README

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
Asio library ( https://think-async.com/Asio/ )
console-bridge library
compiler with C++20 support

Shared io_service (optional)

By default each connection owns and runs its own asio::io_service thread. For multi-connection setups you can provide a shared asio::io_service and run it from your own thread pool.

#include <asio.hpp>
#include <mavconn/interface.hpp>

asio::io_service shared_io;
auto work = std::make_unique<asio::io_service::work>(shared_io);
std::jthread io_thread([&]() { shared_io.run(); });

auto conn = mavconn::MAVConnInterface::open_url(
  "udp://0.0.0.0:14555@127.0.0.1:14550",
  1, mavconn::MAV_COMP_ID_UDP_BRIDGE,
  [](const mavlink::mavlink_message_t *, mavconn::Framing) {},
  {},
  &shared_io);

conn->close();
work.reset();
shared_io.stop();

License

Licensed under terms of LGPLv3, BSD, or GPLv3.