# Changelog ## Unreleased ## 0.14.3 - 2026-06-25 ### Changed - Hardened MAVLink XML generation by rejecting reserved identifiers before source generation. ### Tests - Added router coverage for subscriber cleanup and independent outbound signing state across multiple UDP connections. - Added a downstream compatibility smoke fixture and CI coverage for docs and example workflows. ## 0.14.2 - 2026-06-25 ### Added - Added MAVLink XML parser hardening for include cycles, conflicting include paths, file-size limits, include-depth limits, and include-count limits. ### Changed - Utility cache ETS tables now store typed cache structs for visible systems, latest messages, and parameter values. Use `XMAVLink.Util.CacheManager` query APIs instead of relying on direct ETS payload shapes. - Clarified the public HexDocs API surface and hid internal transport delegate modules from generated documentation. ## 0.14.1 - 2026-06-25 ### Added - Added public utility cache query APIs for listing cached systems, reading the latest cached message, and reading a cached parameter without direct ETS access. - Added a `0.14.0` migration guide and a deployment safety checklist. ### Tests - Added deterministic malformed-frame parser coverage and parser resynchronization coverage. - Added connection worker lifecycle coverage for close and reconnect behavior. ## 0.14.0 - 2026-06-24 ### Breaking Changes - Formalized utility scoping around `XMAVLink.Util.Context`. Utility callers that need non-default ETS table names should pass `context: context` instead of relying on hard-coded global table names. - Direct utility ETS table access should migrate from fixed names such as `:messages`, `:systems`, `:params`, and `:sessions` to `XMAVLink.Util.Tables.name/2` or `XMAVLink.Util.Context.tables`. ### Added - Added `XMAVLink.Router.send_message/1..3`, a synchronous send API that returns delivery metadata while preserving the existing `pack_and_send` APIs. - Added `XMAVLink.Util.Context` and `context: context` utility options so cache, focus, parameter, arm/disarm, and SITL helpers can be scoped by router, dialect, and table namespace. - Added internal router architecture modules for configuration normalization, connection-string parsing, route selection, transport behaviour contracts, shared inbound frame parsing, and generated dialect behaviour contracts. ### Fixed - Fixed local MAVLink sequence numbers to wrap after the full `0..255` range. - Preserved utility focus independently for each scoped utility context. - Deduplicated targeted route recipients when multiple learned MAVLink addresses resolve to the same connection. - Updated the `XMAVLink.Message` invalid-term fallback to stay compatible with warnings-as-errors while preserving `Protocol.UndefinedError` for unknown message structs. ## 0.13.0 - 2026-05-11 - Added `remote_forwarding: false` router/application configuration for endpoint or GCS use cases that should receive remote MAVLink traffic locally without forwarding it between remote links. ## 0.12.2 - 2026-05-11 - Hardened MAVLink XML generator validation for duplicate or conflicting message module names. ## 0.12.1 - 2026-05-08 - Added router route invalidation when a `SYSTEM_TIME.time_boot_ms` decrease indicates a remote system rebooted. ## 0.12.0 - 2026-05-08 - Added MAVLink 2 signed-frame parsing and signature trailer representation. - Added a low-level MAVLink 2 frame signing helper for already packed frames. - Added reusable MAVLink 2 signature validation and inbound replay-policy helpers. - Added inbound router and connection signing policy wiring so configured receive paths can verify signed MAVLink 2 frames, reject replayed signatures, and reject unsigned MAVLink 2 frames by default while signing is enabled. - Added outbound router signing for unsigned MAVLink 2 frames sent over signing-enabled connections, with per-connection timestamp increments. - Added MAVLink 2 signing timestamp load/save callbacks so applications can persist local signing timestamps across restarts. - Made inbound `SETUP_SIGNING` frames local-only so key material is not forwarded between MAVLink links by generic routing. ## 0.11.1 - 2026-05-08 - Made generated MAVLink 2 packers use zero-equivalent defaults for omitted extension fields while preserving MAVLink 1 packing behavior. - Added generator coverage for omitted and provided MAVLink 2 extension values, including scalar, array, enum, bitmask, float, double, and char fields. ## 0.11.0 - 2026-05-08 - Added the MAVLink 1.0 spec alignment checklist and support statement, with MAVLink 2 as the primary compatibility target. - Made generated MAVLink 2 unpackers ignore future extension bytes for forward compatibility with dialects that append extension fields. - Preserved MAVLink 2 zero-length payloads, consumed unsupported signed-frame signature trailers on stream transports, and aligned generated bitmask fields with XML `bitmask="true"` declarations. ## 0.10.2 - 2026-05-08 - Dropped unsupported MAVLink 2 frames with incompatible flags on UDP receive paths instead of crashing while attempting to validate a nil frame. - Added `auto_param_request: false` utility configuration for deployments that need to discover vehicles before automatically requesting parameter lists. - Documented security reporting, MAVLink trust boundaries, and trusted-input expectations for dialect XML generation. ## 0.10.1 - 2026-05-07 - Made generated dialect source deterministic and formatter-compatible by removing timestamp/path churn, combining parsed XML inputs in stable order, formatting the generated output before writing it, and including generated Common output in the formatter gate. ## 0.10.0 - 2026-05-07 - Made utility supervision opt-in and documented how to start utilities for the configured router or an explicitly supervised named router. - Clarified that the current utility layer is scoped to one selected router per VM while the core router API remains the multi-router integration surface. - Changed utility focus and cache helpers to return normal `{:error, reason}` results when utility state or MAV data is missing. - Added bounded retry behavior and cleanup for arm/disarm, parameter request, and parameter set helpers. - Changed parameter query results to use MAVLink parameter names as string keys instead of creating atoms from vehicle-provided input. - Added configurable SITL RC forwarding destination addresses. ## 0.9.1 - 2026-05-07 - Strengthened CI release gates with formatting, warnings-as-errors, xref, tests, and Dialyzer coverage across the supported toolchain checks. - Clarified supported transports and MAVLink 2 limitations in public docs. - Fixed utility process lifecycle issues in `CacheManager` and `FocusManager`. ## 0.9.0 - 2026-05-07 - Moved configured connection startup and reconnect behavior under supervised per-router connection workers with explicit retry delays. - Added documentation and coverage for connection worker retry/reconnect behavior. ## 0.8.0 - 2026-05-07 - Added named router instance support while preserving the default `XMAVLink.Router` convenience process. - Added targetable `subscribe`, `unsubscribe`, and `pack_and_send` router APIs for named or pid router instances. - Isolated local subscription restart caches per named router. ## 0.7.1 - 2026-05-07 - Fixed TCP outbound forwarding to send MAVLink frames over the TCP socket instead of attempting to use UDP send calls. - Added TCP forwarding regression coverage for MAVLink 1 and MAVLink 2 frames. - Reduced expected test-suite noise from generated task output and runtime logs. ## 0.7.0 - 2026-05-07 - Added per-message `source_system` and `source_component` overrides to `XMAVLink.Router.pack_and_send/3`. - Added heartbeat source identity options and `:heartbeats` supervisor config for multiple local MAVLink identities sharing one router. - Fixed outbound local sequence tracking so each local source identity uses an independent MAVLink sequence counter. - Preserved the existing default router identity behavior for callers that do not pass source overrides.