package mavsdk.rpc.mavlink_direct

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Enable direct MAVLink communication using libmav.

• rpc LoadCustomXml (LoadCustomXmlRequest, LoadCustomXmlResponse)

  mavlink_direct.proto:34

  Load custom MAVLink message definitions from XML. This allows loading custom MAVLink message definitions at runtime, extending the available message types beyond the built-in definitions.

  message LoadCustomXmlRequest

  mavlink_direct.proto:69

  • string xml_content = 1

    The custom MAVLink XML definition content

  message LoadCustomXmlResponse

  mavlink_direct.proto:72

  • optional MavlinkDirectResult mavlink_direct_result = 1

• rpc SendCommand (SendCommandRequest, SendCommandResponse)

  mavlink_direct.proto:52

  Send a command and wait for its final COMMAND_ACK. The command is a COMMAND_LONG or COMMAND_INT message with its fields as JSON, e.g. message_name "COMMAND_LONG" and fields_json {"target_system":1,"target_component":1,"command":400,"param1":1,...}. The command is retransmitted if no ack arrives. MAV_RESULT_IN_PROGRESS acks are handled internally: the command is not retransmitted after one, and the call keeps waiting for the final ack. RESULT_SUCCESS only means that a final COMMAND_ACK was received. Whether the command was accepted is in the "result" field of the returned ack (MAV_RESULT, e.g. 0 for MAV_RESULT_ACCEPTED, 2 for MAV_RESULT_DENIED). Any other result means no final ack was received and the returned ack is empty.

  message SendCommandRequest

  mavlink_direct.proto:76

  • optional MavlinkMessage command = 1

    COMMAND_LONG or COMMAND_INT message to send

  message SendCommandResponse

  mavlink_direct.proto:79

  • optional MavlinkDirectResult mavlink_direct_result = 1

  • optional MavlinkMessage ack = 2

    The final COMMAND_ACK, check its "result" field (MAV_RESULT); only set on RESULT_SUCCESS

• rpc SendMessage (SendMessageRequest, SendMessageResponse)

  mavlink_direct.proto:17

  Send a MAVLink message directly to the system. This allows sending any MAVLink message with full control over the message content.

  message SendMessageRequest

  mavlink_direct.proto:55

  • optional MavlinkMessage message = 1

    The MAVLink message to send

  message SendMessageResponse

  mavlink_direct.proto:58

  • optional MavlinkDirectResult mavlink_direct_result = 1

• rpc SubscribeMessage (SubscribeMessageRequest, stream MessageResponse)

  mavlink_direct.proto:26

  Subscribe to incoming MAVLink messages. This provides direct access to incoming MAVLink messages. Use an empty string in message_name to subscribe to all messages, or specify a message name (e.g., "HEARTBEAT") to filter for specific message types.

  message SubscribeMessageRequest

  mavlink_direct.proto:62

  • string message_name = 1

    MAVLink message name to filter for (e.g., "HEARTBEAT"), empty string = all messages

  message MessageResponse

  mavlink_direct.proto:65

  • optional MavlinkMessage message = 1

    The received MAVLink message

Result type.

Used in: LoadCustomXmlResponse, SendCommandResponse, SendMessageResponse

• MavlinkDirectResult.Result result = 1

  Result enum value

• string result_str = 2

  Human-readable English string describing the result

Possible results returned for action requests.

Used in: MavlinkDirectResult

• RESULT_UNKNOWN = 0

  Unknown result

• RESULT_SUCCESS = 1

  Request succeeded

• RESULT_ERROR = 2

  Error

• RESULT_INVALID_MESSAGE = 3

  Invalid MAVLink message

• RESULT_INVALID_FIELD = 4

  Invalid field name or value

• RESULT_CONNECTION_ERROR = 5

  Connection error

• RESULT_NO_SYSTEM = 6

  No system connected

• RESULT_TIMEOUT = 7

  Request timed out

A complete MAVLink message with all header information and fields

Used in: MessageResponse, SendCommandRequest, SendCommandResponse, SendMessageRequest

• string message_name = 1

  MAVLink message name (e.g., "HEARTBEAT", "GLOBAL_POSITION_INT")

• uint32 system_id = 2

  System ID of the sender (for received messages)

• uint32 component_id = 3

  Component ID of the sender (for received messages)

• uint32 target_system_id = 4

  Target system ID (for sending, 0 for broadcast)

• uint32 target_component_id = 5

  Target component ID (for sending, 0 for broadcast)

• string fields_json = 6

  All message fields as single JSON object