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