v2.0.0

🎉 Version 2 of MAVSDK is finally out!

📓 Note that v2 means that the API (and ABI) has changed, for details see: https://mavsdk.mavlink.io/v2.0/en/cpp/api_changes.html#v2

High level changelog

• API changes (upgrade guide)
  • Multiple callback subscriptions
  • Required configuration of Mavsdk instances, consolidated component types
  • Easier autopilot discovery
• Better support for server components (camera, companion/onboard computer side)
• New functionality
• New plugins
• Tons of refactoring and bugfixes
• Updated dependencies

All pull requests

• gitmodule: remove mavlink repo by @julianoes in #1771
• Server component and server plugin infrastructure by @julianoes in #1733
• Add version number fallback by @bazfp in #1773
• Fix system discovery by @JonasVautherin in #1774
• workflows: reset CI cache for Windows build by @julianoes in #1775
• Fix FTP test segfault by @julianoes in #1777
• telemetry: fix scope of subscription lock by @julianoes in #1780
• openssl: update to 1.1.1o by @julianoes in #1782
• params: fix double promise call by @julianoes in #1788
• Update ios toolchain by @JonasVautherin in #1781
• Update dependencies by @JonasVautherin in #1784
• Two small improvements of server component by @julianoes in #1790
• core: Add callback list by @julianoes in #1767
• More command result options by @julianoes in #1793
• telemetry: sys_status for position health flags by @julianoes in #1794
• docker/workflows: add PX4 v1.13 beta to CI by @julianoes in #1796
• server: enabled option for default health check service for mavsdk grpc server. by @ykhedar in #1799
• rtk: fix multi part data being sent by @julianoes in #1808
• plugin: corrected support for basic actions for ardupilot by @ykhedar in #1738
• Fix vehicle type detection by @bazfp in #1810
• Add Ubuntu 22.04 to CI by @JonasVautherin in #1801
• workflows: try to fix caching issue by @julianoes in #1814
• cmake: install mavlink headers in correct dir by @JonasVautherin in #1819
• Retry home position until set. by @ykhedar in #1816
• Transponder: expose altitude type by @chep in #1812
• Integration tests: do not continue if flightmode unknown by @JonasVautherin in #1830
• Fix build_and_push_docker_images.sh by @JonasVautherin in #1829
• core: fix some bugs in fs_canonical by @CodeTriangle in #1820
• Add Fedora 36 to CI by @JonasVautherin in #1828
• Unregister to prevent fulfilling promise twice by @JonasVautherin in #1824
• Use a uniform distribution to drop messages in lossy test by @JonasVautherin in #1827
• Subscriptions with multiple subscribers by @julianoes in #1768
• Update Follow me code to match upstream changes by @junwoo091400 in #1770
• core: unistd is not available on Windows by @julianoes in #1832
• Generate grpc_server.h/grpc_server.cpp, support selectively building plugins by @julianoes in #1776
• Set default MAVLINK_DIALECT by @JonasVautherin in #1835
• Use mission_type argument in integration test by @JonasVautherin in #1834
• Update tinyxml2 to 9.0.0 by @JonasVautherin in #1838
• Fix cache by @JonasVautherin in #1844
• Fix unused warnings in filesystem tests by @JonasVautherin in #1841
• Fix warning and improve integration test by @JonasVautherin in #1839
• Fix warnings in mavsdk server by @JonasVautherin in #1840
• Only enable follow-me test if the improved followme' parameter exists by @junwoo091400 in #1847
• Various cleanup towards v2 by @julianoes in #1849
• added optional mavsdk server built with grpc proto reflection. This a… by @ykhedar in #1850
• Local protoc-gen-mavsdk install by @julianoes in #1855
• core: second in flight command fix by @julianoes in #1862
• core: prevent timeout after callback by @julianoes in #1863
• Detect external storage format by @JonasVautherin in #1851
• create ack packet and send it by @julianoes in #1868
• Switch to clang-format-12 by @julianoes in #1859
• examples: fix build of gimbal_device_tester by @julianoes in #1871
• tools: fix clang-format error message by @julianoes in #1887
• mission/mission_raw: more results by @julianoes in #1886
• info: updated the message to obtain flight and autopilot info as per … by @ykhedar in #1787
• core: fix unused-parameter warning by @julianoes in #1895
• mission_raw: Add support for geofence and rally points by @julianoes in #1892
• telemetry: split attitude into Euler + Quaternion by @julianoes in #1878
