROTATION_ROLL_270_YAW_135">
<description>Roll: 270, Pitch: 0, Yaw: 135</description>
</entry>
<entry value="24" name="MAV_SENSOR_ROTATION_PITCH_90">
<description>Roll: 0, Pitch: 90, Yaw: 0</description>
</entry>
<entry value="25" name="MAV_SENSOR_ROTATION_PITCH_270">
<description>Roll: 0, Pitch: 270, Yaw: 0</description>
</entry>
<entry value="26" name="MAV_SENSOR_ROTATION_PITCH_180_YAW_90">
<description>Roll: 0, Pitch: 180, Yaw: 90</description>
</entry>
<entry value="27" name="MAV_SENSOR_ROTATION_PITCH_180_YAW_270">
<description>Roll: 0, Pitch: 180, Yaw: 270</description>
</entry>
<entry value="28" name="MAV_SENSOR_ROTATION_ROLL_90_PITCH_90">
<description>Roll: 90, Pitch: 90, Yaw: 0</description>
</entry>
<entry value="29" name="MAV_SENSOR_ROTATION_ROLL_180_PITCH_90">
<description>Roll: 180, Pitch: 90, Yaw: 0</description>
</entry>
<entry value="30" name="MAV_SENSOR_ROTATION_ROLL_270_PITCH_90">
<description>Roll: 270, Pitch: 90, Yaw: 0</description>
</entry>
<entry value="31" name="MAV_SENSOR_ROTATION_ROLL_90_PITCH_180">
<description>Roll: 90, Pitch: 180, Yaw: 0</description>
</entry>
<entry value="32" name="MAV_SENSOR_ROTATION_ROLL_270_PITCH_180">
<description>Roll: 270, Pitch: 180, Yaw: 0</description>
</entry>
<entry value="33" name="MAV_SENSOR_ROTATION_ROLL_90_PITCH_270">
<description>Roll: 90, Pitch: 270, Yaw: 0</description>
</entry>
<entry value="34" name="MAV_SENSOR_ROTATION_ROLL_180_PITCH_270">
<description>Roll: 180, Pitch: 270, Yaw: 0</description>
</entry>
<entry value="35" name="MAV_SENSOR_ROTATION_ROLL_270_PITCH_270">
<description>Roll: 270, Pitch: 270, Yaw: 0</description>
</entry>
<entry value="36" name="MAV_SENSOR_ROTATION_ROLL_90_PITCH_180_YAW_90">
<description>Roll: 90, Pitch: 180, Yaw: 90</description>
</entry>
<entry value="37" name="MAV_SENSOR_ROTATION_ROLL_90_YAW_270">
<description>Roll: 90, Pitch: 0, Yaw: 270</description>
</entry>
<entry value="38" name="MAV_SENSOR_ROTATION_ROLL_90_PITCH_68_YAW_293">
<description>Roll: 90, Pitch: 68, Yaw: 293</description>
</entry>
<entry value="39" name="MAV_SENSOR_ROTATION_PITCH_315">
<description>Pitch: 315</description>
</entry>
<entry value="40" name="MAV_SENSOR_ROTATION_ROLL_90_PITCH_315">
<description>Roll: 90, Pitch: 315</description>
</entry>
<entry value="100" name="MAV_SENSOR_ROTATION_CUSTOM">
<description>Custom orientation</description>
</entry>
</enum>
<enum name="MAV_PROTOCOL_CAPABILITY">
<description>Bitmask of (optional) autopilot capabilities (64 bit). If a bit is set, the autopilot supports this capability.</description>
<entry value="1" name="MAV_PROTOCOL_CAPABILITY_MISSION_FLOAT">
<description>Autopilot supports MISSION float message type.</description>
</entry>
<entry value="2" name="MAV_PROTOCOL_CAPABILITY_PARAM_FLOAT">
<description>Autopilot supports the new param float message type.</description>
</entry>
<entry value="4" name="MAV_PROTOCOL_CAPABILITY_MISSION_INT">
<description>Autopilot supports MISSION_INT scaled integer message type.</description>
</entry>
<entry value="8" name="MAV_PROTOCOL_CAPABILITY_COMMAND_INT">
<description>Autopilot supports COMMAND_INT scaled integer message type.</description>
</entry>
<entry value="16" name="MAV_PROTOCOL_CAPABILITY_PARAM_UNION">
<description>Autopilot supports the new param union message type.</description>
</entry>
<entry value="32" name="MAV_PROTOCOL_CAPABILITY_FTP">
<description>Autopilot supports the new FILE_TRANSFER_PROTOCOL message type.</description>
</entry>
<entry value="64" name="MAV_PROTOCOL_CAPABILITY_SET_ATTITUDE_TARGET">
<description>Autopilot supports commanding attitude offboard.</description>
</entry>
<entry value="128" name="MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_LOCAL_NED">
<description>Autopilot supports commanding position and velocity targets in local NED frame.</description>
</entry>
<entry value="256" name="MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INT">
<description>Autopilot supports commanding position and velocity targets in global scaled integers.</description>
</entry>
<entry value="512" name="MAV_PROTOCOL_CAPABILITY_TERRAIN">
