This article describes the mission commands that are supported by Copter, Plane and Rover when switched into Auto mode. This is a work-in-progress and has not been full reviewed. A better list for Copter can be found here. ArduPilot implements handling for the subset of these commands and command-parameters that are most relevant and meaningful for each of the vehicles.
Unsupported commands that are sent to a particular autopilot will simply be dropped. This article lists and describes the commands and command-parameters that are supported on each of the vehicle types. There are also some potentially useful command-parameters that are not handled because there is a limit to the message size, and a decision has been made to prioritise some parameters over others.
There is additional information about the supported commands on Copter from a Mission Planner perspective in the Copter Mission Command List. If a command or parameter is marked as supported then it is likely but not guaranteed that it will behave as indicated. If a command or parameter is not listed or marked as not supported then it is extremely likely that it is not supported on ArduPilot. The reason for this is that the information was predominantly inferred by inspecting the command handlers for messages:.
The above checks give a very accurate picture of what commands and parameters are not supported. However this indication is not guaranteed to be accurate because a command handler could just throw away all the information and we have not fully checked all of these.
In addition to the above checks, we have also merged information from the Copter Mission Command List. The parameters for each command are listed in a table. Mission Planner MP exposes the full subset of commands and parameters supported by ArduPilot, filtered to display just those relevant to the currently connected vehicle.
Mapping the MP commands to this documentation is easy, because it simply names commands using a cut-down version of the full command name e. In addition, this document conveniently lists the column label used by Mission Planner alongside each of the parameters.
In most cases the mapping should be obvious. Navigation commands are used to control the movement of the vehicle, including takeoff, moving to and around waypoints, and landing. NAV commands have the highest priority.
Return to the home location or the nearest Rally Pointif closer. The home location is where the vehicle was last armed or when it first gets GPS lock after arming if the vehicle configuration allows this.
Jump to the specified command in the mission list. The jump command can be repeated either a specified number of times before continuing the mission, or it can be repeated indefinitely. In the example above the vehicle would fly back-and-forth between waypoints 1 and 2 a total of 3 times before flying on to waypoint 4.
For example, a conditional command can prevent DO commands executing based on a time delay, until the vehicle is at a certain altitude, or at a specified distance from the next target position.
A conditional command may not complete before reaching the next waypoint. This command does not stop the vehicle. All the DO commands associated with a waypoint are executed immediately. The changes will be used until they are explicitly changed again or the device is rebooted. Sets the home location either as the current location or at the location specified in the command. Toggling the Relay will turn an off relay on and vice versa.It is designed as a header-only message marshaling library.
It is used mostly for communication between a Ground Control Station GCS and Unmanned vehiclesand in the inter-communication of the subsystem of the vehicle. It can be used to transmit the orientation of the vehicle, its GPS location and speed. After Version 2, the packet structure was expanded into the following  :. To ensure message integrity a cyclic redundancy check CRC is calculated to every message into the last two bytes.
Another function of the CRC field is to ensure the sender and receiver both agree in the message that is being transferred. It is computed using an ITU X. Additionally a seed value is appended to the end of the data when computing the CRC.
The seed is generated with every new message set of the protocol, and it is hashed in a similar way as the packets from each message specifications. Systems using the MAVLink protocol can use a precomputed array to this purpose.
The payload from the packets described above are MAVLink messages. Every message is identifiable by the ID field on the packet, and the payload contains the data from the message. Note: The XML document describes the logical ordering of the fields for the protocol.
The actual wire format and typical in-memory representation has the fields reordered  to reduce Data structure alignment issues. This can be a source of confusion when reading the code generated from the message definitions. MAVLink is used as the communication protocol in many projects, which may mean there is some compatibility between them. An interesting tutorial explaining basics of MAVLink has been written. From Wikipedia, the free encyclopedia.
Coordinate frame is right-handed, Z-axis up GPS frame. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. Archived from the original on Retrieved August 18, — via GitHub.This page explains how to connect and configure a Raspberry Pi RPi so that it is able to communicate with a flight controller using the MAVLink protocol over a serial connection.
This can be used to perform additional tasks such as image recognition which simply cannot be done by the flight controller due to the memory requirements for storing images. Addon boards such as the Pi-Connect can simplify the connection of the RPi by providing a power supply and telemetry port. Connect to the flight controller with a ground station i. Mission Planner and set the following parameters:. This section shows how to configure the RPi as a minimal server to read and route telemetry from the autopilot.
