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Information about a gimbal manager. This message should be requested by a ground station using [MAV_CMD_REQUEST_MESSAGE](#MAV_CMD_REQUEST_MESSAGE). It mirrors some fields of the [GIMBAL_DEVICE_INFORMATION](#GIMBAL_DEVICE_INFORMATION) message, but not all. If the additional information is desired, also [GIMBAL_DEVICE_INFORMATION](#GIMBAL_DEVICE_INFORMATION) should be requested.
@@ -148,7 +164,9 @@ count | `uint8_t` | | Number of passthrough packets in this message.
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packet_buf | `uint8_t[240]` | | Passthrough packet buffer. A packet has 6 bytes: uint16_t id + uint32_t data. The array has space for 40 packets.
<spanclass="warning">**WORK IN PROGRESS**: Do not use in stable production environments (it may change).</span>
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Parameter multi param value container.
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@@ -161,6 +179,80 @@ flags | `uint16_t` | Flags.
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packet_buf | `uint8_t[248]` | Parameters buffer. Contains a series of variable length parameter blocks, one per parameter, with format as specified elsewhere.
Radio link statistics for a MAVLink RC receiver or transmitter and other links. Tx: ground-side device, Rx: vehicle-side device.
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The message is normally emitted in regular time intervals upon each actual or expected reception of an over-the-air data packet on the link.
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A MAVLink RC receiver should emit it shortly after it emits a [RADIO_RC_CHANNELS](#RADIO_RC_CHANNELS) message (if it is emitting that message).
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Per default, rssi values are in MAVLink units: 0 represents weakest signal, 254 represents maximum signal, UINT8_MAX represents unknown.
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The [RADIO_LINK_STATS_FLAGS_RSSI_DBM](#RADIO_LINK_STATS_FLAGS_RSSI_DBM) flag is set if the rssi units are negative dBm: 1..254 correspond to -1..-254 dBm, 0 represents no reception, UINT8_MAX represents unknown.
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The target_system field should normally be set to the system id of the system the link is connected to, typically the flight controller.
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The target_component field can normally be set to 0, so that all components of the system can receive the message.
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Note: The frequency fields are extensions to ensure that they are located at the end of the serialized payload and subject to MAVLink's trailing-zero trimming.
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Field Name | Type | Units | Values | Description
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--- | --- | --- | --- | ---
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target_system | `uint8_t` | | | System ID (ID of target system, normally flight controller).
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target_component | `uint8_t` | | | Component ID (normally 0 for broadcast).
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flags | `uint16_t` | | [MLRS_RADIO_LINK_STATS_FLAGS](#MLRS_RADIO_LINK_STATS_FLAGS) | Radio link statistics flags.
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rx_LQ_rc | `uint8_t` | c% | invalid:UINT8_MAX | Link quality of RC data stream from Tx to Rx. Values: 1..100, 0: no link connection, UINT8_MAX: unknown.
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rx_LQ_ser | `uint8_t` | c% | invalid:UINT8_MAX | Link quality of serial MAVLink data stream from Tx to Rx. Values: 1..100, 0: no link connection, UINT8_MAX: unknown.
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rx_rssi1 | `uint8_t` | | invalid:UINT8_MAX | Rssi of antenna 1. 0: no reception, UINT8_MAX: unknown.
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rx_snr1 | `int8_t` | | invalid:INT8_MAX | Noise on antenna 1. Radio link dependent. INT8_MAX: unknown.
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tx_LQ_ser | `uint8_t` | c% | invalid:UINT8_MAX | Link quality of serial MAVLink data stream from Rx to Tx. Values: 1..100, 0: no link connection, UINT8_MAX: unknown.
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tx_rssi1 | `uint8_t` | | invalid:UINT8_MAX | Rssi of antenna 1. 0: no reception. UINT8_MAX: unknown.
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tx_snr1 | `int8_t` | | invalid:INT8_MAX | Noise on antenna 1. Radio link dependent. INT8_MAX: unknown.
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rx_rssi2 | `uint8_t` | | invalid:UINT8_MAX | Rssi of antenna 2. 0: no reception, UINT8_MAX: use rx_rssi1 if it is known else unknown.
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rx_snr2 | `int8_t` | | invalid:INT8_MAX | Noise on antenna 2. Radio link dependent. INT8_MAX: use rx_snr1 if it is known else unknown.
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tx_rssi2 | `uint8_t` | | invalid:UINT8_MAX | Rssi of antenna 2. 0: no reception. UINT8_MAX: use tx_rssi1 if it is known else unknown.
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tx_snr2 | `int8_t` | | invalid:INT8_MAX | Noise on antenna 2. Radio link dependent. INT8_MAX: use tx_snr1 if it is known else unknown.
