MAVLINKHUD

MAVLink Message Reference

Deep technical analysis of MAVLink implementation within the ArduPilot codebase.

Supported (Bidirectional)

SYSTEM

SYSTEM #111
TIMESYNC
SYSTEM #125
POWER_STATUS
SYSTEM #126
SERIAL_CONTROL
SYSTEM #148
AUTOPILOT_VERSION
SYSTEM #152
MEMINFO
SYSTEM #165
HWSTATUS
SYSTEM #244
MESSAGE_INTERVAL
SYSTEM #251
NAMED_VALUE_FLOAT
SYSTEM #253
STATUSTEXT
SYSTEM #11000
DEVICE_OP_READ
SYSTEM #11001
DEVICE_OP_READ_REPLY
SYSTEM #11002
DEVICE_OP_WRITE
SYSTEM #11003
DEVICE_OP_WRITE_REPLY
SYSTEM #11004
SECURE_COMMAND
SYSTEM #11005
SECURE_COMMAND_REPLY
SYSTEM #11033
OSD_PARAM_CONFIG
SYSTEM #11034
OSD_PARAM_CONFIG_REPLY
SYSTEM #11035
OSD_PARAM_SHOW_CONFIG
SYSTEM #11036
OSD_PARAM_SHOW_CONFIG_REPLY
SYSTEM #11039
MCU_STATUS

TELEMETRY

TELEMETRY #30
ATTITUDE
TELEMETRY #31
ATTITUDE_QUATERNION
TELEMETRY #32
LOCAL_POSITION_NED
TELEMETRY #33
GLOBAL_POSITION_INT
TELEMETRY #74
VFR_HUD
TELEMETRY #147
BATTERY_STATUS
TELEMETRY #163
AHRS
TELEMETRY #225
EFI_STATUS
TELEMETRY #242
HOME_POSITION
TELEMETRY #301
AIS_VESSEL
TELEMETRY #373
GENERATOR_STATUS
TELEMETRY #376
RELAY_STATUS
TELEMETRY #11020
AOA_SSA
TELEMETRY #11030
ESC_TELEMETRY_1_TO_4
TELEMETRY #11031
ESC_TELEMETRY_5_TO_8
TELEMETRY #11032
ESC_TELEMETRY_9_TO_12
TELEMETRY #11040
ESC_TELEMETRY_13_TO_16
TELEMETRY #11041
ESC_TELEMETRY_17_TO_20
TELEMETRY #11042
ESC_TELEMETRY_21_TO_24
TELEMETRY #11043
ESC_TELEMETRY_25_TO_28
TELEMETRY #11044
ESC_TELEMETRY_29_TO_32

SENSORS

SENSORS #24
GPS_RAW_INT
SENSORS #26
SCALED_IMU
SENSORS #27
RAW_IMU
SENSORS #29
SCALED_PRESSURE
SENSORS #100
OPTICAL_FLOW
SENSORS #101
GLOBAL_VISION_POSITION_ESTIMATE
SENSORS #102
VISION_POSITION_ESTIMATE
SENSORS #103
VISION_SPEED_ESTIMATE
SENSORS #104
VICON_POSITION_ESTIMATE
SENSORS #105
HIGHRES_IMU
SENSORS #116
SCALED_IMU2
SENSORS #124
GPS2_RAW
SENSORS #127
GPS_RTK
SENSORS #128
GPS2_RTK
SENSORS #129
SCALED_IMU3
SENSORS #132
DISTANCE_SENSOR
SENSORS #137
SCALED_PRESSURE2
SENSORS #138
ATT_POS_MOCAP
SENSORS #143
SCALED_PRESSURE3
SENSORS #153
AP_ADC
SENSORS #241
VIBRATION
SENSORS #246
ADSB_VEHICLE
SENSORS #9000
WHEEL_DISTANCE
SENSORS #11038
WATER_DEPTH
SENSORS #12920
HYGROMETER_SENSOR

