Telemetry Messages

AUTOPILOT_VERSION (ID 1)

Field name	Type	Unit/Values	Description
version	uint32		version encoded as: MAJOR * 10000 + MINOR * 100 + PATCH
desc	char[]		version description as string from paparazzi_version

ALIVE (ID 2)

alive/heartbeat message containing the MD5sum of the aircraft configuration

Field name	Type	Unit/Values	Description
md5sum	uint8[]

PONG (ID 3)

Answer to PING datalink message, to measure latencies

message has no fields

TAKEOFF (ID 4)

Field name	Type	Unit/Values	Description
cpu_time	uint16	s

ARDRONE_NAVDATA (ID 5)

Field name	Type	Unit/Values	Description
taille	uint16
nu_trame	uint16
ax	uint16
ay	uint16
az	uint16
vx	int16
vy	int16
vz	int16
temperature_acc	uint16
temperature_gyro	uint16
ultrasound	uint16
us_debut_echo	uint16
us_fin_echo	uint16
us_association_echo	uint16
us_distance_echo	uint16
us_curve_time	uint16
us_curve_value	uint16
us_curve_ref	uint16
nb_echo	uint16
sum_echo	uint32
gradient	int16
flag_echo_ini	uint16
pressure	int32
temperature_pressure	uint16
mx	int16
my	int16
mz	int16
chksum	uint16
checksum_errors	uint32

ATTITUDE (ID 6)

Field name	Type	Unit/Values
phi	float	rad
psi	float	rad
theta	float	rad

GPS (ID 8)

Field name	Type	Unit/Values	Description
mode	uint8	byte_mask
utm_east	int32	cm
utm_north	int32	cm
course	int16	decideg
alt	int32	mm	Altitude above geoid (MSL)
speed	uint16	cm/s	norm of 2d ground speed in cm/s
climb	int16	cm/s
week	uint16	weeks
itow	uint32	ms
utm_zone	uint8
gps_nb_err	uint8

NAVIGATION_REF (ID 9)

Field name	Type	Unit/Values
utm_east	int32	m
utm_north	int32	m
utm_zone	uint8
ground_alt	float	m

NAVIGATION (ID 10)

Field name	Type	Unit/Values
cur_block	uint8
cur_stage	uint8
pos_x	float	m
pos_y	float	m
dist_wp	float	m
dist_home	float	m
flight_time	uint16	s
block_time	uint16	s
stage_time	uint16	s
kill_auto_throttle	uint8	bool
circle_count	uint8
oval_count	uint8

PPRZ_MODE (ID 11)

Field name	Type	Unit/Values
ap_mode	uint8	MANUAL, AUTO1, AUTO2, HOME, NOGPS, FAILSAFE
ap_gaz	uint8	MANUAL, AUTO_THROTTLE, AUTO_CLIMB, AUTO_ALT
ap_lateral	uint8	MANUAL, ROLL_RATE, ROLL, COURSE
ap_horizontal	uint8	WAYPOINT, ROUTE, CIRCLE
if_calib_mode	uint8	NONE, DOWN, UP
mcu1_status	uint8	LOST, OK, REALLY_LOST

ENERGY (ID 12)

Field name	Type	Unit/Values	Description
throttle	uint8	%	Throttle setting
voltage	float	V	Input battery voltage
current	float	A	Current consumption
power	float	W	Electrical power
avg_power	float	W	Average electrical power
charge	float	Ah	Accumulated consumed charge
energy	float	Wh	Accumulated consumed energy

CALIBRATION (ID 14)

Field name	Type	Unit/Values	Description
climb_sum_err	float
climb_gaz_submode	uint8

SETTINGS (ID 15)

Field name	Type	Unit/Values	Description
slider_1_val	float
slider_2_val	float

DESIRED (ID 16)

Field name	Type	Unit/Values
roll	float	rad
pitch	float	rad
course	float	rad
x	float	m
y	float	m
altitude	float	m
climb	float	m/s
airspeed	float	m/s

GPS_SOL (ID 17)

Field name	Type	Unit/Values
Pacc	uint32	cm
Sacc	uint32	cm/s
PDOP	uint16
numSV	uint8

ADC_GENERIC (ID 18)

Field name	Type	Unit/Values	Description
val1	uint16
val2	uint16

POWER_DEVICE (ID 19)

Field name	Type	Unit/Values	Description
node_id	uint8
circuit	uint8
current	float
voltage	float

CAM (ID 20)

Field name	Type	Unit/Values
pan	int16	deg
tilt	int16	deg
target_x	int16	m
target_y	int16	m

CIRCLE (ID 21)

Field name	Type	Unit/Values
center_east	float	m
center_north	float	m
radius	float	m

SEGMENT (ID 22)

Field name	Type	Unit/Values
segment_east_1	float	m
segment_north_1	float	m
segment_east_2	float	m
segment_north_2	float	m

VECTORNAV_INFO (ID 23)

Field name	Type	Unit/Values
timestamp	float	s
chksm_error	uint32
hdr_error	uint32
rate	uint16	packets/s
ins_status	uint8	NoTracking, OutOfSpecs, OK
ins_err	uint8
YprU1	float	deg
YprU2	float	deg
YprU3	float	deg

HYBRID_GUIDANCE (ID 24)

Field name	Type	Unit/Values	Description
pos_x	int32
pos_y	int32
speed_x	int32
speed_y	int32
wind_x	int32
wind_y	int32
pos_err_x	int32
pos_err_y	int32
speed_sp_x	int32
speed_sp_y	int32
norm_ref_speed	int32
heading_diff	int32
phi	int32
theta	int32
psi	int32

SVINFO (ID 25)

Field name	Type	Unit/Values
chn	uint8
SVID	uint8
Flags	uint8
QI	uint8
CNO	uint8	dbHz
Elev	int8	deg
Azim	int16	deg

DEBUG (ID 26)

Field name	Type	Unit/Values	Description
msg	uint8[]

SURVEY (ID 27)

Field name	Type	Unit/Values
east	float	m
north	float	m
west	float	m
south	float	m

RSSI (ID 28)

Field name	Type	Unit/Values	Description
rssi	uint8	dB
tx_power	uint8	dB

RANGEFINDER (ID 29)

Field name	Type	Unit/Values
range	uint16	cm
z_dot	float	m/s
z_dot_sum_err	float	m/s
z_dot_setpoint	float	m/s
z_sum_err	float	m/s
z_setpoint	float	m
flying	uint8	bool

DATALINK_REPORT (ID 30)

Datalink status reported by an aircraft for the ground

Field name	Type	Unit/Values
uplink_lost_time	uint16	s
uplink_nb_msgs	uint16
downlink_nb_msgs	uint16
downlink_rate	uint16	bytes/s
uplink_rate	uint16	msgs/s
downlink_ovrn	uint8

DL_VALUE (ID 31)

Field name	Type	Unit/Values	Description
index	uint8
value	float

MARK (ID 32)

Field name	Type	Unit/Values
ac_id	uint8
lat	float	deg
long	float	deg

SYS_MON (ID 33)

Field name	Type	Unit/Values
periodic_time	uint16	usec
periodic_time_min	uint16	usec
periodic_time_max	uint16	usec
periodic_cycle	uint16	usec
periodic_cycle_min	uint16	usec
periodic_cycle_max	uint16	usec
event_number	uint16
cpu_load	uint8	%
cpu_time	float	s

MOTOR (ID 34)

Field name	Type	Unit/Values	Description
rpm	uint16	Hz
current	float	A

WP_MOVED (ID 35)

Waypoint with id wp_id has been updated/moved to the specified UTM coordinates.

Field name	Type	Unit/Values	Description
wp_id	uint8
utm_east	float	m
utm_north	float	m
alt	float	m	Height above Mean Sea Level (geoid)
utm_zone	uint8

MKK (ID 36)

Field name	Type	Unit/Values
nr	uint8
rpm	uint8	Poles/s
current	uint8	mA
temp	int8	deg

GUIDANCE_INDI_HYBRID (ID 37)

Field name	Type	Unit/Values	Description
sp_accel_x	float
sp_accel_y	float
sp_accel_z	float
euler_cmd_x	float
euler_cmd_y	float
euler_cmd_z	float
accelned_filt_x	float
accelned_filt_y	float
accelned_filt_z	float
speed_sp_x	float
speed_sp_y	float
speed_sp_z	float

DRAGSPEED (ID 38)

Velocities in body axes (assuming small pitch/roll angles) as measured by the dragspeed module and by the INS.

Field name	Type	Unit/Values	Description
u_est	float	m/s	Estimated velocity along body +x axis
v_est	float	m/s	Estimated velocity along body +y axis
u_ins	float	m/s	INS velocity along body +x axis
v_ins	float	m/s	INS velocity along body +y axis

RSSI_COMBINED (ID 39)

Field name	Type	Unit/Values	Description
remote_rssi	uint8
tx_power	uint8
local_rssi	uint8
local_noise	uint8
remote_noise	uint8

DCF (ID 40)

Telemetry message for monitoring the status of the Distributed Circular Formation.

Field name	Type	Unit/Values	Description
table	int16[]		The size of the array is 4 x (maximum number of possible neighbors). The elements per each neighbor are: 1. ID of the neighbor, 2. Theta of the neighbor (degrees x 100), 3. Desired inter-vehicle angle (degrees x 100), 4. Last time in ms we received a msg from the neighbor
errors	int16[]		The size of the array is the maximum number of possible neighbors. Errors w.r.t. desired inter-vehicle angles (degrees x 100)

ALT_KALMAN (ID 41)

Field name	Type	Unit/Values	Description
p00	float
p01	float
p10	float
p11	float

ESTIMATOR (ID 42)

Field name	Type	Unit/Values	Description
z	float	m
z_dot	float	m/s

TUNE_ROLL (ID 43)

Field name	Type	Unit/Values	Description
p	float
phi	float
phi_sp	float

BARO_MS5534A (ID 44)

Field name	Type	Unit/Values
pressure	uint32	P
temp	uint16	dC
alt	float	m

CHIRP (ID 45)

Field name	Type	Unit/Values	Description
active	uint8		Chirp is active
percentage_done	float		Percentage done
current_frequency	float		Current frequency
axis	uint8		Current chirp axis
amplitude	int16		Amplitude
fstart	float		Start frequency
fstop	float		Stop frequency
noise_onaxis_ratio	float		Noise ratio onaxis
noise_offaxis	float		Noise offaxis
current_value	int16		Current chirp value
fade_in	uint8	bool	Fade in feature active
exponential	uint8	bool	Exponential chirp active

EXTERNAL_POSE_DOWN (ID 46)

Position, speed and orientation in local frame from a remote vision system

Field name	Type	Unit/Values	Description
timestamp	float	mus	Timestamp from the measurement
ned_x	float	m	NED x position in vision frame
ned_y	float	m	NED y position in vision frame
ned_z	float	m	NED z position in vision frame
ned_xd	float	m/s	NED x speed in vision frame
ned_yd	float	m/s	NED y speed in vision frame
ned_zd	float	m/s	NED z speed in vision frame
body_qi	float		Body quaternion i in NED to body
body_qx	float		Body quaternion x in NED to body
body_qy	float		Body quaternion y in NED to body
body_qz	float		Body quaternion z in NED to body

WP_MOVED_LLA (ID 47)

Field name	Type	Unit/Values	Description
wp_id	uint8
lat	int32	1e7deg
lon	int32	1e7deg
alt	int32	mm	Height above Mean Sea Level (geoid)

RLFILTER (ID 48)

Relative localization data for other tracked MAVs in terms of x y and z in the body axis

Field name	Type	Unit/Values
trackedID	int32
rangearray	float	dB
x_tracked	float	m/s
y_tracked	float	m/s
vx_own	float	m/s
vy_own	float	m/s
vx_tracked	float	m/s
vy_tracked	float	m/s
z_pos	float	m

WP_MOVED_ENU (ID 49)

Field name	Type	Unit/Values
wp_id	uint8
east	int32	2^8m
north	int32	2^8m
up	int32	2^8m

WINDTURBINE_STATUS_ (ID 50)

Field name	Type	Unit/Values
ac_id	uint8
tb_id	uint8
sync_itow	uint32	ms
cycle_time	uint32	ms

MPPT (ID 52)

Field name	Type	Unit/Values	Description
values	int16[]

DEBUG_VECT (ID 53)

Field name	Type	Unit/Values	Description
name	char[]
vector	float[]

AIRSPEED (ID 54)

Field name	Type	Unit/Values	Description
airspeed	float	m/s	Fused airspeed from all sources
airspeed_sp	float	m/s	Airspeed setpoint
airspeed_cnt	float	m/s
groundspeed_sp	float	m/s

METEO_STICK (ID 55)

Data from the MeteoSitck sensor board

Field name	Type	Unit/Values	Description
lat	int32	1e7deg
lon	int32	1e7deg
hmsl	int32	mm	Height above Mean Sea Level (geoid)
itow	uint32	ms	GPS time of week
pressure	float	Pa	absolute static pressure
temperature	float	deg C	temperature
humidity	float	%	relative humidity
airspeed	float	m/s	calibrated airspeed

BARO_ETS (ID 56)

Field name	Type	Unit/Values	Description
adc	uint16
offset	uint16
scaled	float

VISION_OUTBACK (ID 58)

Field name	Type	Unit/Values	Description
status	uint8
het_moment	uint8
timeoutcount	uint8
vision_timeout	uint8
height	float
out_of_range	float
marker_enu_x	float
marker_enu_y	float
flow_x	float
flow_y	float

GPS_LLA (ID 59)

Field name	Type	Unit/Values	Description
lat	int32	1e7deg
lon	int32	1e7deg
alt	int32	mm	altitude above WGS84 reference ellipsoid
hmsl	int32	mm	Height above Mean Sea Level (geoid)
course	int16	decideg
speed	uint16	cm/s
climb	int16	cm/s
week	uint16	weeks
itow	uint32	ms
mode	uint8	byte_mask
gps_nb_err	uint8

H_CTL_A (ID 60)

