# Guided mode

In this mode the position, velocity or attitude reference / target / setpoint is provided by a companion computer connected via serial cable and MAVLink. The offboard setpoint can be provided by API like [MAVROS](https://github.com/mavlink/mavros).

Normal mainstream Ardupilot Firmware uses this message flow and Runs a high-level PID Controller:

### Message Flows

| ROS msg name                    | msg type                    | uses                                       |
| ------------------------------- | --------------------------- | ------------------------------------------ |
| mavros/local\_position/odom     | nav\_msgs::Odometry         | Contains local odometry data               |
| mavros/setpoint\_position/local | geometry\_msgs::PoseStamped | Used in offboard mode for postion setpoint |

### Example

![](/files/-LeDmno6XmxsdZnKaIOT)

The instructions for assembling the “essential components” of Copter on Pixhawk and other autopilots. The instructions for adding other hardware are covered in [Optional Hardware](https://ardupilot.org/copter/docs/common-optional-hardware.html#common-optional-hardware).


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