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MAVLink messages update Mon Feb 23 23:44:44 UTC 2026
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‎en/messages/development.md‎

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@@ -73,22 +73,25 @@ length | `uint8_t` | max:222 | Number of valid bytes in data array.
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data | `uint8_t[192]` | | Raw ESC EEPROM data. Unused bytes should be set to zero.
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### GLOBAL_POSITION (296) — [WIP] {#GLOBAL_POSITION}
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### GLOBAL_POSITION_SENSOR (296) — [WIP] {#GLOBAL_POSITION_SENSOR}
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<span class="warning">**WORK IN PROGRESS**: Do not use in stable production environments (it may change).</span>
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Global position measurement or estimate.
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Reports measurement/estimate from a global position sensor. Used as navigation fusion source and optionally displayed in the UI.
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Field Name | Type | Units | Values | Description
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--- | --- | --- | --- | ---
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target_system | `uint8_t` | | default:0 | System ID (ID of target system, normally autopilot and ground station).
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target_component | `uint8_t` | | default:0 | Component ID (normally 0 for broadcast).
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id | `uint8_t` | | | Sensor ID<br>Messages with same value are from the same source (instance).
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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.
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time_usec | `uint64_t` | us | | Timestamp of message transmission (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.
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processing_time | `uint32_t` | us | | The time spent in processing the sensor data that is the basis for this position. The recipient can use this to improve time alignment of the data. This is the time between measurement (e.g. camera exposure time) and transmission of this message. Set to NaN if not known.
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source | `uint8_t` | | [GLOBAL_POSITION_SRC](#GLOBAL_POSITION_SRC) | Source of position/estimate (such as GNSS, estimator, etc.)
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flags | `uint8_t` | | [GLOBAL_POSITION_FLAGS](#GLOBAL_POSITION_FLAGS) | Status flags
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lat | `int32_t` | degE7 | invalid:INT32_MAX | Latitude (WGS84)
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lon | `int32_t` | degE7 | invalid:INT32_MAX | Longitude (WGS84)
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alt | `float` | m | invalid:NaN | Altitude (MSL - position-system specific value)
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alt_ellipsoid | `float` | m | invalid:NaN | Altitude (WGS84 elipsoid)
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alt_ellipsoid | `float` | m | invalid:NaN | Altitude (WGS84 elipsoid), preferred if available
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alt | `float` | m | invalid:NaN | Altitude (MSL - position-system specific value) use if no alt_ellipsoid available
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eph | `float` | m | invalid:NaN | Standard deviation of horizontal position error
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epv | `float` | m | invalid:NaN | Standard deviation of vertical position error
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<a id='ACTUATOR_TEST_GROUP_YAW_TORQUE'></a>2 | [ACTUATOR_TEST_GROUP_YAW_TORQUE](#ACTUATOR_TEST_GROUP_YAW_TORQUE) | Actuators that contribute to yaw torque.
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<a id='ACTUATOR_TEST_GROUP_COLLECTIVE_TILT'></a>3 | [ACTUATOR_TEST_GROUP_COLLECTIVE_TILT](#ACTUATOR_TEST_GROUP_COLLECTIVE_TILT) | Actuators that affect collective tilt.
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### GLOBAL_POSITION_SRC — [WIP] {#GLOBAL_POSITION_SRC}
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### ESC_FIRMWARE — [WIP] {#ESC_FIRMWARE}
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<span class="warning">**WORK IN PROGRESS**: Do not use in stable production environments (it may change).</span>
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Source for [GLOBAL_POSITION](#GLOBAL_POSITION) measurement or estimate.
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ESC firmware type identifier.
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Value | Name | Description
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--- | --- | ---
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<a id='GLOBAL_POSITION_UNKNOWN'></a>0 | [GLOBAL_POSITION_UNKNOWN](#GLOBAL_POSITION_UNKNOWN) | Source is unknown or not one of the listed types.
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<a id='GLOBAL_POSITION_GNSS'></a>1 | [GLOBAL_POSITION_GNSS](#GLOBAL_POSITION_GNSS) | Global Navigation Satellite System (e.g.: GPS, Galileo, Glonass, BeiDou).
