Getting Started

This is the shortest path from a PX4 SITL UDP endpoint to typed telemetry and commands.

Warning

ArmAsync, TakeoffAsync, LandAsync, and ReturnToLaunchAsync send real MAVLink commands. Do first runs in SITL.

Requirements

  • .NET 10 SDK
  • A MAVLink v2 vehicle or simulator reachable over UDP

Install

MavNet is not on NuGet yet. Add a project reference:

<ItemGroup>
  <ProjectReference Include="path/to/MavNet/src/MavNet.PX4/MavNet.PX4.csproj" />
</ItemGroup>

Connect

Drone.ConnectAsync opens UDP, waits for the first heartbeat, then returns a Drone that owns the connection.

using MavNet.Core;
using MavNet.PX4.Vehicles;

await using Drone drone = await Drone.ConnectAsync(
    "udp://0.0.0.0:14550?rhost=127.0.0.1&rport=18570",
    TimeSpan.FromSeconds(30));

Console.WriteLine($"Connected to {drone.DeviceId} ({drone.VehicleType})");

Connection strings use:

udp://localHost:localPort?rhost=remoteHost&rport=remotePort

For PX4 SITL, the common value is:

udp://0.0.0.0:14550?rhost=127.0.0.1&rport=18570

Read State

using StateSubscription sub = drone.SubscribeState(
    s => Console.WriteLine($"{s.Mode} armed={s.Armed} alt={s.Alt:F1}m sats={s.Sats}"),
    StateRate.Hz(2));

SubscribeState can deliver immutable DroneState snapshots. Use StateRate.Raw for every state-affecting packet, or throttle with StateRate.Hz(...) / StateRate.Every(...).

Note

Transport events and raw state changes fire on the receive thread. UI apps should marshal back to their UI thread.

Send Commands

CommandOutcome arm = await drone.ArmAsync(cancellationToken);
CommandOutcome takeoff = await drone.TakeoffAsync(10.0, cancellationToken);
CommandOutcome land = await drone.LandAsync(cancellationToken);
CommandOutcome rtl = await drone.ReturnToLaunchAsync(cancellationToken);
CommandOutcome disarm = await drone.DisarmAsync(cancellationToken);

Command helpers send COMMAND_LONG and wait for the matching COMMAND_ACK plus, where possible, a confirming state change.

Probe App

dotnet run -c Release --project examples/MavNet.Probe -- "udp://0.0.0.0:14550?rhost=127.0.0.1&rport=18570"

Keys in the probe console: A Arm, D Disarm, T Takeoff (10 m), L Land, R RTL, Q Quit.

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