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Merge pull request #2610 from mavlink/pr-add-libmavlike
Integrate parts of libmav into MAVSDK and add MavlinkDirect plugin
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‎cmake/generate_embedded_xml.cmake‎

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# CMake script to embed MAVLink XML files as C++ string constants
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# Usage: cmake -DMINIMAL_XML_PATH=<path> -DSTANDARD_XML_PATH=<path> -DCOMMON_XML_PATH=<path> -DARDUPILOTMEGA_XML_PATH=<path> -DOUTPUT_HEADER=<path> -P generate_embedded_xml.cmake
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if(NOT MINIMAL_XML_PATH)
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message(FATAL_ERROR "MINIMAL_XML_PATH must be specified")
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endif()
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if(NOT STANDARD_XML_PATH)
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message(FATAL_ERROR "STANDARD_XML_PATH must be specified")
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endif()
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if(NOT COMMON_XML_PATH)
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message(FATAL_ERROR "COMMON_XML_PATH must be specified")
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endif()
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if(NOT ARDUPILOTMEGA_XML_PATH)
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message(FATAL_ERROR "ARDUPILOTMEGA_XML_PATH must be specified")
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endif()
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if(NOT OUTPUT_HEADER)
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message(FATAL_ERROR "OUTPUT_HEADER must be specified")
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endif()
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# Function to read and escape XML content
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function(read_and_escape_xml XML_PATH CONSTANT_NAME ESCAPED_VAR)
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if(NOT EXISTS "${XML_PATH}")
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message(FATAL_ERROR "XML file not found: ${XML_PATH}")
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endif()
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file(READ "${XML_PATH}" XML_CONTENT)
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# Escape the XML content for C++ string literal
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string(REPLACE "\\" "\\\\" XML_CONTENT "${XML_CONTENT}")
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string(REPLACE "\"" "\\\"" XML_CONTENT "${XML_CONTENT}")
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string(REPLACE "\n" "\\n\"\n \"" XML_CONTENT "${XML_CONTENT}")
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set(${ESCAPED_VAR} " const char* ${CONSTANT_NAME} = \n \"${XML_CONTENT}\";" PARENT_SCOPE)
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endfunction()
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# Read and escape all XML files
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read_and_escape_xml("${MINIMAL_XML_PATH}" "MINIMAL_XML" MINIMAL_XML_CONSTANT)
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read_and_escape_xml("${STANDARD_XML_PATH}" "STANDARD_XML" STANDARD_XML_CONSTANT)
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read_and_escape_xml("${COMMON_XML_PATH}" "COMMON_XML" COMMON_XML_CONSTANT)
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read_and_escape_xml("${ARDUPILOTMEGA_XML_PATH}" "ARDUPILOTMEGA_XML" ARDUPILOTMEGA_XML_CONSTANT)
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# Generate the header file content
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set(HEADER_CONTENT
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"// This file is auto-generated by generate_embedded_xml.cmake
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// Do not edit manually
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#pragma once
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namespace mav_embedded {
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${MINIMAL_XML_CONSTANT}
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${STANDARD_XML_CONSTANT}
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${COMMON_XML_CONSTANT}
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${ARDUPILOTMEGA_XML_CONSTANT}
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}
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")
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# Write the header file
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file(WRITE "${OUTPUT_HEADER}" "${HEADER_CONTENT}")
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message(STATUS "Generated embedded XML header: ${OUTPUT_HEADER}")

‎docs/en/cpp/api_reference/classmavsdk_1_1_mavlink_direct.md‎

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# mavsdk::MavlinkDirect Class Reference
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`#include: mavlink_direct.h`
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----
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Enable direct MAVLink communication using libmav.
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## Data Structures
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struct [MavlinkMessage](structmavsdk_1_1_mavlink_direct_1_1_mavlink_message.md)
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## Public Types
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Type | Description
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--- | ---
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enum [Result](#classmavsdk_1_1_mavlink_direct_1a63864e376328d1fe2ef7d667aa61f864) | Possible results returned for action requests.
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std::function< void([Result](classmavsdk_1_1_mavlink_direct.md#classmavsdk_1_1_mavlink_direct_1a63864e376328d1fe2ef7d667aa61f864))> [ResultCallback](#classmavsdk_1_1_mavlink_direct_1ae166c4e87888a21c8e3a6a5858628cb4) | Callback type for asynchronous [MavlinkDirect](classmavsdk_1_1_mavlink_direct.md) calls.
