Description

Communicate with mavlink over UDP networking.

Uses common mavlink v2 packets generated from official mavlink source (https://github.com/mavlink/mavlink). Also see mavlink_udp_helpers.h for additional helper functions for most commonly used packets.

The base mavlink headers are also included with this file to expose all standard mavlink definitions, macros, and functions.

Author: James Strawson & Henry Gaudet

Date: 1/24/2018

Macros
#define	RC_MAV_DEFAULT_UDP_PORT 14551

#define	RC_MAV_DEFAULT_CONNECTION_TIMEOUT_US 2000000

Typedefs
typedef enum rc_mav_connection_state_t	rc_mav_connection_state_t

Functions
int	rc_mav_init (uint8_t system_id, const char *dest_ip, uint16_t port, uint64_t connection_timeout_us)
	Initialize a UDP port for sending and receiving. More...

int	rc_mav_set_dest_ip (const char *dest_ip)
	Sets the destination ip address for sent packets. More...

int	rc_mav_set_system_id (uint8_t system_id)
	Sets the system identifier. More...

int	rc_mav_cleanup (void)
	Closes UDP port and stops network port listening thread. More...

int	rc_mav_send_msg (mavlink_message_t msg)
	Sends any user-packed mavlink message. More...

int	rc_mav_is_new_msg (int msg_id)
	Inidcates if a particular message type has been received by not read by the user yet. More...

int	rc_mav_get_msg (int msg_id, mavlink_message_t *msg)
	Fetches the last received message of type msg_id. More...

int	rc_mav_set_callback (int msg_id, void(*func)(void))
	assign a callback function to be called when a particular message is received. More...

int	rc_mav_set_callback_all (void(*func)(void))
	Sets a callback function which is called when any packet arrives. More...

int	rc_mav_set_callback_connection_lost (void(*func)(void))
	Sets a callback function to be called when connection_timeout has been reached without receiving any messages. More...

rc_mav_connection_state_t	rc_mav_get_connection_state (void)
	Gets the connection state as determined by received heartbeat packets. More...

uint8_t	rc_mav_get_sys_id_of_last_msg (int msg_id)
	Fetches the system ID of the sender of the last received message. of type msg_id. More...

uint8_t	rc_mav_get_sys_id_of_last_msg_any (void)
	Fetches the system ID of the sender of the last received message. More...

int64_t	rc_mav_ns_since_last_msg (int msg_id)
	Fetches the number of nanoseconds since the last message of type msg_id has been received. More...

int64_t	rc_mav_ns_since_last_msg_any (void)
	Fetches the number of nanoseconds since any packet has been received. More...

int	rc_mav_msg_id_of_last_msg (void)
	Returns the msg_id of the last received packet. More...

int	rc_mav_print_msg_name (int msg_id)
	Prints to stdout a human-readable name for a message type. More...

Macro Definition Documentation

◆ RC_MAV_DEFAULT_UDP_PORT

#define RC_MAV_DEFAULT_UDP_PORT 14551

Examples:: rc_test_mavlink.c.

◆ RC_MAV_DEFAULT_CONNECTION_TIMEOUT_US

#define RC_MAV_DEFAULT_CONNECTION_TIMEOUT_US 2000000

Examples:: rc_test_mavlink.c.

Enumeration Type Documentation

◆ rc_mav_connection_state_t

enum rc_mav_connection_state_t

Connection state based on receipt of heartbeat packets. Retrieve the current state with rc_mav_get_connection_state

Enumerator
MAV_CONNECTION_WAITING
MAV_CONNECTION_ACTIVE
MAV_CONNECTION_LOST

Function Documentation

◆ rc_mav_init()

int rc_mav_init	(	uint8_t	system_id,
		const char *	dest_ip,
		uint16_t	port,
		uint64_t	connection_timeout_us
	)

Initialize a UDP port for sending and receiving.

Initialize a UDP port for sending and receiving. Additionally starts a listening thread that handles incomming packets and makes them available with the remaining functions in this API.

Parameters

[in]	system_id	The system id of this device tagged in outgoing packets
[in]	dest_ip	The destination ip, can be changed later with rc_mav_set_dest_ip
[in]	port	Port to listen on and send to
[in]	connection_timeout_us	microseconds since last received packet to consider connection lost, after which point rc_mav_connection_state will change to MAV_CONNECTION_LOST and the connection-lost callback will be called if set. Should be >=200000

Returns: 0 on success, -1 on failure

Examples:: rc_test_mavlink.c.

◆ rc_mav_set_dest_ip()

int rc_mav_set_dest_ip ( const char * dest_ip )

Sets the destination ip address for sent packets.

Parameters

[in] dest_ip The destination ip

Returns: 0 on success, -1 on failure

◆ rc_mav_set_system_id()

int rc_mav_set_system_id ( uint8_t system_id )

Sets the system identifier.

The system_id is included with every mavlink packet sent so that the receiver can identitfy what sent the current packet. We suggest every mavlink device in a network to have a unique id. The system_id is set during rc_mav_init but can be changed afterwards with this function.

Parameters

[in] system_id The system identifier

Returns: 0 on success, -1 on failure

◆ rc_mav_cleanup()

int rc_mav_cleanup ( void )

Closes UDP port and stops network port listening thread.

This is a blocking function call that returns after the network port listening thread has exited and the UDP port has closed. If the thread fails to exit before timeout a warning message is displayed and the function returns -1 to indicate there was an issue. This should be called before your program exits.

Returns: 0 on success, -1 on failure

Examples:: rc_test_mavlink.c.

◆ rc_mav_send_msg()

int rc_mav_send_msg ( mavlink_message_t msg )

Sends any user-packed mavlink message.

