Class MavlinkFrame

Namespace

Pamoja.Mavlink

Assembly

Pamoja.Mavlink.dll

One MAVLink frame, assembled or received.

public sealed class MavlinkFrame : IDisposable

Inheritance

object

MavlinkFrame

Implements

IDisposable

Inherited Members

object.Equals(object)

object.Equals(object, object)

object.GetHashCode()

object.GetType()

object.ReferenceEquals(object, object)

object.ToString()

Properties

Bytes

The whole frame, ready to put on the wire.

public byte[] Bytes { get; }

Property Value

byte[]

Header

The addressing fields the frame carries.

public MavlinkHeader Header { get; }

Property Value

MavlinkHeader

IncompatFlags

The incompatibility flags a v2 frame declares.

public byte IncompatFlags { get; }

Property Value

byte

MessageId

The id of the message the frame carries.

public uint MessageId { get; }

Property Value

uint

Payload

The message payload.

public byte[] Payload { get; }

Property Value

byte[]

Remarks

A v2 frame drops trailing zero bytes, so a payload can arrive shorter than the message's full length; a decoder zero-extends it.

Signature

The signature block, or null when the frame is not signed.

public byte[]? Signature { get; }

Property Value

byte[]

Signed

Whether the frame carries a signature.

public bool Signed { get; }

Property Value

bool

Remarks

This says only that the frame was signed, not that the signature is good; Verify(MavlinkFrame) decides that.

Version

Which wire format this frame uses.

public MavlinkVersion Version { get; }

Property Value

MavlinkVersion

Methods

Dispose()

Performs application-defined tasks associated with freeing, releasing, or resetting unmanaged resources.

public void Dispose()

EncodeV1(MavlinkHeader, uint, ReadOnlySpan<byte>, byte)

Assembles a v1 frame, for a peer that predates MAVLink 2.

public static MavlinkFrame EncodeV1(MavlinkHeader header, uint msgid, ReadOnlySpan<byte> payload, byte crcExtra)

Parameters

header MavlinkHeader

The addressing fields to stamp on the frame.

msgid uint

The message id; a v1 frame only carries ids below 256.

payload ReadOnlySpan<byte>

The message payload.

crcExtra byte

The seed for this message id.

Returns

MavlinkFrame

The frame ready to send.

Exceptions

PamojaException

The id or payload does not fit a v1 frame.

EncodeV2(MavlinkHeader, uint, ReadOnlySpan<byte>, byte)

Assembles a v2 frame carrying a message.

public static MavlinkFrame EncodeV2(MavlinkHeader header, uint msgid, ReadOnlySpan<byte> payload, byte crcExtra)

Parameters

header MavlinkHeader

The addressing fields to stamp on the frame.

msgid uint

The message id.

payload ReadOnlySpan<byte>

The message payload.

crcExtra byte

The seed for this message id.

Returns

MavlinkFrame

The frame ready to send.

Remarks

This is the current wire format and what a modern autopilot expects.

Exceptions

PamojaException

The payload does not fit a frame.

Parse(ReadOnlySpan<byte>, byte)

Parses one frame, checking it against a known CRC_EXTRA.

public static MavlinkFrame Parse(ReadOnlySpan<byte> bytes, byte crcExtra)

Parameters

bytes ReadOnlySpan<byte>

The frame as received.

crcExtra byte

The seed for the message the frame carries.

Returns

MavlinkFrame

The parsed frame.

Exceptions

PamojaException

The bytes are not a whole frame or the checksum does not match, which is what rejects a frame mangled in transit.

ParseKnown(ReadOnlySpan<byte>, MavlinkDialect?)

Parses one frame, looking its CRC_EXTRA up as it goes.

public static MavlinkFrame ParseKnown(ReadOnlySpan<byte> bytes, MavlinkDialect? dialect = null)

Parameters

bytes ReadOnlySpan<byte>

The frame as received.

dialect MavlinkDialect

The dialect to prefer, or null for the common one.

Returns

MavlinkFrame

The parsed frame.

Remarks

This is what a receiver holding many message types uses: the id comes out of the frame, and the seed comes from the dialect or the common registry.

Exceptions

PamojaException

The bytes are not a whole frame, the checksum does not match, or no dialect here knows the message id.

Raw(MavlinkHeader, uint, byte, ReadOnlySpan<byte>)

Assembles a v2 frame carrying a message this build does not type.

public static MavlinkFrame Raw(MavlinkHeader header, uint msgid, byte crcExtra, ReadOnlySpan<byte> payload)

Parameters

header MavlinkHeader

The addressing fields to stamp on the frame.

msgid uint

The message id.

crcExtra byte

The seed for this message id.

payload ReadOnlySpan<byte>

The message payload.

Returns

MavlinkFrame

The frame ready to send.

Remarks

The escape hatch a private dialect needs: supply the id, the payload, and the seed, and the frame is built and checked like any other.

Exceptions

PamojaException

The payload does not fit a frame.