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
• Boost >= 1.46 (used Boost.ASIO)
• console-bridge library
• compiller with C++11 support

License

Licensed under terms of LGPLv3, BSD, or GPLv3.

Changelog for package libmavconn

1.20.1 (2025-05-05)

1.20.0 (2024-10-10)

1.19.0 (2024-06-06)

1.18.0 (2024-03-03)

1.17.0 (2023-09-09)

• Merge pull request #1865 from scoutdi/warnings Fix / suppress some build warnings
• Suppress warnings from included headers
• Contributors: Morten Fyhn Amundsen, Vladimir Ermakov

1.16.0 (2023-05-05)

1.15.0 (2022-12-30)

• Merge pull request #1794 from rossizero/master libmavconn: fix MAVLink v1.0 output selection
• libmavconn: fix MAVLink v1.0 output selection Fix #1787
• Contributors: Vladimir Ermakov, rosrunne

1.14.0 (2022-09-24)

• libmavconn: fix MAVLink v1.0 output selection Fix #1787
• Merge pull request #1775 from acxz/find-geographiclib use already installed FindGeographicLib.cmake
• use already installed FindGeographicLib.cmake
• Contributors: Vladimir Ermakov, acxz

1.13.0 (2022-01-13)

1.12.2 (2021-12-12)

1.12.1 (2021-11-29)

• mavconn: fix connection issue introduced by #1658
• Contributors: Vladimir Ermakov

1.12.0 (2021-11-27)

• Merge pull request #1658 from asherikov/as_bugfixes Fix multiple bugs

• Fix multiple bugs

  • fix bad_weak_ptr on connect and disconnect
  • introduce new API to avoid thread race when assigning callbacks

  - fix uninitialized variable in TCP client constructor which would randomly block TCP server This is an API breaking change: if client code creates connections using make_shared<>() instead of open_url(), it is now necessary to call new connect() method explicitly.

• Contributors: Alexander Sherikov, Vladimir Ermakov

1.11.1 (2021-11-24)

1.11.0 (2021-11-24)

1.10.0 (2021-11-04)

• Merge pull request #1626 from valbok/crash_on_shutdown Show ENOTCONN error instead of crash on socket's shutdown
• Show ENOTCONN error instead of crash When a client suddenly drops the connection, socket.shutdown() will throw an exception: boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::system::system_error> > what(): shutdown: Transport endpoint is not connected Showing an error in this common case looks more reasonable than crashing.
• Contributors: Val Doroshchuk, Vladimir Ermakov

1.9.0 (2021-09-09)

1.8.0 (2021-05-05)

1.7.1 (2021-04-05)

1.7.0 (2021-04-05)

1.6.0 (2021-02-15)

1.5.2 (2021-02-02)

1.5.1 (2021-01-04)

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