MAVLink messages update Tue Mar 31 04:05:37 UTC 2026

Author: PX4BuildBot

en/messages/all.md

@@ -61,8 +61,8 @@ span.warning {
 
 Type | Defined | Included
 --- | --- | ---
-[Messages](#messages) | 0 | 389
-[Enums](#enumerated-types) | 0 | 255
+[Messages](#messages) | 0 | 390
+[Enums](#enumerated-types) | 0 | 257
 [Commands](#mav_commands) | 223 | 0
 
 The following sections list all entities in the dialect (both included and defined in this file).

en/messages/development.md

@@ -36,8 +36,8 @@ span.warning {
 
 Type | Defined | Included
 --- | --- | ---
-[Messages](#messages) | 12 | 234
-[Enums](#enumerated-types) | 12 | 158
+[Messages](#messages) | 13 | 234
+[Enums](#enumerated-types) | 14 | 158
 [Commands](#mav_commands) | 177 | 0
 
 The following sections list all entities in the dialect (both included and defined in this file).
@@ -275,6 +275,33 @@ sysid_in_control | `uint8_t` | | System ID of GCS MAVLink component in control (
 flags | `uint8_t` | [GCS_CONTROL_STATUS_FLAGS](#GCS_CONTROL_STATUS_FLAGS) | Control status. For example, whether takeover is allowed, and whether this message instance defines the default controlling GCS for the whole system. 
 
 
+### RANGING_BEACON (513) — [WIP] {#RANGING_BEACON}
+
+<span class="warning">**WORK IN PROGRESS**: Do not use in stable production environments (it may change).</span>
+
+Range information from a radio beacon for trilateration-based positioning.
+
+This message is telemetry intended for consumption by an autopilot (MAVLink does not define the mechanism used to determine the range).
+
+Field Name | Type | Units | Values | Description
+--- | --- | --- | --- | ---
+time_usec | `uint64_t` | us | | 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. 
+target_system | `uint8_t` | | | System ID. 
+target_component | `uint8_t` | | | Component ID. 
+beacon_id | `uint16_t` | | | ID of the ranging beacon/station.<br>Messages with same value are from the same source (instance). 
+range | `uint32_t` | mm | invalid:UINT32_MAX | Range measurement between a beacon and a vehicle. 
+lat | `int32_t` | degE7 | invalid:INT32_MAX | Beacon latitude (WGS84). 
+lon | `int32_t` | degE7 | invalid:INT32_MAX | Beacon longitude (WGS84). 
+alt | `float` | m | invalid:NaN | Beacon altitude (frame defined in alt_type). 
+alt_type | `uint8_t` | | [RANGING_BEACON_ALT_TYPE](#RANGING_BEACON_ALT_TYPE) | Altitude frame for alt field. [RANGING_BEACON_ALT_TYPE_WGS84](#RANGING_BEACON_ALT_TYPE_WGS84) (0) preferred. 
+hacc_est | `uint32_t` | mm | invalid:UINT32_MAX | Beacon 1-sigma horizontal accuracy estimate. 
+vacc_est | `uint32_t` | mm | invalid:UINT32_MAX | Beacon 1-sigma vertical accuracy estimate. 
+carrier_freq | `uint16_t` | MHz | invalid:UINT16_MIN | Ranging carrier frequency 
+range_accuracy | `uint32_t` | mm | invalid:UINT32_MAX | Estimated 1-sigma range measurement accuracy. 
+sequence | `uint8_t` | | | Measurement sequence number. 
+status | `uint8_t` | | [RANGING_BEACON_STATUS_FLAG](#RANGING_BEACON_STATUS_FLAG) | Ranging beacon status. 
+
+
 ## Enumerated Types
 
 ### MAV_BATTERY_STATUS_FLAGS — [WIP] {#MAV_BATTERY_STATUS_FLAGS}
@@ -451,6 +478,27 @@ Value | Name | Description
 <a id='ESC_FIRMWARE_BLUEJAY'></a>2 | [ESC_FIRMWARE_BLUEJAY](#ESC_FIRMWARE_BLUEJAY) | Bluejay open source ESC firmware. 
 <a id='ESC_FIRMWARE_BLHELI32'></a>3 | [ESC_FIRMWARE_BLHELI32](#ESC_FIRMWARE_BLHELI32) | BLHeli32 ESC firmware. 
 