To construct your own mavlink_message_t from the packet definitions in include/rc/mavlink/common/, follow this example snippet and substitute in the functions for packing the packet you wish to send. rc/mavlink_udp_helpers.h provides many helper functions to pack and send the most common mavlink packets so that you do not need to use this function always.

mavlink_message_t msg;
mavlink_msg_heartbeat_pack(system_id, MAV_COMP_ID_ALL, &msg, 0, 0, 0, 0, 0);
rc_mav_send_msg(msg)){

Parameters

[in] msg The message to be sent

Returns: 0 on success, -1 on failure

◆ rc_mav_is_new_msg()

int rc_mav_is_new_msg ( int msg_id )

Inidcates if a particular message type has been received by not read by the user yet.

Parameters

[in] msg_id The message identifier to check

Returns: 1 if new message is available, otherwise 0

◆ rc_mav_get_msg()

int rc_mav_get_msg	(	int	msg_id,
		mavlink_message_t *	msg
	)

Fetches the last received message of type msg_id.

Parameters

[in]	msg_id	The message identifier to fetch
[out]	msg	place to write to message struct to

Returns: returns 0 on success. Returns -1 on failure, for example if no message of type msg_id has been received.

◆ rc_mav_set_callback()

int rc_mav_set_callback	(	int	msg_id,
		void(*)(void)	func
	)

assign a callback function to be called when a particular message is received.

If a general callback function has been set with rc_mav_set_callback_all, this message-specific callback will be called after the general callback.

Parameters

[in]	msg_id	The message identifier
[in]	func	The callabck function pointer

Returns: 0 on success, -1 on failure

◆ rc_mav_set_callback_all()

int rc_mav_set_callback_all ( void(*)(void) func )

Sets a callback function which is called when any packet arrives.

If a message-specific callback function has been set with rc_mav_set_callback(), this general callback will be called before the message-specific callback.

Parameters

[in] func The callback function

Returns: 0 on success, -1 on failure

Examples:: rc_test_mavlink.c.

◆ rc_mav_set_callback_connection_lost()

int rc_mav_set_callback_connection_lost ( void(*)(void) func )

Sets a callback function to be called when connection_timeout has been reached without receiving any messages.

connection_timeout is set with rc_mav_init

Parameters

[in] func The callback function

Returns: 0 on success, -1 on failure

Examples:: rc_test_mavlink.c.

◆ rc_mav_get_connection_state()

rc_mav_connection_state_t rc_mav_get_connection_state ( void )

Gets the connection state as determined by received heartbeat packets.

See rc_mav_connection_state_t

Returns: Returns current connection state.

◆ rc_mav_get_sys_id_of_last_msg()

uint8_t rc_mav_get_sys_id_of_last_msg ( int msg_id )

Fetches the system ID of the sender of the last received message. of type msg_id.

Parameters

[in] msg_id The message identifier of the packet type to check

Returns: Returns the system ID on success. Returns -1 on failure, for example if no message of type msg_id has been received of type msg_id.

◆ rc_mav_get_sys_id_of_last_msg_any()

uint8_t rc_mav_get_sys_id_of_last_msg_any ( void )

Fetches the system ID of the sender of the last received message.

Returns: Returns the system ID on success. Returns -1 on failure, for example if no message has been received.

Examples:: rc_test_mavlink.c.

◆ rc_mav_ns_since_last_msg()

int64_t rc_mav_ns_since_last_msg ( int msg_id )

Fetches the number of nanoseconds since the last message of type msg_id has been received.

Parameters

[in] msg_id The message identifier of the packet type to check

Returns: Returns the number of nanoseconds since the last message of type msg_id has been received. Returns -1 on failure, for example if no message has been received of type msg_id.

◆ rc_mav_ns_since_last_msg_any()

int64_t rc_mav_ns_since_last_msg_any ( void )

Fetches the number of nanoseconds since any packet has been received.

Returns: Returns the number of nanoseconds since any message has been received. Returns -1 on failure, for example if no message has been received.

◆ rc_mav_msg_id_of_last_msg()

int rc_mav_msg_id_of_last_msg ( void )

Returns the msg_id of the last received packet.

Returns: Returns the msg_id of the last received packet. Returns -1 on failure, for example if no message has been received.

Examples:: rc_test_mavlink.c.

◆ rc_mav_print_msg_name()

int rc_mav_print_msg_name ( int msg_id )

Prints to stdout a human-readable name for a message type.

Parameters

[in] msg_id The message identifier to print

Returns: Returns 0 on success, or -1 on failure such as if msg_id is invalid.

Description

Macros

Typedefs

Functions

Macro Definition Documentation

◆ RC_MAV_DEFAULT_UDP_PORT

◆ RC_MAV_DEFAULT_CONNECTION_TIMEOUT_US

Enumeration Type Documentation

◆ rc_mav_connection_state_t

Function Documentation

◆ rc_mav_init()

◆ rc_mav_set_dest_ip()

◆ rc_mav_set_system_id()

◆ rc_mav_cleanup()

◆ rc_mav_send_msg()

◆ rc_mav_is_new_msg()

◆ rc_mav_get_msg()

◆ rc_mav_set_callback()

◆ rc_mav_set_callback_all()

◆ rc_mav_set_callback_connection_lost()

◆ rc_mav_get_connection_state()

◆ rc_mav_get_sys_id_of_last_msg()

◆ rc_mav_get_sys_id_of_last_msg_any()

◆ rc_mav_ns_since_last_msg()

◆ rc_mav_ns_since_last_msg_any()

◆ rc_mav_msg_id_of_last_msg()

◆ rc_mav_print_msg_name()