mavlink

v0.7.0

mavlink v0.7.0 MAVLink.Router View Source

Connect to serial, udp and tcp ports and listen for, validate and forward MAVLink messages towards their destinations on other connections and/or Elixir processes subscribing to messages.

The rules for MAVLink packet forwarding are described here:

https://mavlink.io/en/guide/routing.html

and here:

http://ardupilot.org/dev/docs/mavlink-routing-in-ardupilot.html

Link to this section Summary

Types

mavlink_address()
mavlink_connection()
subscribe_query_id_key()
t()

Functions

child_spec(init_arg)

Returns a specification to start this module under a supervisor.

pack_and_send(message, version \\ 2)

Send a MAVLink message to one or more recipients using available connections. For now if destination is unreachable it will fail silently.

start_link(state, opts \\ [])
subscribe(query \\ [])

Subscribes the calling process to messages matching the query. Zero or more of the following query keywords are supported

unsubscribe()

Un-subscribes calling process from all existing subscriptions

Link to this section Types

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subscribe_query_id_key() View Source 
subscribe_query_id_key() ::
  :source_system | :source_component | :target_system | :target_component

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t() View Source 
t() :: %MAVLink.Router{
  component: non_neg_integer(),
  connection_strings: [String.t()],
  connections: %{},
  dialect: module() | nil,
  routes: %{mavlink_address: {mavlink_connection(), MAVLink.Types.version()}},
  sequence_number: MAVLink.Types.sequence_number(),
  subscriptions: [],
  system: non_neg_integer(),
  uarts: [pid()]
}

Link to this section Functions

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child_spec(init_arg) View Source

Returns a specification to start this module under a supervisor.

See Supervisor.

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pack_and_send(message, version \\ 2) View Source

Send a MAVLink message to one or more recipients using available connections. For now if destination is unreachable it will fail silently.

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start_link(state, opts \\ []) View Source 
start_link(
  %{
    dialect: module(),
    system: non_neg_integer(),
    component: non_neg_integer(),
    connection_strings: [String.t()]
  },
  [{atom(), any()}]
) :: {:ok, pid()}

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subscribe(query \\ []) View Source 
subscribe([{:message, MAVLink.Message.t()} | {subscribe_query_id_key(), 0..255}]) ::
  :ok

Subscribes the calling process to messages matching the query. Zero or more of the following query keywords are supported:

message: message_module source_system: integer 0..255 source_component: integer 0..255 target_system: integer 0..255 target_component: integer 0..255 as_frame: true|false (default false)

For example:

  MAVLink.Router.subscribe message: MAVLink.Message.Heartbeat, source_system: 1
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unsubscribe() View Source 
unsubscribe() :: :ok

Un-subscribes calling process from all existing subscriptions