Commands client

Use ICommandClient to send MAVLink commands (COMMAND_LONG and COMMAND_INT) to a remote system/component.

Use case

You can get CommandClient through the microservice locator:

var command = device.GetMicroservice<ICommandClient>()
    ?? throw new Exception("Command client not found");

Request-response call example:

var ack = await command.CommandLong(
    MavCmd.MavCmdDoSetMode,
    mode,
    customMode,
    customSubMode,
    0,
    0,
    0,
    0,
    cancel
);

Console.WriteLine($"Result: {ack.Result}");

Fire-and-forget call example (without waiting for COMMAND_ACK):

await command.SendCommandLong(
    MavCmd.MavCmdDoSetMode,
    mode,
    customMode,
    customSubMode,
    0,
    0,
    0,
    0,
    cancel
);

API

CommandProtocolConfig

Property	Type	Default	Description
`CommandTimeoutMs`	`int`	`5000`	Timeout for request/response mission calls.
`CommandAttempt`	`int`	`5`	Retry count for request/response calls.

ICommandClient

Represents a command client that is capable of sending commands to an external system.

Property	Type	Description
`OnCommandAck`	`Observable<CommandAckPayload>`	Gets the observable sequence for receiving command acknowledgement payloads.

Method	Return Type	Description
`CommandLong(Action<CommandLongPayload> edit, CancellationToken cancel = default)`	`Task<CommandAckPayload>`	Sends a command with long parameter to the vehicle.
`CommandLong(MavCmd command, float param1, float param2, float param3, float param4, float param5, float param6, float param7, CancellationToken cancel = default)`	`Task<CommandAckPayload>`	Executes a long-duration command with specified parameters.
`CommandLongAndWaitPacket<TAnswerPacket>(MavCmd command, float param1, float param2, float param3, float param4, float param5, float param6, float param7, CancellationToken cancel = default)`	`Task<TAnswerPacket>`	Executes a long command and waits for the response packet.
`SendCommandLong(MavCmd command, float param1, float param2, float param3, float param4, float param5, float param6, float param7, CancellationToken cancel = default)`	`Task`	Sends a long command to the specified MavCmd with the provided parameters.
`SendCommandInt(MavCmd command, MavFrame frame, bool current, bool autocontinue, float param1, float param2, float param3, float param4, int x, int y, float z, CancellationToken cancel = default)`	`ValueTask`	Message encoding a command with parameters as scaled integers. Scaling depends on the actual command value.
`CommandInt(MavCmd command, MavFrame frame, bool current, bool autoContinue, float param1, float param2, float param3, float param4, int x, int y, float z, CancellationToken cancel = default)`	`Task<CommandAckPayload>`	Message encoding a command with parameters as scaled integers. Scaling depends on the actual command value.

`ICommandClient.CommandLong` (delegate overload)

Parameter	Type	Description
`edit`	`Action<CommandLongPayload>`	The delegate used to edit the command payload.
`cancel`	`CancellationToken`	The cancellation token to cancel the task.

`ICommandClient.CommandLong` (params overload)

Parameter	Type	Description
`command`	`MavCmd`	The MAVLink command to execute.
`param1`	`float`	The first parameter value.
`param2`	`float`	The second parameter value.
`param3`	`float`	The third parameter value.
`param4`	`float`	The fourth parameter value.
`param5`	`float`	The fifth parameter value.
`param6`	`float`	The sixth parameter value.
`param7`	`float`	The seventh parameter value.
`cancel`	`CancellationToken`	A `CancellationToken` to cancel the command execution.

`ICommandClient.CommandLongAndWaitPacket<TAnswerPacket>`

Parameter	Type	Description
`command`	`MavCmd`	The command to be executed.
`param1`	`float`	The first command parameter.
`param2`	`float`	The second command parameter.
`param3`	`float`	The third command parameter.
`param4`	`float`	The fourth command parameter.
`param5`	`float`	The fifth command parameter.
`param6`	`float`	The sixth command parameter.
`param7`	`float`	The seventh command parameter.
`cancel`	`CancellationToken`	The cancellation token to cancel the command execution.

`ICommandClient.SendCommandLong`

Parameter	Type	Description
`command`	`MavCmd`	The MavCmd command to send.
`param1`	`float`	The first parameter of the command.
`param2`	`float`	The second parameter of the command.
`param3`	`float`	The third parameter of the command.
`param4`	`float`	The fourth parameter of the command.
`param5`	`float`	The fifth parameter of the command.
`param6`	`float`	The sixth parameter of the command.
`param7`	`float`	The seventh parameter of the command.
`cancel`	`CancellationToken`	The cancellation token to cancel the command (optional).

`ICommandClient.SendCommandInt`

Parameter	Type	Description
`command`	`MavCmd`	The scheduled action for the mission item.
`frame`	`MavFrame`	The coordinate system of the COMMAND.
`current`	`bool`	Not used (set false).
`autocontinue`	`bool`	Autocontinue to next wp.
`param1`	`float`	PARAM1, see MAV_CMD enum.
`param2`	`float`	PARAM2, see MAV_CMD enum.
`param3`	`float`	PARAM3, see MAV_CMD enum.
`param4`	`float`	PARAM4, see MAV_CMD enum.
`x`	`int`	PARAM5 / local: x position in meters * 1e4, global: latitude in degrees * 10^7.
`y`	`int`	PARAM6 / local: y position in meters * 1e4, global: longitude in degrees * 10^7.
`z`	`float`	PARAM7 / z position: global: altitude in meters (relative or absolute, depending on frame).
`cancel`	`CancellationToken`	The cancellation token to cancel the command (optional).

`ICommandClient.CommandInt`

Parameter	Type	Description
`command`	`MavCmd`	The scheduled action for the mission item.
`frame`	`MavFrame`	The coordinate system of the COMMAND.
`current`	`bool`	Not used (set false).
`autoContinue`	`bool`	Autocontinue to next wp.
`param1`	`float`	PARAM1, see MAV_CMD enum.
`param2`	`float`	PARAM2, see MAV_CMD enum.
`param3`	`float`	PARAM3, see MAV_CMD enum.
`param4`	`float`	PARAM4, see MAV_CMD enum.
`x`	`int`	PARAM5 / local: x position in meters * 1e4, global: latitude in degrees * 10^7.
`y`	`int`	PARAM6 / local: y position in meters * 1e4, global: longitude in degrees * 10^7.
`z`	`float`	PARAM7 / z position: global: altitude in meters (relative or absolute, depending on frame).
`cancel`	`CancellationToken`	The cancellation token to cancel the command (optional).

CommandClientHelper

Method	Return Type	Description
`CommandLongAndCheckResult(Action<CommandLongPayload> edit, CancellationToken cancel = default)`	`Task`	Sends a command with long parameter to the vehicle and validates the result.
`CommandLongAndCheckResult(MavCmd command, float param1, float param2, float param3, float param4, float param5, float param6, float param7, CancellationToken cancel)`	`Task`	Executes a long-duration command with specified parameters and validates the result.
`SetMessageInterval(int messageId, int intervalUs, CancellationToken cancel = default)`	`Task`	Set the interval between messages for a particular MAVLink message ID. This interface replaces REQUEST_DATA_STREAM.
`SetMessageInterval<TPacket>(int intervalUs, CancellationToken cancel = default)`	`Task`	Set the interval between messages for a particular MAVLink message ID. This interface replaces REQUEST_DATA_STREAM (generic version).
`RequestMessageOnce(int messageId, CancellationToken cancel = default)`	`Task`	Request the target system(s) emit a single instance of a specified message (i.e. a "one-shot" version of MAV_CMD_SET_MESSAGE_INTERVAL).
`RequestMessageOnce<TPacket>(CancellationToken cancel = default)`	`Task<TPacket>`	Requests single message and waits for packet `TPacket`.
`GetAutopilotVersion(CancellationToken cancel = default)`	`Task<AutopilotVersionPayload>`	Requests the autopilot version from the target system by sending a one-shot `AutopilotVersionPacket` request.
`DoSetMode(uint mode, uint customMode, uint customSubMode, CancellationToken cancel = default)`	`Task`	Sets the flight mode of the target system using `MavCmd.MavCmdDoSetMode`.
`PreflightRebootShutdown(AutopilotRebootShutdown autopilot, CompanionRebootShutdown companion, CancellationToken cancel = default)`	`Task`	Request the reboot or shutdown of system components using `MavCmd.MavCmdPreflightRebootShutdown`.
`GetAutopilotRebootShutdownDescription(this AutopilotRebootShutdown src)`	`string`	Returns a human-readable description for an `AutopilotRebootShutdown` action.
`GetCompanionRebootShutdownDescription(this CompanionRebootShutdown src)`	`string`	Returns a human-readable description for a `CompanionRebootShutdown` action.

`ICommandClient.CommandLongAndCheckResult` (delegate overload)

Parameter	Type	Description
`client`	`ICommandClient`	The command client.
`edit`	`Action<CommandLongPayload>`	Delegate to populate the `CommandLongPayload` fields.
`cancel`	`CancellationToken`	Optional cancel token argument.

