Crate mavkit 

MAVKit

Async MAVLink SDK for vehicle control, telemetry, missions, and parameters. Available as a Rust crate and a Python package with full async support.

Install

Python

pip install mavkit

Rust

[dependencies]
mavkit = "0.3"
tokio = { version = "1", features = ["macros", "rt-multi-thread"] }

Quick Start

Python

import asyncio
import mavkit

async def main():
    vehicle = await mavkit.Vehicle.connect_udp("0.0.0.0:14550")

    state = await vehicle.wait_state()
    print(f"mode={state.mode_name} armed={state.armed}")

    telem = await vehicle.wait_telemetry()
    print(f"alt={telem.altitude_m} bat={telem.battery_pct}")

    await vehicle.disconnect()

asyncio.run(main())

Rust

use mavkit::Vehicle;

#[tokio::main]
async fn main() -> Result<(), Box<dyn std::error::Error>> {
    let vehicle = Vehicle::connect_udp("0.0.0.0:14550").await?;

    let mut state_rx = vehicle.state();
    state_rx.changed().await?;
    let state = state_rx.borrow().clone();
    println!("mode={} armed={}", state.mode_name, state.armed);

    vehicle.disconnect().await?;
    Ok(())
}

Features

• Connections – UDP, TCP, serial, BLE/SPP via byte-stream adapters
• Telemetry – reactive watch channels (Rust) / sync properties + async waiters (Python)
• Commands – arm, disarm, set mode, takeoff, guided goto, arbitrary COMMAND_LONG
• Missions – upload, download, clear, set current, verify roundtrip
• Parameters – download all, write single, batch write, .param file I/O
• Validation – plan validation, normalization, tolerance-based comparison

Feature Flags (Rust)

Flag	Default	Description
udp	Yes	MAVLink UDP transport
tcp	No	MAVLink TCP transport
serial	Yes	MAVLink direct serial transport
ardupilot	Yes	ArduPilot mode-name mapping
stream	No	Byte-stream adapters for BLE/SPP/custom links
tlog	No	TLOG file parser for timestamped MAVLink logs

Mission Wire Semantics

For MissionType::Mission, MAVLink wire transfer is normalized:

• Upload: a home item is prepended at seq=0 (or a zero placeholder if missing)
• Download: wire seq=0 is extracted as home; remaining items are resequenced from 0

For Fence and Rally types, items pass through unchanged.

Examples

Rust – see examples/:

cargo run --example connect_udp

Python – see mavkit-python/examples/:

cd mavkit-python && uv run python examples/connect_udp.py

Development

Rust

cargo check
cargo clippy --all-targets --all-features -- -D warnings
cargo test
cargo fmt --all -- --check

Python

cd mavkit-python
uv sync
uv run maturin develop
uv run ruff format --check .
uv run ruff check .

SITL Integration Tests

Requires Docker + ArduPilot SITL:

make bridge-up        # start SITL + MAVProxy bridge
make test-sitl        # run integration tests
make bridge-down      # cleanup

Environment: MAVKIT_SITL_UDP_BIND (default 0.0.0.0:14550), MAVKIT_SITL_STRICT (set 1 for strict mode).

License

MIT

Re-exports

pub use config::VehicleConfig;

pub use error::VehicleError;

pub use vehicle::Vehicle;

pub use state::Attitude;

pub use state::AutopilotType;

pub use state::Battery;

pub use state::FlightMode;

pub use state::Gps;

pub use state::GpsFixType;

pub use state::LinkState;

pub use state::MavSeverity;

pub use state::MissionState;

pub use state::Navigation;

pub use state::Position;

pub use state::RcChannels;

pub use state::StatusMessage;

pub use state::SystemStatus;

pub use state::Telemetry;

pub use state::Terrain;

pub use state::VehicleIdentity;

pub use state::VehicleState;

pub use state::VehicleType;

pub use mission::CompareTolerance;

pub use mission::HomePosition;

pub use mission::IssueSeverity;

pub use mission::MissionFrame;

pub use mission::MissionHandle;

pub use mission::MissionIssue;

pub use mission::MissionItem;

pub use mission::MissionPlan;

pub use mission::MissionTransferMachine;

pub use mission::MissionType;

pub use mission::RetryPolicy;

pub use mission::TransferDirection;

pub use mission::TransferError;

pub use mission::TransferEvent;

pub use mission::TransferPhase;

pub use mission::TransferProgress;

pub use mission::items_for_wire_upload;

pub use mission::normalize_for_compare;

pub use mission::plan_from_wire_download;

pub use mission::plans_equivalent;

pub use mission::validate_plan;

pub use params::Param;

pub use params::ParamProgress;

pub use params::ParamStore;

pub use params::ParamTransferPhase;

pub use params::ParamType;

pub use params::ParamWriteResult;

pub use params::ParamsHandle;

pub use params::format_param_file;

pub use params::parse_param_file;

Modules

command

config

error

Error types returned by MAVKit operations.

event_loop

mission

modes

params

state

vehicle