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Co-authored-by: Julian Oes <julian@oes.ch>
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Hamish Willee
2025-06-05 11:08:47 +10:00
parent d1e7f01994
commit 39e51b2a6b
2 changed files with 3 additions and 5 deletions
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docs/en/mavlink/index.md
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@@ -25,7 +25,7 @@ _Messages_ are simplest and most "fundamental" definition in MAVLink, consisting
They are deliberately lightweight, with a constrained size, and no semantics for resending and acknowledgement.
Stand-alone messages are commonly used for streaming telemetry or status information, and for sending commands where no acknowledgement is required - such as setpoint commands sent at high rate.
The [Command Protocol](https://mavlink.io/en/services/command.html) is a higher level protocol for sending commands that may need acknowledgement.
The [Command Protocol](https://mavlink.io/en/services/command.html) is a higher level protocol for sending commands that may need acknowledgement and retransmission (quality of service).
Specific commands are defined as values of the [MAV_CMD](https://mavlink.io/en/messages/common.html#mav_commands) enumeration, such as the takeoff command [MAV_CMD_NAV_TAKEOFF](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_TAKEOFF), and include up to 7 numeric "param" values.
The protocol sends a command by packaging the parameter values in a `COMMAND_INT` or `COMMAND_LONG` message, and waits for an acknowledgement with a result in a `COMMAND_ACK`.
The command is resent automatically if no acknowledgment is received.
docs/en/mavlink/protocols.md
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@@ -16,16 +16,14 @@ These services are known to be supported in some form:
- Camera Protocols
- [Camera Protocol v2](https://mavlink.io/en/services/camera.html)
- [Camera Definition](https://mavlink.io/en/services/camera_def.html)
- [Camera Protocol v1 (Simple Trigger Protocol)](https://mavlink.io/en/services/camera_v1.html)
- [Command Protocol](https://mavlink.io/en/services/command.html)
- [Component Metadata Protocol (WIP)](https://mavlink.io/en/services/component_information.html)
- [Events Interface (WIP)](https://mavlink.io/en/services/events.html)
- [Component Metadata Protocol](https://mavlink.io/en/services/component_information.html)
- [Events Interface](https://mavlink.io/en/services/events.html)
- [File Transfer Protocol (FTP)](https://mavlink.io/en/services/ftp.html)
- Gimbal Protocols
- [Gimbal Protocol v2](https://mavlink.io/en/services/gimbal_v2.html)
- Can be enabled by [Gimbal Configuration](../advanced/gimbal_control.md#mavlink-gimbal-mnt-mode-out-mavlink)
- PX4 an act as a MAVLink Gimbal for one FC-connected Gimbal
- [Gimbal Protocol v1 (superseded)](https://mavlink.io/en/services/gimbal.html)
- [Heartbeat/Connection Protocol](https://mavlink.io/en/services/heartbeat.html)
- [High Latency Protocol](https://mavlink.io/en/services/high_latency.html) — PX4 streams [HIGH_LATENCY2](https://mavlink.io/en/messages/common.html#HIGH_LATENCY2)
- [Image Transmission Protocol](https://mavlink.io/en/services/image_transmission.html)