• core: fix style by @julianoes in #1896
• Add support for pkgconfig by @JonasVautherin in #1889
• mission_raw: add home position at 0 for ArduPilot by @julianoes in #1893
• Update openssl to 3.0.5 by @JonasVautherin in #1811
• New vehicle action by @rligocki in #1628
• Pin ci workers to macos-12 by @JonasVautherin in #1898
• Add ArduPlane flight modes by @bahadirbuber in #1897
• core: remove wrong/confusing warning by @julianoes in #1904
• Remove some noise by @julianoes in #1905
• Add software version type to system info by @YalamareddyChaitanya in #1918
• tools: Refactor changelog generation by @Andreea-L in #1923
• Added altitude to telemetry plugin by @YalamareddyChaitanya in #1920
• Use latest MAVLink definitions by @TSC21 in #1929
• Add bottom_clearance to altitude in telemetry by @YalamareddyChaitanya in #1930
• mavlink: install pymavlink dependencies by @julianoes in #1906
• Move openssl dep to MAVSDK_SERVER only by @JonasVautherin in #1926
• docker: Update README by @antonio-sc66 in #1938
• server_utility: remove leftover warning by @julianoes in #1934
• geofence: Add support for circular geofences by @YalamareddyChaitanya in #1933
• Add multi_mavsdk_server.sh util by @antonio-sc66 in #1937
• fixed log_files proto by @dayjaby in #1942
• Fix CI for iOS by @JonasVautherin in #1949
• mission_raw: add method to import plan from string by @julianoes in #1950
• fix_style.sh: Show correct docs link by @potaito in #1954
• examples: add simple sniffer by @julianoes in #1953
• Add battery status message for v1 by @Katawann in #1939
• Fixed bug with empty mission upload by @weirdgyn in #1963
• core: always send heartbeat on serial connections by @julianoes in #1968
• telemetry: fix distance_sensor unit by @julianoes in #1971
• Distance sensor server by @potaito in #1964
• Winch and Gripper plugins by @potaito in #1958
• mission_raw: bug fix in setting current mission item by @YalamareddyChaitanya in #1976
• core/plugins: fix includes by @julianoes in #1982
• calibration: remove spurious cancel command by @julianoes in #1986
• offboard: two actuator control fixes by @julianoes in #1993
• Enable offboard plugin with Ardupilot Rover by @dvinc in #1995
• plugins/action: fix apm_takeoff by @41Mo in #1997
• Add overrides in impl_h template by @potaito in #2004
• mavsdk_server: fix linking by @julianoes in #2005
• info: wait up to 1.5s for information by @julianoes in #2006
• CI: update checkout action by @JonasVautherin in #2011
• Expose params through mavlink_passthrough by @JonasVautherin in #2010
• Rename _parent to _system_impl by @JonasVautherin in #2012
• CI: Remove deprecated ubuntu-18.04 by @JonasVautherin in #2017
• Build deb package for Ubuntu 22.04 by @JonasVautherin in #2018
• Change dl with CMAKE_DL_LIBS by @JonasVautherin in #2020
• Fix mavlink_passthrough operator<< by @JonasVautherin in #2014
• telemetry: fix set battery rate by @YalamareddyChaitanya in #2021
• Update mavlink by @JonasVautherin in #2024
• core: fix system tests subscription by @julianoes in #2025
• Easier discovery by @julianoes in #2026
• Add .pc file (pkg-config) to deb package by @JonasVautherin in #2032
• tune: fix stack overrun by @julianoes in #2036
• Update mavlink and use its new CMakeLists by @JonasVautherin in #2028
• Add camera client sample code for camera server example by @tbago in #2042
• Refactor MAVLinkParameters into client and server classes by @julianoes in #1772
• core: improve subscription race by @julianoes in #2044
• Minor refactoring in ardupilot flight modes by @JonasVautherin in #2052
• added set_position_velocity_acceleration_ned offboard function by @alireza787b in #2057
• Generate code from protos by @JonasVautherin in #2061
• ci: try to fix fetching tags on macOS by @JonasVautherin in #2055
• CI: disable integration tests by @julianoes in #2062
• Camera definition: accept bool type in xml by @julianoes in #2048
• Update gtest by @JonasVautherin in #2054
• corrected mission item seq check for ardupilot by @ykhedar in #2064
• The bool parameter now automatically creates on/off options. Reopen. by @tlapik123 in #2067
• Tools: change the absolute path for generate_from_protos.sh by @tbago in #2071
• examples: add disconnection example by @julianoes in #2078
• core: remove always connected flag by @julianoes in #2077
