Crate mavlink 

Rust implementation of the MAVLink UAV messaging protocol, with bindings for all dialects. This crate provides message set code generation, packet building, parsing and connection handling for blocking and asynchronous I/O.

Feature flags

The mavlink crate uses a number of feature flags to reduce the amount of compiled code by making certain functions and MAVLink message sets (dialects) optional. These feature flags are available to control the provided functionalities:

• std: Enables the usage of std in mavlink, enabled by default, this can be disabled for embedded applications.
• transport-direct-serial: Enable serial MAVLink connections, enabled by default.
• transport-udp: Enables UDP based MAVLink connections, enabled by default.
• transport-tcp: Enables TCP based MAVLink connections, enabled by default.
• mav2-message-signing: Enable support for MAVLink 2 message signing
• embedded: Enables embedded support using the embedded-io crate, incompatible with tokio.
• tokio: Enable support for asynchronous I/O using tokio, incompatible with embedded.
• serde: Enables serde support in generated message sets, enabled by default.
• format-generated-code: Generated MAVLink message set code will be formatted, requires rustfmt to be installed, enabled by default.
• mav2-message-extensions: Generated MAVLink message set code will include MAVLink 2 message extensions.
• arbitrary: Enable support for the arbitrary crate.
• ts-rs: Enable TypeScript code generation via ts-rs.

Either std or embedded must be enabled.

Each MAVlink message set (dialect) can be enabled using its feature flag. The following message set feature flags are available:

• dialect-all
• dialect-ardupilotmega, enabled by default
• dialect-common, enabled by default
• dialect-asluav
• dialect-avssuas
• dialect-cubepilot
• dialect-csairlink
• 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

Modules

async_peek_readertokio

This module implements a buffered/peekable reader using async I/O.

dialects

MAVLink dialect Rust bindings generated by mavlink-bindgen.

error

peek_reader

This module implements a buffered/peekable reader.

types

utils

Utilities for processing MAVLink messages

Structs

Connection

Concrete MAVLink connection returned by connect.

FileConfig

MAVLink connection address for a file input

MAVLinkV1MessageRaw

Byte buffer containing the raw representation of a MAVLink 1 message beginning with the STX marker.

MAVLinkV2MessageRaw

Byte buffer containing the raw representation of a MAVLink 2 message beginning with the STX marker.

MavFrame

Encapsulation of the MAVLink message and the header, important to preserve information about the sender system and component id.

MavHeader

Metadata from a MAVLink packet header

SerialConfig

MAVLink address for a serial connection

SigningConfig

Configuration used for MAVLink 2 messages signing as defined in https://mavlink.io/en/guide/message_signing.html.

SigningData

MAVLink 2 message signing data

TcpConfig

MAVLink connection address for a TCP server or client

UdpConfig

MAVLink address for a UDP server client or broadcast connection

Enums

ConnectionAddress

A parsed MAVLink connection address

MAVLinkMessageRaw

Raw byte representation of a MAVLink message of either version

MavlinkVersion

Versions of the MAVLink protocol that we support

ReadVersion

MAVLink Version selection when attempting to read

TcpMode

Type of TCP connection

UdpMode

Type of UDP connection

Constants

MAV_STX

Message framing marker for MAVLink 1

MAV_STX_V2

Message framing marker for MAVLink 2

MAX_FRAME_SIZE

Maximum size of any MAVLink frame in bytes.

Traits

AsyncConnectable

A MAVLink connection address that can be connected to, establishing an AsyncMavConnection

AsyncMavConnection

An async MAVLink connection

Connectable

A MAVLink connection address that can be connected to, establishing a MavConnection

MavConnection

A MAVLink connection

Message

A MAVLink message payload

MessageData

Functions

calculate_crc

Calculates the CRC checksum of a messages header, payload and the CRC_EXTRA byte.

connect

Connect to a MAVLink node by address string.

connect_async

Connect asynchronously to a MAVLink node by address string.

read_any_msg

Read and parse a MAVLink 1 or 2 message from a PeekReader.

read_any_msg_asynctokio

Asynchronously read and parse a MAVLink 1 or 2 message from a AsyncPeekReader.

read_any_msg_async_signedtokio and mav2-message-signing

Asynchronously read and parse a MAVLink 1 or 2 message from a AsyncPeekReader with signing support.

read_any_msg_signedmav2-message-signing

Read and parse a MAVLink 1 or 2 message from a PeekReader with signing support.

