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API and library for MAVLink compatible systems written in C++17

Home Page: https://mavsdk.mavlink.io

License: BSD 3-Clause "New" or "Revised" License

CMake 2.86% C++ 93.00% C 0.23% Shell 1.14% Python 1.47% Jinja 1.29%

cpp cpp17 hacktoberfest mavlink

mavsdk's Introduction

MAVLink

MAVLink -- Micro Air Vehicle Message Marshalling Library.

MAVLink is a very lightweight, header-only message library for communication between drones and/or ground control stations. It consists primarily of message-set specifications for different systems ("dialects") defined in XML files, and Python tools that convert these into appropriate source code for supported languages. There are additional Python scripts providing examples and utilities for working with MAVLink data.

Tip MAVLink is very well suited for applications with very limited communication bandwidth. Its reference implementation in C is highly optimized for resource-constrained systems with limited RAM and flash memory. It is field-proven and deployed in many products where it serves as interoperability interface between components of different manufacturers.

Quick start

Generate C headers

To install the minimal MAVLink environment on Ubuntu LTS 20.04 or 22.04, enter the following on a terminal:

# Dependencies
sudo apt install python3-pip

# Clone mavlink into the directory of your choice
git clone https://github.com/mavlink/mavlink.git --recursive
cd mavlink

python3 -m pip install -r pymavlink/requirements.txt

You can then build the MAVLink2 C-library for message_definitions/v1.0/common.xml from the /mavlink directory as shown:

python3 -m pymavlink.tools.mavgen --lang=C --wire-protocol=2.0 --output=generated/include/mavlink/v2.0 message_definitions/v1.0/common.xml

Use from cmake

To include the headers in cmake, install them locally, e.g. into the directory install:

cmake -Bbuild -H. -DCMAKE_INSTALL_PREFIX=install -DMAVLINK_DIALECT=common -DMAVLINK_VERSION=2.0
cmake --build build --target install

Then use find_package to get the dependency in CMakeLists.txt:

find_package(MAVLink REQUIRED)

add_executable(my_program my_program.c)

target_link_libraries(my_program PRIVATE MAVLink::mavlink)

And pass the local install directory to cmake (adapt to your directory structure):

cd ../my_program
cmake -Bbuild -H. -DCMAKE_PREFIX_PATH=../mavlink/install

For a full example, check examples/c.

Note: even though we use target_link_libraries in cmake, it doesn't actually "link" to MAVLink as it's just a header-only library.

Other instructions

Instructions for using the C libraries are then covered in Using C MAVLink Libraries (mavgen).

Note: Installing the MAVLink Toolchain explains how to install MAVLink on other Ubuntu platforms and Windows, while Generating MAVLink Libraries explains how to build MAVLink for the other programming languages supported by the project. The sub-topics of Using MAVLink Libraries explain how to use the generated libraries.

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mavsdk's Issues

[marketing] flow and coordination

Allow system-wide installation

We should allow and support to install the library and headers into /usr/local/.

Build for Windows in CI

We should also check the Windows build on every PR.

[plugins] Camera trigger control with video

Intermittent CI fail

Sometimes the unit tests fail in CI, presumably because of timing issues.

/Users/travis/build/dronecore/DroneCore/core/global_include_test.cpp:27: Failure
Expected: (seconds_elapsed) < (0.11), actual: 0.110119 vs 0.11
[  FAILED  ] GlobalInclude.ElapsedSinceAboutRight (110 ms)

https://travis-ci.org/dronecore/DroneCore/jobs/269515690

Error while building example: takeoff_and_land

Hi Julian, I did build DroneLink as mentioned. I wanted to try running example. Got below error.
Could you please check ?

