Enum MavCmd

Source

#[repr(u32)]pub enum MavCmd {
Show 165 variants    MAV_CMD_NAV_WAYPOINT = 16,
    MAV_CMD_NAV_LOITER_UNLIM = 17,
    MAV_CMD_NAV_LOITER_TURNS = 18,
    MAV_CMD_NAV_LOITER_TIME = 19,
    MAV_CMD_NAV_RETURN_TO_LAUNCH = 20,
    MAV_CMD_NAV_LAND = 21,
    MAV_CMD_NAV_TAKEOFF = 22,
    MAV_CMD_NAV_LAND_LOCAL = 23,
    MAV_CMD_NAV_TAKEOFF_LOCAL = 24,
    MAV_CMD_NAV_FOLLOW = 25,
    MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT = 30,
    MAV_CMD_NAV_LOITER_TO_ALT = 31,
    MAV_CMD_DO_FOLLOW = 32,
    MAV_CMD_DO_FOLLOW_REPOSITION = 33,
    MAV_CMD_DO_ORBIT = 34,
    MAV_CMD_NAV_ROI = 80,
    MAV_CMD_NAV_PATHPLANNING = 81,
    MAV_CMD_NAV_SPLINE_WAYPOINT = 82,
    MAV_CMD_NAV_VTOL_TAKEOFF = 84,
    MAV_CMD_NAV_VTOL_LAND = 85,
    MAV_CMD_NAV_GUIDED_ENABLE = 92,
    MAV_CMD_NAV_DELAY = 93,
    MAV_CMD_NAV_PAYLOAD_PLACE = 94,
    MAV_CMD_NAV_LAST = 95,
    MAV_CMD_CONDITION_DELAY = 112,
    MAV_CMD_CONDITION_CHANGE_ALT = 113,
    MAV_CMD_CONDITION_DISTANCE = 114,
    MAV_CMD_CONDITION_YAW = 115,
    MAV_CMD_CONDITION_LAST = 159,
    MAV_CMD_DO_SET_MODE = 176,
    MAV_CMD_DO_JUMP = 177,
    MAV_CMD_DO_CHANGE_SPEED = 178,
    MAV_CMD_DO_SET_HOME = 179,
    MAV_CMD_DO_SET_PARAMETER = 180,
    MAV_CMD_DO_SET_RELAY = 181,
    MAV_CMD_DO_REPEAT_RELAY = 182,
    MAV_CMD_DO_SET_SERVO = 183,
    MAV_CMD_DO_REPEAT_SERVO = 184,
    MAV_CMD_DO_FLIGHTTERMINATION = 185,
    MAV_CMD_DO_CHANGE_ALTITUDE = 186,
    MAV_CMD_DO_SET_ACTUATOR = 187,
    MAV_CMD_DO_RETURN_PATH_START = 188,
    MAV_CMD_DO_LAND_START = 189,
    MAV_CMD_DO_RALLY_LAND = 190,
    MAV_CMD_DO_GO_AROUND = 191,
    MAV_CMD_DO_REPOSITION = 192,
    MAV_CMD_DO_PAUSE_CONTINUE = 193,
    MAV_CMD_DO_SET_REVERSE = 194,
    MAV_CMD_DO_SET_ROI_LOCATION = 195,
    MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET = 196,
    MAV_CMD_DO_SET_ROI_NONE = 197,
    MAV_CMD_DO_SET_ROI_SYSID = 198,
    MAV_CMD_DO_CONTROL_VIDEO = 200,
    MAV_CMD_DO_SET_ROI = 201,
    MAV_CMD_DO_DIGICAM_CONFIGURE = 202,
    MAV_CMD_DO_DIGICAM_CONTROL = 203,
    MAV_CMD_DO_MOUNT_CONFIGURE = 204,
    MAV_CMD_DO_MOUNT_CONTROL = 205,
    MAV_CMD_DO_SET_CAM_TRIGG_DIST = 206,
    MAV_CMD_DO_FENCE_ENABLE = 207,
    MAV_CMD_DO_PARACHUTE = 208,
    MAV_CMD_DO_MOTOR_TEST = 209,
    MAV_CMD_DO_INVERTED_FLIGHT = 210,
    MAV_CMD_DO_GRIPPER = 211,
    MAV_CMD_DO_AUTOTUNE_ENABLE = 212,
    MAV_CMD_NAV_SET_YAW_SPEED = 213,
    MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL = 214,
    MAV_CMD_DO_MOUNT_CONTROL_QUAT = 220,
    MAV_CMD_DO_GUIDED_MASTER = 221,
    MAV_CMD_DO_GUIDED_LIMITS = 222,
    MAV_CMD_DO_ENGINE_CONTROL = 223,
    MAV_CMD_DO_SET_MISSION_CURRENT = 224,
    MAV_CMD_DO_LAST = 240,
    MAV_CMD_PREFLIGHT_CALIBRATION = 241,
    MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS = 242,
    MAV_CMD_PREFLIGHT_UAVCAN = 243,
    MAV_CMD_PREFLIGHT_STORAGE = 245,
    MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN = 246,
    MAV_CMD_OVERRIDE_GOTO = 252,
    MAV_CMD_OBLIQUE_SURVEY = 260,
    MAV_CMD_DO_SET_STANDARD_MODE = 262,
    MAV_CMD_MISSION_START = 300,
    MAV_CMD_ACTUATOR_TEST = 310,
    MAV_CMD_CONFIGURE_ACTUATOR = 311,
    MAV_CMD_COMPONENT_ARM_DISARM = 400,
    MAV_CMD_RUN_PREARM_CHECKS = 401,
    MAV_CMD_ILLUMINATOR_ON_OFF = 405,
    MAV_CMD_DO_ILLUMINATOR_CONFIGURE = 406,
    MAV_CMD_GET_HOME_POSITION = 410,
    MAV_CMD_INJECT_FAILURE = 420,
    MAV_CMD_START_RX_PAIR = 500,
    MAV_CMD_GET_MESSAGE_INTERVAL = 510,
    MAV_CMD_SET_MESSAGE_INTERVAL = 511,
    MAV_CMD_REQUEST_MESSAGE = 512,
    MAV_CMD_REQUEST_PROTOCOL_VERSION = 519,
    MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES = 520,
    MAV_CMD_REQUEST_CAMERA_INFORMATION = 521,
    MAV_CMD_REQUEST_CAMERA_SETTINGS = 522,
    MAV_CMD_REQUEST_STORAGE_INFORMATION = 525,
    MAV_CMD_STORAGE_FORMAT = 526,
    MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS = 527,
    MAV_CMD_REQUEST_FLIGHT_INFORMATION = 528,
    MAV_CMD_RESET_CAMERA_SETTINGS = 529,
    MAV_CMD_SET_CAMERA_MODE = 530,
    MAV_CMD_SET_CAMERA_ZOOM = 531,
    MAV_CMD_SET_CAMERA_FOCUS = 532,
    MAV_CMD_SET_STORAGE_USAGE = 533,
    MAV_CMD_SET_CAMERA_SOURCE = 534,
    MAV_CMD_JUMP_TAG = 600,
    MAV_CMD_DO_JUMP_TAG = 601,
    MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW = 1_000,
    MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE = 1_001,
    MAV_CMD_IMAGE_START_CAPTURE = 2_000,
    MAV_CMD_IMAGE_STOP_CAPTURE = 2_001,
    MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE = 2_002,
    MAV_CMD_DO_TRIGGER_CONTROL = 2_003,
    MAV_CMD_CAMERA_TRACK_POINT = 2_004,
    MAV_CMD_CAMERA_TRACK_RECTANGLE = 2_005,
    MAV_CMD_CAMERA_STOP_TRACKING = 2_010,
    MAV_CMD_VIDEO_START_CAPTURE = 2_500,
    MAV_CMD_VIDEO_STOP_CAPTURE = 2_501,
    MAV_CMD_VIDEO_START_STREAMING = 2_502,
    MAV_CMD_VIDEO_STOP_STREAMING = 2_503,
    MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION = 2_504,
    MAV_CMD_REQUEST_VIDEO_STREAM_STATUS = 2_505,
    MAV_CMD_LOGGING_START = 2_510,
    MAV_CMD_LOGGING_STOP = 2_511,
    MAV_CMD_AIRFRAME_CONFIGURATION = 2_520,
    MAV_CMD_CONTROL_HIGH_LATENCY = 2_600,
    MAV_CMD_PANORAMA_CREATE = 2_800,
    MAV_CMD_DO_VTOL_TRANSITION = 3_000,
    MAV_CMD_ARM_AUTHORIZATION_REQUEST = 3_001,
    MAV_CMD_SET_GUIDED_SUBMODE_STANDARD = 4_000,
    MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE = 4_001,
    MAV_CMD_CONDITION_GATE = 4_501,
    MAV_CMD_NAV_FENCE_RETURN_POINT = 5_000,
    MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION = 5_001,
    MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION = 5_002,
    MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION = 5_003,
    MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION = 5_004,
    MAV_CMD_NAV_RALLY_POINT = 5_100,
    MAV_CMD_UAVCAN_GET_NODE_INFO = 5_200,
    MAV_CMD_DO_SET_SAFETY_SWITCH_STATE = 5_300,
    MAV_CMD_DO_ADSB_OUT_IDENT = 10_001,
    MAV_CMD_PAYLOAD_PREPARE_DEPLOY = 30_001,
    MAV_CMD_PAYLOAD_CONTROL_DEPLOY = 30_002,
    MAV_CMD_FIXED_MAG_CAL_YAW = 42_006,
    MAV_CMD_DO_WINCH = 42_600,
    MAV_CMD_EXTERNAL_POSITION_ESTIMATE = 43_003,
    MAV_CMD_WAYPOINT_USER_1 = 31_000,
    MAV_CMD_WAYPOINT_USER_2 = 31_001,
    MAV_CMD_WAYPOINT_USER_3 = 31_002,
    MAV_CMD_WAYPOINT_USER_4 = 31_003,
    MAV_CMD_WAYPOINT_USER_5 = 31_004,
    MAV_CMD_SPATIAL_USER_1 = 31_005,
    MAV_CMD_SPATIAL_USER_2 = 31_006,
    MAV_CMD_SPATIAL_USER_3 = 31_007,
    MAV_CMD_SPATIAL_USER_4 = 31_008,
    MAV_CMD_SPATIAL_USER_5 = 31_009,
    MAV_CMD_USER_1 = 31_010,
    MAV_CMD_USER_2 = 31_011,
    MAV_CMD_USER_3 = 31_012,
    MAV_CMD_USER_4 = 31_013,
    MAV_CMD_USER_5 = 31_014,
    MAV_CMD_CAN_FORWARD = 32_000,
}

Available on crate feature python_array_test only.

Expand description

Commands to be executed by the MAV. They can be executed on user request, or as part of a mission script. If the action is used in a mission, the parameter mapping to the waypoint/mission message is as follows: Param 1, Param 2, Param 3, Param 4, X: Param 5, Y:Param 6, Z:Param 7. This command list is similar what ARINC 424 is for commercial aircraft: A data format how to interpret waypoint/mission data. NaN and INT32_MAX may be used in float/integer params (respectively) to indicate optional/default values (e.g. to use the component’s current yaw or latitude rather than a specific value). See https://mavlink.io/en/guide/xml_schema.html#MAV_CMD for information about the structure of the MAV_CMD entries

Variants§

§

MAV_CMD_NAV_WAYPOINT = 16

Navigate to waypoint. This is intended for use in missions (for guided commands outside of missions use MAV_CMD_DO_REPOSITION).

§Parameters

Parameter	Description	Values	Units
1 (Hold)	Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)	≥ 0	s
2 (Accept Radius)	Acceptance radius (if the sphere with this radius is hit, the waypoint counts as reached)	≥ 0	m
3 (Pass Radius)	0 to pass through the WP, if>0 radius to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.		m
4 (Yaw)	Desired yaw angle at waypoint (rotary wing). NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).		deg
5 (Latitude)	Latitude
6 (Longitude)	Longitude
7 (Altitude)	Altitude		m

§

MAV_CMD_NAV_LOITER_UNLIM = 17

Loiter around this waypoint an unlimited amount of time

§Parameters

Parameter	Description	Units
1	Empty
2	Empty
3 (Radius)	Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, else counter-clockwise	m
4 (Yaw)	Desired yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).	deg
5 (Latitude)	Latitude
6 (Longitude)	Longitude
7 (Altitude)	Altitude	m

§

MAV_CMD_NAV_LOITER_TURNS = 18

Loiter around this waypoint for X turns

§Parameters

Parameter	Description	Values	Units
1 (Turns)	Number of turns.	≥ 0
2 (Heading Required)	Leave loiter circle only once heading towards the next waypoint (0 = False)	0, 1
3 (Radius)	Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, else counter-clockwise		m
4 (Xtrack Location)	Loiter circle exit location and/or path to next waypoint (“xtrack”) for forward-only moving vehicles (not multicopters). 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use the current system default xtrack behaviour.
5 (Latitude)	Latitude
6 (Longitude)	Longitude
7 (Altitude)	Altitude		m

§

MAV_CMD_NAV_LOITER_TIME = 19

Loiter at the specified latitude, longitude and altitude for a certain amount of time. Multicopter vehicles stop at the point (within a vehicle-specific acceptance radius). Forward-only moving vehicles (e.g. fixed-wing) circle the point with the specified radius/direction. If the Heading Required parameter (2) is non-zero forward moving aircraft will only leave the loiter circle once heading towards the next waypoint.

