MAVLink

madflight includes the MAVLink protocol.

ExpressLRS MAVLink Setup

• Flash ELRS version 3.5.3 or later to your transmitter and receiver
• Use the ExpressLRS lua script or webinterface to set the link to MAVLink.
• In madflight set rcl_gizmo MAVLINK

Optional: Telemetry Script

• Install INAV Lua Telemetry on the transmitter

Optional: Ground Control

• Update the backpack to version 1.5.1 or later
• Connect Misson Planner or QGroundControl via UDP

Optional: Yaapu Telemetry Script

• Use the ExpressLRS Configurator in Expert Mode and flash ELRS with git pull request Mavlink to Ardupilot Custom Telemetry CRSF translation for Yaapu Telemetry Script #3077 to your transmitter -AND- receiver
• Install yaapu FrskyTelemetryScript on your transmitter

Implemented MAVLink Messages

Received by madflight

• MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE
• MAVLINK_MSG_ID_PARAM_REQUEST_LIST
• MAVLINK_MSG_ID_PARAM_REQUEST_READ
• MAVLINK_MSG_ID_PARAM_SET

Transmitted by madflight

• MAVLINK_MSG_ID_HEARTBEAT
• MAVLINK_MSG_ID_ATTITUDE
• MAVLINK_MSG_ID_GLOBAL_POSITION_INT
• MAVLINK_MSG_ID_GPS_RAW_INT
• MAVLINK_MSG_ID_BATTERY_STATUS
• MAVLINK_MSG_ID_PARAM_VALUE
• MAVLINK_MSG_ID_STATUSTEXT