feat(inputs): Add Mavlink input plugin

docs/LICENSE_OF_DEPENDENCIES.md

@@ -89,6 +89,7 @@ following works:
 - github.com/awslabs/kinesis-aggregation/go [Apache License 2.0](https://github.com/awslabs/kinesis-aggregation/blob/master/LICENSE.txt)
 - github.com/benbjohnson/clock [MIT License](https://github.com/benbjohnson/clock/blob/master/LICENSE)
 - github.com/beorn7/perks [MIT License](https://github.com/beorn7/perks/blob/master/LICENSE)
+- github.com/bluenviron/gomavlib [MIT License](https://github.com/bluenviron/gomavlib/blob/main/LICENSE)
 - github.com/blues/jsonata-go [MIT License](https://github.com/blues/jsonata-go/blob/main/LICENSE)
 - github.com/bmatcuk/doublestar [MIT License](https://github.com/bmatcuk/doublestar/blob/master/LICENSE)
 - github.com/boschrexroth/ctrlx-datalayer-golang [MIT License](https://github.com/boschrexroth/ctrlx-datalayer-golang/blob/main/LICENSE)
@@ -354,6 +355,7 @@ following works:
 - github.com/stoewer/go-strcase [MIT License](https://github.com/stoewer/go-strcase/blob/master/LICENSE)
 - github.com/stretchr/objx [MIT License](https://github.com/stretchr/objx/blob/master/LICENSE)
 - github.com/stretchr/testify [MIT License](https://github.com/stretchr/testify/blob/master/LICENSE)
+- github.com/tarm/serial [BSD 3-Clause License](https://github.com/tarm/serial/blob/master/LICENSE)
 - github.com/testcontainers/testcontainers-go [MIT License](https://github.com/testcontainers/testcontainers-go/blob/main/LICENSE)
 - github.com/thomasklein94/packer-plugin-libvirt [Mozilla Public License 2.0](https://github.com/thomasklein94/packer-plugin-libvirt/blob/main/LICENSE)
 - github.com/tidwall/gjson [MIT License](https://github.com/tidwall/gjson/blob/master/LICENSE)

go.mod

@@ -57,6 +57,7 @@ require (
 	github.com/aws/aws-sdk-go-v2/service/timestreamwrite v1.27.4
 	github.com/aws/smithy-go v1.22.0
 	github.com/benbjohnson/clock v1.3.5
+	github.com/bluenviron/gomavlib/v3 v3.0.0
 	github.com/blues/jsonata-go v1.5.4
 	github.com/bmatcuk/doublestar/v3 v3.0.0
 	github.com/boschrexroth/ctrlx-datalayer-golang v1.3.1
@@ -462,6 +463,7 @@ require (
 	github.com/spf13/pflag v1.0.5 // indirect
 	github.com/stoewer/go-strcase v1.3.0 // indirect
 	github.com/stretchr/objx v0.5.2 // indirect
+	github.com/tarm/serial v0.0.0-20180830185346-98f6abe2eb07 // indirect
 	github.com/tidwall/match v1.1.1 // indirect
 	github.com/tidwall/pretty v1.2.1 // indirect
 	github.com/tidwall/tinylru v1.2.1 // indirect