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<spanclass='ext'>frequency1</span> <ahref='#mav2_extension_field'>++</a> | `float` | Hz | invalid:0 | Frequency on antenna1 in Hz. 0: unknown.
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<spanclass='ext'>frequency2</span> <ahref='#mav2_extension_field'>++</a> | `float` | Hz | invalid:0 | Frequency on antenna2 in Hz. 0: unknown.
Radio link information. Tx: ground-side device, Rx: vehicle-side device.
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The values of the fields in this message do normally not or only slowly change with time, and for most times the message can be send at a low rate, like 0.2 Hz.
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If values change then the message should temporarily be send more often to inform the system about the changes.
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The target_system field should normally be set to the system id of the system the link is connected to, typically the flight controller.
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The target_component field can normally be set to 0, so that all components of the system can receive the message.
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Field Name | Type | Units | Values | Description
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--- | --- | --- | --- | ---
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target_system | `uint8_t` | | | System ID (ID of target system, normally flight controller).
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target_component | `uint8_t` | | | Component ID (normally 0 for broadcast).
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type | `uint8_t` | | invalid:0 [MLRS_RADIO_LINK_TYPE](#MLRS_RADIO_LINK_TYPE) | Radio link type. 0: unknown/generic type.
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mode | `uint8_t` | | invalid:UINT8_MAX | Operation mode. Radio link dependent. UINT8_MAX: ignore/unknown.
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tx_power | `int8_t` | dBm | invalid:INT8_MAX | Tx transmit power in dBm. INT8_MAX: unknown.
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rx_power | `int8_t` | dBm | invalid:INT8_MAX | Rx transmit power in dBm. INT8_MAX: unknown.
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tx_frame_rate | `uint16_t` | Hz | invalid:0 | Frame rate in Hz (frames per second) for Tx to Rx transmission. 0: unknown.
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rx_frame_rate | `uint16_t` | Hz | invalid:0 | Frame rate in Hz (frames per second) for Rx to Tx transmission. Normally equal to tx_packet_rate. 0: unknown.
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mode_str | `char[6]` | | | Operation mode as human readable string. Radio link dependent. Terminated by NULL if the string length is less than 6 chars and WITHOUT NULL termination if the length is exactly 6 chars - applications have to provide 6+1 bytes storage if the mode is stored as string. Use a zero-length string if not known.
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band_str | `char[6]` | | | Frequency band as human readable string. Radio link dependent. Terminated by NULL if the string length is less than 6 chars and WITHOUT NULL termination if the length is exactly 6 chars - applications have to provide 6+1 bytes storage if the mode is stored as string. Use a zero-length string if not known.
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tx_ser_data_rate | `uint16_t` | | invalid:0 | Maximum data rate of serial stream in bytes/s for Tx to Rx transmission. 0: unknown. UINT16_MAX: data rate is 64 KBytes/s or larger.
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rx_ser_data_rate | `uint16_t` | | invalid:0 | Maximum data rate of serial stream in bytes/s for Rx to Tx transmission. 0: unknown. UINT16_MAX: data rate is 64 KBytes/s or larger.
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tx_receive_sensitivity | `uint8_t` | | invalid:0 | Receive sensitivity of Tx in inverted dBm. 1..255 represents -1..-255 dBm, 0: unknown.
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rx_receive_sensitivity | `uint8_t` | | invalid:0 | Receive sensitivity of Rx in inverted dBm. 1..255 represents -1..-255 dBm, 0: unknown.
<spanclass="warning">**WORK IN PROGRESS**: Do not use in stable production environments (it may change).</span>
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Injected by a radio link endpoint into the MAVLink stream for purposes of flow control. Should be emitted only by components with component id [MAV_COMP_ID_TELEMETRY_RADIO](#MAV_COMP_ID_TELEMETRY_RADIO).
<aid='MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH3_IN'></a>204 | [MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH3_IN](#MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH3_IN) | Registered for STorM32 gimbal controller. For communication with camera.
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<aid='MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH3_OUT'></a>205 | [MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH3_OUT](#MAV_STORM32_TUNNEL_PAYLOAD_TYPE_STORM32_CH3_OUT) | Registered for STorM32 gimbal controller. For communication with camera.
<aid='MAV_STORM32_GIMBAL_PREARM_FLAGS_IS_NORMAL'></a>1 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_IS_NORMAL](#MAV_STORM32_GIMBAL_PREARM_FLAGS_IS_NORMAL) | STorM32 gimbal is in normal state.
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<aid='MAV_STORM32_GIMBAL_PREARM_FLAGS_IMUS_WORKING'></a>2 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_IMUS_WORKING](#MAV_STORM32_GIMBAL_PREARM_FLAGS_IMUS_WORKING) | The IMUs are healthy and working normally.
