# MAVLink Stop

## Overview

![The MAVLink Stop Node.](/files/YuaLXazW0cvl1zYwoiK6)

The **MAVLink Stop Node** halts communication with a **MAVLink** serial port and ends the *heartbeat*.

**MAVLink Communication** in **Incari** is available as a plugin and is enabled as default. However, in the case that it is disabled in the **Plugins Editor**, it will not appear in the **Project Settings** and **MAVLink Stop** will not show up in the [**Toolbox**](https://github.com/cgi-studio-gmbh/incari-doc/blob/2023.1/overview.md). Please refer to the [**Plugins Editor**](/incari-studio/2023.1/modules/plugins.md) to find out more information.

It is important to note that while the **MAVLink Stop Node** stops a **MAVLink** connection, it may not completely finish disconnecting from said connection when the **Node** is executed. This could lead to the **Logic** attached to its **Output Pulse** to not work even though there is technically nothing wrong. In order to avoid this, it is highly suggested to use the [**On MAVLink Stop Node**](/incari-studio/2023.1/toolbox/communication/mavlink/events/on-mavlink-stop.md) instead. This way, it is assured that the **Logic** will execute once the connection to the **MAVLink** connection has been terminated.

Again, the user must first use the **MAVLink Stop Node** to close the connection. Separately, the **On MAVLink Stop Node** can be used to execute the desired **Communication Logic**.

![MAVLink Stop and On MAVLink Stop Configuration.](/files/gZudi4nEVIxIvuhx49LA)

[**Scope**](https://github.com/cgi-studio-gmbh/incari-doc/blob/2023.1/toolbox/communication/overview.md#scopes): **Project**, **Scene**.

## Attributes

![The MAVLink Stop Node Attributes.](/files/umP05gjETnrtem3cYqdz)

| Attribute       | Type          | Description                                                                                                                                                                           |
| --------------- | ------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| `Configuration` | **Drop-Down** | The desired *MAVLink* serial port, which refers back to the selections made under *MAVLink* in the [**Project Settings**](/incari-studio/2023.1/modules/project-settings/mavlink.md). |

## Inputs

| Input             | Type      | Description                                                           |
| ----------------- | --------- | --------------------------------------------------------------------- |
| *Pulse Input* (►) | **Pulse** | A standard **Input Pulse**, to trigger the execution of the **Node**. |

## Outputs

| Output             | Type      | Description                                                                                                                            |
| ------------------ | --------- | -------------------------------------------------------------------------------------------------------------------------------------- |
| *Pulse Output* (►) | **Pulse** | A standard **Output Pulse**, to move onto the next **Node** along the **Logic Branch**, once this **Node** has finished its execution. |

## See Also

* [**MAVLink Start**](/incari-studio/2023.1/toolbox/communication/mavlink/mavlink-start.md)
* [**On MAVLink Stop**](/incari-studio/2023.1/toolbox/communication/mavlink/events/on-mavlink-stop.md)

## External Links

* What is a [*heartbeat*?](https://mavlink.io/kr/services/heartbeat.html)


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