mavlink 0.20.0

# rust-mavlink

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Pure Rust implementation of the [MAVLink](https://mavlink.io/en) 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`](https://crates.io/crates/mavlink) | Main crate with generated dialect modules and high-level APIs |
| [`mavlink-core`](https://crates.io/crates/mavlink-core) | Core protocol types, parser/serializer, and connection traits |
| [`mavlink-bindgen`](https://crates.io/crates/mavlink-bindgen) | XML-to-Rust code generator used by `mavlink` |

## Quick start

Add the crate:

```toml
[dependencies]
mavlink = "0.20"
```

Simple code example:

```rust
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

## Dialects

### Compile-time dialects

Features such as `dialect-ardupilotmega` and `dialect-common` generate strongly
typed Rust messages from XML definitions during the build. Use these when the
message set is known at compile time. Changing the definitions requires rebuilding
the application.

### Runtime dialects

The `dialect-dynamic` feature loads dialect XML definitions at runtime.

Runtime dialects are required when an application takes its dialect at runtime
(e.g. from user configuration) and rebuilding the application for each custom
dialect is not possible.

See the [`runtime-dialect` example](mavlink/examples/runtime-dialect/src/main.rs)
for usage and testing it.

## 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-dynamic` (unlike the generated dialects, loads dialects at runtime)
- `dialect-icarous`
- `dialect-loweheiser`
- `dialect-marsh`
- `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/`](mavlink/examples/) for runnable examples.

## Maintainers

See [MAINTAINERS.md](MAINTAINERS.md) for active maintainers, release managers and contact details.

## License

Licensed under either of:

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