go.sum

@@ -1,3 +1,5 @@
+bou.ke/monkey v1.0.2 h1:kWcnsrCNUatbxncxR/ThdYqbytgOIArtYWqcQLQzKLI=
+bou.ke/monkey v1.0.2/go.mod h1:OqickVX3tNx6t33n1xvtTtu85YN5s6cKwVug+oHMaIA=
 cloud.google.com/go v0.26.0/go.mod h1:aQUYkXzVsufM+DwF1aE+0xfcU+56JwCaLick0ClmMTw=
 cloud.google.com/go v0.34.0/go.mod h1:aQUYkXzVsufM+DwF1aE+0xfcU+56JwCaLick0ClmMTw=
 cloud.google.com/go v0.38.0/go.mod h1:990N+gfupTy94rShfmMCWGDn0LpTmnzTp2qbd1dvSRU=
@@ -957,6 +959,8 @@ github.com/bitly/go-hostpool v0.1.0/go.mod h1:4gOCgp6+NZnVqlKyZ/iBZFTAJKembaVENU
 github.com/bkaradzic/go-lz4 v1.0.0 h1:RXc4wYsyz985CkXXeX04y4VnZFGG8Rd43pRaHsOXAKk=
 github.com/bkaradzic/go-lz4 v1.0.0/go.mod h1:0YdlkowM3VswSROI7qDxhRvJ3sLhlFrRRwjwegp5jy4=
 github.com/bketelsen/crypt v0.0.3-0.20200106085610-5cbc8cc4026c/go.mod h1:MKsuJmJgSg28kpZDP6UIiPt0e0Oz0kqKNGyRaWEPv84=
+github.com/bluenviron/gomavlib/v3 v3.0.0 h1:3kqgXOJ4WTCM6kwx2iDxnAJGSvNcZXT0QYxyaRYQFCY=
+github.com/bluenviron/gomavlib/v3 v3.0.0/go.mod h1:TZxIjsog6s8Jce3/nycUOxEGaOFAg/PuqOYmdNasYIA=
 github.com/blues/jsonata-go v1.5.4 h1:XCsXaVVMrt4lcpKeJw6mNJHqQpWU751cnHdCFUq3xd8=
 github.com/blues/jsonata-go v1.5.4/go.mod h1:uns2jymDrnI7y+UFYCqsRTEiAH22GyHnNXrkupAVFWI=
 github.com/bmatcuk/doublestar/v3 v3.0.0 h1:TQtVPlDnAYwcrVNB2JiGuMc++H5qzWZd9PhkNo5WyHI=
@@ -2295,6 +2299,8 @@ github.com/stretchr/testify v1.9.0/go.mod h1:r2ic/lqez/lEtzL7wO/rwa5dbSLXVDPFyf8
 github.com/subosito/gotenv v1.2.0/go.mod h1:N0PQaV/YGNqwC0u51sEeR/aUtSLEXKX9iv69rRypqCw=
 github.com/t3rm1n4l/go-mega v0.0.0-20240219080617-d494b6a8ace7 h1:Jtcrb09q0AVWe3BGe8qtuuGxNSHWGkTWr43kHTJ+CpA=
 github.com/t3rm1n4l/go-mega v0.0.0-20240219080617-d494b6a8ace7/go.mod h1:suDIky6yrK07NnaBadCB4sS0CqFOvUK91lH7CR+JlDA=
+github.com/tarm/serial v0.0.0-20180830185346-98f6abe2eb07 h1:UyzmZLoiDWMRywV4DUYb9Fbt8uiOSooupjTq10vpvnU=
+github.com/tarm/serial v0.0.0-20180830185346-98f6abe2eb07/go.mod h1:kDXzergiv9cbyO7IOYJZWg1U88JhDg3PB6klq9Hg2pA=
 github.com/tbrandon/mbserver v0.0.0-20170611213546-993e1772cc62 h1:Oj2e7Sae4XrOsk3ij21QjjEgAcVSeo9nkp0dI//cD2o=
 github.com/tbrandon/mbserver v0.0.0-20170611213546-993e1772cc62/go.mod h1:qUzPVlSj2UgxJkVbH0ZwuuiR46U8RBMDT5KLY78Ifpw=
 github.com/tedsuo/ifrit v0.0.0-20180802180643-bea94bb476cc/go.mod h1:eyZnKCc955uh98WQvzOm0dgAeLnf2O0Rz0LPoC5ze+0=

plugins/inputs/all/mavlink.go

@@ -0,0 +1,5 @@
+//go:build !custom || inputs || inputs.mavlink
+
+package all
+
+import _ "github.com/influxdata/telegraf/plugins/inputs/mavlink" // register plugin

