Long Commands

module load cmdlong

This module is a collection of command_long_send functions that may be useful to the user.


setspeed N

If in automated flight mode, set the vehicles target speed to N m/s.


Set the target yaw of the vehicle to ANGLE (0-360), with a maximum angular speed of ANGULAR_SPEED (deg/sec). MODE is either 0 (absolute angle) or 1 (relative angle).


Sends an automated takeoff command to the vehicle. It will consider the takeoff finished at ALTITUDE_IN_METERS m (relative).

velocity X Y Z

Sets a desired vehicle velocity in a local north-east-down (x, y, z) coordinate frame. All velocities in m/s.

position X Y Z

Sets a desired vehicle position in a local north-east-down (x, y, z) coordinate frame. All positions in m.

attitude Q0 Q1 Q2 Q3

Set the desired attitude of the vehicle in quaternion format.

posvel N E D

Sets the target position according to the previous mouse click on the map and the target velocity in North-East-Down format (m/s). Uses a global frame.


If in AUTO or GUIDED mode, pause the vehicle’s travel.


If in AUTO or GUIDED mode, resume the vehicle’s travel.


Note the following commands are not processed by APM, rather they are meant for a companion computer which controls the camera.

cammsg M1 M2 M3 M4 M5 M6 M7 M8

Send a MAV_CMD_DO_DIGICAM_CONTROL Mavlink message. Parameters are: M1=Session control e.g. show/hide lens, M2=Zoom’s absolute position, M3=Zooming step value to offset zoom from the current position, M4=Focus Locking, Unlocking or Re-locking, M5=Shooting Command, M6=Command Identity, M7=Empty.


Send an old-style MAV_CMD_DO_DIGICAM_CONTROL shooting command.

camctrlmsg M1 M2 M3 M4 M5 M6 M7

Send a MAV_CMD_DO_DIGICAM_CONFIGURE Mavlink message. The Parameters are: M1=Modes [P, TV, AV, M], M2=Shutter Speed, M3=F Stop number, M4=ISO Number, M5=Exposure type, M6=Command Identity, M7=Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off).


parachute ACTION

Sends an action to the parachute. ACTION can be enable, disable or release.

engine start
engine stop
engine M1, M2, M3

Sends an engine control command (MAV_CMD_DO_ENGINE_CONTROL). It can start or stop the engine. Otherwise the full set of options can be specified, with M1=1 or 0 for engine start/stop, M2= 0: Warm start, 1:Cold start. Controls use of choke where applicable, M3=Height delay (meters). This is for commanding engine start only after the vehicle has gained the specified height.


Send a general MAV_CMD_LONG message to the vehicle. COMMAND is the name of the command. The options follow in [arg1] [arg2] ... format.