~/DroneLink/example$ make
[  3%] Built target gtest
[  6%] Built target gtest_main
[ 56%] Built target dronelink
[ 57%] Building CXX object CMakeFiles/integration_tests_runner.dir/integration_tests/curl.cpp.o
/home/shakthi/DroneLink/integration_tests/curl.cpp:10:25: error: ‘testing’ has not been declared
 class CurlTest : public testing::Test
                         ^
/home/shakthi/DroneLink/integration_tests/curl.cpp:10:34: error: expected ‘{’ before ‘Test’
 class CurlTest : public testing::Test
                                  ^
/home/shakthi/DroneLink/integration_tests/curl.cpp:12:1: error: expected primary-expression before ‘protected’
 protected:
 ^
/home/shakthi/DroneLink/integration_tests/curl.cpp:12:1: error: expected ‘}’ before ‘protected’
/home/shakthi/DroneLink/integration_tests/curl.cpp:12:1: error: expected ‘,’ or ‘;’ before ‘protected’
/home/shakthi/DroneLink/integration_tests/curl.cpp:18:24: error: ‘virtual’ outside class declaration
     virtual void SetUp()
                        ^
/home/shakthi/DroneLink/integration_tests/curl.cpp: In function ‘void SetUp()’:
/home/shakthi/DroneLink/integration_tests/curl.cpp:20:15: error: ‘clean’ was not declared in this scope
         clean();
               ^
/home/shakthi/DroneLink/integration_tests/curl.cpp:21:9: error: ‘_file_url_existing_http’ was not declared in this scope
         _file_url_existing_http =
         ^
/home/shakthi/DroneLink/integration_tests/curl.cpp: At global scope:
/home/shakthi/DroneLink/integration_tests/curl.cpp:29:27: error: ‘virtual’ outside class declaration
     virtual void TearDown()
                           ^
/home/shakthi/DroneLink/integration_tests/curl.cpp: In function ‘void TearDown()’:
/home/shakthi/DroneLink/integration_tests/curl.cpp:31:15: error: ‘clean’ was not declared in this scope
         clean();
               ^
/home/shakthi/DroneLink/integration_tests/curl.cpp: At global scope:
/home/shakthi/DroneLink/integration_tests/curl.cpp:45:1: error: expected declaration before ‘}’ token
 };
 ^
CMakeFiles/integration_tests_runner.dir/build.make:422: recipe for target 'CMakeFiles/integration_tests_runner.dir/integration_tests/curl.cpp.o' failed
make[2]: *** [CMakeFiles/integration_tests_runner.dir/integration_tests/curl.cpp.o] Error 1
CMakeFiles/Makefile2:69: recipe for target 'CMakeFiles/integration_tests_runner.dir/all' failed
make[1]: *** [CMakeFiles/integration_tests_runner.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2

Thanks

Should we have Airspeed telemetry

Airspeed perhaps not so important on copter, but very important for Fixed Wing and for VTOL, particularly around transition.

Should we expose this? What is our strategy for exposing telemetry or features that aren't supported on a particular vehicle?

[marketing] Branding and Design (mvp logo and color palette)

[core] Java binding

Add frame conversion distance libraries

Provide helper functions to make it easy to:

Report distance and bearing between GPS coordinates (e.g. to get distance to waypoint or from waypoint)
Get the GPS co-ordinate for a particular NED coordinate
Get the GPS coordinate for a particular body-frame.

This could provide the backend for #100 , and additionally make it easier for users to implement their own movement based calculations.

Dockerfile on dronecore/dronecore is out of date

This does not have doxygen - it is about a week old.

Would also be good to have a link back to the repo in https://hub.docker.com/r/dronecore/dronecore/

pthread library perhaps should be linked to libdronelink.a

Hi Julian, as we see that DroneLink is built as a static library; why so ? Is it not meant to be used by multiple applications ?

And, libdronelink.a itself uses threads; but it is not linked to pthread lib. The example takeoff_and_land itself is using threads so linking thread make sense.
But if an application doesn't intend to use threads don't link it as part of their build; then app build would fail again for the same reason!

Ideally, libdronelink.a should be linked to pthread library. And, I think its not possible if its static library.
Please share your thoughts about this and correct me if I am wrong.

Thanks.
Shakthi

Add support for NED missions

Generally when writing "reusable" drone applications and examples it is much better to be able to specify positions in NED co-ordinates rather than absolute positioning - because then you can specify a pattern of movement and re-use it as needed.

NED missions are supported by MAVLink, but not PX4. The proposal is to add a sensible API in DroneCore with a backend that can be replaced by PX4 support when that comes available.

gRPC: Basic environment to work on gRPC APIs

#48 needs to be included into master to proceed further on gRPC activities.

[Plugin] Forward RTK RTCM packets to FCU

Adding a plugin which can send the RTCM updates of the base station to the UAVs. Thus replacing the need for QGroundcontrol for in-flight operation.

Push docker image to docker hub

The docker image to build the library should be available from docker hub.