§Parameters

Parameter	Description	Values	Units
1 (Time)	Loiter time (only starts once Lat, Lon and Alt is reached).	≥ 0	s
2 (Heading Required)	Leave loiter circle only once heading towards the next waypoint (0 = False)	0, 1
3 (Radius)	Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, else counter-clockwise.		m
4 (Xtrack Location)	Loiter circle exit location and/or path to next waypoint (“xtrack”) for forward-only moving vehicles (not multicopters). 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use the current system default xtrack behaviour.
5 (Latitude)	Latitude
6 (Longitude)	Longitude
7 (Altitude)	Altitude		m

§

MAV_CMD_NAV_RETURN_TO_LAUNCH = 20

Return to launch location

§Parameters

Parameter	Description
1	Empty
2	Empty
3	Empty
4	Empty
5	Empty
6	Empty
7	Empty

§

MAV_CMD_NAV_LAND = 21

Land at location.

§Parameters

Parameter	Description	Values	Units
1 (Abort Alt)	Minimum target altitude if landing is aborted (0 = undefined/use system default).		m
2 (Land Mode)	Precision land mode.	`PrecisionLandMode`
3	Empty.
4 (Yaw Angle)	Desired yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).		deg
5 (Latitude)	Latitude.
6 (Longitude)	Longitude.
7 (Altitude)	Landing altitude (ground level in current frame).		m

§

MAV_CMD_NAV_TAKEOFF = 22

Takeoff from ground / hand. Vehicles that support multiple takeoff modes (e.g. VTOL quadplane) should take off using the currently configured mode.

§Parameters

Parameter	Description	Units
1 (Pitch)	Minimum pitch (if airspeed sensor present), desired pitch without sensor	deg
2	Empty
3	Empty
4 (Yaw)	Yaw angle (if magnetometer present), ignored without magnetometer. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).	deg
5 (Latitude)	Latitude
6 (Longitude)	Longitude
7 (Altitude)	Altitude	m

§

MAV_CMD_NAV_LAND_LOCAL = 23

Land at local position (local frame only)

§Parameters

Parameter	Description	Values	Units
1 (Target)	Landing target number (if available)	0, 1, ..
2 (Offset)	Maximum accepted offset from desired landing position - computed magnitude from spherical coordinates: d = sqrt(x^2 + y^2 + z^2), which gives the maximum accepted distance between the desired landing position and the position where the vehicle is about to land	≥ 0	m
3 (Descend Rate)	Landing descend rate		m/s
4 (Yaw)	Desired yaw angle		rad
5 (Y Position)	Y-axis position		m
6 (X Position)	X-axis position		m
7 (Z Position)	Z-axis / ground level position		m

§

MAV_CMD_NAV_TAKEOFF_LOCAL = 24

Takeoff from local position (local frame only)

§Parameters

Parameter	Description	Units
1 (Pitch)	Minimum pitch (if airspeed sensor present), desired pitch without sensor	rad
2	Empty
3 (Ascend Rate)	Takeoff ascend rate	m/s
4 (Yaw)	Yaw angle (if magnetometer or another yaw estimation source present), ignored without one of these	rad
5 (Y Position)	Y-axis position	m
6 (X Position)	X-axis position	m
7 (Z Position)	Z-axis position	m

§

MAV_CMD_NAV_FOLLOW = 25

Vehicle following, i.e. this waypoint represents the position of a moving vehicle

§Parameters

Parameter	Description	Values	Units
1 (Following)	Following logic to use (e.g. loitering or sinusoidal following) - depends on specific autopilot implementation	Multiples of 1
2 (Ground Speed)	Ground speed of vehicle to be followed		m/s
3 (Radius)	Radius around waypoint. If positive loiter clockwise, else counter-clockwise		m
4 (Yaw)	Desired yaw angle.		deg
5 (Latitude)	Latitude
6 (Longitude)	Longitude
7 (Altitude)	Altitude		m

§

MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT = 30

Continue on the current course and climb/descend to specified altitude. When the altitude is reached continue to the next command (i.e., don’t proceed to the next command until the desired altitude is reached.

§Parameters

Parameter	Description	Values	Units
1 (Action)	Climb or Descend (0 = Neutral, command completes when within 5m of this command’s altitude, 1 = Climbing, command completes when at or above this command’s altitude, 2 = Descending, command completes when at or below this command’s altitude.	0, 1, 2
2	Empty
3	Empty
4	Empty
5	Empty
6	Empty
7 (Altitude)	Desired altitude		m

§

MAV_CMD_NAV_LOITER_TO_ALT = 31

Begin loiter at the specified Latitude and Longitude. If Lat=Lon=0, then loiter at the current position. Don’t consider the navigation command complete (don’t leave loiter) until the altitude has been reached. Additionally, if the Heading Required parameter is non-zero the aircraft will not leave the loiter until heading toward the next waypoint.

§Parameters

Parameter	Description	Values	Units
1 (Heading Required)	Leave loiter circle only once heading towards the next waypoint (0 = False)	0, 1
2 (Radius)	Loiter radius around waypoint for forward-only moving vehicles (not multicopters). If positive loiter clockwise, negative counter-clockwise, 0 means no change to standard loiter.		m
3	Empty
4 (Xtrack Location)	Loiter circle exit location and/or path to next waypoint (“xtrack”) for forward-only moving vehicles (not multicopters). 0 for the vehicle to converge towards the center xtrack when it leaves the loiter (the line between the centers of the current and next waypoint), 1 to converge to the direct line between the location that the vehicle exits the loiter radius and the next waypoint. Otherwise the angle (in degrees) between the tangent of the loiter circle and the center xtrack at which the vehicle must leave the loiter (and converge to the center xtrack). NaN to use the current system default xtrack behaviour.	0, 1
5 (Latitude)	Latitude
6 (Longitude)	Longitude
7 (Altitude)	Altitude		m

§

MAV_CMD_DO_FOLLOW = 32

Begin following a target

§Parameters

Parameter	Description	Values	Units
1 (System ID)	System ID (of the FOLLOW_TARGET beacon). Send 0 to disable follow-me and return to the default position hold mode.	0, 1, .. , 255
2	Reserved
3	Reserved
4 (Altitude Mode)	Altitude mode: 0: Keep current altitude, 1: keep altitude difference to target, 2: go to a fixed altitude above home.	0, 1, 2
5 (Altitude)	Altitude above home. (used if mode=2)		m
6	Reserved
7 (Time to Land)	Time to land in which the MAV should go to the default position hold mode after a message RX timeout.	≥ 0	s

§

MAV_CMD_DO_FOLLOW_REPOSITION = 33

Reposition the MAV after a follow target command has been sent

§Parameters

Parameter	Description	Units
1 (Camera Q1)	Camera q1 (where 0 is on the ray from the camera to the tracking device)
2 (Camera Q2)	Camera q2
3 (Camera Q3)	Camera q3
4 (Camera Q4)	Camera q4
5 (Altitude Offset)	altitude offset from target	m
6 (X Offset)	X offset from target	m
7 (Y Offset)	Y offset from target	m

§

MAV_CMD_DO_ORBIT = 34

Start orbiting on the circumference of a circle defined by the parameters. Setting values to NaN/INT32_MAX (as appropriate) results in using defaults.

§Parameters

Parameter	Description	Values	Units
1 (Radius)	Radius of the circle. Positive: orbit clockwise. Negative: orbit counter-clockwise. NaN: Use vehicle default radius, or current radius if already orbiting.		m
2 (Velocity)	Tangential Velocity. NaN: Use vehicle default velocity, or current velocity if already orbiting.		m/s
3 (Yaw Behavior)	Yaw behavior of the vehicle.	`OrbitYawBehaviour`
4 (Orbits)	Orbit around the centre point for this many radians (i.e. for a three-quarter orbit set 270*Pi/180). 0: Orbit forever. NaN: Use vehicle default, or current value if already orbiting.	≥ 0	rad
5 (Latitude/X)	Center point latitude (if no MAV_FRAME specified) / X coordinate according to MAV_FRAME. INT32_MAX (or NaN if sent in COMMAND_LONG): Use current vehicle position, or current center if already orbiting.
6 (Longitude/Y)	Center point longitude (if no MAV_FRAME specified) / Y coordinate according to MAV_FRAME. INT32_MAX (or NaN if sent in COMMAND_LONG): Use current vehicle position, or current center if already orbiting.
7 (Altitude/Z)	Center point altitude (MSL) (if no MAV_FRAME specified) / Z coordinate according to MAV_FRAME. NaN: Use current vehicle altitude.

§

MAV_CMD_NAV_ROI = 80

👎Deprecated: See MAV_CMD_DO_SET_ROI_* (Deprecated since 2018-01)

Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicle’s control system to control the vehicle attitude and the attitude of various sensors such as cameras.

§Parameters

Parameter	Description	Values
1 (ROI Mode)	Region of interest mode.	`MavRoi`
2 (WP Index)	Waypoint index/ target ID. (see MAV_ROI enum)	0, 1, ..
3 (ROI Index)	ROI index (allows a vehicle to manage multiple ROI’s)	0, 1, ..
4	Empty
5 (X)	x the location of the fixed ROI (see MAV_FRAME)
6 (Y)	y
7 (Z)	z

§

MAV_CMD_NAV_PATHPLANNING = 81

Control autonomous path planning on the MAV.

§Parameters

Parameter	Description	Values	Units
1 (Local Ctrl)	0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning	0, 1, 2
2 (Global Ctrl)	0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid	0, 1, .. , 3
3	Empty
4 (Yaw)	Yaw angle at goal		deg
5 (Latitude/X)	Latitude/X of goal
6 (Longitude/Y)	Longitude/Y of goal
7 (Altitude/Z)	Altitude/Z of goal

§

MAV_CMD_NAV_SPLINE_WAYPOINT = 82

Navigate to waypoint using a spline path.

§Parameters

Parameter	Description	Values	Units
1 (Hold)	Hold time. (ignored by fixed wing, time to stay at waypoint for rotary wing)	≥ 0	s
2	Empty
3	Empty
4	Empty
5 (Latitude/X)	Latitude/X of goal
6 (Longitude/Y)	Longitude/Y of goal
7 (Altitude/Z)	Altitude/Z of goal

§

MAV_CMD_NAV_VTOL_TAKEOFF = 84

Takeoff from ground using VTOL mode, and transition to forward flight with specified heading. The command should be ignored by vehicles that dont support both VTOL and fixed-wing flight (multicopters, boats,etc.).

§Parameters

Parameter	Description	Values	Units
1	Empty
2 (Transition Heading)	Front transition heading.	`VtolTransitionHeading`
3	Empty
4 (Yaw Angle)	Yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).		deg
5 (Latitude)	Latitude
6 (Longitude)	Longitude
7 (Altitude)	Altitude		m

§

MAV_CMD_NAV_VTOL_LAND = 85

Land using VTOL mode

§Parameters

Parameter	Description	Values	Units
1 (Land Options)	Landing behaviour.	`NavVtolLandOptions`
2	Empty
3 (Approach Altitude)	Approach altitude (with the same reference as the Altitude field). NaN if unspecified.		m
4 (Yaw)	Yaw angle. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.).		deg
5 (Latitude)	Latitude
6 (Longitude)	Longitude
7 (Ground Altitude)	Altitude (ground level) relative to the current coordinate frame. NaN to use system default landing altitude (ignore value).		m

§

MAV_CMD_NAV_GUIDED_ENABLE = 92

hand control over to an external controller

§Parameters

Parameter	Description	Values
1 (Enable)	On / Off (>0.5f on)	0, 1
2	Empty
3	Empty
4	Empty
5	Empty
6	Empty
7	Empty

§

MAV_CMD_NAV_DELAY = 93

Delay the next navigation command a number of seconds or until a specified time

§Parameters

Parameter	Description	Values	Units
1 (Delay)	Delay (-1 to enable time-of-day fields)	-1, 0, ..	s
2 (Hour)	hour (24h format, UTC, -1 to ignore)	-1, 0, .. , 23
3 (Minute)	minute (24h format, UTC, -1 to ignore)	-1, 0, .. , 59
4 (Second)	second (24h format, UTC, -1 to ignore)	-1, 0, .. , 59
5	Empty
6	Empty
7	Empty

§

MAV_CMD_NAV_PAYLOAD_PLACE = 94

Descend and place payload. Vehicle moves to specified location, descends until it detects a hanging payload has reached the ground, and then releases the payload. If ground is not detected before the reaching the maximum descent value (param1), the command will complete without releasing the payload.

§Parameters

Parameter	Description	Values	Units
1 (Max Descent)	Maximum distance to descend.	≥ 0	m
2	Empty
3	Empty
4	Empty
5 (Latitude)	Latitude
6 (Longitude)	Longitude
7 (Altitude)	Altitude		m

§

MAV_CMD_NAV_LAST = 95

NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration

§Parameters

Parameter	Description
1	Empty
2	Empty
3	Empty
4	Empty
5	Empty
6	Empty
7	Empty

§

MAV_CMD_CONDITION_DELAY = 112

Delay mission state machine.

§Parameters

Parameter	Description	Values	Units
1 (Delay)	Delay	≥ 0	s
2	Empty
3	Empty
4	Empty
5	Empty
6	Empty
7	Empty

§

MAV_CMD_CONDITION_CHANGE_ALT = 113

Ascend/descend to target altitude at specified rate. Delay mission state machine until desired altitude reached.

§Parameters

Parameter	Description	Units
1 (Rate)	Descent / Ascend rate.	m/s
2	Empty
3	Empty
4	Empty
5	Empty
6	Empty
7 (Altitude)	Target Altitude	m

§

MAV_CMD_CONDITION_DISTANCE = 114

Delay mission state machine until within desired distance of next NAV point.

§Parameters

Parameter	Description	Values	Units
1 (Distance)	Distance.	≥ 0	m
2	Empty
3	Empty
4	Empty
5	Empty
6	Empty
7	Empty

§

MAV_CMD_CONDITION_YAW = 115

Reach a certain target angle.

§Parameters

Parameter	Description	Values	Units
1 (Angle)	target angle [0-360]. Absolute angles: 0 is north. Relative angle: 0 is initial yaw. Direction set by param3.	0 .. 360	deg
2 (Angular Speed)	angular speed	≥ 0	deg/s
3 (Direction)	direction: -1: counter clockwise, 0: shortest direction, 1: clockwise	-1, 0, 1
4 (Relative)	0: absolute angle, 1: relative offset	0, 1
5	Empty
6	Empty
7	Empty

§

MAV_CMD_CONDITION_LAST = 159

NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration

§Parameters

Parameter	Description
1	Empty
2	Empty
3	Empty
4	Empty
5	Empty
6	Empty
7	Empty

§

MAV_CMD_DO_SET_MODE = 176

Set system mode.

§Parameters

Parameter	Description	Values
1 (Mode)	Mode	`MavMode`
2 (Custom Mode)	Custom mode - this is system specific, please refer to the individual autopilot specifications for details.
3 (Custom Submode)	Custom sub mode - this is system specific, please refer to the individual autopilot specifications for details.
4	Empty
5	Empty
6	Empty
7	Empty

§

MAV_CMD_DO_JUMP = 177

Jump to the desired command in the mission list. Repeat this action only the specified number of times

§Parameters

Parameter	Description	Values
1 (Number)	Sequence number	0, 1, ..
2 (Repeat)	Repeat count	0, 1, ..
3	Empty
4	Empty
5	Empty
6	Empty
7	Empty

§

MAV_CMD_DO_CHANGE_SPEED = 178

Change speed and/or throttle set points. The value persists until it is overridden or there is a mode change

§Parameters

Parameter	Description	Values	Units
1 (Speed Type)	Speed type of value set in param2 (such as airspeed, ground speed, and so on)	`SpeedType`
2 (Speed)	Speed (-1 indicates no change, -2 indicates return to default vehicle speed)	≥ -2	m/s
3 (Throttle)	Throttle (-1 indicates no change, -2 indicates return to default vehicle throttle value)	≥ -2	%
4		Reserved (use 0)
5		Reserved (use 0)
6		Reserved (use 0)
7		Reserved (use 0)

§

MAV_CMD_DO_SET_HOME = 179

Sets the home position to either to the current position or a specified position. The home position is the default position that the system will return to and land on. The position is set automatically by the system during the takeoff (and may also be set using this command). Note: the current home position may be emitted in a HOME_POSITION message on request (using MAV_CMD_REQUEST_MESSAGE with param1=242).

§Parameters

Parameter	Description	Values	Units
1 (Use Current)	Use current (1=use current location, 0=use specified location)	0, 1
2 (Roll)	Roll angle (of surface). Range: -180..180 degrees. NAN or 0 means value not set. 0.01 indicates zero roll.	-180 .. 180	deg
3 (Pitch)	Pitch angle (of surface). Range: -90..90 degrees. NAN or 0 means value not set. 0.01 means zero pitch.	-90 .. 90	deg
4 (Yaw)	Yaw angle. NaN to use default heading. Range: -180..180 degrees.	-180 .. 180	deg
5 (Latitude)	Latitude
6 (Longitude)	Longitude
7 (Altitude)	Altitude		m

§

MAV_CMD_DO_SET_PARAMETER = 180

👎Deprecated: See PARAM_SET (Deprecated since 2024-04)

Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter.

§Parameters

Parameter	Description	Values
1 (Number)	Parameter number	0, 1, ..
2 (Value)	Parameter value
3	Empty
4	Empty
5	Empty
6	Empty
7	Empty

§

MAV_CMD_DO_SET_RELAY = 181

Set a relay to a condition.

§Parameters

Parameter	Description	Values
1 (Instance)	Relay instance number.	0, 1, ..
2 (Setting)	Setting. (1=on, 0=off, others possible depending on system hardware)	0, 1, ..
3	Empty
4	Empty
5	Empty
6	Empty
7	Empty

§

MAV_CMD_DO_REPEAT_RELAY = 182

Cycle a relay on and off for a desired number of cycles with a desired period.

§Parameters

Parameter	Description	Values	Units
1 (Instance)	Relay instance number.	0, 1, ..
2 (Count)	Cycle count.	1, 2, ..
3 (Time)	Cycle time.	≥ 0	s
4	Empty
5	Empty
6	Empty
7	Empty

§

MAV_CMD_DO_SET_SERVO = 183

Set a servo to a desired PWM value.

§Parameters

Parameter	Description	Values	Units
1 (Instance)	Servo instance number.	0, 1, ..
2 (PWM)	Pulse Width Modulation.	0, 1, ..	us
3	Empty
4	Empty
5	Empty
6	Empty
7	Empty

§

MAV_CMD_DO_REPEAT_SERVO = 184

Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period.

§Parameters

Parameter	Description	Values	Units
1 (Instance)	Servo instance number.	0, 1, ..
2 (PWM)	Pulse Width Modulation.	0, 1, ..	us
3 (Count)	Cycle count.	1, 2, ..
4 (Time)	Cycle time.	≥ 0	s
5	Empty
6	Empty
7	Empty

§

MAV_CMD_DO_FLIGHTTERMINATION = 185

Terminate flight immediately. Flight termination immediately and irreversibly terminates the current flight, returning the vehicle to ground. The vehicle will ignore RC or other input until it has been power-cycled. Termination may trigger safety measures, including: disabling motors and deployment of parachute on multicopters, and setting flight surfaces to initiate a landing pattern on fixed-wing). On multicopters without a parachute it may trigger a crash landing. Support for this command can be tested using the protocol bit: MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION. Support for this command can also be tested by sending the command with param1=0 (<0.5); the ACK should be either MAV_RESULT_FAILED or MAV_RESULT_UNSUPPORTED.

§Parameters

Parameter	Description	Values
1 (Terminate)	Flight termination activated if>0.5. Otherwise not activated and ACK with MAV_RESULT_FAILED.	0, 1
2	Empty
3	Empty
4	Empty
5	Empty
6	Empty
7	Empty

§

MAV_CMD_DO_CHANGE_ALTITUDE = 186

Change altitude set point.

§Parameters

Parameter	Description	Values	Units
1 (Altitude)	Altitude.		m
2 (Frame)	Frame of new altitude.	`MavFrame`
3	Empty
4	Empty
5	Empty
6	Empty
7	Empty

§

MAV_CMD_DO_SET_ACTUATOR = 187

Sets actuators (e.g. servos) to a desired value. The actuator numbers are mapped to specific outputs (e.g. on any MAIN or AUX PWM or UAVCAN) using a flight-stack specific mechanism (i.e. a parameter).

§Parameters

Parameter	Description	Values
1 (Actuator 1)	Actuator 1 value, scaled from [-1 to 1]. NaN to ignore.	-1 .. 1
2 (Actuator 2)	Actuator 2 value, scaled from [-1 to 1]. NaN to ignore.	-1 .. 1
3 (Actuator 3)	Actuator 3 value, scaled from [-1 to 1]. NaN to ignore.	-1 .. 1
4 (Actuator 4)	Actuator 4 value, scaled from [-1 to 1]. NaN to ignore.	-1 .. 1
5 (Actuator 5)	Actuator 5 value, scaled from [-1 to 1]. NaN to ignore.	-1 .. 1
6 (Actuator 6)	Actuator 6 value, scaled from [-1 to 1]. NaN to ignore.	-1 .. 1
7 (Index)	Index of actuator set (i.e if set to 1, Actuator 1 becomes Actuator 7)	0, 1, ..

§

MAV_CMD_DO_RETURN_PATH_START = 188

Mission item to specify the start of a failsafe/landing return-path segment (the end of the segment is the next MAV_CMD_DO_LAND_START item). A vehicle that is using missions for landing (e.g. in a return mode) will join the mission on the closest path of the return-path segment (instead of MAV_CMD_DO_LAND_START or the nearest waypoint). The main use case is to minimize the failsafe flight path in corridor missions, where the inbound/outbound paths are constrained (by geofences) to the same particular path. The MAV_CMD_NAV_RETURN_PATH_START would be placed at the start of the return path. If a failsafe occurs on the outbound path the vehicle will move to the nearest point on the return path (which is parallel for this kind of mission), effectively turning round and following the shortest path to landing. If a failsafe occurs on the inbound path the vehicle is already on the return segment and will continue to landing. The Latitude/Longitude/Altitude are optional, and may be set to 0 if not needed. If specified, the item defines the waypoint at which the return segment starts. If sent using as a command, the vehicle will perform a mission landing (using the land segment if defined) or reject the command if mission landings are not supported, or no mission landing is defined. When used as a command any position information in the command is ignored.

§Parameters

Parameter	Description	Units
1	Empty
2	Empty
3	Empty
4	Empty
5 (Latitude)	Latitudee. 0: not used.
6 (Longitude)	Longitudee. 0: not used.
7 (Altitude)	Altitudee. 0: not used.	m

§

MAV_CMD_DO_LAND_START = 189

Mission item to mark the start of a mission landing pattern, or a command to land with a mission landing pattern. When used in a mission, this is a marker for the start of a sequence of mission items that represent a landing pattern. It should be followed by a navigation item that defines the first waypoint of the landing sequence. The start marker positional params are used only for selecting what landing pattern to use if several are defined in the mission (the selected pattern will be the one with the marker position that is closest to the vehicle when a landing is commanded). If the marker item position has zero-values for latitude, longitude, and altitude, then landing pattern selection is instead based on the position of the first waypoint in the landing sequence. When sent as a command it triggers a landing using a mission landing pattern. The location parameters are not used in this case, and should be set to 0.

§Parameters

Parameter	Description	Units
1	Empty
2	Empty
3	Empty
4	Empty
5 (Latitude)	Latitude for landing sequence selection, or 0 (see description). Ignored in commands (set 0).
6 (Longitude)	Longitude for landing sequence selection, or 0 (see description). Ignored in commands (set 0).
7 (Altitude)	Altitude for landing sequence selection, or 0 (see description). Ignored in commands (set 0).	m

§

MAV_CMD_DO_RALLY_LAND = 190

Mission command to perform a landing from a rally point.

§Parameters

Parameter	Description	Units
1 (Altitude)	Break altitude	m
2 (Speed)	Landing speed	m/s
3	Empty
4	Empty
5	Empty
6	Empty
7	Empty

§

MAV_CMD_DO_GO_AROUND = 191

Mission command to safely abort an autonomous landing.

§Parameters

Parameter	Description	Units
1 (Altitude)	Altitude	m
2	Empty
3	Empty
4	Empty
5	Empty
6	Empty
7	Empty

§

MAV_CMD_DO_REPOSITION = 192

Reposition the vehicle to a specific WGS84 global position. This command is intended for guided commands (for missions use MAV_CMD_NAV_WAYPOINT instead).

§Parameters

Parameter	Description	Values	Units
1 (Speed)	Ground speed, less than 0 (-1) for default	≥ -1	m/s
2 (Bitmask)	Bitmask of option flags.	`MavDoRepositionFlags`
3 (Radius)	Loiter radius for planes. Positive values only, direction is controlled by Yaw value. A value of zero or NaN is ignored.		m
4 (Yaw)	Yaw heading. NaN to use the current system yaw heading mode (e.g. yaw towards next waypoint, yaw to home, etc.). For planes indicates loiter direction (0: clockwise, 1: counter clockwise)		rad
5 (Latitude)	Latitude
6 (Longitude)	Longitude
7 (Altitude)	Altitude		m

§

MAV_CMD_DO_PAUSE_CONTINUE = 193

If in a GPS controlled position mode, hold the current position or continue.

§Parameters

Parameter	Description	Values
1 (Continue)	0: Pause current mission or reposition command, hold current position. 1: Continue mission. A VTOL capable vehicle should enter hover mode (multicopter and VTOL planes). A plane should loiter with the default loiter radius.	0, 1
2	Reserved
3	Reserved
4	Reserved
5	Reserved
6	Reserved
7	Reserved

§

MAV_CMD_DO_SET_REVERSE = 194

Set moving direction to forward or reverse.

§Parameters

Parameter	Description	Values
1 (Reverse)	Direction (0=Forward, 1=Reverse)	0, 1
2	Empty
3	Empty
4	Empty
5	Empty
6	Empty
7	Empty

§

MAV_CMD_DO_SET_ROI_LOCATION = 195

Sets the region of interest (ROI) to a location. This can then be used by the vehicle’s control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal is not to react to this message.

§Parameters

Parameter	Description	Units
1 (Gimbal device ID)	Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).
2	Empty
3	Empty
4	Empty
5 (Latitude)	Latitude of ROI location	degE7
6 (Longitude)	Longitude of ROI location	degE7
7 (Altitude)	Altitude of ROI location	m

§

MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET = 196

Sets the region of interest (ROI) to be toward next waypoint, with optional pitch/roll/yaw offset. This can then be used by the vehicle’s control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message.

§Parameters

Parameter	Description	Units
1 (Gimbal device ID)	Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).
2	Empty
3	Empty
4	Empty
5 (Pitch Offset)	Pitch offset from next waypoint, positive pitching up	deg
6 (Roll Offset)	Roll offset from next waypoint, positive rolling to the right	deg
7 (Yaw Offset)	Yaw offset from next waypoint, positive yawing to the right	deg

§

MAV_CMD_DO_SET_ROI_NONE = 197

Cancels any previous ROI command returning the vehicle/sensors to default flight characteristics. This can then be used by the vehicle’s control system to control the vehicle attitude and the attitude of various sensors such as cameras. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message. After this command the gimbal manager should go back to manual input if available, and otherwise assume a neutral position.

