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AV Link
APM 2.0 has adopted a subset of the MAVLink protocol command set.
APM's commands are stored in 14 bytes, arranged as follows:
| Byte # | Address | Data type | Function |
| 0 | 0x00 | byte | Command ID |
| 1 | 0x01 | byte | Options |
| 2 | 0x02 | byte | Parameter 1 |
| 3 | 0x03 | long | Parameter 2 |
| 4 | 0x04 | .. | |
| 5 | 0x05 | .. | |
| 6 | 0x06 | .. | |
| 7 | 0x07 | long | Parameter 3 |
| 8 | 0x08 | .. | |
| 9 | 0x09 | .. | |
| 10 | 0x0A | .. | |
| 11 | 0x0B | long | Parameter 4 |
| 12 | 0x0C | .. | |
| 13 | 0x0D | .. | |
| 14 | 0x0E | .. |
Navigation Commands -- these commands all have a lat and lon component
NAV commands have the highest priority. For commands of higher ID than the NAV commands, unexecuted commands are dropped when ready for the next NAV command so plan/queue commands accordingly!
For example, if you had a string of CMD_MAV_CONDITION commands following a ||0x10 command that had not finished when the waypoint was reached, the unexecuted CMD_MAV_CONDITION and CMD_MAV_DO commands would be skipped and the next NAV command would be loaded.
||Command ID hex/decimal||Name||Parameter 1||Altitude||Latitude||Longitude||notes|| ||0x10 / 16||MAV_CMD_NAV_WAYPOINT||-||altitude||lat||lon|| ||0x11 / 17||MAV_CMD_NAV_LOITER_UNLIM ||(indefinitely)||altitude||lat||lon|| ||0x12 / 18||MAV_CMD_NAV_LOITER_TURNS||turns||altitude||lat||lon|| ||0x13 / 19||MAV_CMD_NAV_LOITER_TIME||time (seconds*10)||altitude||lat||lon|| ||0x14 / 20||MAV_CMD_NAV_RETURN_TO_LAUNCH||-||altitude||lat||lon|| ||0x15 / 21||MAV_CMD_NAV_LAND||-||altitude||lat||lon|| ||0x16 / 22||MAV_CMD_NAV_TAKEOFF||takeoff pitch||altitude||-||-||NOTE: for command 0x16 the value takeoff pitch specifies the minimum pitch for the case with airspeed sensor and the target pitch for the case without.|| ||0x17 / 23||MAV_CMD_NAV_TARGET||-||altitude||lat||lon||
May Commands - these commands are optional to finish and have a end criteria, eg "reached waypoint" or "reached altitude"
| Command ID | Name | Parameter 1 | Parameter 2 | Parameter 3 | Parameter 4 | notes |
| 0x70 / 112 | MAV_CMD_CONDITION_DELAY | - | - | time (seconds) | - | |
| 0x71 / 113 | MAV_CMD_CONDITION_CHANGE_ALT | rate (cm/sec) | alt (finish) | - | - | Note: rate must be > 10 cm/sec due to integer math |
| 0x72 / 114 | MAV_CMD_CONDITION_DISTANCE | - | - | distance (meters) | - |
Now Commands - these commands are executed once until no more new now commands are available
| Command ID | Name | Parameter 1 | Parameter 2 | Parameter 3 | Parameter 4 | notes |
| 0xB1 / 177 | MAV_CMD_DO_JUMP | index | - | repeat count | - | Note: The repeat count must be greater than 1 for the command to execute. Use a repeat count of 1 if you intend a single use. |
| 0xB2 / 178 | MAV_CMD_DO_CHANGE_SPEED | Speed type | Speed (m/s) | Throttle (Percent) | - | (0=Airspeed, 1=Ground Speed)(-1 indicates no change)(-1 indicates no change) |
| 0xB3 / 179 | MAV_CMD_DO_SET_HOME | Use current | altitude | lat | lon | (1=use current location, 0=use specified location) |
| 0xB4 / 180 | MAV_CMD_DO_SET_PARAMETER | Param number | Param value | (NOT CURRENTLY IMPLEMENTED IN APM) | ||
| 0xB5 / 181 | MAV_CMD_DO_SET_RELAY | Relay number | On/off (1/0) | - | - | |
| 0xB6 / 182 | MAV_CMD_DO_REPEAT_RELAY | Relay number | Cycle count | Cycle time (sec) | - | Note: Max cycle time = 60 sec, A repeat relay or repeat servo command will cancel any current repeating event |
| 0xB7 / 183 | MAV_CMD_DO_SET_SERVO | Servo number (5-8) | On/off (1/0) | - | - | |
| 0xB6 / 184 | MAV_CMD_DO_REPEAT_SERVO | Servo number (5-8) | Cycle count | Cycle time (sec) | - | Note: Max cycle time = 60 sec, A repeat relay or repeat servo command will cancel any current repeating event |