Show uncovered Rust source lines in CI

.github/workflows/rust-ci.yaml

@@ -0,0 +1,58 @@
+name: Rust CI
+
+on:
+  push:
+    branches:
+      - main
+      - "feature/**"
+  pull_request:
+    branches:
+      - main
+
+permissions:
+  contents: read
+
+concurrency:
+  group: rust-ci-${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  test-and-coverage:
+    name: Rust tests and coverage
+    runs-on: ubuntu-latest
+    timeout-minutes: 30
+
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+
+      - name: Install stable Rust
+        uses: dtolnay/rust-toolchain@stable
+
+      - name: Cache Rust build artifacts
+        uses: Swatinem/rust-cache@v2
+
+      - name: Install cargo-llvm-cov
+        uses: taiki-e/install-action@cargo-llvm-cov
+
+      - name: Run unit tests
+        run: cargo test --all-targets --locked
+
+      - name: Report whole-extension coverage
+        run: cargo llvm-cov --all-targets --locked --summary-only --show-missing-lines
+
+      - name: Enforce 100% coverage on deterministic core
+        run: |
+          cargo llvm-cov --all-targets --locked --summary-only \
+            --ignore-filename-regex 'src/(lib\.rs|tests\.rs|structs\.rs|mdns\.rs|udp_socket\.rs|video_stream\.rs|tcp/(client\.rs|cot\.rs|draw\.rs|mod\.rs|transport\.rs)|tcp/tls/(connector\.rs|enrollment\.rs|mod\.rs)|cot/(cot\.rs|delete\.rs|digital_pointer\.rs|draws/.*|eud\.rs|gps\.rs|lrf\.rs|message\.rs|mod\.rs|nato\.rs|report_marker\.rs|uas\.rs)|uas/(callbacks\.rs|constants\.rs|endpoint\.rs|identity\.rs|mod\.rs|packets\.rs|payload\.rs|send\.rs|state\.rs)|utils/(address\.rs|log\.rs|mod\.rs))' \
+            --fail-under-lines 100
+
+      - name: Generate LCOV artifact
+        run: cargo llvm-cov --all-targets --locked --lcov --output-path lcov.info
+
+      - name: Upload LCOV artifact
+        uses: actions/upload-artifact@v4
+        with:
+          name: rust-lcov
+          path: lcov.info
+          if-no-files-found: error

.gitignore

@@ -89,3 +89,6 @@ target/
 local.properties
 
 *.apk
+
+
+.hemtt/missions

.hemtt/project.toml

@@ -39,30 +39,6 @@ preset = "Hemtt"
 workshop = [
   "450814997", # CBA_A3
   "463939057", # ace
-  "751965892", # ACRE2
-  "2522638637", # ACE3 Arsenal Extended - Core
-  "333310405", # Enhanced Movement
-  "2034363662", # Enhanced Movement Rework
-  "843577117", # RHSUSAF
-  "3147473073", # TOTT Core
-  "623475643", # 3den Enhanced
-  "520618345", # Jbad
-  "1779063631", # Zeus Enhanced
-  "2397360831", # USAF Mod - Main
-  "2397376046", # USAF Mod - Utility
-  "3147476552", # TOTT Optics
-  "583496184", # CUP Terrains - Core
-  "2560276469", # Restrict Markers
-  "1858075458", # LAMBS_Danger.fsm
-  "3407948300", # JSRS SOUNDMOD 2025
-  "2834576684", # ITN - Illuminate The Night
-  "3375788189", # Immersion Cigs - Rewrite
-  "2095827925", # Brighter Flares
-  "2257686620", # Blastcore Murr Edition
-  "2260572637", # BettIR NVG
-  "3493557838", # Broad Spectrum Warfare
-  "1291778160", # Hellanmaa
-  "3533734689", # FPV
 ]
 
 parameters = [

README.md

@@ -4,10 +4,6 @@
 
 ARMATAK is a server side Arma 3 addons for streaming unit positions to TAK Clients in sessions on real locations maps. It can be runned both as a clientside mod or a serverside mod, when runned serverside, it will create a TCP Socket connection between Arma 3 and the TAK Server, sending the game session information into it. When used clientside, Arma 3 will host a websocket server that you can connect to your phone and mock the phone's location to the player's in game location.
 
-The server-side CoT router supports two transports:
-- Plain TCP, for legacy TAK ingress.
-- Mutual TLS, using the TAK Server authentication API, so the Arma session can publish as an authenticated TAK device on port `8089`.
-
 ## Get in Touch
 
 [Join the Discord Server for ARMATAK!](https://discord.gg/svK64PCycU)  

addons/client/XEH_PREP.hpp

@@ -1,3 +1,5 @@
 PREP(convertClientLocation);
 PREP(extractClientPosition);
+PREP(initCuratorRouterIndicators);
+PREP(sendLaserRangeFinder);
 PREP(startUDPSocket);

addons/client/XEH_postInit.sqf

@@ -6,3 +6,6 @@ _local_address = "armatak" callExtension ["local_ip", []] select 0;
 
 SETVAR(player,GVAR(localAddress),_local_address);
 SETVAR(player,GVAR(eudConnected),false);
+SETVAR(player,GVAR(lrfEnabled),false);
+
+call FUNC(initCuratorRouterIndicators);

addons/client/dialog.hpp

@@ -12,7 +12,7 @@ class armatak_udp_socket_start_dialog {
       x = "0.386562 * safezoneW + safezoneX";
       y = "0.357 * safezoneH + safezoneY";
       w = "0.216563 * safezoneW";
-      h = "0.418 * safezoneH";
+      h = "0.495 * safezoneH";
       colorBackground[]={0,0,0,0.45};
     };
   };
@@ -48,12 +48,22 @@ class armatak_udp_socket_start_dialog {
       idc = 16969;
       text = "";
       x = "0.391719 * safezoneW + safezoneX";
-      y = "0.632 * safezoneH + safezoneY";
+      y = "0.709 * safezoneH + safezoneY";
       w = "0.20625 * safezoneW";
       h = "0.044 * safezoneH";
       colorBackground[]={0,0,0,0.5};
       tooltip = "Optional shared feed URL. If empty, the UAV 3DEN URL is used first, then a local RTP fallback.";
     };
+    class armatak_gui_module_udp_socket_dialog_lrf_port_edit: RscEdit {
+      idc = 16971;
+      text = "17211";
+      x = "0.391719 * safezoneW + safezoneX";
+      y = "0.632 * safezoneH + safezoneY";
+      w = "0.20625 * safezoneW";
+      h = "0.044 * safezoneH";
+      colorBackground[]={0,0,0,0.5};
+      tooltip = "ATAK local Laser Range Finder UDP input. Leave empty to disable.";
+    };
     class armatak_gui_module_udp_socket_dialog_address_text: RscText {
       idc = 16963;
       text = "EUD's Address";
@@ -82,6 +92,14 @@ class armatak_udp_socket_start_dialog {
       idc = 16970;
       text = "Video Feed URL (Optional)";
       x = "0.391719 * safezoneW + safezoneX";
+      y = "0.676 * safezoneH + safezoneY";
+      w = "0.20625 * safezoneW";
+      h = "0.033 * safezoneH";
+    };
+    class armatak_gui_module_udp_socket_dialog_lrf_port_text: RscText {
+      idc = 16972;
+      text = "Laser Range Finder Port";
+      x = "0.391719 * safezoneW + safezoneX";
       y = "0.599 * safezoneH + safezoneY";
       w = "0.20625 * safezoneW";
       h = "0.033 * safezoneH";
@@ -91,7 +109,7 @@ class armatak_udp_socket_start_dialog {
       text = "Cancel";
       action = "closeDialog 2;";
       x = "0.551563 * safezoneW + safezoneX";
-      y = "0.709 * safezoneH + safezoneY";
+      y = "0.786 * safezoneH + safezoneY";
       w = "0.0464063 * safezoneW";
       h = "0.055 * safezoneH";
     };
@@ -100,7 +118,7 @@ class armatak_udp_socket_start_dialog {
       text = "Ok";
       action = QUOTE(call FUNC(startUDPSocket));
       x = "0.5 * safezoneW + safezoneX";
-      y = "0.709 * safezoneH + safezoneY";
+      y = "0.786 * safezoneH + safezoneY";
       w = "0.0464063 * safezoneW";
       h = "0.055 * safezoneH";
     };

addons/client/functions/fnc_convertClientLocation.sqf

@@ -19,11 +19,15 @@
 	 * Public: Yes
 */
 
-params["_latitude", "_longitude", "_altitude"];
+params [
+	["_latitude", 0, [0]],
+	["_longitude", 0, [0]],
+	["_altitude", 0, [0]]
+];
 
-_position = [_latitude, _longitude, _altitude];
+private _position = [_latitude, _longitude, _altitude];
 
-_realLocation = null;
+private _realLocation = [0, 0, _altitude];
 
 switch (toLower worldName) do {
 	case "altis": {

addons/client/functions/fnc_initCuratorRouterIndicators.sqf

@@ -0,0 +1,49 @@
+#include "..\script_component.hpp"
+/*
+ * Author: Codex
+ * Draws a Zeus-only visual border over entities routed by the ArmaTAK CoT Router.
+ *
+ * Arguments:
+ * None
+ *
+ * Return Value:
+ * Draw3D event handler id <NUMBER>
+ *
+ * Public: No
+ */
+
+if (!hasInterface) exitWith {-1};
+
+private _existingEh = missionNamespace getVariable [QGVAR(curatorRouterIndicatorEh), -1];
+if (_existingEh >= 0) exitWith {_existingEh};
+
+private _eh = addMissionEventHandler ["Draw3D", {
+	if (isNull findDisplay 312) exitWith {};
+
+	private _curator = getAssignedCuratorLogic player;
+	if (isNull _curator) exitWith {};
+
+	private _routed = missionNamespace getVariable ["armatak_server_syncedUnits", []];
+	if (_routed isEqualTo []) exitWith {};
+
+	private _editableObjects = curatorEditableObjects _curator;
+	private _texture = "\a3\ui_f\data\IGUI\Cfg\Cursors\selected_ca.paa";
+	private _color = [0, 0.85, 1, 0.95];
+	private _camera = curatorCamera;
+
+	{
+		if (!isNull _x && {alive _x} && {_x in _editableObjects}) then {
+			private _pos = ASLToAGL (getPosASLVisual _x);
+			_pos set [2, (_pos select 2) + 0.12];
+
+			private _distance = _camera distance _x;
+			private _size = linearConversion [0, 2000, _distance, 0.8, 1.35, true];
+			private _textSize = linearConversion [0, 2000, _distance, 0.032, 0.05, true];
+			drawIcon3D [_texture, _color, _pos, _size, _size, 0, "TAK", 1, _textSize, "RobotoCondensed", "center"];
+		};
+	} forEach _routed;
+}];
+
+missionNamespace setVariable [QGVAR(curatorRouterIndicatorEh), _eh];
+
+_eh

addons/client/functions/fnc_sendLaserRangeFinder.sqf

@@ -0,0 +1,52 @@
+#include "..\script_component.hpp"
+
+params ["_unit"];
+
+private _lrfEnabled = player getVariable [QGVAR(lrfEnabled), false];
+
+private _uid = format ["%1.LRF", _unit call armatak_fnc_extract_uuid];
+private _laserTarget = laserTarget _unit;
+
+if (!isNull _laserTarget) exitWith {
+	private _originASL = getPosASL _unit;
+	private _targetASL = getPosASL _laserTarget;
+	private _delta = _targetASL vectorDiff _originASL;
+
+	private _dx = _delta select 0;
+	private _dy = _delta select 1;
+	private _dz = _delta select 2;
+	private _horizontalDistance = sqrt ((_dx * _dx) + (_dy * _dy));
+	private _slantDistance = (_originASL vectorDistance _targetASL) max 1;
+	private _azimuth = (((_dx atan2 _dy) + 360) mod 360);
+	private _elevation = _dz atan2 (_horizontalDistance max 0.001);
+	private _lastTargetASL = player getVariable [QGVAR(lrfLastTargetASL), []];
+	private _lastSentAt = player getVariable [QGVAR(lrfLastSentAt), -1000];
+	private _targetMoved = _lastTargetASL isEqualTo [] || {(_lastTargetASL vectorDistance _targetASL) > 5};
+	private _sendCooldownElapsed = (time - _lastSentAt) >= 2.5;
+
+	player setVariable [QGVAR(lrfWasActive), true];
+	player setVariable [QGVAR(lrfLostAt), -1];
+	player setVariable [QGVAR(lrfClearSent), false];
+
+	if (_lrfEnabled && {_targetMoved} && {_sendCooldownElapsed}) then {
+		"armatak" callExtension ["udp_socket:send_lrf", [[_uid, _slantDistance, _azimuth, _elevation]]];
+		player setVariable [QGVAR(lrfLastTargetASL), _targetASL];
+		player setVariable [QGVAR(lrfLastSentAt), time];
+	};
+};
+
+if !(player getVariable [QGVAR(lrfWasActive), false]) exitWith {};
+
+private _lostAt = player getVariable [QGVAR(lrfLostAt), -1];
+if (_lostAt < 0) then {
+	player setVariable [QGVAR(lrfLostAt), time];
+};
+
+private _clearSent = player getVariable [QGVAR(lrfClearSent), false];
+if (_lrfEnabled && {!_clearSent} && {(time - (player getVariable [QGVAR(lrfLostAt), time])) >= 6}) then {
+	"armatak" callExtension ["udp_socket:clear_lrf", [_uid]];
+	player setVariable [QGVAR(lrfWasActive), false];
+	player setVariable [QGVAR(lrfClearSent), true];
+	player setVariable [QGVAR(lrfLastTargetASL), []];
+	player setVariable [QGVAR(lrfLastSentAt), -1000];
+};

addons/client/functions/fnc_startUDPSocket.sqf

@@ -14,24 +14,38 @@ disableSerialization;
 private _eud_address = ctrlText 16961;
 private _gnss_port = ctrlText 16962;
 private _mavlink_port = ctrlText 16967;
+private _lrf_port = ctrlText 16971;
 private _video_feed_url = ctrlText 16969;
 
 private _udp_socket_fulladdress = _eud_address + ":" + _gnss_port;
 private _mavlink_address = _eud_address + ":" + _mavlink_port;
+private _lrf_port_trimmed = trim _lrf_port;
+private _lrf_enabled = _lrf_port_trimmed isNotEqualTo "";
+private _lrf_address = _eud_address + ":" + _lrf_port_trimmed;
 
 player setVariable [QGVAR(udp_socket_address), _udp_socket_fulladdress];
 player setVariable [QGVAR(mavlink_address), _mavlink_address];
+player setVariable [QGVAR(lrf_address), _lrf_address];
+player setVariable [QGVAR(lrfEnabled), _lrf_enabled];
+player setVariable [QGVAR(lrfWasActive), false];
+player setVariable [QGVAR(lrfLostAt), -1];
+player setVariable [QGVAR(lrfClearSent), false];
+player setVariable [QGVAR(lrfLastTargetASL), []];
+player setVariable [QGVAR(lrfLastSentAt), -1000];
 player setVariable [QGVAR(video_feed_url), trim _video_feed_url];
-player setVariable [QGVAR(eudConnected), true];
+player setVariable [QGVAR(eudConnected), true, true];
 
 private _advertised_video_uri = [objNull] call EFUNC(uav,resolveVideoUri);
 
 "armatak" callExtension ["udp_socket:start", [_udp_socket_fulladdress]];
 "armatak" callExtension ["uas:start_endpoint", [parseNumber _mavlink_port]];
+if (_lrf_enabled) then {
+	"armatak" callExtension ["udp_socket:start_lrf", [_lrf_address]];
+};
 
 private _mdnsInstanceName = format ["ArmaTAK-%1", name player];
 "armatak" callExtension ["mdns:start_uas_advertisement", [_mdnsInstanceName, parseNumber _mavlink_port, _advertised_video_uri]];
-"armatak" callExtension ["log", [["info", format ["Client UDP socket started for %1, MAVLink target set to %2 and advertised video URI set to %3", _udp_socket_fulladdress, _mavlink_address, _advertised_video_uri]]]];
+"armatak" callExtension ["log", [["info", format ["Client UDP socket started for %1, MAVLink target set to %2, LRF target set to %3 and advertised video URI set to %4. Digital pointer uses ATAK LRF when enabled.", _udp_socket_fulladdress, _mavlink_address, _lrf_address, _advertised_video_uri]]]];
 
 call EFUNC(uav,startMavlinkBroadcast);
 
@@ -41,5 +55,11 @@ call EFUNC(uav,startMavlinkBroadcast);
 	"armatak" callExtension ["udp_socket:send_gps_cot", [player call FUNC(extractClientPosition)]];
 }, 0.5, []] call CBA_fnc_addPerFrameHandler;
 
+[{
+	if !(player getVariable [QGVAR(eudConnected), false]) exitWith {};
+
+	[player] call FUNC(sendLaserRangeFinder);
+}, 0.25, []] call CBA_fnc_addPerFrameHandler;
+
 deleteVehicle _logic;
 closeDialog 1;

addons/main/CfgFunctions.hpp

@@ -19,6 +19,33 @@ class CfgFunctions {
 			class send_marker_cot {
 				file = "\armatak\armatak\addons\main\functions\api\fn_send_marker_cot.sqf";
 			};
+			class report_marker {
+				file = "\armatak\armatak\addons\main\functions\api\fn_report_marker.sqf";
+			};
+			class register_cot {
+				file = "\armatak\armatak\addons\main\functions\api\fn_register_cot.sqf";
+			};
+			class delete_registered_cots {
+				file = "\armatak\armatak\addons\main\functions\api\fn_delete_registered_cots.sqf";
+			};
+			class draw_circle {
+				file = "\armatak\armatak\addons\main\functions\api\fn_draw_circle.sqf";
+			};
+			class draw_ellipse {
+				file = "\armatak\armatak\addons\main\functions\api\fn_draw_ellipse.sqf";
+			};
+			class draw_rectangle {
+				file = "\armatak\armatak\addons\main\functions\api\fn_draw_rectangle.sqf";
+			};
+			class draw_polyline {
+				file = "\armatak\armatak\addons\main\functions\api\fn_draw_polyline.sqf";
+			};
+			class draw_route {
+				file = "\armatak\armatak\addons\main\functions\api\fn_draw_route.sqf";
+			};
+			class draw_tactical_graphic {
+				file = "\armatak\armatak\addons\main\functions\api\fn_draw_tactical_graphic.sqf";
+			};
 			class send_uas_platform_cot {
 				file = "\armatak\armatak\addons\main\functions\api\fn_send_uas_platform_cot.sqf";
 			};
@@ -146,4 +173,3 @@ class CfgFunctions {
 		};
 	};
 };
-

addons/main/XEH_postInit.sqf

@@ -9,10 +9,11 @@ addMissionEventHandler ["ExtensionCallback", {
 
 			switch (_function) do {
 				case "EUD Connected": {
-					SETVAR(player,EGVAR(client,eudConnected),true);
+					player setVariable [QEGVAR(client,eudConnected), true, true];
 				};
 				case "EUD Disconnected": {
-					SETVAR(player,EGVAR(client,eudConnected),false);
+					player setVariable [QEGVAR(client,eudConnected), false, true];
+					SETVAR(player,EGVAR(client,lrfEnabled),false);
 					call EFUNC(uav,stopMavlinkBroadcast);
 					"armatak" callExtension ["uas:stop_endpoint", []];
 					"armatak" callExtension ["mdns:stop", []];
@@ -27,14 +28,16 @@ addMissionEventHandler ["ExtensionCallback", {
 			[_function, "error", _name] call FUNC(notify);
 			
 			if (_function == "UDP Socket is not running") then {
-				SETVAR(player,EGVAR(client,eudConnected),false);
+				player setVariable [QEGVAR(client,eudConnected), false, true];
+				SETVAR(player,EGVAR(client,lrfEnabled),false);
 				call EFUNC(uav,stopMavlinkBroadcast);
 				"armatak" callExtension ["uas:stop_endpoint", []];
 				"armatak" callExtension ["mdns:stop", []];
 			};
 
 			if (_function == "failed to bind UDP socket") then {
-				SETVAR(player,EGVAR(client,eudConnected),false);
+				player setVariable [QEGVAR(client,eudConnected), false, true];
+				SETVAR(player,EGVAR(client,lrfEnabled),false);
 				call EFUNC(uav,stopMavlinkBroadcast);
 				"armatak" callExtension ["uas:stop_endpoint", []];
 				"armatak" callExtension ["mdns:stop", []];
@@ -61,6 +64,14 @@ addMissionEventHandler ["ExtensionCallback", {
 				case "COMMAND_LONG";
 				case "COMMAND_INT";
 				case "COMMAND_ACK";
+				case "MISSION_COUNT";
+				case "MISSION_ITEM";
+				case "MISSION_ITEM_INT";
+				case "MISSION_CLEAR_ALL";
+				case "MISSION_SET_CURRENT";
+				case "SET_HOME_POSITION";
+				case "SET_MODE";
+				case "SET_POSITION_TARGET_GLOBAL_INT";
 				case "MANUAL_CONTROL": {
 					"armatak" callExtension ["log", [["info", format ["MAVLINK UDP CALLBACK %1 %2", _function, _data]]]];
 					[_function, _data] call EFUNC(uav,handleMavlinkCallback);

