@spec pack_and_send(XMAVLink.Message.t()) :: :ok | {:error, :protocol_undefined}

Send a MAVLink message to one or more recipients using available connections. For now if destination is unreachable it will log a warning

Parameters

• router: Optional router name or pid. Defaults to XMAVLink.Router.
• message: A MAVLink message structure from the installed dialect
• version: Force sending using a specific MAVLink protocol (default 2)
• opts: Optional send settings:
  • :source_system and :source_component override the router's configured local identity for this message. Provide both or neither.

Example

  XMAVLink.Router.pack_and_send(
    %Common.RcChannelsOverride{
      target_system: 1,
      target_component: 1,
      chan1_raw: 1500,
      chan2_raw: 1500,
      chan3_raw: 1500,
      chan4_raw: 1500,
      chan5_raw: 1500,
      chan6_raw: 1500,
      chan7_raw: 1500,
      chan8_raw: 1500,
      chan9_raw: 0,
      chan10_raw: 0,
      chan11_raw: 0,
      chan12_raw: 0,
      chan13_raw: 0,
      chan14_raw: 0,
      chan15_raw: 0,
      chan16_raw: 0,
      chan17_raw: 0,
      chan18_raw: 0
    }
  )

@spec send_message(XMAVLink.Message.t()) :: {:ok, delivery()} | {:error, term()}

Synchronously pack, route, and send a MAVLink message.

This is the structured alternative to pack_and_send/2..4. Pass :version in opts to select MAVLink 1 or 2, and pass :source_system plus :source_component to override the router's local identity for this message.

The success reply includes the selected recipient connection keys. Connection keys are internal runtime identifiers, but they are useful for observability and tests.

@spec start_link(
  %{
    :system => 1..255,
    :component => 1..255,
    :dialect => module(),
    optional(:name) => router_name() | nil,
    optional(:connection_strings) => [String.t()],
    optional(:connections) => [String.t()],
    optional(:connection_retry_ms) => non_neg_integer(),
    optional(:remote_forwarding) => boolean(),
    optional(:signing) => keyword() | nil
  },
  [{atom(), any()}]
) :: {:ok, pid()}

Start the MAVLink Router service. You should not call this directly, use the MAVLink application to start this under a supervision tree with the services it expects to use.

Parameters

• dialect: Name of the module generated by mix mavlink task to represent the enumerations

                  and messages of a particular MAVLink dialect

• system: The System id of this system 1..255, typically low for vehicles and high for

                  ground stations

• component: The component id of this system 1..255, typically 1 for the autopilot

• connection_strings: A list of strings in the following formats:

                  udpin:<local ip>:<local port>
                  udpout:<remote ip>:<remote port>
                  tcpout:<remote ip>:<remote port>
                  serial:<device>:<baud rate>

• connection_retry_ms:

                  Retry delay for configured connection workers after
                  open failures or TCP/serial disconnects. Defaults to
                  1000 ms.

• remote_forwarding:

                  Whether frames received from remote links are forwarded
                  to other remote links. Defaults to true. Set false for
                  endpoint/GCS use cases that should receive remote
                  traffic locally without bridging it between links.

• opts: Standard GenServer options. Pass :name to register

                  a non-default router, or `name: nil` in the args map to
                  start an unregistered router addressed by pid.

@spec subscribe() :: :ok | {:error, :invalid_message}

Subscribes the calling process to MAVLink messages from the installed dialect matching the query.

Parameters

• router: Optional router name or pid. Defaults to XMAVLink.Router.

• query: Keyword list of zero or more of the following query keywords:

  message: message_module | :unknown (use latter with as_frame) source_system: integer 0..255 source_component: integer 0..255 target_system: integer 0..255 target_component: integer 0..255 as_frame: true|false (default false, shows entire message frame with sender/target details)

Example

  XMAVLink.Router.subscribe message: XMAVLink.Message.Heartbeat, source_system: 1

@spec unsubscribe() :: :ok

Un-subscribes calling process from all existing subscriptions

Example

  XMAVLink.Router.unsubscribe