SchemaOverview

Schema Overview

This provides an overview of the structure of a MAVLink XML file.

Next to the tag or attribute name, the superscript is a regular expression that indicates how many elements might be present. For example * means "0 or more", + means "1 or more", {m,n} indicates either in the range of m and n elements, {m} indicates "m" elements required.

The high level stucture of MAVLink XML is:

• mavlink
  • include^*: Files build into library with this file.
  • version^{0,1}: Common message version number
  • dialect^{0,1}: Dialect version number
  • enums^{0,1}
    • enum^* (The MAV_CMDenum defines commands and mission items as entry values)
      • entry^*
        • param^* (only in MAV_CMD enum)
  • messages^{0,1}
    • message^*

Enums can have the following attributes and entries. Note that only the enum with name MAV_CMD has entry values that have param values, so they are not shown.

• enum
  • (attributes):
    • name^{1}
    • bitmask^{0,1} (true | false)
  • (wip | deprecated) ^{0,1}
  • description
  • entry^*
    • (attributes):
      • value^{1} (id)
      • name^{1}
    • description^{0,1}
    • (wip | deprecated)^{0,1}:

MAV_CMD are defined in an enum with name="MAV_CMD" and value="16". Each MAV_CMD is its own entry.

entry:

• (attributes)

  • value^{1} (an id number)
  • name^{1}
  • (hasLocation | isDestination) ^{0,1}

• (wip | deprecated) ^{0,1}

• description ^{1}

• param ^{0,7}

  • description ^{1}
  • attributes
    • index^{1} [1-7]
    • label^{0,1}
    • units^{0,1}
    • enum^{0,1}
    • decimalPlaces^{0,1}
    • increment^{0,1}
    • minValue^{0,1}
    • maxValue^{0,1}
    • reserved^{0,1} (for future use, default false)
    • default^{0,1} (default value of 0 or NaN, intended for reserved params).

Each message has the following form.

• message^*
  • (attributes)
    • id^{1}
    • name^{0,1}
  • (wip | deprecated) ^{0,1}
  • description^{1}
  • field⁺
    • (attributes)
      • type^{1}
      • name^{1}
      • enum^{0,1} (or units)
      • display^{0,1} ('bitmask')
      • units^{0,1}
      • print_format^{0,1} (?)
      • default^{0,1} (?)
      • instance^{0,1}
      • invalid^{0,1}
    • (tag content) A description