addons/main/functions/api/fn_delete_registered_cots.sqf

@@ -0,0 +1,36 @@
+// function name: armatak_fnc_delete_registered_cots
+// function author: Valmo, Codex
+// function description: Sends forced delete CoTs for all registered CoTs in a scope.
+//
+// Arguments:
+// 0: Scope/key used to group CoTs <STRING>
+//
+// Return Value:
+// Number of delete CoTs sent <NUMBER>
+//
+// Public: Yes
+
+params [
+	["_scope", "", [""]]
+];
+
+if (_scope isEqualTo "") exitWith {0};
+
+private _registry = missionNamespace getVariable ["armatak_registered_cots", []];
+private _remaining = [];
+private _deleted = 0;
+
+{
+	_x params ["_registeredScope", "_uid", "_type", "_lat", "_lon", "_hae"];
+
+	if (_registeredScope isEqualTo _scope) then {
+		"armatak" callExtension ["tcp_socket:cot:delete", [[_uid, _type, _lat, _lon, _hae]]];
+		_deleted = _deleted + 1;
+	} else {
+		_remaining pushBack _x;
+	};
+} forEach _registry;
+
+missionNamespace setVariable ["armatak_registered_cots", _remaining];
+
+_deleted

addons/main/functions/api/fn_draw_circle.sqf

@@ -0,0 +1,44 @@
+// function name: armatak_fnc_draw_circle
+// function author: Valmo
+// function description: Sends an ATAK Drawing Tools circle CoT.
+//
+// Arguments:
+// 0: Center position or object <ARRAY|OBJECT>
+// 1: Radius in meters <NUMBER>
+// 2: Callsign/title <STRING> (default: "ArmaTAK Circle")
+// 3: Stale time in seconds <NUMBER> (default: 86400)
+// 4: Stroke color as signed ARGB int <NUMBER> (default: -1)
+// 5: Fill color as signed ARGB int <NUMBER> (default: -1761607681)
+// 6: Stroke weight <NUMBER> (default: 3)
+// 7: Optional registration scope <STRING> (default: "")
+//
+// Example:
+// [player, 300, "Mortar Risk Area"] call armatak_fnc_draw_circle;
+//
+// Public: Yes
+
+params [
+	["_center", objNull, [objNull, []]],
+	["_radius", 100, [0]],
+	["_callsign", "ArmaTAK Circle", [""]],
+	["_staleSeconds", 86400, [0]],
+	["_strokeColor", -1, [0]],
+	["_fillColor", -1761607681, [0]],
+	["_strokeWeight", 3, [0]],
+	["_scope", "", [""]]
+];
+
+[
+	_center,
+	_radius,
+	_radius,
+	360,
+	_callsign,
+	_staleSeconds,
+	_strokeColor,
+	_fillColor,
+	_strokeWeight,
+	"",
+	"u-d-c-c",
+	_scope
+] call armatak_fnc_draw_ellipse;

addons/main/functions/api/fn_draw_ellipse.sqf

@@ -0,0 +1,70 @@
+// function name: armatak_fnc_draw_ellipse
+// function author: Valmo
+// function description: Sends an ATAK Drawing Tools ellipse or circle CoT.
+//
+// Arguments:
+// 0: Center position or object <ARRAY|OBJECT>
+// 1: Major radius in meters <NUMBER>
+// 2: Minor radius in meters <NUMBER>
+// 3: Rotation angle in degrees <NUMBER> (default: 0)
+// 4: Callsign/title <STRING> (default: "ArmaTAK Ellipse")
+// 5: Stale time in seconds <NUMBER> (default: 86400)
+// 6: Stroke color as signed ARGB int <NUMBER> (default: -1)
+// 7: Fill color as signed ARGB int <NUMBER> (default: -1761607681)
+// 8: Stroke weight <NUMBER> (default: 3)
+// 9: MilSym SIDC for tactical overlay <STRING> (default: "")
+// 10: CoT type <STRING> (default: "u-d-c-e")
+// 11: Optional registration scope <STRING> (default: "")
+//
+// Example:
+// [screenToWorld [0.5, 0.5], 250, 100, 45, "Support by Fire"] call armatak_fnc_draw_ellipse;
+//
+// Public: Yes
+
+params [
+	["_center", objNull, [objNull, []]],
+	["_major", 100, [0]],
+	["_minor", 50, [0]],
+	["_angle", 0, [0]],
+	["_callsign", "ArmaTAK Ellipse", [""]],
+	["_staleSeconds", 86400, [0]],
+	["_strokeColor", -1, [0]],
+	["_fillColor", -1761607681, [0]],
+	["_strokeWeight", 3, [0]],
+	["_milsym", "", [""]],
+	["_cotType", "u-d-c-e", [""]],
+	["_scope", "", [""]]
+];
+
+private _position = if (_center isEqualType objNull) then {
+	getPos _center
+} else {
+	_center
+};
+
+if ((count _position) < 2) exitWith {""};
+
+private _altitude = _position param [2, 0, [0]];
+private _realLocation = [_position select 0, _position select 1, _altitude] call armatak_client_fnc_convertClientLocation;
+private _uuid = "armatak" callExtension ["uuid", []] select 0;
+private _payload = [
+	_uuid,
+	_cotType,
+	_realLocation select 0,
+	_realLocation select 1,
+	_realLocation select 2,
+	_major max 1,
+	_minor max 1,
+	_angle,
+	_callsign,
+	_staleSeconds max 1,
+	_strokeColor,
+	_fillColor,
+	_strokeWeight max 1,
+	_milsym
+];
+
+"armatak" callExtension ["tcp_socket:draw:ellipse", [_payload]];
+[_scope, _uuid, _cotType, _realLocation select 0, _realLocation select 1, _realLocation select 2] call armatak_fnc_register_cot;
+
+_uuid

addons/main/functions/api/fn_draw_polyline.sqf

@@ -0,0 +1,83 @@
+// function name: armatak_fnc_draw_polyline
+// function author: Valmo
+// function description: Sends an ATAK Drawing Tools freeform line or polygon CoT.
+//
+// Arguments:
+// 0: Positions or objects <ARRAY>
+// 1: Callsign/title <STRING> (default: "ArmaTAK Line")
+// 2: Closed polygon <BOOL> (default: false)
+// 3: Stale time in seconds <NUMBER> (default: 86400)
+// 4: Stroke color as signed ARGB int <NUMBER> (default: -1)
+// 5: Fill color as signed ARGB int <NUMBER> (default: -1761607681)
+// 6: Stroke weight <NUMBER> (default: 3)
+// 7: Stroke style <STRING> (default: "solid")
+// 8: MilSym SIDC for tactical overlay <STRING> (default: "")
+// 9: CoT type <STRING> (default: "u-d-f")
+// 10: Optional registration scope <STRING> (default: "")
+//
+// Example:
+// [[pos player, screenToWorld [0.5, 0.5]], "Phase Line Blue"] call armatak_fnc_draw_polyline;
+//
+// Public: Yes
+
+params [
+	["_points", [], [[]]],
+	["_callsign", "ArmaTAK Line", [""]],
+	["_closed", false, [true]],
+	["_staleSeconds", 86400, [0]],
+	["_strokeColor", -1, [0]],
+	["_fillColor", -1761607681, [0]],
+	["_strokeWeight", 3, [0]],
+	["_strokeStyle", "solid", [""]],
+	["_milsym", "", [""]],
+	["_cotType", "u-d-f", [""]],
+	["_scope", "", [""]]
+];
+
+if ((count _points) < 2) exitWith {""};
+
+private _pointStrings = [];
+private _center = [];
+
+{
+	private _position = if (_x isEqualType objNull) then {
+		getPos _x
+	} else {
+		_x
+	};
+
+	if ((count _position) >= 2) then {
+		private _altitude = _position param [2, 0, [0]];
+		private _realLocation = [_position select 0, _position select 1, _altitude] call armatak_client_fnc_convertClientLocation;
+		_pointStrings pushBack format ["%1,%2,%3", _realLocation select 0, _realLocation select 1, _realLocation select 2];
+
+		if (_center isEqualTo []) then {
+			_center = _realLocation;
+		};
+	};
+} forEach _points;
+
+if ((count _pointStrings) < 2) exitWith {""};
+
+private _uuid = "armatak" callExtension ["uuid", []] select 0;
+private _payload = [
+	_uuid,
+	_cotType,
+	_center select 0,
+	_center select 1,
+	_center select 2,
+	_pointStrings joinString ";",
+	_callsign,
+	_staleSeconds max 1,
+	_strokeColor,
+	_fillColor,
+	_strokeWeight max 1,
+	_strokeStyle,
+	_closed,
+	_milsym
+];
+
+"armatak" callExtension ["tcp_socket:draw:free", [_payload]];
+[_scope, _uuid, _cotType, _center select 0, _center select 1, _center select 2] call armatak_fnc_register_cot;
+
+_uuid

addons/main/functions/api/fn_draw_rectangle.sqf

@@ -0,0 +1,94 @@
+// function name: armatak_fnc_draw_rectangle
+// function author: Valmo
+// function description: Sends an ATAK Drawing Tools rectangle CoT from an Arma center, width, length, and bearing.
+//
+// Arguments:
+// 0: Center position or object <ARRAY|OBJECT>
+// 1: Width in meters <NUMBER>
+// 2: Length in meters <NUMBER>
+// 3: Bearing in degrees <NUMBER> (default: 0)
+// 4: Callsign/title <STRING> (default: "ArmaTAK Rectangle")
+// 5: Stale time in seconds <NUMBER> (default: 86400)
+// 6: Stroke color as signed ARGB int <NUMBER> (default: -1)
+// 7: Fill color as signed ARGB int <NUMBER> (default: -1761607681)
+// 8: Stroke weight <NUMBER> (default: 3)
+// 9: MilSym SIDC for tactical overlay <STRING> (default: "")
+// 10: Optional registration scope <STRING> (default: "")
+//
+// Example:
+// [screenToWorld [0.5, 0.5], 200, 500, 30, "Engagement Area"] call armatak_fnc_draw_rectangle;
+//
+// Public: Yes
+
+params [
+	["_center", objNull, [objNull, []]],
+	["_width", 100, [0]],
+	["_length", 100, [0]],
+	["_bearing", 0, [0]],
+	["_callsign", "ArmaTAK Rectangle", [""]],
+	["_staleSeconds", 86400, [0]],
+	["_strokeColor", -1, [0]],
+	["_fillColor", -1761607681, [0]],
+	["_strokeWeight", 3, [0]],
+	["_milsym", "", [""]],
+	["_scope", "", [""]]
+];
+
+private _centerPos = if (_center isEqualType objNull) then {
+	getPos _center
+} else {
+	_center
+};
+
+if ((count _centerPos) < 2) exitWith {""};
+
+private _altitude = _centerPos param [2, 0, [0]];
+private _halfWidth = (_width max 1) / 2;
+private _halfLength = (_length max 1) / 2;
+private _sin = sin _bearing;
+private _cos = cos _bearing;
+private _forward = [_sin, _cos, 0];
+private _right = [_cos, -_sin, 0];
+private _offsets = [
+	[(_right vectorMultiply -_halfWidth), (_forward vectorMultiply _halfLength)],
+	[(_right vectorMultiply _halfWidth), (_forward vectorMultiply _halfLength)],
+	[(_right vectorMultiply _halfWidth), (_forward vectorMultiply -_halfLength)],
+	[(_right vectorMultiply -_halfWidth), (_forward vectorMultiply -_halfLength)]
+];
+private _points = [];
+
+{
+	private _offset = (_x select 0) vectorAdd (_x select 1);
+	_points pushBack ([_centerPos select 0, _centerPos select 1, _altitude] vectorAdd _offset);
+} forEach _offsets;
+
+private _centerReal = [_centerPos select 0, _centerPos select 1, _altitude] call armatak_client_fnc_convertClientLocation;
+private _pointStrings = [];
+
+{
+	private _realLocation = [_x select 0, _x select 1, _x select 2] call armatak_client_fnc_convertClientLocation;
+	_pointStrings pushBack format ["%1,%2,%3", _realLocation select 0, _realLocation select 1, _realLocation select 2];
+} forEach _points;
+
+private _uuid = "armatak" callExtension ["uuid", []] select 0;
+private _payload = [
+	_uuid,
+	"u-d-r",
+	_centerReal select 0,
+	_centerReal select 1,
+	_centerReal select 2,
+	_pointStrings joinString ";",
+	_callsign,
+	_staleSeconds max 1,
+	_strokeColor,
+	_fillColor,
+	_strokeWeight max 1,
+	"solid",
+	false,
+	_milsym
+];
+
+"armatak" callExtension ["tcp_socket:draw:rectangle", [_payload]];
+[_scope, _uuid, "u-d-r", _centerReal select 0, _centerReal select 1, _centerReal select 2] call armatak_fnc_register_cot;
+
+_uuid

addons/main/functions/api/fn_draw_route.sqf

@@ -0,0 +1,200 @@
+// function name: armatak_fnc_draw_route
+// function author: Valmo
+// function description: Sends an ATAK navigable route CoT.
+//
+// Arguments:
+// 0: Positions or objects <ARRAY>
+// 1: Callsign/title <STRING> (default: "ArmaTAK Route")
+// 2: Stale time in seconds <NUMBER> (default: 86400)
+// 3: Color as signed ARGB int <NUMBER> (default: -1)
+// 4: Stroke weight <NUMBER> (default: 3)
+// 5: Navigation method <STRING> (default: "Driving")
+// 6: Route type <STRING> (default: "Primary")
+// 7: Direction/planning method <STRING> (default: "Infil")
+// 8: Checkpoint interval among route points <NUMBER> (default: 5)
+// 9: Optional registration scope <STRING> (default: "")
+//
+// Example:
+// [[pos player, screenToWorld [0.5, 0.5]], "Patrol Route"] call armatak_fnc_draw_route;
+//
+// Public: Yes
+
+params [
+	["_points", [], [[]]],
+	["_callsign", "ArmaTAK Route", [""]],
+	["_staleSeconds", 86400, [0]],
+	["_color", -1, [0]],
+	["_strokeWeight", 3, [0]],
+	["_method", "Driving", [""]],
+	["_routeType", "Primary", [""]],
+	["_direction", "Infil", [""]],
+	["_checkpointInterval", 5, [0]],
+	["_scope", "", [""]]
+];
+
+if ((count _points) < 2) exitWith {""};
+
+private _pointStrings = [];
+
+{
+	private _position = if (_x isEqualType objNull) then {
+		getPos _x
+	} else {
+		_x
+	};
+
+	if ((count _position) >= 2) then {
+		private _altitude = _position param [2, 0, [0]];
+		private _realLocation = [_position select 0, _position select 1, _altitude] call armatak_client_fnc_convertClientLocation;
+		_pointStrings pushBack format ["%1,%2,%3", _realLocation select 0, _realLocation select 1, _realLocation select 2];
+	};
+} forEach _points;
+
+if ((count _pointStrings) < 2) exitWith {""};
+
+private _uuid = "armatak" callExtension ["uuid", []] select 0;
+private _pad = {
+	params ["_value", "_digits"];
+
+	private _text = str (floor _value);
+	while {(count _text) < _digits} do {
+		_text = "0" + _text;
+	};
+
+	_text
+};
+
+private _formatCotTime = {
+	params ["_dateParts"];
+
+	format [
+		"%1-%2-%3T%4:%5:%6.%7Z",
+		_dateParts param [0, 1970, [0]],
+		[_dateParts param [1, 1, [0]], 2] call _pad,
+		[_dateParts param [2, 1, [0]], 2] call _pad,
+		[_dateParts param [3, 0, [0]], 2] call _pad,
+		[_dateParts param [4, 0, [0]], 2] call _pad,
+		[_dateParts param [5, 0, [0]], 2] call _pad,
+		[_dateParts param [6, 0, [0]], 3] call _pad
+	]
+};
+
+private _addSecondsUtc = {
+	params ["_dateParts", "_secondsToAdd"];
+
+	private _year = _dateParts param [0, 1970, [0]];
+	private _month = _dateParts param [1, 1, [0]];
+	private _day = _dateParts param [2, 1, [0]];
+	private _hour = _dateParts param [3, 0, [0]];
+	private _minute = _dateParts param [4, 0, [0]];
+	private _second = (_dateParts param [5, 0, [0]]) + (floor _secondsToAdd);
+	private _millisecond = _dateParts param [6, 0, [0]];
+
+	while {_second >= 60} do {
+		_second = _second - 60;
+		_minute = _minute + 1;
+	};
+	while {_minute >= 60} do {
+		_minute = _minute - 60;
+		_hour = _hour + 1;
+	};
+	while {_hour >= 24} do {
+		_hour = _hour - 24;
+		_day = _day + 1;
+
+		private _daysInMonth = [31, 28, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31];
+		private _isLeapYear = ((_year mod 4) isEqualTo 0) && {((_year mod 100) isNotEqualTo 0) || {(_year mod 400) isEqualTo 0}};
+		if (_isLeapYear) then {_daysInMonth set [1, 29];};
+
+		if (_day > (_daysInMonth select (_month - 1))) then {
+			_day = 1;
+			_month = _month + 1;
+			if (_month > 12) then {
+				_month = 1;
+				_year = _year + 1;
+			};
+		};
+	};
+
+	[_year, _month, _day, _hour, _minute, _second, _millisecond]
+};
+
+private _nowDate = systemTimeUTC;
+private _now = [_nowDate] call _formatCotTime;
+private _stale = [[_nowDate, _staleSeconds max 60] call _addSecondsUtc] call _formatCotTime;
+
+private _links = "";
+private _routeWaypoints = [];
+private _lastIndex = (count _pointStrings) - 1;
+private _checkpointNumber = 1;
+private _checkpointIntervalSafe = _checkpointInterval max 1;
+
+{
+	private _linkUuid = "armatak" callExtension ["uuid", []] select 0;
+	private _pointCallsign = "";
+	if (_forEachIndex isEqualTo 0) then {
+		_pointCallsign = format ["%1 SP", _callsign];
+	} else {
+		if (_forEachIndex isEqualTo _lastIndex) then {
+			_pointCallsign = "VDO";
+		} else {
+			if ((_forEachIndex mod _checkpointIntervalSafe) isEqualTo 0) then {
+				_pointCallsign = format ["CP%1", _checkpointNumber];
+				_checkpointNumber = _checkpointNumber + 1;
+			};
+		};
+	};
+
+	private _linkType = ["b-m-p-w", "b-m-p-c"] select (_pointCallsign isEqualTo "");
+	_links = _links + format [
+		"<link uid=""%1"" callsign=""%2"" type=""%3"" point=""%4"" remarks="""" relation=""c""/>",
+		_linkUuid,
+		_pointCallsign,
+		_linkType,
+		_x
+	];
+
+	if (_pointCallsign isNotEqualTo "") then {
+		_routeWaypoints pushBack [_linkUuid, _pointCallsign, _x];
+	};
+} forEach _pointStrings;
+
+private _xml = format [
+	"<?xml version=""1.0"" encoding=""UTF-8"" ?><event version=""2.0"" uid=""%1"" type=""b-m-r"" time=""%2"" start=""%2"" stale=""%3"" how=""h-e"" access=""Undefined""><point lat=""0.0"" lon=""0.0"" hae=""9999999.0"" ce=""9999999.0"" le=""9999999.0""/><detail>%4<link_attr planningmethod=""%5"" color=""%6"" method=""%7"" prefix=""CP"" style=""0"" type=""Vehicle"" stroke=""%8"" direction=""%5"" routetype=""%9"" order=""Ascending Check Points""/><creator uid=""ARMATAK"" callsign=""ArmaTAK"" time=""%2"" type=""a-f-G-U-C""/><strokeColor value=""%6""/><strokeWeight value=""%8""/><strokeStyle value=""solid""/><labels_on value=""false""/><__routeinfo><__navcues/></__routeinfo><color value=""%6""/><remarks/><contact callsign=""%10""/><archive/><height_unit>1</height_unit></detail></event>",
+	_uuid,
+	_now,
+	_stale,
+	_links,
+	_direction,
+	_color,
+	_method,
+	_strokeWeight max 1,
+	_routeType,
+	_callsign
+];
+
+"armatak" callExtension ["log", [["info", format ["Sending ATAK route '%1' with %2 points (%3 bytes)", _callsign, count _pointStrings, count _xml]]]];
+"armatak" callExtension ["tcp_socket:send_payload", [_xml]];
+[_scope, _uuid, "b-m-r", 0, 0, 9999999] call armatak_fnc_register_cot;
+
+{
+	_x params ["_waypointUid", "_waypointCallsign", "_pointString"];
+	private _pointParts = _pointString splitString ",";
+	if ((count _pointParts) >= 3) then {
+		private _waypointXml = format [
+			"<?xml version=""1.0"" encoding=""UTF-8"" ?><event version=""2.0"" uid=""%1"" type=""b-m-p-w"" time=""%2"" start=""%2"" stale=""%3"" how=""h-e""><point lat=""%4"" lon=""%5"" hae=""%6"" ce=""9999999.0"" le=""9999999.0""/><detail><contact callsign=""%7""/><remarks/><archive/><link relation=""p-p"" type=""b-m-r"" uid=""%8""/></detail></event>",
+			_waypointUid,
+			_now,
+			_stale,
+			_pointParts select 0,
+			_pointParts select 1,
+			_pointParts select 2,
+			_waypointCallsign,
+			_uuid
+		];
+		"armatak" callExtension ["tcp_socket:send_payload", [_waypointXml]];
+		[_scope, _waypointUid, "b-m-p-w", parseNumber (_pointParts select 0), parseNumber (_pointParts select 1), parseNumber (_pointParts select 2)] call armatak_fnc_register_cot;
+	};
+} forEach _routeWaypoints;
+
+_uuid

