FLI R
Duo P ro R Us e r Guide
Duo Pro R User Guide, Rev. 1.0
Information on this page is subject to change without notice
46
Appendix B - MAVLink Implementation
HEARTBEAT (0)
Field Name
ENUM
Type
Official Description
FLIR Implementation
System ID
MAVlink packet Byte 3
1
Component ID
MAVlink packet Byte 4
100
Type
MAV_TYPE
uint8_t
MAV_TYPE_GENERIC - Generic micro air vehicle.
0
Autopilot
MAV_AUTOPILOT
uint8_t
MAV_AUTOPILOT_INVALID - No valid autopilot, e.g. a GCS or other MAVLink component
8
Base Mode
MAV_MODE_FLAG
uint8_t
MAV_MODE_FLAG_MANUAL_INPUT_ENABLED - 0b01000000 remote control input is
enabled.
64
Custom Mode
uint32_t
A bitfield for use for autopilot-specific flags.
0
System Status
MAV_STATE
uint8_t
MAV_STATE_ACTIVE - System is active and might be already airborne. Motors are
engaged.
4
MAVLink Version
uint8_t
MAVLink version, not writable by user
default
PING (4)
Field Name
Type
Official Description
FLIR Implementation
Time Unix
uint64_t
Timestamp (microseconds since UNIX epoch or microseconds since system boot)
Ignored
Sequence
uint32_t
PING sequence
Same as official
System ID
uint8_t
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
See description above
Component ID
uint8_t
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
See description above
SYSTEM_TIME (2)
Field Name
Type
Official Description
FLIR Implementation
Time Unix
uint64_t
Timestamp of the master clock in microseconds since UNIX epoch.
If time is valid, it will be
set to the device.
Time Boot
uint32_t
Timestamp of the component clock since boot time in milliseconds.
Ignored
