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MAVROS PLUGINAssociated MAVLINK Message DataDesired MAVROS Associated Frame(s)PX4 Associated Frame(s)Arducopter Associated FrameNeeded rotation method for PX4
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IMU_PUBATTITUDE.rollENU <-> Bodytf NED <-> BodyN.A.
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ATTITUDE.pitchENU <-> Bodytf NED <-> BodyN.A.
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ATTITUDE.yawENU <-> Bodytf NED <-> BodyN.A.
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ATTITUDE.rollspeedENUBody-fixedBody -> ENU
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ATTITUDE.pitchspeedENUBody-fixedBody -> ENU
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ATTITUDE.yawspeedENUBody-fixedBody -> ENU
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ATTITUDE_QUATERNION.q1ENU <-> Bodytf Body -> NEDN.A.
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ATTITUDE_QUATERNION.q2ENU <-> Bodytf Body -> NEDN.A.
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ATTITUDE_QUATERNION.q3ENU <-> Bodytf Body -> NEDN.A.
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ATTITUDE_QUATERNION.q4ENU <-> Bodytf Body -> NEDN.A.
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ATTITUDE_QUATERNION.rollspeedENUBody-FixedBody -> ENU
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ATTITUDE_QUATERNION.pitchspeedENUBody-FixedBody -> ENU
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ATTITUDE_QUATERNION.yawspeedENUBody-FixedBody -> ENU
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HIGHRES_IMU.xaccENUBody-FixedBody -> ENU
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HIGHRES_IMU.yaccENUBody-FixedBody -> ENU
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HIGHRES_IMU.zaccENUBody-FixedBody -> ENU
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HIGHRES_IMU.xgyroENUBody-FixedBody -> ENU
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HIGHRES_IMU.ygyroENUBody-FixedBody -> ENU
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HIGHRES_IMU.zgyroENUBody-Fixed
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HIGHRES_IMU.xmagENUBody-FixedBody -> ENU
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HIGHRES_IMU.ymagENUBody-FixedBody -> ENU
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HIGHRES_IMU.zmagENUBody-FixedBody -> ENU
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HIGHRES_IMU.abs_pressureWORLDWORLDN.A.
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HIGHRES_IMU.pressure_altWORLDWORLDN.A.
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HIGHRES_IMU.temperatureWORLDWORLDN.A.
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RAW_IMU.xaccENUN.A.N.A.
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RAW_IMU.yaccENUN.A.N.A.
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RAW_IMU.zaccENUN.A.N.A.
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RAW_IMU.xgyroENUN.A.N.A.
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RAW_IMU.ygyroENUN.A.N.A.
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RAW_IMU.zgyroENUN.A.N.A.
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RAW_IMU.xmagENUN.A.N.A.
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RAW_IMU.ymagENUN.A.N.A.
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RAW_IMU.zmagENUN.A.N.A.
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SCALED_IMU.xaccENUN.A.N.A.
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SCALED_IMU.yaccENUN.A.N.A.
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SCALED_IMU.zaccENUN.A.N.A.
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SCALED_IMU.xgyroENUN.A.N.A.
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SCALED_IMU.ygyroENUN.A.N.A.
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SCALED_IMU.zgyroENUN.A.N.A.
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SCALED_IMU.xmagENUN.A.N.A.
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SCALED_IMU.ymagENUN.A.N.A.
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SCALED_IMU.zmagENUN.A.N.A.
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SCALED_PRESSURE.press_absN.A N.A.
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setpoint_accelSET_POSITION_TARGET_LOCAL_NED.xENUNEDENU -> NED
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SET_POSITION_TARGET_LOCAL_NED.yENUNEDENU -> NED
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SET_POSITION_TARGET_LOCAL_NED.zENUNEDENU -> NED
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SET_POSITION_TARGET_LOCAL_NED.vxENUNEDENU -> NED
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SET_POSITION_TARGET_LOCAL_NED.vyENUNEDENU -> NED
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SET_POSITION_TARGET_LOCAL_NED.vzENUNEDENU -> NED
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SET_POSITION_TARGET_LOCAL_NED.afxENUNEDENU -> NED
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SET_POSITION_TARGET_LOCAL_NED.afyENUNEDENU -> NED
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SET_POSITION_TARGET_LOCAL_NED.azENUNEDENU -> NED
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setpoint_attitudeSET_ATTITUDE_TARGET.qENU quaternionNED quaternionENU -> NED
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SET_ATTITUDE_TARGET.body_roll_rateENUBody-FixedENU -> Body
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SET_ATTITUDE_TARGET.body_pitch_rateENUBody-FixedENU -> Body
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SET_ATTITUDE_TARGET.body_yaw_rateENUBody-FixedENU -> Body
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SET_ATTITUDE_TARGET.thrustBody-FixedBody-FixedN.A.
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setpoint_accelPOSITION_TARGET_LOCAL_NED.xENUNEDENU -> NED
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POSITION_TARGET_LOCAL_NED.yENUNEDENU -> NED
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POSITION_TARGET_LOCAL_NED.zENUNEDENU -> NED
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POSITION_TARGET_LOCAL_NED.vxENUNEDENU -> NED
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POSITION_TARGET_LOCAL_NED.vyENUNEDENU -> NED
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POSITION_TARGET_LOCAL_NED.vzENUNEDENU -> NED
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POSITION_TARGET_LOCAL_NED.afxENUNEDENU -> NED
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POSITION_TARGET_LOCAL_NED.afyENUNEDENU -> NED
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POSITION_TARGET_LOCAL_NED.azENUNEDENU -> NED
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POSITION_TARGET_GLOBAL_INT.lat_intWGS84WGS84N.A.
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POSITION_TARGET_GLOBAL_INT.lon_intWGS84WGS84N.A.
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POSITION_TARGET_GLOBAL_INT.altENUAMSL
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POSITION_TARGET_GLOBAL_INT.vxENUNEDENU->NED
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POSITION_TARGET_GLOBAL_INT.vyENUNEDENU->NED
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POSITION_TARGET_GLOBAL_INT.vzENUNEDENU->NED
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POSITION_TARGET_GLOBAL_INT.afxENUNEDENU->NED
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NEDENUNEDENU->NED
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POSITION_TARGET_GLOBAL_INT.afzENUNEDENU->NED
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POSITION_TARGET_GLOBAL_INT.yawENUNEDENU->NED
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POSITION_TARGET_GLOBAL_INT.yaw_rateENUNEDENU->NED
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