These are the common messages. Also see http://wiki.paparazziuav.org/wiki/Telemetry and http://wiki.paparazziuav.org/wiki/Messages_Format
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 | Description |
| phi | float | rad | |
| psi | float | rad | |
| theta | float | rad | |
IR_SENSORS (ID 7)
| Field name | Type | Unit/Values | Description |
| ir1 | int16 | | |
| ir2 | int16 | | |
| longitudinal | int16 | | |
| lateral | int16 | | |
| vertical | int16 | | |
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 | Description |
| utm_east | int32 | m | |
| utm_north | int32 | m | |
| utm_zone | uint8 | | |
| ground_alt | float | m | |
NAVIGATION (ID 10)
| Field name | Type | Unit/Values | Description |
| cur_block | uint8 | | |
| cur_stage | uint8 | | |
| pos_x | float | m | |
| pos_y | float | m | |
| dist_wp | float | m | |
| dist_home | float | m | |
| circle_count | uint8 | | |
| oval_count | uint8 | | |
PPRZ_MODE (ID 11)
| Field name | Type | Unit/Values | Description |
| 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 | |
BAT (ID 12)
| Field name | Type | Unit/Values | Description |
| throttle | int16 | pprz | |
| voltage | uint16 | 1e-1V | |
| amps | int16 | 1e-2A | |
| flight_time | uint16 | s | |
| kill_auto_throttle | uint8 | bool | |
| block_time | uint16 | s | |
| stage_time | uint16 | s | |
| energy | int16 | mAh | |
DEBUG_MCU_LINK (ID 13)
| Field name | Type | Unit/Values | Description |
| i2c_nb_err | uint8 | | |
| i2c_mcu1_nb_err | uint8 | | |
| ppm_rate | uint8 | | |
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 | Description |
| 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 | Description |
| 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 | | |
ECU (ID 19)
| Field name | Type | Unit/Values | Description |
| stg_in | uint8 | bool | |
| stb_in | uint8 | bool | |
| ain1 | float | V | |
| ain2 | float | V | |
| ain3 | float | V | |
| ain4 | float | V | |
CAM (ID 20)
| Field name | Type | Unit/Values | Description |
| phi | int16 | deg | |
| theta | int16 | deg | |
| target_x | int16 | m | |
| target_y | int16 | m | |
CIRCLE (ID 21)
| Field name | Type | Unit/Values | Description |
| center_east | float | m | |
| center_north | float | m | |
| radius | float | m | |
SEGMENT (ID 22)
| Field name | Type | Unit/Values | Description |
| 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 | Description |
| 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 | Description |
| 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 | Description |
| 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 | Description |
| 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 | Description |
| 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 | Description |
| ac_id | uint8 | | |
| lat | float | deg | |
| long | float | deg | |
SYS_MON (ID 33)
| Field name | Type | Unit/Values | Description |
| 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 | int32 | mA | |
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 | Description |
| nr | uint8 | | |
| rpm | uint8 | Poles/s | |
| current | uint8 | mA | |
| temp | int8 | deg | |
ENERGY (ID 37)
| Field name | Type | Unit/Values | Description |
| bat | float | V | |
| amp | float | A | |
| energy | uint16 | mAh | |
| power | float | W | |
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 | Description |
| pressure | uint32 | P | |
| temp | uint16 | dC | |
| alt | float | m | |
BARO_WORDS (ID 46)
| Field name | Type | Unit/Values | Description |
| w1 | uint16 | | |
| w2 | uint16 | | |
| w3 | uint16 | | |
| w4 | uint16 | | |
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) |
WP_MOVED_ENU (ID 49)
| Field name | Type | Unit/Values | Description |
| wp_id | uint8 | | |
| east | int32 | 2^8m | |
| north | int32 | 2^8m | |
| up | int32 | 2^8m | |
WINDTURBINE_STATUS_ (ID 50)
| Field name | Type | Unit/Values | Description |
| ac_id | uint8 | | |
| tb_id | uint8 | | |
