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Update mavlink server #3971

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3667a58
core: tools: mavlink-server: Update to 0.9.0
joaoantoniocardoso Jun 30, 2026
8fea2cf
core: services: ardupilot_manager: mavlink_proxy: Avoid too many retu…
joaoantoniocardoso Jul 1, 2026
2da3c34
core: services: ardupilot_manager: Add ZenohRaw
joaoantoniocardoso Jul 1, 2026
4b3b12f
core: frontend: src: types: Add ZenohRaw
joaoantoniocardoso Jul 1, 2026
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2 changes: 2 additions & 0 deletions core/frontend/src/types/autopilot.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -93,6 +93,7 @@ export enum EndpointType {
tcpout = 'tcpout',
serial = 'serial',
zenoh = 'zenoh',
zenohraw = 'zenohraw',
}

export function vehicleTypeFromString(vehicle_type: string): Vehicle {
Expand All @@ -111,6 +112,7 @@ export function userFriendlyEndpointType(type: EndpointType): string {
case EndpointType.tcpout: return 'TCP Client'
case EndpointType.serial: return 'Serial'
case EndpointType.zenoh: return 'Zenoh'
case EndpointType.zenohraw: return 'Zenoh Raw'
default: return 'Undefined type'
}
}
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9 changes: 9 additions & 0 deletions core/services/ardupilot_manager/autopilot_manager.py
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Original file line number Diff line number Diff line change
Expand Up @@ -99,6 +99,15 @@ def __init__(self) -> None:
persistent=True,
protected=True,
),
Endpoint(
name="ZenohRaw",
owner=self.settings.app_name,
connection_type=EndpointType.ZenohRaw,
place="0.0.0.0",
argument=7117,
persistent=True,
protected=True,
),
Endpoint(
name="Internal Link",
owner=self.settings.app_name,
Expand Down
2 changes: 2 additions & 0 deletions core/services/ardupilot_manager/mavlink_proxy/Endpoint.py
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,7 @@ class EndpointType(str, Enum):
TCPClient = "tcpout"
Serial = "serial"
Zenoh = "zenoh"
ZenohRaw = "zenohraw"


@dataclass
Expand Down Expand Up @@ -43,6 +44,7 @@ def is_mavlink_endpoint(cls: Type["Endpoint"], values: Any) -> Any:
EndpointType.TCPServer,
EndpointType.TCPClient,
EndpointType.Zenoh,
EndpointType.ZenohRaw,
]:
if not (validators.domain(place) or validators.ipv4(place) or validators.ipv6(place)):
raise ValueError(f"Invalid network address: {place}")
Expand Down
22 changes: 15 additions & 7 deletions core/services/ardupilot_manager/mavlink_proxy/MAVLinkServer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -27,19 +27,26 @@ def _get_version(self) -> Optional[str]:
def assemble_command(self, master_endpoint: Endpoint) -> str:
# Convert endpoint format to mavlink-router format
def convert_endpoint(endpoint: Endpoint) -> str:
endpoint_str = None

if endpoint.connection_type == EndpointType.Serial:
return f"serial:{endpoint.place}:{endpoint.argument}"
endpoint_str = f"serial:{endpoint.place}:{endpoint.argument}"
if endpoint.connection_type == EndpointType.TCPServer:
return f"tcps:{endpoint.place}:{endpoint.argument}"
endpoint_str = f"tcps:{endpoint.place}:{endpoint.argument}"
if endpoint.connection_type == EndpointType.TCPClient:
return f"tcpc:{endpoint.place}:{endpoint.argument}"
endpoint_str = f"tcpc:{endpoint.place}:{endpoint.argument}"
if endpoint.connection_type == EndpointType.UDPServer:
return f"udps:{endpoint.place}:{endpoint.argument}"
endpoint_str = f"udps:{endpoint.place}:{endpoint.argument}"
if endpoint.connection_type == EndpointType.UDPClient:
return f"udpc:{endpoint.place}:{endpoint.argument}"
endpoint_str = f"udpc:{endpoint.place}:{endpoint.argument}"
if endpoint.connection_type == EndpointType.Zenoh:
return f"zenoh:{endpoint.place}:{endpoint.argument}"
raise ValueError(f"Endpoint of type {endpoint.connection_type} not supported on MAVLink-Server.")
endpoint_str = f"zenoh:{endpoint.place}:{endpoint.argument}"
if endpoint.connection_type == EndpointType.ZenohRaw:
endpoint_str = f"zenohraw:{endpoint.place}:{endpoint.argument}"

if endpoint_str is None:
raise ValueError(f"Endpoint of type {endpoint.connection_type} not supported on MAVLink-Server.")
return endpoint_str

filtered_endpoints = Endpoint.filter_enabled(self.endpoints())
endpoints = " ".join([convert_endpoint(endpoint) for endpoint in [master_endpoint, *filtered_endpoints]])
Expand Down Expand Up @@ -70,6 +77,7 @@ def _validate_endpoint(endpoint: Endpoint) -> None:
EndpointType.TCPClient,
EndpointType.Serial,
EndpointType.Zenoh,
EndpointType.ZenohRaw,
]
Comment on lines +80 to 81

@sourcery-ai sourcery-ai Bot Jun 30, 2026

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suggestion: Endpoint validation lists are duplicated; consider centralizing the allowed MAVLink endpoint types.

The valid_connection_types list here must now stay in sync with the types checked in Endpoint.is_mavlink_endpoint (e.g. ZenohRaw). Please extract a shared constant or helper (such as Endpoint.mavlink_connection_types()) so the allowed MAVLink endpoint types are defined in one place and updated consistently.

Suggested implementation:

         Endpoint.mavlink_connection_types():
             if not (validators.domain(place) or validators.ipv4(place) or validators.ipv6(place)):
        filtered_endpoints = Endpoint.filter_enabled(self.endpoints())
        valid_connection_types = Endpoint.mavlink_connection_types()
        if endpoint.connection_type not in valid_connection_types:

To fully centralize the allowed MAVLink endpoint types:

  1. Implement Endpoint.mavlink_connection_types() (likely as a @classmethod or @staticmethod) in the Endpoint class, returning the shared list of EndpointType values (including ZenohRaw).
  2. Update Endpoint.is_mavlink_endpoint to delegate to Endpoint.mavlink_connection_types() instead of maintaining its own list.
  3. Ensure any other places in the codebase that hard-code MAVLink endpoint types are updated to use Endpoint.mavlink_connection_types() for consistency.

if endpoint.connection_type not in valid_connection_types:
raise ValueError(f"Connection_type '{endpoint.connection_type}' not supported by {MAVLinkServer.name()}.")
Expand Down
2 changes: 1 addition & 1 deletion core/tools/mavlink_server/bootstrap.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
# Immediately exit on errors
set -e

VERSION="0.7.4"
VERSION="0.9.0"
PROJECT_NAME="mavlink-server"
REPOSITORY_ORG="bluerobotics"
REPOSITORY_NAME="$PROJECT_NAME"
Expand Down
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