gomavlib

gomavlib is a library that implements the Mavlink protocol (2.0 and 1.0) in the Go programming language. It can interact with Mavlink-capable devices through a serial port, UDP, TCP or a custom transport, and it can be used to power UGVs, UAVs, ground stations, monitoring systems or routers.

Mavlink is a lightweight and transport-independent protocol that is mostly used to communicate with unmanned ground vehicles (UGV) and unmanned aerial vehicles (UAV, drones, quadcopters, multirotors). It is supported by the most popular open-source flight controllers (Ardupilot and PX4).

This library powers the mavp2p router.

Features:

• Create Mavlink nodes able to communicate with other nodes.
  • Supported transports: serial, UDP (server, client or broadcast mode), TCP (server or client mode), custom reader/writer.
  • Emit heartbeats automatically.
  • Send automatic stream requests to Ardupilot devices (disabled by default).
  • Use both domain names and IPs.
• Decode and encode Mavlink v2.0 and v1.0.
  • Compute and validate checksums.
  • Support all v2 features: empty-byte truncation, signatures, message extensions.
• Use dialects in multiple ways.
  • Ready-to-use standard dialects are available in directory dialects/.
  • Custom dialects can be defined. Aa dialect generator is available in order to convert XML definitions into their Go representation.
  • Use no dialect at all. Messages can be routed without having their content decoded.
• Read and write telemetry logs (tlog)

Table of contents

• Installation
• Examples
• API Documentation
• Dialect generation
• Specifications
• Links

Installation

1. Install Go ≥ 1.21.

2. Create an empty folder, open a terminal in it and initialize the Go modules system:

   go mod init main
   

3. Download one of the example files and place it in the folder.

4. Compile and run:

   go run name-of-the-go-file.go
   

Examples

• node-endpoint-serial
• node-endpoint-udp-server
• node-endpoint-udp-client
• node-endpoint-udp-broadcast
• node-endpoint-tcp-server
• node-endpoint-tcp-client
• node-endpoint-custom
• node-message-read
• node-message-write
• node-signature
• node-dialect-absent
• node-dialect-custom
• node-events
• node-router
• node-router-edit
• node-serial-to-json
• node-stream-requests
• frame-read-writer
• telemetry-log

API Documentation

Click to open the API Documentation

Dialect generation

Standard dialects are provided in the pkg/dialects/ folder, but it's also possible to use custom dialects, that can be converted into Go files by running:

go install github.com/bluenviron/gomavlib/v3/cmd/dialect-import@latest
dialect-import my_dialect.xml

Specifications

name	area
main website	protocol
packet format	protocol
common dialect	dialects
Golang project layout	project layout

Links

Related projects

• mavp2p

Other Go libraries

• gobot
• liamstask/go-mavlink
• ungerik/go-mavlink
• SpaceLeap/go-mavlink
• MAVSDK-Go

Other non-Go libraries

• official library (C)
• pymavlink (Python)
• mavlink.net (C#)
• rust-mavlink (Rust)
• node-mavlink (JS)