read_any_raw_message

Read a raw MAVLink 1 or 2 message from a PeekReader.

read_any_raw_message_asynctokio

Asynchronously read a raw MAVLink 1 or 2 message from a AsyncPeekReader.

read_any_raw_message_async_signedtokio and mav2-message-signing

Asynchronously read a raw MAVLink 1 or 2 message from a AsyncPeekReader with signing support.

read_any_raw_message_signedmav2-message-signing

Read a raw MAVLink 1 or 2 message from a PeekReader with signing support.

read_raw_versioned_msgDeprecated

read_raw_versioned_msg_asyncDeprecatedtokio

read_raw_versioned_msg_async_signedDeprecatedtokio and mav2-message-signing

read_raw_versioned_msg_signedDeprecatedmav2-message-signing

read_v1_msg

Read and parse a MAVLink 1 message from a PeekReader.

read_v1_msg_asynctokio

Asynchronously read and parse a MAVLink 1 message from a AsyncPeekReader.

read_v1_raw_message

Read a raw MAVLink 1 message from a PeekReader.

read_v1_raw_message_asynctokio

Asynchronously read a raw MAVLink 1 message from a AsyncPeekReader.

read_v2_msg

Read and parse a MAVLink 2 message from a PeekReader.

read_v2_msg_asynctokio

Asynchronously read and parse a MAVLink 2 message from a AsyncPeekReader.

read_v2_msg_async_signedtokio and mav2-message-signing

Asynchronously read and parse a MAVLink 2 message with signing support from a AsyncPeekReader.

read_v2_msg_signedmav2-message-signing

Read and parse a MAVLink 2 message from a PeekReader.

read_v2_raw_message

Read a raw MAVLink 2 message from a PeekReader.

read_v2_raw_message_asynctokio

Asynchronously read a raw MAVLink 2 message from a AsyncPeekReader.

read_v2_raw_message_async_signedtokio and mav2-message-signing

Asynchronously read a raw MAVLink 2 message with signing support from a AsyncPeekReader

read_v2_raw_message_signedmav2-message-signing

Read a raw MAVLink 2 message with signing support from a PeekReader.

read_versioned_msg

Read and parse a MAVLink message of the specified version from a PeekReader.

read_versioned_msg_asynctokio

Asynchronously read and parse a MAVLink message of the specified version from a AsyncPeekReader.

read_versioned_msg_async_signedtokio and mav2-message-signing

Asynchronously read and parse a MAVLink message of the specified version from a AsyncPeekReader with signing support.

read_versioned_msg_signedmav2-message-signing

Read and parse a MAVLink message of the specified version from a PeekReader with signing support.

read_versioned_raw_message

Read and parse a MAVLink message of the specified version from a PeekReader.

read_versioned_raw_message_asynctokio

Asynchronously read and parse a MAVLinkMessageRaw of the specified version from a AsyncPeekReader.

read_versioned_raw_message_async_signedtokio and mav2-message-signing

Asynchronously read and parse a MAVLinkMessageRaw of the specified version from a AsyncPeekReader with signing support.

read_versioned_raw_message_signedmav2-message-signing

Read and parse a MAVLinkMessageRaw of the specified version from a PeekReader with signing support.

write_v1_msg

Write a MAVLink 1 message to a Writer.

write_v1_msg_asynctokio

Asynchronously write a MAVLink 1 message to a [AsyncWrite]r.

write_v2_msg

Write a MAVLink 2 message to a Writer.

write_v2_msg_asynctokio

Asynchronously write a MAVLink 2 message to a [AsyncWrite]r.

write_v2_msg_async_signedmav2-message-signing and tokio

Write a MAVLink 2 message to a [AsyncWrite]r with signing support.

write_v2_msg_signedmav2-message-signing

Write a MAVLink 2 message to a Writer with signing support.

write_versioned_msg

Write a MAVLink message using the given mavlink version to a Writer.

write_versioned_msg_asynctokio

Asynchronously write a MAVLink message using the given MAVLink version to a [AsyncWrite]r.

write_versioned_msg_async_signedtokio and mav2-message-signing

Asynchronously write a MAVLink message using the given MAVLink version to a [AsyncWrite]r with signing support.

write_versioned_msg_signedmav2-message-signing

Write a MAVLink message using the given mavlink version to a Writer with signing support.