<description>Autopilot supports terrain protocol / data handling.</description>
</entry>
<entry value="1024" name="MAV_PROTOCOL_CAPABILITY_SET_ACTUATOR_TARGET">
<description>Autopilot supports direct actuator control.</description>
</entry>
<entry value="2048" name="MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION">
<description>Autopilot supports the flight termination command.</description>
</entry>
<entry value="4096" name="MAV_PROTOCOL_CAPABILITY_COMPASS_CALIBRATION">
<description>Autopilot supports onboard compass calibration.</description>
</entry>
<entry value="8192" name="MAV_PROTOCOL_CAPABILITY_MAVLINK2">
<description>Autopilot supports MAVLink version 2.</description>
</entry>
<entry value="16384" name="MAV_PROTOCOL_CAPABILITY_MISSION_FENCE">
<description>Autopilot supports mission fence protocol.</description>
</entry>
<entry value="32768" name="MAV_PROTOCOL_CAPABILITY_MISSION_RALLY">
<description>Autopilot supports mission rally point protocol.</description>
</entry>
<entry value="65536" name="MAV_PROTOCOL_CAPABILITY_FLIGHT_INFORMATION">
<description>Autopilot supports the flight information protocol.</description>
</entry>
</enum>
<enum name="MAV_MISSION_TYPE">
<description>Type of mission items being requested/sent in mission protocol.</description>
<entry value="0" name="MAV_MISSION_TYPE_MISSION">
<description>Items are mission commands for main mission.</description>
</entry>
<entry value="1" name="MAV_MISSION_TYPE_FENCE">
<description>Specifies GeoFence area(s). Items are MAV_CMD_FENCE_ GeoFence items.</description>
</entry>
<entry value="2" name="MAV_MISSION_TYPE_RALLY">
<description>Specifies the rally points for the vehicle. Rally points are alternative RTL points. Items are MAV_CMD_RALLY_POINT rally point items.</description>
</entry>
<entry value="255" name="MAV_MISSION_TYPE_ALL">
<description>Only used in MISSION_CLEAR_ALL to clear all mission types.</description>
</entry>
</enum>
<enum name="MAV_ESTIMATOR_TYPE">
<description>Enumeration of estimator types</description>
<entry value="1" name="MAV_ESTIMATOR_TYPE_NAIVE">
<description>This is a naive estimator without any real covariance feedback.</description>
</entry>
<entry value="2" name="MAV_ESTIMATOR_TYPE_VISION">
<description>Computer vision based estimate. Might be up to scale.</description>
</entry>
<entry value="3" name="MAV_ESTIMATOR_TYPE_VIO">
<description>Visual-inertial estimate.</description>
</entry>
<entry value="4" name="MAV_ESTIMATOR_TYPE_GPS">
<description>Plain GPS estimate.</description>
</entry>
<entry value="5" name="MAV_ESTIMATOR_TYPE_GPS_INS">
<description>Estimator integrating GPS and inertial sensing.</description>
</entry>
</enum>
<enum name="MAV_BATTERY_TYPE">
<description>Enumeration of battery types</description>
<entry value="0" name="MAV_BATTERY_TYPE_UNKNOWN">
<description>Not specified.</description>
</entry>
<entry value="1" name="MAV_BATTERY_TYPE_LIPO">
<description>Lithium polymer battery</description>
</entry>
<entry value="2" name="MAV_BATTERY_TYPE_LIFE">
<description>Lithium-iron-phosphate battery</description>
</entry>
<entry value="3" name="MAV_BATTERY_TYPE_LION">
<description>Lithium-ION battery</description>
</entry>
<entry value="4" name="MAV_BATTERY_TYPE_NIMH">
<description>Nickel metal hydride battery</description>
</entry>
</enum>
<enum name="MAV_BATTERY_FUNCTION">
<description>Enumeration of battery functions</description>
<entry value="0" name="MAV_BATTERY_FUNCTION_UNKNOWN">
<description>Battery function is unknown</description>
</entry>
<entry value="1" name="MAV_BATTERY_FUNCTION_ALL">
<description>Battery supports all flight systems</description>
</entry>
<entry value="2" name="MAV_BATTERY_FUNCTION_PROPULSION">
<description>Battery for the propulsion system</description>
</entry>
<entry value="3" name="MAV_BATTERY_FUNCTION_AVIONICS">
<description>Avionics battery</description>
</entry>
<entry value="4" name="MAV_BATTERY_TYPE_PAYLOAD">
<description>Payload battery</description>
</entry>
</enum>
<enum name="MAV_BATTERY_CHARGE_STATE">
<description>Enumeration for low battery states.</description>