Message Map
MAVLink-M's messages and commands fall into four areas, plus one acknowledgment that serves them all. Each name links to its full definition in the message reference.
Safety and arming
Arming, ignition and fault state for each Electronic Safe and Arm Device (ESAD), and the readiness of each store before release.
| Message | ID | What it carries |
|---|---|---|
| ESAD_STATE | 53030 | Arming, munition and ignition state, fault flags and software identity of one ESAD |
| ESAD_ARMING | 53031 | Arms or disarms ESADs. An arm must carry the challenge the ESAD advertises; a disarm always applies |
| ESAD_CONFIG | 53032 | Sets a live safe/arm parameter, checked against the same challenge as an arm |
| STORE_STATUS | 53033 | One readiness value per store, from ESAD state and sensor health, to gate release |
| STORE_SENSOR_STATUS | 53034 | Health and reading of one deceleration or landing-trigger sensor |
| STORE_MUNITION | 53035 | What a store holds, for joint weapon-status reports, without fuze or employment settings |
| Command | Number | What it does |
|---|---|---|
| MAV_CMD_MAVLINK_M_STORE_ARM | 53090 | Safes a store's ESAD. Arming goes through ESAD_ARMING |
| MAV_CMD_MAVLINK_M_STORE_RUN_BIT | 53091 | Runs a built-in self-test on a store |
| MAV_CMD_MAVLINK_M_STORE_REQUEST_STATUS | 53092 | Asks a store to push its status |
| MAV_CMD_MAVLINK_M_STORE_SET_DECEL_THRESHOLD | 53093 | Sets a store's deceleration or landing trigger threshold |
Targeting and engagement
Targets, fire missions, close air support and loitering munitions, from the first report to the damage assessment.
| Message | ID | What it carries |
|---|---|---|
| TARGET | 53010 | Position, velocity, classification and engagement context of one target. It does not authorize action |
| TARGET_SET_COORD | 53011 | A circular area grouping targets that share an operational context |
| TARGET_BOX_COORD | 53012 | A four-corner area grouping targets |
| TARGET_AUTHORIZATION | 53013 | A record of the human authority's identification and clearance for a track, for audit. Never a trigger |
| TARGET_HANDOVER | 53002 | Hands tracking of a target to another system, with its state, classification and authorization |
| CALL_FOR_FIRE | 53024 | Call-for-fire method elements, mappable to VMF K02.4 |
| FIRES | 53020 | Fire mission order: engage a coordinate, with the expected impact time and accuracy |
| ENGAGEMENT_DIRECTIVE | 53023 | Abort, check fire, resume or re-target a mission. Abort and check fire act on receipt |
| SPLASH_CORRECTION | 53021 | Spotting after impact, to correct a fire mission |
| BATTLE_DAMAGE_ASSESSMENT | 53022 | Assessed damage to an engaged target, with a confidence |
| CAS_9LINE | 53060 | Close air support 9-line brief |
| TERMINAL_CONTROL | 53061 | Terminal attack control: clearances, aborts and aircraft status calls |
| LOITER_MUNITION_CONTROL | 53036 | Control and human-consent handshake for a loitering munition, including abort and wave-off |
Remote weapon systems
Where a mounted weapon system sits on its host, and what state it is in.
| Message | ID | What it carries |
|---|---|---|
| RWS_POSE | 53040 | Mounting offset and orientation on the host vehicle, plus position and velocity when known |
| RWS_STATE | 53041 | Operational state, arming status and loaded weapon |
Tracks and awareness
Who and what is where, shared across the force.
| Message | ID | What it carries |
|---|---|---|
| TRACK_IDENTITY | 53000 | One track ID for a real-world object, kept from detection to assessment, with how it was identified |
| TARGET_CUE | 53001 | Points a consumer at a location to observe, kept apart from engagement messages |
| PARTICIPANT_POSITION | 53003 | A friendly participant's identity and position, for the common operational picture |
| SENSOR_TASKING | 53050 | Sensor or payload tasking from a UCI command node, and the platform's status reply |
Across all areas
| Message | ID | What it carries |
|---|---|---|
| MAVLINK_M_ACK | 53004 | Acknowledges delivery and acceptance of a MAVLink-M message, matched to the message it answers |