mavlink-mappings
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MavLink message definitions
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TypeScript
import { float, int16_t, int32_t, uint8_t, uint16_t, uint32_t, uint64_t } from './types';
import { MavLinkPacketRegistry, MavLinkPacketField, MavLinkData } from './mavlink';
import { MavFrame, MavLinkCommandRegistry } from './common';
/**
* MAV_CMD
*/
export declare enum MavCmd {
/**
* Mission command to reset Maximum Power Point Tracker (MPPT)
* @param1 MPPT number
* @param2 Empty
* @param3 Empty
* @param4 Empty
* @param5 Empty
* @param6 Empty
* @param7 Empty
*/
'RESET_MPPT' = 40001,
/**
* Mission command to perform a power cycle on payload
* @param1 Complete power cycle
* @param2 VISensor power cycle
* @param3 Empty
* @param4 Empty
* @param5 Empty
* @param6 Empty
* @param7 Empty
*/
'PAYLOAD_CONTROL' = 40002
}
/**
* GSM_LINK_TYPE
*/
export declare enum GsmLinkType {
/**
* no service
*/
'NONE' = 0,
/**
* link type unknown
*/
'UNKNOWN' = 1,
/**
* 2G (GSM/GRPS/EDGE) link
*/
'GSM_LINK_TYPE_2G' = 2,
/**
* 3G link (WCDMA/HSDPA/HSPA)
*/
'GSM_LINK_TYPE_3G' = 3,
/**
* 4G link (LTE)
*/
'GSM_LINK_TYPE_4G' = 4
}
/**
* GSM_MODEM_TYPE
*/
export declare enum GsmModemType {
/**
* not specified
*/
'UNKNOWN' = 0,
/**
* HUAWEI LTE USB Stick E3372
*/
'HUAWEI_E3372' = 1
}
/**
* Message encoding a command with parameters as scaled integers and additional metadata. Scaling
* depends on the actual command value.
*/
export declare class CommandIntStamped extends MavLinkData {
static MSG_ID: number;
static MSG_NAME: string;
static PAYLOAD_LENGTH: number;
static MAGIC_NUMBER: number;
static FIELDS: MavLinkPacketField[];
constructor();
/**
* UTC time, seconds elapsed since 01.01.1970
*/
utcTime: uint32_t;
/**
* Microseconds elapsed since vehicle boot
*/
vehicleTimestamp: uint64_t;
/**
* System ID
*/
targetSystem: uint8_t;
/**
* Component ID
*/
targetComponent: uint8_t;
/**
* The coordinate system of the COMMAND, as defined by MAV_FRAME enum
*/
frame: MavFrame;
/**
* The scheduled action for the mission item, as defined by MAV_CMD enum
*/
command: MavCmd;
/**
* false:0, true:1
*/
current: uint8_t;
/**
* autocontinue to next wp
*/
autocontinue: uint8_t;
/**
* PARAM1, see MAV_CMD enum
*/
param1: float;
/**
* PARAM2, see MAV_CMD enum
*/
param2: float;
/**
* PARAM3, see MAV_CMD enum
*/
param3: float;
/**
* PARAM4, see MAV_CMD enum
*/
param4: float;
/**
* PARAM5 / local: x position in meters * 1e4, global: latitude in degrees * 10^7
*/
x: int32_t;
/**
* PARAM6 / local: y position in meters * 1e4, global: longitude in degrees * 10^7
*/
y: int32_t;
/**
* PARAM7 / z position: global: altitude in meters (MSL, WGS84, AGL or relative to home - depending on
* frame).
*/
z: float;
}
/**
* Send a command with up to seven parameters to the MAV and additional metadata
*/
export declare class CommandLongStamped extends MavLinkData {
static MSG_ID: number;
static MSG_NAME: string;
static PAYLOAD_LENGTH: number;
static MAGIC_NUMBER: number;
static FIELDS: MavLinkPacketField[];
constructor();
/**
* UTC time, seconds elapsed since 01.01.1970
*/
utcTime: uint32_t;
/**
* Microseconds elapsed since vehicle boot
*/
vehicleTimestamp: uint64_t;
/**
* System which should execute the command
*/
targetSystem: uint8_t;
/**
* Component which should execute the command, 0 for all components
*/
targetComponent: uint8_t;
/**
* Command ID, as defined by MAV_CMD enum.
*/
command: MavCmd;
/**
* 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
*/
confirmation: uint8_t;
/**
* Parameter 1, as defined by MAV_CMD enum.