No permission to push changes

Hello,

intel@intel-B85M-D3H:~/DroneCore$ git push origin fly_mission
Username for 'https://github.com': shakthi-prashanth-m
Password for 'https://[email protected]':
remote: Permission to dronecore/DroneCore.git denied to shakthi-prashanth-m.
fatal: unable to access 'https://github.com/dronecore/DroneCore.git/': The requested URL returned error: 403
intel@intel-B85M-D3H:~/DroneCore$ git branch
* fly_mission
  master

Could you please provide access ?

Regards,
Shakthi

Make system-wide install default

As by @hamishwillee's suggestions in #70:

Make system install the default
- If someone does this build on windows fail and display a message "System install not supported on windows - do THE COMMAND to build locally
Make docs build against system install path (doxygen config file change). On Windows fail the docs call with a message that"Automated docs builds not supported on Windows".
Example code has to stay the same - that should build on windows too.
Docs change to separate out how you can point to local installs as a separate topic.

Make "Debug" output coloured

The output of the debug build with the fly_mission example is shown below. As you can see, the Info output is very clear (blue) but the Debug is white, and hence not so easy to differentiate from the app's output.

I think we can assume that, since we aren't making our debug output available, users will almost always output white.

I am not sure what colour would be best/we have already used. But see the ubuntu green/blue above are pretty easy to discern!

[core] Python binding with swig

device_uuids() should return an array not an object <Swig Object of type 'std::vector< uint64_t > *' at 0x104bbc090>
notify callback wrappers should convert from function to dronecore::DroneCore::event_callback_t
enums shouldn't be flattened eg: DroneCore::ConnectionResult::SUCCESS DroneCore.ConnectionResult_SUCCESS
test Action and Telemetry classes

[marketing] Website / Design

Dynamic plug-in infrastructure

DroneCore has its functionality built with compile-time plug-ins such as Action, Mission, Telemetry, etc. When DroneCore is built, we can choose which plug-ins we're interested in. Build chooses plug-ins in plugins directory and generates DevicePluginContainer class and methods to access to the "choosen" plug-in objects. It is necessary to build DroneCore if we wanted to add a new plug-in to it.

We're interested to add new plug-ins which DroneCore will pick it up run-time. Theoretical approach for this is here.

However, as we're interested to developing language bindings using gRPC; gRPC requires .proto files for each of the plug-in to be known at compile-time.
We're yet to investigate the feasibility of both (gRPC & dynamic plug-in).

Updates on this activity will posted here.

Example folder structure should be future proofed.

At the moment we have one example in the example folder. We're going to have more in future, so propose a dir structure like
/example/takeoff_and_land/ or /examples/takeoff_and_land/

IF the wrapper APIs are to be included in the same repo then we should further sort by programming language: /examples/takeoff_and_land/cpp/ or /examples/cpp/takeoff_and_land/

gRPC: Language bindings and Samples

There should be atleast one sample for each language binding that we are going to support through gRPC.
That will help users as reference to write their applications.

DroneCore::ConnectionResult enum inconsistent name

The rest of the classes all just use "Result" for the enum name. I think we should be consistent.

This would also allow us to consistently name the method for getting the human readable string (e.g. result_str

It MAY also be worth deciding on a more descriptive name than just "Result". E.g. CommandResult, MessageResult, SendResult, APIResult etc.

Device API should be linked from Readme

https://github.com/dronecore/DroneCore#api-overview

Have a method in Action to check if vehicle is armable

Essentially, a method to return the same information as bool dronecore::Telemetry::health_all_ok() const

Add support for serial connections

It would be nice to support serial connections.

The implementation should be done in a similar way as it is done for UDP connections.
The skeleton/stub is here:
https://github.com/dronecore/DroneCore/blob/master/core/serial_connection.h
https://github.com/dronecore/DroneCore/blob/master/core/serial_connection.cpp

Add release builds to CI

We should build release and debug in CI.

Related to #91.

Feature: add support for ADS-B data

Useful for the supporting complete avoidance systems

add_XXX_connection() could be better named

Using connection here means that any description of the API is riddled with the word connection - since we also have to connect to the device. It is probably worth using something like add_XXX_port() to make it clear that this is just part of the whole "connect to devices" process.

