common.xml 0 Drone airframe Quadrotor I4 Quadrotor X4 Quadrotor X4 reverse Hexarotor I6 Hexarotor X6 Three axis hexarotor YI6D Three axis hexarotor Y6D Hexarotor H6 Octorotor I8 Octorotor X8 Four axis octorotor, upper level X4, lower level reversed X4. Four axis octorotor, upper level clockwise, lower level anticlockwise Four axis octorotor, all rotors are opposite of 4X8M. Four axis octorotor, all rotors are opposite of 4X8M. Six axis twelve rotor, upper level I6, lower lever opposite with I6. Six axis twelve rotor, upper level X6, lower lever opposite with X6. Six axis twelve rotor, upper level H6, lower lever opposite with H6. 8 axis 16 rotor, upper level I8, lower lever opposite with I8 8 axis 16 rotor, upper level X8, lower lever opposite with X8 Fixedwing airframe user define compnent id, 0-all 1-autopilot Failsafe action Do nothing Hold position for rotor wing. Loiter for fixedwing. Return to lauch. Go to the nearest rally point. Landing in place. Terminate servo output and disarm the drone. Bitmap for ROI state Do nothing Do nothing Arm denied reason for VKFLY VKins magcalib stage Not in calibration. Calibrating X-Y level. Calibrating X-Z level. Calibrating successfully done. Calibrating failed. For SYS_STATUS sensor extend flag use. GPS2 RTK GPS Onboard SD card bitmap for SYS_STATUS error1 Gcs link lost. Battery voltage low. Servo output balance bad. Servo ouput fault. Autopilot system temperature too high. Autopilot system solved positioning not ready. Position out of fence range. Obv mavlink com link lost. Battery bms link lost. Battery bms link lost. Battery bms link lost. Battery bms link lost. Battery bms link lost. bitmap for SYS_STATUS error3 custom mode in HEARTBEAT Standby mode Attitude mode Poshold mode Auto takeoff. Auto loiter. Auto return. Auto fly to wp. Auto cruise. Guide to point. Land. Force land. Follow. Waypoint orbit Dynamic takeoff Dyn_Land Obavoid Offboard command control. Formation fly mode Fixedwing manul mode Fixedwing attitude mode Fixedwing cruise mode Fixedwing circle mode Fixedwing circle mode Fixedwing guide mode Fixedwing land mode Fixedwing return to launch mode Fixedwing GPS fail safe mode bitmap for VKins navigtion status INS status. 0 means no INS. 1 means INS ok. GPS altitude in data fusion. 0 gps altitude not used. 1 gps altitude used. RTK heading data. 0 use mag, 1 use rtk dual ant heading. RTK pos data. 0 no RTK, 1 RTK. Yaw control mode Yaw do not change. Keep current yaw. Yaw towards next waypoint or circle center. Yaw towards moving course heading. Yaw towards spacific value. Yaw towards home point. Yaw towards interest point. Yaw towards interest point. Yaw towards interest point. Digicam auto take photo mode. Do not take photo automatically. Do not take photo automatically. Automatically take photo by tiem. Automatically take photo by distance. Automatically take photo by input trigger signal or command. Automatically take photo by input trigger signal or command. Digicam auto take photo mode. Rtl mode not triggered. Trigger rtl mode by gcs command. Trigger rtl mode by remote controller command. Trigger rtl mode by gcs link lost. Trigger rtl mode by remote controller signal fail. Trigger rtl mode by remote controller signal lost. Trigger rtl mode by battery volt low. Trigger rtl mode by offboard command. Trigger rtl mode by altitude limit. Trigger rtl mode by out range of fence. Trigger rtl mode by battery manager system low capacity. Trigger rtl mode by battery manager link lost. Trigger rtl mode by servo fault. Trigger rtl mode by servo fault. Trigger rtl mode by servo fault. Trigger rtl mode by servo fault. Trigger rtl mode by attitude failsafe. Trigger rtl mode by transform time out. Trigger rtl mode by transform time out. Digicam action trigger on waypoint arrive. Do nothing. Do take photo. Do vedio recording on. Do vedio recording off. Gimbal action trigger on waypoint arrive. Do nothing. Do set gimbal pitch and yaw angle value. Do set gimbla pitch value, yaw follow drone head. Do set gimbla Zoom. bitmap of throwing channel throwing channel1 throwing channel2 throwing channel3 throwing channel4 throwing channel5 throwing channel6 throwing channel7 throwing channel8 throwing channel9 throwing channel10 throwing channel11 throwing channel12 throwing channel12 throwing channel12 throwing channel12 throwing channel12 throwing channel12 VKFLY custom CMD VKFLY custom takephoto waypoint commond. Yaw control mode Latitude Longitude Altitude VKFLY custom throwing waypoint command. Reserved. Yaw control mode. Latitude Longitude Altitude VLFLY Custom orbit waypoint Latitude Longitude Altitude VLFLY Custom orbit waypoint Latitude Longitude Altitude Formation fly assemble, disband or change formation 1 means assemble, 2 means quit, 3 means change formation can esc id configuration Set Esc id, min=1, max=16 Do reposition and throwing Throw servo id bitmap Do reposition and throwing Ground msl altitude Start mission start sequence of mission Return to launch position than land start sequence of mission Weigher config command NAN means invalid. Other positive value means the actual weight NAN means invalid. 