Merge pull request #767 from mavlink/pr-fix-connection-string

julianoes · web-flow · commit 26c7db034e36 · 2025-06-29T13:15:51.000+12:00
Update connection strings
diff --git a/README.md b/README.md
@@ -39,7 +39,7 @@ from mavsdk import System
 ...
 
 drone = System()
-await drone.connect(system_address="udp://:14540")
+await drone.connect(system_address="udpin://0.0.0.0:14540")
 ```
 
 Note: `System()` takes two named parameters: `mavsdk_server_address` and `port`. When left empty, they default to `None` and `50051`, respectively, and `mavsdk_server -p 50051` is run by `await drone.connect()`. If `mavsdk_server_address` is set (e.g. to "localhost"), then `await drone.connect()` will not start the embedded `mavsdk_server` and will try to connect to a server running at this address. This is useful for platforms where `mavsdk_server` does not come embedded, for debugging purposes, and for running `mavsdk_server` in a place different than where the MAVSDK-Python script is run.
diff --git a/examples/all_params.py b/examples/all_params.py
@@ -7,7 +7,7 @@
 async def run():
     # Connect to the drone
     drone = System()
-    await drone.connect(system_address="udp://:14540")
+    await drone.connect(system_address="udpin://0.0.0.0:14540")
 
     # Get the list of parameters
     all_params = await drone.param.get_all_params()
diff --git a/examples/calibration.py b/examples/calibration.py
@@ -7,7 +7,7 @@
 async def run():
 
     drone = System()
-    await drone.connect(system_address="udp://:14540")
+    await drone.connect(system_address="udpin://0.0.0.0:14540")
 
     print("-- Starting gyroscope calibration")
     async for progress_data in drone.calibration.calibrate_gyro():
diff --git a/examples/camera.py b/examples/camera.py
@@ -8,7 +8,7 @@
 
 async def run():
     drone = System()
-    await drone.connect(system_address="udp://:14540")
+    await drone.connect(system_address="udpin://0.0.0.0:14540")
 
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
diff --git a/examples/camera_params.py b/examples/camera_params.py
@@ -22,7 +22,7 @@
 
 async def run():
     drone = System()
-    await drone.connect(system_address="udp://:14540")
+    await drone.connect(system_address="udpin://0.0.0.0:14540")
 
     asyncio.ensure_future(observe_current_settings(drone))
     asyncio.ensure_future(observe_camera_mode(drone))
diff --git a/examples/do_orbit.py b/examples/do_orbit.py
@@ -5,7 +5,7 @@
 
 async def run():
     drone = System()
-    await drone.connect(system_address="udp://:14540")
+    await drone.connect(system_address="udpin://0.0.0.0:14540")
 
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
diff --git a/examples/failure_injection.py b/examples/failure_injection.py
@@ -8,7 +8,7 @@
 
 async def run():
     drone = System()
-    await drone.connect(system_address="udp://:14540")
+    await drone.connect(system_address="udpin://0.0.0.0:14540")
 
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
diff --git a/examples/firmware_version.py b/examples/firmware_version.py
@@ -6,7 +6,7 @@
 
 async def run():
     drone = System()
-    await drone.connect(system_address="udp://:14540")
+    await drone.connect(system_address="udpin://0.0.0.0:14540")
 
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
diff --git a/examples/follow_me_example.py b/examples/follow_me_example.py
@@ -25,7 +25,7 @@
 
 async def run():
     drone = System()
-    await drone.connect(system_address="udp://:14540")
+    await drone.connect(system_address="udpin://0.0.0.0:14540")
 
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
diff --git a/examples/geofence.py b/examples/geofence.py
@@ -21,7 +21,7 @@ async def run():
 
     # Connect to the Simulation
     drone = System()
-    await drone.connect(system_address="udp://:14540")
+    await drone.connect(system_address="udpin://0.0.0.0:14540")
 
     # Wait for the drone to connect
     print("Waiting for drone to connect...")