Field name	Type	Unit/Values
roll_sum_err	float
roll_sp	float	rad
roll_ref	float	rad
phi	float	rad
aileron_sp	int16	pprz
pitch_sum_err	float
pitch_sp	float	rad
pitch_ref	float	rad
theta	float	rad
elevator_sp	int16	pprz

CLOUD_SENSOR (ID 61)

Geolocalized and timestamped data from the meteo cloud sensor module

Field name	Type	Unit/Values	Description
lat	int32	1e7deg
lon	int32	1e7deg
hmsl	int32	mm	Height above Mean Sea Level (geoid)
itow	uint32	ms	GPS time of week
coef	float		Angstrom coefficient computed on board
raw	float[]		Raw values and extra measurements data

TURB_PRESSURE_VOLTAGE (ID 62)

Field name	Type	Unit/Values	Description
ch_1_p	float
ch_1_t	float
ch_2_p	float
ch_2_t	float
ch_3_p	float
ch_3_t	float
ch_4_p	float
ch_4_t	float
ch_5_p	float
ch_5_t	float
ch_6_p	float
ch_6_t	float
ch_7_p	float
ch_7_t	float
gnd1	float
gnd2	float

CAM_POINT (ID 63)

Field name	Type	Unit/Values
cam_point_distance_from_home	uint16	m
cam_point_lat	float	deg
cam_point_lon	float	deg

DC_INFO (ID 64)

Field name	Type	Unit/Values	Description
mode	int16
lat	int32	1e7deg
lon	int32	1e7deg
alt	int32	mm	altitude above WGS84 reference ellipsoid
course	float	deg
photo_nr	uint16
dist	float	m
next_dist	float	m
start_x	float	m
start_y	float	m
start_angle	float	deg
angle	float	deg
last_block	float
count	uint16
shutter	uint8	decisec

AMSYS_BARO (ID 65)

Field name	Type	Unit/Values
pBaroRaw	uint16
pBaro	float	Pa
pHomePressure	float	Pa
AltOffset	float	m
aktuell	float	m
Over_Ground	float	m
tempBaro	float	°C

AMSYS_AIRSPEED (ID 66)

Field name	Type	Unit/Values
asRaw	uint16
asPresure	float	Pa
asAirspeed	float	m/s
asAirsFilt	float	m/s
asTemp	float	°C

FLIGHT_BENCHMARK (ID 67)

Field name	Type	Unit/Values	Description
SE_As	float
SE_Alt	float
SE_Pos	float
Err_As	float
Err_Alt	float
Err_Pos	float

MPL3115_BARO (ID 68)

Field name	Type	Unit/Values
pressure	uint32
temp	int16
alt	float	m

AOA (ID 69)

Field name	Type	Unit/Values	Description
raw	uint32
angle	float	rad

XTEND_RSSI (ID 70)

Field name	Type	Unit/Values
datalink_time	uint16	s
rssi_fade_margin	uint8	dB
duty	uint8	%

GVF (ID 71)

Information about the trajectory followed by the Guidance Vector Field algorithm.

Field name	Type	Unit/Values	Description
error	float		Error index e, i.e. 'distance' to the trajectory
traj	uint8		Kind of trajectory
s	int8	1, -1	Direction to be followed
ke	float		Gain for the vector field convergence
p	float[]		Parameters describing the trajectory

SUPERBITRF (ID 72)

Field name	Type	Unit/Values
status	uint8	UNINIT, INIT_BINDING, INIT_TRANSFER, BINDING, SYNCING_A, SYNCING_B, TRANSFER
cyrf_status	uint8	UNINIT, IDLE, GET_MFG_ID, MULTIWRITE, DATA_CODE, CHAN_SOP_DATA_CRC, RX_IRQ_STATUS_PACKET, SEND
irq_count	uint32
rx_packet_count	uint32
tx_packet_count	uint32
transfer_timeouts	uint32
resync_count	uint32
uplink_count	uint32
rc_count	uint32
timing1	uint32
timing2	uint32
bind_mfg_id	uint32
mfg_id	uint8[]

GX3_INFO (ID 73)

Field name	Type	Unit/Values
GX3_freq	float	hz
chksm_error	uint32
hdr_error	uint32
GX3_chksm	uint16

UBLOX_INFO (ID 74)

Field name	Type	Unit/Values
baud	uint32
ver_sw_h	uint8
ver_sw_l	uint8
ver_hw_h	uint16
ver_hw_l	uint16
sbas	uint8
gnss	uint8	NONE, GPS, GLONAS, GPS+GLONAS, BEIDOU, GPS+BEIDOU, GLONAS+BEIDOU, GPS+GLONAS+BEIDOU, GALILEO

GVF_PARAMETRIC (ID 75)

Information about the parametric trajectory followed by the Guidance Vector Field algorithm.

Field name	Type	Unit/Values	Description
traj	uint8		Kind of trajectory
s	int8	1, -1	Direction to be followed
w	float		Virtual coordinate of the algorithm
p	float[]		Parameters describing the trajectory
phi	float[]	m	Error signals

BODY_RATES_ACCEL (ID 76)

Rates and Acceleration in the body frame

Field name	Type	Unit/Values
p	float	rad/s
q	float	rad/s
r	float	rad/s
ax	int32
ay	int32
az	int32

SWARM_FISH (ID 77)

State of the swarm fish navigation

Field name	Type	Unit/Values	Description
heading	float	rad	Current Heading
step_size	float	m	Current step size
rw	float	m	Distance to wall
fw	float		Wall interaction coef
theta_w	float	rad	Angle to wall
f_fluct	float		Fluctation effect
f_wall	float		Wall effect
f_ali	float		Alignement effect
f_att	float		Attraction effect

INV_FILTER (ID 78)

Field name	Type	Unit/Values
quat	float
phi_inv	float	rad
theta_inv	float	rad
psi_inv	float	rad
Vx_inv	float	m/s
Vy_inv	float	m/s
Vz_inv	float	m/s
Px_inv	float	m
Py_inv	float	m
Pz_inv	float	m
bias_phi	float	rad/s
bias_theta	float	rad/s
bias_psi	float	rad/s
bias_as	float
bias_hb	float
meas_baro	float	m
meas_gps	float	m

MISSION_STATUS (ID 79)

Field name	Type	Unit/Values	Description
remaining_time	float
index_list	uint8[]

JEVOIS (ID 80)

Debug message for the JeVois smart camera corresponding to the standardized messages

Field name | Type | Unit/Values | Description | --------—|---—|----------—|----------—| type | uint8 | | Standardized message type JEVOIS_MSG_[T1|N1|D1|T2|N2|D2|F2|T3|N3|D3|F3] | id | char[] | | Text string describing the reported object | nb | uint8 | | Number of elements in the coordinates array | coord | int16[] | | List of coordinates corresponding to 1D, 2D or 3D messages | dim | uint16[3] | | 1, 2 or 3D dimension | quat | float[4] | | Quaternion that relates the object's frame to the camera's frame, if appropriate |

GENERIC_COM (ID 81)

Field name	Type	Unit/Values
lat	int32	1e7deg
lon	int32	1e7deg
alt	int16	m
gspeed	uint16	cm/s
course	int16	decideg
airspeed	uint16	cm/s
vsupply	uint8	deciV
charge	uint8	deciAh
throttle	uint8	%
ap_mode	uint8
nav_block	uint8
flight_time	uint16	s

FORMATION_SLOT_TM (ID 82)

Field name	Type	Unit/Values
ac_id	uint8
mode	uint8
slot_east	float	m
slot_north	float	m
slot_alt	float	m

FORMATION_STATUS_TM (ID 83)

Field name	Type	Unit/Values	Description
ac_id	uint8
leader_id	uint8
status	uint8

BMP_STATUS (ID 84)

Field name	Type	Unit/Values
UP	int32
UT	int32
press	int32	Pa
temp	int32	10x_deg_celsius

MLX_STATUS (ID 85)

Field name	Type	Unit/Values
itemp_case	uint16
temp_case	float	deg_celsius
itemp_obj	uint16
temp_obj	float	deg_celsius

TMP_STATUS (ID 86)

Field name	Type	Unit/Values	Description
itemp	uint16
temp	float	deg_celsius

WIND_INFO_RET (ID 87)

Wind information returned to the ground station. The wind is reported as a vector, it gives the direction the wind is blowing to. This can be used to acknowledge data comming from the ground wind estimator or from an embedded algorithm. Flags field definition:

bit 0: horizontal wind is valid (east and north fields)
bit 1: vertical wind is valid (up field)
bit 2: airspeed is valid

Field name	Type	Unit/Values	Description
flags	uint8		bit 0: horizontal wind, bit 1: vertical wind: bit 2: airspeed
east	float	m/s	east component of the wind
north	float	m/s	north component of the wind
up	float	m/s	vertical component of the wind
airspeed	float	m/s	local airspeed norm

SCP_STATUS (ID 88)

Field name	Type	Unit/Values	Description
press	uint32	Pa
temp	int16	100x_deg_celsius

SHT_STATUS (ID 89)

Field name	Type	Unit/Values
ihumid	uint16
itemp	uint16
humid	float	rel_hum
temp	float	deg_celsius

VISION_POSITION_ESTIMATE (ID 90)

Generic message to send position measurement from computer vision

Field name	Type	Description
cnt	uint16	Counter
x	float	X
y	float	Y
z	float	Z
quality	float	Detection Quality or Uncertainty
extra	float	In case the default message does not suit you

DPICCO_STATUS (ID 91)

Field name	Type	Unit/Values
humid	uint16
temp	uint16
fhumid	float	rel_hum
ftemp	float	deg_celsius

LOGGER_STATUS (ID 92)

Logger status and error id (dependent of the logging system)

Field name	Type	Unit/Values	Description
status	uint8	STOPPED, RUNNING, ERROR	General status of the logger
errno	uint8		Error number, depend of the logging system, provides detailed information
used	uint32	bytes	Accumulated number of bytes written by the logger
filenames	char[]		The filenames currently in use by the logger (First sdlog, second Flight recorder for chibios)

MINIMAL_COM (ID 93)

Minimal information for correct display in the GCS, in particular the Strip

Field name	Type	Unit/Values	Description
lat	float	deg	Lattitude
lon	float	deg	Longitude
hmsl	float	m	Altitude above mean sea level
gspeed	float	m/s	Ground speed norm
course	float	rad	Ground speed direction
climb	float	m/s	Vertical speed
vsupply	float	V	Battery voltage
throttle	uint8	%	Throttle level
ap_mode	uint8		Current autopilot mode
nav_block	uint8		Current navigation block
gps_mode	uint8		GPS fix flag
flight_time	uint16		Flight time

MOTOR_BENCH_STATUS (ID 94)

Field name	Type	Unit/Values	Description
time_ticks	uint32
throttle	float
rpm	float
current	float
thrust	float
torque	float
time_s	uint16
mode	uint8

TARGET_POS_INFO (ID 95)

Global position, speed and ID of a target for functions like 'Follow Me'

Field name	Type	Unit/Values	Description
lat	int32	1e7deg
lon	int32	1e7deg
alt	int32	mm	Height above Mean Sea Level (geoid)
speed	float	m/s	Ground speed
climb	float	m/s	Climb speed
course	float	deg
heading	float	deg
off_heading	float	deg	Offset heading
off_distance	float	m	Offset distance
off_height	float	m	Offset height

HIH_STATUS (ID 96)

Field name	Type	Unit/Values
humid	uint16
fhumid	float	rel_hum
ftemp	float	deg_celsius

TEMT_STATUS (ID 97)

Field name	Type	Unit/Values	Description
light	uint16
f_light	float	percent

GP2Y_STATUS (ID 98)

Field name	Type	Unit/Values	Description
idensity	uint16
density	float	mg/m3

SHT_I2C_SERIAL (ID 99)

Field name	Type	Unit/Values	Description
serial0	uint32
serial1	uint32

PPM (ID 100)

Field name	Type	Unit/Values	Description
ppm_rate	uint8
values	uint16[]	usec

RC (ID 101)

Field name	Type	Unit/Values	Description
values	int16[]	pprz

COMMANDS (ID 102)

Field name	Type	Unit/Values	Description
values	int16[]	ticks

FBW_STATUS (ID 103)

Field name	Type	Unit/Values
rc_status	uint8	OK, LOST, REALLY_LOST
frame_rate	uint8	Hz
mode	uint8	MANUAL, AUTO, FAILSAFE
vsupply	float	V
current	float	A

ADC (ID 104)

Field name	Type	Unit/Values	Description
mcu	uint8	FBW, AP
values	uint16[]	none

ACTUATORS_RAW (ID 105)

Field name	Type	Unit/Values	Description
values	int16[]	none

BLUEGIGA (ID 106)

Field name	Type	Unit/Values	Description
data_rate	uint32	bytes/s
A2A_msg_rate	uint32

THROTTLE_CURVE (ID 107)

Field name	Type	Unit/Values	Description
curve	uint8
throttle	uint16
collective	int16
rpm_sp	uint16
rpm_meas	uint16
rpm_err_sum	float

PIKSI_HEARTBEAT (ID 108)

Field name	Type	Unit/Values	Description
heartbeat	uint32

MULTIGAZE_METERS (ID 109)

Field name	Type	Unit/Values	Description
multigaze_meters	float[]

DC_SHOT (ID 110)

Field name	Type	Unit/Values	Description
photo_nr	int16
lat	int32	1e7deg	Gedetic latitude
lon	int32	1e7deg	Longitude
alt	int32	mm	altitude above WGS84 reference ellipsoid
hmsl	int32	mm	Height above Mean Sea Level (geoid)
phi	int16	decideg	Euler angle around x-axis (roll)
theta	int16	decideg	Euler angle around y-axis (pitch)
psi	int16	decideg	Euler angle around z-axis (yaw)
course	int16	decideg	Course over ground (CW/north)
speed	uint16	cm/s	horizontal ground speed
itow	uint32	ms	GPS time of week

CAMERA_PAYLOAD (ID 111)

Field name	Type	Unit/Values	Description
timestamp	float	s	Payload computer seconds since startup
used_memory	uint8	%	Percentage of used memory (RAM) of the payload computer rounded up to whole percent
used_disk	uint8	%	Percentage of used disk of the payload computer rounded up to whole percent
door_status	uint8	UNKNOWN, CLOSE, OPEN	Payload door open/close
error_code	uint8	NONE, CAMERA_ERR, DOOR_ERR	Error codes of the payload

