package mavsdk.rpc.telemetry
Get desktop application:
View/edit binary Protocol Buffers messages
Allow users to get vehicle telemetry and state information (e.g. battery, GPS, RC connection, flight mode etc.) and set telemetry update rates. Certain Telemetry Topics such as, Position or Velocity_Ned require GPS Fix before data gets published.
Get the GPS location of where the estimator has been initialized.
message
telemetry.proto:474(message has no fields)
message
telemetry.proto:475optional telemetry_result = 1
optional gps_global_origin = 2
Set rate to 'actuator control target' updates.
message
telemetry.proto:397double rate_hz = 1
The requested rate (in Hertz)
message
telemetry.proto:400optional telemetry_result = 1
Set rate to 'actuator output status' updates.
message
telemetry.proto:404double rate_hz = 1
The requested rate (in Hertz)
message
telemetry.proto:407optional telemetry_result = 1
rpc SetRateAltitude (, )
telemetry.proto:131Set rate to 'Altitude' updates.
message
telemetry.proto:480double rate_hz = 1
The requested rate (in Hertz)
message
telemetry.proto:483optional telemetry_result = 1
Set rate to 'attitude quaternion' updates.
message
telemetry.proto:341double rate_hz = 1
The requested rate (in Hertz)
message
telemetry.proto:344optional telemetry_result = 1
Set rate to 'attitude euler angle' updates.
message
telemetry.proto:348double rate_hz = 1
The requested rate (in Hertz)
message
telemetry.proto:351optional telemetry_result = 1
rpc SetRateBattery (, )
telemetry.proto:105Set rate to 'battery' updates.
message
telemetry.proto:383double rate_hz = 1
The requested rate (in Hertz)
message
telemetry.proto:386optional telemetry_result = 1
Set rate to 'Distance Sensor' updates.
message
telemetry.proto:467double rate_hz = 1
The requested rate (in Hertz)
message
telemetry.proto:470optional telemetry_result = 1
Set rate to 'fixedwing metrics' updates.
message
telemetry.proto:432double rate_hz = 1
The requested rate (in Hertz)
message
telemetry.proto:435optional telemetry_result = 1
rpc SetRateGpsInfo (, )
telemetry.proto:101Set rate to 'GPS info' updates.
message
telemetry.proto:369double rate_hz = 1
The requested rate (in Hertz)
message
telemetry.proto:372optional telemetry_result = 1
Set rate to 'ground truth' updates.
message
telemetry.proto:425double rate_hz = 1
The requested rate (in Hertz)
message
telemetry.proto:428optional telemetry_result = 1
rpc SetRateHealth (, )
telemetry.proto:133Set rate to 'Health' updates.
message
telemetry.proto:487double rate_hz = 1
The requested rate (in Hertz)
message
telemetry.proto:490optional telemetry_result = 1
rpc SetRateHome (, )
telemetry.proto:86Set rate to 'home position' updates.
message
telemetry.proto:313double rate_hz = 1
The requested rate (in Hertz)
message
telemetry.proto:316optional telemetry_result = 1
rpc SetRateImu (, )
telemetry.proto:121Set rate to 'IMU' updates.
message
telemetry.proto:439double rate_hz = 1
The requested rate (in Hertz)
message
telemetry.proto:442optional telemetry_result = 1
rpc SetRateInAir (, )
telemetry.proto:88Set rate to in-air updates.
message
telemetry.proto:320double rate_hz = 1
The requested rate (in Hertz)
message
telemetry.proto:323optional telemetry_result = 1
rpc SetRateLandedState (, )
telemetry.proto:90Set rate to landed state updates
message
telemetry.proto:327double rate_hz = 1
The requested rate (in Hertz)
message
telemetry.proto:330optional telemetry_result = 1
rpc SetRateOdometry (, )
telemetry.proto:113Set rate to 'odometry' updates.
message
telemetry.proto:411double rate_hz = 1
The requested rate (in Hertz)
message
telemetry.proto:414optional telemetry_result = 1
rpc SetRatePosition (, )
telemetry.proto:84Set rate to 'position' updates.
