MAVLINK
=======

MAVLink is a very lightweight, header-only message marshalling library for
micro air vehicles. 

It can pack C-structs over serial channels with high effiency and send these
packets to the ground control station. It is extensively tested on the PX4,
PIXHAWK, APM and Parrot AR.Drone platforms and serves there as communication
backbone for the MCU/IMU communication as well as for Linux interprocess and
ground link communication. 

To use this binding with Morse, you need at least pymavlink >= 1.1.62.

.. note::

    As mavlink message have strong semantic about used frame, the middleware
    part deal with ENU -> aeronautical frame, so mavlink messages have
    expected semantic. 

Files
-----

- Python: ``$MORSE_ROOT/src/morse/middleware/mavlink_datastream.py``

.. _mavlink_ds_configuration:

Configuration specificities
---------------------------

When configuring a component to export its data through mavlink, you can pass
several options to tune the behaviour of the {ex, im}porter.

The option ``device`` allows to configure the link which is used to exchange
data trough Mavlink. Valid configurations are for now:
    - 'udpout:host:port'
    - 'udpin:host:port'
    - 'tcp:host:port'

.. note ::
    
    Contrarily to numerous middlewares, in Mavlink, multiple sensors /
    actuators can use the same device.

.. code-block :: python

    foo.add_stream('mavlink', device = 'udpout:localhost:14550')