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<dt>How can I further reduce the generated C library size?</dt>
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<dd>On extremely resource-constrained systems you may be able to reduce the size of the generated library by setting <code>MAVLINK_COMM_NUM_BUFFERS=1</code> and <code>MAVLINK_MAX_PAYLOAD_LEN</code>="size of your largest buffer" (assuming only one comm link and that your payload is less than the maximum supported by MAVLink).
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You should also make sure that any buffers you use to pass into MAVLink are also as small as possible (e.g. the one passed into <code>mavlink_msg_to_send_buffer()</code>).
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<br><br>Another alternative is to use one of the other generators. For example <ahref="https://github.com/olliw42/fastmavlink">fastMavlink</a> asserts that it is smaller and more efficient than the libraries generated by mavgen (this has not been valided by the MAVLink project).</dd>
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<br><br>Another alternative is to use one of the other generators. For example <ahref="https://github.com/olliw42/fastmavlink">fastMavlink</a> asserts that it is smaller and more efficient than the libraries generated by mavgen (this has not been validated by the MAVLink project).</dd>
Copy file name to clipboardExpand all lines: ko/contributing/contributing.md
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Changes to the [mavgen](../getting_started/generate_libraries.md#mavgen) generator must be added as pull requests through the [ArduPilot/pymavlink](https://github.com/ArduPilot/pymavlink) project.
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Changes to existing generator code (e.g. bug fixes) are automatically tested by continuous integration (github actions).
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Once you have made against your PR pass, the changes will be reviewed by a project team member.
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Once you have made your PR pass, the changes will be reviewed by a project team member.
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More significant changes to the generator, such as the addition of a new programming language, will require:
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## How to Contribute Stand Alone Generators
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We would prefer that new languages are supported via [mavgen](../getting_started/generate_libraries.md#mavgen) rather than "standalone generators", as this provides a consistent inteface for end users, and ensures that source files are parsed and handled consistently.
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We would prefer that new languages are supported via [mavgen](../getting_started/generate_libraries.md#mavgen) rather than "standalone generators", as this provides a consistent interface for end users, and ensures that source files are parsed and handled consistently.
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That said will consider moving stand-alone generators into the MAVLink project under the same conditions as for new mavgen generator code (see section above).
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Primarily this means that the team developing the generator must provide sufficient validation that the generator works and commitment to support it.
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## How to Open a Pull Request
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1. First [fork and clone](https://help.github.com/articles/fork-a-repo) the project project.
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1. First [fork and clone](https://help.github.com/articles/fork-a-repo) the project.
Copy file name to clipboardExpand all lines: ko/getting_started/generate_libraries.md
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## Pre-requisites
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1. You must already have [Installed the MAVLink toolchain](../getting_started/installation.md), which includes the mavgenerate and mavgen tools used below as well as the [XML Message Definitions](../messages/index.md).
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2. If you are generating messages for a [custom dialect](../messages/index.md#dialects), copy the dialect [XML definition file(s)](../messages/index.md#xml-definition-files--dialects) into the directory [message_definitions/v1.0/](https://github.com/mavlink/mavlink/tree/master/message_definitions/v1.0).
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2. If you are generating messages for a [custom dialect](../messages/dialects.md), copy the dialect [XML definition file(s)](../messages/index.md#xml-definition-files--dialects) into the directory [message_definitions/v1.0/](https://github.com/mavlink/mavlink/tree/master/message_definitions/v1.0).
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::: info
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_mavgen_ can handle dialects that have relative paths for included XML files (e.g typically [common.xml](../messages/common.md)), but other generators may not.
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# Installing MAVLink Toolchain
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This topic explains how to install the [MAVLink toolchain](https://github.com/mavlink/mavlink). The toolchain includes the [XML message definitions](../messages/index.md) as well as the the GUI/command line tools that use the definitions to [Generate MAVLink Source Files](../getting_started/generate_libraries.md).
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This topic explains how to install the [MAVLink toolchain](https://github.com/mavlink/mavlink). The toolchain includes the [XML message definitions](../messages/index.md) as well as the GUI/command line tools that use the definitions to [Generate MAVLink Source Files](../getting_started/generate_libraries.md).
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:::tip
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You do not need to install or generate the source files if you are using the C programming language and a standard [dialect](../messages/index.md#dialects).
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-**Windows:** Download from [Python for Windows](https://www.python.org/downloads/)
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-**Ubuntu Linux** Make sure Python and Pip are both installed:
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```
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sudo apt install python3-tk
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```
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```
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sudo apt install python3-tk
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```
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2. Clone the official [mavlink repo](https://github.com/mavlink/mavlink) or your fork with your custom dialect:
- takes its version from **common.xml** (which is why the `version` tags are commented out).
