# Communication Diagram

<figure><img src="/files/qCANP3dypJmGyxrMW1MR" alt=""><figcaption></figcaption></figure>

## Mavlink messages used for the implementation of Remote ID

**AMC and APX4** receive [HEARTBEAT](https://mavlink.io/en/messages/common.html#HEARTBEAT) messages from Skynode with the Remote ID status. The following fields of this message are relevant:

* `type` = [MAV\_TYPE\_ODID](https://mavlink.io/en/messages/common.html#MAV_TYPE_ODID)
* `SYSTEM_STATUS`: [MAV\_STATE](https://mavlink.io/en/messages/common.html#MAV_STATE)

APX4 sends [OPEN\_DRONE\_ID\_BASIC\_ID](https://mavlink.io/en/messages/common.html#OPEN_DRONE_ID_BASIC_ID) and [OPEN\_DRONE\_ID\_LOCATION](https://mavlink.io/en/messages/common.html#OPEN_DRONE_ID_LOCATION) messages for

* `ua_type`
* `latitude`
* `longitude`
* `altitude_geodetic`
* `speed_horizontal`
* `timestamp`
* `status`

AMC sends [OPEN\_DRONE\_ID\_SYSTEM](https://mavlink.io/en/messages/common.html#OPEN_DRONE_ID_SYSTEM) messages with the following relevant fields:

* `operator_latitude`
* `operator_longitude`
* `operator_altitude_geo`
* `classification_type`: [MAV\_ODID\_CLASSIFICATION\_TYPE](https://mavlink.io/en/messages/common.html#MAV_ODID_CLASSIFICATION_TYPE)
* `category_eu`: [MAV\_ODID\_CATEGORY\_EU](https://mavlink.io/en/messages/common.html#MAV_ODID_CATEGORY_EU)


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