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<a id='GLOBAL_POSITION_VISION'></a>2 | [GLOBAL_POSITION_VISION](#GLOBAL_POSITION_VISION) | Vision system (e.g.: map matching).
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<a id='GLOBAL_POSITION_PSEUDOLITES'></a>3 | [GLOBAL_POSITION_PSEUDOLITES](#GLOBAL_POSITION_PSEUDOLITES) | Pseudo-satellite system (performs GNSS-like function, but usually with transceiver beacons).
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<a id='GLOBAL_POSITION_TRN'></a>4 | [GLOBAL_POSITION_TRN](#GLOBAL_POSITION_TRN) | Terrain referenced navigation.
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<a id='GLOBAL_POSITION_MAGNETIC'></a>5 | [GLOBAL_POSITION_MAGNETIC](#GLOBAL_POSITION_MAGNETIC) | Magnetic positioning.
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<a id='GLOBAL_POSITION_ESTIMATOR'></a>6 | [GLOBAL_POSITION_ESTIMATOR](#GLOBAL_POSITION_ESTIMATOR) | Estimated position based on various sensors (eg. a Kalman Filter).
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<a id='ESC_FIRMWARE_UNKNOWN'></a>0 | [ESC_FIRMWARE_UNKNOWN](#ESC_FIRMWARE_UNKNOWN) | Unknown firmware.
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<a id='ESC_FIRMWARE_AM32'></a>1 | [ESC_FIRMWARE_AM32](#ESC_FIRMWARE_AM32) | AM32 open source ESC firmware.
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<a id='ESC_FIRMWARE_BLUEJAY'></a>2 | [ESC_FIRMWARE_BLUEJAY](#ESC_FIRMWARE_BLUEJAY) | Bluejay open source ESC firmware.
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<a id='ESC_FIRMWARE_BLHELI32'></a>3 | [ESC_FIRMWARE_BLHELI32](#ESC_FIRMWARE_BLHELI32) | BLHeli32 ESC firmware.
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### GLOBAL_POSITION_FLAGS — [WIP] {#GLOBAL_POSITION_FLAGS}
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### GLOBAL_POSITION_SRC — [WIP] {#GLOBAL_POSITION_SRC}
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<span class="warning">**WORK IN PROGRESS**: Do not use in stable production environments (it may change).</span>
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(Bitmask) Status flags for [GLOBAL_POSITION](#GLOBAL_POSITION)
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Source for [GLOBAL_POSITION](#GLOBAL_POSITION) measurement or estimate.
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Value | Name | Description
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--- | --- | ---
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<a id='GLOBAL_POSITION_UNHEALTHY'></a>1 | [GLOBAL_POSITION_UNHEALTHY](#GLOBAL_POSITION_UNHEALTHY) | Unhealthy sensor/estimator.
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<a id='GLOBAL_POSITION_PRIMARY'></a>2 | [GLOBAL_POSITION_PRIMARY](#GLOBAL_POSITION_PRIMARY) | True if the data originates from or is consumed by the primary estimator.
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<a id='GLOBAL_POSITION_SRC_UNKNOWN'></a>0 | [GLOBAL_POSITION_SRC_UNKNOWN](#GLOBAL_POSITION_SRC_UNKNOWN) | Source is unknown or not one of the listed types.
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<a id='GLOBAL_POSITION_SRC_GNSS'></a>1 | [GLOBAL_POSITION_SRC_GNSS](#GLOBAL_POSITION_SRC_GNSS) | Global Navigation Satellite System (e.g.: GPS, Galileo, Glonass, BeiDou).
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<a id='GLOBAL_POSITION_SRC_VISION'></a>2 | [GLOBAL_POSITION_SRC_VISION](#GLOBAL_POSITION_SRC_VISION) | Vision system (e.g.: map matching).
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<a id='GLOBAL_POSITION_SRC_PSEUDOLITES'></a>3 | [GLOBAL_POSITION_SRC_PSEUDOLITES](#GLOBAL_POSITION_SRC_PSEUDOLITES) | A pseudo-satellite system using transceiver beacons to perform GNSS-like positioning.