plugins/inputs/mavlink/README.md

@@ -0,0 +1,129 @@
+# MavLink Input Plugin
+
+The `mavlink` plugin connects to a MavLink-compatible flight controller such as
+ [ArduPilot](https://ardupilot.org/) or [PX4](https://px4.io/). and translates
+all incoming messages into metrics.
+
+The purpose of this plugin is to allow Telegraf to be used to ingest live
+ flight metrics from unmanned systems (drones, planes, boats, etc.)
+
+Warning: This input plugin potentially generates a large amount of data! Use
+the configuration to limit the set of messages, or use another telegraf plugin
+to filter the output.
+
+## Global configuration options <!-- @/docs/includes/plugin_config.md -->
+
+In addition to the plugin-specific configuration settings, plugins support
+additional global and plugin configuration settings. These settings are used to
+modify metrics, tags, and field or create aliases and configure ordering, etc.
+See the [CONFIGURATION.md][CONFIGURATION.md] for more details.
+
+[CONFIGURATION.md]: ../../../docs/CONFIGURATION.md#plugins
+
+## Configuration
+
+```toml @sample.conf
+# Read metrics from a Mavlink connection to a flight controller.
+[[inputs.mavlink]]
+     # Flight controller URL. Must be a valid Mavlink connection string in one
+     # of the following formats:
+     #
+     # - Serial port:  serial://<device name>:<baud rate> 
+     #            eg: "serial:///dev/ttyACM0:57600"
+     # 
+     # - TCP client:   tcp://<target ip or hostname>:<port>
+     #            eg: "tcp://192.168.1.12:14550"
+     # 
+     # - UDP client:   udp://<target ip or hostname>:<port>
+     #            eg: "udp://192.168.1.12:14550"
+     # 
+     # - UDP server:   udp://:<listen port>
+     #            eg: "udp://:14540"
+     # 
+     # The meaning of each of these modes is documented by
+     # https://mavsdk.mavlink.io/v1.4/en/cpp/guide/connections.html.
+     fcu_url = "udp://:14540"
+
+     # Filter to specific messages. Only the messages in this list will be parsed.
+     # If blank, all messages will be accepted.
+     message_filter = []
+
+     # Mavlink system ID for Telegraf
+     # Only used if the mavlink plugin is sending messages, eg.
+     # when `stream_request_enable` is enabled (see below.)
+     system_id = 254
+
+     # Determines whether the plugin sends requests to stream telemetry,
+     # and if enabled, the requested frequency of telemetry in Hz.
+     # This setting should be disabled if your software controls rates using
+     # REQUEST_DATA_STREAM or MAV_CMD_SET_MESSAGE_INTERVAL
+     # (See https://mavlink.io/en/mavgen_python/howto_requestmessages.html#how-to-request--stream-messages)
+     stream_request_enable = true
+     stream_request_frequency = 4
+```
+
+### Note: Mavlink Dialects
+
+This plugin currently only uses the ArduPilot-specific dialect, which also
+includes messages from the common Mavlink dialect.
+
+See the [Mavlink docs](https://mavlink.io/en/messages/ardupilotmega.html) for
+more info on dialects.
+
+## Metrics
+
+Each supported Mavlink message translates to one metric group, and fields
+on the Mavlink message are converted to fields in telegraf.
+
+The name of the Mavlink message is translated into lowercase and any
+leading text `message_` is dropped.
+
+For example, [MESSAGE_ATTITUDE](https://mavlink.io/en/messages/common.html)
+will become an `attitude` metric, with all fields copied from its Mavlink
+message definition.
