Description

A very lightweight and easy to use mavlink library designed for reusability. The goal is an interface that allows you to quickly setup a mavlink connection and in only a few lines of code immediately begin sending and receiveing mavlink messages.

Building the library

To just build the library and not install it

make

To build the library and install it at /usr/local

sudo make install

To build the examples you must first install the library

make examples

Design

• Register a message handler for a given mavlink message ID. The message handler function callbacks are executed in the receiving thread context. This means the callbacks must be thread safe and non-blocking. You should use locks to modify shared data or leverage the included ThreadSafeQueue class if you want to queue messages for processing later.

• Send any mavlink_message_t via mavlink->send_message(msg). This function pushes the message into a threadsafe queue where the sending thread will access it for asynchronous sending.

• Register function callbacks for PARAM_REQUEST_LIST and PARAM_SET. This allows decoupling of your applications parameter implementation.

void enable_parameters(std::function<std::vector<Parameter>(void)> request_list_cb,
		       std::function<bool(Parameter*)> set_cb);

• Automatically emit heartbeats at 1Hz if the emit_heartbeat flag is set in the constructor MavlinkSettings parameter.

• Specify the target sysid/compid to connect to.