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<aid='MAV_STORM32_GIMBAL_PREARM_FLAGS_MOTORS_WORKING'></a>4 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_MOTORS_WORKING](#MAV_STORM32_GIMBAL_PREARM_FLAGS_MOTORS_WORKING) | The motors are active and working normally.
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<aid='MAV_STORM32_GIMBAL_PREARM_FLAGS_ENCODERS_WORKING'></a>8 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_ENCODERS_WORKING](#MAV_STORM32_GIMBAL_PREARM_FLAGS_ENCODERS_WORKING) | The encoders are healthy and working normally.
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<aid='MAV_STORM32_GIMBAL_PREARM_FLAGS_VOLTAGE_OK'></a>16 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_VOLTAGE_OK](#MAV_STORM32_GIMBAL_PREARM_FLAGS_VOLTAGE_OK) | A battery voltage is applied and is in range.
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<aid='MAV_STORM32_GIMBAL_PREARM_FLAGS_VIRTUALCHANNELS_RECEIVING'></a>32 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_VIRTUALCHANNELS_RECEIVING](#MAV_STORM32_GIMBAL_PREARM_FLAGS_VIRTUALCHANNELS_RECEIVING) | Virtual input channels are receiving data.
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<aid='MAV_STORM32_GIMBAL_PREARM_FLAGS_MAVLINK_RECEIVING'></a>64 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_MAVLINK_RECEIVING](#MAV_STORM32_GIMBAL_PREARM_FLAGS_MAVLINK_RECEIVING) | Mavlink messages are being received.
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<aid='MAV_STORM32_GIMBAL_PREARM_FLAGS_STORM32LINK_QFIX'></a>128 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_STORM32LINK_QFIX](#MAV_STORM32_GIMBAL_PREARM_FLAGS_STORM32LINK_QFIX) | The STorM32Link data indicates QFix.
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<aid='MAV_STORM32_GIMBAL_PREARM_FLAGS_STORM32LINK_WORKING'></a>256 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_STORM32LINK_WORKING](#MAV_STORM32_GIMBAL_PREARM_FLAGS_STORM32LINK_WORKING) | The STorM32Link is working.
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<aid='MAV_STORM32_GIMBAL_PREARM_FLAGS_CAMERA_CONNECTED'></a>512 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_CAMERA_CONNECTED](#MAV_STORM32_GIMBAL_PREARM_FLAGS_CAMERA_CONNECTED) | The camera has been found and is connected.
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<aid='MAV_STORM32_GIMBAL_PREARM_FLAGS_AUX0_LOW'></a>1024 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_AUX0_LOW](#MAV_STORM32_GIMBAL_PREARM_FLAGS_AUX0_LOW) | The signal on the AUX0 input pin is low.
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<aid='MAV_STORM32_GIMBAL_PREARM_FLAGS_AUX1_LOW'></a>2048 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_AUX1_LOW](#MAV_STORM32_GIMBAL_PREARM_FLAGS_AUX1_LOW) | The signal on the AUX1 input pin is low.
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<aid='MAV_STORM32_GIMBAL_PREARM_FLAGS_NTLOGGER_WORKING'></a>4096 | [MAV_STORM32_GIMBAL_PREARM_FLAGS_NTLOGGER_WORKING](#MAV_STORM32_GIMBAL_PREARM_FLAGS_NTLOGGER_WORKING) | The NTLogger is working normally.
<aid='MAV_STORM32_CAMERA_PREARM_FLAGS_CONNECTED'></a>1 | [MAV_STORM32_CAMERA_PREARM_FLAGS_CONNECTED](#MAV_STORM32_CAMERA_PREARM_FLAGS_CONNECTED) | The camera has been found and is connected.
<aid='MAV_QSHOT_MODE_HOME_TARGETING'></a>9 | [MAV_QSHOT_MODE_HOME_TARGETING](#MAV_QSHOT_MODE_HOME_TARGETING) | Start gimbal tracking the home location.
The [RX_RECEIVE](#RX_RECEIVE) and [TX_RECEIVE](#TX_RECEIVE) flags indicate from which antenna the received data are taken for processing.
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If a flag is set then the data received on antenna2 is processed, else the data received on antenna1 is used.
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The [RX_TRANSMIT](#RX_TRANSMIT) and [TX_TRANSMIT](#TX_TRANSMIT) flags specify which antenna are transmitting data.
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Both antenna 1 and antenna 2 transmit flags can be set simultaneously, e.g., in case of dual-band or dual-frequency systems.
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If neither flag is set then antenna 1 should be assumed.
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Value | Name | Description
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--- | --- | ---
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<aid='MLRS_RADIO_LINK_STATS_FLAGS_RSSI_DBM'></a>1 | [MLRS_RADIO_LINK_STATS_FLAGS_RSSI_DBM](#MLRS_RADIO_LINK_STATS_FLAGS_RSSI_DBM) | Rssi values are in negative dBm. Values 1..254 corresponds to -1..-254 dBm. 0: no reception, UINT8_MAX: unknown.