message
telemetry.proto:306double rate_hz = 1
The requested rate (in Hertz)
message
telemetry.proto:309optional telemetry_result = 1
Set rate to 'position velocity' updates.
message
telemetry.proto:418double rate_hz = 1
The requested rate (in Hertz)
message
telemetry.proto:421optional telemetry_result = 1
rpc SetRateRawGps (, )
telemetry.proto:103Set rate to 'Raw GPS' updates.
message
telemetry.proto:376double rate_hz = 1
The requested rate (in Hertz)
message
telemetry.proto:379optional telemetry_result = 1
rpc SetRateRawImu (, )
telemetry.proto:125Set rate to 'Raw IMU' updates.
message
telemetry.proto:453double rate_hz = 1
The requested rate (in Hertz)
message
telemetry.proto:456optional telemetry_result = 1
rpc SetRateRcStatus (, )
telemetry.proto:107Set rate to 'RC status' updates.
message
telemetry.proto:390double rate_hz = 1
The requested rate (in Hertz)
message
telemetry.proto:393optional telemetry_result = 1
rpc SetRateScaledImu (, )
telemetry.proto:123Set rate to 'Scaled IMU' updates.
message
telemetry.proto:446double rate_hz = 1
The requested rate (in Hertz)
message
telemetry.proto:449optional telemetry_result = 1
Set rate to 'unix epoch time' updates.
message
telemetry.proto:460double rate_hz = 1
The requested rate (in Hertz)
message
telemetry.proto:463optional telemetry_result = 1
rpc SetRateVelocityNed (, )
telemetry.proto:99Set rate of camera attitude updates. Set rate to 'ground speed' updates (NED).
message
telemetry.proto:362double rate_hz = 1
The requested rate (in Hertz)
message
telemetry.proto:365optional telemetry_result = 1
rpc SetRateVtolState (, )
telemetry.proto:92Set rate to VTOL state updates
message
telemetry.proto:334double rate_hz = 1
The requested rate (in Hertz)
message
telemetry.proto:337optional telemetry_result = 1
rpc SubscribeActuatorControlTarget (, stream )
telemetry.proto:51Subscribe to 'actuator control target' updates.
message
telemetry.proto:226(message has no fields)
message
telemetry.proto:227optional actuator_control_target = 1
The next actuator control target
rpc SubscribeActuatorOutputStatus (, stream )
telemetry.proto:53Subscribe to 'actuator output status' updates.
message
telemetry.proto:231(message has no fields)
message
telemetry.proto:232optional actuator_output_status = 1
The next actuator output status
rpc SubscribeAltitude (, stream )
telemetry.proto:79Subscribe to 'Altitude' updates.
message
telemetry.proto:296(message has no fields)
message
telemetry.proto:297optional altitude = 1
The next altitude
rpc SubscribeArmed (, stream )
telemetry.proto:25Subscribe to armed updates.
message
telemetry.proto:161(message has no fields)
message
telemetry.proto:162bool is_armed = 1
The next 'armed' state
rpc SubscribeAttitudeAngularVelocityBody (, stream )
telemetry.proto:33Subscribe to 'attitude' updates (angular velocity)
message
telemetry.proto:181(message has no fields)
message
telemetry.proto:182optional attitude_angular_velocity_body = 1
The next angular velocity (rad/s)
rpc SubscribeAttitudeEuler (, stream )
telemetry.proto:31Subscribe to 'attitude' updates (Euler).
message
telemetry.proto:176(message has no fields)
message
telemetry.proto:177optional attitude_euler = 1
The next attitude (Euler)
rpc SubscribeAttitudeQuaternion (, stream )
telemetry.proto:29Subscribe to 'attitude' updates (quaternion).
message
telemetry.proto:171(message has no fields)
message
telemetry.proto:172optional attitude_quaternion = 1
The next attitude (quaternion)
rpc SubscribeBattery (, stream )
telemetry.proto:41Subscribe to 'battery' updates.
message
telemetry.proto:201(message has no fields)
message
telemetry.proto:202optional battery = 1
The next 'battery' state
rpc SubscribeDistanceSensor (, stream )
telemetry.proto:73Subscribe to 'Distance Sensor' updates.
