Automatic Reverse Engineering of Private Flight Control Protocols of UAVs

Table 1

Semantics of each field in MAVLink flight control command.

Field	Type	Length in bytes	Semantic	Value
1	Keyword	1	Message header	0 × FE
2	Keyword	1	Payload length	0 × 09
3	Dynamic field	1	Sequence number	Rolls around from 255 to 0
4	Dynamic field	1	System ID	Dynamic
5	Dynamic field	1	Component ID	Dynamic
6	Dynamic field	1	Message ID	Dynamic; (e.g., 0 = heartbeat)
7	Dynamic field	9	Payload	Dynamic; (depending on message ID)
8	Dynamic field	2	Checksum	Dynamic