Skip to content

Latest commit

 

History

History
28 lines (21 loc) · 716 Bytes

command.md

File metadata and controls

28 lines (21 loc) · 716 Bytes
Raw

Command Protocol

The MAVLink command protocol allows guaranteed delivery of commands. It consists of the original command message and the matching acknowledgement (ACK).

{% mermaid %} sequenceDiagram; participant GCS participant Drone GCS->>Drone: COMMAND_LONG(confirmation=0) GCS->>GCS: Start timeout Drone->>GCS: COMMAND_ACK {% endmermaid %}

If the command drops the sender should increase the confirmation field:

{% mermaid %} sequenceDiagram; participant GCS participant Drone GCS->>Drone: COMMAND_LONG(confirmation=0) GCS->>GCS: Start timeout GCS->>Drone: COMMAND_LONG(confirmation=1) GCS->>GCS: Start timeout Drone->>GCS: COMMAND_ACK {% endmermaid %}