definition

MAVLink protocol implementation (auto-generated by mavgen.py)

Generated from: ('swingby.xml,command.xml,diagnostics.xml,model.xml,sensor.xml,system.xml,transport.xml',)

Note: this file has been auto-generated. DO NOT EDIT

Classes:

• MAVError –

  MAVLink error class

• MAVLink –

  MAVLink protocol handling class

• MAVLinkSigning –

  MAVLink signing state class

• MAVLink_actuator_output_status_message –

  The raw values of the actuator outputs (e.g. on Pixhawk, from

• MAVLink_airspeed_message –

  Airspeed information from a sensor.

• MAVLink_altitude_message –

  The current system altitude.

• MAVLink_angle_of_attack_message –

  Angle of Attack

• MAVLink_angle_of_slideslip_message –

  Angle of Slideslip

• MAVLink_attitude_message –

  The attitude in the aeronautical frame (right-handed, Z-down,

• MAVLink_attitude_quaternion_message –

  The attitude in the aeronautical frame (right-handed, Z-down,

• MAVLink_autopilot_version_message –

  Version and capability of autopilot software. This should be

• MAVLink_bad_data –

  a piece of bad data in a mavlink stream

• MAVLink_battery_status_message –

  Battery information. Updates GCS with flight controller battery

• MAVLink_button_change_message –

  Report button state change.

• MAVLink_can_filter_modify_message –

  Modify the filter of what CAN messages to forward over the

• MAVLink_can_frame_message –

  A forwarded CAN frame as requested by MAV_CMD_CAN_FORWARD.

• MAVLink_canfd_frame_message –

  A forwarded CANFD frame as requested by MAV_CMD_CAN_FORWARD. These

• MAVLink_command_ack_message –

  Report status of a command. Includes feedback whether the command

• MAVLink_command_int_message –

  Send a command with up to seven parameters to the MAV, where

• MAVLink_command_long_message –

  Send a command with up to seven parameters to the MAV. COMMAND_INT

• MAVLink_control_system_state_message –

  The smoothed, monotonic system state used to feed the control

• MAVLink_empennage_command_message –

  Command to the empennage.

• MAVLink_empennage_status_message –

  Output status of the empennage.

• MAVLink_flight_information_message –

  Flight information. This includes time since boot for arm,

• MAVLink_global_position_int_message –

  The filtered global position (e.g. fused GPS and accelerometers).

• MAVLink_gps_raw_int_message –

  The global position, as returned by the Global Positioning System

• MAVLink_gps_rtk_message –

  RTK GPS data. Gives information on the relative baseline

• MAVLink_gps_status_message –

  The positioning status, as reported by GPS. This message is

• MAVLink_header –

  MAVLink message header

• MAVLink_heartbeat_message –

  The heartbeat message shows that a system or component is present

• MAVLink_hygrometer_sensor_message –

  Temperature and humidity from hygrometer.

• MAVLink_imu_message –

  The RAW IMU readings for the usual 9DOF sensor setup. This message

• MAVLink_local_position_ned_system_global_offset_message –

  The offset in X, Y, Z and yaw between the LOCAL_POSITION_NED

• MAVLink_mag_cal_report_message –

  Reports results of completed compass calibration. Sent until

• MAVLink_message –

  base MAVLink message class

• MAVLink_message_interval_message –

  The interval between messages for a particular MAVLink message ID.

• MAVLink_param_request_list_message –

  Request all parameters of this component. After this request, all

• MAVLink_param_request_read_message –

  Request to read the onboard parameter with the param_id string id.

• MAVLink_param_set_message –

  Set a parameter value (write new value to permanent storage).

• MAVLink_param_value_message –

  Emit the value of a onboard parameter. The inclusion of

• MAVLink_pilot_power_message –

  Output status of the pilot power.

• MAVLink_position_target_global_int_message –

  Reports the current commanded vehicle position, velocity, and

• MAVLink_raw_rpm_message –

  RPM sensor data message.

• MAVLink_scaled_pressure_message –

  The pressure readings for the typical setup of one absolute and

• MAVLink_sys_status_message –

  Sensor and subsystem status information. Provides a compact

• MAVLink_system_time_message –

  The system time is the time of the sender's master clock.

• MAVLink_timesync_message –

  Time synchronization message. The message is used for both

• MAVLink_unknown –

  a message that we don't have in the XML used when built

• mavlink_msg_deprecated_name_property –

  This handles the class variable name change from name to msgname for

MAVError

MAVError(msg: str)

              flowchart TD
              mavlink.definition.MAVError[MAVError]

              

              click mavlink.definition.MAVError href "" "mavlink.definition.MAVError"
            

MAVLink error class

Source code in src/mavlink/definition.py

def __init__(self, msg: str) -> None:
    Exception.__init__(self, msg)
    self.message = msg

MAVLink

MAVLink(file: Any, srcSystem: int = 0, srcComponent: int = 0, use_native: bool = False)

              flowchart TD
              mavlink.definition.MAVLink[MAVLink]

              

              click mavlink.definition.MAVLink href "" "mavlink.definition.MAVLink"
            

MAVLink protocol handling class

Methods:

• actuator_output_status_encode –

  The raw values of the actuator outputs (e.g. on Pixhawk, from MAIN,

• actuator_output_status_send –

  The raw values of the actuator outputs (e.g. on Pixhawk, from MAIN,

• airspeed_encode –

  Airspeed information from a sensor.

• airspeed_send –

  Airspeed information from a sensor.

• altitude_encode –

  The current system altitude.

• altitude_send –

  The current system altitude.

• angle_of_attack_encode –

  Angle of Attack

• angle_of_attack_send –

  Angle of Attack

• angle_of_slideslip_encode –

  Angle of Slideslip

• angle_of_slideslip_send –

  Angle of Slideslip

• attitude_encode –

  The attitude in the aeronautical frame (right-handed, Z-down, Y-right,

• attitude_quaternion_encode –

  The attitude in the aeronautical frame (right-handed, Z-down, X-front,

• attitude_quaternion_send –

  The attitude in the aeronautical frame (right-handed, Z-down, X-front,

• attitude_send –

  The attitude in the aeronautical frame (right-handed, Z-down, Y-right,

• autopilot_version_encode –

  Version and capability of autopilot software. This should be emitted

• autopilot_version_send –

  Version and capability of autopilot software. This should be emitted

• battery_status_encode –

  Battery information. Updates GCS with flight controller battery

• battery_status_send –

  Battery information. Updates GCS with flight controller battery

• button_change_encode –

  Report button state change.

• button_change_send –

  Report button state change.

• bytes_needed –

  return number of bytes needed for next parsing stage

• can_filter_modify_encode –

  Modify the filter of what CAN messages to forward over the mavlink.

• can_filter_modify_send –

  Modify the filter of what CAN messages to forward over the mavlink.

• can_frame_encode –

  A forwarded CAN frame as requested by MAV_CMD_CAN_FORWARD.

• can_frame_send –

  A forwarded CAN frame as requested by MAV_CMD_CAN_FORWARD.

• canfd_frame_encode –

  A forwarded CANFD frame as requested by MAV_CMD_CAN_FORWARD. These are

• canfd_frame_send –

  A forwarded CANFD frame as requested by MAV_CMD_CAN_FORWARD. These are

• check_signature –

  check signature on incoming message

• command_ack_encode –

  Report status of a command. Includes feedback whether the command was

• command_ack_send –

  Report status of a command. Includes feedback whether the command was

• command_int_encode –

  Send a command with up to seven parameters to the MAV, where params 5

• command_int_send –

  Send a command with up to seven parameters to the MAV, where params 5

• command_long_encode –

  Send a command with up to seven parameters to the MAV. COMMAND_INT is

• command_long_send –

  Send a command with up to seven parameters to the MAV. COMMAND_INT is

• control_system_state_encode –

  The smoothed, monotonic system state used to feed the control loops of

• control_system_state_send –

  The smoothed, monotonic system state used to feed the control loops of

• decode –

  decode a buffer as a MAVLink message

• empennage_command_encode –

  Command to the empennage.

• empennage_command_send –

  Command to the empennage.

• empennage_status_encode –

  Output status of the empennage.

• empennage_status_send –

  Output status of the empennage.

• flight_information_encode –

  Flight information. This includes time since boot for arm,

• flight_information_send –

  Flight information. This includes time since boot for arm,

• global_position_int_encode –

  The filtered global position (e.g. fused GPS and accelerometers). The

• global_position_int_send –

  The filtered global position (e.g. fused GPS and accelerometers). The

• gps_raw_int_encode –

  The global position, as returned by the Global Positioning System

• gps_raw_int_send –

  The global position, as returned by the Global Positioning System

• gps_rtk_encode –

  RTK GPS data. Gives information on the relative baseline calculation

• gps_rtk_send –

  RTK GPS data. Gives information on the relative baseline calculation

• gps_status_encode –

  The positioning status, as reported by GPS. This message is intended

• gps_status_send –

  The positioning status, as reported by GPS. This message is intended

• heartbeat_encode –

  The heartbeat message shows that a system or component is present and

• heartbeat_send –

  The heartbeat message shows that a system or component is present and

• hygrometer_sensor_encode –

  Temperature and humidity from hygrometer.

• hygrometer_sensor_send –

  Temperature and humidity from hygrometer.

• imu_encode –

  The RAW IMU readings for the usual 9DOF sensor setup. This message

• imu_send –

  The RAW IMU readings for the usual 9DOF sensor setup. This message

• local_position_ned_system_global_offset_encode –

  The offset in X, Y, Z and yaw between the LOCAL_POSITION_NED messages

• local_position_ned_system_global_offset_send –

  The offset in X, Y, Z and yaw between the LOCAL_POSITION_NED messages

• mag_cal_report_encode –

  Reports results of completed compass calibration. Sent until

• mag_cal_report_send –

  Reports results of completed compass calibration. Sent until

• message_interval_encode –

  The interval between messages for a particular MAVLink message ID.

• message_interval_send –

  The interval between messages for a particular MAVLink message ID.

• param_request_list_encode –

  Request all parameters of this component. After this request, all

• param_request_list_send –

  Request all parameters of this component. After this request, all

• param_request_read_encode –

  Request to read the onboard parameter with the param_id string id.

• param_request_read_send –

  Request to read the onboard parameter with the param_id string id.

• param_set_encode –

  Set a parameter value (write new value to permanent storage).

• param_set_send –

  Set a parameter value (write new value to permanent storage).

• param_value_encode –

  Emit the value of a onboard parameter. The inclusion of param_count

• param_value_send –

  Emit the value of a onboard parameter. The inclusion of param_count

• parse_buffer –

  input some data bytes, possibly returning a list of new messages

• parse_char –

  input some data bytes, possibly returning a new message

• pilot_power_encode –

  Output status of the pilot power.

• pilot_power_send –

  Output status of the pilot power.

• position_target_global_int_encode –

  Reports the current commanded vehicle position, velocity, and

• position_target_global_int_send –

  Reports the current commanded vehicle position, velocity, and

• raw_rpm_encode –

  RPM sensor data message.

• raw_rpm_send –

  RPM sensor data message.

• scaled_pressure_encode –

  The pressure readings for the typical setup of one absolute and

• scaled_pressure_send –

  The pressure readings for the typical setup of one absolute and

• send –

  send a MAVLink message

• sys_status_encode –

  Sensor and subsystem status information. Provides a compact

• sys_status_send –

  Sensor and subsystem status information. Provides a compact

• system_time_encode –

  The system time is the time of the sender's master clock. This

• system_time_send –

  The system time is the time of the sender's master clock. This

• timesync_encode –

  Time synchronization message. The message is used for both

• timesync_send –

  Time synchronization message. The message is used for both

Source code in src/mavlink/definition.py

def __init__(self, file: Any, srcSystem: int = 0, srcComponent: int = 0, use_native: bool = False) -> None:
    self.seq = 0
    self.file = file
    self.srcSystem = srcSystem
    self.srcComponent = srcComponent
    self.callback: Optional[Callable[..., None]] = None
    self.callback_args: Optional[Iterable[Any]] = None
    self.callback_kwargs: Optional[Mapping[str, Any]] = None
    self.send_callback: Optional[Callable[..., None]] = None
    self.send_callback_args: Optional[Iterable[Any]] = None
    self.send_callback_kwargs: Optional[Mapping[str, Any]] = None
    self.buf = bytearray()
    self.buf_index = 0
    self.expected_length = HEADER_LEN_V1 + 2
    self.have_prefix_error = False
    self.robust_parsing = False
    self.protocol_marker = 253
    self.little_endian = True
    self.crc_extra = True
    self.sort_fields = True
    self.total_packets_sent = 0
    self.total_bytes_sent = 0
    self.total_packets_received = 0
    self.total_bytes_received = 0
    self.total_receive_errors = 0
    self.startup_time = time.time()
    self.signing = MAVLinkSigning()
    self.mav20_unpacker = struct.Struct("<cBBBBBBHB")
    self.mav10_unpacker = struct.Struct("<cBBBBB")
    self.mav20_h3_unpacker = struct.Struct("BBB")
    self.mav_csum_unpacker = struct.Struct("<H")
    self.mav_sign_unpacker = struct.Struct("<IH")

actuator_output_status_encode

actuator_output_status_encode(time_usec: int, active: int, actuator: Sequence[float]) -> MAVLink_actuator_output_status_message

The raw values of the actuator outputs (e.g. on Pixhawk, from MAIN, AUX ports). This message supersedes SERVO_OUTPUT_RAW.

time_usec : Timestamp (since system boot). [us] (type:uint64_t) active : Active outputs (type:uint32_t) actuator : Servo / motor output array values. Zero values indicate unused channels. (type:float)

Source code in src/mavlink/definition.py

def actuator_output_status_encode(self, time_usec: int, active: int, actuator: Sequence[float]) -> MAVLink_actuator_output_status_message:
    """
    The raw values of the actuator outputs (e.g. on Pixhawk, from MAIN,
    AUX ports). This message supersedes SERVO_OUTPUT_RAW.

    time_usec                 : Timestamp (since system boot). [us] (type:uint64_t)
    active                    : Active outputs (type:uint32_t)
    actuator                  : Servo / motor output array values. Zero values indicate unused channels. (type:float)

    """
    return MAVLink_actuator_output_status_message(time_usec, active, actuator)

actuator_output_status_send

actuator_output_status_send(time_usec: int, active: int, actuator: Sequence[float], force_mavlink1: bool = False) -> None

The raw values of the actuator outputs (e.g. on Pixhawk, from MAIN, AUX ports). This message supersedes SERVO_OUTPUT_RAW.

time_usec : Timestamp (since system boot). [us] (type:uint64_t) active : Active outputs (type:uint32_t) actuator : Servo / motor output array values. Zero values indicate unused channels. (type:float)

Source code in src/mavlink/definition.py

def actuator_output_status_send(self, time_usec: int, active: int, actuator: Sequence[float], force_mavlink1: bool = False) -> None:
    """
    The raw values of the actuator outputs (e.g. on Pixhawk, from MAIN,
    AUX ports). This message supersedes SERVO_OUTPUT_RAW.

    time_usec                 : Timestamp (since system boot). [us] (type:uint64_t)
    active                    : Active outputs (type:uint32_t)
    actuator                  : Servo / motor output array values. Zero values indicate unused channels. (type:float)

    """
    self.send(self.actuator_output_status_encode(time_usec, active, actuator), force_mavlink1=force_mavlink1)

airspeed_encode

airspeed_encode(id: int, airspeed: float, temperature: int, raw_press: float, flags: int) -> MAVLink_airspeed_message

Airspeed information from a sensor.

id : Sensor ID. (type:uint8_t) airspeed : Calibrated airspeed (CAS). [m/s] (type:float) temperature : Temperature. [cdegC] (type:int16_t) raw_press : Raw differential pressure. [hPa] (type:float) flags : Airspeed sensor flags. (type:uint8_t, values:AIRSPEED_SENSOR_FLAGS)

Source code in src/mavlink/definition.py

def airspeed_encode(self, id: int, airspeed: float, temperature: int, raw_press: float, flags: int) -> MAVLink_airspeed_message:
    """
    Airspeed information from a sensor.

    id                        : Sensor ID. (type:uint8_t)
    airspeed                  : Calibrated airspeed (CAS). [m/s] (type:float)
    temperature               : Temperature. [cdegC] (type:int16_t)
    raw_press                 : Raw differential pressure. [hPa] (type:float)
    flags                     : Airspeed sensor flags. (type:uint8_t, values:AIRSPEED_SENSOR_FLAGS)

    """
    return MAVLink_airspeed_message(id, airspeed, temperature, raw_press, flags)

airspeed_send

airspeed_send(id: int, airspeed: float, temperature: int, raw_press: float, flags: int, force_mavlink1: bool = False) -> None

Airspeed information from a sensor.

id : Sensor ID. (type:uint8_t) airspeed : Calibrated airspeed (CAS). [m/s] (type:float) temperature : Temperature. [cdegC] (type:int16_t) raw_press : Raw differential pressure. [hPa] (type:float) flags : Airspeed sensor flags. (type:uint8_t, values:AIRSPEED_SENSOR_FLAGS)

Source code in src/mavlink/definition.py

def airspeed_send(self, id: int, airspeed: float, temperature: int, raw_press: float, flags: int, force_mavlink1: bool = False) -> None:
    """
    Airspeed information from a sensor.

    id                        : Sensor ID. (type:uint8_t)
    airspeed                  : Calibrated airspeed (CAS). [m/s] (type:float)
    temperature               : Temperature. [cdegC] (type:int16_t)
    raw_press                 : Raw differential pressure. [hPa] (type:float)
    flags                     : Airspeed sensor flags. (type:uint8_t, values:AIRSPEED_SENSOR_FLAGS)

    """
    self.send(self.airspeed_encode(id, airspeed, temperature, raw_press, flags), force_mavlink1=force_mavlink1)

altitude_encode

altitude_encode(time_usec: int, altitude_monotonic: float, altitude_amsl: float, altitude_local: float, altitude_relative: float, altitude_terrain: float, bottom_clearance: float) -> MAVLink_altitude_message

The current system altitude.

time_usec : Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number. [us] (type:uint64_t) altitude_monotonic : This altitude measure is initialized on system boot and monotonic (it is never reset, but represents the local altitude change). The only guarantee on this field is that it will never be reset and is consistent within a flight. The recommended value for this field is the uncorrected barometric altitude at boot time. This altitude will also drift and vary between flights. [m] (type:float) altitude_amsl : This altitude measure is strictly above mean sea level and might be non-monotonic (it might reset on events like GPS lock or when a new QNH value is set). It should be the altitude to which global altitude waypoints are compared to. Note that it is not the GPS altitude, however, most GPS modules already output MSL by default and not the WGS84 altitude. [m] (type:float) altitude_local : This is the local altitude in the local coordinate frame. It is not the altitude above home, but in reference to the coordinate origin (0, 0, 0). It is up-positive. [m] (type:float) altitude_relative : This is the altitude above the home position. It resets on each change of the current home position. [m] (type:float) altitude_terrain : This is the altitude above terrain. It might be fed by a terrain database or an altimeter. Values smaller than -1000 should be interpreted as unknown. [m] (type:float) bottom_clearance : This is not the altitude, but the clear space below the system according to the fused clearance estimate. It generally should max out at the maximum range of e.g. the laser altimeter. It is generally a moving target. A negative value indicates no measurement available. [m] (type:float)

Source code in src/mavlink/definition.py

def altitude_encode(self, time_usec: int, altitude_monotonic: float, altitude_amsl: float, altitude_local: float, altitude_relative: float, altitude_terrain: float, bottom_clearance: float) -> MAVLink_altitude_message:
    """
    The current system altitude.

    time_usec                 : Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number. [us] (type:uint64_t)
    altitude_monotonic        : This altitude measure is initialized on system boot and monotonic (it is never reset, but represents the local altitude change). The only guarantee on this field is that it will never be reset and is consistent within a flight. The recommended value for this field is the uncorrected barometric altitude at boot time. This altitude will also drift and vary between flights. [m] (type:float)
    altitude_amsl             : This altitude measure is strictly above mean sea level and might be non-monotonic (it might reset on events like GPS lock or when a new QNH value is set). It should be the altitude to which global altitude waypoints are compared to. Note that it is *not* the GPS altitude, however, most GPS modules already output MSL by default and not the WGS84 altitude. [m] (type:float)
    altitude_local            : This is the local altitude in the local coordinate frame. It is not the altitude above home, but in reference to the coordinate origin (0, 0, 0). It is up-positive. [m] (type:float)
    altitude_relative         : This is the altitude above the home position. It resets on each change of the current home position. [m] (type:float)
    altitude_terrain          : This is the altitude above terrain. It might be fed by a terrain database or an altimeter. Values smaller than -1000 should be interpreted as unknown. [m] (type:float)
    bottom_clearance          : This is not the altitude, but the clear space below the system according to the fused clearance estimate. It generally should max out at the maximum range of e.g. the laser altimeter. It is generally a moving target. A negative value indicates no measurement available. [m] (type:float)

    """
    return MAVLink_altitude_message(time_usec, altitude_monotonic, altitude_amsl, altitude_local, altitude_relative, altitude_terrain, bottom_clearance)

altitude_send

altitude_send(time_usec: int, altitude_monotonic: float, altitude_amsl: float, altitude_local: float, altitude_relative: float, altitude_terrain: float, bottom_clearance: float, force_mavlink1: bool = False) -> None

The current system altitude.

time_usec : Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number. [us] (type:uint64_t) altitude_monotonic : This altitude measure is initialized on system boot and monotonic (it is never reset, but represents the local altitude change). The only guarantee on this field is that it will never be reset and is consistent within a flight. The recommended value for this field is the uncorrected barometric altitude at boot time. This altitude will also drift and vary between flights. [m] (type:float) altitude_amsl : This altitude measure is strictly above mean sea level and might be non-monotonic (it might reset on events like GPS lock or when a new QNH value is set). It should be the altitude to which global altitude waypoints are compared to. Note that it is not the GPS altitude, however, most GPS modules already output MSL by default and not the WGS84 altitude. [m] (type:float) altitude_local : This is the local altitude in the local coordinate frame. It is not the altitude above home, but in reference to the coordinate origin (0, 0, 0). It is up-positive. [m] (type:float) altitude_relative : This is the altitude above the home position. It resets on each change of the current home position. [m] (type:float) altitude_terrain : This is the altitude above terrain. It might be fed by a terrain database or an altimeter. Values smaller than -1000 should be interpreted as unknown. [m] (type:float) bottom_clearance : This is not the altitude, but the clear space below the system according to the fused clearance estimate. It generally should max out at the maximum range of e.g. the laser altimeter. It is generally a moving target. A negative value indicates no measurement available. [m] (type:float)

Source code in src/mavlink/definition.py

def altitude_send(self, time_usec: int, altitude_monotonic: float, altitude_amsl: float, altitude_local: float, altitude_relative: float, altitude_terrain: float, bottom_clearance: float, force_mavlink1: bool = False) -> None:
    """
    The current system altitude.

    time_usec                 : Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number. [us] (type:uint64_t)
    altitude_monotonic        : This altitude measure is initialized on system boot and monotonic (it is never reset, but represents the local altitude change). The only guarantee on this field is that it will never be reset and is consistent within a flight. The recommended value for this field is the uncorrected barometric altitude at boot time. This altitude will also drift and vary between flights. [m] (type:float)
    altitude_amsl             : This altitude measure is strictly above mean sea level and might be non-monotonic (it might reset on events like GPS lock or when a new QNH value is set). It should be the altitude to which global altitude waypoints are compared to. Note that it is *not* the GPS altitude, however, most GPS modules already output MSL by default and not the WGS84 altitude. [m] (type:float)
    altitude_local            : This is the local altitude in the local coordinate frame. It is not the altitude above home, but in reference to the coordinate origin (0, 0, 0). It is up-positive. [m] (type:float)
    altitude_relative         : This is the altitude above the home position. It resets on each change of the current home position. [m] (type:float)
    altitude_terrain          : This is the altitude above terrain. It might be fed by a terrain database or an altimeter. Values smaller than -1000 should be interpreted as unknown. [m] (type:float)
    bottom_clearance          : This is not the altitude, but the clear space below the system according to the fused clearance estimate. It generally should max out at the maximum range of e.g. the laser altimeter. It is generally a moving target. A negative value indicates no measurement available. [m] (type:float)

    """
    self.send(self.altitude_encode(time_usec, altitude_monotonic, altitude_amsl, altitude_local, altitude_relative, altitude_terrain, bottom_clearance), force_mavlink1=force_mavlink1)

angle_of_attack_encode

angle_of_attack_encode(time_boot_ms: int, aoa: float) -> MAVLink_angle_of_attack_message

Angle of Attack

time_boot_ms : Timestamp (time since system boot). [ms] (type:uint32_t) aoa : Angle of attack [deg] (type:float)

Source code in src/mavlink/definition.py

def angle_of_attack_encode(self, time_boot_ms: int, aoa: float) -> MAVLink_angle_of_attack_message:
    """
    Angle of Attack

    time_boot_ms              : Timestamp (time since system boot). [ms] (type:uint32_t)
    aoa                       : Angle of attack [deg] (type:float)

    """
    return MAVLink_angle_of_attack_message(time_boot_ms, aoa)

angle_of_attack_send

angle_of_attack_send(time_boot_ms: int, aoa: float, force_mavlink1: bool = False) -> None

Angle of Attack

time_boot_ms : Timestamp (time since system boot). [ms] (type:uint32_t) aoa : Angle of attack [deg] (type:float)

Source code in src/mavlink/definition.py

def angle_of_attack_send(self, time_boot_ms: int, aoa: float, force_mavlink1: bool = False) -> None:
    """
    Angle of Attack

    time_boot_ms              : Timestamp (time since system boot). [ms] (type:uint32_t)
    aoa                       : Angle of attack [deg] (type:float)

    """
    self.send(self.angle_of_attack_encode(time_boot_ms, aoa), force_mavlink1=force_mavlink1)

angle_of_slideslip_encode

angle_of_slideslip_encode(time_boot_ms: int, aos: float) -> MAVLink_angle_of_slideslip_message

Angle of Slideslip

time_boot_ms : Timestamp (time since system boot). [ms] (type:uint32_t) aos : Angle of slideslip [deg] (type:float)

Source code in src/mavlink/definition.py

def angle_of_slideslip_encode(self, time_boot_ms: int, aos: float) -> MAVLink_angle_of_slideslip_message:
    """
    Angle of Slideslip

    time_boot_ms              : Timestamp (time since system boot). [ms] (type:uint32_t)
    aos                       : Angle of slideslip [deg] (type:float)

    """
    return MAVLink_angle_of_slideslip_message(time_boot_ms, aos)

angle_of_slideslip_send

angle_of_slideslip_send(time_boot_ms: int, aos: float, force_mavlink1: bool = False) -> None

Angle of Slideslip

time_boot_ms : Timestamp (time since system boot). [ms] (type:uint32_t) aos : Angle of slideslip [deg] (type:float)

Source code in src/mavlink/definition.py

def angle_of_slideslip_send(self, time_boot_ms: int, aos: float, force_mavlink1: bool = False) -> None:
    """
    Angle of Slideslip

    time_boot_ms              : Timestamp (time since system boot). [ms] (type:uint32_t)
    aos                       : Angle of slideslip [deg] (type:float)

    """
    self.send(self.angle_of_slideslip_encode(time_boot_ms, aos), force_mavlink1=force_mavlink1)

attitude_encode

attitude_encode(time_boot_ms: int, roll: float, pitch: float, yaw: float, rollspeed: float, pitchspeed: float, yawspeed: float) -> MAVLink_attitude_message

The attitude in the aeronautical frame (right-handed, Z-down, Y-right, X-front, ZYX, intrinsic).

time_boot_ms : Timestamp (time since system boot). [ms] (type:uint32_t) roll : Roll angle (-pi..+pi) [rad] (type:float) pitch : Pitch angle (-pi..+pi) [rad] (type:float) yaw : Yaw angle (-pi..+pi) [rad] (type:float) rollspeed : Roll angular speed [rad/s] (type:float) pitchspeed : Pitch angular speed [rad/s] (type:float) yawspeed : Yaw angular speed [rad/s] (type:float)

Source code in src/mavlink/definition.py

def attitude_encode(self, time_boot_ms: int, roll: float, pitch: float, yaw: float, rollspeed: float, pitchspeed: float, yawspeed: float) -> MAVLink_attitude_message:
    """
    The attitude in the aeronautical frame (right-handed, Z-down, Y-right,
    X-front, ZYX, intrinsic).

    time_boot_ms              : Timestamp (time since system boot). [ms] (type:uint32_t)
    roll                      : Roll angle (-pi..+pi) [rad] (type:float)
    pitch                     : Pitch angle (-pi..+pi) [rad] (type:float)
    yaw                       : Yaw angle (-pi..+pi) [rad] (type:float)
    rollspeed                 : Roll angular speed [rad/s] (type:float)
    pitchspeed                : Pitch angular speed [rad/s] (type:float)
    yawspeed                  : Yaw angular speed [rad/s] (type:float)

    """
    return MAVLink_attitude_message(time_boot_ms, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed)

attitude_quaternion_encode

attitude_quaternion_encode(time_boot_ms: int, q1: float, q2: float, q3: float, q4: float, rollspeed: float, pitchspeed: float, yawspeed: float, repr_offset_q: Sequence[float] = (0, 0, 0, 0)) -> MAVLink_attitude_quaternion_message

The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right), expressed as quaternion. Quaternion order is w, x, y, z and a zero rotation would be expressed as (1 0 0 0).

time_boot_ms : Timestamp (time since system boot). [ms] (type:uint32_t) q1 : Quaternion component 1, w (1 in null-rotation) (type:float) q2 : Quaternion component 2, x (0 in null-rotation) (type:float) q3 : Quaternion component 3, y (0 in null-rotation) (type:float) q4 : Quaternion component 4, z (0 in null-rotation) (type:float) rollspeed : Roll angular speed [rad/s] (type:float) pitchspeed : Pitch angular speed [rad/s] (type:float) yawspeed : Yaw angular speed [rad/s] (type:float) repr_offset_q : Rotation offset by which the attitude quaternion and angular speed vector should be rotated for user display (quaternion with [w, x, y, z] order, zero-rotation is [1, 0, 0, 0], send [0, 0, 0, 0] if field not supported). This field is intended for systems in which the reference attitude may change during flight. For example, tailsitters VTOLs rotate their reference attitude by 90 degrees between hover mode and fixed wing mode, thus repr_offset_q is equal to [1, 0, 0, 0] in hover mode and equal to [0.7071, 0, 0.7071, 0] in fixed wing mode. (type:float)

Source code in src/mavlink/definition.py

def attitude_quaternion_encode(self, time_boot_ms: int, q1: float, q2: float, q3: float, q4: float, rollspeed: float, pitchspeed: float, yawspeed: float, repr_offset_q: Sequence[float] = (0, 0, 0, 0)) -> MAVLink_attitude_quaternion_message:
    """
    The attitude in the aeronautical frame (right-handed, Z-down, X-front,
    Y-right), expressed as quaternion. Quaternion order is w, x,
    y, z and a zero rotation would be expressed as (1 0 0 0).

    time_boot_ms              : Timestamp (time since system boot). [ms] (type:uint32_t)
    q1                        : Quaternion component 1, w (1 in null-rotation) (type:float)
    q2                        : Quaternion component 2, x (0 in null-rotation) (type:float)
    q3                        : Quaternion component 3, y (0 in null-rotation) (type:float)
    q4                        : Quaternion component 4, z (0 in null-rotation) (type:float)
    rollspeed                 : Roll angular speed [rad/s] (type:float)
    pitchspeed                : Pitch angular speed [rad/s] (type:float)
    yawspeed                  : Yaw angular speed [rad/s] (type:float)
    repr_offset_q             : Rotation offset by which the attitude quaternion and angular speed vector should be rotated for user display (quaternion with [w, x, y, z] order, zero-rotation is [1, 0, 0, 0], send [0, 0, 0, 0] if field not supported). This field is intended for systems in which the reference attitude may change during flight. For example, tailsitters VTOLs rotate their reference attitude by 90 degrees between hover mode and fixed wing mode, thus repr_offset_q is equal to [1, 0, 0, 0] in hover mode and equal to [0.7071, 0, 0.7071, 0] in fixed wing mode. (type:float)

    """
    return MAVLink_attitude_quaternion_message(time_boot_ms, q1, q2, q3, q4, rollspeed, pitchspeed, yawspeed, repr_offset_q)

attitude_quaternion_send

attitude_quaternion_send(time_boot_ms: int, q1: float, q2: float, q3: float, q4: float, rollspeed: float, pitchspeed: float, yawspeed: float, repr_offset_q: Sequence[float] = (0, 0, 0, 0), force_mavlink1: bool = False) -> None

The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right), expressed as quaternion. Quaternion order is w, x, y, z and a zero rotation would be expressed as (1 0 0 0).

time_boot_ms : Timestamp (time since system boot). [ms] (type:uint32_t) q1 : Quaternion component 1, w (1 in null-rotation) (type:float) q2 : Quaternion component 2, x (0 in null-rotation) (type:float) q3 : Quaternion component 3, y (0 in null-rotation) (type:float) q4 : Quaternion component 4, z (0 in null-rotation) (type:float) rollspeed : Roll angular speed [rad/s] (type:float) pitchspeed : Pitch angular speed [rad/s] (type:float) yawspeed : Yaw angular speed [rad/s] (type:float) repr_offset_q : Rotation offset by which the attitude quaternion and angular speed vector should be rotated for user display (quaternion with [w, x, y, z] order, zero-rotation is [1, 0, 0, 0], send [0, 0, 0, 0] if field not supported). This field is intended for systems in which the reference attitude may change during flight. For example, tailsitters VTOLs rotate their reference attitude by 90 degrees between hover mode and fixed wing mode, thus repr_offset_q is equal to [1, 0, 0, 0] in hover mode and equal to [0.7071, 0, 0.7071, 0] in fixed wing mode. (type:float)

Source code in src/mavlink/definition.py

def attitude_quaternion_send(self, time_boot_ms: int, q1: float, q2: float, q3: float, q4: float, rollspeed: float, pitchspeed: float, yawspeed: float, repr_offset_q: Sequence[float] = (0, 0, 0, 0), force_mavlink1: bool = False) -> None:
    """
    The attitude in the aeronautical frame (right-handed, Z-down, X-front,
    Y-right), expressed as quaternion. Quaternion order is w, x,
    y, z and a zero rotation would be expressed as (1 0 0 0).

    time_boot_ms              : Timestamp (time since system boot). [ms] (type:uint32_t)
    q1                        : Quaternion component 1, w (1 in null-rotation) (type:float)
    q2                        : Quaternion component 2, x (0 in null-rotation) (type:float)
    q3                        : Quaternion component 3, y (0 in null-rotation) (type:float)
    q4                        : Quaternion component 4, z (0 in null-rotation) (type:float)
    rollspeed                 : Roll angular speed [rad/s] (type:float)
    pitchspeed                : Pitch angular speed [rad/s] (type:float)
    yawspeed                  : Yaw angular speed [rad/s] (type:float)
    repr_offset_q             : Rotation offset by which the attitude quaternion and angular speed vector should be rotated for user display (quaternion with [w, x, y, z] order, zero-rotation is [1, 0, 0, 0], send [0, 0, 0, 0] if field not supported). This field is intended for systems in which the reference attitude may change during flight. For example, tailsitters VTOLs rotate their reference attitude by 90 degrees between hover mode and fixed wing mode, thus repr_offset_q is equal to [1, 0, 0, 0] in hover mode and equal to [0.7071, 0, 0.7071, 0] in fixed wing mode. (type:float)

    """
    self.send(self.attitude_quaternion_encode(time_boot_ms, q1, q2, q3, q4, rollspeed, pitchspeed, yawspeed, repr_offset_q), force_mavlink1=force_mavlink1)

attitude_send

attitude_send(time_boot_ms: int, roll: float, pitch: float, yaw: float, rollspeed: float, pitchspeed: float, yawspeed: float, force_mavlink1: bool = False) -> None

The attitude in the aeronautical frame (right-handed, Z-down, Y-right, X-front, ZYX, intrinsic).

time_boot_ms : Timestamp (time since system boot). [ms] (type:uint32_t) roll : Roll angle (-pi..+pi) [rad] (type:float) pitch : Pitch angle (-pi..+pi) [rad] (type:float) yaw : Yaw angle (-pi..+pi) [rad] (type:float) rollspeed : Roll angular speed [rad/s] (type:float) pitchspeed : Pitch angular speed [rad/s] (type:float) yawspeed : Yaw angular speed [rad/s] (type:float)

Source code in src/mavlink/definition.py

def attitude_send(self, time_boot_ms: int, roll: float, pitch: float, yaw: float, rollspeed: float, pitchspeed: float, yawspeed: float, force_mavlink1: bool = False) -> None:
    """
    The attitude in the aeronautical frame (right-handed, Z-down, Y-right,
    X-front, ZYX, intrinsic).

    time_boot_ms              : Timestamp (time since system boot). [ms] (type:uint32_t)
    roll                      : Roll angle (-pi..+pi) [rad] (type:float)
    pitch                     : Pitch angle (-pi..+pi) [rad] (type:float)
    yaw                       : Yaw angle (-pi..+pi) [rad] (type:float)
    rollspeed                 : Roll angular speed [rad/s] (type:float)
    pitchspeed                : Pitch angular speed [rad/s] (type:float)
    yawspeed                  : Yaw angular speed [rad/s] (type:float)

    """
    self.send(self.attitude_encode(time_boot_ms, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed), force_mavlink1=force_mavlink1)

autopilot_version_encode

autopilot_version_encode(capabilities: int, flight_sw_version: int, middleware_sw_version: int, os_sw_version: int, board_version: int, flight_custom_version: Sequence[int], middleware_custom_version: Sequence[int], os_custom_version: Sequence[int], vendor_id: int, product_id: int, uid: int, uid2: Sequence[int] = (0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0)) -> MAVLink_autopilot_version_message

Version and capability of autopilot software. This should be emitted in response to a request with MAV_CMD_REQUEST_MESSAGE.

capabilities : Bitmap of capabilities (type:uint64_t, values:MAV_PROTOCOL_CAPABILITY) flight_sw_version : Firmware version number. The field must be encoded as 4 bytes, where each byte (shown from MSB to LSB) is part of a semantic version: (major) (minor) (patch) (FIRMWARE_VERSION_TYPE). (type:uint32_t) middleware_sw_version : Middleware version number (type:uint32_t) os_sw_version : Operating system version number (type:uint32_t) board_version : HW / board version (last 8 bits should be silicon ID, if any). The first 16 bits of this field specify a board type from an enumeration stored at https://github.com/PX4/PX4-Bootloader/blob/master/board_types.txt and with extensive additions at https://github.com/ArduPilot/ardupilot/blob/master/Tools/AP_Bootloader/board_types.txt (type:uint32_t) flight_custom_version : Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases. (type:uint8_t) middleware_custom_version : Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases. (type:uint8_t) os_custom_version : Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases. (type:uint8_t) vendor_id : ID of the board vendor (type:uint16_t) product_id : ID of the product (type:uint16_t) uid : UID if provided by hardware (see uid2) (type:uint64_t) uid2 : UID if provided by hardware (supersedes the uid field. If this is non-zero, use this field, otherwise use uid) (type:uint8_t)

Source code in src/mavlink/definition.py

def autopilot_version_encode(self, capabilities: int, flight_sw_version: int, middleware_sw_version: int, os_sw_version: int, board_version: int, flight_custom_version: Sequence[int], middleware_custom_version: Sequence[int], os_custom_version: Sequence[int], vendor_id: int, product_id: int, uid: int, uid2: Sequence[int] = (0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0)) -> MAVLink_autopilot_version_message:
    """
    Version and capability of autopilot software. This should be emitted
    in response to a request with MAV_CMD_REQUEST_MESSAGE.

