fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-20 03:23:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

docs(mavlink): MAVLink Profiles - separate topic (#26816)

Browse Source
This commit is contained in:
Hamish Willee
2026-03-19 13:32:30 +11:00
committed by GitHub
parent 0f38a581d1
commit a91037705c
5 changed files with 82 additions and 44 deletions
Download Patch File Download Diff File Expand all files Collapse all files
docs/en/peripherals/mavlink_peripherals.md
+3 -23
View File
@@ -26,29 +26,8 @@ The parameters for each instance are:
- <a id="MAV_X_CONFIG"></a>[MAV_X_CONFIG](../advanced_config/parameter_reference.md#MAV_0_CONFIG) - Set the serial port (UART) for this instance "X", where X is 0, 1, 2.
It can be any unused port, e.g.: `TELEM2`, `TELEM3`, `GPS2` etc.
For more information see [Serial Port Configuration](../peripherals/serial_configuration.md).
- <a id="MAV_X_MODE"></a>[MAV_X_MODE](../advanced_config/parameter_reference.md#MAV_0_MODE) - Specify the telemetry mode/target (the set of messages to stream for the current instance and their rate).
The default values are:
- _Normal_: Standard set of messages for a GCS.
- _Custom_ or _Magic_: Nothing (in the default PX4 implementation).
Modes may be used for testing when developing a new mode.
- _Onboard_: Standard set of messages for a companion computer.
- _OSD_: Standard set of messages for an OSD system.
- _Config_: Standard set of messages and rate configuration for a fast link (e.g. USB).
- _Minimal_: Minimal set of messages for use with a GCS connected on a high latency link.
- _External Vision_: Messages for offboard vision systems.
- _Gimbal_: Messages for a gimbal. Note this also enables [message forwarding](#MAV_X_FORWARD)
- _Onboard Low Bandwidth_: Standard set of messages for a companion computer connected on a lower speed link.
- _uAvionix_: Messages for a uAvionix ADS-B beacon.
::: info
If you need to find the specific set of message for each mode search for `MAVLINK_MODE_` in [/src/modules/mavlink/mavlink_main.cpp](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/mavlink_main.cpp).
:::
:::tip
The mode defines the _default_ messages and rates.
A connected MAVLink system can still request the streams/rates that it wants using [MAV_CMD_SET_MESSAGE_INTERVAL](https://mavlink.io/en/messages/common.html#MAV_CMD_SET_MESSAGE_INTERVAL).
:::
- <a id="MAV_X_MODE"></a>[MAV_X_MODE](../advanced_config/parameter_reference.md#MAV_0_MODE) - Specify the [MAVLink profile](../mavlink/mavlink_profiles.md) for the instance, such as _Normal_ or _OSD_.
Profiles define a particular set of streamed messages and their rates — you should choose a profile that is appropriate for your channel and the peripheral.
- <a id="MAV_X_RATE"></a>[MAV_X_RATE](../advanced_config/parameter_reference.md#MAV_0_MODE) - Set the maximum _data rate_ for this instance (bytes/second).
- This is the combined rate for all streams of individual message (the rates for individual messages are reduced if the total rate exceeds this value).
- The default setting will generally be acceptable, but might be reduced if the telemetry link becomes saturated and too many messages are being dropped.
@@ -116,6 +95,7 @@ Links to setup instructions for specific MAVLink components:
## See Also
- [MAVLink Profiles](../mavlink/mavlink_profiles.md)
- [Serial Port Configuration](../peripherals/serial_configuration.md)
- [PX4 Ethernet Setup > PX4 MAVLink Serial Port Configuration](../advanced_config/ethernet_setup.md#px4-mavlink-serial-port-configuration)
- [Serial Port Mapping](../hardware/serial_port_mapping.md)