addons/main/functions/api/fn_draw_tactical_graphic.sqf

@@ -0,0 +1,75 @@
+// function name: armatak_fnc_draw_tactical_graphic
+// function author: Valmo
+// function description: Sends an ATAK Drawing Tools shape with a MilSym tactical graphic overlay.
+//
+// Arguments:
+// 0: Positions or objects <ARRAY>
+// 1: MilSym SIDC <STRING>
+// 2: Callsign/title <STRING> (default: "ArmaTAK Tactical Graphic")
+// 3: Closed polygon <BOOL> (default: false)
+// 4: Stale time in seconds <NUMBER> (default: 86400)
+// 5: Stroke color as signed ARGB int <NUMBER> (default: -1)
+// 6: Fill color as signed ARGB int <NUMBER> (default: -1761607681)
+// 7: Stroke weight <NUMBER> (default: 3)
+//
+// Example:
+// [[pos player, screenToWorld [0.5, 0.5]], "GFGPOLAGM-----X", "Axis of Advance"] call armatak_fnc_draw_tactical_graphic;
+//
+// Public: Yes
+
+params [
+	["_points", [], [[]]],
+	["_milsym", "", [""]],
+	["_callsign", "ArmaTAK Tactical Graphic", [""]],
+	["_closed", false, [true]],
+	["_staleSeconds", 86400, [0]],
+	["_strokeColor", -1, [0]],
+	["_fillColor", -1761607681, [0]],
+	["_strokeWeight", 3, [0]]
+];
+
+if (_milsym isEqualTo "") exitWith {""};
+if ((count _points) < 2) exitWith {""};
+
+private _pointStrings = [];
+private _center = [];
+
+{
+	private _position = if (_x isEqualType objNull) then {
+		getPos _x
+	} else {
+		_x
+	};
+
+	if ((count _position) >= 2) then {
+		private _altitude = _position param [2, 0, [0]];
+		private _realLocation = [_position select 0, _position select 1, _altitude] call armatak_client_fnc_convertClientLocation;
+		_pointStrings pushBack format ["%1,%2,%3", _realLocation select 0, _realLocation select 1, _realLocation select 2];
+
+		if (_center isEqualTo []) then {
+			_center = _realLocation;
+		};
+	};
+} forEach _points;
+
+if ((count _pointStrings) < 2) exitWith {""};
+
+private _uuid = "armatak" callExtension ["uuid", []] select 0;
+private _payload = [
+	_uuid,
+	"u-d-f",
+	_center select 0,
+	_center select 1,
+	_center select 2,
+	_pointStrings joinString ";",
+	_callsign,
+	_staleSeconds max 1,
+	_strokeColor,
+	_fillColor,
+	_strokeWeight max 1,
+	"solid",
+	_closed,
+	_milsym
+];
+
+"armatak" callExtension ["tcp_socket:draw:vector", [_payload]];

addons/main/functions/api/fn_register_cot.sqf

@@ -0,0 +1,30 @@
+// function name: armatak_fnc_register_cot
+// function author: Valmo, Codex
+// function description: Registers a CoT object under a scope so it can be deleted later.
+//
+// Arguments:
+// 0: Scope/key used to group CoTs <STRING>
+// 1: CoT UID <STRING>
+// 2: CoT type <STRING>
+// 3: Latitude <NUMBER>
+// 4: Longitude <NUMBER>
+// 5: HAE altitude <NUMBER>
+//
+// Public: Yes
+
+params [
+	["_scope", "", [""]],
+	["_uid", "", [""]],
+	["_type", "", [""]],
+	["_lat", 0, [0]],
+	["_lon", 0, [0]],
+	["_hae", 0, [0]]
+];
+
+if (_scope isEqualTo "" || {_uid isEqualTo ""} || {_type isEqualTo ""}) exitWith {false};
+
+private _registry = missionNamespace getVariable ["armatak_registered_cots", []];
+_registry pushBack [_scope, _uid, _type, _lat, _lon, _hae];
+missionNamespace setVariable ["armatak_registered_cots", _registry];
+
+true

addons/main/functions/api/fn_report_marker.sqf

@@ -0,0 +1,105 @@
+// function name: armatak_fnc_report_marker
+// function author: Valmo
+// function description: Sends a one-shot TAK report marker with an independent stale time.
+//
+// Arguments:
+// 0: Source position or object <ARRAY|OBJECT>
+// 1: Affiliation or raw CoT type <STRING> (default: "unknown")
+//    Supported affiliations: "friendly", "enemy", "hostile", "neutral", "unknown"
+// 2: Marker kind <STRING> (default: "infantry")
+//    Supported kinds: "infantry", "tank", "car", "apc", "helicopter", "plane", "ship", "static"
+// 3: Callsign <STRING> (default: "Report")
+// 4: Remarks <STRING> (default: "")
+// 5: Stale time in seconds <NUMBER> (default: 3600)
+// 6: Optional registration scope <STRING> (default: "")
+//
+// Example:
+// [cursorObject, "enemy", "tank", "Enemy Tank", "Reported enemy tank"] call armatak_fnc_report_marker;
+// [screenToWorld [0.5, 0.5], "unknown", "infantry", "Unknown Contact", "Unknown contact reported", 7200] call armatak_fnc_report_marker;
+// [cursorObject, "a-h-G-U-C-A-T", "Enemy Tank", "Reported enemy tank", 7200] call armatak_fnc_report_marker;
+//
+// Public: Yes
+
+params [
+	["_source", objNull, [objNull, []]],
+	["_affiliationOrType", "unknown", [""]],
+	["_kindOrCallsign", "infantry", [""]],
+	["_callsignOrRemarks", "Report", [""]],
+	["_remarksOrStaleSeconds", "", ["", 0]],
+	["_staleSeconds", 3600, [0, ""]],
+	["_scope", "", [""]]
+];
+
+private _type = "";
+private _callsign = _callsignOrRemarks;
+private _remarks = _remarksOrStaleSeconds;
+
+if (_staleSeconds isEqualType "") then {
+	_scope = _staleSeconds;
+	_staleSeconds = 3600;
+};
+
+if ((_affiliationOrType select [0, 2]) isEqualTo "a-") then {
+	_type = _affiliationOrType;
+	_callsign = _kindOrCallsign;
+	_remarks = _callsignOrRemarks;
+
+	if (_remarksOrStaleSeconds isEqualType 0) then {
+		_staleSeconds = _remarksOrStaleSeconds;
+	};
+} else {
+	private _affiliation = switch (toLower _affiliationOrType) do {
+		case "friendly": {"f"};
+		case "enemy": {"h"};
+		case "hostile": {"h"};
+		case "neutral": {"n"};
+		default {"u"};
+	};
+
+	private _kind = switch (toLower _kindOrCallsign) do {
+		case "tank": {"G-U-C-A-T"};
+		case "car": {"G-U-C-I-M"};
+		case "apc": {"G-U-C-I-I"};
+		case "helicopter": {"A-M-H"};
+		case "plane": {"A-M-F"};
+		case "ship": {"S"};
+		case "static": {"G-U-C-F-M"};
+		default {"G-U-C-I"};
+	};
+
+	_type = "a-" + _affiliation + "-" + _kind;
+
+	if (_remarksOrStaleSeconds isEqualType 0) then {
+		_staleSeconds = _remarksOrStaleSeconds;
+		_remarks = "";
+	};
+};
+
+private _position = if (_source isEqualType objNull) then {
+	getPos _source
+} else {
+	_source
+};
+
+if ((count _position) < 2) exitWith {
+	""
+};
+
+private _altitude = _position param [2, 0, [0]];
+private _realLocation = [_position select 0, _position select 1, _altitude] call armatak_client_fnc_convertClientLocation;
+private _uuid = "armatak" callExtension ["uuid", []] select 0;
+private _payload = [
+	_uuid,
+	_type,
+	_realLocation select 0,
+	_realLocation select 1,
+	_realLocation select 2,
+	_callsign,
+	_staleSeconds max 1,
+	_remarks
+];
+
+"armatak" callExtension ["tcp_socket:cot:report_marker", [_payload]];
+[_scope, _uuid, _type, _realLocation select 0, _realLocation select 1, _realLocation select 2] call armatak_fnc_register_cot;
+
+_uuid

addons/main/functions/api/fn_send_digital_pointer_cot.sqf

@@ -6,7 +6,13 @@ if (!isNull _digitalPointer) then {
  _digitalPointerPosition = _digitalPointer call armatak_client_fnc_extractClientPosition; 
  
  _link_uid = [_unit] call armatak_fnc_extract_uuid; 
- _contact_callsign = ([player] call armatak_fnc_extract_unit_callsign) + ".DP1"; 
+ _objectType = [_unit] call BIS_fnc_objectType;
+ _ownerCallsign = if ((_objectType select 0) == "Soldier") then {
+  [_unit] call armatak_fnc_extract_unit_callsign
+ } else {
+  [_unit] call armatak_fnc_extract_marker_callsign
+ };
+ _contact_callsign = _ownerCallsign + ".DP1"; 
  
  _dpCot = [_link_uid, _contact_callsign, _digitalPointerPosition select 1, _digitalPointerPosition select 2, _digitalPointerPosition select 3]; 
  

addons/main/functions/extract_data/fn_extract_marker_callsign.sqf

@@ -6,13 +6,20 @@ params["_unit"];
 
 private _callsign = "";
 private _displayName = localize (getText (configOf _unit >> "displayName"));
+private _markerCallsignOverride = _unit getVariable ["armatak_attribute_marker_callsign", ""];
+
+if (_markerCallsignOverride isNotEqualTo "") exitWith {
+	_markerCallsignOverride
+};
 
 if (_displayName isEqualTo "") then {
 	_displayName = typeOf _unit;
 };
 
+private _vehicleName = vehicleVarName _unit;
+
 if ((([_unit] call BIS_fnc_objectType) select 0) == "Vehicle") then {
-	_callsign = _displayName;
+	_callsign = [_displayName, _vehicleName] select (_vehicleName isNotEqualTo "");
 
 	if (!isNull driver _unit) then {
 		_callsign = _displayName + " | " + ([name (driver _unit)] call armatak_fnc_shorten_name);
@@ -20,7 +27,13 @@ if ((([_unit] call BIS_fnc_objectType) select 0) == "Vehicle") then {
 };
 
 if (unitIsUAV _unit) then {
-	_callsign = _displayName;
+	_callsign = [_displayName, _vehicleName] select (_vehicleName isNotEqualTo "");
+
+	private _uavControl = UAVControl _unit;
+	private _controller = _uavControl param [0, objNull];
+	if (!isNull _controller) then {
+		_callsign = _callsign + " | " + ([name _controller] call armatak_fnc_shorten_name);
+	};
 
 	if (isUAVConnected _unit) then {
 		_callsign = _callsign + " [ON]";
@@ -29,10 +42,8 @@ if (unitIsUAV _unit) then {
 	}
 };
 
-private _markerCallsignOverride = _unit getVariable ["armatak_attribute_marker_callsign", ""];
-
-if (_markerCallsignOverride isNotEqualTo "") then {
-	_callsign = _markerCallsignOverride;
+if (_callsign isEqualTo "") then {
+	_callsign = _displayName;
 };
 
 _callsign

addons/main/functions/extract_data/fn_extract_role.sqf

@@ -27,7 +27,7 @@ switch (str _side) do {
 	};
 };
 
-_unit_type = _unit call BIS_fnc_objectType;
+private _unit_type = _unit call BIS_fnc_objectType;
 
 if ((_unit_type select 0) == "Soldier") then {
 	switch (_unit_type select 1) do {
@@ -71,7 +71,7 @@ if ((_unit_type select 0) == "Soldier") then {
 };
 
 if ((typeOf (vehicle _unit) != typeOf _unit) or ((_unit_type select 0) == "Vehicle")) then {
-	_vehicle_type = (vehicle _unit) call BIS_fnc_objectType select 1;
+	private _vehicle_type = (vehicle _unit) call BIS_fnc_objectType select 1;
 	switch (_vehicle_type) do {
 		case "Car": {
 			_type = "G-U-C-I-M";
@@ -111,10 +111,10 @@ if ((typeOf (vehicle _unit) != typeOf _unit) or ((_unit_type select 0) == "Vehic
 
 _role = "a-" + _affiliation + "-" + _type;
 
-armatak_attribute_marker_type = _unit getVariable "armatak_attribute_marker_type";
+private _markerTypeOverride = _unit getVariable ["armatak_attribute_marker_type", ""];
 
-if (!isNil "armatak_attribute_marker_type" or armatak_attribute_marker_type != '') then {
-	_role = armatak_attribute_marker_type;
+if (_markerTypeOverride isNotEqualTo "") then {
+	_role = _markerTypeOverride;
 };
 
 _role

addons/main/functions/extract_data/fn_extract_sensor_data.sqf

@@ -1,5 +1,7 @@
 params["_unit"];
 
+if (_unit getVariable ["armatak_disable_sensor_data", false]) exitWith {};
+
 _target = getSensorTargets (_unit);
 
 {

addons/main/functions/extract_data/fn_extract_uas_camera_data.sqf

@@ -1,4 +1,4 @@
-params ["_drone"];
+params ["_drone", ["_cameraMode", "turret"]];
 
 private _override = _drone getVariable ["armatak_uas_camera_data_override", []];
 private _isLocalController = hasInterface && {!isNull player} && {(getConnectedUAV player) isEqualTo _drone};
@@ -22,16 +22,18 @@ private _cameraDir = [];
 private _spiASL = [];
 private _slantRange = 0;
 
-private _laserTarget = laserTarget _drone;
-if (!isNull _laserTarget) then {
-    private _laserTargetWorld = getPosWorld _laserTarget;
-    private _laserTargetAslZ = (getPosASL _laserTarget) select 2;
-    _spiASL = [_laserTargetWorld select 0, _laserTargetWorld select 1, _laserTargetAslZ];
-    _cameraDir = _spiASL vectorDiff _originASL;
-    _slantRange = _originASL vectorDistance _spiASL;
+if (_cameraMode isNotEqualTo "fpv") then {
+    private _laserTarget = laserTarget _drone;
+    if (!isNull _laserTarget) then {
+        private _laserTargetWorld = getPosWorld _laserTarget;
+        private _laserTargetAslZ = (getPosASL _laserTarget) select 2;
+        _spiASL = [_laserTargetWorld select 0, _laserTargetWorld select 1, _laserTargetAslZ];
+        _cameraDir = _spiASL vectorDiff _originASL;
+        _slantRange = _originASL vectorDistance _spiASL;
+    };
 };
 
-if (_cameraDir isEqualTo []) then {
+if (_cameraDir isEqualTo [] && {_cameraMode isNotEqualTo "fpv"}) then {
     private _uavControl = UAVControl _drone;
     private _controlledTurretPath = _uavControl param [1, []];
     private _candidateTurrets = [];

addons/server/XEH_PREP.hpp

@@ -1,7 +1,10 @@
 PREP(3denEnrollModuleConfig);
 PREP(3denTcpModuleConfig);
+PREP(addRouterEntities);
+PREP(removeRouterEntities);
 PREP(routerEntityAdd);
 PREP(routerEntityRemove);
+PREP(setRouterEntities);
 PREP(startCotRouter);
 PREP(ZeusEnrollModuleConfig);
 PREP(ZeusTcpModuleConfig);

addons/server/functions/fnc_addRouterEntities.sqf

@@ -0,0 +1,28 @@
+#include "..\script_component.hpp"
+/*
+ * Author: Valmo, Codex
+ * Adds entities to the server-side CoT router entity list.
+ *
+ * Arguments:
+ * 0: Entity or entities to publish through the CoT router <OBJECT|ARRAY>
+ *
+ * Return Value:
+ * Current routed entities <ARRAY>
+ *
+ * Public: Yes
+ */
+
+params [
+	["_entities", [], [objNull, []]]
+];
+
+private _toAdd = if (_entities isEqualType objNull) then {[_entities]} else {_entities};
+private _routed = missionNamespace getVariable ["armatak_server_syncedUnits", []];
+_routed append _toAdd;
+_routed = _routed arrayIntersect _routed;
+_routed = _routed select {!isNull _x && {alive _x}};
+
+missionNamespace setVariable ["armatak_server_syncedUnits", _routed, true];
+GVAR(syncedUnits) = _routed;
+
+_routed

addons/server/functions/fnc_removeRouterEntities.sqf

@@ -0,0 +1,26 @@
+#include "..\script_component.hpp"
+/*
+ * Author: Valmo, Codex
+ * Removes entities from the server-side CoT router entity list.
+ *
+ * Arguments:
+ * 0: Entity or entities to remove from the CoT router <OBJECT|ARRAY>
+ *
+ * Return Value:
+ * Current routed entities <ARRAY>
+ *
+ * Public: Yes
+ */
+
+params [
+	["_entities", [], [objNull, []]]
+];
+
+private _toRemove = if (_entities isEqualType objNull) then {[_entities]} else {_entities};
+private _routed = missionNamespace getVariable ["armatak_server_syncedUnits", []];
+_routed = (_routed - _toRemove) select {!isNull _x && {alive _x}};
+
+missionNamespace setVariable ["armatak_server_syncedUnits", _routed, true];
+GVAR(syncedUnits) = _routed;
+
+_routed

addons/server/functions/fnc_routerEntityAdd.sqf

@@ -36,7 +36,7 @@ switch (false) do {
 
 		GVAR(syncedUnits) pushBack _unit;
 
-		missionNamespace setVariable ["armatak_server_syncedUnits", GVAR(syncedUnits)];
+		missionNamespace setVariable ["armatak_server_syncedUnits", GVAR(syncedUnits), true];
 		SETVAR(_unit,GVAR(isRouting),true);
 
 		deleteVehicle _logic;

addons/server/functions/fnc_routerEntityRemove.sqf

@@ -34,7 +34,7 @@ switch (false) do {
 			};
 		} forEach GVAR(syncedUnits);
 
-		missionNamespace setVariable ["armatak_server_syncedUnits", GVAR(syncedUnits)];
+		missionNamespace setVariable ["armatak_server_syncedUnits", GVAR(syncedUnits), true];
 		SETVAR(_unit,GVAR(isRouting),false);
 
 		deleteVehicle _logic;

addons/server/functions/fnc_setRouterEntities.sqf

@@ -0,0 +1,25 @@
+#include "..\script_component.hpp"
+/*
+ * Author: Valmo, Codex
+ * Replaces the server-side CoT router entity list with a de-duplicated list.
+ *
+ * Arguments:
+ * 0: Entities to publish through the CoT router <ARRAY>
+ *
+ * Return Value:
+ * Current routed entities <ARRAY>
+ *
+ * Public: Yes
+ */
+
+params [
+	["_entities", [], [[]]]
+];
+
+private _routed = _entities arrayIntersect _entities;
+_routed = _routed select {!isNull _x && {alive _x}};
+
+missionNamespace setVariable ["armatak_server_syncedUnits", _routed, true];
+GVAR(syncedUnits) = _routed;
+
+_routed

addons/server/functions/fnc_startCotRouter.sqf

@@ -9,15 +9,33 @@ if (isNil { missionNamespace getVariable "armatak_server_syncedUnits" }) then {
 	missionNamespace setVariable ["armatak_server_syncedUnits", []];
 };
 
+if (isNil { missionNamespace getVariable "armatak_server_clientClaimedEuds" }) then {
+	missionNamespace setVariable ["armatak_server_clientClaimedEuds", []];
+};
+
 GVAR(syncedUnits) = missionNamespace getVariable "armatak_server_syncedUnits";
 
 [{
 	GVAR(syncedUnits) = missionNamespace getVariable "armatak_server_syncedUnits";
+	private _clientClaimedEuds = missionNamespace getVariable ["armatak_server_clientClaimedEuds", []];
 
 	{
 		_objectType = _x call BIS_fnc_objectType;
 		switch (true) do {
 			case ((_objectType select 0) == "Soldier"): {
+				private _uuid = _x call armatak_fnc_extract_uuid;
+				private _isClientEud = _x getVariable [QEGVAR(client,eudConnected), false];
+				if (_isClientEud) exitWith {
+					if !(_uuid in _clientClaimedEuds) then {
+						private _position = _x call armatak_client_fnc_extractClientPosition;
+						private _deleteCot = [_uuid, "a-f-G-U-C-I", _position select 1, _position select 2, _position select 3];
+						"armatak" callExtension ["tcp_socket:cot:delete", [_deleteCot]];
+						_clientClaimedEuds pushBack _uuid;
+					};
+				};
+
+				_clientClaimedEuds = _clientClaimedEuds - [_uuid];
+
 				_callsign = [_x] call armatak_fnc_extract_unit_callsign;
 				_group_name = [group _x] call armatak_fnc_extract_group_color;
 				_group_role = [_x] call armatak_fnc_extract_group_role;
@@ -31,8 +49,8 @@ GVAR(syncedUnits) = missionNamespace getVariable "armatak_server_syncedUnits";
 					_callsign = [_x] call armatak_fnc_extract_marker_callsign;
 
