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_CMDs¶
These MAV_CMDs can be processed if packaged within a COMMAND_LONG message.
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_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
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_MOUNT_CONFIGURE
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.
MISSION_ACK:
MAVLINK_MSG_ID_FENCE_POINT
MAVLINK_MSG_ID_FENCE_FETCH_POINT
RALLY_POINT
RALLY_FETCH_POINT
GIMBAL_REPORT
RADIO
AUTOPILOT_VERSION_REQUEST