common.xml 3 Track current version of these definitions (can be used by checking value of AUTOQUAD_MAVLINK_DEFS_VERSION_ENUM_END). Append a new entry for each published change. Available operating modes/statuses for AutoQuad flight controller. Bitmask up to 32 bits. Low side bits for base modes, high side for additional active features/modifiers/constraints. System is initializing System is *armed* and standing by, with no throttle input and no autonomous mode Flying (throttle input detected), assumed under manual control unless other mode bits are set Altitude hold engaged Position hold engaged Externally-guided (eg. GCS) navigation mode Autonomous mission execution mode Ready but *not armed* Calibration mode active No valid control input (eg. no radio link) Battery is low (stage 1 warning) Battery is depleted (stage 2 warning) Dynamic Velocity Hold is active (PH with proportional manual direction override) Dynamic Altitude Override is active (AH with proportional manual adjustment) Craft is at ceiling altitude Ceiling altitude is set Heading-Free dynamic mode active Heading-Free locked mode active Automatic Return to Home is active System is in failsafe recovery mode Orbit a waypoint. Orbit radius in meters Loiter time in decimal seconds Maximum horizontal speed in m/s Desired yaw angle at waypoint Latitude Longitude Altitude Start/stop AutoQuad telemetry values stream. Start or stop (1 or 0) Stream frequency in us Dataset ID (refer to aq_mavlink.h::mavlinkCustomDataSets enum in AQ flight controller code) Empty Empty Empty Empty Request AutoQuad firmware version number. Empty Empty Empty Empty Empty Empty Empty Motor/ESC telemetry data. Sends up to 20 raw float values. Index of message value1 value2 value3 value4 value5 value6 value7 value8 value9 value10 value11 value12 value13 value14 value15 value16 value17 value18 value19 value20 Sends ESC32 telemetry data for up to 4 motors. Multiple messages may be sent in sequence when system has > 4 motors. Data is described as follows: // unsigned int state : 3; // unsigned int vin : 12; // x 100 // unsigned int amps : 14; // x 100 // unsigned int rpm : 15; // unsigned int duty : 8; // x (255/100) // - Data Version 2 - // unsigned int errors : 9; // Bad detects error count // - Data Version 3 - // unsigned int temp : 9; // (Deg C + 32) * 4 // unsigned int errCode : 3; Timestamp of the component clock since boot time in ms. Sequence number of message (first set of 4 motors is #1, next 4 is #2, etc). Total number of active ESCs/motors on the system. Number of active ESCs in this sequence (1 through this many array members will be populated with data) ESC/Motor ID Age of each ESC telemetry reading in ms compared to boot time. A value of 0xFFFF means timeout/no data. Version of data structure (determines contents). Data bits 1-32 for each ESC. Data bits 33-64 for each ESC.