A picture is captured always during a mission execution though its not requested by application

I modified fly_mission example to add two mission items with NO Camera action. But 1 image was captured during mission execution.
I see that in void MissionImpl::assemble_mavlink_messages(), command MAV_CMD_DO_MOUNT_CONTROL is added in message_gimbal. Could this be the reason for capturing atleast 1 image in every mission plan ? ( Because MAV_CMD_DO_MOUNT_CONTROL is the Mission command to control a camera or antenna mount) ? Can't we add this only when mission_item_impl.get_camera_action() != MissionItem::CameraAction::NONE ?

--Shakthi

Set up github releases via travis

It would make sense to compile binaries and push it to the github release page.
We can easily do this using travis-ci.

Plugins should not try resending on disconnected devices

For example, if you disconnect the device but then try landing, the plugin will still try to send the message, and to resend it.

Altitude: 2.679 m
Disconnected device with UUID: 4294967298
Landing...
sending again, retries to do: 3  (21).
sending again, retries to do: 2  (21).
sending again, retries to do: 1  (21).
Retrying failed (21)
Land failed:Timeout

I am not sure what the correct behaviour should be, but certainly it is not a resend. Ideally the user should be notified of this when they try to make the method call - typically there is a device disconnected "Results".

Only report change information in appropriate callbacks

For arming, landing, flight mode etc it is likely that you will only want to get callbacks notified when the values change. The suggestion is to allow clients of the API to specify whether notification should happen on every message, or just when the value changes.

Fool proof installation package

Offboard mode can lead to crash

The offboard functionality needs some testing and bugfixing because it has lead to crashes in the past.

It seems to work fine when you start in NED mode first but can lead to a crash if started in body mode.

Why is Loiter Mode Set request sent before Arm and Takeoff commands ?

For Aero board, Loiter mode set request fails and therefore, arming fails.
What is the requirement to set Loiter mode (specifically)?

Add docs for public headers

The public headers need some doxygen (or other) comments.

Feature: Add support for vision estimate feed

This would be a good enhancement for more complex systems

Guide/example for creating plugins

Dronecore is the officially supported layer for providing access to PX4, via MAVLink (of course there are other integration points, like the RTSP bridge). We're expecting others to extend the API via plugins, for example, to add support for peripherals that interact with the system via custom MAVLink messages.

We need a simple but realistic example of a plugin and an associated guide that shows how it works/what you need to do to write one.

Clarify what happens when dc.device() is called with multiple devices

If this is called and there are multiple devices then either it should return null, abort, or return the first device that was registered. What is returned needs to be clarified.

Device &device = dc.device();

Add support for TCP connections

It would be nice to support for TCP connections.

The implementation should be done in a similar way as it is done for UDP connections.
The skeleton/stub is here:
https://github.com/dronecore/DroneCore/blob/master/core/tcp_connection.h
https://github.com/dronecore/DroneCore/blob/master/core/tcp_connection.cpp

We should be able to track connection status of Device objects other than by callback

The suggestion is that it should be possible to detect whether Device is connected from the object itself. This would allow a client to iterate the vector of devices and only handle those that are connected - without having to separately manage tracking connection/and disconnection.

Windows build broken

The Windows VS14 build seems broken currently:

$ cmake --build .
Microsoft (R) Build Engine version 14.0.25420.1
Copyright (C) Microsoft Corporation. All rights reserved.

