Messages V1#

MAV_CMD_NAV_WAYPOINT#

(Message code: 16)

Navigate to waypoint.

Param: Label	Description
1: Hold	Hold time (s) Ignored
2: Accept Radius	Acceptance radius (m). If the sphere with this radius is hit, the waypoint counts as reached. Must be greater than 0. Otherwise, a default value of 5 is used.
3: Pass Radius	Pass Radius (m) Ignored
4: Yaw	Desired yaw angle at waypoint (deg)
5: Latitude	Latitude
6: Longitude	Longitude
7: Altitude	Altitude (m)

MAV_CMD_NAV_RETURN_TO_LAUNCH#

(Message code: 20)

Return to home.

This command immediately ends the FlightPlan and starts a RTH (Return to Home). The end of the FlightPlan will be notified as soon as the return action is started and any remaining waypoint or action will be ignored.

Param: Label	Description
1:	Empty
2:	Empty
3:	Empty
4:	Empty
5:	Empty
6:	Empty
7:	Empty

MAV_CMD_NAV_LAND#

(Message code: 21)

Land.

All parameters are ignored. The drone lands at current position.

Param: Label	Description
1: Abort Alt	Minimum target altitude if landing is aborted (0 = undefined/use system default) (m) Ignored
2: Land Mode	Precision land mode. (PRECISION_LAND_MODE) Ignored
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) Ignored
5: Latitude	Latitude Ignored
6: Longitude	Longitude Ignored
7: Altitude	Landing altitude (ground level in current frame) (m) Ignored

MAV_CMD_NAV_TAKEOFF#

(Message code: 22)

Take-off from ground / hand.

All parameters are ignored.

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

MAV_CMD_NAV_DELAY#

(Message code: 93)

Delay the next navigation commands. Same as MAV_CMD_CONDITION_DELAY.

Param: Label	Description
1: Delay	Delay (-1 to enable time-of-day fields) (s)
2: Hour	Hour (24h format, UTC, -1 to ignore) Ignored
3: Minute	Minute (24h format, UTC, -1 to ignore) Ignored
4: Second	Second (24h format, UTC) Ignored
5:	Empty
6:	Empty
7:	Empty

Note

This implementation differs from MAVLink’s definition in that only the first parameter (delay time) is used, time-of-day is thus not supported.

MAV_CMD_CONDITION_DELAY#

(Message code: 112)

Delay the next navigation command. Same as MAV_CMD_NAV_DELAY.

Param: Label	Description
1: Delay	Delay (s)
2:	Empty
3:	Empty
4:	Empty
5:	Empty
6:	Empty
7:	Empty

MAV_CMD_DO_CHANGE_SPEED#

Message code: 178)

Change speed.

Param: Label	Description
1: Speed Type	Speed type (1 = Ground Speed)
2: Speed	Speed (-1 indicates no change) (m/s) (min: 1, max: 10)
3: Throttle	Throttle (-1 indicates no change) (%) Ignored
4: Relative	0: absolute, 1: relative Ignored
5:	Empty
6:	Empty
7:	Empty

Note

Only ground speed is supported for Speed Type. Throttle and Relative changes are not supported.

MAV_CMD_DO_SET_ROI#

(Message code: 201)

Set the region of interest (ROI) for the front camera.

Param: Label	Description
1: ROI Mode	Region of interest mode (MAV_ROI_LOCATION = 3)
2: WP Index	Waypoint index/ target ID (depends on param 1) Ignored
3: ROI Index	Region of interest index Ignored
4:	Empty
5: Latitude	MAV_ROI_LOCATION: latitude
6: Longitude	MAV_ROI_LOCATION: longitude
7: Altitude	MAV_ROI_LOCATION: altitude

Note

Only MAV_ROI_LOCATION is supported for ROI Mode.

MAV_CMD_DO_MOUNT_CONTROL#

(Message code: 205)

Control camera orientation.