*/
param1: float;
/**
* Parameter 2, as defined by MAV_CMD enum.
*/
param2: float;
/**
* Parameter 3, as defined by MAV_CMD enum.
*/
param3: float;
/**
* Parameter 4, as defined by MAV_CMD enum.
*/
param4: float;
/**
* Parameter 5, as defined by MAV_CMD enum.
*/
param5: float;
/**
* Parameter 6, as defined by MAV_CMD enum.
*/
param6: float;
/**
* Parameter 7, as defined by MAV_CMD enum.
*/
param7: float;
}
/**
* Voltage and current sensor data
*/
export declare class SensPower extends MavLinkData {
static MSG_ID: number;
static MSG_NAME: string;
static PAYLOAD_LENGTH: number;
static MAGIC_NUMBER: number;
static FIELDS: MavLinkPacketField[];
constructor();
/**
* Power board voltage sensor reading
* Units: V
*/
adc121VspbVolt: float;
/**
* Power board current sensor reading
* Units: A
*/
adc121CspbAmp: float;
/**
* Board current sensor 1 reading
* Units: A
*/
adc121Cs1Amp: float;
/**
* Board current sensor 2 reading
* Units: A
*/
adc121Cs2Amp: float;
}
/**
* Maximum Power Point Tracker (MPPT) sensor data for solar module power performance tracking
*/
export declare class SensMppt extends MavLinkData {
static MSG_ID: number;
static MSG_NAME: string;
static PAYLOAD_LENGTH: number;
static MAGIC_NUMBER: number;
static FIELDS: MavLinkPacketField[];
constructor();
/**
* MPPT last timestamp
* Units: us
*/
mpptTimestamp: uint64_t;
/**
* MPPT1 voltage
* Units: V
*/
mppt1Volt: float;
/**
* MPPT1 current
* Units: A
*/
mppt1Amp: float;
/**
* MPPT1 pwm
* Units: us
*/
mppt1Pwm: uint16_t;
/**
* MPPT1 status
*/
mppt1Status: uint8_t;
/**
* MPPT2 voltage
* Units: V
*/
mppt2Volt: float;
/**
* MPPT2 current
* Units: A
*/
mppt2Amp: float;
/**
* MPPT2 pwm
* Units: us
*/
mppt2Pwm: uint16_t;
/**
* MPPT2 status
*/
mppt2Status: uint8_t;
/**
* MPPT3 voltage
* Units: V
*/
mppt3Volt: float;
/**
* MPPT3 current
* Units: A
*/
mppt3Amp: float;
/**
* MPPT3 pwm
* Units: us
*/
mppt3Pwm: uint16_t;
/**
* MPPT3 status
*/
mppt3Status: uint8_t;
}
/**
* ASL-fixed-wing controller data
*/
export declare class AslctrlData extends MavLinkData {
static MSG_ID: number;
static MSG_NAME: string;
static PAYLOAD_LENGTH: number;
static MAGIC_NUMBER: number;
static FIELDS: MavLinkPacketField[];
constructor();
/**
* Timestamp
* Units: us
*/
timestamp: uint64_t;
/**
* ASLCTRL control-mode (manual, stabilized, auto, etc...)
*/
aslctrlMode: uint8_t;
/**
* See sourcecode for a description of these values...