diff --git a/examples/gimbal.py b/examples/gimbal.py
@@ -33,7 +33,7 @@ async def fetch_gimbals():
 async def run():
     # Init the drone
     drone = System()
-    await drone.connect(system_address="udp://:14540")
+    await drone.connect(system_address="udpin://0.0.0.0:14540")
 
     gimbals = await get_gimbals(drone)
 
diff --git a/examples/goto.py b/examples/goto.py
@@ -6,7 +6,7 @@
 
 async def run():
     drone = System()
-    await drone.connect(system_address="udp://:14540")
+    await drone.connect(system_address="udpin://0.0.0.0:14540")
 
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
diff --git a/examples/gripper.py b/examples/gripper.py
@@ -6,7 +6,7 @@
 
 async def run():
     drone = System()
-    await drone.connect(system_address="udp://:14540")
+    await drone.connect(system_address="udpin://0.0.0.0:14540")
 
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
diff --git a/examples/highres_imu.py b/examples/highres_imu.py
@@ -5,7 +5,7 @@
 async def get_imu_data():
     # Connect to the drone
     drone = System()
-    await drone.connect(system_address="udp://:14540")
+    await drone.connect(system_address="udpin://0.0.0.0:14540")
 
     # Wait for the drone to connect
     print("Waiting for drone to connect...")
diff --git a/examples/logfile_download.py b/examples/logfile_download.py
@@ -7,7 +7,7 @@
 
 async def run():
     drone = System()
-    await drone.connect(system_address="udp://:14540")
+    await drone.connect(system_address="udpin://0.0.0.0:14540")
 
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
diff --git a/examples/manual_control.py b/examples/manual_control.py
@@ -34,7 +34,7 @@ async def manual_controls():
     """Main function to connect to the drone and input manual controls"""
     # Connect to the Simulation
     drone = System()
-    await drone.connect(system_address="udp://:14540")
+    await drone.connect(system_address="udpin://0.0.0.0:14540")
 
     # This waits till a mavlink based drone is connected
     print("Waiting for drone to connect...")
diff --git a/examples/mission.py b/examples/mission.py
@@ -8,7 +8,7 @@
 
 async def run():
     drone = System()
-    await drone.connect(system_address="udp://:14540")
+    await drone.connect(system_address="udpin://0.0.0.0:14540")
 
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
diff --git a/examples/mission_import.py b/examples/mission_import.py
@@ -8,7 +8,7 @@
 
 async def run():
     drone = System()
-    await drone.connect(system_address="udp://:14540")
+    await drone.connect(system_address="udpin://0.0.0.0:14540")
 
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
diff --git a/examples/mission_raw.py b/examples/mission_raw.py
@@ -7,7 +7,7 @@
 
 async def px4_connect_drone():
     drone = System()
-    await drone.connect(system_address="udp://:14540")
+    await drone.connect(system_address="udpin://0.0.0.0:14540")
 
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
diff --git a/examples/offboard_attitude.py b/examples/offboard_attitude.py
@@ -15,7 +15,7 @@ async def run():
     """ Does Offboard control using attitude commands. """
 
     drone = System()
-    await drone.connect(system_address="udp://:14540")
+    await drone.connect(system_address="udpin://0.0.0.0:14540")
 
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
diff --git a/examples/offboard_from_csv/offboard_from_csv.py b/examples/offboard_from_csv/offboard_from_csv.py
@@ -108,7 +108,7 @@ async def run():
 
     # Connect to the drone
     drone = System()
-    await drone.connect(system_address="udp://:14540")
+    await drone.connect(system_address="udpin://0.0.0.0:14540")
 
     # Wait for the drone to connect
     print("Waiting for drone to connect...")
