java Mavlink sdk使用

1.引入maven坐标

<dependency>
    <groupId>io.dronefleet.mavlink</groupId>
    <artifactId>mavlink</artifactId>
    <version>1.1.11</version>
</dependency>

2.连接

通过socket 建立tcp连接，并传入 InputStream,OutputStream 创建完成后该MavlinkConnection为最总连接对象，发送消息与接收消息通过该对象进行操作

Socket socket = new Socket(ip,port);
MavlinkConnection mavlinkConnect = MavlinkConnection.create(socket.getInputStream(), socket.getOutputStream());

3.建立消息监听

下面列举了常用的一些消息信息

MavlinkMessage message;
while ((message = mavlinkConnect.next()) != null) {
    if (message instanceof Mavlink2Message) {
        Mavlink2Message msg2 = (Mavlink2Message)message;
        //System.out.println(msg2);
        // 接收的消息其负载类型不是静态可知的，我们可通过负载来识别消息类型：
        if (message.getPayload() instanceof Heartbeat) {
            // 心跳消息
            MavlinkMessage<Heartbeat> heartbeatMsg = (MavlinkMessage<Heartbeat>)message;
        }else if(message.getPayload() instanceof GlobalPositionInt){
            //gps消息
            MavlinkMessage<GlobalPositionInt> globalPositionIntMavlinkMessage = (MavlinkMessage<GlobalPositionInt>)message;
            GlobalPositionInt payload = globalPositionIntMavlinkMessage.getPayload();
            //System.out.println("GPS消息："+payload);
        }else if(message.getPayload() instanceof VfrHud){
            //hud消息
            MavlinkMessage<VfrHud> vfrHudMavlinkMessage = (MavlinkMessage<VfrHud>)message;
            VfrHud vfrHud = vfrHudMavlinkMessage.getPayload();
            //System.out.println("HUD消息"+vfrHud);

        }else if(message.getPayload() instanceof GpsStatus){
            //gps状态消息
            MavlinkMessage<GpsStatus> gpsStatusMavlinkMessage = (MavlinkMessage<GpsStatus>)message;
            GpsStatus gpsStatus = gpsStatusMavlinkMessage.getPayload();
            //System.out.println("gps状态"+gpsStatus);
        }else if(message.getPayload() instanceof GpsRawInt){
            //gps信息
            MavlinkMessage<GpsRawInt> gpsRawIntMavlinkMessage = (MavlinkMessage<GpsRawInt>)message;
            GpsRawInt gpsRawInt = gpsRawIntMavlinkMessage.getPayload();
            //System.out.println("GPS_RAW_INT信息："+gpsRawInt);
        }else if(message.getPayload() instanceof  Attitude){
            //姿态
            MavlinkMessage<Attitude> attitudeMavlinkMessage = (MavlinkMessage<Attitude>)message;
            Attitude attitude = attitudeMavlinkMessage.getPayload();
            //System.out.println("姿态信息："+attitude);
        }else if(message.getPayload() instanceof RcChannels){
            //通道，油门通道值
            MavlinkMessage<RcChannels> rcChannelsMavlinkMessage = (MavlinkMessage<RcChannels>)message;
            RcChannels rcChannels = rcChannelsMavlinkMessage.getPayload();
            //System.out.println("油门通道信息："+rcChannels);
        }else if(message.getPayload() instanceof BatteryStatus){
            //电池状态
            MavlinkMessage<BatteryStatus> batteryStatusMavlinkMessage = (MavlinkMessage<BatteryStatus>)message;
            BatteryStatus batteryStatus = batteryStatusMavlinkMessage.getPayload();
            //System.out.println("电池状态信息："+batteryStatus);
        }else if(message.getPayload() instanceof SysStatus){
            MavlinkMessage<SysStatus> sysStatusMavlinkMessage = (MavlinkMessage<SysStatus>)message;
            SysStatus sysStatus = sysStatusMavlinkMessage.getPayload();
            //System.out.println("系统状态信息："+sysStatus);
        }else if(message.getPayload() instanceof CommandAck ){
            //命令回调信息
            MavlinkMessage<CommandAck> commandAckMavlinkMessage = (MavlinkMessage<CommandAck>)message;
            CommandAck commandAck = commandAckMavlinkMessage.getPayload();
            EnumValue<MavResult> result = commandAck.result();

            System.out.println("命令状态信息："+commandAck);
        }else if(message.getPayload() instanceof Statustext){
            //状态文本,该消息会返回相关的异常信息
            MavlinkMessage<Statustext> statustextMavlinkMessage = (MavlinkMessage<Statustext>)message;
            Statustext statustext = statustextMavlinkMessage.getPayload();

