# 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](https://en.wikipedia.org/wiki/MAVLink)

* [Erle Robotics: MAV Tools](https://www.gitbook.com/book/erlerobotics/erle-robotics-mav-tools-free/details)

```bash
user@workstation:~/src/Firmware$ find . -name "mavlink"
./Tools/jMAVSim/out/production/jMAVSim/me/drton/jmavlib/mavlink
./Tools/jMAVSim/out/production/mavlink
./Tools/jMAVSim/mavlink
./Tools/jMAVSim/jMAVlib/src/me/drton/jmavlib/mavlink
./.git/modules/mavlink
./.git/modules/mavlink/include/mavlink
./build/posix_sitl_default/src/modules/mavlink
./mavlink
./mavlink/include/mavlink
./src/platforms/ros/nodes/mavlink
./src/modules/mavlink
user@workstation:~/src/Firmware$
```

## MAVLink :: DroneKit SITL

```bash
user@workstation:~$ dronekit-sitl copter --home=20.654544,-103.3930971,30,0
```

```bash
user@workstation:~$ sudo nmap -p 5700-5800 127.0.0.1

Starting Nmap 7.01 ( https://nmap.org ) at 2018-03-17 15:22 CST
Nmap scan report for localhost (127.0.0.1)
Host is up (0.000028s latency).
Not shown: 100 closed ports
PORT     STATE SERVICE
5760/tcp open  unknown

Nmap done: 1 IP address (1 host up) scanned in 1.51 seconds
user@workstation:~$
```

```bash
user@workstation:~/src/Firmware$ telnet 127.0.0.1 5760
Trying 127.0.0.1...
Connected to 127.0.0.1.
Escape character is '^]'.



Init APM:Copter V3.3 (d6053245)

Free RAM: 4096
FW Ver: 120
----------------------------------------
```

## MAVLink :: JMAVSim

```bash
user@workstation:~$ cd src/Firmware/
user@workstation:~/src/Firmware$ 
user@workstation:~/src/Firmware$ make posix jmavsim
```

```bash
user@workstation:~/src/Firmware$ sudo nmap -sU -p 14500-14600 127.0.0.1
[sudo] password for user: 

Starting Nmap 7.01 ( https://nmap.org ) at 2018-03-17 15:28 CST
Nmap scan report for localhost (127.0.0.1)
Host is up (0.000067s latency).
Not shown: 97 closed ports
PORT      STATE         SERVICE
14550/udp open|filtered unknown
14556/udp open|filtered unknown
14557/udp open          unknown
14560/udp open|filtered unknown

Nmap done: 1 IP address (1 host up) scanned in 10.57 seconds
user@workstation:~/src/Firmware$
```

## MAVLink :: Ardupilot SITL

```bash
user@workstation:~$ cd src/ardupilot
user@workstation:~/src/ardupilot$ 
user@workstation:~/src/ardupilot$ sim_vehicle.py -v ArduCopter -l 20.654544,-103.3930971,30,0
```

```bash
SIM_VEHICLE: Run MavProxy
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"
```

```bash
user@workstation:~$ sudo nmap -p 5700-5800 127.0.0.1
[sudo] password for user: 

Starting Nmap 7.01 ( https://nmap.org ) at 2018-03-17 15:17 CST
Nmap scan report for localhost (127.0.0.1)
Host is up (0.000015s latency).
Not shown: 98 closed ports
PORT     STATE SERVICE
5760/tcp open  unknown
5762/tcp open  unknown
5763/tcp open  unknown

Nmap done: 1 IP address (1 host up) scanned in 1.41 seconds
user@workstation:~$
```


---

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