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

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
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
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

BAT (ID 12)

Field name	Type	Unit/Values
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
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

TEST_FORMAT (ID 19)

Field name	Type	Unit/Values	Description
val1	double
val2	float

CAM (ID 20)

Field name	Type	Unit/Values
phi	int16	deg
theta	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	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
nr	uint8
rpm	uint8	Poles/s
current	uint8	mA
temp	int8	deg

ENERGY (ID 37)

Field name	Type	Unit/Values
bat	float	V
amp	float	A
energy	uint16	mAh
power	float	W

BARO_BMP85_CALIB (ID 38)

Field name	Type	Unit/Values	Description
a1	int16
a2	int16
a3	int16
a4	uint16
a5	uint16
a6	uint16
b1	int16
b2	int16
mb	int16
mc	int16
md	int16

BARO_BMP85 (ID 39)

Field name	Type	Unit/Values	Description
UT	int32
UP	int32
P	uint32
T	float
MSL	float

SPEED_LOOP (ID 40)

Field name	Type	Unit/Values
ve_set_point	float	m/s
ve	float	m/s
vn_set_point	float	m/s
vn	float	m/s
north_sp	float	rad
east_sp	float	rad

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

PRESSURE (ID 45)

Field name	Type	Unit/Values
airspeed_adc	float
airspeed	float	m/s
altitude_adc	float
altitude	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)

CHRONO (ID 48)

Field name	Type	Unit/Values	Description
tag	uint8
time	uint32	us

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

RC_3CH_ (ID 51)

Field name	Type	Unit/Values
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
ir1	int16	adc
ir2	int16	adc
top	int16	adc

AIRSPEED (ID 54)

Field name	Type	Unit/Values
airspeed	float	m/s
airspeed_sp	float	m/s
airspeed_cnt	float	m/s
groundspeed_sp	float	m/s

XSENS (ID 55)

Field name	Type	Unit/Values
counter	int16
p	float	deg/s
q	float	deg/s
r	float	deg/s
phi	float	deg
theta	float	deg
psi	float	deg
ax	float	m/s2
ay	float	m/s2
az	float	m/s2
vx	float	m/s
vy	float	m/s
vz	float	m/s
lat	float	deg
lon	float	deg
alt	float	m
status	uint8
hour	uint8
min	uint8
sec	uint8
nanosec	uint32
year	uint16
month	uint8
day	uint8

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

PBN (ID 58)

Field name	Type	Unit/Values	Description
airspeed_adc	uint16
altitude_adc	uint16
airspeed	float
altitude	float
airspeed_offset	uint16
altitude_offset	uint16

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

TURB_PRESSURE_RAW (ID 61)

Field name	Type	Unit/Values
ch_0	int32	adc
ch_1	int32	adc
ch_2	int32	adc
ch_3	int32	adc
ch_4	int32	adc
ch_5	int32	adc
ch_6	int32	adc
ch_7	int32	adc
ch_8	int32	adc
ch_9	int32	adc
ch_10	int32	adc
ch_11	int32	adc
ch_12	int32	adc
ch_13	int32	adc
ch_14	int32	adc
ch_15	int32	adc

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	%

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

EXPLAIN (ID 74)

Field name	Type	Unit/Values
type	uint8	NAME, SETTING, WAYPOINT, BLOCK, IMAV2013
id	uint8
string	uint8[]

VIDEO_TELEMETRY (ID 75)

Field name	Type	Unit/Values
blob_x1	int32	pixels
blob_y1	int32	pixels
blob_x2	int32	pixels
blob_y2	int32	pixels
blob_x3	int32	pixels
blob_y3	int32	pixels
blob_x4	int32	pixels
blob_y4	int32	pixels

VF_UPDATE (ID 76)

Field name	Type	Unit/Values	Description
baro	float	m
range_meter	float	m

VF_PREDICT (ID 77)

Field name	Type	Unit/Values	Description
accel	float	m/s/s

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
task_list	uint8[]

CROSS_TRACK_ERROR (ID 80)

Field name	Type	Unit/Values	Description
cross_track_error	float	m
cte_int	float

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	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
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

