MAVCONN library

It is mavlink connection and communication library used in MAVROS. Since 2014-11-02 it adopted to use outside from ROS environment by splitting to individual package and removing dependencies to rosconsole.

Connection URL

Connection defined by URL. Just pass one of that URL to MAVConnInterface::open_url() and get connection object.

Supported schemas:

• Serial: /path/to/serial/device[:baudrate]
• Serial: serial:///path/to/serial/device[:baudrate][?ids=sysid,compid]
• Serial with hardware flow control: serial-hwfc:///path/to/serial/device[:baudrate][?ids=sysid,compid]
• UDP: udp://[bind_host][:port]@[remote_host][:port][/?ids=sysid,compid]
• UDP broadcast until GCS discovery: udp-b://[bind_host][:port]@[:port][/?ids=sysid,compid]
• UDP broadcast (permanent): udp-pb://[bind_host][:port]@[:port][/?ids=sysid,compid]
• TCP client: tcp://[server_host][:port][/?ids=sysid,compid]
• TCP server: tcp-l://[bind_port][:port][/?ids=sysid,compid]

Note: ids from URL overrides ids given by system_id & component_id parameters.

Dependencies

Same as for mavros:

• Linux host
• Boost >= 1.46 (used Boost.ASIO)
• console-bridge library
• compiller with C++11 support

License

Licensed under terms of LGPLv3, BSD, or GPLv3.

Changelog for package libmavconn

1.5.1 (2021-01-04)

• Fix test for renaming of HEARTBEAT
• Initialise message structures Uninitialised Mavlink 2 extension fields were sent if the fields were not later set. Initialising the fields to zero is the default value for extension fields and appears to the receiver as though sender is unaware of Mavlink 2. Instances were found with regex below, more may exist: mavlink::[\^:]+::msg::[\^:={]+ ?[\^:={]*;
• Contributors: Rob Clarke

1.5.0 (2020-11-11)

• libmavconn: Fix build warnings
• Contributors: Morten Fyhn Amundsen

1.4.0 (2020-09-11)

• Dispatch GCS IP address
• Contributors: Morten Fyhn Amundsen

1.3.0 (2020-08-08)

• allow mavros to compile in CI environment
• Contributors: Marcelino

1.2.0 (2020-05-22)

1.1.0 (2020-04-04)

1.0.0 (2020-01-01)

0.33.4 (2019-12-12)

• add macro for get_io_service() to work with boost>1.70
• Contributors: acxz

0.33.3 (2019-11-13)

0.33.2 (2019-11-13)

0.33.1 (2019-11-11)

• resolved merge conflict
• Contributors: David Jablonski

0.33.0 (2019-10-10)

• libmavconn: simplify parse_buffer, and fix dropped_packets and parse_error counters Currently the dropped_packets & parse_error counters are always published as 0 in mavros_diag.cpp. This seems to be caused by using the wrong status struct. Seems like mavros was editing m_status after mavlink_frame_char_buffer. This struct seems to be the parsing state, and looks like it shouldn't be modified by the caller (for example status->parse_error is zeroed out in the end of mavlink_frame_char_buffer). Also, the crc & signature checks done in mavros seems redundant. r_mavlink_status seems to be the struct that holds the mavlink connection information, therefore I changed get_status to return it instead. This fixes #1285.
• Contributors: Koby Aizer

0.32.2 (2019-09-09)

0.32.1 (2019-08-08)

0.32.0 (2019-07-06)

0.31.0 (2019-06-07)

• readme: fix udp-pb formatting
• Contributors: Vladimir Ermakov

0.30.0 (2019-05-20)

0.29.2 (2019-03-06)

0.29.1 (2019-03-03)

• All: catkin lint files
• Contributors: Pierre Kancir

0.29.0 (2019-02-02)

• Merge branch 'master' into param-timeout
• libmavconn: Fix building without installation. Detect CI environment
• ci:test: temporary disable failed udp bind test
• mavconn:pkg: Move generated files to build tree
• Contributors: Vladimir Ermakov

0.28.0 (2019-01-03)

• libmavconn: add the possibility to set the source component ID through the send_message method
• Contributors: TSC21

0.27.0 (2018-11-12)

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