            System.out.println("状态文本信息："+statustext);
        }

    } else {
        // Mavlink1消息
    }


}

其中CommandAck消息比较重要，发送的命令是否执行成功通过该消息进行通知

具体内容可以在mavlink官网查看 mavlink.io/en/messages…

Statustext消息为 会返回相关的异常信息，比如模式为AUTO时，解锁会报Arm: AUTO mode not armable

Statustext{severity=EnumValue{value=2, entry=MAV_SEVERITY_CRITICAL}, text=Arm: AUTO mode not armable, id=0, chunkSeq=0}

4.设置周期回传信息

通过 RequestDataStream进行构建，并发送

下面为构建streamId为11的信息

int sysId = 255; int compId = 0;
//启用hud
RequestDataStream requestDataStream = RequestDataStream.builder()
        .targetSystem(1)
        .targetComponent(1)
        .reqMessageRate(1)
        .startStop(1)
        .reqStreamId(11).build();
Thread.sleep(3000);
mavlinkConnect.send2(sysId,compId,requestDataStream);

下图为streamId值，具体streamId值查看mavlink官网 mavlink.io/en/messages…

5.发送CommandLong 类型消息

下面为发送解锁代码

command为操作类型，具体操作类型查看mavlink官网

sdk中 MavCmd枚举类中包含具体的类型值

CommandLong commandLong = CommandLong.builder()
        .targetSystem(1)
        .targetComponent(1)
        .command(MavCmd.MAV_CMD_COMPONENT_ARM_DISARM)
        .confirmation(0)
        .param1(1)
        .param2(0).build();
mavlinkConnect.send2(sysId,compId,commandLong);

下图为CommandLong(76)格式，具体查看mavlink官网 mavlink.io/en/messages…

6.整体逻辑代码

package com.wwy.demo;

import io.dronefleet.mavlink.Mavlink2Message;
import io.dronefleet.mavlink.MavlinkConnection;
import io.dronefleet.mavlink.MavlinkMessage;
import io.dronefleet.mavlink.common.*;
import io.dronefleet.mavlink.minimal.Heartbeat;
import io.dronefleet.mavlink.util.EnumValue;

import java.io.EOFException;
import java.io.IOException;
import java.net.Socket;
import java.net.UnknownHostException;

/**
 * @Author: wwy
 * @Date: 2025-05-28 9:18
 */
public class MavlinkExample {


    /**
     * 连接对象
     */

    public  MavlinkConnection connect(String ip,int port) throws IOException {
        // 此处用TCP套接字举例，实际上也可以用UDP套接字（通过PipedInputStream/PipedOutputStream注入MavlinkConnection），甚至USB（需实现最终提供InputStream和OutputStream的接口）。
        Socket socket = new Socket(ip,port);
        MavlinkConnection mavlinkConnect = MavlinkConnection.create(socket.getInputStream(), socket.getOutputStream());
        return mavlinkConnect;

    }



    public  void messageCallBack(MavlinkConnection mavlinkConnect) throws IOException {
        MavlinkMessage message;
        while ((message = mavlinkConnect.next()) != null) {
            if (message instanceof Mavlink2Message) {
                Mavlink2Message msg2 = (Mavlink2Message)message;
                //System.out.println(msg2);
                // 接收的消息其负载类型不是静态可知的，我们可通过负载来识别消息类型：
                if (message.getPayload() instanceof Heartbeat) {
                    // 心跳消息
                    MavlinkMessage<Heartbeat> heartbeatMsg = (MavlinkMessage<Heartbeat>)message;
                }else if(message.getPayload() instanceof GlobalPositionInt){
                    //gps消息
                    MavlinkMessage<GlobalPositionInt> globalPositionIntMavlinkMessage = (MavlinkMessage<GlobalPositionInt>)message;
                    GlobalPositionInt payload = globalPositionIntMavlinkMessage.getPayload();
                    //System.out.println("GPS消息："+payload);
                }else if(message.getPayload() instanceof VfrHud){
                    //hud消息
                    MavlinkMessage<VfrHud> vfrHudMavlinkMessage = (MavlinkMessage<VfrHud>)message;
                    VfrHud vfrHud = vfrHudMavlinkMessage.getPayload();
                    //System.out.println("HUD消息"+vfrHud);

