# MAVLink Stop

## Overview

![The MAVLink Stop Node.](https://1553081948-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FU990HLHWA30dTfELtDUK%2Fuploads%2Fgit-blob-d2e6bad963af838fe7eec670c71a13aeb7e7e689%2Fmavlinkstopnode20241.png?alt=media)

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/2025.1/overview.md). Please refer to the [**Plugins Editor**](https://docs.incari.com/incari-studio/modules/plugins) 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**](https://docs.incari.com/incari-studio/toolbox/communication/mavlink/events/on-mavlink-stop) 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.](https://1553081948-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FU990HLHWA30dTfELtDUK%2Fuploads%2Fgit-blob-e4db5b3d005bb20f2bd55f3e94e7bb811c37e52b%2Fmavlinkstopvsonmavlinkstop.png?alt=media)

[**Scope**](https://github.com/cgi-studio-gmbh/incari-doc/blob/2025.1/toolbox/communication/overview.md#scopes): **Project**, **Scene**.

## Attributes

![The MAVLink Stop Node Attributes.](https://1553081948-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2FU990HLHWA30dTfELtDUK%2Fuploads%2Fgit-blob-98ffc50dcf99b4926126292385a07f2e793dd8b8%2Fmavlinkstopatts.png?alt=media)

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

## 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**](https://docs.incari.com/incari-studio/toolbox/communication/mavlink/mavlink-start)
* [**On MAVLink Stop**](https://docs.incari.com/incari-studio/toolbox/communication/mavlink/events/on-mavlink-stop)

## External Links

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