message
telemetry.proto:281(message has no fields)
message
telemetry.proto:282optional distance_sensor = 1
The next Distance Sensor status
rpc SubscribeFixedwingMetrics (, stream )
telemetry.proto:61Subscribe to 'fixedwing metrics' updates.
message
telemetry.proto:251(message has no fields)
message
telemetry.proto:252optional fixedwing_metrics = 1
The next fixedwing metrics
rpc SubscribeFlightMode (, stream )
telemetry.proto:43Subscribe to 'flight mode' updates.
message
telemetry.proto:206(message has no fields)
message
telemetry.proto:207FlightMode flight_mode = 1
The next flight mode
rpc SubscribeGpsInfo (, stream )
telemetry.proto:37Subscribe to 'GPS info' updates.
message
telemetry.proto:191(message has no fields)
message
telemetry.proto:192optional gps_info = 1
The next 'GPS info' state
rpc SubscribeGroundTruth (, stream )
telemetry.proto:59Subscribe to 'ground truth' updates.
message
telemetry.proto:246(message has no fields)
message
telemetry.proto:247optional ground_truth = 1
Ground truth position information available in simulation
rpc SubscribeHeading (, stream )
telemetry.proto:77Subscribe to 'Heading' updates.
message
telemetry.proto:291(message has no fields)
message
telemetry.proto:292optional heading_deg = 1
The next heading (yaw) in degrees
rpc SubscribeHealth (, stream )
telemetry.proto:45Subscribe to 'health' updates.
message
telemetry.proto:211(message has no fields)
message
telemetry.proto:212optional health = 1
The next 'health' state
rpc SubscribeHealthAllOk (, stream )
telemetry.proto:69Subscribe to 'HealthAllOk' updates.
message
telemetry.proto:271(message has no fields)
message
telemetry.proto:272bool is_health_all_ok = 1
The next 'health all ok' status
rpc SubscribeHome (, stream )
telemetry.proto:19Subscribe to 'home position' updates.
message
telemetry.proto:146(message has no fields)
message
telemetry.proto:147optional home = 1
The next home position
rpc SubscribeImu (, stream )
telemetry.proto:63Subscribe to 'IMU' updates (in SI units in NED body frame).
message
telemetry.proto:256(message has no fields)
message
telemetry.proto:257optional imu = 1
The next IMU status
rpc SubscribeInAir (, stream )
telemetry.proto:21Subscribe to in-air updates.
message
telemetry.proto:151(message has no fields)
message
telemetry.proto:152bool is_in_air = 1
The next 'in-air' state
rpc SubscribeLandedState (, stream )
telemetry.proto:23Subscribe to landed state updates
message
telemetry.proto:156(message has no fields)
message
telemetry.proto:157LandedState landed_state = 1
The next 'landed' state
rpc SubscribeOdometry (, stream )
telemetry.proto:55Subscribe to 'odometry' updates.
message
telemetry.proto:236(message has no fields)
message
telemetry.proto:237optional odometry = 1
The next odometry status
rpc SubscribePosition (, stream )
telemetry.proto:17Subscribe to 'position' updates.
message
telemetry.proto:141(message has no fields)
message
telemetry.proto:142optional position = 1
The next position
rpc SubscribePositionVelocityNed (, stream )
telemetry.proto:57Subscribe to 'position velocity' updates.
message
telemetry.proto:241(message has no fields)
message
telemetry.proto:242optional position_velocity_ned = 1
The next position and velocity status
rpc SubscribeRawGps (, stream )
telemetry.proto:39Subscribe to 'Raw GPS' updates.
message
telemetry.proto:196(message has no fields)
message
telemetry.proto:197optional raw_gps = 1
The next 'Raw GPS' state. Warning: this is an advanced feature, use `Position` updates to get the location of the drone!
rpc SubscribeRawImu (, stream )
telemetry.proto:67Subscribe to 'Raw IMU' updates (note that units are are incorrect and "raw" as provided by the sensor)
message
telemetry.proto:266(message has no fields)
message
telemetry.proto:267optional imu = 1
The next raw IMU status
rpc SubscribeRcStatus (, stream )
telemetry.proto:47Subscribe to 'RC status' updates.