    capabilities              : Bitmap of capabilities (type:uint64_t, values:MAV_PROTOCOL_CAPABILITY)
    flight_sw_version         : Firmware version number.
    The field must be encoded as 4 bytes, where each byte (shown from MSB to LSB) is part of a semantic version: (major) (minor) (patch) (FIRMWARE_VERSION_TYPE). (type:uint32_t)
    middleware_sw_version        : Middleware version number (type:uint32_t)
    os_sw_version             : Operating system version number (type:uint32_t)
    board_version             : HW / board version (last 8 bits should be silicon ID, if any). The first 16 bits of this field specify a board type from an enumeration stored at https://github.com/PX4/PX4-Bootloader/blob/master/board_types.txt and with extensive additions at https://github.com/ArduPilot/ardupilot/blob/master/Tools/AP_Bootloader/board_types.txt (type:uint32_t)
    flight_custom_version        : Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases. (type:uint8_t)
    middleware_custom_version        : Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases. (type:uint8_t)
    os_custom_version         : Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases. (type:uint8_t)
    vendor_id                 : ID of the board vendor (type:uint16_t)
    product_id                : ID of the product (type:uint16_t)
    uid                       : UID if provided by hardware (see uid2) (type:uint64_t)
    uid2                      : UID if provided by hardware (supersedes the uid field. If this is non-zero, use this field, otherwise use uid) (type:uint8_t)

    """
    return MAVLink_autopilot_version_message(capabilities, flight_sw_version, middleware_sw_version, os_sw_version, board_version, flight_custom_version, middleware_custom_version, os_custom_version, vendor_id, product_id, uid, uid2)

autopilot_version_send

autopilot_version_send(capabilities: int, flight_sw_version: int, middleware_sw_version: int, os_sw_version: int, board_version: int, flight_custom_version: Sequence[int], middleware_custom_version: Sequence[int], os_custom_version: Sequence[int], vendor_id: int, product_id: int, uid: int, uid2: Sequence[int] = (0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0), force_mavlink1: bool = False) -> None

Version and capability of autopilot software. This should be emitted in response to a request with MAV_CMD_REQUEST_MESSAGE.

capabilities : Bitmap of capabilities (type:uint64_t, values:MAV_PROTOCOL_CAPABILITY) flight_sw_version : Firmware version number. The field must be encoded as 4 bytes, where each byte (shown from MSB to LSB) is part of a semantic version: (major) (minor) (patch) (FIRMWARE_VERSION_TYPE). (type:uint32_t) middleware_sw_version : Middleware version number (type:uint32_t) os_sw_version : Operating system version number (type:uint32_t) board_version : HW / board version (last 8 bits should be silicon ID, if any). The first 16 bits of this field specify a board type from an enumeration stored at https://github.com/PX4/PX4-Bootloader/blob/master/board_types.txt and with extensive additions at https://github.com/ArduPilot/ardupilot/blob/master/Tools/AP_Bootloader/board_types.txt (type:uint32_t) flight_custom_version : Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases. (type:uint8_t) middleware_custom_version : Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases. (type:uint8_t) os_custom_version : Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases. (type:uint8_t) vendor_id : ID of the board vendor (type:uint16_t) product_id : ID of the product (type:uint16_t) uid : UID if provided by hardware (see uid2) (type:uint64_t) uid2 : UID if provided by hardware (supersedes the uid field. If this is non-zero, use this field, otherwise use uid) (type:uint8_t)

Source code in src/mavlink/definition.py

def autopilot_version_send(self, capabilities: int, flight_sw_version: int, middleware_sw_version: int, os_sw_version: int, board_version: int, flight_custom_version: Sequence[int], middleware_custom_version: Sequence[int], os_custom_version: Sequence[int], vendor_id: int, product_id: int, uid: int, uid2: Sequence[int] = (0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0), force_mavlink1: bool = False) -> None:
    """
    Version and capability of autopilot software. This should be emitted
    in response to a request with MAV_CMD_REQUEST_MESSAGE.

    capabilities              : Bitmap of capabilities (type:uint64_t, values:MAV_PROTOCOL_CAPABILITY)
    flight_sw_version         : Firmware version number.
    The field must be encoded as 4 bytes, where each byte (shown from MSB to LSB) is part of a semantic version: (major) (minor) (patch) (FIRMWARE_VERSION_TYPE). (type:uint32_t)
    middleware_sw_version        : Middleware version number (type:uint32_t)
    os_sw_version             : Operating system version number (type:uint32_t)
    board_version             : HW / board version (last 8 bits should be silicon ID, if any). The first 16 bits of this field specify a board type from an enumeration stored at https://github.com/PX4/PX4-Bootloader/blob/master/board_types.txt and with extensive additions at https://github.com/ArduPilot/ardupilot/blob/master/Tools/AP_Bootloader/board_types.txt (type:uint32_t)
    flight_custom_version        : Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases. (type:uint8_t)
    middleware_custom_version        : Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases. (type:uint8_t)
    os_custom_version         : Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases. (type:uint8_t)
    vendor_id                 : ID of the board vendor (type:uint16_t)
    product_id                : ID of the product (type:uint16_t)
    uid                       : UID if provided by hardware (see uid2) (type:uint64_t)
    uid2                      : UID if provided by hardware (supersedes the uid field. If this is non-zero, use this field, otherwise use uid) (type:uint8_t)

    """
    self.send(self.autopilot_version_encode(capabilities, flight_sw_version, middleware_sw_version, os_sw_version, board_version, flight_custom_version, middleware_custom_version, os_custom_version, vendor_id, product_id, uid, uid2), force_mavlink1=force_mavlink1)

battery_status_encode

battery_status_encode(id: int, battery_function: int, type: int, temperature: int, voltages: Sequence[int], current_battery: int, current_consumed: int, energy_consumed: int, battery_remaining: int, time_remaining: int = 0, charge_state: int = 0, voltages_ext: Sequence[int] = (0, 0, 0, 0), mode: int = 0, fault_bitmask: int = 0) -> MAVLink_battery_status_message

Battery information. Updates GCS with flight controller battery status. Smart batteries also use this message, but may additionally send BATTERY_INFO.

id : Battery ID (type:uint8_t) battery_function : Function of the battery (type:uint8_t, values:MAV_BATTERY_FUNCTION) type : Type (chemistry) of the battery (type:uint8_t, values:MAV_BATTERY_TYPE) temperature : Temperature of the battery. INT16_MAX for unknown temperature. [cdegC] (type:int16_t) voltages : Battery voltage of cells 1 to 10 (see voltages_ext for cells 11-14). Cells in this field above the valid cell count for this battery should have the UINT16_MAX value. If individual cell voltages are unknown or not measured for this battery, then the overall battery voltage should be filled in cell 0, with all others set to UINT16_MAX. If the voltage of the battery is greater than (UINT16_MAX - 1), then cell 0 should be set to (UINT16_MAX - 1), and cell 1 to the remaining voltage. This can be extended to multiple cells if the total voltage is greater than 2 * (UINT16_MAX - 1). [mV] (type:uint16_t) current_battery : Battery current, -1: autopilot does not measure the current. Value may overflow/rollover for very high currents (> 327.67A) [cA] (type:int16_t) current_consumed : Consumed charge, -1: autopilot does not provide consumption estimate [mAh] (type:int32_t) energy_consumed : Consumed energy, -1: autopilot does not provide energy consumption estimate [hJ] (type:int32_t) battery_remaining : Remaining battery energy. Values: [0-100], -1: autopilot does not estimate the remaining battery. [%] (type:int8_t) time_remaining : Remaining battery time, 0: autopilot does not provide remaining battery time estimate [s] (type:int32_t) charge_state : State for extent of discharge, provided by autopilot for warning or external reactions (type:uint8_t, values:MAV_BATTERY_CHARGE_STATE) voltages_ext : Battery voltages for cells 11 to 14. Cells above the valid cell count for this battery should have a value of 0, where zero indicates not supported (note, this is different than for the voltages field and allows empty byte truncation). If the measured value is 0 then 1 should be sent instead. [mV] (type:uint16_t) mode : Battery mode. Default (0) is that battery mode reporting is not supported or battery is in normal-use mode. (type:uint8_t, values:MAV_BATTERY_MODE) fault_bitmask : Fault/health indications. These should be set when charge_state is MAV_BATTERY_CHARGE_STATE_FAILED or MAV_BATTERY_CHARGE_STATE_UNHEALTHY (if not, fault reporting is not supported). (type:uint32_t, values:MAV_BATTERY_FAULT)

Source code in src/mavlink/definition.py

def battery_status_encode(self, id: int, battery_function: int, type: int, temperature: int, voltages: Sequence[int], current_battery: int, current_consumed: int, energy_consumed: int, battery_remaining: int, time_remaining: int = 0, charge_state: int = 0, voltages_ext: Sequence[int] = (0, 0, 0, 0), mode: int = 0, fault_bitmask: int = 0) -> MAVLink_battery_status_message:
    """
    Battery information. Updates GCS with flight controller battery
    status. Smart batteries also use this message, but may
    additionally send BATTERY_INFO.

    id                        : Battery ID (type:uint8_t)
    battery_function          : Function of the battery (type:uint8_t, values:MAV_BATTERY_FUNCTION)
    type                      : Type (chemistry) of the battery (type:uint8_t, values:MAV_BATTERY_TYPE)
    temperature               : Temperature of the battery. INT16_MAX for unknown temperature. [cdegC] (type:int16_t)
    voltages                  : Battery voltage of cells 1 to 10 (see voltages_ext for cells 11-14). Cells in this field above the valid cell count for this battery should have the UINT16_MAX value. If individual cell voltages are unknown or not measured for this battery, then the overall battery voltage should be filled in cell 0, with all others set to UINT16_MAX. If the voltage of the battery is greater than (UINT16_MAX - 1), then cell 0 should be set to (UINT16_MAX - 1), and cell 1 to the remaining voltage. This can be extended to multiple cells if the total voltage is greater than 2 * (UINT16_MAX - 1). [mV] (type:uint16_t)
    current_battery           : Battery current, -1: autopilot does not measure the current. Value may overflow/rollover for very high currents (> 327.67A) [cA] (type:int16_t)
    current_consumed          : Consumed charge, -1: autopilot does not provide consumption estimate [mAh] (type:int32_t)
    energy_consumed           : Consumed energy, -1: autopilot does not provide energy consumption estimate [hJ] (type:int32_t)
    battery_remaining         : Remaining battery energy. Values: [0-100], -1: autopilot does not estimate the remaining battery. [%] (type:int8_t)
    time_remaining            : Remaining battery time, 0: autopilot does not provide remaining battery time estimate [s] (type:int32_t)
    charge_state              : State for extent of discharge, provided by autopilot for warning or external reactions (type:uint8_t, values:MAV_BATTERY_CHARGE_STATE)
    voltages_ext              : Battery voltages for cells 11 to 14. Cells above the valid cell count for this battery should have a value of 0, where zero indicates not supported (note, this is different than for the voltages field and allows empty byte truncation). If the measured value is 0 then 1 should be sent instead. [mV] (type:uint16_t)
    mode                      : Battery mode. Default (0) is that battery mode reporting is not supported or battery is in normal-use mode. (type:uint8_t, values:MAV_BATTERY_MODE)
    fault_bitmask             : Fault/health indications. These should be set when charge_state is MAV_BATTERY_CHARGE_STATE_FAILED or MAV_BATTERY_CHARGE_STATE_UNHEALTHY (if not, fault reporting is not supported). (type:uint32_t, values:MAV_BATTERY_FAULT)

    """
    return MAVLink_battery_status_message(id, battery_function, type, temperature, voltages, current_battery, current_consumed, energy_consumed, battery_remaining, time_remaining, charge_state, voltages_ext, mode, fault_bitmask)

battery_status_send

battery_status_send(id: int, battery_function: int, type: int, temperature: int, voltages: Sequence[int], current_battery: int, current_consumed: int, energy_consumed: int, battery_remaining: int, time_remaining: int = 0, charge_state: int = 0, voltages_ext: Sequence[int] = (0, 0, 0, 0), mode: int = 0, fault_bitmask: int = 0, force_mavlink1: bool = False) -> None

Battery information. Updates GCS with flight controller battery status. Smart batteries also use this message, but may additionally send BATTERY_INFO.

id : Battery ID (type:uint8_t) battery_function : Function of the battery (type:uint8_t, values:MAV_BATTERY_FUNCTION) type : Type (chemistry) of the battery (type:uint8_t, values:MAV_BATTERY_TYPE) temperature : Temperature of the battery. INT16_MAX for unknown temperature. [cdegC] (type:int16_t) voltages : Battery voltage of cells 1 to 10 (see voltages_ext for cells 11-14). Cells in this field above the valid cell count for this battery should have the UINT16_MAX value. If individual cell voltages are unknown or not measured for this battery, then the overall battery voltage should be filled in cell 0, with all others set to UINT16_MAX. If the voltage of the battery is greater than (UINT16_MAX - 1), then cell 0 should be set to (UINT16_MAX - 1), and cell 1 to the remaining voltage. This can be extended to multiple cells if the total voltage is greater than 2 * (UINT16_MAX - 1). [mV] (type:uint16_t) current_battery : Battery current, -1: autopilot does not measure the current. Value may overflow/rollover for very high currents (> 327.67A) [cA] (type:int16_t) current_consumed : Consumed charge, -1: autopilot does not provide consumption estimate [mAh] (type:int32_t) energy_consumed : Consumed energy, -1: autopilot does not provide energy consumption estimate [hJ] (type:int32_t) battery_remaining : Remaining battery energy. Values: [0-100], -1: autopilot does not estimate the remaining battery. [%] (type:int8_t) time_remaining : Remaining battery time, 0: autopilot does not provide remaining battery time estimate [s] (type:int32_t) charge_state : State for extent of discharge, provided by autopilot for warning or external reactions (type:uint8_t, values:MAV_BATTERY_CHARGE_STATE) voltages_ext : Battery voltages for cells 11 to 14. Cells above the valid cell count for this battery should have a value of 0, where zero indicates not supported (note, this is different than for the voltages field and allows empty byte truncation). If the measured value is 0 then 1 should be sent instead. [mV] (type:uint16_t) mode : Battery mode. Default (0) is that battery mode reporting is not supported or battery is in normal-use mode. (type:uint8_t, values:MAV_BATTERY_MODE) fault_bitmask : Fault/health indications. These should be set when charge_state is MAV_BATTERY_CHARGE_STATE_FAILED or MAV_BATTERY_CHARGE_STATE_UNHEALTHY (if not, fault reporting is not supported). (type:uint32_t, values:MAV_BATTERY_FAULT)

Source code in src/mavlink/definition.py

def battery_status_send(self, id: int, battery_function: int, type: int, temperature: int, voltages: Sequence[int], current_battery: int, current_consumed: int, energy_consumed: int, battery_remaining: int, time_remaining: int = 0, charge_state: int = 0, voltages_ext: Sequence[int] = (0, 0, 0, 0), mode: int = 0, fault_bitmask: int = 0, force_mavlink1: bool = False) -> None:
    """
    Battery information. Updates GCS with flight controller battery
    status. Smart batteries also use this message, but may
    additionally send BATTERY_INFO.

    id                        : Battery ID (type:uint8_t)
    battery_function          : Function of the battery (type:uint8_t, values:MAV_BATTERY_FUNCTION)
    type                      : Type (chemistry) of the battery (type:uint8_t, values:MAV_BATTERY_TYPE)
    temperature               : Temperature of the battery. INT16_MAX for unknown temperature. [cdegC] (type:int16_t)
    voltages                  : Battery voltage of cells 1 to 10 (see voltages_ext for cells 11-14). Cells in this field above the valid cell count for this battery should have the UINT16_MAX value. If individual cell voltages are unknown or not measured for this battery, then the overall battery voltage should be filled in cell 0, with all others set to UINT16_MAX. If the voltage of the battery is greater than (UINT16_MAX - 1), then cell 0 should be set to (UINT16_MAX - 1), and cell 1 to the remaining voltage. This can be extended to multiple cells if the total voltage is greater than 2 * (UINT16_MAX - 1). [mV] (type:uint16_t)
    current_battery           : Battery current, -1: autopilot does not measure the current. Value may overflow/rollover for very high currents (> 327.67A) [cA] (type:int16_t)
    current_consumed          : Consumed charge, -1: autopilot does not provide consumption estimate [mAh] (type:int32_t)
    energy_consumed           : Consumed energy, -1: autopilot does not provide energy consumption estimate [hJ] (type:int32_t)
    battery_remaining         : Remaining battery energy. Values: [0-100], -1: autopilot does not estimate the remaining battery. [%] (type:int8_t)
    time_remaining            : Remaining battery time, 0: autopilot does not provide remaining battery time estimate [s] (type:int32_t)
    charge_state              : State for extent of discharge, provided by autopilot for warning or external reactions (type:uint8_t, values:MAV_BATTERY_CHARGE_STATE)
    voltages_ext              : Battery voltages for cells 11 to 14. Cells above the valid cell count for this battery should have a value of 0, where zero indicates not supported (note, this is different than for the voltages field and allows empty byte truncation). If the measured value is 0 then 1 should be sent instead. [mV] (type:uint16_t)
    mode                      : Battery mode. Default (0) is that battery mode reporting is not supported or battery is in normal-use mode. (type:uint8_t, values:MAV_BATTERY_MODE)
    fault_bitmask             : Fault/health indications. These should be set when charge_state is MAV_BATTERY_CHARGE_STATE_FAILED or MAV_BATTERY_CHARGE_STATE_UNHEALTHY (if not, fault reporting is not supported). (type:uint32_t, values:MAV_BATTERY_FAULT)

    """
    self.send(self.battery_status_encode(id, battery_function, type, temperature, voltages, current_battery, current_consumed, energy_consumed, battery_remaining, time_remaining, charge_state, voltages_ext, mode, fault_bitmask), force_mavlink1=force_mavlink1)

button_change_encode

button_change_encode(time_boot_ms: int, last_change_ms: int, state: int) -> MAVLink_button_change_message

Report button state change.

time_boot_ms : Timestamp (time since system boot). [ms] (type:uint32_t) last_change_ms : Time of last change of button state. [ms] (type:uint32_t) state : Bitmap for state of buttons. (type:uint8_t)

Source code in src/mavlink/definition.py

def button_change_encode(self, time_boot_ms: int, last_change_ms: int, state: int) -> MAVLink_button_change_message:
    """
    Report button state change.

    time_boot_ms              : Timestamp (time since system boot). [ms] (type:uint32_t)
    last_change_ms            : Time of last change of button state. [ms] (type:uint32_t)
    state                     : Bitmap for state of buttons. (type:uint8_t)

    """
    return MAVLink_button_change_message(time_boot_ms, last_change_ms, state)

button_change_send

button_change_send(time_boot_ms: int, last_change_ms: int, state: int, force_mavlink1: bool = False) -> None

Report button state change.

time_boot_ms : Timestamp (time since system boot). [ms] (type:uint32_t) last_change_ms : Time of last change of button state. [ms] (type:uint32_t) state : Bitmap for state of buttons. (type:uint8_t)

Source code in src/mavlink/definition.py

def button_change_send(self, time_boot_ms: int, last_change_ms: int, state: int, force_mavlink1: bool = False) -> None:
    """
    Report button state change.

    time_boot_ms              : Timestamp (time since system boot). [ms] (type:uint32_t)
    last_change_ms            : Time of last change of button state. [ms] (type:uint32_t)
    state                     : Bitmap for state of buttons. (type:uint8_t)

    """
    self.send(self.button_change_encode(time_boot_ms, last_change_ms, state), force_mavlink1=force_mavlink1)

bytes_needed

bytes_needed() -> int

return number of bytes needed for next parsing stage

Source code in src/mavlink/definition.py

def bytes_needed(self) -> int:
    """return number of bytes needed for next parsing stage"""
    ret = self.expected_length - self.buf_len()

    if ret <= 0:
        return 1
    return ret

can_filter_modify_encode

can_filter_modify_encode(target_system: int, target_component: int, bus: int, operation: int, num_ids: int, ids: Sequence[int]) -> MAVLink_can_filter_modify_message

Modify the filter of what CAN messages to forward over the mavlink. This can be used to make CAN forwarding work well on low bandwidth links. The filtering is applied on bits 8 to 24 of the CAN id (2nd and 3rd bytes) which corresponds to the DroneCAN message ID for DroneCAN. Filters with more than 16 IDs can be constructed by sending multiple CAN_FILTER_MODIFY messages.

target_system : System ID. (type:uint8_t) target_component : Component ID. (type:uint8_t) bus : bus number (type:uint8_t) operation : what operation to perform on the filter list. See CAN_FILTER_OP enum. (type:uint8_t, values:CAN_FILTER_OP) num_ids : number of IDs in filter list (type:uint8_t) ids : filter IDs, length num_ids (type:uint16_t)

Source code in src/mavlink/definition.py

def can_filter_modify_encode(self, target_system: int, target_component: int, bus: int, operation: int, num_ids: int, ids: Sequence[int]) -> MAVLink_can_filter_modify_message:
    """
    Modify the filter of what CAN messages to forward over the mavlink.
    This can be used to make CAN forwarding work well on low
    bandwidth links. The filtering is applied on bits 8 to 24 of
    the CAN id (2nd and 3rd bytes) which corresponds to the
    DroneCAN message ID for DroneCAN. Filters with more than 16
    IDs can be constructed by sending multiple CAN_FILTER_MODIFY
    messages.

    target_system             : System ID. (type:uint8_t)
    target_component          : Component ID. (type:uint8_t)
    bus                       : bus number (type:uint8_t)
    operation                 : what operation to perform on the filter list. See CAN_FILTER_OP enum. (type:uint8_t, values:CAN_FILTER_OP)
    num_ids                   : number of IDs in filter list (type:uint8_t)
    ids                       : filter IDs, length num_ids (type:uint16_t)

    """
    return MAVLink_can_filter_modify_message(target_system, target_component, bus, operation, num_ids, ids)

can_filter_modify_send

can_filter_modify_send(target_system: int, target_component: int, bus: int, operation: int, num_ids: int, ids: Sequence[int], force_mavlink1: bool = False) -> None

Modify the filter of what CAN messages to forward over the mavlink. This can be used to make CAN forwarding work well on low bandwidth links. The filtering is applied on bits 8 to 24 of the CAN id (2nd and 3rd bytes) which corresponds to the DroneCAN message ID for DroneCAN. Filters with more than 16 IDs can be constructed by sending multiple CAN_FILTER_MODIFY messages.

target_system : System ID. (type:uint8_t) target_component : Component ID. (type:uint8_t) bus : bus number (type:uint8_t) operation : what operation to perform on the filter list. See CAN_FILTER_OP enum. (type:uint8_t, values:CAN_FILTER_OP) num_ids : number of IDs in filter list (type:uint8_t) ids : filter IDs, length num_ids (type:uint16_t)

Source code in src/mavlink/definition.py

def can_filter_modify_send(self, target_system: int, target_component: int, bus: int, operation: int, num_ids: int, ids: Sequence[int], force_mavlink1: bool = False) -> None:
    """
    Modify the filter of what CAN messages to forward over the mavlink.
    This can be used to make CAN forwarding work well on low
    bandwidth links. The filtering is applied on bits 8 to 24 of
    the CAN id (2nd and 3rd bytes) which corresponds to the
    DroneCAN message ID for DroneCAN. Filters with more than 16
    IDs can be constructed by sending multiple CAN_FILTER_MODIFY
    messages.

    target_system             : System ID. (type:uint8_t)
    target_component          : Component ID. (type:uint8_t)
    bus                       : bus number (type:uint8_t)
    operation                 : what operation to perform on the filter list. See CAN_FILTER_OP enum. (type:uint8_t, values:CAN_FILTER_OP)
    num_ids                   : number of IDs in filter list (type:uint8_t)
    ids                       : filter IDs, length num_ids (type:uint16_t)

    """
    self.send(self.can_filter_modify_encode(target_system, target_component, bus, operation, num_ids, ids), force_mavlink1=force_mavlink1)

can_frame_encode

can_frame_encode(target_system: int, target_component: int, bus: int, len: int, id: int, data: Sequence[int]) -> MAVLink_can_frame_message

A forwarded CAN frame as requested by MAV_CMD_CAN_FORWARD.

target_system : System ID. (type:uint8_t) target_component : Component ID. (type:uint8_t) bus : Bus number (type:uint8_t) len : Frame length (type:uint8_t) id : Frame ID (type:uint32_t) data : Frame data (type:uint8_t)

Source code in src/mavlink/definition.py

def can_frame_encode(self, target_system: int, target_component: int, bus: int, len: int, id: int, data: Sequence[int]) -> MAVLink_can_frame_message:
    """
    A forwarded CAN frame as requested by MAV_CMD_CAN_FORWARD.

    target_system             : System ID. (type:uint8_t)
    target_component          : Component ID. (type:uint8_t)
    bus                       : Bus number (type:uint8_t)
    len                       : Frame length (type:uint8_t)
    id                        : Frame ID (type:uint32_t)
    data                      : Frame data (type:uint8_t)

    """
    return MAVLink_can_frame_message(target_system, target_component, bus, len, id, data)

can_frame_send

can_frame_send(target_system: int, target_component: int, bus: int, len: int, id: int, data: Sequence[int], force_mavlink1: bool = False) -> None

A forwarded CAN frame as requested by MAV_CMD_CAN_FORWARD.

target_system : System ID. (type:uint8_t) target_component : Component ID. (type:uint8_t) bus : Bus number (type:uint8_t) len : Frame length (type:uint8_t) id : Frame ID (type:uint32_t) data : Frame data (type:uint8_t)

Source code in src/mavlink/definition.py

def can_frame_send(self, target_system: int, target_component: int, bus: int, len: int, id: int, data: Sequence[int], force_mavlink1: bool = False) -> None:
    """
    A forwarded CAN frame as requested by MAV_CMD_CAN_FORWARD.

    target_system             : System ID. (type:uint8_t)
    target_component          : Component ID. (type:uint8_t)
    bus                       : Bus number (type:uint8_t)
    len                       : Frame length (type:uint8_t)
    id                        : Frame ID (type:uint32_t)
    data                      : Frame data (type:uint8_t)

    """
    self.send(self.can_frame_encode(target_system, target_component, bus, len, id, data), force_mavlink1=force_mavlink1)

canfd_frame_encode

canfd_frame_encode(target_system: int, target_component: int, bus: int, len: int, id: int, data: Sequence[int]) -> MAVLink_canfd_frame_message

A forwarded CANFD frame as requested by MAV_CMD_CAN_FORWARD. These are separated from CAN_FRAME as they need different handling (eg. TAO handling)

target_system : System ID. (type:uint8_t) target_component : Component ID. (type:uint8_t) bus : bus number (type:uint8_t) len : Frame length (type:uint8_t) id : Frame ID (type:uint32_t) data : Frame data (type:uint8_t)

Source code in src/mavlink/definition.py

def canfd_frame_encode(self, target_system: int, target_component: int, bus: int, len: int, id: int, data: Sequence[int]) -> MAVLink_canfd_frame_message:
    """
    A forwarded CANFD frame as requested by MAV_CMD_CAN_FORWARD. These are
    separated from CAN_FRAME as they need different handling (eg.
    TAO handling)

    target_system             : System ID. (type:uint8_t)
    target_component          : Component ID. (type:uint8_t)
    bus                       : bus number (type:uint8_t)
    len                       : Frame length (type:uint8_t)
    id                        : Frame ID (type:uint32_t)
    data                      : Frame data (type:uint8_t)

    """
    return MAVLink_canfd_frame_message(target_system, target_component, bus, len, id, data)

canfd_frame_send

canfd_frame_send(target_system: int, target_component: int, bus: int, len: int, id: int, data: Sequence[int], force_mavlink1: bool = False) -> None

A forwarded CANFD frame as requested by MAV_CMD_CAN_FORWARD. These are separated from CAN_FRAME as they need different handling (eg. TAO handling)

target_system : System ID. (type:uint8_t) target_component : Component ID. (type:uint8_t) bus : bus number (type:uint8_t) len : Frame length (type:uint8_t) id : Frame ID (type:uint32_t) data : Frame data (type:uint8_t)

Source code in src/mavlink/definition.py

def canfd_frame_send(self, target_system: int, target_component: int, bus: int, len: int, id: int, data: Sequence[int], force_mavlink1: bool = False) -> None:
    """
    A forwarded CANFD frame as requested by MAV_CMD_CAN_FORWARD. These are
    separated from CAN_FRAME as they need different handling (eg.
    TAO handling)

    target_system             : System ID. (type:uint8_t)
    target_component          : Component ID. (type:uint8_t)
    bus                       : bus number (type:uint8_t)
    len                       : Frame length (type:uint8_t)
    id                        : Frame ID (type:uint32_t)
    data                      : Frame data (type:uint8_t)

    """
    self.send(self.canfd_frame_encode(target_system, target_component, bus, len, id, data), force_mavlink1=force_mavlink1)

check_signature

check_signature(msgbuf: bytearray, srcSystem: int, srcComponent: int) -> bool

check signature on incoming message

Source code in src/mavlink/definition.py

def check_signature(self, msgbuf: bytearray, srcSystem: int, srcComponent: int) -> bool:
    """check signature on incoming message"""
    assert self.signing.secret_key is not None

    timestamp_buf = msgbuf[-12:-6]
    link_id = msgbuf[-13]
    tbytes: Tuple[int, int] = self.mav_sign_unpacker.unpack(timestamp_buf)
    tlow, thigh = tbytes
    timestamp = tlow + (thigh << 32)

    # see if the timestamp is acceptable
    stream_key = (link_id, srcSystem, srcComponent)
    if stream_key in self.signing.stream_timestamps:
        if timestamp <= self.signing.stream_timestamps[stream_key]:
            # reject old timestamp
            logger.info("old timestamp")
            return False
    else:
        # a new stream has appeared. Accept the timestamp if it is at most
        # one minute behind our current timestamp
        if timestamp + 6000 * 1000 < self.signing.timestamp:
            logger.info("bad new stream %s %s", timestamp / (100.0 * 1000 * 60 * 60 * 24 * 365), self.signing.timestamp / (100.0 * 1000 * 60 * 60 * 24 * 365))
            return False
        logger.info("new stream")

    # set the streams timestamp so we reject timestamps that go backwards
    self.signing.stream_timestamps[stream_key] = timestamp

    h = hashlib.new("sha256")
    h.update(self.signing.secret_key)
    h.update(msgbuf[:-6])
    sig1 = h.digest()[:6]
    sig2 = msgbuf[-6:]
    if sig1 != sig2:
        logger.info("sig mismatch")
        return False

    # the timestamp we next send with is the max of the received timestamp and
    # our current timestamp
    self.signing.timestamp = max(self.signing.timestamp, timestamp)
    return True

command_ack_encode

command_ack_encode(command: int, result: int, progress: int = 0, result_param2: int = 0, target_system: int = 0, target_component: int = 0) -> MAVLink_command_ack_message

Report status of a command. Includes feedback whether the command was executed. The command microservice is documented at https://mavlink.io/en/services/command.html

command : Command ID (of acknowledged command). (type:uint16_t, values:MAV_CMD) result : Result of command. (type:uint8_t, values:MAV_RESULT) progress : The progress percentage when result is MAV_RESULT_IN_PROGRESS. Values: [0-100], or UINT8_MAX if the progress is unknown. [%] (type:uint8_t) result_param2 : Additional result information. Can be set with a command-specific enum containing command-specific error reasons for why the command might be denied. If used, the associated enum must be documented in the corresponding MAV_CMD (this enum should have a 0 value to indicate "unused" or "unknown"). (type:int32_t) target_system : System ID of the target recipient. This is the ID of the system that sent the command for which this COMMAND_ACK is an acknowledgement. (type:uint8_t) target_component : Component ID of the target recipient. This is the ID of the system that sent the command for which this COMMAND_ACK is an acknowledgement. (type:uint8_t)

Source code in src/mavlink/definition.py

def command_ack_encode(self, command: int, result: int, progress: int = 0, result_param2: int = 0, target_system: int = 0, target_component: int = 0) -> MAVLink_command_ack_message:
    """
    Report status of a command. Includes feedback whether the command was
    executed. The command microservice is documented at
    https://mavlink.io/en/services/command.html

    command                   : Command ID (of acknowledged command). (type:uint16_t, values:MAV_CMD)
    result                    : Result of command. (type:uint8_t, values:MAV_RESULT)
    progress                  : The progress percentage when result is MAV_RESULT_IN_PROGRESS. Values: [0-100], or UINT8_MAX if the progress is unknown. [%] (type:uint8_t)
    result_param2             : Additional result information. Can be set with a command-specific enum containing command-specific error reasons for why the command might be denied. If used, the associated enum must be documented in the corresponding MAV_CMD (this enum should have a 0 value to indicate "unused" or "unknown"). (type:int32_t)
    target_system             : System ID of the target recipient. This is the ID of the system that sent the command for which this COMMAND_ACK is an acknowledgement. (type:uint8_t)
    target_component          : Component ID of the target recipient. This is the ID of the system that sent the command for which this COMMAND_ACK is an acknowledgement. (type:uint8_t)

    """
    return MAVLink_command_ack_message(command, result, progress, result_param2, target_system, target_component)

command_ack_send

command_ack_send(command: int, result: int, progress: int = 0, result_param2: int = 0, target_system: int = 0, target_component: int = 0, force_mavlink1: bool = False) -> None

Report status of a command. Includes feedback whether the command was executed. The command microservice is documented at https://mavlink.io/en/services/command.html

command : Command ID (of acknowledged command). (type:uint16_t, values:MAV_CMD) result : Result of command. (type:uint8_t, values:MAV_RESULT) progress : The progress percentage when result is MAV_RESULT_IN_PROGRESS. Values: [0-100], or UINT8_MAX if the progress is unknown. [%] (type:uint8_t) result_param2 : Additional result information. Can be set with a command-specific enum containing command-specific error reasons for why the command might be denied. If used, the associated enum must be documented in the corresponding MAV_CMD (this enum should have a 0 value to indicate "unused" or "unknown"). (type:int32_t) target_system : System ID of the target recipient. This is the ID of the system that sent the command for which this COMMAND_ACK is an acknowledgement. (type:uint8_t) target_component : Component ID of the target recipient. This is the ID of the system that sent the command for which this COMMAND_ACK is an acknowledgement. (type:uint8_t)

Source code in src/mavlink/definition.py

def command_ack_send(self, command: int, result: int, progress: int = 0, result_param2: int = 0, target_system: int = 0, target_component: int = 0, force_mavlink1: bool = False) -> None:
    """
    Report status of a command. Includes feedback whether the command was
    executed. The command microservice is documented at
    https://mavlink.io/en/services/command.html

    command                   : Command ID (of acknowledged command). (type:uint16_t, values:MAV_CMD)
    result                    : Result of command. (type:uint8_t, values:MAV_RESULT)
    progress                  : The progress percentage when result is MAV_RESULT_IN_PROGRESS. Values: [0-100], or UINT8_MAX if the progress is unknown. [%] (type:uint8_t)
    result_param2             : Additional result information. Can be set with a command-specific enum containing command-specific error reasons for why the command might be denied. If used, the associated enum must be documented in the corresponding MAV_CMD (this enum should have a 0 value to indicate "unused" or "unknown"). (type:int32_t)
    target_system             : System ID of the target recipient. This is the ID of the system that sent the command for which this COMMAND_ACK is an acknowledgement. (type:uint8_t)
    target_component          : Component ID of the target recipient. This is the ID of the system that sent the command for which this COMMAND_ACK is an acknowledgement. (type:uint8_t)

    """
    self.send(self.command_ack_encode(command, result, progress, result_param2, target_system, target_component), force_mavlink1=force_mavlink1)

command_int_encode

command_int_encode(target_system: int, target_component: int, frame: int, command: int, current: int, autocontinue: int, param1: float, param2: float, param3: float, param4: float, x: int, y: int, z: float) -> MAVLink_command_int_message

Send a command with up to seven parameters to the MAV, where params 5 and 6 are integers and the other values are floats. This is preferred over COMMAND_LONG as it allows the MAV_FRAME to be specified for interpreting positional information, such as altitude. COMMAND_INT is also preferred when sending latitude and longitude data in params 5 and 6, as it allows for greater precision. Param 5 and 6 encode positional data as scaled integers, where the scaling depends on the actual command value. NaN or INT32_MAX may be used in float/integer params (respectively) to indicate optional/default values (e.g. to use the component's current latitude, yaw rather than a specific value). The command microservice is documented at https://mavlink.io/en/services/command.html

target_system : System ID (type:uint8_t) target_component : Component ID (type:uint8_t) frame : The coordinate system of the COMMAND. (type:uint8_t, values:MAV_FRAME) command : The scheduled action for the mission item. (type:uint16_t, values:MAV_CMD) current : Not used. (type:uint8_t) autocontinue : Not used (set 0). (type:uint8_t) param1 : PARAM1, see MAV_CMD enum (type:float) param2 : PARAM2, see MAV_CMD enum (type:float) param3 : PARAM3, see MAV_CMD enum (type:float) param4 : PARAM4, see MAV_CMD enum (type:float) x : PARAM5 / local: x position in meters * 1e4, global: latitude in degrees * 10^7 (type:int32_t) y : PARAM6 / local: y position in meters * 1e4, global: longitude in degrees * 10^7 (type:int32_t) z : PARAM7 / z position: global: altitude in meters (relative or absolute, depending on frame). (type:float)

Source code in src/mavlink/definition.py

def command_int_encode(self, target_system: int, target_component: int, frame: int, command: int, current: int, autocontinue: int, param1: float, param2: float, param3: float, param4: float, x: int, y: int, z: float) -> MAVLink_command_int_message:
    """
    Send a command with up to seven parameters to the MAV, where params 5
    and 6 are integers and the other values are floats. This is
    preferred over COMMAND_LONG as it allows the MAV_FRAME to be
    specified for interpreting positional information, such as
    altitude. COMMAND_INT is also preferred when sending latitude
    and longitude data in params 5 and 6, as it allows for greater
    precision. Param 5 and 6 encode positional data as scaled
    integers, where the scaling depends on the actual command
    value. NaN or INT32_MAX may be used in float/integer params
    (respectively) to indicate optional/default values (e.g. to
    use the component's current latitude, yaw rather than a
    specific value). The command microservice is documented at
    https://mavlink.io/en/services/command.html

    target_system             : System ID (type:uint8_t)
    target_component          : Component ID (type:uint8_t)
    frame                     : The coordinate system of the COMMAND. (type:uint8_t, values:MAV_FRAME)
    command                   : The scheduled action for the mission item. (type:uint16_t, values:MAV_CMD)
    current                   : Not used. (type:uint8_t)
    autocontinue              : Not used (set 0). (type:uint8_t)
    param1                    : PARAM1, see MAV_CMD enum (type:float)
    param2                    : PARAM2, see MAV_CMD enum (type:float)
    param3                    : PARAM3, see MAV_CMD enum (type:float)
    param4                    : PARAM4, see MAV_CMD enum (type:float)
    x                         : PARAM5 / local: x position in meters * 1e4, global: latitude in degrees * 10^7 (type:int32_t)
    y                         : PARAM6 / local: y position in meters * 1e4, global: longitude in degrees * 10^7 (type:int32_t)
    z                         : PARAM7 / z position: global: altitude in meters (relative or absolute, depending on frame). (type:float)

    """
    return MAVLink_command_int_message(target_system, target_component, frame, command, current, autocontinue, param1, param2, param3, param4, x, y, z)

command_int_send

command_int_send(target_system: int, target_component: int, frame: int, command: int, current: int, autocontinue: int, param1: float, param2: float, param3: float, param4: float, x: int, y: int, z: float, force_mavlink1: bool = False) -> None

Send a command with up to seven parameters to the MAV, where params 5 and 6 are integers and the other values are floats. This is preferred over COMMAND_LONG as it allows the MAV_FRAME to be specified for interpreting positional information, such as altitude. COMMAND_INT is also preferred when sending latitude and longitude data in params 5 and 6, as it allows for greater precision. Param 5 and 6 encode positional data as scaled integers, where the scaling depends on the actual command value. NaN or INT32_MAX may be used in float/integer params (respectively) to indicate optional/default values (e.g. to use the component's current latitude, yaw rather than a specific value). The command microservice is documented at https://mavlink.io/en/services/command.html

target_system : System ID (type:uint8_t) target_component : Component ID (type:uint8_t) frame : The coordinate system of the COMMAND. (type:uint8_t, values:MAV_FRAME) command : The scheduled action for the mission item. (type:uint16_t, values:MAV_CMD) current : Not used. (type:uint8_t) autocontinue : Not used (set 0). (type:uint8_t) param1 : PARAM1, see MAV_CMD enum (type:float) param2 : PARAM2, see MAV_CMD enum (type:float) param3 : PARAM3, see MAV_CMD enum (type:float) param4 : PARAM4, see MAV_CMD enum (type:float) x : PARAM5 / local: x position in meters * 1e4, global: latitude in degrees * 10^7 (type:int32_t) y : PARAM6 / local: y position in meters * 1e4, global: longitude in degrees * 10^7 (type:int32_t) z : PARAM7 / z position: global: altitude in meters (relative or absolute, depending on frame). (type:float)

