Module dialect

Expand description

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§

gps_fix_type: GPS_FIX_TYPE: the kind of fix a GpsRawInt reports.
mav_autopilot: MAV_AUTOPILOT: which autopilot stack a Heartbeat comes from.
mav_battery_charge_state: MAV_BATTERY_CHARGE_STATE: how much charge a BatteryStatus says is left, as the autopilot judges it.
mav_battery_fault: MAV_BATTERY_FAULT: bits of the fault field of a BatteryStatus.
mav_battery_function: MAV_BATTERY_FUNCTION: what the battery a BatteryStatus describes powers.
mav_battery_mode: MAV_BATTERY_MODE: whether the battery a BatteryStatus describes is in normal use, discharging for storage, or being swapped.
mav_battery_type: MAV_BATTERY_TYPE: the chemistry of the battery a BatteryStatus describes.
mav_cmd: MAV_CMD: command ids for CommandLong, CommandInt, and the items of a mission, MissionItemInt.
mav_frame: MAV_FRAME: the coordinate frame of a mission item or position target.
mav_landed_state: MAV_LANDED_STATE: whether the vehicle is on the ground, taking off, flying, or landing, in an ExtendedSysState.
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_param_type: MAV_PARAM_TYPE: the type of a parameter’s value, in a ParamValue or a ParamSet.
mav_protocol_capability: MAV_PROTOCOL_CAPABILITY: bits of the capabilities field of an AutopilotVersion, naming the protocol features the autopilot supports.
mav_result: MAV_RESULT: the outcome a CommandAck reports.
mav_severity: MAV_SEVERITY: how urgent a Statustext is, from emergency down to debug.
mav_state: MAV_STATE: the system status carried by a Heartbeat.
mav_sys_status_sensor: MAV_SYS_STATUS_SENSOR: bits of the three sensor fields of a SysStatus, which say what the vehicle has, what it has switched on, and what is healthy.
mav_sys_status_sensor_extended: MAV_SYS_STATUS_SENSOR_EXTENDED: bits of the three extended sensor fields of a SysStatus, for the sensors the first 32 bits have no room for.
mav_type: MAV_TYPE: the kind of vehicle or component a Heartbeat describes.
mav_vtol_state: MAV_VTOL_STATE: the flight phase of a VTOL vehicle, in an ExtendedSysState.
mission_state: MISSION_STATE: where a mission stands, in the state field of a MissionCurrent.
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 acknowledgment 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.
EnumDescriptor: A dialect enumeration: its name, whether its values combine as bits, and every value it names, in the order the dialect lists them.
EnumEntry: One named value of a dialect enumeration.
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.
ENUMS: Every enumeration a field of a typed message names, complete, in the order the dialect defines them.

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.
entry_value: Returns the value a dialect entry name stands for, whichever enumeration it belongs to.
enum_named: Returns a dialect enumeration by name.

Module dialect

Module dialect Copy item path

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Module dialect