| sync_itow | uint32 | ms | |
| cycle_time | uint32 | ms | |
RC_3CH_ (ID 51)
| Field name | Type | Unit/Values | Description |
| throttle_mode | uint8 | byte_mask | |
| roll | int8 | | |
| pitch | int8 | | |
MPPT (ID 52)
| Field name | Type | Unit/Values | Description |
| values | int16[] | | |
DEBUG_IR_I2C (ID 53)
| Field name | Type | Unit/Values | Description |
| ir1 | int16 | adc | |
| ir2 | int16 | adc | |
| top | int16 | adc | |
AIRSPEED (ID 54)
| Field name | Type | Unit/Values | Description |
| airspeed | float | m/s | |
| airspeed_sp | float | m/s | |
| airspeed_cnt | float | m/s | |
| groundspeed_sp | float | m/s | |
BARO_ETS (ID 56)
| Field name | Type | Unit/Values | Description |
| adc | uint16 | | |
| offset | uint16 | | |
| scaled | float | | |
AIRSPEED_ETS (ID 57)
| Field name | Type | Unit/Values | Description |
| adc | uint16 | | |
| offset | uint16 | | |
| scaled | 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 | Description |
| 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 | |
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 | Description |
| 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 | Description |
| 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 | Description |
| 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 | Description |
| 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 | Description |
| 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 | Description |
| 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 | Description |
| GX3_freq | float | hz | |
| chksm_error | uint32 | | |
| hdr_error | uint32 | | |
| GX3_chksm | uint16 | | |
INV_FILTER (ID 78)
| Field name | Type | Unit/Values | Description |
| 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[] | | |
GENERIC_COM (ID 81)
| Field name | Type | Unit/Values | Description |
| lat | int32 | 1e7deg | |
| lon | int32 | 1e7deg | |
| alt | int16 | m | |
| gspeed | uint16 | cm/s | |
| course | int16 | decideg | |
| airspeed | uint16 | cm/s | |
| vsupply | uint8 | decivolt | |
| energy | uint8 | deciAh | |
| throttle | uint8 | % | |
| ap_mode | uint8 | | |
| nav_block | uint8 | | |
| flight_time | uint16 | s | |
FORMATION_SLOT_TM (ID 82)
| Field name | Type | Unit/Values | Description |
| 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 | Description |
| UP | int32 | | |
| UT | int32 | | |
| press | int32 | Pa | |
| temp | int32 | 10x_deg_celsius | |
MLX_STATUS (ID 85)
| Field name | Type | Unit/Values | Description |
| 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 | Description |
| ihumid | uint16 | | |
| itemp | uint16 | | |
| humid | float | rel_hum | |
| temp | float | deg_celsius | |
ENOSE_STATUS (ID 90)
| Field name | Type | Unit/Values | Description |
| val1 | uint16 | | |
| val2 | uint16 | | |
| val3 | uint16 | | |
| PID | uint16 | | |
| heat | uint8[] | | |
DPICCO_STATUS (ID 91)
| Field name | Type | Unit/Values | Description |
| 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 |
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 | | |
HIH_STATUS (ID 96)
| Field name | Type | Unit/Values | Description |
| 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 | Description |
| rc_status | uint8 | OK, LOST, REALLY_LOST | |
| frame_rate | uint8 | Hz | |
| mode | uint8 | MANUAL, AUTO, FAILSAFE | |
| vsupply | uint16 | decivolt | |
| current | int32 | mA | |
ADC (ID 104)
| Field name | Type | Unit/Values | Description |
| mcu | uint8 | FBW, AP | |
| values | uint16[] | none | |
ACTUATORS (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 | Description |
| ihumid | uint16 | | |
| itemp | uint16 | | |
| humid | float | rel_hum | |
| temp | float | deg_celsius | |
BARO_MS5611 (ID 116)
| Field name | Type | Unit/Values | Description |
| 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 | Description |
| 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 |
| gp | int32 | | |
| gq | int32 | | |
| gr | int32 | | |
