Low level encapsulation of Mavros messages using MAVLink

Hi all,

I’m relatively new to the PX4 code base and have been spending some time reading though it in order to get a good understanding of how it all works and fits together. There is a lot of code to look through!

I have a few overlapping “low level” questions about encapsulating ROS messages using MAVLink, i.e. Mavros

  • Which MAVLink message ID or IDs are used?

  • Are these custom MAVLink messages? i.e. in the range 180 - 229 and thus application specific.

  • Do distinct Mavros message get encapsulated as specific custom MAVLink message?

Apologies for the basic nature of my questions, but I’ve not been able to find where this is documented. I assume that most of this is managed by the various high level tools, but I’m just after a deeper understanding of how the actual implementation works.

Many thanks!