*/
h: float;
hRef: float;
hRefT: float;
/**
* Pitch angle
* Units: deg
*/
PitchAngle: float;
/**
* Pitch angle reference
* Units: deg
*/
PitchAngleRef: float;
q: float;
qRef: float;
uElev: float;
uThrot: float;
uThrot2: float;
nZ: float;
/**
* Airspeed reference
* Units: m/s
*/
AirspeedRef: float;
SpoilersEngaged: uint8_t;
/**
* Yaw angle
* Units: deg
*/
YawAngle: float;
/**
* Yaw angle reference
* Units: deg
*/
YawAngleRef: float;
/**
* Roll angle
* Units: deg
*/
RollAngle: float;
/**
* Roll angle reference
* Units: deg
*/
RollAngleRef: float;
p: float;
pRef: float;
r: float;
rRef: float;
uAil: float;
uRud: float;
}
/**
* ASL-fixed-wing controller debug data
*/
export declare class AslctrlDebug extends MavLinkData {
static MSG_ID: number;
static MSG_NAME: string;
static PAYLOAD_LENGTH: number;
static MAGIC_NUMBER: number;
static FIELDS: MavLinkPacketField[];
constructor();
/**
* Debug data
*/
i321: uint32_t;
/**
* Debug data
*/
i81: uint8_t;
/**
* Debug data
*/
i82: uint8_t;
/**
* Debug data
*/
f1: float;
/**
* Debug data
*/
f2: float;
/**
* Debug data
*/
f3: float;
/**
* Debug data
*/
f4: float;
/**
* Debug data
*/
f5: float;
/**
* Debug data
*/
f6: float;
/**
* Debug data
*/
f7: float;
/**
* Debug data
*/
f8: float;
}
/**
* Extended state information for ASLUAVs
*/
export declare class AsluavStatus extends MavLinkData {
static MSG_ID: number;
static MSG_NAME: string;
static PAYLOAD_LENGTH: number;
static MAGIC_NUMBER: number;
static FIELDS: MavLinkPacketField[];
constructor();
/**
* Status of the position-indicator LEDs
*/
LEDStatus: uint8_t;
/**
* Status of the IRIDIUM satellite communication system
*/
SATCOMStatus: uint8_t;
/**
* Status vector for up to 8 servos
*/
ServoStatus: uint8_t[];
/**
* Motor RPM
*/
MotorRpm: float;
}
/**
* Extended EKF state estimates for ASLUAVs
*/
export declare class EkfExt extends MavLinkData {
static MSG_ID: number;
static MSG_NAME: string;
static PAYLOAD_LENGTH: number;
static MAGIC_NUMBER: number;
static FIELDS: MavLinkPacketField[];
constructor();
/**
* Time since system start
* Units: us
*/
timestamp: uint64_t;
/**
* Magnitude of wind velocity (in lateral inertial plane)
* Units: m/s
*/
Windspeed: float;
/**
* Wind heading angle from North
* Units: rad
*/
WindDir: float;
/**
* Z (Down) component of inertial wind velocity
* Units: m/s
*/
WindZ: float;
/**
* Magnitude of air velocity
* Units: m/s
*/
Airspeed: float;
/**
* Sideslip angle
* Units: rad
*/
beta: float;
/**
* Angle of attack
* Units: rad
*/
alpha: float;
}
/**
* Off-board controls/commands for ASLUAVs
*/
export declare class AslObctrl extends MavLinkData {
static MSG_ID: number;
static MSG_NAME: string;
static PAYLOAD_LENGTH: number;
static MAGIC_NUMBER: number;
static FIELDS: MavLinkPacketField[];
constructor();
/**
* Time since system start
* Units: us
*/
timestamp: uint64_t;
/**
* Elevator command [~]
*/
uElev: float;
/**
* Throttle command [~]
*/
uThrot: float;
/**
* Throttle 2 command [~]
*/
uThrot2: float;
/**
* Left aileron command [~]
*/
uAilL: float;
/**
* Right aileron command [~]
*/
uAilR: float;
/**
* Rudder command [~]
*/
uRud: float;
/**
* Off-board computer status
*/
obctrlStatus: uint8_t;
}
/**
* Atmospheric sensors (temperature, humidity, ...)
*/
export declare class SensAtmos extends MavLinkData {
static MSG_ID: number;
static MSG_NAME: string;
static PAYLOAD_LENGTH: number;
static MAGIC_NUMBER: number;
static FIELDS: MavLinkPacketField[];
constructor();
/**
* Time since system boot
* Units: us
*/
timestamp: uint64_t;
/**
* Ambient temperature
* Units: degC
*/
TempAmbient: float;
/**
* Relative humidity
* Units: %
*/
Humidity: float;
}
/**
* Battery pack monitoring data for Li-Ion batteries
*/
export declare class SensBatmon extends MavLinkData {
static MSG_ID: number;