§Parameters

Parameter	Description
1 (Gimbal device ID)	Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).
2	Empty
3	Empty
4	Empty
5	Empty
6	Empty
7	Empty

§

MAV_CMD_DO_SET_ROI_SYSID = 198

Mount tracks system with specified system ID. Determination of target vehicle position may be done with GLOBAL_POSITION_INT or any other means. This command can be sent to a gimbal manager but not to a gimbal device. A gimbal device is not to react to this message.

§Parameters

Parameter	Description	Values
1 (System ID)	System ID	1, 2, .. , 255
2 (Gimbal device ID)	Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).

§

MAV_CMD_DO_CONTROL_VIDEO = 200

Control onboard camera system.

§Parameters

Parameter	Description	Values	Units
1 (ID)	Camera ID (-1 for all)	-1, 0, ..
2 (Transmission)	Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw	0, 1, 2
3 (Interval)	Transmission mode: 0: video stream,>0: single images every n seconds	≥ 0	s
4 (Recording)	Recording: 0: disabled, 1: enabled compressed, 2: enabled raw	0, 1, 2
5	Empty
6	Empty
7	Empty

§

MAV_CMD_DO_SET_ROI = 201

👎Deprecated: See MAV_CMD_DO_SET_ROI_* (Deprecated since 2018-01)

Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicle’s control system to control the vehicle attitude and the attitude of various sensors such as cameras.

§Parameters

Parameter	Description	Values
1 (ROI Mode)	Region of interest mode.	`MavRoi`
2 (WP Index)	Waypoint index/ target ID (depends on param 1).	0, 1, ..
3 (ROI Index)	Region of interest index. (allows a vehicle to manage multiple ROI’s)	0, 1, ..
4	Empty
5	MAV_ROI_WPNEXT: pitch offset from next waypoint, MAV_ROI_LOCATION: latitude
6	MAV_ROI_WPNEXT: roll offset from next waypoint, MAV_ROI_LOCATION: longitude
7	MAV_ROI_WPNEXT: yaw offset from next waypoint, MAV_ROI_LOCATION: altitude

§

MAV_CMD_DO_DIGICAM_CONFIGURE = 202

Configure digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ).

§Parameters

Parameter	Description	Values	Units
1 (Mode)	Modes: P, TV, AV, M, Etc.	0, 1, ..
2 (Shutter Speed)	Shutter speed: Divisor number for one second.	0, 1, ..
3 (Aperture)	Aperture: F stop number.	≥ 0
4 (ISO)	ISO number e.g. 80, 100, 200, Etc.	0, 1, ..
5 (Exposure)	Exposure type enumerator.
6 (Command Identity)	Command Identity.
7 (Engine Cut-off)	Main engine cut-off time before camera trigger. (0 means no cut-off)	0, 1, ..	ds

§

MAV_CMD_DO_DIGICAM_CONTROL = 203

Control digital camera. This is a fallback message for systems that have not yet implemented PARAM_EXT_XXX messages and camera definition files (see https://mavlink.io/en/services/camera_def.html ).

§Parameters

Parameter	Description
1 (Session Control)	Session control e.g. show/hide lens
2 (Zoom Absolute)	Zoom’s absolute position
3 (Zoom Relative)	Zooming step value to offset zoom from the current position
4 (Focus)	Focus Locking, Unlocking or Re-locking
5 (Shoot Command)	Shooting Command
6 (Command Identity)	Command Identity
7 (Shot ID)	Test shot identifier. If set to 1, image will only be captured, but not counted towards internal frame count.

§

MAV_CMD_DO_MOUNT_CONFIGURE = 204

👎Deprecated: This message has been superseded by MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE. The message can still be used to communicate with legacy gimbals implementing it. See MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE (Deprecated since 2020-01)

Mission command to configure a camera or antenna mount

§Parameters

Parameter	Description	Values
1 (Mode)	Mount operation mode	`MavMountMode`
2 (Stabilize Roll)	stabilize roll? (1 = yes, 0 = no)	0, 1
3 (Stabilize Pitch)	stabilize pitch? (1 = yes, 0 = no)	0, 1
4 (Stabilize Yaw)	stabilize yaw? (1 = yes, 0 = no)	0, 1
5 (Roll Input Mode)	roll input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)
6 (Pitch Input Mode)	pitch input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)
7 (Yaw Input Mode)	yaw input (0 = angle body frame, 1 = angular rate, 2 = angle absolute frame)

§

MAV_CMD_DO_MOUNT_CONTROL = 205

👎Deprecated: This message is ambiguous and inconsistent. It has been superseded by MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW and MAV_CMD_DO_SET_ROI_* variants. The message can still be used to communicate with legacy gimbals implementing it. See MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (Deprecated since 2020-01)

Mission command to control a camera or antenna mount

§Parameters

Parameter	Description	Values	Units
1 (Pitch)	pitch depending on mount mode (degrees or degrees/second depending on pitch input).
2 (Roll)	roll depending on mount mode (degrees or degrees/second depending on roll input).
3 (Yaw)	yaw depending on mount mode (degrees or degrees/second depending on yaw input).
4 (Altitude)	altitude depending on mount mode.		m
5 (Latitude)	latitude, set if appropriate mount mode.
6 (Longitude)	longitude, set if appropriate mount mode.
7 (Mode)	Mount mode.	`MavMountMode`

§

MAV_CMD_DO_SET_CAM_TRIGG_DIST = 206

Mission command to set camera trigger distance for this flight. The camera is triggered each time this distance is exceeded. This command can also be used to set the shutter integration time for the camera.

§Parameters

Parameter	Description	Values	Units
1 (Distance)	Camera trigger distance. 0 to stop triggering.	≥ 0	m
2 (Shutter)	Camera shutter integration time. -1 or 0 to ignore	-1, 0, ..	ms
3 (Trigger)	Trigger camera once immediately. (0 = no trigger, 1 = trigger)	0, 1
4 (Target Camera ID)	Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don’t have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.	0, 1, .. , 255
5	Empty
6	Empty
7	Empty

§

MAV_CMD_DO_FENCE_ENABLE = 207

Enable the geofence. This can be used in a mission or via the command protocol. The persistence/lifetime of the setting is undefined. Depending on flight stack implementation it may persist until superseded, or it may revert to a system default at the end of a mission. Flight stacks typically reset the setting to system defaults on reboot.

§Parameters

Parameter	Description	Values
1 (Enable)	enable? (0=disable, 1=enable, 2=disable_floor_only)	0, 1, 2
2 (Types)	Fence types to enable or disable as a bitmask. 0: field is unused/all fences should be enabled or disabled (for compatiblity reasons). Parameter is ignored if param1=2.	`FenceType`
3	Empty
4	Empty
5	Empty
6	Empty
7	Empty

§

MAV_CMD_DO_PARACHUTE = 208

Mission item/command to release a parachute or enable/disable auto release.

§Parameters

Parameter	Description	Values
1 (Action)	Action	`ParachuteAction`
2	Empty
3	Empty
4	Empty
5	Empty
6	Empty
7	Empty

§

MAV_CMD_DO_MOTOR_TEST = 209

Command to perform motor test.

§Parameters

Parameter	Description	Values	Units
1 (Instance)	Motor instance number (from 1 to max number of motors on the vehicle).	1, 2, ..
2 (Throttle Type)	Throttle type (whether the Throttle Value in param3 is a percentage, PWM value, etc.)	`MotorTestThrottleType`
3 (Throttle)	Throttle value.
4 (Timeout)	Timeout between tests that are run in sequence.	≥ 0	s
5 (Motor Count)	Motor count. Number of motors to test in sequence: 0/1=one motor, 2= two motors, etc. The Timeout (param4) is used between tests.	0, 1, ..
6 (Test Order)	Motor test order.	`MotorTestOrder`
7	Empty

§

MAV_CMD_DO_INVERTED_FLIGHT = 210

Change to/from inverted flight.

§Parameters

Parameter	Description	Values
1 (Inverted)	Inverted flight. (0=normal, 1=inverted)	0, 1
2	Empty
3	Empty
4	Empty
5	Empty
6	Empty
7	Empty

§

MAV_CMD_DO_GRIPPER = 211

Mission command to operate a gripper.

§Parameters

Parameter	Description	Values
1 (Instance)	Gripper instance number.	1, 2, ..
2 (Action)	Gripper action to perform.	`GripperActions`
3	Empty
4	Empty
5	Empty
6	Empty
7	Empty

§

MAV_CMD_DO_AUTOTUNE_ENABLE = 212

Enable/disable autotune.

§Parameters

Parameter	Description	Values
1 (Enable)	Enable (1: enable, 0:disable).	0, 1
2 (Axis)	Specify axes for which autotuning is enabled/disabled. 0 indicates the field is unused (for compatiblity reasons). If 0 the autopilot will follow its default behaviour, which is usually to tune all axes.	`AutotuneAxis`
3	Empty.
4	Empty.
5	Empty.
6	Empty.
7	Empty.

§

MAV_CMD_NAV_SET_YAW_SPEED = 213

Sets a desired vehicle turn angle and speed change.

§Parameters

Parameter	Description	Values	Units
1 (Yaw)	Yaw angle to adjust steering by.		deg
2 (Speed)	Speed.		m/s
3 (Angle)	Final angle. (0=absolute, 1=relative)	0, 1
4	Empty
5	Empty
6	Empty
7	Empty

§

MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL = 214

Mission command to set camera trigger interval for this flight. If triggering is enabled, the camera is triggered each time this interval expires. This command can also be used to set the shutter integration time for the camera.

§Parameters

Parameter	Description	Values	Units
1 (Trigger Cycle)	Camera trigger cycle time. -1 or 0 to ignore.	-1, 0, ..	ms
2 (Shutter Integration)	Camera shutter integration time. Should be less than trigger cycle time. -1 or 0 to ignore.	-1, 0, ..	ms
3 (Target Camera ID)	Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don’t have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.	0, 1, .. , 255
4	Empty
5	Empty
6	Empty
7	Empty

§

MAV_CMD_DO_MOUNT_CONTROL_QUAT = 220

👎Deprecated: See MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW (Deprecated since 2020-01)

Mission command to control a camera or antenna mount, using a quaternion as reference.

§Parameters

Parameter	Description
1 (Q1)	quaternion param q1, w (1 in null-rotation)
2 (Q2)	quaternion param q2, x (0 in null-rotation)
3 (Q3)	quaternion param q3, y (0 in null-rotation)
4 (Q4)	quaternion param q4, z (0 in null-rotation)
5	Empty
6	Empty
7	Empty

§

MAV_CMD_DO_GUIDED_MASTER = 221

set id of master controller

§Parameters

Parameter	Description	Values
1 (System ID)	System ID	0, 1, .. , 255
2 (Component ID)	Component ID	0, 1, .. , 255
3	Empty
4	Empty
5	Empty
6	Empty
7	Empty

§

MAV_CMD_DO_GUIDED_LIMITS = 222

Set limits for external control

§Parameters

Parameter	Description	Values	Units
1 (Timeout)	Timeout - maximum time that external controller will be allowed to control vehicle. 0 means no timeout.	≥ 0	s
2 (Min Altitude)	Altitude (MSL) min - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit.		m
3 (Max Altitude)	Altitude (MSL) max - if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit.		m
4 (Horiz. Move Limit)	Horizontal move limit - if vehicle moves more than this distance from its location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal move limit.	≥ 0	m
5	Empty
6	Empty
7	Empty

§

MAV_CMD_DO_ENGINE_CONTROL = 223

Control vehicle engine. This is interpreted by the vehicles engine controller to change the target engine state. It is intended for vehicles with internal combustion engines

§Parameters

Parameter	Description	Values	Units
1 (Start Engine)	0: Stop engine, 1:Start Engine	0, 1
2 (Cold Start)	0: Warm start, 1:Cold start. Controls use of choke where applicable	0, 1
3 (Height Delay)	Height delay. This is for commanding engine start only after the vehicle has gained the specified height. Used in VTOL vehicles during takeoff to start engine after the aircraft is off the ground. Zero for no delay.	≥ 0	m
4	Empty
5	Empty
6	Empty
7	Empty

§

MAV_CMD_DO_SET_MISSION_CURRENT = 224

Set the mission item with sequence number seq as the current item and emit MISSION_CURRENT (whether or not the mission number changed). If a mission is currently being executed, the system will continue to this new mission item on the shortest path, skipping any intermediate mission items. Note that mission jump repeat counters are not reset unless param2 is set (see MAV_CMD_DO_JUMP param2). This command may trigger a mission state-machine change on some systems: for example from MISSION_STATE_NOT_STARTED or MISSION_STATE_PAUSED to MISSION_STATE_ACTIVE. If the system is in mission mode, on those systems this command might therefore start, restart or resume the mission. If the system is not in mission mode this command must not trigger a switch to mission mode. The mission may be “reset” using param2. Resetting sets jump counters to initial values (to reset counters without changing the current mission item set the param1 to -1). Resetting also explicitly changes a mission state of MISSION_STATE_COMPLETE to MISSION_STATE_PAUSED or MISSION_STATE_ACTIVE, potentially allowing it to resume when it is (next) in a mission mode. The command will ACK with MAV_RESULT_FAILED if the sequence number is out of range (including if there is no mission item).