diff --git a/examples/offboard_position_ned.py b/examples/offboard_position_ned.py
@@ -18,7 +18,7 @@ async def run():
     """ Does Offboard control using position NED coordinates. """
 
     drone = System()
-    await drone.connect(system_address="udp://:14540")
+    await drone.connect(system_address="udpin://0.0.0.0:14540")
 
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
diff --git a/examples/offboard_position_velocity_ned.py b/examples/offboard_position_velocity_ned.py
@@ -8,7 +8,7 @@
 
 async def run():
     drone = System()
-    await drone.connect(system_address="udp://:14540")
+    await drone.connect(system_address="udpin://0.0.0.0:14540")
 
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
diff --git a/examples/offboard_velocity_body.py b/examples/offboard_velocity_body.py
@@ -11,7 +11,7 @@ async def run():
     """ Does Offboard control using velocity body coordinates. """
 
     drone = System()
-    await drone.connect(system_address="udp://:14540")
+    await drone.connect(system_address="udpin://0.0.0.0:14540")
 
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
diff --git a/examples/offboard_velocity_ned.py b/examples/offboard_velocity_ned.py
@@ -11,7 +11,7 @@ async def run():
     """ Does Offboard control using velocity NED coordinates. """
 
     drone = System()
-    await drone.connect(system_address="udp://:14540")
+    await drone.connect(system_address="udpin://0.0.0.0:14540")
 
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
diff --git a/examples/px4_ev_automation.py b/examples/px4_ev_automation.py
@@ -52,7 +52,7 @@ async def print_mode(drone):
 
 async def main():
     drone = System()
-    await drone.connect(system_address="udp://:14540")
+    await drone.connect(system_address="udpin://0.0.0.0:14540")
 
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
diff --git a/examples/px4_ev_automation_keyboard.py b/examples/px4_ev_automation_keyboard.py
@@ -32,7 +32,7 @@ async def set_params(system, params, announcement):
 
 async def main():
     drone = System()
-    await drone.connect(system_address="udp://:14540")
+    await drone.connect(system_address="udpin://0.0.0.0:14540")
 
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
diff --git a/examples/send_status_message.py b/examples/send_status_message.py
@@ -19,7 +19,7 @@
 async def run():
 
     drone = System(sysid=1)
-    await drone.connect(system_address="udp://:14540")
+    await drone.connect(system_address="udpin://0.0.0.0:14540")
 
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
diff --git a/examples/shell.py b/examples/shell.py
@@ -8,7 +8,7 @@
 
 async def run():
     drone = System()
-    await drone.connect(system_address="udp://:14540")
+    await drone.connect(system_address="udpin://0.0.0.0:14540")
 
     asyncio.ensure_future(observe_shell(drone))
 
diff --git a/examples/takeoff_and_land.py b/examples/takeoff_and_land.py
@@ -7,7 +7,7 @@
 async def run():
 
     drone = System()
-    await drone.connect(system_address="udp://:14540")
+    await drone.connect(system_address="udpin://0.0.0.0:14540")
 
     status_text_task = asyncio.ensure_future(print_status_text(drone))
 
diff --git a/examples/telemetry.py b/examples/telemetry.py
@@ -7,7 +7,7 @@
 async def run():
     # Init the drone
     drone = System()
-    await drone.connect(system_address="udp://:14540")
+    await drone.connect(system_address="udpin://0.0.0.0:14540")
 
     # Start the tasks
     asyncio.ensure_future(print_battery(drone))
diff --git a/examples/telemetry_flight_mode.py b/examples/telemetry_flight_mode.py
@@ -6,7 +6,7 @@
 
 async def print_flight_mode():
     drone = System()
-    await drone.connect(system_address="udp://:14540")
+    await drone.connect(system_address="udpin://0.0.0.0:14540")
 
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
diff --git a/examples/telemetry_is_armed_is_in_air.py b/examples/telemetry_is_armed_is_in_air.py
@@ -6,7 +6,7 @@
 
 async def run():
     drone = System()
-    await drone.connect(system_address="udp://:14540")
+    await drone.connect(system_address="udpin://0.0.0.0:14540")
 
     asyncio.ensure_future(print_is_armed(drone))
     asyncio.ensure_future(print_is_in_air(drone))
diff --git a/examples/telemetry_status_text.py b/examples/telemetry_status_text.py
@@ -6,7 +6,7 @@
 
 async def print_status_text():
     drone = System()
-    await drone.connect(system_address="udp://:14540")
+    await drone.connect(system_address="udpin://0.0.0.0:14540")
 
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
diff --git a/examples/telemetry_takeoff_and_land.py b/examples/telemetry_takeoff_and_land.py
@@ -26,7 +26,7 @@ async def run():
 
     # Init the drone
     drone = System()
-    await drone.connect(system_address="udp://:14540")
+    await drone.connect(system_address="udpin://0.0.0.0:14540")
 
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
diff --git a/examples/tune.py b/examples/tune.py
@@ -8,7 +8,7 @@
 async def run():
 
     drone = System()
-    await drone.connect(system_address="udp://:14540")
+    await drone.connect(system_address="udpin://0.0.0.0:14540")
 
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
diff --git a/examples/upload_params.py b/examples/upload_params.py
@@ -10,7 +10,7 @@ def main():
     parser = argparse.ArgumentParser()
     parser.add_argument(
         "connection",
-        help="Connection string (e.g. udp://:14540)")
+        help="Connection string (e.g. udpin://0.0.0.0:14540)")
     parser.add_argument(
         "param_file", help="Param file to be uploaded with .params format")
 
diff --git a/examples/winch.py b/examples/winch.py
@@ -6,7 +6,7 @@
 
 async def run():
     drone = System()
-    await drone.connect(system_address="udp://:14540")
+    await drone.connect(system_address="udpin://0.0.0.0:14540")
 
     print("Waiting for drone to connect...")