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
humid	uint16
temp	uint16
fhumid	float	rel_hum
ftemp	float	deg_celsius

ANTENNA_DEBUG (ID 92)

Field name	Type	Unit/Values	Description
mag_xraw	int32
mag_yraw	int32
mag_xcal	float
mag_ycal	float
mag_heading	float
mag_magnitude	float
mag_temp	float
mag_distor	uint8
mag_cal_status	uint8

ANTENNA_STATUS (ID 93)

Field name	Type	Unit/Values	Description
azim_sp	float
elev_sp	float
id_sp	uint8
mode	uint8

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

MOTOR_BENCH_STATIC (ID 95)

Field name	Type	Unit/Values	Description
av_rpm	float
av_thrust	float
av_current	float
throttle	uint16

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	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

TEST_BOARD_RESULTS (ID 111)

Field name	Type	Unit/Values	Description
uart	uint8
ppm	uint8
servo	uint16[]

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

VERTICAL_ENERGY (ID 125)

Field name	Type	Unit/Values	Description
Epot_err	float
Ekin_err	float
Etot_err	float
Edis_err	float
throttle	float
nav_pitch	float
speed_sp	float

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
snapshot_image_number	uint16

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
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

FILTER2 (ID 135)

Field name	Type	Unit/Values	Description
px	int32
py	int32
pz	int32
gsx	int32
gsy	int32
gsz	int32

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_MS45XX (ID 138)

Field name	Type	Unit/Values
diffPress	float	Pa
temperature	int16	0.1 deg_celcius
airspeed	float	m/s

FILTER_COR (ID 139)

Field name	Type	Unit/Values	Description
mphi	int32
mtheta	int32
mpsi	int32
qi	int32
qx	int32
qy	int32
qz	int32

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	int32

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

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

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

AHRS_RMAT_INT (ID 158)

Field name	Type	Unit/Values
imu_m00	int32
imu_m01	int32
imu_m02	int32
imu_m10	int32
imu_m11	int32
imu_m12	int32
imu_m20	int32
imu_m21	int32
imu_m22	int32
body_m00	int32
body_m01	int32
body_m02	int32
body_m10	int32
body_m11	int32
body_m12	int32
body_m20	int32
body_m21	int32
body_m22	int32
comp_id	uint8	NONE, GENERIC, IR, ICQ, ICE, FC, DCM, FINV, MLKF, GX3

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

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

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

INS_SONAR (ID 167)

Field name	Type	Unit/Values	Description
distance	float	m
var	float

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

EKF7_XHAT (ID 170)

Field name	Type	Unit/Values	Description
c	float
s1	float
s2	float
s3	float
p	float
q	float
r	float
bp	float
bq	float
br	float

EKF7_Y (ID 171)

Field name	Type	Unit/Values	Description
timecount	uint16
g1	float
g2	float
g3	float
m1	float
m2	float
m3	float
p	float
q	float
r	float

EKF7_P_DIAG (ID 172)

Field name	Type	Unit/Values	Description
c	float
s1	float
s2	float
s3	float
p	float
q	float
r	float
bp	float
bq	float
br	float

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

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

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

LOADCELL (ID 181)

Field name	Type	Unit/Values	Description
load	int32

FLA_DEBUG (ID 182)

Field name	Type	Unit/Values	Description
past_input	float
imu_rate	float
desired_accel	float
motor_command	float

BLMC_FAULT_STATUS (ID 183)

Field name	Type	Unit/Values	Description
raw_fault	uint16[]

BLMC_SPEEDS (ID 184)

Field name	Type	Unit/Values	Description
speeds	int16[]

AHRS_DEBUG_QUAT (ID 185)

Field name	Type	Unit/Values	Description
jqi	float
jqx	float
jqy	float
jqz	float
xqi	float
xqx	float
xqy	float
xqz	float
mqi	float
mqx	float
mqy	float
mqz	float

BLMC_BUSVOLTS (ID 186)

Field name	Type	Unit/Values	Description
busvolts	uint16[]

SYSTEM_STATUS (ID 187)