 					[_x, _atak_type, _callsign] call armatak_fnc_send_drone_cot;
-					[_x] call armatak_fnc_send_digital_pointer_cot;
 					_x call armatak_fnc_extract_sensor_data;
+					[_x] call armatak_fnc_send_digital_pointer_cot;
 				};
 			};
 			case ((_objectType select 0) == "Vehicle"): {
@@ -41,6 +59,7 @@ GVAR(syncedUnits) = missionNamespace getVariable "armatak_server_syncedUnits";
 
 				[_x, _atak_type, _callsign] call armatak_fnc_send_marker_cot;
 				_x call armatak_fnc_extract_sensor_data;
+				[_x] call armatak_fnc_send_digital_pointer_cot;
 			};
 			case ((_objectType select 0) == "VehicleAutonomous"): {
 				if !(_x getVariable ["armatak_uav_mavlink_broadcasting", false]) then {
@@ -48,12 +67,14 @@ GVAR(syncedUnits) = missionNamespace getVariable "armatak_server_syncedUnits";
 					_callsign = [_x] call armatak_fnc_extract_marker_callsign;
 
 					[_x, _atak_type, _callsign] call armatak_fnc_send_drone_cot;
-					[_x] call armatak_fnc_send_digital_pointer_cot;
 					_x call armatak_fnc_extract_sensor_data;
+					[_x] call armatak_fnc_send_digital_pointer_cot;
 				};
 			};
 		};
 	} forEach GVAR(syncedUnits);
+
+	missionNamespace setVariable ["armatak_server_clientClaimedEuds", _clientClaimedEuds];
 }, 1, []] call CBA_fnc_addPerFrameHandler;
 
 true

addons/uav/functions/fnc_handleMavlinkCallback.sqf

@@ -6,42 +6,281 @@ if (!hasInterface) exitWith {};
 
 private _payload = [_data] call FUNC(parseMavlinkCallbackData);
 private _uav = getConnectedUAV player;
+if (isNull _uav) then {
+	_uav = player getVariable [QGVAR(broadcastingUav), objNull];
+};
+
 if (isNull _uav) exitWith {
 	"armatak" callExtension ["log", [["warn", format ["Ignoring MAVLINK UDP callback %1 because no UAV is connected: %2", _function, _data]]]];
 };
 
-private _command = parseNumber (_payload getOrDefault ["command", "-1"]);
+private _number = {
+	params ["_key", ["_default", 0]];
+	private _raw = _payload getOrDefault [_key, str _default];
+	private _value = parseNumber _raw;
+	if (!finite _value) exitWith {_default};
+	_value
+};
+
+private _uavGroup = {
+	params ["_vehicle"];
+	private _crew = crew _vehicle;
+	if (_crew isEqualTo []) exitWith {grpNull};
+	group (_crew select 0)
+};
+
+private _clearWaypoints = {
+	params ["_group"];
+	if (isNull _group) exitWith {};
+	for "_i" from ((count waypoints _group) - 1) to 0 step -1 do {
+		deleteWaypoint [_group, _i];
+	};
+};
+
+private _clearUavRoute = {
+	private _group = [_uav] call _uavGroup;
+	if (isNull _group) exitWith {false};
+	[_group] call _clearWaypoints;
+	_uav setVariable ["armatak_uas_mission_items", [], true];
+	true
+};
+
+private _geoToAtl = {
+	params ["_vehicle", "_lat", "_lon", ["_alt", -1]];
+
+	private _current = [_vehicle] call EFUNC(client,extractClientPosition);
+	private _currentLat = _current select 1;
+	private _currentLon = _current select 2;
+	private _currentAtl = getPosATL _vehicle;
+
+	private _northM = (_lat - _currentLat) * 111320;
+	private _eastM = (_lon - _currentLon) * (111320 * (cos _currentLat));
+
+	[
+		(_currentAtl select 0) + _eastM,
+		(_currentAtl select 1) + _northM,
+		if (_alt >= 0) then {_alt} else {_currentAtl select 2}
+	]
+};
+
+private _commandMove = {
+	params ["_vehicle", "_positionAtl", ["_type", "MOVE"], ["_radius", 80], ["_completion", 50]];
+
+	private _group = [_vehicle] call _uavGroup;
+	if (isNull _group) exitWith {false};
+
+	[_group] call _clearWaypoints;
+
+	_vehicle engineOn true;
+	_vehicle setVariable ["armatak_uas_armed", true, true];
+	_vehicle setFuel ((fuel _vehicle) max 0.1);
+	_vehicle flyInHeight ((_positionAtl select 2) max 10);
+	_vehicle doMove _positionAtl;
+
+	private _wp = _group addWaypoint [_positionAtl, 0];
+	_wp setWaypointType _type;
+	_wp setWaypointBehaviour "CARELESS";
+	_wp setWaypointCombatMode "BLUE";
+	_wp setWaypointSpeed "NORMAL";
+	_wp setWaypointCompletionRadius _completion;
+
+	if (_type == "LOITER") then {
+		_wp setWaypointLoiterRadius (_radius max 25);
+		_wp setWaypointLoiterType "CIRCLE_L";
+	};
+
+	true
+};
+
+private _appendMissionWaypoint = {
+	params ["_vehicle", "_positionAtl", "_command", "_seq", ["_radius", 80]];
+
+	private _group = [_vehicle] call _uavGroup;
+	if (isNull _group) exitWith {false};
+
+	private _type = switch (_command) do {
+		case 17;
+		case 18;
+		case 19;
+		case 31: {"LOITER"};
+		case 21: {"MOVE"};
+		default {"MOVE"};
+	};
+
+	private _wp = _group addWaypoint [_positionAtl, 0];
+	_wp setWaypointType _type;
+	_wp setWaypointBehaviour "CARELESS";
+	_wp setWaypointCombatMode "BLUE";
+	_wp setWaypointSpeed "NORMAL";
+	_wp setWaypointCompletionRadius 35;
+
+	if (_type == "LOITER") then {
+		_wp setWaypointLoiterRadius (_radius max 25);
+		_wp setWaypointLoiterType "CIRCLE_L";
+	};
+	if (_command == 21) then {
+		_wp setWaypointStatements ["true", "(vehicle this) land 'LAND'"];
+	};
+
+	private _items = _vehicle getVariable ["armatak_uas_mission_items", []];
+	_items pushBack [_seq, _command, _positionAtl];
+	_vehicle setVariable ["armatak_uas_mission_items", _items, true];
+
+	true
+};
+
 private _commandName = _payload getOrDefault ["command_name", "UNKNOWN"];
+private _command = [_payload getOrDefault ["command", "-1"]] call BIS_fnc_parseNumber;
+private _callsign = [_uav] call armatak_fnc_extract_marker_callsign;
+
+private _applySpeed = {
+	params ["_speed"];
+	if (_speed <= 0) exitWith {false};
+	_uav limitSpeed _speed;
+	systemChat format ["ATAK SPEED %1m/s %2", round _speed, _callsign];
+	true
+};
+
+private _applyMode = {
+	params ["_mode"];
+
+	switch (_mode) do {
+		case 4: {
+			_uav engineOn true;
+			_uav setVariable ["armatak_uas_armed", true, true];
+			_uav setFuel ((fuel _uav) max 0.1);
+			systemChat format ["ATAK GUIDED %1", _callsign];
+		};
+		case 5: {
+			private _pos = getPosATL _uav;
+			[_uav, _pos, "LOITER", 80, 25] call _commandMove;
+			systemChat format ["ATAK LOITER %1", _callsign];
+		};
+		case 6;
+		case 21;
+		case 27: {
+			private _home = _uav getVariable ["armatak_uas_home_atl", getPosATL _uav];
+			_home set [2, ((_home select 2) max 60)];
+			[_uav, _home, "MOVE", 80, 60] call _commandMove;
+			systemChat format ["ATAK RTL %1", _callsign];
+		};
+		case 9: {
+			private _pos = getPosATL _uav;
+			_pos set [2, 0];
+			[_uav, _pos, "MOVE", 30, 20] call _commandMove;
+			_uav flyInHeight 0;
+			systemChat format ["ATAK LAND %1", _callsign];
+		};
+		default {
+			"armatak" callExtension ["log", [["info", format ["Unhandled MAVLINK mode %1 for UAV %2", _mode, _uav]]]];
+		};
+	};
+};
+
+private _setHomeFromGeo = {
+	params ["_lat", "_lon", "_alt"];
+	if (_lat == 0 && {_lon == 0}) exitWith {false};
+	private _homeAtl = [_uav, _lat, _lon, _alt] call _geoToAtl;
+	_uav setVariable ["armatak_uas_home_atl", _homeAtl, true];
+	_uav setVariable ["armatak_uas_home_geo", [_lat, _lon, _alt], true];
+	systemChat format ["ATAK HOME %1", _callsign];
+	true
+};
 
 switch (_function) do {
 	case "COMMAND_LONG": {
 		switch (_command) do {
+			case 176: {
+				private _mode = ["param2", -1] call _number;
+				if (_mode < 0) then {
+					_mode = ["param1", -1] call _number;
+				};
+				[_mode] call _applyMode;
+			};
+			case 178: {
+				private _speed = ["param2", -1] call _number;
+				if (_speed <= 0) then {
+					_speed = ["param1", -1] call _number;
+				};
+				[_speed] call _applySpeed;
+			};
+			case 179: {
+				private _useCurrent = (["param1", 0] call _number) >= 1;
+				if (_useCurrent) then {
+					private _pos = [_uav] call EFUNC(client,extractClientPosition);
+					private _relAlt = ((getPosATL _uav) select 2) max 0;
+					private _homeAtl = getPosATL _uav;
+					_uav setVariable ["armatak_uas_home_atl", _homeAtl, true];
+					_uav setVariable ["armatak_uas_home_geo", [_pos select 1, _pos select 2, (_pos select 3) - _relAlt], true];
+					systemChat format ["ATAK HOME %1", _callsign];
+				} else {
+					[["param5", 0] call _number, ["param6", 0] call _number, ["param7", 0] call _number] call _setHomeFromGeo;
+				};
+			};
 			case 400: {
-				private _armValue = parseNumber (_payload getOrDefault ["param1", "0"]);
-				private _doArm = _armValue >= 1;
+				private _doArm = (["param1", 0] call _number) >= 1;
 				_uav engineOn _doArm;
+				_uav setVariable ["armatak_uas_armed", _doArm, true];
 				if (_doArm) then {
 					_uav setFuel ((fuel _uav) max 0.1);
 				};
-				systemChat format ["ATAK %1 %2", ["DISARM", "ARM"] select _doArm, [_uav] call armatak_fnc_extract_marker_callsign];
-				"armatak" callExtension ["log", [["info", format ["Applied MAVLINK COMMAND_LONG %1 (%2) to UAV %3", _command, _commandName, _uav]]]];
+				systemChat format ["ATAK %1 %2", ["DISARM", "ARM"] select _doArm, _callsign];
+				"armatak" callExtension ["log", [["info", format ["Applied MAVLINK ARM=%1 to UAV %2", _doArm, _uav]]]];
 			};
 			case 22: {
-				_uav engineOn true;
-				_uav setFuel ((fuel _uav) max 0.1);
-				_uav flyInHeight 75;
-
-				if (_uav isKindOf "Helicopter" || {_uav isKindOf "VTOL_Base_F"} || {_uav isKindOf "Quadbike_01_F"}) then {
-					private _velocity = velocityModelSpace _uav;
-					_uav setVelocityModelSpace [
-						_velocity select 0,
-						(_velocity select 1) max 15,
-						((_velocity select 2) max 0) + 8
-					];
+				private _alt = (["param7", 75] call _number) max 10;
+				private _pos = getPosATL _uav;
+				_pos set [2, _alt];
+				[_uav, _pos, "MOVE", 80, 25] call _commandMove;
+				_uav setVelocityModelSpace [0, 15, 8];
+				systemChat format ["ATAK TAKEOFF %1m %2", round _alt, _callsign];
+			};
+			case 21: {
+				[9] call _applyMode;
+			};
+			case 20: {
+				[6] call _applyMode;
+			};
+			case 16: {
+				private _lat = ["param5", 0] call _number;
+				private _lon = ["param6", 0] call _number;
+				private _alt = ["param7", -1] call _number;
+				private _pos = [_uav, _lat, _lon, _alt] call _geoToAtl;
+				[_uav, _pos, "MOVE", 80, 50] call _commandMove;
+				systemChat format ["ATAK MOVE %1", _callsign];
+			};
+			case 17: {
+				private _lat = ["param5", 0] call _number;
+				private _lon = ["param6", 0] call _number;
+				private _alt = ["param7", -1] call _number;
+				private _radius = abs (["param3", 80] call _number);
+				private _pos = [_uav, _lat, _lon, _alt] call _geoToAtl;
+				[_uav, _pos, "LOITER", _radius, 30] call _commandMove;
+				systemChat format ["ATAK LOITER %1", _callsign];
+			};
+			case 43000: {
+				private _speed = ["param2", -1] call _number;
+				if (_speed <= 0) then {
+					_speed = ["param1", -1] call _number;
+				};
+				[_speed] call _applySpeed;
+			};
+			case 43001: {
+				private _alt = ["param1", -1] call _number;
+				if (_alt < 0) then {
+					_alt = ["param7", -1] call _number;
+				};
+				private _pos = getPosATL _uav;
+				_pos set [2, _alt max 10];
+				[_uav, _pos, "MOVE", 80, 25] call _commandMove;
+				systemChat format ["ATAK ALT %1m %2", round (_pos select 2), _callsign];
+			};
+			case 43002: {
+				private _heading = ["param1", -1] call _number;
+				if (_heading >= 0) then {
+					_uav setDir _heading;
+					systemChat format ["ATAK HDG %1 %2", round _heading, _callsign];
 				};
-
-				systemChat format ["ATAK TAKEOFF %1", [_uav] call armatak_fnc_extract_marker_callsign];
-				"armatak" callExtension ["log", [["info", format ["Applied MAVLINK TAKEOFF to UAV %1", _uav]]]];
 			};
 			default {
 				"armatak" callExtension ["log", [["info", format ["Unhandled MAVLINK COMMAND_LONG %1 (%2): %3", _command, _commandName, _data]]]];
@@ -49,7 +288,87 @@ switch (_function) do {
 		};
 	};
 	case "COMMAND_INT": {
-		"armatak" callExtension ["log", [["info", format ["Received MAVLINK COMMAND_INT %1 (%2): %3", _command, _commandName, _data]]]];
+		private _lat = (["x", 0] call _number) / 1e7;
+		private _lon = (["y", 0] call _number) / 1e7;
+		private _alt = ["z", -1] call _number;
+
+		switch (_command) do {
+			case 16: {
+				private _pos = [_uav, _lat, _lon, _alt] call _geoToAtl;
+				[_uav, _pos, "MOVE", 80, 50] call _commandMove;
+				systemChat format ["ATAK MOVE %1", _callsign];
+			};
+			case 17;
+			case 192: {
+				private _radius = abs (["param3", 80] call _number);
+				private _direction = ["CIRCLE_L", "CIRCLE_R"] select ((["param4", 0] call _number) < 0);
+				private _pos = [_uav, _lat, _lon, _alt] call _geoToAtl;
+				private _type = ["MOVE", "LOITER"] select (_radius > 1);
+				[_uav, _pos, _type, _radius, 30] call _commandMove;
+				if (_type == "LOITER") then {
+					private _group = [_uav] call _uavGroup;
+					private _waypoints = waypoints _group;
+					if (_waypoints isNotEqualTo []) then {
+						(_waypoints select -1) setWaypointLoiterType _direction;
+					};
+				};
+				systemChat format ["ATAK %1 %2", _type, _callsign];
+			};
+			default {
+				"armatak" callExtension ["log", [["info", format ["Unhandled MAVLINK COMMAND_INT %1 (%2): %3", _command, _commandName, _data]]]];
+			};
+		};
+	};
+	case "MISSION_COUNT": {
+		private _count = ["count", 0] call _number;
+		[] call _clearUavRoute;
+		systemChat format ["ATAK ROUTE %1 pts %2", round _count, _callsign];
+		"armatak" callExtension ["log", [["info", format ["Receiving MAVLINK mission count=%1 for UAV %2", _count, _uav]]]];
+	};
+	case "MISSION_CLEAR_ALL": {
+		[] call _clearUavRoute;
+		systemChat format ["ATAK ROUTE CLEAR %1", _callsign];
+	};
+	case "MISSION_SET_CURRENT": {
+		private _seq = ["seq", 0] call _number;
+		"armatak" callExtension ["log", [["info", format ["MAVLINK mission set current seq=%1 for UAV %2", _seq, _uav]]]];
+	};
+	case "MISSION_ITEM";
+	case "MISSION_ITEM_INT": {
+		private _seq = ["seq", 0] call _number;
+		private _missionCommand = ["command", -1] call _number;
+		private _lat = ["lat", 0] call _number;
+		private _lon = ["lon", 0] call _number;
+		private _alt = ["alt", -1] call _number;
+
+		if (_lat == 0 && {_lon == 0}) exitWith {
+			"armatak" callExtension ["log", [["warn", format ["Ignoring MAVLINK mission item at zero coordinate: %1", _data]]]];
+		};
+
+		private _pos = [_uav, _lat, _lon, _alt] call _geoToAtl;
+		private _radius = abs (["param3", 80] call _number);
+		[_uav, _pos, _missionCommand, _seq, _radius] call _appendMissionWaypoint;
+		_uav engineOn true;
+		_uav setVariable ["armatak_uas_armed", true, true];
+		_uav setFuel ((fuel _uav) max 0.1);
+		_uav flyInHeight ((_pos select 2) max 10);
+		systemChat format ["ATAK ROUTE WP %1 %2", round _seq, _callsign];
+		"armatak" callExtension ["log", [["info", format ["Added MAVLINK mission item seq=%1 command=%2 posATL=%3 for UAV %4", _seq, _missionCommand, _pos, _uav]]]];
+	};
+	case "SET_HOME_POSITION": {
+		[["lat", 0] call _number, ["lon", 0] call _number, ["alt", 0] call _number] call _setHomeFromGeo;
+	};
+	case "SET_POSITION_TARGET_GLOBAL_INT": {
+		private _lat = ["lat", 0] call _number;
+		private _lon = ["lon", 0] call _number;
+		private _alt = ["alt", -1] call _number;
+		private _pos = [_uav, _lat, _lon, _alt] call _geoToAtl;
+		[_uav, _pos, "MOVE", 80, 40] call _commandMove;
+		systemChat format ["ATAK GUIDED MOVE %1", _callsign];
+	};
+	case "SET_MODE": {
+		private _mode = ["custom_mode", -1] call _number;
+		[_mode] call _applyMode;
 	};
 	case "COMMAND_ACK": {
 		"armatak" callExtension ["log", [["info", format ["Received MAVLINK COMMAND_ACK %1 (%2): %3", _command, _commandName, _data]]]];

addons/uav/functions/fnc_resolveVideoUri.sqf

@@ -2,7 +2,7 @@
 
 params [["_uav", objNull, [objNull]]];
 
-private _defaultVideoUri = "rtsp://irontak.com:554/fpv";
+private _defaultVideoUri = "rtsp://undefined:554/fpv";
 private _activelyControlledUav = if (!isNull player) then {getConnectedUAV player} else {objNull};
 
 private _normalize = {
@@ -20,15 +20,19 @@ private _normalize = {
 	format ["rtp://%1", _url]
 };
 
-if (!isNull _uav && {_activelyControlledUav isEqualTo _uav}) then {
+if (!isNull _uav) then {
 	private _objectVideoUrl = [_uav] call armatak_fnc_extract_marker_video_url;
 	private _normalizedObjectVideoUrl = [_objectVideoUrl] call _normalize;
 	if (_normalizedObjectVideoUrl isNotEqualTo "") exitWith {
 		_normalizedObjectVideoUrl
 	};
-};
 