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4. Update the `include`(s):
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- if the dialect is not based on **common.xml** remove the existing `include` line
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- Add additional `<include> </include>` elements to import additional files/dialects.
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- if the dialect is not based on **common.xml** remove the existing `include` line
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- Add additional `<include> </include>` elements to import additional files/dialects.
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::: info
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Includes in nested files are ignored.
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:::
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::: info
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Includes in nested files are ignored.
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:::
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5. Update the `version`:
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- Most dialects should leave the version commented out (i.e. all dialects that include **common.xml**).
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- Dialects that are _not_ based on **common.xml** can uncomment the `<version>6</version>` line and use whatever version is desired.
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- Most dialects should leave the version commented out (i.e. all dialects that include **common.xml**).
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- Dialects that are _not_ based on **common.xml** can uncomment the `<version>6</version>` line and use whatever version is desired.
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::: info
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The `version` specified in the top level file is used by default, if present.
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If it is not present in the file, then a `version` from an included file is used.
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:::
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::: info
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The `version` specified in the top level file is used by default, if present.
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If it is not present in the file, then a `version` from an included file is used.
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:::
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6. Update the `<dialect>8</dialect>` line to replace `8` with the next-largest unused dialect number (based on the other files in the folder).
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Each message is defined using `<message id="" name="LIBRARY_UNIQUE_NAME"> ... </message>` tags (with unique `id` and `name` attributes).
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:::tip
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The only only difference between messages defined in **common.xml** or _dialect_ files is they they must use different `id` ranges in order to ensure that the `ids` are unique. See [Message Id Ranges](#message_id_ranges) for more information.
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The only difference between messages defined in **common.xml** or _dialect_ files is they they must use different `id` ranges in order to ensure that the `ids` are unique. See [Message Id Ranges](#message_id_ranges) for more information.
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:::
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The main rules for messages are:
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- Create a PR and discuss in the MAVLink developer meeting.
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::: tip
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Before proposing changes to **common.xml** check the codebase of major stakeholder to confirm impact.
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Before proposing changes to **common.xml** check the codebase of major stakeholders to confirm impact.
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:::
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It is possible to change the message and field descriptions without breaking binary compatibility.
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For either case, all users of the enum will need to be updated with new generated libraries.
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:::tip
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Before proposing changes to **common.xml** check the codebase of major stakeholder to confirm impact.
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Before proposing changes to **common.xml** check the codebase of major stakeholders to confirm impact.
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:::
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For an enum in **common.xml** either change requires the agreement of major stakeholders
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:::
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There are a number of common and ArduPilot commands that are outside the ranges (e.g. 16, 200, etc.).
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Generally you would only use these these ranges in order to give a new command an id that is close to related to that of related commands.
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Generally you would only use these ranges in order to give a new command an id that is close to related to that of related commands.
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This can be done provided that the command id value is not used by any other XML file in the _mavlink/mavlink_ repo.
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### Entry Names {#command_names}
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:::info
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Unfortunately this means that a reserved `param` must have its default value decided when the command is declared!
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The default value cannot later be changed from `NaN` to `0` (or visa versa) without potential compatibility issues.
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The default value cannot later be changed from `NaN` to `0` (or vice versa) without potential compatibility issues.
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:::
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To declare a `param` as `reserved` with `default` value of `NaN` you should use the following syntax.
Copy file name to clipboardExpand all lines: ko/guide/mavlink_2.md
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-[Packet signing](../guide/message_signing.md) - Authenticate that messages were sent by trusted systems.
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-[Message extensions](../guide/define_xml_element.md#message_extensions) - Add new fields to existing MAVLink message definitions without breaking binary compatibility for receivers that have not updated.
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-[Empty-byte payload truncation](../guide/serialization.md#payload_truncation) - Empty (zero-filled) bytes at the end of the serialized payload must be removed before sending (All bytes were sent in _MAVLink 1_, regardless of content).
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-[Compatibility Flags](../guide/serialization.md#compat_flags)/[Incompatibility Flags](../guide/serialization.md#incompat_flags) - Allow for backwards compatible evolution of the protocol by indicating frames that must be handled in a special/non-standard way (packets with compatibility flags can still be handled in the standard way, while packets with incompatibility flags must be dropped if the flage is not supported).
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-[Compatibility Flags](../guide/serialization.md#compat_flags)/[Incompatibility Flags](../guide/serialization.md#incompat_flags) - Allow for backwards compatible evolution of the protocol by indicating frames that must be handled in a special/non-standard way (packets with compatibility flags can still be handled in the standard way, while packets with incompatibility flags must be dropped if the flag is not supported).
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:::tip
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The _MAVLink 2_[design document](https://docs.google.com/document/d/1XtbD0ORNkhZ8eKrsbSIZNLyg9sFRXMXbsR2mp37KbIg/edit?usp=sharing) provides additional background information about the changes.
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