+
+## Example Output
+
+_`mavlink` input plugin connected to ArduPilot SITL and the `file` output
+plugin:_
+
+```text
+system_time,host=chris-ubuntu time_boot_ms=320734i,time_unix_usec=0i 1732249197549336855
+ahrs,host=chris-ubuntu omegaix=-0.00021079527505207807,omegaiy=0.0015763355186209083,omegaiz=0.0000307745867758058,accel_weight=0,renorm_val=0,error_rp=0.0011759063927456737,error_yaw=1 1732249197549382215
+ahrs2,host=chris-ubuntu altitude=0,lat=0i,lng=0i,roll=0.027588961645960808,pitch=-0.017094312235713005,yaw=-0.40916287899017334 1732249197549417595
+hwstatus,host=chris-ubuntu vcc=0i,i2cerr=0i 1732249197549436175
+ekf_status_report,host=chris-ubuntu terrain_alt_variance=0,airspeed_variance=0,velocity_variance=0,pos_horiz_variance=0.003580203279852867,pos_vert_variance=0.008646958507597446,compass_variance=0 1732249197549567906
+vibration,host=chris-ubuntu clipping_2=0i,time_usec=320734842i,vibration_x=0.022737687453627586,vibration_y=0.0202490147203207,vibration_z=0.026936473324894905,clipping_0=0i,clipping_1=0i 1732249197549646256
+battery_status,host=chris-ubuntu current_battery=14i,time_remaining=0i,energy_consumed=0i,id=0i,temperature=32767i,battery_remaining=99i,current_consumed=12i 1732249197550220839
+attitude,host=chris-ubuntu yaw=-0.4206164479255676,rollspeed=-0.00021804751304443926,pitchspeed=0.00012629013508558273,yawspeed=-0.001034539774991572,time_boot_ms=320954i,roll=0.02792513370513916,pitch=-0.017007455229759216 1732249197769545832
+global_position_int,host=chris-ubuntu vy=0i,lat=0i,lon=0i,alt=2110i,relative_alt=2110i,vx=0i,vz=0i,hdg=33591i,time_boot_ms=320954i 1732249197769617423
+sys_status,host=chris-ubuntu current_battery=14i,errors_count2=0i,load=53i,errors_count1=0i,battery_remaining=99i,drop_rate_comm=0i,errors_comm=0i,errors_count3=0i,errors_count4=0i,voltage_battery=3i 1732249197769801674
+power_status,host=chris-ubuntu vcc=0i,vservo=0i 1732249197769840494
+meminfo,host=chris-ubuntu brkval=0i,freemem=58176i,freemem32=58176i 1732249197769881134
+mission_current,host=chris-ubuntu total=0i,mission_mode=0i,mission_id=0i,fence_id=0i,rally_points_id=0i,seq=0i 1732249197769938424
+vfr_hud,host=chris-ubuntu throttle=0i,alt=2.109999895095825,climb=-0,airspeed=0,groundspeed=0,heading=335i 1732249197769991115
+servo_output_raw,host=chris-ubuntu servo6_raw=0i,servo2_raw=0i,servo3_raw=1500i,servo9_raw=0i,servo1_raw=0i,servo5_raw=1500i,servo10_raw=0i,servo11_raw=0i,servo14_raw=0i,servo15_raw=0i,servo16_raw=0i,time_usec=320955083i,port=0i,servo4_raw=1500i,servo7_raw=0i,servo8_raw=0i,servo12_raw=0i,servo13_raw=0i 1732249197770103425
+rc_channels,host=chris-ubuntu chan2_raw=0i,chan5_raw=0i,chan6_raw=0i,chan9_raw=0i,chan10_raw=0i,chan13_raw=0i,chancount=0i,chan1_raw=0i,chan4_raw=0i,chan16_raw=0i,chan18_raw=0i,rssi=0i,time_boot_ms=320955i,chan15_raw=0i,chan17_raw=0i,chan12_raw=0i,chan7_raw=0i,chan8_raw=0i,chan11_raw=0i,chan14_raw=0i,chan3_raw=0i 1732249197770226556
+raw_imu,host=chris-ubuntu ymag=0i,zmag=0i,time_usec=320955172i,xacc=-16i,zacc=-1012i,ygyro=-1i,zgyro=0i,yacc=17i,xgyro=0i,xmag=0i,id=0i,temperature=3118i 1732249197770292876
+scaled_pressure,host=chris-ubuntu time_boot_ms=320955i,press_abs=994.549560546875,press_diff=0,temperature=2791i,temperature_press_diff=0i 1732249197770337826
+gps_raw_int,host=chris-ubuntu cog=0i,satellites_visible=0i,lon=0i,vel=0i,alt_ellipsoid=0i,hacc=0i,vacc=0i,hdg_acc=0i,lat=0i,alt=0i,epv=65535i,yaw=0i,eph=65535i,vel_acc=0i,time_usec=0i 1732249197770433337