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std::function< void([MavlinkMessage](structmavsdk_1_1_mavlink_direct_1_1_mavlink_message.md))> [MessageCallback](#classmavsdk_1_1_mavlink_direct_1a20acd4068f45cbde53afc55eb292692d) | Callback type for subscribe_message.
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[Handle](classmavsdk_1_1_handle.md)< [MavlinkMessage](structmavsdk_1_1_mavlink_direct_1_1_mavlink_message.md) > [MessageHandle](#classmavsdk_1_1_mavlink_direct_1aa4a3a6b305c89ef6a0cde3cb47b5c6a3) | [Handle](classmavsdk_1_1_handle.md) type for subscribe_message.
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## Public Member Functions
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Type | Name | Description
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---: | --- | ---
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&nbsp; | [MavlinkDirect](#classmavsdk_1_1_mavlink_direct_1aa52aa19602ee54074c6a9285ae7aae6c) ([System](classmavsdk_1_1_system.md) & system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
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&nbsp; | [MavlinkDirect](#classmavsdk_1_1_mavlink_direct_1a4b968c477c05001538a84816ffe531fb) (std::shared_ptr< [System](classmavsdk_1_1_system.md) > system) | Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
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&nbsp; | [~MavlinkDirect](#classmavsdk_1_1_mavlink_direct_1a3cb749215b130d7e829b54cefdfe3b75) () override | Destructor (internal use only).
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&nbsp; | [MavlinkDirect](#classmavsdk_1_1_mavlink_direct_1a558285b9e08cfd038de9d5dc3b9111bb) (const [MavlinkDirect](classmavsdk_1_1_mavlink_direct.md) & other) | Copy constructor.
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[Result](classmavsdk_1_1_mavlink_direct.md#classmavsdk_1_1_mavlink_direct_1a63864e376328d1fe2ef7d667aa61f864) | [send_message](#classmavsdk_1_1_mavlink_direct_1ac81f7a568b426575eb2d12116e5faeef) ([MavlinkMessage](structmavsdk_1_1_mavlink_direct_1_1_mavlink_message.md) message)const | Send a MAVLink message directly to the system.
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[MessageHandle](classmavsdk_1_1_mavlink_direct.md#classmavsdk_1_1_mavlink_direct_1aa4a3a6b305c89ef6a0cde3cb47b5c6a3) | [subscribe_message](#classmavsdk_1_1_mavlink_direct_1a0fd42307f0b5e2ad427437c7a9309c9a) (std::string message_name, const [MessageCallback](classmavsdk_1_1_mavlink_direct.md#classmavsdk_1_1_mavlink_direct_1a20acd4068f45cbde53afc55eb292692d) & callback) | Subscribe to incoming MAVLink messages.
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void | [unsubscribe_message](#classmavsdk_1_1_mavlink_direct_1a2ae1167e995caf0b7b8a5193cf5dbf52) ([MessageHandle](classmavsdk_1_1_mavlink_direct.md#classmavsdk_1_1_mavlink_direct_1aa4a3a6b305c89ef6a0cde3cb47b5c6a3) handle) | Unsubscribe from subscribe_message.
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[Result](classmavsdk_1_1_mavlink_direct.md#classmavsdk_1_1_mavlink_direct_1a63864e376328d1fe2ef7d667aa61f864) | [load_custom_xml](#classmavsdk_1_1_mavlink_direct_1a9deb1c72b084d1b2369a133c0260bd46) (std::string xml_content)const | Load custom MAVLink message definitions from XML.
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const [MavlinkDirect](classmavsdk_1_1_mavlink_direct.md) & | [operator=](#classmavsdk_1_1_mavlink_direct_1a909f97b32d832d00488c695940760b63) (const [MavlinkDirect](classmavsdk_1_1_mavlink_direct.md) &)=delete | Equality operator (object is not copyable).
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## Constructor & Destructor Documentation
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### MavlinkDirect() {#classmavsdk_1_1_mavlink_direct_1aa52aa19602ee54074c6a9285ae7aae6c}
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```cpp
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mavsdk::MavlinkDirect::MavlinkDirect(System &system)
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```
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Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
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The plugin is typically created as shown below:
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```cpp
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auto mavlink_direct = MavlinkDirect(system);
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```
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**Parameters**
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* [System](classmavsdk_1_1_system.md)& **system** - The specific system associated with this plugin.
