Module protocol 

The MAVLink service protocols as pure, allocation-free state machines.

A Frame carries one message; a real exchange with an autopilot is a sequence of them with rules about order, matching, and retransmission. This module holds those rules as sans-IO logic: each machine is fed a decoded incoming message and returns the next message to send and a state transition, with no IO, no timers, and no allocation. The timing policy (when to time out and retransmit) is left to the caller that drives a machine over a link, so the same logic runs on a microcontroller and under an async host runtime alike.

• command - the command protocol: send a command, match its acknowledgement, treat an in-progress result as “keep waiting”, and count retries.
• mission - the mission (plan) transfer protocol, as a MissionSender that answers item requests and a MissionReceiver that requests and collects items; a vehicle and a ground station play opposite roles with the same two machines.
• offboard - the type_mask builder and setpoint constructors for offboard position, velocity, and acceleration control.
• frames - the same machines driven by a Frame at a time: the payload decoding, message-id dispatch, and reply encoding a caller with a link would otherwise write around every machine.

Re-exports

pub use command::AckOutcome;

pub use command::CommandProtocol;

pub use frames::ReceiverStep;

pub use frames::SenderStep;

pub use mission::MissionReceiver;

pub use mission::MissionSender;

pub use mission::ReceiverAction;

pub use offboard::TypeMask;

Modules

command

The command protocol: send a command and interpret its acknowledgement.

frames

The service protocols driven by frames rather than decoded messages.

mission

The mission (plan) transfer protocol.

offboard

Offboard control setpoints: the type_mask builder and setpoint constructors.

Constants

MAX_RETRIES

The default number of times a request is retransmitted before a transfer is abandoned, as the mission protocol recommends.