ardupilot / apweb

ArduPilot web server interface

ArduPilot Project

ArduPilot is the most advanced, full-featured, and reliable open source autopilot software available. It has been under development since 2010 by a diverse team of professional engineers, computer scientists, and community contributors. Our autopilot software is capable of controlling almost any vehicle system imaginable, from conventional airplanes, quad planes, multi-rotors, and helicopters to rovers, boats, balance bots, and even submarines. It is continually being expanded to provide support for new emerging vehicle types.

The ArduPilot project is made up of:

• ArduCopter: code, wiki

• ArduPlane: code, wiki

• Rover: code, wiki

• ArduSub : code, wiki

• Antenna Tracker : code, wiki

User Support & Discussion Forums

• Support Forum: https://discuss.ardupilot.org/

• Community Site: https://ardupilot.org

Developer Information

• Github repository: https://github.com/ArduPilot/ardupilot

• Main developer wiki: https://ardupilot.org/dev/

• Developer discussion: https://discuss.ardupilot.org

• Developer chat: https://discord.com/channels/ardupilot

Top Contributors

• Flight code contributors
• Wiki contributors
• Most active support forum users
• Partners who contribute financially

How To Get Involved

• The ArduPilot project is open source and we encourage participation and code contributions: guidelines for contributors to the ardupilot codebase

• We have an active group of Beta Testers to help us improve our code: release procedures

• Desired Enhancements and Bugs can be posted to the issues list.

• Help other users with log analysis in the support forums

• Improve the wiki and chat with other wiki editors on Discord #documentation

• Contact the developers on one of the communication channels

License

The ArduPilot project is licensed under the GNU General Public License, version 3.

• Overview of license

• Full Text

Maintainers

ArduPilot is comprised of several parts, vehicles and boards. The list below contains the people that regularly contribute to the project and are responsible for reviewing patches on their specific area.

• Andrew Tridgell:
  • Vehicle: Plane, AntennaTracker
  • Board: Pixhawk, Pixhawk2, PixRacer
• Francisco Ferreira:
  • Bug Master
• Grant Morphett:
  • Vehicle: Rover
• Willian Galvani:
  • Vehicle: Sub
  • Board: Navigator
• Michael du Breuil:
  • Subsystem: Batteries
  • Subsystem: GPS
  • Subsystem: Scripting
• Peter Barker:
  • Subsystem: DataFlash, Tools
• Randy Mackay:
  • Vehicle: Copter, Rover, AntennaTracker
• Siddharth Purohit:
  • Subsystem: CAN, Compass
  • Board: Cube*
• Tom Pittenger:
  • Vehicle: Plane
• Bill Geyer:
  • Vehicle: TradHeli
• Emile Castelnuovo:
  • Board: VRBrain
• Georgii Staroselskii:
  • Board: NavIO
• Gustavo José de Sousa:
  • Subsystem: Build system
• Julien Beraud:
  • Board: Bebop & Bebop 2
• Leonard Hall:
  • Subsystem: Copter attitude control and navigation
• Matt Lawrence:
  • Vehicle: 3DR Solo & Solo based vehicles
• Matthias Badaire:
  • Subsystem: FRSky
• Mirko Denecke:
  • Board: BBBmini, BeagleBone Blue, PocketPilot
• Paul Riseborough:
  • Subsystem: AP_NavEKF2
  • Subsystem: AP_NavEKF3
• Víctor Mayoral Vilches:
  • Board: PXF, Erle-Brain 2, PXFmini
• Amilcar Lucas:
  • Subsystem: Marvelmind
• Samuel Tabor:
  • Subsystem: Soaring/Gliding
• Henry Wurzburg:
  • Subsystem: OSD
  • Site: Wiki
• Peter Hall:
  • Vehicle: Tailsitters
  • Vehicle: Sailboat
  • Subsystem: Scripting
• Andy Piper:
  • Subsystem: Crossfire
  • Subsystem: ESC
  • Subsystem: OSD
  • Subsystem: SmartAudio
• Alessandro Apostoli :
  • Subsystem: Telemetry
  • Subsystem: OSD
• Rishabh Singh :
  • Subsystem: Avoidance/Proximity
• David Bussenschutt :
  • Subsystem: ESP32,AP_HAL_ESP32
• Charles Villard :
  • Subsystem: ESP32,AP_HAL_ESP32

