MAVLink messages update Wed Jan 29 22:53:29 UTC 2025

en/messages/ASLUAV.md

@@ -34,9 +34,9 @@ span.warning {
 
 Type | Defined | Included
 --- | --- | ---
-[Messages](#messages) | 17 | 226
-[Enums](#enumerated-types) | 2 | 144
-[Commands](#mav_commands) | 166 | 0
+[Messages](#messages) | 17 | 229
+[Enums](#enumerated-types) | 2 | 146
+[Commands](#mav_commands) | 167 | 0
 
 The following sections list all entities in the dialect (both included and defined in this file).
 

en/messages/AVSSUAS.md

@@ -38,9 +38,9 @@ span.warning {
 
 Type | Defined | Included
 --- | --- | ---
-[Messages](#messages) | 4 | 226
-[Enums](#enumerated-types) | 3 | 144
-[Commands](#mav_commands) | 171 | 0
+[Messages](#messages) | 4 | 229
+[Enums](#enumerated-types) | 3 | 146
+[Commands](#mav_commands) | 172 | 0
 
 The following sections list all entities in the dialect (both included and defined in this file).
 

en/messages/ardupilotmega.md

@@ -43,9 +43,9 @@ span.warning {
 
 Type | Defined | Included
 --- | --- | ---
-[Messages](#messages) | 72 | 243
-[Enums](#enumerated-types) | 46 | 159
-[Commands](#mav_commands) | 197 | 0
+[Messages](#messages) | 72 | 246
+[Enums](#enumerated-types) | 46 | 161
+[Commands](#mav_commands) | 198 | 0
 
 The following sections list all entities in the dialect (both included and defined in this file).
 

en/messages/common.md

@@ -37,9 +37,9 @@ span.warning {
 
 Type | Defined | Included
 --- | --- | ---
-[Messages](#messages) | 224 | 2
-[Enums](#enumerated-types) | 138 | 6
-[Commands](#mav_commands) | 164 | 0
+[Messages](#messages) | 227 | 2
+[Enums](#enumerated-types) | 140 | 6
+[Commands](#mav_commands) | 165 | 0
 
 The following sections list all entities in the dialect (both included and defined in this file).
 
@@ -3691,6 +3691,52 @@ sequence_oldest_available | `uint16_t` | | Oldest Sequence number that is still
 reason | `uint8_t` | [MAV_EVENT_ERROR_REASON](#MAV_EVENT_ERROR_REASON) | Error reason. 
 
 
+### AVAILABLE_MODES (435) {#AVAILABLE_MODES}
+
+Get information about a particular flight modes.
+
+The message can be enumerated or requested for a particular mode using [MAV_CMD_REQUEST_MESSAGE](#MAV_CMD_REQUEST_MESSAGE).
+Specify 0 in param2 to request that the message is emitted for all available modes or the specific index for just one mode.
+The modes must be available/settable for the current vehicle/frame type.
+Each mode should only be emitted once (even if it is both standard and custom).
+Note that the current mode should be emitted in [CURRENT_MODE](#CURRENT_MODE), and that if the mode list can change then [AVAILABLE_MODES_MONITOR](#AVAILABLE_MODES_MONITOR) must be emitted on first change and subsequently streamed.
+
+Field Name | Type | Values | Description
+--- | --- | --- | ---
+number_modes | `uint8_t` | | The total number of available modes for the current vehicle type. 
+mode_index | `uint8_t` | | The current mode index within number_modes, indexed from 1. The index is not guaranteed to be persistent, and may change between reboots or if the set of modes change. 
+standard_mode | `uint8_t` | [MAV_STANDARD_MODE](#MAV_STANDARD_MODE) | Standard mode. 
+custom_mode | `uint32_t` | | A bitfield for use for autopilot-specific flags 
+properties | `uint32_t` | [MAV_MODE_PROPERTY](#MAV_MODE_PROPERTY) | Mode properties. 
+mode_name | `char[35]` | | Name of custom mode, with null termination character. Should be omitted for standard modes. 
+
+
+### CURRENT_MODE (436) {#CURRENT_MODE}
+
+Get the current mode.
+
+This should be emitted on any mode change, and broadcast at low rate (nominally 0.5 Hz).
+It may be requested using [MAV_CMD_REQUEST_MESSAGE](#MAV_CMD_REQUEST_MESSAGE).
+
+Field Name | Type | Values | Description
+--- | --- | --- | ---
+standard_mode | `uint8_t` | [MAV_STANDARD_MODE](#MAV_STANDARD_MODE) | Standard mode. 
+custom_mode | `uint32_t` | | A bitfield for use for autopilot-specific flags 
+intended_custom_mode | `uint32_t` | invalid:0 | The custom_mode of the mode that was last commanded by the user (for example, with [MAV_CMD_DO_SET_STANDARD_MODE](#MAV_CMD_DO_SET_STANDARD_MODE), [MAV_CMD_DO_SET_MODE](#MAV_CMD_DO_SET_MODE) or via RC). This should usually be the same as custom_mode. It will be different if the vehicle is unable to enter the intended mode, or has left that mode due to a failsafe condition. 0 indicates the intended custom mode is unknown/not supplied 
+
+
+### AVAILABLE_MODES_MONITOR (437) {#AVAILABLE_MODES_MONITOR}
+
+A change to the sequence number indicates that the set of [AVAILABLE_MODES](#AVAILABLE_MODES) has changed.
+
+A receiver must re-request all available modes whenever the sequence number changes.
+This is only emitted after the first change and should then be broadcast at low rate (nominally 0.3 Hz) and on change.
+
+Field Name | Type | Description
+--- | --- | ---
+seq | `uint8_t` | Sequence number. The value iterates sequentially whenever [AVAILABLE_MODES](#AVAILABLE_MODES) changes (e.g. support for a new mode is added/removed dynamically). 
+
+
 ### ILLUMINATOR_STATUS (440) {#ILLUMINATOR_STATUS}
 
