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MAVLink v2.3

Flex interface specifications for the MAVLink v2.3 messaging protocol.

Overview​

MAVLink is a lightweight messaging protocol for communicating with drones and between onboard drone components. These Flex modules provide type-safe message definitions for MAVLink v2.3, enabling seamless integration with drone autopilots, ground control stations, and companion computers.

The specification is organized into three modules: a custom frame definition, a minimal core set, and a comprehensive common message library. All types are defined using Flex interface specification language.

Module Structure​

FileDescription
tangramcustom.flexBase MessageFrame structure for all MAVLink v2 messages
minimal.flexCore enums and Heartbeat message for basic MAVLink connectivity
common.flexComprehensive message and enum library covering all standard MAVLink functionality

Key Message Types​

Core Communication - Essential system messages:

  • Heartbeat - System health and status beacon
  • SystemTime - System and GPS timestamps
  • Ping - Protocol keepalive and latency measurement
  • CommandAck - Command acknowledgment

Navigation & Position - Location and movement data:

  • GlobalPositionInt - Global position with covariances
  • LocalPositionNed - Local position in NED frame
  • Altitude - Altitude estimates from multiple sources
  • GpsRawInt - Raw GPS sensor data
  • GpsRtk - RTK GPS corrections

Attitude & Orientation - Vehicle attitude information:

  • Attitude - Roll, pitch, yaw angles
  • AttitudeQuaternion - Quaternion-based attitude
  • AttitudeTarget - Desired attitude setpoint

Sensors - Sensor data messages:

  • RawImu - Accelerometer, gyroscope, magnetometer data
  • ScaledImu - Scaled IMU readings
  • HighresImu - High-resolution IMU data
  • DistanceSensor - Rangefinder/lidar measurements
  • OpticalFlow - Optical flow sensor data

Control & Actuators - Command and control:

  • CommandLong - Long command with up to 7 parameters
  • CommandInt - Integer command with position
  • SetMode - Change system mode
  • ActuatorControlTarget - Actuator control values
  • ServoOutputRaw - Raw servo/motor output values

Mission & Waypoint - Mission planning:

  • MissionItem - Mission command with position
  • MissionItemInt - Integer-based mission item
  • MissionCount - Total mission items
  • MissionCurrent - Current mission item index
  • MissionAck - Mission upload/download acknowledgment

Camera & Gimbal - Imaging systems:

  • CameraInformation - Camera capabilities and settings
  • CameraTrigger - Camera shutter trigger event
  • CameraImageCaptured - Captured image metadata
  • MountOrientation - Gimbal orientation

Battery & Power - Power system monitoring:

  • BatteryStatus - Battery status and capacity
  • PowerStatus - System power rail status

Parameters - Configuration management:

  • ParamValue - Parameter value
  • ParamSet - Set parameter value
  • ParamRequestRead - Request specific parameter
  • ParamRequestList - Request all parameters

Telemetry & Data Streams - Data transmission:

  • DataStream - Data stream configuration
  • DataTransmissionHandshake - File transfer initiation
  • EncapsulatedData - Encapsulated data payload

Status & Diagnostics - System health:

  • SysStatus - System status and resource usage
  • ExtendedSysState - Extended system state
  • Vibration - Vibration levels
  • EstimatorStatus - State estimator status

Key Enums​

System Types & States - Vehicle identification:

  • MavType - Vehicle type (quadrotor, fixed-wing, helicopter, etc.)
  • MavAutopilot - Autopilot type (PX4, ArduPilot, etc.)
  • MavState - System state (boot, standby, active, emergency, etc.)
  • MavComponent - Component IDs (autopilot, camera, gimbal, GPS, IMU, etc.)

Mode & Control - Flight modes and control flags:

  • MavModeFlag - Mode flags (armed, manual, guided, auto, etc.)
  • MavMode - Predefined mode combinations
  • MavFrame - Coordinate frame definitions

Mission & Commands - Mission planning:

  • MavCmd_ID - Command IDs for mission items
  • MavMissionType - Mission type (waypoints, fence, rally points)
  • MavMissionResult - Mission operation results

Sensors & Hardware - Sensor types:

  • MavSensorOrientation - Sensor mounting orientation
  • MavDistanceSensor - Distance sensor type
  • GpsFixType - GPS fix type (no fix, 2D, 3D, RTK, etc.)

Results & Status - Operation results:

  • MavResult - Command result codes
  • MavCmdAck - Command acknowledgment status
  • MavSeverity - Message severity levels

Battery & Power - Power management:

  • MavBatteryType - Battery chemistry type
  • MavBatteryChargeState - Battery charge state
  • MavBatteryFunction - Battery function/purpose

Camera & Gimbal - Imaging control:

  • CameraMode - Camera operating mode
  • CameraCapFlags - Camera capability flags
  • GimbalDeviceFlags - Gimbal control flags

Usage​

To use these message types in a Flex specification:

import MAVLink::v23.minimal (Heartbeat, MavType, MavState)
import MAVLink::v23.common (GlobalPositionInt, Attitude, CommandLong)

Dependencies​

The modules have the following dependency structure:

  • tangramcustom imports tangram::flex::helpers::v1.annotations for length annotations
  • minimal imports tangramcustom.MessageFrame as the base message type
  • common imports both minimal (for core enums) and tangramcustom (for message framing)

License​

MAVLink is available under the MIT license.