# Mavlink Version

**URL:** <https://discuss.bluerobotics.com/t/mavlink-version/8004>\
**Category:** Blue Robotics Software\
**Created:** [August 20, 2020, 11:42am UTC](https://discuss.bluerobotics.com/t/mavlink-version/8004 "2020-08-20T11:42:45Z")\
**Posts on this page:** 7\
**Page:** 1

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**Author:** ![Madhu](https://avatars.discourse-cdn.com/v4/letter/m/a8b319/32.png) [@Madhu](https://discuss.bluerobotics.com/u/Madhu)\
**Post date:** [August 20, 2020, 11:42am UTC](https://discuss.bluerobotics.com/t/mavlink-version/8004/1 "2020-08-20T11:42:45Z")

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Hi,  
I have a question , i am trying to send the mavlink messages from MATLAB/SIMULINK to pixhawk1 running ArduSub . Mavlink has two versions of frame format ( MAVLINK version 1 and MAVLINK version 2) . I want to know whether ArduSub uses mavlink version 2 or mavlink version 1 ?

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**Author:** ![williangalvani](https://avatars.discourse-cdn.com/v4/letter/w/6f9a4e/32.png) [@williangalvani](https://discuss.bluerobotics.com/u/williangalvani)\
**Post date:** [August 20, 2020, 1:41pm UTC](https://discuss.bluerobotics.com/t/mavlink-version/8004/2 "2020-08-20T13:41:40Z")

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Hi,

It can do both. We recommend MAvlink2. You can chose one by setting the SERIAL0\_PROTOCOL parameter.

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**Author:** ![Madhu](https://avatars.discourse-cdn.com/v4/letter/m/a8b319/32.png) [@Madhu](https://discuss.bluerobotics.com/u/Madhu)\
**Post date:** [August 20, 2020, 3:09pm UTC](https://discuss.bluerobotics.com/t/mavlink-version/8004/3 "2020-08-20T15:09:47Z")

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Hi,  
Thanks a lot for the reply . I have one more question , if i have to control the motors of the blueROV2 for (forward , lateral , yaw or throttle) , which mavlink message needs to be sent? I see there are two mavlink messages RC\_CHANNELS(#65) and RC\_CHANNELS\_OVERIDE(#70). Currently my xbox controller connected to Qground control is controlling the motors , i want to control the motors through matlab simulink . I want to know which mavlink message id is responsible for this ?

It would be really helpful if you can help me answer this as i see many RC realated mavlink messages in the MAVLINK documentation

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**Author:** ![williangalvani](https://avatars.discourse-cdn.com/v4/letter/w/6f9a4e/32.png) [@williangalvani](https://discuss.bluerobotics.com/u/williangalvani)\
**Post date:** [August 20, 2020, 3:17pm UTC](https://discuss.bluerobotics.com/t/mavlink-version/8004/4 "2020-08-20T15:17:19Z")

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Either MANUAL\_CONTROL or RC\_CHANNELS\_OVERRIDE. Check the pymavlink examples we have at the [Pymavlink section of our docs](https://www.ardusub.com/developers/pymavlink.html).

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**Author:** ![jwalser](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/jwalser/32/2234_2.png) [@jwalser](https://discuss.bluerobotics.com/u/jwalser)\
**Post date:** [August 20, 2020, 3:30pm UTC](https://discuss.bluerobotics.com/t/mavlink-version/8004/5 "2020-08-20T15:30:30Z")

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Please also be aware of the difference between rc INPUT and rc OUTPUT: [RC Input and Output · GitBook](http://www.ardusub.com/developers/rc-input-and-output.html)

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**Author:** ![Madhu](https://avatars.discourse-cdn.com/v4/letter/m/a8b319/32.png) [@Madhu](https://discuss.bluerobotics.com/u/Madhu)\
**Post date:** [August 20, 2020, 3:42pm UTC](https://discuss.bluerobotics.com/t/mavlink-version/8004/6 "2020-08-20T15:42:49Z")

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Thank you , will have a look into it

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**Author:** ![Madhu](https://avatars.discourse-cdn.com/v4/letter/m/a8b319/32.png) [@Madhu](https://discuss.bluerobotics.com/u/Madhu)\
**Post date:** [August 20, 2020, 3:43pm UTC](https://discuss.bluerobotics.com/t/mavlink-version/8004/7 "2020-08-20T15:43:22Z")

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Thanks a lot for the response