Add mavlink2 protocol support

Mavlink2 is a common protocol for unmanned vehicles and flight
controllers like Pixhawk devices.

1 files changed, 56 insertions, 0 deletions

diff --git a/src/test/java/org/traccar/protocol/Mavlink2ProtocolDecoderTest.java b/src/test/java/org/traccar/protocol/Mavlink2ProtocolDecoderTest.java
new file mode 100644
index 000000000..2f824b603
--- /dev/null
+++ b/src/test/java/org/traccar/protocol/Mavlink2ProtocolDecoderTest.java
@@ -0,0 +1,56 @@
+package org.traccar.protocol;
+
+import org.junit.Test;
+import org.traccar.ProtocolTest;
+
+public class Mavlink2ProtocolDecoderTest extends ProtocolTest {
+
+    @Test
+    public void testDecode() throws Exception {
+
+        var decoder = new Mavlink2ProtocolDecoder(null);
+
+        byte[] pkt = { 
+        		// Packet start marker
+        		(byte) 0xfd,
+        		// Payload length
+        		(byte) 0x1c, 
+        		// Incompatibility Flags
+        		(byte) 0x00, 
+        		// Compatibility Flags
+        		(byte) 0x00, 
+        		// Packet sequence
+        		(byte) 0x74, 
+        		// System ID (sender)
+        		(byte) 0x01, 
+        		// Component ID (sender)
+        		(byte) 0x01,
+        		// Message ID (low, middle, high bytes)
+        		(byte) 0x21, (byte) 0x00, (byte) 0x00,
+        		// Payload Message data
+        		  // Timestamp (time since system boot).
+        		  (byte) 0xcc, (byte) 0xae, (byte) 0x08, (byte) 0x00, 
+        		  // degE7 Latitude 
+        		  (byte) 0x40, (byte) 0x05, (byte) 0xd3, (byte) 0x23, 
+        		  // degE7 Longitude
+        		  (byte) 0xb8, (byte) 0x9a, (byte) 0xa3, (byte) 0x0e, 
+        		  // mm Altitude (MSL)
+        		  (byte) 0x2e, (byte) 0xd0, (byte) 0x06, (byte) 0x00, 
+        		  // mm Altitude above ground
+        		  (byte) 0x67, (byte) 0x00, (byte) 0x00, (byte) 0x00, 
+        		  // cm/s Ground X Speed
+        		  (byte) 0x8b, (byte) 0xff,
+        		  // cm/s Ground Y Speed
+        		  (byte) 0x05, (byte) 0x00,
+        		  // cm/s Ground Z Speed
+        		  (byte) 0x03, (byte) 0x00, 
+        		  // cdeg Vehicle heading (yaw angle)
+        		  (byte) 0x4f, (byte) 0x2d, 
+        		// Checksum (low byte, high byte)
+        		(byte) 0x00, (byte) 0x00 
+        		};
+        verifyPosition(decoder, pkt);
+
+    }
+
+}