CONTROL

CONTROL #35
RC_CHANNELS_RAW
CONTROL #36
SERVO_OUTPUT_RAW
CONTROL #62
NAV_CONTROLLER_OUTPUT
CONTROL #65
RC_CHANNELS
CONTROL #70
RC_CHANNELS_OVERRIDE
CONTROL #76
COMMAND_LONG
CONTROL #77
COMMAND_ACK
CONTROL #83
ATTITUDE_TARGET

MISSION

MISSION #39
MISSION_ITEM
MISSION #41
MISSION_SET_CURRENT
MISSION #42
MISSION_CURRENT
MISSION #43
MISSION_REQUEST_LIST
MISSION #44
MISSION_COUNT
MISSION #45
MISSION_CLEAR_ALL
MISSION #46
MISSION_ITEM_REACHED
MISSION #47
MISSION_ACK
MISSION #73
MISSION_ITEM_INT
MISSION #133
TERRAIN_REQUEST
MISSION #135
TERRAIN_CHECK
MISSION #136
TERRAIN_REPORT
MISSION #162
FENCE_STATUS
MISSION #175
RALLY_POINT

PAYLOAD

PAYLOAD #259
CAMERA_INFORMATION
PAYLOAD #260
CAMERA_SETTINGS
PAYLOAD #262
CAMERA_CAPTURE_STATUS
PAYLOAD #269
VIDEO_STREAM_INFORMATION
PAYLOAD #271
CAMERA_FOV_STATUS
PAYLOAD #277
CAMERA_THERMAL_RANGE
PAYLOAD #280
GIMBAL_MANAGER_INFORMATION
PAYLOAD #281
GIMBAL_MANAGER_STATUS
PAYLOAD #282
GIMBAL_MANAGER_SET_ATTITUDE
PAYLOAD #284
GIMBAL_DEVICE_SET_ATTITUDE
PAYLOAD #285
GIMBAL_DEVICE_ATTITUDE_STATUS
PAYLOAD #286
AUTOPILOT_STATE_FOR_GIMBAL_DEVICE
PAYLOAD #287
GIMBAL_MANAGER_SET_PITCHYAW
PAYLOAD #9005
WINCH_STATUS

CAN-BUS

CAN-BUS #386
CAN_FRAME
CAN-BUS #387
CANFD_FRAME
CAN-BUS #388
CAN_FILTER_MODIFY

LOGGING

LOGGING #110
FILE_TRANSFER_PROTOCOL

PARAMETERS

PARAMETERS #20
PARAM_REQUEST_READ
PARAMETERS #21
PARAM_REQUEST_LIST
PARAMETERS #22
PARAM_VALUE
PARAMETERS #23
PARAM_SET

REMOTE-ID

REMOTE-ID #12900
OPEN_DRONE_ID_BASIC_ID
REMOTE-ID #12901
OPEN_DRONE_ID_LOCATION
REMOTE-ID #12902
OPEN_DRONE_ID_AUTHENTICATION
REMOTE-ID #12903
OPEN_DRONE_ID_SELF_ID
REMOTE-ID #12904
OPEN_DRONE_ID_SYSTEM
REMOTE-ID #12905
OPEN_DRONE_ID_OPERATOR_ID
REMOTE-ID #12915
OPEN_DRONE_ID_MESSAGE_PACK
REMOTE-ID #12918
OPEN_DRONE_ID_ARM_STATUS
REMOTE-ID #12919
OPEN_DRONE_ID_SYSTEM_UPDATE

SIMULATION

SIMULATION #164
SIMSTATE

Receive Only

SYSTEM

SYSTEM #183
AUTOPILOT_VERSION_REQUEST
SYSTEM #252
NAMED_VALUE_INT
SYSTEM #256
SETUP_SIGNING

TELEMETRY

TELEMETRY #109
RADIO_STATUS
TELEMETRY #166
RADIO
TELEMETRY #172
DATA96
TELEMETRY #186
LED_CONTROL
TELEMETRY #258
PLAY_TUNE

SENSORS

SENSORS #123
GPS_INJECT_DATA
SENSORS #149
LANDING_TARGET
SENSORS #232
GPS_INPUT
SENSORS #233
GPS_RTCM_DATA
SENSORS #330
OBSTACLE_DISTANCE
SENSORS #331
ODOMETRY
SENSORS #11011
VISION_POSITION_DELTA
SENSORS #11037
OBSTACLE_DISTANCE_3D

