Mavlink Autopilot

How to use the Mavlink Autopilot robot skill

MAVLink Autopilot connects ARCx to a flight controller that speaks MAVLink 2: a Pixhawk, Cube, Matek, Kakute, Navio or any other board running ArduPilot or PX4. The autopilot keeps doing what it is good at (stabilising, steering, holding a GPS line, enforcing a geofence) while ARCx becomes the brain on top: vision, speech, AI, navigation, scripts and the user interface.

It was built with robotic lawn mowers in mind, so it includes a complete mowing planner, but everything works for any rover, boat, copter, plane or sub the autopilot drives.

What it does

• Becomes the project's movement panel. The movement buttons, joysticks, the Movement Joystick, scripts (Movement.forward()), navigators and AI assistants all drive the vehicle. Directions become speed and turn rate targets in GUIDED mode (ArduPilot) or Offboard mode (PX4), or RC channel overrides in manual mode.
• Feeds the Navigation Messaging System (NMS). The vehicle's GPS position and heading are reported as the robot's pose, so lidar maps and navigators line up with it. The autopilot's own rangefinders become scan points.
• Gives the autopilot ARCx's eyes. Scans from ARCx's lidar and depth camera skills can be sent to the autopilot as proximity data (OBSTACLE_DISTANCE), so ArduPilot's own obstacle avoidance stops for, or steers round, what ARCx sees.
• Plans and runs mowing. Record a lawn by driving round it, add flower beds and trees to avoid, and the skill plans laps round the edge and parallel rows that route round every obstacle, uploads them with a matching geofence, and paints the area cut on a live map.
• Shares the link with QGroundControl. Every frame is forwarded to ground stations you list and their replies go back to the vehicle, so QGroundControl or Mission Planner keeps working beside ARCx on one telemetry radio.
• Exposes everything. Global variables, event scripts, control commands, Robot Bus topics and services, MCP tools for AI assistants (including a picture of the map), and Custom UI widgets.
• Includes a simulated rover. A rover that lives inside ARCx and speaks real MAVLink, so the whole skill can be tried with no hardware at all. It is the default connection, so the skill does something the moment it is added.

Connecting

Vehicle	Connection	Settings
Pixhawk on USB	Serial port	The board's port (COMx on Windows, /dev/ttyACM0 on Linux), any baud rate
Telemetry radio (SiK, RFD900)	Serial port	The radio's port at 57600
ArduPilot SITL	TCP	127.0.0.1, port 5760
MAVProxy or mavlink-router	UDP, listen	Port 14551 (leaves 14550 for QGroundControl)
Wi-Fi telemetry module	UDP, send to the vehicle	The module's address, port 14550
No hardware	Simulated rover	Start position and heading, GPS noise, top speed

The status bar shows the autopilot, firmware, flight mode, armed state, GPS fix and satellites, battery, speed, mowing progress and any geofence breach. A blue SIMULATOR chip means nothing real is moving.

Using QGroundControl at the same time

Open the configuration, Connection tab, and press QGroundControl on this computer under Share with ground stations (or type the address of the computer QGroundControl runs on, port 14550). QGroundControl connects by itself. Use it for calibration, tuning and parameters while ARCx drives. ARCx sends as system 255, component 191, so it never collides with QGroundControl's component 190.

The window

Tab	What it is for
Map	The live map: lawn zones (green), exclusions (red), the plan (blue rows, grey travel), the mowed area, the trail, the geofence (yellow), lidar points, home and the vehicle. Drag to pan, wheel to zoom
Mow	Zones, recording outlines, planning, and starting, pausing and stopping a mowing job
Telemetry	Every reading at a glance, plus RC inputs and servo outputs as bars
Parameters	Read all of the autopilot's parameters, search them and change them
MAVLink	Every message the vehicle sends with its rate, ground stations sharing the link, and downloading the vehicle's own mission and fence

The buttons above the tabs arm and disarm, switch flight mode, hold and return home. Hold is the quick stop.

Map tools

Tool	What a click does
Pan	Drag to move the map, wheel to zoom
Edit zone	Adds a corner to the selected zone. Drag a corner to move it, right click a corner to delete it
Exclusion	Adds a corner to a new exclusion; press Finish when it is closed
Go to	Sends the vehicle to that spot in GUIDED mode

Driving

Anything that drives an ARCx robot drives the vehicle: the Movement Panel buttons, a gamepad, a Custom UI joystick, Movement.forward() in a script, a navigator, an AI assistant. The Movement tab sets the top speed and turn rate, whether the skill may switch the vehicle into GUIDED (or Offboard, or MANUAL) and arm it by itself, and what the panic button does. Starting a mission or switching mode in QGroundControl takes control back, and the skill lets go.