§Parameters

Parameter	Description	Values
1 (Number)	Mission sequence value to set. -1 for the current mission item (use to reset mission without changing current mission item).	-1, 0, ..
2 (Reset Mission)	Resets mission. 1: true, 0: false. Resets jump counters to initial values and changes mission state “completed” to be “active” or “paused”.	0, 1
3	Empty
4	Empty
5	Empty
6	Empty
7	Empty

§

MAV_CMD_DO_LAST = 240

NOP - This command is only used to mark the upper limit of the DO commands in the enumeration

§Parameters

Parameter	Description
1	Empty
2	Empty
3	Empty
4	Empty
5	Empty
6	Empty
7	Empty

§

MAV_CMD_PREFLIGHT_CALIBRATION = 241

Trigger calibration. This command will be only accepted if in pre-flight mode. Except for Temperature Calibration, only one sensor should be set in a single message and all others should be zero.

§Parameters

Parameter	Description	Values
1 (Gyro Temperature)	1: gyro calibration, 3: gyro temperature calibration	0, 1, .. , 3
2 (Magnetometer)	1: magnetometer calibration	0, 1
3 (Ground Pressure)	1: ground pressure calibration	0, 1
4 (Remote Control)	1: radio RC calibration, 2: RC trim calibration	0, 1
5 (Accelerometer)	1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature calibration, 4: simple accelerometer calibration	0, 1, .. , 4
6 (Compmot or Airspeed)	1: APM: compass/motor interference calibration (PX4: airspeed calibration, deprecated), 2: airspeed calibration	0, 1, 2
7 (ESC or Baro)	1: ESC calibration, 3: barometer temperature calibration	0, 1, .. , 3

§

MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS = 242

Set sensor offsets. This command will be only accepted if in pre-flight mode.

§Parameters

Parameter	Description	Values
1 (Sensor Type)	Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow, 5: second magnetometer, 6: third magnetometer	0, 1, .. , 6
2 (X Offset)	X axis offset (or generic dimension 1), in the sensor’s raw units
3 (Y Offset)	Y axis offset (or generic dimension 2), in the sensor’s raw units
4 (Z Offset)	Z axis offset (or generic dimension 3), in the sensor’s raw units
5 (4th Dimension)	Generic dimension 4, in the sensor’s raw units
6 (5th Dimension)	Generic dimension 5, in the sensor’s raw units
7 (6th Dimension)	Generic dimension 6, in the sensor’s raw units

§

MAV_CMD_PREFLIGHT_UAVCAN = 243

Trigger UAVCAN configuration (actuator ID assignment and direction mapping). Note that this maps to the legacy UAVCAN v0 function UAVCAN_ENUMERATE, which is intended to be executed just once during initial vehicle configuration (it is not a normal pre-flight command and has been poorly named).

§Parameters

Parameter	Description
1 (Actuator ID)	1: Trigger actuator ID assignment and direction mapping. 0: Cancel command.
2	Reserved
3	Reserved
4	Reserved
5	Reserved
6	Reserved
7	Reserved

§

MAV_CMD_PREFLIGHT_STORAGE = 245

Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode.

§Parameters

Parameter	Description	Values	Units
1 (Parameter Storage)	Action to perform on the persistent parameter storage	`PreflightStorageParameterAction`
2 (Mission Storage)	Action to perform on the persistent mission storage	`PreflightStorageMissionAction`
3 (Logging Rate)	Onboard logging: 0: Ignore, 1: Start default rate logging, -1: Stop logging,>1: logging rate (e.g. set to 1000 for 1000 Hz logging)	-1, 0, ..	Hz
4	Reserved
5	Empty
6	Empty
7	Empty

§

MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN = 246

Request the reboot or shutdown of system components.

§Parameters

Parameter	Description	Values
1 (Autopilot)	0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot, 3: Reboot autopilot and keep it in the bootloader until upgraded.	0, 1, .. , 3
2 (Companion)	0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer, 3: Reboot onboard computer and keep it in the bootloader until upgraded.	0, 1, .. , 3
3 (Component action)	0: Do nothing for component, 1: Reboot component, 2: Shutdown component, 3: Reboot component and keep it in the bootloader until upgraded	0, 1, .. , 3
4 (Component ID)	MAVLink Component ID targeted in param3 (0 for all components).	0, 1, .. , 255
5	Reserved (set to 0)
6 (Conditions)	Conditions under which reboot/shutdown is allowed.	`RebootShutdownConditions`
7	WIP: ID (e.g. camera ID -1 for all IDs)

§

MAV_CMD_OVERRIDE_GOTO = 252

Override current mission with command to pause mission, pause mission and move to position, continue/resume mission. When param 1 indicates that the mission is paused (MAV_GOTO_DO_HOLD), param 2 defines whether it holds in place or moves to another position.

§Parameters

Parameter	Description	Values	Units
1 (Continue)	MAV_GOTO_DO_HOLD: pause mission and either hold or move to specified position (depending on param2), MAV_GOTO_DO_CONTINUE: resume mission.	`MavGoto`
2 (Position)	MAV_GOTO_HOLD_AT_CURRENT_POSITION: hold at current position, MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position.	`MavGoto`
3 (Frame)	Coordinate frame of hold point.	`MavFrame`
4 (Yaw)	Desired yaw angle.		deg
5 (Latitude/X)	Latitude/X position.
6 (Longitude/Y)	Longitude/Y position.
7 (Altitude/Z)	Altitude/Z position.

§

MAV_CMD_OBLIQUE_SURVEY = 260

Mission command to set a Camera Auto Mount Pivoting Oblique Survey (Replaces CAM_TRIGG_DIST for this purpose). The camera is triggered each time this distance is exceeded, then the mount moves to the next position. Params 4~6 set-up the angle limits and number of positions for oblique survey, where mount-enabled vehicles automatically roll the camera between shots to emulate an oblique camera setup (providing an increased HFOV). This command can also be used to set the shutter integration time for the camera.

§Parameters

Parameter	Description	Values	Units
1 (Distance)	Camera trigger distance. 0 to stop triggering.	≥ 0	m
2 (Shutter)	Camera shutter integration time. 0 to ignore	0, 1, ..	ms
3 (Min Interval)	The minimum interval in which the camera is capable of taking subsequent pictures repeatedly. 0 to ignore.	0, 1, .. , 10000	ms
4 (Positions)	Total number of roll positions at which the camera will capture photos (images captures spread evenly across the limits defined by param5).	2, 3, ..
5 (Roll Angle)	Angle limits that the camera can be rolled to left and right of center.	≥ 0	deg
6 (Pitch Angle)	Fixed pitch angle that the camera will hold in oblique mode if the mount is actuated in the pitch axis.	-180 .. 180	deg
7	Empty

§

MAV_CMD_DO_SET_STANDARD_MODE = 262

Enable the specified standard MAVLink mode. If the specified mode is not supported, the vehicle should ACK with MAV_RESULT_FAILED. See https://mavlink.io/en/services/standard_modes.html

§Parameters

Parameter	Description	Values
1 (Standard Mode)	The mode to set.	`MavStandardMode`
2		Reserved (use 0)
3		Reserved (use 0)
4		Reserved (use 0)
5		Reserved (use 0)
6		Reserved (use 0)
7		Reserved (use NaN)

§

MAV_CMD_MISSION_START = 300

start running a mission

§Parameters

Parameter	Description	Values
1 (First Item)	first_item: the first mission item to run	0, 1, ..
2 (Last Item)	last_item: the last mission item to run (after this item is run, the mission ends)	0, 1, ..

§

MAV_CMD_ACTUATOR_TEST = 310

Actuator testing command. This is similar to MAV_CMD_DO_MOTOR_TEST but operates on the level of output functions, i.e. it is possible to test Motor1 independent from which output it is configured on. Autopilots must NACK this command with MAV_RESULT_TEMPORARILY_REJECTED while armed.

§Parameters

Parameter	Description	Values	Units
1 (Value)	Output value: 1 means maximum positive output, 0 to center servos or minimum motor thrust (expected to spin), -1 for maximum negative (if not supported by the motors, i.e. motor is not reversible, smaller than 0 maps to NaN). And NaN maps to disarmed (stop the motors).	-1 .. 1
2 (Timeout)	Timeout after which the test command expires and the output is restored to the previous value. A timeout has to be set for safety reasons. A timeout of 0 means to restore the previous value immediately.	0 .. 3	s
3		Reserved (use 0)
4		Reserved (use 0)
5 (Output Function)	Actuator Output function	`ActuatorOutputFunction`
6		Reserved (use 0)
7		Reserved (use 0)

§

MAV_CMD_CONFIGURE_ACTUATOR = 311

Actuator configuration command.

§Parameters

Parameter	Description	Values
1 (Configuration)	Actuator configuration action	`ActuatorConfiguration`
2		Reserved (use 0)
3		Reserved (use 0)
4		Reserved (use 0)
5 (Output Function)	Actuator Output function	`ActuatorOutputFunction`
6		Reserved (use 0)
7		Reserved (use 0)

§

MAV_CMD_COMPONENT_ARM_DISARM = 400

Arms / Disarms a component

§Parameters

Parameter	Description	Values
1 (Arm)	0: disarm, 1: arm	0, 1
2 (Force)	0: arm-disarm unless prevented by safety checks (i.e. when landed), 21196: force arming/disarming (e.g. allow arming to override preflight checks and disarming in flight)	0, 21196

§

MAV_CMD_RUN_PREARM_CHECKS = 401

Instructs a target system to run pre-arm checks. This allows preflight checks to be run on demand, which may be useful on systems that normally run them at low rate, or which do not trigger checks when the armable state might have changed. This command should return MAV_RESULT_ACCEPTED if it will run the checks. The results of the checks are usually then reported in SYS_STATUS messages (this is system-specific). The command should return MAV_RESULT_TEMPORARILY_REJECTED if the system is already armed.

§

MAV_CMD_ILLUMINATOR_ON_OFF = 405

Turns illuminators ON/OFF. An illuminator is a light source that is used for lighting up dark areas external to the system: e.g. a torch or searchlight (as opposed to a light source for illuminating the system itself, e.g. an indicator light).

§Parameters

Parameter	Description	Values
1 (Enable)	0: Illuminators OFF, 1: Illuminators ON	0, 1

§

MAV_CMD_DO_ILLUMINATOR_CONFIGURE = 406

Configures illuminator settings. An illuminator is a light source that is used for lighting up dark areas external to the system: e.g. a torch or searchlight (as opposed to a light source for illuminating the system itself, e.g. an indicator light).

§Parameters

Parameter	Description	Values	Units
1 (Mode)	Mode	`IlluminatorMode`
2 (Brightness)	0%: Off, 100%: Max Brightness	0 .. 100	%
3 (Strobe Period)	Strobe period in seconds where 0 means strobing is not used	≥ 0	s
4 (Strobe Duty)	Strobe duty cycle where 100% means it is on constantly and 0 means strobing is not used	0 .. 100	%

§

MAV_CMD_GET_HOME_POSITION = 410

👎Deprecated: See MAV_CMD_REQUEST_MESSAGE (Deprecated since 2022-04)

Request the home position from the vehicle. The vehicle will ACK the command and then emit the HOME_POSITION message.

§Parameters

Parameter	Description
1	Reserved
2	Reserved
3	Reserved
4	Reserved
5	Reserved
6	Reserved
7	Reserved

§

MAV_CMD_INJECT_FAILURE = 420

Inject artificial failure for testing purposes. Note that autopilots should implement an additional protection before accepting this command such as a specific param setting.

§Parameters

Parameter	Description	Values
1 (Failure unit)	The unit which is affected by the failure.	`FailureUnit`
2 (Failure type)	The type how the failure manifests itself.	`FailureType`
3 (Instance)	Instance affected by failure (0 to signal all).

§

MAV_CMD_START_RX_PAIR = 500

Starts receiver pairing.

§Parameters

Parameter	Description	Values
1 (RC Type)	RC type.	`RcType`
2 (RC Sub Type)	RC sub type.	`RcSubType`

§

MAV_CMD_GET_MESSAGE_INTERVAL = 510

👎Deprecated: See MAV_CMD_REQUEST_MESSAGE (Deprecated since 2022-04)

Request the interval between messages for a particular MAVLink message ID. The receiver should ACK the command and then emit its response in a MESSAGE_INTERVAL message.

§Parameters

Parameter	Description	Values
1 (Message ID)	The MAVLink message ID	0, 1, .. , 16777215

§

MAV_CMD_SET_MESSAGE_INTERVAL = 511

Set the interval between messages for a particular MAVLink message ID. This interface replaces REQUEST_DATA_STREAM.

§Parameters

Parameter	Description	Values	Units
1 (Message ID)	The MAVLink message ID	0, 1, .. , 16777215
2 (Interval)	The interval between two messages. -1: disable. 0: request default rate (which may be zero).	-1, 0, ..	us
3 (Req Param 3)	Use for index ID, if required. Otherwise, the use of this parameter (if any) must be defined in the requested message. By default assumed not used (0). When used as an index ID, 0 means “all instances”, “1” means the first instance in the sequence (the emitted message will have an id of 0 if message ids are 0-indexed, or 1 if index numbers start from one).
4 (Req Param 4)	The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
5 (Req Param 5)	The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0/NaN).
6 (Req Param 6)	The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0/NaN).
7 (Response Target)	Target address of message stream (if message has target address fields). 0: Flight-stack default (recommended), 1: address of requestor, 2: broadcast.	0, 1, 2

§

MAV_CMD_REQUEST_MESSAGE = 512

Request the target system(s) emit a single instance of a specified message (i.e. a “one-shot” version of MAV_CMD_SET_MESSAGE_INTERVAL).