Source code in src/mavlink/definition.py

def command_int_send(self, target_system: int, target_component: int, frame: int, command: int, current: int, autocontinue: int, param1: float, param2: float, param3: float, param4: float, x: int, y: int, z: float, force_mavlink1: bool = False) -> None:
    """
    Send a command with up to seven parameters to the MAV, where params 5
    and 6 are integers and the other values are floats. This is
    preferred over COMMAND_LONG as it allows the MAV_FRAME to be
    specified for interpreting positional information, such as
    altitude. COMMAND_INT is also preferred when sending latitude
    and longitude data in params 5 and 6, as it allows for greater
    precision. Param 5 and 6 encode positional data as scaled
    integers, where the scaling depends on the actual command
    value. NaN or INT32_MAX may be used in float/integer params
    (respectively) to indicate optional/default values (e.g. to
    use the component's current latitude, yaw rather than a
    specific value). The command microservice is documented at
    https://mavlink.io/en/services/command.html

    target_system             : System ID (type:uint8_t)
    target_component          : Component ID (type:uint8_t)
    frame                     : The coordinate system of the COMMAND. (type:uint8_t, values:MAV_FRAME)
    command                   : The scheduled action for the mission item. (type:uint16_t, values:MAV_CMD)
    current                   : Not used. (type:uint8_t)
    autocontinue              : Not used (set 0). (type:uint8_t)
    param1                    : PARAM1, see MAV_CMD enum (type:float)
    param2                    : PARAM2, see MAV_CMD enum (type:float)
    param3                    : PARAM3, see MAV_CMD enum (type:float)
    param4                    : PARAM4, see MAV_CMD enum (type:float)
    x                         : PARAM5 / local: x position in meters * 1e4, global: latitude in degrees * 10^7 (type:int32_t)
    y                         : PARAM6 / local: y position in meters * 1e4, global: longitude in degrees * 10^7 (type:int32_t)
    z                         : PARAM7 / z position: global: altitude in meters (relative or absolute, depending on frame). (type:float)

    """
    self.send(self.command_int_encode(target_system, target_component, frame, command, current, autocontinue, param1, param2, param3, param4, x, y, z), force_mavlink1=force_mavlink1)

command_long_encode

command_long_encode(target_system: int, target_component: int, command: int, confirmation: int, param1: float, param2: float, param3: float, param4: float, param5: float, param6: float, param7: float) -> MAVLink_command_long_message

Send a command with up to seven parameters to the MAV. COMMAND_INT is generally preferred when sending MAV_CMD commands that include positional information; it offers higher precision and allows the MAV_FRAME to be specified (which may otherwise be ambiguous, particularly for altitude). The command microservice is documented at https://mavlink.io/en/services/command.html

target_system : System which should execute the command (type:uint8_t) target_component : Component which should execute the command, 0 for all components (type:uint8_t) command : Command ID (of command to send). (type:uint16_t, values:MAV_CMD) confirmation : 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) (type:uint8_t) param1 : Parameter 1 (for the specific command). (type:float) param2 : Parameter 2 (for the specific command). (type:float) param3 : Parameter 3 (for the specific command). (type:float) param4 : Parameter 4 (for the specific command). (type:float) param5 : Parameter 5 (for the specific command). (type:float) param6 : Parameter 6 (for the specific command). (type:float) param7 : Parameter 7 (for the specific command). (type:float)

Source code in src/mavlink/definition.py

def command_long_encode(self, target_system: int, target_component: int, command: int, confirmation: int, param1: float, param2: float, param3: float, param4: float, param5: float, param6: float, param7: float) -> MAVLink_command_long_message:
    """
    Send a command with up to seven parameters to the MAV. COMMAND_INT is
    generally preferred when sending MAV_CMD commands that include
    positional information; it offers higher precision and allows
    the MAV_FRAME to be specified (which may otherwise be
    ambiguous, particularly for altitude). The command
    microservice is documented at
    https://mavlink.io/en/services/command.html

    target_system             : System which should execute the command (type:uint8_t)
    target_component          : Component which should execute the command, 0 for all components (type:uint8_t)
    command                   : Command ID (of command to send). (type:uint16_t, values:MAV_CMD)
    confirmation              : 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) (type:uint8_t)
    param1                    : Parameter 1 (for the specific command). (type:float)
    param2                    : Parameter 2 (for the specific command). (type:float)
    param3                    : Parameter 3 (for the specific command). (type:float)
    param4                    : Parameter 4 (for the specific command). (type:float)
    param5                    : Parameter 5 (for the specific command). (type:float)
    param6                    : Parameter 6 (for the specific command). (type:float)
    param7                    : Parameter 7 (for the specific command). (type:float)

    """
    return MAVLink_command_long_message(target_system, target_component, command, confirmation, param1, param2, param3, param4, param5, param6, param7)

command_long_send

command_long_send(target_system: int, target_component: int, command: int, confirmation: int, param1: float, param2: float, param3: float, param4: float, param5: float, param6: float, param7: float, force_mavlink1: bool = False) -> None

Send a command with up to seven parameters to the MAV. COMMAND_INT is generally preferred when sending MAV_CMD commands that include positional information; it offers higher precision and allows the MAV_FRAME to be specified (which may otherwise be ambiguous, particularly for altitude). The command microservice is documented at https://mavlink.io/en/services/command.html

target_system : System which should execute the command (type:uint8_t) target_component : Component which should execute the command, 0 for all components (type:uint8_t) command : Command ID (of command to send). (type:uint16_t, values:MAV_CMD) confirmation : 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) (type:uint8_t) param1 : Parameter 1 (for the specific command). (type:float) param2 : Parameter 2 (for the specific command). (type:float) param3 : Parameter 3 (for the specific command). (type:float) param4 : Parameter 4 (for the specific command). (type:float) param5 : Parameter 5 (for the specific command). (type:float) param6 : Parameter 6 (for the specific command). (type:float) param7 : Parameter 7 (for the specific command). (type:float)

Source code in src/mavlink/definition.py

def command_long_send(self, target_system: int, target_component: int, command: int, confirmation: int, param1: float, param2: float, param3: float, param4: float, param5: float, param6: float, param7: float, force_mavlink1: bool = False) -> None:
    """
    Send a command with up to seven parameters to the MAV. COMMAND_INT is
    generally preferred when sending MAV_CMD commands that include
    positional information; it offers higher precision and allows
    the MAV_FRAME to be specified (which may otherwise be
    ambiguous, particularly for altitude). The command
    microservice is documented at
    https://mavlink.io/en/services/command.html

    target_system             : System which should execute the command (type:uint8_t)
    target_component          : Component which should execute the command, 0 for all components (type:uint8_t)
    command                   : Command ID (of command to send). (type:uint16_t, values:MAV_CMD)
    confirmation              : 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) (type:uint8_t)
    param1                    : Parameter 1 (for the specific command). (type:float)
    param2                    : Parameter 2 (for the specific command). (type:float)
    param3                    : Parameter 3 (for the specific command). (type:float)
    param4                    : Parameter 4 (for the specific command). (type:float)
    param5                    : Parameter 5 (for the specific command). (type:float)
    param6                    : Parameter 6 (for the specific command). (type:float)
    param7                    : Parameter 7 (for the specific command). (type:float)

    """
    self.send(self.command_long_encode(target_system, target_component, command, confirmation, param1, param2, param3, param4, param5, param6, param7), force_mavlink1=force_mavlink1)

control_system_state_encode

control_system_state_encode(time_usec: int, x_acc: float, y_acc: float, z_acc: float, x_vel: float, y_vel: float, z_vel: float, x_pos: float, y_pos: float, z_pos: float, airspeed: float, vel_variance: Sequence[float], pos_variance: Sequence[float], q: Sequence[float], roll_rate: float, pitch_rate: float, yaw_rate: float) -> MAVLink_control_system_state_message

The smoothed, monotonic system state used to feed the control loops of the system.

time_usec : Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number. [us] (type:uint64_t) x_acc : X acceleration in body frame [m/s/s] (type:float) y_acc : Y acceleration in body frame [m/s/s] (type:float) z_acc : Z acceleration in body frame [m/s/s] (type:float) x_vel : X velocity in body frame [m/s] (type:float) y_vel : Y velocity in body frame [m/s] (type:float) z_vel : Z velocity in body frame [m/s] (type:float) x_pos : X position in local frame [m] (type:float) y_pos : Y position in local frame [m] (type:float) z_pos : Z position in local frame [m] (type:float) airspeed : Airspeed, set to -1 if unknown [m/s] (type:float) vel_variance : Variance of body velocity estimate (type:float) pos_variance : Variance in local position (type:float) q : The attitude, represented as Quaternion (type:float) roll_rate : Angular rate in roll axis [rad/s] (type:float) pitch_rate : Angular rate in pitch axis [rad/s] (type:float) yaw_rate : Angular rate in yaw axis [rad/s] (type:float)

Source code in src/mavlink/definition.py

def control_system_state_encode(self, time_usec: int, x_acc: float, y_acc: float, z_acc: float, x_vel: float, y_vel: float, z_vel: float, x_pos: float, y_pos: float, z_pos: float, airspeed: float, vel_variance: Sequence[float], pos_variance: Sequence[float], q: Sequence[float], roll_rate: float, pitch_rate: float, yaw_rate: float) -> MAVLink_control_system_state_message:
    """
    The smoothed, monotonic system state used to feed the control loops of
    the system.

    time_usec                 : Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number. [us] (type:uint64_t)
    x_acc                     : X acceleration in body frame [m/s/s] (type:float)
    y_acc                     : Y acceleration in body frame [m/s/s] (type:float)
    z_acc                     : Z acceleration in body frame [m/s/s] (type:float)
    x_vel                     : X velocity in body frame [m/s] (type:float)
    y_vel                     : Y velocity in body frame [m/s] (type:float)
    z_vel                     : Z velocity in body frame [m/s] (type:float)
    x_pos                     : X position in local frame [m] (type:float)
    y_pos                     : Y position in local frame [m] (type:float)
    z_pos                     : Z position in local frame [m] (type:float)
    airspeed                  : Airspeed, set to -1 if unknown [m/s] (type:float)
    vel_variance              : Variance of body velocity estimate (type:float)
    pos_variance              : Variance in local position (type:float)
    q                         : The attitude, represented as Quaternion (type:float)
    roll_rate                 : Angular rate in roll axis [rad/s] (type:float)
    pitch_rate                : Angular rate in pitch axis [rad/s] (type:float)
    yaw_rate                  : Angular rate in yaw axis [rad/s] (type:float)

    """
    return MAVLink_control_system_state_message(time_usec, x_acc, y_acc, z_acc, x_vel, y_vel, z_vel, x_pos, y_pos, z_pos, airspeed, vel_variance, pos_variance, q, roll_rate, pitch_rate, yaw_rate)

control_system_state_send

control_system_state_send(time_usec: int, x_acc: float, y_acc: float, z_acc: float, x_vel: float, y_vel: float, z_vel: float, x_pos: float, y_pos: float, z_pos: float, airspeed: float, vel_variance: Sequence[float], pos_variance: Sequence[float], q: Sequence[float], roll_rate: float, pitch_rate: float, yaw_rate: float, force_mavlink1: bool = False) -> None

The smoothed, monotonic system state used to feed the control loops of the system.

time_usec : Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number. [us] (type:uint64_t) x_acc : X acceleration in body frame [m/s/s] (type:float) y_acc : Y acceleration in body frame [m/s/s] (type:float) z_acc : Z acceleration in body frame [m/s/s] (type:float) x_vel : X velocity in body frame [m/s] (type:float) y_vel : Y velocity in body frame [m/s] (type:float) z_vel : Z velocity in body frame [m/s] (type:float) x_pos : X position in local frame [m] (type:float) y_pos : Y position in local frame [m] (type:float) z_pos : Z position in local frame [m] (type:float) airspeed : Airspeed, set to -1 if unknown [m/s] (type:float) vel_variance : Variance of body velocity estimate (type:float) pos_variance : Variance in local position (type:float) q : The attitude, represented as Quaternion (type:float) roll_rate : Angular rate in roll axis [rad/s] (type:float) pitch_rate : Angular rate in pitch axis [rad/s] (type:float) yaw_rate : Angular rate in yaw axis [rad/s] (type:float)

Source code in src/mavlink/definition.py

def control_system_state_send(self, time_usec: int, x_acc: float, y_acc: float, z_acc: float, x_vel: float, y_vel: float, z_vel: float, x_pos: float, y_pos: float, z_pos: float, airspeed: float, vel_variance: Sequence[float], pos_variance: Sequence[float], q: Sequence[float], roll_rate: float, pitch_rate: float, yaw_rate: float, force_mavlink1: bool = False) -> None:
    """
    The smoothed, monotonic system state used to feed the control loops of
    the system.

    time_usec                 : Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number. [us] (type:uint64_t)
    x_acc                     : X acceleration in body frame [m/s/s] (type:float)
    y_acc                     : Y acceleration in body frame [m/s/s] (type:float)
    z_acc                     : Z acceleration in body frame [m/s/s] (type:float)
    x_vel                     : X velocity in body frame [m/s] (type:float)
    y_vel                     : Y velocity in body frame [m/s] (type:float)
    z_vel                     : Z velocity in body frame [m/s] (type:float)
    x_pos                     : X position in local frame [m] (type:float)
    y_pos                     : Y position in local frame [m] (type:float)
    z_pos                     : Z position in local frame [m] (type:float)
    airspeed                  : Airspeed, set to -1 if unknown [m/s] (type:float)
    vel_variance              : Variance of body velocity estimate (type:float)
    pos_variance              : Variance in local position (type:float)
    q                         : The attitude, represented as Quaternion (type:float)
    roll_rate                 : Angular rate in roll axis [rad/s] (type:float)
    pitch_rate                : Angular rate in pitch axis [rad/s] (type:float)
    yaw_rate                  : Angular rate in yaw axis [rad/s] (type:float)

    """
    self.send(self.control_system_state_encode(time_usec, x_acc, y_acc, z_acc, x_vel, y_vel, z_vel, x_pos, y_pos, z_pos, airspeed, vel_variance, pos_variance, q, roll_rate, pitch_rate, yaw_rate), force_mavlink1=force_mavlink1)

decode

decode(msgbuf: bytearray) -> MAVLink_message

decode a buffer as a MAVLink message

Source code in src/mavlink/definition.py

def decode(self, msgbuf: bytearray) -> MAVLink_message:
    """decode a buffer as a MAVLink message"""
    # decode the header
    if msgbuf[0] != PROTOCOL_MARKER_V1:
        headerlen = 10
        try:
            header_v2: MAVLinkV2Header = self.mav20_unpacker.unpack(msgbuf[:headerlen])
        except struct.error as emsg:
            raise MAVError("Unable to unpack MAVLink header: %s" % emsg)
        magic, mlen, incompat_flags, compat_flags, seq, srcSystem, srcComponent, msgIdlow, msgIdhigh = header_v2
        msgId = msgIdlow | (msgIdhigh << 16)
    else:
        headerlen = 6
        try:
            header_v1: MAVLinkV1Header = self.mav10_unpacker.unpack(msgbuf[:headerlen])
        except struct.error as emsg:
            raise MAVError("Unable to unpack MAVLink header: %s" % emsg)
        magic, mlen, seq, srcSystem, srcComponent, msgId = header_v1
        incompat_flags = 0
        compat_flags = 0
    mapkey = msgId
    if (incompat_flags & MAVLINK_IFLAG_SIGNED) != 0:
        signature_len = MAVLINK_SIGNATURE_BLOCK_LEN
    else:
        signature_len = 0

    if ord(magic) != PROTOCOL_MARKER_V1 and ord(magic) != PROTOCOL_MARKER_V2:
        raise MAVError("invalid MAVLink prefix '{}'".format(hex(ord(magic))))
    if mlen != len(msgbuf) - (headerlen + 2 + signature_len):
        raise MAVError("invalid MAVLink message length. Got %u expected %u, msgId=%u headerlen=%u" % (len(msgbuf) - (headerlen + 2 + signature_len), mlen, msgId, headerlen))

    if mapkey not in mavlink_map:
        return MAVLink_unknown(msgId, msgbuf)

    # decode the payload
    msgtype = mavlink_map[mapkey]
    order_map = msgtype.orders
    len_map = msgtype.lengths
    crc_extra = msgtype.crc_extra

    # decode the checksum
    try:
        crc: int = self.mav_csum_unpacker.unpack(msgbuf[-(2 + signature_len) :][:2])[0]
    except struct.error as emsg:
        raise MAVError("Unable to unpack MAVLink CRC: %s" % emsg)
    crcbuf = msgbuf[1 : -(2 + signature_len)]
    if True:
        # using CRC extra
        crcbuf.append(crc_extra)
    crc2 = x25crc(crcbuf)
    if crc != crc2.crc and not MAVLINK_IGNORE_CRC:
        raise MAVError("invalid MAVLink CRC in msgID %u 0x%04x should be 0x%04x" % (msgId, crc, crc2.crc))

    sig_ok = False
    if signature_len == MAVLINK_SIGNATURE_BLOCK_LEN:
        self.signing.sig_count += 1
    if self.signing.secret_key is not None:
        accept_signature = False
        if signature_len == MAVLINK_SIGNATURE_BLOCK_LEN:
            sig_ok = self.check_signature(msgbuf, srcSystem, srcComponent)
            accept_signature = sig_ok
            if sig_ok:
                self.signing.goodsig_count += 1
            else:
                self.signing.badsig_count += 1
            if not accept_signature and self.signing.allow_unsigned_callback is not None:
                accept_signature = self.signing.allow_unsigned_callback(self, msgId)
                if accept_signature:
                    self.signing.unsigned_count += 1
                else:
                    self.signing.reject_count += 1
        elif self.signing.allow_unsigned_callback is not None:
            accept_signature = self.signing.allow_unsigned_callback(self, msgId)
            if accept_signature:
                self.signing.unsigned_count += 1
            else:
                self.signing.reject_count += 1
        if not accept_signature:
            raise MAVError("Invalid signature")

    csize = msgtype.unpacker.size
    mbuf = msgbuf[headerlen : -(2 + signature_len)]
    if len(mbuf) < csize:
        # zero pad to give right size
        mbuf.extend([0] * (csize - len(mbuf)))
    if len(mbuf) < csize:
        raise MAVError("Bad message of type %s length %u needs %s" % (msgtype, len(mbuf), csize))
    mbuf = mbuf[:csize]
    try:
        t: Tuple[Union[bytes, int, float], ...] = msgtype.unpacker.unpack(mbuf)
    except struct.error as emsg:
        raise MAVError("Unable to unpack MAVLink payload type=%s payloadLength=%u: %s" % (msgtype, len(mbuf), emsg))

    tlist: List[Union[bytes, float, int, Sequence[Union[bytes, float, int]]]] = list(t)
    # handle sorted fields
    if True:
        if sum(len_map) == len(len_map):
            # message has no arrays in it
            for i in range(0, len(tlist)):
                tlist[i] = t[order_map[i]]
        else:
            # message has some arrays
            tlist = []
            for i in range(0, len(order_map)):
                order = order_map[i]
                L = len_map[order]
                tip = sum(len_map[:order])
                field = t[tip]
                if L == 1 or isinstance(field, bytes):
                    tlist.append(field)
                else:
                    tlist.append(list(t[tip : (tip + L)]))

    # terminate any strings
    for i, elem in enumerate(tlist):
        if isinstance(elem, bytes):
            tlist[i] = elem.rstrip(b"\x00")

    # construct the message object
    try:
        # Note that initializers don't follow the Liskov Substitution Principle
        # therefore it can't be typechecked
        m = msgtype(*tlist)  # type: ignore
    except Exception as emsg:
        raise MAVError("Unable to instantiate MAVLink message of type %s : %s" % (msgtype, emsg))
    m._signed = sig_ok
    if m._signed:
        m._link_id = msgbuf[-13]
    m._msgbuf = msgbuf
    m._payload = msgbuf[6 : -(2 + signature_len)]
    m._crc = crc
    m._header = MAVLink_header(msgId, incompat_flags, compat_flags, mlen, seq, srcSystem, srcComponent)
    return m

empennage_command_encode

empennage_command_encode(time_boot_ms: int, elevator: float, rudder: float, elevator_trim: float) -> MAVLink_empennage_command_message

Command to the empennage.

time_boot_ms : Timestamp (time since system boot). [ms] (type:uint32_t) elevator : Elevator position command. [deg] (type:float) rudder : Rudder position command. [deg] (type:float) elevator_trim : Elevator trim command. [deg] (type:float)

Source code in src/mavlink/definition.py

def empennage_command_encode(self, time_boot_ms: int, elevator: float, rudder: float, elevator_trim: float) -> MAVLink_empennage_command_message:
    """
    Command to the empennage.

    time_boot_ms              : Timestamp (time since system boot). [ms] (type:uint32_t)
    elevator                  : Elevator position command. [deg] (type:float)
    rudder                    : Rudder position command. [deg] (type:float)
    elevator_trim             : Elevator trim command. [deg] (type:float)

    """
    return MAVLink_empennage_command_message(time_boot_ms, elevator, rudder, elevator_trim)

empennage_command_send

empennage_command_send(time_boot_ms: int, elevator: float, rudder: float, elevator_trim: float, force_mavlink1: bool = False) -> None

Command to the empennage.

time_boot_ms : Timestamp (time since system boot). [ms] (type:uint32_t) elevator : Elevator position command. [deg] (type:float) rudder : Rudder position command. [deg] (type:float) elevator_trim : Elevator trim command. [deg] (type:float)

Source code in src/mavlink/definition.py

def empennage_command_send(self, time_boot_ms: int, elevator: float, rudder: float, elevator_trim: float, force_mavlink1: bool = False) -> None:
    """
    Command to the empennage.

    time_boot_ms              : Timestamp (time since system boot). [ms] (type:uint32_t)
    elevator                  : Elevator position command. [deg] (type:float)
    rudder                    : Rudder position command. [deg] (type:float)
    elevator_trim             : Elevator trim command. [deg] (type:float)

    """
    self.send(self.empennage_command_encode(time_boot_ms, elevator, rudder, elevator_trim), force_mavlink1=force_mavlink1)

empennage_status_encode

empennage_status_encode(time_boot_ms: int, elevator: float, rudder: float) -> MAVLink_empennage_status_message

Output status of the empennage.

time_boot_ms : Timestamp (time since system boot). [ms] (type:uint32_t) elevator : Elevator position. [deg] (type:float) rudder : Rudder position. [deg] (type:float)

Source code in src/mavlink/definition.py

def empennage_status_encode(self, time_boot_ms: int, elevator: float, rudder: float) -> MAVLink_empennage_status_message:
    """
    Output status of the empennage.

    time_boot_ms              : Timestamp (time since system boot). [ms] (type:uint32_t)
    elevator                  : Elevator position. [deg] (type:float)
    rudder                    : Rudder position. [deg] (type:float)

    """
    return MAVLink_empennage_status_message(time_boot_ms, elevator, rudder)

empennage_status_send

empennage_status_send(time_boot_ms: int, elevator: float, rudder: float, force_mavlink1: bool = False) -> None

Output status of the empennage.

time_boot_ms : Timestamp (time since system boot). [ms] (type:uint32_t) elevator : Elevator position. [deg] (type:float) rudder : Rudder position. [deg] (type:float)

Source code in src/mavlink/definition.py

def empennage_status_send(self, time_boot_ms: int, elevator: float, rudder: float, force_mavlink1: bool = False) -> None:
    """
    Output status of the empennage.

    time_boot_ms              : Timestamp (time since system boot). [ms] (type:uint32_t)
    elevator                  : Elevator position. [deg] (type:float)
    rudder                    : Rudder position. [deg] (type:float)

    """
    self.send(self.empennage_status_encode(time_boot_ms, elevator, rudder), force_mavlink1=force_mavlink1)

flight_information_encode

flight_information_encode(time_boot_ms: int, arming_time_utc: int, takeoff_time_utc: int, flight_uuid: int, landing_time: int = 0) -> MAVLink_flight_information_message

Flight information. This includes time since boot for arm, takeoff, and land, and a flight number. Takeoff and landing values reset to zero on arm. This can be requested using MAV_CMD_REQUEST_MESSAGE. Note, some fields are misnamed - timestamps are from boot (not UTC) and the flight_uuid is a sequence number.

time_boot_ms : Timestamp (time since system boot). [ms] (type:uint32_t) arming_time_utc : Timestamp at arming (since system boot). Set to 0 on boot. Set value on arming. Note, field is misnamed UTC. [us] (type:uint64_t) takeoff_time_utc : Timestamp at takeoff (since system boot). Set to 0 at boot and on arming. Note, field is misnamed UTC. [us] (type:uint64_t) flight_uuid : Flight number. Note, field is misnamed UUID. (type:uint64_t) landing_time : Timestamp at landing (in ms since system boot). Set to 0 at boot and on arming. [ms] (type:uint32_t)

Source code in src/mavlink/definition.py

def flight_information_encode(self, time_boot_ms: int, arming_time_utc: int, takeoff_time_utc: int, flight_uuid: int, landing_time: int = 0) -> MAVLink_flight_information_message:
    """
    Flight information.         This includes time since boot for arm,
    takeoff, and land, and a flight number.         Takeoff and
    landing values reset to zero on arm.         This can be
    requested using MAV_CMD_REQUEST_MESSAGE.         Note, some
    fields are misnamed - timestamps are from boot (not UTC) and
    the flight_uuid is a sequence number.

    time_boot_ms              : Timestamp (time since system boot). [ms] (type:uint32_t)
    arming_time_utc           : Timestamp at arming (since system boot). Set to 0 on boot. Set value on arming. Note, field is misnamed UTC. [us] (type:uint64_t)
    takeoff_time_utc          : Timestamp at takeoff (since system boot). Set to 0 at boot and on arming. Note, field is misnamed UTC. [us] (type:uint64_t)
    flight_uuid               : Flight number. Note, field is misnamed UUID. (type:uint64_t)
    landing_time              : Timestamp at landing (in ms since system boot). Set to 0 at boot and on arming. [ms] (type:uint32_t)

    """
    return MAVLink_flight_information_message(time_boot_ms, arming_time_utc, takeoff_time_utc, flight_uuid, landing_time)

flight_information_send

flight_information_send(time_boot_ms: int, arming_time_utc: int, takeoff_time_utc: int, flight_uuid: int, landing_time: int = 0, force_mavlink1: bool = False) -> None

Flight information. This includes time since boot for arm, takeoff, and land, and a flight number. Takeoff and landing values reset to zero on arm. This can be requested using MAV_CMD_REQUEST_MESSAGE. Note, some fields are misnamed - timestamps are from boot (not UTC) and the flight_uuid is a sequence number.

time_boot_ms : Timestamp (time since system boot). [ms] (type:uint32_t) arming_time_utc : Timestamp at arming (since system boot). Set to 0 on boot. Set value on arming. Note, field is misnamed UTC. [us] (type:uint64_t) takeoff_time_utc : Timestamp at takeoff (since system boot). Set to 0 at boot and on arming. Note, field is misnamed UTC. [us] (type:uint64_t) flight_uuid : Flight number. Note, field is misnamed UUID. (type:uint64_t) landing_time : Timestamp at landing (in ms since system boot). Set to 0 at boot and on arming. [ms] (type:uint32_t)

Source code in src/mavlink/definition.py

def flight_information_send(self, time_boot_ms: int, arming_time_utc: int, takeoff_time_utc: int, flight_uuid: int, landing_time: int = 0, force_mavlink1: bool = False) -> None:
    """
    Flight information.         This includes time since boot for arm,
    takeoff, and land, and a flight number.         Takeoff and
    landing values reset to zero on arm.         This can be
    requested using MAV_CMD_REQUEST_MESSAGE.         Note, some
    fields are misnamed - timestamps are from boot (not UTC) and
    the flight_uuid is a sequence number.

    time_boot_ms              : Timestamp (time since system boot). [ms] (type:uint32_t)
    arming_time_utc           : Timestamp at arming (since system boot). Set to 0 on boot. Set value on arming. Note, field is misnamed UTC. [us] (type:uint64_t)
    takeoff_time_utc          : Timestamp at takeoff (since system boot). Set to 0 at boot and on arming. Note, field is misnamed UTC. [us] (type:uint64_t)
    flight_uuid               : Flight number. Note, field is misnamed UUID. (type:uint64_t)
    landing_time              : Timestamp at landing (in ms since system boot). Set to 0 at boot and on arming. [ms] (type:uint32_t)

    """
    self.send(self.flight_information_encode(time_boot_ms, arming_time_utc, takeoff_time_utc, flight_uuid, landing_time), force_mavlink1=force_mavlink1)

global_position_int_encode

global_position_int_encode(time_boot_ms: int, lat: int, lon: int, alt: int, relative_alt: int, vx: int, vy: int, vz: int, hdg: int) -> MAVLink_global_position_int_message

The filtered global position (e.g. fused GPS and accelerometers). The position is in GPS-frame (right-handed, Z-up). It is designed as scaled integer message since the resolution of float is not sufficient.

time_boot_ms : Timestamp (time since system boot). [ms] (type:uint32_t) lat : Latitude, expressed [degE7] (type:int32_t) lon : Longitude, expressed [degE7] (type:int32_t) alt : Altitude (MSL). Note that virtually all GPS modules provide both WGS84 and MSL. [mm] (type:int32_t) relative_alt : Altitude above home [mm] (type:int32_t) vx : Ground X Speed (Latitude, positive north) [cm/s] (type:int16_t) vy : Ground Y Speed (Longitude, positive east) [cm/s] (type:int16_t) vz : Ground Z Speed (Altitude, positive down) [cm/s] (type:int16_t) hdg : Vehicle heading (yaw angle), 0.0..359.99 degrees. If unknown, set to: UINT16_MAX [cdeg] (type:uint16_t)

Source code in src/mavlink/definition.py

def global_position_int_encode(self, time_boot_ms: int, lat: int, lon: int, alt: int, relative_alt: int, vx: int, vy: int, vz: int, hdg: int) -> MAVLink_global_position_int_message:
    """
    The filtered global position (e.g. fused GPS and accelerometers). The
    position is in GPS-frame (right-handed, Z-up). It is designed
    as scaled integer message since the resolution of float is not
    sufficient.

    time_boot_ms              : Timestamp (time since system boot). [ms] (type:uint32_t)
    lat                       : Latitude, expressed [degE7] (type:int32_t)
    lon                       : Longitude, expressed [degE7] (type:int32_t)
    alt                       : Altitude (MSL). Note that virtually all GPS modules provide both WGS84 and MSL. [mm] (type:int32_t)
    relative_alt              : Altitude above home [mm] (type:int32_t)
    vx                        : Ground X Speed (Latitude, positive north) [cm/s] (type:int16_t)
    vy                        : Ground Y Speed (Longitude, positive east) [cm/s] (type:int16_t)
    vz                        : Ground Z Speed (Altitude, positive down) [cm/s] (type:int16_t)
    hdg                       : Vehicle heading (yaw angle), 0.0..359.99 degrees. If unknown, set to: UINT16_MAX [cdeg] (type:uint16_t)

    """
    return MAVLink_global_position_int_message(time_boot_ms, lat, lon, alt, relative_alt, vx, vy, vz, hdg)

global_position_int_send

global_position_int_send(time_boot_ms: int, lat: int, lon: int, alt: int, relative_alt: int, vx: int, vy: int, vz: int, hdg: int, force_mavlink1: bool = False) -> None

The filtered global position (e.g. fused GPS and accelerometers). The position is in GPS-frame (right-handed, Z-up). It is designed as scaled integer message since the resolution of float is not sufficient.

time_boot_ms : Timestamp (time since system boot). [ms] (type:uint32_t) lat : Latitude, expressed [degE7] (type:int32_t) lon : Longitude, expressed [degE7] (type:int32_t) alt : Altitude (MSL). Note that virtually all GPS modules provide both WGS84 and MSL. [mm] (type:int32_t) relative_alt : Altitude above home [mm] (type:int32_t) vx : Ground X Speed (Latitude, positive north) [cm/s] (type:int16_t) vy : Ground Y Speed (Longitude, positive east) [cm/s] (type:int16_t) vz : Ground Z Speed (Altitude, positive down) [cm/s] (type:int16_t) hdg : Vehicle heading (yaw angle), 0.0..359.99 degrees. If unknown, set to: UINT16_MAX [cdeg] (type:uint16_t)

Source code in src/mavlink/definition.py

def global_position_int_send(self, time_boot_ms: int, lat: int, lon: int, alt: int, relative_alt: int, vx: int, vy: int, vz: int, hdg: int, force_mavlink1: bool = False) -> None:
    """
    The filtered global position (e.g. fused GPS and accelerometers). The
    position is in GPS-frame (right-handed, Z-up). It is designed
    as scaled integer message since the resolution of float is not
    sufficient.

    time_boot_ms              : Timestamp (time since system boot). [ms] (type:uint32_t)
    lat                       : Latitude, expressed [degE7] (type:int32_t)
    lon                       : Longitude, expressed [degE7] (type:int32_t)
    alt                       : Altitude (MSL). Note that virtually all GPS modules provide both WGS84 and MSL. [mm] (type:int32_t)
    relative_alt              : Altitude above home [mm] (type:int32_t)
    vx                        : Ground X Speed (Latitude, positive north) [cm/s] (type:int16_t)
    vy                        : Ground Y Speed (Longitude, positive east) [cm/s] (type:int16_t)
    vz                        : Ground Z Speed (Altitude, positive down) [cm/s] (type:int16_t)
    hdg                       : Vehicle heading (yaw angle), 0.0..359.99 degrees. If unknown, set to: UINT16_MAX [cdeg] (type:uint16_t)

    """
    self.send(self.global_position_int_encode(time_boot_ms, lat, lon, alt, relative_alt, vx, vy, vz, hdg), force_mavlink1=force_mavlink1)

gps_raw_int_encode

gps_raw_int_encode(time_usec: int, fix_type: int, lat: int, lon: int, alt: int, eph: int, epv: int, vel: int, cog: int, satellites_visible: int, alt_ellipsoid: int = 0, h_acc: int = 0, v_acc: int = 0, vel_acc: int = 0, hdg_acc: int = 0, yaw: int = 0) -> MAVLink_gps_raw_int_message

The global position, as returned by the Global Positioning System (GPS). This is NOT the global position estimate of the system, but rather a RAW sensor value. See message GLOBAL_POSITION_INT for the global position estimate.

time_usec : Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number. [us] (type:uint64_t) fix_type : GPS fix type. (type:uint8_t, values:GPS_FIX_TYPE) lat : Latitude (WGS84, EGM96 ellipsoid) [degE7] (type:int32_t) lon : Longitude (WGS84, EGM96 ellipsoid) [degE7] (type:int32_t) alt : Altitude (MSL). Positive for up. Note that virtually all GPS modules provide the MSL altitude in addition to the WGS84 altitude. [mm] (type:int32_t) eph : GPS HDOP horizontal dilution of position (unitless * 100). If unknown, set to: UINT16_MAX (type:uint16_t) epv : GPS VDOP vertical dilution of position (unitless * 100). If unknown, set to: UINT16_MAX (type:uint16_t) vel : GPS ground speed. If unknown, set to: UINT16_MAX [cm/s] (type:uint16_t) cog : Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX [cdeg] (type:uint16_t) satellites_visible : Number of satellites visible. If unknown, set to UINT8_MAX (type:uint8_t) alt_ellipsoid : Altitude (above WGS84, EGM96 ellipsoid). Positive for up. [mm] (type:int32_t) h_acc : Position uncertainty. [mm] (type:uint32_t) v_acc : Altitude uncertainty. [mm] (type:uint32_t) vel_acc : Speed uncertainty. [mm/s] (type:uint32_t) hdg_acc : Heading / track uncertainty [degE5] (type:uint32_t) yaw : Yaw in earth frame from north. Use 0 if this GPS does not provide yaw. Use UINT16_MAX if this GPS is configured to provide yaw and is currently unable to provide it. Use 36000 for north. [cdeg] (type:uint16_t)

Source code in src/mavlink/definition.py

def gps_raw_int_encode(self, time_usec: int, fix_type: int, lat: int, lon: int, alt: int, eph: int, epv: int, vel: int, cog: int, satellites_visible: int, alt_ellipsoid: int = 0, h_acc: int = 0, v_acc: int = 0, vel_acc: int = 0, hdg_acc: int = 0, yaw: int = 0) -> MAVLink_gps_raw_int_message:
    """
    The global position, as returned by the Global Positioning System
    (GPS). This is                 NOT the global position
    estimate of the system, but rather a RAW sensor value. See
    message GLOBAL_POSITION_INT for the global position estimate.

    time_usec                 : Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number. [us] (type:uint64_t)
    fix_type                  : GPS fix type. (type:uint8_t, values:GPS_FIX_TYPE)
    lat                       : Latitude (WGS84, EGM96 ellipsoid) [degE7] (type:int32_t)
    lon                       : Longitude (WGS84, EGM96 ellipsoid) [degE7] (type:int32_t)
    alt                       : Altitude (MSL). Positive for up. Note that virtually all GPS modules provide the MSL altitude in addition to the WGS84 altitude. [mm] (type:int32_t)
    eph                       : GPS HDOP horizontal dilution of position (unitless * 100). If unknown, set to: UINT16_MAX (type:uint16_t)
    epv                       : GPS VDOP vertical dilution of position (unitless * 100). If unknown, set to: UINT16_MAX (type:uint16_t)
    vel                       : GPS ground speed. If unknown, set to: UINT16_MAX [cm/s] (type:uint16_t)
    cog                       : Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX [cdeg] (type:uint16_t)
    satellites_visible        : Number of satellites visible. If unknown, set to UINT8_MAX (type:uint8_t)
    alt_ellipsoid             : Altitude (above WGS84, EGM96 ellipsoid). Positive for up. [mm] (type:int32_t)
    h_acc                     : Position uncertainty. [mm] (type:uint32_t)
    v_acc                     : Altitude uncertainty. [mm] (type:uint32_t)
    vel_acc                   : Speed uncertainty. [mm/s] (type:uint32_t)
    hdg_acc                   : Heading / track uncertainty [degE5] (type:uint32_t)
    yaw                       : Yaw in earth frame from north. Use 0 if this GPS does not provide yaw. Use UINT16_MAX if this GPS is configured to provide yaw and is currently unable to provide it. Use 36000 for north. [cdeg] (type:uint16_t)

    """
    return MAVLink_gps_raw_int_message(time_usec, fix_type, lat, lon, alt, eph, epv, vel, cog, satellites_visible, alt_ellipsoid, h_acc, v_acc, vel_acc, hdg_acc, yaw)

gps_raw_int_send

gps_raw_int_send(time_usec: int, fix_type: int, lat: int, lon: int, alt: int, eph: int, epv: int, vel: int, cog: int, satellites_visible: int, alt_ellipsoid: int = 0, h_acc: int = 0, v_acc: int = 0, vel_acc: int = 0, hdg_acc: int = 0, yaw: int = 0, force_mavlink1: bool = False) -> None

The global position, as returned by the Global Positioning System (GPS). This is NOT the global position estimate of the system, but rather a RAW sensor value. See message GLOBAL_POSITION_INT for the global position estimate.

