MavlinkDirect

class mavsdk.mavlink_direct.MavlinkDirect(async_plugin_manager)

Bases: AsyncBase

Enable direct MAVLink communication using libmav.

Generated by dcsdkgen - MAVSDK MavlinkDirect API

async load_custom_xml(xml_content)

Load custom MAVLink message definitions from XML.

This allows loading custom MAVLink message definitions at runtime, extending the available message types beyond the built-in definitions.

Parameters:

xml_content (std::string) – The custom MAVLink XML definition content

Raises:

MavlinkDirectError – If the request fails. The error contains the reason for the failure.

async message(message_name)

Subscribe to incoming MAVLink messages.

This provides direct access to incoming MAVLink messages. Use an empty string in message_name to subscribe to all messages, or specify a message name (e.g., “HEARTBEAT”) to filter for specific message types.

Parameters:

message_name (std::string) – MAVLink message name to filter for (e.g., “HEARTBEAT”), empty string = all messages

Yields:

message (MavlinkMessage) – The received MAVLink message

name = 'MavlinkDirect'

async send_message(message)

Send a MAVLink message directly to the system.

This allows sending any MAVLink message with full control over the message content.

Parameters:

message (MavlinkMessage) – The MAVLink message to send

Raises:

MavlinkDirectError – If the request fails. The error contains the reason for the failure.

exception mavsdk.mavlink_direct.MavlinkDirectError(result, origin, *params)

Bases: Exception

Raised when a MavlinkDirectResult is a fail code

class mavsdk.mavlink_direct.MavlinkDirectResult(result, result_str)

Bases: object

Result type.

Parameters:

• result (Result) – Result enum value

• result_str (std::string) – Human-readable English string describing the result

class Result(value)

Bases: Enum

Possible results returned for action requests.

Values

UNKNOWN

Unknown result

SUCCESS

Request succeeded

ERROR

Error

INVALID_MESSAGE

Invalid MAVLink message

INVALID_FIELD

Invalid field name or value

CONNECTION_ERROR

Connection error

NO_SYSTEM

No system connected

TIMEOUT

Request timed out

CONNECTION_ERROR = 5

ERROR = 2

INVALID_FIELD = 4

INVALID_MESSAGE = 3

NO_SYSTEM = 6

SUCCESS = 1

TIMEOUT = 7

UNKNOWN = 0

class mavsdk.mavlink_direct.MavlinkMessage(message_name, system_id, component_id, target_system, target_component, fields_json)

Bases: object

A complete MAVLink message with all header information and fields

Parameters:

• message_name (std::string) – MAVLink message name (e.g., “HEARTBEAT”, “GLOBAL_POSITION_INT”)

• system_id (uint32_t) – System ID of the sender (for received messages)

• component_id (uint32_t) – Component ID of the sender (for received messages)

• target_system (uint32_t) – Target system ID (for sending, 0 for broadcast)

• target_component (uint32_t) – Target component ID (for sending, 0 for broadcast)

• fields_json (std::string) – All message fields as single JSON object