# MAVLink Connection

Theseus GCS app offers the option to connect to the VPS over MAVLink. Click on the "Wire Connection" dropdown at the top of the dashboard to select your connection type. Select "MAVLink Connection" in the dropdown.

See the [MAVLink](https://mavlink.io/en/) and [ArduPilot](https://ardupilot.org/dev/docs/mavlink-commands.html) documentations for reference. 

<figure><img src="/files/zHsbeJkO65I2GwWgFOcU" alt=""><figcaption></figcaption></figure>

To connect, specify:

* Connection type (Serial, UDP, TCP)
* Host address + port for UDP/TCP connections
* COM port + baud rate for serial connections

Then, click "Connect". Make sure the port you indicated is open and available.

<figure><img src="/files/acA9f3BOZgomVIncR4cK" alt=""><figcaption></figcaption></figure>

Due to bandwidth limitations, only select features are available over MAVLink:

* VPS control
* [System Health](/gcs-software/legacy-software/theseus-gcs-app/feature-list/system-health.md)
* Recording start/stop
* [Home Position Setting](/gcs-software/legacy-software/theseus-gcs-app/feature-list/home-position-setting.md)


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