IMU_ACCEL_SCALED (ID 132)
| Field name | Type | Unit/Values | Description |
| ax | int32 | | |
| ay | int32 | | |
| az | int32 | | |
IMU_MAG_SCALED (ID 133)
| Field name | Type | Unit/Values | Description |
| mx | int32 | | |
| my | int32 | | |
| mz | int32 | | |
FILTER (ID 134)
| Field name | Type | Unit/Values | Description |
| 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 | |
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 | Description |
| 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_MS45XX (ID 138)
| Field name | Type | Unit/Values | Description |
| diffPress | float | Pa | |
| temperature | int16 | 0.1 deg_celcius | |
| airspeed | float | m/s | |
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 | Description |
| 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 | Description |
| 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 | Description |
| 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 | Description |
| baro_z | float | m | |
| ins_z | int32 | | |
| ins_zd | int32 | | |
| ins_zdd | int32 | | |
PCAP01_STATUS (ID 152)
| Field name | Type | Unit/Values | Description |
| ihumid | uint32 | | |
| itemp | uint32 | | |
| humid | float | rel_hum | |
| temp | float | deg_celsius | |
GEIGER_COUNTER (ID 153)
| Field name | Type | Unit/Values | Description |
| tube1 | uint32 | events | |
| tube2 | uint32 | events | |
| vsupply | uint16 | volts | |
INS_REF (ID 154)
| Field name | Type | Unit/Values | Description |
| 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 | Description |
| 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 | Description |
| 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 | |
ROTORCRAFT_NAV_STATUS (ID 159)
| Field name | Type | Unit/Values | Description |
| 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 | Description |
| 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 | | |
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 | Description |
| 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 | | |
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 | | |
HFF_GPS (ID 166)
| Field name | Type | Unit/Values | Description |
| lag_cnt | uint16 | | |
| lag_cnt_err | int16 | | |
| save_cnt | int16 | | |
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 | | |
AHRS_EULER (ID 173)
| Field name | Type | Unit/Values | Description |
| 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 | Description |
| 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 | Description |
| 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 | Description |
| 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 | | |
AHRS_LKF (ID 193)
| Field name | Type | Unit/Values | Description |
| 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 | | |
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 | | |
IMU_GYRO (ID 200)
| Field name | Type | Unit/Values | Description |
| gp | float | rad/s | |
| gq | float | rad/s | |
| gr | float | rad/s | |
IMU_MAG (ID 201)
| Field name | Type | Unit/Values | Description |
| mx | float | | |
| my | float | | |
| mz | float | | |
IMU_ACCEL (ID 202)
| Field name | Type | Unit/Values | Description |
| 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 | Description |
| gp | int32 | adc | |
| gq | int32 | adc | |
| gr | int32 | adc | |
IMU_ACCEL_RAW (ID 204)
| Field name | Type | Unit/Values | Description |
| ax | int32 | adc | |
| ay | int32 | adc | |
| az | int32 | adc | |
IMU_MAG_RAW (ID 205)
| Field name | Type | Unit/Values | Description |
| 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 | Description |
| mx | int32 | adc | |
| my | int32 | adc | |
| mz | int32 | adc | |
| electrical_current | int32 | mA | |
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 | Description |
| 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 | |
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 | Description |
| 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_INDI (ID 216)
