QGC Waypoint Protocol Format

I'm looking for information on the Waypoint protocol format...I found this website: http://www.qgroundcontrol.org/mavlink/waypoint_protocol where down towards the bottom it has the format. But I'm looking for what each tag does. For example...I want to know what commands I can put in for <command>, more information on <coord frame>, or what I'm able to put in each of the <param#> tags, etc, etc.

If there are any resources out there on the web that can show all the capabilities of these tags that anyone can point me to, it would be much appreciated!


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  • Developer

    I'm afraid that it's very much "Use the source, Luke!"

    here's some pointers, mission are processed here https://github.com/diydrones/ardupilot/blob/master/ArduCopter/comma...

    Instant mavlink messags from a GCS here https://github.com/diydrones/ardupilot/blob/master/ArduCopter/GCS_M...

    Hope that helps get you started :)

    [Its the learning to program APM section, so i think it's ok to be geeky here :-) ]

  • There's not really any good documentation on the different options when sending waypoints to your autopilot. Each autopilot, and even each vehicle type (rover, copter, plane) may or may not support a given mission command.

    If you're looking for a very general answer of what is supported by mavlink, the XML files which mavlink is generated from will contain the most recent information. Tridge maintains this on his github here. Search common.xml for "<enum name="MAV_CMD">". The enum entries that follow are what is possible to send using mavlink. Your specific autopilot software will most likely not support all these commands.

    To see what your autopilot supports download the code. For arducopter, the logic that handles waypoint following is in commands_logic.ino. If you see a command implimented there it will probably work. If not it won't. 

    Just out of curiosity, what are you working on? Which ground station are you using?

    Marshalling / communication library for drones. Contribute to mavlink/mavlink development by creating an account on GitHub.
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