MOTOR_MIXING (ID 112)

Field name	Type	Unit/Values	Description
values	int16[]	none

MLX_SERIAL (ID 113)

Field name	Type	Unit/Values	Description
serial0	uint32
serial1	uint32

PAYLOAD (ID 114)

Field name	Type	Unit/Values	Description
values	uint8[]	none

HTM_STATUS (ID 115)

Field name	Type	Unit/Values
ihumid	uint16
itemp	uint16
humid	float	rel_hum
temp	float	deg_celsius

BARO_MS5611 (ID 116)

Field name	Type	Unit/Values
d1	uint32
d2	uint32
pressure	float	hPa
temp	float	deg_celsius

MS5611_COEFF (ID 117)

Field name	Type	Unit/Values	Description
c0	uint16
c1	uint16
c2	uint16
c3	uint16
c4	uint16
c5	uint16
c6	uint16
c7	uint16

ATMOSPHERE_CHARGE (ID 118)

Field name	Type	Unit/Values	Description
t0	uint16
t1	uint16
t2	uint16
t3	uint16
t4	uint16
t5	uint16
t6	uint16
t7	uint16
t8	uint16
t9	uint16

SOLAR_RADIATION (ID 119)

Field name	Type	Unit/Values	Description
up_t0	uint16
dn_t0	uint16
up_t1	uint16
dn_t1	uint16
up_t2	uint16
dn_t2	uint16
up_t3	uint16
dn_t3	uint16
up_t4	uint16
dn_t4	uint16
up_t5	uint16
dn_t5	uint16
up_t6	uint16
dn_t6	uint16
up_t7	uint16
dn_t7	uint16
up_t8	uint16
dn_t8	uint16
up_t9	uint16
dn_t9	uint16

TCAS_TA (ID 120)

Field name	Type	Unit/Values	Description
ac_id	uint8

TCAS_RA (ID 121)

Field name	Type	Unit/Values	Description
ac_id	uint8
resolve	uint8	NONE, LEVEL, CLIMB, DESCEND

TCAS_RESOLVED (ID 122)

Field name	Type	Unit/Values	Description
ac_id	uint8

TCAS_DEBUG (ID 123)

Field name	Type	Unit/Values	Description
ac_id	uint8
tau	float

POTENTIAL (ID 124)

Field name	Type	Unit/Values	Description
east	float
north	float
alt	float
speed	float
climb	float

COPILOT_STATUS (ID 125)

Field name	Type	Unit/Values	Description
timestamp	float	s	Mission computer seconds since startup
used_memory	uint8	%	Percentage of used memory (RAM) of the mission computer rounded up to whole percent
used_disk	uint8	%	Percentage of used disk of the mission computer rounded up to whole percent
status	uint8	UNKNOWN, INIT, LOGGING, FAULT	Mission computer status
error_code	uint8	NONE, IO_ERROR	Error codes of the mission computer

TEMP_TCOUPLE (ID 126)

Field name	Type	Unit/Values	Description
fval0	float
fval1	float
fval2	float
fval3	float
fref0	float
fref1	float
fref2	float
fref3	float
val0	uint16
val1	uint16
val2	uint16
val3	uint16
ref0	uint16
ref1	uint16
ref2	uint16
ref3	uint16

SHT_I2C_STATUS (ID 127)

Field name	Type	Unit/Values
ihumid	uint16
itemp	uint16
humid	float	rel_hum
temp	float	deg_celsius

CAMERA_SNAPSHOT (ID 128)

Field name	Type	Unit/Values	Description
camera_id	uint16		Unique camera ID - consists of make,model and camera index
camera_state	uint8	UNKNOWN, OK, ERROR	State of the given camera
snapshot_image_number	uint16		Snapshot number in sequence
snapshot_valid	uint8	bool	Flag checking whether the last snapshot was valid
lens_temp	float	deg_celsius	Lens temperature, NaN if not measured
array_temp	float	deg_celsius	Imager sensor temperature, NaN if not measured

TIMESTAMP (ID 129)

Field name	Type	Unit/Values	Description
timestamp	uint32

STAB_ATTITUDE_FLOAT (ID 130)

Field name	Type	Unit/Values	Description
est_p	float
est_q	float
est_r	float
est_phi	float
est_theta	float
est_psi	float
ref_phi	float
ref_theta	float
ref_psi	float
sum_err_phi	float
sum_err_theta	float
sum_err_psi	float
delta_a_fb	float
delta_e_fb	float
delta_r_fb	float
delta_a_ff	float
delta_e_ff	float
delta_r_ff	float
delta_a	int32
delta_e	int32
delta_r	int32
est_p_d	float
est_q_d	float
est_r_d	float

IMU_GYRO_SCALED (ID 131)

Field name	Type	Unit/Values	Description
id	uint8
gp	int32
gq	int32
gr	int32

IMU_ACCEL_SCALED (ID 132)

Field name	Type	Unit/Values	Description
id	uint8
ax	int32
ay	int32
az	int32

IMU_MAG_SCALED (ID 133)

Field name	Type	Unit/Values	Description
id	uint8
mx	int32
my	int32
mz	int32

FILTER (ID 134)

Field name	Type	Unit/Values
phi	int32
theta	int32
psi	int32
measure_phi	int32
measure_theta	int32
measure_psi	int32
corrected_phi	int32
corrected_theta	int32
corrected_psi	int32
correction_phi	int32
correction_theta	int32
correction_psi	int32
bp	int32
bq	int32
br	int32
comp_id	uint8	NONE, GENERIC, IR, ICQ, ICE, FC, DCM, FINV, MLKF, GX3, CHIMU, VN

IMU_HEATER (ID 135)

Field name	Type	Unit/Values
meas_temp	float	Celcius
target_temp	float	Celcius
heat_cmd	uint8	%

RATE_LOOP (ID 136)

Rotorcraft rate control loop.

Field name	Type	Unit/Values	Description
sp_p	float	rad/s	rate setpoint
sp_q	float	rad/s	rate setpoint
sp_r	float	rad/s	rate setpoint
sumerr_p	float		integrated quaternion error
sumerr_q	float		integrated quaternion error
sumerr_r	float		integrated quaternion error
fb_p	float		feedback command on pitch (pprz scale)
fb_q	float		feedback command on roll (pprz scale)
fb_r	float		feedback command on yaw (pprz scale)
delta_t	int32		thrust command

FILTER_ALIGNER (ID 137)

Field name	Type	Unit/Values
lp_gp	int32
lp_gq	int32
lp_gr	int32
gp	int32
gq	int32
gr	int32
noise	int32
cnt	int32
status	uint8	UNINIT, RUNNING, LOCKED

AIRSPEED_RAW (ID 138)

Field name	Type	Unit/Values
sensor_id	uint8
raw	uint16
offset	float	Pa
diffPress	float	Pa
temperature	float	deg_celcius
airspeed	float	m/s

APPROACH_MOVING_TARGET (ID 139)

Field name	Type	Unit/Values
ref_pos_x	float	m
ref_pos_y	float	m
ref_pos_z	float	m
ref_vel_x	float	m/s
ref_vel_y	float	m/s
ref_vel_z	float	m/s
distance	float	m

STAB_ATTITUDE_INT (ID 140)

Field name	Type	Unit/Values	Description
est_p	int32
est_q	int32
est_r	int32
est_phi	int32
est_theta	int32
est_psi	int32
sp_phi	int32
sp_theta	int32
sp_psi	int32
sum_err_phi	int32
sum_err_theta	int32
sum_err_psi	int32
delta_a_fb	int32
delta_e_fb	int32
delta_r_fb	int32
delta_a_ff	int32
delta_e_ff	int32
delta_r_ff	int32
delta_a	int32
delta_e	int32
delta_r	int32

STAB_ATTITUDE_REF_INT (ID 141)

Field name	Type	Unit/Values	Description
sp_phi	int32
sp_theta	int32
sp_psi	int32
ref_phi	int32
ref_theta	int32
ref_psi	int32
ref_p	int32
ref_q	int32
ref_r	int32
ref_pd	int32
ref_qd	int32
ref_rd	int32

STAB_ATTITUDE_REF_FLOAT (ID 142)

Field name	Type	Unit/Values	Description
sp_phi	float
sp_theta	float
sp_psi	float
ref_phi	float
ref_theta	float
ref_psi	float
ref_p	float
ref_q	float
ref_r	float
ref_pd	float
ref_qd	float
ref_rd	float

ROTORCRAFT_CMD (ID 143)

Field name	Type	Unit/Values	Description
cmd_roll	int32
cmd_pitch	int32
cmd_yaw	int32
cmd_thrust	int32

GUIDANCE_H_INT (ID 144)

Field name	Type	Unit/Values	Description
sp_x	int32
sp_y	int32
ref_x	int32
ref_y	int32
est_x	int32
est_y	int32

VERT_LOOP (ID 145)

Field name	Type	Unit/Values	Description
z_sp	int32
zd_sp	int32
est_z	int32
est_zd	int32
est_zdd	int32
ref_z	int32
ref_zd	int32
ref_zdd	int32
adp_inv_m	int32
adp_cov	int32
adp_meas	int32
sum_err	int32
ff_cmd	int32
fb_cmd	int32
delta_t	int32

HOVER_LOOP (ID 146)

Field name	Type	Unit/Values
sp_x	int32
sp_y	int32
est_x	int32
est_y	int32
est_xd	int32
est_yd	int32
est_xdd	int32
est_ydd	int32
err_x	int32
err_y	int32
err_xd	int32
err_yd	int32
err_sum_x	int32
err_sum_y	int32
cmd_x	int32
cmd_y	int32
cmd_heading	float	rad

ROTORCRAFT_FP (ID 147)

Field name	Type	Unit/Values
east	int32
north	int32
up	int32
veast	int32
vnorth	int32
vup	int32
phi	int32
theta	int32
psi	int32
carrot_east	int32
carrot_north	int32
carrot_up	int32
carrot_psi	int32
thrust	int32
flight_time	uint16	s

TEMP_ADC (ID 148)

Field name	Type	Unit/Values
temp1	float	deg_celsius
temp2	float	deg_celsius
temp3	float	deg_celsius

GUIDANCE_H_REF_INT (ID 149)

Field name	Type	Unit/Values	Description
sp_x	int32
ref_x	int32
sp_xd	int32
ref_xd	int32
ref_xdd	int32
sp_y	int32
ref_y	int32
sp_yd	int32
ref_yd	int32
ref_ydd	int32

ROTORCRAFT_TUNE_HOVER (ID 150)

Field name	Type	Unit/Values	Description
rc_roll	int16
rc_pitch	int16
rc_yaw	int16
cmd_roll	int32
cmd_pitch	int32
cmd_yaw	int32
cmd_thrust	int32
body_phi	int32
body_theta	int32
body_psi	int32

INS_Z (ID 151)

Field name	Type	Unit/Values
baro_z	float	m
ins_z	int32
ins_zd	int32
ins_zdd	int32

PCAP01_STATUS (ID 152)

Field name	Type	Unit/Values
ihumid	uint32
itemp	uint32
humid	float	rel_hum
temp	float	deg_celsius

GEIGER_COUNTER (ID 153)

Field name	Type	Unit/Values
tube1	uint32	events
tube2	uint32	events
vsupply	uint16	volts

INS_REF (ID 154)

Field name	Type	Unit/Values
ecef_x0	int32
ecef_y0	int32
ecef_z0	int32
lat0	int32	1e7deg
lon0	int32	1e7deg
alt0	int32
hmsl0	int32
baro_qfe	float	pascal

GPS_INT (ID 155)

Field name	Type	Unit/Values	Description
ecef_x	int32	cm
ecef_y	int32	cm
ecef_z	int32	cm
lat	int32	1e7deg
lon	int32	1e7deg
alt	int32	mm	altitude above WGS84 reference ellipsoid
hmsl	int32	mm	height above mean sea level (geoid)
ecef_xd	int32	cm/s
ecef_yd	int32	cm/s
ecef_zd	int32	cm/s
pacc	uint32	cm
sacc	uint32	cm/s
tow	uint32
pdop	uint16
numsv	uint8
fix	uint8	NONE, NA, 2D, 3D, DGPS, RTK
comp_id	uint8	NONE, UBX, NMEA, SIRF, SKYTRAQ, MTK, PIKSI, XSENS, DATALINK, UDP, ARDRONE2, SIM, MULTI, VECTORNAV, IMCU

AHRS_EULER_INT (ID 156)

Field name	Type	Unit/Values
imu_phi	int32
imu_theta	int32
imu_psi	int32
body_phi	int32
body_theta	int32
body_psi	int32
comp_id	uint8	NONE, GENERIC, IR, ICQ, ICE, FC, DCM, FINV, MLKF, GX3, CHIMU, VN

AHRS_QUAT_INT (ID 157)

Field name	Type	Unit/Values
weight	float
imu_qi	int32
imu_qx	int32
imu_qy	int32
imu_qz	int32
body_qi	int32
body_qx	int32
body_qy	int32
body_qz	int32
comp_id	uint8	NONE, GENERIC, IR, ICQ, ICE, FC, DCM, FINV, MLKF, GX3, CHIMU, VN

INS_FLOW_INFO (ID 158)

Field name	Type	Unit/Values
vy	float	m/s
phi	float	deg
p	float	deg/s
vx	float	m/s
theta	float	deg
q	float	deg/s
z	float	m
vz	float	m/s
vy_GT	float	m/s
phi_GT	float	deg
p_GT	float	deg/s
vx_GT	float	m/s
theta_GT	float	deg
q_GT	float	deg/s
z_GT	float	m
vz_GT	float	m/s
thrust_bias	float	N
use_filter	int32	-

ROTORCRAFT_NAV_STATUS (ID 159)

Field name	Type	Unit/Values
block_time	uint16	s
stage_time	uint16	s
dist_home	float	m
dist_wp	float	m
cur_block	uint8
cur_stage	uint8
horizontal_mode	uint8

ROTORCRAFT_RADIO_CONTROL (ID 160)

Field name	Type	Unit/Values
roll	int16	pprz
pitch	int16	pprz
yaw	int16	pprz
throttle	int16	pprz
mode	int16	pprz
kill	int16	pprz
status	uint8	OK, LOST, REALLY_LOST

VFF_EXTENDED (ID 161)

Field name	Type	Unit/Values	Description
meas_baro	float
meas_alt	float
z	float
zd	float
zdd	float
bias	float
offset	float
obs_height	float
Pzz	float
Pzdzd	float
Pbb	float
Poffsetoffset	float
Pobsobs	float

VFF (ID 162)

Field name	Type	Unit/Values	Description
measure	float
z	float
zd	float
bias	float
Pzz	float
Pzdzd	float
Pbb	float

GEO_MAG (ID 163)

Field name	Type	Unit/Values
Hx	float
Hy	float
Hz	float
comp_id	uint8	NONE, GENERIC, GEOM, ICQ, ICE, FC, DCM, FINV, MLKF, GX3

HFF (ID 164)

Field name	Type	Unit/Values	Description
x	float
y	float
xd	float
yd	float
xdd	float
ydd	float
xbias	float
ybias	float

HFF_DBG (ID 165)

Field name	Type	Unit/Values	Description
x_measure	float
y_measure	float
xd_measure	float
yd_measure	float
Pxx	float
Pyy	float
Pxdxd	float
Pydyd	float
Pxbiasxbias	float
Pybiasybias	float

HFF_GPS (ID 166)

Field name	Type	Unit/Values	Description
lag_cnt	uint16
lag_cnt_err	int16
save_cnt	int16

INS_EKF2 (ID 167)

Extended Kalman Filter 2 status message which gives feedback about the input- and output states of the filter.