Param: Label	Description
1: Pitch	Camera pitch angle (deg) (min: -90, max: 90)
2: Roll	Camera roll angle (deg) Ignored
3: Yaw	Camera yaw angle relative to the front (deg) Ignored
4: Altitude	Altitude depending on mount mode (m) Ignored
5: Latitude	Latitude, set if appropriate mount mode Ignored
6: Longitude	Longitude, set if appropriate mount mode Ignored
7: Mode	Mount mode. MAV_MOUNT_MODE (MAV_MOUNT_MODE_MAVLINK_TARGETING = 2)

Note

Only MAV_MOUNT_MODE_MAVLINK_TARGETING is supported for mount mode. Only pitch angle is supported.

MAV_CMD_IMAGE_START_CAPTURE#

(Message code: 2000)

Start image capture sequence.

Param: Label	Description
1: Interval	Desired elapsed time between two consecutive pictures (s). If 0, Interval and Capture Count are taken from the latest MAV_CMD_SET_STILL_CAPTURE_MODE
2: Capture Count	Total number of images to capture. 0 to capture forever/until MAV_CMD_IMAGE_STOP_CAPTURE
3: Format	Capture format (see enum MAV_STILL_CAPTURE_MODE_TYPE) 12: RECTILINEAR JPEG 13: FULL FRAME JPEG 14: FULL FRAME, JPEG + DNG
4:	Ignored
5:	Empty
6:	Empty
7:	Empty

Note

Parameter 1 and 2 correspond to parameters 2 and 3 of the official MAVLink documentation. While parameter 3 is used to set the image format.

MAV_CMD_IMAGE_STOP_CAPTURE#

(Message code: 2001)

Stop image capture sequence.

Param: Label	Description
1:	Reserved (Set to 0) Ignored
2:	Empty
3:	Empty
4:	Empty
5:	Empty
6:	Empty
7:	Empty

MAV_CMD_VIDEO_START_CAPTURE#

(Message code: 2500)

Start video recording.

All parameters are ignored.

Param: Label	Description
1: Stream ID	Video Stream ID (0 for all streams) Ignored
2: Status Frequency	Frequency CAMERA_CAPTURE_STATUS messages should be sent while recording (0 for no messages, otherwise frequency) (Hz) Ignored
3:	Empty
4:	Empty
5:	Empty
6:	Empty
7:	Empty

MAV_CMD_VIDEO_STOP_CAPTURE#

(Message code: 2501)

Stop video recording.

All parameters are ignored.

Param: Label	Description
1: Stream ID	Video Stream ID (0 for all streams) Ignored
2:	Empty
3:	Empty
4:	Empty
5:	Empty
6:	Empty
7:	Empty

MAV_CMD_PANORAMA_CREATE#

(Message code: 2800)

Create a panorama at the current position.

Param: Label	Description
1: Horizontal Angle	Horizontal viewing angle (deg)
2: Vertical Angle	Vertical viewing angle (deg)
3: Horizontal Speed	Speed of the horizontal movement (deg/s)
4: Vertical Speed	Speed of the vertical movement (deg/s)
5:	Empty
6:	Empty
7:	Empty

MAV_CMD_SET_VIEW_MODE#

(Message code: 50000)

Parrot specific command.

Set the view mode.

Param: Label	Description
1: View Mode	View mode type (see enum MAV_VIEW_MODE_TYPE)
2: ROI index	ROI index if View Mode type is VIEW_MODE_TYPE_ROI. If ROI does not exist, View Mode is set to ABSOLUTE
3:	Ignored
4:	Ignored
5:	Ignored
6:	Ignored
7:	Ignored

MAV_CMD_SET_STILL_CAPTURE_MODE#

(Message code: 50001)

Parrot specific command.

Set the still capture mode.

Param: Label	Description
1: Capture Mode	Still capture mode type (see enum MAV_STILL_CAPTURE_MODE_TYPE)
2: Interval	Timelapse interval in seconds if Capture Mode is STILL_CAPTURE_MODE_TYPE_TIMELAPSE. Interval in meters between each capture if Capture Mode is STILL_CAPTURE_MODE_TYPE_GPS_POSITION
3:	Ignored
4:	Ignored
5:	Ignored
6:	Ignored
7:	Ignored