| Field name | Type | Unit/Values | Description |
| angular_accel_p | float | | |
| angular_accel_q | float | | |
| angular_accel_r | float | | |
| angular_accel_ref_p | float | | |
| angular_accel_ref_q | float | | |
| angular_accel_ref_r | float | | |
| g1_p | float | | |
| g1_q | float | | |
| g1_r | float | | |
| g2_r | float | | |
ROTORCRAFT_FP_MIN (ID 217)
Minimalistic message to track Rotorcraft over very low bandwidth links
| Field name | Type | Unit/Values | Description |
| east | int32 | | |
| north | int32 | | |
| up | int32 | | |
| gspeed | uint16 | cm/s | |
BEBOP_ACTUATORS (ID 218)
| Field name | Type | Unit/Values | Description |
| 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 | Description |
| 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 | Unit/Values | 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) |
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 | Description |
| 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 | |
| div_size | float | 1/s | |
| surface_roughness | float | 1/s | |
| divergence | float | 1/s | |
STEREO_IMG (ID 229)
| Field name | Type | Unit/Values | Description |
| type | uint8 | DIST_MATRIX, HISTOGRAM, DISPARITY_MAP, RAW | |
| width | uint8 | | |
| height | uint8 | | |
| package_nb | uint8 | | |
| image_data | uint8[] | | |
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 | |
| ap_h_mode | uint8 | KILL, RATE, ATTITUDE, HOVER, NAV, RC_DIRECT, CF, FORWARD, MODULE, FLIP, GUIDED | |
| ap_v_mode | uint8 | KILL, RC_DIRECT, RC_CLIMB, CLIMB, HOVER, NAV, MODULE, FLIP, GUIDED | |
| vsupply | uint16 | decivolt | |
| cpu_time | uint16 | s | |
STATE_FILTER_STATUS (ID 232)
| Field name | Type | Unit/Values | Description |
| id | uint8 | | |
| state_filter_mode | uint8 | UNKNOWN, INIT, ALIGN, OK, GPS_LOST, IMU_LOST, COV_ERR, IR_CONTRAST, ERROR | |
| value | uint16 | | |
PX4FLOW (ID 233)
| Field name | Type | Unit/Values | Description |
| time_sec | float | s | |
| sensor_id | uint8 | | |
| flow_x | int16 | | |
| flow_y | int16 | | |
| flow_comp_m_x | float | m | |
| flow_comp_m_y | float | m | |
| quality | uint8 | | |
| ground_distance | float | m | |
LIDAR (ID 234)
| Field name | Type | Unit/Values | Description |
| distance | float | m | |
| status | uint8 | INIT, REQ, READ, PARSE | |
| trans_status | uint8 | Pending, Running, Success, Failed, Done | |
VISUALTARGET (ID 235)
| Field name | Type | Unit/Values | Description |
| x | uint16 | | |
| y | uint16 | | |
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 | Description |
| 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 | |
NPS_SPEED_POS (ID 240)
| Field name | Type | Unit/Values | Description |
| 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 | Description |
| 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 | Description |
| bp | float | deg/s | |
| bq | float | deg/s | |
| br | float | deg/s | |
NPS_WIND (ID 244)
| Field name | Type | Unit/Values | Description |
| 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 |
| 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 | Heap free memory |
| 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 |
INDI_G (ID 250)
| Field name | Type | Unit/Values | Description |
| G1_roll | float[] | none | |
| G1_pitch | float[] | none | |
| G1_yaw | float[] | none | |
| G1_thrust | float[] | none | |
| G2 | float[] | none | |
GPS_RTK (ID 251)
| Field name | Type | Unit/Values | Description |
| iTOW | uint32 | ms | |
| refStationId | uint16 | | |
| relPosN | int32 | cm | |
| relPosE | int32 | cm | |
| relPosD | int32 | cm | |
| relPosHPN | int8 | mm | |
| relPosHPE | int8 | mm | |
| relPosHPD | int8 | mm | |
| accN | uint32 | mm | |
| accE | uint32 | mm | |
| accD | uint32 | mm | |
| carrSoln | uint8 | NONE, RTK FLOAT, RTK FIX | |
| relPosValid | uint8 | FALSE, TRUE | |
| diffSoln | uint8 | NONE, DGPS | |
| gnssFixOK | uint8 | NONE, 3D | |
GPS_RXMRTCM (ID 249)
