flowrs-engine/crates/flowrs-connect/PROVENANCE.md

Provenance of flowrs-connect's MAVLink bridge

Everything in src/mavlink/ is written for flowRS (Apache-2.0) except the parts below.

Ports

flowRS file	Ported from	Licence
src/mavlink/px4.rs	joulesperbit/crates/mgai-firmware-sentinel/src/mavlink_bridge.rs (the owner's workspace, last committed 2026-07-17): Px4Mode and its custom_mode constants, the "position + yaw" and "velocity + yaw rate" SET_POSITION_TARGET_LOCAL_NED type masks	Apache-2.0 OR MIT (the joulesperbit workspace licence)

Two errors in the harvested code were corrected, not carried over:

• custom_mode layout. PX4's px4_custom_mode.h (BSD-3-Clause, PX4 Development Team) packs {uint16 reserved; uint8 main_mode; uint8 sub_mode} little-endian, so the sub mode is bits 24–31. The harvested constants put it in the low 16 bits (AUTO|MISSION = 0x0004_0003, which is also LOITER's number) and decoded it from there; AUTO.MISSION is 0x0404_0000.
• Type masks. 0x0FF8 ("position + yaw only") also set YAW_IGNORE and FORCE_SET; 0x0C07 ("velocity + yaw rate only") ignored the yaw rate and left the accelerations live. The masks are now built from POSITION_TARGET_TYPEMASK's entry names in the MIT XML (0x09F8 and 0x05C7), and a test says what each ignores.

The rest of the harvested bridge (its MavConnection loop on mavlink 0.17, the telemetry struct) was not ported: the bridge here owns its socket so that frames failing the checksum are seen (frame.rs), and reads every field's meaning from the XML.

Written from specifications, not ported

flowRS file	From
src/mavlink/frame.rs	the MAVLink serialization guide (mavlink.io, "Packet Serialization"); the X.25 CRC is flowrs_iface::mavlink::crc
src/mavlink/sign.rs	the MAVLink message signing guide (mavlink.io, "Message Signing")
src/mavlink/wire.rs	the serialization guide's wire order and MAVLink 2 payload truncation
src/mavlink/peer.rs	ArduCopter's documented MAVLink behaviour (GCS_Signing.cpp, GCS_MAVLink_Copter.cpp, read for behaviour only: GPL-3.0 code, none copied)

Data

dialects/mavlink/ holds nine MAVLink XML files, unchanged, MIT, from mavlink/mavlink@44a1229ece43cfc3ce1640451ad5aaba52a28459, compared byte for byte with the copy inside the mavlink crate 0.21.0; see its README.md, MANIFEST.tsv and LICENSE. mavgen and pymavlink (LGPLv3) are neither vendored nor linked.

Dependencies added for the bridge (feature mavlink)

Crate	Licence	Why
mavlink 0.21.0, mavlink-core 0.21.0, mavlink-bindgen 0.21.0 (build), with crc-any 2.5, quick-xml 0.41 (build), serde_arrays 0.2	MIT OR Apache-2.0 (MIT/Apache-2.0); quick-xml MIT; crc-any MIT; serde_arrays MIT OR Apache-2.0	frames decoded, encoded and signed
sha2 0.11 (already in the lock)	MIT OR Apache-2.0	the twin's signing check, command hashes
flowrs-instruments (workspace)	Apache-2.0	approvals from the envelope's proposals