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MavlinkClient

Inherits from: object No class docstring.

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init

MavlinkClient.__init__(ground_control_station_ip: str, mavlink_port: str, vehicle_ip: str, communication_protocol: str, arm_enable: bool, dry_run: bool, checks_poststart: Optional[List[callable]] = None, checks_preflight: Optional[List[callable]] = None, checks_postarm: Optional[List[callable]] = None, messages_known: Optional[List[str]] = None, messages_required: Optional[List[str]] = None, offboard_control_mode_int: int = None)
Instantiates a Mavlink client for message passing and command sending with a drone, including optional preflight/poststart checks.
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Arguments
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ground_control_station_ip (str)
str
required
IP address of the ground control station
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mavlink_port (str)
str
required
Port number for MAVLink connection
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vehicle_ip (str)
str
required
IP address of the drone/vehicle
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communication_protocol (str)
str
required
Communication protocol, e.g., ‘udp’ or ‘tcp’
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arm_enable (bool)
bool
required
Whether arming is enabled
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dry_run (bool)
bool
required
If True, bypasses arming exceptions
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checks_poststart (Optional[List[callable]])
Optional[List[callable]]
A list of functions to run after the client has started.
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checks_preflight (Optional[List[callable]])
Optional[List[callable]]
A list of functions to run before flight to validate system state.
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checks_postarm (Optional[List[callable]])
Optional[List[callable]]
A list of functions to run immediately after arming to validate system state.
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messages_known (Optional[List[str]])
Optional[List[str]]
List of MAVLink message types expected (default: None)
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messages_required (Optional[List[str]])
Optional[List[str]]
List of MAVLink message types required before proceeding (default: None)
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offboard_control_mode_int (int)
int
Custom offboard control mode value. (default: 6)

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run_checks

MavlinkClient.run_checks(checks: List[callable])
Runs a list of check functions.
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Arguments
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checks (List[callable])
List[callable]
required
A list of functions that accept the client instance and return a boolean.

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get_msg

MavlinkClient.get_msg(msg_type: str)
Thread-safe retrieval of a message from the internal dictionary.
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Arguments
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msg_type (str)
str
required
The name of the message type to retrieve.

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update_setpoint

MavlinkClient.update_setpoint(controls, **kwargs)
Updates the current setpoint and control parameters.
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Arguments
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controls (List[str])
List[str]
required
List of control fields to update.
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kwargs
Values for parameters (e.g., lat, lon, alt, vx, vy, yaw, etc.)

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attempt_command

MavlinkClient.attempt_command(command_name: str, command_id: int, params: List[Any], confirmation: int = 0, max_attempts: int = 3, retry_delay: float = 1.0) -> bool
Attempts to execute a command with retry logic.
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Arguments
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command_name (str)
str
required
Command description for logging.
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command_id (int)
int
required
MAVLink command ID.
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params (List[Any])
List[Any]
required
List of 7 parameters for the command.
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confirmation (int)
int
0 for initial transmission, 1-255 for confirmations.
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max_attempts (int)
int
Maximum retry attempts.
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retry_delay (float)
float
Delay between attempts.
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Returns
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bool
bool
True if the command is acknowledged successfully; False otherwise.

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set_custom_msg_rates

MavlinkClient.set_custom_msg_rates(msg_id: int, interval_us: int)
Sets custom message publishing rates for a given MAVLink message.
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Arguments
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msg_id (int)
int
required
The MAVLink message ID.
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interval_us (int)
int
required
The interval in microseconds between messages.
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Returns
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bool
True if successful, False otherwise.

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request_msg

MavlinkClient.request_msg(msg_id: int)
Requests a specific MAVLink message from the drone.
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Arguments
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msg_id (int)
int
required
The MAVLink message ID.
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Returns
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bool
True if the request was successful, False otherwise.

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reset_ned_origin

MavlinkClient.reset_ned_origin() -> bool
Resets the MAVLink NED origin using the current position.
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Returns
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bool
bool
True if the origin was reset successfully, False otherwise.

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arm

MavlinkClient.arm()
Arms the drone (if permitted).
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Returns
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bool
True if the drone was successfully armed, False otherwise.

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disarm

MavlinkClient.disarm()
Disarms the drone.
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Returns
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bool
True if disarm was successful, False otherwise.

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set_offboard_control

MavlinkClient.set_offboard_control()
Sets the drone’s control mode to OFFBOARD, enabling external setpoint control.
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Returns
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bool
True if offboard control was successfully set, False otherwise.

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start

MavlinkClient.start()
Starts the drone client by resetting NED origin, arming, and setting offboard control.

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terminate

MavlinkClient.terminate()
Terminates the client and shuts down all threads.