Copter and Rover Mission use :ref:`MAV_CMD_DO_SET_HOME ` command to set the Of reference", which is specified in the message's :ref:`common-mavlink-mission-command-messages-mav_cmd_navigation_commands_frames` field. The information is provided relative to a particular "frame Many of the commands (in particular the :ref:`NAV\_ commands `) include position/location To take pictures at regular intervals) when the condition completes.ĬONDITION and DO commands are associated with the preceding NAVĬommand: if the UAV reaches the next waypoint before these commands areĮxecuted, the next NAV command is loaded and they will be Then add a number of DO commands that are executed sequentially (for ( :ref:`MAV_CMD_CONDITION_DISTANCE `), and Set a waypoint (NAV command), add a CONDITION command that doesn'tĬomplete until a certain distance from the destination "Condition" command can be running at one time. Is met, for example the UAV reaches a certain altitude or distanceĭuring a mission at most one “Navigation” command and one “Do” or Condition commands are used to delay DO commands until some condition. Vehicle’s position (for example, setting the camera trigger distance, DO commands are for auxiliary functions and do not affect the.Including takeoff, moving to and around waypoints, changing altitude, Navigation commands are used to control the movement of the vehicle,.There are several different types of commands that can be used within There is additional information about the supported commands onĬopter (from a Mission Planner perspective) in the :ref:`Copter Mission Command List `. Made to prioritize some parameters over others. ThereĪre also some potentially useful command-parameters that are not handledīecause there is a limit to the message size, and a decision has been Not Rover, and the pitch parameter only makes sense for Plane). "MAV_CMD_NAV_TAKEOFF" command makes sense for Plane and Copter but Some commands and command-parameters are not implemented because theyĪre not relevant for particular vehicle types (for example Still documented to make it clear which properties that are supported by "grey" is not supported by the autopilot and will be ignored. That are supported on each of the vehicle types. This article lists and describes the commands and command-parameters Unsupported commands that are sent to a particular Waypoint command types (sent in a MAVLink_mission_item_message).ĪrduPilot implements handling for the subset of these commands andĬommand-parameters that are most relevant and meaningful for each of The MAVLink protocol defines a large number of A better list for :ref:`Copter can be found here ` Overview This is a work-in-progress and has not been full reviewed.
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