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<aid='MLRS_RADIO_LINK_STATS_FLAGS_RX_RECEIVE_ANTENNA2'></a>2 | [MLRS_RADIO_LINK_STATS_FLAGS_RX_RECEIVE_ANTENNA2](#MLRS_RADIO_LINK_STATS_FLAGS_RX_RECEIVE_ANTENNA2) | Rx receive antenna. When set the data received on antenna 2 are taken, else the data stems from antenna 1.
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<aid='MLRS_RADIO_LINK_STATS_FLAGS_RX_TRANSMIT_ANTENNA1'></a>4 | [MLRS_RADIO_LINK_STATS_FLAGS_RX_TRANSMIT_ANTENNA1](#MLRS_RADIO_LINK_STATS_FLAGS_RX_TRANSMIT_ANTENNA1) | Rx transmit antenna. Data are transmitted on antenna 1.
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<aid='MLRS_RADIO_LINK_STATS_FLAGS_RX_TRANSMIT_ANTENNA2'></a>8 | [MLRS_RADIO_LINK_STATS_FLAGS_RX_TRANSMIT_ANTENNA2](#MLRS_RADIO_LINK_STATS_FLAGS_RX_TRANSMIT_ANTENNA2) | Rx transmit antenna. Data are transmitted on antenna 2.
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<aid='MLRS_RADIO_LINK_STATS_FLAGS_TX_RECEIVE_ANTENNA2'></a>16 | [MLRS_RADIO_LINK_STATS_FLAGS_TX_RECEIVE_ANTENNA2](#MLRS_RADIO_LINK_STATS_FLAGS_TX_RECEIVE_ANTENNA2) | Tx receive antenna. When set the data received on antenna 2 are taken, else the data stems from antenna 1.
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<aid='MLRS_RADIO_LINK_STATS_FLAGS_TX_TRANSMIT_ANTENNA1'></a>32 | [MLRS_RADIO_LINK_STATS_FLAGS_TX_TRANSMIT_ANTENNA1](#MLRS_RADIO_LINK_STATS_FLAGS_TX_TRANSMIT_ANTENNA1) | Tx transmit antenna. Data are transmitted on antenna 1.
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<aid='MLRS_RADIO_LINK_STATS_FLAGS_TX_TRANSMIT_ANTENNA2'></a>64 | [MLRS_RADIO_LINK_STATS_FLAGS_TX_TRANSMIT_ANTENNA2](#MLRS_RADIO_LINK_STATS_FLAGS_TX_TRANSMIT_ANTENNA2) | Tx transmit antenna. Data are transmitted on antenna 2.
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### MLRS_RADIO_LINK_TYPE {#MLRS_RADIO_LINK_TYPE}
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[RADIO_LINK_TYPE](#RADIO_LINK_TYPE) enum.
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Value | Name | Description
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--- | --- | ---
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<aid='MLRS_RADIO_LINK_TYPE_GENERIC'></a>0 | [MLRS_RADIO_LINK_TYPE_GENERIC](#MLRS_RADIO_LINK_TYPE_GENERIC) | Unknown radio link type.
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<aid='MLRS_RADIO_LINK_TYPE_HERELINK'></a>1 | [MLRS_RADIO_LINK_TYPE_HERELINK](#MLRS_RADIO_LINK_TYPE_HERELINK) | Radio link is HereLink.
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<aid='MLRS_RADIO_LINK_TYPE_DRAGONLINK'></a>2 | [MLRS_RADIO_LINK_TYPE_DRAGONLINK](#MLRS_RADIO_LINK_TYPE_DRAGONLINK) | Radio link is Dragon Link.
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<aid='MLRS_RADIO_LINK_TYPE_RFD900'></a>3 | [MLRS_RADIO_LINK_TYPE_RFD900](#MLRS_RADIO_LINK_TYPE_RFD900) | Radio link is RFD900.
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<aid='MLRS_RADIO_LINK_TYPE_CROSSFIRE'></a>4 | [MLRS_RADIO_LINK_TYPE_CROSSFIRE](#MLRS_RADIO_LINK_TYPE_CROSSFIRE) | Radio link is Crossfire.
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<aid='MLRS_RADIO_LINK_TYPE_EXPRESSLRS'></a>5 | [MLRS_RADIO_LINK_TYPE_EXPRESSLRS](#MLRS_RADIO_LINK_TYPE_EXPRESSLRS) | Radio link is ExpressLRS.
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<aid='MLRS_RADIO_LINK_TYPE_MLRS'></a>6 | [MLRS_RADIO_LINK_TYPE_MLRS](#MLRS_RADIO_LINK_TYPE_MLRS) | Radio link is mLRS.
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