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@davidsturrock Have you solved this? I'm getting a similar issue when trying to get attitude from a PX4 connected via USB, the attitude data is 15ish seconds late.

Hi everyone, I'm needing help receiving the relative altitude of my simulated drone using pymavlink. I have a script running on a RPi which is connecting to SITL via tcp. My code is as follows:

master = mavutil.mavlink_connection('tcp:IPaddress:5762')
msg = master.recv_match(type="GLOBAL_POSITION_INT",blocking=True)
relative_alt = msg.relative_alt

I successfully get a value back, but have noticed that the altitude is outdated. My script successfully changes the altitude of the drone via RC commands and QGC accurately reflects the changing altitude in real time, but the altitude being received by my Pi lags by tens of seconds. Anyone know what might cause this lag?


@jdslashdj:matrix.org Yes can be hard to find a complete write up (What language you using?) . But study this, so you know about MAVLink protocol, V2 (typically communication starts as V1 and swaps to V2), Learn about the need to keep track of SEQ #, as each System & Component need to increment this when sending a new message, other wise MP will show errors and quality of data stream will go down (eg 100%->30%), Read about (Routing) SystemID and ComponentID as this is where a message is targeted to.
Some reading below


André Kjellstrup
How can I drop processing packets from GCS? (this RPAS have two GCS's on two telemetry links) Let's say link1 and link2 , the link2 gives me data from the SYSID (RPAS), and 255(GCS on link1)
  • how can I check which SYSID the recieved packet comes from? The essential code I use is here:
                  msg = master.recv_match(blocking=False, timeout=1)
                  if not msg:
                  type = msg.get_type()

Hi All, installed everything as per the tutorials. Says I already have satisfied the PyMavLink requirement but get this error when trying to run the sim_vehicle error:

Traceback (most recent call last):
File "sim_vehicle.py", line 30, in <module>
from pymavlink import mavextra
ModuleNotFoundError: No module named 'pymavlink'

Any idea? Really need help with this. I have MavLink installed and runs fine, but just can't get it to initiate this.

super new noob here I'm new both to python and mavlink, in mavextra there is a function:
def mag_heading(RAW_IMU, ATTITUDE, declination=None, SENSOR_OFFSETS=None, ofs=None)

I'm not don't know where to get RAW_IMU. I saw it in the mavlink messeges list , but I really don't know much.

can someone please help me? I have been at this for hours and no progress.

my end goal is to get the heading/compass reading (value from 0 to 360)

Sa aadat Lone


I followed the steps below to update the pymavlink library.


After running the command, i tested to import the library and got the following error.

Traceback (most recent call last):
File "main.py", line 22, in
import pymavlink.mavutil as mavutil
File "/home/lone/.local/lib/python3.8/site-packages/pymavlink/mavutil.py", line 1995, in
mavlink.MAV_TYPE_DECAROTOR: mode_mapping_acm,
AttributeError: module 'pymavlink.dialects.v10.ardupilotmega' has no attribute 'MAV_TYPE_DECAROTOR'

Any way to get this working?

Hi! I am new to pymavlink. I was going through the codes on the website (https://www.ardusub.com/developers/pymavlink.html) for the "Read and write parameters". Although the code runs on my computer, I do not understand what 'b'SURFACE_DEPTH'' means here. I mean I couldn't find a parameter named 'SURFACE_DEPTH'. Can someone help me with this?
can someone explain to the difference between dronekit and pymavlink?
Ali Raza Syed
@GRS26 from my experience. Drone kit is for high level control and pymavlink is low level control.
@sudo-raza I have a couple of flow and level sensor connected to a rpi, and I want to send them to pixhawk, so that it can go reach my gcs. So far I know which message it has to be , the BATTERY_STATUS,but I don't know nothing about writing a code for Mavlink. I just needed this specific function, but so far, to write this one thing it seems like I will need to learn the whole of mavlink.Do you have any advice to give?

