Cheatsheet — MAV_CMD Reference
Frequently used MAV_CMD values sent via COMMAND_LONG or COMMAND_INT. param1–param7 are floats unless using COMMAND_INT (param5/6 are int32).
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ID Name Key Params Notes
────── ───────────────────────────── ──────────────────────────── ──────────────────────
16 MAV_CMD_NAV_WAYPOINT p5=lat, p6=lon, p7=alt Mission item
20 MAV_CMD_NAV_RETURN_TO_LAUNCH (none) Return to home
21 MAV_CMD_NAV_LAND p5=lat, p6=lon, p7=alt Land at position
22 MAV_CMD_NAV_TAKEOFF p7=altitude Takeoff to altitude
84 MAV_CMD_NAV_VTOL_TAKEOFF p7=altitude VTOL takeoff
85 MAV_CMD_NAV_VTOL_LAND p5=lat, p6=lon VTOL land
176 MAV_CMD_DO_SET_MODE p1=base_mode, p2=custom Set flight mode
183 MAV_CMD_DO_SET_SERVO p1=servo#, p2=PWM Direct servo control
186 MAV_CMD_DO_CHANGE_SPEED p1=type, p2=speed Change airspeed/gndspd
400 MAV_CMD_COMPONENT_ARM_DISARM p1=1(arm)/0(disarm) Arm or disarm motors
410 MAV_CMD_GET_HOME_POSITION (none) Request home position
511 MAV_CMD_SET_MESSAGE_INTERVAL p1=msg_id, p2=interval_µs Set message rate
520 MAV_CMD_REQUEST_AUTOPILOT (none) Get autopilot version
_CAPABILITIES
2500 MAV_CMD_REQUEST_MESSAGE p1=msg_id Request single message
31010 MAV_CMD_DO_GIMBAL_MANAGER p1=pitch, p2=yaw Gimbal v2 control
_PITCHYAWSending a command
Wrap the MAV_CMD in COMMAND_LONG (#76) with confirmation=0 for first attempt. If no ACK arrives in ~1.5 s, resend with confirmation=1, then 2, etc. After 3–5 retries, report failure.