MAVLink Interface¶
ArduPilot supports the MAVLink protocol for communication with Ground Stations and Companion Computers. These pages explain the details of this interface and commonly used commands:
- MAVLink Basics
- Request Data From The AutoPilot
- Get and Set Parameters
- Copter Commands (Guided Mode)
- Plane Commands (Guided Mode)
- Rover Commands (Guided Mode)
- Get and Set Home and/or EKF origin
- Arm and Disarm
- Get and Set FlightMode
- Camera Commands
- Gimbal / Camera Mount
- Mission Upload/Download
- Move a Servo
- Winch Commands
- MAVLink Routing
- Other Commands
Complete lists of Messages¶
MAVLink not only has command messages but also incoming messages. A complete list of all MAVLink messages in ArduPilot by vehicle type, as of November 2024, are shown below:
External References¶
MAVLink Common Message Set (HTML) and XML (Protocol Definition)
MAVLink Tutorial for Absolute Dummies (Part–1) by Shyam Balasubramanian
Autonomous Mission Commands¶
Mission commands are stored on the flight controller in eeprom and executed one-by-one when the vehicle is switched into Auto mode. Although not directly related to the real-time MAVLink interface linked above, the available commands are a subset of the MAVLink MAV_CMD list
See also: Copter Mission Command List