 Illuminator status
@@ -5989,6 +6035,34 @@ Value | Name | Description
 <a id='ILLUMINATOR_ERROR_FLAGS_OVER_TEMPERATURE_SHUTDOWN'></a>2 | [ILLUMINATOR_ERROR_FLAGS_OVER_TEMPERATURE_SHUTDOWN](#ILLUMINATOR_ERROR_FLAGS_OVER_TEMPERATURE_SHUTDOWN) | Illuminator over temperature shutdown error. 
 <a id='ILLUMINATOR_ERROR_FLAGS_THERMISTOR_FAILURE'></a>4 | [ILLUMINATOR_ERROR_FLAGS_THERMISTOR_FAILURE](#ILLUMINATOR_ERROR_FLAGS_THERMISTOR_FAILURE) | Illuminator thermistor failure. 
 
+### MAV_STANDARD_MODE {#MAV_STANDARD_MODE}
+
+Standard modes with a well understood meaning across flight stacks and vehicle types.
+
+For example, most flight stack have the concept of a "return" or "RTL" mode that takes a vehicle to safety, even though the precise mechanics of this mode may differ.
+Modes may be set using [MAV_CMD_DO_SET_STANDARD_MODE](#MAV_CMD_DO_SET_STANDARD_MODE).
+
+Value | Name | Description
+--- | --- | ---
+<a id='MAV_STANDARD_MODE_NON_STANDARD'></a>0 | [MAV_STANDARD_MODE_NON_STANDARD](#MAV_STANDARD_MODE_NON_STANDARD) | Non standard mode.<br>This may be used when reporting the mode if the current flight mode is not a standard mode. 
+<a id='MAV_STANDARD_MODE_POSITION_HOLD'></a>1 | [MAV_STANDARD_MODE_POSITION_HOLD](#MAV_STANDARD_MODE_POSITION_HOLD) | Position mode (manual).<br>Position-controlled and stabilized manual mode.<br>When sticks are released vehicles return to their level-flight orientation and hold both position and altitude against wind and external forces.<br>This mode can only be set by vehicles that can hold a fixed position.<br>Multicopter (MC) vehicles actively brake and hold both position and altitude against wind and external forces.<br>Hybrid MC/FW ("VTOL") vehicles first transition to multicopter mode (if needed) but otherwise behave in the same way as MC vehicles.<br>Fixed-wing (FW) vehicles must not support this mode.<br>Other vehicle types must not support this mode (this may be revisited through the PR process). 
+<a id='MAV_STANDARD_MODE_ORBIT'></a>2 | [MAV_STANDARD_MODE_ORBIT](#MAV_STANDARD_MODE_ORBIT) | Orbit (manual).<br>Position-controlled and stabilized manual mode.<br>The vehicle circles around a fixed setpoint in the horizontal plane at a particular radius, altitude, and direction.<br>Flight stacks may further allow manual control over the setpoint position, radius, direction, speed, and/or altitude of the circle, but this is not mandated.<br>Flight stacks may support the [MAV_CMD_DO_ORBIT](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_ORBIT) for changing the orbit parameters.<br>MC and FW vehicles may support this mode.<br>Hybrid MC/FW ("VTOL") vehicles may support this mode in MC/FW or both modes; if the mode is not supported by the current configuration the vehicle should transition to the supported configuration.<br>Other vehicle types must not support this mode (this may be revisited through the PR process). 
+<a id='MAV_STANDARD_MODE_CRUISE'></a>3 | [MAV_STANDARD_MODE_CRUISE](#MAV_STANDARD_MODE_CRUISE) | Cruise mode (manual).<br>Position-controlled and stabilized manual mode.<br>When sticks are released vehicles return to their level-flight orientation and hold their original track against wind and external forces.<br>Fixed-wing (FW) vehicles level orientation and maintain current track and altitude against wind and external forces.<br>Hybrid MC/FW ("VTOL") vehicles first transition to FW mode (if needed) but otherwise behave in the same way as MC vehicles.<br>Multicopter (MC) vehicles must not support this mode.<br>Other vehicle types must not support this mode (this may be revisited through the PR process). 