+system_time,host=chris-ubuntu time_unix_usec=0i,time_boot_ms=320955i 1732249197770457207
+ahrs,host=chris-ubuntu error_rp=0.0010012972634285688,error_yaw=1,omegaix=-0.00021079527505207807,omegaiy=0.0015763355186209083,omegaiz=0.0000307745867758058,accel_weight=0,renorm_val=0 1732249197789253764
+ahrs2,host=chris-ubuntu lat=0i,lng=0i,roll=0.027666587382555008,pitch=-0.017075257375836372,yaw=-0.4092118442058563,altitude=0 1732249197789308644
+hwstatus,host=chris-ubuntu vcc=0i,i2cerr=0i 1732249197789328744
+ekf_status_report,host=chris-ubuntu pos_horiz_variance=0.0036376763600856066,pos_vert_variance=0.006598762236535549,compass_variance=0,terrain_alt_variance=0,airspeed_variance=0,velocity_variance=0 1732249197789400524
+vibration,host=chris-ubuntu vibration_z=0.029913151636719704,clipping_0=0i,clipping_1=0i,clipping_2=0i,time_usec=320974603i,vibration_x=0.025675609707832336,vibration_y=0.022661570459604263 1732249197789445705
+battery_status,host=chris-ubuntu current_battery=14i,energy_consumed=0i,temperature=32767i,current_consumed=12i,battery_remaining=99i,time_remaining=0i,id=0i 1732249197789605765
+attitude,host=chris-ubuntu yawspeed=-0.0006323250127024949,time_boot_ms=321214i,roll=0.027931861579418182,pitch=-0.017001383006572723,yaw=-0.42084062099456787,rollspeed=-0.000111618239316158,pitchspeed=0.00003287754952907562 1732249198028859780
+global_position_int,host=chris-ubuntu relative_alt=2107i,vz=0i,hdg=33589i,time_boot_ms=321214i,lat=0i,lon=0i,alt=2100i,vx=0i,vy=0i 1732249198028926881
+sys_status,host=chris-ubuntu voltage_battery=0i,drop_rate_comm=0i,errors_comm=0i,errors_count1=0i,errors_count2=0i,errors_count3=0i,battery_remaining=99i,current_battery=14i,load=51i,errors_count4=0i 1732249198029084052
+power_status,host=chris-ubuntu vcc=0i,vservo=0i 1732249198029116442
+meminfo,host=chris-ubuntu brkval=0i,freemem=58176i,freemem32=58176i 1732249198029155772
+mission_current,host=chris-ubuntu seq=0i,total=0i,mission_mode=0i,mission_id=0i,fence_id=0i,rally_points_id=0i 1732249198029206172
+vfr_hud,host=chris-ubuntu alt=2.0999999046325684,climb=-0,airspeed=0,groundspeed=0,heading=335i,throttle=0i 1732249198029248892
+servo_output_raw,host=chris-ubuntu servo2_raw=0i,servo11_raw=0i,servo13_raw=0i,servo14_raw=0i,time_usec=321214595i,servo1_raw=0i,servo4_raw=1500i,servo5_raw=1500i,servo6_raw=0i,servo9_raw=0i,servo10_raw=0i,servo12_raw=0i,port=0i,servo8_raw=0i,servo15_raw=0i,servo16_raw=0i,servo7_raw=0i,servo3_raw=1500i 1732249198029348773
+rc_channels,host=chris-ubuntu chan18_raw=0i,rssi=0i,chan9_raw=0i,chan13_raw=0i,chan14_raw=0i,chan2_raw=0i,chan15_raw=0i,chan11_raw=0i,chancount=0i,chan5_raw=0i,chan8_raw=0i,chan4_raw=0i,chan6_raw=0i,chan7_raw=0i,chan10_raw=0i,chan12_raw=0i,time_boot_ms=321214i,chan1_raw=0i,chan3_raw=0i,chan16_raw=0i,chan17_raw=0i 1732249198029460344
+raw_imu,host=chris-ubuntu temperature=3118i,time_usec=321214685i,xacc=-16i,ygyro=-1i,zgyro=0i,ymag=0i,id=0i,yacc=17i,zacc=-1012i,xgyro=0i,xmag=0i,zmag=0i 1732249198029519524
+scaled_pressure,host=chris-ubuntu press_diff=0,temperature=2791i,temperature_press_diff=0i,time_boot_ms=321214i,press_abs=994.5499267578125 1732249198029564314
+gps_raw_int,host=chris-ubuntu alt=0i,vel=0i,alt_ellipsoid=0i,vacc=0i,eph=65535i,cog=0i,satellites_visible=0i,vel_acc=0i,yaw=0i,time_usec=0i,epv=65535i,hdg_acc=0i,lat=0i,lon=0i,hacc=0i 1732249198029637994
+```

plugins/inputs/mavlink/mavlink.go

@@ -0,0 +1,126 @@
+//go:generate ../../../tools/readme_config_includer/generator
+package mavlink
+
+import (
+	_ "embed"
+	"time"
+
+	"github.com/bluenviron/gomavlib/v3"
+	"github.com/bluenviron/gomavlib/v3/pkg/dialects/ardupilotmega"
+	"github.com/influxdata/telegraf"
+	"github.com/influxdata/telegraf/plugins/inputs"
+)
+
+// Plugin state
+type Mavlink struct {
+	// Config param
+	FcuURL                 string   `toml:"fcu_url"`
+	SystemID               uint8    `toml:"system_id"`
+	MessageFilter          []string `toml:"message_filter"`
+	StreamRequestEnable    bool     `toml:"stream_request_enable"`
+	StreamRequestFrequency int      `toml:"stream_request_frequency"`
+
+	Log telegraf.Logger `toml:"-"`
+
+	// Internal state
+	connection *gomavlib.Node
+	acc        telegraf.Accumulator
+	loading    bool
+	terminated bool
+}
+
+//go:embed sample.conf
+var sampleConfig string
+
+func (*Mavlink) SampleConfig() string {
+	return sampleConfig
+}
+
+// Container for a parsed Mavlink frame
+type MetricFrameData struct {
+	name   string
+	tags   map[string]string
+	fields map[string]any
+}
+
+func (s *Mavlink) Start(acc telegraf.Accumulator) error {
+	s.acc = acc
+
+	// Start routine to connect to Mavlink and stream out data async
+	go func() {
+		endpointConfig, err := ParseMavlinkEndpointConfig(s)
+		if err != nil {
+			s.Log.Debugf("%s", err.Error())
+			return
+		}
+
+		// Start MAVLink endpoint
+		s.loading = true
+		s.terminated = false
+		for s.loading {
+			connection, err := gomavlib.NewNode(gomavlib.NodeConf{
+				Endpoints:              endpointConfig,
+				Dialect:                ardupilotmega.Dialect,
+				OutVersion:             gomavlib.V2,
+				OutSystemID:            s.SystemID,
+				StreamRequestEnable:    s.StreamRequestEnable,
+				StreamRequestFrequency: s.StreamRequestFrequency,
+			})
+			if err != nil {
+				s.Log.Debugf("Mavlink failed to connect (%s), will try again in 5s...", err.Error())
+				time.Sleep(5 * time.Second)
+				continue
+			}
+			s.loading = false
+			s.connection = connection
+		}
+		defer s.connection.Close()
+		if s.terminated {
+			return
+		}
+
+		// Process MAVLink messages
+		// Use reflection to retrieve and handle all message types.
+		// (There are several hundred Mavlink message types)
+		for evt := range s.connection.Events() {
+			switch evt := evt.(type) {
+			case *gomavlib.EventFrame:
+				result := MavlinkEventFrameToMetric(evt)
+				if len(s.MessageFilter) > 0 && Contains(s.MessageFilter, result.name) {
+					continue
+				}
+				result.tags["fcu_url"] = s.FcuURL
+				s.acc.AddFields(result.name, result.fields, result.tags)
+
+			case *gomavlib.EventChannelOpen:
+				s.Log.Debugf("Mavlink channel opened")
+
+			case *gomavlib.EventChannelClose:
+				s.Log.Debugf("Mavlink channel closed")
+			}
+		}
+	}()
+
+	return nil
+}
+
+func (s *Mavlink) Gather(_ telegraf.Accumulator) error {
+	return nil
+}
+
+func (s *Mavlink) Stop() {
+	s.terminated = true
+	s.loading = false
+}
+
+func init() {
+	inputs.Add("mavlink", func() telegraf.Input {
+		return &Mavlink{
+			FcuURL:                 "udp://:14540",
+			MessageFilter:          make([]string, 0),
+			SystemID:               254,
+			StreamRequestEnable:    true,
+			StreamRequestFrequency: 4,
+		}
+	})
+}

plugins/inputs/mavlink/mavlink_test.go

@@ -0,0 +1,73 @@
+package mavlink
+
+import (
+	"testing"
+
+	"github.com/stretchr/testify/require"
+)
+
+// Test that a serial port URL can be parsed.
+func TestParseSerialFcuUrl(t *testing.T) {
+	testConfig := Mavlink{
+		FcuURL: "serial://dev/ttyACM0:115200",
+	}
+
+	_, err := ParseMavlinkEndpointConfig(&testConfig)
+	require.NoError(t, err)
+}
+
+// Test that a UDP client URL can be parsed.
+func TestParseUDPClientFcuUrl(t *testing.T) {
+	testConfig := Mavlink{
+		FcuURL: "udp://192.168.1.12:14550",
+	}
+
+	_, err := ParseMavlinkEndpointConfig(&testConfig)
+	require.NoError(t, err)
+}
+
+// Test that a UDP server URL can be parsed.
+func TestParseUDPServerFcuUrl(t *testing.T) {
+	testConfig := Mavlink{
+		FcuURL: "udp://:14540",
+	}
+
+	_, err := ParseMavlinkEndpointConfig(&testConfig)
+	require.NoError(t, err)
+}
+
+// Test that a TCP client URL can be parsed.
+func TestParseTCPClientFcuUrl(t *testing.T) {
+	testConfig := Mavlink{
+		FcuURL: "tcp://192.168.1.12:14550",
+	}
+
+	_, err := ParseMavlinkEndpointConfig(&testConfig)
+	require.NoError(t, err)
+}
+
+// Test that an invalid URL is caught.
+func TestParseInvalidFcuUrl(t *testing.T) {
+	testConfig := Mavlink{
+		FcuURL: "ftp://not-a-valid-fcu-url",
+	}
+
+	_, err := ParseMavlinkEndpointConfig(&testConfig)
+	require.Equal(t, "mavlink setup error: invalid fcu_url", err.Error())
+}
+
+func TestStringContains(t *testing.T) {
+	testArr := []string{"test1", "test2", "test3"}
+	require.True(t, Contains(testArr, "test1"))
+	require.True(t, Contains(testArr, "test2"))
+	require.True(t, Contains(testArr, "test3"))
+	require.False(t, Contains(testArr, "test4"))
+}
+
+func TestConvertToSnakeCase(t *testing.T) {
+	require.Equal(t, "", ConvertToSnakeCase(""))
+	require.Equal(t, "camel_case", ConvertToSnakeCase("CamelCase"))
+	require.Equal(t, "camel_camel_case", ConvertToSnakeCase("CamelCamelCase"))
+	require.Equal(t, "snake_case", ConvertToSnakeCase("snake_case"))
+	require.Equal(t, "snake_case", ConvertToSnakeCase("SNAKE_CASE"))
+}