     async for state in drone.core.connection_state():
diff --git a/mavsdk/source/index.rst b/mavsdk/source/index.rst
@@ -46,7 +46,7 @@ The package contains ``mavsdk_server`` already (previously called "backend"), wh
   from mavsdk import System
   ...
   drone = System()
-  await drone.connect(system_address="udp://:14540")
+  await drone.connect(system_address="udpin://0.0.0.0:14540")
 
 
 Note: ``System()`` takes two named parameters: ``mavsdk_server_address`` and ``port``. When left empty, they default to ``None`` and ``50051``, respectively, and ``mavsdk_server -p 50051`` is run by ``await drone.connect()``. If ``mavsdk_server_address`` is set (e.g. to "localhost"), then ``await drone.connect()`` will not start the embedded ``mavsdk_server`` and will try to connect to a server running at this address. This is useful for platforms where ``mavsdk_server`` does not come embedded, for debugging purposes, and for running ``mavsdk_server`` in a place different than where the MAVSDK-Python script is run.
@@ -76,7 +76,7 @@ For this case, let's assume the example was like this:
 .. code:: python
 
   drone = System()
-  await drone.connect(system_address="udp://:14540")
+  await drone.connect(system_address="udpin://0.0.0.0:14540")
 
 
 The mavsdk_server binary is installed using ``pip``. If installed with ``python -m pip install --upgrade mavsdk`` it is usually (at least for Linux) to be found in ``~/.local/lib/python3.10/site-packages/mavsdk/bin/`` (of course depending on the Python version used).
@@ -85,21 +85,21 @@ It can then be run in a separate console with the ``system_address`` as an argum
 
 .. code:: bash
 
-  ~/.local/lib/python3.10/site-packages/mavsdk/bin/mavsdk_server udp://:14540
+  ~/.local/lib/python3.10/site-packages/mavsdk/bin/mavsdk_server udpin://0.0.0.0:14540
 
 Without an autopilot connecting, the output will look something like:
 
 .. code:: bash
 
   [02:36:31|Info ] MAVSDK version: v1.4.16 (mavsdk_impl.cpp:28)
-  [02:36:31|Info ] Waiting to discover system on udp://:14540... (connection_initiator.h:20)
+  [02:36:31|Info ] Waiting to discover system on udpin://0.0.0.0:14540... (connection_initiator.h:20)
 
 Once an autopilot is discovered, something like this should be printed:
 
 .. code:: bash
 
   [02:38:12|Info ] MAVSDK version: v1.4.16 (mavsdk_impl.cpp:28)
-  [02:38:12|Info ] Waiting to discover system on udp://:14540... (connection_initiator.h:20)
+  [02:38:12|Info ] Waiting to discover system on udpin://0.0.0.0:14540... (connection_initiator.h:20)
   [02:39:01|Info ] New system on: 127.0.0.1:14580 (with sysid: 1) (udp_connection.cpp:194)
   [02:39:01|Debug] New: System ID: 1 Comp ID: 1 (mavsdk_impl.cpp:484)
   [02:39:01|Debug] Component Autopilot (1) added. (system_impl.cpp:355)
diff --git a/mavsdk/system.py b/mavsdk/system.py
