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Full Parameter PDF

Overview

The CMD parameter group (specifically CMD_TOTAL) is a read-only reporting mechanism for the onboard mission storage.

Key Concepts

1. Mission Storage

ArduPilot stores mission items (Waypoints, Do-Jumps, ROI, etc.) in EEPROM or FRAM. This parameter simply reports how many items are currently valid and loaded.

Parameter Breakdown

  • CMD_TOTAL: The total count of mission items stored on the vehicle.
    • 0: No mission loaded (or only Home).
    • >0: Valid mission present.

Integration Guide

  • Usage: Ground Control Stations check this value to verify that a "Write Waypoints" operation was successful.
  • Do Not Edit: Changing this manually will corrupt the mission index.

Developer Notes

  • Library: libraries/AP_Mission

CMD_TOTAL

Default 0
Range 0 65535

Number of loaded mission items (CMD_TOTAL)

Description

This is a Read-Only system parameter that reports the total number of waypoint or mission commands currently uploaded to the vehicle. It is used by the Ground Control Station (GCS) to verify mission upload success and by the autopilot to know the bounds of the mission index.

The Mathematics

N/A. Simple integer counter.

The Engineer's View

Defined in AntennaTracker/Parameters.cpp. It reflects the value of mission.num_commands().

  • 0: No mission loaded (or only Home).
  • >0: Valid mission present.

Tuning & Behavior

  • Read Only: Do not attempt to change this parameter manually. It is updated automatically when you upload a mission.
View Source
Circle Mode Configuration (CIRCLE) Common Parameters (COMMON)