How to build MAVSDK with custom mavlink messages

D11 · October 24, 2024, 6:50pm

I try to build from sources following Building library from Source · MAVSDK Guide
Is there a better way to do this than editing a patch in third_parties/mavlink ?

JulianOes · October 25, 2024, 6:35am

It’s not straightforward. I would probably do xml changes/additions and then swap out the mavlink repo here:

github.com

mavlink/MAVSDK/blob/d46bb7a96a3afc91fede367465693e8ecc50e17e/third_party/mavlink/CMakeLists.txt#L28


      
                  GIT_TAG ${MAVLINK_GIT_HASH}
                  PREFIX mavlink
                  PATCH_COMMAND git checkout .
                  COMMAND git apply ${PROJECT_SOURCE_DIR}/mavlink.patch
                  COMMAND git apply ${PROJECT_SOURCE_DIR}/mavlink_ios.patch
                  CMAKE_ARGS "${CMAKE_ARGS}"
              )
          else()
              ExternalProject_add(
                  mavlink
                  GIT_REPOSITORY https://github.com/mavlink/mavlink
                  GIT_TAG ${MAVLINK_GIT_HASH}
                  PREFIX mavlink
                  PATCH_COMMAND git checkout . && git apply ${PROJECT_SOURCE_DIR}/mavlink.patch
                  CMAKE_ARGS "${CMAKE_ARGS}"
              )
          endif()

I’m planning to add the capability to add messages at runtime using libmav in version 4 of MAVSDK.

D11 · October 25, 2024, 7:55am

thanks for the hint and quick response. Btw, will it work with local repository?

JulianOes · November 11, 2024, 1:51am

It should. It’s whatever cmake supports for that.