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docs/en/msg_docs/MavlinkTunnel.md
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---
pageClass: is-wide-page
---
# MavlinkTunnel (UORB message)
MAV_TUNNEL_PAYLOAD_TYPE enum
MAV_TUNNEL_PAYLOAD_TYPE enum.
[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/MavlinkTunnel.msg)
**TOPICS:** mavlink_tunnel esc_serial_passthru io_serial_passthru
## Fields
| Name | Type | Unit [Frame] | Range/Enum | Description |
| ---------------- | ------------ | ------------ | ---------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| timestamp | `uint64` | | | Time since system start (microseconds) |
| payload_type | `uint16` | | | A code that identifies the content of the payload (0 for unknown, which is the default). If this code is less than 32768, it is a 'registered' payload type and the corresponding code should be added to the MAV_TUNNEL_PAYLOAD_TYPE enum. Software creators can register blocks of types as needed. Codes greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase. |
| target_system | `uint8` | | | System ID (can be 0 for broadcast, but this is discouraged) |
| target_component | `uint8` | | | Component ID (can be 0 for broadcast, but this is discouraged) |
| payload_length | `uint8` | | | Length of the data transported in payload |
| payload | `uint8[128]` | | | Data itself |
## Constants
| Name | Type | Value | Description |
| --------------------------------------------------------------------------------------------------- | ------- | ----- | ---------------------------------------- |
| <a href="#MAV_TUNNEL_PAYLOAD_TYPE_UNKNOWN"></a> MAV_TUNNEL_PAYLOAD_TYPE_UNKNOWN | `uint8` | 0 | Encoding of payload unknown |
| <a href="#MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED0"></a> MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED0 | `uint8` | 200 | Registered for STorM32 gimbal controller |
| <a href="#MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED1"></a> MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED1 | `uint8` | 201 | Registered for STorM32 gimbal controller |
| <a href="#MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED2"></a> MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED2 | `uint8` | 202 | Registered for STorM32 gimbal controller |
| <a href="#MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED3"></a> MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED3 | `uint8` | 203 | Registered for STorM32 gimbal controller |
| <a href="#MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED4"></a> MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED4 | `uint8` | 204 | Registered for STorM32 gimbal controller |
| <a href="#MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED5"></a> MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED5 | `uint8` | 205 | Registered for STorM32 gimbal controller |
| <a href="#MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED6"></a> MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED6 | `uint8` | 206 | Registered for STorM32 gimbal controller |
| <a href="#MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED7"></a> MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED7 | `uint8` | 207 | Registered for STorM32 gimbal controller |
| <a href="#MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED8"></a> MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED8 | `uint8` | 208 | Registered for STorM32 gimbal controller |
| <a href="#MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED9"></a> MAV_TUNNEL_PAYLOAD_TYPE_STORM32_RESERVED9 | `uint8` | 209 | Registered for STorM32 gimbal controller |
## Source Message
[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/MavlinkTunnel.msg)
::: details Click here to see original file
```c
# MAV_TUNNEL_PAYLOAD_TYPE enum
@@ -27,6 +64,7 @@ uint8 payload_length # Length of the data transported in payload
uint8[128] payload # Data itself
# Topic aliases for known payload types
# TOPICS mavlink_tunnel esc_serial_passthru
# TOPICS mavlink_tunnel esc_serial_passthru io_serial_passthru
```
:::