rust-mavlink

Pure Rust implementation of the MAVLink UAV messaging protocol. Provides strongly typed message bindings, frame encode/decode and connection APIs for serial, UDP, TCP, file connection protocols with a rich set of features.

What rust-mavlink provides

Rust bindings for MAVLink dialects
Read/write support for MAVLink v1 and v2
TCP, UDP, Serial and File connection support.
Signing support.
Blocking and async support.
std and embedded support.
Codegen tool mavlink-bindgen for creating Rust bindings from MAVLink XML dialect definitions.

Workspace crates

Crate	Purpose
`mavlink`	Main crate with generated dialect modules and high-level APIs
`mavlink-core`	Core protocol types, parser/serializer, and connection traits
`mavlink-bindgen`	XML-to-Rust code generator used by `mavlink`

Quick start

Add the crate:

[dependencies]
mavlink = "0.17.1"

Simple code example:

use mavlink::{dialects::ardupilotmega, MavConnection};

fn main() -> Result<(), Box<dyn std::error::Error>> {
    let conn = mavlink::connect::<ardupilotmega::MavMessage>("udpin:0.0.0.0:14550")?;

    let heartbeat = ardupilotmega::MavMessage::HEARTBEAT(ardupilotmega::HEARTBEAT_DATA {
        custom_mode: 0,
        mavtype: ardupilotmega::MavType::MAV_TYPE_QUADROTOR,
        autopilot: ardupilotmega::MavAutopilot::MAV_AUTOPILOT_ARDUPILOTMEGA,
        base_mode: ardupilotmega::MavModeFlag::empty(),
        system_status: ardupilotmega::MavState::MAV_STATE_STANDBY,
        mavlink_version: 3,
    });

    conn.send(&mavlink::MavHeader::default(), &heartbeat)?;
    let (header, message) = conn.recv()?;

    println!(
        "received from sys={}, comp={}: {message:?}",
        header.system_id, header.component_id
    );

    Ok(())
}

Supported address formats

tcpin:<addr>:<port>: TCP server
tcpout:<addr>:<port>: TCP client
udpin:<addr>:<port>: UDP listener
udpout:<addr>:<port>: UDP sender
udpbcast:<addr>:<port>: UDP broadcast sender
serial:<port>:<baudrate>: serial port connection
file:<path>: read MAVLink frames from a file

Feature flags

Transport and runtime:

embedded
std
tokio
transport-direct-serial
transport-tcp
transport-udp

Protocol and code generation:

arbitrary
format-generated-code
mav2-message-extensions
mav2-message-signing
serde
ts-rs

Dialects:

dialect-all
dialect-ardupilotmega
dialect-asluav
dialect-avssuas
dialect-common
dialect-csairlink
dialect-cubepilot
dialect-development
dialect-icarous
dialect-loweheiser
dialect-marsh
dialect-matrixpilot
dialect-minimal
dialect-paparazzi
dialect-python_array_test
dialect-standard
dialect-stemstudios
dialect-storm32
dialect-test
dialect-ualberta
dialect-uavionix

Note that std and embedded features are mutually exclusive.

Examples

See mavlink/examples/ for runnable examples.

Maintainers

See MAINTAINERS.md for active maintainers, release managers and contact details.

License

Licensed under either of:

Apache License, Version 2.0 (LICENSE-APACHE or http://www.apache.org/licenses/LICENSE-2.0)
MIT license (LICENSE-MIT or http://opensource.org/licenses/MIT) at your option.

mavlink-core 0.18.0