# MAVlink

## Introduction

MAVLink is a very lightweight messaging protocol for communicating with drones, as well as between onboard drone components. It is a commonly used protocol in the open source drone community.

## 6X OEM

6X supports image metadata tagging and sensor triggering using MAVLink V1 messages. The required serial port configuration for the MAVLink controller is 460800, 8-N-1, and it must be connected to 6X connector J2, pins 1/2 (UART2 TX/RX) with 3.3v signal levels.

{% content-ref url="/pages/y0XjHMAHE4JbFnGUuD2r" %}
[MAVlink V1](/home/6x-series-sensors-user-guide/integration-information/communication-protocol/mavlink/mavlink-v1.md)
{% endcontent-ref %}

## 6X Gimbal

The gimbaled 6X supports image metadata tagging and sensor triggering using MAVlink V2 messages. The MAVlink messages are ingested into the gimbal hardware and automatically forwarded to the 6X. 

{% content-ref url="/pages/EPJBTfP80tpHosclbwpj" %}
[MAVlink V2](/home/6x-series-sensors-user-guide/integration-information/communication-protocol/mavlink/mavlink-v2.md)
{% endcontent-ref %}

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## Integrated Platforms

Please see the compatibility settings if you are using a fully integrated platform:

{% content-ref url="/pages/VLxNBTUm4pg8mwHsLFVP" %}
[Freefly Compatibility Settings](/home/6x-series-sensors-user-guide/6x-series-sensors/installation/freefly/freefly-compatibility-settings.md)
{% endcontent-ref %}

{% content-ref url="/pages/EP8DYSunOS4qev01wwuC" %}
[Inspired Flight Compatibility Settings](/home/6x-series-sensors-user-guide/6x-series-sensors/installation/inspired-flight/inspired-flight-compatibility-settings.md)
{% endcontent-ref %}

***

## Generic Settings

These are generic MAVlink settings for use with the 6X Series sensors.

{% hint style="info" %}
For non-gimbaled sensors use the listed baud rates. For gimbaled sensors a baud rate of 115200 or greater is recommended.
{% endhint %}

### PX4 Settings

<table><thead><tr><th width="269">Parameter</th><th>Value</th><th>Description</th></tr></thead><tbody><tr><td>TRIG_INTERFACE</td><td>MAVlink</td><td>Sets MAVlink messages as the trigger commands. </td></tr><tr><td>TRIG_MODE</td><td>Distance Based (Survey Mode)</td><td>Distance-based on command (Survey mode)</td></tr><tr><td>MAV_X_CONFIG</td><td>TELEM2 <br>(or any other configurable UART)</td><td>Sets the configuration of the desired MAVlink stream on a serial/UART port. </td></tr><tr><td>MAV_X_RATE</td><td>0 b/s</td><td>PX4 Default (half of theoretical max).</td></tr><tr><td>MAV_X_MODE</td><td>Gimbal or Normal</td><td>Sets the MAVlink message set. </td></tr><tr><td>MAV_X_FORWARD</td><td>Enable</td><td>Enables forwarding of MAVlink messages on the configured MAVlink stream. </td></tr><tr><td>SER_X_BAUD</td><td>460800 8N1</td><td>Baudrate for the configured serial port.</td></tr></tbody></table>

### Ardupilot Settings

<table><thead><tr><th width="277">Parameter</th><th>Value</th><th>Description</th></tr></thead><tbody><tr><td>SERIALX_BAUD</td><td>460800</td><td>Baudrate for configured serial port.</td></tr><tr><td>SERIALX_PROTOCOL</td><td>MAVlink 1 (OEM)<br>MAVlink 2 (Gimballed)</td><td>MAVlink protocol for configured serial port.</td></tr><tr><td>SRX_EXTRA1</td><td>10</td><td>Rate for attitude messages (10Hz).</td></tr><tr><td>SRX_EXTRA3</td><td>2</td><td>Rate for UTC time messages (2Hz).</td></tr><tr><td>SRX_POSITION</td><td>4</td><td>Rate for GPS position messages (4Hz).</td></tr><tr><td>SRX_EXT_STAT</td><td>10</td><td>MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT</td></tr><tr><td>CAMX_TYPE</td><td>5</td><td>how to trigger the camera to take a picture</td></tr></tbody></table>


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