diff --git a/dev/source/docs/ArduCopter_MAVLink_Messages.rst b/dev/source/docs/ArduCopter_MAVLink_Messages.rst new file mode 100644 index 0000000000..4a3f9c9a88 --- /dev/null +++ b/dev/source/docs/ArduCopter_MAVLink_Messages.rst @@ -0,0 +1,765 @@ +.. _ArduCopter_MAVLink_messages: + +================ +MAVLink Messages +================ + + +The `MAVLink `_ protocol supports a variety of features and functionalities, but not all `messages `_ or `commands `_ are implemented by the ArduPilot ecosystem, or relevant to a particular autopilot firmware. + +This page is auto-generated from analysing the ArduCopter source code, and provides an indication of which messages (and commands) are handled by, requestable from, and sent from the firmware. A message being handled does not guarantee full support, but at least shows that the autopilot is aware it exists, and will try to do something meaningful with it. + +Known :ref:`unsupported messages ` (and commands) are shown at the end. + +The autopilot includes a set of :ref:`mavlink_stream_groups` for convenience, which allow configuring the stream rates of groups of requestable messages by setting parameter values. It is also possible to manually request messages, and request individual messages be streamed at a specified rate. + + +.. _mavlink_incoming_messages: + +Incoming Messages +================= + +Messages the autopilot handles when received. + +.. csv-table:: + :header: MAVLink Message, Code Source, MAVLink Dialect + + + `ADSB_VEHICLE `_, `AP_ADSB/AP_ADSB.cpp `_, common + `ATT_POS_MOCAP `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `AUTOPILOT_VERSION_REQUEST `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `CAMERA_INFORMATION `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `CANFD_FRAME `_, `AP_CANManager/AP_CANManager.cpp `_, common + `CAN_FILTER_MODIFY `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `CAN_FRAME `_, `AP_CANManager/AP_CANManager.cpp `_, common + `COMMAND_ACK `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `COMMAND_INT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `COMMAND_LONG `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `DATA96 `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `DEVICE_OP_READ `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `DEVICE_OP_WRITE `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `DIGICAM_CONTROL `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `DISTANCE_SENSOR `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `EFI_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `FENCE_FETCH_POINT `_, `AC_Fence/AC_PolyFence_loader.cpp `_, ardupilotmega + `FENCE_POINT `_, `AC_Fence/AC_PolyFence_loader.cpp `_, ardupilotmega + `FILE_TRANSFER_PROTOCOL `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `FOLLOW_TARGET `_, `AP_Follow/AP_Follow.cpp `_, common + `GIMBAL_DEVICE_ATTITUDE_STATUS `_, `AP_Mount/AP_Mount.cpp `_, common + `GIMBAL_DEVICE_INFORMATION `_, `AP_Mount/AP_Mount.cpp `_, common + `GIMBAL_MANAGER_SET_ATTITUDE `_, `AP_Mount/AP_Mount.cpp `_, common + `GIMBAL_MANAGER_SET_PITCHYAW `_, `AP_Mount/AP_Mount.cpp `_, common + `GIMBAL_REPORT `_, `AP_Mount/AP_Mount.cpp `_, ardupilotmega + `GLOBAL_POSITION_INT `_, `AP_Follow/AP_Follow.cpp `_, common + `GLOBAL_VISION_POSITION_ESTIMATE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `GOPRO_HEARTBEAT `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `GPS_INJECT_DATA `_, `AP_GPS/AP_GPS.cpp `_, common + `GPS_INPUT `_, `AP_GPS/AP_GPS_MAV.cpp `_, common + `GPS_RTCM_DATA `_, `AP_GPS/AP_GPS.cpp `_, common + `HEARTBEAT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `HIL_GPS `_, `AP_GPS/AP_GPS_MAV.cpp `_, common + `LANDING_TARGET `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `LED_CONTROL `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `LOG_ERASE `_, `AP_Logger/AP_Logger_MAVLinkLogTransfer.cpp `_, common + `LOG_REQUEST_DATA `_, `AP_Logger/AP_Logger_MAVLinkLogTransfer.cpp `_, common + `LOG_REQUEST_END `_, `AP_Logger/AP_Logger_MAVLinkLogTransfer.cpp `_, common + `LOG_REQUEST_LIST `_, `AP_Logger/AP_Logger_MAVLinkLogTransfer.cpp `_, common + `MANUAL_CONTROL `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MISSION_ACK `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MISSION_CLEAR_ALL `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MISSION_COUNT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MISSION_ITEM `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MISSION_ITEM_INT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MISSION_REQUEST `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MISSION_REQUEST_INT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MISSION_REQUEST_LIST `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MISSION_SET_CURRENT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MISSION_WRITE_PARTIAL_LIST `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MOUNT_CONFIGURE `_, `AP_Mount/AP_Mount.cpp `_, ardupilotmega + `MOUNT_CONTROL `_, `ArduCopter/GCS_Mavlink.cpp `_, ardupilotmega + `NAMED_VALUE_FLOAT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `NAMED_VALUE_INT `_, `ArduCopter/GCS_Mavlink.cpp `_, common + `OBSTACLE_DISTANCE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `OBSTACLE_DISTANCE_3D `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `ODOMETRY `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `OPEN_DRONE_ID_ARM_STATUS `_, `AP_OpenDroneID/AP_OpenDroneID.cpp `_, common + `OPEN_DRONE_ID_BASIC_ID `_, `AP_OpenDroneID/AP_OpenDroneID.cpp `_, common + `OPEN_DRONE_ID_OPERATOR_ID `_, `AP_OpenDroneID/AP_OpenDroneID.cpp `_, common + `OPEN_DRONE_ID_SELF_ID `_, `AP_OpenDroneID/AP_OpenDroneID.cpp `_, common + `OPEN_DRONE_ID_SYSTEM `_, `AP_OpenDroneID/AP_OpenDroneID.cpp `_, common + `OPEN_DRONE_ID_SYSTEM_UPDATE `_, `AP_OpenDroneID/AP_OpenDroneID.cpp `_, common + `OPTICAL_FLOW `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `OSD_PARAM_CONFIG `_, `AP_OSD/AP_OSD.cpp `_, ardupilotmega + `OSD_PARAM_SHOW_CONFIG `_, `AP_OSD/AP_OSD.cpp `_, ardupilotmega + `PARAM_REQUEST_LIST `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `PARAM_REQUEST_READ `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `PARAM_SET `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `PARAM_VALUE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `PLAY_TUNE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `RADIO `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `RADIO_RC_CHANNELS `_, `GCS_MAVLink/GCS_Common.cpp `_, development + `RADIO_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `RALLY_FETCH_POINT `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `RALLY_POINT `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `RC_CHANNELS_OVERRIDE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `REMOTE_LOG_BLOCK_STATUS `_, `AP_Logger/AP_Logger.cpp `_, ardupilotmega + `REQUEST_DATA_STREAM `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `SECURE_COMMAND `_, `AP_CheckFirmware/AP_CheckFirmware_secure_command.cpp `_, ardupilotmega + `SECURE_COMMAND_REPLY `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `SERIAL_CONTROL `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `SETUP_SIGNING `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `SET_ATTITUDE_TARGET `_, `ArduCopter/GCS_Mavlink.cpp `_, common + `SET_GPS_GLOBAL_ORIGIN `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `SET_MODE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `SET_POSITION_TARGET_GLOBAL_INT `_, `ArduCopter/GCS_Mavlink.cpp `_, common + `SET_POSITION_TARGET_LOCAL_NED `_, `ArduCopter/GCS_Mavlink.cpp `_, common + `STATUSTEXT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `SYSTEM_TIME `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `TERRAIN_CHECK `_, `ArduCopter/GCS_Mavlink.cpp `_, common + `TERRAIN_DATA `_, `ArduCopter/GCS_Mavlink.cpp `_, common + `TIMESYNC `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `UAVIONIX_ADSB_OUT_CFG `_, `AP_ADSB/AP_ADSB.cpp `_, uAvionix + `UAVIONIX_ADSB_OUT_CONTROL `_, `AP_ADSB/AP_ADSB.cpp `_, uAvionix + `UAVIONIX_ADSB_OUT_DYNAMIC `_, `AP_ADSB/AP_ADSB.cpp `_, uAvionix + `UAVIONIX_ADSB_TRANSCEIVER_HEALTH_REPORT `_, `AP_ADSB/AP_ADSB.cpp `_, uAvionix + `VICON_POSITION_ESTIMATE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `VISION_POSITION_DELTA `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `VISION_POSITION_ESTIMATE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `VISION_SPEED_ESTIMATE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + +.. _mavlink_incoming_commands: + +Incoming Commands +================= + +Commands the autopilot handles when received. + +.. csv-table:: + :header: MAVLink Message, Code Source, MAVLink Dialect + + + `MAV_CMD_ACCELCAL_VEHICLE_POS `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, ardupilotmega + `MAV_CMD_AIRFRAME_CONFIGURATION `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MAV_CMD_BATTERY_RESET `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, ardupilotmega + `MAV_CMD_CAMERA_STOP_TRACKING `_, `AP_Camera/AP_Camera.cpp `_, common + `MAV_CMD_CAMERA_TRACK_POINT `_, `AP_Camera/AP_Camera.cpp `_, common + `MAV_CMD_CAMERA_TRACK_RECTANGLE `_, `AP_Camera/AP_Camera.cpp `_, common + `MAV_CMD_CAN_FORWARD `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MAV_CMD_COMPONENT_ARM_DISARM `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `MAV_CMD_CONDITION_DELAY `_, `ArduCopter/mode_auto.cpp `_, common + `MAV_CMD_CONDITION_DISTANCE `_, `ArduCopter/mode_auto.cpp `_, common + `MAV_CMD_CONDITION_YAW `_, `ArduCopter/GCS_Mavlink.cpp `_, common + `MAV_CMD_CONTROL_HIGH_LATENCY `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MAV_CMD_DEBUG_TRAP `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `MAV_CMD_DO_ACCEPT_MAG_CAL `_, `AP_Compass/AP_Compass_Calibration.cpp `_, ardupilotmega + `MAV_CMD_DO_ADSB_OUT_IDENT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MAV_CMD_DO_AUTOTUNE_ENABLE `_, `AP_Mission/AP_Mission.cpp `_, common + `MAV_CMD_DO_AUX_FUNCTION `_, `AP_Mission/AP_Mission.cpp `_, ardupilotmega + `MAV_CMD_DO_CANCEL_MAG_CAL `_, `AP_Compass/AP_Compass_Calibration.cpp `_, ardupilotmega + `MAV_CMD_DO_CHANGE_SPEED `_, `ArduCopter/GCS_Mavlink.cpp `_, common + `MAV_CMD_DO_DIGICAM_CONFIGURE `_, `AP_Camera/AP_Camera.cpp `_, common + `MAV_CMD_DO_DIGICAM_CONTROL `_, `AP_Camera/AP_Camera.cpp `_, common + `MAV_CMD_DO_ENGINE_CONTROL `_, `AP_Mission/AP_Mission.cpp `_, common + `MAV_CMD_DO_FENCE_ENABLE `_, `ArduCopter/mode_auto.cpp `_, common + `MAV_CMD_DO_FLIGHTTERMINATION `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `MAV_CMD_DO_FOLLOW `_, `ArduCopter/GCS_Mavlink.cpp `_, common + `MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE `_, `AP_Mount/AP_Mount.cpp `_, common + `MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW `_, `AP_Mount/AP_Mount.cpp `_, common + `MAV_CMD_DO_GO_AROUND `_, `AP_Mission/AP_Mission.cpp `_, common + `MAV_CMD_DO_GRIPPER `_, `AP_Mission/AP_Mission.cpp `_, common + `MAV_CMD_DO_GUIDED_LIMITS `_, `ArduCopter/mode_auto.cpp `_, common + `MAV_CMD_DO_INVERTED_FLIGHT `_, `AP_Mission/AP_Mission.cpp `_, common + `MAV_CMD_DO_JUMP `_, `AP_Mission/AP_Mission.cpp `_, common + `MAV_CMD_DO_JUMP_TAG `_, `AP_Mission/AP_Mission.cpp `_, common + `MAV_CMD_DO_LAND_START `_, `ArduCopter/GCS_Mavlink.cpp `_, common + `MAV_CMD_DO_MOTOR_TEST `_, `ArduCopter/GCS_Mavlink.cpp `_, common + `MAV_CMD_DO_MOUNT_CONFIGURE `_, `AP_Mount/AP_Mount.cpp `_, common + `MAV_CMD_DO_MOUNT_CONTROL `_, `ArduCopter/GCS_Mavlink.cpp `_, common + `MAV_CMD_DO_PARACHUTE `_, `ArduCopter/GCS_Mavlink.cpp `_, common + `MAV_CMD_DO_PAUSE_CONTINUE `_, `ArduCopter/GCS_Mavlink.cpp `_, common + `MAV_CMD_DO_REPEAT_RELAY `_, `AP_Mission/AP_Mission_Commands.cpp `_, common + `MAV_CMD_DO_REPEAT_SERVO `_, `AP_Mission/AP_Mission_Commands.cpp `_, common + `MAV_CMD_DO_REPOSITION `_, `ArduCopter/GCS_Mavlink.cpp `_, common + `MAV_CMD_DO_RETURN_PATH_START `_, `ArduCopter/GCS_Mavlink.cpp `_, common + `MAV_CMD_DO_SEND_BANNER `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `MAV_CMD_DO_SEND_SCRIPT_MESSAGE `_, `AP_Mission/AP_Mission.cpp `_, ardupilotmega + `MAV_CMD_DO_SET_CAM_TRIGG_DIST `_, `AP_Camera/AP_Camera.cpp `_, common + `MAV_CMD_DO_SET_HOME `_, `ArduCopter/mode_auto.cpp `_, common + `MAV_CMD_DO_SET_MISSION_CURRENT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MAV_CMD_DO_SET_MODE `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `MAV_CMD_DO_SET_RELAY `_, `AP_Mission/AP_Mission_Commands.cpp `_, common + `MAV_CMD_DO_SET_RESUME_REPEAT_DIST `_, `AP_Mission/AP_Mission.cpp `_, ardupilotmega + `MAV_CMD_DO_SET_REVERSE `_, `AP_Mission/AP_Mission.cpp `_, common + `MAV_CMD_DO_SET_ROI `_, `ArduCopter/mode_auto.cpp `_, common + `MAV_CMD_DO_SET_ROI_LOCATION `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `MAV_CMD_DO_SET_ROI_NONE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MAV_CMD_DO_SET_ROI_SYSID `_, `AP_Mount/AP_Mount.cpp `_, common + `MAV_CMD_DO_SET_SAFETY_SWITCH_STATE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MAV_CMD_DO_SET_SERVO `_, `AP_Mission/AP_Mission_Commands.cpp `_, common + `MAV_CMD_DO_SPRAYER `_, `AP_Mission/AP_Mission.cpp `_, ardupilotmega + `MAV_CMD_DO_START_MAG_CAL `_, `AP_Compass/AP_Compass_Calibration.cpp `_, ardupilotmega + `MAV_CMD_DO_VTOL_TRANSITION `_, `AP_Mission/AP_Mission.cpp `_, common + `MAV_CMD_DO_WINCH `_, `ArduCopter/GCS_Mavlink.cpp `_, common + `MAV_CMD_EXTERNAL_POSITION_ESTIMATE `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `MAV_CMD_EXTERNAL_WIND_ESTIMATE `_, `GCS_MAVLink/GCS_Common.cpp `_, development + `MAV_CMD_FIXED_MAG_CAL_YAW `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `MAV_CMD_FLASH_BOOTLOADER `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, ardupilotmega + `MAV_CMD_GET_HOME_POSITION `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `MAV_CMD_GET_MESSAGE_INTERVAL `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `MAV_CMD_IMAGE_START_CAPTURE `_, `AP_Camera/AP_Camera.cpp `_, common + `MAV_CMD_IMAGE_STOP_CAPTURE `_, `AP_Camera/AP_Camera.cpp `_, common + `MAV_CMD_JUMP_TAG `_, `AP_Mission/AP_Mission.cpp `_, common + `MAV_CMD_MISSION_START `_, `ArduCopter/GCS_Mavlink.cpp `_, common + `MAV_CMD_NAV_ALTITUDE_WAIT `_, `AP_Mission/AP_Mission.cpp `_, ardupilotmega + `MAV_CMD_NAV_ATTITUDE_TIME `_, `ArduCopter/mode_auto.cpp `_, ardupilotmega + `MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT `_, `AP_Mission/AP_Mission.cpp `_, common + `MAV_CMD_NAV_DELAY `_, `ArduCopter/mode_auto.cpp `_, common + `MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION `_, `GCS_MAVLink/MissionItemProtocol_Fence.cpp `_, common + `MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION `_, `GCS_MAVLink/MissionItemProtocol_Fence.cpp `_, common + `MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION `_, `GCS_MAVLink/MissionItemProtocol_Fence.cpp `_, common + `MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION `_, `GCS_MAVLink/MissionItemProtocol_Fence.cpp `_, common + `MAV_CMD_NAV_FENCE_RETURN_POINT `_, `GCS_MAVLink/MissionItemProtocol_Fence.cpp `_, common + `MAV_CMD_NAV_GUIDED_ENABLE `_, `ArduCopter/mode_auto.cpp `_, common + `MAV_CMD_NAV_LAND `_, `ArduCopter/GCS_Mavlink.cpp `_, common + `MAV_CMD_NAV_LOITER_TIME `_, `ArduCopter/mode_auto.cpp `_, common + `MAV_CMD_NAV_LOITER_TO_ALT `_, `ArduCopter/mode_auto.cpp `_, common + `MAV_CMD_NAV_LOITER_TURNS `_, `ArduCopter/mode_auto.cpp `_, common + `MAV_CMD_NAV_LOITER_UNLIM `_, `ArduCopter/GCS_Mavlink.cpp `_, common + `MAV_CMD_NAV_PAYLOAD_PLACE `_, `ArduCopter/mode_auto.cpp `_, common + `MAV_CMD_NAV_RETURN_TO_LAUNCH `_, `ArduCopter/GCS_Mavlink.cpp `_, common + `MAV_CMD_NAV_SCRIPT_TIME `_, `ArduCopter/mode_auto.cpp `_, ardupilotmega + `MAV_CMD_NAV_SET_YAW_SPEED `_, `AP_Mission/AP_Mission.cpp `_, common + `MAV_CMD_NAV_SPLINE_WAYPOINT `_, `ArduCopter/mode_auto.cpp `_, common + `MAV_CMD_NAV_TAKEOFF `_, `ArduCopter/GCS_Mavlink.cpp `_, common + `MAV_CMD_NAV_TAKEOFF_LOCAL `_, `AP_Mission/AP_Mission.cpp `_, common + `MAV_CMD_NAV_VTOL_LAND `_, `ArduCopter/GCS_Mavlink.cpp `_, common + `MAV_CMD_NAV_VTOL_TAKEOFF `_, `ArduCopter/GCS_Mavlink.cpp `_, common + `MAV_CMD_NAV_WAYPOINT `_, `ArduCopter/mode_auto.cpp `_, common + `MAV_CMD_PREFLIGHT_CALIBRATION `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `MAV_CMD_PREFLIGHT_STORAGE `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `MAV_CMD_PREFLIGHT_UAVCAN `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `MAV_CMD_REQUEST_MESSAGE `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `MAV_CMD_RUN_PREARM_CHECKS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MAV_CMD_SCRIPTING `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `MAV_CMD_SET_CAMERA_FOCUS `_, `AP_Camera/AP_Camera.cpp `_, common + `MAV_CMD_SET_CAMERA_SOURCE `_, `AP_Camera/AP_Camera.cpp `_, common + `MAV_CMD_SET_CAMERA_ZOOM `_, `AP_Camera/AP_Camera.cpp `_, common + `MAV_CMD_SET_EKF_SOURCE_SET `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `MAV_CMD_SET_MESSAGE_INTERVAL `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `MAV_CMD_SOLO_BTN_FLY_CLICK `_, `ArduCopter/GCS_Mavlink.cpp `_, ardupilotmega + `MAV_CMD_SOLO_BTN_FLY_HOLD `_, `ArduCopter/GCS_Mavlink.cpp `_, ardupilotmega + `MAV_CMD_SOLO_BTN_PAUSE_CLICK `_, `ArduCopter/GCS_Mavlink.cpp `_, ardupilotmega + `MAV_CMD_START_RX_PAIR `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `MAV_CMD_STORAGE_FORMAT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MAV_CMD_VIDEO_START_CAPTURE `_, `AP_Camera/AP_Camera.cpp `_, common + `MAV_CMD_VIDEO_STOP_CAPTURE `_, `AP_Camera/AP_Camera.cpp `_, common + +.. _mavlink_requestable_messages: + +Requestable Messages +==================== + +Messages that can be requested/streamed from the autopilot. + +.. csv-table:: + :header: MAVLink Message, Code Source, MAVLink Dialect + + + `ADSB_VEHICLE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `AHRS `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `AHRS2 `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `AIRSPEED `_, `GCS_MAVLink/GCS_Common.cpp `_, development + `AIS_VESSEL `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `AOA_SSA `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `ATTITUDE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `ATTITUDE_QUATERNION `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `ATTITUDE_TARGET `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `AUTOPILOT_STATE_FOR_GIMBAL_DEVICE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `AUTOPILOT_VERSION `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `BATTERY2 `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `BATTERY_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `CAMERA_CAPTURE_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `CAMERA_FEEDBACK `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `CAMERA_FOV_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `CAMERA_INFORMATION `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `CAMERA_SETTINGS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `CAMERA_THERMAL_RANGE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `DEEPSTALL `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `DISTANCE_SENSOR `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `EFI_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `EKF_STATUS_REPORT `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `ESC_TELEMETRY_1_TO_4 `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `EXTENDED_SYS_STATE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `FENCE_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `GENERATOR_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `GIMBAL_DEVICE_ATTITUDE_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `GIMBAL_MANAGER_INFORMATION `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `GIMBAL_MANAGER_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `GLOBAL_POSITION_INT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `GPS2_RAW `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `GPS2_RTK `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `GPS_GLOBAL_ORIGIN `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `GPS_RAW_INT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `GPS_RTK `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `HEARTBEAT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `HIGHRES_IMU `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `HIGH_LATENCY2 `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `HOME_POSITION `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `HWSTATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `LOCAL_POSITION_NED `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MAG_CAL_PROGRESS `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `MAG_CAL_REPORT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MCU_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `MEMINFO `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `MISSION_CURRENT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MISSION_ITEM_REACHED `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `NAV_CONTROLLER_OUTPUT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `OPTICAL_FLOW `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `PARAM_VALUE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `PID_TUNING `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `POSITION_TARGET_GLOBAL_INT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `POSITION_TARGET_LOCAL_NED `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `POWER_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `RANGEFINDER `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `RAW_IMU `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `RC_CHANNELS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `RC_CHANNELS_RAW `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `RC_CHANNELS_SCALED `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `RELAY_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `RPM `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `SCALED_IMU `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `SCALED_IMU2 `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `SCALED_IMU3 `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `SCALED_PRESSURE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `SCALED_PRESSURE2 `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `SCALED_PRESSURE3 `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `SERVO_OUTPUT_RAW `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `SIMSTATE `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `SIM_STATE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `SYSTEM_TIME `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `SYS_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `TERRAIN_REPORT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `TERRAIN_REQUEST `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `UAVIONIX_ADSB_OUT_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, uAvionix + `VFR_HUD `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `VIBRATION `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `VIDEO_STREAM_INFORMATION `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `WATER_DEPTH `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `WINCH_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `WIND `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + +.. _mavlink_outgoing_messages: + +Outgoing Messages +================= + +Messages the autopilot will send automatically (unrequested). + +.. csv-table:: + :header: MAVLink Message, Code Source, MAVLink Dialect + + + `ADSB_VEHICLE `_, `AP_ADSB/AP_ADSB.cpp `_, common + `AHRS `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `AHRS2 `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `AP_ADC `_, `AP_HAL_ESP32/AnalogIn.cpp `_, ardupilotmega + `ATTITUDE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `ATTITUDE_QUATERNION `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `ATTITUDE_TARGET `_, `ArduCopter/GCS_Mavlink.cpp `_, common + `AUTOPILOT_STATE_FOR_GIMBAL_DEVICE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `AUTOPILOT_VERSION `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `BATTERY2 `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `BATTERY_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `CAMERA_CAPTURE_STATUS `_, `AP_Camera/AP_Camera_Backend.cpp `_, common + `CAMERA_FEEDBACK `_, `AP_Camera/AP_Camera_Backend.cpp `_, ardupilotmega + `CAMERA_FOV_STATUS `_, `AP_Camera/AP_Camera_Backend.cpp `_, common + `CAMERA_INFORMATION `_, `AP_Camera/AP_Camera_MAVLinkCamV2.cpp `_, common + `CAMERA_SETTINGS `_, `AP_Camera/AP_Camera_Backend.cpp `_, common + `CAMERA_THERMAL_RANGE `_, `AP_Mount/AP_Mount_Siyi.cpp `_, common + `CANFD_FRAME `_, `AP_CANManager/AP_CANManager.cpp `_, common + `CAN_FRAME `_, `AP_CANManager/AP_CANManager.cpp `_, common + `COMMAND_ACK `_, `ArduCopter/compassmot.cpp `_, common + `COMMAND_LONG `_, `AP_Mount/AP_Mount_SToRM32.cpp `_, common + `COMPASSMOT_STATUS `_, `ArduCopter/compassmot.cpp `_, ardupilotmega + `DATA16 `_, `AP_Radio/AP_Radio_cc2500.cpp `_, ardupilotmega + `DEEPSTALL `_, `AP_Landing/AP_Landing_Deepstall.cpp `_, ardupilotmega + `DEVICE_OP_READ_REPLY `_, `GCS_MAVLink/GCS_DeviceOp.cpp `_, ardupilotmega + `DEVICE_OP_WRITE_REPLY `_, `GCS_MAVLink/GCS_DeviceOp.cpp `_, ardupilotmega + `DISTANCE_SENSOR `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `EFI_STATUS `_, `AP_EFI/AP_EFI.cpp `_, common + `EKF_STATUS_REPORT `_, `AP_ExternalAHRS/AP_ExternalAHRS.cpp `_, ardupilotmega + `EXTENDED_SYS_STATE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `FENCE_STATUS `_, `GCS_MAVLink/GCS_Fence.cpp `_, common + `FILE_TRANSFER_PROTOCOL `_, `GCS_MAVLink/GCS_FTP.cpp `_, common + `GENERATOR_STATUS `_, `AP_Generator/AP_Generator_RichenPower.cpp `_, common + `GIMBAL_CONTROL `_, `AP_Mount/SoloGimbal.cpp `_, ardupilotmega + `GIMBAL_DEVICE_ATTITUDE_STATUS `_, `AP_Mount/AP_Mount_Backend.cpp `_, common + `GIMBAL_MANAGER_INFORMATION `_, `AP_Mount/AP_Mount_Backend.cpp `_, common + `GIMBAL_MANAGER_STATUS `_, `AP_Mount/AP_Mount_Backend.cpp `_, common + `GLOBAL_POSITION_INT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `GOPRO_SET_REQUEST `_, `AP_Camera/AP_Camera_SoloGimbal.cpp `_, ardupilotmega + `GPS2_RAW `_, `AP_GPS/AP_GPS.cpp `_, common + `GPS2_RTK `_, `AP_GPS/GPS_Backend.cpp `_, common + `GPS_GLOBAL_ORIGIN `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `GPS_RAW_INT `_, `AP_GPS/AP_GPS.cpp `_, common + `GPS_RTK `_, `AP_GPS/GPS_Backend.cpp `_, common + `HEARTBEAT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `HIGH_LATENCY2 `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `HOME_POSITION `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `HWSTATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `LOCAL_POSITION_NED `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `LOG_ENTRY `_, `AP_Logger/AP_Logger_MAVLinkLogTransfer.cpp `_, common + `MAG_CAL_PROGRESS `_, `AP_Compass/AP_Compass_Calibration.cpp `_, ardupilotmega + `MAG_CAL_REPORT `_, `AP_Compass/AP_Compass_Calibration.cpp `_, common + `MCU_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `MEMINFO `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `MESSAGE_INTERVAL `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MISSION_ACK `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MISSION_COUNT `_, `GCS_MAVLink/MissionItemProtocol_Waypoints.cpp `_, common + `MISSION_CURRENT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MISSION_ITEM_REACHED `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MISSION_REQUEST `_, `GCS_MAVLink/MissionItemProtocol.cpp `_, common + `NAMED_VALUE_FLOAT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `NAMED_VALUE_INT `_, `ArduCopter/toy_mode.cpp `_, common + `NAV_CONTROLLER_OUTPUT `_, `ArduCopter/GCS_Mavlink.cpp `_, common + `OPTICAL_FLOW `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `OSD_PARAM_CONFIG_REPLY `_, `AP_OSD/AP_OSD.cpp `_, ardupilotmega + `OSD_PARAM_SHOW_CONFIG_REPLY `_, `AP_OSD/AP_OSD.cpp `_, ardupilotmega + `PARAM_REQUEST_LIST `_, `AP_Mount/SoloGimbal_Parameters.cpp `_, common + `PARAM_SET `_, `AP_Mount/SoloGimbal_Parameters.cpp `_, common + `PARAM_VALUE `_, `GCS_MAVLink/GCS_Param.cpp `_, common + `PID_TUNING `_, `ArduCopter/GCS_Mavlink.cpp `_, ardupilotmega + `POSITION_TARGET_GLOBAL_INT `_, `ArduCopter/GCS_Mavlink.cpp `_, common + `POSITION_TARGET_LOCAL_NED `_, `ArduCopter/GCS_Mavlink.cpp `_, common + `POWER_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `RALLY_POINT `_, `GCS_MAVLink/GCS_Rally.cpp `_, ardupilotmega + `RANGEFINDER `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `RAW_IMU `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `RC_CHANNELS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `RC_CHANNELS_RAW `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `RELAY_STATUS `_, `AP_Relay/AP_Relay.cpp `_, common + `RPM `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `SERVO_OUTPUT_RAW `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `SET_POSITION_TARGET_GLOBAL_INT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `STATUSTEXT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `SYSTEM_TIME `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `SYS_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `TERRAIN_REPORT `_, `AP_Terrain/TerrainGCS.cpp `_, common + `TERRAIN_REQUEST `_, `AP_Terrain/TerrainGCS.cpp `_, common + `TIMESYNC `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `UAVIONIX_ADSB_OUT_CFG `_, `AP_ADSB/AP_ADSB_uAvionix_MAVLink.cpp `_, uAvionix + `UAVIONIX_ADSB_OUT_DYNAMIC `_, `AP_ADSB/AP_ADSB_uAvionix_MAVLink.cpp `_, uAvionix + `VFR_HUD `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `VIBRATION `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `WATER_DEPTH `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `WINCH_STATUS `_, `AP_Winch/AP_Winch_Daiwa.cpp `_, common + `WIND `_, `ArduCopter/GCS_Mavlink.cpp `_, ardupilotmega + +.. _mavlink_named_floats: + +Named Floats +============ + +Breakout of named floating-point (numerical) values sent by the autopilot. + +.. csv-table:: + :header: MAVLink Message, Code Source, MAVLink Dialect + + + `NAMED_VALUE_FLOAT:HEST `_, `ArduCopter/mode_flowhold.cpp `_, common + +.. _mavlink_named_ints: + +Named Ints +========== + +Breakout of named integer values sent by the autopilot. + +.. csv-table:: + :header: MAVLink Message, Code Source, MAVLink Dialect + + + `NAMED_VALUE_INT:SNAPSHOT `_, `ArduCopter/toy_mode.cpp `_, common + `NAMED_VALUE_INT:VIDEOTOG `_, `ArduCopter/toy_mode.cpp `_, common + `NAMED_VALUE_INT:WIFIRESET `_, `ArduCopter/toy_mode.cpp `_, common + +.. _mavlink_stream_groups: + +Stream Groups +============= + +Message groups with stream rates requestable by ``SRn_*`` parameters. Messages in a group are only sent if the corresponding feature is active. + +.. csv-table:: + :header: MAVLink Message, Stream Group Parameter, MAVLink Dialect + + + `AIRSPEED `_, SRn_RAW_SENSORS, development + `RAW_IMU `_, SRn_RAW_SENSORS, common + `SCALED_IMU2 `_, SRn_RAW_SENSORS, common + `SCALED_IMU3 `_, SRn_RAW_SENSORS, common + `SCALED_PRESSURE `_, SRn_RAW_SENSORS, common + `SCALED_PRESSURE2 `_, SRn_RAW_SENSORS, common + `SCALED_PRESSURE3 `_, SRn_RAW_SENSORS, common + `FENCE_STATUS `_, SRn_EXTENDED_STATUS, common + `GPS2_RAW `_, SRn_EXTENDED_STATUS, common + `GPS2_RTK `_, SRn_EXTENDED_STATUS, common + `GPS_RAW_INT `_, SRn_EXTENDED_STATUS, common + `GPS_RTK `_, SRn_EXTENDED_STATUS, common + `MCU_STATUS `_, SRn_EXTENDED_STATUS, ardupilotmega + `MEMINFO `_, SRn_EXTENDED_STATUS, ardupilotmega + `MISSION_CURRENT `_, SRn_EXTENDED_STATUS, common + `NAV_CONTROLLER_OUTPUT `_, SRn_EXTENDED_STATUS, common + `POSITION_TARGET_GLOBAL_INT `_, SRn_EXTENDED_STATUS, common + `POWER_STATUS `_, SRn_EXTENDED_STATUS, common + `SYS_STATUS `_, SRn_EXTENDED_STATUS, common + `GLOBAL_POSITION_INT `_, SRn_POSITION, common + `LOCAL_POSITION_NED `_, SRn_POSITION, common + `RC_CHANNELS `_, SRn_RC_CHANNELS, common + `RC_CHANNELS_RAW `_, SRn_RC_CHANNELS, common + RC_CHANNELS_RAW_ENABLED, SRn_RC_CHANNELS, UNKNOWN + `SERVO_OUTPUT_RAW `_, SRn_RC_CHANNELS, common + `AHRS2 `_, SRn_EXTRA1, ardupilotmega + `ATTITUDE `_, SRn_EXTRA1, common + `PID_TUNING `_, SRn_EXTRA1, ardupilotmega + `SIMSTATE `_, SRn_EXTRA1, ardupilotmega + `VFR_HUD `_, SRn_EXTRA2, common + `AHRS `_, SRn_EXTRA3, ardupilotmega + `BATTERY_STATUS `_, SRn_EXTRA3, common + `DISTANCE_SENSOR `_, SRn_EXTRA3, common + `EFI_STATUS `_, SRn_EXTRA3, common + `EKF_STATUS_REPORT `_, SRn_EXTRA3, ardupilotmega + `ESC_TELEMETRY_1_TO_4 `_, SRn_EXTRA3, ardupilotmega + `GENERATOR_STATUS `_, SRn_EXTRA3, common + `GIMBAL_DEVICE_ATTITUDE_STATUS `_, SRn_EXTRA3, common + `MAG_CAL_PROGRESS `_, SRn_EXTRA3, ardupilotmega + `MAG_CAL_REPORT `_, SRn_EXTRA3, common + `OPTICAL_FLOW `_, SRn_EXTRA3, common + `RANGEFINDER `_, SRn_EXTRA3, ardupilotmega + `RPM `_, SRn_EXTRA3, ardupilotmega + `SYSTEM_TIME `_, SRn_EXTRA3, common + `TERRAIN_REPORT `_, SRn_EXTRA3, common + `TERRAIN_REQUEST `_, SRn_EXTRA3, common + `VIBRATION `_, SRn_EXTRA3, common + `WINCH_STATUS `_, SRn_EXTRA3, common + `WIND `_, SRn_EXTRA3, ardupilotmega + `PARAM_VALUE `_, SRn_PARAMS, common + `ADSB_VEHICLE `_, SRn_ADSB, common + `AIS_VESSEL `_, SRn_ADSB, common + +.. _mavlink_missing_messages: + +Missing Messages +================ + +Unsupported / unhandled messages. + +.. csv-table:: + :header: MAVLink Message, Code Source, MAVLink Dialect + + + `ACTUATOR_CONTROL_TARGET `_, UNSUPPORTED, common + `ACTUATOR_OUTPUT_STATUS `_, UNSUPPORTED, common + `ADAP_TUNING `_, UNSUPPORTED, ardupilotmega + `AHRS3 `_, UNSUPPORTED, ardupilotmega + `AIRLINK_AUTH `_, UNSUPPORTED, ardupilotmega + `AIRLINK_AUTH_RESPONSE `_, UNSUPPORTED, ardupilotmega + `AIRSPEED_AUTOCAL `_, UNSUPPORTED, ardupilotmega + `ALTITUDE `_, UNSUPPORTED, common + `ATTITUDE_QUATERNION_COV `_, UNSUPPORTED, common + `AUTH_KEY `_, UNSUPPORTED, common + `BAD_DATA `_, UNSUPPORTED, common + `BUTTON_CHANGE `_, UNSUPPORTED, common + `CAMERA_IMAGE_CAPTURED `_, UNSUPPORTED, common + `CAMERA_STATUS `_, UNSUPPORTED, ardupilotmega + `CAMERA_TRACKING_GEO_STATUS `_, UNSUPPORTED, common + `CAMERA_TRACKING_IMAGE_STATUS `_, UNSUPPORTED, common + `CAMERA_TRIGGER `_, UNSUPPORTED, common + `CHANGE_OPERATOR_CONTROL `_, UNSUPPORTED, common + `CHANGE_OPERATOR_CONTROL_ACK `_, UNSUPPORTED, common + `COLLISION `_, UNSUPPORTED, common + `CONTROL_SYSTEM_STATE `_, UNSUPPORTED, common + `CUBEPILOT_FIRMWARE_UPDATE_RESP `_, UNSUPPORTED, cubepilot + `CUBEPILOT_FIRMWARE_UPDATE_START `_, UNSUPPORTED, cubepilot + `CUBEPILOT_RAW_RC `_, UNSUPPORTED, cubepilot + `DATA32 `_, UNSUPPORTED, ardupilotmega + `DATA64 `_, UNSUPPORTED, ardupilotmega + `DATA_STREAM `_, UNSUPPORTED, common + `DATA_TRANSMISSION_HANDSHAKE `_, UNSUPPORTED, common + `DEBUG `_, UNSUPPORTED, common + `DEBUG_FLOAT_ARRAY `_, UNSUPPORTED, common + `DEBUG_VECT `_, UNSUPPORTED, common + `DIGICAM_CONFIGURE `_, UNSUPPORTED, ardupilotmega + `ENCAPSULATED_DATA `_, UNSUPPORTED, common + `ESC_TELEMETRY_13_TO_16 `_, UNSUPPORTED, ardupilotmega + `ESC_TELEMETRY_17_TO_20 `_, UNSUPPORTED, ardupilotmega + `ESC_TELEMETRY_21_TO_24 `_, UNSUPPORTED, ardupilotmega + `ESC_TELEMETRY_25_TO_28 `_, UNSUPPORTED, ardupilotmega + `ESC_TELEMETRY_29_TO_32 `_, UNSUPPORTED, ardupilotmega + `ESC_TELEMETRY_5_TO_8 `_, UNSUPPORTED, ardupilotmega + `ESC_TELEMETRY_9_TO_12 `_, UNSUPPORTED, ardupilotmega + `ESTIMATOR_STATUS `_, UNSUPPORTED, common + `FLIGHT_INFORMATION `_, UNSUPPORTED, common + `GIMBAL_DEVICE_SET_ATTITUDE `_, UNSUPPORTED, common + `GIMBAL_MANAGER_SET_MANUAL_CONTROL `_, UNSUPPORTED, common + `GIMBAL_TORQUE_CMD_REPORT `_, UNSUPPORTED, ardupilotmega + `GLOBAL_POSITION_INT_COV `_, UNSUPPORTED, common + `GNSS_INTEGRITY `_, UNSUPPORTED, development + `GOPRO_GET_REQUEST `_, UNSUPPORTED, ardupilotmega + `GOPRO_GET_RESPONSE `_, UNSUPPORTED, ardupilotmega + `GOPRO_SET_RESPONSE `_, UNSUPPORTED, ardupilotmega + `GPS_STATUS `_, UNSUPPORTED, common + `HERELINK_TELEM `_, UNSUPPORTED, cubepilot + `HERELINK_VIDEO_STREAM_INFORMATION `_, UNSUPPORTED, cubepilot + `HIGH_LATENCY `_, UNSUPPORTED, common + `HIL_ACTUATOR_CONTROLS `_, UNSUPPORTED, common + `HIL_CONTROLS `_, UNSUPPORTED, common + `HIL_OPTICAL_FLOW `_, UNSUPPORTED, common + `HIL_RC_INPUTS_RAW `_, UNSUPPORTED, common + `HIL_SENSOR `_, UNSUPPORTED, common + `HIL_STATE `_, UNSUPPORTED, common + `HIL_STATE_QUATERNION `_, UNSUPPORTED, common + `HYGROMETER_SENSOR `_, UNSUPPORTED, common + `ICAROUS_HEARTBEAT `_, UNSUPPORTED, icarous + `ICAROUS_KINEMATIC_BANDS `_, UNSUPPORTED, icarous + `ISBD_LINK_STATUS `_, UNSUPPORTED, common + `LIMITS_STATUS `_, UNSUPPORTED, ardupilotmega + `LOCAL_POSITION_NED_COV `_, UNSUPPORTED, common + `LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET `_, UNSUPPORTED, common + `LOGGING_ACK `_, UNSUPPORTED, common + `LOGGING_DATA `_, UNSUPPORTED, common + `LOGGING_DATA_ACKED `_, UNSUPPORTED, common + `LOG_DATA `_, UNSUPPORTED, common + `LOWEHEISER_GOV_EFI `_, UNSUPPORTED, ardupilotmega + `MANUAL_SETPOINT `_, UNSUPPORTED, common + `MEMORY_VECT `_, UNSUPPORTED, common + `MISSION_CHECKSUM `_, UNSUPPORTED, development + `MISSION_REQUEST_PARTIAL_LIST `_, UNSUPPORTED, common + `MOUNT_ORIENTATION `_, UNSUPPORTED, common + `MOUNT_STATUS `_, UNSUPPORTED, ardupilotmega + `OPEN_DRONE_ID_AUTHENTICATION `_, UNSUPPORTED, common + `OPEN_DRONE_ID_LOCATION `_, UNSUPPORTED, common + `OPEN_DRONE_ID_MESSAGE_PACK `_, UNSUPPORTED, common + `OPTICAL_FLOW_RAD `_, UNSUPPORTED, common + `PARAM_EXT_ACK `_, UNSUPPORTED, common + `PARAM_EXT_REQUEST_LIST `_, UNSUPPORTED, common + `PARAM_EXT_REQUEST_READ `_, UNSUPPORTED, common + `PARAM_EXT_SET `_, UNSUPPORTED, common + `PARAM_EXT_VALUE `_, UNSUPPORTED, common + `PARAM_MAP_RC `_, UNSUPPORTED, common + `PING `_, UNSUPPORTED, common + `RAW_PRESSURE `_, UNSUPPORTED, common + `RAW_RPM `_, UNSUPPORTED, common + `REMOTE_LOG_DATA_BLOCK `_, UNSUPPORTED, ardupilotmega + `RESOURCE_REQUEST `_, UNSUPPORTED, common + `SAFETY_ALLOWED_AREA `_, UNSUPPORTED, common + `SAFETY_SET_ALLOWED_AREA `_, UNSUPPORTED, common + `SENSOR_OFFSETS `_, UNSUPPORTED, ardupilotmega + `SET_ACTUATOR_CONTROL_TARGET `_, UNSUPPORTED, common + `SET_HOME_POSITION `_, UNSUPPORTED, common + `SET_MAG_OFFSETS `_, UNSUPPORTED, ardupilotmega + `SMART_BATTERY_INFO `_, UNSUPPORTED, common + `STORAGE_INFORMATION `_, UNSUPPORTED, common + `TRAJECTORY_REPRESENTATION_BEZIER `_, UNSUPPORTED, common + `TRAJECTORY_REPRESENTATION_WAYPOINTS `_, UNSUPPORTED, common + `TUNNEL `_, UNSUPPORTED, common + `UAVCAN_NODE_INFO `_, UNSUPPORTED, common + `UAVCAN_NODE_STATUS `_, UNSUPPORTED, common + `UAVIONIX_ADSB_GET `_, UNSUPPORTED, uAvionix + `UAVIONIX_ADSB_OUT_CFG_FLIGHTID `_, UNSUPPORTED, uAvionix + `UAVIONIX_ADSB_OUT_CFG_REGISTRATION `_, UNSUPPORTED, uAvionix + `UNKNOWN `_, UNSUPPORTED, common + `UTM_GLOBAL_POSITION `_, UNSUPPORTED, common + `V2_EXTENSION `_, UNSUPPORTED, common + `VIDEO_STREAM_STATUS `_, UNSUPPORTED, common + `WHEEL_DISTANCE `_, UNSUPPORTED, common + `WIFI_CONFIG_AP `_, UNSUPPORTED, common + `WIND_COV `_, UNSUPPORTED, common + +.. _mavlink_missing_commands: + +Missing Commands +================ + +Unsupported / unhandled commands. + +.. csv-table:: + :header: MAVLink Message, Code Source, MAVLink Dialect + + + `MAV_CMD_ARM_AUTHORIZATION_REQUEST `_, UNSUPPORTED, common + `MAV_CMD_CONDITION_CHANGE_ALT `_, UNSUPPORTED, common + `MAV_CMD_CONDITION_LAST `_, UNSUPPORTED, common + `MAV_CMD_DO_CHANGE_ALTITUDE `_, UNSUPPORTED, common + `MAV_CMD_DO_CONTROL_VIDEO `_, UNSUPPORTED, common + `MAV_CMD_DO_FOLLOW_REPOSITION `_, UNSUPPORTED, common + `MAV_CMD_DO_GUIDED_MASTER `_, UNSUPPORTED, common + `MAV_CMD_DO_LAST `_, UNSUPPORTED, common + `MAV_CMD_DO_MOUNT_CONTROL_QUAT `_, UNSUPPORTED, common + `MAV_CMD_DO_RALLY_LAND `_, UNSUPPORTED, common + `MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL `_, UNSUPPORTED, common + `MAV_CMD_DO_SET_PARAMETER `_, UNSUPPORTED, common + `MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET `_, UNSUPPORTED, common + `MAV_CMD_DO_SET_SYS_CMP_ID `_, UNSUPPORTED, development + `MAV_CMD_DO_TRIGGER_CONTROL `_, UNSUPPORTED, common + `MAV_CMD_ENUM_END `_, UNSUPPORTED, common + `MAV_CMD_FIXED_MAG_CAL `_, UNSUPPORTED, ardupilotmega + `MAV_CMD_FIXED_MAG_CAL_FIELD `_, UNSUPPORTED, ardupilotmega + `MAV_CMD_GIMBAL_AXIS_CALIBRATION_STATUS `_, UNSUPPORTED, ardupilotmega + `MAV_CMD_GIMBAL_FULL_RESET `_, UNSUPPORTED, ardupilotmega + `MAV_CMD_GIMBAL_REQUEST_AXIS_CALIBRATION `_, UNSUPPORTED, ardupilotmega + `MAV_CMD_GIMBAL_RESET `_, UNSUPPORTED, ardupilotmega + `MAV_CMD_GUIDED_CHANGE_ALTITUDE `_, UNSUPPORTED, ardupilotmega + `MAV_CMD_GUIDED_CHANGE_HEADING `_, UNSUPPORTED, ardupilotmega + `MAV_CMD_GUIDED_CHANGE_SPEED `_, UNSUPPORTED, ardupilotmega + `MAV_CMD_LOGGING_START `_, UNSUPPORTED, common + `MAV_CMD_LOGGING_STOP `_, UNSUPPORTED, common + `MAV_CMD_LOWEHEISER_SET_STATE `_, UNSUPPORTED, ardupilotmega + `MAV_CMD_NAV_FOLLOW `_, UNSUPPORTED, common + `MAV_CMD_NAV_LAND_LOCAL `_, UNSUPPORTED, common + `MAV_CMD_NAV_LAST `_, UNSUPPORTED, common + `MAV_CMD_NAV_PATHPLANNING `_, UNSUPPORTED, common + `MAV_CMD_NAV_RALLY_POINT `_, UNSUPPORTED, common + `MAV_CMD_NAV_ROI `_, UNSUPPORTED, common + `MAV_CMD_OBLIQUE_SURVEY `_, UNSUPPORTED, common + `MAV_CMD_OVERRIDE_GOTO `_, UNSUPPORTED, common + `MAV_CMD_PANORAMA_CREATE `_, UNSUPPORTED, common + `MAV_CMD_PAYLOAD_CONTROL_DEPLOY `_, UNSUPPORTED, common + `MAV_CMD_PAYLOAD_PREPARE_DEPLOY `_, UNSUPPORTED, common + `MAV_CMD_POWER_OFF_INITIATED `_, UNSUPPORTED, ardupilotmega + `MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS `_, UNSUPPORTED, common + `MAV_CMD_REQUEST_CAMERA_INFORMATION `_, UNSUPPORTED, common + `MAV_CMD_REQUEST_CAMERA_SETTINGS `_, UNSUPPORTED, common + `MAV_CMD_REQUEST_FLIGHT_INFORMATION `_, UNSUPPORTED, common + `MAV_CMD_REQUEST_PROTOCOL_VERSION `_, UNSUPPORTED, common + `MAV_CMD_REQUEST_STORAGE_INFORMATION `_, UNSUPPORTED, common + `MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION `_, UNSUPPORTED, common + `MAV_CMD_REQUEST_VIDEO_STREAM_STATUS `_, UNSUPPORTED, common + `MAV_CMD_RESET_CAMERA_SETTINGS `_, UNSUPPORTED, common + `MAV_CMD_SET_CAMERA_MODE `_, UNSUPPORTED, common + `MAV_CMD_SET_FACTORY_TEST_MODE `_, UNSUPPORTED, ardupilotmega + `MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE `_, UNSUPPORTED, common + `MAV_CMD_SET_GUIDED_SUBMODE_STANDARD `_, UNSUPPORTED, common + `MAV_CMD_SET_HAGL `_, UNSUPPORTED, ardupilotmega + `MAV_CMD_SET_STORAGE_USAGE `_, UNSUPPORTED, common + `MAV_CMD_SPATIAL_USER_1 `_, UNSUPPORTED, common + `MAV_CMD_SPATIAL_USER_2 `_, UNSUPPORTED, common + `MAV_CMD_SPATIAL_USER_3 `_, UNSUPPORTED, common + `MAV_CMD_SPATIAL_USER_4 `_, UNSUPPORTED, common + `MAV_CMD_SPATIAL_USER_5 `_, UNSUPPORTED, common + `MAV_CMD_UAVCAN_GET_NODE_INFO `_, UNSUPPORTED, common + `MAV_CMD_USER_1 `_, UNSUPPORTED, common + `MAV_CMD_USER_2 `_, UNSUPPORTED, common + `MAV_CMD_USER_3 `_, UNSUPPORTED, common + `MAV_CMD_USER_4 `_, UNSUPPORTED, common + `MAV_CMD_USER_5 `_, UNSUPPORTED, common + `MAV_CMD_VIDEO_START_STREAMING `_, UNSUPPORTED, common + `MAV_CMD_VIDEO_STOP_STREAMING `_, UNSUPPORTED, common + `MAV_CMD_WAYPOINT_USER_1 `_, UNSUPPORTED, common + `MAV_CMD_WAYPOINT_USER_2 `_, UNSUPPORTED, common + `MAV_CMD_WAYPOINT_USER_3 `_, UNSUPPORTED, common + `MAV_CMD_WAYPOINT_USER_4 `_, UNSUPPORTED, common + `MAV_CMD_WAYPOINT_USER_5 `_, UNSUPPORTED, common diff --git a/dev/source/docs/ArduPlane_MAVLink_Messages.rst b/dev/source/docs/ArduPlane_MAVLink_Messages.rst new file mode 100644 index 0000000000..d82c82797e --- /dev/null +++ b/dev/source/docs/ArduPlane_MAVLink_Messages.rst @@ -0,0 +1,738 @@ +.. _ArduPlane_MAVLink_messages: + +================ +MAVLink Messages +================ + + +The `MAVLink `_ protocol supports a variety of features and functionalities, but not all `messages `_ or `commands `_ are implemented by the ArduPilot ecosystem, or relevant to a particular autopilot firmware. + +This page is auto-generated from analysing the ArduPlane source code, and provides an indication of which messages (and commands) are handled by, requestable from, and sent from the firmware. A message being handled does not guarantee full support, but at least shows that the autopilot is aware it exists, and will try to do something meaningful with it. + +Known :ref:`unsupported messages ` (and commands) are shown at the end. + +The autopilot includes a set of :ref:`mavlink_stream_groups` for convenience, which allow configuring the stream rates of groups of requestable messages by setting parameter values. It is also possible to manually request messages, and request individual messages be streamed at a specified rate. + + +.. _mavlink_incoming_messages: + +Incoming Messages +================= + +Messages the autopilot handles when received. + +.. csv-table:: + :header: MAVLink Message, Code Source, MAVLink Dialect + + + `ADSB_VEHICLE `_, `AP_ADSB/AP_ADSB.cpp `_, common + `ATT_POS_MOCAP `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `AUTOPILOT_VERSION_REQUEST `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `CAMERA_INFORMATION `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `CANFD_FRAME `_, `AP_CANManager/AP_CANManager.cpp `_, common + `CAN_FILTER_MODIFY `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `CAN_FRAME `_, `AP_CANManager/AP_CANManager.cpp `_, common + `COMMAND_ACK `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `COMMAND_INT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `COMMAND_LONG `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `DATA96 `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `DEVICE_OP_READ `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `DEVICE_OP_WRITE `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `DIGICAM_CONTROL `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `DISTANCE_SENSOR `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `EFI_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `FENCE_FETCH_POINT `_, `AC_Fence/AC_PolyFence_loader.cpp `_, ardupilotmega + `FENCE_POINT `_, `AC_Fence/AC_PolyFence_loader.cpp `_, ardupilotmega + `FILE_TRANSFER_PROTOCOL `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `FOLLOW_TARGET `_, `AP_Follow/AP_Follow.cpp `_, common + `GIMBAL_DEVICE_ATTITUDE_STATUS `_, `AP_Mount/AP_Mount.cpp `_, common + `GIMBAL_DEVICE_INFORMATION `_, `AP_Mount/AP_Mount.cpp `_, common + `GIMBAL_MANAGER_SET_ATTITUDE `_, `AP_Mount/AP_Mount.cpp `_, common + `GIMBAL_MANAGER_SET_PITCHYAW `_, `AP_Mount/AP_Mount.cpp `_, common + `GIMBAL_REPORT `_, `AP_Mount/AP_Mount.cpp `_, ardupilotmega + `GLOBAL_POSITION_INT `_, `AP_Follow/AP_Follow.cpp `_, common + `GLOBAL_VISION_POSITION_ESTIMATE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `GOPRO_HEARTBEAT `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `GPS_INJECT_DATA `_, `AP_GPS/AP_GPS.cpp `_, common + `GPS_INPUT `_, `AP_GPS/AP_GPS_MAV.cpp `_, common + `GPS_RTCM_DATA `_, `AP_GPS/AP_GPS.cpp `_, common + `HEARTBEAT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `HIL_GPS `_, `AP_GPS/AP_GPS_MAV.cpp `_, common + `LANDING_TARGET `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `LED_CONTROL `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `LOG_ERASE `_, `AP_Logger/AP_Logger_MAVLinkLogTransfer.cpp `_, common + `LOG_REQUEST_DATA `_, `AP_Logger/AP_Logger_MAVLinkLogTransfer.cpp `_, common + `LOG_REQUEST_END `_, `AP_Logger/AP_Logger_MAVLinkLogTransfer.cpp `_, common + `LOG_REQUEST_LIST `_, `AP_Logger/AP_Logger_MAVLinkLogTransfer.cpp `_, common + `MANUAL_CONTROL `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MISSION_ACK `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MISSION_CLEAR_ALL `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MISSION_COUNT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MISSION_ITEM `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MISSION_ITEM_INT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MISSION_REQUEST `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MISSION_REQUEST_INT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MISSION_REQUEST_LIST `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MISSION_SET_CURRENT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MISSION_WRITE_PARTIAL_LIST `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MOUNT_CONFIGURE `_, `AP_Mount/AP_Mount.cpp `_, ardupilotmega + `MOUNT_CONTROL `_, `AP_Mount/AP_Mount.cpp `_, ardupilotmega + `NAMED_VALUE_FLOAT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `OBSTACLE_DISTANCE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `OBSTACLE_DISTANCE_3D `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `ODOMETRY `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `OPEN_DRONE_ID_ARM_STATUS `_, `AP_OpenDroneID/AP_OpenDroneID.cpp `_, common + `OPEN_DRONE_ID_BASIC_ID `_, `AP_OpenDroneID/AP_OpenDroneID.cpp `_, common + `OPEN_DRONE_ID_OPERATOR_ID `_, `AP_OpenDroneID/AP_OpenDroneID.cpp `_, common + `OPEN_DRONE_ID_SELF_ID `_, `AP_OpenDroneID/AP_OpenDroneID.cpp `_, common + `OPEN_DRONE_ID_SYSTEM `_, `AP_OpenDroneID/AP_OpenDroneID.cpp `_, common + `OPEN_DRONE_ID_SYSTEM_UPDATE `_, `AP_OpenDroneID/AP_OpenDroneID.cpp `_, common + `OPTICAL_FLOW `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `OSD_PARAM_CONFIG `_, `AP_OSD/AP_OSD.cpp `_, ardupilotmega + `OSD_PARAM_SHOW_CONFIG `_, `AP_OSD/AP_OSD.cpp `_, ardupilotmega + `PARAM_REQUEST_LIST `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `PARAM_REQUEST_READ `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `PARAM_SET `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `PARAM_VALUE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `PLAY_TUNE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `RADIO `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `RADIO_RC_CHANNELS `_, `GCS_MAVLink/GCS_Common.cpp `_, development + `RADIO_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `RALLY_FETCH_POINT `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `RALLY_POINT `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `RC_CHANNELS_OVERRIDE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `REMOTE_LOG_BLOCK_STATUS `_, `AP_Logger/AP_Logger.cpp `_, ardupilotmega + `REQUEST_DATA_STREAM `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `SECURE_COMMAND `_, `AP_CheckFirmware/AP_CheckFirmware_secure_command.cpp `_, ardupilotmega + `SECURE_COMMAND_REPLY `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `SERIAL_CONTROL `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `SETUP_SIGNING `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `SET_ATTITUDE_TARGET `_, `ArduPlane/GCS_Mavlink.cpp `_, common + `SET_GPS_GLOBAL_ORIGIN `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `SET_MODE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `SET_POSITION_TARGET_GLOBAL_INT `_, `ArduPlane/GCS_Mavlink.cpp `_, common + `SET_POSITION_TARGET_LOCAL_NED `_, `ArduPlane/GCS_Mavlink.cpp `_, common + `STATUSTEXT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `SYSTEM_TIME `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `TERRAIN_CHECK `_, `ArduPlane/GCS_Mavlink.cpp `_, common + `TERRAIN_DATA `_, `ArduPlane/GCS_Mavlink.cpp `_, common + `TIMESYNC `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `UAVIONIX_ADSB_OUT_CFG `_, `AP_ADSB/AP_ADSB.cpp `_, uAvionix + `UAVIONIX_ADSB_OUT_CONTROL `_, `AP_ADSB/AP_ADSB.cpp `_, uAvionix + `UAVIONIX_ADSB_OUT_DYNAMIC `_, `AP_ADSB/AP_ADSB.cpp `_, uAvionix + `UAVIONIX_ADSB_TRANSCEIVER_HEALTH_REPORT `_, `AP_ADSB/AP_ADSB.cpp `_, uAvionix + `VICON_POSITION_ESTIMATE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `VISION_POSITION_DELTA `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `VISION_POSITION_ESTIMATE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `VISION_SPEED_ESTIMATE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + +.. _mavlink_incoming_commands: + +Incoming Commands +================= + +Commands the autopilot handles when received. + +.. csv-table:: + :header: MAVLink Message, Code Source, MAVLink Dialect + + + `MAV_CMD_ACCELCAL_VEHICLE_POS `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, ardupilotmega + `MAV_CMD_AIRFRAME_CONFIGURATION `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MAV_CMD_BATTERY_RESET `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, ardupilotmega + `MAV_CMD_CAMERA_STOP_TRACKING `_, `AP_Camera/AP_Camera.cpp `_, common + `MAV_CMD_CAMERA_TRACK_POINT `_, `AP_Camera/AP_Camera.cpp `_, common + `MAV_CMD_CAMERA_TRACK_RECTANGLE `_, `AP_Camera/AP_Camera.cpp `_, common + `MAV_CMD_CAN_FORWARD `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MAV_CMD_COMPONENT_ARM_DISARM `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `MAV_CMD_CONDITION_DELAY `_, `ArduPlane/commands_logic.cpp `_, common + `MAV_CMD_CONDITION_DISTANCE `_, `ArduPlane/commands_logic.cpp `_, common + `MAV_CMD_CONDITION_YAW `_, `AP_Mission/AP_Mission.cpp `_, common + `MAV_CMD_CONTROL_HIGH_LATENCY `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MAV_CMD_DEBUG_TRAP `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `MAV_CMD_DO_ACCEPT_MAG_CAL `_, `AP_Compass/AP_Compass_Calibration.cpp `_, ardupilotmega + `MAV_CMD_DO_ADSB_OUT_IDENT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MAV_CMD_DO_AUTOTUNE_ENABLE `_, `ArduPlane/GCS_Mavlink.cpp `_, common + `MAV_CMD_DO_AUX_FUNCTION `_, `AP_Mission/AP_Mission.cpp `_, ardupilotmega + `MAV_CMD_DO_CANCEL_MAG_CAL `_, `AP_Compass/AP_Compass_Calibration.cpp `_, ardupilotmega + `MAV_CMD_DO_CHANGE_SPEED `_, `ArduPlane/GCS_Mavlink.cpp `_, common + `MAV_CMD_DO_DIGICAM_CONFIGURE `_, `AP_Camera/AP_Camera.cpp `_, common + `MAV_CMD_DO_DIGICAM_CONTROL `_, `AP_Camera/AP_Camera.cpp `_, common + `MAV_CMD_DO_ENGINE_CONTROL `_, `ArduPlane/GCS_Mavlink.cpp `_, common + `MAV_CMD_DO_FENCE_ENABLE `_, `ArduPlane/commands_logic.cpp `_, common + `MAV_CMD_DO_FLIGHTTERMINATION `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `MAV_CMD_DO_FOLLOW `_, `ArduPlane/GCS_Mavlink.cpp `_, common + `MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE `_, `AP_Mount/AP_Mount.cpp `_, common + `MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW `_, `AP_Mount/AP_Mount.cpp `_, common + `MAV_CMD_DO_GO_AROUND `_, `ArduPlane/GCS_Mavlink.cpp `_, common + `MAV_CMD_DO_GRIPPER `_, `AP_Mission/AP_Mission.cpp `_, common + `MAV_CMD_DO_GUIDED_LIMITS `_, `AP_Mission/AP_Mission.cpp `_, common + `MAV_CMD_DO_INVERTED_FLIGHT `_, `ArduPlane/commands_logic.cpp `_, common + `MAV_CMD_DO_JUMP `_, `AP_Mission/AP_Mission.cpp `_, common + `MAV_CMD_DO_JUMP_TAG `_, `AP_Mission/AP_Mission.cpp `_, common + `MAV_CMD_DO_LAND_START `_, `ArduPlane/GCS_Mavlink.cpp `_, common + `MAV_CMD_DO_MOTOR_TEST `_, `ArduPlane/GCS_Mavlink.cpp `_, common + `MAV_CMD_DO_MOUNT_CONFIGURE `_, `AP_Mount/AP_Mount.cpp `_, common + `MAV_CMD_DO_MOUNT_CONTROL `_, `ArduPlane/commands_logic.cpp `_, common + `MAV_CMD_DO_PARACHUTE `_, `ArduPlane/GCS_Mavlink.cpp `_, common + `MAV_CMD_DO_PAUSE_CONTINUE `_, `AP_Mission/AP_Mission.cpp `_, common + `MAV_CMD_DO_REPEAT_RELAY `_, `AP_Mission/AP_Mission_Commands.cpp `_, common + `MAV_CMD_DO_REPEAT_SERVO `_, `AP_Mission/AP_Mission_Commands.cpp `_, common + `MAV_CMD_DO_REPOSITION `_, `ArduPlane/GCS_Mavlink.cpp `_, common + `MAV_CMD_DO_RETURN_PATH_START `_, `AP_Mission/AP_Mission.cpp `_, common + `MAV_CMD_DO_SEND_BANNER `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `MAV_CMD_DO_SEND_SCRIPT_MESSAGE `_, `AP_Mission/AP_Mission.cpp `_, ardupilotmega + `MAV_CMD_DO_SET_CAM_TRIGG_DIST `_, `ArduPlane/commands_logic.cpp `_, common + `MAV_CMD_DO_SET_HOME `_, `ArduPlane/commands_logic.cpp `_, common + `MAV_CMD_DO_SET_MISSION_CURRENT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MAV_CMD_DO_SET_MODE `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `MAV_CMD_DO_SET_RELAY `_, `AP_Mission/AP_Mission_Commands.cpp `_, common + `MAV_CMD_DO_SET_RESUME_REPEAT_DIST `_, `AP_Mission/AP_Mission.cpp `_, ardupilotmega + `MAV_CMD_DO_SET_REVERSE `_, `AP_Mission/AP_Mission.cpp `_, common + `MAV_CMD_DO_SET_ROI `_, `ArduPlane/commands_logic.cpp `_, common + `MAV_CMD_DO_SET_ROI_LOCATION `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `MAV_CMD_DO_SET_ROI_NONE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MAV_CMD_DO_SET_ROI_SYSID `_, `AP_Mount/AP_Mount.cpp `_, common + `MAV_CMD_DO_SET_SAFETY_SWITCH_STATE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MAV_CMD_DO_SET_SERVO `_, `AP_Mission/AP_Mission_Commands.cpp `_, common + `MAV_CMD_DO_SPRAYER `_, `AP_Mission/AP_Mission.cpp `_, ardupilotmega + `MAV_CMD_DO_START_MAG_CAL `_, `AP_Compass/AP_Compass_Calibration.cpp `_, ardupilotmega + `MAV_CMD_DO_VTOL_TRANSITION `_, `ArduPlane/GCS_Mavlink.cpp `_, common + `MAV_CMD_DO_WINCH `_, `AP_Mission/AP_Mission.cpp `_, common + `MAV_CMD_EXTERNAL_POSITION_ESTIMATE `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `MAV_CMD_EXTERNAL_WIND_ESTIMATE `_, `GCS_MAVLink/GCS_Common.cpp `_, development + `MAV_CMD_FIXED_MAG_CAL_YAW `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `MAV_CMD_FLASH_BOOTLOADER `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, ardupilotmega + `MAV_CMD_GET_HOME_POSITION `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `MAV_CMD_GET_MESSAGE_INTERVAL `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `MAV_CMD_GUIDED_CHANGE_ALTITUDE `_, `ArduPlane/GCS_Mavlink.cpp `_, ardupilotmega + `MAV_CMD_GUIDED_CHANGE_HEADING `_, `ArduPlane/GCS_Mavlink.cpp `_, ardupilotmega + `MAV_CMD_GUIDED_CHANGE_SPEED `_, `ArduPlane/GCS_Mavlink.cpp `_, ardupilotmega + `MAV_CMD_IMAGE_START_CAPTURE `_, `AP_Camera/AP_Camera.cpp `_, common + `MAV_CMD_IMAGE_STOP_CAPTURE `_, `AP_Camera/AP_Camera.cpp `_, common + `MAV_CMD_JUMP_TAG `_, `AP_Mission/AP_Mission.cpp `_, common + `MAV_CMD_MISSION_START `_, `ArduPlane/GCS_Mavlink.cpp `_, common + `MAV_CMD_NAV_ALTITUDE_WAIT `_, `ArduPlane/commands_logic.cpp `_, ardupilotmega + `MAV_CMD_NAV_ATTITUDE_TIME `_, `AP_Mission/AP_Mission.cpp `_, ardupilotmega + `MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT `_, `ArduPlane/commands_logic.cpp `_, common + `MAV_CMD_NAV_DELAY `_, `ArduPlane/commands_logic.cpp `_, common + `MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION `_, `GCS_MAVLink/MissionItemProtocol_Fence.cpp `_, common + `MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION `_, `GCS_MAVLink/MissionItemProtocol_Fence.cpp `_, common + `MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION `_, `GCS_MAVLink/MissionItemProtocol_Fence.cpp `_, common + `MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION `_, `GCS_MAVLink/MissionItemProtocol_Fence.cpp `_, common + `MAV_CMD_NAV_FENCE_RETURN_POINT `_, `GCS_MAVLink/MissionItemProtocol_Fence.cpp `_, common + `MAV_CMD_NAV_GUIDED_ENABLE `_, `AP_Mission/AP_Mission.cpp `_, common + `MAV_CMD_NAV_LAND `_, `ArduPlane/quadplane.cpp `_, common + `MAV_CMD_NAV_LOITER_TIME `_, `ArduPlane/quadplane.cpp `_, common + `MAV_CMD_NAV_LOITER_TO_ALT `_, `ArduPlane/quadplane.cpp `_, common + `MAV_CMD_NAV_LOITER_TURNS `_, `ArduPlane/quadplane.cpp `_, common + `MAV_CMD_NAV_LOITER_UNLIM `_, `ArduPlane/GCS_Mavlink.cpp `_, common + `MAV_CMD_NAV_PAYLOAD_PLACE `_, `ArduPlane/quadplane.cpp `_, common + `MAV_CMD_NAV_RETURN_TO_LAUNCH `_, `ArduPlane/GCS_Mavlink.cpp `_, common + `MAV_CMD_NAV_SCRIPT_TIME `_, `ArduPlane/commands_logic.cpp `_, ardupilotmega + `MAV_CMD_NAV_SET_YAW_SPEED `_, `AP_Mission/AP_Mission.cpp `_, common + `MAV_CMD_NAV_SPLINE_WAYPOINT `_, `AP_Mission/AP_Mission.cpp `_, common + `MAV_CMD_NAV_TAKEOFF `_, `ArduPlane/GCS_Mavlink.cpp `_, common + `MAV_CMD_NAV_TAKEOFF_LOCAL `_, `AP_Mission/AP_Mission.cpp `_, common + `MAV_CMD_NAV_VTOL_LAND `_, `ArduPlane/quadplane.cpp `_, common + `MAV_CMD_NAV_VTOL_TAKEOFF `_, `ArduPlane/quadplane.cpp `_, common + `MAV_CMD_NAV_WAYPOINT `_, `ArduPlane/commands_logic.cpp `_, common + `MAV_CMD_PREFLIGHT_CALIBRATION `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `MAV_CMD_PREFLIGHT_STORAGE `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `MAV_CMD_PREFLIGHT_UAVCAN `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `MAV_CMD_REQUEST_MESSAGE `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `MAV_CMD_RUN_PREARM_CHECKS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MAV_CMD_SCRIPTING `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `MAV_CMD_SET_CAMERA_FOCUS `_, `AP_Camera/AP_Camera.cpp `_, common + `MAV_CMD_SET_CAMERA_SOURCE `_, `AP_Camera/AP_Camera.cpp `_, common + `MAV_CMD_SET_CAMERA_ZOOM `_, `AP_Camera/AP_Camera.cpp `_, common + `MAV_CMD_SET_EKF_SOURCE_SET `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `MAV_CMD_SET_HAGL `_, `ArduPlane/GCS_Mavlink.cpp `_, ardupilotmega + `MAV_CMD_SET_MESSAGE_INTERVAL `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `MAV_CMD_START_RX_PAIR `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `MAV_CMD_STORAGE_FORMAT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MAV_CMD_VIDEO_START_CAPTURE `_, `AP_Camera/AP_Camera.cpp `_, common + `MAV_CMD_VIDEO_STOP_CAPTURE `_, `AP_Camera/AP_Camera.cpp `_, common + +.. _mavlink_requestable_messages: + +Requestable Messages +==================== + +Messages that can be requested/streamed from the autopilot. + +.. csv-table:: + :header: MAVLink Message, Code Source, MAVLink Dialect + + + `ADSB_VEHICLE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `AHRS `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `AHRS2 `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `AIRSPEED `_, `GCS_MAVLink/GCS_Common.cpp `_, development + `AIS_VESSEL `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `AOA_SSA `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `ATTITUDE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `ATTITUDE_QUATERNION `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `ATTITUDE_TARGET `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `AUTOPILOT_STATE_FOR_GIMBAL_DEVICE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `AUTOPILOT_VERSION `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `BATTERY2 `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `BATTERY_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `CAMERA_CAPTURE_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `CAMERA_FEEDBACK `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `CAMERA_FOV_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `CAMERA_INFORMATION `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `CAMERA_SETTINGS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `CAMERA_THERMAL_RANGE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `DEEPSTALL `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `DISTANCE_SENSOR `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `EFI_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `EKF_STATUS_REPORT `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `ESC_TELEMETRY_1_TO_4 `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `EXTENDED_SYS_STATE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `FENCE_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `GENERATOR_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `GIMBAL_DEVICE_ATTITUDE_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `GIMBAL_MANAGER_INFORMATION `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `GIMBAL_MANAGER_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `GLOBAL_POSITION_INT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `GPS2_RAW `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `GPS2_RTK `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `GPS_GLOBAL_ORIGIN `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `GPS_RAW_INT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `GPS_RTK `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `HEARTBEAT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `HIGHRES_IMU `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `HIGH_LATENCY2 `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `HOME_POSITION `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `HWSTATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `LOCAL_POSITION_NED `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MAG_CAL_PROGRESS `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `MAG_CAL_REPORT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MCU_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `MEMINFO `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `MISSION_CURRENT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MISSION_ITEM_REACHED `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `NAV_CONTROLLER_OUTPUT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `OPTICAL_FLOW `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `PARAM_VALUE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `PID_TUNING `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `POSITION_TARGET_GLOBAL_INT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `POSITION_TARGET_LOCAL_NED `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `POWER_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `RANGEFINDER `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `RAW_IMU `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `RC_CHANNELS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `RC_CHANNELS_RAW `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `RC_CHANNELS_SCALED `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `RELAY_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `RPM `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `SCALED_IMU `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `SCALED_IMU2 `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `SCALED_IMU3 `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `SCALED_PRESSURE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `SCALED_PRESSURE2 `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `SCALED_PRESSURE3 `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `SERVO_OUTPUT_RAW `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `SIMSTATE `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `SIM_STATE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `SYSTEM_TIME `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `SYS_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `TERRAIN_REPORT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `TERRAIN_REQUEST `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `UAVIONIX_ADSB_OUT_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, uAvionix + `VFR_HUD `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `VIBRATION `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `VIDEO_STREAM_INFORMATION `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `WATER_DEPTH `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `WINCH_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `WIND `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + +.. _mavlink_outgoing_messages: + +Outgoing Messages +================= + +Messages the autopilot will send automatically (unrequested). + +.. csv-table:: + :header: MAVLink Message, Code Source, MAVLink Dialect + + + `ADSB_VEHICLE `_, `AP_ADSB/AP_ADSB.cpp `_, common + `AHRS `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `AHRS2 `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `AOA_SSA `_, `ArduPlane/GCS_Mavlink.cpp `_, ardupilotmega + `AP_ADC `_, `AP_HAL_ESP32/AnalogIn.cpp `_, ardupilotmega + `ATTITUDE `_, `ArduPlane/GCS_Mavlink.cpp `_, common + `ATTITUDE_QUATERNION `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `ATTITUDE_TARGET `_, `ArduPlane/GCS_Mavlink.cpp `_, common + `AUTOPILOT_STATE_FOR_GIMBAL_DEVICE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `AUTOPILOT_VERSION `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `BATTERY2 `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `BATTERY_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `CAMERA_CAPTURE_STATUS `_, `AP_Camera/AP_Camera_Backend.cpp `_, common + `CAMERA_FEEDBACK `_, `AP_Camera/AP_Camera_Backend.cpp `_, ardupilotmega + `CAMERA_FOV_STATUS `_, `AP_Camera/AP_Camera_Backend.cpp `_, common + `CAMERA_INFORMATION `_, `AP_Camera/AP_Camera_MAVLinkCamV2.cpp `_, common + `CAMERA_SETTINGS `_, `AP_Camera/AP_Camera_Backend.cpp `_, common + `CAMERA_THERMAL_RANGE `_, `AP_Mount/AP_Mount_Siyi.cpp `_, common + `CANFD_FRAME `_, `AP_CANManager/AP_CANManager.cpp `_, common + `CAN_FRAME `_, `AP_CANManager/AP_CANManager.cpp `_, common + `COMMAND_ACK `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `COMMAND_LONG `_, `AP_Mount/AP_Mount_SToRM32.cpp `_, common + `DATA16 `_, `AP_Radio/AP_Radio_cc2500.cpp `_, ardupilotmega + `DEEPSTALL `_, `AP_Landing/AP_Landing_Deepstall.cpp `_, ardupilotmega + `DEVICE_OP_READ_REPLY `_, `GCS_MAVLink/GCS_DeviceOp.cpp `_, ardupilotmega + `DEVICE_OP_WRITE_REPLY `_, `GCS_MAVLink/GCS_DeviceOp.cpp `_, ardupilotmega + `DISTANCE_SENSOR `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `EFI_STATUS `_, `AP_EFI/AP_EFI.cpp `_, common + `EKF_STATUS_REPORT `_, `AP_ExternalAHRS/AP_ExternalAHRS.cpp `_, ardupilotmega + `EXTENDED_SYS_STATE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `FENCE_STATUS `_, `GCS_MAVLink/GCS_Fence.cpp `_, common + `FILE_TRANSFER_PROTOCOL `_, `GCS_MAVLink/GCS_FTP.cpp `_, common + `GENERATOR_STATUS `_, `AP_Generator/AP_Generator_RichenPower.cpp `_, common + `GIMBAL_CONTROL `_, `AP_Mount/SoloGimbal.cpp `_, ardupilotmega + `GIMBAL_DEVICE_ATTITUDE_STATUS `_, `AP_Mount/AP_Mount_Backend.cpp `_, common + `GIMBAL_MANAGER_INFORMATION `_, `AP_Mount/AP_Mount_Backend.cpp `_, common + `GIMBAL_MANAGER_STATUS `_, `AP_Mount/AP_Mount_Backend.cpp `_, common + `GLOBAL_POSITION_INT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `GOPRO_SET_REQUEST `_, `AP_Camera/AP_Camera_SoloGimbal.cpp `_, ardupilotmega + `GPS2_RAW `_, `AP_GPS/AP_GPS.cpp `_, common + `GPS2_RTK `_, `AP_GPS/GPS_Backend.cpp `_, common + `GPS_GLOBAL_ORIGIN `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `GPS_RAW_INT `_, `AP_GPS/AP_GPS.cpp `_, common + `GPS_RTK `_, `AP_GPS/GPS_Backend.cpp `_, common + `HEARTBEAT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `HIGH_LATENCY2 `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `HOME_POSITION `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `HWSTATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `HYGROMETER_SENSOR `_, `ArduPlane/GCS_Mavlink.cpp `_, common + `LOCAL_POSITION_NED `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `LOG_ENTRY `_, `AP_Logger/AP_Logger_MAVLinkLogTransfer.cpp `_, common + `MAG_CAL_PROGRESS `_, `AP_Compass/AP_Compass_Calibration.cpp `_, ardupilotmega + `MAG_CAL_REPORT `_, `AP_Compass/AP_Compass_Calibration.cpp `_, common + `MCU_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `MEMINFO `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `MESSAGE_INTERVAL `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MISSION_ACK `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MISSION_COUNT `_, `GCS_MAVLink/MissionItemProtocol_Waypoints.cpp `_, common + `MISSION_CURRENT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MISSION_ITEM_REACHED `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MISSION_REQUEST `_, `GCS_MAVLink/MissionItemProtocol.cpp `_, common + `NAMED_VALUE_FLOAT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `NAV_CONTROLLER_OUTPUT `_, `ArduPlane/GCS_Mavlink.cpp `_, common + `OPTICAL_FLOW `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `OSD_PARAM_CONFIG_REPLY `_, `AP_OSD/AP_OSD.cpp `_, ardupilotmega + `OSD_PARAM_SHOW_CONFIG_REPLY `_, `AP_OSD/AP_OSD.cpp `_, ardupilotmega + `PARAM_REQUEST_LIST `_, `AP_Mount/SoloGimbal_Parameters.cpp `_, common + `PARAM_SET `_, `AP_Mount/SoloGimbal_Parameters.cpp `_, common + `PARAM_VALUE `_, `GCS_MAVLink/GCS_Param.cpp `_, common + `PID_TUNING `_, `ArduPlane/GCS_Mavlink.cpp `_, ardupilotmega + `POSITION_TARGET_GLOBAL_INT `_, `ArduPlane/GCS_Mavlink.cpp `_, common + `POWER_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `RALLY_POINT `_, `GCS_MAVLink/GCS_Rally.cpp `_, ardupilotmega + `RANGEFINDER `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `RAW_IMU `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `RC_CHANNELS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `RC_CHANNELS_RAW `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `RELAY_STATUS `_, `AP_Relay/AP_Relay.cpp `_, common + `RPM `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `SERVO_OUTPUT_RAW `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `SET_POSITION_TARGET_GLOBAL_INT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `STATUSTEXT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `SYSTEM_TIME `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `SYS_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `TERRAIN_REPORT `_, `AP_Terrain/TerrainGCS.cpp `_, common + `TERRAIN_REQUEST `_, `AP_Terrain/TerrainGCS.cpp `_, common + `TIMESYNC `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `UAVIONIX_ADSB_OUT_CFG `_, `AP_ADSB/AP_ADSB_uAvionix_MAVLink.cpp `_, uAvionix + `UAVIONIX_ADSB_OUT_DYNAMIC `_, `AP_ADSB/AP_ADSB_uAvionix_MAVLink.cpp `_, uAvionix + `VFR_HUD `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `VIBRATION `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `WATER_DEPTH `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `WINCH_STATUS `_, `AP_Winch/AP_Winch_Daiwa.cpp `_, common + `WIND `_, `ArduPlane/GCS_Mavlink.cpp `_, ardupilotmega + +.. _mavlink_stream_groups: + +Stream Groups +============= + +Message groups with stream rates requestable by ``SRn_*`` parameters. Messages in a group are only sent if the corresponding feature is active. + +.. csv-table:: + :header: MAVLink Message, Stream Group Parameter, MAVLink Dialect + + + `AIRSPEED `_, SRn_RAW_SENSORS, development + `RAW_IMU `_, SRn_RAW_SENSORS, common + `SCALED_IMU2 `_, SRn_RAW_SENSORS, common + `SCALED_IMU3 `_, SRn_RAW_SENSORS, common + `SCALED_PRESSURE `_, SRn_RAW_SENSORS, common + `SCALED_PRESSURE2 `_, SRn_RAW_SENSORS, common + `SCALED_PRESSURE3 `_, SRn_RAW_SENSORS, common + `FENCE_STATUS `_, SRn_EXTENDED_STATUS, common + `GPS2_RAW `_, SRn_EXTENDED_STATUS, common + `GPS2_RTK `_, SRn_EXTENDED_STATUS, common + `GPS_RAW_INT `_, SRn_EXTENDED_STATUS, common + `GPS_RTK `_, SRn_EXTENDED_STATUS, common + `MCU_STATUS `_, SRn_EXTENDED_STATUS, ardupilotmega + `MEMINFO `_, SRn_EXTENDED_STATUS, ardupilotmega + `MISSION_CURRENT `_, SRn_EXTENDED_STATUS, common + `NAV_CONTROLLER_OUTPUT `_, SRn_EXTENDED_STATUS, common + `POSITION_TARGET_GLOBAL_INT `_, SRn_EXTENDED_STATUS, common + `POWER_STATUS `_, SRn_EXTENDED_STATUS, common + `SYS_STATUS `_, SRn_EXTENDED_STATUS, common + `GLOBAL_POSITION_INT `_, SRn_POSITION, common + `LOCAL_POSITION_NED `_, SRn_POSITION, common + `RC_CHANNELS_SCALED `_, SRn_RAW_CONTROLLER, common + `RC_CHANNELS `_, SRn_RC_CHANNELS, common + `RC_CHANNELS_RAW `_, SRn_RC_CHANNELS, common + RC_CHANNELS_RAW_ENABLED, SRn_RC_CHANNELS, UNKNOWN + `SERVO_OUTPUT_RAW `_, SRn_RC_CHANNELS, common + `AHRS2 `_, SRn_EXTRA1, ardupilotmega + `AOA_SSA `_, SRn_EXTRA1, ardupilotmega + `ATTITUDE `_, SRn_EXTRA1, common + `DEEPSTALL `_, SRn_EXTRA1, ardupilotmega + `EFI_STATUS `_, SRn_EXTRA1, common + `ESC_TELEMETRY_1_TO_4 `_, SRn_EXTRA1, ardupilotmega + HYGROMETER, SRn_EXTRA1, UNKNOWN + `PID_TUNING `_, SRn_EXTRA1, ardupilotmega + `RPM `_, SRn_EXTRA1, ardupilotmega + `SIMSTATE `_, SRn_EXTRA1, ardupilotmega + `VFR_HUD `_, SRn_EXTRA2, common + `AHRS `_, SRn_EXTRA3, ardupilotmega + `BATTERY_STATUS `_, SRn_EXTRA3, common + `DISTANCE_SENSOR `_, SRn_EXTRA3, common + `EKF_STATUS_REPORT `_, SRn_EXTRA3, ardupilotmega + `GIMBAL_DEVICE_ATTITUDE_STATUS `_, SRn_EXTRA3, common + `MAG_CAL_PROGRESS `_, SRn_EXTRA3, ardupilotmega + `MAG_CAL_REPORT `_, SRn_EXTRA3, common + `OPTICAL_FLOW `_, SRn_EXTRA3, common + `RANGEFINDER `_, SRn_EXTRA3, ardupilotmega + `SYSTEM_TIME `_, SRn_EXTRA3, common + `TERRAIN_REPORT `_, SRn_EXTRA3, common + `TERRAIN_REQUEST `_, SRn_EXTRA3, common + `VIBRATION `_, SRn_EXTRA3, common + `WIND `_, SRn_EXTRA3, ardupilotmega + `PARAM_VALUE `_, SRn_PARAMS, common + `ADSB_VEHICLE `_, SRn_ADSB, common + `AIS_VESSEL `_, SRn_ADSB, common + +.. _mavlink_missing_messages: + +Missing Messages +================ + +Unsupported / unhandled messages. + +.. csv-table:: + :header: MAVLink Message, Code Source, MAVLink Dialect + + + `ACTUATOR_CONTROL_TARGET `_, UNSUPPORTED, common + `ACTUATOR_OUTPUT_STATUS `_, UNSUPPORTED, common + `ADAP_TUNING `_, UNSUPPORTED, ardupilotmega + `AHRS3 `_, UNSUPPORTED, ardupilotmega + `AIRLINK_AUTH `_, UNSUPPORTED, ardupilotmega + `AIRLINK_AUTH_RESPONSE `_, UNSUPPORTED, ardupilotmega + `AIRSPEED_AUTOCAL `_, UNSUPPORTED, ardupilotmega + `ALTITUDE `_, UNSUPPORTED, common + `ATTITUDE_QUATERNION_COV `_, UNSUPPORTED, common + `AUTH_KEY `_, UNSUPPORTED, common + `BAD_DATA `_, UNSUPPORTED, common + `BUTTON_CHANGE `_, UNSUPPORTED, common + `CAMERA_IMAGE_CAPTURED `_, UNSUPPORTED, common + `CAMERA_STATUS `_, UNSUPPORTED, ardupilotmega + `CAMERA_TRACKING_GEO_STATUS `_, UNSUPPORTED, common + `CAMERA_TRACKING_IMAGE_STATUS `_, UNSUPPORTED, common + `CAMERA_TRIGGER `_, UNSUPPORTED, common + `CHANGE_OPERATOR_CONTROL `_, UNSUPPORTED, common + `CHANGE_OPERATOR_CONTROL_ACK `_, UNSUPPORTED, common + `COLLISION `_, UNSUPPORTED, common + `COMPASSMOT_STATUS `_, UNSUPPORTED, ardupilotmega + `CONTROL_SYSTEM_STATE `_, UNSUPPORTED, common + `CUBEPILOT_FIRMWARE_UPDATE_RESP `_, UNSUPPORTED, cubepilot + `CUBEPILOT_FIRMWARE_UPDATE_START `_, UNSUPPORTED, cubepilot + `CUBEPILOT_RAW_RC `_, UNSUPPORTED, cubepilot + `DATA32 `_, UNSUPPORTED, ardupilotmega + `DATA64 `_, UNSUPPORTED, ardupilotmega + `DATA_STREAM `_, UNSUPPORTED, common + `DATA_TRANSMISSION_HANDSHAKE `_, UNSUPPORTED, common + `DEBUG `_, UNSUPPORTED, common + `DEBUG_FLOAT_ARRAY `_, UNSUPPORTED, common + `DEBUG_VECT `_, UNSUPPORTED, common + `DIGICAM_CONFIGURE `_, UNSUPPORTED, ardupilotmega + `ENCAPSULATED_DATA `_, UNSUPPORTED, common + `ESC_TELEMETRY_13_TO_16 `_, UNSUPPORTED, ardupilotmega + `ESC_TELEMETRY_17_TO_20 `_, UNSUPPORTED, ardupilotmega + `ESC_TELEMETRY_21_TO_24 `_, UNSUPPORTED, ardupilotmega + `ESC_TELEMETRY_25_TO_28 `_, UNSUPPORTED, ardupilotmega + `ESC_TELEMETRY_29_TO_32 `_, UNSUPPORTED, ardupilotmega + `ESC_TELEMETRY_5_TO_8 `_, UNSUPPORTED, ardupilotmega + `ESC_TELEMETRY_9_TO_12 `_, UNSUPPORTED, ardupilotmega + `ESTIMATOR_STATUS `_, UNSUPPORTED, common + `FLIGHT_INFORMATION `_, UNSUPPORTED, common + `GIMBAL_DEVICE_SET_ATTITUDE `_, UNSUPPORTED, common + `GIMBAL_MANAGER_SET_MANUAL_CONTROL `_, UNSUPPORTED, common + `GIMBAL_TORQUE_CMD_REPORT `_, UNSUPPORTED, ardupilotmega + `GLOBAL_POSITION_INT_COV `_, UNSUPPORTED, common + `GNSS_INTEGRITY `_, UNSUPPORTED, development + `GOPRO_GET_REQUEST `_, UNSUPPORTED, ardupilotmega + `GOPRO_GET_RESPONSE `_, UNSUPPORTED, ardupilotmega + `GOPRO_SET_RESPONSE `_, UNSUPPORTED, ardupilotmega + `GPS_STATUS `_, UNSUPPORTED, common + `HERELINK_TELEM `_, UNSUPPORTED, cubepilot + `HERELINK_VIDEO_STREAM_INFORMATION `_, UNSUPPORTED, cubepilot + `HIGH_LATENCY `_, UNSUPPORTED, common + `HIL_ACTUATOR_CONTROLS `_, UNSUPPORTED, common + `HIL_CONTROLS `_, UNSUPPORTED, common + `HIL_OPTICAL_FLOW `_, UNSUPPORTED, common + `HIL_RC_INPUTS_RAW `_, UNSUPPORTED, common + `HIL_SENSOR `_, UNSUPPORTED, common + `HIL_STATE `_, UNSUPPORTED, common + `HIL_STATE_QUATERNION `_, UNSUPPORTED, common + `ICAROUS_HEARTBEAT `_, UNSUPPORTED, icarous + `ICAROUS_KINEMATIC_BANDS `_, UNSUPPORTED, icarous + `ISBD_LINK_STATUS `_, UNSUPPORTED, common + `LIMITS_STATUS `_, UNSUPPORTED, ardupilotmega + `LOCAL_POSITION_NED_COV `_, UNSUPPORTED, common + `LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET `_, UNSUPPORTED, common + `LOGGING_ACK `_, UNSUPPORTED, common + `LOGGING_DATA `_, UNSUPPORTED, common + `LOGGING_DATA_ACKED `_, UNSUPPORTED, common + `LOG_DATA `_, UNSUPPORTED, common + `LOWEHEISER_GOV_EFI `_, UNSUPPORTED, ardupilotmega + `MANUAL_SETPOINT `_, UNSUPPORTED, common + `MEMORY_VECT `_, UNSUPPORTED, common + `MISSION_CHECKSUM `_, UNSUPPORTED, development + `MISSION_REQUEST_PARTIAL_LIST `_, UNSUPPORTED, common + `MOUNT_ORIENTATION `_, UNSUPPORTED, common + `MOUNT_STATUS `_, UNSUPPORTED, ardupilotmega + `NAMED_VALUE_INT `_, UNSUPPORTED, common + `OPEN_DRONE_ID_AUTHENTICATION `_, UNSUPPORTED, common + `OPEN_DRONE_ID_LOCATION `_, UNSUPPORTED, common + `OPEN_DRONE_ID_MESSAGE_PACK `_, UNSUPPORTED, common + `OPTICAL_FLOW_RAD `_, UNSUPPORTED, common + `PARAM_EXT_ACK `_, UNSUPPORTED, common + `PARAM_EXT_REQUEST_LIST `_, UNSUPPORTED, common + `PARAM_EXT_REQUEST_READ `_, UNSUPPORTED, common + `PARAM_EXT_SET `_, UNSUPPORTED, common + `PARAM_EXT_VALUE `_, UNSUPPORTED, common + `PARAM_MAP_RC `_, UNSUPPORTED, common + `PING `_, UNSUPPORTED, common + `RAW_PRESSURE `_, UNSUPPORTED, common + `RAW_RPM `_, UNSUPPORTED, common + `REMOTE_LOG_DATA_BLOCK `_, UNSUPPORTED, ardupilotmega + `RESOURCE_REQUEST `_, UNSUPPORTED, common + `SAFETY_ALLOWED_AREA `_, UNSUPPORTED, common + `SAFETY_SET_ALLOWED_AREA `_, UNSUPPORTED, common + `SENSOR_OFFSETS `_, UNSUPPORTED, ardupilotmega + `SET_ACTUATOR_CONTROL_TARGET `_, UNSUPPORTED, common + `SET_HOME_POSITION `_, UNSUPPORTED, common + `SET_MAG_OFFSETS `_, UNSUPPORTED, ardupilotmega + `SMART_BATTERY_INFO `_, UNSUPPORTED, common + `STORAGE_INFORMATION `_, UNSUPPORTED, common + `TRAJECTORY_REPRESENTATION_BEZIER `_, UNSUPPORTED, common + `TRAJECTORY_REPRESENTATION_WAYPOINTS `_, UNSUPPORTED, common + `TUNNEL `_, UNSUPPORTED, common + `UAVCAN_NODE_INFO `_, UNSUPPORTED, common + `UAVCAN_NODE_STATUS `_, UNSUPPORTED, common + `UAVIONIX_ADSB_GET `_, UNSUPPORTED, uAvionix + `UAVIONIX_ADSB_OUT_CFG_FLIGHTID `_, UNSUPPORTED, uAvionix + `UAVIONIX_ADSB_OUT_CFG_REGISTRATION `_, UNSUPPORTED, uAvionix + `UNKNOWN `_, UNSUPPORTED, common + `UTM_GLOBAL_POSITION `_, UNSUPPORTED, common + `V2_EXTENSION `_, UNSUPPORTED, common + `VIDEO_STREAM_STATUS `_, UNSUPPORTED, common + `WHEEL_DISTANCE `_, UNSUPPORTED, common + `WIFI_CONFIG_AP `_, UNSUPPORTED, common + `WIND_COV `_, UNSUPPORTED, common + +.. _mavlink_missing_commands: + +Missing Commands +================ + +Unsupported / unhandled commands. + +.. csv-table:: + :header: MAVLink Message, Code Source, MAVLink Dialect + + + `MAV_CMD_ARM_AUTHORIZATION_REQUEST `_, UNSUPPORTED, common + `MAV_CMD_CONDITION_CHANGE_ALT `_, UNSUPPORTED, common + `MAV_CMD_CONDITION_LAST `_, UNSUPPORTED, common + `MAV_CMD_DO_CHANGE_ALTITUDE `_, UNSUPPORTED, common + `MAV_CMD_DO_CONTROL_VIDEO `_, UNSUPPORTED, common + `MAV_CMD_DO_FOLLOW_REPOSITION `_, UNSUPPORTED, common + `MAV_CMD_DO_GUIDED_MASTER `_, UNSUPPORTED, common + `MAV_CMD_DO_LAST `_, UNSUPPORTED, common + `MAV_CMD_DO_MOUNT_CONTROL_QUAT `_, UNSUPPORTED, common + `MAV_CMD_DO_RALLY_LAND `_, UNSUPPORTED, common + `MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL `_, UNSUPPORTED, common + `MAV_CMD_DO_SET_PARAMETER `_, UNSUPPORTED, common + `MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET `_, UNSUPPORTED, common + `MAV_CMD_DO_SET_SYS_CMP_ID `_, UNSUPPORTED, development + `MAV_CMD_DO_TRIGGER_CONTROL `_, UNSUPPORTED, common + `MAV_CMD_ENUM_END `_, UNSUPPORTED, common + `MAV_CMD_FIXED_MAG_CAL `_, UNSUPPORTED, ardupilotmega + `MAV_CMD_FIXED_MAG_CAL_FIELD `_, UNSUPPORTED, ardupilotmega + `MAV_CMD_GIMBAL_AXIS_CALIBRATION_STATUS `_, UNSUPPORTED, ardupilotmega + `MAV_CMD_GIMBAL_FULL_RESET `_, UNSUPPORTED, ardupilotmega + `MAV_CMD_GIMBAL_REQUEST_AXIS_CALIBRATION `_, UNSUPPORTED, ardupilotmega + `MAV_CMD_GIMBAL_RESET `_, UNSUPPORTED, ardupilotmega + `MAV_CMD_LOGGING_START `_, UNSUPPORTED, common + `MAV_CMD_LOGGING_STOP `_, UNSUPPORTED, common + `MAV_CMD_LOWEHEISER_SET_STATE `_, UNSUPPORTED, ardupilotmega + `MAV_CMD_NAV_FOLLOW `_, UNSUPPORTED, common + `MAV_CMD_NAV_LAND_LOCAL `_, UNSUPPORTED, common + `MAV_CMD_NAV_LAST `_, UNSUPPORTED, common + `MAV_CMD_NAV_PATHPLANNING `_, UNSUPPORTED, common + `MAV_CMD_NAV_RALLY_POINT `_, UNSUPPORTED, common + `MAV_CMD_NAV_ROI `_, UNSUPPORTED, common + `MAV_CMD_OBLIQUE_SURVEY `_, UNSUPPORTED, common + `MAV_CMD_OVERRIDE_GOTO `_, UNSUPPORTED, common + `MAV_CMD_PANORAMA_CREATE `_, UNSUPPORTED, common + `MAV_CMD_PAYLOAD_CONTROL_DEPLOY `_, UNSUPPORTED, common + `MAV_CMD_PAYLOAD_PREPARE_DEPLOY `_, UNSUPPORTED, common + `MAV_CMD_POWER_OFF_INITIATED `_, UNSUPPORTED, ardupilotmega + `MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS `_, UNSUPPORTED, common + `MAV_CMD_REQUEST_CAMERA_INFORMATION `_, UNSUPPORTED, common + `MAV_CMD_REQUEST_CAMERA_SETTINGS `_, UNSUPPORTED, common + `MAV_CMD_REQUEST_FLIGHT_INFORMATION `_, UNSUPPORTED, common + `MAV_CMD_REQUEST_PROTOCOL_VERSION `_, UNSUPPORTED, common + `MAV_CMD_REQUEST_STORAGE_INFORMATION `_, UNSUPPORTED, common + `MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION `_, UNSUPPORTED, common + `MAV_CMD_REQUEST_VIDEO_STREAM_STATUS `_, UNSUPPORTED, common + `MAV_CMD_RESET_CAMERA_SETTINGS `_, UNSUPPORTED, common + `MAV_CMD_SET_CAMERA_MODE `_, UNSUPPORTED, common + `MAV_CMD_SET_FACTORY_TEST_MODE `_, UNSUPPORTED, ardupilotmega + `MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE `_, UNSUPPORTED, common + `MAV_CMD_SET_GUIDED_SUBMODE_STANDARD `_, UNSUPPORTED, common + `MAV_CMD_SET_STORAGE_USAGE `_, UNSUPPORTED, common + `MAV_CMD_SOLO_BTN_FLY_CLICK `_, UNSUPPORTED, ardupilotmega + `MAV_CMD_SOLO_BTN_FLY_HOLD `_, UNSUPPORTED, ardupilotmega + `MAV_CMD_SOLO_BTN_PAUSE_CLICK `_, UNSUPPORTED, ardupilotmega + `MAV_CMD_SPATIAL_USER_1 `_, UNSUPPORTED, common + `MAV_CMD_SPATIAL_USER_2 `_, UNSUPPORTED, common + `MAV_CMD_SPATIAL_USER_3 `_, UNSUPPORTED, common + `MAV_CMD_SPATIAL_USER_4 `_, UNSUPPORTED, common + `MAV_CMD_SPATIAL_USER_5 `_, UNSUPPORTED, common + `MAV_CMD_UAVCAN_GET_NODE_INFO `_, UNSUPPORTED, common + `MAV_CMD_USER_1 `_, UNSUPPORTED, common + `MAV_CMD_USER_2 `_, UNSUPPORTED, common + `MAV_CMD_USER_3 `_, UNSUPPORTED, common + `MAV_CMD_USER_4 `_, UNSUPPORTED, common + `MAV_CMD_USER_5 `_, UNSUPPORTED, common + `MAV_CMD_VIDEO_START_STREAMING `_, UNSUPPORTED, common + `MAV_CMD_VIDEO_STOP_STREAMING `_, UNSUPPORTED, common + `MAV_CMD_WAYPOINT_USER_1 `_, UNSUPPORTED, common + `MAV_CMD_WAYPOINT_USER_2 `_, UNSUPPORTED, common + `MAV_CMD_WAYPOINT_USER_3 `_, UNSUPPORTED, common + `MAV_CMD_WAYPOINT_USER_4 `_, UNSUPPORTED, common + `MAV_CMD_WAYPOINT_USER_5 `_, UNSUPPORTED, common diff --git a/dev/source/docs/Rover_MAVLink_Messages.rst b/dev/source/docs/Rover_MAVLink_Messages.rst new file mode 100644 index 0000000000..c91aaeb107 --- /dev/null +++ b/dev/source/docs/Rover_MAVLink_Messages.rst @@ -0,0 +1,733 @@ +.. _Rover_MAVLink_messages: + +================ +MAVLink Messages +================ + + +The `MAVLink `_ protocol supports a variety of features and functionalities, but not all `messages `_ or `commands `_ are implemented by the ArduPilot ecosystem, or relevant to a particular autopilot firmware. + +This page is auto-generated from analysing the Rover source code, and provides an indication of which messages (and commands) are handled by, requestable from, and sent from the firmware. A message being handled does not guarantee full support, but at least shows that the autopilot is aware it exists, and will try to do something meaningful with it. + +Known :ref:`unsupported messages ` (and commands) are shown at the end. + +The autopilot includes a set of :ref:`mavlink_stream_groups` for convenience, which allow configuring the stream rates of groups of requestable messages by setting parameter values. It is also possible to manually request messages, and request individual messages be streamed at a specified rate. + + +.. _mavlink_incoming_messages: + +Incoming Messages +================= + +Messages the autopilot handles when received. + +.. csv-table:: + :header: MAVLink Message, Code Source, MAVLink Dialect + + + `ADSB_VEHICLE `_, `AP_ADSB/AP_ADSB.cpp `_, common + `ATT_POS_MOCAP `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `AUTOPILOT_VERSION_REQUEST `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `CAMERA_INFORMATION `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `CANFD_FRAME `_, `AP_CANManager/AP_CANManager.cpp `_, common + `CAN_FILTER_MODIFY `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `CAN_FRAME `_, `AP_CANManager/AP_CANManager.cpp `_, common + `COMMAND_ACK `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `COMMAND_INT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `COMMAND_LONG `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `DATA96 `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `DEVICE_OP_READ `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `DEVICE_OP_WRITE `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `DIGICAM_CONTROL `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `DISTANCE_SENSOR `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `EFI_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `FENCE_FETCH_POINT `_, `AC_Fence/AC_PolyFence_loader.cpp `_, ardupilotmega + `FENCE_POINT `_, `AC_Fence/AC_PolyFence_loader.cpp `_, ardupilotmega + `FILE_TRANSFER_PROTOCOL `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `FOLLOW_TARGET `_, `AP_Follow/AP_Follow.cpp `_, common + `GIMBAL_DEVICE_ATTITUDE_STATUS `_, `AP_Mount/AP_Mount.cpp `_, common + `GIMBAL_DEVICE_INFORMATION `_, `AP_Mount/AP_Mount.cpp `_, common + `GIMBAL_MANAGER_SET_ATTITUDE `_, `AP_Mount/AP_Mount.cpp `_, common + `GIMBAL_MANAGER_SET_PITCHYAW `_, `AP_Mount/AP_Mount.cpp `_, common + `GIMBAL_REPORT `_, `AP_Mount/AP_Mount.cpp `_, ardupilotmega + `GLOBAL_POSITION_INT `_, `AP_Follow/AP_Follow.cpp `_, common + `GLOBAL_VISION_POSITION_ESTIMATE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `GOPRO_HEARTBEAT `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `GPS_INJECT_DATA `_, `AP_GPS/AP_GPS.cpp `_, common + `GPS_INPUT `_, `AP_GPS/AP_GPS_MAV.cpp `_, common + `GPS_RTCM_DATA `_, `AP_GPS/AP_GPS.cpp `_, common + `HEARTBEAT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `HIL_GPS `_, `AP_GPS/AP_GPS_MAV.cpp `_, common + `LANDING_TARGET `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `LED_CONTROL `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `LOG_ERASE `_, `AP_Logger/AP_Logger_MAVLinkLogTransfer.cpp `_, common + `LOG_REQUEST_DATA `_, `AP_Logger/AP_Logger_MAVLinkLogTransfer.cpp `_, common + `LOG_REQUEST_END `_, `AP_Logger/AP_Logger_MAVLinkLogTransfer.cpp `_, common + `LOG_REQUEST_LIST `_, `AP_Logger/AP_Logger_MAVLinkLogTransfer.cpp `_, common + `MANUAL_CONTROL `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MISSION_ACK `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MISSION_CLEAR_ALL `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MISSION_COUNT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MISSION_ITEM `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MISSION_ITEM_INT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MISSION_REQUEST `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MISSION_REQUEST_INT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MISSION_REQUEST_LIST `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MISSION_SET_CURRENT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MISSION_WRITE_PARTIAL_LIST `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MOUNT_CONFIGURE `_, `AP_Mount/AP_Mount.cpp `_, ardupilotmega + `MOUNT_CONTROL `_, `AP_Mount/AP_Mount.cpp `_, ardupilotmega + `NAMED_VALUE_FLOAT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `OBSTACLE_DISTANCE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `OBSTACLE_DISTANCE_3D `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `ODOMETRY `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `OPEN_DRONE_ID_ARM_STATUS `_, `AP_OpenDroneID/AP_OpenDroneID.cpp `_, common + `OPEN_DRONE_ID_BASIC_ID `_, `AP_OpenDroneID/AP_OpenDroneID.cpp `_, common + `OPEN_DRONE_ID_OPERATOR_ID `_, `AP_OpenDroneID/AP_OpenDroneID.cpp `_, common + `OPEN_DRONE_ID_SELF_ID `_, `AP_OpenDroneID/AP_OpenDroneID.cpp `_, common + `OPEN_DRONE_ID_SYSTEM `_, `AP_OpenDroneID/AP_OpenDroneID.cpp `_, common + `OPEN_DRONE_ID_SYSTEM_UPDATE `_, `AP_OpenDroneID/AP_OpenDroneID.cpp `_, common + `OPTICAL_FLOW `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `OSD_PARAM_CONFIG `_, `AP_OSD/AP_OSD.cpp `_, ardupilotmega + `OSD_PARAM_SHOW_CONFIG `_, `AP_OSD/AP_OSD.cpp `_, ardupilotmega + `PARAM_REQUEST_LIST `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `PARAM_REQUEST_READ `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `PARAM_SET `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `PARAM_VALUE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `PLAY_TUNE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `RADIO `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `RADIO_RC_CHANNELS `_, `GCS_MAVLink/GCS_Common.cpp `_, development + `RADIO_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `RALLY_FETCH_POINT `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `RALLY_POINT `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `RC_CHANNELS_OVERRIDE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `REMOTE_LOG_BLOCK_STATUS `_, `AP_Logger/AP_Logger.cpp `_, ardupilotmega + `REQUEST_DATA_STREAM `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `SECURE_COMMAND `_, `AP_CheckFirmware/AP_CheckFirmware_secure_command.cpp `_, ardupilotmega + `SECURE_COMMAND_REPLY `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `SERIAL_CONTROL `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `SETUP_SIGNING `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `SET_ATTITUDE_TARGET `_, `Rover/GCS_Mavlink.cpp `_, common + `SET_GPS_GLOBAL_ORIGIN `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `SET_MODE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `SET_POSITION_TARGET_GLOBAL_INT `_, `Rover/GCS_Mavlink.cpp `_, common + `SET_POSITION_TARGET_LOCAL_NED `_, `Rover/GCS_Mavlink.cpp `_, common + `STATUSTEXT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `SYSTEM_TIME `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `TIMESYNC `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `UAVIONIX_ADSB_OUT_CFG `_, `AP_ADSB/AP_ADSB.cpp `_, uAvionix + `UAVIONIX_ADSB_OUT_CONTROL `_, `AP_ADSB/AP_ADSB.cpp `_, uAvionix + `UAVIONIX_ADSB_OUT_DYNAMIC `_, `AP_ADSB/AP_ADSB.cpp `_, uAvionix + `UAVIONIX_ADSB_TRANSCEIVER_HEALTH_REPORT `_, `AP_ADSB/AP_ADSB.cpp `_, uAvionix + `VICON_POSITION_ESTIMATE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `VISION_POSITION_DELTA `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `VISION_POSITION_ESTIMATE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `VISION_SPEED_ESTIMATE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + +.. _mavlink_incoming_commands: + +Incoming Commands +================= + +Commands the autopilot handles when received. + +.. csv-table:: + :header: MAVLink Message, Code Source, MAVLink Dialect + + + `MAV_CMD_ACCELCAL_VEHICLE_POS `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, ardupilotmega + `MAV_CMD_AIRFRAME_CONFIGURATION `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MAV_CMD_BATTERY_RESET `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, ardupilotmega + `MAV_CMD_CAMERA_STOP_TRACKING `_, `AP_Camera/AP_Camera.cpp `_, common + `MAV_CMD_CAMERA_TRACK_POINT `_, `AP_Camera/AP_Camera.cpp `_, common + `MAV_CMD_CAMERA_TRACK_RECTANGLE `_, `AP_Camera/AP_Camera.cpp `_, common + `MAV_CMD_CAN_FORWARD `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MAV_CMD_COMPONENT_ARM_DISARM `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `MAV_CMD_CONDITION_DELAY `_, `Rover/mode_auto.cpp `_, common + `MAV_CMD_CONDITION_DISTANCE `_, `Rover/mode_auto.cpp `_, common + `MAV_CMD_CONDITION_YAW `_, `AP_Mission/AP_Mission.cpp `_, common + `MAV_CMD_CONTROL_HIGH_LATENCY `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MAV_CMD_DEBUG_TRAP `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `MAV_CMD_DO_ACCEPT_MAG_CAL `_, `AP_Compass/AP_Compass_Calibration.cpp `_, ardupilotmega + `MAV_CMD_DO_ADSB_OUT_IDENT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MAV_CMD_DO_AUTOTUNE_ENABLE `_, `AP_Mission/AP_Mission.cpp `_, common + `MAV_CMD_DO_AUX_FUNCTION `_, `AP_Mission/AP_Mission.cpp `_, ardupilotmega + `MAV_CMD_DO_CANCEL_MAG_CAL `_, `AP_Compass/AP_Compass_Calibration.cpp `_, ardupilotmega + `MAV_CMD_DO_CHANGE_SPEED `_, `Rover/GCS_Mavlink.cpp `_, common + `MAV_CMD_DO_DIGICAM_CONFIGURE `_, `AP_Camera/AP_Camera.cpp `_, common + `MAV_CMD_DO_DIGICAM_CONTROL `_, `AP_Camera/AP_Camera.cpp `_, common + `MAV_CMD_DO_ENGINE_CONTROL `_, `AP_Mission/AP_Mission.cpp `_, common + `MAV_CMD_DO_FENCE_ENABLE `_, `Rover/mode_auto.cpp `_, common + `MAV_CMD_DO_FLIGHTTERMINATION `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE `_, `AP_Mount/AP_Mount.cpp `_, common + `MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW `_, `AP_Mount/AP_Mount.cpp `_, common + `MAV_CMD_DO_GO_AROUND `_, `AP_Mission/AP_Mission.cpp `_, common + `MAV_CMD_DO_GRIPPER `_, `AP_Mission/AP_Mission.cpp `_, common + `MAV_CMD_DO_GUIDED_LIMITS `_, `Rover/mode_auto.cpp `_, common + `MAV_CMD_DO_INVERTED_FLIGHT `_, `AP_Mission/AP_Mission.cpp `_, common + `MAV_CMD_DO_JUMP `_, `AP_Mission/AP_Mission.cpp `_, common + `MAV_CMD_DO_JUMP_TAG `_, `AP_Mission/AP_Mission.cpp `_, common + `MAV_CMD_DO_LAND_START `_, `AP_Mission/AP_Mission.cpp `_, common + `MAV_CMD_DO_MOTOR_TEST `_, `Rover/GCS_Mavlink.cpp `_, common + `MAV_CMD_DO_MOUNT_CONFIGURE `_, `AP_Mount/AP_Mount.cpp `_, common + `MAV_CMD_DO_MOUNT_CONTROL `_, `AP_Mount/AP_Mount.cpp `_, common + `MAV_CMD_DO_PARACHUTE `_, `AP_Mission/AP_Mission.cpp `_, common + `MAV_CMD_DO_PAUSE_CONTINUE `_, `AP_Mission/AP_Mission.cpp `_, common + `MAV_CMD_DO_REPEAT_RELAY `_, `AP_Mission/AP_Mission_Commands.cpp `_, common + `MAV_CMD_DO_REPEAT_SERVO `_, `AP_Mission/AP_Mission_Commands.cpp `_, common + `MAV_CMD_DO_REPOSITION `_, `Rover/GCS_Mavlink.cpp `_, common + `MAV_CMD_DO_RETURN_PATH_START `_, `AP_Mission/AP_Mission.cpp `_, common + `MAV_CMD_DO_SEND_BANNER `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `MAV_CMD_DO_SEND_SCRIPT_MESSAGE `_, `AP_Mission/AP_Mission.cpp `_, ardupilotmega + `MAV_CMD_DO_SET_CAM_TRIGG_DIST `_, `Rover/mode_auto.cpp `_, common + `MAV_CMD_DO_SET_HOME `_, `Rover/mode_auto.cpp `_, common + `MAV_CMD_DO_SET_MISSION_CURRENT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MAV_CMD_DO_SET_MODE `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `MAV_CMD_DO_SET_RELAY `_, `AP_Mission/AP_Mission_Commands.cpp `_, common + `MAV_CMD_DO_SET_RESUME_REPEAT_DIST `_, `AP_Mission/AP_Mission.cpp `_, ardupilotmega + `MAV_CMD_DO_SET_REVERSE `_, `Rover/GCS_Mavlink.cpp `_, common + `MAV_CMD_DO_SET_ROI `_, `Rover/mode_auto.cpp `_, common + `MAV_CMD_DO_SET_ROI_LOCATION `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `MAV_CMD_DO_SET_ROI_NONE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MAV_CMD_DO_SET_ROI_SYSID `_, `AP_Mount/AP_Mount.cpp `_, common + `MAV_CMD_DO_SET_SAFETY_SWITCH_STATE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MAV_CMD_DO_SET_SERVO `_, `AP_Mission/AP_Mission_Commands.cpp `_, common + `MAV_CMD_DO_SPRAYER `_, `AP_Mission/AP_Mission.cpp `_, ardupilotmega + `MAV_CMD_DO_START_MAG_CAL `_, `AP_Compass/AP_Compass_Calibration.cpp `_, ardupilotmega + `MAV_CMD_DO_VTOL_TRANSITION `_, `AP_Mission/AP_Mission.cpp `_, common + `MAV_CMD_DO_WINCH `_, `AP_Mission/AP_Mission.cpp `_, common + `MAV_CMD_EXTERNAL_POSITION_ESTIMATE `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `MAV_CMD_EXTERNAL_WIND_ESTIMATE `_, `GCS_MAVLink/GCS_Common.cpp `_, development + `MAV_CMD_FIXED_MAG_CAL_YAW `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `MAV_CMD_FLASH_BOOTLOADER `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, ardupilotmega + `MAV_CMD_GET_HOME_POSITION `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `MAV_CMD_GET_MESSAGE_INTERVAL `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `MAV_CMD_IMAGE_START_CAPTURE `_, `AP_Camera/AP_Camera.cpp `_, common + `MAV_CMD_IMAGE_STOP_CAPTURE `_, `AP_Camera/AP_Camera.cpp `_, common + `MAV_CMD_JUMP_TAG `_, `AP_Mission/AP_Mission.cpp `_, common + `MAV_CMD_MISSION_START `_, `Rover/GCS_Mavlink.cpp `_, common + `MAV_CMD_NAV_ALTITUDE_WAIT `_, `AP_Mission/AP_Mission.cpp `_, ardupilotmega + `MAV_CMD_NAV_ATTITUDE_TIME `_, `AP_Mission/AP_Mission.cpp `_, ardupilotmega + `MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT `_, `AP_Mission/AP_Mission.cpp `_, common + `MAV_CMD_NAV_DELAY `_, `Rover/mode_auto.cpp `_, common + `MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION `_, `GCS_MAVLink/MissionItemProtocol_Fence.cpp `_, common + `MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION `_, `GCS_MAVLink/MissionItemProtocol_Fence.cpp `_, common + `MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION `_, `GCS_MAVLink/MissionItemProtocol_Fence.cpp `_, common + `MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION `_, `GCS_MAVLink/MissionItemProtocol_Fence.cpp `_, common + `MAV_CMD_NAV_FENCE_RETURN_POINT `_, `GCS_MAVLink/MissionItemProtocol_Fence.cpp `_, common + `MAV_CMD_NAV_GUIDED_ENABLE `_, `Rover/mode_auto.cpp `_, common + `MAV_CMD_NAV_LAND `_, `AP_Mission/AP_Mission.cpp `_, common + `MAV_CMD_NAV_LOITER_TIME `_, `Rover/mode_auto.cpp `_, common + `MAV_CMD_NAV_LOITER_TO_ALT `_, `AP_Mission/AP_Mission.cpp `_, common + `MAV_CMD_NAV_LOITER_TURNS `_, `Rover/mode_auto.cpp `_, common + `MAV_CMD_NAV_LOITER_UNLIM `_, `Rover/mode_auto.cpp `_, common + `MAV_CMD_NAV_PAYLOAD_PLACE `_, `AP_Mission/AP_Mission.cpp `_, common + `MAV_CMD_NAV_RETURN_TO_LAUNCH `_, `Rover/GCS_Mavlink.cpp `_, common + `MAV_CMD_NAV_SCRIPT_TIME `_, `Rover/mode_auto.cpp `_, ardupilotmega + `MAV_CMD_NAV_SET_YAW_SPEED `_, `Rover/GCS_Mavlink.cpp `_, common + `MAV_CMD_NAV_SPLINE_WAYPOINT `_, `AP_Mission/AP_Mission.cpp `_, common + `MAV_CMD_NAV_TAKEOFF `_, `AP_Mission/AP_Mission.cpp `_, common + `MAV_CMD_NAV_TAKEOFF_LOCAL `_, `AP_Mission/AP_Mission.cpp `_, common + `MAV_CMD_NAV_VTOL_LAND `_, `AP_Mission/AP_Mission.cpp `_, common + `MAV_CMD_NAV_VTOL_TAKEOFF `_, `AP_Mission/AP_Mission.cpp `_, common + `MAV_CMD_NAV_WAYPOINT `_, `Rover/mode_auto.cpp `_, common + `MAV_CMD_PREFLIGHT_CALIBRATION `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `MAV_CMD_PREFLIGHT_STORAGE `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `MAV_CMD_PREFLIGHT_UAVCAN `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `MAV_CMD_REQUEST_MESSAGE `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `MAV_CMD_RUN_PREARM_CHECKS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MAV_CMD_SCRIPTING `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `MAV_CMD_SET_CAMERA_FOCUS `_, `AP_Camera/AP_Camera.cpp `_, common + `MAV_CMD_SET_CAMERA_SOURCE `_, `AP_Camera/AP_Camera.cpp `_, common + `MAV_CMD_SET_CAMERA_ZOOM `_, `AP_Camera/AP_Camera.cpp `_, common + `MAV_CMD_SET_EKF_SOURCE_SET `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `MAV_CMD_SET_MESSAGE_INTERVAL `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `MAV_CMD_START_RX_PAIR `_, `AP_Frsky_Telem/AP_Frsky_MAVliteMsgHandler.cpp `_, common + `MAV_CMD_STORAGE_FORMAT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MAV_CMD_VIDEO_START_CAPTURE `_, `AP_Camera/AP_Camera.cpp `_, common + `MAV_CMD_VIDEO_STOP_CAPTURE `_, `AP_Camera/AP_Camera.cpp `_, common + +.. _mavlink_requestable_messages: + +Requestable Messages +==================== + +Messages that can be requested/streamed from the autopilot. + +.. csv-table:: + :header: MAVLink Message, Code Source, MAVLink Dialect + + + `ADSB_VEHICLE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `AHRS `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `AHRS2 `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `AIRSPEED `_, `GCS_MAVLink/GCS_Common.cpp `_, development + `AIS_VESSEL `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `AOA_SSA `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `ATTITUDE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `ATTITUDE_QUATERNION `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `ATTITUDE_TARGET `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `AUTOPILOT_STATE_FOR_GIMBAL_DEVICE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `AUTOPILOT_VERSION `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `BATTERY2 `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `BATTERY_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `CAMERA_CAPTURE_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `CAMERA_FEEDBACK `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `CAMERA_FOV_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `CAMERA_INFORMATION `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `CAMERA_SETTINGS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `CAMERA_THERMAL_RANGE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `DEEPSTALL `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `DISTANCE_SENSOR `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `EFI_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `EKF_STATUS_REPORT `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `ESC_TELEMETRY_1_TO_4 `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `EXTENDED_SYS_STATE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `FENCE_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `GENERATOR_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `GIMBAL_DEVICE_ATTITUDE_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `GIMBAL_MANAGER_INFORMATION `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `GIMBAL_MANAGER_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `GLOBAL_POSITION_INT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `GPS2_RAW `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `GPS2_RTK `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `GPS_GLOBAL_ORIGIN `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `GPS_RAW_INT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `GPS_RTK `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `HEARTBEAT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `HIGHRES_IMU `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `HIGH_LATENCY2 `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `HOME_POSITION `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `HWSTATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `LOCAL_POSITION_NED `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MAG_CAL_PROGRESS `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `MAG_CAL_REPORT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MCU_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `MEMINFO `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `MISSION_CURRENT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MISSION_ITEM_REACHED `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `NAV_CONTROLLER_OUTPUT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `OPTICAL_FLOW `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `PARAM_VALUE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `PID_TUNING `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `POSITION_TARGET_GLOBAL_INT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `POSITION_TARGET_LOCAL_NED `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `POWER_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `RANGEFINDER `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `RAW_IMU `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `RC_CHANNELS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `RC_CHANNELS_RAW `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `RC_CHANNELS_SCALED `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `RELAY_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `RPM `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `SCALED_IMU `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `SCALED_IMU2 `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `SCALED_IMU3 `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `SCALED_PRESSURE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `SCALED_PRESSURE2 `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `SCALED_PRESSURE3 `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `SERVO_OUTPUT_RAW `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `SIMSTATE `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `SIM_STATE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `SYSTEM_TIME `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `SYS_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `TERRAIN_REPORT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `TERRAIN_REQUEST `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `UAVIONIX_ADSB_OUT_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, uAvionix + `VFR_HUD `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `VIBRATION `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `VIDEO_STREAM_INFORMATION `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `WATER_DEPTH `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `WINCH_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `WIND `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + +.. _mavlink_outgoing_messages: + +Outgoing Messages +================= + +Messages the autopilot will send automatically (unrequested). + +.. csv-table:: + :header: MAVLink Message, Code Source, MAVLink Dialect + + + `ADSB_VEHICLE `_, `AP_ADSB/AP_ADSB.cpp `_, common + `AHRS `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `AHRS2 `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `AP_ADC `_, `AP_HAL_ESP32/AnalogIn.cpp `_, ardupilotmega + `ATTITUDE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `ATTITUDE_QUATERNION `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `AUTOPILOT_STATE_FOR_GIMBAL_DEVICE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `AUTOPILOT_VERSION `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `BATTERY2 `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `BATTERY_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `CAMERA_CAPTURE_STATUS `_, `AP_Camera/AP_Camera_Backend.cpp `_, common + `CAMERA_FEEDBACK `_, `AP_Camera/AP_Camera_Backend.cpp `_, ardupilotmega + `CAMERA_FOV_STATUS `_, `AP_Camera/AP_Camera_Backend.cpp `_, common + `CAMERA_INFORMATION `_, `AP_Camera/AP_Camera_MAVLinkCamV2.cpp `_, common + `CAMERA_SETTINGS `_, `AP_Camera/AP_Camera_Backend.cpp `_, common + `CAMERA_THERMAL_RANGE `_, `AP_Mount/AP_Mount_Siyi.cpp `_, common + `CANFD_FRAME `_, `AP_CANManager/AP_CANManager.cpp `_, common + `CAN_FRAME `_, `AP_CANManager/AP_CANManager.cpp `_, common + `COMMAND_ACK `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `COMMAND_LONG `_, `AP_Mount/AP_Mount_SToRM32.cpp `_, common + `DATA16 `_, `AP_Radio/AP_Radio_cc2500.cpp `_, ardupilotmega + `DEEPSTALL `_, `AP_Landing/AP_Landing_Deepstall.cpp `_, ardupilotmega + `DEVICE_OP_READ_REPLY `_, `GCS_MAVLink/GCS_DeviceOp.cpp `_, ardupilotmega + `DEVICE_OP_WRITE_REPLY `_, `GCS_MAVLink/GCS_DeviceOp.cpp `_, ardupilotmega + `DISTANCE_SENSOR `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `EFI_STATUS `_, `AP_EFI/AP_EFI.cpp `_, common + `EKF_STATUS_REPORT `_, `AP_ExternalAHRS/AP_ExternalAHRS.cpp `_, ardupilotmega + `EXTENDED_SYS_STATE `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `FENCE_STATUS `_, `GCS_MAVLink/GCS_Fence.cpp `_, common + `FILE_TRANSFER_PROTOCOL `_, `GCS_MAVLink/GCS_FTP.cpp `_, common + `GENERATOR_STATUS `_, `AP_Generator/AP_Generator_RichenPower.cpp `_, common + `GIMBAL_CONTROL `_, `AP_Mount/SoloGimbal.cpp `_, ardupilotmega + `GIMBAL_DEVICE_ATTITUDE_STATUS `_, `AP_Mount/AP_Mount_Backend.cpp `_, common + `GIMBAL_MANAGER_INFORMATION `_, `AP_Mount/AP_Mount_Backend.cpp `_, common + `GIMBAL_MANAGER_STATUS `_, `AP_Mount/AP_Mount_Backend.cpp `_, common + `GLOBAL_POSITION_INT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `GOPRO_SET_REQUEST `_, `AP_Camera/AP_Camera_SoloGimbal.cpp `_, ardupilotmega + `GPS2_RAW `_, `AP_GPS/AP_GPS.cpp `_, common + `GPS2_RTK `_, `AP_GPS/GPS_Backend.cpp `_, common + `GPS_GLOBAL_ORIGIN `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `GPS_RAW_INT `_, `AP_GPS/AP_GPS.cpp `_, common + `GPS_RTK `_, `AP_GPS/GPS_Backend.cpp `_, common + `HEARTBEAT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `HIGH_LATENCY2 `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `HOME_POSITION `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `HWSTATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `LOCAL_POSITION_NED `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `LOG_ENTRY `_, `AP_Logger/AP_Logger_MAVLinkLogTransfer.cpp `_, common + `MAG_CAL_PROGRESS `_, `AP_Compass/AP_Compass_Calibration.cpp `_, ardupilotmega + `MAG_CAL_REPORT `_, `AP_Compass/AP_Compass_Calibration.cpp `_, common + `MCU_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `MEMINFO `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `MESSAGE_INTERVAL `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MISSION_ACK `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MISSION_COUNT `_, `GCS_MAVLink/MissionItemProtocol_Waypoints.cpp `_, common + `MISSION_CURRENT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MISSION_ITEM_REACHED `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `MISSION_REQUEST `_, `GCS_MAVLink/MissionItemProtocol.cpp `_, common + `NAMED_VALUE_FLOAT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `NAV_CONTROLLER_OUTPUT `_, `Rover/GCS_Mavlink.cpp `_, common + `OPTICAL_FLOW `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `OSD_PARAM_CONFIG_REPLY `_, `AP_OSD/AP_OSD.cpp `_, ardupilotmega + `OSD_PARAM_SHOW_CONFIG_REPLY `_, `AP_OSD/AP_OSD.cpp `_, ardupilotmega + `PARAM_REQUEST_LIST `_, `AP_Mount/SoloGimbal_Parameters.cpp `_, common + `PARAM_SET `_, `AP_Mount/SoloGimbal_Parameters.cpp `_, common + `PARAM_VALUE `_, `GCS_MAVLink/GCS_Param.cpp `_, common + `PID_TUNING `_, `Rover/GCS_Mavlink.cpp `_, ardupilotmega + `POSITION_TARGET_GLOBAL_INT `_, `Rover/GCS_Mavlink.cpp `_, common + `POWER_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `RALLY_POINT `_, `GCS_MAVLink/GCS_Rally.cpp `_, ardupilotmega + `RANGEFINDER `_, `Rover/GCS_Mavlink.cpp `_, ardupilotmega + `RAW_IMU `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `RC_CHANNELS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `RC_CHANNELS_RAW `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `RC_CHANNELS_SCALED `_, `Rover/GCS_Mavlink.cpp `_, common + `RELAY_STATUS `_, `AP_Relay/AP_Relay.cpp `_, common + `RPM `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `SERVO_OUTPUT_RAW `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `SET_POSITION_TARGET_GLOBAL_INT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `STATUSTEXT `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `SYSTEM_TIME `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `SYS_STATUS `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `TERRAIN_REPORT `_, `AP_Terrain/TerrainGCS.cpp `_, common + `TERRAIN_REQUEST `_, `AP_Terrain/TerrainGCS.cpp `_, common + `TIMESYNC `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `UAVIONIX_ADSB_OUT_CFG `_, `AP_ADSB/AP_ADSB_uAvionix_MAVLink.cpp `_, uAvionix + `UAVIONIX_ADSB_OUT_DYNAMIC `_, `AP_ADSB/AP_ADSB_uAvionix_MAVLink.cpp `_, uAvionix + `VFR_HUD `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `VIBRATION `_, `GCS_MAVLink/GCS_Common.cpp `_, common + `WATER_DEPTH `_, `GCS_MAVLink/GCS_Common.cpp `_, ardupilotmega + `WHEEL_DISTANCE `_, `Rover/GCS_Mavlink.cpp `_, common + `WINCH_STATUS `_, `AP_Winch/AP_Winch_Daiwa.cpp `_, common + `WIND `_, `AP_WindVane/AP_WindVane.cpp `_, ardupilotmega + +.. _mavlink_stream_groups: + +Stream Groups +============= + +Message groups with stream rates requestable by ``SRn_*`` parameters. Messages in a group are only sent if the corresponding feature is active. + +.. csv-table:: + :header: MAVLink Message, Stream Group Parameter, MAVLink Dialect + + + `AIRSPEED `_, SRn_RAW_SENSORS, development + `RAW_IMU `_, SRn_RAW_SENSORS, common + `SCALED_IMU2 `_, SRn_RAW_SENSORS, common + `SCALED_IMU3 `_, SRn_RAW_SENSORS, common + `SCALED_PRESSURE `_, SRn_RAW_SENSORS, common + `SCALED_PRESSURE2 `_, SRn_RAW_SENSORS, common + `SCALED_PRESSURE3 `_, SRn_RAW_SENSORS, common + `FENCE_STATUS `_, SRn_EXTENDED_STATUS, common + `GPS2_RAW `_, SRn_EXTENDED_STATUS, common + `GPS2_RTK `_, SRn_EXTENDED_STATUS, common + `GPS_RAW_INT `_, SRn_EXTENDED_STATUS, common + `GPS_RTK `_, SRn_EXTENDED_STATUS, common + `MCU_STATUS `_, SRn_EXTENDED_STATUS, ardupilotmega + `MEMINFO `_, SRn_EXTENDED_STATUS, ardupilotmega + `MISSION_CURRENT `_, SRn_EXTENDED_STATUS, common + `NAV_CONTROLLER_OUTPUT `_, SRn_EXTENDED_STATUS, common + `POSITION_TARGET_GLOBAL_INT `_, SRn_EXTENDED_STATUS, common + `POWER_STATUS `_, SRn_EXTENDED_STATUS, common + `SYS_STATUS `_, SRn_EXTENDED_STATUS, common + `GLOBAL_POSITION_INT `_, SRn_POSITION, common + `LOCAL_POSITION_NED `_, SRn_POSITION, common + `RC_CHANNELS_SCALED `_, SRn_RAW_CONTROLLER, common + `RC_CHANNELS `_, SRn_RC_CHANNELS, common + `RC_CHANNELS_RAW `_, SRn_RC_CHANNELS, common + RC_CHANNELS_RAW_ENABLED, SRn_RC_CHANNELS, UNKNOWN + `SERVO_OUTPUT_RAW `_, SRn_RC_CHANNELS, common + `AHRS2 `_, SRn_EXTRA1, ardupilotmega + `ATTITUDE `_, SRn_EXTRA1, common + `PID_TUNING `_, SRn_EXTRA1, ardupilotmega + `SIMSTATE `_, SRn_EXTRA1, ardupilotmega + `VFR_HUD `_, SRn_EXTRA2, common + `AHRS `_, SRn_EXTRA3, ardupilotmega + `BATTERY_STATUS `_, SRn_EXTRA3, common + `DISTANCE_SENSOR `_, SRn_EXTRA3, common + `EFI_STATUS `_, SRn_EXTRA3, common + `EKF_STATUS_REPORT `_, SRn_EXTRA3, ardupilotmega + `ESC_TELEMETRY_1_TO_4 `_, SRn_EXTRA3, ardupilotmega + `GIMBAL_DEVICE_ATTITUDE_STATUS `_, SRn_EXTRA3, common + `MAG_CAL_PROGRESS `_, SRn_EXTRA3, ardupilotmega + `MAG_CAL_REPORT `_, SRn_EXTRA3, common + `OPTICAL_FLOW `_, SRn_EXTRA3, common + `RANGEFINDER `_, SRn_EXTRA3, ardupilotmega + `RPM `_, SRn_EXTRA3, ardupilotmega + `SYSTEM_TIME `_, SRn_EXTRA3, common + `VIBRATION `_, SRn_EXTRA3, common + `WHEEL_DISTANCE `_, SRn_EXTRA3, common + `WIND `_, SRn_EXTRA3, ardupilotmega + `PARAM_VALUE `_, SRn_PARAMS, common + `ADSB_VEHICLE `_, SRn_ADSB, common + `AIS_VESSEL `_, SRn_ADSB, common + +.. _mavlink_missing_messages: + +Missing Messages +================ + +Unsupported / unhandled messages. + +.. csv-table:: + :header: MAVLink Message, Code Source, MAVLink Dialect + + + `ACTUATOR_CONTROL_TARGET `_, UNSUPPORTED, common + `ACTUATOR_OUTPUT_STATUS `_, UNSUPPORTED, common + `ADAP_TUNING `_, UNSUPPORTED, ardupilotmega + `AHRS3 `_, UNSUPPORTED, ardupilotmega + `AIRLINK_AUTH `_, UNSUPPORTED, ardupilotmega + `AIRLINK_AUTH_RESPONSE `_, UNSUPPORTED, ardupilotmega + `AIRSPEED_AUTOCAL `_, UNSUPPORTED, ardupilotmega + `ALTITUDE `_, UNSUPPORTED, common + `ATTITUDE_QUATERNION_COV `_, UNSUPPORTED, common + `AUTH_KEY `_, UNSUPPORTED, common + `BAD_DATA `_, UNSUPPORTED, common + `BUTTON_CHANGE `_, UNSUPPORTED, common + `CAMERA_IMAGE_CAPTURED `_, UNSUPPORTED, common + `CAMERA_STATUS `_, UNSUPPORTED, ardupilotmega + `CAMERA_TRACKING_GEO_STATUS `_, UNSUPPORTED, common + `CAMERA_TRACKING_IMAGE_STATUS `_, UNSUPPORTED, common + `CAMERA_TRIGGER `_, UNSUPPORTED, common + `CHANGE_OPERATOR_CONTROL `_, UNSUPPORTED, common + `CHANGE_OPERATOR_CONTROL_ACK `_, UNSUPPORTED, common + `COLLISION `_, UNSUPPORTED, common + `COMPASSMOT_STATUS `_, UNSUPPORTED, ardupilotmega + `CONTROL_SYSTEM_STATE `_, UNSUPPORTED, common + `CUBEPILOT_FIRMWARE_UPDATE_RESP `_, UNSUPPORTED, cubepilot + `CUBEPILOT_FIRMWARE_UPDATE_START `_, UNSUPPORTED, cubepilot + `CUBEPILOT_RAW_RC `_, UNSUPPORTED, cubepilot + `DATA32 `_, UNSUPPORTED, ardupilotmega + `DATA64 `_, UNSUPPORTED, ardupilotmega + `DATA_STREAM `_, UNSUPPORTED, common + `DATA_TRANSMISSION_HANDSHAKE `_, UNSUPPORTED, common + `DEBUG `_, UNSUPPORTED, common + `DEBUG_FLOAT_ARRAY `_, UNSUPPORTED, common + `DEBUG_VECT `_, UNSUPPORTED, common + `DIGICAM_CONFIGURE `_, UNSUPPORTED, ardupilotmega + `ENCAPSULATED_DATA `_, UNSUPPORTED, common + `ESC_TELEMETRY_13_TO_16 `_, UNSUPPORTED, ardupilotmega + `ESC_TELEMETRY_17_TO_20 `_, UNSUPPORTED, ardupilotmega + `ESC_TELEMETRY_21_TO_24 `_, UNSUPPORTED, ardupilotmega + `ESC_TELEMETRY_25_TO_28 `_, UNSUPPORTED, ardupilotmega + `ESC_TELEMETRY_29_TO_32 `_, UNSUPPORTED, ardupilotmega + `ESC_TELEMETRY_5_TO_8 `_, UNSUPPORTED, ardupilotmega + `ESC_TELEMETRY_9_TO_12 `_, UNSUPPORTED, ardupilotmega + `ESTIMATOR_STATUS `_, UNSUPPORTED, common + `FLIGHT_INFORMATION `_, UNSUPPORTED, common + `GIMBAL_DEVICE_SET_ATTITUDE `_, UNSUPPORTED, common + `GIMBAL_MANAGER_SET_MANUAL_CONTROL `_, UNSUPPORTED, common + `GIMBAL_TORQUE_CMD_REPORT `_, UNSUPPORTED, ardupilotmega + `GLOBAL_POSITION_INT_COV `_, UNSUPPORTED, common + `GNSS_INTEGRITY `_, UNSUPPORTED, development + `GOPRO_GET_REQUEST `_, UNSUPPORTED, ardupilotmega + `GOPRO_GET_RESPONSE `_, UNSUPPORTED, ardupilotmega + `GOPRO_SET_RESPONSE `_, UNSUPPORTED, ardupilotmega + `GPS_STATUS `_, UNSUPPORTED, common + `HERELINK_TELEM `_, UNSUPPORTED, cubepilot + `HERELINK_VIDEO_STREAM_INFORMATION `_, UNSUPPORTED, cubepilot + `HIGH_LATENCY `_, UNSUPPORTED, common + `HIL_ACTUATOR_CONTROLS `_, UNSUPPORTED, common + `HIL_CONTROLS `_, UNSUPPORTED, common + `HIL_OPTICAL_FLOW `_, UNSUPPORTED, common + `HIL_RC_INPUTS_RAW `_, UNSUPPORTED, common + `HIL_SENSOR `_, UNSUPPORTED, common + `HIL_STATE `_, UNSUPPORTED, common + `HIL_STATE_QUATERNION `_, UNSUPPORTED, common + `HYGROMETER_SENSOR `_, UNSUPPORTED, common + `ICAROUS_HEARTBEAT `_, UNSUPPORTED, icarous + `ICAROUS_KINEMATIC_BANDS `_, UNSUPPORTED, icarous + `ISBD_LINK_STATUS `_, UNSUPPORTED, common + `LIMITS_STATUS `_, UNSUPPORTED, ardupilotmega + `LOCAL_POSITION_NED_COV `_, UNSUPPORTED, common + `LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET `_, UNSUPPORTED, common + `LOGGING_ACK `_, UNSUPPORTED, common + `LOGGING_DATA `_, UNSUPPORTED, common + `LOGGING_DATA_ACKED `_, UNSUPPORTED, common + `LOG_DATA `_, UNSUPPORTED, common + `LOWEHEISER_GOV_EFI `_, UNSUPPORTED, ardupilotmega + `MANUAL_SETPOINT `_, UNSUPPORTED, common + `MEMORY_VECT `_, UNSUPPORTED, common + `MISSION_CHECKSUM `_, UNSUPPORTED, development + `MISSION_REQUEST_PARTIAL_LIST `_, UNSUPPORTED, common + `MOUNT_ORIENTATION `_, UNSUPPORTED, common + `MOUNT_STATUS `_, UNSUPPORTED, ardupilotmega + `NAMED_VALUE_INT `_, UNSUPPORTED, common + `OPEN_DRONE_ID_AUTHENTICATION `_, UNSUPPORTED, common + `OPEN_DRONE_ID_LOCATION `_, UNSUPPORTED, common + `OPEN_DRONE_ID_MESSAGE_PACK `_, UNSUPPORTED, common + `OPTICAL_FLOW_RAD `_, UNSUPPORTED, common + `PARAM_EXT_ACK `_, UNSUPPORTED, common + `PARAM_EXT_REQUEST_LIST `_, UNSUPPORTED, common + `PARAM_EXT_REQUEST_READ `_, UNSUPPORTED, common + `PARAM_EXT_SET `_, UNSUPPORTED, common + `PARAM_EXT_VALUE `_, UNSUPPORTED, common + `PARAM_MAP_RC `_, UNSUPPORTED, common + `PING `_, UNSUPPORTED, common + `RAW_PRESSURE `_, UNSUPPORTED, common + `RAW_RPM `_, UNSUPPORTED, common + `REMOTE_LOG_DATA_BLOCK `_, UNSUPPORTED, ardupilotmega + `RESOURCE_REQUEST `_, UNSUPPORTED, common + `SAFETY_ALLOWED_AREA `_, UNSUPPORTED, common + `SAFETY_SET_ALLOWED_AREA `_, UNSUPPORTED, common + `SENSOR_OFFSETS `_, UNSUPPORTED, ardupilotmega + `SET_ACTUATOR_CONTROL_TARGET `_, UNSUPPORTED, common + `SET_HOME_POSITION `_, UNSUPPORTED, common + `SET_MAG_OFFSETS `_, UNSUPPORTED, ardupilotmega + `SMART_BATTERY_INFO `_, UNSUPPORTED, common + `STORAGE_INFORMATION `_, UNSUPPORTED, common + `TERRAIN_CHECK `_, UNSUPPORTED, common + `TERRAIN_DATA `_, UNSUPPORTED, common + `TRAJECTORY_REPRESENTATION_BEZIER `_, UNSUPPORTED, common + `TRAJECTORY_REPRESENTATION_WAYPOINTS `_, UNSUPPORTED, common + `TUNNEL `_, UNSUPPORTED, common + `UAVCAN_NODE_INFO `_, UNSUPPORTED, common + `UAVCAN_NODE_STATUS `_, UNSUPPORTED, common + `UAVIONIX_ADSB_GET `_, UNSUPPORTED, uAvionix + `UAVIONIX_ADSB_OUT_CFG_FLIGHTID `_, UNSUPPORTED, uAvionix + `UAVIONIX_ADSB_OUT_CFG_REGISTRATION `_, UNSUPPORTED, uAvionix + `UNKNOWN `_, UNSUPPORTED, common + `UTM_GLOBAL_POSITION `_, UNSUPPORTED, common + `V2_EXTENSION `_, UNSUPPORTED, common + `VIDEO_STREAM_STATUS `_, UNSUPPORTED, common + `WIFI_CONFIG_AP `_, UNSUPPORTED, common + `WIND_COV `_, UNSUPPORTED, common + +.. _mavlink_missing_commands: + +Missing Commands +================ + +Unsupported / unhandled commands. + +.. csv-table:: + :header: MAVLink Message, Code Source, MAVLink Dialect + + + `MAV_CMD_ARM_AUTHORIZATION_REQUEST `_, UNSUPPORTED, common + `MAV_CMD_CONDITION_CHANGE_ALT `_, UNSUPPORTED, common + `MAV_CMD_CONDITION_LAST `_, UNSUPPORTED, common + `MAV_CMD_DO_CHANGE_ALTITUDE `_, UNSUPPORTED, common + `MAV_CMD_DO_CONTROL_VIDEO `_, UNSUPPORTED, common + `MAV_CMD_DO_FOLLOW `_, UNSUPPORTED, common + `MAV_CMD_DO_FOLLOW_REPOSITION `_, UNSUPPORTED, common + `MAV_CMD_DO_GUIDED_MASTER `_, UNSUPPORTED, common + `MAV_CMD_DO_LAST `_, UNSUPPORTED, common + `MAV_CMD_DO_MOUNT_CONTROL_QUAT `_, UNSUPPORTED, common + `MAV_CMD_DO_RALLY_LAND `_, UNSUPPORTED, common + `MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL `_, UNSUPPORTED, common + `MAV_CMD_DO_SET_PARAMETER `_, UNSUPPORTED, common + `MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET `_, UNSUPPORTED, common + `MAV_CMD_DO_SET_SYS_CMP_ID `_, UNSUPPORTED, development + `MAV_CMD_DO_TRIGGER_CONTROL `_, UNSUPPORTED, common + `MAV_CMD_ENUM_END `_, UNSUPPORTED, common + `MAV_CMD_FIXED_MAG_CAL `_, UNSUPPORTED, ardupilotmega + `MAV_CMD_FIXED_MAG_CAL_FIELD `_, UNSUPPORTED, ardupilotmega + `MAV_CMD_GIMBAL_AXIS_CALIBRATION_STATUS `_, UNSUPPORTED, ardupilotmega + `MAV_CMD_GIMBAL_FULL_RESET `_, UNSUPPORTED, ardupilotmega + `MAV_CMD_GIMBAL_REQUEST_AXIS_CALIBRATION `_, UNSUPPORTED, ardupilotmega + `MAV_CMD_GIMBAL_RESET `_, UNSUPPORTED, ardupilotmega + `MAV_CMD_GUIDED_CHANGE_ALTITUDE `_, UNSUPPORTED, ardupilotmega + `MAV_CMD_GUIDED_CHANGE_HEADING `_, UNSUPPORTED, ardupilotmega + `MAV_CMD_GUIDED_CHANGE_SPEED `_, UNSUPPORTED, ardupilotmega + `MAV_CMD_LOGGING_START `_, UNSUPPORTED, common + `MAV_CMD_LOGGING_STOP `_, UNSUPPORTED, common + `MAV_CMD_LOWEHEISER_SET_STATE `_, UNSUPPORTED, ardupilotmega + `MAV_CMD_NAV_FOLLOW `_, UNSUPPORTED, common + `MAV_CMD_NAV_LAND_LOCAL `_, UNSUPPORTED, common + `MAV_CMD_NAV_LAST `_, UNSUPPORTED, common + `MAV_CMD_NAV_PATHPLANNING `_, UNSUPPORTED, common + `MAV_CMD_NAV_RALLY_POINT `_, UNSUPPORTED, common + `MAV_CMD_NAV_ROI `_, UNSUPPORTED, common + `MAV_CMD_OBLIQUE_SURVEY `_, UNSUPPORTED, common + `MAV_CMD_OVERRIDE_GOTO `_, UNSUPPORTED, common + `MAV_CMD_PANORAMA_CREATE `_, UNSUPPORTED, common + `MAV_CMD_PAYLOAD_CONTROL_DEPLOY `_, UNSUPPORTED, common + `MAV_CMD_PAYLOAD_PREPARE_DEPLOY `_, UNSUPPORTED, common + `MAV_CMD_POWER_OFF_INITIATED `_, UNSUPPORTED, ardupilotmega + `MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS `_, UNSUPPORTED, common + `MAV_CMD_REQUEST_CAMERA_INFORMATION `_, UNSUPPORTED, common + `MAV_CMD_REQUEST_CAMERA_SETTINGS `_, UNSUPPORTED, common + `MAV_CMD_REQUEST_FLIGHT_INFORMATION `_, UNSUPPORTED, common + `MAV_CMD_REQUEST_PROTOCOL_VERSION `_, UNSUPPORTED, common + `MAV_CMD_REQUEST_STORAGE_INFORMATION `_, UNSUPPORTED, common + `MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION `_, UNSUPPORTED, common + `MAV_CMD_REQUEST_VIDEO_STREAM_STATUS `_, UNSUPPORTED, common + `MAV_CMD_RESET_CAMERA_SETTINGS `_, UNSUPPORTED, common + `MAV_CMD_SET_CAMERA_MODE `_, UNSUPPORTED, common + `MAV_CMD_SET_FACTORY_TEST_MODE `_, UNSUPPORTED, ardupilotmega + `MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE `_, UNSUPPORTED, common + `MAV_CMD_SET_GUIDED_SUBMODE_STANDARD `_, UNSUPPORTED, common + `MAV_CMD_SET_HAGL `_, UNSUPPORTED, ardupilotmega + `MAV_CMD_SET_STORAGE_USAGE `_, UNSUPPORTED, common + `MAV_CMD_SOLO_BTN_FLY_CLICK `_, UNSUPPORTED, ardupilotmega + `MAV_CMD_SOLO_BTN_FLY_HOLD `_, UNSUPPORTED, ardupilotmega + `MAV_CMD_SOLO_BTN_PAUSE_CLICK `_, UNSUPPORTED, ardupilotmega + `MAV_CMD_SPATIAL_USER_1 `_, UNSUPPORTED, common + `MAV_CMD_SPATIAL_USER_2 `_, UNSUPPORTED, common + `MAV_CMD_SPATIAL_USER_3 `_, UNSUPPORTED, common + `MAV_CMD_SPATIAL_USER_4 `_, UNSUPPORTED, common + `MAV_CMD_SPATIAL_USER_5 `_, UNSUPPORTED, common + `MAV_CMD_UAVCAN_GET_NODE_INFO `_, UNSUPPORTED, common + `MAV_CMD_USER_1 `_, UNSUPPORTED, common + `MAV_CMD_USER_2 `_, UNSUPPORTED, common + `MAV_CMD_USER_3 `_, UNSUPPORTED, common + `MAV_CMD_USER_4 `_, UNSUPPORTED, common + `MAV_CMD_USER_5 `_, UNSUPPORTED, common + `MAV_CMD_VIDEO_START_STREAMING `_, UNSUPPORTED, common + `MAV_CMD_VIDEO_STOP_STREAMING `_, UNSUPPORTED, common + `MAV_CMD_WAYPOINT_USER_1 `_, UNSUPPORTED, common + `MAV_CMD_WAYPOINT_USER_2 `_, UNSUPPORTED, common + `MAV_CMD_WAYPOINT_USER_3 `_, UNSUPPORTED, common + `MAV_CMD_WAYPOINT_USER_4 `_, UNSUPPORTED, common + `MAV_CMD_WAYPOINT_USER_5 `_, UNSUPPORTED, common diff --git a/dev/source/docs/mavlink-commands.rst b/dev/source/docs/mavlink-commands.rst index 2ab3c8597e..e9a9d2f4ee 100644 --- a/dev/source/docs/mavlink-commands.rst +++ b/dev/source/docs/mavlink-commands.rst @@ -4,7 +4,7 @@ MAVLink Interface ================= -ArduPilot supports the MAVLink protocol for communication with Ground Stations and :ref:`Companion Computers `. These pages explain the details of this interface +ArduPilot supports the MAVLink protocol for communication with Ground Stations and :ref:`Companion Computers `. These pages explain the details of this interface and commonly used commands: .. toctree:: :maxdepth: 1 @@ -26,15 +26,33 @@ ArduPilot supports the MAVLink protocol for communication with Ground Stations a MAVLink Routing Other Commands -External References -------------------- +Complete lists of Messages +========================== + +MAVLink not only has command messages but also incoming messages. A complete list of all MAVLink messages in ArduPilot by vehicle type, as of November 2024, are shown below: + +.. tabs:: + + .. group-tab:: Plane + + :ref:`ArduPlane_MAVLink_Messages` + + .. group-tab:: Copter + + :ref:`ArduCopter_MAVLink_Messages` + .. group-tab:: Rover + + :ref:`Rover_MAVLink_Messages` + +External References +=================== - `MAVLink Common Message Set (HTML) `__ and `XML `__ (Protocol Definition) - `MAVLink ArduPilot Message Set (HTML) `__ and `XML `__ - `MAVLink Tutorial for Absolute Dummies (Part–1) `__ by Shyam Balasubramanian Autonomous Mission Commands ---------------------------- +=========================== Mission commands are stored on the flight controller in eeprom and executed one-by-one when the vehicle is switched into Auto mode. Although not directly related to the real-time MAVLink interface linked above, the available commands are a subset of the `MAVLink MAV_CMD list `__ @@ -47,9 +65,17 @@ Mission commands are stored on the flight controller in eeprom and executed one- See also: :ref:`Copter Mission Command List ` Vehicle Parameter References ----------------------------- +============================ - :ref:`Copter Parameters ` - :ref:`Plane Parameters ` - :ref:`Rover Parameters ` - `Sub Parameters `_ + +.. toctree:: + :maxdepth: 1 + :hidden: + + ArduPlane_MAVLink_Messages + ArduCopter_MAVLink_Messages + Rover_MAVLink_Messages