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MAVLink Interface¶

ArduPilot supports the MAVLink protocol for communication with Ground Stations and Companion Computers. These pages explain the details of this interface

  • 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
  • MAVLink Routing
  • Other Commands

External References¶

  • MAVLink Common Message Set (HTML) and XML (Protocol Definition)

  • MAVLink ArduPilot Message Set (HTML) and XML

  • 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

  • Mission Command List
  • Mission Command Package Format

See also: Copter Mission Command List

Vehicle Parameter References¶

  • Copter Parameters

  • Plane Parameters

  • Rover Parameters

  • Sub Parameters

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