Build started 7/5/2017 6:43:40 PM.
Project "C:\Users\Julian Oes\src\DroneLink\build\ALL_BUILD.vcxproj" on node 1 (default targets).
Project "C:\Users\Julian Oes\src\DroneLink\build\ALL_BUILD.vcxproj" (1) is building "C:\Users\Julian Oes\src\DroneLink\build\ZERO_CHECK.vcxproj" (2) on node 1 (default targets).
InitializeBuildStatus:
  Creating "Win32\Debug\ZERO_CHECK\ZERO_CHECK.tlog\unsuccessfulbuild" because "AlwaysCreate" was specified.
CustomBuild:
  All outputs are up-to-date.
FinalizeBuildStatus:
  Deleting file "Win32\Debug\ZERO_CHECK\ZERO_CHECK.tlog\unsuccessfulbuild".
  Touching "Win32\Debug\ZERO_CHECK\ZERO_CHECK.tlog\ZERO_CHECK.lastbuildstate".
Done Building Project "C:\Users\Julian Oes\src\DroneLink\build\ZERO_CHECK.vcxproj" (default targets).
Project "C:\Users\Julian Oes\src\DroneLink\build\ALL_BUILD.vcxproj" (1) is building "C:\Users\Julian Oes\src\DroneLink\build\dronelink.vcxproj" (3) on node 1 (default targets).
InitializeBuildStatus:
  Touching "dronelink.dir\Debug\dronelink.tlog\unsuccessfulbuild".
CustomBuild:
  All outputs are up-to-date.
ClCompile:
  C:\Program Files (x86)\Microsoft Visual Studio 14.0\VC\bin\CL.exe /c /I"C:\Users\Julian Oes\src\DroneLink\include" /I"C:\Users\Julian Oes\src\DroneLink\libs\include" /I"C:\Users\Julian Oes\src\DroneLink\core" /I"C:\Users\Julian Oes\src\DroneLink\plugins\action" /I"C:\Users\Julian Oes\src\DroneLink\plugins\info" /I"C:\Users\Julian Oes\src\DroneLink\plugins\logging" /I"C:\Users\Julian Oes\src\DroneLink\plugins\mission" /I"C:\Users\Julian Oes\src\DroneLink\plugins\offboard" /I"C:\Users\Julian Oes\src\DroneLink\plugins\telemetry" /I"C:\Users\Julian Oes\src\DroneLink\build\include" /I"C:\Users\Julian Oes\src\DroneLink\build\core" /I"C:\Users\Julian Oes\src\DroneLink\libs\gtest\googletest\include" /I"C:\Users\Julian Oes\src\DroneLink\libs\gtest\googlemock\include" /nologo /W2 /WX /O2 /Oy- /D WIN32 /D _WINDOWS /D DEBUG /D TESTING /D WINDOWS /D "CMAKE_INTDIR=\"Debug\"" /D _MBCS /Gm- /EHsc /MD /GS /fp:precise /Zc:wchar_t /Zc:forScope /Zc:inline /GR /Fo"dronelink.dir\Debug\\" /Fd"dronelink.dir\Debug\dronelink.pdb" /Gd /TP /analyze- /errorReport:queue "C:\Users\Julian Oes\src\DroneLink\core\curl_wrapper.cpp" "C:\Users\Julian Oes\src\DroneLink\core\http_loader.cpp" "C:\Users\Julian Oes\src\DroneLink\plugins\mission\mission_impl.cpp"
  curl_wrapper.cpp
c:\users\julian oes\src\dronelink\core\curl_include.h(3): error C2220: warning treated as error - no 'object' file generated [C:\Users\Julian Oes\src\DroneLink\build\dronelink.vcxproj]
c:\users\julian oes\src\dronelink\core\curl_include.h(3): warning C4068: unknown pragma [C:\Users\Julian Oes\src\DroneLink\build\dronelink.vcxproj]
c:\users\julian oes\src\dronelink\core\curl_include.h(4): fatal error C1083: Cannot open include file: 'curl/curl.h': No such file or directory [C:\Users\Julian Oes\src\DroneLink\build\dronelink.vcxproj]
  http_loader.cpp
c:\users\julian oes\src\dronelink\core\curl_include.h(3): error C2220: warning treated as error - no 'object' file generated [C:\Users\Julian Oes\src\DroneLink\build\dronelink.vcxproj]