Mowing

1. Make a zone. On the Mow tab type a name (Back yard) and press New.
2. Give it an outline. Either press Record boundary and drive the mower round the edge with a joystick or the transmitter, then Stop and save (the recording is simplified to its corners); or walk the mower to each corner and press Corner here; or click the corners on the map with Edit zone.
3. Add exclusions the same way: flower beds, trees, ponds, the sandpit. Each one gets its own lap and the rows route round it.
4. Plan. The summary shows the area, the laps and rows, the distance and the time it will take. Leave Best row angle on and the planner picks the angle with the fewest turns, or set your own for stripes in a particular direction.
5. Start mowing. After a confirmation the plan and the geofence are uploaded, the vehicle arms and the mission runs. The map fills in as the blade passes; the progress bar is the share of the lawn actually covered.

When the last row is done the mower drives to the edge nearest home, the geofence is switched off and it returns home. The geofence only switches on once the mower is on the lawn, so starting from a garage or a dock outside the fence works.

Mowing settings

Setting	Meaning
Cut width	Width of one pass
Overlap	How much each pass overlaps the last. More overlap leaves no stripes when the GPS wanders
Laps round the edge	Laps along the boundary before the rows, for a clean edge and room to turn
Laps round exclusions	Laps round each flower bed or tree
Edge margin	Extra distance kept from the boundary and the exclusions
Mowing and travel speeds	Speed while cutting and while crossing grass already cut
Upload a geofence	Sends the zone as a polygon fence so the autopilot itself stops the vehicle if it ever leaves the lawn
Fence margin	How far outside the boundary the fence sits, for GPS error
Blade	An autopilot servo output (DO_SET_SERVO in the mission), an autopilot relay, or ARCx scripts (an EZB digital port, a smart plug, anything)
Arm to mow	Arm when Start mowing is pressed
Go home when done	Return home after the last row

Getting a good cut

• Use an RTK GPS. A plain GPS wanders a metre or more, which is two rows. Try the simulator with GPS noise at 1.5 to see the difference.
• Set WP_RADIUS small (0.2 to 0.3) on ArduPilot. The default of 2 m cuts every corner of a mowing pattern. The Parameters tab, the SetParameter command or an AI assistant can change it.
• Skid steer mowers turn on the spot at row ends: keep WP_PIVOT_ANGLE at about 60.
• For the geofence on ArduPilot, set FENCE_TYPE to include polygons and FENCE_ACTION to hold.

Safety

Setting	Meaning
Safety stop variable	A global variable that pauses mowing while it is true. Point it at a camera skill's person or pet detection, a bumper, a rain sensor
Resume after clear	Seconds the variable must stay false before mowing resumes by itself; 0 waits for Resume
Follow navigation pause	When a navigator or obstacle sensor pauses the NMS, the mowing pauses too
Low battery and go home	Runs the low battery script and returns home
Emergency action	What ARCx's panic button does: hold, disarm (ground vehicles only), return home or land. A flying vehicle is never disarmed

Pausing always stops the blade. The vehicle holds where it is and Resume carries on from the same row.

Obstacle avoidance with ARCx's sensors

Add a lidar (RPLidar, Hitachi LDS) or a depth camera skill to the project and turn on ARCx lidar to the autopilot on the Navigation & safety tab. Then on the ArduPilot side set PRX1_TYPE = 2 (MAVLink) and enable AVOID_ENABLE. The autopilot now sees what ARCx sees and stops for (or, with OA_TYPE, steers round) obstacles on its own, even during a mission. The scan points are also drawn on the map in red.

Scripts and variables

Event scripts run when the vehicle connects or loses its link, arms or disarms, changes mode, reaches a waypoint, finishes a mission, runs low on battery or sends a status message. The details are in global variables that start with Mav: MavMode, MavArmed, MavLatitude, MavLongitude, MavGroundSpeed, MavGpsFix, MavBatteryPercent, MavMowState, MavMowPercent, MavStatusText and more. Positions in the navigation frame are MavPoseX, MavPoseY (metres) and MavPoseYaw (radians), as with every ARCx pose source.