time_usec : Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number. [us] (type:uint64_t) fix_type : GPS fix type. (type:uint8_t, values:GPS_FIX_TYPE) lat : Latitude (WGS84, EGM96 ellipsoid) [degE7] (type:int32_t) lon : Longitude (WGS84, EGM96 ellipsoid) [degE7] (type:int32_t) alt : Altitude (MSL). Positive for up. Note that virtually all GPS modules provide the MSL altitude in addition to the WGS84 altitude. [mm] (type:int32_t) eph : GPS HDOP horizontal dilution of position (unitless * 100). If unknown, set to: UINT16_MAX (type:uint16_t) epv : GPS VDOP vertical dilution of position (unitless * 100). If unknown, set to: UINT16_MAX (type:uint16_t) vel : GPS ground speed. If unknown, set to: UINT16_MAX [cm/s] (type:uint16_t) cog : Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX [cdeg] (type:uint16_t) satellites_visible : Number of satellites visible. If unknown, set to UINT8_MAX (type:uint8_t) alt_ellipsoid : Altitude (above WGS84, EGM96 ellipsoid). Positive for up. [mm] (type:int32_t) h_acc : Position uncertainty. [mm] (type:uint32_t) v_acc : Altitude uncertainty. [mm] (type:uint32_t) vel_acc : Speed uncertainty. [mm/s] (type:uint32_t) hdg_acc : Heading / track uncertainty [degE5] (type:uint32_t) yaw : Yaw in earth frame from north. Use 0 if this GPS does not provide yaw. Use UINT16_MAX if this GPS is configured to provide yaw and is currently unable to provide it. Use 36000 for north. [cdeg] (type:uint16_t)

Source code in src/mavlink/definition.py

def gps_raw_int_send(self, time_usec: int, fix_type: int, lat: int, lon: int, alt: int, eph: int, epv: int, vel: int, cog: int, satellites_visible: int, alt_ellipsoid: int = 0, h_acc: int = 0, v_acc: int = 0, vel_acc: int = 0, hdg_acc: int = 0, yaw: int = 0, force_mavlink1: bool = False) -> None:
    """
    The global position, as returned by the Global Positioning System
    (GPS). This is                 NOT the global position
    estimate of the system, but rather a RAW sensor value. See
    message GLOBAL_POSITION_INT for the global position estimate.

    time_usec                 : Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number. [us] (type:uint64_t)
    fix_type                  : GPS fix type. (type:uint8_t, values:GPS_FIX_TYPE)
    lat                       : Latitude (WGS84, EGM96 ellipsoid) [degE7] (type:int32_t)
    lon                       : Longitude (WGS84, EGM96 ellipsoid) [degE7] (type:int32_t)
    alt                       : Altitude (MSL). Positive for up. Note that virtually all GPS modules provide the MSL altitude in addition to the WGS84 altitude. [mm] (type:int32_t)
    eph                       : GPS HDOP horizontal dilution of position (unitless * 100). If unknown, set to: UINT16_MAX (type:uint16_t)
    epv                       : GPS VDOP vertical dilution of position (unitless * 100). If unknown, set to: UINT16_MAX (type:uint16_t)
    vel                       : GPS ground speed. If unknown, set to: UINT16_MAX [cm/s] (type:uint16_t)
    cog                       : Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX [cdeg] (type:uint16_t)
    satellites_visible        : Number of satellites visible. If unknown, set to UINT8_MAX (type:uint8_t)
    alt_ellipsoid             : Altitude (above WGS84, EGM96 ellipsoid). Positive for up. [mm] (type:int32_t)
    h_acc                     : Position uncertainty. [mm] (type:uint32_t)
    v_acc                     : Altitude uncertainty. [mm] (type:uint32_t)
    vel_acc                   : Speed uncertainty. [mm/s] (type:uint32_t)
    hdg_acc                   : Heading / track uncertainty [degE5] (type:uint32_t)
    yaw                       : Yaw in earth frame from north. Use 0 if this GPS does not provide yaw. Use UINT16_MAX if this GPS is configured to provide yaw and is currently unable to provide it. Use 36000 for north. [cdeg] (type:uint16_t)

    """
    self.send(self.gps_raw_int_encode(time_usec, fix_type, lat, lon, alt, eph, epv, vel, cog, satellites_visible, alt_ellipsoid, h_acc, v_acc, vel_acc, hdg_acc, yaw), force_mavlink1=force_mavlink1)

gps_rtk_encode

gps_rtk_encode(time_last_baseline_ms: int, rtk_receiver_id: int, wn: int, tow: int, rtk_health: int, rtk_rate: int, nsats: int, baseline_coords_type: int, baseline_a_mm: int, baseline_b_mm: int, baseline_c_mm: int, accuracy: int, iar_num_hypotheses: int) -> MAVLink_gps_rtk_message

RTK GPS data. Gives information on the relative baseline calculation the GPS is reporting

time_last_baseline_ms : Time since boot of last baseline message received. [ms] (type:uint32_t) rtk_receiver_id : Identification of connected RTK receiver. (type:uint8_t) wn : GPS Week Number of last baseline (type:uint16_t) tow : GPS Time of Week of last baseline [ms] (type:uint32_t) rtk_health : GPS-specific health report for RTK data. (type:uint8_t) rtk_rate : Rate of baseline messages being received by GPS [Hz] (type:uint8_t) nsats : Current number of sats used for RTK calculation. (type:uint8_t) baseline_coords_type : Coordinate system of baseline (type:uint8_t, values:RTK_BASELINE_COORDINATE_SYSTEM) baseline_a_mm : Current baseline in ECEF x or NED north component. [mm] (type:int32_t) baseline_b_mm : Current baseline in ECEF y or NED east component. [mm] (type:int32_t) baseline_c_mm : Current baseline in ECEF z or NED down component. [mm] (type:int32_t) accuracy : Current estimate of baseline accuracy. (type:uint32_t) iar_num_hypotheses : Current number of integer ambiguity hypotheses. (type:int32_t)

Source code in src/mavlink/definition.py

def gps_rtk_encode(self, time_last_baseline_ms: int, rtk_receiver_id: int, wn: int, tow: int, rtk_health: int, rtk_rate: int, nsats: int, baseline_coords_type: int, baseline_a_mm: int, baseline_b_mm: int, baseline_c_mm: int, accuracy: int, iar_num_hypotheses: int) -> MAVLink_gps_rtk_message:
    """
    RTK GPS data. Gives information on the relative baseline calculation
    the GPS is reporting

    time_last_baseline_ms        : Time since boot of last baseline message received. [ms] (type:uint32_t)
    rtk_receiver_id           : Identification of connected RTK receiver. (type:uint8_t)
    wn                        : GPS Week Number of last baseline (type:uint16_t)
    tow                       : GPS Time of Week of last baseline [ms] (type:uint32_t)
    rtk_health                : GPS-specific health report for RTK data. (type:uint8_t)
    rtk_rate                  : Rate of baseline messages being received by GPS [Hz] (type:uint8_t)
    nsats                     : Current number of sats used for RTK calculation. (type:uint8_t)
    baseline_coords_type        : Coordinate system of baseline (type:uint8_t, values:RTK_BASELINE_COORDINATE_SYSTEM)
    baseline_a_mm             : Current baseline in ECEF x or NED north component. [mm] (type:int32_t)
    baseline_b_mm             : Current baseline in ECEF y or NED east component. [mm] (type:int32_t)
    baseline_c_mm             : Current baseline in ECEF z or NED down component. [mm] (type:int32_t)
    accuracy                  : Current estimate of baseline accuracy. (type:uint32_t)
    iar_num_hypotheses        : Current number of integer ambiguity hypotheses. (type:int32_t)

    """
    return MAVLink_gps_rtk_message(time_last_baseline_ms, rtk_receiver_id, wn, tow, rtk_health, rtk_rate, nsats, baseline_coords_type, baseline_a_mm, baseline_b_mm, baseline_c_mm, accuracy, iar_num_hypotheses)

gps_rtk_send

gps_rtk_send(time_last_baseline_ms: int, rtk_receiver_id: int, wn: int, tow: int, rtk_health: int, rtk_rate: int, nsats: int, baseline_coords_type: int, baseline_a_mm: int, baseline_b_mm: int, baseline_c_mm: int, accuracy: int, iar_num_hypotheses: int, force_mavlink1: bool = False) -> None

RTK GPS data. Gives information on the relative baseline calculation the GPS is reporting

time_last_baseline_ms : Time since boot of last baseline message received. [ms] (type:uint32_t) rtk_receiver_id : Identification of connected RTK receiver. (type:uint8_t) wn : GPS Week Number of last baseline (type:uint16_t) tow : GPS Time of Week of last baseline [ms] (type:uint32_t) rtk_health : GPS-specific health report for RTK data. (type:uint8_t) rtk_rate : Rate of baseline messages being received by GPS [Hz] (type:uint8_t) nsats : Current number of sats used for RTK calculation. (type:uint8_t) baseline_coords_type : Coordinate system of baseline (type:uint8_t, values:RTK_BASELINE_COORDINATE_SYSTEM) baseline_a_mm : Current baseline in ECEF x or NED north component. [mm] (type:int32_t) baseline_b_mm : Current baseline in ECEF y or NED east component. [mm] (type:int32_t) baseline_c_mm : Current baseline in ECEF z or NED down component. [mm] (type:int32_t) accuracy : Current estimate of baseline accuracy. (type:uint32_t) iar_num_hypotheses : Current number of integer ambiguity hypotheses. (type:int32_t)

Source code in src/mavlink/definition.py

def gps_rtk_send(self, time_last_baseline_ms: int, rtk_receiver_id: int, wn: int, tow: int, rtk_health: int, rtk_rate: int, nsats: int, baseline_coords_type: int, baseline_a_mm: int, baseline_b_mm: int, baseline_c_mm: int, accuracy: int, iar_num_hypotheses: int, force_mavlink1: bool = False) -> None:
    """
    RTK GPS data. Gives information on the relative baseline calculation
    the GPS is reporting

    time_last_baseline_ms        : Time since boot of last baseline message received. [ms] (type:uint32_t)
    rtk_receiver_id           : Identification of connected RTK receiver. (type:uint8_t)
    wn                        : GPS Week Number of last baseline (type:uint16_t)
    tow                       : GPS Time of Week of last baseline [ms] (type:uint32_t)
    rtk_health                : GPS-specific health report for RTK data. (type:uint8_t)
    rtk_rate                  : Rate of baseline messages being received by GPS [Hz] (type:uint8_t)
    nsats                     : Current number of sats used for RTK calculation. (type:uint8_t)
    baseline_coords_type        : Coordinate system of baseline (type:uint8_t, values:RTK_BASELINE_COORDINATE_SYSTEM)
    baseline_a_mm             : Current baseline in ECEF x or NED north component. [mm] (type:int32_t)
    baseline_b_mm             : Current baseline in ECEF y or NED east component. [mm] (type:int32_t)
    baseline_c_mm             : Current baseline in ECEF z or NED down component. [mm] (type:int32_t)
    accuracy                  : Current estimate of baseline accuracy. (type:uint32_t)
    iar_num_hypotheses        : Current number of integer ambiguity hypotheses. (type:int32_t)

    """
    self.send(self.gps_rtk_encode(time_last_baseline_ms, rtk_receiver_id, wn, tow, rtk_health, rtk_rate, nsats, baseline_coords_type, baseline_a_mm, baseline_b_mm, baseline_c_mm, accuracy, iar_num_hypotheses), force_mavlink1=force_mavlink1)

gps_status_encode

gps_status_encode(satellites_visible: int, satellite_prn: Sequence[int], satellite_used: Sequence[int], satellite_elevation: Sequence[int], satellite_azimuth: Sequence[int], satellite_snr: Sequence[int]) -> MAVLink_gps_status_message

The positioning status, as reported by GPS. This message is intended to display status information about each satellite visible to the receiver. See message GLOBAL_POSITION_INT for the global position estimate. This message can contain information for up to 20 satellites.

satellites_visible : Number of satellites visible (type:uint8_t) satellite_prn : Global satellite ID (type:uint8_t) satellite_used : 0: Satellite not used, 1: used for localization (type:uint8_t) satellite_elevation : Elevation (0: right on top of receiver, 90: on the horizon) of satellite [deg] (type:uint8_t) satellite_azimuth : Direction of satellite, 0: 0 deg, 255: 360 deg. [deg] (type:uint8_t) satellite_snr : Signal to noise ratio of satellite [dB] (type:uint8_t)

Source code in src/mavlink/definition.py

def gps_status_encode(self, satellites_visible: int, satellite_prn: Sequence[int], satellite_used: Sequence[int], satellite_elevation: Sequence[int], satellite_azimuth: Sequence[int], satellite_snr: Sequence[int]) -> MAVLink_gps_status_message:
    """
    The positioning status, as reported by GPS. This message is intended
    to display status information about each satellite visible to
    the receiver. See message GLOBAL_POSITION_INT for the global
    position estimate. This message can contain information for up
    to 20 satellites.

    satellites_visible        : Number of satellites visible (type:uint8_t)
    satellite_prn             : Global satellite ID (type:uint8_t)
    satellite_used            : 0: Satellite not used, 1: used for localization (type:uint8_t)
    satellite_elevation        : Elevation (0: right on top of receiver, 90: on the horizon) of satellite [deg] (type:uint8_t)
    satellite_azimuth         : Direction of satellite, 0: 0 deg, 255: 360 deg. [deg] (type:uint8_t)
    satellite_snr             : Signal to noise ratio of satellite [dB] (type:uint8_t)

    """
    return MAVLink_gps_status_message(satellites_visible, satellite_prn, satellite_used, satellite_elevation, satellite_azimuth, satellite_snr)

gps_status_send

gps_status_send(satellites_visible: int, satellite_prn: Sequence[int], satellite_used: Sequence[int], satellite_elevation: Sequence[int], satellite_azimuth: Sequence[int], satellite_snr: Sequence[int], force_mavlink1: bool = False) -> None

The positioning status, as reported by GPS. This message is intended to display status information about each satellite visible to the receiver. See message GLOBAL_POSITION_INT for the global position estimate. This message can contain information for up to 20 satellites.

satellites_visible : Number of satellites visible (type:uint8_t) satellite_prn : Global satellite ID (type:uint8_t) satellite_used : 0: Satellite not used, 1: used for localization (type:uint8_t) satellite_elevation : Elevation (0: right on top of receiver, 90: on the horizon) of satellite [deg] (type:uint8_t) satellite_azimuth : Direction of satellite, 0: 0 deg, 255: 360 deg. [deg] (type:uint8_t) satellite_snr : Signal to noise ratio of satellite [dB] (type:uint8_t)

Source code in src/mavlink/definition.py

def gps_status_send(self, satellites_visible: int, satellite_prn: Sequence[int], satellite_used: Sequence[int], satellite_elevation: Sequence[int], satellite_azimuth: Sequence[int], satellite_snr: Sequence[int], force_mavlink1: bool = False) -> None:
    """
    The positioning status, as reported by GPS. This message is intended
    to display status information about each satellite visible to
    the receiver. See message GLOBAL_POSITION_INT for the global
    position estimate. This message can contain information for up
    to 20 satellites.

    satellites_visible        : Number of satellites visible (type:uint8_t)
    satellite_prn             : Global satellite ID (type:uint8_t)
    satellite_used            : 0: Satellite not used, 1: used for localization (type:uint8_t)
    satellite_elevation        : Elevation (0: right on top of receiver, 90: on the horizon) of satellite [deg] (type:uint8_t)
    satellite_azimuth         : Direction of satellite, 0: 0 deg, 255: 360 deg. [deg] (type:uint8_t)
    satellite_snr             : Signal to noise ratio of satellite [dB] (type:uint8_t)

    """
    self.send(self.gps_status_encode(satellites_visible, satellite_prn, satellite_used, satellite_elevation, satellite_azimuth, satellite_snr), force_mavlink1=force_mavlink1)

heartbeat_encode

heartbeat_encode(type: int, autopilot: int, base_mode: int, custom_mode: int, system_status: int, mavlink_version: int = 3) -> MAVLink_heartbeat_message

The heartbeat message shows that a system or component is present and responding. The type and autopilot fields (along with the message component id), allow the receiving system to treat further messages from this system appropriately (e.g. by laying out the user interface based on the autopilot). This microservice is documented at https://mavlink.io/en/services/heartbeat.html

type : Vehicle or component type. For a flight controller component the vehicle type (quadrotor, helicopter, etc.). For other components the component type (e.g. camera, gimbal, etc.). This should be used in preference to component id for identifying the component type. (type:uint8_t, values:MAV_TYPE) autopilot : Autopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers. (type:uint8_t, values:MAV_AUTOPILOT) base_mode : System mode bitmap. (type:uint8_t, values:MAV_MODE_FLAG) custom_mode : A bitfield for use for autopilot-specific flags (type:uint32_t) system_status : System status flag. (type:uint8_t, values:MAV_STATE) mavlink_version : MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version (type:uint8_t)

Source code in src/mavlink/definition.py

def heartbeat_encode(self, type: int, autopilot: int, base_mode: int, custom_mode: int, system_status: int, mavlink_version: int = 3) -> MAVLink_heartbeat_message:
    """
    The heartbeat message shows that a system or component is present and
    responding. The type and autopilot fields (along with the
    message component id), allow the receiving system to treat
    further messages from this system appropriately (e.g. by
    laying out the user interface based on the autopilot). This
    microservice is documented at
    https://mavlink.io/en/services/heartbeat.html

    type                      : Vehicle or component type. For a flight controller component the vehicle type (quadrotor, helicopter, etc.). For other components the component type (e.g. camera, gimbal, etc.). This should be used in preference to component id for identifying the component type. (type:uint8_t, values:MAV_TYPE)
    autopilot                 : Autopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers. (type:uint8_t, values:MAV_AUTOPILOT)
    base_mode                 : System mode bitmap. (type:uint8_t, values:MAV_MODE_FLAG)
    custom_mode               : A bitfield for use for autopilot-specific flags (type:uint32_t)
    system_status             : System status flag. (type:uint8_t, values:MAV_STATE)
    mavlink_version           : MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version (type:uint8_t)

    """
    return MAVLink_heartbeat_message(type, autopilot, base_mode, custom_mode, system_status, mavlink_version)

heartbeat_send

heartbeat_send(type: int, autopilot: int, base_mode: int, custom_mode: int, system_status: int, mavlink_version: int = 3, force_mavlink1: bool = False) -> None

The heartbeat message shows that a system or component is present and responding. The type and autopilot fields (along with the message component id), allow the receiving system to treat further messages from this system appropriately (e.g. by laying out the user interface based on the autopilot). This microservice is documented at https://mavlink.io/en/services/heartbeat.html

type : Vehicle or component type. For a flight controller component the vehicle type (quadrotor, helicopter, etc.). For other components the component type (e.g. camera, gimbal, etc.). This should be used in preference to component id for identifying the component type. (type:uint8_t, values:MAV_TYPE) autopilot : Autopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers. (type:uint8_t, values:MAV_AUTOPILOT) base_mode : System mode bitmap. (type:uint8_t, values:MAV_MODE_FLAG) custom_mode : A bitfield for use for autopilot-specific flags (type:uint32_t) system_status : System status flag. (type:uint8_t, values:MAV_STATE) mavlink_version : MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version (type:uint8_t)

Source code in src/mavlink/definition.py

def heartbeat_send(self, type: int, autopilot: int, base_mode: int, custom_mode: int, system_status: int, mavlink_version: int = 3, force_mavlink1: bool = False) -> None:
    """
    The heartbeat message shows that a system or component is present and
    responding. The type and autopilot fields (along with the
    message component id), allow the receiving system to treat
    further messages from this system appropriately (e.g. by
    laying out the user interface based on the autopilot). This
    microservice is documented at
    https://mavlink.io/en/services/heartbeat.html

    type                      : Vehicle or component type. For a flight controller component the vehicle type (quadrotor, helicopter, etc.). For other components the component type (e.g. camera, gimbal, etc.). This should be used in preference to component id for identifying the component type. (type:uint8_t, values:MAV_TYPE)
    autopilot                 : Autopilot type / class. Use MAV_AUTOPILOT_INVALID for components that are not flight controllers. (type:uint8_t, values:MAV_AUTOPILOT)
    base_mode                 : System mode bitmap. (type:uint8_t, values:MAV_MODE_FLAG)
    custom_mode               : A bitfield for use for autopilot-specific flags (type:uint32_t)
    system_status             : System status flag. (type:uint8_t, values:MAV_STATE)
    mavlink_version           : MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version (type:uint8_t)

    """
    self.send(self.heartbeat_encode(type, autopilot, base_mode, custom_mode, system_status, mavlink_version), force_mavlink1=force_mavlink1)

hygrometer_sensor_encode

hygrometer_sensor_encode(id: int, temperature: int, humidity: int) -> MAVLink_hygrometer_sensor_message

Temperature and humidity from hygrometer.

id : Hygrometer ID (type:uint8_t) temperature : Temperature [cdegC] (type:int16_t) humidity : Humidity [c%] (type:uint16_t)

Source code in src/mavlink/definition.py

def hygrometer_sensor_encode(self, id: int, temperature: int, humidity: int) -> MAVLink_hygrometer_sensor_message:
    """
    Temperature and humidity from hygrometer.

    id                        : Hygrometer ID (type:uint8_t)
    temperature               : Temperature [cdegC] (type:int16_t)
    humidity                  : Humidity [c%] (type:uint16_t)

    """
    return MAVLink_hygrometer_sensor_message(id, temperature, humidity)

hygrometer_sensor_send

hygrometer_sensor_send(id: int, temperature: int, humidity: int, force_mavlink1: bool = False) -> None

Temperature and humidity from hygrometer.

id : Hygrometer ID (type:uint8_t) temperature : Temperature [cdegC] (type:int16_t) humidity : Humidity [c%] (type:uint16_t)

Source code in src/mavlink/definition.py

def hygrometer_sensor_send(self, id: int, temperature: int, humidity: int, force_mavlink1: bool = False) -> None:
    """
    Temperature and humidity from hygrometer.

    id                        : Hygrometer ID (type:uint8_t)
    temperature               : Temperature [cdegC] (type:int16_t)
    humidity                  : Humidity [c%] (type:uint16_t)

    """
    self.send(self.hygrometer_sensor_encode(id, temperature, humidity), force_mavlink1=force_mavlink1)

imu_encode

imu_encode(time_boot_ms: int, xacc: float, yacc: float, zacc: float, xgyro: float, ygyro: float, zgyro: float) -> MAVLink_imu_message

The RAW IMU readings for the usual 9DOF sensor setup. This message should contain the scaled values to the described units

time_boot_ms : Timestamp (time since system boot). [ms] (type:uint32_t) xacc : X acceleration [m/s/s] (type:float) yacc : Y acceleration [m/s/s] (type:float) zacc : Z acceleration [m/s/s] (type:float) xgyro : Angular speed around X axis [rad/s] (type:float) ygyro : Angular speed around Y axis [rad/s] (type:float) zgyro : Angular speed around Z axis [rad/s] (type:float)

Source code in src/mavlink/definition.py

def imu_encode(self, time_boot_ms: int, xacc: float, yacc: float, zacc: float, xgyro: float, ygyro: float, zgyro: float) -> MAVLink_imu_message:
    """
    The RAW IMU readings for the usual 9DOF sensor setup. This message
    should contain the scaled values to the described units

    time_boot_ms              : Timestamp (time since system boot). [ms] (type:uint32_t)
    xacc                      : X acceleration [m/s/s] (type:float)
    yacc                      : Y acceleration [m/s/s] (type:float)
    zacc                      : Z acceleration [m/s/s] (type:float)
    xgyro                     : Angular speed around X axis [rad/s] (type:float)
    ygyro                     : Angular speed around Y axis [rad/s] (type:float)
    zgyro                     : Angular speed around Z axis [rad/s] (type:float)

    """
    return MAVLink_imu_message(time_boot_ms, xacc, yacc, zacc, xgyro, ygyro, zgyro)

imu_send

imu_send(time_boot_ms: int, xacc: float, yacc: float, zacc: float, xgyro: float, ygyro: float, zgyro: float, force_mavlink1: bool = False) -> None

The RAW IMU readings for the usual 9DOF sensor setup. This message should contain the scaled values to the described units

time_boot_ms : Timestamp (time since system boot). [ms] (type:uint32_t) xacc : X acceleration [m/s/s] (type:float) yacc : Y acceleration [m/s/s] (type:float) zacc : Z acceleration [m/s/s] (type:float) xgyro : Angular speed around X axis [rad/s] (type:float) ygyro : Angular speed around Y axis [rad/s] (type:float) zgyro : Angular speed around Z axis [rad/s] (type:float)

Source code in src/mavlink/definition.py

def imu_send(self, time_boot_ms: int, xacc: float, yacc: float, zacc: float, xgyro: float, ygyro: float, zgyro: float, force_mavlink1: bool = False) -> None:
    """
    The RAW IMU readings for the usual 9DOF sensor setup. This message
    should contain the scaled values to the described units

    time_boot_ms              : Timestamp (time since system boot). [ms] (type:uint32_t)
    xacc                      : X acceleration [m/s/s] (type:float)
    yacc                      : Y acceleration [m/s/s] (type:float)
    zacc                      : Z acceleration [m/s/s] (type:float)
    xgyro                     : Angular speed around X axis [rad/s] (type:float)
    ygyro                     : Angular speed around Y axis [rad/s] (type:float)
    zgyro                     : Angular speed around Z axis [rad/s] (type:float)

    """
    self.send(self.imu_encode(time_boot_ms, xacc, yacc, zacc, xgyro, ygyro, zgyro), force_mavlink1=force_mavlink1)

local_position_ned_system_global_offset_encode

local_position_ned_system_global_offset_encode(time_boot_ms: int, x: float, y: float, z: float, roll: float, pitch: float, yaw: float) -> MAVLink_local_position_ned_system_global_offset_message

The offset in X, Y, Z and yaw between the LOCAL_POSITION_NED messages of MAV X and the global coordinate frame in NED coordinates. Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention)

time_boot_ms : Timestamp (time since system boot). [ms] (type:uint32_t) x : X Position [m] (type:float) y : Y Position [m] (type:float) z : Z Position [m] (type:float) roll : Roll [rad] (type:float) pitch : Pitch [rad] (type:float) yaw : Yaw [rad] (type:float)

Source code in src/mavlink/definition.py

def local_position_ned_system_global_offset_encode(self, time_boot_ms: int, x: float, y: float, z: float, roll: float, pitch: float, yaw: float) -> MAVLink_local_position_ned_system_global_offset_message:
    """
    The offset in X, Y, Z and yaw between the LOCAL_POSITION_NED messages
    of MAV X and the global coordinate frame in NED coordinates.
    Coordinate frame is right-handed, Z-axis down (aeronautical
    frame, NED / north-east-down convention)

    time_boot_ms              : Timestamp (time since system boot). [ms] (type:uint32_t)
    x                         : X Position [m] (type:float)
    y                         : Y Position [m] (type:float)
    z                         : Z Position [m] (type:float)
    roll                      : Roll [rad] (type:float)
    pitch                     : Pitch [rad] (type:float)
    yaw                       : Yaw [rad] (type:float)

    """
    return MAVLink_local_position_ned_system_global_offset_message(time_boot_ms, x, y, z, roll, pitch, yaw)

local_position_ned_system_global_offset_send

local_position_ned_system_global_offset_send(time_boot_ms: int, x: float, y: float, z: float, roll: float, pitch: float, yaw: float, force_mavlink1: bool = False) -> None

The offset in X, Y, Z and yaw between the LOCAL_POSITION_NED messages of MAV X and the global coordinate frame in NED coordinates. Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention)

time_boot_ms : Timestamp (time since system boot). [ms] (type:uint32_t) x : X Position [m] (type:float) y : Y Position [m] (type:float) z : Z Position [m] (type:float) roll : Roll [rad] (type:float) pitch : Pitch [rad] (type:float) yaw : Yaw [rad] (type:float)

Source code in src/mavlink/definition.py

def local_position_ned_system_global_offset_send(self, time_boot_ms: int, x: float, y: float, z: float, roll: float, pitch: float, yaw: float, force_mavlink1: bool = False) -> None:
    """
    The offset in X, Y, Z and yaw between the LOCAL_POSITION_NED messages
    of MAV X and the global coordinate frame in NED coordinates.
    Coordinate frame is right-handed, Z-axis down (aeronautical
    frame, NED / north-east-down convention)

    time_boot_ms              : Timestamp (time since system boot). [ms] (type:uint32_t)
    x                         : X Position [m] (type:float)
    y                         : Y Position [m] (type:float)
    z                         : Z Position [m] (type:float)
    roll                      : Roll [rad] (type:float)
    pitch                     : Pitch [rad] (type:float)
    yaw                       : Yaw [rad] (type:float)

    """
    self.send(self.local_position_ned_system_global_offset_encode(time_boot_ms, x, y, z, roll, pitch, yaw), force_mavlink1=force_mavlink1)

mag_cal_report_encode

mag_cal_report_encode(compass_id: int, cal_mask: int, cal_status: int, autosaved: int, fitness: float, ofs_x: float, ofs_y: float, ofs_z: float, diag_x: float, diag_y: float, diag_z: float, offdiag_x: float, offdiag_y: float, offdiag_z: float, orientation_confidence: float = 0, old_orientation: int = 0, new_orientation: int = 0, scale_factor: float = 0) -> MAVLink_mag_cal_report_message

Reports results of completed compass calibration. Sent until MAG_CAL_ACK received.

compass_id : Compass being calibrated. (type:uint8_t) cal_mask : Bitmask of compasses being calibrated. (type:uint8_t) cal_status : Calibration Status. (type:uint8_t, values:MAG_CAL_STATUS) autosaved : 0=requires a MAV_CMD_DO_ACCEPT_MAG_CAL, 1=saved to parameters. (type:uint8_t) fitness : RMS milligauss residuals. [mgauss] (type:float) ofs_x : X offset. (type:float) ofs_y : Y offset. (type:float) ofs_z : Z offset. (type:float) diag_x : X diagonal (matrix 11). (type:float) diag_y : Y diagonal (matrix 22). (type:float) diag_z : Z diagonal (matrix 33). (type:float) offdiag_x : X off-diagonal (matrix 12 and 21). (type:float) offdiag_y : Y off-diagonal (matrix 13 and 31). (type:float) offdiag_z : Z off-diagonal (matrix 32 and 23). (type:float) orientation_confidence : Confidence in orientation (higher is better). (type:float) old_orientation : orientation before calibration. (type:uint8_t, values:MAV_SENSOR_ORIENTATION) new_orientation : orientation after calibration. (type:uint8_t, values:MAV_SENSOR_ORIENTATION) scale_factor : field radius correction factor (type:float)

Source code in src/mavlink/definition.py

def mag_cal_report_encode(self, compass_id: int, cal_mask: int, cal_status: int, autosaved: int, fitness: float, ofs_x: float, ofs_y: float, ofs_z: float, diag_x: float, diag_y: float, diag_z: float, offdiag_x: float, offdiag_y: float, offdiag_z: float, orientation_confidence: float = 0, old_orientation: int = 0, new_orientation: int = 0, scale_factor: float = 0) -> MAVLink_mag_cal_report_message:
    """
    Reports results of completed compass calibration. Sent until
    MAG_CAL_ACK received.

    compass_id                : Compass being calibrated. (type:uint8_t)
    cal_mask                  : Bitmask of compasses being calibrated. (type:uint8_t)
    cal_status                : Calibration Status. (type:uint8_t, values:MAG_CAL_STATUS)
    autosaved                 : 0=requires a MAV_CMD_DO_ACCEPT_MAG_CAL, 1=saved to parameters. (type:uint8_t)
    fitness                   : RMS milligauss residuals. [mgauss] (type:float)
    ofs_x                     : X offset. (type:float)
    ofs_y                     : Y offset. (type:float)
    ofs_z                     : Z offset. (type:float)
    diag_x                    : X diagonal (matrix 11). (type:float)
    diag_y                    : Y diagonal (matrix 22). (type:float)
    diag_z                    : Z diagonal (matrix 33). (type:float)
    offdiag_x                 : X off-diagonal (matrix 12 and 21). (type:float)
    offdiag_y                 : Y off-diagonal (matrix 13 and 31). (type:float)
    offdiag_z                 : Z off-diagonal (matrix 32 and 23). (type:float)
    orientation_confidence        : Confidence in orientation (higher is better). (type:float)
    old_orientation           : orientation before calibration. (type:uint8_t, values:MAV_SENSOR_ORIENTATION)
    new_orientation           : orientation after calibration. (type:uint8_t, values:MAV_SENSOR_ORIENTATION)
    scale_factor              : field radius correction factor (type:float)

    """
    return MAVLink_mag_cal_report_message(compass_id, cal_mask, cal_status, autosaved, fitness, ofs_x, ofs_y, ofs_z, diag_x, diag_y, diag_z, offdiag_x, offdiag_y, offdiag_z, orientation_confidence, old_orientation, new_orientation, scale_factor)

mag_cal_report_send

mag_cal_report_send(compass_id: int, cal_mask: int, cal_status: int, autosaved: int, fitness: float, ofs_x: float, ofs_y: float, ofs_z: float, diag_x: float, diag_y: float, diag_z: float, offdiag_x: float, offdiag_y: float, offdiag_z: float, orientation_confidence: float = 0, old_orientation: int = 0, new_orientation: int = 0, scale_factor: float = 0, force_mavlink1: bool = False) -> None

Reports results of completed compass calibration. Sent until MAG_CAL_ACK received.

compass_id : Compass being calibrated. (type:uint8_t) cal_mask : Bitmask of compasses being calibrated. (type:uint8_t) cal_status : Calibration Status. (type:uint8_t, values:MAG_CAL_STATUS) autosaved : 0=requires a MAV_CMD_DO_ACCEPT_MAG_CAL, 1=saved to parameters. (type:uint8_t) fitness : RMS milligauss residuals. [mgauss] (type:float) ofs_x : X offset. (type:float) ofs_y : Y offset. (type:float) ofs_z : Z offset. (type:float) diag_x : X diagonal (matrix 11). (type:float) diag_y : Y diagonal (matrix 22). (type:float) diag_z : Z diagonal (matrix 33). (type:float) offdiag_x : X off-diagonal (matrix 12 and 21). (type:float) offdiag_y : Y off-diagonal (matrix 13 and 31). (type:float) offdiag_z : Z off-diagonal (matrix 32 and 23). (type:float) orientation_confidence : Confidence in orientation (higher is better). (type:float) old_orientation : orientation before calibration. (type:uint8_t, values:MAV_SENSOR_ORIENTATION) new_orientation : orientation after calibration. (type:uint8_t, values:MAV_SENSOR_ORIENTATION) scale_factor : field radius correction factor (type:float)

Source code in src/mavlink/definition.py

def mag_cal_report_send(self, compass_id: int, cal_mask: int, cal_status: int, autosaved: int, fitness: float, ofs_x: float, ofs_y: float, ofs_z: float, diag_x: float, diag_y: float, diag_z: float, offdiag_x: float, offdiag_y: float, offdiag_z: float, orientation_confidence: float = 0, old_orientation: int = 0, new_orientation: int = 0, scale_factor: float = 0, force_mavlink1: bool = False) -> None:
    """
    Reports results of completed compass calibration. Sent until
    MAG_CAL_ACK received.

    compass_id                : Compass being calibrated. (type:uint8_t)
    cal_mask                  : Bitmask of compasses being calibrated. (type:uint8_t)
    cal_status                : Calibration Status. (type:uint8_t, values:MAG_CAL_STATUS)
    autosaved                 : 0=requires a MAV_CMD_DO_ACCEPT_MAG_CAL, 1=saved to parameters. (type:uint8_t)
    fitness                   : RMS milligauss residuals. [mgauss] (type:float)
    ofs_x                     : X offset. (type:float)
    ofs_y                     : Y offset. (type:float)
    ofs_z                     : Z offset. (type:float)
    diag_x                    : X diagonal (matrix 11). (type:float)
    diag_y                    : Y diagonal (matrix 22). (type:float)
    diag_z                    : Z diagonal (matrix 33). (type:float)
    offdiag_x                 : X off-diagonal (matrix 12 and 21). (type:float)
    offdiag_y                 : Y off-diagonal (matrix 13 and 31). (type:float)
    offdiag_z                 : Z off-diagonal (matrix 32 and 23). (type:float)
    orientation_confidence        : Confidence in orientation (higher is better). (type:float)
    old_orientation           : orientation before calibration. (type:uint8_t, values:MAV_SENSOR_ORIENTATION)
    new_orientation           : orientation after calibration. (type:uint8_t, values:MAV_SENSOR_ORIENTATION)
    scale_factor              : field radius correction factor (type:float)

    """
    self.send(self.mag_cal_report_encode(compass_id, cal_mask, cal_status, autosaved, fitness, ofs_x, ofs_y, ofs_z, diag_x, diag_y, diag_z, offdiag_x, offdiag_y, offdiag_z, orientation_confidence, old_orientation, new_orientation, scale_factor), force_mavlink1=force_mavlink1)

message_interval_encode

message_interval_encode(message_id: int, interval_us: int) -> MAVLink_message_interval_message

The interval between messages for a particular MAVLink message ID. This message is sent in response to the MAV_CMD_REQUEST_MESSAGE command with param1=244 (this message) and param2=message_id (the id of the message for which the interval is required). This interface replaces DATA_STREAM.

message_id : The ID of the requested MAVLink message. v1.0 is limited to 254 messages. (type:uint16_t) interval_us : The interval between two messages. A value of -1 indicates this stream is disabled, 0 indicates it is not available, > 0 indicates the interval at which it is sent. [us] (type:int32_t)

Source code in src/mavlink/definition.py

def message_interval_encode(self, message_id: int, interval_us: int) -> MAVLink_message_interval_message:
    """
    The interval between messages for a particular MAVLink message ID.
    This message is sent in response to the
    MAV_CMD_REQUEST_MESSAGE command with param1=244 (this message)
    and param2=message_id (the id of the message for which the
    interval is required).         This interface replaces
    DATA_STREAM.

    message_id                : The ID of the requested MAVLink message. v1.0 is limited to 254 messages. (type:uint16_t)
    interval_us               : The interval between two messages. A value of -1 indicates this stream is disabled, 0 indicates it is not available, > 0 indicates the interval at which it is sent. [us] (type:int32_t)

    """
    return MAVLink_message_interval_message(message_id, interval_us)

message_interval_send

message_interval_send(message_id: int, interval_us: int, force_mavlink1: bool = False) -> None

The interval between messages for a particular MAVLink message ID. This message is sent in response to the MAV_CMD_REQUEST_MESSAGE command with param1=244 (this message) and param2=message_id (the id of the message for which the interval is required). This interface replaces DATA_STREAM.

message_id : The ID of the requested MAVLink message. v1.0 is limited to 254 messages. (type:uint16_t) interval_us : The interval between two messages. A value of -1 indicates this stream is disabled, 0 indicates it is not available, > 0 indicates the interval at which it is sent. [us] (type:int32_t)

Source code in src/mavlink/definition.py

def message_interval_send(self, message_id: int, interval_us: int, force_mavlink1: bool = False) -> None:
    """
    The interval between messages for a particular MAVLink message ID.
    This message is sent in response to the
    MAV_CMD_REQUEST_MESSAGE command with param1=244 (this message)
    and param2=message_id (the id of the message for which the
    interval is required).         This interface replaces
    DATA_STREAM.

    message_id                : The ID of the requested MAVLink message. v1.0 is limited to 254 messages. (type:uint16_t)
    interval_us               : The interval between two messages. A value of -1 indicates this stream is disabled, 0 indicates it is not available, > 0 indicates the interval at which it is sent. [us] (type:int32_t)

    """
    self.send(self.message_interval_encode(message_id, interval_us), force_mavlink1=force_mavlink1)

param_request_list_encode

param_request_list_encode(target_system: int, target_component: int) -> MAVLink_param_request_list_message

Request all parameters of this component. After this request, all parameters are emitted. The parameter microservice is documented at https://mavlink.io/en/services/parameter.html

target_system : System ID (type:uint8_t) target_component : Component ID (type:uint8_t)

Source code in src/mavlink/definition.py

def param_request_list_encode(self, target_system: int, target_component: int) -> MAVLink_param_request_list_message:
    """
    Request all parameters of this component. After this request, all
    parameters are emitted. The parameter microservice is
    documented at https://mavlink.io/en/services/parameter.html

    target_system             : System ID (type:uint8_t)
    target_component          : Component ID (type:uint8_t)

    """
    return MAVLink_param_request_list_message(target_system, target_component)

param_request_list_send

param_request_list_send(target_system: int, target_component: int, force_mavlink1: bool = False) -> None

Request all parameters of this component. After this request, all parameters are emitted. The parameter microservice is documented at https://mavlink.io/en/services/parameter.html

target_system : System ID (type:uint8_t) target_component : Component ID (type:uint8_t)

Source code in src/mavlink/definition.py

def param_request_list_send(self, target_system: int, target_component: int, force_mavlink1: bool = False) -> None:
    """
    Request all parameters of this component. After this request, all
    parameters are emitted. The parameter microservice is
    documented at https://mavlink.io/en/services/parameter.html

    target_system             : System ID (type:uint8_t)
    target_component          : Component ID (type:uint8_t)

    """
    self.send(self.param_request_list_encode(target_system, target_component), force_mavlink1=force_mavlink1)

param_request_read_encode

param_request_read_encode(target_system: int, target_component: int, param_id: bytes, param_index: int) -> MAVLink_param_request_read_message

Request to read the onboard parameter with the param_id string id. Onboard parameters are stored as key[const char*] -> value[float]. This allows to send a parameter to any other component (such as the GCS) without the need of previous knowledge of possible parameter names. Thus the same GCS can store different parameters for different autopilots. See also https://mavlink.io/en/services/parameter.html for a full documentation of QGroundControl and IMU code.

target_system : System ID (type:uint8_t) target_component : Component ID (type:uint8_t) param_id : Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string (type:char) param_index : Parameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored) (type:int16_t)

Source code in src/mavlink/definition.py

def param_request_read_encode(self, target_system: int, target_component: int, param_id: bytes, param_index: int) -> MAVLink_param_request_read_message:
    """
    Request to read the onboard parameter with the param_id string id.
    Onboard parameters are stored as key[const char*] ->
    value[float]. This allows to send a parameter to any other
    component (such as the GCS) without the need of previous
    knowledge of possible parameter names. Thus the same GCS can
    store different parameters for different autopilots. See also
    https://mavlink.io/en/services/parameter.html for a full
    documentation of QGroundControl and IMU code.

    target_system             : System ID (type:uint8_t)
    target_component          : Component ID (type:uint8_t)
    param_id                  : Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string (type:char)
    param_index               : Parameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored) (type:int16_t)

    """
    return MAVLink_param_request_read_message(target_system, target_component, param_id, param_index)

param_request_read_send

param_request_read_send(target_system: int, target_component: int, param_id: bytes, param_index: int, force_mavlink1: bool = False) -> None

Request to read the onboard parameter with the param_id string id. Onboard parameters are stored as key[const char*] -> value[float]. This allows to send a parameter to any other component (such as the GCS) without the need of previous knowledge of possible parameter names. Thus the same GCS can store different parameters for different autopilots. See also https://mavlink.io/en/services/parameter.html for a full documentation of QGroundControl and IMU code.

target_system : System ID (type:uint8_t) target_component : Component ID (type:uint8_t) param_id : Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string (type:char) param_index : Parameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored) (type:int16_t)

Source code in src/mavlink/definition.py

def param_request_read_send(self, target_system: int, target_component: int, param_id: bytes, param_index: int, force_mavlink1: bool = False) -> None:
    """
    Request to read the onboard parameter with the param_id string id.
    Onboard parameters are stored as key[const char*] ->
    value[float]. This allows to send a parameter to any other
    component (such as the GCS) without the need of previous
    knowledge of possible parameter names. Thus the same GCS can
    store different parameters for different autopilots. See also
    https://mavlink.io/en/services/parameter.html for a full
    documentation of QGroundControl and IMU code.

    target_system             : System ID (type:uint8_t)
    target_component          : Component ID (type:uint8_t)
    param_id                  : Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string (type:char)
    param_index               : Parameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored) (type:int16_t)

    """
    self.send(self.param_request_read_encode(target_system, target_component, param_id, param_index), force_mavlink1=force_mavlink1)

param_set_encode

param_set_encode(target_system: int, target_component: int, param_id: bytes, param_value: float, param_type: int) -> MAVLink_param_set_message

Set a parameter value (write new value to permanent storage). The receiving component should acknowledge the new parameter value by broadcasting a PARAM_VALUE message (broadcasting ensures that multiple GCS all have an up-to-date list of all parameters). If the sending GCS did not receive a PARAM_VALUE within its timeout time, it should re-send the PARAM_SET message. The parameter microservice is documented at https://mavlink.io/en/services/parameter.html.

target_system : System ID (type:uint8_t) target_component : Component ID (type:uint8_t) param_id : Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string (type:char) param_value : Onboard parameter value (type:float) param_type : Onboard parameter type. (type:uint8_t, values:MAV_PARAM_TYPE)

Source code in src/mavlink/definition.py

def param_set_encode(self, target_system: int, target_component: int, param_id: bytes, param_value: float, param_type: int) -> MAVLink_param_set_message:
    """
    Set a parameter value (write new value to permanent storage).
    The receiving component should acknowledge the new parameter
    value by broadcasting a PARAM_VALUE message (broadcasting
    ensures that multiple GCS all have an up-to-date list of all
    parameters). If the sending GCS did not receive a PARAM_VALUE
    within its timeout time, it should re-send the PARAM_SET
    message. The parameter microservice is documented at
    https://mavlink.io/en/services/parameter.html.

    target_system             : System ID (type:uint8_t)
    target_component          : Component ID (type:uint8_t)
    param_id                  : Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string (type:char)
    param_value               : Onboard parameter value (type:float)
    param_type                : Onboard parameter type. (type:uint8_t, values:MAV_PARAM_TYPE)

    """
    return MAVLink_param_set_message(target_system, target_component, param_id, param_value, param_type)

param_set_send

param_set_send(target_system: int, target_component: int, param_id: bytes, param_value: float, param_type: int, force_mavlink1: bool = False) -> None

Set a parameter value (write new value to permanent storage). The receiving component should acknowledge the new parameter value by broadcasting a PARAM_VALUE message (broadcasting ensures that multiple GCS all have an up-to-date list of all parameters). If the sending GCS did not receive a PARAM_VALUE within its timeout time, it should re-send the PARAM_SET message. The parameter microservice is documented at https://mavlink.io/en/services/parameter.html.

target_system : System ID (type:uint8_t) target_component : Component ID (type:uint8_t) param_id : Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string (type:char) param_value : Onboard parameter value (type:float) param_type : Onboard parameter type. (type:uint8_t, values:MAV_PARAM_TYPE)

Source code in src/mavlink/definition.py

def param_set_send(self, target_system: int, target_component: int, param_id: bytes, param_value: float, param_type: int, force_mavlink1: bool = False) -> None:
    """
    Set a parameter value (write new value to permanent storage).
    The receiving component should acknowledge the new parameter
    value by broadcasting a PARAM_VALUE message (broadcasting
    ensures that multiple GCS all have an up-to-date list of all
    parameters). If the sending GCS did not receive a PARAM_VALUE
    within its timeout time, it should re-send the PARAM_SET
    message. The parameter microservice is documented at
    https://mavlink.io/en/services/parameter.html.

    target_system             : System ID (type:uint8_t)
    target_component          : Component ID (type:uint8_t)
    param_id                  : Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string (type:char)
    param_value               : Onboard parameter value (type:float)
    param_type                : Onboard parameter type. (type:uint8_t, values:MAV_PARAM_TYPE)

    """
    self.send(self.param_set_encode(target_system, target_component, param_id, param_value, param_type), force_mavlink1=force_mavlink1)

param_value_encode

param_value_encode(param_id: bytes, param_value: float, param_type: int, param_count: int, param_index: int) -> MAVLink_param_value_message

Emit the value of a onboard parameter. The inclusion of param_count and param_index in the message allows the recipient to keep track of received parameters and allows him to re-request missing parameters after a loss or timeout. The parameter microservice is documented at https://mavlink.io/en/services/parameter.html

param_id : Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string (type:char) param_value : Onboard parameter value (type:float) param_type : Onboard parameter type. (type:uint8_t, values:MAV_PARAM_TYPE) param_count : Total number of onboard parameters (type:uint16_t) param_index : Index of this onboard parameter (type:uint16_t)

Source code in src/mavlink/definition.py

def param_value_encode(self, param_id: bytes, param_value: float, param_type: int, param_count: int, param_index: int) -> MAVLink_param_value_message:
    """
    Emit the value of a onboard parameter. The inclusion of param_count
    and param_index in the message allows the recipient to keep
    track of received parameters and allows him to re-request
    missing parameters after a loss or timeout. The parameter
    microservice is documented at
    https://mavlink.io/en/services/parameter.html

    param_id                  : Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string (type:char)
    param_value               : Onboard parameter value (type:float)
    param_type                : Onboard parameter type. (type:uint8_t, values:MAV_PARAM_TYPE)
    param_count               : Total number of onboard parameters (type:uint16_t)
    param_index               : Index of this onboard parameter (type:uint16_t)

    """
    return MAVLink_param_value_message(param_id, param_value, param_type, param_count, param_index)

param_value_send

param_value_send(param_id: bytes, param_value: float, param_type: int, param_count: int, param_index: int, force_mavlink1: bool = False) -> None

Emit the value of a onboard parameter. The inclusion of param_count and param_index in the message allows the recipient to keep track of received parameters and allows him to re-request missing parameters after a loss or timeout. The parameter microservice is documented at https://mavlink.io/en/services/parameter.html

param_id : Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string (type:char) param_value : Onboard parameter value (type:float) param_type : Onboard parameter type. (type:uint8_t, values:MAV_PARAM_TYPE) param_count : Total number of onboard parameters (type:uint16_t) param_index : Index of this onboard parameter (type:uint16_t)

Source code in src/mavlink/definition.py

def param_value_send(self, param_id: bytes, param_value: float, param_type: int, param_count: int, param_index: int, force_mavlink1: bool = False) -> None:
    """
    Emit the value of a onboard parameter. The inclusion of param_count
    and param_index in the message allows the recipient to keep
    track of received parameters and allows him to re-request
    missing parameters after a loss or timeout. The parameter
    microservice is documented at
    https://mavlink.io/en/services/parameter.html

    param_id                  : Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string (type:char)
    param_value               : Onboard parameter value (type:float)
    param_type                : Onboard parameter type. (type:uint8_t, values:MAV_PARAM_TYPE)
    param_count               : Total number of onboard parameters (type:uint16_t)
    param_index               : Index of this onboard parameter (type:uint16_t)

    """
    self.send(self.param_value_encode(param_id, param_value, param_type, param_count, param_index), force_mavlink1=force_mavlink1)

parse_buffer

parse_buffer(s: Sequence[int]) -> Optional[List[MAVLink_message]]

input some data bytes, possibly returning a list of new messages

Source code in src/mavlink/definition.py

def parse_buffer(self, s: Sequence[int]) -> Optional[List[MAVLink_message]]:
    """input some data bytes, possibly returning a list of new messages"""
    m = self.parse_char(s)
    if m is None:
        return None
    ret = [m]
    while True:
        m = self.parse_char(b"")
        if m is None:
            return ret
        ret.append(m)

parse_char

parse_char(c: Sequence[int]) -> Optional[MAVLink_message]

input some data bytes, possibly returning a new message

Source code in src/mavlink/definition.py

def parse_char(self, c: Sequence[int]) -> Optional[MAVLink_message]:
    """input some data bytes, possibly returning a new message"""
    self.buf.extend(c)

    self.total_bytes_received += len(c)

    m = self.__parse_char_legacy()

    if m is not None:
        self.total_packets_received += 1
        self.__callbacks(m)
    else:
        # XXX The idea here is if we've read something and there's nothing left in
        # the buffer, reset it to 0 which frees the memory
        if self.buf_len() == 0 and self.buf_index != 0:
            self.buf = bytearray()
            self.buf_index = 0

    return m

pilot_power_encode

pilot_power_encode(power: float, cadence: float) -> MAVLink_pilot_power_message

Output status of the pilot power.

power : Power [W] (type:float) cadence : Cadence [rpm] (type:float)

Source code in src/mavlink/definition.py

def pilot_power_encode(self, power: float, cadence: float) -> MAVLink_pilot_power_message:
    """
    Output status of the pilot power.

    power                     : Power [W] (type:float)
    cadence                   : Cadence [rpm] (type:float)

    """
    return MAVLink_pilot_power_message(power, cadence)

pilot_power_send

pilot_power_send(power: float, cadence: float, force_mavlink1: bool = False) -> None

Output status of the pilot power.

power : Power [W] (type:float) cadence : Cadence [rpm] (type:float)

Source code in src/mavlink/definition.py

def pilot_power_send(self, power: float, cadence: float, force_mavlink1: bool = False) -> None:
    """
    Output status of the pilot power.

    power                     : Power [W] (type:float)
    cadence                   : Cadence [rpm] (type:float)

    """
    self.send(self.pilot_power_encode(power, cadence), force_mavlink1=force_mavlink1)

position_target_global_int_encode

position_target_global_int_encode(time_boot_ms: int, coordinate_frame: int, type_mask: int, lat_int: int, lon_int: int, alt: float, vx: float, vy: float, vz: float, afx: float, afy: float, afz: float, yaw: float, yaw_rate: float) -> MAVLink_position_target_global_int_message

Reports the current commanded vehicle position, velocity, and acceleration as specified by the autopilot. This should match the commands sent in SET_POSITION_TARGET_GLOBAL_INT if the vehicle is being controlled this way.

time_boot_ms : Timestamp (time since system boot). The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency. [ms] (type:uint32_t) coordinate_frame : Valid options are: MAV_FRAME_GLOBAL = 0, MAV_FRAME_GLOBAL_RELATIVE_ALT = 3, MAV_FRAME_GLOBAL_TERRAIN_ALT = 10 (MAV_FRAME_GLOBAL_INT, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT are allowed synonyms, but have been deprecated) (type:uint8_t, values:MAV_FRAME) type_mask : Bitmap to indicate which dimensions should be ignored by the vehicle. (type:uint16_t, values:POSITION_TARGET_TYPEMASK) lat_int : Latitude in WGS84 frame [degE7] (type:int32_t) lon_int : Longitude in WGS84 frame [degE7] (type:int32_t) alt : Altitude (MSL, AGL or relative to home altitude, depending on frame) [m] (type:float) vx : X velocity in NED frame [m/s] (type:float) vy : Y velocity in NED frame [m/s] (type:float) vz : Z velocity in NED frame [m/s] (type:float) afx : X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N [m/s/s] (type:float) afy : Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N [m/s/s] (type:float) afz : Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N [m/s/s] (type:float) yaw : yaw setpoint [rad] (type:float) yaw_rate : yaw rate setpoint [rad/s] (type:float)

Source code in src/mavlink/definition.py

def position_target_global_int_encode(self, time_boot_ms: int, coordinate_frame: int, type_mask: int, lat_int: int, lon_int: int, alt: float, vx: float, vy: float, vz: float, afx: float, afy: float, afz: float, yaw: float, yaw_rate: float) -> MAVLink_position_target_global_int_message:
    """
    Reports the current commanded vehicle position, velocity, and
    acceleration as specified by the autopilot. This should match
    the commands sent in SET_POSITION_TARGET_GLOBAL_INT if the
    vehicle is being controlled this way.

    time_boot_ms              : Timestamp (time since system boot). The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency. [ms] (type:uint32_t)
    coordinate_frame          : Valid options are: MAV_FRAME_GLOBAL = 0, MAV_FRAME_GLOBAL_RELATIVE_ALT = 3, MAV_FRAME_GLOBAL_TERRAIN_ALT = 10 (MAV_FRAME_GLOBAL_INT, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT are allowed synonyms, but have been deprecated) (type:uint8_t, values:MAV_FRAME)
    type_mask                 : Bitmap to indicate which dimensions should be ignored by the vehicle. (type:uint16_t, values:POSITION_TARGET_TYPEMASK)
    lat_int                   : Latitude in WGS84 frame [degE7] (type:int32_t)
    lon_int                   : Longitude in WGS84 frame [degE7] (type:int32_t)
    alt                       : Altitude (MSL, AGL or relative to home altitude, depending on frame) [m] (type:float)
    vx                        : X velocity in NED frame [m/s] (type:float)
    vy                        : Y velocity in NED frame [m/s] (type:float)
    vz                        : Z velocity in NED frame [m/s] (type:float)
    afx                       : X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N [m/s/s] (type:float)
    afy                       : Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N [m/s/s] (type:float)
    afz                       : Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N [m/s/s] (type:float)
    yaw                       : yaw setpoint [rad] (type:float)
    yaw_rate                  : yaw rate setpoint [rad/s] (type:float)

    """
    return MAVLink_position_target_global_int_message(time_boot_ms, coordinate_frame, type_mask, lat_int, lon_int, alt, vx, vy, vz, afx, afy, afz, yaw, yaw_rate)

position_target_global_int_send

position_target_global_int_send(time_boot_ms: int, coordinate_frame: int, type_mask: int, lat_int: int, lon_int: int, alt: float, vx: float, vy: float, vz: float, afx: float, afy: float, afz: float, yaw: float, yaw_rate: float, force_mavlink1: bool = False) -> None

Reports the current commanded vehicle position, velocity, and acceleration as specified by the autopilot. This should match the commands sent in SET_POSITION_TARGET_GLOBAL_INT if the vehicle is being controlled this way.

time_boot_ms : Timestamp (time since system boot). The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency. [ms] (type:uint32_t) coordinate_frame : Valid options are: MAV_FRAME_GLOBAL = 0, MAV_FRAME_GLOBAL_RELATIVE_ALT = 3, MAV_FRAME_GLOBAL_TERRAIN_ALT = 10 (MAV_FRAME_GLOBAL_INT, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT are allowed synonyms, but have been deprecated) (type:uint8_t, values:MAV_FRAME) type_mask : Bitmap to indicate which dimensions should be ignored by the vehicle. (type:uint16_t, values:POSITION_TARGET_TYPEMASK) lat_int : Latitude in WGS84 frame [degE7] (type:int32_t) lon_int : Longitude in WGS84 frame [degE7] (type:int32_t) alt : Altitude (MSL, AGL or relative to home altitude, depending on frame) [m] (type:float) vx : X velocity in NED frame [m/s] (type:float) vy : Y velocity in NED frame [m/s] (type:float) vz : Z velocity in NED frame [m/s] (type:float) afx : X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N [m/s/s] (type:float) afy : Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N [m/s/s] (type:float) afz : Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N [m/s/s] (type:float) yaw : yaw setpoint [rad] (type:float) yaw_rate : yaw rate setpoint [rad/s] (type:float)

Source code in src/mavlink/definition.py

def position_target_global_int_send(self, time_boot_ms: int, coordinate_frame: int, type_mask: int, lat_int: int, lon_int: int, alt: float, vx: float, vy: float, vz: float, afx: float, afy: float, afz: float, yaw: float, yaw_rate: float, force_mavlink1: bool = False) -> None:
    """
    Reports the current commanded vehicle position, velocity, and
    acceleration as specified by the autopilot. This should match
    the commands sent in SET_POSITION_TARGET_GLOBAL_INT if the
    vehicle is being controlled this way.

    time_boot_ms              : Timestamp (time since system boot). The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency. [ms] (type:uint32_t)
    coordinate_frame          : Valid options are: MAV_FRAME_GLOBAL = 0, MAV_FRAME_GLOBAL_RELATIVE_ALT = 3, MAV_FRAME_GLOBAL_TERRAIN_ALT = 10 (MAV_FRAME_GLOBAL_INT, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT are allowed synonyms, but have been deprecated) (type:uint8_t, values:MAV_FRAME)
    type_mask                 : Bitmap to indicate which dimensions should be ignored by the vehicle. (type:uint16_t, values:POSITION_TARGET_TYPEMASK)
    lat_int                   : Latitude in WGS84 frame [degE7] (type:int32_t)
    lon_int                   : Longitude in WGS84 frame [degE7] (type:int32_t)
    alt                       : Altitude (MSL, AGL or relative to home altitude, depending on frame) [m] (type:float)
    vx                        : X velocity in NED frame [m/s] (type:float)
    vy                        : Y velocity in NED frame [m/s] (type:float)
    vz                        : Z velocity in NED frame [m/s] (type:float)
    afx                       : X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N [m/s/s] (type:float)
    afy                       : Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N [m/s/s] (type:float)
    afz                       : Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N [m/s/s] (type:float)
    yaw                       : yaw setpoint [rad] (type:float)
    yaw_rate                  : yaw rate setpoint [rad/s] (type:float)

    """
    self.send(self.position_target_global_int_encode(time_boot_ms, coordinate_frame, type_mask, lat_int, lon_int, alt, vx, vy, vz, afx, afy, afz, yaw, yaw_rate), force_mavlink1=force_mavlink1)

raw_rpm_encode

raw_rpm_encode(index: int, frequency: float) -> MAVLink_raw_rpm_message

RPM sensor data message.

index : Index of this RPM sensor (0-indexed) (type:uint8_t) frequency : Indicated rate [rpm] (type:float)

Source code in src/mavlink/definition.py

def raw_rpm_encode(self, index: int, frequency: float) -> MAVLink_raw_rpm_message:
    """
    RPM sensor data message.

    index                     : Index of this RPM sensor (0-indexed) (type:uint8_t)
    frequency                 : Indicated rate [rpm] (type:float)

    """
    return MAVLink_raw_rpm_message(index, frequency)

raw_rpm_send

raw_rpm_send(index: int, frequency: float, force_mavlink1: bool = False) -> None

RPM sensor data message.

index : Index of this RPM sensor (0-indexed) (type:uint8_t) frequency : Indicated rate [rpm] (type:float)

Source code in src/mavlink/definition.py

def raw_rpm_send(self, index: int, frequency: float, force_mavlink1: bool = False) -> None:
    """
    RPM sensor data message.

    index                     : Index of this RPM sensor (0-indexed) (type:uint8_t)
    frequency                 : Indicated rate [rpm] (type:float)

    """
    self.send(self.raw_rpm_encode(index, frequency), force_mavlink1=force_mavlink1)

scaled_pressure_encode

scaled_pressure_encode(time_boot_ms: int, press_abs: float, press_diff: float, temperature: int, temperature_press_diff: int = 0) -> MAVLink_scaled_pressure_message

The pressure readings for the typical setup of one absolute and differential pressure sensor. The units are as specified in each field.

time_boot_ms : Timestamp (time since system boot). [ms] (type:uint32_t) press_abs : Absolute pressure [hPa] (type:float) press_diff : Differential pressure 1 [hPa] (type:float) temperature : Absolute pressure temperature [cdegC] (type:int16_t) temperature_press_diff : Differential pressure temperature (0, if not available). Report values of 0 (or 1) as 1 cdegC. [cdegC] (type:int16_t)

Source code in src/mavlink/definition.py

def scaled_pressure_encode(self, time_boot_ms: int, press_abs: float, press_diff: float, temperature: int, temperature_press_diff: int = 0) -> MAVLink_scaled_pressure_message:
    """
    The pressure readings for the typical setup of one absolute and
    differential pressure sensor. The units are as specified in
    each field.

    time_boot_ms              : Timestamp (time since system boot). [ms] (type:uint32_t)
    press_abs                 : Absolute pressure [hPa] (type:float)
    press_diff                : Differential pressure 1 [hPa] (type:float)
    temperature               : Absolute pressure temperature [cdegC] (type:int16_t)
    temperature_press_diff        : Differential pressure temperature (0, if not available). Report values of 0 (or 1) as 1 cdegC. [cdegC] (type:int16_t)

    """
    return MAVLink_scaled_pressure_message(time_boot_ms, press_abs, press_diff, temperature, temperature_press_diff)

scaled_pressure_send

scaled_pressure_send(time_boot_ms: int, press_abs: float, press_diff: float, temperature: int, temperature_press_diff: int = 0, force_mavlink1: bool = False) -> None

The pressure readings for the typical setup of one absolute and differential pressure sensor. The units are as specified in each field.

time_boot_ms : Timestamp (time since system boot). [ms] (type:uint32_t) press_abs : Absolute pressure [hPa] (type:float) press_diff : Differential pressure 1 [hPa] (type:float) temperature : Absolute pressure temperature [cdegC] (type:int16_t) temperature_press_diff : Differential pressure temperature (0, if not available). Report values of 0 (or 1) as 1 cdegC. [cdegC] (type:int16_t)

Source code in src/mavlink/definition.py

def scaled_pressure_send(self, time_boot_ms: int, press_abs: float, press_diff: float, temperature: int, temperature_press_diff: int = 0, force_mavlink1: bool = False) -> None:
    """
    The pressure readings for the typical setup of one absolute and
    differential pressure sensor. The units are as specified in
    each field.

    time_boot_ms              : Timestamp (time since system boot). [ms] (type:uint32_t)
    press_abs                 : Absolute pressure [hPa] (type:float)
    press_diff                : Differential pressure 1 [hPa] (type:float)
    temperature               : Absolute pressure temperature [cdegC] (type:int16_t)
    temperature_press_diff        : Differential pressure temperature (0, if not available). Report values of 0 (or 1) as 1 cdegC. [cdegC] (type:int16_t)

    """
    self.send(self.scaled_pressure_encode(time_boot_ms, press_abs, press_diff, temperature, temperature_press_diff), force_mavlink1=force_mavlink1)

send

send(mavmsg: MAVLink_message, force_mavlink1: bool = False) -> None

send a MAVLink message

Source code in src/mavlink/definition.py

def send(self, mavmsg: MAVLink_message, force_mavlink1: bool = False) -> None:
    """send a MAVLink message"""
    buf = mavmsg.pack(self, force_mavlink1=force_mavlink1)
    self.file.write(buf)
    self.seq = (self.seq + 1) % 256
    self.total_packets_sent += 1
    self.total_bytes_sent += len(buf)
    if self.send_callback is not None and self.send_callback_args is not None and self.send_callback_kwargs is not None:
        self.send_callback(mavmsg, *self.send_callback_args, **self.send_callback_kwargs)

sys_status_encode

sys_status_encode(onboard_control_sensors_present: int, onboard_control_sensors_enabled: int, onboard_control_sensors_health: int, load: int, voltage_battery: int, current_battery: int, battery_remaining: int, drop_rate_comm: int, errors_comm: int, errors_count1: int, errors_count2: int, errors_count3: int, errors_count4: int, onboard_control_sensors_present_extended: int = 0, onboard_control_sensors_enabled_extended: int = 0, onboard_control_sensors_health_extended: int = 0) -> MAVLink_sys_status_message

Sensor and subsystem status information. Provides a compact representation of sensor/subsystem status and a few other basic statistics.

onboard_control_sensors_present : Bitmap showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. (type:uint32_t, values:MAV_SYS_STATUS_SENSOR) onboard_control_sensors_enabled : Bitmap showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. (type:uint32_t, values:MAV_SYS_STATUS_SENSOR) onboard_control_sensors_health : Bitmap showing which onboard controllers and sensors have an error (or are operational). Value of 0: error. Value of 1: healthy. (type:uint32_t, values:MAV_SYS_STATUS_SENSOR) load : Maximum usage in percent of the mainloop time. Values: [0-1000] - should always be below 1000 [d%] (type:uint16_t) voltage_battery : Battery voltage, UINT16_MAX: Voltage not sent by autopilot. Value is ambiguous on multi-battery systems. BATTERY_STATUS is a recommended alternative. [mV] (type:uint16_t) current_battery : Battery current, -1: Current not sent by autopilot. Value may overflow/rollover for very high currents (> 327.67A). Value is ambiguous on multi-battery systems. BATTERY_STATUS is a recommended alternative. [cA] (type:int16_t) battery_remaining : Battery energy remaining, -1: Battery remaining energy not sent by autopilot. Value is ambiguous on multi-battery systems. BATTERY_STATUS is a recommended alternative. [%] (type:int8_t) drop_rate_comm : Communication drop rate, (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV) [c%] (type:uint16_t) errors_comm : Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV) (type:uint16_t) errors_count1 : Autopilot-specific errors (type:uint16_t) errors_count2 : Autopilot-specific errors (type:uint16_t) errors_count3 : Autopilot-specific errors (type:uint16_t) errors_count4 : Autopilot-specific errors (type:uint16_t) onboard_control_sensors_present_extended : Bitmap showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. (type:uint32_t, values:MAV_SYS_STATUS_SENSOR_EXTENDED) onboard_control_sensors_enabled_extended : Bitmap showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. (type:uint32_t, values:MAV_SYS_STATUS_SENSOR_EXTENDED) onboard_control_sensors_health_extended : Bitmap showing which onboard controllers and sensors have an error (or are operational). Value of 0: error. Value of 1: healthy. (type:uint32_t, values:MAV_SYS_STATUS_SENSOR_EXTENDED)

Source code in src/mavlink/definition.py

def sys_status_encode(self, onboard_control_sensors_present: int, onboard_control_sensors_enabled: int, onboard_control_sensors_health: int, load: int, voltage_battery: int, current_battery: int, battery_remaining: int, drop_rate_comm: int, errors_comm: int, errors_count1: int, errors_count2: int, errors_count3: int, errors_count4: int, onboard_control_sensors_present_extended: int = 0, onboard_control_sensors_enabled_extended: int = 0, onboard_control_sensors_health_extended: int = 0) -> MAVLink_sys_status_message:
    """
    Sensor and subsystem status information. Provides a compact
    representation of sensor/subsystem status and a few other
    basic statistics.

    onboard_control_sensors_present        : Bitmap showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. (type:uint32_t, values:MAV_SYS_STATUS_SENSOR)
    onboard_control_sensors_enabled        : Bitmap showing which onboard controllers and sensors are enabled:  Value of 0: not enabled. Value of 1: enabled. (type:uint32_t, values:MAV_SYS_STATUS_SENSOR)
    onboard_control_sensors_health        : Bitmap showing which onboard controllers and sensors have an error (or are operational). Value of 0: error. Value of 1: healthy. (type:uint32_t, values:MAV_SYS_STATUS_SENSOR)
    load                      : Maximum usage in percent of the mainloop time. Values: [0-1000] - should always be below 1000 [d%] (type:uint16_t)
    voltage_battery           : Battery voltage, UINT16_MAX: Voltage not sent by autopilot. Value is ambiguous on multi-battery systems. BATTERY_STATUS is a recommended alternative. [mV] (type:uint16_t)
    current_battery           : Battery current, -1: Current not sent by autopilot. Value may overflow/rollover for very high currents (> 327.67A). Value is ambiguous on multi-battery systems. BATTERY_STATUS is a recommended alternative. [cA] (type:int16_t)
    battery_remaining         : Battery energy remaining, -1: Battery remaining energy not sent by autopilot. Value is ambiguous on multi-battery systems. BATTERY_STATUS is a recommended alternative. [%] (type:int8_t)
    drop_rate_comm            : Communication drop rate, (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV) [c%] (type:uint16_t)
    errors_comm               : Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV) (type:uint16_t)
    errors_count1             : Autopilot-specific errors (type:uint16_t)
    errors_count2             : Autopilot-specific errors (type:uint16_t)
    errors_count3             : Autopilot-specific errors (type:uint16_t)
    errors_count4             : Autopilot-specific errors (type:uint16_t)
    onboard_control_sensors_present_extended        : Bitmap showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. (type:uint32_t, values:MAV_SYS_STATUS_SENSOR_EXTENDED)
    onboard_control_sensors_enabled_extended        : Bitmap showing which onboard controllers and sensors are enabled:  Value of 0: not enabled. Value of 1: enabled. (type:uint32_t, values:MAV_SYS_STATUS_SENSOR_EXTENDED)
    onboard_control_sensors_health_extended        : Bitmap showing which onboard controllers and sensors have an error (or are operational). Value of 0: error. Value of 1: healthy. (type:uint32_t, values:MAV_SYS_STATUS_SENSOR_EXTENDED)

    """
    return MAVLink_sys_status_message(onboard_control_sensors_present, onboard_control_sensors_enabled, onboard_control_sensors_health, load, voltage_battery, current_battery, battery_remaining, drop_rate_comm, errors_comm, errors_count1, errors_count2, errors_count3, errors_count4, onboard_control_sensors_present_extended, onboard_control_sensors_enabled_extended, onboard_control_sensors_health_extended)

sys_status_send

sys_status_send(onboard_control_sensors_present: int, onboard_control_sensors_enabled: int, onboard_control_sensors_health: int, load: int, voltage_battery: int, current_battery: int, battery_remaining: int, drop_rate_comm: int, errors_comm: int, errors_count1: int, errors_count2: int, errors_count3: int, errors_count4: int, onboard_control_sensors_present_extended: int = 0, onboard_control_sensors_enabled_extended: int = 0, onboard_control_sensors_health_extended: int = 0, force_mavlink1: bool = False) -> None

Sensor and subsystem status information. Provides a compact representation of sensor/subsystem status and a few other basic statistics.

onboard_control_sensors_present : Bitmap showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. (type:uint32_t, values:MAV_SYS_STATUS_SENSOR) onboard_control_sensors_enabled : Bitmap showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. (type:uint32_t, values:MAV_SYS_STATUS_SENSOR) onboard_control_sensors_health : Bitmap showing which onboard controllers and sensors have an error (or are operational). Value of 0: error. Value of 1: healthy. (type:uint32_t, values:MAV_SYS_STATUS_SENSOR) load : Maximum usage in percent of the mainloop time. Values: [0-1000] - should always be below 1000 [d%] (type:uint16_t) voltage_battery : Battery voltage, UINT16_MAX: Voltage not sent by autopilot. Value is ambiguous on multi-battery systems. BATTERY_STATUS is a recommended alternative. [mV] (type:uint16_t) current_battery : Battery current, -1: Current not sent by autopilot. Value may overflow/rollover for very high currents (> 327.67A). Value is ambiguous on multi-battery systems. BATTERY_STATUS is a recommended alternative. [cA] (type:int16_t) battery_remaining : Battery energy remaining, -1: Battery remaining energy not sent by autopilot. Value is ambiguous on multi-battery systems. BATTERY_STATUS is a recommended alternative. [%] (type:int8_t) drop_rate_comm : Communication drop rate, (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV) [c%] (type:uint16_t) errors_comm : Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV) (type:uint16_t) errors_count1 : Autopilot-specific errors (type:uint16_t) errors_count2 : Autopilot-specific errors (type:uint16_t) errors_count3 : Autopilot-specific errors (type:uint16_t) errors_count4 : Autopilot-specific errors (type:uint16_t) onboard_control_sensors_present_extended : Bitmap showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. (type:uint32_t, values:MAV_SYS_STATUS_SENSOR_EXTENDED) onboard_control_sensors_enabled_extended : Bitmap showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. (type:uint32_t, values:MAV_SYS_STATUS_SENSOR_EXTENDED) onboard_control_sensors_health_extended : Bitmap showing which onboard controllers and sensors have an error (or are operational). Value of 0: error. Value of 1: healthy. (type:uint32_t, values:MAV_SYS_STATUS_SENSOR_EXTENDED)

Source code in src/mavlink/definition.py

def sys_status_send(self, onboard_control_sensors_present: int, onboard_control_sensors_enabled: int, onboard_control_sensors_health: int, load: int, voltage_battery: int, current_battery: int, battery_remaining: int, drop_rate_comm: int, errors_comm: int, errors_count1: int, errors_count2: int, errors_count3: int, errors_count4: int, onboard_control_sensors_present_extended: int = 0, onboard_control_sensors_enabled_extended: int = 0, onboard_control_sensors_health_extended: int = 0, force_mavlink1: bool = False) -> None:
    """
    Sensor and subsystem status information. Provides a compact
    representation of sensor/subsystem status and a few other
    basic statistics.

    onboard_control_sensors_present        : Bitmap showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. (type:uint32_t, values:MAV_SYS_STATUS_SENSOR)
    onboard_control_sensors_enabled        : Bitmap showing which onboard controllers and sensors are enabled:  Value of 0: not enabled. Value of 1: enabled. (type:uint32_t, values:MAV_SYS_STATUS_SENSOR)
    onboard_control_sensors_health        : Bitmap showing which onboard controllers and sensors have an error (or are operational). Value of 0: error. Value of 1: healthy. (type:uint32_t, values:MAV_SYS_STATUS_SENSOR)
    load                      : Maximum usage in percent of the mainloop time. Values: [0-1000] - should always be below 1000 [d%] (type:uint16_t)
    voltage_battery           : Battery voltage, UINT16_MAX: Voltage not sent by autopilot. Value is ambiguous on multi-battery systems. BATTERY_STATUS is a recommended alternative. [mV] (type:uint16_t)
    current_battery           : Battery current, -1: Current not sent by autopilot. Value may overflow/rollover for very high currents (> 327.67A). Value is ambiguous on multi-battery systems. BATTERY_STATUS is a recommended alternative. [cA] (type:int16_t)
    battery_remaining         : Battery energy remaining, -1: Battery remaining energy not sent by autopilot. Value is ambiguous on multi-battery systems. BATTERY_STATUS is a recommended alternative. [%] (type:int8_t)
    drop_rate_comm            : Communication drop rate, (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV) [c%] (type:uint16_t)
    errors_comm               : Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV) (type:uint16_t)
    errors_count1             : Autopilot-specific errors (type:uint16_t)
    errors_count2             : Autopilot-specific errors (type:uint16_t)
    errors_count3             : Autopilot-specific errors (type:uint16_t)
    errors_count4             : Autopilot-specific errors (type:uint16_t)
    onboard_control_sensors_present_extended        : Bitmap showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. (type:uint32_t, values:MAV_SYS_STATUS_SENSOR_EXTENDED)
    onboard_control_sensors_enabled_extended        : Bitmap showing which onboard controllers and sensors are enabled:  Value of 0: not enabled. Value of 1: enabled. (type:uint32_t, values:MAV_SYS_STATUS_SENSOR_EXTENDED)
    onboard_control_sensors_health_extended        : Bitmap showing which onboard controllers and sensors have an error (or are operational). Value of 0: error. Value of 1: healthy. (type:uint32_t, values:MAV_SYS_STATUS_SENSOR_EXTENDED)

    """
    self.send(self.sys_status_encode(onboard_control_sensors_present, onboard_control_sensors_enabled, onboard_control_sensors_health, load, voltage_battery, current_battery, battery_remaining, drop_rate_comm, errors_comm, errors_count1, errors_count2, errors_count3, errors_count4, onboard_control_sensors_present_extended, onboard_control_sensors_enabled_extended, onboard_control_sensors_health_extended), force_mavlink1=force_mavlink1)

system_time_encode

system_time_encode(time_unix_usec: int, time_boot_ms: int) -> MAVLink_system_time_message

The system time is the time of the sender's master clock. This can be emitted by flight controllers, onboard computers, or other components in the MAVLink network. Components that are using a less reliable time source, such as a battery- backed real time clock, can choose to match their system clock to that of a system that indicates a more recent time. This allows more broadly accurate date stamping of logs, and so on. If precise time synchronization is needed then use TIMESYNC instead.

time_unix_usec : Timestamp (UNIX epoch time). [us] (type:uint64_t) time_boot_ms : Timestamp (time since system boot). [ms] (type:uint32_t)

Source code in src/mavlink/definition.py

def system_time_encode(self, time_unix_usec: int, time_boot_ms: int) -> MAVLink_system_time_message:
    """
    The system time is the time of the sender's master clock.         This
    can be emitted by flight controllers, onboard computers, or
    other components in the MAVLink network.         Components
    that are using a less reliable time source, such as a battery-
    backed real time clock, can choose to match their system clock
    to that of a system that indicates a more recent time.
    This allows more broadly accurate date stamping of logs, and
    so on.         If precise time synchronization is needed then
    use TIMESYNC instead.

    time_unix_usec            : Timestamp (UNIX epoch time). [us] (type:uint64_t)
    time_boot_ms              : Timestamp (time since system boot). [ms] (type:uint32_t)

    """
    return MAVLink_system_time_message(time_unix_usec, time_boot_ms)

system_time_send

system_time_send(time_unix_usec: int, time_boot_ms: int, force_mavlink1: bool = False) -> None

The system time is the time of the sender's master clock. This can be emitted by flight controllers, onboard computers, or other components in the MAVLink network. Components that are using a less reliable time source, such as a battery- backed real time clock, can choose to match their system clock to that of a system that indicates a more recent time. This allows more broadly accurate date stamping of logs, and so on. If precise time synchronization is needed then use TIMESYNC instead.

time_unix_usec : Timestamp (UNIX epoch time). [us] (type:uint64_t) time_boot_ms : Timestamp (time since system boot). [ms] (type:uint32_t)

Source code in src/mavlink/definition.py

def system_time_send(self, time_unix_usec: int, time_boot_ms: int, force_mavlink1: bool = False) -> None:
    """
    The system time is the time of the sender's master clock.         This
    can be emitted by flight controllers, onboard computers, or
    other components in the MAVLink network.         Components
    that are using a less reliable time source, such as a battery-
    backed real time clock, can choose to match their system clock
    to that of a system that indicates a more recent time.
    This allows more broadly accurate date stamping of logs, and
    so on.         If precise time synchronization is needed then
    use TIMESYNC instead.