Field name	Type	Unit/Values	Description
control_mode	uint32		description of the control status (bitfields from common.h)
filter_fault_status	uint16		numerical errors in output states (bitfields from common.h)
gps_check_status	uint16		quality check of the GPS feedback (bitfields from common.h)
soln_status	uint16		which output states are valid or has an error (bitfields from common.h)
innov_test_status	uint16		which inputs exceed the innovation test
innov_mag	float
innov_vel	float
innov_pos	float
innov_hgt	float
innov_tas	float
innov_hagl	float
innov_flow	float
innov_beta	float
mag_decl	float	deg	Magnetic declination
terrain_status	uint8	INVALID, VALID	terrain detection for valid for ground sensors
dead_reckoning	uint8	INACTIVE, ACTIVE	active if all positioning sensors fail

ROTORCRAFT_CAM (ID 168)

Field name	Type	Unit/Values	Description
tilt	int16	2^12rad
pan	int16	2^12rad

AHRS_REF_QUAT (ID 169)

Field name	Type	Unit/Values	Description
ref_qi	int32
ref_qx	int32
ref_qy	int32
ref_qz	int32
body_qi	int32
body_qx	int32
body_qy	int32
body_qz	int32

INS_EKF2_EXT (ID 170)

Field name	Type	Unit/Values	Description
gps_drift_h	float	m/s	Horizontal position drift rate (m/s)
gps_drift_v	float	m/s	Vertical position drift rate (m/s)
gps_drift_h_filt	float	m/s	Filtered horizontal velocity (m/s)
gps_drift_blocked	uint8		The GPS drift calculation is blocked
gyro_vibe_coning	float		Gyro delta angle coning metric = filtered length of (delta_angle x prev_delta_angle)
gyro_vibe_hf	float		Gyro high frequency vibe = filtered length of (delta_angle - prev_delta_angle)
accel_vibe_hf	float		Accel high frequency vibe = filtered length of (delta_velocity - prev_delta_velocity)

AHRS_BIAS (ID 171)

Field name	Type	Unit/Values	Description
accel_x	float	m/s^2	Accelerometer bias x-axis
accel_y	float	m/s^2	Accelerometer bias y-axis
accel_z	float	m/s^2	Accelerometer bias z-axis
gyro_p	float	rad/sec	Gyrometer bias roll rate
gyro_q	float	rad/sec	Gyrometer bias pitch rate
gyro_r	float	rad/sec	Gyrometer bias yaw rate
mag_x	float	mGauss	Magnetometer x-bias in mGauss
mag_y	float	mGauss	Magnetometer y-bias in mGauss
mag_z	float	mGauss	Magnetometer z-bias in mGauss

ACTUATORS (ID 172)

Field name	Type	Unit/Values	Description
values	int16[]	none

AHRS_EULER (ID 173)

Field name	Type	Unit/Values
phi	float	rad
theta	float	rad
psi	float	rad
comp_id	uint8	NONE, GENERIC, IR, ICQ, ICE, FC, DCM, FINV, MLKF, GX3, CHIMU, VN

AHRS_MEASUREMENT_EULER (ID 174)

Field name	Type	Unit/Values
phi	float	rad
theta	float	rad
psi	float	rad

WT (ID 175)

Field name	Type	Unit/Values	Description
rpm	float

CSC_CAN_DEBUG (ID 176)

Field name	Type	Unit/Values	Description
err_nb	uint32
err_code	uint32

CSC_CAN_MSG (ID 177)

Field name	Type	Unit/Values	Description
frame	uint32
id	uint32
data_a	uint32
data_b	uint32

AHRS_GYRO_BIAS_INT (ID 178)

Field name	Type	Unit/Values
bp	int32
bq	int32
br	int32
comp_id	uint8	NONE, GENERIC, IR, ICQ, ICE, FC, DCM, FINV, MLKF, GX3, CHIMU, VN

AEROPROBE (ID 179)

Airflow data returned by OTF and uADC 3D probes from Aeroprobe.

Field name	Type	Unit/Values
counter	uint32
velocity	int16	cm/s
a_attack	int16	centideg
a_sideslip	int16	centideg
altitude	int32	cm
dynamic_p	int32	Pa
static_p	int32	Pa
checksum	uint8

FMS_TIME (ID 180)

Field name	Type	Unit/Values	Description
tv_sec	uint32
tv_nsec	uint32
delay_ns	uint32

ROTATING_WING_STATE (ID 181)

State of the rotating wing navigation and skew control.

Field name	Type	Unit/Values	Description
state	uint8	FORCE_HOVER, REQ_HOVER, FORCE_FW, REQ_FW, FREE	Current state
nav_state	uint8	FORCE_HOVER, REQ_HOVER, FORCE_FW, REQ_FW, FREE	Current requeted state by NAV
status	uint16		Bitmask containing status information
meas_skew_angle	float	deg	Current measured skew angle
sp_skew_angle	float	deg	Target skew angle
nav_airspeed	float	m/s	Target navigation airspeed before bounding
min_airspeed	float	m/s	Minimum airspeed bound for NAV
max_airspeed	float	m/s	Maximum airspeed bound for NAV

DOUBLET (ID 183)

Field name	Type	Description
active	uint8	Doublet is active
axis	uint8	Current doublet axis
amplitude	int16	Amplitude
current_value	int16	Current doublet value
doublet_mode_3211	uint8	Mode 3211 enabled

GUIDANCE (ID 184)

Field name	Type	Unit/Values
pos_N_ref	float	m
pos_E_ref	float	m
pos_D_ref	float	m
pos_N	float	m
pos_E	float	m
pos_D	float	m
vel_N_ref	float	m/s
vel_E_ref	float	m/s
vel_D_ref	float	m/s
vel_N	float	m/s
vel_E	float	m/s
vel_D	float	m/s
acc_N_ref	float	m/s^2
acc_E_ref	float	m/s^2
acc_D_ref	float	m/s^2
acc_N	float	m/s^2
acc_E	float	m/s^2
acc_D	float	m/s^2
jerk_N_ref	float	m/s^3
jerk_E_ref	float	m/s^3
jerk_D_ref	float	m/s^3

EFF_MAT_STAB (ID 185)

Field name	Type	Unit/Values
G1_roll	float[]	none
G1_pitch	float[]	none
G1_yaw	float[]	none
G1_thrust	float[]	none
G2	float[]	none

EFF_MAT_GUID (ID 186)

Field name	Type	Unit/Values
G1_aN	float[]	none
G1_aE	float[]	none
G1_aD	float[]	none

WLS_V (ID 187)

Field name	Type	Unit/Values	Description
loop	char[]
gamma	float
iter	uint8
v	float[]
Wv	float[]

WLS_U (ID 188)

Field name	Type	Unit/Values	Description
loop	char[]
Wu	float[]
u_pref	float[]
u_min	float[]
u_max	float[]
u	float[]

MISSION_ITEM (ID 189)

Field name	Type	Unit/Values	Description
count	uint8
seq	uint16
cmd	uint16
lat	int32
lon	int32
alt	float

ACTUATORS_T4_IN (ID 190)

Received informational data from T4 Actuator Board, only used for debugging and logging

Field name	Type	Unit/Values	Description
esc_1_rpm	int16	rpm	ESC 1 RPM telemetry
esc_2_rpm	int16	rpm	ESC 2 RPM telemetry
esc_3_rpm	int16	rpm	ESC 3 RPM telemetry
esc_4_rpm	int16	rpm	ESC 4 RPM telemetry
servo_1_angle	int16	1e2_deg	Servo 1 angle telemetry
servo_2_angle	int16	1e2_deg	Servo 2 angle telemetry
servo_3_angle	int16	1e2_deg	Servo 3 angle telemetry
servo_4_angle	int16	1e2_deg	Servo 4 angle telemetry
servo_5_angle	int16	1e2_deg	Servo 5 angle telemetry
servo_6_angle	int16	1e2_deg	Servo 6 angle telemetry
servo_7_angle	int16	1e2_deg	Servo 7 angle telemetry
servo_8_angle	int16	1e2_deg	Servo 8 angle telemetry
servo_9_angle	int16	1e2_deg	Servo 9 angle telemetry
servo_10_angle	int16	1e2_deg	Servo 10 angle telemetry
servo_11_angle	int16	1e2_deg	Servo 11 angle telemetry
servo_12_angle	int16	1e2_deg	Servo 12 angle telemetry
actuators_t4_missed_packets	uint32		Number of missed packets on T4 communication bus
actuators_t4_message_frequency	uint16		Refresh rate of the incoming messages from T4 hardware module
actuators_t4_rolling_msg_in	float		T4 incoming rolling message content
actuators_t4_rolling_msg_in_id	uint8		T4 incoming rolling message ID
esc_1_err_code	int16		ESC 1 error code
esc_2_err_code	int16		ESC 2 error code
esc_3_err_code	int16		ESC 3 error code
esc_4_err_code	int16		ESC 4 error code
servo_1_load	int16		servo 1 load
servo_2_load	int16		servo 2 load
servo_3_load	int16		servo 3 load
servo_4_load	int16		servo 4 load
servo_5_load	int16		servo 5 load
servo_6_load	int16		servo 6 load
servo_7_load	int16		servo 7 load
servo_8_load	int16		servo 8 load
servo_9_load	int16		Servo 9 load
servo_10_load	int16		Servo 10 load
bitmask_servo_health	uint16		Bitmask of servo health status
esc_1_current	int16		ESC 1 current in mA
esc_2_current	int16		ESC 2 current in mA
esc_3_current	int16		ESC 3 current in mA
esc_4_current	int16		ESC 4 current in mA
esc_1_voltage	int16		ESC 1 voltage in mV
esc_2_voltage	int16		ESC 2 voltage in mV
esc_3_voltage	int16		ESC 3 voltage in mV
esc_4_voltage	int16		ESC 4 voltage in mV

ACTUATORS_T4_OUT (ID 191)

Transmitted commanded data to a T4 actuator board, only used for debugging and logging

Field name	Type	Unit/Values	Description
esc_arm	uint8		ESC arming status bitmask
servo_arm	uint16		Servo arming status bitmask
esc_1_dshot_cmd	int16	dshot	ESC 1 DShot commands
esc_2_dshot_cmd	int16	dshot	ESC 2 DShot commands
esc_3_dshot_cmd	int16	dshot	ESC 3 DShot commands
esc_4_dshot_cmd	int16	dshot	ESC 4 DShot commands
servo_1_angle_cmd	int16	1e2_deg	Servo 1 angle command
servo_2_angle_cmd	int16	1e2_deg	Servo 2 angle command
servo_3_angle_cmd	int16	1e2_deg	Servo 3 angle command
servo_4_angle_cmd	int16	1e2_deg	Servo 4 angle command
servo_5_angle_cmd	int16	1e2_deg	Servo 5 angle command
servo_6_angle_cmd	int16	1e2_deg	Servo 6 angle command
servo_7_angle_cmd	int16	1e2_deg	Servo 7 angle command
servo_8_angle_cmd	int16	1e2_deg	Servo 8 angle command
servo_9_angle_cmd	int16	1e2_deg	Servo 9 angle command
servo_10_angle_cmd	int16	1e2_deg	Servo 10 angle command
servo_11_angle_cmd	int16	1e2_deg	Servo 10 angle command
servo_12_angle_cmd	int16	1e2_deg	Servo 10 angle command
actuators_t4_rolling_msg_out	float		T4 output rolling message content
actuators_t4_rolling_msg_out_id	uint8		T4 output Rolling message ID

AHRS_LKF (ID 193)

Field name	Type	Unit/Values
phi	float	rad
theta	float	rad
psi	float	rad
qi	float
qx	float
qy	float
qz	float
p	float	rad/s
q	float	rad/s
r	float	rad/s
ax	float
ay	float
az	float
mx	float
my	float
mz	float

AIRSPEED_WIND_ESTIMATOR_EKF (ID 196)

Field name	Type	Unit/Values
u_est	float	m/s
v_est	float	m/s
w_est	float	m/s
mu_N	float	m/s
mu_E	float	m/s
mu_D	float	m/s
offset_x	float	-
offset_y	float	-
offset_z	float	-
healthy	uint8	bool
crashes_n	uint16	-
innov_V_gnd_x	float	-
innov_V_gnd_y	float	-
innov_V_gnd_z	float	-
innov_acc_x	float	-
innov_acc_y	float	-
innov_acc_z	float	-
innov_V_pitot	float	-
debug_1	float	-
debug_2	float	-
debug_3	float	-