It does not install the full APSync software. See the RPi Documentation. The packages are mostly the same as when setting up SITL.
To test the RPi and flight controller are able to communicate with each other first ensure the RPi and flight controller are powered, then in a console on the RPi type:. Entering the following at the Linux command line will ensure that all files belong to the standard Pi login account:. See the documentation for install and running instructions. The flight controller will respond to MAVLink commands received through Telemetry 1 and Telemetry 2 ports see image at top of this page meaning that both the RPi and the regular ground station i.
Mission planner, etc can be connected. On windows the ipconfig can be used to determine that IP address. On the computer used to write this wiki page the MAVProxy command became:.
FPV with raspberry Pi. Try posting your question in the Companion Computer discussion board. Type: sudo raspi - config. RasPiConfiguration Utility. On the computer used to write this wiki page the MAVProxy command became: mavproxy.This will allow you to connect a computer or tablet via WiFi to the Raspberry Pi, and the Raspberry Pi will in turn forward the communication to a drone through a telemetry link.
Just use the image provided at the bottom instead of the image from the Raspberri Pi Website. First we need to get the Raspberry Pi up and running with Debian. You now have the Raspberry Pi ready to setup MavProxy and to set it up as an access point so you can use it to create a local WiFi network.
To avoid having to continue using a keyboard and monitor it is convenient to connect to the RPi using an SSH client. Now we need to setup the the software that will allow the RPi to act as an access point.
For the following steps make sure you have access to the internet from Raspberry Pi, this is needed in order to download the software packages. The easiest way to achieve this is to connect the RPi to an Ethernet connection. After you run these commands you may see the following lines in the output:. The following steps will guide you through the configuration of the DHCP server.
These lines configure the network address DNS servers and gateway information that the RPi will assign to the clients connecting to it. If you will use the RPi to bridge to another network through the ethernet connection, it is important that this address range does not conflict with the network the RPi is connected to through the ethernet connection. In other words, if your local network uses the address range Also the router address Save the file by typing in Control-X then Y then return.
Type the following command:. We now have to setup the wireless interface on the RPi to have its own fixed IP address and set it up to take incoming connections, type the following commands:. This sets up a static IP address This configuration however will not take effect until the next reboot, so if you want to immediately assign this address you need to type the following:. The next steps will set up our wireless network with a name and password, and will configure the hardware adapter to be used in access point AP mode.
It is important to note that not all WiFi dongles support AP mode, please make sure that the dongle you are using supports this mode. This has only been tested using the WiFi dongle sold by Adafruit. Check this with Craig. This will create a new file. If there is already a file with that name already, change the contents to the lines below, otherwise add the following lines to the file:.
This is telling the access point software to use the wlan0 interface, and to setup a network called MavStation with the pass phrase MavLink1. Another important part of this file is the line:.
If you are using a different dongle than the one we are using you may need to change this line to use a driver suitable for your dongle, you may want to try:. Make sure the file has no extra spaces or tabs at the beginning and ends of the lines, this file is very sensitive to this.
Now we must tell the software to use the configuration file we just created. To do this type the following command:. This change will not be applied until the next boot, so to apply it immediately run the following command:. Now run the following commands to setup the routing tables between the wireless lan interface and the ethernet port:.
In order to restore this changes after boot we need to save the configuration to a file so that we can use that later to restore the configuration. Type the following:. We are now almost ready to run the access point software. Before we do that though we need to update it to a version that supports our network adapter. If you are not using the built in WiFi on a Raspberry Pi 3 then the hostapd version installed by apt-get does not fully support the WiFi dongle we are using so we need to update it to a later version.
Lets get the new version of hostapd by typing the follwing command: only if NOT using the built in Wifi. Now lets unzip the files, swap them with the old version, and fix the permissions so we are able to run the software:.Data and commands are passed between the ground station i.
This page provides some high-level advice for adding a new MAVLink message. These instructions have only been tested on Linux to be precise a VM running Ubuntu on a Windows machine. If you can run SITL, you should be able to follow the advice here. These instructions will not run natively on Windows or a Mac.
Step 1: Ensure you have the latest ArduPilot code installed. Also, check mavproxy. Mavproxy can be updated by running this command in a Terminal window:. Step 2: Decide what type of message you want to add and how it will fit in with the existing MAVLink messages.