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<a id='GLOBAL_POSITION_SRC_TERRAIN'></a>4 | [GLOBAL_POSITION_SRC_TERRAIN](#GLOBAL_POSITION_SRC_TERRAIN) | Terrain referenced navigation.
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<a id='GLOBAL_POSITION_SRC_MAGNETIC'></a>5 | [GLOBAL_POSITION_SRC_MAGNETIC](#GLOBAL_POSITION_SRC_MAGNETIC) | Magnetic positioning.
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<a id='GLOBAL_POSITION_SRC_ESTIMATOR'></a>6 | [GLOBAL_POSITION_SRC_ESTIMATOR](#GLOBAL_POSITION_SRC_ESTIMATOR) | Estimated position based on various sensors (eg. a Kalman Filter).
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### ESC_FIRMWARE — [WIP] {#ESC_FIRMWARE}
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### GLOBAL_POSITION_FLAGS — [WIP] {#GLOBAL_POSITION_FLAGS}
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<span class="warning">**WORK IN PROGRESS**: Do not use in stable production environments (it may change).</span>
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ESC firmware type identifier.
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(Bitmask) Status flags for [GLOBAL_POSITION](#GLOBAL_POSITION)
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Value | Name | Description
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--- | --- | ---
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<a id='ESC_FIRMWARE_UNKNOWN'></a>0 | [ESC_FIRMWARE_UNKNOWN](#ESC_FIRMWARE_UNKNOWN) | Unknown firmware.
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<a id='ESC_FIRMWARE_AM32'></a>1 | [ESC_FIRMWARE_AM32](#ESC_FIRMWARE_AM32) | AM32 open source ESC firmware.
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<a id='ESC_FIRMWARE_BLUEJAY'></a>2 | [ESC_FIRMWARE_BLUEJAY](#ESC_FIRMWARE_BLUEJAY) | Bluejay open source ESC firmware.
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<a id='ESC_FIRMWARE_BLHELI32'></a>3 | [ESC_FIRMWARE_BLHELI32](#ESC_FIRMWARE_BLHELI32) | BLHeli32 ESC firmware.
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<a id='GLOBAL_POSITION_UNHEALTHY'></a>1 | [GLOBAL_POSITION_UNHEALTHY](#GLOBAL_POSITION_UNHEALTHY) | Unhealthy sensor/estimator.
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<a id='GLOBAL_POSITION_PRIMARY'></a>2 | [GLOBAL_POSITION_PRIMARY](#GLOBAL_POSITION_PRIMARY) | True if the data originates from or is consumed by the primary estimator.
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## Commands (MAV_CMD) {#mav_commands}
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‎en/messages/dialects.md‎

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The dialect definitions are:
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- [paparazzi.xml](paparazzi.md)
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- [storm32.xml](storm32.md)
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- [ASLUAV.xml](ASLUAV.md)
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- [uAvionix.xml](uAvionix.md)
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- [cubepilot.xml](cubepilot.md)
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- [matrixpilot.xml](matrixpilot.md)
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- [ualberta.xml](ualberta.md)
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- [stemstudios.xml](stemstudios.md)
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- [paparazzi.xml](paparazzi.md)
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- [csAirLink.xml](csAirLink.md)
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- [marsh.xml](marsh.md)
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- [storm32.xml](storm32.md)
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- [AVSSUAS.xml](AVSSUAS.md)
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- [ardupilotmega.xml](ardupilotmega.md)
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- [marsh.xml](marsh.md)
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- [stemstudios.xml](stemstudios.md)
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- [loweheiser.xml](loweheiser.md)
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- [AVSSUAS.xml](AVSSUAS.md)
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- [ASLUAV.xml](ASLUAV.md)
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- [matrixpilot.xml](matrixpilot.md)
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- [uAvionix.xml](uAvionix.md)
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- [icarous.xml](icarous.md)
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- [cubepilot.xml](cubepilot.md)
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Note that dialects may `include` [MAVLink-Standard Definitions](index.md) or other dialects.
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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).

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