MAVLink Communication - Revision history

OlliW: /* MAVLINK_MSG_ID_COMMAND_LONG (#76, 0x4C) */

2025-06-29T09:12:08Z

MAVLINK_MSG_ID_COMMAND_LONG (#76, 0x4C)

← Older revision		Revision as of 11:12, 29 June 2025
Line 643:		Line 643:
	263: (CAMERA_IMAGE_CAPTURED) returns COMMAND_ACK with MAV_CMD_ACK_DENIED		263: (CAMERA_IMAGE_CAPTURED) returns COMMAND_ACK with MAV_CMD_ACK_DENIED
	300: send PROTOCOL_VERSION message		300: send PROTOCOL_VERSION message
			396: send COMPONENT_COMPONENT_INFORMATION_BASIC message
	397: send COMPONENT_METADATA message		397: send COMPONENT_METADATA message
	* param7 = response target		* param7 = response target

OlliW: /* MAVLINK_MSG_ID_COMMAND_LONG (#76, 0x4C) (in) */

2025-06-29T09:09:51Z

MAVLINK_MSG_ID_COMMAND_LONG (#76, 0x4C) (in)

← Older revision		Revision as of 11:09, 29 June 2025
Line 322:		Line 322:
	285: send GIMBAL_DEVICE_ATTITUDE_STATUS message (target is set according to param7, default is requester IDs)		285: send GIMBAL_DEVICE_ATTITUDE_STATUS message (target is set according to param7, default is requester IDs)
	300: send PROTOCOL_VERSION message		300: send PROTOCOL_VERSION message
			396: send COMPONENT_COMPONENT_INFORMATION_BASIC message
	397: send COMPONENT_METADATA message		397: send COMPONENT_METADATA message
	60010: send STORM32_GIMBAL_MANAGER_INFORMATION message (only if in gimbal manager mode)		60010: send STORM32_GIMBAL_MANAGER_INFORMATION message (only if in gimbal manager mode)

OlliW at 19:56, 14 June 2025

2025-06-14T19:56:09Z

← Older revision		Revision as of 21:56, 14 June 2025
Line 1:		Line 1:
	<span style="font-size:88%">''The information on this page refers to firmware v2.~~72a~~ and higher.''</span>		<span style="font-size:88%">''The information on this page refers to firmware v2.72e and higher.''</span>

	In addition to the [[Serial_Communication\|serial commands]], the STorM32 controller also understands MAVLink messages, as defined in the [https://mavlink.io/en/ MAVLink] standard. The STorM32 controller supports a rich set of MAVLink messages and features, the [https://mavlink.io/en/guide/mavlink_2.html MAVLink 2] protocol, the [https://mavlink.io/en/services/gimbal_v2.html Gimbal Protocol v2], the [https://mavlink.io/en/services/camera.html Camera Protocol v2], and the [https://mavlink.io/en/services/ftp.html File Transfer Protocol] microservices<!--, and partially also the [https://mavlink.io/en/services/gimbal_v2.html MAVLink Gimbal Protocol V2]-->.		In addition to the [[Serial_Communication\|serial commands]], the STorM32 controller also understands MAVLink messages, as defined in the [https://mavlink.io/en/ MAVLink] standard. The STorM32 controller supports a rich set of MAVLink messages and features, the [https://mavlink.io/en/guide/mavlink_2.html MAVLink 2] protocol, the [https://mavlink.io/en/services/gimbal_v2.html Gimbal Protocol v2], the [https://mavlink.io/en/services/camera.html Camera Protocol v2], and the [https://mavlink.io/en/services/ftp.html File Transfer Protocol] microservices<!--, and partially also the [https://mavlink.io/en/services/gimbal_v2.html MAVLink Gimbal Protocol V2]-->.