A script that speaks when the lawn is done:

Audio.say("The " + getVar("MavMowZone") + " is mowed, " + Math.round(getVar("MavMowPercent")) + " percent covered.");

AI assistants

With ARCx's MCP server on, an AI assistant such as Claude can drive the mower in plain language. Besides the control commands, the skill offers its own tools: the vehicle state, a picture of the map, listing and creating zones from coordinates, planning (with a picture of the plan), starting, pausing, resuming and stopping mowing, modes, arming, go to, and reading and setting parameters. "Mow the back yard with east-west stripes and tell me when it is done" works.

Robot Bus

Programs outside ARCx (Python, JavaScript, ROS through the ROS Connector) can read /mavlink_autopilot/state, /gps, /attitude, /battery, /mission and /statustext, and call /arm, /disarm, /set_mode, /go_to, /start_mowing, /pause_mowing, /resume_mowing, /return_home and /get_state. The NMS pose is already published by ARCx on /arcx/nms/pose.

Custom UI widgets

Widget	What it shows
Vehicle status	Mode, armed, GPS, battery and mowing progress
Map	The whole lawn with the plan, the mowed area and the vehicle; follows the vehicle when it is away from the lawn
Mowing controls	Start, pause or resume, home and hold buttons

A tablet screen built from the three widgets and a drive joystick:

Good to know

• The skill implements MAVLink 2 itself (no extra libraries), generated from the official message definitions, and reads MAVLink 1 as well. Signed frames are accepted but not verified, and ARCx's own frames are unsigned.
• PX4 needs movement targets at least twice a second in Offboard mode; the skill sends them five times a second by default. Leaving Offboard (to Hold, say) stops them.
• On ArduPilot, RC override is only accepted from the ground station system id in SYSID_MYGCS (255 by default, which is the skill's default).
• Mission storage is limited on older boards. A plan bigger than Most mission items is refused before upload; use a wider cut, fewer laps or two zones.

Control Commands for the Mavlink Autopilot robot skill

There are Control Commands available for this robot skill which allows the skill to be controlled programmatically from scripts or other robot skills. These commands enable you to automate actions, respond to sensor inputs, and integrate the robot skill with other systems or custom interfaces. If you're new to the concept of Control Commands, we have a comprehensive manual available here that explains how to use them, provides examples to get you started and make the most of this powerful feature.

Control Command Manual

This robot skill has 41 control commands, listed below. Send them from a JavaScript or Python script, from Blockly, or from another robot skill.

The first value is always the window title, which is the name in the title bar of the robot skill on your workspace. It starts out as Mavlink Autopilot, which is what every example below uses. If you rename the robot skill, or add a second copy of it to the project, use the title as it appears on that window instead.

ControlCommand() can be shortened to CC(), and both spellings work in JavaScript and in Python. The examples are JavaScript; Python is the same call, except that true and false are written True and False.

AddBoundaryPointHere

Add the vehicle's current position as the next corner of a zone's boundary (walk the mower to each corner and call this). Returns the number of corners.

Syntax

ControlCommand("Mavlink Autopilot", "AddBoundaryPointHere", (String)zone)

Parameters

#	Name	Type	What to pass
1	zone	Text	Your text, in quotes

Returns: Integer [-2,147,483,648 to 2,147,483,647]

Example

var result = ControlCommand("Mavlink Autopilot", "AddBoundaryPointHere", "zone");

Arm

Arm the motors. The vehicle can move after this. Returns true when the autopilot accepted.

Syntax

ControlCommand("Mavlink Autopilot", "Arm")

Returns: Boolean [true or false]

Example

var result = ControlCommand("Mavlink Autopilot", "Arm");

BladeOff

Turn the blade off now.

Syntax

ControlCommand("Mavlink Autopilot", "BladeOff")

Returns: Boolean [true or false]

Example

var result = ControlCommand("Mavlink Autopilot", "BladeOff");

BladeOn

Turn the blade on now with the configured blade method.

Syntax

ControlCommand("Mavlink Autopilot", "BladeOn")

Returns: Boolean [true or false]

Example

var result = ControlCommand("Mavlink Autopilot", "BladeOn");

ClearMowedArea

Forget the mowed area shown on the map.