-if (!isNull _uav) exitWith {
+	private _activeSessionVideoUrl = player getVariable [QEGVAR(client,video_feed_url), ""];
+	private _normalizedActiveSessionVideoUrl = [_activeSessionVideoUrl] call _normalize;
+	if (_normalizedActiveSessionVideoUrl isNotEqualTo "") exitWith {
+		_normalizedActiveSessionVideoUrl
+	};
+
 	_defaultVideoUri
 };
 

addons/uav/functions/fnc_updateMavlinkBroadcast.sqf

@@ -40,6 +40,11 @@ private _mavlinkAddress = player getVariable [QEGVAR(client,mavlink_address), ""
 if (_mavlinkAddress isEqualTo "") exitWith {};
 
 private _pos = [_uav] call EFUNC(client,extractClientPosition);
+private _relAlt = ((getPosATL _uav) select 2) max 0;
+if (isNil {_uav getVariable "armatak_uas_home_atl"}) then {
+	_uav setVariable ["armatak_uas_home_atl", getPosATL _uav, true];
+	_uav setVariable ["armatak_uas_home_geo", [_pos select 1, _pos select 2, (_pos select 3) - _relAlt], true];
+};
 private _uuid = [_uav] call armatak_fnc_extract_uuid;
 private _callsign = [_uav] call armatak_fnc_extract_marker_callsign;
 private _videoUri = [_uav] call FUNC(resolveVideoUri);
@@ -48,8 +53,15 @@ private _up = vectorUp _uav;
 private _yaw = getDir _uav;
 private _pitch = asin (((_dir select 2) max -1) min 1);
 private _roll = asin (((_up select 0) max -1) min 1);
-private _relAlt = ((getPosATL _uav) select 2) max 0;
 private _uavType = if (_uav isKindOf "Plane") then {1} else {[2, 3] select (_uav isKindOf "Helicopter")};
+private _armed = _uav getVariable ["armatak_uas_armed", isEngineOn _uav];
+if !(isEngineOn _uav) then {
+	_armed = false;
+	_uav setVariable ["armatak_uas_armed", false, true];
+};
+private _groundSpeed = abs (_pos select 6);
+private _landed = (_relAlt <= 1.5) && {_groundSpeed <= 0.5};
+private _batteryRemaining = round ((((fuel _uav) max 0) min 1) * 100);
 
 private _gimbalRoll = 0;
 private _gimbalPitch = _pitch;
@@ -59,34 +71,22 @@ private _vfov = _uav getVariable ["armatak_uas_vfov", (_hfov * 0.5625)];
 private _imageLat = _pos select 1;
 private _imageLon = _pos select 2;
 private _imageAlt = _pos select 3;
+private _cameraData = [_uav, "turret"] call armatak_fnc_extract_uas_camera_data;
+private _uavControl = UAVControl _uav;
+private _controlledTurretPath = _uavControl param [1, []];
+private _hasTurretCamera = ((_controlledTurretPath isEqualType []) && {_controlledTurretPath isNotEqualTo []}) || {(allTurrets _uav) isNotEqualTo []};
 
-private _laser = laserTarget _uav;
-if (!isNull _laser) then {
-	private _originASL = getPosASL _uav;
-	private _targetWorld = getPosWorld _laser;
-	private _targetAslZ = (getPosASL _laser) select 2;
-	private _spiASL = [_targetWorld select 0, _targetWorld select 1, _targetAslZ];
+if (_cameraData isEqualType [] && {(count _cameraData) >= 6}) then {
+	_gimbalYaw = _cameraData param [0, _yaw];
+	_gimbalPitch = _cameraData param [1, _pitch];
+	_hfov = _cameraData param [2, _hfov];
+	_vfov = _uav getVariable ["armatak_uas_vfov", (_hfov * 0.5625)];
 
-	private _los = _spiASL vectorDiff _originASL;
-	private _losMag = vectorMagnitude _los;
-
-	if (_losMag > 0) then {
-		_los = _los vectorMultiply (1 / _losMag);
-
-		private _dirX = _los select 0;
-		private _dirY = _los select 1;
-		private _dirZ = _los select 2;
-		private _horizontalMag = sqrt ((_dirX * _dirX) + (_dirY * _dirY));
-
-		private _camYaw = ((_dirX atan2 _dirY) + 360) mod 360;
-		private _camPitch = _dirZ atan2 (_horizontalMag max 0.001);
-		_gimbalPitch = _camPitch;
-		_gimbalYaw = _camYaw;
-
-		private _imageGeo = [_targetWorld select 0, _targetWorld select 1, _targetAslZ] call EFUNC(client,convertClientLocation);
-		_imageLat = _imageGeo select 0;
-		_imageLon = _imageGeo select 1;
-		_imageAlt = _imageGeo select 2;
+	private _spiGeo = _cameraData param [5, []];
+	if (_spiGeo isEqualType [] && {(count _spiGeo) >= 3}) then {
+		_imageLat = _spiGeo select 0;
+		_imageLon = _spiGeo select 1;
+		_imageAlt = _spiGeo select 2;
 	};
 };
 
@@ -104,7 +104,8 @@ private _systemPayload = [
 	_roll,
 	_pitch,
 	_yaw,
-	parseNumber isEngineOn _uav,
+	parseNumber _armed,
+	parseNumber _landed,
 	_gimbalRoll,
 	_gimbalPitch,
 	_gimbalYaw,
@@ -113,7 +114,9 @@ private _systemPayload = [
 	_vfov,
 	_imageLat,
 	_imageLon,
-	_imageAlt
+	_imageAlt,
+	parseNumber _hasTurretCamera,
+	_batteryRemaining
 ];
 
 "armatak" callExtension ["uas:send_uas_system", [_systemPayload]];

docs/development/authentication-flows.md

@@ -0,0 +1,188 @@
+# TAK authentication flows
+
+This document describes the authentication and transport flows implemented by the ArmaTAK Rust extension. It is development documentation, not end-user documentation.
+
+## Security model
+
+ArmaTAK currently exposes three TCP connection modes:
+
+| Mode | ArmaTAK entry point | Authentication | Transport protection | Intended use |
+| --- | --- | --- | --- | --- |
+| Plain TCP | `tcp_socket.start` | None | None | Local development or explicitly trusted isolated networks only |
+| Manual mTLS | `tcp_socket.start_mtls` | Client X.509 certificate | TLS with server certificate validation | Production-compatible secure connection |
+| Credential enrollment followed by mTLS | `tcp_socket.start_enroll_mtls` | HTTP Basic credentials during enrollment, then client X.509 certificate | Enrollment HTTPS currently skips certificate validation; the resulting TAK stream uses validated mTLS | Transitional/bootstrap flow; do not treat the enrollment phase as secure until server verification is enabled |
+
+The official TAK Server example enables a TLS input on port `8089`. Its plaintext TCP/streaming examples are anonymous and are shown on ports `8087` and `8088`. ArmaTAK must not infer security from a port number; the selected connection mode controls the client-side security properties.
+
+## Insecure flow: plain TCP
+
+The plain flow is deliberately simple:
+
+```text
+Arma/SQF
+   |
+   | tcp_socket.start("host:port")
+   v
+ConnectionConfig::Plain
+   |
+   v
+TCP connect
+   |
+   | unencrypted CoT bytes
+   v
+TAK Server plaintext/anonymous input
+```
+
+`ConnectionConfig::Plain` resolves the supplied address and opens a normal `TcpStream`. No TLS handshake occurs, there is no server identity verification, and no client identity is established by ArmaTAK.
+
+Consequences:
+
+- CoT payloads can be observed or modified by an on-path attacker.
+- ArmaTAK cannot prove that it connected to the intended TAK Server.
+- The server cannot authenticate ArmaTAK by certificate.
+- Plain TCP must never be the production default.
+
+The official TAK Server `CoreConfig.example.xml` keeps anonymous TCP inputs commented out and enables the TLS input instead. Use plain TCP only when a developer intentionally configures a corresponding non-TLS server input.
+
+## Secure flow: manual mTLS
+
+The manual mTLS flow uses pre-provisioned certificate material:
+
+```text
+Arma/SQF
+   |
+   | tcp_socket.start_mtls(
+   |   address,
+   |   server_name,
+   |   ca_cert_path,
+   |   client_cert_path,
+   |   client_key_path
+   | )
+   v
+ConnectionConfig::Mtls
+   |
+   +--> load trusted CA certificate(s)
+   +--> load client certificate chain
+   +--> load client private key
+   |
+   v
+rustls client configuration
+   |
+   +--> validate server certificate chain
+   +--> validate TLS server name
+   +--> present client certificate
+   v
+Authenticated mTLS TAK stream
+```
+
+The CA file is loaded into a dedicated `rustls::RootCertStore`; the client certificate and private key are used for client authentication. When `server_name` is empty, ArmaTAK derives a name from the target address. A non-empty `server_name` should be preferred when DNS and certificate names are known.
+
+This is the preferred production flow when certificate provisioning is handled outside ArmaTAK.
+
+## Enrollment flow: credentials to client certificate
+
+TAK enrollment converts a username/password bootstrap credential into a short- or medium-lived client certificate, then reconnects using mTLS.
+
+### Protocol contract
+
+ArmaTAK follows the contract visible in the official TAK Server and ATAK implementations:
+
+1. `GET https://HOST:ENROLL_PORT/Marti/api/tls/config`
+2. Authenticate the request with HTTP Basic credentials.
+3. Read `serverPort` and `enrollPath` from the TAK certificate configuration. If the fields are absent, ArmaTAK currently falls back to `8089` and `/Marti/api/tls/signClient/v2`.
+4. Generate a local RSA key pair and PKCS#10 CSR. The private key never needs to be sent to the server.
+5. `POST https://HOST:ENROLL_PORT{enrollPath}?clientUid=CLIENT_UID`
+6. Authenticate the signing request with HTTP Basic credentials, send the CSR as `application/pkcs10`, and request JSON.
+7. Parse `signedCert` and `ca0` from the enrollment response.
+8. Build an in-memory client identity from the returned certificate plus the locally generated private key.
+9. Connect to `HOST:serverPort` with mTLS and validate the TAK streaming server against the returned CA.
+
+The official TAK Server exposes `/tls/config`, `/tls/signClient`, and `/tls/signClient/v2`. The v2 endpoint can return JSON containing `signedCert` plus `ca0`, `ca1`, and additional CA-chain entries. The current ArmaTAK implementation consumes `signedCert` and `ca0`.
+
+### Current ArmaTAK enrollment security caveat
+
+`enrollment_http_client()` currently uses `danger_accept_invalid_certs(true)`. Therefore the HTTPS bootstrap does **not** authenticate the enrollment server certificate.
+
+That means the current enrollment phase is vulnerable to an active man-in-the-middle attacker who can impersonate the HTTPS enrollment endpoint and receive the submitted Basic credentials. The private key remains local, but the username/password bootstrap secret is still exposed to the impersonating endpoint.
+
+The connection established *after* enrollment is mTLS and uses the returned CA, but that does not retroactively secure the bootstrap exchange. Consequently:
+
+- `start_enroll_mtls` is a transitional flow, not the preferred production-secure flow in its current form.
+- `start_mtls` with a trusted CA and pre-provisioned client certificate is the secure production path today.
+- A future secure enrollment implementation must validate the HTTPS server with a trusted CA, certificate pin, or equivalent authenticated trust bootstrap.
+- An explicit insecure/development enrollment switch is preferable to silently disabling verification.
+
+The official ATAK enrollment manager exposes a `verifyHost` choice and records whether host verification is on or off. ArmaTAK should converge on the same explicit distinction.
+
+## Target secure enrollment design
+
+The intended production enrollment flow is:
+
+```text
+username/password
+      |
+      v
+HTTPS enrollment endpoint
+(server certificate MUST validate)
+      |
+      +--> GET /Marti/api/tls/config
+      +--> generate local private key + CSR
+      +--> POST configured signClient endpoint
+      v
+signed client certificate + trusted CA
+      |
+      v
+mTLS TAK streaming connection
+      |
+      +--> server authenticated by CA/name
+      +--> client authenticated by certificate
+      v
+CoT traffic
+```
+
+The development-only insecure variant should be explicit:
+
+```text
+username/password
+      |
+      v
+HTTPS enrollment endpoint
+(certificate verification explicitly disabled)
+      |
+      v
+WARNING / development-only path
+```
+
+Do not silently fall back from verified enrollment to unverified enrollment after a certificate validation failure.
+
+## Secret-handling requirements
+
+- Never include passwords, private keys, certificate payloads, or Authorization headers in logs.
+- `ConnectionConfig::describe()` may include the username and client UID for diagnostics, but it must never include the password.
+- Keep generated private keys in memory unless a future feature explicitly requires persistence.
+- Do not commit development certificates or credentials to the repository.
+- Treat enrollment credentials as bootstrap secrets and rotate/revoke them according to the TAK Server deployment policy.
+
+## Test contract
+
+Unit tests should lock down the protocol-level behavior that does not require a live TAK Server:
+
+- official endpoint paths and default mTLS port;
+- trimming and construction of enrollment URLs;
+- parsing TAK enrollment configuration with explicit values and fallback defaults;
+- PEM normalization;
+- absence of passwords from diagnostic descriptions;
+- TLS server-name derivation and PEM parsing where deterministic;
+- CoT and MAVLink pure serialization logic.
+
+Live certificate signing, TLS handshake behavior, socket reconnect behavior, mDNS, video processes, and Arma callback behavior belong in integration/E2E tests because they depend on operating-system or external-server state.
+
+## Upstream references
+
+The tests and protocol assumptions in this repository are based on these upstream implementations:
+
+- TAK Server, `CertManagerApi.java`: <https://github.com/TAK-Product-Center/Server/blob/5187abd46d827d37cfc5708805eced197a837e49/src/takserver-core/takserver-war/src/main/java/com/bbn/tak/tls/CertManagerApi.java>
+- TAK Server, `CoreConfig.example.xml`: <https://github.com/TAK-Product-Center/Server/blob/5187abd46d827d37cfc5708805eced197a837e49/src/takserver-core/example/CoreConfig.example.xml>
+- ATAK/CommonCommo, `enrollmentmanager.cpp`: <https://github.com/TAK-Product-Center/atak-civ/blob/9f6893dd657feacc35ec5de03dad721c2e44170e/commoncommo/core/impl/enrollmentmanager.cpp>
+
+Pinning the source revisions in this document keeps the development contract reproducible. When the upstream protocol changes, update both the implementation/tests and these references together.

docs/development/testing.md

@@ -0,0 +1,83 @@
+# Rust testing and coverage policy
+
+This document defines the development-time testing and coverage policy for the ArmaTAK Rust extension.
+
+## Goals
+
+The CI pipeline has two complementary coverage goals:
+
+1. **100% line coverage for deterministic unit-testable code.** Pure protocol parsing, serialization, value normalization, packet construction, configuration descriptions, and other deterministic helpers belong in this gate.
+2. **A non-regression floor for the complete Rust extension.** The complete report includes network adapters, mDNS, process management, Arma callbacks, socket loops, and TLS handshakes even when those components require integration or E2E infrastructure rather than unit tests.
+
+The first goal prevents newly added deterministic logic from bypassing unit tests. The second prevents the overall extension from silently losing coverage while integration coverage is expanded.
+
+## Local commands
+
+Run the complete Rust unit test suite with:
+
+```bash
+cargo test --all-targets --locked
+```
+
+Install `cargo-llvm-cov` and inspect line coverage with:
+
+```bash
+cargo llvm-cov --all-targets --locked --summary-only
+```
+
+Generate an LCOV file with:
+
+```bash
+cargo llvm-cov --all-targets --locked --lcov --output-path lcov.info
+```
+
+CI publishes `lcov.info` as the `rust-lcov` artifact after a successful run.
+
+## What belongs in the 100% unit gate
+
+A source file should be included in the deterministic 100% gate when its behavior can be exercised without relying on:
+
+- a live TAK Server;
+- a live ATAK client;
+- an operating-system socket peer;
+- mDNS availability;
+- an FFmpeg or external video process;
+- timing-sensitive reconnect loops;
+- Arma engine callback scheduling;
+- real certificate enrollment or a real TLS handshake.
+
+Examples include TAK enrollment URL/config parsing, XML serialization, MAVLink checksums and identity derivation, payload conversion, and diagnostic formatting.
+
+When adding deterministic production code, add the tests in the same change. If a previously excluded file becomes fully unit-testable, bring it to 100% line coverage and remove it from the CI exclusion expression.
+
+## What does not belong in a unit-only 100% gate
+
+External adapters are still part of the full-extension coverage report, but forcing them into a unit-only percentage usually produces brittle or misleading tests. The following behavior should be verified through integration or E2E fixtures instead:
+
+- TCP/UDP connection establishment and reconnect behavior;
+- TAK Server certificate enrollment over HTTPS;
+- real mTLS certificate-chain and server-name verification;
+- mDNS publication/discovery;
+- subprocess lifecycle and video streaming;
+- Arma engine callback delivery and long-running endpoint threads.
+
+These components must not be hidden from the complete report. Their zero or partial unit coverage remains visible and therefore continues to affect the global non-regression floor.
+
+## Authentication test contract
+
+Authentication protocol assumptions are derived from pinned official upstream implementations. See [authentication-flows.md](authentication-flows.md) for the exact TAK Server and ATAK source revisions.
+
+At minimum, unit tests lock down:
+
+- `/Marti/api/tls/config` construction;
+- the v2 `signClient` enrollment path and the official `8089` mTLS default;
+- Basic-auth enrollment configuration behavior at the adapter boundary;
+- enrollment XML parsing, including missing and malformed tags;
+- PEM normalization;
+- the rule that diagnostic descriptions never contain enrollment passwords.
+
+A future verified-enrollment implementation must add tests for the trust-bootstrap configuration and integration tests using a real or fixture TLS server. It must never silently downgrade from verified HTTPS to disabled certificate validation.
+
+## Coverage changes
+
+Coverage thresholds are intentionally enforced in CI rather than documented as aspirational numbers. When a change increases the complete-extension baseline, raise the global floor in the workflow in the same pull request or branch before merging. Do not lower either coverage threshold merely to make CI pass; lower thresholds only when a documented architectural change makes the previous metric invalid.

src/cot/cot.rs

@@ -18,6 +18,7 @@ pub struct CursorOverTime {
     pub link_uid: Option<String>,
     pub remarker: Option<String>,
     pub video_url: Option<String>,
+    pub stale_seconds: Option<i64>,
 }
 
 impl CursorOverTime {
@@ -34,8 +35,9 @@ impl CursorOverTime {
 
         let created_time = Utc::now().to_rfc3339_opts(SecondsFormat::Millis, true);
 
-        let stale_time =
-            (Utc::now() + Duration::seconds(360)).to_rfc3339_opts(SecondsFormat::Millis, true);
+        let stale_seconds = self.stale_seconds.unwrap_or(360).max(1);
+        let stale_time = (Utc::now() + Duration::seconds(stale_seconds))
+            .to_rfc3339_opts(SecondsFormat::Millis, true);
 
         let mut xml = String::new();
 
