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.
The list is inferred from Plane’s GCS_Mavlink.cpp
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.
These MAV_CMDs can be processed if packaged within a COMMAND_LONG message.
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.
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>
Below are other (non-MAV_CMD) commands that will be handled by Plane in GUIDED mode.
Most of these commands are not relevant to DroneKit-Python apps or are already provided through the API.