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* Applying PR #17084 * Comitting missing changes * Adding incoming SETUP_SIGNING handling * Adding proper message decoding for SETUP_SIGNING * Adding persistance of sign key in chunks of 32 bits into parameters * Allowing SETUP_SIGNING to be handled only on usb_uart * Removing unused type and variable * Changing the default for Mavlink Timestamp * Fixing styling * Merging * Merging submodules * Replacing parameters with sdcard storage for secured key and ts * Fixing styles * Isolating signing related items in separate class * Adding new files * Syncing with main * Fixing styles * Changing the signing logic to work only if key and ts properly initialized, adding store the ts on stop * Updated submodules to latest versions * Updated gz to proper version * libfc-sensor-api to proper version * libcanard to proper version * Updated fuzztest to proper version * Updated public_regulated_data_types to proper version * Updated mip_sdk to proper version * Updated pydronecan to proper version * Updated rosidl to proper version * Fixing styles * Fixing cyclonedds version * initializing sign control in the member declaration * Update src/modules/mavlink/mavlink_main.h Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> * Fixing comments * Fixing duplicate method * Fixing defines * Fixing styles * Fixing the define errors * replace duplicate logic with write_key_and_timestamp() function * add docs * Update docs/en/mavlink/message_signing.md Co-authored-by: Julian Oes <julian@oes.ch> * Update src/modules/mavlink/mavlink_sign_control.cpp Co-authored-by: Hamish Willee <hamishwillee@gmail.com> * Update src/modules/mavlink/mavlink_sign_control.h Co-authored-by: Hamish Willee <hamishwillee@gmail.com> * Update docs/en/mavlink/message_signing.md Co-authored-by: Hamish Willee <hamishwillee@gmail.com> * rename to MAV_SIGN_CFG, fix copyright dates, fix docs SHA type, rename secrets file * fix newlines --------- Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com> Co-authored-by: Julian Oes <julian@oes.ch> Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
53 lines
3.6 KiB
Markdown
53 lines
3.6 KiB
Markdown
# MAVLink Microservices (Protocols)
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MAVLink "microservices" are a protocols that use multiple messages exchanged between components to communicate more complicated information.
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For example, the [Command Protocol](https://mavlink.io/en/services/command.html) provides an efficient mechanism for packaging a command in a (particular) message and receiving acknowledgement of the command in another message.
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MAVLink microservices are documented the [MAVLink Guide](https://mavlink.io/en/services/) (this is not exhaustive: not all messages are grouped into protocols and not all protocols are documented).
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This section lists the services known to be supported/not supported by PX4 in this version.
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## Supported Microservices
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These services are known to be supported in some form:
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- [Battery Protocol](https://mavlink.io/en/services/battery.html)
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- [BATTERY_STATUS](https://mavlink.io/en/messages/common.html#BATTERY_STATUS) and [BATTERY_INFO](https://mavlink.io/en/messages/common.html#BATTERY_STATUS) are streamed.
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- Camera Protocols
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- [Camera Protocol v2](https://mavlink.io/en/services/camera.html)
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- [Camera Definition](https://mavlink.io/en/services/camera_def.html)
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- [Command Protocol](https://mavlink.io/en/services/command.html)
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- [Component Metadata Protocol](https://mavlink.io/en/services/component_information.html)
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- [Events Interface](https://mavlink.io/en/services/events.html)
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- [File Transfer Protocol (FTP)](https://mavlink.io/en/services/ftp.html)
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- Gimbal Protocols
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- [Gimbal Protocol v2](https://mavlink.io/en/services/gimbal_v2.html)
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- Can be enabled by [Gimbal Configuration](../advanced/gimbal_control.md#mavlink-gimbal-mnt-mode-out-mavlink)
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- PX4 an act as a MAVLink Gimbal for one FC-connected Gimbal
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- [Heartbeat/Connection Protocol](https://mavlink.io/en/services/heartbeat.html)
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- [High Latency Protocol](https://mavlink.io/en/services/high_latency.html) — PX4 streams [HIGH_LATENCY2](https://mavlink.io/en/messages/common.html#HIGH_LATENCY2)
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- [Image Transmission Protocol](https://mavlink.io/en/services/image_transmission.html)
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- [Landing Target Protocol](https://mavlink.io/en/services/landing_target.html)
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- [Manual Control (Joystick) Protocol](https://mavlink.io/en/services/manual_control.html)
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- [MAVLink Id Assignment (sysid, compid)](https://mavlink.io/en/services/mavlink_id_assignment.html)
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- [Message Signing](../mavlink/message_signing.md) ([MAVLink spec](https://mavlink.io/en/guide/message_signing.html))
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- [Mission Protocol](https://mavlink.io/en/services/mission.html)
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- [Offboard Control Protocol](https://mavlink.io/en/services/offboard_control.html)
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- [Remote ID](../peripherals/remote_id.md) ([Open Drone ID Protocol](https://mavlink.io/en/services/opendroneid.html))
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- [Parameter Protocol](https://mavlink.io/en/services/parameter.html)
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- [Parameter Protocol Extended](https://mavlink.io/en/services/parameter_ext.html) — Allows setting string parameters. Used for setting string parameters set in camera definition files.
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- [Payload Protocol](https://mavlink.io/en/services/payload.html)
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- [Ping Protocol](https://mavlink.io/en/services/ping.html)
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- [Standard Modes Protocol](../mavlink/standard_modes.md)
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- [Terrain Protocol](https://mavlink.io/en/services/terrain.html)
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- [Time Synchronization](https://mavlink.io/en/services/timesync.html)
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- [Traffic Management (UTM/ADS-B)](https://mavlink.io/en/services/traffic_management.html)
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- [Arm Authorization Protocol](https://mavlink.io/en/services/arm_authorization.html)
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## Unsupported
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These services are not supported/used by PX4:
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- [Illuminator Protocol](https://mavlink.io/en/services/illuminator.html)
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- [Tunnel Protocol](https://mavlink.io/en/services/tunnel.html)
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