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
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
PARAMETERS
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
Receive Only
TELEMETRY
SENSORS
CONTROL
MISSION
PAYLOAD
LOGGING
Transmit Only
TELEMETRY
SENSORS
CONTROL
SIMULATION
Unsupported
SYSTEM
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
CONTROL
MISSION
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
PARAMETERS
SIMULATION
Offline Message Reference
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