    time_unix_usec            : Timestamp (UNIX epoch time). [us] (type:uint64_t)
    time_boot_ms              : Timestamp (time since system boot). [ms] (type:uint32_t)

    """
    self.send(self.system_time_encode(time_unix_usec, time_boot_ms), force_mavlink1=force_mavlink1)

timesync_encode

timesync_encode(tc1: int, ts1: int, target_system: int = 0, target_component: int = 0) -> MAVLink_timesync_message

Time synchronization message. The message is used for both timesync requests and responses. The request is sent with ts1=syncing component timestamp and tc1=0, and may be broadcast or targeted to a specific system/component. The response is sent with ts1=syncing component timestamp (mirror back unchanged), and tc1=responding component timestamp, with the target_system and target_component set to ids of the original request. Systems can determine if they are receiving a request or response based on the value of tc. If the response has target_system==target_component==0 the remote system has not been updated to use the component IDs and cannot reliably timesync; the requester may report an error. Timestamps are UNIX Epoch time or time since system boot in nanoseconds (the timestamp format can be inferred by checking for the magnitude of the number; generally it doesn't matter as only the offset is used). The message sequence is repeated numerous times with results being filtered/averaged to estimate the offset. See also: https://mavlink.io/en/services/timesync.html.

tc1 : Time sync timestamp 1. Syncing: 0. Responding: Timestamp of responding component. [ns] (type:int64_t) ts1 : Time sync timestamp 2. Timestamp of syncing component (mirrored in response). [ns] (type:int64_t) target_system : Target system id. Request: 0 (broadcast) or id of specific system. Response must contain system id of the requesting component. (type:uint8_t) target_component : Target component id. Request: 0 (broadcast) or id of specific component. Response must contain component id of the requesting component. (type:uint8_t)

Source code in src/mavlink/definition.py

def timesync_encode(self, tc1: int, ts1: int, target_system: int = 0, target_component: int = 0) -> MAVLink_timesync_message:
    """
    Time synchronization message.         The message is used for both
    timesync requests and responses.         The request is sent
    with `ts1=syncing component timestamp` and `tc1=0`, and may be
    broadcast or targeted to a specific system/component.
    The response is sent with `ts1=syncing component timestamp`
    (mirror back unchanged), and `tc1=responding component
    timestamp`, with the `target_system` and `target_component`
    set to ids of the original request.         Systems can
    determine if they are receiving a request or response based on
    the value of `tc`.         If the response has
    `target_system==target_component==0` the remote system has not
    been updated to use the component IDs and cannot reliably
    timesync; the requester may report an error.
    Timestamps are UNIX Epoch time or time since system boot in
    nanoseconds (the timestamp format can be inferred by checking
    for the magnitude of the number; generally it doesn't matter
    as only the offset is used).         The message sequence is
    repeated numerous times with results being filtered/averaged
    to estimate the offset.         See also:
    https://mavlink.io/en/services/timesync.html.

    tc1                       : Time sync timestamp 1. Syncing: 0. Responding: Timestamp of responding component. [ns] (type:int64_t)
    ts1                       : Time sync timestamp 2. Timestamp of syncing component (mirrored in response). [ns] (type:int64_t)
    target_system             : Target system id. Request: 0 (broadcast) or id of specific system. Response must contain system id of the requesting component. (type:uint8_t)
    target_component          : Target component id. Request: 0 (broadcast) or id of specific component. Response must contain component id of the requesting component. (type:uint8_t)

    """
    return MAVLink_timesync_message(tc1, ts1, target_system, target_component)

timesync_send

timesync_send(tc1: int, ts1: int, target_system: int = 0, target_component: int = 0, force_mavlink1: bool = False) -> None

Time synchronization message. The message is used for both timesync requests and responses. The request is sent with ts1=syncing component timestamp and tc1=0, and may be broadcast or targeted to a specific system/component. The response is sent with ts1=syncing component timestamp (mirror back unchanged), and tc1=responding component timestamp, with the target_system and target_component set to ids of the original request. Systems can determine if they are receiving a request or response based on the value of tc. If the response has target_system==target_component==0 the remote system has not been updated to use the component IDs and cannot reliably timesync; the requester may report an error. Timestamps are UNIX Epoch time or time since system boot in nanoseconds (the timestamp format can be inferred by checking for the magnitude of the number; generally it doesn't matter as only the offset is used). The message sequence is repeated numerous times with results being filtered/averaged to estimate the offset. See also: https://mavlink.io/en/services/timesync.html.

tc1 : Time sync timestamp 1. Syncing: 0. Responding: Timestamp of responding component. [ns] (type:int64_t) ts1 : Time sync timestamp 2. Timestamp of syncing component (mirrored in response). [ns] (type:int64_t) target_system : Target system id. Request: 0 (broadcast) or id of specific system. Response must contain system id of the requesting component. (type:uint8_t) target_component : Target component id. Request: 0 (broadcast) or id of specific component. Response must contain component id of the requesting component. (type:uint8_t)

Source code in src/mavlink/definition.py

def timesync_send(self, tc1: int, ts1: int, target_system: int = 0, target_component: int = 0, force_mavlink1: bool = False) -> None:
    """
    Time synchronization message.         The message is used for both
    timesync requests and responses.         The request is sent
    with `ts1=syncing component timestamp` and `tc1=0`, and may be
    broadcast or targeted to a specific system/component.
    The response is sent with `ts1=syncing component timestamp`
    (mirror back unchanged), and `tc1=responding component
    timestamp`, with the `target_system` and `target_component`
    set to ids of the original request.         Systems can
    determine if they are receiving a request or response based on
    the value of `tc`.         If the response has
    `target_system==target_component==0` the remote system has not
    been updated to use the component IDs and cannot reliably
    timesync; the requester may report an error.
    Timestamps are UNIX Epoch time or time since system boot in
    nanoseconds (the timestamp format can be inferred by checking
    for the magnitude of the number; generally it doesn't matter
    as only the offset is used).         The message sequence is
    repeated numerous times with results being filtered/averaged
    to estimate the offset.         See also:
    https://mavlink.io/en/services/timesync.html.

    tc1                       : Time sync timestamp 1. Syncing: 0. Responding: Timestamp of responding component. [ns] (type:int64_t)
    ts1                       : Time sync timestamp 2. Timestamp of syncing component (mirrored in response). [ns] (type:int64_t)
    target_system             : Target system id. Request: 0 (broadcast) or id of specific system. Response must contain system id of the requesting component. (type:uint8_t)
    target_component          : Target component id. Request: 0 (broadcast) or id of specific component. Response must contain component id of the requesting component. (type:uint8_t)

    """
    self.send(self.timesync_encode(tc1, ts1, target_system, target_component), force_mavlink1=force_mavlink1)

MAVLinkSigning

MAVLinkSigning()

              flowchart TD
              mavlink.definition.MAVLinkSigning[MAVLinkSigning]

              

              click mavlink.definition.MAVLinkSigning href "" "mavlink.definition.MAVLinkSigning"
            

MAVLink signing state class

Source code in src/mavlink/definition.py

def __init__(self) -> None:
    self.secret_key: Optional[bytes] = None
    self.timestamp = 0
    self.link_id = 0
    self.sign_outgoing = False
    self.allow_unsigned_callback: Optional[Callable[["MAVLink", int], bool]] = None
    self.stream_timestamps: Dict[Tuple[int, int, int], int] = {}
    self.sig_count = 0
    self.badsig_count = 0
    self.goodsig_count = 0
    self.unsigned_count = 0
    self.reject_count = 0

MAVLink_actuator_output_status_message

MAVLink_actuator_output_status_message(time_usec: int, active: int, actuator: Sequence[float])

              flowchart TD
              mavlink.definition.MAVLink_actuator_output_status_message[MAVLink_actuator_output_status_message]
              mavlink.definition.MAVLink_message[MAVLink_message]

                              mavlink.definition.MAVLink_message --> mavlink.definition.MAVLink_actuator_output_status_message
                


              click mavlink.definition.MAVLink_actuator_output_status_message href "" "mavlink.definition.MAVLink_actuator_output_status_message"
              click mavlink.definition.MAVLink_message href "" "mavlink.definition.MAVLink_message"
            

The raw values of the actuator outputs (e.g. on Pixhawk, from MAIN, AUX ports). This message supersedes SERVO_OUTPUT_RAW.

Returned by:

• API References  definition  MAVLink  actuator_output_status_encode

Methods:

• __getitem__ –

  support indexing, allowing for multi-instance sensors in one message

• format_attr –

  override field getter

Source code in src/mavlink/definition.py

def __init__(self, time_usec: int, active: int, actuator: Sequence[float]):
    MAVLink_message.__init__(self, MAVLink_actuator_output_status_message.id, MAVLink_actuator_output_status_message.msgname)
    self._fieldnames = MAVLink_actuator_output_status_message.fieldnames
    self._instance_field = MAVLink_actuator_output_status_message.instance_field
    self._instance_offset = MAVLink_actuator_output_status_message.instance_offset
    self.time_usec = time_usec
    self.active = active
    self.actuator = actuator

__getitem__

__getitem__(key: str) -> str

support indexing, allowing for multi-instance sensors in one message

Source code in src/mavlink/definition.py

def __getitem__(self, key: str) -> str:
    """support indexing, allowing for multi-instance sensors in one message"""
    if self._instances is None:
        raise IndexError()
    if key not in self._instances:
        raise IndexError()
    return self._instances[key]

format_attr

format_attr(field: str) -> Union[str, float, int]

override field getter

Source code in src/mavlink/definition.py

def format_attr(self, field: str) -> Union[str, float, int]:
    """override field getter"""
    raw_attr: Union[bytes, float, int] = getattr(self, field)
    if isinstance(raw_attr, bytes):
        return raw_attr.decode(errors="backslashreplace").rstrip("\x00")
    return raw_attr

MAVLink_airspeed_message

MAVLink_airspeed_message(id: int, airspeed: float, temperature: int, raw_press: float, flags: int)

              flowchart TD
              mavlink.definition.MAVLink_airspeed_message[MAVLink_airspeed_message]
              mavlink.definition.MAVLink_message[MAVLink_message]

                              mavlink.definition.MAVLink_message --> mavlink.definition.MAVLink_airspeed_message
                


              click mavlink.definition.MAVLink_airspeed_message href "" "mavlink.definition.MAVLink_airspeed_message"
              click mavlink.definition.MAVLink_message href "" "mavlink.definition.MAVLink_message"
            

Airspeed information from a sensor.

Returned by:

• API References  definition  MAVLink  airspeed_encode

Methods:

• __getitem__ –

  support indexing, allowing for multi-instance sensors in one message

• format_attr –

  override field getter

Source code in src/mavlink/definition.py

def __init__(self, id: int, airspeed: float, temperature: int, raw_press: float, flags: int):
    MAVLink_message.__init__(self, MAVLink_airspeed_message.id, MAVLink_airspeed_message.msgname)
    self._fieldnames = MAVLink_airspeed_message.fieldnames
    self._instance_field = MAVLink_airspeed_message.instance_field
    self._instance_offset = MAVLink_airspeed_message.instance_offset
    self.id = id
    self.airspeed = airspeed
    self.temperature = temperature
    self.raw_press = raw_press
    self.flags = flags

__getitem__

__getitem__(key: str) -> str

support indexing, allowing for multi-instance sensors in one message

Source code in src/mavlink/definition.py

def __getitem__(self, key: str) -> str:
    """support indexing, allowing for multi-instance sensors in one message"""
    if self._instances is None:
        raise IndexError()
    if key not in self._instances:
        raise IndexError()
    return self._instances[key]

format_attr

format_attr(field: str) -> Union[str, float, int]

override field getter

Source code in src/mavlink/definition.py

def format_attr(self, field: str) -> Union[str, float, int]:
    """override field getter"""
    raw_attr: Union[bytes, float, int] = getattr(self, field)
    if isinstance(raw_attr, bytes):
        return raw_attr.decode(errors="backslashreplace").rstrip("\x00")
    return raw_attr

MAVLink_altitude_message

MAVLink_altitude_message(time_usec: int, altitude_monotonic: float, altitude_amsl: float, altitude_local: float, altitude_relative: float, altitude_terrain: float, bottom_clearance: float)

              flowchart TD
              mavlink.definition.MAVLink_altitude_message[MAVLink_altitude_message]
              mavlink.definition.MAVLink_message[MAVLink_message]

                              mavlink.definition.MAVLink_message --> mavlink.definition.MAVLink_altitude_message
                


              click mavlink.definition.MAVLink_altitude_message href "" "mavlink.definition.MAVLink_altitude_message"
              click mavlink.definition.MAVLink_message href "" "mavlink.definition.MAVLink_message"
            

The current system altitude.

Returned by:

• API References  definition  MAVLink  altitude_encode

Methods:

• __getitem__ –

  support indexing, allowing for multi-instance sensors in one message

• format_attr –

  override field getter

Source code in src/mavlink/definition.py

def __init__(self, time_usec: int, altitude_monotonic: float, altitude_amsl: float, altitude_local: float, altitude_relative: float, altitude_terrain: float, bottom_clearance: float):
    MAVLink_message.__init__(self, MAVLink_altitude_message.id, MAVLink_altitude_message.msgname)
    self._fieldnames = MAVLink_altitude_message.fieldnames
    self._instance_field = MAVLink_altitude_message.instance_field
    self._instance_offset = MAVLink_altitude_message.instance_offset
    self.time_usec = time_usec
    self.altitude_monotonic = altitude_monotonic
    self.altitude_amsl = altitude_amsl
    self.altitude_local = altitude_local
    self.altitude_relative = altitude_relative
    self.altitude_terrain = altitude_terrain
    self.bottom_clearance = bottom_clearance

__getitem__

__getitem__(key: str) -> str

support indexing, allowing for multi-instance sensors in one message

Source code in src/mavlink/definition.py

def __getitem__(self, key: str) -> str:
    """support indexing, allowing for multi-instance sensors in one message"""
    if self._instances is None:
        raise IndexError()
    if key not in self._instances:
        raise IndexError()
    return self._instances[key]

format_attr

format_attr(field: str) -> Union[str, float, int]

override field getter

Source code in src/mavlink/definition.py

def format_attr(self, field: str) -> Union[str, float, int]:
    """override field getter"""
    raw_attr: Union[bytes, float, int] = getattr(self, field)
    if isinstance(raw_attr, bytes):
        return raw_attr.decode(errors="backslashreplace").rstrip("\x00")
    return raw_attr

MAVLink_angle_of_attack_message

MAVLink_angle_of_attack_message(time_boot_ms: int, aoa: float)

              flowchart TD
              mavlink.definition.MAVLink_angle_of_attack_message[MAVLink_angle_of_attack_message]
              mavlink.definition.MAVLink_message[MAVLink_message]

                              mavlink.definition.MAVLink_message --> mavlink.definition.MAVLink_angle_of_attack_message
                


              click mavlink.definition.MAVLink_angle_of_attack_message href "" "mavlink.definition.MAVLink_angle_of_attack_message"
              click mavlink.definition.MAVLink_message href "" "mavlink.definition.MAVLink_message"
            

Angle of Attack

Returned by:

• API References  definition  MAVLink  angle_of_attack_encode

Methods:

• __getitem__ –

  support indexing, allowing for multi-instance sensors in one message

• format_attr –

  override field getter

Source code in src/mavlink/definition.py

def __init__(self, time_boot_ms: int, aoa: float):
    MAVLink_message.__init__(self, MAVLink_angle_of_attack_message.id, MAVLink_angle_of_attack_message.msgname)
    self._fieldnames = MAVLink_angle_of_attack_message.fieldnames
    self._instance_field = MAVLink_angle_of_attack_message.instance_field
    self._instance_offset = MAVLink_angle_of_attack_message.instance_offset
    self.time_boot_ms = time_boot_ms
    self.aoa = aoa

__getitem__

__getitem__(key: str) -> str

support indexing, allowing for multi-instance sensors in one message

Source code in src/mavlink/definition.py

def __getitem__(self, key: str) -> str:
    """support indexing, allowing for multi-instance sensors in one message"""
    if self._instances is None:
        raise IndexError()
    if key not in self._instances:
        raise IndexError()
    return self._instances[key]

format_attr

format_attr(field: str) -> Union[str, float, int]

override field getter

Source code in src/mavlink/definition.py

def format_attr(self, field: str) -> Union[str, float, int]:
    """override field getter"""
    raw_attr: Union[bytes, float, int] = getattr(self, field)
    if isinstance(raw_attr, bytes):
        return raw_attr.decode(errors="backslashreplace").rstrip("\x00")
    return raw_attr

MAVLink_angle_of_slideslip_message

MAVLink_angle_of_slideslip_message(time_boot_ms: int, aos: float)

              flowchart TD
              mavlink.definition.MAVLink_angle_of_slideslip_message[MAVLink_angle_of_slideslip_message]
              mavlink.definition.MAVLink_message[MAVLink_message]

                              mavlink.definition.MAVLink_message --> mavlink.definition.MAVLink_angle_of_slideslip_message
                


              click mavlink.definition.MAVLink_angle_of_slideslip_message href "" "mavlink.definition.MAVLink_angle_of_slideslip_message"
              click mavlink.definition.MAVLink_message href "" "mavlink.definition.MAVLink_message"
            

Angle of Slideslip

Returned by:

• API References  definition  MAVLink  angle_of_slideslip_encode

Methods:

• __getitem__ –

  support indexing, allowing for multi-instance sensors in one message

• format_attr –

  override field getter

Source code in src/mavlink/definition.py

def __init__(self, time_boot_ms: int, aos: float):
    MAVLink_message.__init__(self, MAVLink_angle_of_slideslip_message.id, MAVLink_angle_of_slideslip_message.msgname)
    self._fieldnames = MAVLink_angle_of_slideslip_message.fieldnames
    self._instance_field = MAVLink_angle_of_slideslip_message.instance_field
    self._instance_offset = MAVLink_angle_of_slideslip_message.instance_offset
    self.time_boot_ms = time_boot_ms
    self.aos = aos

__getitem__

__getitem__(key: str) -> str

support indexing, allowing for multi-instance sensors in one message

Source code in src/mavlink/definition.py

def __getitem__(self, key: str) -> str:
    """support indexing, allowing for multi-instance sensors in one message"""
    if self._instances is None:
        raise IndexError()
    if key not in self._instances:
        raise IndexError()
    return self._instances[key]

format_attr

format_attr(field: str) -> Union[str, float, int]

override field getter

Source code in src/mavlink/definition.py

def format_attr(self, field: str) -> Union[str, float, int]:
    """override field getter"""
    raw_attr: Union[bytes, float, int] = getattr(self, field)
    if isinstance(raw_attr, bytes):
        return raw_attr.decode(errors="backslashreplace").rstrip("\x00")
    return raw_attr

MAVLink_attitude_message

MAVLink_attitude_message(time_boot_ms: int, roll: float, pitch: float, yaw: float, rollspeed: float, pitchspeed: float, yawspeed: float)

              flowchart TD
              mavlink.definition.MAVLink_attitude_message[MAVLink_attitude_message]
              mavlink.definition.MAVLink_message[MAVLink_message]

                              mavlink.definition.MAVLink_message --> mavlink.definition.MAVLink_attitude_message
                


              click mavlink.definition.MAVLink_attitude_message href "" "mavlink.definition.MAVLink_attitude_message"
              click mavlink.definition.MAVLink_message href "" "mavlink.definition.MAVLink_message"
            

The attitude in the aeronautical frame (right-handed, Z-down, Y-right, X-front, ZYX, intrinsic).

Returned by:

• API References  definition  MAVLink  attitude_encode

Methods:

• __getitem__ –

  support indexing, allowing for multi-instance sensors in one message

• format_attr –

  override field getter

Source code in src/mavlink/definition.py

def __init__(self, time_boot_ms: int, roll: float, pitch: float, yaw: float, rollspeed: float, pitchspeed: float, yawspeed: float):
    MAVLink_message.__init__(self, MAVLink_attitude_message.id, MAVLink_attitude_message.msgname)
    self._fieldnames = MAVLink_attitude_message.fieldnames
    self._instance_field = MAVLink_attitude_message.instance_field
    self._instance_offset = MAVLink_attitude_message.instance_offset
    self.time_boot_ms = time_boot_ms
    self.roll = roll
    self.pitch = pitch
    self.yaw = yaw
    self.rollspeed = rollspeed
    self.pitchspeed = pitchspeed
    self.yawspeed = yawspeed

__getitem__

__getitem__(key: str) -> str

support indexing, allowing for multi-instance sensors in one message

Source code in src/mavlink/definition.py

def __getitem__(self, key: str) -> str:
    """support indexing, allowing for multi-instance sensors in one message"""
    if self._instances is None:
        raise IndexError()
    if key not in self._instances:
        raise IndexError()
    return self._instances[key]

format_attr

format_attr(field: str) -> Union[str, float, int]

override field getter

Source code in src/mavlink/definition.py

def format_attr(self, field: str) -> Union[str, float, int]:
    """override field getter"""
    raw_attr: Union[bytes, float, int] = getattr(self, field)
    if isinstance(raw_attr, bytes):
        return raw_attr.decode(errors="backslashreplace").rstrip("\x00")
    return raw_attr

MAVLink_attitude_quaternion_message

MAVLink_attitude_quaternion_message(time_boot_ms: int, q1: float, q2: float, q3: float, q4: float, rollspeed: float, pitchspeed: float, yawspeed: float, repr_offset_q: Sequence[float] = (0, 0, 0, 0))

              flowchart TD
              mavlink.definition.MAVLink_attitude_quaternion_message[MAVLink_attitude_quaternion_message]
              mavlink.definition.MAVLink_message[MAVLink_message]

                              mavlink.definition.MAVLink_message --> mavlink.definition.MAVLink_attitude_quaternion_message
                


              click mavlink.definition.MAVLink_attitude_quaternion_message href "" "mavlink.definition.MAVLink_attitude_quaternion_message"
              click mavlink.definition.MAVLink_message href "" "mavlink.definition.MAVLink_message"
            

The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right), expressed as quaternion. Quaternion order is w, x, y, z and a zero rotation would be expressed as (1 0 0 0).

Returned by:

• API References  definition  MAVLink  attitude_quaternion_encode

Methods:

• __getitem__ –

  support indexing, allowing for multi-instance sensors in one message

• format_attr –

  override field getter

Source code in src/mavlink/definition.py

def __init__(self, time_boot_ms: int, q1: float, q2: float, q3: float, q4: float, rollspeed: float, pitchspeed: float, yawspeed: float, repr_offset_q: Sequence[float] = (0, 0, 0, 0)):
    MAVLink_message.__init__(self, MAVLink_attitude_quaternion_message.id, MAVLink_attitude_quaternion_message.msgname)
    self._fieldnames = MAVLink_attitude_quaternion_message.fieldnames
    self._instance_field = MAVLink_attitude_quaternion_message.instance_field
    self._instance_offset = MAVLink_attitude_quaternion_message.instance_offset
    self.time_boot_ms = time_boot_ms
    self.q1 = q1
    self.q2 = q2
    self.q3 = q3
    self.q4 = q4
    self.rollspeed = rollspeed
    self.pitchspeed = pitchspeed
    self.yawspeed = yawspeed
    self.repr_offset_q = repr_offset_q

__getitem__

__getitem__(key: str) -> str

support indexing, allowing for multi-instance sensors in one message

Source code in src/mavlink/definition.py

def __getitem__(self, key: str) -> str:
    """support indexing, allowing for multi-instance sensors in one message"""
    if self._instances is None:
        raise IndexError()
    if key not in self._instances:
        raise IndexError()
    return self._instances[key]

format_attr

format_attr(field: str) -> Union[str, float, int]

override field getter

Source code in src/mavlink/definition.py

def format_attr(self, field: str) -> Union[str, float, int]:
    """override field getter"""
    raw_attr: Union[bytes, float, int] = getattr(self, field)
    if isinstance(raw_attr, bytes):
        return raw_attr.decode(errors="backslashreplace").rstrip("\x00")
    return raw_attr

MAVLink_autopilot_version_message

MAVLink_autopilot_version_message(capabilities: int, flight_sw_version: int, middleware_sw_version: int, os_sw_version: int, board_version: int, flight_custom_version: Sequence[int], middleware_custom_version: Sequence[int], os_custom_version: Sequence[int], vendor_id: int, product_id: int, uid: int, uid2: Sequence[int] = (0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0))

              flowchart TD
              mavlink.definition.MAVLink_autopilot_version_message[MAVLink_autopilot_version_message]
              mavlink.definition.MAVLink_message[MAVLink_message]

                              mavlink.definition.MAVLink_message --> mavlink.definition.MAVLink_autopilot_version_message
                


              click mavlink.definition.MAVLink_autopilot_version_message href "" "mavlink.definition.MAVLink_autopilot_version_message"
              click mavlink.definition.MAVLink_message href "" "mavlink.definition.MAVLink_message"
            

Version and capability of autopilot software. This should be emitted in response to a request with MAV_CMD_REQUEST_MESSAGE.

Returned by:

• API References  definition  MAVLink  autopilot_version_encode

Methods:

• __getitem__ –

  support indexing, allowing for multi-instance sensors in one message

• format_attr –

  override field getter

Source code in src/mavlink/definition.py

def __init__(self, capabilities: int, flight_sw_version: int, middleware_sw_version: int, os_sw_version: int, board_version: int, flight_custom_version: Sequence[int], middleware_custom_version: Sequence[int], os_custom_version: Sequence[int], vendor_id: int, product_id: int, uid: int, uid2: Sequence[int] = (0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0)):
    MAVLink_message.__init__(self, MAVLink_autopilot_version_message.id, MAVLink_autopilot_version_message.msgname)
    self._fieldnames = MAVLink_autopilot_version_message.fieldnames
    self._instance_field = MAVLink_autopilot_version_message.instance_field
    self._instance_offset = MAVLink_autopilot_version_message.instance_offset
    self.capabilities = capabilities
    self.flight_sw_version = flight_sw_version
    self.middleware_sw_version = middleware_sw_version
    self.os_sw_version = os_sw_version
    self.board_version = board_version
    self.flight_custom_version = flight_custom_version
    self.middleware_custom_version = middleware_custom_version
    self.os_custom_version = os_custom_version
    self.vendor_id = vendor_id
    self.product_id = product_id
    self.uid = uid
    self.uid2 = uid2

__getitem__

__getitem__(key: str) -> str

support indexing, allowing for multi-instance sensors in one message

Source code in src/mavlink/definition.py

def __getitem__(self, key: str) -> str:
    """support indexing, allowing for multi-instance sensors in one message"""
    if self._instances is None:
        raise IndexError()
    if key not in self._instances:
        raise IndexError()
    return self._instances[key]

format_attr

format_attr(field: str) -> Union[str, float, int]

override field getter

Source code in src/mavlink/definition.py

def format_attr(self, field: str) -> Union[str, float, int]:
    """override field getter"""
    raw_attr: Union[bytes, float, int] = getattr(self, field)
    if isinstance(raw_attr, bytes):
        return raw_attr.decode(errors="backslashreplace").rstrip("\x00")
    return raw_attr

MAVLink_bad_data

MAVLink_bad_data(data: bytes, reason: str)

              flowchart TD
              mavlink.definition.MAVLink_bad_data[MAVLink_bad_data]
              mavlink.definition.MAVLink_message[MAVLink_message]

                              mavlink.definition.MAVLink_message --> mavlink.definition.MAVLink_bad_data
                


              click mavlink.definition.MAVLink_bad_data href "" "mavlink.definition.MAVLink_bad_data"
              click mavlink.definition.MAVLink_message href "" "mavlink.definition.MAVLink_message"
            

a piece of bad data in a mavlink stream

Methods:

• __getitem__ –

  support indexing, allowing for multi-instance sensors in one message

• __str__ –

  Override the str function from MAVLink_messages because non-printable characters are common in to be the reason for this message to exist.

• format_attr –

  override field getter

Source code in src/mavlink/definition.py

def __init__(self, data: bytes, reason: str) -> None:
    MAVLink_message.__init__(self, MAVLINK_MSG_ID_BAD_DATA, "BAD_DATA")
    self._fieldnames = ["data", "reason"]
    self.data = data
    self.reason = reason
    self._msgbuf = bytearray(data)
    self._instance_field = None

__getitem__

__getitem__(key: str) -> str

support indexing, allowing for multi-instance sensors in one message

Source code in src/mavlink/definition.py

def __getitem__(self, key: str) -> str:
    """support indexing, allowing for multi-instance sensors in one message"""
    if self._instances is None:
        raise IndexError()
    if key not in self._instances:
        raise IndexError()
    return self._instances[key]

__str__

__str__() -> str

Override the str function from MAVLink_messages because non-printable characters are common in to be the reason for this message to exist.

Source code in src/mavlink/definition.py

def __str__(self) -> str:
    """Override the __str__ function from MAVLink_messages because non-printable characters are common in to be the reason for this message to exist."""
    hexstr = ["{:x}".format(i) for i in self.data]
    return "%s {%s, data:%s}" % (self._type, self.reason, hexstr)

format_attr

format_attr(field: str) -> Union[str, float, int]

override field getter

Source code in src/mavlink/definition.py

def format_attr(self, field: str) -> Union[str, float, int]:
    """override field getter"""
    raw_attr: Union[bytes, float, int] = getattr(self, field)
    if isinstance(raw_attr, bytes):
        return raw_attr.decode(errors="backslashreplace").rstrip("\x00")
    return raw_attr

MAVLink_battery_status_message

MAVLink_battery_status_message(id: int, battery_function: int, type: int, temperature: int, voltages: Sequence[int], current_battery: int, current_consumed: int, energy_consumed: int, battery_remaining: int, time_remaining: int = 0, charge_state: int = 0, voltages_ext: Sequence[int] = (0, 0, 0, 0), mode: int = 0, fault_bitmask: int = 0)

              flowchart TD
              mavlink.definition.MAVLink_battery_status_message[MAVLink_battery_status_message]
              mavlink.definition.MAVLink_message[MAVLink_message]

                              mavlink.definition.MAVLink_message --> mavlink.definition.MAVLink_battery_status_message
                


              click mavlink.definition.MAVLink_battery_status_message href "" "mavlink.definition.MAVLink_battery_status_message"
              click mavlink.definition.MAVLink_message href "" "mavlink.definition.MAVLink_message"
            

Battery information. Updates GCS with flight controller battery status. Smart batteries also use this message, but may additionally send BATTERY_INFO.

Returned by:

• API References  definition  MAVLink  battery_status_encode

Methods:

• __getitem__ –

  support indexing, allowing for multi-instance sensors in one message

• format_attr –

  override field getter

Source code in src/mavlink/definition.py

def __init__(self, id: int, battery_function: int, type: int, temperature: int, voltages: Sequence[int], current_battery: int, current_consumed: int, energy_consumed: int, battery_remaining: int, time_remaining: int = 0, charge_state: int = 0, voltages_ext: Sequence[int] = (0, 0, 0, 0), mode: int = 0, fault_bitmask: int = 0):
    MAVLink_message.__init__(self, MAVLink_battery_status_message.id, MAVLink_battery_status_message.msgname)
    self._fieldnames = MAVLink_battery_status_message.fieldnames
    self._instance_field = MAVLink_battery_status_message.instance_field
    self._instance_offset = MAVLink_battery_status_message.instance_offset
    self.id = id
    self.battery_function = battery_function
    self.type = type
    self.temperature = temperature
    self.voltages = voltages
    self.current_battery = current_battery
    self.current_consumed = current_consumed
    self.energy_consumed = energy_consumed
    self.battery_remaining = battery_remaining
    self.time_remaining = time_remaining
    self.charge_state = charge_state
    self.voltages_ext = voltages_ext
    self.mode = mode
    self.fault_bitmask = fault_bitmask

__getitem__

__getitem__(key: str) -> str

support indexing, allowing for multi-instance sensors in one message

Source code in src/mavlink/definition.py

def __getitem__(self, key: str) -> str:
    """support indexing, allowing for multi-instance sensors in one message"""
    if self._instances is None:
        raise IndexError()
    if key not in self._instances:
        raise IndexError()
    return self._instances[key]

format_attr

format_attr(field: str) -> Union[str, float, int]

override field getter

Source code in src/mavlink/definition.py

def format_attr(self, field: str) -> Union[str, float, int]:
    """override field getter"""
    raw_attr: Union[bytes, float, int] = getattr(self, field)
    if isinstance(raw_attr, bytes):
        return raw_attr.decode(errors="backslashreplace").rstrip("\x00")
    return raw_attr

MAVLink_button_change_message

MAVLink_button_change_message(time_boot_ms: int, last_change_ms: int, state: int)

              flowchart TD
              mavlink.definition.MAVLink_button_change_message[MAVLink_button_change_message]
              mavlink.definition.MAVLink_message[MAVLink_message]

                              mavlink.definition.MAVLink_message --> mavlink.definition.MAVLink_button_change_message
                


              click mavlink.definition.MAVLink_button_change_message href "" "mavlink.definition.MAVLink_button_change_message"
              click mavlink.definition.MAVLink_message href "" "mavlink.definition.MAVLink_message"
            

Report button state change.

Returned by:

• API References  definition  MAVLink  button_change_encode

Methods:

• __getitem__ –

  support indexing, allowing for multi-instance sensors in one message

• format_attr –

  override field getter

Source code in src/mavlink/definition.py

def __init__(self, time_boot_ms: int, last_change_ms: int, state: int):
    MAVLink_message.__init__(self, MAVLink_button_change_message.id, MAVLink_button_change_message.msgname)
    self._fieldnames = MAVLink_button_change_message.fieldnames
    self._instance_field = MAVLink_button_change_message.instance_field
    self._instance_offset = MAVLink_button_change_message.instance_offset
    self.time_boot_ms = time_boot_ms
    self.last_change_ms = last_change_ms
    self.state = state

__getitem__

__getitem__(key: str) -> str

support indexing, allowing for multi-instance sensors in one message

Source code in src/mavlink/definition.py

def __getitem__(self, key: str) -> str:
    """support indexing, allowing for multi-instance sensors in one message"""
    if self._instances is None:
        raise IndexError()
    if key not in self._instances:
        raise IndexError()
    return self._instances[key]

format_attr

format_attr(field: str) -> Union[str, float, int]

override field getter

Source code in src/mavlink/definition.py

def format_attr(self, field: str) -> Union[str, float, int]:
    """override field getter"""
    raw_attr: Union[bytes, float, int] = getattr(self, field)
    if isinstance(raw_attr, bytes):
        return raw_attr.decode(errors="backslashreplace").rstrip("\x00")
    return raw_attr

MAVLink_can_filter_modify_message

MAVLink_can_filter_modify_message(target_system: int, target_component: int, bus: int, operation: int, num_ids: int, ids: Sequence[int])

              flowchart TD
              mavlink.definition.MAVLink_can_filter_modify_message[MAVLink_can_filter_modify_message]
              mavlink.definition.MAVLink_message[MAVLink_message]

                              mavlink.definition.MAVLink_message --> mavlink.definition.MAVLink_can_filter_modify_message
                


              click mavlink.definition.MAVLink_can_filter_modify_message href "" "mavlink.definition.MAVLink_can_filter_modify_message"
              click mavlink.definition.MAVLink_message href "" "mavlink.definition.MAVLink_message"
            

Modify the filter of what CAN messages to forward over the mavlink. This can be used to make CAN forwarding work well on low bandwidth links. The filtering is applied on bits 8 to 24 of the CAN id (2nd and 3rd bytes) which corresponds to the DroneCAN message ID for DroneCAN. Filters with more than 16 IDs can be constructed by sending multiple CAN_FILTER_MODIFY messages.

Returned by:

• API References  definition  MAVLink  can_filter_modify_encode

Methods:

• __getitem__ –

  support indexing, allowing for multi-instance sensors in one message

• format_attr –

  override field getter

Source code in src/mavlink/definition.py

def __init__(self, target_system: int, target_component: int, bus: int, operation: int, num_ids: int, ids: Sequence[int]):
    MAVLink_message.__init__(self, MAVLink_can_filter_modify_message.id, MAVLink_can_filter_modify_message.msgname)
    self._fieldnames = MAVLink_can_filter_modify_message.fieldnames
    self._instance_field = MAVLink_can_filter_modify_message.instance_field
    self._instance_offset = MAVLink_can_filter_modify_message.instance_offset
    self.target_system = target_system
    self.target_component = target_component
    self.bus = bus
    self.operation = operation
    self.num_ids = num_ids
    self.ids = ids

__getitem__

__getitem__(key: str) -> str

support indexing, allowing for multi-instance sensors in one message

Source code in src/mavlink/definition.py

def __getitem__(self, key: str) -> str:
    """support indexing, allowing for multi-instance sensors in one message"""
    if self._instances is None:
        raise IndexError()
    if key not in self._instances:
        raise IndexError()
    return self._instances[key]

format_attr

format_attr(field: str) -> Union[str, float, int]

override field getter

Source code in src/mavlink/definition.py

def format_attr(self, field: str) -> Union[str, float, int]:
    """override field getter"""
    raw_attr: Union[bytes, float, int] = getattr(self, field)
    if isinstance(raw_attr, bytes):
        return raw_attr.decode(errors="backslashreplace").rstrip("\x00")
    return raw_attr

MAVLink_can_frame_message

MAVLink_can_frame_message(target_system: int, target_component: int, bus: int, len: int, id: int, data: Sequence[int])

              flowchart TD
              mavlink.definition.MAVLink_can_frame_message[MAVLink_can_frame_message]
              mavlink.definition.MAVLink_message[MAVLink_message]

                              mavlink.definition.MAVLink_message --> mavlink.definition.MAVLink_can_frame_message
                


              click mavlink.definition.MAVLink_can_frame_message href "" "mavlink.definition.MAVLink_can_frame_message"
              click mavlink.definition.MAVLink_message href "" "mavlink.definition.MAVLink_message"
            

A forwarded CAN frame as requested by MAV_CMD_CAN_FORWARD.