c:\users\julian oes\src\dronelink\core\curl_include.h(3): warning C4068: unknown pragma [C:\Users\Julian Oes\src\DroneLink\build\dronelink.vcxproj]
c:\users\julian oes\src\dronelink\core\curl_include.h(4): fatal error C1083: Cannot open include file: 'curl/curl.h': No such file or directory [C:\Users\Julian Oes\src\DroneLink\build\dronelink.vcxproj]
  mission_impl.cpp
C:\Users\Julian Oes\src\DroneLink\plugins\mission\mission_impl.cpp(258): error C2065: 'u_int8_t': undeclared identifier [C:\Users\Julian Oes\src\DroneLink\build\dronelink.vcxproj]
C:\Users\Julian Oes\src\DroneLink\plugins\mission\mission_impl.cpp(258): error C2146: syntax error: missing ';' before identifier 'current' [C:\Users\Julian Oes\src\DroneLink\build\dronelink.vcxproj]
C:\Users\Julian Oes\src\DroneLink\plugins\mission\mission_impl.cpp(258): error C2065: 'current': undeclared identifier [C:\Users\Julian Oes\src\DroneLink\build\dronelink.vcxproj]
C:\Users\Julian Oes\src\DroneLink\plugins\mission\mission_impl.cpp(271): error C2065: 'current': undeclared identifier [C:\Users\Julian Oes\src\DroneLink\build\dronelink.vcxproj]
C:\Users\Julian Oes\src\DroneLink\plugins\mission\mission_impl.cpp(296): error C2065: 'u_int8_t': undeclared identifier [C:\Users\Julian Oes\src\DroneLink\build\dronelink.vcxproj]
C:\Users\Julian Oes\src\DroneLink\plugins\mission\mission_impl.cpp(296): error C2146: syntax error: missing ';' before identifier 'current' [C:\Users\Julian Oes\src\DroneLink\build\dronelink.vcxproj]
C:\Users\Julian Oes\src\DroneLink\plugins\mission\mission_impl.cpp(296): error C2065: 'current': undeclared identifier [C:\Users\Julian Oes\src\DroneLink\build\dronelink.vcxproj]
C:\Users\Julian Oes\src\DroneLink\plugins\mission\mission_impl.cpp(309): error C2065: 'current': undeclared identifier [C:\Users\Julian Oes\src\DroneLink\build\dronelink.vcxproj]
C:\Users\Julian Oes\src\DroneLink\plugins\mission\mission_impl.cpp(332): error C2065: 'u_int8_t': undeclared identifier [C:\Users\Julian Oes\src\DroneLink\build\dronelink.vcxproj]
C:\Users\Julian Oes\src\DroneLink\plugins\mission\mission_impl.cpp(332): error C2146: syntax error: missing ';' before identifier 'current' [C:\Users\Julian Oes\src\DroneLink\build\dronelink.vcxproj]
C:\Users\Julian Oes\src\DroneLink\plugins\mission\mission_impl.cpp(332): error C2065: 'current': undeclared identifier [C:\Users\Julian Oes\src\DroneLink\build\dronelink.vcxproj]
C:\Users\Julian Oes\src\DroneLink\plugins\mission\mission_impl.cpp(376): error C2065: 'current': undeclared identifier [C:\Users\Julian Oes\src\DroneLink\build\dronelink.vcxproj]
  Generating Code...
Done Building Project "C:\Users\Julian Oes\src\DroneLink\build\dronelink.vcxproj" (default targets) -- FAILED.
Project "C:\Users\Julian Oes\src\DroneLink\build\ALL_BUILD.vcxproj" (1) is building "C:\Users\Julian Oes\src\DroneLink\build\integration_tests_runner.vcxproj" (4) on node 1 (default targets).
