Messages V2#

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). If NaN is given, the drone will be oriented towards the next waypoint; unless, a view mode is active (see View Mode Command)
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.

If latitude, longitude and altitude are given (not 0 or NaN), an intermediary waypoint is added before the landing action. The completion of the mission item will be notified once the landing has been completed.

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)
5: Latitude	Latitude
6: Longitude	Longitude
7: Altitude	Landing altitude (ground level in current frame) (m)

MAV_CMD_NAV_TAKEOFF#

(Message code: 22)

Take-off from ground / hand.

If latitude, longitude and altitude are given (not 0 or NaN), an intermediary waypoint is added after the takeoff action. The completion of the mission item will be notified once the drone has reached the required position.

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)
5: Latitude	Latitude
6: Longitude	Longitude
7: Altitude	Altitude (m)

MAV_CMD_NAV_DELAY#

(Message code: 93)

Delay the next navigation commands. Same as MAV_CMD_CONDITION_DELAY.

Whenever a delay is added, the previous waypoint will be of type Stop. A delay = 0 will wait for all actions to be completed before moving on to the next waypoint. If a delay > 0 is requested, the drone will continue as soon as the given delay has expired.

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.

DOC: MAV_CMD_CONDITION_DELAY

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

Note

This command is equivalent to MAV_CMD_NAV_DELAY

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)
3: Throttle	Throttle (-1 indicates no change) (%) Ignored
4: Relative	0: absolute, 1: relative
5:	Empty
6:	Empty
7:	Empty

Note

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

MAV_CMD_DO_SET_ROI_LOCATION#

(Message code: 195)

Set the view mode to ROI. The orientation of the following waypoints will be towards this ROI location.

Param: Label	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 Ignored
2:	Empty
3:	Empty
4:	Empty
5: Latitude	Latitude of ROI location
6: Longitude	Longitude of ROI location
7: Altitude	Altitude of ROI location

MAV_CMD_DO_SET_ROI_NONE#

(Message code: 197)

Set the view mode to default (traveling).

Todo

add link to view mode type enum

Param: Label	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 Ignored
2:	Empty
3:	Empty
4:	Empty
5:	Empty
6:	Empty
7:	Empty

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. 0: MAV_ROI_NONE 1: MAV_ROI_WPNEXT 2: MAV_ROI_WPINDEX 3: MAV_ROI_LOCATION 4: MAV_ROI_TARGET
2: WP Index	Waypoint index/ target ID (depends on param 1)
3: ROI Index	Region of interest index
4:	Empty
5: Pitch / Latitude	MAV_ROI_WPNEXT: camera pitch value / MAV_ROI_LOCATION: latitude
6: Roll / Longitude	MAV_ROI_WPNEXT: camera roll value Ignored MAV_ROI_LOCATION: longitude
7: Yaw / Altitude	MAV_ROI_WPNEXT: camera yaw offset / MAV_ROI_LOCATION: altitude

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)
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 and yaw angle are supported.

MAV_CMD_DO_SET_CAM_TRIGG_DIST#

(Message code: 206)

Start/Stop GPS lapse.

Param: Label	Description
1: Distance	Camera trigger distance. 0 to stop triggering (m)
2: Shutter	Camera shutter integration time. -1 or 0 to ignore (ms) Ignored
3: Trigger	Trigger camera once immediately. (0 = no trigger, 1 = trigger) Ignored
4:	Empty
5:	Empty
6:	Empty
7:	Empty

Note

Default Trigger mode is 1.

MAV_CMD_DO_SET_CAM_TRIGG_INTERVAL#

(Message code: 214)

Start/Stop timelapse.

Param: Label	Description
1: Trigger Cycle	Camera trigger cycle time. -1 or 0 to ignore (ms)
2: Shutter Integration	Camera shutter integration time. Should be less than trigger cycle time. -1 or 0 to ignore (ms) Ignored
3:	Empty
4:	Empty
5:	Empty
6:	Empty
7:	Empty

MAV_CMD_IMAGE_START_CAPTURE#

(Message code: 2000)

Start image capture sequence.

Param: Label	Description
1:	Reserved
2: Interval	Desired elapsed time between two consecutive pictures (s)
3: Capture count	Total number of images to capture. 0 to capture forever/until MAV_CMD_IMAGE_STOP_CAPTURE
4: Sequence Number	Capture sequence number starting from 1. This is only valid for single-capture (param3 == 1) Ignored
5:	Empty
6:	Empty
7:	Empty

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: Yaw View Mode	Yaw view mode type (see enum MAV_VIEW_MODE_TYPE)
2: ROI index	ROI index if View Mode is ROI
3: Pitch View Mode	Pitch view mode type (see enum MAV_PITCH_VIEW_MODE_TYPE)
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	Ignored
2: Interval	Ignored
3: Capture format	Set capture format for next actions (see enum MAV_STILL_CAPTURE_MODE_TYPE) 12: RECTILINEAR JPEG 13: FULL FRAME JPEG 14: FULL FRAME, JPEG + DNG 15: Photogrammetry, JPEG
4:	Ignored
5:	Ignored
6:	Ignored
7:	Ignored