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### MavlinkDirect() {#classmavsdk_1_1_mavlink_direct_1a4b968c477c05001538a84816ffe531fb}
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```cpp
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mavsdk::MavlinkDirect::MavlinkDirect(std::shared_ptr< System > system)
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```
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Constructor. Creates the plugin for a specific [System](classmavsdk_1_1_system.md).
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The plugin is typically created as shown below:
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```cpp
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auto mavlink_direct = MavlinkDirect(system);
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```
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**Parameters**
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* std::shared_ptr< [System](classmavsdk_1_1_system.md) > **system** - The specific system associated with this plugin.
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### ~MavlinkDirect() {#classmavsdk_1_1_mavlink_direct_1a3cb749215b130d7e829b54cefdfe3b75}
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```cpp
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mavsdk::MavlinkDirect::~MavlinkDirect() override
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```
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Destructor (internal use only).
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### MavlinkDirect() {#classmavsdk_1_1_mavlink_direct_1a558285b9e08cfd038de9d5dc3b9111bb}
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```cpp
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mavsdk::MavlinkDirect::MavlinkDirect(const MavlinkDirect &other)
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```
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Copy constructor.
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**Parameters**
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* const [MavlinkDirect](classmavsdk_1_1_mavlink_direct.md)& **other** -
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## Member Typdef Documentation
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### typedef ResultCallback {#classmavsdk_1_1_mavlink_direct_1ae166c4e87888a21c8e3a6a5858628cb4}
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```cpp
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using mavsdk::MavlinkDirect::ResultCallback = std::function<void(Result)>
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```
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Callback type for asynchronous [MavlinkDirect](classmavsdk_1_1_mavlink_direct.md) calls.
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### typedef MessageCallback {#classmavsdk_1_1_mavlink_direct_1a20acd4068f45cbde53afc55eb292692d}
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```cpp
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using mavsdk::MavlinkDirect::MessageCallback = std::function<void(MavlinkMessage)>
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```
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Callback type for subscribe_message.
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### typedef MessageHandle {#classmavsdk_1_1_mavlink_direct_1aa4a3a6b305c89ef6a0cde3cb47b5c6a3}
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```cpp
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using mavsdk::MavlinkDirect::MessageHandle = Handle<MavlinkMessage>
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```
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[Handle](classmavsdk_1_1_handle.md) type for subscribe_message.
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## Member Enumeration Documentation
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### enum Result {#classmavsdk_1_1_mavlink_direct_1a63864e376328d1fe2ef7d667aa61f864}
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Possible results returned for action requests.
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Value | Description
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--- | ---
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<span id="classmavsdk_1_1_mavlink_direct_1a63864e376328d1fe2ef7d667aa61f864a88183b946cc5f0e8c96b2e66e1c74a7e"></span> `Unknown` | Unknown result.
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<span id="classmavsdk_1_1_mavlink_direct_1a63864e376328d1fe2ef7d667aa61f864a505a83f220c02df2f85c3810cd9ceb38"></span> `Success` | Request succeeded.
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<span id="classmavsdk_1_1_mavlink_direct_1a63864e376328d1fe2ef7d667aa61f864a902b0d55fddef6f8d651fe1035b7d4bd"></span> `Error` | Error.
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<span id="classmavsdk_1_1_mavlink_direct_1a63864e376328d1fe2ef7d667aa61f864ad5e88abe375e264803a6f6b436e769e6"></span> `InvalidMessage` | Invalid MAVLink message.
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<span id="classmavsdk_1_1_mavlink_direct_1a63864e376328d1fe2ef7d667aa61f864a55f2db628c561fd08618598c69b3278d"></span> `InvalidField` | Invalid field name or value.
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<span id="classmavsdk_1_1_mavlink_direct_1a63864e376328d1fe2ef7d667aa61f864a094a6f6b0868122a9dd008cb91c083e4"></span> `ConnectionError` | Connection error.
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<span id="classmavsdk_1_1_mavlink_direct_1a63864e376328d1fe2ef7d667aa61f864a1119faf72ba0dfb23aeea644fed960ad"></span> `NoSystem` | No system connected.
