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nav_arc_waypoint

PX4 capability domain: navigation. PX4 mapping: MAV_CMD_NAV_ARC_WAYPOINT. Circular arc path waypoint. This defines the end/exit point and angle (param1) of an arc path from the previous waypoint. A position is required before this command to define the start of the arc (e.g. current position, a MAV_CMD_NAV_WAYPOINT, or a MAV_CMD_NAV_ARC_WAYPOINT). The resulting path is a circular arc in the NE frame, with the difference in height being defined by the difference in waypoint altitudes.

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Request Params

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vendor
string
必填
Fixed value px4
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device_id
string
必填
Target PX4 device ID
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command_type
string
必填
Fixed value nav_arc_waypoint
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idempotency_key
string
必填
Idempotency key; repeated requests return the same command
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timeout_seconds
integer
Timeout in seconds, range 0~300
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payload
object
必填
Typed request payload for this command. Field names are generated from PX4 MAVLink XML labels, but callers do not send raw param1..param7 fields.
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payload.arc_angle
number
Meaning: Arc Angle, units deg; maps to MAVLink parameter 1 in the PX4 frame.
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payload.latitude
number
Meaning: Latitude; maps to MAVLink parameter 5 in the PX4 frame.
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payload.longitude
number
Meaning: Longitude; maps to MAVLink parameter 6 in the PX4 frame.
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payload.altitude
number
Meaning: Altitude, units m; maps to MAVLink parameter 7 in the PX4 frame.

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PX4 Frame Mapping

  • MAVLink command: MAV_CMD_NAV_ARC_WAYPOINT
  • Command ID: 36
  • Default transport: COMMAND_INT
  • Source XML: common.xml
  • Completion: COMMAND_ACK
  • Guard: real PX4 downlink is disabled by default; guarded mode requires explicit authorization and a ready transport.

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Create Response

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command_id
string
Platform command ID, used for follow-up queries
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status
string
Acceptance status: ACCEPTED
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accepted_at
string(datetime)
Command acceptance time (UTC)

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Query Response

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command_id
string
Platform command ID
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status
string
Execution status: ACCEPTED / DELIVERED / SUCCEEDED / FAILED / TIMED_OUT / UNMATCHED_RESPONSE
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vendor
string
Vendor identifier; fixed value px4
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device_id
string
Target PX4 device ID
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command_type
string
PX4 command type
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response_code
string
Mapped COMMAND_ACK.result value
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response_message
string
PX4 acknowledgement summary
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vendor_response
object
Raw PX4 acknowledgement summary, including MAVLink command ID and transport

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PX4 ACK Mapping

After sending the frame, the PX4 agent waits for COMMAND_ACK and correlates the response by command id. Disabled mode sends no frame and completes with a rejected lifecycle result. 
curl -X POST "/api/v1/open/downlink/commands" \
  -H "Content-Type: application/json" \
  -H "X-Api-Id: YOUR_API_ID" \
  -H "X-Api-Timestamp: YOUR_UNIX_SECONDS" \
  -H "X-Api-Nonce: YOUR_NONCE" \
  -H "X-Api-Signature: YOUR_SIGNATURE" \
  -d "{\"vendor\":\"px4\",\"device_id\":\"px4-real-1\",\"command_type\":\"nav_arc_waypoint\",\"payload\":{\"arc_angle\":0,\"latitude\":473566000,\"longitude\":85432100,\"altitude\":30.0},\"idempotency_key\":\"req-nav_arc_waypoint-001\",\"timeout_seconds\":30}"

curl "/api/v1/open/downlink/commands/8cdb5bf3-8902-c5f7-f9aa-dc7fa0af1de0"

{
  "command_id": "8cdb5bf3-8902-c5f7-f9aa-dc7fa0af1de0",
  "status": "ACCEPTED",
  "accepted_at": "2026-06-15T00:00:00Z"
}