OlliW: /* Comments on Compatibility */

2025-06-14T07:12:06Z

Comments on Compatibility

← Older revision		Revision as of 09:12, 14 June 2025
Line 813:		Line 813:
	=== ArduPilot ===		=== ArduPilot ===

	Generally, ArduPilot's handling and routing of the gimbal and camera MAVLink messages and commands can have its issues, and can vary a lot with version. Besides flaws, issues arrise often because of non-standard conform use of MAVLink messages or violating the MAVLink protocol itself. It is best to explore the situation carefully for the ArduPilot version in use.		Generally, ArduPilot's handling and routing of the gimbal and camera MAVLink messages and commands can have its issues, and can vary a lot with version. Besides flaws, issues arrise often because of non-standard conform use of MAVLink messages or violating the MAVLink protocol itself. It is best to explore the situation carefully for the ArduPilot version in use. With ArduPilot 4.6 and higher experience should be pretty smooth.

	See also [[Using STorM32 with ArduPilot]].		See also [[Using STorM32 with ArduPilot]].

OlliW: /* MAVLINK_MSG_ID_COMMAND_LONG (#76, 0x4C) */

2025-06-14T07:10:32Z

MAVLINK_MSG_ID_COMMAND_LONG (#76, 0x4C)

← Older revision		Revision as of 09:10, 14 June 2025
Line 678:		Line 678:
	* param2 = zoom level		* param2 = zoom level
	* param3 = target camera id, must be 0 or match camera component ID		* param3 = target camera id, must be 0 or match camera component ID
			Behavior depends on selected camera model.

	MAV_CMD_SET_CAMERA_FOCUS (#532, 0x0214)		MAV_CMD_SET_CAMERA_FOCUS (#532, 0x0214)
	~~returns COMMAND_ACK with MAV_CMD_ACK_DENIED~~		* param1 = focus type
			* param2 = focus level
			* param3 = target camera id, must be 0 or match camera component ID
			Behavior depends on selected camera model.

	MAV_CMD_IMAGE_START_CAPTURE (#2000, 0x07D0)		MAV_CMD_IMAGE_START_CAPTURE (#2000, 0x07D0)

OlliW: /* MAVLink FTP */

2025-06-14T06:55:53Z

MAVLink FTP

← Older revision		Revision as of 08:55, 14 June 2025
Line 130:		Line 130:
	MAVFTP_OPCODE_CalcFileCRC32		MAVFTP_OPCODE_CalcFileCRC32
	MAVFTP_OPCODE_BurstReadFile		MAVFTP_OPCODE_BurstReadFile

	<!--= MAVLink Events =		<!--= MAVLink Events =

OlliW: /* MAVLink Parameters */

2025-06-14T06:55:06Z

MAVLink Parameters

← Older revision		Revision as of 08:55, 14 June 2025
Line 113:		Line 113:
	The MAVLink parameter names are slightly different to the names in the GUI, but the differences are small enough to allow unique identification. Both the normal [https://mavlink.io/en/services/parameter.html Parameter Protocol] and [https://mavlink.io/en/services/parameter_ext.html Extended Parameter Protocol] are supported. The parameter values are [https://mavlink.io/en/services/parameter.html#parameter-encoding byte-wise] encoded (the [https://mavlink.io/en/messages/common.html#MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISE MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISE] bit is set in the capabilities field of the [https://mavlink.io/en/messages/common.html#AUTOPILOT_VERSION AUTOPILOT_VERSION] message).		The MAVLink parameter names are slightly different to the names in the GUI, but the differences are small enough to allow unique identification. Both the normal [https://mavlink.io/en/services/parameter.html Parameter Protocol] and [https://mavlink.io/en/services/parameter_ext.html Extended Parameter Protocol] are supported. The parameter values are [https://mavlink.io/en/services/parameter.html#parameter-encoding byte-wise] encoded (the [https://mavlink.io/en/messages/common.html#MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISE MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISE] bit is set in the capabilities field of the [https://mavlink.io/en/messages/common.html#AUTOPILOT_VERSION AUTOPILOT_VERSION] message).