§Parameters

Parameter	Description	Values
1 (Message ID)	The MAVLink message ID of the requested message.	0, 1, .. , 16777215
2 (Req Param 1)	Use for index ID, if required. Otherwise, the use of this parameter (if any) must be defined in the requested message. By default assumed not used (0).
3 (Req Param 2)	The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
4 (Req Param 3)	The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
5 (Req Param 4)	The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
6 (Req Param 5)	The use of this parameter (if any), must be defined in the requested message. By default assumed not used (0).
7 (Response Target)	Target address for requested message (if message has target address fields). 0: Flight-stack default, 1: address of requestor, 2: broadcast.	0, 1, 2

§

MAV_CMD_REQUEST_PROTOCOL_VERSION = 519

👎Deprecated: See MAV_CMD_REQUEST_MESSAGE (Deprecated since 2019-08)

Request MAVLink protocol version compatibility. All receivers should ACK the command and then emit their capabilities in an PROTOCOL_VERSION message

§Parameters

Parameter	Description	Values
1 (Protocol)	1: Request supported protocol versions by all nodes on the network	0, 1
2	Reserved (all remaining params)

§

MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES = 520

👎Deprecated: See MAV_CMD_REQUEST_MESSAGE (Deprecated since 2019-08)

Request autopilot capabilities. The receiver should ACK the command and then emit its capabilities in an AUTOPILOT_VERSION message

§Parameters

Parameter	Description	Values
1 (Version)	1: Request autopilot version	0, 1
2	Reserved (all remaining params)

§

MAV_CMD_REQUEST_CAMERA_INFORMATION = 521

👎Deprecated: See MAV_CMD_REQUEST_MESSAGE (Deprecated since 2019-08)

Request camera information (CAMERA_INFORMATION).

§Parameters

Parameter	Description	Values
1 (Capabilities)	0: No action 1: Request camera capabilities	0, 1
2	Reserved (all remaining params)

§

MAV_CMD_REQUEST_CAMERA_SETTINGS = 522

👎Deprecated: See MAV_CMD_REQUEST_MESSAGE (Deprecated since 2019-08)

Request camera settings (CAMERA_SETTINGS).

§Parameters

Parameter	Description	Values
1 (Settings)	0: No Action 1: Request camera settings	0, 1
2	Reserved (all remaining params)

§

MAV_CMD_REQUEST_STORAGE_INFORMATION = 525

👎Deprecated: See MAV_CMD_REQUEST_MESSAGE (Deprecated since 2019-08)

Request storage information (STORAGE_INFORMATION). Use the command’s target_component to target a specific component’s storage.

§Parameters

Parameter	Description	Values
1 (Storage ID)	Storage ID (0 for all, 1 for first, 2 for second, etc.)	0, 1, ..
2 (Information)	0: No Action 1: Request storage information	0, 1
3	Reserved (all remaining params)

§

MAV_CMD_STORAGE_FORMAT = 526

Format a storage medium. Once format is complete, a STORAGE_INFORMATION message is sent. Use the command’s target_component to target a specific component’s storage.

§Parameters

Parameter	Description	Values
1 (Storage ID)	Storage ID (1 for first, 2 for second, etc.)	0, 1, ..
2 (Format)	Format storage (and reset image log). 0: No action 1: Format storage	0, 1
3 (Reset Image Log)	Reset Image Log (without formatting storage medium). This will reset CAMERA_CAPTURE_STATUS.image_count and CAMERA_IMAGE_CAPTURED.image_index. 0: No action 1: Reset Image Log	0, 1
4	Reserved (all remaining params)

§

MAV_CMD_REQUEST_CAMERA_CAPTURE_STATUS = 527

👎Deprecated: See MAV_CMD_REQUEST_MESSAGE (Deprecated since 2019-08)

Request camera capture status (CAMERA_CAPTURE_STATUS)

§Parameters

Parameter	Description	Values
1 (Capture Status)	0: No Action 1: Request camera capture status	0, 1
2	Reserved (all remaining params)

§

MAV_CMD_REQUEST_FLIGHT_INFORMATION = 528

👎Deprecated: See MAV_CMD_REQUEST_MESSAGE (Deprecated since 2019-08)

Request flight information (FLIGHT_INFORMATION)

§Parameters

Parameter	Description	Values
1 (Flight Information)	1: Request flight information	0, 1
2	Reserved (all remaining params)

§

MAV_CMD_RESET_CAMERA_SETTINGS = 529

Reset all camera settings to Factory Default

§Parameters

Parameter	Description	Values
1 (Reset)	0: No Action 1: Reset all settings	0, 1
2 (Target Camera ID)	Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don’t have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.	0, 1, .. , 255

§

MAV_CMD_SET_CAMERA_MODE = 530

Set camera running mode. Use NaN for reserved values. GCS will send a MAV_CMD_REQUEST_VIDEO_STREAM_STATUS command after a mode change if the camera supports video streaming.

§Parameters

Parameter	Description	Values
1 (id)	Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don’t have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.	0, 1, .. , 255
2 (Camera Mode)	Camera mode	`CameraMode`
3		Reserved (use NaN)
4		Reserved (use NaN)
5
6
7		Reserved (use NaN)

§

MAV_CMD_SET_CAMERA_ZOOM = 531

Set camera zoom. Camera must respond with a CAMERA_SETTINGS message (on success).

§Parameters

Parameter	Description	Values
1 (Zoom Type)	Zoom type	`CameraZoomType`
2 (Zoom Value)	Zoom value. The range of valid values depend on the zoom type.
3 (Target Camera ID)	Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don’t have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.	0, 1, .. , 255
4		Reserved (use NaN)

§

MAV_CMD_SET_CAMERA_FOCUS = 532

Set camera focus. Camera must respond with a CAMERA_SETTINGS message (on success).

§Parameters

Parameter	Description	Values
1 (Focus Type)	Focus type	`SetFocusType`
2 (Focus Value)	Focus value
3 (Target Camera ID)	Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don’t have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.	0, 1, .. , 255
4		Reserved (use NaN)

§

MAV_CMD_SET_STORAGE_USAGE = 533

Set that a particular storage is the preferred location for saving photos, videos, and/or other media (e.g. to set that an SD card is used for storing videos). There can only be one preferred save location for each particular media type: setting a media usage flag will clear/reset that same flag if set on any other storage. If no flag is set the system should use its default storage. A target system can choose to always use default storage, in which case it should ACK the command with MAV_RESULT_UNSUPPORTED. A target system can choose to not allow a particular storage to be set as preferred storage, in which case it should ACK the command with MAV_RESULT_DENIED.

§Parameters

Parameter	Description	Values
1 (Storage ID)	Storage ID (1 for first, 2 for second, etc.)	0, 1, ..
2 (Usage)	Usage flags	`StorageUsageFlag`

§

MAV_CMD_SET_CAMERA_SOURCE = 534

Set camera source. Changes the camera’s active sources on cameras with multiple image sensors.

§Parameters

Parameter	Description	Values
1 (device id)	Component Id of camera to address or 1-6 for non-MAVLink cameras, 0 for all cameras.
2 (primary source)	Primary Source	`CameraSource`
3 (secondary source)	Secondary Source. If non-zero the second source will be displayed as picture-in-picture.	`CameraSource`

§

MAV_CMD_JUMP_TAG = 600

Tagged jump target. Can be jumped to with MAV_CMD_DO_JUMP_TAG.

§Parameters

Parameter	Description	Values
1 (Tag)	Tag.	0, 1, ..

§

MAV_CMD_DO_JUMP_TAG = 601

Jump to the matching tag in the mission list. Repeat this action for the specified number of times. A mission should contain a single matching tag for each jump. If this is not the case then a jump to a missing tag should complete the mission, and a jump where there are multiple matching tags should always select the one with the lowest mission sequence number.

§Parameters

Parameter	Description	Values
1 (Tag)	Target tag to jump to.	0, 1, ..
2 (Repeat)	Repeat count.	0, 1, ..

§

MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW = 1_000

Set gimbal manager pitch/yaw setpoints (low rate command). It is possible to set combinations of the values below. E.g. an angle as well as a desired angular rate can be used to get to this angle at a certain angular rate, or an angular rate only will result in continuous turning. NaN is to be used to signal unset. Note: only the gimbal manager will react to this command - it will be ignored by a gimbal device. Use GIMBAL_MANAGER_SET_PITCHYAW if you need to stream pitch/yaw setpoints at higher rate.

§Parameters

Parameter	Description	Values	Units
1 (Pitch angle)	Pitch angle (positive to pitch up, relative to vehicle for FOLLOW mode, relative to world horizon for LOCK mode).	-180 .. 180	deg
2 (Yaw angle)	Yaw angle (positive to yaw to the right, relative to vehicle for FOLLOW mode, absolute to North for LOCK mode).	-180 .. 180	deg
3 (Pitch rate)	Pitch rate (positive to pitch up).		deg/s
4 (Yaw rate)	Yaw rate (positive to yaw to the right).		deg/s
5 (Gimbal manager flags)	Gimbal manager flags to use.	`GimbalManagerFlags`
6
7 (Gimbal device ID)	Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).

§

MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE = 1_001

Gimbal configuration to set which sysid/compid is in primary and secondary control.

§Parameters

Parameter	Description
1 (sysid primary control)	Sysid for primary control (0: no one in control, -1: leave unchanged, -2: set itself in control (for missions where the own sysid is still unknown), -3: remove control if currently in control).
2 (compid primary control)	Compid for primary control (0: no one in control, -1: leave unchanged, -2: set itself in control (for missions where the own sysid is still unknown), -3: remove control if currently in control).
3 (sysid secondary control)	Sysid for secondary control (0: no one in control, -1: leave unchanged, -2: set itself in control (for missions where the own sysid is still unknown), -3: remove control if currently in control).
4 (compid secondary control)	Compid for secondary control (0: no one in control, -1: leave unchanged, -2: set itself in control (for missions where the own sysid is still unknown), -3: remove control if currently in control).
5
6
7 (Gimbal device ID)	Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).

§

MAV_CMD_IMAGE_START_CAPTURE = 2_000

Start image capture sequence. CAMERA_IMAGE_CAPTURED must be emitted after each capture. Param1 (id) may be used to specify the target camera: 0: all cameras, 1 to 6: autopilot-connected cameras, 7-255: MAVLink camera component ID. It is needed in order to target specific cameras connected to the autopilot, or specific sensors in a multi-sensor camera (neither of which have a distinct MAVLink component ID). It is also needed to specify the target camera in missions. When used in a mission, an autopilot should execute the MAV_CMD for a specified local camera (param1 = 1-6), or resend it as a command if it is intended for a MAVLink camera (param1 = 7 - 255), setting the command’s target_component as the param1 value (and setting param1 in the command to zero). If the param1 is 0 the autopilot should do both. When sent in a command the target MAVLink address is set using target_component. If addressed specifically to an autopilot: param1 should be used in the same way as it is for missions (though command should NACK with MAV_RESULT_DENIED if a specified local camera does not exist). If addressed to a MAVLink camera, param 1 can be used to address all cameras (0), or to separately address 1 to 7 individual sensors. Other values should be NACKed with MAV_RESULT_DENIED. If the command is broadcast (target_component is 0) then param 1 should be set to 0 (any other value should be NACKED with MAV_RESULT_DENIED). An autopilot would trigger any local cameras and forward the command to all channels.

§Parameters

Parameter	Description	Values	Units
1 (Target Camera ID)	Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don’t have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.	0, 1, .. , 255
2 (Interval)	Desired elapsed time between two consecutive pictures (in seconds). Minimum values depend on hardware (typically greater than 2 seconds).	≥ 0	s
3 (Total Images)	Total number of images to capture. 0 to capture forever/until MAV_CMD_IMAGE_STOP_CAPTURE.	0, 1, ..
4 (Sequence Number)	Capture sequence number starting from 1. This is only valid for single-capture (param3 == 1), otherwise set to 0. Increment the capture ID for each capture command to prevent double captures when a command is re-transmitted.	1, 2, ..
5
6
7		Reserved (use NaN)

§

MAV_CMD_IMAGE_STOP_CAPTURE = 2_001

Stop image capture sequence. Param1 (id) may be used to specify the target camera: 0: all cameras, 1 to 6: autopilot-connected cameras, 7-255: MAVLink camera component ID. It is needed in order to target specific cameras connected to the autopilot, or specific sensors in a multi-sensor camera (neither of which have a distinct MAVLink component ID). It is also needed to specify the target camera in missions. When used in a mission, an autopilot should execute the MAV_CMD for a specified local camera (param1 = 1-6), or resend it as a command if it is intended for a MAVLink camera (param1 = 7 - 255), setting the command’s target_component as the param1 value (and setting param1 in the command to zero). If the param1 is 0 the autopilot should do both. When sent in a command the target MAVLink address is set using target_component. If addressed specifically to an autopilot: param1 should be used in the same way as it is for missions (though command should NACK with MAV_RESULT_DENIED if a specified local camera does not exist). If addressed to a MAVLink camera, param1 can be used to address all cameras (0), or to separately address 1 to 7 individual sensors. Other values should be NACKed with MAV_RESULT_DENIED. If the command is broadcast (target_component is 0) then param 1 should be set to 0 (any other value should be NACKED with MAV_RESULT_DENIED). An autopilot would trigger any local cameras and forward the command to all channels.

§Parameters

Parameter	Description	Values
1 (Target Camera ID)	Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don’t have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.	0, 1, .. , 255
2		Reserved (use NaN)
3		Reserved (use NaN)
4		Reserved (use NaN)
5
6
7		Reserved (use NaN)

§

MAV_CMD_REQUEST_CAMERA_IMAGE_CAPTURE = 2_002

👎Deprecated: See MAV_CMD_REQUEST_MESSAGE (Deprecated since 2019-08)

Re-request a CAMERA_IMAGE_CAPTURED message.