message
telemetry.proto:216(message has no fields)
message
telemetry.proto:217optional rc_status = 1
The next RC status
rpc SubscribeScaledImu (, stream )
telemetry.proto:65Subscribe to 'Scaled IMU' updates.
message
telemetry.proto:261(message has no fields)
message
telemetry.proto:262optional imu = 1
The next scaled IMU status
rpc SubscribeScaledPressure (, stream )
telemetry.proto:75Subscribe to 'Scaled Pressure' updates.
message
telemetry.proto:286(message has no fields)
message
telemetry.proto:287optional scaled_pressure = 1
The next Scaled Pressure status
rpc SubscribeStatusText (, stream )
telemetry.proto:49Subscribe to 'status text' updates.
message
telemetry.proto:221(message has no fields)
message
telemetry.proto:222optional status_text = 1
The next 'status text'
rpc SubscribeUnixEpochTime (, stream )
telemetry.proto:71Subscribe to 'unix epoch time' updates.
message
telemetry.proto:276(message has no fields)
message
telemetry.proto:277uint64 time_us = 1
The next 'unix epoch time' status
rpc SubscribeVelocityNed (, stream )
telemetry.proto:35Subscribe to 'ground speed' updates (NED).
message
telemetry.proto:186(message has no fields)
message
telemetry.proto:187optional velocity_ned = 1
The next velocity (NED)
rpc SubscribeVtolState (, stream )
telemetry.proto:27subscribe to vtol state Updates
message
telemetry.proto:166(message has no fields)
message
telemetry.proto:167VtolState vtol_state = 1
The next 'vtol' state
rpc SubscribeWind (, stream )
telemetry.proto:81Subscribe to 'Wind Estimated' updates.
message
telemetry.proto:301(message has no fields)
message
telemetry.proto:302optional wind = 1
The next wind
message
telemetry.proto:822AccelerationFrd message type.
Used in:
float forward_m_s2 = 1
Acceleration in forward direction in metres per second^2
float right_m_s2 = 2
Acceleration in right direction in metres per second^2
float down_m_s2 = 3
Acceleration in down direction in metres per second^2
message
telemetry.proto:691Actuator control target type.
Used in:
int32 group = 1
An actuator control group is e.g. 'attitude' for the core flight controls, or 'gimbal' for a payload.
repeated float controls = 2
Controls normed from -1 to 1, where 0 is neutral position.
message
telemetry.proto:697Actuator output status type.
Used in:
uint32 active = 1
Active outputs
repeated float actuator = 2
Servo/motor output values
message
telemetry.proto:859Altitude message type
Used in:
float altitude_monotonic_m = 1
Altitude in meters is initialized on system boot and monotonic
float altitude_amsl_m = 2
Altitude AMSL (above mean sea level) in meters
float altitude_local_m = 3
Local altitude in meters
float altitude_relative_m = 4
Altitude above home position in meters
float altitude_terrain_m = 5
Altitude above terrain in meters
float bottom_clearance_m = 6
This is not the altitude, but the clear space below the system according to the fused clearance estimate in meters.
uint64 timestamp_us = 7
Timestamp in microseconds (since system boot)
message
telemetry.proto:562Angular velocity type.
Used in: ,
float roll_rad_s = 1
Roll angular velocity
float pitch_rad_s = 2
Pitch angular velocity
float yaw_rad_s = 3
Yaw angular velocity
message
telemetry.proto:829AngularVelocityFrd message type.
Used in:
float forward_rad_s = 1
Angular velocity in forward direction in radians per second
float right_rad_s = 2
Angular velocity in right direction in radians per second
float down_rad_s = 3
Angular velocity in Down direction in radians per second
message
telemetry.proto:619Battery type.