+<a id='MAV_STANDARD_MODE_ALTITUDE_HOLD'></a>4 | [MAV_STANDARD_MODE_ALTITUDE_HOLD](#MAV_STANDARD_MODE_ALTITUDE_HOLD) | Altitude hold (manual).<br>Altitude-controlled and stabilized manual mode.<br>When sticks are released vehicles return to their level-flight orientation and hold their altitude.<br>MC vehicles continue with existing momentum and may move with wind (or other external forces).<br>FW vehicles continue with current heading, but may be moved off-track by wind.<br>Hybrid MC/FW ("VTOL") vehicles behave according to their current configuration/mode (FW or MC).<br>Other vehicle types must not support this mode (this may be revisited through the PR process). 
+<a id='MAV_STANDARD_MODE_SAFE_RECOVERY'></a>5 | [MAV_STANDARD_MODE_SAFE_RECOVERY](#MAV_STANDARD_MODE_SAFE_RECOVERY) | Safe recovery mode (auto).<br>Automatic mode that takes vehicle to a predefined safe location via a safe flight path, and may also automatically land the vehicle.<br>This mode is more commonly referred to as RTL and/or or Smart RTL.<br>The precise return location, flight path, and landing behaviour depend on vehicle configuration and type.<br>For example, the vehicle might return to the home/launch location, a rally point, or the start of a mission landing, it might follow a direct path, mission path, or breadcrumb path, and land using a mission landing pattern or some other kind of descent. 
+<a id='MAV_STANDARD_MODE_MISSION'></a>6 | [MAV_STANDARD_MODE_MISSION](#MAV_STANDARD_MODE_MISSION) | Mission mode (automatic).<br>Automatic mode that executes MAVLink missions.<br>Missions are executed from the current waypoint as soon as the mode is enabled. 
+<a id='MAV_STANDARD_MODE_LAND'></a>7 | [MAV_STANDARD_MODE_LAND](#MAV_STANDARD_MODE_LAND) | Land mode (auto).<br>Automatic mode that lands the vehicle at the current location.<br>The precise landing behaviour depends on vehicle configuration and type. 
+<a id='MAV_STANDARD_MODE_TAKEOFF'></a>8 | [MAV_STANDARD_MODE_TAKEOFF](#MAV_STANDARD_MODE_TAKEOFF) | Takeoff mode (auto).<br>Automatic takeoff mode.<br>The precise takeoff behaviour depends on vehicle configuration and type. 
+
+### MAV_MODE_PROPERTY {#MAV_MODE_PROPERTY}
+
+(Bitmask) Mode properties.
+
+Value | Name | Description
+--- | --- | ---
+<a id='MAV_MODE_PROPERTY_ADVANCED'></a>1 | [MAV_MODE_PROPERTY_ADVANCED](#MAV_MODE_PROPERTY_ADVANCED) | If set, this mode is an advanced mode.<br>For example a rate-controlled manual mode might be advanced, whereas a position-controlled manual mode is not.<br>A GCS can optionally use this flag to configure the UI for its intended users. 
+<a id='MAV_MODE_PROPERTY_NOT_USER_SELECTABLE'></a>2 | [MAV_MODE_PROPERTY_NOT_USER_SELECTABLE](#MAV_MODE_PROPERTY_NOT_USER_SELECTABLE) | If set, this mode should not be added to the list of selectable modes.<br>The mode might still be selected by the FC directly (for example as part of a failsafe). 
+
 ### MAV_AUTOPILOT — \[from: [minimal](../messages/minimal.md#MAV_AUTOPILOT)\] {#MAV_AUTOPILOT}
 
 Micro air vehicle / autopilot classes. This identifies the individual model.
@@ -7510,6 +7584,23 @@ Param (Label) | Description | Values | Units
 7 | Empty |   |   
 
 
+### MAV_CMD_DO_SET_STANDARD_MODE (262) {#MAV_CMD_DO_SET_STANDARD_MODE}
+
+Enable the specified standard MAVLink mode.
+
+If the mode is not supported the vehicle should ACK with [MAV_RESULT_FAILED](#MAV_RESULT_FAILED).
+
+Param (Label) | Description | Values
+--- | --- | ---
+1 (Standard Mode) | The mode to set. | [MAV_STANDARD_MODE](#MAV_STANDARD_MODE) 
+2 | |   
+3 | |   
+4 | |   
+5 | |   
+6 | |   
+7 | |   
+
+
 ### MAV_CMD_MISSION_START (300) {#MAV_CMD_MISSION_START}
 
 start running a mission

en/messages/cubepilot.md

@@ -37,9 +37,9 @@ span.warning {
 
 Type | Defined | Included
 --- | --- | ---
-[Messages](#messages) | 5 | 226
-[Enums](#enumerated-types) | 0 | 144
-[Commands](#mav_commands) | 164 | 0
+[Messages](#messages) | 5 | 229
+[Enums](#enumerated-types) | 0 | 146
+[Commands](#mav_commands) | 165 | 0
 
 The following sections list all entities in the dialect (both included and defined in this file).