Returned by:

• API References  definition  MAVLink  can_frame_encode

Methods:

• __getitem__ –

  support indexing, allowing for multi-instance sensors in one message

• format_attr –

  override field getter

Source code in src/mavlink/definition.py

def __init__(self, target_system: int, target_component: int, bus: int, len: int, id: int, data: Sequence[int]):
    MAVLink_message.__init__(self, MAVLink_can_frame_message.id, MAVLink_can_frame_message.msgname)
    self._fieldnames = MAVLink_can_frame_message.fieldnames
    self._instance_field = MAVLink_can_frame_message.instance_field
    self._instance_offset = MAVLink_can_frame_message.instance_offset
    self.target_system = target_system
    self.target_component = target_component
    self.bus = bus
    self.len = len
    self.id = id
    self.data = data

__getitem__

__getitem__(key: str) -> str

support indexing, allowing for multi-instance sensors in one message

Source code in src/mavlink/definition.py

def __getitem__(self, key: str) -> str:
    """support indexing, allowing for multi-instance sensors in one message"""
    if self._instances is None:
        raise IndexError()
    if key not in self._instances:
        raise IndexError()
    return self._instances[key]

format_attr

format_attr(field: str) -> Union[str, float, int]

override field getter

Source code in src/mavlink/definition.py

def format_attr(self, field: str) -> Union[str, float, int]:
    """override field getter"""
    raw_attr: Union[bytes, float, int] = getattr(self, field)
    if isinstance(raw_attr, bytes):
        return raw_attr.decode(errors="backslashreplace").rstrip("\x00")
    return raw_attr

MAVLink_canfd_frame_message

MAVLink_canfd_frame_message(target_system: int, target_component: int, bus: int, len: int, id: int, data: Sequence[int])

              flowchart TD
              mavlink.definition.MAVLink_canfd_frame_message[MAVLink_canfd_frame_message]
              mavlink.definition.MAVLink_message[MAVLink_message]

                              mavlink.definition.MAVLink_message --> mavlink.definition.MAVLink_canfd_frame_message
                


              click mavlink.definition.MAVLink_canfd_frame_message href "" "mavlink.definition.MAVLink_canfd_frame_message"
              click mavlink.definition.MAVLink_message href "" "mavlink.definition.MAVLink_message"
            

A forwarded CANFD frame as requested by MAV_CMD_CAN_FORWARD. These are separated from CAN_FRAME as they need different handling (eg. TAO handling)

Returned by:

• API References  definition  MAVLink  canfd_frame_encode

Methods:

• __getitem__ –

  support indexing, allowing for multi-instance sensors in one message

• format_attr –

  override field getter

Source code in src/mavlink/definition.py

def __init__(self, target_system: int, target_component: int, bus: int, len: int, id: int, data: Sequence[int]):
    MAVLink_message.__init__(self, MAVLink_canfd_frame_message.id, MAVLink_canfd_frame_message.msgname)
    self._fieldnames = MAVLink_canfd_frame_message.fieldnames
    self._instance_field = MAVLink_canfd_frame_message.instance_field
    self._instance_offset = MAVLink_canfd_frame_message.instance_offset
    self.target_system = target_system
    self.target_component = target_component
    self.bus = bus
    self.len = len
    self.id = id
    self.data = data

__getitem__

__getitem__(key: str) -> str

support indexing, allowing for multi-instance sensors in one message

Source code in src/mavlink/definition.py

def __getitem__(self, key: str) -> str:
    """support indexing, allowing for multi-instance sensors in one message"""
    if self._instances is None:
        raise IndexError()
    if key not in self._instances:
        raise IndexError()
    return self._instances[key]

format_attr

format_attr(field: str) -> Union[str, float, int]

override field getter

Source code in src/mavlink/definition.py

def format_attr(self, field: str) -> Union[str, float, int]:
    """override field getter"""
    raw_attr: Union[bytes, float, int] = getattr(self, field)
    if isinstance(raw_attr, bytes):
        return raw_attr.decode(errors="backslashreplace").rstrip("\x00")
    return raw_attr

MAVLink_command_ack_message

MAVLink_command_ack_message(command: int, result: int, progress: int = 0, result_param2: int = 0, target_system: int = 0, target_component: int = 0)

              flowchart TD
              mavlink.definition.MAVLink_command_ack_message[MAVLink_command_ack_message]
              mavlink.definition.MAVLink_message[MAVLink_message]

                              mavlink.definition.MAVLink_message --> mavlink.definition.MAVLink_command_ack_message
                


              click mavlink.definition.MAVLink_command_ack_message href "" "mavlink.definition.MAVLink_command_ack_message"
              click mavlink.definition.MAVLink_message href "" "mavlink.definition.MAVLink_message"
            

Report status of a command. Includes feedback whether the command was executed. The command microservice is documented at https://mavlink.io/en/services/command.html

Returned by:

• API References  definition  MAVLink  command_ack_encode

Methods:

• __getitem__ –

  support indexing, allowing for multi-instance sensors in one message

• format_attr –

  override field getter

Source code in src/mavlink/definition.py

def __init__(self, command: int, result: int, progress: int = 0, result_param2: int = 0, target_system: int = 0, target_component: int = 0):
    MAVLink_message.__init__(self, MAVLink_command_ack_message.id, MAVLink_command_ack_message.msgname)
    self._fieldnames = MAVLink_command_ack_message.fieldnames
    self._instance_field = MAVLink_command_ack_message.instance_field
    self._instance_offset = MAVLink_command_ack_message.instance_offset
    self.command = command
    self.result = result
    self.progress = progress
    self.result_param2 = result_param2
    self.target_system = target_system
    self.target_component = target_component

__getitem__

__getitem__(key: str) -> str

support indexing, allowing for multi-instance sensors in one message

Source code in src/mavlink/definition.py

def __getitem__(self, key: str) -> str:
    """support indexing, allowing for multi-instance sensors in one message"""
    if self._instances is None:
        raise IndexError()
    if key not in self._instances:
        raise IndexError()
    return self._instances[key]

format_attr

format_attr(field: str) -> Union[str, float, int]

override field getter

Source code in src/mavlink/definition.py

def format_attr(self, field: str) -> Union[str, float, int]:
    """override field getter"""
    raw_attr: Union[bytes, float, int] = getattr(self, field)
    if isinstance(raw_attr, bytes):
        return raw_attr.decode(errors="backslashreplace").rstrip("\x00")
    return raw_attr

MAVLink_command_int_message

MAVLink_command_int_message(target_system: int, target_component: int, frame: int, command: int, current: int, autocontinue: int, param1: float, param2: float, param3: float, param4: float, x: int, y: int, z: float)

              flowchart TD
              mavlink.definition.MAVLink_command_int_message[MAVLink_command_int_message]
              mavlink.definition.MAVLink_message[MAVLink_message]

                              mavlink.definition.MAVLink_message --> mavlink.definition.MAVLink_command_int_message
                


              click mavlink.definition.MAVLink_command_int_message href "" "mavlink.definition.MAVLink_command_int_message"
              click mavlink.definition.MAVLink_message href "" "mavlink.definition.MAVLink_message"
            

Send a command with up to seven parameters to the MAV, where params 5 and 6 are integers and the other values are floats. This is preferred over COMMAND_LONG as it allows the MAV_FRAME to be specified for interpreting positional information, such as altitude. COMMAND_INT is also preferred when sending latitude and longitude data in params 5 and 6, as it allows for greater precision. Param 5 and 6 encode positional data as scaled integers, where the scaling depends on the actual command value. NaN or INT32_MAX may be used in float/integer params (respectively) to indicate optional/default values (e.g. to use the component's current latitude, yaw rather than a specific value). The command microservice is documented at https://mavlink.io/en/services/command.html

Returned by:

• API References  definition  MAVLink  command_int_encode

Methods:

• __getitem__ –

  support indexing, allowing for multi-instance sensors in one message

• format_attr –

  override field getter

Source code in src/mavlink/definition.py

def __init__(self, target_system: int, target_component: int, frame: int, command: int, current: int, autocontinue: int, param1: float, param2: float, param3: float, param4: float, x: int, y: int, z: float):
    MAVLink_message.__init__(self, MAVLink_command_int_message.id, MAVLink_command_int_message.msgname)
    self._fieldnames = MAVLink_command_int_message.fieldnames
    self._instance_field = MAVLink_command_int_message.instance_field
    self._instance_offset = MAVLink_command_int_message.instance_offset
    self.target_system = target_system
    self.target_component = target_component
    self.frame = frame
    self.command = command
    self.current = current
    self.autocontinue = autocontinue
    self.param1 = param1
    self.param2 = param2
    self.param3 = param3
    self.param4 = param4
    self.x = x
    self.y = y
    self.z = z

__getitem__

__getitem__(key: str) -> str

support indexing, allowing for multi-instance sensors in one message

Source code in src/mavlink/definition.py

def __getitem__(self, key: str) -> str:
    """support indexing, allowing for multi-instance sensors in one message"""
    if self._instances is None:
        raise IndexError()
    if key not in self._instances:
        raise IndexError()
    return self._instances[key]

format_attr

format_attr(field: str) -> Union[str, float, int]

override field getter

Source code in src/mavlink/definition.py

def format_attr(self, field: str) -> Union[str, float, int]:
    """override field getter"""
    raw_attr: Union[bytes, float, int] = getattr(self, field)
    if isinstance(raw_attr, bytes):
        return raw_attr.decode(errors="backslashreplace").rstrip("\x00")
    return raw_attr

MAVLink_command_long_message

MAVLink_command_long_message(target_system: int, target_component: int, command: int, confirmation: int, param1: float, param2: float, param3: float, param4: float, param5: float, param6: float, param7: float)

              flowchart TD
              mavlink.definition.MAVLink_command_long_message[MAVLink_command_long_message]
              mavlink.definition.MAVLink_message[MAVLink_message]

                              mavlink.definition.MAVLink_message --> mavlink.definition.MAVLink_command_long_message
                


              click mavlink.definition.MAVLink_command_long_message href "" "mavlink.definition.MAVLink_command_long_message"
              click mavlink.definition.MAVLink_message href "" "mavlink.definition.MAVLink_message"
            

Send a command with up to seven parameters to the MAV. COMMAND_INT is generally preferred when sending MAV_CMD commands that include positional information; it offers higher precision and allows the MAV_FRAME to be specified (which may otherwise be ambiguous, particularly for altitude). The command microservice is documented at https://mavlink.io/en/services/command.html

Returned by:

• API References  definition  MAVLink  command_long_encode

Methods:

• __getitem__ –

  support indexing, allowing for multi-instance sensors in one message

• format_attr –

  override field getter

Source code in src/mavlink/definition.py

def __init__(self, target_system: int, target_component: int, command: int, confirmation: int, param1: float, param2: float, param3: float, param4: float, param5: float, param6: float, param7: float):
    MAVLink_message.__init__(self, MAVLink_command_long_message.id, MAVLink_command_long_message.msgname)
    self._fieldnames = MAVLink_command_long_message.fieldnames
    self._instance_field = MAVLink_command_long_message.instance_field
    self._instance_offset = MAVLink_command_long_message.instance_offset
    self.target_system = target_system
    self.target_component = target_component
    self.command = command
    self.confirmation = confirmation
    self.param1 = param1
    self.param2 = param2
    self.param3 = param3
    self.param4 = param4
    self.param5 = param5
    self.param6 = param6
    self.param7 = param7

__getitem__

__getitem__(key: str) -> str

support indexing, allowing for multi-instance sensors in one message

Source code in src/mavlink/definition.py

def __getitem__(self, key: str) -> str:
    """support indexing, allowing for multi-instance sensors in one message"""
    if self._instances is None:
        raise IndexError()
    if key not in self._instances:
        raise IndexError()
    return self._instances[key]

format_attr

format_attr(field: str) -> Union[str, float, int]

override field getter

Source code in src/mavlink/definition.py

def format_attr(self, field: str) -> Union[str, float, int]:
    """override field getter"""
    raw_attr: Union[bytes, float, int] = getattr(self, field)
    if isinstance(raw_attr, bytes):
        return raw_attr.decode(errors="backslashreplace").rstrip("\x00")
    return raw_attr

MAVLink_control_system_state_message

MAVLink_control_system_state_message(time_usec: int, x_acc: float, y_acc: float, z_acc: float, x_vel: float, y_vel: float, z_vel: float, x_pos: float, y_pos: float, z_pos: float, airspeed: float, vel_variance: Sequence[float], pos_variance: Sequence[float], q: Sequence[float], roll_rate: float, pitch_rate: float, yaw_rate: float)

              flowchart TD
              mavlink.definition.MAVLink_control_system_state_message[MAVLink_control_system_state_message]
              mavlink.definition.MAVLink_message[MAVLink_message]

                              mavlink.definition.MAVLink_message --> mavlink.definition.MAVLink_control_system_state_message
                


              click mavlink.definition.MAVLink_control_system_state_message href "" "mavlink.definition.MAVLink_control_system_state_message"
              click mavlink.definition.MAVLink_message href "" "mavlink.definition.MAVLink_message"
            

The smoothed, monotonic system state used to feed the control loops of the system.

Returned by:

• API References  definition  MAVLink  control_system_state_encode

Methods:

• __getitem__ –

  support indexing, allowing for multi-instance sensors in one message

• format_attr –

  override field getter

Source code in src/mavlink/definition.py

def __init__(self, time_usec: int, x_acc: float, y_acc: float, z_acc: float, x_vel: float, y_vel: float, z_vel: float, x_pos: float, y_pos: float, z_pos: float, airspeed: float, vel_variance: Sequence[float], pos_variance: Sequence[float], q: Sequence[float], roll_rate: float, pitch_rate: float, yaw_rate: float):
    MAVLink_message.__init__(self, MAVLink_control_system_state_message.id, MAVLink_control_system_state_message.msgname)
    self._fieldnames = MAVLink_control_system_state_message.fieldnames
    self._instance_field = MAVLink_control_system_state_message.instance_field
    self._instance_offset = MAVLink_control_system_state_message.instance_offset
    self.time_usec = time_usec
    self.x_acc = x_acc
    self.y_acc = y_acc
    self.z_acc = z_acc
    self.x_vel = x_vel
    self.y_vel = y_vel
    self.z_vel = z_vel
    self.x_pos = x_pos
    self.y_pos = y_pos
    self.z_pos = z_pos
    self.airspeed = airspeed
    self.vel_variance = vel_variance
    self.pos_variance = pos_variance
    self.q = q
    self.roll_rate = roll_rate
    self.pitch_rate = pitch_rate
    self.yaw_rate = yaw_rate

__getitem__

__getitem__(key: str) -> str

support indexing, allowing for multi-instance sensors in one message

Source code in src/mavlink/definition.py

def __getitem__(self, key: str) -> str:
    """support indexing, allowing for multi-instance sensors in one message"""
    if self._instances is None:
        raise IndexError()
    if key not in self._instances:
        raise IndexError()
    return self._instances[key]

format_attr

format_attr(field: str) -> Union[str, float, int]

override field getter

Source code in src/mavlink/definition.py

def format_attr(self, field: str) -> Union[str, float, int]:
    """override field getter"""
    raw_attr: Union[bytes, float, int] = getattr(self, field)
    if isinstance(raw_attr, bytes):
        return raw_attr.decode(errors="backslashreplace").rstrip("\x00")
    return raw_attr

MAVLink_empennage_command_message

MAVLink_empennage_command_message(time_boot_ms: int, elevator: float, rudder: float, elevator_trim: float)

              flowchart TD
              mavlink.definition.MAVLink_empennage_command_message[MAVLink_empennage_command_message]
              mavlink.definition.MAVLink_message[MAVLink_message]

                              mavlink.definition.MAVLink_message --> mavlink.definition.MAVLink_empennage_command_message
                


              click mavlink.definition.MAVLink_empennage_command_message href "" "mavlink.definition.MAVLink_empennage_command_message"
              click mavlink.definition.MAVLink_message href "" "mavlink.definition.MAVLink_message"
            

Command to the empennage.

Returned by:

• API References  definition  MAVLink  empennage_command_encode

Methods:

• __getitem__ –

  support indexing, allowing for multi-instance sensors in one message

• format_attr –

  override field getter

Source code in src/mavlink/definition.py

def __init__(self, time_boot_ms: int, elevator: float, rudder: float, elevator_trim: float):
    MAVLink_message.__init__(self, MAVLink_empennage_command_message.id, MAVLink_empennage_command_message.msgname)
    self._fieldnames = MAVLink_empennage_command_message.fieldnames
    self._instance_field = MAVLink_empennage_command_message.instance_field
    self._instance_offset = MAVLink_empennage_command_message.instance_offset
    self.time_boot_ms = time_boot_ms
    self.elevator = elevator
    self.rudder = rudder
    self.elevator_trim = elevator_trim

__getitem__

__getitem__(key: str) -> str

support indexing, allowing for multi-instance sensors in one message

Source code in src/mavlink/definition.py

def __getitem__(self, key: str) -> str:
    """support indexing, allowing for multi-instance sensors in one message"""
    if self._instances is None:
        raise IndexError()
    if key not in self._instances:
        raise IndexError()
    return self._instances[key]

format_attr

format_attr(field: str) -> Union[str, float, int]

override field getter

Source code in src/mavlink/definition.py

def format_attr(self, field: str) -> Union[str, float, int]:
    """override field getter"""
    raw_attr: Union[bytes, float, int] = getattr(self, field)
    if isinstance(raw_attr, bytes):
        return raw_attr.decode(errors="backslashreplace").rstrip("\x00")
    return raw_attr

MAVLink_empennage_status_message

MAVLink_empennage_status_message(time_boot_ms: int, elevator: float, rudder: float)

              flowchart TD
              mavlink.definition.MAVLink_empennage_status_message[MAVLink_empennage_status_message]
              mavlink.definition.MAVLink_message[MAVLink_message]

                              mavlink.definition.MAVLink_message --> mavlink.definition.MAVLink_empennage_status_message
                


              click mavlink.definition.MAVLink_empennage_status_message href "" "mavlink.definition.MAVLink_empennage_status_message"
              click mavlink.definition.MAVLink_message href "" "mavlink.definition.MAVLink_message"
            

Output status of the empennage.

Returned by:

• API References  definition  MAVLink  empennage_status_encode

Methods:

• __getitem__ –

  support indexing, allowing for multi-instance sensors in one message

• format_attr –

  override field getter

Source code in src/mavlink/definition.py

def __init__(self, time_boot_ms: int, elevator: float, rudder: float):
    MAVLink_message.__init__(self, MAVLink_empennage_status_message.id, MAVLink_empennage_status_message.msgname)
    self._fieldnames = MAVLink_empennage_status_message.fieldnames
    self._instance_field = MAVLink_empennage_status_message.instance_field
    self._instance_offset = MAVLink_empennage_status_message.instance_offset
    self.time_boot_ms = time_boot_ms
    self.elevator = elevator
    self.rudder = rudder

__getitem__

__getitem__(key: str) -> str

support indexing, allowing for multi-instance sensors in one message

Source code in src/mavlink/definition.py

def __getitem__(self, key: str) -> str:
    """support indexing, allowing for multi-instance sensors in one message"""
    if self._instances is None:
        raise IndexError()
    if key not in self._instances:
        raise IndexError()
    return self._instances[key]

format_attr

format_attr(field: str) -> Union[str, float, int]

override field getter

Source code in src/mavlink/definition.py

def format_attr(self, field: str) -> Union[str, float, int]:
    """override field getter"""
    raw_attr: Union[bytes, float, int] = getattr(self, field)
    if isinstance(raw_attr, bytes):
        return raw_attr.decode(errors="backslashreplace").rstrip("\x00")
    return raw_attr

MAVLink_flight_information_message

MAVLink_flight_information_message(time_boot_ms: int, arming_time_utc: int, takeoff_time_utc: int, flight_uuid: int, landing_time: int = 0)

              flowchart TD
              mavlink.definition.MAVLink_flight_information_message[MAVLink_flight_information_message]
              mavlink.definition.MAVLink_message[MAVLink_message]

                              mavlink.definition.MAVLink_message --> mavlink.definition.MAVLink_flight_information_message
                


              click mavlink.definition.MAVLink_flight_information_message href "" "mavlink.definition.MAVLink_flight_information_message"
              click mavlink.definition.MAVLink_message href "" "mavlink.definition.MAVLink_message"
            

Flight information. This includes time since boot for arm, takeoff, and land, and a flight number. Takeoff and landing values reset to zero on arm. This can be requested using MAV_CMD_REQUEST_MESSAGE. Note, some fields are misnamed - timestamps are from boot (not UTC) and the flight_uuid is a sequence number.

Returned by:

• API References  definition  MAVLink  flight_information_encode

Methods:

• __getitem__ –

  support indexing, allowing for multi-instance sensors in one message

• format_attr –

  override field getter

Source code in src/mavlink/definition.py

def __init__(self, time_boot_ms: int, arming_time_utc: int, takeoff_time_utc: int, flight_uuid: int, landing_time: int = 0):
    MAVLink_message.__init__(self, MAVLink_flight_information_message.id, MAVLink_flight_information_message.msgname)
    self._fieldnames = MAVLink_flight_information_message.fieldnames
    self._instance_field = MAVLink_flight_information_message.instance_field
    self._instance_offset = MAVLink_flight_information_message.instance_offset
    self.time_boot_ms = time_boot_ms
    self.arming_time_utc = arming_time_utc
    self.takeoff_time_utc = takeoff_time_utc
    self.flight_uuid = flight_uuid
    self.landing_time = landing_time

__getitem__

__getitem__(key: str) -> str

support indexing, allowing for multi-instance sensors in one message

Source code in src/mavlink/definition.py

def __getitem__(self, key: str) -> str:
    """support indexing, allowing for multi-instance sensors in one message"""
    if self._instances is None:
        raise IndexError()
    if key not in self._instances:
        raise IndexError()
    return self._instances[key]

format_attr

format_attr(field: str) -> Union[str, float, int]

override field getter

Source code in src/mavlink/definition.py

def format_attr(self, field: str) -> Union[str, float, int]:
    """override field getter"""
    raw_attr: Union[bytes, float, int] = getattr(self, field)
    if isinstance(raw_attr, bytes):
        return raw_attr.decode(errors="backslashreplace").rstrip("\x00")
    return raw_attr

MAVLink_global_position_int_message

MAVLink_global_position_int_message(time_boot_ms: int, lat: int, lon: int, alt: int, relative_alt: int, vx: int, vy: int, vz: int, hdg: int)

              flowchart TD
              mavlink.definition.MAVLink_global_position_int_message[MAVLink_global_position_int_message]
              mavlink.definition.MAVLink_message[MAVLink_message]

                              mavlink.definition.MAVLink_message --> mavlink.definition.MAVLink_global_position_int_message
                


              click mavlink.definition.MAVLink_global_position_int_message href "" "mavlink.definition.MAVLink_global_position_int_message"
              click mavlink.definition.MAVLink_message href "" "mavlink.definition.MAVLink_message"
            

The filtered global position (e.g. fused GPS and accelerometers). The position is in GPS-frame (right-handed, Z-up). It is designed as scaled integer message since the resolution of float is not sufficient.

Returned by:

• API References  definition  MAVLink  global_position_int_encode

Methods:

• __getitem__ –

  support indexing, allowing for multi-instance sensors in one message

• format_attr –

  override field getter

Source code in src/mavlink/definition.py

def __init__(self, time_boot_ms: int, lat: int, lon: int, alt: int, relative_alt: int, vx: int, vy: int, vz: int, hdg: int):
    MAVLink_message.__init__(self, MAVLink_global_position_int_message.id, MAVLink_global_position_int_message.msgname)
    self._fieldnames = MAVLink_global_position_int_message.fieldnames
    self._instance_field = MAVLink_global_position_int_message.instance_field
    self._instance_offset = MAVLink_global_position_int_message.instance_offset
    self.time_boot_ms = time_boot_ms
    self.lat = lat
    self.lon = lon
    self.alt = alt
    self.relative_alt = relative_alt
    self.vx = vx
    self.vy = vy
    self.vz = vz
    self.hdg = hdg

__getitem__

__getitem__(key: str) -> str

support indexing, allowing for multi-instance sensors in one message

Source code in src/mavlink/definition.py

def __getitem__(self, key: str) -> str:
    """support indexing, allowing for multi-instance sensors in one message"""
    if self._instances is None:
        raise IndexError()
    if key not in self._instances:
        raise IndexError()
    return self._instances[key]

format_attr

format_attr(field: str) -> Union[str, float, int]

override field getter

Source code in src/mavlink/definition.py

def format_attr(self, field: str) -> Union[str, float, int]:
    """override field getter"""
    raw_attr: Union[bytes, float, int] = getattr(self, field)
    if isinstance(raw_attr, bytes):
        return raw_attr.decode(errors="backslashreplace").rstrip("\x00")
    return raw_attr

MAVLink_gps_raw_int_message

MAVLink_gps_raw_int_message(time_usec: int, fix_type: int, lat: int, lon: int, alt: int, eph: int, epv: int, vel: int, cog: int, satellites_visible: int, alt_ellipsoid: int = 0, h_acc: int = 0, v_acc: int = 0, vel_acc: int = 0, hdg_acc: int = 0, yaw: int = 0)

              flowchart TD
              mavlink.definition.MAVLink_gps_raw_int_message[MAVLink_gps_raw_int_message]
              mavlink.definition.MAVLink_message[MAVLink_message]

                              mavlink.definition.MAVLink_message --> mavlink.definition.MAVLink_gps_raw_int_message
                


              click mavlink.definition.MAVLink_gps_raw_int_message href "" "mavlink.definition.MAVLink_gps_raw_int_message"
              click mavlink.definition.MAVLink_message href "" "mavlink.definition.MAVLink_message"
            

The global position, as returned by the Global Positioning System (GPS). This is NOT the global position estimate of the system, but rather a RAW sensor value. See message GLOBAL_POSITION_INT for the global position estimate.

Returned by:

• API References  definition  MAVLink  gps_raw_int_encode

Methods:

• __getitem__ –

  support indexing, allowing for multi-instance sensors in one message

• format_attr –

  override field getter

Source code in src/mavlink/definition.py

def __init__(self, time_usec: int, fix_type: int, lat: int, lon: int, alt: int, eph: int, epv: int, vel: int, cog: int, satellites_visible: int, alt_ellipsoid: int = 0, h_acc: int = 0, v_acc: int = 0, vel_acc: int = 0, hdg_acc: int = 0, yaw: int = 0):
    MAVLink_message.__init__(self, MAVLink_gps_raw_int_message.id, MAVLink_gps_raw_int_message.msgname)
    self._fieldnames = MAVLink_gps_raw_int_message.fieldnames
    self._instance_field = MAVLink_gps_raw_int_message.instance_field
    self._instance_offset = MAVLink_gps_raw_int_message.instance_offset
    self.time_usec = time_usec
    self.fix_type = fix_type
    self.lat = lat
    self.lon = lon
    self.alt = alt
    self.eph = eph
    self.epv = epv
    self.vel = vel
    self.cog = cog
    self.satellites_visible = satellites_visible
    self.alt_ellipsoid = alt_ellipsoid
    self.h_acc = h_acc
    self.v_acc = v_acc
    self.vel_acc = vel_acc
    self.hdg_acc = hdg_acc
    self.yaw = yaw

__getitem__

__getitem__(key: str) -> str

support indexing, allowing for multi-instance sensors in one message

Source code in src/mavlink/definition.py

def __getitem__(self, key: str) -> str:
    """support indexing, allowing for multi-instance sensors in one message"""
    if self._instances is None:
        raise IndexError()
    if key not in self._instances:
        raise IndexError()
    return self._instances[key]

format_attr

format_attr(field: str) -> Union[str, float, int]

override field getter

Source code in src/mavlink/definition.py

def format_attr(self, field: str) -> Union[str, float, int]:
    """override field getter"""
    raw_attr: Union[bytes, float, int] = getattr(self, field)
    if isinstance(raw_attr, bytes):
        return raw_attr.decode(errors="backslashreplace").rstrip("\x00")
    return raw_attr

MAVLink_gps_rtk_message

MAVLink_gps_rtk_message(time_last_baseline_ms: int, rtk_receiver_id: int, wn: int, tow: int, rtk_health: int, rtk_rate: int, nsats: int, baseline_coords_type: int, baseline_a_mm: int, baseline_b_mm: int, baseline_c_mm: int, accuracy: int, iar_num_hypotheses: int)

              flowchart TD
              mavlink.definition.MAVLink_gps_rtk_message[MAVLink_gps_rtk_message]
              mavlink.definition.MAVLink_message[MAVLink_message]

                              mavlink.definition.MAVLink_message --> mavlink.definition.MAVLink_gps_rtk_message
                


              click mavlink.definition.MAVLink_gps_rtk_message href "" "mavlink.definition.MAVLink_gps_rtk_message"
              click mavlink.definition.MAVLink_message href "" "mavlink.definition.MAVLink_message"
            

RTK GPS data. Gives information on the relative baseline calculation the GPS is reporting

Returned by:

• API References  definition  MAVLink  gps_rtk_encode

Methods:

• __getitem__ –

  support indexing, allowing for multi-instance sensors in one message

• format_attr –

  override field getter

Source code in src/mavlink/definition.py

def __init__(self, time_last_baseline_ms: int, rtk_receiver_id: int, wn: int, tow: int, rtk_health: int, rtk_rate: int, nsats: int, baseline_coords_type: int, baseline_a_mm: int, baseline_b_mm: int, baseline_c_mm: int, accuracy: int, iar_num_hypotheses: int):
    MAVLink_message.__init__(self, MAVLink_gps_rtk_message.id, MAVLink_gps_rtk_message.msgname)
    self._fieldnames = MAVLink_gps_rtk_message.fieldnames
    self._instance_field = MAVLink_gps_rtk_message.instance_field
    self._instance_offset = MAVLink_gps_rtk_message.instance_offset
    self.time_last_baseline_ms = time_last_baseline_ms
    self.rtk_receiver_id = rtk_receiver_id
    self.wn = wn
    self.tow = tow
    self.rtk_health = rtk_health
    self.rtk_rate = rtk_rate
    self.nsats = nsats
    self.baseline_coords_type = baseline_coords_type
    self.baseline_a_mm = baseline_a_mm
    self.baseline_b_mm = baseline_b_mm
    self.baseline_c_mm = baseline_c_mm
    self.accuracy = accuracy
    self.iar_num_hypotheses = iar_num_hypotheses

__getitem__

__getitem__(key: str) -> str

support indexing, allowing for multi-instance sensors in one message

Source code in src/mavlink/definition.py

def __getitem__(self, key: str) -> str:
    """support indexing, allowing for multi-instance sensors in one message"""
    if self._instances is None:
        raise IndexError()
    if key not in self._instances:
        raise IndexError()
    return self._instances[key]

format_attr

format_attr(field: str) -> Union[str, float, int]

override field getter

Source code in src/mavlink/definition.py

def format_attr(self, field: str) -> Union[str, float, int]:
    """override field getter"""
    raw_attr: Union[bytes, float, int] = getattr(self, field)
    if isinstance(raw_attr, bytes):
        return raw_attr.decode(errors="backslashreplace").rstrip("\x00")
    return raw_attr

MAVLink_gps_status_message

MAVLink_gps_status_message(satellites_visible: int, satellite_prn: Sequence[int], satellite_used: Sequence[int], satellite_elevation: Sequence[int], satellite_azimuth: Sequence[int], satellite_snr: Sequence[int])

              flowchart TD
              mavlink.definition.MAVLink_gps_status_message[MAVLink_gps_status_message]
              mavlink.definition.MAVLink_message[MAVLink_message]

                              mavlink.definition.MAVLink_message --> mavlink.definition.MAVLink_gps_status_message
                


              click mavlink.definition.MAVLink_gps_status_message href "" "mavlink.definition.MAVLink_gps_status_message"
              click mavlink.definition.MAVLink_message href "" "mavlink.definition.MAVLink_message"
            

The positioning status, as reported by GPS. This message is intended to display status information about each satellite visible to the receiver. See message GLOBAL_POSITION_INT for the global position estimate. This message can contain information for up to 20 satellites.

Returned by:

• API References  definition  MAVLink  gps_status_encode

Methods:

• __getitem__ –

  support indexing, allowing for multi-instance sensors in one message

• format_attr –

  override field getter

Source code in src/mavlink/definition.py

def __init__(self, satellites_visible: int, satellite_prn: Sequence[int], satellite_used: Sequence[int], satellite_elevation: Sequence[int], satellite_azimuth: Sequence[int], satellite_snr: Sequence[int]):
    MAVLink_message.__init__(self, MAVLink_gps_status_message.id, MAVLink_gps_status_message.msgname)
    self._fieldnames = MAVLink_gps_status_message.fieldnames
    self._instance_field = MAVLink_gps_status_message.instance_field
    self._instance_offset = MAVLink_gps_status_message.instance_offset
    self.satellites_visible = satellites_visible
    self.satellite_prn = satellite_prn
    self.satellite_used = satellite_used
    self.satellite_elevation = satellite_elevation
    self.satellite_azimuth = satellite_azimuth
    self.satellite_snr = satellite_snr

__getitem__

__getitem__(key: str) -> str

support indexing, allowing for multi-instance sensors in one message

Source code in src/mavlink/definition.py

def __getitem__(self, key: str) -> str:
    """support indexing, allowing for multi-instance sensors in one message"""
    if self._instances is None:
        raise IndexError()
    if key not in self._instances:
        raise IndexError()
    return self._instances[key]

format_attr

format_attr(field: str) -> Union[str, float, int]

override field getter

Source code in src/mavlink/definition.py

def format_attr(self, field: str) -> Union[str, float, int]:
    """override field getter"""
    raw_attr: Union[bytes, float, int] = getattr(self, field)
    if isinstance(raw_attr, bytes):
        return raw_attr.decode(errors="backslashreplace").rstrip("\x00")
    return raw_attr

MAVLink_header

MAVLink_header(msgId: int, incompat_flags: int = 0, compat_flags: int = 0, mlen: int = 0, seq: int = 0, srcSystem: int = 0, srcComponent: int = 0)

              flowchart TD
              mavlink.definition.MAVLink_header[MAVLink_header]

              

              click mavlink.definition.MAVLink_header href "" "mavlink.definition.MAVLink_header"
            

MAVLink message header

Source code in src/mavlink/definition.py

def __init__(self, msgId: int, incompat_flags: int = 0, compat_flags: int = 0, mlen: int = 0, seq: int = 0, srcSystem: int = 0, srcComponent: int = 0) -> None:
    self.mlen = mlen
    self.seq = seq
    self.srcSystem = srcSystem
    self.srcComponent = srcComponent
    self.msgId = msgId
    self.incompat_flags = incompat_flags
    self.compat_flags = compat_flags

MAVLink_heartbeat_message

MAVLink_heartbeat_message(type: int, autopilot: int, base_mode: int, custom_mode: int, system_status: int, mavlink_version: int)

              flowchart TD
              mavlink.definition.MAVLink_heartbeat_message[MAVLink_heartbeat_message]
              mavlink.definition.MAVLink_message[MAVLink_message]

                              mavlink.definition.MAVLink_message --> mavlink.definition.MAVLink_heartbeat_message
                


              click mavlink.definition.MAVLink_heartbeat_message href "" "mavlink.definition.MAVLink_heartbeat_message"
              click mavlink.definition.MAVLink_message href "" "mavlink.definition.MAVLink_message"
            

The heartbeat message shows that a system or component is present and responding. The type and autopilot fields (along with the message component id), allow the receiving system to treat further messages from this system appropriately (e.g. by laying out the user interface based on the autopilot). This microservice is documented at https://mavlink.io/en/services/heartbeat.html

Returned by:

• API References  definition  MAVLink  heartbeat_encode

Methods:

• __getitem__ –

  support indexing, allowing for multi-instance sensors in one message

• format_attr –

  override field getter

Source code in src/mavlink/definition.py

def __init__(self, type: int, autopilot: int, base_mode: int, custom_mode: int, system_status: int, mavlink_version: int):
    MAVLink_message.__init__(self, MAVLink_heartbeat_message.id, MAVLink_heartbeat_message.msgname)
    self._fieldnames = MAVLink_heartbeat_message.fieldnames
    self._instance_field = MAVLink_heartbeat_message.instance_field
    self._instance_offset = MAVLink_heartbeat_message.instance_offset
    self.type = type
    self.autopilot = autopilot
    self.base_mode = base_mode
    self.custom_mode = custom_mode
    self.system_status = system_status
    self.mavlink_version = mavlink_version

__getitem__

__getitem__(key: str) -> str

support indexing, allowing for multi-instance sensors in one message

Source code in src/mavlink/definition.py

def __getitem__(self, key: str) -> str:
    """support indexing, allowing for multi-instance sensors in one message"""
    if self._instances is None:
        raise IndexError()
    if key not in self._instances:
        raise IndexError()
    return self._instances[key]

format_attr

format_attr(field: str) -> Union[str, float, int]

override field getter

Source code in src/mavlink/definition.py

def format_attr(self, field: str) -> Union[str, float, int]:
    """override field getter"""
    raw_attr: Union[bytes, float, int] = getattr(self, field)
    if isinstance(raw_attr, bytes):
        return raw_attr.decode(errors="backslashreplace").rstrip("\x00")
    return raw_attr

MAVLink_hygrometer_sensor_message

MAVLink_hygrometer_sensor_message(id: int, temperature: int, humidity: int)

              flowchart TD
              mavlink.definition.MAVLink_hygrometer_sensor_message[MAVLink_hygrometer_sensor_message]
              mavlink.definition.MAVLink_message[MAVLink_message]

                              mavlink.definition.MAVLink_message --> mavlink.definition.MAVLink_hygrometer_sensor_message
                


              click mavlink.definition.MAVLink_hygrometer_sensor_message href "" "mavlink.definition.MAVLink_hygrometer_sensor_message"
              click mavlink.definition.MAVLink_message href "" "mavlink.definition.MAVLink_message"
            

Temperature and humidity from hygrometer.

Returned by:

• API References  definition  MAVLink  hygrometer_sensor_encode

Methods:

• __getitem__ –

  support indexing, allowing for multi-instance sensors in one message

• format_attr –

  override field getter

Source code in src/mavlink/definition.py

def __init__(self, id: int, temperature: int, humidity: int):
    MAVLink_message.__init__(self, MAVLink_hygrometer_sensor_message.id, MAVLink_hygrometer_sensor_message.msgname)
    self._fieldnames = MAVLink_hygrometer_sensor_message.fieldnames
    self._instance_field = MAVLink_hygrometer_sensor_message.instance_field
    self._instance_offset = MAVLink_hygrometer_sensor_message.instance_offset
    self.id = id
    self.temperature = temperature
    self.humidity = humidity

__getitem__

__getitem__(key: str) -> str

support indexing, allowing for multi-instance sensors in one message

Source code in src/mavlink/definition.py

def __getitem__(self, key: str) -> str:
    """support indexing, allowing for multi-instance sensors in one message"""
    if self._instances is None:
        raise IndexError()
    if key not in self._instances:
        raise IndexError()
    return self._instances[key]

format_attr

format_attr(field: str) -> Union[str, float, int]

override field getter

Source code in src/mavlink/definition.py

def format_attr(self, field: str) -> Union[str, float, int]:
    """override field getter"""
    raw_attr: Union[bytes, float, int] = getattr(self, field)
    if isinstance(raw_attr, bytes):
        return raw_attr.decode(errors="backslashreplace").rstrip("\x00")
    return raw_attr

MAVLink_imu_message

MAVLink_imu_message(time_boot_ms: int, xacc: float, yacc: float, zacc: float, xgyro: float, ygyro: float, zgyro: float)

              flowchart TD
              mavlink.definition.MAVLink_imu_message[MAVLink_imu_message]
              mavlink.definition.MAVLink_message[MAVLink_message]

                              mavlink.definition.MAVLink_message --> mavlink.definition.MAVLink_imu_message
                


              click mavlink.definition.MAVLink_imu_message href "" "mavlink.definition.MAVLink_imu_message"
              click mavlink.definition.MAVLink_message href "" "mavlink.definition.MAVLink_message"
            

The RAW IMU readings for the usual 9DOF sensor setup. This message should contain the scaled values to the described units

Returned by:

• API References  definition  MAVLink  imu_encode

Methods:

• __getitem__ –

  support indexing, allowing for multi-instance sensors in one message

• format_attr –

  override field getter

Source code in src/mavlink/definition.py

def __init__(self, time_boot_ms: int, xacc: float, yacc: float, zacc: float, xgyro: float, ygyro: float, zgyro: float):
    MAVLink_message.__init__(self, MAVLink_imu_message.id, MAVLink_imu_message.msgname)
    self._fieldnames = MAVLink_imu_message.fieldnames
    self._instance_field = MAVLink_imu_message.instance_field
    self._instance_offset = MAVLink_imu_message.instance_offset
    self.time_boot_ms = time_boot_ms
    self.xacc = xacc
    self.yacc = yacc
    self.zacc = zacc
    self.xgyro = xgyro
    self.ygyro = ygyro
    self.zgyro = zgyro

__getitem__

__getitem__(key: str) -> str

support indexing, allowing for multi-instance sensors in one message

Source code in src/mavlink/definition.py

def __getitem__(self, key: str) -> str:
    """support indexing, allowing for multi-instance sensors in one message"""
    if self._instances is None:
        raise IndexError()
    if key not in self._instances:
        raise IndexError()
    return self._instances[key]

format_attr

format_attr(field: str) -> Union[str, float, int]

override field getter

Source code in src/mavlink/definition.py

def format_attr(self, field: str) -> Union[str, float, int]:
    """override field getter"""
    raw_attr: Union[bytes, float, int] = getattr(self, field)
    if isinstance(raw_attr, bytes):
        return raw_attr.decode(errors="backslashreplace").rstrip("\x00")
    return raw_attr

MAVLink_local_position_ned_system_global_offset_message

MAVLink_local_position_ned_system_global_offset_message(time_boot_ms: int, x: float, y: float, z: float, roll: float, pitch: float, yaw: float)

              flowchart TD
              mavlink.definition.MAVLink_local_position_ned_system_global_offset_message[MAVLink_local_position_ned_system_global_offset_message]
              mavlink.definition.MAVLink_message[MAVLink_message]

                              mavlink.definition.MAVLink_message --> mavlink.definition.MAVLink_local_position_ned_system_global_offset_message
                


              click mavlink.definition.MAVLink_local_position_ned_system_global_offset_message href "" "mavlink.definition.MAVLink_local_position_ned_system_global_offset_message"
              click mavlink.definition.MAVLink_message href "" "mavlink.definition.MAVLink_message"
            

The offset in X, Y, Z and yaw between the LOCAL_POSITION_NED messages of MAV X and the global coordinate frame in NED coordinates. Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention)

Returned by:

• API References  definition  MAVLink  local_position_ned_system_global_offset_encode

Methods:

• __getitem__ –

  support indexing, allowing for multi-instance sensors in one message

• format_attr –

  override field getter

Source code in src/mavlink/definition.py

def __init__(self, time_boot_ms: int, x: float, y: float, z: float, roll: float, pitch: float, yaw: float):
    MAVLink_message.__init__(self, MAVLink_local_position_ned_system_global_offset_message.id, MAVLink_local_position_ned_system_global_offset_message.msgname)
    self._fieldnames = MAVLink_local_position_ned_system_global_offset_message.fieldnames
    self._instance_field = MAVLink_local_position_ned_system_global_offset_message.instance_field
    self._instance_offset = MAVLink_local_position_ned_system_global_offset_message.instance_offset
    self.time_boot_ms = time_boot_ms
    self.x = x
    self.y = y
    self.z = z
    self.roll = roll
    self.pitch = pitch
    self.yaw = yaw

__getitem__

__getitem__(key: str) -> str

support indexing, allowing for multi-instance sensors in one message

Source code in src/mavlink/definition.py

def __getitem__(self, key: str) -> str:
    """support indexing, allowing for multi-instance sensors in one message"""
    if self._instances is None:
        raise IndexError()
    if key not in self._instances:
        raise IndexError()
    return self._instances[key]

format_attr

format_attr(field: str) -> Union[str, float, int]

override field getter

Source code in src/mavlink/definition.py

def format_attr(self, field: str) -> Union[str, float, int]:
    """override field getter"""
    raw_attr: Union[bytes, float, int] = getattr(self, field)
    if isinstance(raw_attr, bytes):
        return raw_attr.decode(errors="backslashreplace").rstrip("\x00")
    return raw_attr

MAVLink_mag_cal_report_message

MAVLink_mag_cal_report_message(compass_id: int, cal_mask: int, cal_status: int, autosaved: int, fitness: float, ofs_x: float, ofs_y: float, ofs_z: float, diag_x: float, diag_y: float, diag_z: float, offdiag_x: float, offdiag_y: float, offdiag_z: float, orientation_confidence: float = 0, old_orientation: int = 0, new_orientation: int = 0, scale_factor: float = 0)

              flowchart TD
              mavlink.definition.MAVLink_mag_cal_report_message[MAVLink_mag_cal_report_message]
              mavlink.definition.MAVLink_message[MAVLink_message]

                              mavlink.definition.MAVLink_message --> mavlink.definition.MAVLink_mag_cal_report_message
                


              click mavlink.definition.MAVLink_mag_cal_report_message href "" "mavlink.definition.MAVLink_mag_cal_report_message"
              click mavlink.definition.MAVLink_message href "" "mavlink.definition.MAVLink_message"
            

Reports results of completed compass calibration. Sent until MAG_CAL_ACK received.