Project "C:\Users\Julian Oes\src\DroneLink\build\integration_tests_runner.vcxproj" (4) is building "C:\Users\Julian Oes\src\DroneLink\build\libs\gtest\googlemock\gtest\gtest.vcxproj" (5) on node 1 (default targets).
InitializeBuildStatus:
  Creating "gtest.dir\Debug\gtest.tlog\unsuccessfulbuild" because "AlwaysCreate" was specified.
CustomBuild:
  All outputs are up-to-date.
ClCompile:
  All outputs are up-to-date.
Lib:
  All outputs are up-to-date.
  gtest.vcxproj -> C:\Users\Julian Oes\src\DroneLink\build\libs\gtest\googlemock\gtest\Debug\gtest.lib
FinalizeBuildStatus:
  Deleting file "gtest.dir\Debug\gtest.tlog\unsuccessfulbuild".
  Touching "gtest.dir\Debug\gtest.tlog\gtest.lastbuildstate".
Done Building Project "C:\Users\Julian Oes\src\DroneLink\build\libs\gtest\googlemock\gtest\gtest.vcxproj" (default targets).
Project "C:\Users\Julian Oes\src\DroneLink\build\integration_tests_runner.vcxproj" (4) is building "C:\Users\Julian Oes\src\DroneLink\build\libs\gtest\googlemock\gtest\gtest_main.vcxproj" (6) on node 1 (default targets).
InitializeBuildStatus:
  Creating "gtest_main.dir\Debug\gtest_main.tlog\unsuccessfulbuild" because "AlwaysCreate" was specified.
CustomBuild:
  All outputs are up-to-date.
ClCompile:
  All outputs are up-to-date.
Lib:
  All outputs are up-to-date.
  gtest_main.vcxproj -> C:\Users\Julian Oes\src\DroneLink\build\libs\gtest\googlemock\gtest\Debug\gtest_main.lib
FinalizeBuildStatus:
  Deleting file "gtest_main.dir\Debug\gtest_main.tlog\unsuccessfulbuild".
  Touching "gtest_main.dir\Debug\gtest_main.tlog\gtest_main.lastbuildstate".
Done Building Project "C:\Users\Julian Oes\src\DroneLink\build\libs\gtest\googlemock\gtest\gtest_main.vcxproj" (default targets).
Done Building Project "C:\Users\Julian Oes\src\DroneLink\build\integration_tests_runner.vcxproj" (default targets) -- FAILED.
Project "C:\Users\Julian Oes\src\DroneLink\build\ALL_BUILD.vcxproj" (1) is building "C:\Users\Julian Oes\src\DroneLink\build\unit_tests_runner.vcxproj" (7) on node 1 (default targets).
Project "C:\Users\Julian Oes\src\DroneLink\build\unit_tests_runner.vcxproj" (7) is building "C:\Users\Julian Oes\src\DroneLink\build\libs\gtest\googlemock\gmock.vcxproj" (8) on node 1 (default targets).
InitializeBuildStatus:
  Creating "gmock.dir\Debug\gmock.tlog\unsuccessfulbuild" because "AlwaysCreate" was specified.
CustomBuild:
  All outputs are up-to-date.
ClCompile:
  All outputs are up-to-date.
Lib:
  All outputs are up-to-date.
  gmock.vcxproj -> C:\Users\Julian Oes\src\DroneLink\build\libs\gtest\googlemock\Debug\gmock.lib
FinalizeBuildStatus:
  Deleting file "gmock.dir\Debug\gmock.tlog\unsuccessfulbuild".
  Touching "gmock.dir\Debug\gmock.tlog\gmock.lastbuildstate".
Done Building Project "C:\Users\Julian Oes\src\DroneLink\build\libs\gtest\googlemock\gmock.vcxproj" (default targets).
Done Building Project "C:\Users\Julian Oes\src\DroneLink\build\unit_tests_runner.vcxproj" (default targets) -- FAILED.
Done Building Project "C:\Users\Julian Oes\src\DroneLink\build\ALL_BUILD.vcxproj" (default targets) -- FAILED.