NPS_SENSORS_SCALED (ID 197)

Field name	Type	Unit/Values	Description
acc_x	float
acc_y	float
acc_z	float
mag_x	float
mag_y	float
mag_z	float

INS (ID 198)

Field name	Type	Unit/Values	Description
ins_x	int32
ins_y	int32
ins_z	int32
ins_xd	int32
ins_yd	int32
ins_zd	int32
ins_xdd	int32
ins_ydd	int32
ins_zdd	int32

FUELCELL (ID 199)

Field name	Type	Unit/Values	Description
pressure	uint8	%	Cylinder Pressure Percentage
press_reg	float	Bar	Regulator Output Voltage
volt_bat	float	V	Support Battery
power_out	float	W	Total Output Power
power_cell	float	W	Fuell Cell Power
power_batt	float	W	Battery Power
state	uint8		PSU State
error	uint8		Main error code
suberror	uint8		Subcode

IMU_GYRO (ID 200)

Field name	Type	Unit/Values
id	uint8
gp	float	rad/s
gq	float	rad/s
gr	float	rad/s

IMU_MAG (ID 201)

Field name	Type	Unit/Values	Description
id	uint8
mx	float
my	float
mz	float

IMU_ACCEL (ID 202)

Field name	Type	Unit/Values
id	uint8
ax	float	m/s-2
ay	float	m/s-2
az	float	m/s-2

IMU_GYRO_RAW (ID 203)

Field name	Type	Unit/Values
id	uint8
temp	float	Celcius
gp	int32	adc
gq	int32	adc
gr	int32	adc

IMU_ACCEL_RAW (ID 204)

Field name	Type	Unit/Values
id	uint8
temp	float	Celcius
ax	int32	adc
ay	int32	adc
az	int32	adc

IMU_MAG_RAW (ID 205)

Field name	Type	Unit/Values
id	uint8
mx	int32	adc
my	int32	adc
mz	int32	adc

IMU_MAG_SETTINGS (ID 206)

Field name	Type	Unit/Values	Description
inclination	float
declination	float
hardiron_x	float
hardiron_y	float
hardiron_z	float

IMU_MAG_CURRENT_CALIBRATION (ID 207)

Field name	Type	Unit/Values
id	uint8
mx	int32	adc
my	int32	adc
mz	int32	adc
electrical_current	float	A

UART_ERRORS (ID 208)

Field name	Type	Unit/Values	Description
overrun_cnt	uint16
noise_err_cnt	uint16
framing_err_cnt	uint16
bus_number	uint8

IMU_GYRO_LP (ID 209)

Field name	Type	Unit/Values
gp	float	rad/s
gq	float	rad/s
gr	float	rad/s

IMU_PRESSURE (ID 210)

Field name	Type	Unit/Values	Description
p	float	pascal

WINDTUNNEL_MEAS (ID 211)

Field name	Type	Unit/Values	Description
aoa	float	deg	Angle of attack
airspeed	float	m/s	Airspeed measured
voltage	float	V	Voltage measured
current	float	A	Current measured
power	float	W	Calculated power (Voltage * Current)
commands	int32[]		Commands send to actuators

TUNE_VERT (ID 213)

Field name	Type	Unit/Values	Description
z_sp	int32
est_z	int32
ref_z	int32
ref_zd	int32

MF_DAQ_STATE (ID 214)

Field name	Type	Unit/Values
flight_time	uint16	s
p	float
q	float
r	float
phi	float
theta	float
psi	float
ax	float
ay	float
az	float
ve	float
vn	float
vu	float
lat	float
lon	float
alt	float
we	float
wn	float

INFO_MSG (ID 215)

Field name	Type	Unit/Values	Description
msg	char[]

STAB_ATTITUDE (ID 216)

Field name	Type	Description
att_des	float[]	attitude setpoint
att	float[]	attitude
att_ref	float[]	attitude reference
angular_rate	float[]	angular rate
angular_rate_ref	float[]	angular rate reference
angular_accel	float[]	angular acceleration
angular_accel_ref	float[]	angular acceleration reference
angular_jerk_ref	float[]	angular jerk reference
u	float[]	Reconstructed State of Actuators

ROTORCRAFT_FP_MIN (ID 217)

Minimalistic message to track Rotorcraft over very low bandwidth links

Field name	Type	Unit/Values
east	int32
north	int32
up	int32
gspeed	uint16	cm/s

BEBOP_ACTUATORS (ID 218)

Field name	Type	Unit/Values
cmd_thrust	int32
cmd_roll	int32
cmd_pitch	int32
cmd_yaw	int32
rpm_ref_lf	uint16	rpm
rpm_ref_rf	uint16	rpm
rpm_ref_rb	uint16	rpm
rpm_ref_lb	uint16	rpm
rpm_obs_lf	uint16	rpm
rpm_obs_rf	uint16	rpm
rpm_obs_rb	uint16	rpm
rpm_obs_lb	uint16	rpm

WEATHER (ID 219)

Field name	Type	Unit/Values
p_amb	float	Pa
t_amb	float	deg C
windspeed	float	m/s
wind_from	float	deg
humidity	float	%

IMU_TURNTABLE (ID 220)

Field name	Type	Unit/Values	Description
omega	float	rad/s

BARO_RAW (ID 221)

Field name	Type	Unit/Values	Description
abs	float
diff	float

AIR_DATA (ID 222)

Field name	Type	Unit/Values	Description
pressure	float	Pa	static pressure
diff_p	float	Pa	differential pressure
temp	float	deg celcius	air temperature
qnh	float	hPa	barometric pressure adjusted to sea level
amsl_baro	float	m	barometric altitude above mean sea level
airspeed	float	m/s	Equivalent Air Speed (or Calibrated Air Speed at low speed/altitude)
tas	float		True Air Speed (when P, T and P_diff are available)

AMSL (ID 223)

Field name	Type	Unit/Values	Description
AMSL_BARO	float	ft
AMSL_GPS	float	ft

DIVERGENCE (ID 224)

Field name	Type	Description
divergence	float	vertical velocity / height from optitrack (unit = 1/sec)
divergence_vision	float	vertical velocity / height from vision (unit = 1/sec)
normalized_thrust	float	thrust / max thrust paparazzi (-)
cov_div	float	covariance of divergence and thrust, or past divergence depending on the mode (-)
pstate	float	gain state in adaptive gain control: indicative of height (-)
pused	float	gain used for control, includes the effect of the p-gain of adaptive control (-)
sonar	float	measurement from the sonar (mm)
front_divergence	float	divergence from front cam

VIDEO_SYNC (ID 225)

Field name	Type	Unit/Values	Description
id	uint8

PERIODIC_TELEMETRY_ERR (ID 226)

Field name	Type	Unit/Values	Description
process	uint8
mode	uint8
id	uint8

TIME (ID 227)

Field name	Type	Unit/Values	Description
t	uint32		an integral value representing the number of seconds elapsed since 00:00 hours, Jan 1, 1970 UTC

OPTIC_FLOW_EST (ID 228)

Field name	Type	Unit/Values
fps	float
corner_cnt	uint16
tracked_cnt	uint16
flow_x	int16	subpixels
flow_y	int16	subpixels
flow_der_x	int16	subpixels
flow_der_y	int16	subpixels
vel_x	float	m/s
vel_y	float	m/s
vel_z	float	m/s
div_size	float	1/s
surface_roughness	float	1/s
divergence	float	1/s
camera_id	uint8

STEREO_IMG (ID 229)

Field name	Type	Unit/Values
type	uint8	DIST_MATRIX, HISTOGRAM, DISPARITY_MAP, RAW
width	uint8
height	uint8
package_nb	uint8
image_data	uint8[]

ROVER_STATUS (ID 230)

Rover status message

Field name	Type	Unit/Values	Description
rc_status	uint8	OK, LOST, REALLY_LOST
frame_rate	uint8	Hz
gps_status	uint8	NO_FIX, NA, 2D, 3D, DGPS, RTK
ap_mode	uint8		Rover AP modes are generated from XML file
ap_motors_on	uint8	MOTORS_OFF, MOTORS_ON
cpu_time	uint16	s
vsupply	float	V

ROTORCRAFT_STATUS (ID 231)

Field name	Type	Unit/Values	Description
link_imu_nb_err	uint32
motor_nb_err	uint8
rc_status	uint8	OK, LOST, REALLY_LOST
frame_rate	uint8	Hz
gps_status	uint8	NO_FIX, NA, 2D, 3D, DGPS, RTK
ap_mode	uint8	KILL, FAILSAFE, HOME, RATE_DIRECT, ATTITUDE_DIRECT, RATE_RC_CLIMB, ATTITUDE_RC_CLIMB, ATTITUDE_CLIMB, RATE_Z_HOLD, ATTITUDE_Z_HOLD, HOVER_DIRECT, HOVER_CLIMB, HOVER_Z_HOLD, NAV, RC_DIRECT, CARE_FREE, FORWARD, MODULE, FLIP, GUIDED
ap_in_flight	uint8	ON_GROUND, IN_FLIGHT
ap_motors_on	uint8	MOTORS_OFF, MOTORS_ON
arming_status	uint8	NO_RC, WAITING, ARMING, ARMED, DISARMING, KILLED, YAW_CENTERED, THROTTLE_DOWN, NOT_MODE_MANUAL, UNARMED_IN_AUTO, THROTTLE_NOT_DOWN, STICKS_NOT_CENTERED, PITCH_NOT_CENTERED, ROLL_NOT_CENTERED, YAW_NOT_CENTERED, AHRS_NOT_ALLIGNED, OUT_OF_GEOFENCE, LOW_BATTERY
ap_h_mode	uint8	NONE, HOVER, NAV, GUIDED
ap_v_mode	uint8	KILL, RC_DIRECT, RC_CLIMB, CLIMB, HOVER, NAV, MODULE, FLIP, GUIDED
cpu_time	uint16	s
vsupply	float	V	Main supply voltage
vboard	float	V	AP Board voltage

STATE_FILTER_STATUS (ID 232)

Field name	Type	Unit/Values
id	uint8
state_filter_mode	uint8	UNKNOWN, INIT, ALIGN, OK, GPS_LOST, IMU_LOST, COV_ERR, IR_CONTRAST, ERROR
value	uint16

OPTICAL_FLOW (ID 233)

Field name	Type	Unit/Values
time_sec	float	s
sensor_id	uint8
flow_x	int32
flow_y	int32
flow_comp_m_x	float	m
flow_comp_m_y	float	m
flow_quality	uint8
ground_distance	float	m
distance_compensated	float	mm
distance_quality	uint8

LIDAR (ID 234)

Field name	Type	Unit/Values
distance	float	m
status	uint8	INIT, REQ, READ, PARSE
trans_status	uint8	Pending, Running, Success, Failed, Done

VISUALTARGET (ID 235)

Generic message with pixel coordinates of detected targets

Field name	Type	Description
cnt	uint16	Counter
x	int16	Center pixel X
y	int16	Center pixel X
w	int16	Width in pixels
h	int16	height in pixels
source	uint16	In case many detectors run, which one did find this target

SONAR (ID 236)

Field name	Type	Unit/Values	Description
sonar_meas	uint16
sonar_distance	float	m

PAYLOAD_FLOAT (ID 237)

Field name	Type	Unit/Values	Description
values	float[]

NPS_POS_LLH (ID 238)

Field name	Type	Unit/Values
pprz_lat	float	rad
lat_geod	float	rad
lat_geoc	float	rad
pprz_lon	float	rad
lon	float	rad
pprz_alt	float	m
alt_geod	float	m
agl	float	m
asl	float	m

KEY_EXCHANGE_UAV (ID 239)

Message for key exchange during crypto initialization

Field name	Type	Unit/Values	Description
msg_type	uint8	P_AE, P_BE, SIG
msg_data	uint8[]

NPS_SPEED_POS (ID 240)

Field name	Type	Unit/Values
ltpp_xdd	float	m/s2
ltpp_ydd	float	m/s2
ltpp_zdd	float	m/s2
ltpp_xd	float	m/s
ltpp_yd	float	m/s
ltpp_zd	float	m/s
ltpp_x	float	m
ltpp_y	float	m
ltpp_z	float	m

NPS_RATE_ATTITUDE (ID 241)

Field name	Type	Unit/Values
p	float	deg/s
q	float	deg/s
r	float	deg/s
phi	float	deg
theta	float	deg
psi	float	deg

NPS_GYRO_BIAS (ID 242)

Field name	Type	Unit/Values
bp	float	deg/s
bq	float	deg/s
br	float	deg/s

OPTICAL_FLOW_HOVER (ID 243)

This messages includes the messages send by the Optical Flow Hover module, providing data for all three axes.