Used in:
uint32 id = 1
Battery ID, for systems with multiple batteries
float temperature_degc = 2
Temperature of the battery in degrees Celsius. NAN for unknown temperature
float voltage_v = 3
Voltage in volts
float current_battery_a = 4
Battery current in Amps, NAN if autopilot does not measure the current
float capacity_consumed_ah = 5
Consumed charge in Amp hours, NAN if autopilot does not provide consumption estimate
float remaining_percent = 6
Estimated battery remaining (range: 0 to 100)
float time_remaining_s = 7
Estimated battery usage time remaining
BatteryFunction battery_function = 8
Function of the battery
Battery function type.
Used in:
BATTERY_FUNCTION_UNKNOWN = 0
Battery function is unknown
BATTERY_FUNCTION_ALL = 1
Battery supports all flight systems
BATTERY_FUNCTION_PROPULSION = 2
Battery for the propulsion system
BATTERY_FUNCTION_AVIONICS = 3
Avionics battery
BATTERY_FUNCTION_PAYLOAD = 4
Payload battery
message
telemetry.proto:727Covariance type. Row-major representation of a 6x6 cross-covariance matrix upper right triangle. Set first to NaN if unknown.
Used in:
repeated float covariance_matrix = 1
Representation of a covariance matrix.
message
telemetry.proto:767DistanceSensor message type.
Used in:
float minimum_distance_m = 1
Minimum distance the sensor can measure, NaN if unknown.
float maximum_distance_m = 2
Maximum distance the sensor can measure, NaN if unknown.
float current_distance_m = 3
Current distance reading, NaN if unknown.
optional orientation = 4
Sensor Orientation reading.
message
telemetry.proto:554Euler angle type. All rotations and axis systems follow the right-hand rule. The Euler angles follow the convention of a 3-2-1 intrinsic Tait-Bryan rotation sequence. For more info see https://en.wikipedia.org/wiki/Euler_angles
Used in: ,
float roll_deg = 1
Roll angle in degrees, positive is banking to the right
float pitch_deg = 2
Pitch angle in degrees, positive is pitching nose up
float yaw_deg = 3
Yaw angle in degrees, positive is clock-wise seen from above
uint64 timestamp_us = 4
Timestamp in microseconds
GPS fix type.
Used in:
FIX_TYPE_NO_GPS = 0
No GPS connected
FIX_TYPE_NO_FIX = 1
No position information, GPS is connected
FIX_TYPE_FIX_2D = 2
2D position
FIX_TYPE_FIX_3D = 3
3D position
FIX_TYPE_FIX_DGPS = 4
DGPS/SBAS aided 3D position
FIX_TYPE_RTK_FLOAT = 5
RTK float, 3D position
FIX_TYPE_RTK_FIXED = 6
RTK Fixed, 3D position
message
telemetry.proto:812FixedwingMetrics message type.
Used in:
float airspeed_m_s = 1
Current indicated airspeed (IAS) in metres per second
float throttle_percentage = 2
Current throttle setting (0 to 100)
float climb_rate_m_s = 3
Current climb rate in metres per second
float groundspeed_m_s = 4
Current groundspeed metres per second
float heading_deg = 5
Current heading in compass units (0-360, 0=north)
float absolute_altitude_m = 6
Current altitude in metres (MSL)
Flight modes. For more information about flight modes, check out https://docs.px4.io/master/en/config/flight_mode.html.
Used in:
FLIGHT_MODE_UNKNOWN = 0
Mode not known
FLIGHT_MODE_READY = 1
Armed and ready to take off
FLIGHT_MODE_TAKEOFF = 2
Taking off
FLIGHT_MODE_HOLD = 3
Holding (hovering in place (or circling for fixed-wing vehicles)
FLIGHT_MODE_MISSION = 4
In mission
FLIGHT_MODE_RETURN_TO_LAUNCH = 5
Returning to launch position (then landing)
FLIGHT_MODE_LAND = 6
Landing
FLIGHT_MODE_OFFBOARD = 7
In 'offboard' mode
FLIGHT_MODE_FOLLOW_ME = 8
In 'follow-me' mode
FLIGHT_MODE_MANUAL = 9
In 'Manual' mode
FLIGHT_MODE_ALTCTL = 10
In 'Altitude Control' mode
FLIGHT_MODE_POSCTL = 11
In 'Position Control' mode
FLIGHT_MODE_ACRO = 12
In 'Acro' mode
FLIGHT_MODE_STABILIZED = 13
In 'Stabilize' mode
FLIGHT_MODE_RATTITUDE = 14
In 'Rattitude' mode
message
telemetry.proto:852Gps global origin type.