I have the following simple code (slightly modified from here):

from pymavlink import mavutil
the_connection = mavutil.mavlink_connection('udpin:localhost:14540')
print("Current connection state (target system %u target component %u)" % (the_connection.target_system, the_connection.target_component))
h = the_connection.wait_heartbeat()
print('Received heartbeat from source system: %u and component: %u' % (h.get_srcSystem(), h.get_srcComponent()))
print("Current connection state (target system %u target component %u)" % (the_connection.target_system, the_connection.target_component))

From another terminal, I send a simple heartbeat by:

the_connection = mavutil.mavlink_connection('udpout:localhost:14540')
the_connection.mav.heartbeat_send(mavutil.mavlink.MAV_TYPE_QUADROTOR, mavutil.mavlink.MAV_AUTOPILOT_ARDUPILOTMEGA, 0, 0, 0)

and I get the following:

Current connection state (target system 0 target component 0)
Received heartbeat from source system: 255 and component: 0
Current connection state (target system 255 target component 0)

Where is the system and component id of the heartbeat sender set?

Nick McCarty
Hi everyone, I'm trying to add a simple custom mavlink message in our PX4 instance. I am completely stumped at this point. I've followed this tutorial: https://docs.px4.io/master/en/middleware/mavlink.html though I created a custom stream.hpp instead of adding the class directly in mavlink_messages.cpp. The stream shows up in PX4. I added a printf in the mavlink message handler and I see it populating the msg. I have wireshark running on a host machine with the lua plug-in. No matter what I do I cannot see my custom message on my host. My first question is should I be able to see the message using pymavlink even if I don't regenerate the dialect? Or does it completely filter all messages? I am not sure how to continue to debug this. Any suggestions would be great.
Nick McCarty
Hmm I am trying to follow the instructions here: http://mavlink.io/en/mavgen_python/ but with current branch of mavlink I get an error that pymavlink cannot find ../external/dialects/storm32.xml
Armen Yenokyan
HI everyone. How can I send the DO_CAMERA_CONTROL (long) command via pymavlink to vehicle? (Instead of Mavproxy)
Armen Yenokyan
Alejandro Díaz Román

Hi everybody! Hope someone can help me with this:

I'm working on my final project to finish my grade and I'm using dronekit to simulate and then build instructions for drones. But I'm stuck on the simulation part as the pymavlink way to change the mode of the drone is no longer supported by dronekit, the version that I need pymavlink to be in is 2.4.8 (actual version is 2.4.17), but I can't downgrade to that version (with command pip install pymavlink==2.4.8). Wierdly I can downgrade up until 2.4.12 but not further. I'm guessing this could be due to ArduPilot preventing this to happen?

Here are the logs of the installation of pymavlink 2.4.8, but I can't manage to get any usefull hints of what is happening.

Error Logs: https://pastebin.com/VhQbzTjm

Has anyone encountered this error before?

Alejandro Díaz Román
Also, I'm recently learning about Docker, is it worth it to set it up for dronekit/ardupilot to work there?

Hi guys! I want to ask about how to stop receiving heartbeat messages from QGC?
import time
from pymavlink import mavutil
master = mavutil.mavlink_connection('udpin:')
while True:

I get heartbeat data from the code above. Any kind of help will be appreciated

hi, I would like to know how to read engine rpm from pymavlink.
I used this command (request_message_interval(mavutil.mavlink.ESC_TELEMETRY_1_TO_4, 1)) but it tells me it can't find it.
how can i read the engine revolutions from pymavlink?

