Getting it into your agent
One page per mod, every tool's command on it. A separate URL per tool would split the same page into five that compete with each other.
npx skills add atretyak1985/swarmery --skill mavlink-integrationgit clone --depth 1 https://github.com/atretyak1985/swarmeryWrote this? Show the measurements
A badge with what this costs and how it scanned, read live from this page, so it follows the numbers instead of freezing them. Markdown for a README, HTML for a documentation site or a project page.
[](https://agentmods.dev/skills/atretyak1985/swarmery/mavlink-integration)<a href="https://agentmods.dev/skills/atretyak1985/swarmery/mavlink-integration"><img src="https://agentmods.dev/badge/skills/atretyak1985/swarmery/mavlink-integration/github.svg" alt="Measured on agentmods" height="20"></a>Or the 80×15 button, for a site that already has a row of RSS and ATOM ones. Only the verdict fits; the numbers stay here.
<a href="https://agentmods.dev/skills/atretyak1985/swarmery/mavlink-integration"><img src="https://agentmods.dev/badge/skills/atretyak1985/swarmery/mavlink-integration.svg" alt="Reviewed on agentmods" width="80" height="20"></a>What it costs to keep this loaded
Counted locally with the o200k_base tokenizer, which is exact for GPT models; Claude uses its own tokenizer and its counts differ. Treat this as one consistent yardstick across the catalogue rather than a bill. Prices are per million input tokens.
| Model | Per session | Once invoked |
|---|---|---|
| Fable 5.1 | $0.00086 | $0.04233 |
| Opus 5.5 | $0.00034 | $0.01693 |
| Sonnet 5.5 | $0.00017 | $0.00847 |
| Haiku 4.5 | $0.00009 | $0.00423 |
Grade A, and why
mavlink-integration scanned grade A with 0 findings against 26 rules in 11 categories — prompt injection, anti-refusal, data exfiltration, privilege escalation, supply chain, agent snooping, system-prompt leakage, SSRF and excessive agency — measured 1mo ago.
A static scan of the body, not an audit. Every finding is printed with the line that produced it so you can judge whether it matters here. A mod is markdown that instructs an agent; that is exactly why what it instructs is worth reading.
Nothing flagged
None of the 26 patterns this scan looks for appear in this file: no shell pipes, no recursive deletes, no credential paths, no hidden text, no instruction-override or anti-refusal phrasing, no agent-config snooping. That is not a guarantee, it is the absence of the things that are checkable.
How it starts
The opening of the file, as written. The whole thing — 387 lines — stays where its author put it; the contents beside it link to each section on GitHub.
Purpose
Produce MAVLink protocol code for drone communication in the edge service (project.json → device; Python 3.11+ on Raspberry Pi 5). Covers pymavlink connection types (UART, UDP, TCP), message parsing for common telemetry messages, async I/O patterns with asyncio.to_thread, ArduPilot SITL simulation setup, and MOCK_MODE for CI testing without hardware. For the WebSocket bridge from the edge service to the web portal, defer to api-integration. For Helm deployment of edge service pods, defer to the project's deployment workflow.
Success criteria: generated code connects (or simulates connection in MOCK_MODE), sends GCS heartbeats at 1Hz, reads telemetry via recv_match, handles asyncio.CancelledError for graceful shutdown, and releases the connection on stop.
When to use
- Connecting to a drone via pymavlink (UART serial, UDP simulator, TCP)
- Parsing MAVLink telemetry messages (HEARTBEAT, GLOBAL_POSITION_INT, ATTITUDE, GPS_RAW_INT)
- Implementing async MAVLink reader/writer patterns in the edge service
- Setting up ArduPilot SITL for local development or CI testing
- Configuring
MOCK_MODEfor testing without physical hardware
When NOT to use
- Raw UART hardware driver code without MAVLink framing (use
embedded-systems) - WebSocket streaming from the edge service to the web portal (use
api-integration) - Deploying the edge service via Helm/k3s (use the project's deployment workflow)
- Building Docker images for the edge service (use
docker-build) - Debugging Kubernetes pod health for the edge service (use
troubleshooting)
Required environment
- Runtime:
.claude/skills/mavlink-integration/SKILL.md - Language: Python 3.11+
- Libraries:
pymavlink,asyncio,serial(forserial.SerialException) - Repo: the edge service repo (project.json → device)
- MAVLink dialect:
ardupilotmega(superset ofcommon) - Hardware: Raspberry Pi 5 with UART (
/dev/ttyAMA0default, configurable viaMAVLINK_CONNECTIONenv var) - Simulator: ArduPilot SITL (UDP
127.0.0.1:14550) - CI testing:
MOCK_MODE=trueenv var disables UART connection
What this file has done since we first saw it
Hashed on every crawl. A supply-chain change to an agent config is a question of when, not whether, so the history is kept rather than the latest state alone.
- 1mo ago First seen · 387 lines · 86 tokens per session scan A b23e21142ad0
mavlink-integration is a skill published in the GitHub repository atretyak1985/swarmery (7 stars, last pushed today), licensed Apache-2.0. It adds 86 tokens to every session and 4,233 once invoked, about $0.0003 per session on Opus 5.5. A static security scan graded it A with 0 findings. No closer match exists in the catalogue, so it is treated as the original; first seen 2026-09-03.
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