Used in:
double latitude_deg = 1
Latitude of the origin
double longitude_deg = 2
Longitude of the origin
float altitude_m = 3
Altitude AMSL (above mean sea level) in metres
message
telemetry.proto:569GPS information type.
Used in:
int32 num_satellites = 1
Number of visible satellites in use
FixType fix_type = 2
Fix type
message
telemetry.proto:804GroundTruth message type.
Used in:
double latitude_deg = 1
Latitude in degrees (range: -90 to +90)
double longitude_deg = 2
Longitude in degrees (range: -180 to 180)
float absolute_altitude_m = 3
Altitude AMSL (above mean sea level) in metres
uint64 timestamp_us = 4
Timestamp in microseconds (since system boot)
message
telemetry.proto:503Heading type used for global position
Used in:
double heading_deg = 1
Heading in degrees (range: 0 to +360)
message
telemetry.proto:655Health type.
Used in:
bool is_gyrometer_calibration_ok = 1
True if the gyrometer is calibrated
bool is_accelerometer_calibration_ok = 2
True if the accelerometer is calibrated
bool is_magnetometer_calibration_ok = 3
True if the magnetometer is calibrated
bool is_local_position_ok = 5
True if the local position estimate is good enough to fly in 'position control' mode
bool is_global_position_ok = 6
True if the global position estimate is good enough to fly in 'position control' mode
bool is_home_position_ok = 7
True if the home position has been initialized properly
bool is_armable = 8
True if system can be armed
message
telemetry.proto:531Home position type. Includes the global GPS position, local NED position, surface quaternion, and approach vector from the MAVLink HOME_POSITION message.
Used in:
uint64 timestamp_us = 1
Timestamp (UNIX Epoch or since system boot) in microseconds
double latitude_deg = 2
Latitude in degrees (range: -90 to +90)
double longitude_deg = 3
Longitude in degrees (range: -180 to +180)
float absolute_altitude_m = 4
Altitude AMSL (above mean sea level) in metres
float relative_altitude_m = 5
Altitude relative to takeoff altitude in metres
float local_north_m = 6
Local North position in NED frame (m)
float local_east_m = 7
Local East position in NED frame (m)
float local_down_m = 8
Local Down position in NED frame (m, positive down)
optional q = 9
Surface quaternion (world-to-surface-normal and heading)
float approach_north_m = 10
Local North position of the approach vector end in NED frame (m)
float approach_east_m = 11
Local East position of the approach vector end in NED frame (m)
float approach_down_m = 12
Local Down position of the approach vector end in NED frame (m)
message
telemetry.proto:843Imu message type.
Used in: , ,
optional acceleration_frd = 1
Acceleration
optional angular_velocity_frd = 2
Angular velocity
optional magnetic_field_frd = 3
Magnetic field
float temperature_degc = 4
Temperature
uint64 timestamp_us = 5
Timestamp in microseconds
Landed State enumeration.
Used in:
LANDED_STATE_UNKNOWN = 0
Landed state is unknown
LANDED_STATE_ON_GROUND = 1
The vehicle is on the ground
LANDED_STATE_IN_AIR = 2
The vehicle is in the air
LANDED_STATE_TAKING_OFF = 3
The vehicle is taking off
LANDED_STATE_LANDING = 4
The vehicle is landing
message
telemetry.proto:836MagneticFieldFrd message type.
Used in:
float forward_gauss = 1
Magnetic field in forward direction measured in Gauss
float right_gauss = 2
Magnetic field in East direction measured in Gauss
float down_gauss = 3
Magnetic field in Down direction measured in Gauss
message
telemetry.proto:746Odometry message type.
Used in:
uint64 time_usec = 1
Timestamp (0 to use Backend timestamp).
Odometry.MavFrame frame_id = 2
Coordinate frame of reference for the pose data.