hello can anyone tell me how to change the target_component on a heartbeat message i have this function working but my target_component needs to be 100 for camera and i have it set to default from mavlink_connection in mavutil.py

def mavlink_connection(device, baud=115200, source_system=1, source_component=100,

                   planner_format=None, write=False, append=False,

                   robust_parsing=True, notimestamps=False, input=True,

                   dialect=None, autoreconnect=False, zero_time_base=False,

                   retries=3, use_native=default_native,

                   force_connected=False, progress_callback=None,

                   udp_timeout=0, **opts):
the function i use for the HB doesnt allow it to be changed # Send heartbeat from a MAVLink application.
def mavlink_send_CAM_heartbeat(self, the_connection):
the_conection.mav.heartbeat_send(mavutil.mavlink.MAV_TYPE_CAMERA, mavutil.mavlink.MAV_AUTOPILOT_INVALID, 0, 0, mavutil.mavlink.MAV_STATE_ACTIVE)
do i have to change the library file function def mavlink_connection or is there another way to set this or maybe should it not be changed
answering my own question it works by making a custom library and pointing to that but its better to say mav = mavutil.mavlink_connection('udpin:' + sys.argv[1], source_system=1, source_component=10)
Jack D
@Al3xFreeman Are you still stuck? Have you tried configuring a workable environment with virtualenv?
HI everyone I have a one question , how I can load all parametrs list like as mission planner?
hey guys i am trying to understand how i can create a waypoint and upload it as a mission via pymavlink python3? is there anyone to help?
Jing Chen

Hi I am trying to implement the mavlink camera protocol for the cameras in our payload project, but I am struggling with using pymavlink to send the video stream information through, as a standalone test put the following in my test program

self.__mav_conn.mav.video_stream_information_send(0, 1, mavlink.VIDEO_STREAM_TYPE_RTPUDP, mavlink.VIDEO_STREAM_STATUS_FLAGS_THERMAL, 60, 640, 580, 1000, 0, 320, "thermal".encode("utf8"), "12345".encode("utf8"))

But this message doesn't get received anywhere. And I have stepped through the code and doesn't seem like it's erroring out anywhere, it just get's lost during transport?

Hamish Willee
@JCDevSpace My understanding is that ArduPilot doesn't do anything with the mavlink camera messages, except forward them. So the this won't obviously do anything unless you have a mavlink camera connected.

Hi Everyone,

I am new to GIMBALS..
I have a storm32 gimbal which supports mavlink

with pymavlink - mavlink V1, I am able to control the gimbal to point to a location like we do in mission planner (Point camera here) ---> MAV_CMD_DO_SET_ROI

But i don't know how to control the ROLL, PITCH and YAW axis of this gimbal...

I tried importing " from pymavlink.dialects.v20 import storm32 as mavlink2"

and also tried to send




No response from the gimbal

If any one had success using mavlink2 with pymavlink pls share some sample code

Thank u

Hello everyone, i am trying to write GeoFence using pymavlink python to px4 directly. but the following code doesn't write. what can be the issue?
from pymavlink import mavutil

master =  mavutil.mavlink_connection(device="tcp:")

poli = [(35.63604046,34.53116655), 

#enable fence
            mavutil.mavlink.MAV_CMD_DO_FENCE_ENABLE, 0,
            1, 0, 0, 0, 0, 0, 0)

for i in range(len(poli)):
                mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION, 0,