CONTROL

CONTROL #48
SET_GPS_GLOBAL_ORIGIN
CONTROL #66
REQUEST_DATA_STREAM
CONTROL #69
MANUAL_CONTROL
CONTROL #75
COMMAND_INT
CONTROL #82
SET_ATTITUDE_TARGET
CONTROL #84
SET_POSITION_TARGET_LOCAL_NED
CONTROL #86
SET_POSITION_TARGET_GLOBAL_INT
CONTROL #144
FOLLOW_TARGET

MISSION

MISSION #38
MISSION_WRITE_PARTIAL_LIST
MISSION #40
MISSION_REQUEST
MISSION #51
MISSION_REQUEST_INT
MISSION #134
TERRAIN_DATA
MISSION #176
RALLY_FETCH_POINT

PAYLOAD

PAYLOAD #155
DIGICAM_CONTROL
PAYLOAD #200
GIMBAL_REPORT
PAYLOAD #215
GOPRO_HEARTBEAT
PAYLOAD #283
GIMBAL_DEVICE_INFORMATION

LOGGING

LOGGING #117
LOG_REQUEST_LIST
LOGGING #119
LOG_REQUEST_DATA
LOGGING #121
LOG_ERASE
LOGGING #122
LOG_REQUEST_END
LOGGING #185
REMOTE_LOG_BLOCK_STATUS

Transmit Only

TELEMETRY

TELEMETRY #169
DATA16
TELEMETRY #178
AHRS2
TELEMETRY #181
BATTERY2
TELEMETRY #191
MAG_CAL_PROGRESS
TELEMETRY #192
MAG_CAL_REPORT
TELEMETRY #193
EKF_STATUS_REPORT
TELEMETRY #194
PID_TUNING
TELEMETRY #195
DEEPSTALL
TELEMETRY #235
HIGH_LATENCY2
TELEMETRY #245
EXTENDED_SYS_STATE

SENSORS

SENSORS #49
GPS_GLOBAL_ORIGIN
SENSORS #168
WIND
SENSORS #173
RANGEFINDER
SENSORS #174
AIRSPEED_AUTOCAL
SENSORS #177
COMPASSMOT_STATUS
SENSORS #226
RPM
SENSORS #247
COLLISION

CONTROL

CONTROL #34
RC_CHANNELS_SCALED
CONTROL #85
POSITION_TARGET_LOCAL_NED
CONTROL #87
POSITION_TARGET_GLOBAL_INT
CONTROL #257
BUTTON_CHANGE

PAYLOAD

PAYLOAD #180
CAMERA_FEEDBACK
PAYLOAD #201
GIMBAL_CONTROL

LOGGING

LOGGING #118
LOG_ENTRY
LOGGING #120
LOG_DATA
LOGGING #184
REMOTE_LOG_DATA_BLOCK

SIMULATION

SIMULATION #108
SIM_STATE

Unsupported

SYSTEM

SYSTEM #142
RESOURCE_REQUEST
SYSTEM #167
LIMITS_STATUS
SYSTEM #249
MEMORY_VECT
SYSTEM #250
DEBUG_VECT
SYSTEM #254
DEBUG
SYSTEM #300
PROTOCOL_VERSION
SYSTEM #350
DEBUG_FLOAT_ARRAY

TELEMETRY

TELEMETRY #61
ATTITUDE_QUATERNION_COV
TELEMETRY #63
GLOBAL_POSITION_INT_COV
TELEMETRY #64
LOCAL_POSITION_NED_COV
TELEMETRY #67
DATA_STREAM
TELEMETRY #89
LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET
TELEMETRY #141
ALTITUDE
TELEMETRY #146
CONTROL_SYSTEM_STATE
TELEMETRY #170
DATA32
TELEMETRY #171
DATA64
TELEMETRY #182
AHRS3
TELEMETRY #230
ESTIMATOR_STATUS
TELEMETRY #234
HIGH_LATENCY
TELEMETRY #248
V2_EXTENSION
TELEMETRY #264
FLIGHT_INFORMATION
TELEMETRY #299
WIFI_CONFIG_AP
TELEMETRY #335
ISBD_LINK_STATUS
TELEMETRY #340
UTM_GLOBAL_POSITION
TELEMETRY #370
SMART_BATTERY_INFO
TELEMETRY #385
TUNNEL
TELEMETRY #11010
ADAP_TUNING