Syntax

ControlCommand("Mavlink Autopilot", "ClearMowedArea")

Returns: Boolean [true or false]

Example

var result = ControlCommand("Mavlink Autopilot", "ClearMowedArea");

CommandLong

Send any MAVLink COMMAND_LONG (command number, then param1 to param7) and return the MAV_RESULT: 0 accepted, 1 temporarily rejected, 2 denied, 3 unsupported, 4 failed, -1 no answer.

Syntax

ControlCommand("Mavlink Autopilot", "CommandLong", (Number)command, (Number)param1, (Number)param2, (Number)param3, (Number)param4, (Number)param5, (Number)param6, (Number)param7)

Parameters

#	Name	Type	What to pass
1	command	Number	A number, without quotes
2	param1	Number	A number, without quotes
3	param2	Number	A number, without quotes
4	param3	Number	A number, without quotes
5	param4	Number	A number, without quotes
6	param5	Number	A number, without quotes
7	param6	Number	A number, without quotes
8	param7	Number	A number, without quotes

Returns: Integer [-2,147,483,648 to 2,147,483,647]

Example

var result = ControlCommand("Mavlink Autopilot", "CommandLong", 0, 0, 0, 0, 0, 0, 0, 0);

Connect

Open the link to the autopilot (or start the simulator) with the configured connection.

Syntax

ControlCommand("Mavlink Autopilot", "Connect")

Returns: Boolean [true or false]

Example

var result = ControlCommand("Mavlink Autopilot", "Connect");

Disarm

Disarm the motors. Returns true when the autopilot accepted.

Syntax

ControlCommand("Mavlink Autopilot", "Disarm")

Returns: Boolean [true or false]

Example

var result = ControlCommand("Mavlink Autopilot", "Disarm");

Disconnect

Close the link to the autopilot.

Syntax

ControlCommand("Mavlink Autopilot", "Disconnect")

Returns: Boolean [true or false]

Example

var result = ControlCommand("Mavlink Autopilot", "Disconnect");

DownloadMission

Read the mission and geofence the vehicle holds (planned in QGroundControl, say) and draw them on the map. Returns the number of mission items.

Syntax

ControlCommand("Mavlink Autopilot", "DownloadMission")

Returns: Integer [-2,147,483,648 to 2,147,483,647]

Example

var result = ControlCommand("Mavlink Autopilot", "DownloadMission");

DriveDistance

Drive forward this many metres (negative reverses) in GUIDED mode.

Syntax

ControlCommand("Mavlink Autopilot", "DriveDistance", (Number)metres)

Parameters

#	Name	Type	What to pass
1	metres	Number	A number, without quotes

Returns: Boolean [true or false]

Example

var result = ControlCommand("Mavlink Autopilot", "DriveDistance", 0);

GetBattery

Battery remaining in percent, or -1 when the autopilot does not know.

Syntax

ControlCommand("Mavlink Autopilot", "GetBattery")

Returns: Integer [-2,147,483,648 to 2,147,483,647]

Example

var result = ControlCommand("Mavlink Autopilot", "GetBattery");

GetMode

The current flight mode's name.

Syntax

ControlCommand("Mavlink Autopilot", "GetMode")

Returns: String

Example

var result = ControlCommand("Mavlink Autopilot", "GetMode");

GetModes

Every flight mode this vehicle has.

Syntax

ControlCommand("Mavlink Autopilot", "GetModes")

Returns: Array of String

Example

var result = ControlCommand("Mavlink Autopilot", "GetModes");

GetMowProgress

Percent of the active zone mowed so far (0 to 100), from the area the blade has passed over.

Syntax

ControlCommand("Mavlink Autopilot", "GetMowProgress")

Returns: Double [5.0e324 to 1.7e308]

Example

var result = ControlCommand("Mavlink Autopilot", "GetMowProgress");

GetParameter

Read an autopilot parameter by name (WP_RADIUS, FENCE_ENABLE...).

Syntax

ControlCommand("Mavlink Autopilot", "GetParameter", (String)name)

Parameters

#	Name	Type	What to pass
1	name	Text	Your text, in quotes

Returns: Double [5.0e324 to 1.7e308]

Example

var result = ControlCommand("Mavlink Autopilot", "GetParameter", "name");

GetPose

The pose in the navigation frame as [x, y, yaw]: metres forward and left of where tracking began, yaw in radians counter-clockwise.