apweb's Issues

pymavlink 2.3.4 breaks APWeb

On pymavlink 2.3.4, I am unable to compile APWeb from source. I get the error message:

mavgen.py --lang C modules/mavlink/message_definitions/v1.0/ardupilotmega.xml -o generated/mavlink --wire-protocol=2.0
Validating modules/mavlink/message_definitions/v1.0/ardupilotmega.xml
Parsing modules/mavlink/message_definitions/v1.0/ardupilotmega.xml
Note: message DATA64 is longer than 64 bytes long (74 bytes), which can cause fragmentation since many radio modems use 64 bytes as maximum air transfer unit.
Note: message DATA96 is longer than 64 bytes long (106 bytes), which can cause fragmentation since many radio modems use 64 bytes as maximum air transfer unit.
Note: message REMOTE_LOG_DATA_BLOCK is longer than 64 bytes long (214 bytes), which can cause fragmentation since many radio modems use 64 bytes as maximum air transfer unit.
Note: message DEVICE_OP_READ_REPLY is longer than 64 bytes long (143 bytes), which can cause fragmentation since many radio modems use 64 bytes as maximum air transfer unit.
Note: message DEVICE_OP_WRITE is longer than 64 bytes long (187 bytes), which can cause fragmentation since many radio modems use 64 bytes as maximum air transfer unit.
Validating modules/mavlink/message_definitions/v1.0/common.xml
ERROR: /home/nic/original-projects/newAPWeb/APWeb/modules/mavlink/message_definitions/v1.0/common.xml:3207:0:ERROR:SCHEMASV:SCHEMAV_ELEMENT_CONTENT: Element 'field': This element is not expected. Expected is one of ( deprecated, wip, description ).
/home/nic/original-projects/newAPWeb/APWeb/modules/mavlink/message_definitions/v1.0/common.xml:3216:0:ERROR:SCHEMASV:SCHEMAV_ELEMENT_CONTENT: Element 'field': This element is not expected. Expected is one of ( deprecated, wip, description ).
/home/nic/original-projects/newAPWeb/APWeb/modules/mavlink/message_definitions/v1.0/common.xml:3225:0:ERROR:SCHEMASV:SCHEMAV_ELEMENT_CONTENT: Element 'field': This element is not expected. Expected is one of ( deprecated, wip, description ).
/home/nic/original-projects/newAPWeb/APWeb/modules/mavlink/message_definitions/v1.0/common.xml:3231:0:ERROR:SCHEMASV:SCHEMAV_ELEMENT_CONTENT: Element 'field': This element is not expected. Expected is one of ( deprecated, wip, description ).
/home/nic/original-projects/newAPWeb/APWeb/modules/mavlink/message_definitions/v1.0/common.xml:3528:0:ERROR:SCHEMASV:SCHEMAV_ELEMENT_CONTENT: Element 'field': This element is not expected. Expected is one of ( deprecated, wip, description ).
/home/nic/original-projects/newAPWeb/APWeb/modules/mavlink/message_definitions/v1.0/common.xml:3537:0:ERROR:SCHEMASV:SCHEMAV_ELEMENT_CONTENT: Element 'field': This element is not expected. Expected is one of ( deprecated, wip, description ).
/home/nic/original-projects/newAPWeb/APWeb/modules/mavlink/message_definitions/v1.0/common.xml:3541:0:ERROR:SCHEMASV:SCHEMAV_ELEMENT_CONTENT: Element 'field': This element is not expected. Expected is one of ( deprecated, wip, description ).
/home/nic/original-projects/newAPWeb/APWeb/modules/mavlink/message_definitions/v1.0/common.xml:3720:0:ERROR:SCHEMASV:SCHEMAV_ELEMENT_CONTENT: Element 'field': This element is not expected. Expected is one of ( deprecated, wip, description ).
/home/nic/original-projects/newAPWeb/APWeb/modules/mavlink/message_definitions/v1.0/common.xml:3873:0:ERROR:SCHEMASV:SCHEMAV_ELEMENT_CONTENT: Element 'field': This element is not expected. Expected is one of ( deprecated, wip, description ).
Makefile:15: recipe for target 'generated/mavlink/ardupilotmega/mavlink.h' failed
make: *** [generated/mavlink/ardupilotmega/mavlink.h] Error 1

I have temporarily fixed my APWeb build by downgrading pymavlink to 2.2.10. Still, it's important that APWeb should be compatible with newer versions of pymavlink.

APWeb not working with Tailscale IPs (works with Zerotier, though), maybe broken mavlink-router?

Hi all,

i'm experimenting with APweb together with IP-VPN-tunneling platforms, which basically are two: tailscale and zerotier. Generally i prefer the first, as it seems to have better video stream performance. However, going with APWeb through tailscale (which basically consist of putting tailscale assigned IP into web browser) gives APWeb pages BUT without any communication with the FC ! (blank fields, etc) and "broken" video stream server page (empty network interfaces list).
However, just going with zerotier IP, everything same, it works ok, i can see comunication with FC, stream server page works ok. I'm not very deep into project but i think it's an issue with mavlink router, maybe?
I'm using APWeb included in apsync-Raspian-20191123030859.img image, since i tried to compile latest from this git, but it gives me an error

Help building and running in windows

I am looking for an way to building this project in windows. Can anyone assist me with on how and what tools do I need to build this with windows

Thanks

APWeb/files/data/apm.pdef.xml is old and doesn't update with AP

Need to find a way to link this file to the build output of ardupilot.
There are project using this APWeb now (e.g. Companion) and it would be beneficial to them if the params were up to date in APWeb.

Also, it should probably generate an xml for multiple frame types (copter,plane, etc) and the paramater.html should detect them and autopopulate a drop-box to allow a user to select what frame type they have.

Alternatively, since all frames have the parameter FRAME_TYPE, it can probabl figure it out automatically.

APWeb shutsdown if user stops download of jpg through file browser

apweb shuts down if I do the following:

• place a .jpg file on the filesystem
• open the apweb file browser (http://10.0.1.128/filesystem.html) and click on the jpg file
• on the browser press stop or back to abort the file download/viewing
• the image appears but apweb shutsdown and any further attempts to use apweb fail.

By the way, if I restart apweb using, "sudo ./start_apweb.sh" then apweb works again and I see "hearbeat ok" written on the console but if I again click on on another jpg, the "heartbeat ok" messages stop and control is returned to me.

Default sysid = 67, compid = 72 conflicts with SToRM32 gimbal

APWeb seems to be using a system-id = 67 and component-id = 72 when sending REQUEST_DATA_STREAM messages.

I think it would be better to use a system-id of 1 to match the default used by most vehicles and component-id of perhaps 242 (one higher than MAV_COMP_ID_UART_BRIDGE).

The defaults used now are strangely exactly the same system-id and component-id as used by the SToRM32 mavlink enabled gimbal.

Request-Data-Stream requests interfere with ROS/SLAM setup

APWeb seems to be sending REQUEST_DATA_STREAM messages at about 10hz and within this message it requests the flight controller set all stream rates to 4hz. This interferes with the ROS/SLAM setups (described here on the wiki) that need much higher IMU data rates (like 50hz).

Note that I didn't actually need to be using the APWeb page for this issue to occur.

Of course I can disable APWeb on APSync (and add instructions on our wiki) but it would be nice if APWeb only requested these stream rates if it was getting data at a lower rate than 4hz.

MAVlink 2.0 compatibility issues

Hi,
it seems there is a problem with MAVlink v2.0, files generated using pymavlink in C using ardupilotmega msg definitions.

mavlink_json.o: In function `mavlink_message_send_args':
/APWeb/mavlink_json.c:271: undefined reference to `mavlink_set_proto_version'
/APWeb/mavlink_json.c:273: undefined reference to `mavlink_get_crc_extra'
collect2: error: ld returned 1 exit status
Makefile:18: recipe for target 'web_server' failed
make: *** [web_server] Error 1

CVE-2022-28711

Just reporting for awareness / tracking.
https://cve.mitre.org/cgi-bin/cvename.cgi?name=CVE-2022-28711
A memory corruption vulnerability exists in the cgi.c unescape functionality of ArduPilot APWeb master branch 50b6b7a - master branch 46177cb. A specially-crafted HTTP request can lead to memory corruption. An attacker can send a network request to trigger this vulnerability.

Make requires libtalloc-dev on Ubuntu 16.04

On a fresh Ubuntu 16.04 machine sudo apt-get install libtalloc-dev was required prior to being able to complete the make process successfully.

Make error without libtalloc-dev installed:

compilation terminated.
<builtin>: recipe for target 'cgi.o' failed
make: *** [cgi.o] Error 1