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MAVKit
Async Python SDK for MAVLink vehicle control, built on a fast Rust core via PyO3.
MAVKit provides a high-level async API for connecting to MAVLink vehicles (ArduPilot, PX4) over UDP, TCP, or serial, with support for telemetry, commands, missions, and parameters.
Installation
pip install mavkit
Requires Python 3.9+. Pre-built wheels are available for Linux (x86_64, aarch64), macOS (x86_64, ARM), and Windows (x86_64).
Quick Start
import asyncio
import mavkit
async def main():
# Connect to a vehicle over UDP
vehicle = await mavkit.Vehicle.connect_udp("0.0.0.0:14550")
# Read current state
state = vehicle.state
print(f"mode={state.mode_name} armed={state.armed}")
# Wait for next telemetry update
telem = await vehicle.wait_telemetry()
print(f"alt={telem.altitude_m}m battery={telem.battery_pct}%")
# Arm, take off, then disarm
await vehicle.set_mode_by_name("GUIDED")
await vehicle.arm(force=False)
await vehicle.takeoff(altitude_m=10.0)
await vehicle.disconnect()
asyncio.run(main())
Features
- Connections -- UDP, TCP, serial, custom byte streams
- Telemetry -- sync property getters + async
wait_*methods for reactive updates - Commands -- arm, disarm, set mode (by name or number), takeoff, guided goto
- Missions -- upload, download, clear, set current item, verify roundtrip
- Parameters -- download all, write single/batch,
.paramfile I/O - Validation -- plan validation, normalization, tolerance-based comparison
API Overview
Connecting
# UDP (most common for SITL)
vehicle = await mavkit.Vehicle.connect_udp("0.0.0.0:14550")
# TCP
vehicle = await mavkit.Vehicle.connect_tcp("127.0.0.1:5760")
# Serial
vehicle = await mavkit.Vehicle.connect_serial("/dev/ttyUSB0", 57600)
# With custom config
config = mavkit.VehicleConfig(connect_timeout_secs=60.0)
vehicle = await mavkit.Vehicle.connect_with_config("udpin:0.0.0.0:14550", config)
State and Telemetry
# Sync access (latest snapshot)
state = vehicle.state
telem = vehicle.telemetry
# Async wait (blocks until next update)
state = await vehicle.wait_state()
telem = await vehicle.wait_telemetry()
home = await vehicle.wait_home_position()
Missions
plan = mavkit.MissionPlan(
mission_type=mavkit.MissionType.Mission,
items=[
mavkit.MissionItem(
seq=0, command=16,
frame=mavkit.MissionFrame.GlobalRelativeAltInt,
x=int(47.397742 * 1e7), y=int(8.545594 * 1e7), z=50.0,
),
],
)
await vehicle.upload_mission(plan)
downloaded = await vehicle.download_mission(mavkit.MissionType.Mission)
Parameters
store = await vehicle.download_params()
param = await vehicle.write_param("BATT_MONITOR", 4.0)
results = await vehicle.write_params_batch([("BATT_MONITOR", 4.0), ("BATT_CAPACITY", 5000.0)])
Examples
The examples/ directory contains runnable scripts demonstrating each feature:
| Script | Description |
|---|---|
connect_udp.py |
Connect over UDP, print vehicle state and telemetry |
connect_tcp.py |
Connect over TCP, print vehicle state |
monitor_telemetry.py |
Stream live telemetry to the terminal |
monitor_statustext.py |
Print STATUSTEXT messages from the vehicle |
list_modes.py |
List available flight modes for the connected vehicle |
set_mode_and_arm.py |
Set flight mode and arm the vehicle |
mission_upload_download.py |
Upload a mission, download it back, and verify the round-trip |
params_roundtrip.py |
Download all parameters and round-trip through the param file format |
params_write.py |
Write individual and batch parameters to the vehicle |
tlog_parse.py |
Parse a TLOG file and print all entries |
Links
License
MIT
1 maintainer
Metadata
1 maintainer
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