static MSG_NAME: string;
static PAYLOAD_LENGTH: number;
static MAGIC_NUMBER: number;
static FIELDS: MavLinkPacketField[];
constructor();
/**
* Time since system start
* Units: us
*/
batmonTimestamp: uint64_t;
/**
* Battery pack temperature
* Units: degC
*/
temperature: float;
/**
* Battery pack voltage
* Units: mV
*/
voltage: uint16_t;
/**
* Battery pack current
* Units: mA
*/
current: int16_t;
/**
* Battery pack state-of-charge
*/
SoC: uint8_t;
/**
* Battery monitor status report bits in Hex
*/
batterystatus: uint16_t;
/**
* Battery monitor serial number in Hex
*/
serialnumber: uint16_t;
/**
* Battery monitor safetystatus report bits in Hex
*/
safetystatus: uint32_t;
/**
* Battery monitor operation status report bits in Hex
*/
operationstatus: uint32_t;
/**
* Battery pack cell 1 voltage
* Units: mV
*/
cellvoltage1: uint16_t;
/**
* Battery pack cell 2 voltage
* Units: mV
*/
cellvoltage2: uint16_t;
/**
* Battery pack cell 3 voltage
* Units: mV
*/
cellvoltage3: uint16_t;
/**
* Battery pack cell 4 voltage
* Units: mV
*/
cellvoltage4: uint16_t;
/**
* Battery pack cell 5 voltage
* Units: mV
*/
cellvoltage5: uint16_t;
/**
* Battery pack cell 6 voltage
* Units: mV
*/
cellvoltage6: uint16_t;
}
/**
* Fixed-wing soaring (i.e. thermal seeking) data
*/
export declare class FwSoaringData extends MavLinkData {
static MSG_ID: number;
static MSG_NAME: string;
static PAYLOAD_LENGTH: number;
static MAGIC_NUMBER: number;
static FIELDS: MavLinkPacketField[];
constructor();
/**
* Timestamp
* Units: ms
*/
timestamp: uint64_t;
/**
* Timestamp since last mode change
* Units: ms
*/
timestampModeChanged: uint64_t;
/**
* Thermal core updraft strength
* Units: m/s
*/
xW: float;
/**
* Thermal radius
* Units: m
*/
xR: float;
/**
* Thermal center latitude
* Units: deg
*/
xLat: float;
/**
* Thermal center longitude
* Units: deg
*/
xLon: float;
/**
* Variance W
*/
VarW: float;
/**
* Variance R
*/
VarR: float;
/**
* Variance Lat
*/
VarLat: float;
/**
* Variance Lon
*/
VarLon: float;
/**
* Suggested loiter radius
* Units: m
*/
LoiterRadius: float;
/**
* Suggested loiter direction
*/
LoiterDirection: float;
/**
* Distance to soar point
* Units: m
*/
DistToSoarPoint: float;
/**
* Expected sink rate at current airspeed, roll and throttle
* Units: m/s
*/
vSinkExp: float;
/**
* Measurement / updraft speed at current/local airplane position
* Units: m/s
*/
z1LocalUpdraftSpeed: float;
/**
* Measurement / roll angle tracking error
* Units: deg
*/
z2DeltaRoll: float;
/**
* Expected measurement 1
*/
z1Exp: float;
/**
* Expected measurement 2
*/
z2Exp: float;
/**
* Thermal drift (from estimator prediction step only)
* Units: m/s
*/
ThermalGSNorth: float;
/**
* Thermal drift (from estimator prediction step only)
* Units: m/s
*/
ThermalGSEast: float;
/**
* Total specific energy change (filtered)
* Units: m/s
*/
TSEDot: float;
/**
* Debug variable 1
*/
DebugVar1: float;
/**
* Debug variable 2
*/
DebugVar2: float;
/**
* Control Mode [-]
*/
ControlMode: uint8_t;
/**
* Data valid [-]
*/
valid: uint8_t;
}
/**
* Monitoring of sensorpod status
*/
export declare class SensorpodStatus extends MavLinkData {
static MSG_ID: number;
static MSG_NAME: string;
static PAYLOAD_LENGTH: number;
static MAGIC_NUMBER: number;
static FIELDS: MavLinkPacketField[];
constructor();
/**
* Timestamp in linuxtime (since 1.1.1970)
* Units: ms
*/
timestamp: uint64_t;
/**
* Rate of ROS topic 1
*/
visensorRate1: uint8_t;
/**
* Rate of ROS topic 2
*/
visensorRate2: uint8_t;
/**
* Rate of ROS topic 3
*/
visensorRate3: uint8_t;
/**
* Rate of ROS topic 4
*/
visensorRate4: uint8_t;
/**
* Number of recording nodes
*/
recordingNodesCount: uint8_t;
/**
* Temperature of sensorpod CPU in
* Units: degC
*/
cpuTemp: uint8_t;
/**
* Free space available in recordings directory in [Gb] * 1e2
*/
