MAVLink is the binary protocol the flight controller speaks. Every command from the ROS 2 stack — arm, takeoff, set mode, set position — eventually becomes a MAVLink message that the FC interprets. Two practical aspects matter day-to-day: stream rates (which messages the FC emits, how often) and custom messages (extending the protocol when needed).
For the conceptual side of how MAVLink relates to MAVROS and ROS 2, see MAVROS theory. For specifics of our config, see the subpages below.
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