MAVLink messages update Thu Nov 27 19:15:27 UTC 2025

Author: PX4BuildBot

en/messages/all.md

@@ -60,8 +60,8 @@ span.warning {
 
 Type | Defined | Included
 --- | --- | ---
-[Messages](#messages) | 0 | 384
-[Enums](#enumerated-types) | 0 | 249
+[Messages](#messages) | 0 | 385
+[Enums](#enumerated-types) | 0 | 250
 [Commands](#mav_commands) | 223 | 0
 
 The following sections list all entities in the dialect (both included and defined in this file).

en/messages/development.md

@@ -36,14 +36,43 @@ span.warning {
 
 Type | Defined | Included
 --- | --- | ---
-[Messages](#messages) | 11 | 232
-[Enums](#enumerated-types) | 13 | 152
+[Messages](#messages) | 12 | 232
+[Enums](#enumerated-types) | 14 | 152
 [Commands](#mav_commands) | 177 | 0
 
 The following sections list all entities in the dialect (both included and defined in this file).
 
 ## Messages
 
+### ESC_EEPROM (292) — [WIP] {#ESC_EEPROM}
+
+<span class="warning">**WORK IN PROGRESS**: Do not use in stable production environments (it may change).</span>
+
+ESC EEPROM data message for reading and writing ESC configuration.
+
+Supports multiple ESC firmware types including AM32, Bluejay, and BLHeli32.
+ESC data is read by sending the [MAV_CMD_REQUEST_MESSAGE](#MAV_CMD_REQUEST_MESSAGE) with `param1=292` and `param2=esc_index`, where esc_index is the zero-indexed ESC number for the corresponding motor, and 255 is used to request data for all ESC.
+The message can be sent to set the ESC value.
+For write requests, a bitmask allows selective writing of specific bytes to avoid corrupting unchanged values.
+
+The data format is opaque to the autopilot.
+A GCS is required to understand the format in order to create an appropriate UI for display and setting configuration values, and to inform users when the ESC uses an unsupported data format.
+Note that for AM32 EEPROMs the data layout is defined in: https://github.com/am32-firmware/AM32/blob/main/Inc/eeprom.h (the second byte in the structure is the eeprom_version).
+The firmware field indicates which ESC firmware is in use, allowing the GCS to interpret the data correctly.
+
+Field Name | Type | Values | Description
+--- | --- | --- | ---
+target_system | `uint8_t` | | System ID (ID of target system, normally flight controller). 
+target_component | `uint8_t` | | Component ID (normally 0 for broadcast). 
+firmware | `uint8_t` | [ESC_FIRMWARE](#ESC_FIRMWARE) | ESC firmware type. 
+msg_index | `uint8_t` | | Zero-indexed sequence number of this message when multiple messages are required to transfer the complete EEPROM data. The first message has index 0. For single-message transfers, set to 0. 
+msg_count | `uint8_t` | | Total number of messages required to transfer the complete EEPROM data. For single-message transfers, set to 1. Receivers should collect all messages from index 0 to msg_count-1 before reconstructing the complete data. 
+esc_index | `uint8_t` | max:254 | Index of the ESC (0 = ESC1, 1 = ESC2, etc.). 
+write_mask | `uint32_t[6]` | | Bitmask indicating which bytes in the data array should be written. Each bit corresponds to a byte index in the data array (bit 0 of write_mask[0] = data[0], bit 31 of write_mask[0] = data[31], bit 0 of write_mask[1] = data[32], etc.). Set bits indicate bytes to write, cleared bits indicate bytes to skip. This allows precise updates of individual parameters without overwriting the entire EEPROM. 
+length | `uint8_t` | max:222 | Number of valid bytes in data array. 
+data | `uint8_t[192]` | | Raw ESC EEPROM data. Unused bytes should be set to zero. 
+
+
 ### GLOBAL_POSITION (296) — [WIP] {#GLOBAL_POSITION}
 
 <span class="warning">**WORK IN PROGRESS**: Do not use in stable production environments (it may change).</span>
@@ -440,6 +469,19 @@ Value | Name | Description
 <a id='GLOBAL_POSITION_UNHEALTHY'></a>1 | [GLOBAL_POSITION_UNHEALTHY](#GLOBAL_POSITION_UNHEALTHY) | Unhealthy sensor/estimator. 
 <a id='GLOBAL_POSITION_PRIMARY'></a>2 | [GLOBAL_POSITION_PRIMARY](#GLOBAL_POSITION_PRIMARY) | True if the data originates from or is consumed by the primary estimator. 
 
+### ESC_FIRMWARE — [WIP] {#ESC_FIRMWARE}
+
+<span class="warning">**WORK IN PROGRESS**: Do not use in stable production environments (it may change).</span>
+
+ESC firmware type identifier.
+
+Value | Name | Description
+--- | --- | ---
+<a id='ESC_FIRMWARE_UNKNOWN'></a>0 | [ESC_FIRMWARE_UNKNOWN](#ESC_FIRMWARE_UNKNOWN) | Unknown firmware. 
+<a id='ESC_FIRMWARE_AM32'></a>1 | [ESC_FIRMWARE_AM32](#ESC_FIRMWARE_AM32) | AM32 open source ESC firmware. 
+<a id='ESC_FIRMWARE_BLUEJAY'></a>2 | [ESC_FIRMWARE_BLUEJAY](#ESC_FIRMWARE_BLUEJAY) | Bluejay open source ESC firmware. 
+<a id='ESC_FIRMWARE_BLHELI32'></a>3 | [ESC_FIRMWARE_BLHELI32](#ESC_FIRMWARE_BLHELI32) | BLHeli32 ESC firmware. 
+
 ## Commands (MAV_CMD) {#mav_commands}
 
 ### MAV_CMD_NAV_ARC_WAYPOINT (36) — [WIP] {#MAV_CMD_NAV_ARC_WAYPOINT}