MAVLink

MAVLink

Micro Air Vehicle Communication Protocol. MAVLink or Micro Air Vehicle Link is a protocol for communicating with small unmanned vehicle. It is designed as a header-only message marshaling library. MAVLink was first released early 2009 by Lorenz Meier under LGPL license. Wikipedia
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[email protected]:~/src/Firmware$ find . -name "mavlink"
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./Tools/jMAVSim/out/production/jMAVSim/me/drton/jmavlib/mavlink
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./Tools/jMAVSim/out/production/mavlink
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./Tools/jMAVSim/mavlink
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./Tools/jMAVSim/jMAVlib/src/me/drton/jmavlib/mavlink
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./.git/modules/mavlink
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./.git/modules/mavlink/include/mavlink
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./build/posix_sitl_default/src/modules/mavlink
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./mavlink
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./mavlink/include/mavlink
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./src/platforms/ros/nodes/mavlink
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./src/modules/mavlink
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[email protected]:~/src/Firmware$
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MAVLink :: DroneKit SITL

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[email protected]:~$ dronekit-sitl copter --home=20.654544,-103.3930971,30,0
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[email protected]:~$ sudo nmap -p 5700-5800 127.0.0.1
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Starting Nmap 7.01 ( https://nmap.org ) at 2018-03-17 15:22 CST
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Nmap scan report for localhost (127.0.0.1)
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Host is up (0.000028s latency).
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Not shown: 100 closed ports
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PORT STATE SERVICE
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5760/tcp open unknown
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Nmap done: 1 IP address (1 host up) scanned in 1.51 seconds
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[email protected]:~/src/Firmware$ telnet 127.0.0.1 5760
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Trying 127.0.0.1...
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Connected to 127.0.0.1.
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Escape character is '^]'.
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Init APM:Copter V3.3 (d6053245)
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Free RAM: 4096
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FW Ver: 120
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----------------------------------------
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MAVLink :: JMAVSim

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[email protected]:~$ cd src/Firmware/
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[email protected]:~/src/Firmware$
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[email protected]:~/src/Firmware$ make posix jmavsim
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[email protected]:~/src/Firmware$ sudo nmap -sU -p 14500-14600 127.0.0.1
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[sudo] password for user:
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Starting Nmap 7.01 ( https://nmap.org ) at 2018-03-17 15:28 CST
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Nmap scan report for localhost (127.0.0.1)
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Host is up (0.000067s latency).
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Not shown: 97 closed ports
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PORT STATE SERVICE
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14550/udp open|filtered unknown
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14556/udp open|filtered unknown
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14557/udp open unknown
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14560/udp open|filtered unknown
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Nmap done: 1 IP address (1 host up) scanned in 10.57 seconds
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[email protected]:~/src/Firmware$
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MAVLink :: Ardupilot SITL

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[email protected]:~$ cd src/ardupilot
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[email protected]:~/src/ardupilot$
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[email protected]:~/src/ardupilot$ sim_vehicle.py -v ArduCopter -l 20.654544,-103.3930971,30,0
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SIM_VEHICLE: Run MavProxy
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SIM_VEHICLE: "mavproxy.py" "--master" "tcp:127.0.0.1:5760" "--sitl" "127.0.0.1:5501" "--out" "127.0.0.1:14550" "--out" "127.0.0.1:14551"
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[email protected]:~$ sudo nmap -p 5700-5800 127.0.0.1
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[sudo] password for user:
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Starting Nmap 7.01 ( https://nmap.org ) at 2018-03-17 15:17 CST
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Nmap scan report for localhost (127.0.0.1)
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Host is up (0.000015s latency).
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Not shown: 98 closed ports
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PORT STATE SERVICE
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5760/tcp open unknown
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5762/tcp open unknown
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5763/tcp open unknown
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Nmap done: 1 IP address (1 host up) scanned in 1.41 seconds
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