§Parameters

Parameter	Description	Values
1 (Number)	Sequence number for missing CAMERA_IMAGE_CAPTURED message	0, 1, ..
2		Reserved (use NaN)
3		Reserved (use NaN)
4		Reserved (use NaN)
5
6
7		Reserved (use NaN)

§

MAV_CMD_DO_TRIGGER_CONTROL = 2_003

Enable or disable on-board camera triggering system.

§Parameters

Parameter	Description	Values
1 (Enable)	Trigger enable/disable (0 for disable, 1 for start), -1 to ignore	-1, 0, 1
2 (Reset)	1 to reset the trigger sequence, -1 or 0 to ignore	-1, 0, 1
3 (Pause)	1 to pause triggering, but without switching the camera off or retracting it. -1 to ignore	-1, 1
4 (Target Camera ID)	Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don’t have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.	0, 1, .. , 255

§

MAV_CMD_CAMERA_TRACK_POINT = 2_004

If the camera supports point visual tracking (CAMERA_CAP_FLAGS_HAS_TRACKING_POINT is set), this command allows to initiate the tracking.

§Parameters

Parameter	Description	Values
1 (Point x)	Point to track x value (normalized 0..1, 0 is left, 1 is right).	0 .. 1
2 (Point y)	Point to track y value (normalized 0..1, 0 is top, 1 is bottom).	0 .. 1
3 (Radius)	Point radius (normalized 0..1, 0 is one pixel, 1 is full image width).	0 .. 1
4 (Target Camera ID)	Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don’t have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.	0, 1, .. , 255

§

MAV_CMD_CAMERA_TRACK_RECTANGLE = 2_005

If the camera supports rectangle visual tracking (CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLE is set), this command allows to initiate the tracking.

§Parameters

Parameter	Description	Values
1 (Top left corner x)	Top left corner of rectangle x value (normalized 0..1, 0 is left, 1 is right).	0 .. 1
2 (Top left corner y)	Top left corner of rectangle y value (normalized 0..1, 0 is top, 1 is bottom).	0 .. 1
3 (Bottom right corner x)	Bottom right corner of rectangle x value (normalized 0..1, 0 is left, 1 is right).	0 .. 1
4 (Bottom right corner y)	Bottom right corner of rectangle y value (normalized 0..1, 0 is top, 1 is bottom).	0 .. 1
5 (Target Camera ID)	Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don’t have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.	0, 1, .. , 255

§

MAV_CMD_CAMERA_STOP_TRACKING = 2_010

Stops ongoing tracking.

§Parameters

Parameter	Description	Values
1 (Target Camera ID)	Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don’t have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.	0, 1, .. , 255

§

MAV_CMD_VIDEO_START_CAPTURE = 2_500

Starts video capture (recording).

§Parameters

Parameter	Description	Values	Units
1 (Stream ID)	Video Stream ID (0 for all streams)	0, 1, ..
2 (Status Frequency)	Frequency CAMERA_CAPTURE_STATUS messages should be sent while recording (0 for no messages, otherwise frequency)	≥ 0	Hz
3 (Target Camera ID)	Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don’t have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.	0, 1, .. , 255
4		Reserved (use NaN)
5
6
7		Reserved (use NaN)

§

MAV_CMD_VIDEO_STOP_CAPTURE = 2_501

Stop the current video capture (recording).

§Parameters

Parameter	Description	Values
1 (Stream ID)	Video Stream ID (0 for all streams)	0, 1, ..
2 (Target Camera ID)	Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don’t have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.	0, 1, .. , 255
3		Reserved (use NaN)
4		Reserved (use NaN)
5
6
7		Reserved (use NaN)

§

MAV_CMD_VIDEO_START_STREAMING = 2_502

Start video streaming

§Parameters

Parameter	Description	Values
1 (Stream ID)	Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)	0, 1, ..
2 (Target Camera ID)	Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don’t have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.	0, 1, .. , 255

§

MAV_CMD_VIDEO_STOP_STREAMING = 2_503

Stop the given video stream

§Parameters

Parameter	Description	Values
1 (Stream ID)	Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)	0, 1, ..
2 (Target Camera ID)	Target camera ID. 7 to 255: MAVLink camera component id. 1 to 6 for cameras attached to the autopilot, which don’t have a distinct component id. 0: all cameras. This is used to target specific autopilot-connected cameras. It is also used to target specific cameras when the MAV_CMD is used in a mission.	0, 1, .. , 255

§

MAV_CMD_REQUEST_VIDEO_STREAM_INFORMATION = 2_504

👎Deprecated: See MAV_CMD_REQUEST_MESSAGE (Deprecated since 2019-08)

Request video stream information (VIDEO_STREAM_INFORMATION)

§Parameters

Parameter	Description	Values
1 (Stream ID)	Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)	0, 1, ..

§

MAV_CMD_REQUEST_VIDEO_STREAM_STATUS = 2_505

👎Deprecated: See MAV_CMD_REQUEST_MESSAGE (Deprecated since 2019-08)

Request video stream status (VIDEO_STREAM_STATUS)

§Parameters

Parameter	Description	Values
1 (Stream ID)	Video Stream ID (0 for all streams, 1 for first, 2 for second, etc.)	0, 1, ..

§

MAV_CMD_LOGGING_START = 2_510

Request to start streaming logging data over MAVLink (see also LOGGING_DATA message)

§Parameters

Parameter	Description	Values
1 (Format)	Format: 0: ULog	0, 1, ..
2	Reserved (set to 0)
3	Reserved (set to 0)
4	Reserved (set to 0)
5	Reserved (set to 0)
6	Reserved (set to 0)
7	Reserved (set to 0)

§

MAV_CMD_LOGGING_STOP = 2_511

Request to stop streaming log data over MAVLink

§Parameters

Parameter	Description
1	Reserved (set to 0)
2	Reserved (set to 0)
3	Reserved (set to 0)
4	Reserved (set to 0)
5	Reserved (set to 0)
6	Reserved (set to 0)
7	Reserved (set to 0)

§

MAV_CMD_AIRFRAME_CONFIGURATION = 2_520

§Parameters

Parameter	Description	Values
1 (Landing Gear ID)	Landing gear ID (default: 0, -1 for all)	-1, 0, ..
2 (Landing Gear Position)	Landing gear position (Down: 0, Up: 1, NaN for no change)
3		Reserved (use NaN)
4		Reserved (use NaN)
5
6
7		Reserved (use NaN)

§

MAV_CMD_CONTROL_HIGH_LATENCY = 2_600

Request to start/stop transmitting over the high latency telemetry

§Parameters

Parameter	Description	Values
1 (Enable)	Control transmission over high latency telemetry (0: stop, 1: start)	0, 1
2	Empty
3	Empty
4	Empty
5	Empty
6	Empty
7	Empty

§

MAV_CMD_PANORAMA_CREATE = 2_800

Create a panorama at the current position

§Parameters

Parameter	Description	Units
1 (Horizontal Angle)	Viewing angle horizontal of the panorama (+- 0.5 the total angle)	deg
2 (Vertical Angle)	Viewing angle vertical of panorama.	deg
3 (Horizontal Speed)	Speed of the horizontal rotation.	deg/s
4 (Vertical Speed)	Speed of the vertical rotation.	deg/s

§

MAV_CMD_DO_VTOL_TRANSITION = 3_000

Request VTOL transition

§Parameters

Parameter	Description	Values
1 (State)	The target VTOL state. For normal transitions, only MAV_VTOL_STATE_MC and MAV_VTOL_STATE_FW can be used.	`MavVtolState`
2 (Immediate)	Force immediate transition to the specified MAV_VTOL_STATE. 1: Force immediate, 0: normal transition. Can be used, for example, to trigger an emergency “Quadchute”. Caution: Can be dangerous/damage vehicle, depending on autopilot implementation of this command.

§

MAV_CMD_ARM_AUTHORIZATION_REQUEST = 3_001

Request authorization to arm the vehicle to a external entity, the arm authorizer is responsible to request all data that is needs from the vehicle before authorize or deny the request. If approved the COMMAND_ACK message progress field should be set with period of time that this authorization is valid in seconds. If the authorization is denied COMMAND_ACK.result_param2 should be set with one of the reasons in ARM_AUTH_DENIED_REASON.

§Parameters

Parameter	Description	Values
1 (System ID)	Vehicle system id, this way ground station can request arm authorization on behalf of any vehicle	0, 1, .. , 255

§

MAV_CMD_SET_GUIDED_SUBMODE_STANDARD = 4_000

This command sets the submode to standard guided when vehicle is in guided mode. The vehicle holds position and altitude and the user can input the desired velocities along all three axes.

§

MAV_CMD_SET_GUIDED_SUBMODE_CIRCLE = 4_001

This command sets submode circle when vehicle is in guided mode. Vehicle flies along a circle facing the center of the circle. The user can input the velocity along the circle and change the radius. If no input is given the vehicle will hold position.

§Parameters

Parameter	Description	Units
1 (Radius)	Radius of desired circle in CIRCLE_MODE	m
2	User defined
3	User defined
4	User defined
5 (Latitude)	Target latitude of center of circle in CIRCLE_MODE	degE7
6 (Longitude)	Target longitude of center of circle in CIRCLE_MODE	degE7

§

MAV_CMD_CONDITION_GATE = 4_501

Delay mission state machine until gate has been reached.

§Parameters

Parameter	Description	Values	Units
1 (Geometry)	Geometry: 0: orthogonal to path between previous and next waypoint.	0, 1, ..
2 (UseAltitude)	Altitude: 0: ignore altitude	0, 1
3	Empty
4	Empty
5 (Latitude)	Latitude
6 (Longitude)	Longitude
7 (Altitude)	Altitude		m

§

MAV_CMD_NAV_FENCE_RETURN_POINT = 5_000

Fence return point (there can only be one such point in a geofence definition). If rally points are supported they should be used instead.

§Parameters

Parameter	Description	Units
1	Reserved
2	Reserved
3	Reserved
4	Reserved
5 (Latitude)	Latitude
6 (Longitude)	Longitude
7 (Altitude)	Altitude	m

§

MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION = 5_001

Fence vertex for an inclusion polygon (the polygon must not be self-intersecting). The vehicle must stay within this area. Minimum of 3 vertices required. The vertices for a polygon must be sent sequentially, each with param1 set to the total number of vertices in the polygon.

§Parameters

Parameter	Description	Values
1 (Vertex Count)	Polygon vertex count. This is the number of vertices in the current polygon (all vertices will have the same number).	3, 4, ..
2 (Inclusion Group)	Vehicle must be inside ALL inclusion zones in a single group, vehicle must be inside at least one group, must be the same for all points in each polygon	0, 1, ..
3	Reserved
4	Reserved
5 (Latitude)	Latitude
6 (Longitude)	Longitude
7	Reserved

§

MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION = 5_002

Fence vertex for an exclusion polygon (the polygon must not be self-intersecting). The vehicle must stay outside this area. Minimum of 3 vertices required. The vertices for a polygon must be sent sequentially, each with param1 set to the total number of vertices in the polygon.

§Parameters

Parameter	Description	Values
1 (Vertex Count)	Polygon vertex count. This is the number of vertices in the current polygon (all vertices will have the same number).	3, 4, ..
2	Reserved
3	Reserved
4	Reserved
5 (Latitude)	Latitude
6 (Longitude)	Longitude
7	Reserved

§

MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION = 5_003

Circular fence area. The vehicle must stay inside this area.

§Parameters

Parameter	Description	Values	Units
1 (Radius)	Radius.		m
2 (Inclusion Group)	Vehicle must be inside ALL inclusion zones in a single group, vehicle must be inside at least one group	0, 1, ..
3	Reserved
4	Reserved
5 (Latitude)	Latitude
6 (Longitude)	Longitude
7	Reserved

§

MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION = 5_004

Circular fence area. The vehicle must stay outside this area.

§Parameters

Parameter	Description	Units
1 (Radius)	Radius.	m
2	Reserved
3	Reserved
4	Reserved
5 (Latitude)	Latitude
6 (Longitude)	Longitude
7	Reserved

§

MAV_CMD_NAV_RALLY_POINT = 5_100

Rally point. You can have multiple rally points defined.

§Parameters

Parameter	Description	Units
1	Reserved
2	Reserved
3	Reserved
4	Reserved
5 (Latitude)	Latitude
6 (Longitude)	Longitude
7 (Altitude)	Altitude	m

§

MAV_CMD_UAVCAN_GET_NODE_INFO = 5_200

Commands the vehicle to respond with a sequence of messages UAVCAN_NODE_INFO, one message per every UAVCAN node that is online. Note that some of the response messages can be lost, which the receiver can detect easily by checking whether every received UAVCAN_NODE_STATUS has a matching message UAVCAN_NODE_INFO received earlier; if not, this command should be sent again in order to request re-transmission of the node information messages.

§Parameters

Parameter	Description
1	Reserved (set to 0)
2	Reserved (set to 0)
3	Reserved (set to 0)
4	Reserved (set to 0)
5	Reserved (set to 0)
6	Reserved (set to 0)
7	Reserved (set to 0)

§

MAV_CMD_DO_SET_SAFETY_SWITCH_STATE = 5_300

Change state of safety switch.

§Parameters

Parameter	Description	Values
1 (Desired State)	New safety switch state.	`SafetySwitchState`
2	Empty.
3	Empty.
4	Empty
5	Empty.
6	Empty.
7	Empty.

§

MAV_CMD_DO_ADSB_OUT_IDENT = 10_001

Trigger the start of an ADSB-out IDENT. This should only be used when requested to do so by an Air Traffic Controller in controlled airspace. This starts the IDENT which is then typically held for 18 seconds by the hardware per the Mode A, C, and S transponder spec.