SENSORS

SENSORS #25
GPS_STATUS
SENSORS #28
RAW_PRESSURE
SENSORS #106
OPTICAL_FLOW_RAD
SENSORS #125
GPS2_STATUS
SENSORS #150
SENSOR_OFFSETS
SENSORS #231
WIND_COV
SENSORS #339
RAW_RPM

CONTROL

CONTROL #81
MANUAL_SETPOINT
CONTROL #139
SET_ACTUATOR_CONTROL_TARGET
CONTROL #140
ACTUATOR_CONTROL_TARGET
CONTROL #151
SET_MAG_OFFSETS
CONTROL #243
SET_HOME_POSITION
CONTROL #375
ACTUATOR_OUTPUT_STATUS

MISSION

MISSION #37
MISSION_REQUEST_PARTIAL_LIST
MISSION #54
SAFETY_SET_ALLOWED_AREA
MISSION #55
SAFETY_ALLOWED_AREA
MISSION #332
TRAJECTORY_REPRESENTATION_WAYPOINTS
MISSION #333
TRAJECTORY_REPRESENTATION_BEZIER

PAYLOAD

PAYLOAD #112
CAMERA_TRIGGER
PAYLOAD #130
DATA_TRANSMISSION_HANDSHAKE
PAYLOAD #131
ENCAPSULATED_DATA
PAYLOAD #154
DIGICAM_CONFIGURE
PAYLOAD #156
MOUNT_CONFIGURE
PAYLOAD #157
MOUNT_CONTROL
PAYLOAD #179
CAMERA_STATUS
PAYLOAD #214
GIMBAL_TORQUE_CMD_REPORT
PAYLOAD #216
GOPRO_GET_REQUEST
PAYLOAD #217
GOPRO_GET_RESPONSE
PAYLOAD #218
GOPRO_SET_REQUEST
PAYLOAD #219
GOPRO_SET_RESPONSE
PAYLOAD #261
STORAGE_INFORMATION
PAYLOAD #263
CAMERA_IMAGE_CAPTURED
PAYLOAD #265
MOUNT_ORIENTATION
PAYLOAD #270
VIDEO_STREAM_STATUS
PAYLOAD #275
CAMERA_TRACKING_IMAGE_STATUS
PAYLOAD #276
CAMERA_TRACKING_GEO_STATUS
PAYLOAD #288
GIMBAL_MANAGER_SET_MANUAL_CONTROL

CAN-BUS

CAN-BUS #310
UAVCAN_NODE_STATUS
CAN-BUS #311
UAVCAN_NODE_INFO

LOGGING

LOGGING #266
LOGGING_DATA
LOGGING #267
LOGGING_DATA_ACKED
LOGGING #268
LOGGING_ACK

PARAMETERS

PARAMETERS #50
PARAM_MAP_RC
PARAMETERS #320
PARAM_EXT_REQUEST_READ
PARAMETERS #321
PARAM_EXT_REQUEST_LIST
PARAMETERS #322
PARAM_EXT_VALUE
PARAMETERS #323
PARAM_EXT_SET
PARAMETERS #324
PARAM_EXT_ACK

SIMULATION

SIMULATION #90
HIL_STATE
SIMULATION #91
HIL_CONTROLS
SIMULATION #92
HIL_RC_INPUTS_RAW
SIMULATION #93
HIL_ACTUATOR_CONTROLS
SIMULATION #107
HIL_SENSOR
SIMULATION #114
HIL_OPTICAL_FLOW
SIMULATION #115
HIL_STATE_QUATERNION

Offline Message Reference

Download the complete MAVLink Message Reference as a single, searchable PDF. Includes deep-dive analysis of ArduPilot implementation logic and data structures.

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