1 means do factory reset. Check fixedwing servos. NAN means ignore.0 do all mid, 1 do roll mid, 2 do roll right, 3 do roll left, 4 do pitch mid, 5 do pitch up, 6 do pitch down, 7 do yaw mid, 8 do yaw right, 9 do yaw down. NAN means ignore. -1 throttle off, 0 throttle idle, 100 throttle full Set return circle point. NAN means use default circle radius. Positive value means circle in clockwise. NAN means ignore. 1 means do goto rtl circle point right now. Timestamp in ms from system boot. VKINS navigation status flag. vinks flag1 vinks flag2. vinks flag3. vinks flag4. vinks flag5. vinks flag6. vkins mag calib stage. vkins initial calibrated gravitation acceleration. raw longitude for data fusion raw latitidue for data fusion raw baromoter altitude for data fusion gps amsl altitude for data fusion satelites number for position satelites number for heading temperature Timestamp in ms from system boot. return to launch reason. Loiter reason fmu sflag3 ups voltage in 0.1V adc voltage in 0.1V flight time in seconds distance to target position in cm bitmap for servo state flight distance since this power up Timestamp in ms from system boot. wgs48 latitude wgs48 longitude altitude amsl, wgs48 Bitmap to indicate ROI state battery bms status message Timestamp in ms from system boot. BMS voltage in mV BMS current in cA, negative value means in charging BMS temperature in degC BMS remaining power in percentage BMS id, start from 0 BMS error code, 0 means no error BMS cell numbers BMS cell voltage in mV charge and discharge times battery healthiness in percentage formation fly leader status message Timestamp in ms from system boot. formation leader drone state bitmap formation leader latitude in 1e-7deg formation leader longitude in 1e-7deg formation leader msl altitude in meter formation leader east speed formation leader north speed formation leader up speed formation leader yaw formation type distance between drones in x axis distance between drones in y axis distance between drones in z axis columns number of rectangle formation engine ecu status message Timestamp in ms from system boot. rotational speed in rpm throttle position fuel position CylinderA head temperature CylinderB head temperature coolant head temperature engine index range extender alarm bitmap range extender output voltage range extender output voltage left time for service range extender output voltage range extender output current engine fault engine state engine index engine state vkfly gps version component id hardware version firmware version SN number manufactory model gnss configuration Mosaic_h gps raw data 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. GPS fix type. Number of satellites for positioning ANT refer to mosaic_h reference page 308 refer to mosaic_h reference page 308 Latitude (WGS84, EGM96 ellipsoid) Longitude (WGS84, EGM96 ellipsoid) Altitude (Ellipsoild). Positive for up. Ease speed in m/s. North speed in m/s. Up speed in m/s. Position uncertainty. Altitude uncertainty. Attitude euler yaw. Attitude euler pitch. Number of satellites for heading ANT refer to mosaic_h reference page 336. refer to mosaic_h reference page 336. reserved Mosaic_h gps raw data Index of the first ESC in this message. minValue = 0, maxValue = 60, increment = 4. Timestamp from system boot. Reported motor RPM from each ESC (negative for reverse rotation). Voltage measured from each ESC. Current measured from each ESC. Temperature measured from each ESC. Status data from each ESC. Mosaic_h gps raw data Timestamp from system boot. Roll control value, negative value means roll left. Pitch control value, negative value means pitch down. Throttle control value, negative value means throttle off Throttle control value, negative value means turn left Mosaic_h gps raw data Timestamp from system boot. Servo signal Latitude in wgs84 Longitude in wgs84 Relativ altitude Radius in m, NAN means use default radius. parachute status timestamp from system boot parachute state is auto launch enabled uav command from parachute parachute error code parachute backup voltage Weigher state timestamp from system boot weight in gram weight variant rate VK payload message relay payload address code reserve data field length in bytes data to relay VKFLY autopilot update firmware begin. This message send from GCS to autopilot. Target system id. Target compid id. Size of the firmware file in bytes. VKFLY udpate acknowledge. Update begin ack. VKFLY autopilot request update file data from GCS. Offset into the update file. Number of bytes. VKFLY transfer update file data. Offset into the update file. Number of bytes. Zero for end of file. File data. VKFLY transfer update terminate. Send this message to terminate a update file transfer. Target system id. Target compid id. VKFLY transfer update terminate. Send this message to terminate a update file transfer. Battery voltage. Servo current. Stack voltage. Servo voltage. Battery refuel current. Gas tank pressure. Pipe pressure. PCB temperature. Stack temperature.