Field name	Type	Unit/Values	Description
csc1_loop_count	uint32
csc1_msg_count	uint32
csc2_loop_count	uint32
csc2_msg_count	uint32
can_rx_err	uint32
can_tx_err	uint32
rc_parser_err	uint32
system_fault	uint8

DYNAMIXEL (ID 188)

Field name	Type	Unit/Values	Description
left_wing	uint16
right_wing	uint16
left_wing_flag	uint8
right_wing_flag	uint8
invalid_position	uint32
timeout_events	uint32
checksum_errors	uint32
fuse_rotation_angle	float
fuse_rotation_rate	float

RMAT_DEBUG (ID 189)

Field name	Type	Unit/Values	Description
a	float
b	float
c	float
d	float
e	float
f	float
g	float
h	float
i	float

SIMPLE_COMMANDS (ID 190)

Field name	Type	Unit/Values	Description
roll	int16
pitch	int16
yaw	int16

VANE_SENSOR (ID 191)

Field name	Type	Unit/Values
alpha	float	rad
alpha_filtered	float	rad
alpha_target	float	rad
alpha_vane_error	float	rad
alpha2	float	rad
beta	float	rad
beta_filtered	float	rad
beta_target	float	rad
beta_vane_error	float	rad
beta2	float	rad

CONTROLLER_GAINS (ID 192)

Field name	Type	Unit/Values	Description
roll_gamma_p	float
roll_gamma_d	float
roll_gamma_i	float
pitch_gamma_p	float
pitch_gamma_d	float
pitch_gamma_i	float
yaw_gamma_p	float
yaw_gamma_d	float
yaw_gamma_i	float

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

AHRS_LKF_DEBUG (ID 194)

Field name	Type	Unit/Values
phi_err	float	rad
theta_err	float	rad
psi_err	float	rad
bp	float	rad/s
bq	float	rad/s
br	float	rad/s
quat_norm	float
phi_accel	float	rad
theta_accel	float	rad
phi_cov	float
theta_cov	float
psi_cov	float
bp_cov	float
bq_cov	float
br_cov	float

AHRS_LKF_ACC_DBG (ID 195)

Field name	Type	Unit/Values
qi_err	float
qx_err	float
qy_err	float
qz_err	float
bp_err	float	rad/s
bq_err	float	rad/s
br_err	float	rad/s

AHRS_LKF_MAG_DBG (ID 196)

Field name	Type	Unit/Values
qi_err	float
qx_err	float
qy_err	float
qz_err	float
bp_err	float	rad/s
bq_err	float	rad/s
br_err	float	rad/s

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

GPS_ERROR (ID 199)

Field name	Type	Unit/Values
x_position	float	m
y_position	float	m
z_position	float	m
x_velocity	float	m
y_velocity	float	m
z_velocity	float	m

IMU_GYRO (ID 200)

Field name	Type	Unit/Values
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
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
gp	int32	adc
gq	int32	adc
gr	int32	adc

IMU_ACCEL_RAW (ID 204)

Field name	Type	Unit/Values
ax	int32	adc
ay	int32	adc
az	int32	adc

IMU_MAG_RAW (ID 205)

Field name	Type	Unit/Values
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
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
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

IMU_HS_GYRO (ID 211)

Field name	Type	Unit/Values	Description
axis	uint8
samples	uint32[]

TEST_PASSTHROUGH_STATUS (ID 212)

Field name	Type	Unit/Values
io_proc_msg_cnt	uint32
io_proc_err_cnt	uint32
io_link_msg_cnt	uint32
io_link_err_cnt	uint32
rc_status	uint8	OK, LOST, REALLY_LOST

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_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

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)

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

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
div_size	float	1/s
surface_roughness	float	1/s
divergence	float	1/s

STEREO_IMG (ID 229)

Field name	Type	Unit/Values	Description
frequency	uint8
data_size	uint8
imageBuffer	uint8[]

ROTORCRAFT_STATUS (ID 231)

Field name	Type	Unit/Values
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
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
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

OPTICFLOW (ID 234)

Field name	Type	Unit/Values	Description
flow	uint16
ref_alt	float

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
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_RPMS (ID 239)

Field name	Type	Unit/Values
front	float	RPM
back	float	RPM
right	float	RPM
left	float	RPM

