MAVLink Java tool used by the UgCS ground control software.
- Runtime provides a stream-based little-endian and big-endian encoder and decoder.
- All generated payload classes are immutable and thus are safe for use in a concurrent environment.
- Can be used for Android applications development.
Unsigned integers are represented by the wider signed integer types (except ulong64_t).
| MAVLink type | Java type |
|---|---|
| uint8_t | short |
| uint16_t | int |
| uint32_t | long |
| uint64_t | long (not a BigInteger for the CDC compatibility) |
See http://qgroundcontrol.org/mavlink/start (Packet Anatomy section)
[0] Packet start sign v1.0: 0xFE (v0.9: 0x55) Indicates the start of a new packet.
[1] Payload length (0-255) Indicates length of the following payload.
[2] Packet sequence (0-255) Each component counts up his send sequence. Allows to detect packet loss
[3] System ID (1-255) ID of the SENDING system. Allows to differentiate different MAVs on the same network.
[4] Component ID (0-255) ID of the SENDING component. Allows to differentiate different components of the same system, e.g. the IMU and the autopilot.
[5] Message ID (0-255) ID of the message - the id defines what the payload “means” and how it should be correctly decoded.
[6] .. [n + 6] Data (0-255) bytes Data of the message, depends on the message id.
[n + 7] .. [n + 8] Checksum (low byte, high byte) ITU X.25/SAE AS-4 hash, excluding packet start sign, so bytes 1..(n+6) Note: The checksum also includes MAVLINK_CRC_EXTRA (Number computed from message fields. Protects the packet from decoding a different version of the same packet but with different variables).