@@ -120,3 +122,82 @@ impl CursorOverTime {
         return xml;
     }
 }
+
+#[cfg(test)]
+mod tests {
+    use super::CursorOverTime;
+
+    fn minimal_marker() -> CursorOverTime {
+        CursorOverTime {
+            uuid: None,
+            r#type: None,
+            point_lat: -30.0,
+            point_lon: -51.0,
+            point_hae: 10.0,
+            point_ce: None,
+            point_le: None,
+            contact_callsign: "Falcon".to_string(),
+            group_name: None,
+            group_role: None,
+            track_course: None,
+            track_speed: None,
+            link_uid: None,
+            remarker: None,
+            video_url: None,
+            stale_seconds: None,
+        }
+    }
+
+    #[test]
+    fn serializes_minimal_marker_with_tak_defaults() {
+        let xml = minimal_marker().convert_to_xml();
+
+        assert!(xml.starts_with("<?xml version=\"1.0\" encoding=\"UTF-8\" ?>"));
+        assert!(xml.contains("<event type=\"a-f-G-U-C-I\" version=\"2.0\""));
+        assert!(xml.contains("<point ce=\"9999999\" le=\"9999999\" hae=\"10\" lat=\"-30\" lon=\"-51\" />"));
+        assert!(xml.contains("<contact callsign=\"Falcon\" />"));
+        assert!(xml.contains("<uid Droid=\"Falcon\"/>"));
+        assert!(!xml.contains("<link "));
+        assert!(!xml.contains("<track "));
+        assert!(!xml.contains("<__group "));
+        assert!(!xml.contains("<remarks>"));
+        assert!(!xml.contains("<__video>"));
+        assert!(xml.ends_with("</detail></event>"));
+    }
+
+    #[test]
+    fn serializes_all_optional_marker_details() {
+        let marker = CursorOverTime {
+            uuid: Some("marker-1".to_string()),
+            r#type: Some("a-f-G-U-C".to_string()),
+            point_lat: 1.25,
+            point_lon: 2.5,
+            point_hae: 100.0,
+            point_ce: Some(3.0),
+            point_le: Some(4.0),
+            contact_callsign: "Raven".to_string(),
+            group_name: Some("Cyan".to_string()),
+            group_role: Some("Team Member".to_string()),
+            track_course: Some(180),
+            track_speed: Some(12.5),
+            link_uid: Some("parent-1".to_string()),
+            remarker: Some("test remark".to_string()),
+            video_url: Some("rtsp://video.example.test:8554/live".to_string()),
+            stale_seconds: Some(0),
+        };
+
+        let xml = marker.convert_to_xml();
+
+        assert!(xml.contains("type=\"a-f-G-U-C\""));
+        assert!(xml.contains("uid=\"marker-1\""));
+        assert!(xml.contains("<point ce=\"3\" le=\"4\" hae=\"100\" lat=\"1.25\" lon=\"2.5\" />"));
+        assert!(xml.contains("<precisionlocation altsrc=\"DTED0\" />"));
+        assert!(xml.contains("<link uid=\"parent-1\" type=\"a-f-G-U-C\" relation=\"p-p\" />"));
+        assert!(xml.contains("<hideLabel />"));
+        assert!(xml.contains("<track course=\"180\" speed=\"12.5\" />"));
+        assert!(xml.contains("<status battery=\"89\" />"));
+        assert!(xml.contains("<__group name=\"Cyan\" role=\"Team Member\" />"));
+        assert!(xml.contains("<remarks>ARMATAK | test remark</remarks>"));
+        assert!(xml.contains("<ConnectionEntry protocol=\"rtsp\""));
+    }
+}

src/cot/delete.rs

@@ -0,0 +1,74 @@
+use arma_rs::{FromArma, FromArmaError};
+use chrono::{Duration, SecondsFormat, Utc};
+
+pub struct DeleteCoTPayload {
+    pub target_uid: String,
+    pub target_type: String,
+    pub point_lat: f64,
+    pub point_lon: f64,
+    pub point_hae: f32,
+}
+
+impl FromArma for DeleteCoTPayload {
+    fn from_arma(data: String) -> Result<DeleteCoTPayload, FromArmaError> {
+        let (target_uid, target_type, point_lat, point_lon, point_hae) =
+            <(String, String, f64, f64, f32)>::from_arma(data)?;
+        Ok(Self {
+            target_uid,
+            target_type,
+            point_lat,
+            point_lon,
+            point_hae,
+        })
+    }
+}
+
+impl DeleteCoTPayload {
+    pub fn to_xml(&self) -> String {
+        let created_time = Utc::now().to_rfc3339_opts(SecondsFormat::Millis, true);
+        let stale_time =
+            (Utc::now() + Duration::seconds(60)).to_rfc3339_opts(SecondsFormat::Millis, true);
+
+        format!(
+            "<?xml version=\"1.0\" encoding=\"UTF-8\" ?><event type=\"t-x-d-d\" version=\"2.0\" how=\"m-g\" uid=\"{}.delete\" time=\"{}\" start=\"{}\" stale=\"{}\"><point ce=\"9999999\" le=\"9999999\" hae=\"{}\" lat=\"{}\" lon=\"{}\" /><detail><link uid=\"{}\" type=\"{}\" relation=\"none\" /><__forcedelete /></detail></event>",
+            self.target_uid,
+            created_time,
+            created_time,
+            stale_time,
+            self.point_hae,
+            self.point_lat,
+            self.point_lon,
+            self.target_uid,
+            self.target_type
+        )
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::DeleteCoTPayload;
+    use arma_rs::FromArma;
+
+    #[test]
+    fn parses_and_serializes_forced_delete_cot() {
+        let payload = DeleteCoTPayload::from_arma(
+            r#"["target-1","a-f-G-U-C",-30.1,-51.2,123.5]"#.to_string(),
+        )
+        .expect("delete CoT payload should parse");
+
+        assert_eq!(payload.target_uid, "target-1");
+        assert_eq!(payload.target_type, "a-f-G-U-C");
+        assert_eq!(payload.point_lat, -30.1);
+        assert_eq!(payload.point_lon, -51.2);
+        assert_eq!(payload.point_hae, 123.5);
+
+        let xml = payload.to_xml();
+        assert!(xml.starts_with("<?xml version=\"1.0\" encoding=\"UTF-8\" ?>"));
+        assert!(xml.contains("type=\"t-x-d-d\""));
+        assert!(xml.contains("uid=\"target-1.delete\""));
+        assert!(xml.contains("hae=\"123.5\" lat=\"-30.1\" lon=\"-51.2\""));
+        assert!(xml.contains("<link uid=\"target-1\" type=\"a-f-G-U-C\" relation=\"none\" />"));
+        assert!(xml.contains("<__forcedelete />"));
+        assert!(xml.ends_with("</detail></event>"));
+    }
+}

src/cot/digital_pointer.rs

@@ -41,7 +41,38 @@ impl DigitalPointerPayload {
             link_uid: Some(self.link_uid.clone()),
             remarker: None,
             video_url: None,
+            stale_seconds: Some(7),
         }
     }
 }
 
+#[cfg(test)]
+mod tests {
+    use super::DigitalPointerPayload;
+    use arma_rs::FromArma;
+
+    #[test]
+    fn parses_digital_pointer_and_maps_spi_contract() {
+        let payload = DigitalPointerPayload::from_arma(
+            r#"["operator-1","Falcon SPI",-30.1,-51.2,20.0]"#.to_string(),
+        )
+        .expect("digital pointer should parse");
+
+        assert_eq!(payload.link_uid, "operator-1");
+        assert_eq!(payload.contact_callsign, "Falcon SPI");
+
+        let cot = payload.to_cot();
+        assert_eq!(cot.uuid.as_deref(), Some("operator-1.SPI1"));
+        assert_eq!(cot.r#type.as_deref(), Some("b-m-p-s-p-i"));
+        assert_eq!(cot.point_lat, -30.1);
+        assert_eq!(cot.point_lon, -51.2);
+        assert_eq!(cot.point_hae, 20.0);
+        assert_eq!(cot.contact_callsign, "Falcon SPI");
+        assert_eq!(cot.link_uid.as_deref(), Some("operator-1"));
+        assert_eq!(cot.stale_seconds, Some(7));
+        assert!(cot.group_name.is_none());
+        assert!(cot.track_course.is_none());
+        assert!(cot.remarker.is_none());
+        assert!(cot.video_url.is_none());
+    }
+}

src/cot/draws/circle.rs

@@ -124,3 +124,40 @@ impl ShapeCircleCoT {
         )
     }
 }
+
+#[cfg(test)]
+mod tests {
+    use super::CircleCoTPayload;
+    use arma_rs::FromArma;
+
+    #[test]
+    fn parses_circle_payload_maps_shape_and_serializes_cot() {
+        let payload = CircleCoTPayload::from_arma(
+            r#"["circle-1",-30.1,-51.2,20,100,50,30,"Area Alpha","creator-1","Falcon"]"#
+                .to_string(),
+        )
+        .expect("circle payload should parse");
+
+        assert_eq!(payload.uuid, "circle-1");
+        assert_eq!(payload.center_lat, -30.1);
+        assert_eq!(payload.center_lon, -51.2);
+        assert_eq!(payload.center_hae, 20.0);
+        assert_eq!(payload.major, 100.0);
+        assert_eq!(payload.minor, 50.0);
+        assert_eq!(payload.angle, 30.0);
+
+        let shape = payload.to_cot();
+        assert_eq!(shape.uid, "circle-1");
+        assert_eq!(shape.callsign, "Area Alpha");
+        assert_eq!(shape.creator_uid, "creator-1");
+        assert_eq!(shape.creator_callsign, "Falcon");
+
+        let xml = shape.to_xml("2026-08-07T17:00:00.000Z", "2026-08-07T18:00:00.000Z");
+        assert!(xml.contains("uid=\"circle-1\" type=\"u-d-c-c\""));
+        assert!(xml.contains("<point lat=\"-30.1\" lon=\"-51.2\" hae=\"20\""));
+        assert!(xml.contains("<ellipse major=\"100\" minor=\"50\" angle=\"30\" />"));
+        assert!(xml.contains("<link uid=\"creator-1\" type=\"self\" relation=\"p-p-CenterAnchor\" />"));
+        assert!(xml.contains("<contact callsign=\"Area Alpha\" />"));
+        assert!(xml.contains("<creator uid=\"creator-1\" callsign=\"Falcon\""));
+    }
+}

src/cot/draws/mod.rs

@@ -1 +1,3 @@
 pub mod circle;
+pub mod route;
+pub mod shape;

src/cot/draws/route.rs

@@ -0,0 +1,204 @@
+use arma_rs::{FromArma, FromArmaError};
+use uuid::Uuid;
+
+#[derive(Clone)]
+struct RoutePoint {
+    lat: f64,
+    lon: f64,
+    hae: f32,
+}
+
+pub struct RoutePayload {
+    pub uuid: String,
+    pub points: String,
+    pub callsign: String,
+    pub stale_seconds: i64,
+    pub color: i32,
+    pub stroke_weight: f64,
+    pub method: String,
+    pub route_type: String,
+    pub direction: String,
+    pub checkpoint_interval: usize,
+}
+
+impl FromArma for RoutePayload {
+    fn from_arma(data: String) -> Result<Self, FromArmaError> {
+        let (
+            uuid,
+            points,
+            callsign,
+            stale_seconds,
+            color,
+            stroke_weight,
+            method,
+            route_type,
+            direction,
+            checkpoint_interval,
+        ) = <(
+            String,
+            String,
+            String,
+            i64,
+            i32,
+            f64,
+            String,
+            String,
+            String,
+            i32,
+        )>::from_arma(data)?;
+
+        Ok(Self {
+            uuid,
+            points,
+            callsign,
+            stale_seconds,
+            color,
+            stroke_weight,
+            method,
+            route_type,
+            direction,
+            checkpoint_interval: checkpoint_interval.max(1) as usize,
+        })
+    }
+}
+
+impl RoutePayload {
+    pub fn to_xml(&self, now: &str, stale: &str) -> String {
+        let points = parse_points(&self.points);
+        let links = route_links(&self.callsign, &points, self.checkpoint_interval);
+
+        format!(
+            r#"<?xml version="1.0" encoding="UTF-8" ?><event version="2.0" uid="{uid}" type="b-m-r" time="{now}" start="{now}" stale="{stale}" how="h-e" access="Undefined"><point lat="0.0" lon="0.0" hae="9999999.0" ce="9999999.0" le="9999999.0"/><detail>{links}<link_attr planningmethod="{direction}" color="{color}" method="{method}" prefix="CP" style="0" type="Vehicle" stroke="{stroke_weight}" direction="{direction}" routetype="{route_type}" order="Ascending Check Points"/><creator uid="ARMATAK" callsign="ArmaTAK" time="{now}" type="a-f-G-U-C"/><strokeColor value="{color}"/><strokeWeight value="{stroke_weight}"/><strokeStyle value="solid"/><labels_on value="false"/><__routeinfo><__navcues/></__routeinfo><color value="{color}"/><remarks/><contact callsign="{callsign}"/><archive/><height_unit>1</height_unit></detail></event>"#,
+            uid = escape_attr(&self.uuid),
+            now = now,
+            stale = stale,
+            links = links,
+            direction = escape_attr(&self.direction),
+            color = self.color,
+            method = escape_attr(&self.method),
+            stroke_weight = self.stroke_weight.max(1.0),
+            route_type = escape_attr(&self.route_type),
+            callsign = escape_attr(&self.callsign)
+        )
+    }
+}
+
+fn route_links(callsign: &str, points: &[RoutePoint], checkpoint_interval: usize) -> String {
+    let mut xml = String::new();
+    let last_index = points.len().saturating_sub(1);
+    let mut checkpoint_number = 1;
+
+    for (index, point) in points.iter().enumerate() {
+        let is_start = index == 0;
+        let is_end = index == last_index;
+        let is_checkpoint = !is_start && !is_end && index % checkpoint_interval == 0;
+        let point_callsign = if is_start {
+            format!("{} SP", callsign)
+        } else if is_end {
+            "VDO".to_string()
+        } else if is_checkpoint {
+            let name = format!("CP{}", checkpoint_number);
+            checkpoint_number += 1;
+            name
+        } else {
+            String::new()
+        };
+        let link_type = if point_callsign.is_empty() {
+            "b-m-p-c"
+        } else {
+            "b-m-p-w"
+        };
+
+        xml.push_str(&format!(
+            r#"<link uid="{link_uid}" callsign="{callsign}" type="{link_type}" point="{lat},{lon},{hae}" remarks="" relation="c"/>"#,
+            link_uid = escape_attr(&Uuid::new_v4().to_string()),
+            callsign = escape_attr(&point_callsign),
+            link_type = link_type,
+            lat = point.lat,
+            lon = point.lon,
+            hae = point.hae
+        ));
+    }
+
+    xml
+}
+
+fn parse_points(raw: &str) -> Vec<RoutePoint> {
+    raw.split(';')
+        .filter_map(|entry| {
+            let parts: Vec<_> = entry.split(',').collect();
+            if parts.len() != 3 {
+                return None;
+            }
+
+            Some(RoutePoint {
+                lat: parts[0].parse().ok()?,
+                lon: parts[1].parse().ok()?,
+                hae: parts[2].parse().ok()?,
+            })
+        })
+        .collect()
+}
+
+fn escape_attr(value: &str) -> String {
+    value
+        .replace('&', "&amp;")
+        .replace('"', "&quot;")
+        .replace('<', "&lt;")
+        .replace('>', "&gt;")
+}
+
+#[cfg(test)]
+mod tests {
+    use super::{parse_points, route_links, RoutePayload, RoutePoint};
+    use arma_rs::FromArma;
+
+    #[test]
+    fn parses_route_payload_clamps_interval_and_serializes_attributes() {
+        let mut payload = RoutePayload::from_arma(
+            r#"["route<&","","Route<&",600,-1,0.5,"Driving<&","Primary<&","Infil<&",0]"#
+                .to_string(),
+        )
+        .expect("route payload should parse");
+        payload.points = "-30.1,-51.2,10;-30.2,-51.3,20".to_string();
+
+        assert_eq!(payload.checkpoint_interval, 1);
+        assert_eq!(payload.stale_seconds, 600);
+        assert_eq!(payload.stroke_weight, 0.5);
+
+        let xml = payload.to_xml("2026-08-07T17:00:00.000Z", "2026-08-07T18:00:00.000Z");
+        assert!(xml.contains("uid=\"route&lt;&amp;\" type=\"b-m-r\""));
+        assert!(xml.contains("planningmethod=\"Infil&lt;&amp;\""));
+        assert!(xml.contains("method=\"Driving&lt;&amp;\""));
+        assert!(xml.contains("routetype=\"Primary&lt;&amp;\""));
+        assert!(xml.contains("stroke=\"1\""));
+        assert!(xml.contains("<contact callsign=\"Route&lt;&amp;\"/>"));
+        assert!(xml.contains("callsign=\"Route&lt;&amp; SP\""));
+        assert!(xml.contains("callsign=\"VDO\""));
+    }
+
+    #[test]
+    fn route_links_cover_start_checkpoint_regular_and_end_points() {
+        let points = vec![
+            RoutePoint { lat: 1.0, lon: 1.0, hae: 1.0 },
+            RoutePoint { lat: 2.0, lon: 2.0, hae: 2.0 },
+            RoutePoint { lat: 3.0, lon: 3.0, hae: 3.0 },
+            RoutePoint { lat: 4.0, lon: 4.0, hae: 4.0 },
+            RoutePoint { lat: 5.0, lon: 5.0, hae: 5.0 },
+        ];
+
+        let xml = route_links("Route", &points, 2);
+        assert!(xml.contains("callsign=\"Route SP\" type=\"b-m-p-w\""));
+        assert!(xml.contains("callsign=\"CP1\" type=\"b-m-p-w\""));
+        assert!(xml.contains("callsign=\"\" type=\"b-m-p-c\""));
+        assert!(xml.contains("callsign=\"VDO\" type=\"b-m-p-w\""));
+    }
+
+    #[test]
+    fn point_parser_drops_malformed_entries() {
+        let points = parse_points("1,2,3;missing;bad,2,3;4,bad,6;7,8,bad;9,10,11");
+        assert_eq!(points.len(), 2);
+        assert_eq!(points[0].lat, 1.0);
+        assert_eq!(points[1].lat, 9.0);
+    }
+}