	{{COMMENT\|The parameters are only written but not stored permanently into the STorM32 controller when they are changed by sending a PARAM_SET or PARAM_EXT_SET message. In order to store the settings permanently the MAVLink command [https://mavlink.io/en/messages/common.html#MAV_CMD_PREFLIGHT_STORAGE MAV_CMD_PREFLIGHT_STORAGE] needs to be send to the STorM32 controller with param1 = 1. Some ground control stations, like MissionPlanner, do ~~send the MAV_CMD_PREFLIGHT_STORAGE message~~, some others do not.}}		{{COMMENT\|The parameters are only written but not stored permanently into the STorM32 controller when they are changed by sending a PARAM_SET or PARAM_EXT_SET message. In order to store the settings permanently the MAVLink command [https://mavlink.io/en/messages/common.html#MAV_CMD_PREFLIGHT_STORAGE MAV_CMD_PREFLIGHT_STORAGE] needs to be send to the STorM32 controller with param1 = 1. Some ground control stations, like MissionPlanner, do this themselves after a parameter write, some others do not.}}

	= MAVLink FTP =		= MAVLink FTP =

OlliW: /* MAVLink Parameters */

2025-06-14T06:53:44Z

MAVLink Parameters

← Older revision		Revision as of 08:53, 14 June 2025
Line 113:		Line 113:
	The MAVLink parameter names are slightly different to the names in the GUI, but the differences are small enough to allow unique identification. Both the normal [https://mavlink.io/en/services/parameter.html Parameter Protocol] and [https://mavlink.io/en/services/parameter_ext.html Extended Parameter Protocol] are supported. The parameter values are [https://mavlink.io/en/services/parameter.html#parameter-encoding byte-wise] encoded (the [https://mavlink.io/en/messages/common.html#MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISE MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISE] bit is set in the capabilities field of the [https://mavlink.io/en/messages/common.html#AUTOPILOT_VERSION AUTOPILOT_VERSION] message).		The MAVLink parameter names are slightly different to the names in the GUI, but the differences are small enough to allow unique identification. Both the normal [https://mavlink.io/en/services/parameter.html Parameter Protocol] and [https://mavlink.io/en/services/parameter_ext.html Extended Parameter Protocol] are supported. The parameter values are [https://mavlink.io/en/services/parameter.html#parameter-encoding byte-wise] encoded (the [https://mavlink.io/en/messages/common.html#MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISE MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISE] bit is set in the capabilities field of the [https://mavlink.io/en/messages/common.html#AUTOPILOT_VERSION AUTOPILOT_VERSION] message).

	{{COMMENT\|The parameters are only written to but not stored permanently into the STorM32 controller when they are changed by sending a PARAM_SET or PARAM_EXT_SET message. In order to store the settings permanently the MAVLink command [https://mavlink.io/en/messages/common.html#MAV_CMD_PREFLIGHT_STORAGE MAV_CMD_PREFLIGHT_STORAGE] needs to be send to the STorM32 controller with param1 = 1. Some ground control stations, like MissionPlanner, do send the MAV_CMD_PREFLIGHT_STORAGE message, some others do not.}}		{{COMMENT\|The parameters are only written but not stored permanently into the STorM32 controller when they are changed by sending a PARAM_SET or PARAM_EXT_SET message. In order to store the settings permanently the MAVLink command [https://mavlink.io/en/messages/common.html#MAV_CMD_PREFLIGHT_STORAGE MAV_CMD_PREFLIGHT_STORAGE] needs to be send to the STorM32 controller with param1 = 1. Some ground control stations, like MissionPlanner, do send the MAV_CMD_PREFLIGHT_STORAGE message, some others do not.}}

	= MAVLink FTP =		= MAVLink FTP =

OlliW: /* MAVLink Parameters */

2025-06-14T06:53:19Z

MAVLink Parameters

← Older revision		Revision as of 08:53, 14 June 2025
Line 111:		Line 111:
	All STorM32 parameters are exposed to the MAVLink parameter interface, i.e., the STorM32 controller can equally be configured also via MAVLink.		All STorM32 parameters are exposed to the MAVLink parameter interface, i.e., the STorM32 controller can equally be configured also via MAVLink.