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

NPS_RANGE_METER (ID 243)

Field name	Type	Unit/Values	Description
dist	float	adc

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
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

NPS_ACCEL_LTP (ID 248)

Field name	Type	Unit/Values
xdd	float	m/s2
ydd	float	m/s2
zdd	float	m/s2

LOOSE_INS_GPS (ID 249)

Field name	Type	Unit/Values
status	uint8	UNINITIALIZED, STARTUP_TRANSIENTS, LOWPASSING, GPS_LOST, NOMINAL
time_running	double
q0	double
q1	double
q2	double
q3	double
phi	double
theta	double
psi	double
north	double	m
east	double	m
down	double	m
v_north	double	m/s
v_east	double	m/s
v_down	double	m/s
est_p	double
est_q	double
est_r	double
gyroBias_x	double
gyroBias_y	double
gyroBias_z	double
imuCallbacks	uint32
gpsCallbacks	uint32
baroCallbacks	uint32

AFL_COEFFS (ID 250)

Field name	Type	Unit/Values	Description
roll_a	float
roll_b	float
roll_c	float
pitch_a	float
pitch_b	float
pitch_c	float
yaw_a	float
yaw_b	float
yaw_c	float

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

RDYB_TRAJECTORY (ID 254)

Field name	Type	Unit/Values
commanded_phi	float	rad
commanded_theta	float	rad
commanded_psi	float	rad
setpoint_x	float	m N
setpoint_y	float	m E
setpoint_z	float	m D

HENRY_GNSS (ID 255)

Field name	Type	Unit/Values
last_imu_update	uint32
GPS_time	double
GPS_solution_valid	uint8
latitude	double	rad
longitude	double	rad
altitude	double
North	double
East	double
Down	double
SVs_Tracked	uint8
SVs_PVT	uint8
V_North	double
V_East	double
V_Down	double

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
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
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

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

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

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

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

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

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

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

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

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

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

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

RC_3CH (ID 51)

Field name	Type	Unit/Values
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

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
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

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	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
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	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
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
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
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
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	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
ac_id	string
circle_lat	float	deg
circle_long	float	deg
radius	int16	m

SEGMENT_STATUS (ID 23)

Field name	Type	Unit/Values
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
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
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
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
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

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
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	uint16	decivolt
current	int32	mA

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_TELEMETRY (ID 114)

Field name	Type	Unit/Values	Description
msg_id	uint8
msg	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)

IR_SENSORS (ID 7)

GPS (ID 8)

NAVIGATION_REF (ID 9)

NAVIGATION (ID 10)

PPRZ_MODE (ID 11)

BAT (ID 12)

DEBUG_MCU_LINK (ID 13)

CALIBRATION (ID 14)

SETTINGS (ID 15)

DESIRED (ID 16)

GPS_SOL (ID 17)

ADC_GENERIC (ID 18)

TEST_FORMAT (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)

ENERGY (ID 37)

BARO_BMP85_CALIB (ID 38)

BARO_BMP85 (ID 39)

SPEED_LOOP (ID 40)

ALT_KALMAN (ID 41)

ESTIMATOR (ID 42)

TUNE_ROLL (ID 43)

BARO_MS5534A (ID 44)

PRESSURE (ID 45)

BARO_WORDS (ID 46)

WP_MOVED_LLA (ID 47)

CHRONO (ID 48)

WP_MOVED_ENU (ID 49)

WINDTURBINE_STATUS_ (ID 50)

RC_3CH_ (ID 51)

MPPT (ID 52)

DEBUG_IR_I2C (ID 53)

AIRSPEED (ID 54)

XSENS (ID 55)

BARO_ETS (ID 56)

AIRSPEED_ETS (ID 57)

PBN (ID 58)

GPS_LLA (ID 59)

H_CTL_A (ID 60)

TURB_PRESSURE_RAW (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)

SUPERBITRF (ID 72)

GX3_INFO (ID 73)

EXPLAIN (ID 74)

VIDEO_TELEMETRY (ID 75)

VF_UPDATE (ID 76)

VF_PREDICT (ID 77)

INV_FILTER (ID 78)

MISSION_STATUS (ID 79)