Plane Commands in Guided Mode

This article lists the commands that are handled by Plane in GUIDED mode (for example, when writing GCS or Companion Computer apps in DroneKit). Except where explicitly stated, most of these can also be called in other modes too.

Note

The list is inferred from Plane’s GCS_Mavlink.cpp

Movement commands

For movement, Plane uses:

MAV_CMD_NAV_WAYPOINT message encoded with the “current” parameter set to “2” to indicate that it is a guided mode “goto” message.

MAV_CMD_CONDITION_CHANGE_ALT message encoded with the “current” parameter set to “3” to indicate that it is a guided mode “altitude change” message.

MAV_CMDs

These MAV_CMDs can be processed if packaged within a COMMAND_LONG message.

MAV_CMD_NAV_LOITER_UNLIM

MAV_CMD_NAV_RETURN_TO_LAUNCH

MAV_CMD_DO_SET_ROI

MAV_CMD_MISSION_START

MAV_CMD_COMPONENT_ARM_DISARM

Todo

MAV_CMD_MISSION_START and MAV_CMD_COMPONENT_ARM_DISARM not implemented as auto commands (or at least not when I did the master doc. Need to confirm that they aren’t AUTO commands, that they are guided commands, and if so then document either here or in the command list.

MAV_CMD_DO_SET_SERVO

MAV_CMD_DO_REPEAT_SERVO

MAV_CMD_DO_SET_RELAY

MAV_CMD_DO_REPEAT_RELAY

MAV_CMD_DO_FENCE_ENABLE

MAV_CMD_DO_SET_HOME

MAV_CMD_START_RX_PAIR

MAV_CMD_PREFLIGHT_CALIBRATION

MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS

MAV_CMD_DO_SET_MODE

MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN

MAV_CMD_DO_LAND_START

MAV_CMD_DO_GO_AROUND

MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES

MAV_CMD_DO_AUTOTUNE_ENABLE

These MAV_CMD commands can be sent as their own message type (not inside :ref:`COMMAND_LONG`): MAV_CMD_DO_DIGICAM_CONFIGURE <plane:mav_cmd_do_digicam_configure>

MAV_CMD_DO_DIGICAM_CONTROL

MAV_CMD_DO_MOUNT_CONFIGURE

MAV_CMD_DO_MOUNT_CONTROL

Other commands

Below are other (non-MAV_CMD) commands that will be handled by Plane in GUIDED mode.

Note

Most of these commands are not relevant to DroneKit-Python apps or are already provided through the API.

SET_MODE

MISSION_REQUEST_LIST

MISSION_REQUEST

MISSION_ACK:

PARAM_REQUEST_LIST

PARAM_REQUEST_READ

MISSION_CLEAR_ALL

MISSION_SET_CURRENT

MISSION_COUNT

MISSION_WRITE_PARTIAL_LIST

MISSION_ITEM

MAVLINK_MSG_ID_FENCE_POINT

MAVLINK_MSG_ID_FENCE_FETCH_POINT

RALLY_POINT

RALLY_FETCH_POINT

PARAM_SET

GIMBAL_REPORT

RC_CHANNELS_OVERRIDE

HEARTBEAT

HIL_STATE

RADIO

RADIO_STATUS

LOG_REQUEST_DATA

LOG_ERASE

LOG_REQUEST_LIST

LOG_REQUEST_END

SERIAL_CONTROL

GPS_INJECT_DATA

TERRAIN_DATA

TERRAIN_CHECK

AUTOPILOT_VERSION_REQUEST

REQUEST_DATA_STREAM