	The MAVLink parameter names are slightly different to the names in the GUI, but the differences are small enough to allow unique identification. Both the normal [https://mavlink.io/en/services/parameter.html Parameter Protocol] ~~as well as the~~ [https://mavlink.io/en/services/parameter_ext.html Extended Parameter Protocol] are supported. The parameter values are [https://mavlink.io/en/services/parameter.html#parameter-encoding byte-wise] encoded (the [https://mavlink.io/en/messages/common.html#MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISE MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISE] bit is set in the capabilities field of the [https://mavlink.io/en/messages/common.html#AUTOPILOT_VERSION AUTOPILOT_VERSION] message).		The MAVLink parameter names are slightly different to the names in the GUI, but the differences are small enough to allow unique identification. Both the normal [https://mavlink.io/en/services/parameter.html Parameter Protocol] and [https://mavlink.io/en/services/parameter_ext.html Extended Parameter Protocol] are supported. The parameter values are [https://mavlink.io/en/services/parameter.html#parameter-encoding byte-wise] encoded (the [https://mavlink.io/en/messages/common.html#MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISE MAV_PROTOCOL_CAPABILITY_PARAM_ENCODE_BYTEWISE] bit is set in the capabilities field of the [https://mavlink.io/en/messages/common.html#AUTOPILOT_VERSION AUTOPILOT_VERSION] message).

	{{COMMENT\|The parameters are only written to but not stored permanently into the STorM32 controller when they are changed by sending a PARAM_SET or PARAM_EXT_SET message. In order to store the settings permanently the MAVLink command [https://mavlink.io/en/messages/common.html#MAV_CMD_PREFLIGHT_STORAGE MAV_CMD_PREFLIGHT_STORAGE] needs to be send to the STorM32 controller with param1 = 1. Some ground control stations, like MissionPlanner, do send the MAV_CMD_PREFLIGHT_STORAGE message, some others do not.}}		{{COMMENT\|The parameters are only written to but not stored permanently into the STorM32 controller when they are changed by sending a PARAM_SET or PARAM_EXT_SET message. In order to store the settings permanently the MAVLink command [https://mavlink.io/en/messages/common.html#MAV_CMD_PREFLIGHT_STORAGE MAV_CMD_PREFLIGHT_STORAGE] needs to be send to the STorM32 controller with param1 = 1. Some ground control stations, like MissionPlanner, do send the MAV_CMD_PREFLIGHT_STORAGE message, some others do not.}}

OlliW: /* Virtual Channels */

2025-06-14T06:49:24Z

Virtual Channels

← Older revision		Revision as of 08:49, 14 June 2025
Line 79:		Line 79:
	In this configuration, all STorM32 [[Inputs and Functions\|functions]] can be invoked by selecting any of the {{PARAMVALUE\|Virtual-1}} - {{PARAMVALUE\|Virtual-16}} input channels, exactly as one would do it if the STorM32 controller would be directly connected to a receiver by traditional means (PWM, PPM, sbus, and so on), except that the ppm values for the virtual input channels are read off the RC_CHANNELS or RADIO_RC_CHANNELS MAVLink message. This allows us to do many useful things, such as activating a script or triggering video on/off from the transmitter.		In this configuration, all STorM32 [[Inputs and Functions\|functions]] can be invoked by selecting any of the {{PARAMVALUE\|Virtual-1}} - {{PARAMVALUE\|Virtual-16}} input channels, exactly as one would do it if the STorM32 controller would be directly connected to a receiver by traditional means (PWM, PPM, sbus, and so on), except that the ppm values for the virtual input channels are read off the RC_CHANNELS or RADIO_RC_CHANNELS MAVLink message. This allows us to do many useful things, such as activating a script or triggering video on/off from the transmitter.

	{{COMMENT\|The STorM32 controller is not requesting the RC_CHANNELS ~~MAVLink~~ message by itself. This must be achieved by e.g. the flight controller, and the how to do it depends on specifics such as flight controller firmware, system setup, and so on. Usually, the flight controller has an option which makes it streaming this message. In case of BetaPilot, this message is streamed by default.}}		{{COMMENT\|The STorM32 controller is not requesting the RC_CHANNELS or RADIO_RC_CHANNELS message itself. This must be achieved by e.g. the flight controller, and the how to do it depends on specifics such as flight controller firmware, system setup, and so on. Usually, the flight controller has an option which makes it streaming this message. In case of BetaPilot, this message is streamed by default.}}

	= STorM32-Link =		= STorM32-Link =