Odometry.MavFrame child_frame_id = 3
Coordinate frame of reference for the velocity in free space (twist) data.
optional position_body = 4
Position.
optional q = 5
Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation).
optional velocity_body = 6
Linear velocity (m/s).
optional angular_velocity_body = 7
Angular velocity (rad/s).
optional pose_covariance = 8
Pose cross-covariance matrix.
optional velocity_covariance = 9
Velocity cross-covariance matrix.
Mavlink frame id
Used in:
MAV_FRAME_UNDEF = 0
Frame is undefined.
MAV_FRAME_BODY_NED = 8
Setpoint in body NED frame. This makes sense if all position control is externalized - e.g. useful to command 2 m/s^2 acceleration to the right.
MAV_FRAME_VISION_NED = 16
Odometry local coordinate frame of data given by a vision estimation system, Z-down (x: north, y: east, z: down).
MAV_FRAME_ESTIM_NED = 18
Odometry local coordinate frame of data given by an estimator running onboard the vehicle, Z-down (x: north, y: east, z: down).
message
telemetry.proto:495Position type in global coordinates.
Used in:
double latitude_deg = 1
Latitude in degrees (range: -90 to +90)
double longitude_deg = 2
Longitude in degrees (range: -180 to +180)
float absolute_altitude_m = 3
Altitude AMSL (above mean sea level) in metres
float relative_altitude_m = 4
Altitude relative to takeoff altitude in metres
message
telemetry.proto:739Position type, represented in the Body (X Y Z) frame
Used in:
float x_m = 1
X Position in metres.
float y_m = 2
Y Position in metres.
float z_m = 3
Z Position in metres.
message
telemetry.proto:784PositionNed message type.
Used in:
float north_m = 1
Position along north direction in metres
float east_m = 2
Position along east direction in metres
float down_m = 3
Position along down direction in metres
message
telemetry.proto:798PositionVelocityNed message type.
Used in:
optional position = 1
Position (NED)
optional velocity = 2
Velocity (NED)
message
telemetry.proto:517Quaternion type. All rotations and axis systems follow the right-hand rule. The Hamilton quaternion product definition is used. A zero-rotation quaternion is represented by (1,0,0,0). The quaternion could also be written as w + xi + yj + zk. For more info see: https://en.wikipedia.org/wiki/Quaternion
Used in: , ,
float w = 1
Quaternion entry 0, also denoted as a
float x = 2
Quaternion entry 1, also denoted as b
float y = 3
Quaternion entry 2, also denoted as c
float z = 4
Quaternion entry 3, also denoted as d
uint64 timestamp_us = 5
Timestamp in microseconds
message
telemetry.proto:580Raw GPS information type. Warning: this is an advanced type! If you want the location of the drone, use the position instead. This message exposes the raw values of the GNSS sensor.
Used in:
uint64 timestamp_us = 1
Timestamp in microseconds (UNIX Epoch time or time since system boot, to be inferred)
double latitude_deg = 2
Latitude in degrees (WGS84, EGM96 ellipsoid)
double longitude_deg = 3
Longitude in degrees (WGS84, EGM96 ellipsoid)
float absolute_altitude_m = 4
Altitude AMSL (above mean sea level) in metres
float hdop = 5
GPS HDOP horizontal dilution of position (unitless). If unknown, set to NaN
float vdop = 6
GPS VDOP vertical dilution of position (unitless). If unknown, set to NaN
float velocity_m_s = 7
Ground velocity in metres per second
float cog_deg = 8
Course over ground (NOT heading, but direction of movement) in degrees. If unknown, set to NaN
float altitude_ellipsoid_m = 9
Altitude in metres (above WGS84, EGM96 ellipsoid)
float horizontal_uncertainty_m = 10
Position uncertainty in metres
float vertical_uncertainty_m = 11
Altitude uncertainty in metres
float velocity_uncertainty_m_s = 12
Velocity uncertainty in metres per second
float heading_uncertainty_deg = 13
Heading uncertainty in degrees
float yaw_deg = 14
Yaw in earth frame from north.
message
telemetry.proto:666Remote control status type.
