common.xml 0 Drone airframe Quadrotor I4 Quadrotor X4 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. 16 axis 8 rotor, upper level I8, lower lever opposite with I8 16 axis 8 rotor, upper level X8, lower lever opposite with X8 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. 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. bitmap for SYS_STATUS error1 bitmap for SYS_STATUS error3 custom mode in HEARTBEAT Attitude mode Poshold mode Auto takeoff. Auto loiter. Auto return. Auto cruise. Guide to point. Land. Force land. Follow. WP_Orbit Dyn_Takeoff Dyn_Land Obavoid Offboard command control. 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. 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 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. 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 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. fmu sflag1 fmu sflag2 fmu sflag3 fmu sflag4