# XMAVLink

This library includes a mix task that generates code from a MAVLink xml
definition files and an application that enables communication with other
systems using the MAVLink 1.0 or 2.0 protocol over serial, UDP and TCP

MAVLink is a Micro Air Vehicle communication protocol used by Pixhawk, 
Ardupilot and other leading autopilot platforms. For more information
on MAVLink see

## Installation

If [available in Hex](, the package can be installed
by adding `xmavlink` to your list of dependencies in `mix.exs`:

 def deps do
     {:xmavlink, "~> 0.4.0"}

## Current Status

This library is not officially recognised or supported by MAVLink at this

## Generating MAVLink Dialect Modules

MAVLink message definition files for popular dialects can be found [here](
To generate an Elixir source file containing the modules we need to speak a MAVLink dialect (for example ardupilotmega):

> mix xmavlink test/input/ardupilotmega.xml lib/apm.ex APM
* creating lib/apm.ex
Generated APM in 'lib/apm.ex'.

## Configuring the XMAVLink Application

Add `XMAVLink.Application` with no start arguments to your `mix.exs`. You need to point the application at the dialect you just generated 
and list the connections to other vehicles in `config.exs`:

config :xmavlink, dialect: Common, connections: ["serial:/dev/cu.usbserial-A603KH3Y:57600", "udpout:", "tcpout:"]

The above config specifies the Common dialect we generated and connects to a a vehicle on a radio modem, a ground station listening for 
UDP packets on 14550 and a SITL vehicle listening for TCP connections on 5760. Remember 'out' means client, 
'in' means server.

## Receive MAVLink messages

With the configured MAVLink application running you can subscribe to particular MAVLink messages:

alias XMAVLink.Router, as: MAV

defmodule Echo do
  def run() do
    receive do
      msg ->
        IO.inspect msg

MAV.subscribe source_system: 1, message: APM.Message.Heartbeat

or send a MAVLink message:

alias XMAVLink.Router, as: MAV
alias Common.Message.RcChannelsOverride

    target_system: 1,
    target_component: 1,
    chan1_raw: 1500,
    chan2_raw: 1500,
    chan3_raw: 1500,
    chan4_raw: 1500,
    chan5_raw: 1500,
    chan6_raw: 1500,
    chan7_raw: 1500,
    chan8_raw: 1500,
    chan9_raw: 0,
    chan10_raw: 0,
    chan11_raw: 0,
    chan12_raw: 0,
    chan13_raw: 0,
    chan14_raw: 0,
    chan15_raw: 0,
    chan16_raw: 0,
    chan17_raw: 0,
    chan18_raw: 0

## Router Architecture

The XMAVLink application is to Elixir/Erlang code what [MAVProxy](
is to its Python modules: a router that sits alongside them and gives them access to other MAVLink
systems over its connections. Unlike MAVProxy it is not responsible for starting/stopping/scheduling
Elixir/Erlang code.

The router is supervised. On a failure the configured connections and previous subscriptions are 
restored immediately. If a connection fails or is not available at startup the router will attempt to
reconnect each second and continue routing frames on the remaining connections. If a subscriber fails
it will be automatically unsubscribed and any new subscriber will be responsible for reconnection.

## Roadmap

- MAVLink microservice/protocol helpers (see [xmavlink_util](
- Signed MAVLink v2 messages

## Source

Copied from []( on 2023-01-01.