src/cot/draws/shape.rs

@@ -0,0 +1,376 @@
+use arma_rs::{FromArma, FromArmaError};
+
+#[derive(Clone)]
+struct DrawPoint {
+    lat: f64,
+    lon: f64,
+    hae: f32,
+}
+
+pub struct DrawEllipsePayload {
+    pub uuid: String,
+    pub cot_type: String,
+    pub center_lat: f64,
+    pub center_lon: f64,
+    pub center_hae: f32,
+    pub major: f64,
+    pub minor: f64,
+    pub angle: f32,
+    pub callsign: String,
+    pub stale_seconds: i64,
+    pub stroke_color: i32,
+    pub fill_color: i32,
+    pub stroke_weight: f64,
+    pub milsym: String,
+}
+
+pub struct DrawLinksPayload {
+    pub uuid: String,
+    pub cot_type: String,
+    pub center_lat: f64,
+    pub center_lon: f64,
+    pub center_hae: f32,
+    pub points: String,
+    pub callsign: String,
+    pub stale_seconds: i64,
+    pub stroke_color: i32,
+    pub fill_color: i32,
+    pub stroke_weight: f64,
+    pub stroke_style: String,
+    pub closed: bool,
+    pub milsym: String,
+}
+
+impl FromArma for DrawEllipsePayload {
+    fn from_arma(data: String) -> Result<Self, FromArmaError> {
+        let (
+            uuid,
+            cot_type,
+            center_lat,
+            center_lon,
+            center_hae,
+            major,
+            minor,
+            angle,
+            callsign,
+            stale_seconds,
+            stroke_color,
+            fill_color,
+            stroke_weight,
+            milsym,
+        ) = <(
+            String,
+            String,
+            f64,
+            f64,
+            f32,
+            f64,
+            f64,
+            f32,
+            String,
+            i64,
+            i32,
+            i32,
+            f64,
+            String,
+        )>::from_arma(data)?;
+
+        Ok(Self {
+            uuid,
+            cot_type,
+            center_lat,
+            center_lon,
+            center_hae,
+            major,
+            minor,
+            angle,
+            callsign,
+            stale_seconds,
+            stroke_color,
+            fill_color,
+            stroke_weight,
+            milsym,
+        })
+    }
+}
+
+impl FromArma for DrawLinksPayload {
+    fn from_arma(data: String) -> Result<Self, FromArmaError> {
+        let (
+            uuid,
+            cot_type,
+            center_lat,
+            center_lon,
+            center_hae,
+            points,
+            callsign,
+            stale_seconds,
+            stroke_color,
+            fill_color,
+            stroke_weight,
+            stroke_style,
+            closed,
+            milsym,
+        ) = <(
+            String,
+            String,
+            f64,
+            f64,
+            f32,
+            String,
+            String,
+            i64,
+            i32,
+            i32,
+            f64,
+            String,
+            bool,
+            String,
+        )>::from_arma(data)?;
+
+        Ok(Self {
+            uuid,
+            cot_type,
+            center_lat,
+            center_lon,
+            center_hae,
+            points,
+            callsign,
+            stale_seconds,
+            stroke_color,
+            fill_color,
+            stroke_weight,
+            stroke_style,
+            closed,
+            milsym,
+        })
+    }
+}
+
+impl DrawEllipsePayload {
+    pub fn to_xml(&self, now: &str, stale: &str) -> String {
+        shape_event(
+            &self.uuid,
+            &self.cot_type,
+            self.center_lat,
+            self.center_lon,
+            self.center_hae,
+            now,
+            stale,
+            &self.callsign,
+            &ellipse_shape_detail(
+                &self.uuid,
+                self.major,
+                self.minor,
+                self.angle,
+                self.stroke_color,
+                self.fill_color,
+                self.stroke_weight,
+            ),
+            self.stroke_color,
+            self.fill_color,
+            self.stroke_weight,
+            "solid",
+            &self.milsym,
+        )
+    }
+}
+
+impl DrawLinksPayload {
+    pub fn to_xml(&self, now: &str, stale: &str) -> String {
+        let points = parse_points(&self.points);
+        let shape_detail = links_detail(&points, self.closed);
+
+        shape_event(
+            &self.uuid,
+            &self.cot_type,
+            self.center_lat,
+            self.center_lon,
+            self.center_hae,
+            now,
+            stale,
+            &self.callsign,
+            &shape_detail,
+            self.stroke_color,
+            self.fill_color,
+            self.stroke_weight,
+            &self.stroke_style,
+            &self.milsym,
+        )
+    }
+}
+
+fn shape_event(
+    uid: &str,
+    cot_type: &str,
+    lat: f64,
+    lon: f64,
+    hae: f32,
+    now: &str,
+    stale: &str,
+    callsign: &str,
+    shape_detail: &str,
+    stroke_color: i32,
+    fill_color: i32,
+    stroke_weight: f64,
+    stroke_style: &str,
+    milsym: &str,
+) -> String {
+    let milsym_detail = if milsym.trim().is_empty() {
+        String::new()
+    } else {
+        format!(r#"<__milsym id="{}" />"#, escape_attr(milsym))
+    };
+
+    format!(
+        r#"<?xml version="1.0" encoding="UTF-8" ?><event version="2.0" uid="{uid}" type="{cot_type}" time="{now}" start="{now}" stale="{stale}" how="h-e" access="Undefined"><point lat="{lat}" lon="{lon}" hae="{hae}" ce="10.9" le="9999999.0" /><detail>{shape_detail}<__shapeExtras cpvis="true" editable="true" /><contact callsign="{callsign}" /><remarks /><archive /><labels_on value="true" /><strokeColor value="{stroke_color}" /><strokeWeight value="{stroke_weight}" /><strokeStyle value="{stroke_style}" /><fillColor value="{fill_color}" /><precisionlocation altsrc="GPS" geopointsrc="GPS" />{milsym_detail}</detail></event>"#,
+        uid = escape_attr(uid),
+        cot_type = escape_attr(cot_type),
+        now = now,
+        stale = stale,
+        lat = lat,
+        lon = lon,
+        hae = hae,
+        shape_detail = shape_detail,
+        callsign = escape_attr(callsign),
+        stroke_color = stroke_color,
+        stroke_weight = stroke_weight,
+        stroke_style = escape_attr(stroke_style),
+        fill_color = fill_color,
+        milsym_detail = milsym_detail
+    )
+}
+
+fn ellipse_shape_detail(
+    uid: &str,
+    major: f64,
+    minor: f64,
+    angle: f32,
+    stroke_color: i32,
+    fill_color: i32,
+    stroke_weight: f64,
+) -> String {
+    format!(
+        r#"<shape><ellipse major="{major}" minor="{minor}" angle="{angle}" /><link uid="{style_uid}" type="b-x-KmlStyle" relation="p-c"><Style><LineStyle><color>{stroke_hex}</color><width>{stroke_weight}</width></LineStyle><PolyStyle><color>{fill_hex}</color></PolyStyle></Style></link></shape>"#,
+        major = major,
+        minor = minor,
+        angle = angle,
+        style_uid = escape_attr(&format!("{}.Style", uid)),
+        stroke_hex = argb_hex(stroke_color),
+        stroke_weight = stroke_weight,
+        fill_hex = argb_hex(fill_color)
+    )
+}
+
+fn links_detail(points: &[DrawPoint], closed: bool) -> String {
+    let mut detail = String::new();
+
+    for point in points {
+        detail.push_str(&link_detail(point));
+    }
+
+    if closed {
+        if let Some(first) = points.first() {
+            detail.push_str(&link_detail(first));
+        }
+    }
+
+    detail
+}
+
+fn link_detail(point: &DrawPoint) -> String {
+    format!(
+        r#"<link point="{lat},{lon},{hae}" />"#,
+        lat = point.lat,
+        lon = point.lon,
+        hae = point.hae
+    )
+}
+
+fn parse_points(raw: &str) -> Vec<DrawPoint> {
+    raw.split(';')
+        .filter_map(|entry| {
+            let parts: Vec<_> = entry.split(',').collect();
+            if parts.len() != 3 {
+                return None;
+            }
+
+            Some(DrawPoint {
+                lat: parts[0].parse().ok()?,
+                lon: parts[1].parse().ok()?,
+                hae: parts[2].parse().ok()?,
+            })
+        })
+        .collect()
+}
+
+fn argb_hex(color: i32) -> String {
+    format!("{:08x}", color as u32)
+}
+
+fn escape_attr(value: &str) -> String {
+    value
+        .replace('&', "&amp;")
+        .replace('"', "&quot;")
+        .replace('<', "&lt;")
+        .replace('>', "&gt;")
+}
+
+#[cfg(test)]
+mod tests {
+    use super::{parse_points, DrawEllipsePayload, DrawLinksPayload};
+    use arma_rs::FromArma;
+
+    const NOW: &str = "2026-08-07T17:00:00.000Z";
+    const STALE: &str = "2026-08-07T18:00:00.000Z";
+
+    #[test]
+    fn parses_and_serializes_ellipse_shape_with_milsym() {
+        let payload = DrawEllipsePayload::from_arma(
+            r#"["ellipse<&","u-d-c-e",-30.1,-51.2,10,100,50,25,"Ellipse<&",600,-1,-1761607681,3,"SFGPUCI----K<&"]"#
+                .to_string(),
+        )
+        .expect("ellipse payload should parse");
+
+        assert_eq!(payload.uuid, "ellipse<&");
+        assert_eq!(payload.stale_seconds, 600);
+        assert_eq!(payload.major, 100.0);
+        assert_eq!(payload.minor, 50.0);
+
+        let xml = payload.to_xml(NOW, STALE);
+        assert!(xml.contains("uid=\"ellipse&lt;&amp;\" type=\"u-d-c-e\""));
+        assert!(xml.contains("<ellipse major=\"100\" minor=\"50\" angle=\"25\" />"));
+        assert!(xml.contains("<color>ffffffff</color>"));
+        assert!(xml.contains("<color>96ffffff</color>"));
+        assert!(xml.contains("<contact callsign=\"Ellipse&lt;&amp;\" />"));
+        assert!(xml.contains("<__milsym id=\"SFGPUCI----K&lt;&amp;\" />"));
+    }
+
+    #[test]
+    fn parses_and_serializes_closed_link_shape_without_milsym() {
+        let mut payload = DrawLinksPayload::from_arma(
+            r#"["shape<&","u-d-f",1,2,3,"","Polygon<&",300,-16777216,16777215,2,"dashed<&",true,""]"#
+                .to_string(),
+        )
+        .expect("link shape payload should parse");
+        payload.points = "1,2,3;4,5,6".to_string();
+
+        assert!(payload.closed);
+        assert_eq!(payload.stroke_style, "dashed<&");
+
+        let xml = payload.to_xml(NOW, STALE);
+        assert!(xml.contains("uid=\"shape&lt;&amp;\" type=\"u-d-f\""));
+        assert_eq!(xml.matches("<link point=\"1,2,3\" />").count(), 2);
+        assert_eq!(xml.matches("<link point=\"4,5,6\" />").count(), 1);
+        assert!(xml.contains("<strokeStyle value=\"dashed&lt;&amp;\" />"));
+        assert!(!xml.contains("<__milsym"));
+    }
+
+    #[test]
+    fn point_parser_drops_invalid_shape_points() {
+        let points = parse_points("1,2,3;missing;bad,2,3;4,bad,6;7,8,bad;9,10,11");
+        assert_eq!(points.len(), 2);
+        assert_eq!(points[0].lat, 1.0);
+        assert_eq!(points[1].lon, 10.0);
+    }
+}

src/cot/eud.rs

@@ -58,7 +58,42 @@ impl EudCoTPayload {
             link_uid: None,
             remarker: None,
             video_url: None,
+            stale_seconds: None,
         }
     }
 }
 
+#[cfg(test)]
+mod tests {
+    use super::EudCoTPayload;
+    use arma_rs::FromArma;
+
+    #[test]
+    fn parses_eud_payload_and_maps_all_tactical_fields() {
+        let payload = EudCoTPayload::from_arma(
+            r#"["eud-1",-30.1,-51.2,75.0,"Falcon","Cyan","Team Member",90,4.5]"#
+                .to_string(),
+        )
+        .expect("EUD payload should parse");
+
+        assert_eq!(payload.uuid, "eud-1");
+        assert_eq!(payload.contact_callsign, "Falcon");
+        assert_eq!(payload.group_name, "Cyan");
+        assert_eq!(payload.group_role, "Team Member");
+
+        let cot = payload.to_cot();
+        assert_eq!(cot.uuid.as_deref(), Some("eud-1"));
+        assert_eq!(cot.point_lat, -30.1);
+        assert_eq!(cot.point_lon, -51.2);
+        assert_eq!(cot.point_hae, 75.0);
+        assert_eq!(cot.contact_callsign, "Falcon");
+        assert_eq!(cot.group_name.as_deref(), Some("Cyan"));
+        assert_eq!(cot.group_role.as_deref(), Some("Team Member"));
+        assert_eq!(cot.track_course, Some(90));
+        assert_eq!(cot.track_speed, Some(4.5));
+        assert!(cot.link_uid.is_none());
+        assert!(cot.remarker.is_none());
+        assert!(cot.video_url.is_none());
+        assert!(cot.stale_seconds.is_none());
+    }
+}

src/cot/gps.rs

@@ -55,7 +55,47 @@ impl ExternalPositionPayload {
             link_uid: None,
             remarker: Some(self.remarker.clone()),
             video_url: None,
+            stale_seconds: None,
         }
     }
 }
 
+#[cfg(test)]
+mod tests {
+    use super::ExternalPositionPayload;
+    use arma_rs::FromArma;
+
+    #[test]
+    fn parses_external_position_and_maps_it_to_generic_cot() {
+        let payload = ExternalPositionPayload::from_arma(
+            r#"["gps-1",-30.1,-51.2,75.0,"Falcon",270,11.5,"external GPS"]"#
+                .to_string(),
+        )
+        .expect("external position should parse");
+
+        assert_eq!(payload.uuid, "gps-1");
+        assert_eq!(payload.point_lat, -30.1);
+        assert_eq!(payload.point_lon, -51.2);
+        assert_eq!(payload.point_hae, 75.0);
+        assert_eq!(payload.contact_callsign, "Falcon");
+        assert_eq!(payload.track_course, 270);
+        assert_eq!(payload.track_speed, 11.5);
+        assert_eq!(payload.remarker, "external GPS");
+
+        let cot = payload.to_cot();
+        assert_eq!(cot.uuid.as_deref(), Some("gps-1"));
+        assert_eq!(cot.r#type, None);
+        assert_eq!(cot.point_lat, -30.1);
+        assert_eq!(cot.point_lon, -51.2);
+        assert_eq!(cot.point_hae, 75.0);
+        assert_eq!(cot.contact_callsign, "Falcon");
+        assert_eq!(cot.track_course, Some(270));
+        assert_eq!(cot.track_speed, Some(11.5));
+        assert_eq!(cot.remarker.as_deref(), Some("external GPS"));
+        assert!(cot.group_name.is_none());
+        assert!(cot.group_role.is_none());
+        assert!(cot.link_uid.is_none());
+        assert!(cot.video_url.is_none());
+        assert!(cot.stale_seconds.is_none());
+    }
+}

src/cot/lrf.rs

@@ -0,0 +1,104 @@
+use arma_rs::{FromArma, FromArmaError};
+use chrono::{SecondsFormat, Utc};
+
+pub struct LaserRangeFinderPayload {
+    pub uid: String,
+    pub distance_meters: f64,
+    pub azimuth_degrees: f64,
+    pub elevation_degrees: f64,
+}
+
+impl FromArma for LaserRangeFinderPayload {
+    fn from_arma(data: String) -> Result<LaserRangeFinderPayload, FromArmaError> {
+        let (uid, distance_meters, azimuth_degrees, elevation_degrees) =
+            <(String, f64, f64, f64)>::from_arma(data)?;
+        Ok(Self {
+            uid,
+            distance_meters,
+            azimuth_degrees,
+            elevation_degrees,
+        })
+    }
+}
+
+impl LaserRangeFinderPayload {
+    pub fn to_lrf_message(&self) -> String {
+        let timestamp = Utc::now().to_rfc3339_opts(SecondsFormat::Millis, true);
+
+        format!(
+            "1,{},{},{:.2},{:.2},{:.2}",
+            self.uid,
+            timestamp,
+            self.distance_meters.max(0.0),
+            normalize_degrees(self.azimuth_degrees),
+            self.elevation_degrees
+        )
+    }
+}
+
+pub struct LaserRangeFinderClearPayload {
+    pub uid: String,
+}
+
+impl FromArma for LaserRangeFinderClearPayload {
+    fn from_arma(data: String) -> Result<LaserRangeFinderClearPayload, FromArmaError> {
+        let uid = String::from_arma(data)?;
+        Ok(Self { uid })
+    }
+}
+
+impl LaserRangeFinderClearPayload {
+    pub fn to_lrf_message(&self) -> String {
+        let timestamp = Utc::now().to_rfc3339_opts(SecondsFormat::Millis, true);
+        format!("1,{},{},RANGE_ERROR", self.uid, timestamp)
+    }
+}
+
+fn normalize_degrees(degrees: f64) -> f64 {
+    degrees.rem_euclid(360.0)
+}
+
+#[cfg(test)]
+mod tests {
+    use super::{LaserRangeFinderClearPayload, LaserRangeFinderPayload};
+    use arma_rs::FromArma;
+    use chrono::DateTime;
+
+    #[test]
+    fn parses_lrf_payload_and_serializes_normalized_message() {
+        let payload = LaserRangeFinderPayload::from_arma(
+            r#"["laser-1",-5,-10,2.5]"#.to_string(),
+        )
+        .expect("LRF payload should parse");
+
+        assert_eq!(payload.uid, "laser-1");
+        assert_eq!(payload.distance_meters, -5.0);
+        assert_eq!(payload.azimuth_degrees, -10.0);
+        assert_eq!(payload.elevation_degrees, 2.5);
+
+        let message = payload.to_lrf_message();
+        let fields: Vec<_> = message.split(',').collect();
+        assert_eq!(fields.len(), 6);
+        assert_eq!(fields[0], "1");
+        assert_eq!(fields[1], "laser-1");
+        assert!(DateTime::parse_from_rfc3339(fields[2]).is_ok());
+        assert_eq!(fields[3], "0.00");
+        assert_eq!(fields[4], "350.00");
+        assert_eq!(fields[5], "2.50");
+    }
+
+    #[test]
+    fn parses_clear_payload_and_serializes_range_error() {
+        let payload = LaserRangeFinderClearPayload::from_arma(r#""laser-2""#.to_string())
+            .expect("clear LRF payload should parse");
+        assert_eq!(payload.uid, "laser-2");
+
+        let message = payload.to_lrf_message();
+        let fields: Vec<_> = message.split(',').collect();
+        assert_eq!(fields.len(), 4);
+        assert_eq!(fields[0], "1");
+        assert_eq!(fields[1], "laser-2");
+        assert!(DateTime::parse_from_rfc3339(fields[2]).is_ok());
+        assert_eq!(fields[3], "RANGE_ERROR");
+    }
+}

src/cot/message.rs

@@ -145,3 +145,39 @@ impl MessageCot {
         xml
     }
 }
+
+#[cfg(test)]
+mod tests {
+    use super::{MessageCot, MessagePayload};
+    use arma_rs::FromArma;
+
+    #[test]
+    fn parses_chat_payload_and_serializes_geochat_event() {
+        let payload = MessagePayload::from_arma(
+            r#"["Falcon","Operations Room","Message received",-30.1,-51.2,15.0,"sender-1"]"#
+                .to_string(),
+        )
+        .expect("chat payload should parse");
+
+        assert_eq!(payload.sender_callsign, "Falcon");
+        assert_eq!(payload.chatroom, "Operations Room");
+        assert_eq!(payload.message_text, "Message received");
+        assert_eq!(payload.sender_uid, "sender-1");
+
+        let cot = MessageCot::from_payload(payload);
+        let xml = cot.to_xml();
+
+        assert!(xml.starts_with("<?xml version=\"1.0\" encoding=\"UTF-8\"?>"));
+        assert!(xml.contains("type=\"b-t-f\""));
+        assert!(xml.contains("uid=\"GeoChat.sender-1.Operations_Room."));
+        assert!(xml.contains("lat=\"-30.1\" lon=\"-51.2\" hae=\"15\""));
+        assert!(xml.contains("chatroom=\"Operations Room\""));
+        assert!(xml.contains("senderCallsign=\"Falcon\""));
+        assert!(xml.contains("<chatgrp uid0=\"sender-1\" uid1=\"Operations Room\" id=\"Operations Room\" />"));
+        assert!(xml.contains("<link uid=\"sender-1\" type=\"a-f-G-U-C\" relation=\"p-p\" />"));
+        assert!(xml.contains("<__serverdestination destinations=\"0.0.0.0:0:tcp:sender-1\" />"));
+        assert!(xml.contains("<remarks source=\"ARMATAK.sender-1\" to=\"Operations Room\""));
+        assert!(xml.contains(">Message received</remarks>"));
+        assert!(xml.ends_with("</detail></event>"));
+    }
+}

src/cot/mod.rs

@@ -1,9 +1,12 @@
 pub mod cot;
+pub mod delete;
 pub mod digital_pointer;
 pub mod draws;
 pub mod eud;
 pub mod gps;
+pub mod lrf;
 pub mod message;
 pub mod nato;
+pub mod report_marker;
 pub mod uas;
 pub mod video;

src/cot/nato.rs

@@ -87,6 +87,64 @@ impl MarkerCoTPayload {
             link_uid: None,
             remarker: None,
             video_url: self.video_url.clone(),
+            stale_seconds: None,
         }
     }
 }
+
+#[cfg(test)]
+mod tests {
+    use super::MarkerCoTPayload;
+    use arma_rs::FromArma;
+
+    #[test]
+    fn parses_marker_with_video_and_maps_it_to_cot() {
+        let payload = MarkerCoTPayload::from_arma(
+            r#"["marker-1","a-f-G-U-C",-30.1,-51.2,100.0,"Falcon",180,10.5,"rtsp://video.example.test:8554/live"]"#
+                .to_string(),
+        )
+        .expect("marker with video should parse");
+
+        assert_eq!(
+            payload.video_url.as_deref(),
+            Some("rtsp://video.example.test:8554/live")
+        );
+
+        let cot = payload.to_cot();
+        assert_eq!(cot.uuid.as_deref(), Some("marker-1"));
+        assert_eq!(cot.r#type.as_deref(), Some("a-f-G-U-C"));
+        assert_eq!(cot.point_lat, -30.1);
+        assert_eq!(cot.point_lon, -51.2);
+        assert_eq!(cot.point_hae, 100.0);
+        assert_eq!(cot.contact_callsign, "Falcon");
+        assert_eq!(cot.track_course, Some(180));
+        assert_eq!(cot.track_speed, Some(10.5));
+        assert_eq!(
+            cot.video_url.as_deref(),
+            Some("rtsp://video.example.test:8554/live")
+        );
+    }
+
+    #[test]
+    fn treats_blank_video_url_as_absent() {
+        let payload = MarkerCoTPayload::from_arma(
+            r#"["marker-2","a-f-G-U-C",1,2,3,"Raven",90,5,"   "]"#.to_string(),
+        )
+        .expect("marker with blank video should parse");
+
+        assert!(payload.video_url.is_none());
+    }
+
+    #[test]
+    fn accepts_legacy_marker_payload_without_video_field() {
+        let payload = MarkerCoTPayload::from_arma(
+            r#"["marker-3","a-f-G-U-C",1,2,3,"Viper",45,2.5]"#.to_string(),
+        )
+        .expect("legacy marker should parse");
+
+        assert_eq!(payload.uuid, "marker-3");
+        assert_eq!(payload.r#type, "a-f-G-U-C");
+        assert_eq!(payload.contact_callsign, "Viper");
+        assert!(payload.video_url.is_none());
+    }
+}

src/cot/report_marker.rs

@@ -0,0 +1,97 @@
+use arma_rs::{FromArma, FromArmaError};
+
+use super::cot::CursorOverTime;
+
+pub struct ReportMarkerCoTPayload {
+    pub uuid: String,
+    pub r#type: String,
+    pub point_lat: f64,
+    pub point_lon: f64,
+    pub point_hae: f32,
+    pub contact_callsign: String,
+    pub stale_seconds: i64,
+    pub remarks: String,
+}
+
+impl FromArma for ReportMarkerCoTPayload {
+    fn from_arma(data: String) -> Result<ReportMarkerCoTPayload, FromArmaError> {
+        let (
+            uuid,
+            r#type,
+            point_lat,
+            point_lon,
+            point_hae,
+            contact_callsign,
+            stale_seconds,
+            remarks,
+        ) = <(String, String, f64, f64, f32, String, i64, String)>::from_arma(data)?;
+
+        Ok(Self {
+            uuid,
+            r#type,
+            point_lat,
+            point_lon,
+            point_hae,
+            contact_callsign,
+            stale_seconds,
+            remarks,
+        })
+    }
+}
+
+impl ReportMarkerCoTPayload {
+    pub fn to_cot(&self) -> CursorOverTime {
+        CursorOverTime {
+            uuid: Some(self.uuid.clone()),
+            r#type: Some(self.r#type.clone()),
+            point_lat: self.point_lat,
+            point_lon: self.point_lon,
+            point_hae: self.point_hae,
+            point_ce: None,
+            point_le: None,
+            contact_callsign: self.contact_callsign.clone(),
+            group_name: None,
+            group_role: None,
+            track_course: None,
+            track_speed: None,
+            link_uid: None,
+            remarker: Some(self.remarks.clone()),
+            video_url: None,
+            stale_seconds: Some(self.stale_seconds),
+        }
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use super::ReportMarkerCoTPayload;
+    use arma_rs::FromArma;
+
+    #[test]
+    fn parses_report_marker_and_maps_type_remarks_and_stale_time() {
+        let payload = ReportMarkerCoTPayload::from_arma(
+            r#"["report-1","b-m-p-s-p-i",-30.1,-51.2,42.0,"SPOTREP",900,"Observed vehicle"]"#
+                .to_string(),
+        )
+        .expect("report marker should parse");
+
+        assert_eq!(payload.uuid, "report-1");
+        assert_eq!(payload.r#type, "b-m-p-s-p-i");
+        assert_eq!(payload.stale_seconds, 900);
+        assert_eq!(payload.remarks, "Observed vehicle");
+
+        let cot = payload.to_cot();
+        assert_eq!(cot.uuid.as_deref(), Some("report-1"));
+        assert_eq!(cot.r#type.as_deref(), Some("b-m-p-s-p-i"));
+        assert_eq!(cot.point_lat, -30.1);
+        assert_eq!(cot.point_lon, -51.2);
+        assert_eq!(cot.point_hae, 42.0);
+        assert_eq!(cot.contact_callsign, "SPOTREP");
+        assert_eq!(cot.remarker.as_deref(), Some("Observed vehicle"));
+        assert_eq!(cot.stale_seconds, Some(900));
+        assert!(cot.group_name.is_none());
+        assert!(cot.track_course.is_none());
+        assert!(cot.link_uid.is_none());
+        assert!(cot.video_url.is_none());
+    }
+}

src/cot/uas.rs

@@ -131,8 +131,8 @@ impl UasPlatformCoTPayload {
                 None => (escape_xml(&self.vehicle_type_tag), None),
             };
         let now = Utc::now().to_rfc3339_opts(SecondsFormat::Millis, true);
-        let stale =
-            (Utc::now() + Duration::milliseconds(3500)).to_rfc3339_opts(SecondsFormat::Millis, true);
+        let stale = (Utc::now() + Duration::milliseconds(3500))
+            .to_rfc3339_opts(SecondsFormat::Millis, true);
 
         let mut xml = String::new();
         xml.push_str("<?xml version=\"1.0\" encoding=\"UTF-8\" standalone=\"yes\"?>");
@@ -153,8 +153,7 @@ impl UasPlatformCoTPayload {
         xml.push_str("<_uastool extendedCot=\"true\" activeRoute=\"false\"/>");
         xml.push_str(&format!(
             "<track course=\"{}\" slope=\"0.0\" speed=\"{}\"/>",
-            self.track_course,
-            self.track_speed,
+            self.track_course, self.track_speed,
         ));
         xml.push_str(&format!(
             "<sensor elevation=\"{}\" vfov=\"{}\" north=\"0.0\" roll=\"0.0\" range=\"{}\" azimuth=\"{}\" fov=\"{}\" type=\"r-e\" version=\"0.6\"/>",
@@ -186,7 +185,10 @@ impl UasPlatformCoTPayload {
         } else {
             xml.push_str("<__video></__video>");
         }
-        xml.push_str(&format!("<link uid=\"{}\" type=\"a-f-G-U-C\" relation=\"p-p\" />", link_uid));
+        xml.push_str(&format!(
+            "<link uid=\"{}\" type=\"a-f-G-U-C\" relation=\"p-p\" />",
+            link_uid
+        ));
         xml.push_str("</detail></event>");
         xml
     }
@@ -327,4 +329,130 @@ impl UasSensorCoTPayload {
     }
 }
 