Syntax

ControlCommand("Mavlink Autopilot", "GetPose")

Returns: Array of Double

Example

var result = ControlCommand("Mavlink Autopilot", "GetPose");

GetPosition

The GPS position as [latitude, longitude, altitude above home in metres].

Syntax

ControlCommand("Mavlink Autopilot", "GetPosition")

Returns: Array of Double

Example

var result = ControlCommand("Mavlink Autopilot", "GetPosition");

GoTo

Drive (or fly) to a latitude and longitude in degrees, in GUIDED mode. Returns once the target is sent.

Syntax

ControlCommand("Mavlink Autopilot", "GoTo", (Number)latitude, (Number)longitude)

Parameters

#	Name	Type	What to pass
1	latitude	Number	A number, without quotes
2	longitude	Number	A number, without quotes

Returns: Boolean [true or false]

Example

var result = ControlCommand("Mavlink Autopilot", "GoTo", 0, 0);

Hold

Stop and hold position now (HOLD, BRAKE, LOITER or POSHOLD as the vehicle calls it).

Syntax

ControlCommand("Mavlink Autopilot", "Hold")

Returns: Boolean [true or false]

Example

var result = ControlCommand("Mavlink Autopilot", "Hold");

IsArmed

True while the motors are armed.

Syntax

ControlCommand("Mavlink Autopilot", "IsArmed")

Returns: Boolean [true or false]

Example

var result = ControlCommand("Mavlink Autopilot", "IsArmed");

IsConnected

True while the vehicle's heartbeat is arriving.

Syntax

ControlCommand("Mavlink Autopilot", "IsConnected")

Returns: Boolean [true or false]

Example

var result = ControlCommand("Mavlink Autopilot", "IsConnected");

ListZones

The names of the mowing zones.

Syntax

ControlCommand("Mavlink Autopilot", "ListZones")

Returns: Array of String

Example

var result = ControlCommand("Mavlink Autopilot", "ListZones");

PauseMission

Hold the vehicle where it is; ResumeMission carries on from the same waypoint.

Syntax

ControlCommand("Mavlink Autopilot", "PauseMission")

Returns: Boolean [true or false]

Example

var result = ControlCommand("Mavlink Autopilot", "PauseMission");

PauseMowing

Pause mowing: the vehicle holds and the blade stops.

Syntax

ControlCommand("Mavlink Autopilot", "PauseMowing")

Returns: Boolean [true or false]

Example

var result = ControlCommand("Mavlink Autopilot", "PauseMowing");

PlanMowing

Plan the mowing pattern for a zone and show it on the map without uploading. Returns a summary: rows, distance, estimated time.

Syntax

ControlCommand("Mavlink Autopilot", "PlanMowing", (String)zone)

Parameters

#	Name	Type	What to pass
1	zone	Text	Your text, in quotes

Returns: String

Example

var result = ControlCommand("Mavlink Autopilot", "PlanMowing", "zone");

ResetPose

Make the vehicle's current position and heading the navigation frame's origin.

Syntax

ControlCommand("Mavlink Autopilot", "ResetPose")

Returns: Boolean [true or false]

Example

var result = ControlCommand("Mavlink Autopilot", "ResetPose");

ResumeMission

Carry on with the mission from where it was paused.

Syntax

ControlCommand("Mavlink Autopilot", "ResumeMission")

Returns: Boolean [true or false]

Example

var result = ControlCommand("Mavlink Autopilot", "ResumeMission");

ResumeMowing

Resume mowing from where it paused.

Syntax

ControlCommand("Mavlink Autopilot", "ResumeMowing")

Returns: Boolean [true or false]

Example

var result = ControlCommand("Mavlink Autopilot", "ResumeMowing");

ReturnHome

Return to the home position (RTL). Turns the blade off first.

Syntax

ControlCommand("Mavlink Autopilot", "ReturnHome")

Returns: Boolean [true or false]

Example

var result = ControlCommand("Mavlink Autopilot", "ReturnHome");

SetMode

Switch flight mode by the firmware's name: GUIDED, AUTO, HOLD, RTL, MANUAL, LOITER (ArduPilot) or Mission, Hold, Return, Offboard (PX4). GetModes lists them.

Syntax

ControlCommand("Mavlink Autopilot", "SetMode", (String)mode)

Parameters

#	Name	Type	What to pass
1	mode	Text	Your text, in quotes

Returns: Boolean [true or false]

Example

var result = ControlCommand("Mavlink Autopilot", "SetMode", "mode");

SetParameter

Set an autopilot parameter and return the value the autopilot confirmed.

