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# Contributing to MAVLink
We follow the [Github flow](https://guides.github.com/introduction/flow/) development model. Contributions fall into two main categories: Design and micro-service changes include new features that come with a state machine and message specifications for a new type of interface (examples: parameter or mission protocol). These are major contributions requiring a lot of vetting and should come with a RFC pull request in https://github.com/mavlink/rfcs. Protocol specification and documentation changes are usually changes with less impact and can be directly raised as pull requests against this repository.
How to raise a pull request is documented in the section below.
## How to contribute design and micro-service changes
* Open a pull request against the RFC repository containing a new RFC number https://github.com/mavlink/rfcs and use the template in the 0000 RFC.
* Reach out to the community on Slack and on http://discuss.dronecode.org to raise awareness
* Address concerns by pushing more commits to the pull request
## How to contribute protocol specification changes
* Open a pull request against the specifion repository: https://github.com/mavlink/mavlink
* Reach out to the community on Slack and on http://discuss.dronecode.org to raise awareness
* Address concerns by pushing more commits to the pull request
## How to open a pull request
### Fork the project, then clone your repo
First [fork and clone](https://help.github.com/articles/fork-a-repo) the project project.
### Create a feature branch
*Always* branch off master for new features.
```
git checkout -b mydescriptivebranchname
```
### Commit your changes
Always write descriptive commit messages and add a fixes or relates note to them with an [issue number](https://github.com/mavlink/mavlink) (Github will link these then conveniently)
**Example:**
```
Change the attitude output spec documentation
- Fixes a typo
- Clarifies that units are radians
Fixes issue #123
```
### Test your changes
Since we care about compatibility and safety, we will regularly ask you for test results.
### Push your changes
Push changes to your repo and send a [pull request](https://github.com/mavlink/mavlink/compare/).
See [Contributing](https://mavlink.io/en/contributing/contributing.html) (MAVLink Developer Guide).