Build FAILED.

"C:\Users\Julian Oes\src\DroneLink\build\ALL_BUILD.vcxproj" (default target) (1) ->
"C:\Users\Julian Oes\src\DroneLink\build\dronelink.vcxproj" (default target) (3) ->
(ClCompile target) ->
  c:\users\julian oes\src\dronelink\core\curl_include.h(3): warning C4068: unknown pragma [C:\Users\Julian Oes\src\DroneLink\build\dronelink.vcxproj]
  c:\users\julian oes\src\dronelink\core\curl_include.h(3): warning C4068: unknown pragma [C:\Users\Julian Oes\src\DroneLink\build\dronelink.vcxproj]


"C:\Users\Julian Oes\src\DroneLink\build\ALL_BUILD.vcxproj" (default target) (1) ->
"C:\Users\Julian Oes\src\DroneLink\build\dronelink.vcxproj" (default target) (3) ->
(ClCompile target) ->
  c:\users\julian oes\src\dronelink\core\curl_include.h(3): error C2220: warning treated as error - no 'object' file generated [C:\Users\Julian Oes\src\DroneLink\build\dronelink.vcxproj]
  c:\users\julian oes\src\dronelink\core\curl_include.h(4): fatal error C1083: Cannot open include file: 'curl/curl.h': No such file or directory [C:\Users\Julian Oes\src\DroneLink\build\dronelink.vcxproj]
  c:\users\julian oes\src\dronelink\core\curl_include.h(3): error C2220: warning treated as error - no 'object' file generated [C:\Users\Julian Oes\src\DroneLink\build\dronelink.vcxproj]
  c:\users\julian oes\src\dronelink\core\curl_include.h(4): fatal error C1083: Cannot open include file: 'curl/curl.h': No such file or directory [C:\Users\Julian Oes\src\DroneLink\build\dronelink.vcxproj]
  C:\Users\Julian Oes\src\DroneLink\plugins\mission\mission_impl.cpp(258): error C2065: 'u_int8_t': undeclared identifier [C:\Users\Julian Oes\src\DroneLink\build\dronelink.vcxproj]
  C:\Users\Julian Oes\src\DroneLink\plugins\mission\mission_impl.cpp(258): error C2146: syntax error: missing ';' before identifier 'current' [C:\Users\Julian Oes\src\DroneLink\build\dronelink.vcxproj]
  C:\Users\Julian Oes\src\DroneLink\plugins\mission\mission_impl.cpp(258): error C2065: 'current': undeclared identifier [C:\Users\Julian Oes\src\DroneLink\build\dronelink.vcxproj]
  C:\Users\Julian Oes\src\DroneLink\plugins\mission\mission_impl.cpp(271): error C2065: 'current': undeclared identifier [C:\Users\Julian Oes\src\DroneLink\build\dronelink.vcxproj]
  C:\Users\Julian Oes\src\DroneLink\plugins\mission\mission_impl.cpp(296): error C2065: 'u_int8_t': undeclared identifier [C:\Users\Julian Oes\src\DroneLink\build\dronelink.vcxproj]
  C:\Users\Julian Oes\src\DroneLink\plugins\mission\mission_impl.cpp(296): error C2146: syntax error: missing ';' before identifier 'current' [C:\Users\Julian Oes\src\DroneLink\build\dronelink.vcxproj]
  C:\Users\Julian Oes\src\DroneLink\plugins\mission\mission_impl.cpp(296): error C2065: 'current': undeclared identifier [C:\Users\Julian Oes\src\DroneLink\build\dronelink.vcxproj]
  C:\Users\Julian Oes\src\DroneLink\plugins\mission\mission_impl.cpp(309): error C2065: 'current': undeclared identifier [C:\Users\Julian Oes\src\DroneLink\build\dronelink.vcxproj]
  C:\Users\Julian Oes\src\DroneLink\plugins\mission\mission_impl.cpp(332): error C2065: 'u_int8_t': undeclared identifier [C:\Users\Julian Oes\src\DroneLink\build\dronelink.vcxproj]
  C:\Users\Julian Oes\src\DroneLink\plugins\mission\mission_impl.cpp(332): error C2146: syntax error: missing ';' before identifier 'current' [C:\Users\Julian Oes\src\DroneLink\build\dronelink.vcxproj]
  C:\Users\Julian Oes\src\DroneLink\plugins\mission\mission_impl.cpp(332): error C2065: 'current': undeclared identifier [C:\Users\Julian Oes\src\DroneLink\build\dronelink.vcxproj]
  C:\Users\Julian Oes\src\DroneLink\plugins\mission\mission_impl.cpp(376): error C2065: 'current': undeclared identifier [C:\Users\Julian Oes\src\DroneLink\build\dronelink.vcxproj]

    2 Warning(s)
    16 Error(s)

Time Elapsed 00:00:01.90

Provide confirmation of handling (or not) for following cases

If two systems have same SYSID
- I'd expect some notification, but where?
- I'd expect sending actions to fail with an appropriate error
- I'd expect telemetry still to be received, since it can be differentiated by UUID.
If a system changes SYSID (to an unused SYSID)
- I'd expect this to succeed, and be transparent to the client.
- The exception being a non-UUID system - in that case the old system should disconnect and a new device be detected on the new SYSID.

make clean
BUILD_TYPE=Release make

But when I run this (or BUILD_TYPE=Release make default) I get lots of build errors like:

/home/ubuntu/DroneCore/core/integration_test_helper.h:12:38: error: ignoring return value of 'int system(const char*)', declared with attribute warn_unused_result [-Werror=unused-result]
         system("./start_px4_sitl.sh");
                                      ^

Example showing best-practise for handling device disconnection and reconnection

We need to show how a user might best handle disconnecting from the vehicle and reconnecting, both when managing 1 vehicle and when managing multiple vehicles. I'd expect a client app to:

be able to detect and report disconnection/connection
stop the device from attempting to send messages
reset to a sensible state based on what the vehicle is actually doing when you connect - e.g. if already flying, not attempt to send commands to arm etc (unless the vehicle ignores those).