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
Copy 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$
Copy user@workstation:~$ dronekit-sitl copter --home=20.654544,-103.3930971,30,0
Copy 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:~$
Copy 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
----------------------------------------
Copy user@workstation:~$ cd src/Firmware/
user@workstation:~/src/Firmware$
user@workstation:~/src/Firmware$ make posix jmavsim
Copy 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
Copy 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
Copy 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"
Copy 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:~$