freeSpace: uint16_t;
}
/**
* Monitoring of power board status
*/
export declare class SensPowerBoard extends MavLinkData {
static MSG_ID: number;
static MSG_NAME: string;
static PAYLOAD_LENGTH: number;
static MAGIC_NUMBER: number;
static FIELDS: MavLinkPacketField[];
constructor();
/**
* Timestamp
* Units: us
*/
timestamp: uint64_t;
/**
* Power board status register
*/
pwrBrdStatus: uint8_t;
/**
* Power board leds status
*/
pwrBrdLedStatus: uint8_t;
/**
* Power board system voltage
* Units: V
*/
pwrBrdSystemVolt: float;
/**
* Power board servo voltage
* Units: V
*/
pwrBrdServoVolt: float;
/**
* Power board digital voltage
* Units: V
*/
pwrBrdDigitalVolt: float;
/**
* Power board left motor current sensor
* Units: A
*/
pwrBrdMotLAmp: float;
/**
* Power board right motor current sensor
* Units: A
*/
pwrBrdMotRAmp: float;
/**
* Power board analog current sensor
* Units: A
*/
pwrBrdAnalogAmp: float;
/**
* Power board digital current sensor
* Units: A
*/
pwrBrdDigitalAmp: float;
/**
* Power board extension current sensor
* Units: A
*/
pwrBrdExtAmp: float;
/**
* Power board aux current sensor
* Units: A
*/
pwrBrdAuxAmp: float;
}
/**
* Status of GSM modem (connected to onboard computer)
*/
export declare class GsmLinkStatus extends MavLinkData {
static MSG_ID: number;
static MSG_NAME: string;
static PAYLOAD_LENGTH: number;
static MAGIC_NUMBER: number;
static FIELDS: MavLinkPacketField[];
constructor();
/**
* Timestamp (of OBC)
* Units: us
*/
timestamp: uint64_t;
/**
* GSM modem used
*/
gsmModemType: GsmModemType;
/**
* GSM link type
*/
gsmLinkType: GsmLinkType;
/**
* RSSI as reported by modem (unconverted)
*/
rssi: uint8_t;
/**
* RSRP (LTE) or RSCP (WCDMA) as reported by modem (unconverted)
*/
rsrpRscp: uint8_t;
/**
* SINR (LTE) or ECIO (WCDMA) as reported by modem (unconverted)
*/
sinrEcio: uint8_t;
/**
* RSRQ (LTE only) as reported by modem (unconverted)
*/
rsrq: uint8_t;
}
/**
* Status of the SatCom link
*/
export declare class SatcomLinkStatus extends MavLinkData {
static MSG_ID: number;
static MSG_NAME: string;
static PAYLOAD_LENGTH: number;
static MAGIC_NUMBER: number;
static FIELDS: MavLinkPacketField[];
constructor();
/**
* Timestamp
* Units: us
*/
timestamp: uint64_t;
/**
* Timestamp of the last successful sbd session
* Units: us
*/
lastHeartbeat: uint64_t;
/**
* Number of failed sessions
*/
failedSessions: uint16_t;
/**
* Number of successful sessions
*/
successfulSessions: uint16_t;
/**
* Signal quality
*/
signalQuality: uint8_t;
/**
* Ring call pending
*/
ringPending: uint8_t;
/**
* Transmission session pending
*/
txSessionPending: uint8_t;
/**
* Receiving session pending
*/
rxSessionPending: uint8_t;
}
/**
* Calibrated airflow angle measurements
*/
export declare class SensorAirflowAngles extends MavLinkData {
static MSG_ID: number;
static MSG_NAME: string;
static PAYLOAD_LENGTH: number;
static MAGIC_NUMBER: number;
static FIELDS: MavLinkPacketField[];
constructor();
/**
* Timestamp
* Units: us
*/
timestamp: uint64_t;
/**
* Angle of attack
* Units: deg
*/
angleofattack: float;
/**
* Angle of attack measurement valid
*/
angleofattackValid: uint8_t;
/**
* Sideslip angle
* Units: deg
*/
sideslip: float;
/**
* Sideslip angle measurement valid
*/
sideslipValid: uint8_t;
}
import { CommandLong } from './common';
/**
* Mission command to reset Maximum Power Point Tracker (MPPT)
*/
export declare class ResetMpptCommand extends CommandLong {
constructor(targetSystem?: number, targetComponent?: number);
}
/**
* Mission command to perform a power cycle on payload
*/
export declare class PayloadControlCommand extends CommandLong {
constructor(targetSystem?: number, targetComponent?: number);
}
export declare const REGISTRY: MavLinkPacketRegistry;
export declare const COMMANDS: MavLinkCommandRegistry;