Field name	Type	Description
flowX	float	Filtered Horizontal velocity in X / height used in Optical Flow Hover
flowY	float	Filtered Horizontal velocity in X / height used in Optical Flow Hover
Divergence	float	Filtered vertical velocity / height used in Optical Flow Hover
cov_flowX	float	covariance of Ventral flow in X and past ventral flow in X
cov_flowY	float	covariance of Ventral flow in Y and past ventral flow in Y
cov_divZ	float	covariance of divergence and past divergence or thrust history
pusedX	float	Gain used in the X feedback
pusedY	float	Gain used in the Y feedback
pusedZ	float	Gain used in the Z feedback
sum_errX	float	Sum of errors in X
sum_errY	float	Sum of errors in Y
sum_errZ	float	Sum of errors in Z
thrust	int32	The thrust
phi_des	float	The desired phi angle in degrees
theta_des	float	The desired theta angle in degrees

NPS_WIND (ID 244)

Field name	Type	Unit/Values
vx	float	m/s
vy	float	m/s
vz	float	m/s

ESC (ID 245)

Electronic Speed Controller data

Field name	Type	Unit/Values	Description
amps	float	A	Current consumption
bat_volts	float	V	Input battery voltage
power	float	W	Electrical power
rpm	float	rpm	Motor rotation speed
motor_volts	float	V	Motor voltage
energy	float	Wh	Accumulated consumed energy
temperature	float	C	Temperature
temperature_dev	float	C	Device temperature
node_id	uint8		Node ID
motor_id	uint8		Motor ID

RTOS_MON (ID 246)

RTOS monitoring

Field name	Type	Unit/Values	Description
nb_threads	uint8		Number of running threads
cpu_load	uint8	%	Global CPU load
core_free	uint32	Bytes	Core free memory
heap_free	uint32	Bytes	Total fragmented free memory in the heap
heap_frags	uint32	Fragments	Number of fragments in the heap
heap_largest	uint32	Bytes	Largest free block in the heap
cpu_time	float	s

PPRZ_DEBUG (ID 247)

Field name	Type	Unit/Values	Description
module	uint8
errno	uint8

BATTERY_MONITOR (ID 248)

Field name	Type	Unit/Values	Description
version	uint8	v3, v4, v5	Battery monitor version
bus_dev_stat	uint8	CURRENT, VOLTAGE, TEMP	Bus monitor status
bus_trans_stat	uint8	Pending, Running, Success, Failed, Done	Bus monitor i2c transaction status
current_raw	uint16	mV	Raw bus current reading
current	float	A	Bus current
bus_voltage	uint16	mV	Bus voltage
bus_temp_raw	uint16[]	mV	Raw temperature reading
bus_temp	float[]	C	Battery temperatures
bal1_trans_stat	uint8	Pending, Running, Success, Failed, Done	Cell bank 1 monitor i2c transaction status
bal1_cells	uint16[]	mV	Cell bank 1 voltage
bal2_trans_stat	uint8	Pending, Running, Success, Failed, Done	Cell bank 2 monitor i2c transaction status
bal2_cells	uint16[]	mV	Cell bank 2 voltage
safety_plug	uint16	mV	Safety plug voltage

GPS_RXMRTCM (ID 249)

Field name	Type	Unit/Values	Description
Msg1005	uint32
Msg1077	uint32
Msg1087	uint32
Crc1005	uint32
Crc1077	uint32
Crc1087	uint32

GPS_RELPOS (ID 251)

Field name	Type	Unit/Values	Description
reference_id	uint16		Reference station identification
tow	uint32	ms	Time of week (GPS)
posN	double	m	Relative position North to the reference station
posE	double	m	Relative position East to the reference station
posD	double	m	Relative position Down to the reference station
distance	double	m	Relative distance to the reference station
heading	float	rad	Relative heading to the reference station
posAccN	float	m	Position accuracy North
posAccE	float	m	Position accuracy East
posAccD	float	m	Position accuracy Down
distanceAcc	float	m	Distance accuracy
headingAcc	float	rad	Heading accuracy

GPS_SMALL (ID 252)

Field name	Type	Unit/Values	Description
multiplex_speed	uint32		bits 31-21 course in decideg : bits 20-10 ground speed in cm/s : bits 9-0 climb speed in cm/s
lat	int32	1e7deg
lon	int32	1e7deg
alt	int16	cm	height above the ellipsoid

I2C_ERRORS (ID 253)

Field name	Type	Unit/Values	Description
wd_reset_cnt	uint16
queue_full_cnt	uint16
acknowledge_failure_cnt	uint16
misplaced_start_or_stop_cnt	uint16
arbitration_lost_cnt	uint16
overrun_or_underrun_cnt	uint16
pec_error_in_reception_cnt	uint16
timeout_or_tlow_error_cnt	uint16
smbus_alert_cnt	uint16
unexpected_event_cnt	uint16
last_unexpected_event	uint32
bus_number	uint8

DCF_THETA (ID 254)

Air-to-air message for the Distributed Circular Formation algorithm. It transmits the ac's theta to its neighbor

Field name	Type	Unit/Values	Description
theta	float

SECURE_LINK_STATUS (ID 255)

Message for monitoring key exchange status

Field name	Type	Unit/Values
sts_stage	uint8	INIT, WAIT_MSG1, WAIT_MSG2, WAIT_MSG3, CRYPTO_OK
sts_error	uint8	NONE, MSG1_TIMEOUT, MSG1_ENCRYPT, MSG3_TIMEOUT, MSG3_DECRYPT, MSG3_SIGNVERIFY, MSG2_TIMEOUT, MSG2_DECRYPT, MSG2_SIGNVERIFY, MSG3_ENCRYPT, UNEXPECTED_TYPE, UNEXPECTED_STAGE, UNEXPECTED_MSG
counter_err	uint32
decrypt_err	uint32
encrypt_err	uint32

Datalink Messages

ACINFO (ID 1)

Field name	Type	Unit/Values	Description
course	int16	decideg
utm_east	int32	cm
utm_north	int32	cm
utm_zone	uint8
alt	int32	cm	Height above Mean Sea Level (geoid)
itow	uint32	ms
speed	uint16	cm/s	ground speed
climb	int16	cm/s
ac_id	uint8

MOVE_WP (ID 2)

Field name	Type	Unit/Values	Description
wp_id	uint8
ac_id	uint8
lat	int32	1e7deg
lon	int32	1e7deg
alt	int32	mm	Height above Mean Sea Level (geoid)

WIND_INFO (ID 3)

Wind information. The wind is reported as a vector, it gives the direction the wind is blowing to. This can be comming from the ground wind estimator or from an embedded algorithm. Flags field definition:

bit 0: horizontal wind is valid (east and north fields)
bit 1: vertical wind is valid (up field)
bit 2: airspeed is valid

Field name	Type	Unit/Values	Description
ac_id	uint8
flags	uint8		bit 0: horizontal wind, bit 1: vertical wind: bit 2: airspeed
east	float	m/s	east component of the wind
north	float	m/s	north component of the wind
up	float	m/s	vertical component of the wind
airspeed	float	m/s	local airspeed norm

SETTING (ID 4)

Field name	Type	Unit/Values	Description
index	uint8
ac_id	uint8
value	float

BLOCK (ID 5)

Field name	Type	Unit/Values	Description
block_id	uint8
ac_id	uint8

PING (ID 8)

message has no fields

FORMATION_SLOT (ID 9)

Field name	Type	Unit/Values
ac_id	uint8
mode	uint8
slot_east	float	m
slot_north	float	m
slot_alt	float	m

FORMATION_STATUS (ID 10)

Field name	Type	Unit/Values	Description
ac_id	uint8
leader_id	uint8
status	uint8

JOYSTICK_RAW (ID 11)

This message is used to send joystick input that can be used in any mode for control of the vehicle or the payload depending of the 'joystick_handler' function implementation. The scale of the inputs should be between -PPRZ_MAX (or 0) and PPRZ_MAX.

Field name	Type	Unit/Values	Description
roll	int16
pitch	int16
yaw	int16
throttle	int16
ac_id	uint8

COMMANDS_RAW (ID 12)

Field name	Type	Unit/Values	Description
ac_id	uint8
commands	int8[]

DGPS_RAW (ID 13)

Field name	Type	Unit/Values	Description
ac_id	uint8
length	uint8
rtcm	uint8[]

ACINFO_LLA (ID 14)

Field name	Type	Unit/Values	Description
course	int16	decideg
lat	int32	1e7deg
lon	int32	1e7deg
alt	int32	cm	Height above ellipsoid
itow	uint32	ms
speed	uint16	cm/s	ground speed
climb	int16	cm/s
ac_id	uint8

DESIRED_SETPOINT (ID 15)

This message is used to set 3D desired vehicle's states such as accelerations or velocities. The 'flag' field can be used at the user convenience to provide indication about the type of value to track (like position, speed, acceleration, ...) or the reference frame (ENU / NED, LTP / body frame, ...)

Field name	Type	Description
ac_id	uint8	AC_ID of the vehicle
flag	uint8	Up to the user, for example to distinguish between ENU or NED
ux	float	Quantity to be tracked in the X axis
uy	float	Quantity to be tracked in the Y axis
uz	float	Quantity to be tracked in the Z axis

GET_SETTING (ID 16)

Field name	Type	Unit/Values	Description
index	uint8
ac_id	uint8

TCAS_RESOLVE (ID 17)

Field name	Type	Unit/Values
ac_id	uint8
ac_id_conflict	uint8
resolve	uint8	NONE, LEVEL, CLIMB, DESCEND

MISSION_GOTO_WP (ID 20)

Field name	Type	Unit/Values	Description
ac_id	uint8
insert	uint8	APPEND, PREPEND, REPLACE_CURRENT, REPLACE_ALL
wp_east	float	m
wp_north	float	m
wp_alt	float	m	altitude above geoid (MSL)
duration	float	s
index	uint8

MISSION_GOTO_WP_LLA (ID 21)

Field name	Type	Unit/Values	Description
ac_id	uint8
insert	uint8	APPEND, PREPEND, REPLACE_CURRENT, REPLACE_ALL
wp_lat	int32	1e7deg
wp_lon	int32	1e7deg
wp_alt	int32	mm	altitude above geoid (MSL)
duration	float	s
index	uint8

MISSION_CIRCLE (ID 22)

Field name	Type	Unit/Values	Description
ac_id	uint8
insert	uint8	APPEND, PREPEND, REPLACE_CURRENT, REPLACE_ALL
center_east	float	m
center_north	float	m
center_alt	float	m	altitude above geoid (MSL)
radius	float	m
duration	float	s
index	uint8

MISSION_CIRCLE_LLA (ID 23)

Field name	Type	Unit/Values	Description
ac_id	uint8
insert	uint8	APPEND, PREPEND, REPLACE_CURRENT, REPLACE_ALL
center_lat	int32	1e7deg
center_lon	int32	1e7deg
center_alt	int32	mm	altitude above geoid (MSL)
radius	float	m
duration	float	s
index	uint8

MISSION_SEGMENT (ID 24)

Field name	Type	Unit/Values	Description
ac_id	uint8
insert	uint8	APPEND, PREPEND, REPLACE_CURRENT, REPLACE_ALL
segment_east_1	float	m
segment_north_1	float	m
segment_east_2	float	m
segment_north_2	float	m
segment_alt	float	m	altitude above geoid (MSL)
duration	float	s
index	uint8

MISSION_SEGMENT_LLA (ID 25)

Field name	Type	Unit/Values	Description
ac_id	uint8
insert	uint8	APPEND, PREPEND, REPLACE_CURRENT, REPLACE_ALL
segment_lat_1	int32	1e7deg
segment_lon_1	int32	1e7deg
segment_lat_2	int32	1e7deg
segment_lon_2	int32	1e7deg
segment_alt	int32	mm	altitude above geoid (MSL)
duration	float	s
index	uint8

MISSION_PATH (ID 26)

Field name	Type	Unit/Values	Description
ac_id	uint8
insert	uint8	APPEND, PREPEND, REPLACE_CURRENT, REPLACE_ALL
point_east_1	float	m
point_north_1	float	m
point_east_2	float	m
point_north_2	float	m
point_east_3	float	m
point_north_3	float	m
point_east_4	float	m
point_north_4	float	m
point_east_5	float	m
point_north_5	float	m
path_alt	float	m	altitude above geoid (MSL)
duration	float	s
nb	uint8
index	uint8

MISSION_PATH_LLA (ID 27)

Field name	Type	Unit/Values	Description
ac_id	uint8
insert	uint8	APPEND, PREPEND, REPLACE_CURRENT, REPLACE_ALL
point_lat_1	int32	1e7deg
point_lon_1	int32	1e7deg
point_lat_2	int32	1e7deg
point_lon_2	int32	1e7deg
point_lat_3	int32	1e7deg
point_lon_3	int32	1e7deg
point_lat_4	int32	1e7deg
point_lon_4	int32	1e7deg
point_lat_5	int32	1e7deg
point_lon_5	int32	1e7deg
path_alt	int32	mm	altitude above geoid (MSL)
duration	float	s
nb	uint8
index	uint8

MISSION_CUSTOM (ID 28)

Custom navigation pattern or action for mission controller. This will add the mission element correspond to the string identifier 'type' if it has been registered.

Field name	Type	Unit/Values	Description
ac_id	uint8		Aircraft ID
insert	uint8	APPEND, PREPEND, REPLACE_CURRENT, REPLACE_ALL, REPLACE_NEXT	Insertion mode
index	uint8		Mission element index, should be unique
type	char[5]		String identifier of the custom pattern
duration	float	s	Duration of the element or -1 for unlimited
params	float[]		List of parameters, 12 max

MISSION_UPDATE (ID 29)

Update parameters of a mission element without changing the mission element list or current execution.

