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Mavlink network tools

Wireshark

Add mavlink parser to wireshark as LUA plugin read more

Create lua plugin

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.venv/bin/mavgen.py \
    --lang=WLua \
    --wire-protocol=2.0 \
    --output=mavlink_2_common \
    .venv/lib/python3.11/site-packages/pymavlink/dialects/v20/common.xml

Install the plugin

TODO: run wireshark with user permission, install the lua plugin in user .local folder

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sudo cp mavlink_2_common.lua /usr/lib/x86_64-linux-gnu/wireshark/plugins

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line to fix
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f.CAMERA_IMAGE_CAPTURED_capture_result = ProtoField.new("capture_result (MAV_BOOL)", "mavlink_proto.CAMERA_IMAGE_CAPTURED_capture_result", ftypes.INT8, nil, base.DEC)

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tcpreplay

I try this tool without success

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sudo apt install tcpreplay

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sudo tcpreplay -i eth0 capture.pcap

Play pcap using scapy script

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from scapy.all import rdpcap, IP, UDP, send
import time
PCAP = "mavlink.pcap"
pkts = rdpcap(PCAP)

t0 = None
start = None

for p in pkts:
    if IP in p and UDP in p:
        if t0 is None:
            t0 = float(p.time)
            start = time.time()

        pkt_time = float(p.time)
        delay = (pkt_time - t0) - (time.time() - start)

        if delay > 0:
            time.sleep(delay)

        del p[IP].len
        del p[IP].chksum
        del p[UDP].len
        del p[UDP].chksum

        send(p[IP], verbose=False)