> For the complete documentation index, see [llms.txt](https://wiki.ariitk.in/wiki/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://wiki.ariitk.in/wiki/hardware-integration/setting-up-offboard-mission/offboard-mode.md).

# Guided mode

Description about Guided mode of ArduPilot

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

![](https://2216434675-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-LVITCb6SLM7LAIvJagI%2F-LeDglHP-nCJeF85wcPi%2F-LeDmno6XmxsdZnKaIOT%2FUntitled%20presentation.png?alt=media\&token=9af9dff0-db8c-4edb-a0a6-67790a4927c7)

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).


---

# Agent Instructions
This documentation is published with GitBook. GitBook is the documentation platform designed so that both humans and AI agents can read, navigate, and reason over technical content effectively. Learn more at gitbook.com.

## Querying This Documentation
If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question.

Perform an HTTP GET request on the current page URL with the `ask` query parameter, and the optional `goal` query parameter:

```
GET https://wiki.ariitk.in/wiki/hardware-integration/setting-up-offboard-mission/offboard-mode.md?ask=<question>&goal=<endgoal>
```

`ask` is the immediate question: it should be specific, self-contained, and written in natural language.
`goal` is optional and describes the broader end goal you are ultimately trying to accomplish on behalf of the user. GitBook uses it to tailor the answer towards what is most useful for that goal.

The response will contain a direct answer to the question and relevant excerpts and sources from the documentation.

Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.