| Field name | Type | Unit/Values | Description |
| Msg1005 | uint32 | | |
| Msg1077 | uint32 | | |
| Msg1087 | uint32 | | |
| Crc1005 | uint32 | | |
| Crc1077 | uint32 | | |
| Crc1087 | uint32 | | |
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 | | |
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 | | |
HITL_UBX (ID 6)
| Field name | Type | Unit/Values | Description |
| class | uint8 | | |
| id | uint8 | | |
| ac_id | uint8 | | |
| ubx_payload | uint8[] | | |
HITL_INFRARED (ID 7)
| Field name | Type | Unit/Values | Description |
| roll | int16 | | |
| pitch | int16 | | |
| top | int16 | | |
| ac_id | uint8 | | |
PING (ID 8)
message has no fields
FORMATION_SLOT (ID 9)
| Field name | Type | Unit/Values | Description |
| 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)
| Field name | Type | Unit/Values | Description |
| ac_id | uint8 | | |
| roll | int8 | | |
| pitch | int8 | | |
| throttle | int8 | | |
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 | | |
GET_SETTING (ID 16)
| Field name | Type | Unit/Values | Description |
| index | uint8 | | |
| ac_id | uint8 | | |
TCAS_RESOLVE (ID 17)
| Field name | Type | Unit/Values | Description |
| 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_SURVEY (ID 28)
| Field name | Type | Unit/Values | Description |
| ac_id | uint8 | | |
| insert | uint8 | APPEND, PREPEND, REPLACE_CURRENT, REPLACE_ALL | |
| survey_east_1 | float | m | |
| survey_north_1 | float | m | |
| survey_east_2 | float | m | |
| survey_north_2 | float | m | |
| survey_alt | float | m | altitude above geoid (MSL) |
| duration | float | s | |
| index | uint8 | | |
MISSION_SURVEY_LLA (ID 29)
| Field name | Type | Unit/Values | Description |
| ac_id | uint8 | | |
| insert | uint8 | APPEND, PREPEND, REPLACE_CURRENT, REPLACE_ALL | |
| survey_lat_1 | int32 | 1e7deg | |
| survey_lon_1 | int32 | 1e7deg | |
| survey_lat_2 | int32 | 1e7deg | |
| survey_lon_2 | int32 | 1e7deg | |
| survey_alt | int32 | mm | altitude above geoid (MSL) |
| duration | float | s | |
| index | uint8 | | |
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 | Description |
| ac_id | uint8 | | |
| tb_id | uint8 | | |
| sync_itow | uint32 | ms | |
| cycle_time | uint32 | ms | |
RC_3CH (ID 51)
| Field name | Type | Unit/Values | Description |
| throttle_mode | uint8 | byte_mask | |
| roll | int8 | | |
| pitch | int8 | | |
RC_4CH (ID 52)
| Field name | Type | Unit/Values | Description |
| ac_id | uint8 | | |
| mode | uint8 | | |
| throttle | uint8 | | |
| roll | int8 | | |
| pitch | int8 | | |
| yaw | int8 | | |
RC_5CH (ID 53)
| Field name | Type | Unit/Values | Description |
| ac_id | uint8 | | |
| throttle | uint8 | | |
| roll | int8 | | |
| pitch | int8 | | |
| yaw | int8 | | |
| mode | int8 | | |
| kill | int8 | | |
REMOTE_GPS_SMALL (ID 54)
| Field name | Type | Unit/Values | Description |
| heading | int16 | 1e4rad | |
| pos_xyz | uint32 | | bits 31-21 east position [cm] : bits 20-10 north position [cm] : bits 9-0 up position [cm] |
| speed_xyz | uint32 | | bits 31-21 east speed [cm/s] : bits 20-10 north speed [cm/s] : bits 9-0 climb speed [cm/s] |
| tow | uint32 | ms | |
| ac_id | uint8 | | |
REMOTE_GPS (ID 55)
| Field name | Type | Unit/Values | Description |
| ac_id | uint8 | | |
| numsv | uint8 | | |
| ecef_x | int32 | cm | |
| ecef_y | int32 | cm | |
| ecef_z | int32 | cm | |
| lat | int32 | 1e7deg | |
| lon | int32 | 1e7deg | |
| alt | int32 | mm | Height 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 | |
| tow | uint32 | | |
| course | int32 | | |
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 | Description |
| 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 | Description |
| 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 | Unit/Values | 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[] | | |
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 | Description |
| 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 | Description |
