package mavsdk.rpc.mavlink_direct_server

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Enable direct MAVLink communication using libmav from a server component. Unlike MavlinkDirect, this does not require a discovered system: it sends from the local server component, which makes it suitable for broadcasting messages (e.g. as an autopilot or custom component) without a connected counterpart.

• rpc LoadCustomXml (LoadCustomXmlRequest, LoadCustomXmlResponse)

  mavlink_direct_server.proto:41

  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_server.proto:58

  • string xml_content = 1

    The custom MAVLink XML definition content

  message LoadCustomXmlResponse

  mavlink_direct_server.proto:61

  • optional MavlinkDirectServerResult mavlink_direct_server_result = 1

• rpc SendMessage (SendMessageRequest, SendMessageResponse)

  mavlink_direct_server.proto:22

  Send a MAVLink message directly. This allows sending any MAVLink message with full control over the message content. Leave target_system_id and target_component_id at 0 to broadcast.

  message SendMessageRequest

  mavlink_direct_server.proto:44

  • optional MavlinkMessage message = 1

    The MAVLink message to send

  message SendMessageResponse

  mavlink_direct_server.proto:47

  • optional MavlinkDirectServerResult mavlink_direct_server_result = 1

• rpc SubscribeMessage (SubscribeMessageRequest, stream MessageResponse)

  mavlink_direct_server.proto:33

  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. Unlike the MavlinkDirect (client) plugin, this is not scoped to a single system: it receives matching messages from all systems.

  message SubscribeMessageRequest

  mavlink_direct_server.proto:51

  • string message_name = 1

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

  message MessageResponse

  mavlink_direct_server.proto:54

  • optional MavlinkMessage message = 1

    The received MAVLink message

Result type.

Used in: LoadCustomXmlResponse, SendMessageResponse

• MavlinkDirectServerResult.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: MavlinkDirectServerResult

• 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, 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