Syntax

ControlCommand("Mavlink Autopilot", "SetParameter", (String)name, (Number)value)

Parameters

#	Name	Type	What to pass
1	name	Text	Your text, in quotes
2	value	Number	A number, without quotes

Returns: Double [5.0e324 to 1.7e308]

Example

var result = ControlCommand("Mavlink Autopilot", "SetParameter", "name", 0);

SetRelay

Switch an autopilot relay (0 is the first) on or off.

Syntax

ControlCommand("Mavlink Autopilot", "SetRelay", (Number)relay, (Bool)on)

Parameters

#	Name	Type	What to pass
1	relay	Number	A number, without quotes
2	on	True or false	true or false, without quotes

Returns: Boolean [true or false]

Example

var result = ControlCommand("Mavlink Autopilot", "SetRelay", 0, true);

SetServo

Set an autopilot servo output (1 to 16) to a PWM in microseconds.

Syntax

ControlCommand("Mavlink Autopilot", "SetServo", (Number)channel, (Number)pwm)

Parameters

#	Name	Type	What to pass
1	channel	Number	A number, without quotes
2	pwm	Number	A number, without quotes

Returns: Boolean [true or false]

Example

var result = ControlCommand("Mavlink Autopilot", "SetServo", 0, 0);

StartMission

Run the mission the vehicle holds from the beginning (AUTO / Mission mode), arming first when allowed.

Syntax

ControlCommand("Mavlink Autopilot", "StartMission")

Returns: Boolean [true or false]

Example

var result = ControlCommand("Mavlink Autopilot", "StartMission");

StartMowing

Plan the zone, upload the pattern (and the geofence), arm and start mowing. Returns when the vehicle has started.

Syntax

ControlCommand("Mavlink Autopilot", "StartMowing", (String)zone)

Parameters

#	Name	Type	What to pass
1	zone	Text	Your text, in quotes

Returns: Boolean [true or false]

Example

var result = ControlCommand("Mavlink Autopilot", "StartMowing", "zone");

StartRecordingBoundary

Start recording a zone's boundary while the vehicle is driven round its edge. Creates the zone if it does not exist. StopRecording saves it.

Syntax

ControlCommand("Mavlink Autopilot", "StartRecordingBoundary", (String)zone)

Parameters

#	Name	Type	What to pass
1	zone	Text	Your text, in quotes

Returns: Boolean [true or false]

Example

var result = ControlCommand("Mavlink Autopilot", "StartRecordingBoundary", "zone");

StartRecordingExclusion

Start recording an exclusion (an area never driven over) inside a zone while the vehicle is driven round it.

Syntax

ControlCommand("Mavlink Autopilot", "StartRecordingExclusion", (String)zone, (String)name)

Parameters

#	Name	Type	What to pass
1	zone	Text	Your text, in quotes
2	name	Text	Your text, in quotes

Returns: Boolean [true or false]

Example

var result = ControlCommand("Mavlink Autopilot", "StartRecordingExclusion", "zone", "name");

StopMowing

Stop mowing: the blade stops and the vehicle holds, or returns home when returnHome is true.

Syntax

ControlCommand("Mavlink Autopilot", "StopMowing", (Bool)returnHome)

Parameters

#	Name	Type	What to pass
1	returnHome	True or false	true or false, without quotes

Returns: Boolean [true or false]

Example

var result = ControlCommand("Mavlink Autopilot", "StopMowing", true);

StopRecording

Stop recording and save the simplified outline. Returns the number of points kept.

Syntax

ControlCommand("Mavlink Autopilot", "StopRecording")

Returns: Integer [-2,147,483,648 to 2,147,483,647]

Example

var result = ControlCommand("Mavlink Autopilot", "StopRecording");

Turn

Turn on the spot by this many radians, positive to the left (counter-clockwise), in GUIDED mode.

Syntax

ControlCommand("Mavlink Autopilot", "Turn", (Number)radians)

Parameters

#	Name	Type	What to pass
1	radians	Number	A number, without quotes

Returns: Boolean [true or false]

Example

var result = ControlCommand("Mavlink Autopilot", "Turn", 0);

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This list is read out of the robot skill itself each time its package is uploaded, so it matches the published version (v1).