mavlink 0.18.0

Implements the MAVLink data interchange format for UAVs.
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rust-mavlink

Crate info Crate downloads Rust 1.80+ License Build status Documentation

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: