21 lines
888 B
Markdown
21 lines
888 B
Markdown
# MAVLink and telemetry
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Kaptan emits telemetry using MAVLink 2 framing. The production receiver does
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not promote inbound MAVLink frames to authority records:
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- MAVLink 1 is discarded.
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- CRC-invalid MAVLink 2 frames are discarded.
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- Signed frames are discarded because no signature verifier or persistent
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replay state exists.
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- Unsigned MAVLink 2 frames are also discarded; a V2 CRC detects corruption,
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not authentication.
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`TODO(signing)`: any future inbound authority requires verified MAVLink 2
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signing, configured source/target binding, persistent anti-replay state, and a
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provisioning/key-rotation policy as one reviewed feature.
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Telemetry transmission uses bounded frame classes. A critical frame may
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replace pending best-effort traffic, but never the DMA-owned active buffer.
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Completion retries preserve ordering and retain a transiently busy frame for a
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later service turn.
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