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<span id="classmavsdk_1_1_mavlink_direct_1a63864e376328d1fe2ef7d667aa61f864ac85a251cc457840f1e032f1b733e9398"></span> `Timeout` | Request timed out.
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## Member Function Documentation
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### send_message() {#classmavsdk_1_1_mavlink_direct_1ac81f7a568b426575eb2d12116e5faeef}
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```cpp
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Result mavsdk::MavlinkDirect::send_message(MavlinkMessage message) const
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```
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Send a MAVLink message directly to the system.
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This allows sending any MAVLink message with full control over the message content.
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This function is blocking.
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**Parameters**
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* [MavlinkMessage](structmavsdk_1_1_mavlink_direct_1_1_mavlink_message.md) **message** -
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**Returns**
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&emsp;[Result](classmavsdk_1_1_mavlink_direct.md#classmavsdk_1_1_mavlink_direct_1a63864e376328d1fe2ef7d667aa61f864) - Result of request.
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### subscribe_message() {#classmavsdk_1_1_mavlink_direct_1a0fd42307f0b5e2ad427437c7a9309c9a}
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```cpp
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MessageHandle mavsdk::MavlinkDirect::subscribe_message(std::string message_name, const MessageCallback &callback)
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```
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Subscribe to incoming MAVLink messages.
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This provides direct access to incoming MAVLink messages. Use an empty string in message_name to subscribe to all messages, or specify a message name (e.g., "HEARTBEAT") to filter for specific message types.
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**Parameters**
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* std::string **message_name** -
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* const [MessageCallback](classmavsdk_1_1_mavlink_direct.md#classmavsdk_1_1_mavlink_direct_1a20acd4068f45cbde53afc55eb292692d)& **callback** -
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**Returns**
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&emsp;[MessageHandle](classmavsdk_1_1_mavlink_direct.md#classmavsdk_1_1_mavlink_direct_1aa4a3a6b305c89ef6a0cde3cb47b5c6a3) -
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### unsubscribe_message() {#classmavsdk_1_1_mavlink_direct_1a2ae1167e995caf0b7b8a5193cf5dbf52}
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```cpp
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void mavsdk::MavlinkDirect::unsubscribe_message(MessageHandle handle)
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```
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Unsubscribe from subscribe_message.
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**Parameters**
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* [MessageHandle](classmavsdk_1_1_mavlink_direct.md#classmavsdk_1_1_mavlink_direct_1aa4a3a6b305c89ef6a0cde3cb47b5c6a3) **handle** -
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### load_custom_xml() {#classmavsdk_1_1_mavlink_direct_1a9deb1c72b084d1b2369a133c0260bd46}
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```cpp
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Result mavsdk::MavlinkDirect::load_custom_xml(std::string xml_content) const
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```
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Load custom MAVLink message definitions from XML.
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This allows loading custom MAVLink message definitions at runtime, extending the available message types beyond the built-in definitions.
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This function is blocking.
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**Parameters**
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* std::string **xml_content** -
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**Returns**
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&emsp;[Result](classmavsdk_1_1_mavlink_direct.md#classmavsdk_1_1_mavlink_direct_1a63864e376328d1fe2ef7d667aa61f864) - Result of request.
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### operator=() {#classmavsdk_1_1_mavlink_direct_1a909f97b32d832d00488c695940760b63}
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```cpp
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const MavlinkDirect & mavsdk::MavlinkDirect::operator=(const MavlinkDirect &)=delete
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```
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Equality operator (object is not copyable).
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**Parameters**
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* const [MavlinkDirect](classmavsdk_1_1_mavlink_direct.md)& -
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**Returns**
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&emsp;const [MavlinkDirect](classmavsdk_1_1_mavlink_direct.md) & -

‎docs/en/cpp/api_reference/namespacemavsdk.md‎

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* [mavsdk::LogFiles](classmavsdk_1_1_log_files.md)
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* [mavsdk::LogStreaming](classmavsdk_1_1_log_streaming.md)
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* [mavsdk::ManualControl](classmavsdk_1_1_manual_control.md)
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* [mavsdk::MavlinkDirect](classmavsdk_1_1_mavlink_direct.md)
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* [mavsdk::MavlinkPassthrough](classmavsdk_1_1_mavlink_passthrough.md)
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* [mavsdk::Mavsdk](classmavsdk_1_1_mavsdk.md)
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* [mavsdk::Mission](classmavsdk_1_1_mission.md)

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