Field name	Type	Unit/Values	Description
ac_id	uint8		Aircraft ID
index	uint8		Index of mission element to update
duration	float	s	Duration of the element, -1 for unlimited, -9 for no change
params	float[]		List of parameters, 12 max

GOTO_MISSION (ID 30)

Field name	Type	Unit/Values	Description
ac_id	uint8
mission_id	uint8

NEXT_MISSION (ID 31)

Field name	Type	Unit/Values	Description
ac_id	uint8

END_MISSION (ID 32)

Field name	Type	Unit/Values	Description
ac_id	uint8

COPILOT_STATUS_DL (ID 33)

Field name	Type	Unit/Values	Description
ac_id	uint8
used_memory	uint8	%	Percentage of used memory (RAM) of the mission computer rounded up to whole percent
timestamp	float	s	Mission computer seconds since startup
used_disk	uint8	%	Percentage of used disk of the mission computer rounded up to whole percent
status	uint8	UNKNOWN, INIT, LOGGING, FAULT	Mission computer status
error_code	uint8	NONE, IO_ERROR	Error codes of the mission computer

CAMERA_PAYLOAD_DL (ID 34)

Field name	Type	Unit/Values	Description
ac_id	uint8
error_code	uint8	NONE, CAMERA_ERR, DOOR_ERR	Error codes of the payload
timestamp	float	s	Payload computer seconds sice startup
used_memory	uint8	%	Percentage of used memory (RAM) of the payload computer rounded up to whole percent
used_disk	uint8	%	Percentage of used disk of the payload computer rounded up to whole percent
door_status	uint8	UNKNOWN, CLOSE, OPEN	Payload door open/close

CAMERA_SNAPSHOT_DL (ID 35)

Field name	Type	Unit/Values	Description
camera_id	uint16		Unique camera ID - consists of make,model and camera index
snapshot_image_number	uint16		Snapshot number in sequence
camera_state	uint8	UNKNOWN, OK, ERROR	State of the given camera
snapshot_valid	uint8	bool	Flag checking whether the last snapshot was valid
array_temp	float	deg_celsius	Imager sensor temperature, NaN if not measured
lens_temp	float	deg_celsius	Lens temperature, NaN if not measured
ac_id	uint8

GUIDED_SETPOINT_NED (ID 40)

Set vehicle position or velocity in NED. Frame can be specified with the bits 0-3 Velocity of position setpoint can be specified with the bits 5-7 Flags field definition:

bit 0: x,y as offset coordinates
bit 1: x,y in body coordinates
bit 2: z as offset coordinates
bit 3: yaw as offset coordinates
bit 4: free
bit 5: x,y as vel
bit 6: z as vel
bit 7: yaw as rate

Field name	Type	Unit/Values	Description
ac_id	uint8
flags	uint8		bits 0-3: frame, bits 5-7: use as velocity
x	float	m	X position/velocity in NED
y	float	m	Y position/velocity in NED
z	float	m	Z position/velocity in NED (negative altitude)
yaw	float	rad	yaw/rate setpoint

WINDTURBINE_STATUS (ID 50)

Field name	Type	Unit/Values
ac_id	uint8
tb_id	uint8
sync_itow	uint32	ms
cycle_time	uint32	ms

EXTERNAL_POSE (ID 54)

Position, speed and orientation in local frame from a remote vision system

Field name	Type	Unit/Values	Description
ac_id	uint8		AC id for which the data is meant
timestamp	uint32	ms	Timestamp from the measurement
enu_x	float	m	ENU x position in vision frame
enu_y	float	m	ENU y position in vision frame
enu_z	float	m	ENU z position in vision frame
enu_xd	float	m/s	ENU x speed in vision frame
enu_yd	float	m/s	ENU y speed in vision frame
enu_zd	float	m/s	ENU z speed in vision frame
body_qi	float		Body quaternion i in vision frame
body_qx	float		Body quaternion x in vision frame
body_qy	float		Body quaternion y in vision frame
body_qz	float		Body quaternion z in vision frame

EXTERNAL_POSE_SMALL (ID 55)

Position, speed and orientation in local frame from a remote vision system Smaller message where position, speed is in cm multiplied by a resolution

Field name	Type	Unit/Values	Description
ac_id	uint8		AC id for which the data is meant
timestamp	uint32	ms	Timestamp from the measurement
enu_pos	uint32		ENU position in vision frame(bits 31-21 east position [cmpos_res] : bits 20-10 north position [cmpos_res] : bits 9-0 up position [cm*pos_res])
enu_speed	uint32		ENU speed in vision frame(bits 31-21 east position [cmpos_res] : bits 20-10 north position [cmpos_res] : bits 9-0 up position [cm*pos_res])
heading	int16	1e4rad	Heading in ENU vision frame

REMOTE_GPS_LOCAL (ID 56)

Position and speed in local frame from a remote GPS or motion capture system Global position transformations are handled onboard if needed

Field name	Type	Unit/Values
ac_id	uint8
pad	uint8
enu_x	float	m
enu_y	float	m
enu_z	float	m
enu_xd	float	m/s
enu_yd	float	m/s
enu_zd	float	m/s
tow	uint32
course	float	deg

TARGET_POS (ID 57)

Global position, speed and ID a target for functions like Follow Me

Field name	Type	Unit/Values	Description
ac_id	uint8
target_id	uint8
lat	int32	1e7deg
lon	int32	1e7deg
alt	int32	mm	Height above Mean Sea Level (geoid)
speed	float	m/s	Ground speed
climb	float	m/s	Climb speed
course	float	deg
heading	float	deg	Ground heading

SMARTPROBE (ID 60)

Data from SmartProbe 5-hole probe sensor for wind and turbulence measurements

Field name	Type	Unit/Values	Description
accel	float[3]	m/s^2	internal accelerometer
gyro	float[3]	rad/s	internal gyrometer
attitude	float[4]		attitude in normalized quaternion or euler in radians (when last field is lower than -2)
tas	float	m/s	true airspeed
eas	float	m/s	equivalent airspeed
alpha	float	rad	angle of attack
beta	float	rad	angle of sideslip
pressure	float	Pa	static absolute pressure
temperature	float	Celcius	static temperature
rho	float	kg/m^3	air density
p_diff_C_raw	float	Pa	raw differential pressure for central sensor
t_diff_C_raw	float	Celcius	raw temperature for central sensor
p_diff_H_raw	float	Pa	raw differential pressure for horizontal sensor
t_diff_H_raw	float	Celcius	raw temperature for horizontal sensor
p_diff_V_raw	float	Pa	raw differential pressure for vertical sensor
t_diff_V_raw	float	Celcius	raw temperature for vertical sensor

HITL_IMU (ID 70)

Field name	Type	Unit/Values
gp	float	rad/s
gq	float	rad/s
gr	float	rad/s
ax	float	m/s-2
ay	float	m/s-2
az	float	m/s-2
mx	float
my	float
mz	float
ac_id	uint8

HITL_GPS (ID 71)

Field name	Type	Unit/Values	Description
lat	float	deg
lon	float	deg
alt	float	m	ellipsoid alt
hmsl	float	m	geoid alt
ecef_vel_x	float	m/s
ecef_vel_y	float	m/s
ecef_vel_z	float	m/s
time	float	s
fix	uint8
ac_id	uint8

HITL_UBX (ID 72)

Field name	Type	Unit/Values	Description
class	uint8
id	uint8
ac_id	uint8
ubx_payload	uint8[]

HITL_AIR_DATA (ID 73)

Field name	Type	Unit/Values	Description
baro	float	Pa
airspeed	float	m/s
aoa	float	rad
sideslip	float	rad
update_flag	uint8		bit 0: baro, bit 1: airspeed, bit 2: aoa, bit 3: sideslip
ac_id	uint8

RC_UP (ID 74)

Field name	Type	Unit/Values	Description
ac_id	uint8
channels	int8[]

KITE_COMMAND (ID 96)

Field name	Type	Unit/Values	Description
POWER	uint16
TURN	uint16

PAYLOAD_COMMAND (ID 97)

Field name	Type	Unit/Values	Description
ac_id	uint8
command	uint8[]

SET_ACTUATOR (ID 100)

Field name	Type	Unit/Values	Description
value	uint16
no	uint8
ac_id	uint8

CSC_SERVO_CMD (ID 101)

Field name	Type	Unit/Values	Description
servo_1	uint16
servo_2	uint16
servo_3	uint16
servo_4	uint16

BOOZ2_FMS_COMMAND (ID 149)

Field name	Type	Unit/Values
h_mode	uint8	KILL, RATE, ATTITUDE, HOVER, NAV
v_mode	uint8	KILL, DIRECT, CLIMB_RC, CLIMB, ALT, NAV
v_sp	int32
h_sp_1	int32
h_sp_2	int32
h_sp_3	int32
ac_id	uint8

BOOZ_NAV_STICK (ID 150)

Field name	Type	Unit/Values	Description
ac_id	uint8
vx_sp	int8
vy_sp	int8
vz_sp	int8
r_sp	int8

EXTERNAL_FILTER_SOLUTION (ID 151)

Field name	Type	Unit/Values
ac_id	uint8
status	uint8
x	float	m
xd	float	m
y	float	m
yd	float	m

ROTORCRAFT_CAM_STICK (ID 152)

Field name	Type	Unit/Values	Description
ac_id	uint8
tilt	int8
pan	int8

GPS_INJECT (ID 153)

Field name	Type	Unit/Values	Description
ac_id	uint8
packet_id	uint8
data	uint8[]

EXTERNAL_MAG_RAW (ID 154)

Field name	Type	Unit/Values	Description
x	int16
y	int16
z	int16

VIDEO_ROI (ID 155)

Field name	Type	Description
ac_id	uint8	The aircraft in which video stream you clicked
startx	int32	The x of the upper left corner of the selected area
starty	int32	The y of the upper left corner of the selected area
width	int32	The width of the selected area
height	int32	The height of the selected area
downsized_width	int32	The width of the image you received. Added because a module the receives this message does not know how big the image was that was broadcasted

EMERGENCY_CMD (ID 156)

Overcome setting ID and block ID problems in the case of multiboard autopilots like AP/FBW. With this message a KILL command can be sent to AP and FBW at the same time.

Field name	Type	Unit/Values	Description
ac_id	uint8
cmd	uint8	KILL, STANDBY, LAND

RTCM_INJECT (ID 157)

Field name	Type	Unit/Values	Description
packet_id	uint8
data	uint8[]

DCF_REG_TABLE (ID 158)

Init the table of an aircraft for the Distributed Circular Formation algorithm. If the nei_id is equal to zero, then you wipe out (clean) the whole table of the aircraft.

Field name	Type	Description
ac_id	uint8	ID of the table's aircraft to be updated
nei_id	uint8	ID of the neighbor for the table
desired_sigma	int16	Desired angle to have w.r.t. the neighbor

KEY_EXCHANGE_GCS (ID 159)

Message for key exchange during crypto initialization

Field name	Type	Unit/Values	Description
ac_id	uint8		ID of the table's aircraft to be updated
msg_type	uint8	P_AE, P_BE, SIG
msg_data	uint8[]

INFO_MSG_UP (ID 160)

Message from ground to be logged on the drone

Field name	Type	Unit/Values	Description
ac_id	uint8
fd	uint8	ALL, FLIGHT_RECORDER, PPRZLOG	where the message will be logged
msg	char[]

Ground Messages

NEW_AIRCRAFT (ID 1)

Field name	Type	Unit/Values	Description
ac_id	string

AIRCRAFT_DIE (ID 2)

Field name	Type	Unit/Values	Description
ac_id	string

AIRCRAFTS (ID 3)

Field name	Type	Unit/Values	Description
ac_list	string

AIRCRAFTS_REQ (ID 4)

message has no fields

SELECTED (ID 5)

Field name	Type	Unit/Values	Description
aircraft_id	string

SELECTED_REQ (ID 6)

message has no fields

WIND_CLEAR (ID 7)

Field name	Type	Unit/Values	Description
ac_id	string

WIND (ID 8)

Field name	Type	Unit/Values
ac_id	string
dir	float	deg_wind
wspeed	float	m/s
mean_aspeed	float	m/s
stddev	float	m/s

CONFIG_REQ (ID 9)

Field name	Type	Unit/Values	Description
ac_id	string

CONFIG (ID 10)

Field name	Type	Unit/Values
ac_id	string
flight_plan	string	url
airframe	string	url
radio	string	url
settings	string	url
default_gui_color	string
ac_name	string

FLIGHT_PARAM (ID 11)

Field name	Type	Unit/Values
ac_id	string
roll	float	deg
pitch	float	deg
heading	float	deg
lat	double	deg
long	double	deg
speed	float	m/s
course	float	deg
alt	float	m
climb	float	m/s
agl	float	m
unix_time	float	s (Unix time)
itow	uint32	ms
airspeed	float	m/s

AP_STATUS (ID 12)

Field name	Type	Unit/Values
ac_id	string
ap_mode	string	MANUAL, AUTO1, AUTO2, HOME, FAILSAFE
lat_mode	string	MANUAL, ROLL_RATE, ROLL, COURSE
horiz_mode	string	WAYPOINT, ROUTE, CIRCLE
gaz_mode	string	MANUAL, THROTTLE, CLIMB, ALT
gps_mode	string	NOFIX, NA, 2D, 3D, DGPS, RTK
kill_mode	string	OFF, ON
flight_time	uint32
state_filter_mode	string	UNKNOWN, INIT, ALIGN, OK, GPS_LOST, IMU_LOST, COV_ERR, IR_CONTRAST, ERROR

NAV_STATUS (ID 13)

Field name	Type	Unit/Values
ac_id	string
cur_block	uint8
cur_stage	uint8
block_time	uint32
stage_time	uint32
target_lat	double	deg
target_long	double	deg
target_climb	float	m/s
target_alt	float	m
target_course	float	deg
dist_to_wp	float	m

CAM_STATUS (ID 14)

Field name	Type	Unit/Values
ac_id	string
lats	string
longs	string
cam_target_lat	double	deg
cam_target_long	double	deg

ENGINE_STATUS (ID 15)

Field name	Type	Unit/Values
ac_id	string
throttle	float	%
throttle_accu	float
rpm	float	rpm
temp	float	C
bat	float	V
amp	float	A
charge	float	Ah

SVSINFO (ID 16)

Space Vehicle Information Mainly based on the NAV-SVINFO and NAV-SOL messages of the Ublox UBX protocol.

