# Payload Protocols

MAVLink defines a number of commands for directly controlling [particular types of payloads](#payload-specific-commands) like winches and grippers, and for controlling [generic payloads](#generic-payload-commands). In addition there are commands for [payload placement in missions](#payload-deployment-commands). In addition there are commands for [payload placement in missions](#payload-deployment-commands).

::: info [Camera](camera.md) and [Gimbal](gimbal_v2.md) payloads are covered in their own topics. :::

## Payload-Specific Commands

MAVLink defines a number of commands for controlling specific _types_ of payload hardware, including: winches, grippers, spotlights, etc. These commands may be used in both [missions](../services/mission.md) and [commands](services/command.md), if supported by the target system. These commands may be used in both [missions](../services/mission.md) and [commands](../services/command.md), if supported by the target system.

They should be used (where supported) in preference to [generic payload commands](#generic-payload-commands), as generally they provide more "tailored" control over the payload, a better GCS user experience, and more informative logs.

| 消息                                                                                                          | 描述                                                                                                                                                                                                     |
| ----------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| <a id="MAV_CMD_DO_GRIPPER"></a>[MAV_CMD_DO_GRIPPER](../messages/common.md#MAV_CMD_DO_GRIPPER)                   | Command to engage and release a gripper.                                                                                                                                                               |
| <a id="MAV_CMD_DO_WINCH"></a>[MAV_CMD_DO_WINCH](../messages/common.md#MAV_CMD_DO_WINCH)                       | Command to operate a specified winch.                                                                                                                                                                  |
| <a id="MAV_CMD_ILLUMINATOR_ON_OFF"></a>[MAV_CMD_ILLUMINATOR_ON_OFF](../messages/common.md#MAV_CMD_ILLUMINATOR_ON_OFF) | Command to turn illuminators ON/OFF. Command to turn illuminators ON/OFF. An illuminator is a light source that for lighting up dark areas external to the system, such as a headlight or searchlight. |

## Generic Payload Commands

MAVLink has a number of commands for setting actuator outputs. These can be used to control arbitrary/generic payloads. These can be used to control arbitrary/generic payloads.

::: tip Use the [commands for known payload types](#payload-specific-commands) where possible as they are more intuitive for users, and in logs. :::

| 消息                                                                                                    | 描述                                                                                                                                                                                                                                                               |
| ----------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| <a id="MAV_CMD_DO_SET_ACTUATOR"></a>[MAV_CMD_DO_SET_ACTUATOR](../messages/common.md#MAV_CMD_DO_SET_ACTUATOR) | Sets actuators (e.g. servos) to a desired value. Sets actuators (e.g. servos) to a desired value. The actuator numbers are mapped to specific outputs (e.g. on any MAIN or AUX PWM or UAVCAN) using a flight-stack specific mechanism (for example, parameters). |
| <a id="MAV_CMD_DO_SET_SERVO"></a>[MAV_CMD_DO_SET_SERVO](../messages/common.md#MAV_CMD_DO_SET_SERVO)       | Sets a servo, identified by a specified instance number, to a specified PWM value.                                                                                                                                                                               |
| <a id="MAV_CMD_DO_SET_RELAY"></a>[MAV_CMD_DO_SET_RELAY](../messages/common.md#MAV_CMD_DO_SET_RELAY)       | Set a specified relay instance on or off.                                                                                                                                                                                                                        |
| <a id="MAV_CMD_DO_REPEAT_RELAY"></a>[MAV_CMD_DO_REPEAT_RELAY](../messages/common.md#MAV_CMD_DO_REPEAT_RELAY) | Cycle a relay on and off for a desired number of cycles with a desired period.                                                                                                                                                                                   |

::: info **Implementations:**

- `MAV_CMD_DO_SET_ACTUATOR` is more recent than `MAV_CMD_DO_SET_SERVO`, but has not yet been widely adopted.
  - Only implemented only on PX4 (June 2021). For more information see the [PX4 User Guide](https://docs.px4.io/master/en/payloads/#mission-triggering).
- `MAV_CMD_DO_SET_SERVO` is implemented on both ArduPilot and PX4 (Missions only). In both cases instance numbers map to corresponding AUX outputs.

:::

## Payload Deployment Commands

These commands can be used to deploy a payload at a specfic location, controlling the approach and land behaviour.

| 消息                                                                                                        | 描述                                                    |
| --------------------------------------------------------------------------------------------------------- | ----------------------------------------------------- |
| <a id="MAV_CMD_NAV_PAYLOAD_PLACE"></a>[MAV_CMD_NAV_PAYLOAD_PLACE](../messages/common.md#MAV_CMD_NAV_PAYLOAD_PLACE) | Move to target location, descend and release payload. |

::: info **Implementations:**

- [MAV_CMD_NAV_PAYLOAD_PLACE](#MAV_CMD_NAV_PAYLOAD_PLACE) is implemented in ArduPilot only, and can be used in missions.
- [MAV_CMD_PAYLOAD_PREPARE_DEPLOY](../messages/common.md#MAV_CMD_PAYLOAD_PREPARE_DEPLOY) and [MAV_CMD_PAYLOAD_CONTROL_DEPLOY](../messages/common.md#MAV_CMD_PAYLOAD_PREPARE_DEPLOY) are not supported on any known flight stack. They are deprecated and should not be used.

:::
