The heartbeat message just shows that a system is present. Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM) Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM A ping message either requesting or responding to a ping. PING sequence 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system Unix timestamp in microseconds The onboard software version System mode, see MAV_MODE ENUM in mavlink/include/mavlink_types.h Navigation mode, see MAV_NAV_MODE ENUM System status flag, see MAV_STATUS ENUM Failure code description, see MAV_FAILURE ENUM Motor block status flag Dropped packets Set the system mode, as defined by enum MAV_MODE in mavlink/include/mavlink_types.h The system setting the mode The new mode Set the system navigation mode, as defined by enum MAV_NAV_MODE in mavlink/include/mavlink_types.h The system setting the mode The new navigation mode Set a parameter value TEMPORARILY to RAM. It will be reset to default on system reboot. System ID Component ID Onboard parameter id Onboard parameter value Set the current parameter value (currently active in RAM) PERMANTLY to EEPROM/HDD. It will be the new default value. System ID Component ID Onboard parameter id Set PID values. System ID Component ID PID ID P I D Trim values to scale the RAW RC channel values. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. Individual receivers/transmitters might violate this specification. System ID Component ID RC channel id RC channel 1 min value, in microseconds RC channel 1 zero value, in microseconds RC channel 1 max value, in microseconds Mapping defining which functions each RC channel has. System ID Component ID RC channel id RC channel function, as defined in ENUM MAVLINK_RC_CHAN_MAPPING in mavlink/include/mavlink_types.h Message setting a waypoint. The waypoint can be either in x, y, z meters (type: LOCAL) or x:lat, y:lon. The global and body frame are related as: positive Z-down, positive X(front looking north, positive Y(body:right) looking east. Therefore x encodes in global mode the latitude, whereas y encodes the longitude and z the altitude over ground. System ID Component ID Waypoint ID 0: global (GPS), 1: local, 2: global orbit, 3: local orbit Orbit to circle around the waypoint, in meters Time that the MAV should stay inside the orbit before advancing, in milliseconds 0: No orbit, 1: Right Orbit, 2: Left Orbit false:0, true:1 local: x position, global: longitude y position: global: latitude z position: global: altitude autocontinue to next wp System ID Component ID Waypoint ID System ID Component ID The system executing the action Component ID The action id The system executing the action Component ID The id of the action being successfully executed and acknowledged Request to read the onboard parameters. System ID Component ID Onboard parameter id Emit the value of a onboard parameter. Onboard parameter id Onboard parameter value Request all parameters of this component. System ID Component ID 0: All parameters, else report a subset of parameters as defined in MAVLIN_SUBSET_PARAM enum Report PID controller values. PID ID P I D Report trim values to scale the RAW RC channel values. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. Individual receivers/transmitters might violate this specification. RC channel id RC channel 1 min value, in microseconds RC channel 1 zero value, in microseconds RC channel 1 max value, in microseconds Report the mapping defining which functions each RC channel has. RC channel id RC channel function, as defined in ENUM MAVLINK_RC_CHAN_MAPPING in mavlink/include/mavlink_types.h Message encoding a waypoint. This message is emitted to announce the presence of a waypoint. It cannot be used to set a waypoint, use WAYPOINT_SET for this purpose. The waypoint can be either in x, y, z meters (type: LOCAL) or x:lat, y:lon. The global and body frame are related as: positive Z-down, positive X(front looking north, positive Y(body:right) looking east. Therefore x encodes in global mode the latitude, whereas y encodes the longitude and z the altitude over ground. Waypoint ID 0: global (GPS), 1: local, 2: global orbit, 3: local orbit Orbit to circle around the waypoint, in meters Time that the MAV should stay inside the orbit before advancing, in milliseconds 0: No orbit, 1: Right Orbit, 2: Left Orbit false:0, true:1 local: x position, global: longitude y position: global: latitude z position: global: altitude autocontinue to next wp Message emmited by a system to anounce eit Waypoint ID Waypoint status: 0: Ok, 1: Reached, 2: Orbit time expired, 254: Error X acceleration (mg raw) Y acceleration (mg raw) Z acceleration (mg raw) Angular speed around X axis (adc units) Angular speed around Y axis (adc units) Angular speed around Z axis (adc units) X Magnetic field (milli tesla) Y Magnetic field (milli tesla) Z Magnetic field (milli tesla) Timestamp (microseconds since UNIX epoch) Absolute pressure (hectopascal) Differential pressure 1 (hectopascal) Differential pressure 2 (hectopascal) The global position, as returned by the Global Positioning System (GPS). This is NOT the global position estimate of the sytem, but rather a RAW sensor value. See message GLOBAL_POSITION for the global position estimate. 0-1: no fix, 2: 2D fix, 3: 3D fix X Position Y Position Z Position in meters Uncertainty in meters of latitude Uncertainty in meters of longitude Overall speed Heading, in FIXME The global position, as returned by the Global Positioning System (GPS). This is NOT the global position estimate of the sytem, but rather a RAW sensor value. See message GLOBAL_POSITION for the global position estimate. Number of satellites visible Global satellite ID 0: Satellite not used, 1: used for localization Elevation (0: right on top of receiver, 90: on the horizon) of satellite Direction of satellite, 0: 0 deg, 255: 360 deg. Signal to noise ratio of satellite The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right). Timestamp (microseconds) Roll angle (rad) Pitch angle (rad) Yaw angle (rad) Roll angular speed (rad/s) Pitch angular speed (rad/s) Yaw angular speed (rad/s) The filtered local position (e.g. fused computer vision and accelerometers). Position type: 0: Local, 1: Global X (long) Position Y (lat) Position Z (alt) Position Vx Vy Vz The RAW values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. Individual receivers/transmitters might violate this specification. RC channel 1 value, in microseconds RC channel 2 value, in microseconds RC channel 3 value, in microseconds RC channel 3 value, in microseconds RC channel 3 value, in microseconds Severity of status, 0 = info message, 255 = critical fault Status text message, without null termination character index of debug variable DEBUG value