                }else if(message.getPayload() instanceof GpsStatus){
                    //gps状态消息
                    MavlinkMessage<GpsStatus> gpsStatusMavlinkMessage = (MavlinkMessage<GpsStatus>)message;
                    GpsStatus gpsStatus = gpsStatusMavlinkMessage.getPayload();
                    //System.out.println("gps状态"+gpsStatus);
                }else if(message.getPayload() instanceof GpsRawInt){
                    //gps信息
                    MavlinkMessage<GpsRawInt> gpsRawIntMavlinkMessage = (MavlinkMessage<GpsRawInt>)message;
                    GpsRawInt gpsRawInt = gpsRawIntMavlinkMessage.getPayload();
                    //System.out.println("GPS_RAW_INT信息："+gpsRawInt);
                }else if(message.getPayload() instanceof  Attitude){
                    //姿态
                    MavlinkMessage<Attitude> attitudeMavlinkMessage = (MavlinkMessage<Attitude>)message;
                    Attitude attitude = attitudeMavlinkMessage.getPayload();
                    //System.out.println("姿态信息："+attitude);
                }else if(message.getPayload() instanceof RcChannels){
                    //通道，油门通道值
                    MavlinkMessage<RcChannels> rcChannelsMavlinkMessage = (MavlinkMessage<RcChannels>)message;
                    RcChannels rcChannels = rcChannelsMavlinkMessage.getPayload();
                    //System.out.println("油门通道信息："+rcChannels);
                }else if(message.getPayload() instanceof BatteryStatus){
                    //电池状态
                    MavlinkMessage<BatteryStatus> batteryStatusMavlinkMessage = (MavlinkMessage<BatteryStatus>)message;
                    BatteryStatus batteryStatus = batteryStatusMavlinkMessage.getPayload();
                    //System.out.println("电池状态信息："+batteryStatus);
                }else if(message.getPayload() instanceof SysStatus){
                    MavlinkMessage<SysStatus> sysStatusMavlinkMessage = (MavlinkMessage<SysStatus>)message;
                    SysStatus sysStatus = sysStatusMavlinkMessage.getPayload();
                    //System.out.println("系统状态信息："+sysStatus);
                }else if(message.getPayload() instanceof CommandAck ){
                    //命令回调信息
                    MavlinkMessage<CommandAck> commandAckMavlinkMessage = (MavlinkMessage<CommandAck>)message;
                    CommandAck commandAck = commandAckMavlinkMessage.getPayload();
                    EnumValue<MavResult> result = commandAck.result();

                    System.out.println("命令状态信息："+commandAck);
                }else if(message.getPayload() instanceof Statustext){
                    //状态文本,该消息会返回相关的异常信息
                    MavlinkMessage<Statustext> statustextMavlinkMessage = (MavlinkMessage<Statustext>)message;
                    Statustext statustext = statustextMavlinkMessage.getPayload();

                    System.out.println("状态文本信息："+statustext);
                }

            } else {
                // Mavlink1消息
            }


        }

    }


    public static void main(String[] args) throws IOException, InterruptedException {
        MavlinkExample mavlinkExample = new MavlinkExample();
        MavlinkConnection mavlinkConnect = mavlinkExample.connect("127.0.0.1", 5762);
        //设置周期性回调信息
        int sysId = 255; int compId = 0;
        //启用hud
        RequestDataStream requestDataStream = RequestDataStream.builder()
                .targetSystem(1)
                .targetComponent(1)
                .reqMessageRate(1)
                .startStop(1)
                .reqStreamId(11).build();
        Thread.sleep(3000);
        mavlinkConnect.send2(sysId,compId,requestDataStream);
        //启用 gps
        RequestDataStream requestDataStream1 = RequestDataStream.builder()
                .targetSystem(1)
                .targetComponent(1)
                .reqMessageRate(1)
                .startStop(1)
                .reqStreamId(6).build();
        mavlinkConnect.send2(sysId,compId,requestDataStream1);

        //启用GPS_STATUS
        RequestDataStream requestDataStream2 = RequestDataStream.builder()
                .targetSystem(1)
                .targetComponent(1)
                .reqMessageRate(1)
                .startStop(1)
                .reqStreamId(0).build();
        mavlinkConnect.send2(sysId,compId,requestDataStream2);

        //发送解锁
        CommandLong commandLong = CommandLong.builder()
                .targetSystem(1)
                .targetComponent(1)
                .command(MavCmd.MAV_CMD_COMPONENT_ARM_DISARM)
                .confirmation(0)
                .param1(1)
                .param2(0).build();
        mavlinkConnect.send2(sysId,compId,commandLong);

        //调用消息监听
        mavlinkExample.messageCallBack(mavlinkConnect);
    }
}