+### RANGING_BEACON_ALT_TYPE — [WIP] {#RANGING_BEACON_ALT_TYPE}
+
+<span class="warning">**WORK IN PROGRESS**: Do not use in stable production environments (it may change).</span>
+
+Altitude reference for [RANGING_BEACON](#RANGING_BEACON) alt field.
+
+Value | Name | Description
+--- | --- | ---
+<a id='RANGING_BEACON_ALT_TYPE_WGS84'></a>0 | [RANGING_BEACON_ALT_TYPE_WGS84](#RANGING_BEACON_ALT_TYPE_WGS84) | Altitude above WGS84 ellipsoid. 
+<a id='RANGING_BEACON_ALT_TYPE_MSL'></a>1 | [RANGING_BEACON_ALT_TYPE_MSL](#RANGING_BEACON_ALT_TYPE_MSL) | Altitude above Mean Sea Level (AMSL). 
+
+### RANGING_BEACON_STATUS_FLAG — [WIP] {#RANGING_BEACON_STATUS_FLAG}
+
+<span class="warning">**WORK IN PROGRESS**: Do not use in stable production environments (it may change).</span>
+
+(Bitmask) Status flags for a [RANGING_BEACON](#RANGING_BEACON).
+
+Value | Name | Description
+--- | --- | ---
+<a id='RANGING_BEACON_STATUS_FLAG_STATION_SIGNAL_POOR'></a>1 | [RANGING_BEACON_STATUS_FLAG_STATION_SIGNAL_POOR](#RANGING_BEACON_STATUS_FLAG_STATION_SIGNAL_POOR) | Station signal is poor. This might indicate channel fading, interference, or other signal quality issues. 
+
 ## Commands (MAV_CMD) {#mav_commands}
 
 ### MAV_CMD_NAV_ARC_WAYPOINT (36) — [WIP] {#MAV_CMD_NAV_ARC_WAYPOINT}

en/messages/dialects.md

@@ -17,20 +17,20 @@ Dialects are not managed by this project!
 
 The dialect definitions are:
 
+- [uAvionix.xml](uAvionix.md)
+- [cubepilot.xml](cubepilot.md)
+- [ASLUAV.xml](ASLUAV.md)
 - [paparazzi.xml](paparazzi.md)
-- [storm32.xml](storm32.md)
-- [ualberta.xml](ualberta.md)
 - [stemstudios.xml](stemstudios.md)
-- [csAirLink.xml](csAirLink.md)
-- [marsh.xml](marsh.md)
+- [ualberta.xml](ualberta.md)
 - [ardupilotmega.xml](ardupilotmega.md)
-- [loweheiser.xml](loweheiser.md)
 - [AVSSUAS.xml](AVSSUAS.md)
-- [ASLUAV.xml](ASLUAV.md)
+- [storm32.xml](storm32.md)
+- [marsh.xml](marsh.md)
 - [matrixpilot.xml](matrixpilot.md)
-- [uAvionix.xml](uAvionix.md)
 - [icarous.xml](icarous.md)
-- [cubepilot.xml](cubepilot.md)
+- [loweheiser.xml](loweheiser.md)
+- [csAirLink.xml](csAirLink.md)
 
 Note that dialects may `include` [MAVLink-Standard Definitions](index.md) or other dialects.
 Up to 5 levels of XML file nesting are allowed - see `MAXIMUM_INCLUDE_FILE_NESTING` in [mavgen.py](https://github.com/ArduPilot/pymavlink/blob/master/generator/mavgen.py#L44).