Crate mavlink

Expand description

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.
direct-serial: Enable serial MAVLink connections, enabled by default.
udp: Enables UDP based MAVLink connections, enabled by default.
tcp: Enables TCP based MAVLink connections, enabled by default.
signing: Enable support for MAVLink 2 message signing
embedded: Enables embedded support using the embedded-io crate, incompatible with embedded-hal-02 and tokio-1.
embedded-hal-02: Enables embedded support using version 0.2 of the embedded-hal crate, incompatible with embedded.
tokio-1: 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.
emit-description: Generated MAVLink message set code will include documentation.
emit-extensions: Generated MAVLink message set code will include MAVLink 2 message extensions.
arbitrary: Enable support for the arbitrary crate.

Either std, embedded or embedded-hal-02 must be enabled.

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

ardupilotmega, enabled by default
common, enabled by default
all, this includes all other sets in the same message set
asluav
avssuas
cubepilot
csairlink
development
icarous
loweheiser
matrixpilot
minimal
paparazzi
python_array_test
slugs
standard
storm32
test
ualberta
uavionix

The all-dialects feature enables all message sets except all.

Modules§

ardupilotmegaardupilotmega: MAVLink ardupilotmega dialect.
asluavasluav: MAVLink ASLUAV dialect.
async_peek_reader: This module implements a buffered/peekable reader using async I/O.
avssuasavssuas: MAVLink AVSSUAS dialect.
bytes
bytes_mut
commoncommon: MAVLink common dialect.
csairlinkcsairlink: MAVLink csAirLink dialect.
cubepilotcubepilot: MAVLink cubepilot dialect.
developmentdevelopment: MAVLink development dialect.
error
icarousicarous: MAVLink icarous dialect.
loweheiserloweheiser: MAVLink loweheiser dialect.
matrixpilotmatrixpilot: MAVLink matrixpilot dialect.
minimalminimal: MAVLink minimal dialect.
paparazzipaparazzi: MAVLink paparazzi dialect.
peek_reader: This module implements a buffered/peekable reader.
python_array_testpython_array_test: MAVLink python_array_test dialect.
standardstandard: MAVLink standard dialect.
storm32storm32: MAVLink storm32 dialect.
testtest: MAVLink test dialect.
ualbertaualberta: MAVLink ualberta dialect.
uavionixuavionix: MAVLink uAvionix dialect.
utils: Utilities for processing MAVLink messages

Structs§

FileConnectable: 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
SerialConnectable: 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
TcpConnectable: MAVLink connection address for a TCP server or client
UdpConnectable: 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
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_async: Asynchronously read and parse a MAVLink 1 or 2 message from a AsyncPeekReader.
read_any_msg_async_signed: Asynchronously read and parse a MAVLink 1 or 2 message from a AsyncPeekReader with signing support.
read_any_msg_signed: 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_async: Asynchronously read a raw MAVLink 1 or 2 message from a AsyncPeekReader.
read_any_raw_message_async_signed: Asynchronously read a raw MAVLink 1 or 2 message from a AsyncPeekReader with signing support.
read_any_raw_message_signed: Read a raw MAVLink 1 or 2 message from a PeekReader with signing support.
read_v1_msg: Read and parse a MAVLink 1 message from a PeekReader.
read_v1_msg_async: 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_async: 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_async: Asynchronously read and parse a MAVLink 2 message from a AsyncPeekReader.
read_v2_msg_async_signed: Asynchronously read and parse a MAVLink 2 message from a AsyncPeekReader.
read_v2_msg_signed: 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_async: Asynchronously read a raw MAVLink 2 message from a AsyncPeekReader.
read_v2_raw_message_async_signed: Asynchronously read a raw MAVLink 2 message with signing support from a AsyncPeekReader.
read_v2_raw_message_signed: 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_async: Asynchronously read and parse a MAVLink message of the specified version from a AsyncPeekReader.
read_versioned_msg_async_signed: Asynchronously read and parse a MAVLink message of the specified version from a AsyncPeekReader with signing support.
read_versioned_msg_signed: Read and parse a MAVLink message of the specified version from a PeekReader with signing support.
write_v1_msg: Write a MAVLink 1 message to a Writer.
write_v1_msg_async: Asynchronously write a MAVLink 1 message to a AsyncWriter.
write_v2_msg: Write a MAVLink 2 message to a Writer.
write_v2_msg_async: Asynchronously write a MAVLink 2 message to a AsyncWriter.
write_v2_msg_async_signed: Write a MAVLink 2 message to a AsyncWriter with signing support.
write_v2_msg_signed: 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_async: Asynchronously write a MAVLink message using the given MAVLink version to a AsyncWriter.
write_versioned_msg_async_signed: Asynchronously write a MAVLink message using the given MAVLink version to a AsyncWriter with signing support.
write_versioned_msg_signed: Write a MAVLink message using the given mavlink version to a Writer with signing support.

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