For example, you might want to send a new navigation command to the vehicle so that it can perform a trick like a flip in the middle of a mission i. Alternatively, you may want to send down a new type of sensor data from the vehicle to the ground station. Step 3: Add the new message definition to the common.
If this command is generally useful, and will hopefully be added to the MAVLink protocol, then it should be added to the. If it is only for your personal use or only applicable to ArduPilot, then it should be added to the ardupilotmega.
A compile will be needed ie. In the first example where we want to add support for a new navigation command i. Step 5: Decide how you are going to handle the message at the GCS. One of the simplest ways is to use Mavproxy. MavProxy uses pymavlink to define the MAVLink messages, so you will need to rebuild pymavlink to include your custom message.
If the message you added has an ID greater that you will need to enable Mavlink 2 support. Step 6: Consider contributing your code back to the main code base. If you raise a pull request it is best to separate the change into at least two separate commits.
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One commit for the changes to the. Mavproxy can be updated by running this command in a Terminal window: sudo pip install -- upgrade mavproxy. Remove the currently installed version of pymavlink. To ask it to print out or send your message you need to implement a module. Modules are python plugins that allow you to add functionality to Mavproxy. Look at the other modules for examples on how to trigger sending of messages using the command line interface.
Warning If the message you added has an ID greater that you will need to enable Mavlink 2 support.GitHub is home to over 40 million developers working together to host and review code, manage projects, and build software together. If nothing happens, download GitHub Desktop and try again.
If nothing happens, download Xcode and try again. If nothing happens, download the GitHub extension for Visual Studio and try again. It consists primarily of message-set specifications for different systems "dialects" defined in XML files, and Python tools that convert these into appropriate source code for supported languages. Tip MAVLink is very well suited for applications with very limited communication bandwidth. Its reference implementation in C is highly optimized for resource-constrained systems with limited RAM and flash memory.
It is field-proven and deployed in many products where it serves as interoperability interface between components of different manufacturers. Skip to content. Dismiss Join GitHub today GitHub is home to over 40 million developers working together to host and review code, manage projects, and build software together.
CMake Python Shell. CMake Branch: master. Find file. Sign in Sign up. Go back. Launching Xcode If nothing happens, download Xcode and try again. Latest commit.
Latest commit cf49 Apr 14, You signed in with another tab or window. Reload to refresh your session. You signed out in another tab or window. Correct all print statements to now be print function calls. Dec 2, Add highlighting of item type. Aug 8, Nov 9, Fix a typo in minimal. Apr 14, Mar 27, Script: remove useless pymavlink test.Mavlink FrSky Telemetry advanced
Apr 24, Dec 14, Jul 26, Travis: cache pip. Feb 3, Feb 20, It communicates with the system via uORB: some messages are directly handled in the module eg. Streams are used to send periodic messages with a specific rate, such as the vehicle attitude. When starting the mavlink instance, a mode can be specified, which defines the set of enabled streams with their rates.
For a running instance, streams can be configured via mavlink stream command. There can be multiple independent instances of the module, each connected to one serial device or network port. The implementation uses 2 threads, a sending and a receiving thread.
The sender runs at a fixed rate and dynamically reduces the rates of the streams if the combined bandwidth is higher than the configured rate -r or the physical link becomes saturated. This can be checked with mavlink statussee if rate mult is less than 1. Careful : some of the data is accessed and modified from both threads, so when changing code or extend the functionality, this needs to be take into account, in order to avoid race conditions and corrupt data.
No thread or work queue is needed, the module start only makes sure to initialize the shared global state. Communication is done via shared memory. The implementation is asynchronous and lock-free, ie. This is achieved by having a separate buffer between a publisher and a subscriber. The interface is based on file descriptors: internally it uses readwrite and ioctl.
This is used for system-wide replay. Monitor topic publication rates. Besides topthis is an important command for general system inspection:. Auto-detects D or S.
PORT protocol. Implementation The implementation uses 2 threads, a sending and a receiving thread. Must be called as last step in startup script. It is typically started as one of the very first modules and most other modules depend on it. Implementation No thread or work queue is needed, the module start only makes sure to initialize the shared global state. The code is optimized to minimize the memory footprint and the latency to exchange messages. Examples Monitor topic publication rates.
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