print("Waiting for the vehicle to arm")
could somebody help me connecting multiple vehicle within the same link with either dronekit or pymavlink?
Hello everyone, I have connected raspberry pi 3b device and gps module to pixhawk and I want to get location information from gps. How can I do this using the pymavlink library?
Hello, can anybody tell me if it is possible to filter messages by their system ID?
I have multiple systems, and I want motors_armed() to only report on my drone, not the other parts..
Hello everybody! I want to create a script to act as an Auto-pilot. The idea is I have an auto-pilot application which is not ardupilor nor PX4. I will create a wrapper between my autopilot and the autopilot script that I wrote. I want to send data from QGC to this script and wrapper will convert it to a data type whch my auto-pilot will understand. I am able to send heartbeat from auto-pilot script to QGC by using pymavlink yet I am not sure how to send all the data QGC needs to see my script as a drone. Do you guys have any idea about it?
Why not implement mavlink into your autopilot?
my auto pilot has its own communication protocol, and drone has many different modules. Changing all that is lots of work
Hi, I can't install pymavlink through pip
I'm on Manjaro, running pip install pymavlink gives me this errors:
I don't know why it fails this way, I'm using anaconda and tried with several environments
Screenshot from 2022-10-25 20-41-02.png
hello i am encountering an error
sudo MDF=PATH_TO_ message definitions python -m pip install . -v
I get an error when trying to download it. What should I do?
fatih@fatih-Vostro-15-3510:~$ sudo apt-get install libxml2-dev libxslt-dev
Reading package lists... Done
Building dependency tree       
Reading state information... Done
Note, selecting 'libxslt1-dev' instead of 'libxslt-dev'
libxml2-dev is already the newest version (2.9.10+dfsg-5ubuntu0.20.04.4).
libxslt1-dev is already the newest version (1.1.34-4ubuntu0.20.04.1).
0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.
fatih@fatih-Vostro-15-3510:~$ sudo apt-get install python3-numpy python3-pytest
Reading package lists... Done
Building dependency tree       
Reading state information... Done
python3-numpy is already the newest version (1:1.17.4-5ubuntu3).
python3-pytest is already the newest version (4.6.9-1).
0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.
fatih@fatih-Vostro-15-3510:~$ sudo python -m pip install --upgrade future lxml
Requirement already up-to-date: future in /usr/lib/python3/dist-packages (0.18.2)
Requirement already up-to-date: lxml in /usr/local/lib/python3.8/dist-packages (4.9.1)
fatih@fatih-Vostro-15-3510:~$ sudo MDEF=PATH_TO_message_definitions python -m pip install . -v
Non-user install because site-packages writeable
Created temporary directory: /tmp/pip-ephem-wheel-cache-55udh6iq
Created temporary directory: /tmp/pip-req-tracker-uba6e43o
Initialized build tracking at /tmp/pip-req-tracker-uba6e43o
Created build tracker: /tmp/pip-req-tracker-uba6e43o
Entered build tracker: /tmp/pip-req-tracker-uba6e43o
Created temporary directory: /tmp/pip-install-sv_n_18b
Cleaning up...
Removed build tracker: '/tmp/pip-req-tracker-uba6e43o'
ERROR: Directory '.' is not installable. Neither 'setup.py' nor 'pyproject.toml' found.
Exception information:
Traceback (most recent call last):
  File "/usr/lib/python3/dist-packages/pip/_internal/cli/base_command.py", line 186, in _main
    status = self.run(options, args)
  File "/usr/lib/python3/dist-packages/pip/_internal/commands/install.py", line 325, in run
  File "/usr/lib/python3/dist-packages/pip/_internal/cli/req_command.py", line 246, in populate_requirement_set
    req_to_add = install_req_from_line(
  File "/usr/lib/python3/dist-packages/pip/_internal/req/constructors.py", line 395, in install_req_from_line
    parts = parse_req_from_line(name, line_source)
  File "/usr/lib/python3/dist-packages/pip/_internal/req/constructors.py", line 323, in parse_req_from_line
    url = _get_url_from_path(p, name)
  File "/usr/lib/python3/dist-packages/pip/_internal/req/constructors.py", line 277, in _get_url_from_path
    raise InstallationError(
pip._internal.exceptions.InstallationError: Directory '.' is not installable. Neither 'setup.py' nor 'pyproject.toml' found.
how to implement sending and receiving a file using the Mavlink protocol?
Szymon Bogus
Hello, Im having troubles with communicating with radio modem and pymavlink as the transsmission is very slow. On the otehr hand when I use my pymavlink code to communicate by wired connections everytinhg is nice and fast. Anyone has a clue what is going on?
vinay reddy

Hi everyone.
I am trying to get landed_state from EXTENDED_SYS_STATE using command_long_send() but I am not getting response.

self._mavlink.target_system, self._mavlink.target_component,
mavutil.mavlink.MAV_CMD_SET_MESSAGE_INTERVAL, 0,
0, 0, 0, 0, 0, 0)