EDITABLE DOCUMENT: Link
The upcoming MAVLink v1.1 release will as first release require a minimum set of messages to be supported to qualify as “MAVLink enabled”. It will also replace a number of historically suboptimal (in their use or in their data formats) messages with newer messages, while retaining full compatibility with v1.0.
The AUTOPILOT_VERSION message carries a bit field which encodes the generic MAVLink features this autopilot supports. It should be sufficient to read off all relevant properties of the autopilot to communicate. It should be sent every .1 Hz at least. The GCS can configure itself according to the announced features and highlight if the user should update the firmware version.
The message set requirements should be interpreted as follows: If the autopilot sends any dimension contained in the messages below, it has to use these messages and not deprecated other messages to do so. In addition, HEARTBEAT, SYS_STATUS and AUTOPILOT_VERSION have to be sent repeatedly independent of the system state.
Any message being mandated on the TX side has to be handled correctly on the receiving side (e.g. a message mandated in the autopilot TX side has to be parsed correctly in the GCS RX side, and vice-versa).
The minimum message set is intended for barebones operation.
In addition to the minimum message profile, the parameter profile requires handling of these messages:
In addition to the minimum message profile, the mission profile requires handling of these messages:
In addition to the minimum message profile, the robotics profile requires handling of these messages: