rust-mavlink

Pure Rust implementation of the MAVLink 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	Main crate with generated dialect modules and high-level APIs
mavlink-core	Core protocol types, parser/serializer, and connection traits
mavlink-bindgen	XML-to-Rust code generator used by mavlink

Build requirements

Building the mavlink crate runs a build script that initializes the bundled MAVLink definition submodule, so git must be available.

Quick start

Add the crate:

[dependencies]
mavlink = "0.17.1"

Simple code example:

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

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-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

Note that std and embedded features are mutually exclusive.

Examples

See mavlink/examples/ for runnable examples.

Maintainers

See MAINTAINERS.md for active maintainers, release managers and contact details.

License

Licensed under either of:

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