Module dialect 

The typed message layer: a broad slice of the MAVLink common dialect, plus the seam that lets any message id be carried and checked.

A Frame moves opaque payload bytes; this module gives those bytes meaning. Each typed message knows its id, its CRC_EXTRA seed, and how its fields are laid out on the wire, so a sender fills named fields instead of hand-packing a buffer and a receiver reads them back. The set covers what a ground station and an autopilot actually exchange: the periodic Heartbeat, system status, the command, parameter, and mission protocols, and the core position and attitude telemetry.

Messages are declared from one source of truth and their byte layout is derived from it, including the field reordering MAVLink applies (largest field first). Each message carries the official CRC_EXTRA for its shape, and a test re-derives that seed from the field definitions, so a wrong field type, name, or order is caught against the published dialect rather than only by a round-trip.

A message this crate does not type is still reachable two ways: RawMessage carries it by id and raw payload, and a MessageDescriptor gives those bytes named fields, so a vendor’s dialect is usable at runtime without being compiled in.

Modules

mav_autopilot

MAV_AUTOPILOT: which autopilot stack a Heartbeat comes from.

mav_cmd

MAV_CMD: command ids for CommandLong and CommandInt.

mav_frame

MAV_FRAME: the coordinate frame of a mission item or position target.

mav_mission_result

MAV_MISSION_RESULT: the outcome a MissionAck reports.

mav_mission_type

MAV_MISSION_TYPE: which plan a mission transfer carries, in the mission_type field of the MISSION_* messages.

mav_mode_flag

MAV_MODE_FLAG: bits of the base mode field of a Heartbeat.

mav_result

MAV_RESULT: the outcome a CommandAck reports.

mav_state

MAV_STATE: the system status carried by a Heartbeat.

mav_type

MAV_TYPE: the kind of vehicle or component a Heartbeat describes.

position_target_typemask

POSITION_TARGET_TYPEMASK: the bits of the type_mask field of SetPositionTargetLocalNed and SetPositionTargetGlobalInt.

Structs

Attitude

ATTITUDE: the vehicle’s orientation and angular rates in radians.

AttitudeQuaternion

ATTITUDE_QUATERNION: orientation as a quaternion, with angular rates.

AutopilotVersion

AUTOPILOT_VERSION: the autopilot’s capability flags and firmware versions.

BatteryStatus

BATTERY_STATUS: a battery’s charge, current, temperature, and per-cell voltages.

CommandAck

COMMAND_ACK: the vehicle’s acknowledgement of a command, carrying the result.

CommandInt

COMMAND_INT: a command in a coordinate frame, with integer-encoded position.

CommandLong

COMMAND_LONG: a command for the vehicle to run, with up to seven float parameters.

DynamicMessage

A message read and written by field name against a MessageDescriptor.

ExtendedSysState

EXTENDED_SYS_STATE: the VTOL and landed state of the vehicle.

FieldDescriptor

One field of a message: its name, type, and place in the layout.

GlobalPositionInt

GLOBAL_POSITION_INT: the fused global position, altitude, and velocity.

GpsRawInt

GPS_RAW_INT: the raw GPS fix: position, accuracy, speed, and satellite count.

Heartbeat

HEARTBEAT: the periodic broadcast every MAVLink node sends to announce its type, autopilot, and status, and the frame a peer waits for before deciding a link is up.

HomePosition

HOME_POSITION: the vehicle’s home location and the approach vector to it.

LocalPositionNed

LOCAL_POSITION_NED: the vehicle’s local position and velocity in the NED frame.

ManualControl

MANUAL_CONTROL: a pilot’s stick and button input, normalized to a fixed range.

MessageDescriptor

The shape of one message: what a sender fills in and a receiver reads back.

MessageDescriptorBuilder

Builds a message shape from a definition written the way a dialect reads.

MissionAck

MISSION_ACK: acknowledges the end of a mission transfer with a result.

MissionClearAll

MISSION_CLEAR_ALL: asks the vehicle to erase a stored plan.

MissionCount

MISSION_COUNT: announces how many items a mission transfer will contain, and which plan (mission, geofence, or rally) the transfer carries.

MissionCurrent

MISSION_CURRENT: the sequence number of the mission item the vehicle is running.

MissionItemInt

MISSION_ITEM_INT: one mission item, with integer-encoded position.

MissionRequest

MISSION_REQUEST: requests one mission item by sequence number, the legacy request some autopilots still send in place of MissionRequestInt.

MissionRequestInt

MISSION_REQUEST_INT: requests one mission item by sequence number, with position returned integer-encoded.

MissionRequestList

MISSION_REQUEST_LIST: asks the vehicle to begin downloading a plan by reporting its MissionCount.

OwnedDialect

A dialect a caller owns: message shapes looked up by id or name.

OwnedFieldDescriptor

One field of an owned message shape.

OwnedMessageDescriptor

A message shape a caller owns, for a message from a dialect this crate does not type.

ParamRequestList

PARAM_REQUEST_LIST: asks the vehicle to stream all of its onboard parameters.

ParamRequestRead

PARAM_REQUEST_READ: asks the vehicle for one onboard parameter, by name or index.

ParamSet

PARAM_SET: sets one onboard parameter on the vehicle.

ParamValue

PARAM_VALUE: one onboard parameter’s value, type, and position in the set.

Ping

PING: a round-trip timing and reachability probe.

RawMessage

A message this crate does not type, carried by id and raw payload.

RcChannels

RC_CHANNELS: the raw values of up to eighteen RC input channels.

ServoOutputRaw

SERVO_OUTPUT_RAW: the raw PWM values driving the first eight servo outputs.

SetMode

SET_MODE: requests the vehicle switch base and custom flight modes.

SetPositionTargetGlobalInt

SET_POSITION_TARGET_GLOBAL_INT: an offboard setpoint in the global frame, with integer-encoded latitude and longitude.

SetPositionTargetLocalNed

SET_POSITION_TARGET_LOCAL_NED: an offboard position, velocity, or thrust setpoint in the local NED frame.

Statustext

STATUSTEXT: a human-readable status message with a severity.

SysStatus

SYS_STATUS: the vehicle’s onboard sensor health, load, and battery state.

SystemTime

SYSTEM_TIME: the vehicle’s Unix and boot time, used to align clocks across a link.

VfrHud

VFR_HUD: the heads-up flight summary: speeds, heading, throttle, altitude, climb.

Enums

FieldType

The scalar type of a message field, as a dialect declares it.

FieldValue

A field’s value, whichever of the three kinds its type calls for.

Constants

DESCRIPTORS

Every typed message’s shape, in message-id order.

Traits

Message

A typed MAVLink message: its identity on the wire and how it serializes.

Functions

crc_extra

Returns the CRC_EXTRA for a common-dialect message id, if known.

descriptor

Returns the shape of a common-dialect message, if this crate types it.

descriptor_by_name

Returns the shape of a common-dialect message by name.

encode_message

Builds a v2 frame carrying a typed message.