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https://github.com/bluenviron/gomavlib

Mavlink library (2.0 and 1.0) for the Go programming language
https://github.com/bluenviron/gomavlib

go golang golang-library mavlink mavlink-library mavlink-protocol mavlink-proxy quadcopter uav ugv

Last synced: 6 days ago
JSON representation

Mavlink library (2.0 and 1.0) for the Go programming language

Host: GitHub
URL: https://github.com/bluenviron/gomavlib
Owner: bluenviron
License: mit
Created: 2019-03-12T16:05:15.000Z (almost 6 years ago)
Default Branch: main
Last Pushed: 2024-12-19T05:19:53.000Z (17 days ago)
Last Synced: 2024-12-23T01:03:05.771Z (13 days ago)
Topics: go, golang, golang-library, mavlink, mavlink-library, mavlink-protocol, mavlink-proxy, quadcopter, uav, ugv
Language: Go
Homepage:
Size: 8.71 MB
Stars: 127
Watchers: 5
Forks: 36
Open Issues: 0
Metadata Files:
- Readme: README.md
- License: LICENSE

Awesome Lists containing this project

awesome-tinygo - gomavlib - Mavlink protocol (2.0 and 1.0) implementation in Go for control and instrumentation of autonomous vehicles. (Embedded Systems / Protocol implementations)

README

        # gomavlib

[![Test](https://github.com/bluenviron/gomavlib/workflows/test/badge.svg)](https://github.com/bluenviron/gomavlib/actions?query=workflow:test)

[![Lint](https://github.com/bluenviron/gomavlib/workflows/lint/badge.svg)](https://github.com/bluenviron/gomavlib/actions?query=workflow:lint)

[![Dialects](https://github.com/bluenviron/gomavlib/workflows/dialects/badge.svg)](https://github.com/bluenviron/gomavlib/actions?query=workflow:dialects)

[![Go Report Card](https://goreportcard.com/badge/github.com/bluenviron/gomavlib)](https://goreportcard.com/report/github.com/bluenviron/gomavlib)

[![CodeCov](https://codecov.io/gh/bluenviron/gomavlib/branch/main/graph/badge.svg)](https://app.codecov.io/gh/bluenviron/gomavlib/tree/main)

[![PkgGoDev](https://pkg.go.dev/badge/github.com/bluenviron/gomavlib/v3)](https://pkg.go.dev/github.com/bluenviron/gomavlib/v3#pkg-index)

gomavlib is a library that implements the Mavlink protocol (2.0 and 1.0) in the Go programming language. It can interact with Mavlink-capable devices through a serial port, UDP, TCP or a custom transport, and it can be used to power UGVs, UAVs, ground stations, monitoring systems or routers.

Mavlink is a lightweight and transport-independent protocol that is mostly used to communicate with unmanned ground vehicles (UGV) and unmanned aerial vehicles (UAV, drones, quadcopters, multirotors). It is supported by the most popular open-source flight controllers (Ardupilot and PX4).

This library powers the [**mavp2p**](https://github.com/bluenviron/mavp2p) router.

Features:

* Decode and encode Mavlink v2.0 and v1.0. Supports checksums, empty-byte truncation (v2.0), signatures (v2.0), message extensions (v2.0).

* Dialects are optional, the library can work with standard dialects (ready-to-use standard dialects are provided in directory `dialects/`), custom dialects or no dialects at all. In case of custom dialects, a dialect generator is available in order to convert XML definitions into their Go representation.

* Create nodes able to communicate with multiple endpoints in parallel and with multiple transports:

  * serial

  * UDP (server, client or broadcast mode)

  * TCP (server or client mode)

  * custom reader/writer

* Emit heartbeats automatically

* Send automatic stream requests to Ardupilot devices (disabled by default)

* Support both domain names and IPs

* Examples provided for every feature, comprehensive test suite, continuous integration

## Table of contents

* [Installation](#installation)

* [API Documentation](#api-documentation)

* [Dialect generation](#dialect-generation)

* [Testing](#testing)

* [Specifications](#specifications)

* [Links](#links)

## Installation

1. Install Go ≥ 1.21.

2. Create an empty folder, open a terminal in it and initialize the Go modules system:

   ```

   go mod init main

   ```

3. Download one of the example files and place it in the folder:

  * [endpoint-serial](examples/endpoint-serial/main.go)

  * [endpoint-udp-server](examples/endpoint-udp-server/main.go)

  * [endpoint-udp-client](examples/endpoint-udp-client/main.go)

  * [endpoint-udp-broadcast](examples/endpoint-udp-broadcast/main.go)

  * [endpoint-tcp-server](examples/endpoint-tcp-server/main.go)

  * [endpoint-tcp-client](examples/endpoint-tcp-client/main.go)

  * [endpoint-custom](examples/endpoint-custom/main.go)

  * [message-read](examples/message-read/main.go)

  * [message-write](examples/message-write/main.go)

  * [signature](examples/signature/main.go)

  * [dialect-no](examples/dialect-no/main.go)

  * [dialect-custom](examples/dialect-custom/main.go)

  * [events](examples/events/main.go)

  * [router](examples/router/main.go)

  * [router-edit](examples/router-edit/main.go)

  * [serial-to-json](examples/serial-to-json/main.go)

  * [stream-requests](examples/stream-requests/main.go)

  * [readwriter](examples/readwriter/main.go)

4. Compile and run

   ```

   go run name-of-the-go-file.go

   ```

## API Documentation

[Click to open the API Documentation](https://pkg.go.dev/github.com/bluenviron/gomavlib/v3#pkg-index)

## Dialect generation

Standard dialects are provided in the `pkg/dialects/` folder, but it's also possible to use custom dialects, that can be converted into Go files by running:

```

go install github.com/bluenviron/gomavlib/v3/cmd/dialect-import@latest

dialect-import my_dialect.xml

```

## Testing

If you want to hack the library and test the results, unit tests can be launched with:

```

make test

```

## Specifications

|name|area|

|----|----|

|[main website](https://mavlink.io/en/)|protocol|

|[packet format](https://mavlink.io/en/guide/serialization.html)|protocol|

|[common dialect](https://github.com/mavlink/mavlink/blob/master/message_definitions/v1.0/common.xml)|dialects|

|[Golang project layout](https://github.com/golang-standards/project-layout)|project layout|

## Links

Related projects

* [mavp2p](https://github.com/bluenviron/mavp2p)

Other Go libraries

* [gobot](https://github.com/hybridgroup/gobot/tree/master/platforms/mavlink)

* [liamstask/go-mavlink](https://github.com/liamstask/go-mavlink)

* [ungerik/go-mavlink](https://github.com/ungerik/go-mavlink)

* [SpaceLeap/go-mavlink](https://github.com/SpaceLeap/go-mavlink)

* [MAVSDK-Go](https://github.com/mavlink/MAVSDK-Go)

Other non-Go libraries

* [official library (C)](https://github.com/mavlink/c_library_v2)

* [pymavlink (Python)](https://github.com/ArduPilot/pymavlink)

* [mavlink.net (C#)](https://github.com/asvol/mavlink.net)

* [rust-mavlink (Rust)](https://github.com/3drobotics/rust-mavlink)

* [node-mavlink (JS)](https://github.com/omcaree/node-mavlink)