Used in:
bool was_available_once = 1
True if an RC signal has been available once
bool is_available = 2
True if the RC signal is available now
float signal_strength_percent = 3
Signal strength (range: 0 to 100, NaN if unknown)
message
telemetry.proto:775Scaled Pressure message type.
Used in:
uint64 timestamp_us = 1
Timestamp (time since system boot)
float absolute_pressure_hpa = 2
Absolute pressure in hPa
float differential_pressure_hpa = 3
Differential pressure 1 in hPa
float temperature_deg = 4
Absolute pressure temperature (in celsius)
float differential_pressure_temperature_deg = 5
Differential pressure temperature (in celsius, 0 if not available)
message
telemetry.proto:355double rate_hz = 1
The requested rate (in Hertz)
message
telemetry.proto:358optional telemetry_result = 1
message
telemetry.proto:685StatusText information type.
Used in:
StatusTextType type = 1
Message type
string text = 2
MAVLink status message
Status types.
Used in:
STATUS_TEXT_TYPE_DEBUG = 0
Debug
STATUS_TEXT_TYPE_INFO = 1
Information
STATUS_TEXT_TYPE_NOTICE = 2
Notice
STATUS_TEXT_TYPE_WARNING = 3
Warning
STATUS_TEXT_TYPE_ERROR = 4
Error
STATUS_TEXT_TYPE_CRITICAL = 5
Critical
STATUS_TEXT_TYPE_ALERT = 6
Alert
STATUS_TEXT_TYPE_EMERGENCY = 7
Emergency
message
telemetry.proto:882Result type.
Used in: , , , , , , , , , , , , , , , , , , , , , , , , , ,
TelemetryResult.Result result = 1
Result enum value
string result_str = 2
Human-readable English string describing the result
Possible results returned for telemetry requests.
Used in:
RESULT_UNKNOWN = 0
Unknown result
RESULT_SUCCESS = 1
Success: the telemetry command was accepted by the vehicle
RESULT_NO_SYSTEM = 2
No system connected
RESULT_CONNECTION_ERROR = 3
Connection error
RESULT_BUSY = 4
Vehicle is busy
RESULT_COMMAND_DENIED = 5
Command refused by vehicle
RESULT_TIMEOUT = 6
Request timed out
RESULT_UNSUPPORTED = 7
Request not supported
message
telemetry.proto:732Velocity type, represented in the Body (X Y Z) frame and in metres/second.
Used in:
float x_m_s = 1
Velocity in X in metres/second
float y_m_s = 2
Velocity in Y in metres/second
float z_m_s = 3
Velocity in Z in metres/second
message
telemetry.proto:791VelocityNed message type.
Used in: ,
float north_m_s = 1
Velocity along north direction in metres per second
float east_m_s = 2
Velocity along east direction in metres per second
float down_m_s = 3
Velocity along down direction in metres per second
VTOL State enumeration
Used in:
VTOL_STATE_UNDEFINED = 0
MAV is not configured as VTOL
VTOL_STATE_TRANSITION_TO_FW = 1
VTOL is in transition from multicopter to fixed-wing
VTOL_STATE_TRANSITION_TO_MC = 2
VTOL is in transition from fixed-wing to multicopter
VTOL_STATE_MC = 3
VTOL is in multicopter state
VTOL_STATE_FW = 4
VTOL is in fixed-wing state
message
telemetry.proto:870Wind message type
Used in:
float wind_x_ned_m_s = 1
Wind in North (NED) direction
float wind_y_ned_m_s = 2
Wind in East (NED) direction
float wind_z_ned_m_s = 3
Wind in down (NED) direction
float horizontal_variability_stddev_m_s = 4
Variability of wind in XY, 1-STD estimated from a 1 Hz lowpassed wind estimate
float vertical_variability_stddev_m_s = 5
Variability of wind in Z, 1-STD estimated from a 1 Hz lowpassed wind estimate
float wind_altitude_msl_m = 6
Altitude (MSL) that this measurement was taken at
float horizontal_wind_speed_accuracy_m_s = 7
Horizontal speed 1-STD accuracy
float vertical_wind_speed_accuracy_m_s = 8
Vertical speed 1-STD accuracy