Field name	Type	Unit/Values	Description
ac_id	string
pacc	uint16	cm	3D Position Accuracy Estimate
svid	string		Satellite ID
flags	string		"flags" field of the UBX NAV-SVINFO message
qi	string	IDLE, SEARCH, SEARCH, UNUSABLE, CODELOCK, CARRIERLOCK, CARRIERLOCK, RECEIVING	Quality indicator
cno	string	dbHz	Carrier to Noise Ratio (Signal Strength)
elev	string	deg	Elevation
azim	string	deg	Azimut
msg_age	string	s

FLY_BY_WIRE (ID 17)

Field name	Type	Unit/Values
ac_id	string
rc_status	string	OK, LOST, REALLY_LOST
rc_mode	string	MANUAL, AUTO, FAILSAFE
rc_rate	uint8	Hz

INFLIGH_CALIB (ID 19)

Field name	Type	Unit/Values
ac_id	string
if_mode	string	OFF, DOWN, UP
if_value1	float
if_value2	float

WORLD_ENV (ID 20)

Field name	Type	Unit/Values
wind_east	float	m/s
wind_north	float	m/s
wind_up	float	m/s
ir_contrast	float
time_scale	float
gps_availability	uint8	OFF, ON

WORLD_ENV_REQ (ID 21)

Field name	Type	Unit/Values
lat	double	deg
long	double	deg
alt	float	m
east	float	m
north	float	m
up	float	m

CIRCLE_STATUS (ID 22)

Field name	Type	Unit/Values
ac_id	string
circle_lat	double	deg
circle_long	double	deg
radius	int16	m

SEGMENT_STATUS (ID 23)

Field name	Type	Unit/Values
ac_id	string
segment1_lat	double	deg
segment1_long	double	deg
segment2_lat	double	deg
segment2_long	double	deg

MOVE_WAYPOINT (ID 24)

Field name	Type	Unit/Values
ac_id	string
wp_id	uint8
lat	double	deg
long	double	deg
alt	float	m

GET_DL_SETTING (ID 25)

Field name	Type	Unit/Values	Description
ac_id	string
index	uint8

DL_SETTING (ID 26)

Field name	Type	Unit/Values	Description
ac_id	string
index	uint8
value	float

JUMP_TO_BLOCK (ID 27)

Field name	Type	Unit/Values	Description
ac_id	string
block_id	uint8

DL_VALUES (ID 28)

Field name	Type	Unit/Values	Description
ac_id	string
values	string

RAW_DATALINK (ID 29)

Field name	Type	Unit/Values	Description
ac_id	string
message	string

WAYPOINT_MOVED (ID 30)

Field name	Type	Unit/Values
ac_id	string
wp_id	uint8
lat	double	deg
long	double	deg
alt	float	m
ground_alt	float	m

SURVEY_STATUS (ID 31)

Field name	Type	Unit/Values
ac_id	string
east_long	double	deg
north_lat	double	deg
west_long	double	deg
south_lat	double	deg

TELEMETRY_STATUS (ID 32)

Datalink status reported by Server for the GCS Combines DATLINK_REPORT (telemetry class) and LINK_REPORT (ground class)

Field name	Type	Unit/Values
ac_id	string
link_id	string
time_since_last_msg	float	s
rx_bytes	uint32
rx_msgs	uint32
rx_bytes_rate	float	bytes/s
tx_msgs	uint32
uplink_lost_time	uint32	s
uplink_msgs	uint16
downlink_msgs	uint16
downlink_rate	uint16	bytes/s
ping_time	float	ms

TELEMETRY_ERROR (ID 33)

Report a telemetry error

Field name	Type	Unit/Values	Description
ac_id	string
message	string

TELEMETRY_MESSAGE (ID 34)

Encapsulated a telemetry class message (when using redundant link)

Field name	Type	Unit/Values	Description
ac_id	string
link_id	string
message	string

DATALINK_MESSAGE (ID 35)

Encapsulated a datalink class message (when using redundant link)

Field name	Type	Unit/Values	Description
ac_id	string
link_id	string
message	string

LINK_REPORT (ID 36)

Datalink status reported by Link for the Server

Field name	Type	Unit/Values
ac_id	string
link_id	string
run_time	uint32	s
rx_lost_time	uint32	s
rx_bytes	uint32
rx_msgs	uint32
rx_err	uint32
rx_bytes_rate	float	bytes/s
rx_msgs_rate	float	msgs/s
tx_msgs	uint32
ping_time	float	ms

INTRUDER (ID 37)

Field name	Type	Unit/Values	Description
id	string
name	string
lat	int32	1e7deg
lon	int32	1e7deg
alt	int32	mm	altitude above WGS84 reference ellipsoid
course	float	deg
speed	float	m/s
climb	float	m/s
itow	uint32	ms

SHAPE (ID 38)

The SHAPE message used to draw shapes onto the Paparazzi GCS. Field name shape is used to define the type of shape i.e. Circle, Polygon, Line, or Text. This is indexed from 0-3 respectively.

Each shape drawn must have an id number associated with it. This id number in conjuction with the shapetype will be needed to update or delete the shape. A circle can be defined with the same id as a polygon but since they have different shape types they are considered unique.

linecolor and fillcolor take in a color string ie: "red", "blue"

opacity will change the level of transparency of the fill. 0 - Transparent 1 - Light Fill 2 - Medium Fill 3 - Opaque

Passing a status of 0 will create or update the shape specified by id and type. Passing a status of 1 will delete the shape specified by id and type.

latarr is an array of coordinates that contain the latitude coordinate for each point in the shape. The array is comma separated. lonarr is similar to latarr but contain the longitude coordinate for each point in the shape.

Circle and Text type will take the first coordinates given to place the shape. Polygon will take all the coordinates given. Line will take the first two coordinates given.

Radius is only used for the circle.

Text will always be populated with each message using the first set of coordinates. The text field can not be blank or have spaces. If text is not desired for a shape then pass "NULL" into the text field.

Field name	Type	Unit/Values
id	uint8
linecolor	string
fillcolor	string
opacity	uint8	Transparent, Light, Medium, Opaque
shape	uint8	Circle, Polygon, Line
status	uint8	create, delete
latarr	int32[]	1e7deg
lonarr	int32[]	1e7deg
radius	float	m
text	string

DL_EMERGENCY_CMD (ID 39)

Field name	Type	Unit/Values	Description
ac_id	string
cmd	uint8	KILL, STANDBY, LAND

GROUND_REF (ID 40)

Ground reference provided by an external positioning system for instance

Field name	Type	Unit/Values	Description
ac_id	string		Aircraft ID
frame	string	LLA, ECEF, UTM, LTP_NED, LTP_ENU	position reference frame
pos	float[3]	SI (m or deg)	position in selected frame
speed	float[3]	m/s	speed in selected frame (LTP_NED in case of LLA frame)
quat	float[4]		Unitary quaternion representing LTP to BODY orientation (qi, qx, qy, qz)
rate	float[3]	rad/s	Rotation speeds in body frame
timestamp	float	s	Timestamp

JOYSTICK (ID 41)

Generic 4 axis and 4 buttons joystick or joypad. This message can be provided by the 'input2ivy' tool for other ground agents. Standard joystick axis values are on 16 bits signed integers, but tools like 'input2ivy' may scale them on int8 type.

Field name	Type	Unit/Values	Description
id	uint8		Joystick ID
axis1	int16		axis 1 position
axis2	int16		axis 2 position
axis3	int16		axis 3 position
axis4	int16		axis 4 position
button1	uint8	bool	button 1 status
button2	uint8	bool	button 2 status
button3	uint8	bool	button 3 status
button4	uint8	bool	button 4 status

PLUMES (ID 100)

Field name	Type	Unit/Values	Description
ids	string
lats	string
longs	string
values	string

INFO_MSG_GROUND (ID 101)

Message from ground to be logged on the drone or send to other ground agents

Field name | Type | Unit/Values | Description | --------—|---—|----------—|----------—| dest | string | | ac_id:file_descriptor | ground_name | 0 (ground broadcast) | 0xFF (broadcast) | source | string | | ground_name of the agent sending the message | msg | string | | |

Alert Messages

BAT_LOW (ID 1)

Field name	Type	Unit/Values
ac_id	string
level	string	CATASTROPHIC, CRITIC, WARNING
value	float

AIR_PROX (ID 2)

Field name	Type	Unit/Values	Description
ac_id	string
level	string	CATASTROPHIC, CRITIC, WARNING

Intermcu Messages

IMCU_COMMANDS (ID 1)

Field name	Type	Unit/Values	Description
status	uint8
values	int16[]

IMCU_RADIO_COMMANDS (ID 2)

Field name	Type	Unit/Values	Description
status	uint8
values	int16[]

IMCU_SPEKTRUM_SOFT_BIND (ID 3)

message has no fields

IMCU_FBW_STATUS (ID 4)

Field name	Type	Unit/Values
mode	uint8	MANUAL, AUTO, FAILSAFE
rc_status	uint8	OK, LOST, REALLY_LOST
frame_rate	uint8	Hz
vsupply	float	V
current	float	A

IMCU_REMOTE_MAG (ID 10)

Field name	Type	Description
mag_x	int16	RAW Magnetometer Data
mag_y	int16
mag_z	int16

IMCU_REMOTE_BARO (ID 11)

Field name	Type	Unit/Values	Description
pitot_stat	float	Pa	Static Barometric Pressure in Pascal
pitot_temp	float	C	Pressure Sensor Temperature

IMCU_REMOTE_AIRSPEED (ID 12)

Field name	Type	Unit/Values	Description
pitot_IAS	float	m/s	Indicated Airspeed

IMCU_REMOTE_GROUND (ID 15)

Field name	Type	Unit/Values	Description
mode	uint8	SWITCH, SONAR, LASER, INFRARED
id	uint8		Sensor ID
range	uint16	cm

IMCU_REMOTE_GPS (ID 62)

Field name	Type	Unit/Values	Description
ecef_x	int32	cm
ecef_y	int32	cm
ecef_z	int32	cm
alt	int32	mm	altitude above WGS84 reference ellipsoid
hmsl	int32	mm	height above mean sea level (geoid)
ecef_xd	int32	cm/s
ecef_yd	int32	cm/s
ecef_zd	int32	cm/s
course	int32
gspeed	uint16	cm/s
pacc	uint32	cm
sacc	uint32	cm/s
numsv	uint8
fix	uint8	NONE, NA, 2D, 3D, DGPS, RTK

STEREOCAM_ARRAY (ID 80)

Raw data fromt the stereocamera. Type defines what kind of data it is. This can be raw image, disparity map, obstacle histogram, ect.

Field name	Type	Unit/Values	Description
type	uint8	DIST_MATRIX, HISTOGRAM, DISPARITY_MAP, RAW
width	uint8		array size parameters
height	uint8
package_nb	uint8		If the data being sent is too large for one message (e.g when sending a full image) this will indicate which package of the total data is contained in this message
image_data	uint8[]

STEREOCAM_VELOCITY (ID 81)

Velocity measured using optical flow and stereovision. All parameters are in the camera frame

Field name	Type	Unit/Values	Description
resolution	uint8		Resolution of the vel and pos messages
dt_frame	uint8		Time difference to previous frame
dt	uint8		Time difference to previous message, not strictly required
velx	int16	m/s	Velocity estimaed using stereo edgeflow
vely	int16	m/s
velz	int16	m/s
dposx	int16	m	Distance traveled since the last message
dposy	int16	m
dposz	int16	m
vRMS	uint8		RMS of the velocity estimate
posRMS	uint8		RMS of the position
avg_dist	uint16		Average distance to scene

STEREOCAM_STATE (ID 82)

Estimated state of the camera. As the stereocamera has no inertial sensors, this data should be sent to the stereocamera to enable onboard derotation of the optical flow

Field name	Type	Unit/Values	Description
phi	float	rad	Pitch, roll and yaw angles of the camera
theta	float	rad
psi	float	rad
agl	float	m	Altitude above the ground. If not looking down, set to 0

STEREOCAM_FOLLOW_ME (ID 83)

Field name	Type	Unit/Values	Description
headingToFollow	uint8
heightObject	uint8
distanceToObject	uint8

IMCU_DATALINK (ID 113)

Forward FBW datalink to AP

Field name	Type	Unit/Values	Description
msg	uint8[]

IMCU_TELEMETRY (ID 114)

Forward AP telemetry to FBW

Field name	Type	Unit/Values	Description
msg	uint8[]

IMCU_DEBUG (ID 115)

Field name	Type	Unit/Values	Description
msg	uint8[]

IMCU_PAYLOAD (ID 116)

Field name	Type	Unit/Values	Description
data	uint8[]

Table of Contents

Telemetry Messages

AUTOPILOT_VERSION (ID 1)

ALIVE (ID 2)

PONG (ID 3)

TAKEOFF (ID 4)

ARDRONE_NAVDATA (ID 5)

ATTITUDE (ID 6)

GPS (ID 8)

NAVIGATION_REF (ID 9)

NAVIGATION (ID 10)

PPRZ_MODE (ID 11)

ENERGY (ID 12)

CALIBRATION (ID 14)

SETTINGS (ID 15)

DESIRED (ID 16)

GPS_SOL (ID 17)

ADC_GENERIC (ID 18)

POWER_DEVICE (ID 19)

CAM (ID 20)

CIRCLE (ID 21)

SEGMENT (ID 22)

VECTORNAV_INFO (ID 23)

HYBRID_GUIDANCE (ID 24)

SVINFO (ID 25)

DEBUG (ID 26)

SURVEY (ID 27)

RSSI (ID 28)

RANGEFINDER (ID 29)

DATALINK_REPORT (ID 30)

DL_VALUE (ID 31)

MARK (ID 32)

SYS_MON (ID 33)

MOTOR (ID 34)

WP_MOVED (ID 35)

MKK (ID 36)

GUIDANCE_INDI_HYBRID (ID 37)

DRAGSPEED (ID 38)

RSSI_COMBINED (ID 39)

DCF (ID 40)

ALT_KALMAN (ID 41)

ESTIMATOR (ID 42)

TUNE_ROLL (ID 43)

BARO_MS5534A (ID 44)

CHIRP (ID 45)

EXTERNAL_POSE_DOWN (ID 46)

WP_MOVED_LLA (ID 47)

RLFILTER (ID 48)

WP_MOVED_ENU (ID 49)

WINDTURBINE_STATUS_ (ID 50)

MPPT (ID 52)

DEBUG_VECT (ID 53)

AIRSPEED (ID 54)

METEO_STICK (ID 55)

BARO_ETS (ID 56)

VISION_OUTBACK (ID 58)

GPS_LLA (ID 59)

H_CTL_A (ID 60)

CLOUD_SENSOR (ID 61)

TURB_PRESSURE_VOLTAGE (ID 62)

CAM_POINT (ID 63)

DC_INFO (ID 64)

AMSYS_BARO (ID 65)

AMSYS_AIRSPEED (ID 66)

FLIGHT_BENCHMARK (ID 67)

MPL3115_BARO (ID 68)

AOA (ID 69)

XTEND_RSSI (ID 70)

GVF (ID 71)

SUPERBITRF (ID 72)

GX3_INFO (ID 73)

UBLOX_INFO (ID 74)

GVF_PARAMETRIC (ID 75)

BODY_RATES_ACCEL (ID 76)

SWARM_FISH (ID 77)

INV_FILTER (ID 78)

MISSION_STATUS (ID 79)

JEVOIS (ID 80)

GENERIC_COM (ID 81)

FORMATION_SLOT_TM (ID 82)