§Parameters

Parameter	Description
1	Reserved (set to 0)
2	Reserved (set to 0)
3	Reserved (set to 0)
4	Reserved (set to 0)
5	Reserved (set to 0)
6	Reserved (set to 0)
7	Reserved (set to 0)

§

MAV_CMD_PAYLOAD_PREPARE_DEPLOY = 30_001

👎Deprecated: (Deprecated since 2021-06)

Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity.

§Parameters

Parameter	Description	Values	Units
1 (Operation Mode)	Operation mode. 0: prepare single payload deploy (overwriting previous requests), but do not execute it. 1: execute payload deploy immediately (rejecting further deploy commands during execution, but allowing abort). 2: add payload deploy to existing deployment list.	0, 1, 2
2 (Approach Vector)	Desired approach vector in compass heading. A negative value indicates the system can define the approach vector at will.	-1 .. 360	deg
3 (Ground Speed)	Desired ground speed at release time. This can be overridden by the airframe in case it needs to meet minimum airspeed. A negative value indicates the system can define the ground speed at will.	≥ -1
4 (Altitude Clearance)	Minimum altitude clearance to the release position. A negative value indicates the system can define the clearance at will.	≥ -1	m
5 (Latitude)	Latitude.		degE7
6 (Longitude)	Longitude.		degE7
7 (Altitude)	Altitude (MSL)		m

§

MAV_CMD_PAYLOAD_CONTROL_DEPLOY = 30_002

👎Deprecated: (Deprecated since 2021-06)

Control the payload deployment.

§Parameters

Parameter	Description	Values
1 (Operation Mode)	Operation mode. 0: Abort deployment, continue normal mission. 1: switch to payload deployment mode. 100: delete first payload deployment request. 101: delete all payload deployment requests.	0, 1, .. , 101
2	Reserved
3	Reserved
4	Reserved
5	Reserved
6	Reserved
7	Reserved

§

MAV_CMD_FIXED_MAG_CAL_YAW = 42_006

Magnetometer calibration based on provided known yaw. This allows for fast calibration using WMM field tables in the vehicle, given only the known yaw of the vehicle. If Latitude and longitude are both zero then use the current vehicle location.

§Parameters

Parameter	Description	Units
1 (Yaw)	Yaw of vehicle in earth frame.	deg
2 (CompassMask)	CompassMask, 0 for all.
3 (Latitude)	Latitude.	deg
4 (Longitude)	Longitude.	deg
5	Empty.
6	Empty.
7	Empty.

§

MAV_CMD_DO_WINCH = 42_600

Command to operate winch.

§Parameters

Parameter	Description	Values	Units
1 (Instance)	Winch instance number.	1, 2, ..
2 (Action)	Action to perform.	`WinchActions`
3 (Length)	Length of line to release (negative to wind).		m
4 (Rate)	Release rate (negative to wind).		m/s
5	Empty.
6	Empty.
7	Empty.

§

MAV_CMD_EXTERNAL_POSITION_ESTIMATE = 43_003

Provide an external position estimate for use when dead-reckoning. This is meant to be used for occasional position resets that may be provided by a external system such as a remote pilot using landmarks over a video link.

§Parameters

Parameter	Description	Units
1 (transmission_time)	Timestamp that this message was sent as a time in the transmitters time domain. The sender should wrap this time back to zero based on required timing accuracy for the application and the limitations of a 32 bit float. For example, wrapping at 10 hours would give approximately 1ms accuracy. Recipient must handle time wrap in any timing jitter correction applied to this field. Wrap rollover time should not be at not more than 250 seconds, which would give approximately 10 microsecond accuracy.	s
2 (processing_time)	The time spent in processing the sensor data that is the basis for this position. The recipient can use this to improve time alignment of the data. Set to zero if not known.	s
3 (accuracy)	estimated one standard deviation accuracy of the measurement. Set to NaN if not known.
4	Empty
5 (Latitude)	Latitude
6 (Longitude)	Longitude
7 (Altitude)	Altitude, not used. Should be sent as NaN. May be supported in a future version of this message.	m

§

MAV_CMD_WAYPOINT_USER_1 = 31_000

User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

§Parameters

Parameter	Description	Units
1	User defined
2	User defined
3	User defined
4	User defined
5 (Latitude)	Latitude unscaled
6 (Longitude)	Longitude unscaled
7 (Altitude)	Altitude (MSL)	m

§

MAV_CMD_WAYPOINT_USER_2 = 31_001

User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

§Parameters

Parameter	Description	Units
1	User defined
2	User defined
3	User defined
4	User defined
5 (Latitude)	Latitude unscaled
6 (Longitude)	Longitude unscaled
7 (Altitude)	Altitude (MSL)	m

§

MAV_CMD_WAYPOINT_USER_3 = 31_002

User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

§Parameters

Parameter	Description	Units
1	User defined
2	User defined
3	User defined
4	User defined
5 (Latitude)	Latitude unscaled
6 (Longitude)	Longitude unscaled
7 (Altitude)	Altitude (MSL)	m

§

MAV_CMD_WAYPOINT_USER_4 = 31_003

User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

§Parameters

Parameter	Description	Units
1	User defined
2	User defined
3	User defined
4	User defined
5 (Latitude)	Latitude unscaled
6 (Longitude)	Longitude unscaled
7 (Altitude)	Altitude (MSL)	m

§

MAV_CMD_WAYPOINT_USER_5 = 31_004

User defined waypoint item. Ground Station will show the Vehicle as flying through this item.

§Parameters

Parameter	Description	Units
1	User defined
2	User defined
3	User defined
4	User defined
5 (Latitude)	Latitude unscaled
6 (Longitude)	Longitude unscaled
7 (Altitude)	Altitude (MSL)	m

§

MAV_CMD_SPATIAL_USER_1 = 31_005

User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

§Parameters

Parameter	Description	Units
1	User defined
2	User defined
3	User defined
4	User defined
5 (Latitude)	Latitude unscaled
6 (Longitude)	Longitude unscaled
7 (Altitude)	Altitude (MSL)	m

§

MAV_CMD_SPATIAL_USER_2 = 31_006

User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

§Parameters

Parameter	Description	Units
1	User defined
2	User defined
3	User defined
4	User defined
5 (Latitude)	Latitude unscaled
6 (Longitude)	Longitude unscaled
7 (Altitude)	Altitude (MSL)	m

§

MAV_CMD_SPATIAL_USER_3 = 31_007

User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

§Parameters

Parameter	Description	Units
1	User defined
2	User defined
3	User defined
4	User defined
5 (Latitude)	Latitude unscaled
6 (Longitude)	Longitude unscaled
7 (Altitude)	Altitude (MSL)	m

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MAV_CMD_SPATIAL_USER_4 = 31_008

User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

§Parameters

Parameter	Description	Units
1	User defined
2	User defined
3	User defined
4	User defined
5 (Latitude)	Latitude unscaled
6 (Longitude)	Longitude unscaled
7 (Altitude)	Altitude (MSL)	m

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MAV_CMD_SPATIAL_USER_5 = 31_009

User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.

§Parameters

Parameter	Description	Units
1	User defined
2	User defined
3	User defined
4	User defined
5 (Latitude)	Latitude unscaled
6 (Longitude)	Longitude unscaled
7 (Altitude)	Altitude (MSL)	m

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MAV_CMD_USER_1 = 31_010

User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

§Parameters

Parameter	Description
1	User defined
2	User defined
3	User defined
4	User defined
5	User defined
6	User defined
7	User defined

§

MAV_CMD_USER_2 = 31_011

User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

§Parameters

Parameter	Description
1	User defined
2	User defined
3	User defined
4	User defined
5	User defined
6	User defined
7	User defined

§

MAV_CMD_USER_3 = 31_012

User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

§Parameters

Parameter	Description
1	User defined
2	User defined
3	User defined
4	User defined
5	User defined
6	User defined
7	User defined

§

MAV_CMD_USER_4 = 31_013

User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

§Parameters

Parameter	Description
1	User defined
2	User defined
3	User defined
4	User defined
5	User defined
6	User defined
7	User defined

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MAV_CMD_USER_5 = 31_014

User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.

§Parameters

Parameter	Description
1	User defined
2	User defined
3	User defined
4	User defined
5	User defined
6	User defined
7	User defined

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MAV_CMD_CAN_FORWARD = 32_000

Request forwarding of CAN packets from the given CAN bus to this component. CAN Frames are sent using CAN_FRAME and CANFD_FRAME messages

§Parameters

Parameter	Description
1 (bus)	Bus number (0 to disable forwarding, 1 for first bus, 2 for 2nd bus, 3 for 3rd bus).
2	Empty.
3	Empty.
4	Empty.
5	Empty.
6	Empty.
7	Empty.

Implementations§

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impl MavCmd

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pub const DEFAULT: Self = Self::MAV_CMD_NAV_WAYPOINT

Trait Implementations§

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impl Clone for MavCmd

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fn clone(&self) -> MavCmd

Returns a duplicate of the value. Read more

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fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more

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impl Debug for MavCmd

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fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter. Read more

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impl Default for MavCmd

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fn default() -> Self

Returns the “default value” for a type. Read more

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impl<'de> Deserialize<'de> for MavCmd

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fn deserialize<D>(deserializer: D) -> Result<Self, D::Error>
where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer. Read more

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impl FromPrimitive for MavCmd

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fn from_i64(n: i64) -> Option<Self>

Converts an i64 to return an optional value of this type. If the value cannot be represented by this type, then None is returned.

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fn from_u64(n: u64) -> Option<Self>

Converts an u64 to return an optional value of this type. If the value cannot be represented by this type, then None is returned.

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fn from_isize(n: isize) -> Option<Self>

Converts an isize to return an optional value of this type. If the value cannot be represented by this type, then None is returned.

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fn from_i8(n: i8) -> Option<Self>

Converts an i8 to return an optional value of this type. If the value cannot be represented by this type, then None is returned.

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fn from_i16(n: i16) -> Option<Self>

Converts an i16 to return an optional value of this type. If the value cannot be represented by this type, then None is returned.

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fn from_i32(n: i32) -> Option<Self>

Converts an i32 to return an optional value of this type. If the value cannot be represented by this type, then None is returned.

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fn from_i128(n: i128) -> Option<Self>

Converts an i128 to return an optional value of this type. If the value cannot be represented by this type, then None is returned. Read more

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fn from_usize(n: usize) -> Option<Self>

Converts a usize to return an optional value of this type. If the value cannot be represented by this type, then None is returned.

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fn from_u8(n: u8) -> Option<Self>

Converts an u8 to return an optional value of this type. If the value cannot be represented by this type, then None is returned.

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fn from_u16(n: u16) -> Option<Self>

Converts an u16 to return an optional value of this type. If the value cannot be represented by this type, then None is returned.

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fn from_u32(n: u32) -> Option<Self>

Converts an u32 to return an optional value of this type. If the value cannot be represented by this type, then None is returned.

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fn from_u128(n: u128) -> Option<Self>

Converts an u128 to return an optional value of this type. If the value cannot be represented by this type, then None is returned. Read more

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fn from_f32(n: f32) -> Option<Self>

Converts a f32 to return an optional value of this type. If the value cannot be represented by this type, then None is returned.

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fn from_f64(n: f64) -> Option<Self>

Converts a f64 to return an optional value of this type. If the value cannot be represented by this type, then None is returned. Read more

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impl PartialEq for MavCmd

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fn eq(&self, other: &MavCmd) -> bool

Tests for self and other values to be equal, and is used by ==.

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fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

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impl Serialize for MavCmd

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fn serialize<S>(&self, serializer: S) -> Result<S::Ok, S::Error>
where S: Serializer,

Serialize this value into the given Serde serializer. Read more

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impl ToPrimitive for MavCmd

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fn to_i64(&self) -> Option<i64>

Converts the value of self to an i64. If the value cannot be represented by an i64, then None is returned.

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fn to_u64(&self) -> Option<u64>

Converts the value of self to a u64. If the value cannot be represented by a u64, then None is returned.

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fn to_isize(&self) -> Option<isize>

Converts the value of self to an isize. If the value cannot be represented by an isize, then None is returned.

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fn to_i8(&self) -> Option<i8>

Converts the value of self to an i8. If the value cannot be represented by an i8, then None is returned.

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fn to_i16(&self) -> Option<i16>

Converts the value of self to an i16. If the value cannot be represented by an i16, then None is returned.

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fn to_i32(&self) -> Option<i32>

Converts the value of self to an i32. If the value cannot be represented by an i32, then None is returned.

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fn to_i128(&self) -> Option<i128>

Converts the value of self to an i128. If the value cannot be represented by an i128 (i64 under the default implementation), then None is returned. Read more

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fn to_usize(&self) -> Option<usize>

Converts the value of self to a usize. If the value cannot be represented by a usize, then None is returned.

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fn to_u8(&self) -> Option<u8>

Converts the value of self to a u8. If the value cannot be represented by a u8, then None is returned.

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fn to_u16(&self) -> Option<u16>

Converts the value of self to a u16. If the value cannot be represented by a u16, then None is returned.

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fn to_u32(&self) -> Option<u32>

Converts the value of self to a u32. If the value cannot be represented by a u32, then None is returned.

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fn to_u128(&self) -> Option<u128>

Converts the value of self to a u128. If the value cannot be represented by a u128 (u64 under the default implementation), then None is returned. Read more

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fn to_f32(&self) -> Option<f32>

Converts the value of self to an f32. Overflows may map to positive or negative inifinity, otherwise None is returned if the value cannot be represented by an f32.

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fn to_f64(&self) -> Option<f64>

Converts the value of self to an f64. Overflows may map to positive or negative inifinity, otherwise None is returned if the value cannot be represented by an f64. Read more

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