| 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 | Description |
| ac_id | string | | |
| roll | float | deg | |
| pitch | float | deg | |
| heading | float | deg | |
| lat | float | deg | |
| long | float | 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 | Description |
| 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 | Description |
| ac_id | string | | |
| cur_block | uint8 | | |
| cur_stage | uint8 | | |
| block_time | uint32 | | |
| stage_time | uint32 | | |
| target_lat | float | deg | |
| target_long | float | 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 | Description |
| ac_id | string | | |
| cam_lat | float | deg | |
| cam_long | float | deg | |
| cam_target_lat | float | deg | |
| cam_target_long | float | deg | |
ENGINE_STATUS (ID 15)
| Field name | Type | Unit/Values | Description |
| ac_id | string | | |
| throttle | float | % | |
| throttle_accu | float | | |
| rpm | float | rpm | |
| temp | float | celcius | |
| bat | float | V | |
| amp | float | A | |
| energy | uint16 | Wh | |
SVSINFO (ID 16)
| Field name | Type | Unit/Values | Description |
| ac_id | string | | |
| pacc | uint16 | cm | |
| svid | string | | |
| flags | string | | |
| qi | string | IDLE, SEARCH, SEARCH, UNUSABLE, CODELOCK, CARRIERLOCK, CARRIERLOCK, RECEIVING | |
| cno | string | dbHz | |
| elev | string | deg | |
| azim | string | deg | |
| msg_age | string | s | |
FLY_BY_WIRE (ID 17)
| Field name | Type | Unit/Values | Description |
| 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 | Description |
| ac_id | string | | |
| if_mode | string | OFF, DOWN, UP | |
| if_value1 | float | | |
| if_value2 | float | | |
WORLD_ENV (ID 20)
| Field name | Type | Unit/Values | Description |
| 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 | Description |
| lat | float | deg | |
| long | float | deg | |
| alt | float | m | |
| east | float | m | |
| north | float | m | |
| up | float | m | |
CIRCLE_STATUS (ID 22)
| Field name | Type | Unit/Values | Description |
| ac_id | string | | |
| circle_lat | float | deg | |
| circle_long | float | deg | |
| radius | int16 | m | |
SEGMENT_STATUS (ID 23)
| Field name | Type | Unit/Values | Description |
| ac_id | string | | |
| segment1_lat | float | deg | |
| segment1_long | float | deg | |
| segment2_lat | float | deg | |
| segment2_long | float | deg | |
MOVE_WAYPOINT (ID 24)
| Field name | Type | Unit/Values | Description |
| ac_id | string | | |
| wp_id | uint8 | | |
| lat | float | deg | |
| long | float | 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 | Description |
| ac_id | string | | |
| wp_id | uint8 | | |
| lat | float | deg | |
| long | float | deg | |
| alt | float | m | |
| ground_alt | float | m | |
SURVEY_STATUS (ID 31)
| Field name | Type | Unit/Values | Description |
| ac_id | string | | |
| east_long | float | deg | |
| north_lat | float | deg | |
| west_long | float | deg | |
| south_lat | float | 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 | Description |
| 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 | Description |
| 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 | Description |
| 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 | |
PLUMES (ID 100)
| Field name | Type | Unit/Values | Description |
| ids | string | | |
| lats | string | | |
| longs | string | | |
| values | string | | |
Alert Messages
BAT_LOW (ID 1)
| Field name | Type | Unit/Values | Description |
| 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 | Description |
| mode | uint8 | MANUAL, AUTO, FAILSAFE | |
| rc_status | uint8 | OK, LOST, REALLY_LOST | |
| frame_rate | uint8 | Hz | |
| vsupply | uint16 | decivolt | |
| current | int32 | mA | |
IMCU_REMOTE_MAG (ID 10)
| Field name | Type | Unit/Values | 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)
| Field name | Type | Unit/Values | Description |
| msg_id | uint8 | | |
| 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[] | | |
1.8.8 
