MAVLink -- Micro Air Vehicle Message Marshalling Library. ArduPilotMega V2

This repository provides an Ada library for MAVLink, a lightweight messaging protocol for communicating with drones and other unmanned vehicles. The library was generated using the MAVLink code generator, customized for the Ada programming language. The package is compatible with the Alire package manager, enabling easy integration into Ada projects.

The MAVLink Ada library allows for efficient and reliable message marshalling and unmarshalling, making it suitable for embedded applications and ground control software. With support for multiple message types, the library offers a robust solution for developing applications that require communication with MAVLink-compliant devices. Features

• Generated MAVLink 2.0 protocol support, ArduPilotMega types See v1 branch for 1.0 wire protocol.)
• Compatible with the Ada bareboard profiles for real-time applications
• Modular structure for easy integration with existing Ada projects
• Supports message serialization and deserialization

See also mavlink_common repository.

Add MAVLink as a dependency:

alr with mavlink_ardupilotmega_v2

TBD.

The code was generated from b1fb5a1 commit of the mavlink repo. And a5812a8 from pymavlink repo. I used this steps:

python -m venv venv
source venv/bin/activate
git clone --depth=1 https://github.com/ardupilot/pymavlink
git clone --depth=1 https://github.com/mavlink/mavlink
MDEF=$PWD/mavlink/message_definitions python -m pip install pymavlink

python3 -m pymavlink.tools.mavgen --lang=Ada --wire-protocol=1.0 \
  --output=generated mavlink/message_definitions/v1.0/ardupilotmega.xml

sed -i -e 's/  *$//' *.ad[sb]

I also apply this patch:

--- mavlink-v2-ardupilotmega-types.ads_	2025-10-21 19:28:16.068718536 +0300
+++ mavlink-v2-ardupilotmega-types.ads	2025-10-21 19:35:51.820487515 +0300
@@ -4,6 +4,8 @@
 
 pragma Ada_2022;
 
+with MAVLink.V2.Common.Types;
+
 package MAVLink.V2.Ardupilotmega.Types is
 
    pragma Pure;
@@ -81,7 +83,7 @@
      (if Value in Heading_Type_Well_Known
       then Well_Known_Image (Value) else "Unknown:" & Value'Image);
 
-   type Mav_Cmd is new Interfaces.Unsigned_16;
+   subtype Mav_Cmd is MAVLink.V2.Common.Types.Mav_Cmd;
    --  Commands to be executed by the MAV. They can be executed on user
    --  request, or as part of a mission script. If the action is used in a
    --  mission, the parameter mapping to the waypoint/mission message is as

And delete files from the mavlink_common crate:

rm mavlink.ad[sb]
rm mavlink-v2.ad[sb]
rm mavlink-x25crc.ad[sb]
rm mavlink-v2-standard*.ad[sb]
rm mavlink-v2-minimal*.ad[sb]
rm mavlink-v2-common*.ad[sb]
rm mavlink-raw*_floats.ad[sb]
rm mavlink-sha_256.ad[sb]

Contributions are welcome! Please open an issue to discuss potential improvements or submit a pull request.

This project is licensed under the MIT License. See the LICENSE file for more details.