Returned by:

• API References  definition  MAVLink  mag_cal_report_encode

Methods:

• __getitem__ –

  support indexing, allowing for multi-instance sensors in one message

• format_attr –

  override field getter

Source code in src/mavlink/definition.py

def __init__(self, compass_id: int, cal_mask: int, cal_status: int, autosaved: int, fitness: float, ofs_x: float, ofs_y: float, ofs_z: float, diag_x: float, diag_y: float, diag_z: float, offdiag_x: float, offdiag_y: float, offdiag_z: float, orientation_confidence: float = 0, old_orientation: int = 0, new_orientation: int = 0, scale_factor: float = 0):
    MAVLink_message.__init__(self, MAVLink_mag_cal_report_message.id, MAVLink_mag_cal_report_message.msgname)
    self._fieldnames = MAVLink_mag_cal_report_message.fieldnames
    self._instance_field = MAVLink_mag_cal_report_message.instance_field
    self._instance_offset = MAVLink_mag_cal_report_message.instance_offset
    self.compass_id = compass_id
    self.cal_mask = cal_mask
    self.cal_status = cal_status
    self.autosaved = autosaved
    self.fitness = fitness
    self.ofs_x = ofs_x
    self.ofs_y = ofs_y
    self.ofs_z = ofs_z
    self.diag_x = diag_x
    self.diag_y = diag_y
    self.diag_z = diag_z
    self.offdiag_x = offdiag_x
    self.offdiag_y = offdiag_y
    self.offdiag_z = offdiag_z
    self.orientation_confidence = orientation_confidence
    self.old_orientation = old_orientation
    self.new_orientation = new_orientation
    self.scale_factor = scale_factor

__getitem__

__getitem__(key: str) -> str

support indexing, allowing for multi-instance sensors in one message

Source code in src/mavlink/definition.py

def __getitem__(self, key: str) -> str:
    """support indexing, allowing for multi-instance sensors in one message"""
    if self._instances is None:
        raise IndexError()
    if key not in self._instances:
        raise IndexError()
    return self._instances[key]

format_attr

format_attr(field: str) -> Union[str, float, int]

override field getter

Source code in src/mavlink/definition.py

def format_attr(self, field: str) -> Union[str, float, int]:
    """override field getter"""
    raw_attr: Union[bytes, float, int] = getattr(self, field)
    if isinstance(raw_attr, bytes):
        return raw_attr.decode(errors="backslashreplace").rstrip("\x00")
    return raw_attr

MAVLink_message

MAVLink_message(msgId: int, name: str)

              flowchart TD
              mavlink.definition.MAVLink_message[MAVLink_message]

              

              click mavlink.definition.MAVLink_message href "" "mavlink.definition.MAVLink_message"
            

base MAVLink message class

Returned by:

• API References  definition  MAVLink
  •  decode
  •  parse_buffer
  •  parse_char

Used by:

• API References
  •  core
    •  MAVLinkPublisher  publish
    •  TopicItem
  •  definition  MAVLink  send

Methods:

• __getitem__ –

  support indexing, allowing for multi-instance sensors in one message

• format_attr –

  override field getter

Source code in src/mavlink/definition.py

def __init__(self, msgId: int, name: str) -> None:
    self._header = MAVLink_header(msgId)
    self._payload: Optional[bytes] = None
    self._msgbuf = bytearray(b"")
    self._crc: Optional[int] = None
    self._fieldnames: List[str] = []
    self._type = name
    self._signed = False
    self._link_id: Optional[int] = None
    self._instances: Optional[Dict[str, str]] = None
    self._instance_field: Optional[str] = None

__getitem__

__getitem__(key: str) -> str

support indexing, allowing for multi-instance sensors in one message

Source code in src/mavlink/definition.py

def __getitem__(self, key: str) -> str:
    """support indexing, allowing for multi-instance sensors in one message"""
    if self._instances is None:
        raise IndexError()
    if key not in self._instances:
        raise IndexError()
    return self._instances[key]

format_attr

format_attr(field: str) -> Union[str, float, int]

override field getter

Source code in src/mavlink/definition.py

def format_attr(self, field: str) -> Union[str, float, int]:
    """override field getter"""
    raw_attr: Union[bytes, float, int] = getattr(self, field)
    if isinstance(raw_attr, bytes):
        return raw_attr.decode(errors="backslashreplace").rstrip("\x00")
    return raw_attr

MAVLink_message_interval_message

MAVLink_message_interval_message(message_id: int, interval_us: int)

              flowchart TD
              mavlink.definition.MAVLink_message_interval_message[MAVLink_message_interval_message]
              mavlink.definition.MAVLink_message[MAVLink_message]

                              mavlink.definition.MAVLink_message --> mavlink.definition.MAVLink_message_interval_message
                


              click mavlink.definition.MAVLink_message_interval_message href "" "mavlink.definition.MAVLink_message_interval_message"
              click mavlink.definition.MAVLink_message href "" "mavlink.definition.MAVLink_message"
            

The interval between messages for a particular MAVLink message ID. This message is sent in response to the MAV_CMD_REQUEST_MESSAGE command with param1=244 (this message) and param2=message_id (the id of the message for which the interval is required). This interface replaces DATA_STREAM.

Returned by:

• API References  definition  MAVLink  message_interval_encode

Methods:

• __getitem__ –

  support indexing, allowing for multi-instance sensors in one message

• format_attr –

  override field getter

Source code in src/mavlink/definition.py

def __init__(self, message_id: int, interval_us: int):
    MAVLink_message.__init__(self, MAVLink_message_interval_message.id, MAVLink_message_interval_message.msgname)
    self._fieldnames = MAVLink_message_interval_message.fieldnames
    self._instance_field = MAVLink_message_interval_message.instance_field
    self._instance_offset = MAVLink_message_interval_message.instance_offset
    self.message_id = message_id
    self.interval_us = interval_us

__getitem__

__getitem__(key: str) -> str

support indexing, allowing for multi-instance sensors in one message

Source code in src/mavlink/definition.py

def __getitem__(self, key: str) -> str:
    """support indexing, allowing for multi-instance sensors in one message"""
    if self._instances is None:
        raise IndexError()
    if key not in self._instances:
        raise IndexError()
    return self._instances[key]

format_attr

format_attr(field: str) -> Union[str, float, int]

override field getter

Source code in src/mavlink/definition.py

def format_attr(self, field: str) -> Union[str, float, int]:
    """override field getter"""
    raw_attr: Union[bytes, float, int] = getattr(self, field)
    if isinstance(raw_attr, bytes):
        return raw_attr.decode(errors="backslashreplace").rstrip("\x00")
    return raw_attr

MAVLink_param_request_list_message

MAVLink_param_request_list_message(target_system: int, target_component: int)

              flowchart TD
              mavlink.definition.MAVLink_param_request_list_message[MAVLink_param_request_list_message]
              mavlink.definition.MAVLink_message[MAVLink_message]

                              mavlink.definition.MAVLink_message --> mavlink.definition.MAVLink_param_request_list_message
                


              click mavlink.definition.MAVLink_param_request_list_message href "" "mavlink.definition.MAVLink_param_request_list_message"
              click mavlink.definition.MAVLink_message href "" "mavlink.definition.MAVLink_message"
            

Request all parameters of this component. After this request, all parameters are emitted. The parameter microservice is documented at https://mavlink.io/en/services/parameter.html

Returned by:

• API References  definition  MAVLink  param_request_list_encode

Methods:

• __getitem__ –

  support indexing, allowing for multi-instance sensors in one message

• format_attr –

  override field getter

Source code in src/mavlink/definition.py

def __init__(self, target_system: int, target_component: int):
    MAVLink_message.__init__(self, MAVLink_param_request_list_message.id, MAVLink_param_request_list_message.msgname)
    self._fieldnames = MAVLink_param_request_list_message.fieldnames
    self._instance_field = MAVLink_param_request_list_message.instance_field
    self._instance_offset = MAVLink_param_request_list_message.instance_offset
    self.target_system = target_system
    self.target_component = target_component

__getitem__

__getitem__(key: str) -> str

support indexing, allowing for multi-instance sensors in one message

Source code in src/mavlink/definition.py

def __getitem__(self, key: str) -> str:
    """support indexing, allowing for multi-instance sensors in one message"""
    if self._instances is None:
        raise IndexError()
    if key not in self._instances:
        raise IndexError()
    return self._instances[key]

format_attr

format_attr(field: str) -> Union[str, float, int]

override field getter

Source code in src/mavlink/definition.py

def format_attr(self, field: str) -> Union[str, float, int]:
    """override field getter"""
    raw_attr: Union[bytes, float, int] = getattr(self, field)
    if isinstance(raw_attr, bytes):
        return raw_attr.decode(errors="backslashreplace").rstrip("\x00")
    return raw_attr

MAVLink_param_request_read_message

MAVLink_param_request_read_message(target_system: int, target_component: int, param_id: bytes, param_index: int)

              flowchart TD
              mavlink.definition.MAVLink_param_request_read_message[MAVLink_param_request_read_message]
              mavlink.definition.MAVLink_message[MAVLink_message]

                              mavlink.definition.MAVLink_message --> mavlink.definition.MAVLink_param_request_read_message
                


              click mavlink.definition.MAVLink_param_request_read_message href "" "mavlink.definition.MAVLink_param_request_read_message"
              click mavlink.definition.MAVLink_message href "" "mavlink.definition.MAVLink_message"
            

Request to read the onboard parameter with the param_id string id. Onboard parameters are stored as key[const char*] -> value[float]. This allows to send a parameter to any other component (such as the GCS) without the need of previous knowledge of possible parameter names. Thus the same GCS can store different parameters for different autopilots. See also https://mavlink.io/en/services/parameter.html for a full documentation of QGroundControl and IMU code.

Returned by:

• API References  definition  MAVLink  param_request_read_encode

Methods:

• __getitem__ –

  support indexing, allowing for multi-instance sensors in one message

• format_attr –

  override field getter

Source code in src/mavlink/definition.py

def __init__(self, target_system: int, target_component: int, param_id: bytes, param_index: int):
    MAVLink_message.__init__(self, MAVLink_param_request_read_message.id, MAVLink_param_request_read_message.msgname)
    self._fieldnames = MAVLink_param_request_read_message.fieldnames
    self._instance_field = MAVLink_param_request_read_message.instance_field
    self._instance_offset = MAVLink_param_request_read_message.instance_offset
    self.target_system = target_system
    self.target_component = target_component
    self._param_id_raw = param_id
    self.param_id = param_id.split(b"\x00", 1)[0].decode("ascii", errors="replace")
    self.param_index = param_index

__getitem__

__getitem__(key: str) -> str

support indexing, allowing for multi-instance sensors in one message

Source code in src/mavlink/definition.py

def __getitem__(self, key: str) -> str:
    """support indexing, allowing for multi-instance sensors in one message"""
    if self._instances is None:
        raise IndexError()
    if key not in self._instances:
        raise IndexError()
    return self._instances[key]

format_attr

format_attr(field: str) -> Union[str, float, int]

override field getter

Source code in src/mavlink/definition.py

def format_attr(self, field: str) -> Union[str, float, int]:
    """override field getter"""
    raw_attr: Union[bytes, float, int] = getattr(self, field)
    if isinstance(raw_attr, bytes):
        return raw_attr.decode(errors="backslashreplace").rstrip("\x00")
    return raw_attr

MAVLink_param_set_message

MAVLink_param_set_message(target_system: int, target_component: int, param_id: bytes, param_value: float, param_type: int)

              flowchart TD
              mavlink.definition.MAVLink_param_set_message[MAVLink_param_set_message]
              mavlink.definition.MAVLink_message[MAVLink_message]

                              mavlink.definition.MAVLink_message --> mavlink.definition.MAVLink_param_set_message
                


              click mavlink.definition.MAVLink_param_set_message href "" "mavlink.definition.MAVLink_param_set_message"
              click mavlink.definition.MAVLink_message href "" "mavlink.definition.MAVLink_message"
            

Set a parameter value (write new value to permanent storage). The receiving component should acknowledge the new parameter value by broadcasting a PARAM_VALUE message (broadcasting ensures that multiple GCS all have an up-to-date list of all parameters). If the sending GCS did not receive a PARAM_VALUE within its timeout time, it should re-send the PARAM_SET message. The parameter microservice is documented at https://mavlink.io/en/services/parameter.html.

Returned by:

• API References  definition  MAVLink  param_set_encode

Methods:

• __getitem__ –

  support indexing, allowing for multi-instance sensors in one message

• format_attr –

  override field getter

Source code in src/mavlink/definition.py

def __init__(self, target_system: int, target_component: int, param_id: bytes, param_value: float, param_type: int):
    MAVLink_message.__init__(self, MAVLink_param_set_message.id, MAVLink_param_set_message.msgname)
    self._fieldnames = MAVLink_param_set_message.fieldnames
    self._instance_field = MAVLink_param_set_message.instance_field
    self._instance_offset = MAVLink_param_set_message.instance_offset
    self.target_system = target_system
    self.target_component = target_component
    self._param_id_raw = param_id
    self.param_id = param_id.split(b"\x00", 1)[0].decode("ascii", errors="replace")
    self.param_value = param_value
    self.param_type = param_type

__getitem__

__getitem__(key: str) -> str

support indexing, allowing for multi-instance sensors in one message

Source code in src/mavlink/definition.py

def __getitem__(self, key: str) -> str:
    """support indexing, allowing for multi-instance sensors in one message"""
    if self._instances is None:
        raise IndexError()
    if key not in self._instances:
        raise IndexError()
    return self._instances[key]

format_attr

format_attr(field: str) -> Union[str, float, int]

override field getter

Source code in src/mavlink/definition.py

def format_attr(self, field: str) -> Union[str, float, int]:
    """override field getter"""
    raw_attr: Union[bytes, float, int] = getattr(self, field)
    if isinstance(raw_attr, bytes):
        return raw_attr.decode(errors="backslashreplace").rstrip("\x00")
    return raw_attr

MAVLink_param_value_message

MAVLink_param_value_message(param_id: bytes, param_value: float, param_type: int, param_count: int, param_index: int)

              flowchart TD
              mavlink.definition.MAVLink_param_value_message[MAVLink_param_value_message]
              mavlink.definition.MAVLink_message[MAVLink_message]

                              mavlink.definition.MAVLink_message --> mavlink.definition.MAVLink_param_value_message
                


              click mavlink.definition.MAVLink_param_value_message href "" "mavlink.definition.MAVLink_param_value_message"
              click mavlink.definition.MAVLink_message href "" "mavlink.definition.MAVLink_message"
            

Emit the value of a onboard parameter. The inclusion of param_count and param_index in the message allows the recipient to keep track of received parameters and allows him to re-request missing parameters after a loss or timeout. The parameter microservice is documented at https://mavlink.io/en/services/parameter.html

Returned by:

• API References  definition  MAVLink  param_value_encode

Methods:

• __getitem__ –

  support indexing, allowing for multi-instance sensors in one message

• format_attr –

  override field getter

Source code in src/mavlink/definition.py

def __init__(self, param_id: bytes, param_value: float, param_type: int, param_count: int, param_index: int):
    MAVLink_message.__init__(self, MAVLink_param_value_message.id, MAVLink_param_value_message.msgname)
    self._fieldnames = MAVLink_param_value_message.fieldnames
    self._instance_field = MAVLink_param_value_message.instance_field
    self._instance_offset = MAVLink_param_value_message.instance_offset
    self._param_id_raw = param_id
    self.param_id = param_id.split(b"\x00", 1)[0].decode("ascii", errors="replace")
    self.param_value = param_value
    self.param_type = param_type
    self.param_count = param_count
    self.param_index = param_index

__getitem__

__getitem__(key: str) -> str

support indexing, allowing for multi-instance sensors in one message

Source code in src/mavlink/definition.py

def __getitem__(self, key: str) -> str:
    """support indexing, allowing for multi-instance sensors in one message"""
    if self._instances is None:
        raise IndexError()
    if key not in self._instances:
        raise IndexError()
    return self._instances[key]

format_attr

format_attr(field: str) -> Union[str, float, int]

override field getter

Source code in src/mavlink/definition.py

def format_attr(self, field: str) -> Union[str, float, int]:
    """override field getter"""
    raw_attr: Union[bytes, float, int] = getattr(self, field)
    if isinstance(raw_attr, bytes):
        return raw_attr.decode(errors="backslashreplace").rstrip("\x00")
    return raw_attr

MAVLink_pilot_power_message

MAVLink_pilot_power_message(power: float, cadence: float)

              flowchart TD
              mavlink.definition.MAVLink_pilot_power_message[MAVLink_pilot_power_message]
              mavlink.definition.MAVLink_message[MAVLink_message]

                              mavlink.definition.MAVLink_message --> mavlink.definition.MAVLink_pilot_power_message
                


              click mavlink.definition.MAVLink_pilot_power_message href "" "mavlink.definition.MAVLink_pilot_power_message"
              click mavlink.definition.MAVLink_message href "" "mavlink.definition.MAVLink_message"
            

Output status of the pilot power.

Returned by:

• API References  definition  MAVLink  pilot_power_encode

Methods:

• __getitem__ –

  support indexing, allowing for multi-instance sensors in one message

• format_attr –

  override field getter

Source code in src/mavlink/definition.py

def __init__(self, power: float, cadence: float):
    MAVLink_message.__init__(self, MAVLink_pilot_power_message.id, MAVLink_pilot_power_message.msgname)
    self._fieldnames = MAVLink_pilot_power_message.fieldnames
    self._instance_field = MAVLink_pilot_power_message.instance_field
    self._instance_offset = MAVLink_pilot_power_message.instance_offset
    self.power = power
    self.cadence = cadence

__getitem__

__getitem__(key: str) -> str

support indexing, allowing for multi-instance sensors in one message

Source code in src/mavlink/definition.py

def __getitem__(self, key: str) -> str:
    """support indexing, allowing for multi-instance sensors in one message"""
    if self._instances is None:
        raise IndexError()
    if key not in self._instances:
        raise IndexError()
    return self._instances[key]

format_attr

format_attr(field: str) -> Union[str, float, int]

override field getter

Source code in src/mavlink/definition.py

def format_attr(self, field: str) -> Union[str, float, int]:
    """override field getter"""
    raw_attr: Union[bytes, float, int] = getattr(self, field)
    if isinstance(raw_attr, bytes):
        return raw_attr.decode(errors="backslashreplace").rstrip("\x00")
    return raw_attr

MAVLink_position_target_global_int_message

MAVLink_position_target_global_int_message(time_boot_ms: int, coordinate_frame: int, type_mask: int, lat_int: int, lon_int: int, alt: float, vx: float, vy: float, vz: float, afx: float, afy: float, afz: float, yaw: float, yaw_rate: float)

              flowchart TD
              mavlink.definition.MAVLink_position_target_global_int_message[MAVLink_position_target_global_int_message]
              mavlink.definition.MAVLink_message[MAVLink_message]

                              mavlink.definition.MAVLink_message --> mavlink.definition.MAVLink_position_target_global_int_message
                


              click mavlink.definition.MAVLink_position_target_global_int_message href "" "mavlink.definition.MAVLink_position_target_global_int_message"
              click mavlink.definition.MAVLink_message href "" "mavlink.definition.MAVLink_message"
            

Reports the current commanded vehicle position, velocity, and acceleration as specified by the autopilot. This should match the commands sent in SET_POSITION_TARGET_GLOBAL_INT if the vehicle is being controlled this way.

Returned by:

• API References  definition  MAVLink  position_target_global_int_encode

Methods:

• __getitem__ –

  support indexing, allowing for multi-instance sensors in one message

• format_attr –

  override field getter

Source code in src/mavlink/definition.py

def __init__(self, time_boot_ms: int, coordinate_frame: int, type_mask: int, lat_int: int, lon_int: int, alt: float, vx: float, vy: float, vz: float, afx: float, afy: float, afz: float, yaw: float, yaw_rate: float):
    MAVLink_message.__init__(self, MAVLink_position_target_global_int_message.id, MAVLink_position_target_global_int_message.msgname)
    self._fieldnames = MAVLink_position_target_global_int_message.fieldnames
    self._instance_field = MAVLink_position_target_global_int_message.instance_field
    self._instance_offset = MAVLink_position_target_global_int_message.instance_offset
    self.time_boot_ms = time_boot_ms
    self.coordinate_frame = coordinate_frame
    self.type_mask = type_mask
    self.lat_int = lat_int
    self.lon_int = lon_int
    self.alt = alt
    self.vx = vx
    self.vy = vy
    self.vz = vz
    self.afx = afx
    self.afy = afy
    self.afz = afz
    self.yaw = yaw
    self.yaw_rate = yaw_rate

__getitem__

__getitem__(key: str) -> str

support indexing, allowing for multi-instance sensors in one message

Source code in src/mavlink/definition.py

def __getitem__(self, key: str) -> str:
    """support indexing, allowing for multi-instance sensors in one message"""
    if self._instances is None:
        raise IndexError()
    if key not in self._instances:
        raise IndexError()
    return self._instances[key]

format_attr

format_attr(field: str) -> Union[str, float, int]

override field getter

Source code in src/mavlink/definition.py

def format_attr(self, field: str) -> Union[str, float, int]:
    """override field getter"""
    raw_attr: Union[bytes, float, int] = getattr(self, field)
    if isinstance(raw_attr, bytes):
        return raw_attr.decode(errors="backslashreplace").rstrip("\x00")
    return raw_attr

MAVLink_raw_rpm_message

MAVLink_raw_rpm_message(index: int, frequency: float)

              flowchart TD
              mavlink.definition.MAVLink_raw_rpm_message[MAVLink_raw_rpm_message]
              mavlink.definition.MAVLink_message[MAVLink_message]

                              mavlink.definition.MAVLink_message --> mavlink.definition.MAVLink_raw_rpm_message
                


              click mavlink.definition.MAVLink_raw_rpm_message href "" "mavlink.definition.MAVLink_raw_rpm_message"
              click mavlink.definition.MAVLink_message href "" "mavlink.definition.MAVLink_message"
            

RPM sensor data message.

Returned by:

• API References  definition  MAVLink  raw_rpm_encode

Methods:

• __getitem__ –

  support indexing, allowing for multi-instance sensors in one message

• format_attr –

  override field getter

Source code in src/mavlink/definition.py

def __init__(self, index: int, frequency: float):
    MAVLink_message.__init__(self, MAVLink_raw_rpm_message.id, MAVLink_raw_rpm_message.msgname)
    self._fieldnames = MAVLink_raw_rpm_message.fieldnames
    self._instance_field = MAVLink_raw_rpm_message.instance_field
    self._instance_offset = MAVLink_raw_rpm_message.instance_offset
    self.index = index
    self.frequency = frequency

__getitem__

__getitem__(key: str) -> str

support indexing, allowing for multi-instance sensors in one message

Source code in src/mavlink/definition.py

def __getitem__(self, key: str) -> str:
    """support indexing, allowing for multi-instance sensors in one message"""
    if self._instances is None:
        raise IndexError()
    if key not in self._instances:
        raise IndexError()
    return self._instances[key]

format_attr

format_attr(field: str) -> Union[str, float, int]

override field getter

Source code in src/mavlink/definition.py

def format_attr(self, field: str) -> Union[str, float, int]:
    """override field getter"""
    raw_attr: Union[bytes, float, int] = getattr(self, field)
    if isinstance(raw_attr, bytes):
        return raw_attr.decode(errors="backslashreplace").rstrip("\x00")
    return raw_attr

MAVLink_scaled_pressure_message

MAVLink_scaled_pressure_message(time_boot_ms: int, press_abs: float, press_diff: float, temperature: int, temperature_press_diff: int = 0)

              flowchart TD
              mavlink.definition.MAVLink_scaled_pressure_message[MAVLink_scaled_pressure_message]
              mavlink.definition.MAVLink_message[MAVLink_message]

                              mavlink.definition.MAVLink_message --> mavlink.definition.MAVLink_scaled_pressure_message
                


              click mavlink.definition.MAVLink_scaled_pressure_message href "" "mavlink.definition.MAVLink_scaled_pressure_message"
              click mavlink.definition.MAVLink_message href "" "mavlink.definition.MAVLink_message"
            

The pressure readings for the typical setup of one absolute and differential pressure sensor. The units are as specified in each field.

Returned by:

• API References  definition  MAVLink  scaled_pressure_encode

Methods:

• __getitem__ –

  support indexing, allowing for multi-instance sensors in one message

• format_attr –

  override field getter

Source code in src/mavlink/definition.py

def __init__(self, time_boot_ms: int, press_abs: float, press_diff: float, temperature: int, temperature_press_diff: int = 0):
    MAVLink_message.__init__(self, MAVLink_scaled_pressure_message.id, MAVLink_scaled_pressure_message.msgname)
    self._fieldnames = MAVLink_scaled_pressure_message.fieldnames
    self._instance_field = MAVLink_scaled_pressure_message.instance_field
    self._instance_offset = MAVLink_scaled_pressure_message.instance_offset
    self.time_boot_ms = time_boot_ms
    self.press_abs = press_abs
    self.press_diff = press_diff
    self.temperature = temperature
    self.temperature_press_diff = temperature_press_diff

__getitem__

__getitem__(key: str) -> str

support indexing, allowing for multi-instance sensors in one message

Source code in src/mavlink/definition.py

def __getitem__(self, key: str) -> str:
    """support indexing, allowing for multi-instance sensors in one message"""
    if self._instances is None:
        raise IndexError()
    if key not in self._instances:
        raise IndexError()
    return self._instances[key]

format_attr

format_attr(field: str) -> Union[str, float, int]

override field getter

Source code in src/mavlink/definition.py

def format_attr(self, field: str) -> Union[str, float, int]:
    """override field getter"""
    raw_attr: Union[bytes, float, int] = getattr(self, field)
    if isinstance(raw_attr, bytes):
        return raw_attr.decode(errors="backslashreplace").rstrip("\x00")
    return raw_attr

MAVLink_sys_status_message

MAVLink_sys_status_message(onboard_control_sensors_present: int, onboard_control_sensors_enabled: int, onboard_control_sensors_health: int, load: int, voltage_battery: int, current_battery: int, battery_remaining: int, drop_rate_comm: int, errors_comm: int, errors_count1: int, errors_count2: int, errors_count3: int, errors_count4: int, onboard_control_sensors_present_extended: int = 0, onboard_control_sensors_enabled_extended: int = 0, onboard_control_sensors_health_extended: int = 0)

              flowchart TD
              mavlink.definition.MAVLink_sys_status_message[MAVLink_sys_status_message]
              mavlink.definition.MAVLink_message[MAVLink_message]

                              mavlink.definition.MAVLink_message --> mavlink.definition.MAVLink_sys_status_message
                


              click mavlink.definition.MAVLink_sys_status_message href "" "mavlink.definition.MAVLink_sys_status_message"
              click mavlink.definition.MAVLink_message href "" "mavlink.definition.MAVLink_message"
            

Sensor and subsystem status information. Provides a compact representation of sensor/subsystem status and a few other basic statistics.

Returned by:

• API References  definition  MAVLink  sys_status_encode

Methods:

• __getitem__ –

  support indexing, allowing for multi-instance sensors in one message

• format_attr –

  override field getter

Source code in src/mavlink/definition.py

def __init__(self, onboard_control_sensors_present: int, onboard_control_sensors_enabled: int, onboard_control_sensors_health: int, load: int, voltage_battery: int, current_battery: int, battery_remaining: int, drop_rate_comm: int, errors_comm: int, errors_count1: int, errors_count2: int, errors_count3: int, errors_count4: int, onboard_control_sensors_present_extended: int = 0, onboard_control_sensors_enabled_extended: int = 0, onboard_control_sensors_health_extended: int = 0):
    MAVLink_message.__init__(self, MAVLink_sys_status_message.id, MAVLink_sys_status_message.msgname)
    self._fieldnames = MAVLink_sys_status_message.fieldnames
    self._instance_field = MAVLink_sys_status_message.instance_field
    self._instance_offset = MAVLink_sys_status_message.instance_offset
    self.onboard_control_sensors_present = onboard_control_sensors_present
    self.onboard_control_sensors_enabled = onboard_control_sensors_enabled
    self.onboard_control_sensors_health = onboard_control_sensors_health
    self.load = load
    self.voltage_battery = voltage_battery
    self.current_battery = current_battery
    self.battery_remaining = battery_remaining
    self.drop_rate_comm = drop_rate_comm
    self.errors_comm = errors_comm
    self.errors_count1 = errors_count1
    self.errors_count2 = errors_count2
    self.errors_count3 = errors_count3
    self.errors_count4 = errors_count4
    self.onboard_control_sensors_present_extended = onboard_control_sensors_present_extended
    self.onboard_control_sensors_enabled_extended = onboard_control_sensors_enabled_extended
    self.onboard_control_sensors_health_extended = onboard_control_sensors_health_extended

__getitem__

__getitem__(key: str) -> str

support indexing, allowing for multi-instance sensors in one message

Source code in src/mavlink/definition.py

def __getitem__(self, key: str) -> str:
    """support indexing, allowing for multi-instance sensors in one message"""
    if self._instances is None:
        raise IndexError()
    if key not in self._instances:
        raise IndexError()
    return self._instances[key]

format_attr

format_attr(field: str) -> Union[str, float, int]

override field getter

Source code in src/mavlink/definition.py

def format_attr(self, field: str) -> Union[str, float, int]:
    """override field getter"""
    raw_attr: Union[bytes, float, int] = getattr(self, field)
    if isinstance(raw_attr, bytes):
        return raw_attr.decode(errors="backslashreplace").rstrip("\x00")
    return raw_attr

MAVLink_system_time_message

MAVLink_system_time_message(time_unix_usec: int, time_boot_ms: int)

              flowchart TD
              mavlink.definition.MAVLink_system_time_message[MAVLink_system_time_message]
              mavlink.definition.MAVLink_message[MAVLink_message]

                              mavlink.definition.MAVLink_message --> mavlink.definition.MAVLink_system_time_message
                


              click mavlink.definition.MAVLink_system_time_message href "" "mavlink.definition.MAVLink_system_time_message"
              click mavlink.definition.MAVLink_message href "" "mavlink.definition.MAVLink_message"
            

The system time is the time of the sender's master clock. This can be emitted by flight controllers, onboard computers, or other components in the MAVLink network. Components that are using a less reliable time source, such as a battery-backed real time clock, can choose to match their system clock to that of a system that indicates a more recent time. This allows more broadly accurate date stamping of logs, and so on. If precise time synchronization is needed then use TIMESYNC instead.

Returned by:

• API References  definition  MAVLink  system_time_encode

Methods:

• __getitem__ –

  support indexing, allowing for multi-instance sensors in one message

• format_attr –

  override field getter

Source code in src/mavlink/definition.py

def __init__(self, time_unix_usec: int, time_boot_ms: int):
    MAVLink_message.__init__(self, MAVLink_system_time_message.id, MAVLink_system_time_message.msgname)
    self._fieldnames = MAVLink_system_time_message.fieldnames
    self._instance_field = MAVLink_system_time_message.instance_field
    self._instance_offset = MAVLink_system_time_message.instance_offset
    self.time_unix_usec = time_unix_usec
    self.time_boot_ms = time_boot_ms

__getitem__

__getitem__(key: str) -> str

support indexing, allowing for multi-instance sensors in one message

Source code in src/mavlink/definition.py

def __getitem__(self, key: str) -> str:
    """support indexing, allowing for multi-instance sensors in one message"""
    if self._instances is None:
        raise IndexError()
    if key not in self._instances:
        raise IndexError()
    return self._instances[key]

format_attr

format_attr(field: str) -> Union[str, float, int]

override field getter

Source code in src/mavlink/definition.py

def format_attr(self, field: str) -> Union[str, float, int]:
    """override field getter"""
    raw_attr: Union[bytes, float, int] = getattr(self, field)
    if isinstance(raw_attr, bytes):
        return raw_attr.decode(errors="backslashreplace").rstrip("\x00")
    return raw_attr

MAVLink_timesync_message

MAVLink_timesync_message(tc1: int, ts1: int, target_system: int = 0, target_component: int = 0)

              flowchart TD
              mavlink.definition.MAVLink_timesync_message[MAVLink_timesync_message]
              mavlink.definition.MAVLink_message[MAVLink_message]

                              mavlink.definition.MAVLink_message --> mavlink.definition.MAVLink_timesync_message
                


              click mavlink.definition.MAVLink_timesync_message href "" "mavlink.definition.MAVLink_timesync_message"
              click mavlink.definition.MAVLink_message href "" "mavlink.definition.MAVLink_message"
            

Time synchronization message. The message is used for both timesync requests and responses. The request is sent with ts1=syncing component timestamp and tc1=0, and may be broadcast or targeted to a specific system/component. The response is sent with ts1=syncing component timestamp (mirror back unchanged), and tc1=responding component timestamp, with the target_system and target_component set to ids of the original request. Systems can determine if they are receiving a request or response based on the value of tc. If the response has target_system==target_component==0 the remote system has not been updated to use the component IDs and cannot reliably timesync; the requester may report an error. Timestamps are UNIX Epoch time or time since system boot in nanoseconds (the timestamp format can be inferred by checking for the magnitude of the number; generally it doesn't matter as only the offset is used). The message sequence is repeated numerous times with results being filtered/averaged to estimate the offset. See also: https://mavlink.io/en/services/timesync.html.

Returned by:

• API References  definition  MAVLink  timesync_encode

Methods:

• __getitem__ –

  support indexing, allowing for multi-instance sensors in one message

• format_attr –

  override field getter

Source code in src/mavlink/definition.py

def __init__(self, tc1: int, ts1: int, target_system: int = 0, target_component: int = 0):
    MAVLink_message.__init__(self, MAVLink_timesync_message.id, MAVLink_timesync_message.msgname)
    self._fieldnames = MAVLink_timesync_message.fieldnames
    self._instance_field = MAVLink_timesync_message.instance_field
    self._instance_offset = MAVLink_timesync_message.instance_offset
    self.tc1 = tc1
    self.ts1 = ts1
    self.target_system = target_system
    self.target_component = target_component

__getitem__

__getitem__(key: str) -> str

support indexing, allowing for multi-instance sensors in one message

Source code in src/mavlink/definition.py

def __getitem__(self, key: str) -> str:
    """support indexing, allowing for multi-instance sensors in one message"""
    if self._instances is None:
        raise IndexError()
    if key not in self._instances:
        raise IndexError()
    return self._instances[key]

format_attr

format_attr(field: str) -> Union[str, float, int]

override field getter

Source code in src/mavlink/definition.py

def format_attr(self, field: str) -> Union[str, float, int]:
    """override field getter"""
    raw_attr: Union[bytes, float, int] = getattr(self, field)
    if isinstance(raw_attr, bytes):
        return raw_attr.decode(errors="backslashreplace").rstrip("\x00")
    return raw_attr

MAVLink_unknown

MAVLink_unknown(msgid: int, data: bytes)

              flowchart TD
              mavlink.definition.MAVLink_unknown[MAVLink_unknown]
              mavlink.definition.MAVLink_message[MAVLink_message]

                              mavlink.definition.MAVLink_message --> mavlink.definition.MAVLink_unknown
                


              click mavlink.definition.MAVLink_unknown href "" "mavlink.definition.MAVLink_unknown"
              click mavlink.definition.MAVLink_message href "" "mavlink.definition.MAVLink_message"
            

a message that we don't have in the XML used when built

Methods:

• __getitem__ –

  support indexing, allowing for multi-instance sensors in one message

• __str__ –

  Override the str function from MAVLink_messages because non-printable characters are common.

• format_attr –

  override field getter

Source code in src/mavlink/definition.py

def __init__(self, msgid: int, data: bytes) -> None:
    MAVLink_message.__init__(self, MAVLINK_MSG_ID_UNKNOWN, "UNKNOWN_%u" % msgid)
    self._fieldnames = ["data"]
    self.data = data
    self._msgbuf = bytearray(data)
    self._instance_field = None

__getitem__

__getitem__(key: str) -> str

support indexing, allowing for multi-instance sensors in one message

Source code in src/mavlink/definition.py

def __getitem__(self, key: str) -> str:
    """support indexing, allowing for multi-instance sensors in one message"""
    if self._instances is None:
        raise IndexError()
    if key not in self._instances:
        raise IndexError()
    return self._instances[key]

__str__

__str__() -> str

Override the str function from MAVLink_messages because non-printable characters are common.

Source code in src/mavlink/definition.py

def __str__(self) -> str:
    """Override the __str__ function from MAVLink_messages because non-printable characters are common."""
    hexstr = ["{:x}".format(i) for i in self.data]
    return "%s {data:%s}" % (self._type, hexstr)

format_attr

format_attr(field: str) -> Union[str, float, int]

override field getter

Source code in src/mavlink/definition.py

def format_attr(self, field: str) -> Union[str, float, int]:
    """override field getter"""
    raw_attr: Union[bytes, float, int] = getattr(self, field)
    if isinstance(raw_attr, bytes):
        return raw_attr.decode(errors="backslashreplace").rstrip("\x00")
    return raw_attr

mavlink_msg_deprecated_name_property

              flowchart TD
              mavlink.definition.mavlink_msg_deprecated_name_property[mavlink_msg_deprecated_name_property]

              

              click mavlink.definition.mavlink_msg_deprecated_name_property href "" "mavlink.definition.mavlink_msg_deprecated_name_property"
            

This handles the class variable name change from name to msgname for subclasses of MAVLink_message during a transition period.

This is used by setting the class variable to mavlink_msg_deprecated_name_property().