`ICommandClient.CommandLongAndCheckResult` (params overload)

Parameter	Type	Description
`client`	`ICommandClient`	The command client.
`command`	`MavCmd`	The MAVLink command.
`param1`	`float`	Command parameter 1.
`param2`	`float`	Command parameter 2.
`param3`	`float`	Command parameter 3.
`param4`	`float`	Command parameter 4.
`param5`	`float`	Command parameter 5.
`param6`	`float`	Command parameter 6.
`param7`	`float`	Command parameter 7.
`cancel`	`CancellationToken`	Optional cancel token argument.

`ICommandClient.SetMessageInterval`

Parameter	Type	Description
`client`	`ICommandClient`	The command client.
`messageId`	`int`	The MAVLink message ID to configure.
`intervalUs`	`int`	Interval in microseconds between messages.
`cancel`	`CancellationToken`	Optional cancel token argument.

`ICommandClient.RequestMessageOnce`

Parameter	Type	Description
`client`	`ICommandClient`	The MAVLink command client.
`messageId`	`int`	The MAVLink message ID to request.
`cancel`	`CancellationToken`	Optional cancel token argument.

`ICommandClient.SetMessageInterval<TPacket>`

Parameter	Type	Description
`src`	`ICommandClient`	The command client.
`intervalUs`	`int`	Interval in microseconds between messages.
`cancel`	`CancellationToken`	Optional cancel token argument.

`ICommandClient.RequestMessageOnce<TPacket>`

Parameter	Type	Description
`src`	`ICommandClient`	The command client.
`cancel`	`CancellationToken`	Optional cancel token argument.

`ICommandClient.GetAutopilotVersion`

Parameter	Type	Description
`src`	`ICommandClient`	The command client.
`cancel`	`CancellationToken`	Optional cancel token argument.

`ICommandClient.DoSetMode`

Parameter	Type	Description
`src`	`ICommandClient`	The command client.
`mode`	`uint`	The base mode bitmask.
`customMode`	`uint`	Autopilot-specific custom mode.
`customSubMode`	`uint`	Autopilot-specific custom sub-mode.
`cancel`	`CancellationToken`	Optional cancel token argument.

`ICommandClient.PreflightRebootShutdown`

Parameter	Type	Description
`src`	`ICommandClient`	The command client.
`autopilot`	`AutopilotRebootShutdown`	Reboot/shutdown action for the autopilot.
`companion`	`CompanionRebootShutdown`	Reboot/shutdown action for the companion computer.
`cancel`	`CancellationToken`	Optional cancel token argument.

`CompanionRebootShutdown.GetAutopilotRebootShutdownDescription`

Parameter	Type	Description
`src`	`AutopilotRebootShutdown`	The autopilot reboot/shutdown action.

`CompanionRebootShutdown.GetCompanionRebootShutdownDescription`

Parameter	Type	Description
`src`	`CompanionRebootShutdown`	The companion computer reboot/shutdown action.

CommandException

Represents an exception that is thrown when a MAVLink command execution results in a non-success acknowledgment. Contains the CommandAckPayload detailing the result of the command.

Constructor	Description
`CommandException(CommandAckPayload result)`	Initializes a new instance of the `CommandException` class with the acknowledgment payload returned by the remote device.

Property	Type	Description
`Result`	`CommandAckPayload`	Gets the command acknowledgment payload returned by the device.

Method	Return Type	Description
`GetMessage(CommandAckPayload result)`	`string`	Builds a human-readable error message from a `CommandAckPayload`.

`CommandException.GetMessage`

Parameter	Type	Description
`result`	`CommandAckPayload`	The acknowledgment payload to format.

Last modified: 04 March 2026

Commands client

Use case

API

CommandProtocolConfig

ICommandClient

ICommandClient.CommandLong (delegate overload)

ICommandClient.CommandLong (params overload)

ICommandClient.CommandLongAndWaitPacket<TAnswerPacket>

ICommandClient.SendCommandLong

ICommandClient.SendCommandInt

ICommandClient.CommandInt

CommandClientHelper

ICommandClient.CommandLongAndCheckResult (delegate overload)

ICommandClient.CommandLongAndCheckResult (params overload)

ICommandClient.SetMessageInterval

ICommandClient.RequestMessageOnce

ICommandClient.SetMessageInterval<TPacket>

ICommandClient.RequestMessageOnce<TPacket>

ICommandClient.GetAutopilotVersion

ICommandClient.DoSetMode

ICommandClient.PreflightRebootShutdown

CompanionRebootShutdown.GetAutopilotRebootShutdownDescription

CompanionRebootShutdown.GetCompanionRebootShutdownDescription