• core: add way to remove a connection by @julianoes in #2079
• core: don't create a null system if not required by @julianoes in #2081
• Simplify linking, update dependencies by @julianoes in #2069
• TCP: Allow connecting by hostname by @ThomasDebrunner in #2053
• build: Install MAVLink headers within MAVSDK by @julianoes in #2084
• Build with gcc13 without errors by @tlapik123 in #2087
• log_files: remove hard-coded timeout values by @julianoes in #2092
• core: do not ping ardupilot by @holden-zenith in #2099
• Added new code for MAV_CMD_DO_SET_SERVO ArduPilot by @trolledbypro in #2113
• Fix battery voltage, included extended voltages by @julianoes in #2114
• Mission module: Updated camera action commands (param4) to be compliant with mavlink standard by @trolledbypro in #2118
• Link CMAKE_DL_LIBS when necessary by @JonasVautherin in #2104
• core: send heartbeats to UDP remote by @julianoes in #2097
• telemetry: Be compatible for battery_status by @julianoes in #2123
• Action plugin 'set_actuator_async' switch statement index changed to zero-based by @elbarto1980 in #2122
• Fix: Ardupilot needs to be in offboard/guided mode for goto_location() by @JonasVautherin in #2136
• telemetry: do not interrupt calibration checks too early by @JonasVautherin in #2140
• camera: fix conflict between subscribe_status and subscribe_information by @JonasVautherin in #2141
• docker/CI: remove Fedora images by @julianoes in #2148
• Fix storage type translation (STORAGE_TYPE_OTHER) by @JonasVautherin in #2151
• offboard: fix typo, update proto by @julianoes in #2154
• Preserve symlinks in zip file by @tthbalazs in #2157
• Threading fixes, MAVLink sequence number cleanup by @julianoes in #2155
• Mavsdk server default to autopilot by @JonasVautherin in #2164
• Request mode change for action MAV_CMD_DO_REPOSITION by @Jaeyoung-Lim in #2170
• Split Ftp plugin into Ftp and FtpServer by @julianoes in #2060
• Split mission transfer into client and server by @julianoes in #2160
• gimbal device test fixes by @julianoes in #2171
• core: fix burst implementation by @julianoes in #2174
• core: fix mission transfer by @julianoes in #2175
• CI: downgrade to Python 3.11 for macOS by @julianoes in #2179
• mavsdk_server: fix dl-lib linking by @JonasVautherin in #2181
• Include header in connection.h to avoid compiler erros with msvc2019 16.4 by @chehrlic in #2185
• Use DEBUG_POSTFIX cmake property to distinguish between debug and release dll by @chehrlic in #2186
• Update to MavlinkPassthrough unsubscribe_message by @c-devine in #2189
• core: fix component ID check by @julianoes in #2193
• core: fix incoming messages by sysid by @julianoes in #2192
• Add option to build without cURL by @julianoes in #1955
• camera: remove cached camera definition files by @julianoes in #2195
• tools: remove unused script by @julianoes in #2196
• tools: Update iOS toolchain by @julianoes in #2184
• Consolidate components by @julianoes in #2169
• Customizing distance sensor to add orientation for multiple sensor support by @prokas-nikos in #2093
• Require configuration for Mavsdk ctor by @julianoes in #2197
• More camera server functionality by @tbago in #2088
• Update readme and license by @julianoes in #2198

New Contributors

• @chep made their first contribution in #1812
• @CodeTriangle made their first contribution in #1820
• @junwoo091400 made their first contribution in #1770
• @rligocki made their first contribution in #1628
• @bahadirbuber made their first contribution in #1897
• @YalamareddyChaitanya made their first contribution in #1918
• @Andreea-L made their first contribution in #1923
• @antonio-sc66 made their first contribution in #1938
• @weirdgyn made their first contribution in #1963
• @dvinc made their first contribution in #1995
• @41Mo made their first contribution in #1997
• @tbago made their first contribution in #2042
• @alireza787b made their first contribution in #2057
• @tlapik123 made their first contribution in #2067
• @holden-zenith made their first contribution in #2099
• @trolledbypro made their first contribution in #2113
• @tthbalazs made their first contribution in #2157
• @chehrlic made their first contribution in #2185
• @c-devine made their first contribution in #2189
• @prokas-nikos made their first contribution in #2093

Full Changelog: v1.4.0...v2.0.0