Discover what this vehicle can do and which guardrails are active.

Takes no arguments; does not require a live vehicle. Call this first. Returns {"adapter", "capabilities": ["telemetry", "arm_disarm", ...], "guardrails": {"readonly", "max_altitude_m", "geofence_radius_m"}, "connected"}. Plan only with listed capabilities; if "readonly" is true, every tool that can move the vehicle will be rejected.

Read one snapshot of the vehicle's telemetry. Read-only.

Takes no arguments. Returns {"position": {latitude_deg, longitude_deg, absolute_altitude_m, relative_altitude_m}, "attitude": {roll_deg, pitch_deg, yaw_deg}, "battery": {voltage_v, remaining_percent}, "gps": {num_satellites, fix_type}, "flight_mode", "armed", "in_air"}. Fields the vehicle did not report within a few seconds are null. Always check telemetry before commanding motion.

Report the current flight mode (e.g. HOLD, TAKEOFF, MISSION, RTL).

Takes no arguments. Read-only. Returns {"flight_mode": "HOLD"}.

Report the MAVLink endpoint, connection state, and guardrail config.

Takes no arguments. The connection is opened lazily, so "connected" is false until another tool has been used. Check this first when other tools report errors.

Arm the vehicle (spin up motors). DANGEROUS on real hardware.

Rejected in readonly mode. Additionally requires confirm=true: ask the human operator for approval first — never set confirm=true on your own initiative. Preflight: check get_telemetry (GPS fix, battery) before arming. Returns {"armed": true} or {"error": ...}.

Disarm the vehicle (stop motors). Autopilots reject this in flight.

Rejected in readonly mode. Returns {"disarmed": true} or {"error": ...}.

Take off vertically to altitude_m meters above the launch point.

Rejected in readonly mode. Additionally requires confirm=true after human operator approval — never set it on your own initiative. The vehicle must be armed first (call arm). Altitude is validated against the configured ceiling (MAVLINK_MCP_MAX_ALTITUDE_M, default 50 m).

Returns {"takeoff_started": true, "target_altitude_m": ...} — takeoff is asynchronous; poll get_telemetry to watch the climb.

Land at the current position.

Rejected in readonly mode (no confirmation needed — landing makes the vehicle safer). Returns {"landing_started": true}; poll get_telemetry until "in_air" is false.

Pause: stop and loiter at the current position (HOLD mode).

Rejected in readonly mode. Use this to interrupt a goto or mission safely. Returns {"holding": true}.

Fly back to the launch point and land there (RTL).

Rejected in readonly mode (no confirmation needed — RTL is a recovery action). Returns {"rtl_started": true}; poll get_telemetry until "in_air" is false.

Fly to a single waypoint and loiter there. The vehicle must be flying already (armed + taken off).

Args: latitude_deg: Target latitude (WGS84). longitude_deg: Target longitude (WGS84). relative_altitude_m: Target altitude above the launch point, in meters. Checked against the altitude ceiling. yaw_deg: Heading at the target, 0 = north (default 0).

Rejected in readonly mode. The target is also checked against the soft geofence around home (MAVLINK_MCP_GEOFENCE_RADIUS_M, default 200 m). Returns {"goto_started": true, "target": {...}} — travel is asynchronous; poll get_telemetry to track progress.

Upload a waypoint mission and start flying it. The vehicle must be armed and flying (or the autopilot will take off per its mission config).

Args: waypoints: List of {"latitude_deg", "longitude_deg", "relative_altitude_m", "speed_m_s"?} objects, flown in order. Every waypoint is validated against the altitude ceiling and the soft geofence before anything is uploaded.

Rejected in readonly mode. Returns {"mission_started": true, "waypoint_count": N}. Use hold to pause or return_to_launch to abort; poll get_flight_mode — mode leaves MISSION when the mission ends.