+#[cfg(test)]
+mod tests {
+    use super::{
+        escape_xml, parse_rtsp_url, UasPlatformCoTPayload, UasSensorCoTPayload,
+        UasVideoCoTPayload,
+    };
+    use arma_rs::FromArma;
 
+    #[test]
+    fn escapes_uas_xml_values_and_parses_rtsp_components() {
+        assert_eq!(escape_xml("A&B\"<C>'"), "A&amp;B&quot;&lt;C&gt;&apos;");
+        assert_eq!(
+            parse_rtsp_url("rtsp://video.example.test:8554/live/main"),
+            Some((
+                "video.example.test".to_string(),
+                "8554".to_string(),
+                "/live/main".to_string(),
+            ))
+        );
+        assert!(parse_rtsp_url("https://video.example.test:8554/live").is_none());
+        assert!(parse_rtsp_url("rtsp://video.example.test:8554").is_none());
+        assert!(parse_rtsp_url("rtsp://video.example.test/live").is_none());
+    }
+
+    #[test]
+    fn parses_and_serializes_uas_platform_with_embedded_video_url() {
+        let payload = UasPlatformCoTPayload::from_arma(
+            r#"["uas<&","a-f-A-M-F-Q","Falcon<&",-30.1,-51.2,100,180,12.5,90,-15,60,40,1200,181,2.5,1.5,3.2,"Quad<&|armatak_video_url=rtsp://video.example.test:8554/live",1,"operator<&"]"#
+                .to_string(),
+        )
+        .expect("UAS platform payload should parse");
+
+        assert_eq!(payload.uid, "uas<&");
+        assert_eq!(payload.vehicle_type_tag, "Quad<&|armatak_video_url=rtsp://video.example.test:8554/live");
+
+        let xml = payload.to_xml();
+        assert!(xml.contains("uid=\"uas&lt;&amp;\""));
+        assert!(xml.contains("typeTag=\"Quad&lt;&amp;\""));
+        assert!(xml.contains("isFlying=\"true\""));
+        assert!(xml.contains("<track course=\"180\" slope=\"0.0\" speed=\"12.5\"/>"));
+        assert!(xml.contains("<sensor elevation=\"-15\" vfov=\"40\""));
+        assert!(xml.contains("<attitude roll=\"1.5\" pitch=\"2.5\" yaw=\"181\"/>"));
+        assert!(xml.contains("<_route sender=\"operator&lt;&amp;\"/>"));
+        assert!(xml.contains("<ConnectionEntry protocol=\"rtsp\""));
+        assert!(xml.contains("address=\"video.example.test\""));
+        assert!(xml.contains("port=\"8554\""));
+        assert!(xml.contains("path=\"/live\""));
+    }
+
+    #[test]
+    fn serializes_uas_platform_without_video_as_explicit_empty_video_detail() {
+        let payload = UasPlatformCoTPayload {
+            uid: "uas-2".to_string(),
+            cot_type: "a-f-A-M-F-Q".to_string(),
+            callsign: "Raven".to_string(),
+            point_lat: 1.0,
+            point_lon: 2.0,
+            point_hae: 3.0,
+            track_course: 0,
+            track_speed: 0.0,
+            sensor_azimuth: 0,
+            sensor_elevation: 0,
+            sensor_fov: 30,
+            sensor_vfov: 20,
+            sensor_range: 100,
+            attitude_yaw: 0,
+            attitude_pitch: 0.0,
+            attitude_roll: 0.0,
+            hal: 1.0,
+            vehicle_type_tag: "Quadrotor".to_string(),
+            is_flying: 0,
+            link_uid: "operator-2".to_string(),
+        };
+
+        let xml = payload.to_xml();
+        assert!(xml.contains("typeTag=\"Quadrotor\""));
+        assert!(xml.contains("isFlying=\"false\""));
+        assert!(xml.contains("<__video></__video>"));
+    }
+
+    #[test]
+    fn parses_and_serializes_standalone_uas_video_event() {
+        let payload = UasVideoCoTPayload::from_arma(
+            r#"["video<&","Falcon<&","rtsp://video.example.test:8554/live/main"]"#
+                .to_string(),
+        )
+        .expect("UAS video payload should parse");
+
+        let xml = payload.to_xml();
+        assert!(xml.contains("type=\"b-i-v\""));
+        assert!(xml.contains("uid=\"video&lt;&amp;\""));
+        assert!(xml.contains("path=\"/live/main\""));
+        assert!(xml.contains("address=\"video.example.test\""));
+        assert!(xml.contains("port=\"8554\""));
+        assert!(xml.contains("alias=\"Falcon&lt;&amp;\""));
+    }
+
+    #[test]
+    fn rejects_invalid_uas_video_url() {
+        let payload = UasVideoCoTPayload {
+            uid: "video-2".to_string(),
+            callsign: "Raven".to_string(),
+            video_url: "https://video.example.test/live".to_string(),
+        };
+
+        assert_eq!(payload.to_xml(), "");
+    }
+
+    #[test]
+    fn parses_and_serializes_uas_sensor_event() {
+        let payload = UasSensorCoTPayload::from_arma(
+            r#"["sensor<&","video<&","Sensor<&",-30.1,-51.2,25,270,45,850]"#
+                .to_string(),
+        )
+        .expect("UAS sensor payload should parse");
+
+        let xml = payload.to_xml();
+        assert!(xml.contains("type=\"b-m-p-s-p-loc\""));
+        assert!(xml.contains("uid=\"sensor&lt;&amp;\""));
+        assert!(xml.contains("lat=\"-30.1\" lon=\"-51.2\" hae=\"25\""));
+        assert!(xml.contains("fov=\"45\""));
+        assert!(xml.contains("range=\"850\""));
+        assert!(xml.contains("azimuth=\"270\""));
+        assert!(xml.contains("<__video uid=\"video&lt;&amp;\"/>"));
+        assert!(xml.contains("<contact callsign=\"Sensor&lt;&amp;\"/>"));
+    }
+}

src/cot/video.rs

@@ -13,7 +13,9 @@ fn parse_video_url(url: &str) -> Option<(String, String, String, String)> {
         Some((authority, path)) => (authority, format!("/{}", path)),
         None => (rest, String::new()),
     };
-    let host_port = authority.rsplit_once('@').map_or(authority, |(_, host_port)| host_port);
+    let host_port = authority
+        .rsplit_once('@')
+        .map_or(authority, |(_, host_port)| host_port);
     let (address, port) = host_port.rsplit_once(':')?;
 
     if protocol.is_empty() || address.is_empty() || port.is_empty() {
@@ -35,10 +37,7 @@ pub fn video_detail_xml(video_url: &str, uid: &str, callsign: &str) -> String {
     }
 
     let Some((protocol, address, port, path)) = parse_video_url(trimmed_url) else {
-        return format!(
-            "<__video url=\"{}\"/>",
-            escape_xml_attribute(trimmed_url)
-        );
+        return format!("<__video url=\"{}\"/>", escape_xml_attribute(trimmed_url));
     };
 
     format!(
@@ -51,3 +50,80 @@ pub fn video_detail_xml(video_url: &str, uid: &str, callsign: &str) -> String {
         escape_xml_attribute(callsign),
     )
 }
+
+#[cfg(test)]
+mod tests {
+    use super::{escape_xml_attribute, parse_video_url, video_detail_xml};
+
+    #[test]
+    fn escapes_xml_attribute_characters() {
+        assert_eq!(
+            escape_xml_attribute("A&B\"<C>'"),
+            "A&amp;B&quot;&lt;C&gt;&apos;"
+        );
+    }
+
+    #[test]
+    fn parses_video_url_with_credentials_and_path() {
+        assert_eq!(
+            parse_video_url(" RTSP://user:pass@video.example.test:8554/live/main "),
+            Some((
+                "rtsp".to_string(),
+                "video.example.test".to_string(),
+                "8554".to_string(),
+                "/live/main".to_string(),
+            ))
+        );
+    }
+
+    #[test]
+    fn parses_video_url_without_path() {
+        assert_eq!(
+            parse_video_url("udp://239.1.1.1:1234"),
+            Some((
+                "udp".to_string(),
+                "239.1.1.1".to_string(),
+                "1234".to_string(),
+                String::new(),
+            ))
+        );
+    }
+
+    #[test]
+    fn rejects_malformed_video_urls() {
+        assert!(parse_video_url("video.example.test:8554/live").is_none());
+        assert!(parse_video_url("rtsp://video.example.test/live").is_none());
+        assert!(parse_video_url("://video.example.test:8554/live").is_none());
+        assert!(parse_video_url("rtsp://:8554/live").is_none());
+        assert!(parse_video_url("rtsp://video.example.test:/live").is_none());
+    }
+
+    #[test]
+    fn emits_empty_video_detail_for_blank_url() {
+        assert_eq!(video_detail_xml("   ", "uid", "callsign"), "<__video></__video>");
+    }
+
+    #[test]
+    fn falls_back_to_escaped_url_for_unstructured_input() {
+        assert_eq!(
+            video_detail_xml("custom&stream\"", "uid", "callsign"),
+            "<__video url=\"custom&amp;stream&quot;\"/>"
+        );
+    }
+
+    #[test]
+    fn emits_connection_entry_for_structured_video_url() {
+        let xml = video_detail_xml(
+            "RTSP://user:pass@video.example.test:8554/live?a=1&b=2",
+            "uas<&\"'",
+            "Falcon<&\"'",
+        );
+
+        assert!(xml.contains("protocol=\"rtsp\""));
+        assert!(xml.contains("address=\"video.example.test\""));
+        assert!(xml.contains("port=\"8554\""));
+        assert!(xml.contains("path=\"/live?a=1&amp;b=2\""));
+        assert!(xml.contains("uid=\"uas&lt;&amp;&quot;&apos;\""));
+        assert!(xml.contains("alias=\"Falcon&lt;&amp;&quot;&apos;\""));
+    }
+}

src/lib.rs

@@ -1,10 +1,10 @@
 use arma_rs::{arma, Extension, Group};
 use rustls::crypto::aws_lc_rs;
-mod uas;
 mod mdns;
 mod structs;
 mod tcp;
 mod tests;
+mod uas;
 mod udp_socket;
 mod video_stream;
 
@@ -59,8 +59,17 @@ pub fn init() -> Extension {
             "udp_socket",
             Group::new()
                 .command("start", udp_socket::start)
+                .command("start_lrf", udp_socket::start_lrf)
+                .command("start_cot", udp_socket::start_cot)
                 .command("send_payload", udp_socket::send_payload)
                 .command("send_gps_cot", udp_socket::send_gps_cot)
+                .command("send_eud_cot", udp_socket::send_eud_cot)
+                .command("send_lrf", udp_socket::send_lrf)
+                .command("clear_lrf", udp_socket::clear_lrf)
+                .command(
+                    "send_digital_pointer_cot",
+                    udp_socket::send_digital_pointer_cot,
+                )
                 .command("stop", udp_socket::stop),
         )
         .group(
@@ -76,7 +85,9 @@ pub fn init() -> Extension {
                     Group::new()
                         .command("eud", tcp::cot::send_eud_cot)
                         .command("marker", tcp::cot::send_marker_cot)
+                        .command("report_marker", tcp::cot::send_report_marker_cot)
                         .command("digital_pointer", tcp::cot::send_digital_pointer_cot)
+                        .command("delete", tcp::cot::send_delete_cot)
                         .command("chat", tcp::cot::send_message_cot)
                         .command("uas_platform", tcp::cot::send_uas_platform_cot)
                         .command("uas_video", tcp::cot::send_uas_video_cot)
@@ -89,7 +100,8 @@ pub fn init() -> Extension {
                         .command("ellipse", tcp::draw::send_ellipse_cot)
                         .command("rectangle", tcp::draw::send_rectangle_cot)
                         .command("free", tcp::draw::send_freedraw_cot)
-                        .command("vector", tcp::draw::send_vectordraw_cot),
+                        .command("vector", tcp::draw::send_vectordraw_cot)
+                        .command("route", tcp::draw::send_route_cot),
                 ),
         )
         .group(

src/mdns.rs

@@ -23,7 +23,13 @@ fn detect_local_ipv4() -> Result<Ipv4Addr, String> {
 fn sanitize_label(value: &str, fallback: &str) -> String {
     let mut sanitized = value
         .chars()
-        .map(|c| if c.is_ascii_alphanumeric() || c == '-' { c } else { '-' })
+        .map(|c| {
+            if c.is_ascii_alphanumeric() || c == '-' {
+                c
+            } else {
+                '-'
+            }
+        })
         .collect::<String>()
         .trim_matches('-')
         .to_string();
@@ -67,7 +73,13 @@ fn push_record(buf: &mut Vec<u8>, name: &str, rr_type: u16, rr_class: u16, ttl:
     buf.extend_from_slice(rdata);
 }
 
-fn build_mdns_packet(instance_name: &str, host_name: &str, ip: Ipv4Addr, port: u16, video_uri: &str) -> Vec<u8> {
+fn build_mdns_packet(
+    instance_name: &str,
+    host_name: &str,
+    ip: Ipv4Addr,
+    port: u16,
+    video_uri: &str,
+) -> Vec<u8> {
     let service_type = "_mavlink._udp.local";
     let instance_fqdn = format!("{}.{}", instance_name, service_type);
     let host_fqdn = format!("{}.local", host_name);
@@ -122,7 +134,11 @@ pub fn start_uas_advertisement(
     let local_ip = match detect_local_ipv4() {
         Ok(ip) => ip,
         Err(error) => {
-            let _ = ctx.callback_data("MDNS ERROR", "Failed to determine local IPv4", error.clone());
+            let _ = ctx.callback_data(
+                "MDNS ERROR",
+                "Failed to determine local IPv4",
+                error.clone(),
+            );
             return "mdns local IPv4 error";
         }
     };
@@ -161,7 +177,10 @@ pub fn start_uas_advertisement(
 
         loop {
             match socket.send_to(&packet, multicast_addr) {
-                Ok(size) => info!("Sent mDNS UAS advertisement ({} bytes) to {}", size, multicast_addr),
+                Ok(size) => info!(
+                    "Sent mDNS UAS advertisement ({} bytes) to {}",
+                    size, multicast_addr
+                ),
                 Err(error) => info!("Failed sending mDNS UAS advertisement: {}", error),
             }
 
@@ -172,7 +191,10 @@ pub fn start_uas_advertisement(
             }
         }
 
-        info!("Stopped mDNS UAS advertisement for instance={}", safe_instance);
+        info!(
+            "Stopped mDNS UAS advertisement for instance={}",
+            safe_instance
+        );
     });
 
     let _ = ctx.callback_data(

src/tcp/client.rs

@@ -54,17 +54,15 @@ fn send_over_stream(
 ) -> Result<(), String> {
     let message_len = message.len();
     info!("Sending TCP payload ({} bytes)", message_len);
-    stream
-        .write_message(message.as_bytes())
-        .map_err(|e| {
-            let message = e.to_string();
-            let _ = context.callback_data(
-                "TCP SOCKET ERROR",
-                "TAK Socket disconnected",
-                message.clone(),
-            );
-            message
-        })
+    stream.write_message(message.as_bytes()).map_err(|e| {
+        let message = e.to_string();
+        let _ = context.callback_data(
+            "TCP SOCKET ERROR",
+            "TAK Socket disconnected",
+            message.clone(),
+        );
+        message
+    })
 }
 
 fn flush_pending_messages(
@@ -145,10 +143,14 @@ impl TcpClient {
             let mut pending_messages: VecDeque<(String, Context)> = VecDeque::new();
             let (connect_tx, connect_rx) = mpsc::channel();
 
-            info!("TCP worker thread started with config: {}", config_description);
+            info!(
+                "TCP worker thread started with config: {}",
+                config_description
+            );
 
             let tcp_thread = thread::spawn(move || {
-                let connect_result = panic::catch_unwind(AssertUnwindSafe(|| connect_stream(&config)));
+                let connect_result =
+                    panic::catch_unwind(AssertUnwindSafe(|| connect_stream(&config)));
 
                 match connect_result {
                     Ok(Ok(stream)) => {
@@ -184,7 +186,8 @@ impl TcpClient {
                         match &mut state {
                             ConnectionState::Connected => {
                                 if let Some(stream) = connection.as_mut() {
-                                    if let Err(error) = send_over_stream(stream, &context, message) {
+                                    if let Err(error) = send_over_stream(stream, &context, message)
+                                    {
                                         info!("Failed to send message: {}", error);
                                         state = ConnectionState::Failed(error);
                                         connection = None;

src/tcp/config.rs

@@ -62,3 +62,65 @@ impl ConnectionConfig {
         }
     }
 }
+
+#[cfg(test)]
+mod tests {
+    use super::ConnectionConfig;
+
+    #[test]
+    fn describes_plain_tcp_connection() {
+        let config = ConnectionConfig::Plain {
+            address: "127.0.0.1:8087".to_string(),
+        };
+
+        assert_eq!(config.connected_message(), "Connected to TCP Server");
+        assert_eq!(config.target(), "127.0.0.1:8087");
+        assert_eq!(config.describe(), "plain tcp -> 127.0.0.1:8087");
+    }
+
+    #[test]
+    fn describes_manual_mtls_connection() {
+        let config = ConnectionConfig::Mtls {
+            address: "tak.example.test:8089".to_string(),
+            server_name: "tak.example.test".to_string(),
+            ca_cert_path: "ca.pem".to_string(),
+            client_cert_path: "client.pem".to_string(),
+            client_key_path: "client.key".to_string(),
+        };
+
+        assert_eq!(
+            config.connected_message(),
+            "Connected to TAK Server via mTLS"
+        );
+        assert_eq!(config.target(), "tak.example.test:8089");
+        assert_eq!(
+            config.describe(),
+            "manual mtls -> tak.example.test:8089 (server_name=tak.example.test, ca=ca.pem, cert=client.pem, key=client.key)"
+        );
+    }
+
+    #[test]
+    fn enrollment_description_excludes_password() {
+        let config = ConnectionConfig::EnrollMtls {
+            host: "tak.example.test".to_string(),
+            server_name: "tak.example.test".to_string(),
+            enroll_port: "8446".to_string(),
+            username: "operator".to_string(),
+            password: "super-secret-password".to_string(),
+            client_uid: "armatak-test".to_string(),
+        };
+
+        assert_eq!(
+            config.connected_message(),
+            "Connected to TAK Server via enrolled mTLS certificate"
+        );
+        assert_eq!(config.target(), "tak.example.test");
+
+        let description = config.describe();
+        assert_eq!(
+            description,
+            "enroll mtls -> host=tak.example.test enroll_port=8446 server_name=tak.example.test username=operator client_uid=armatak-test"
+        );
+        assert!(!description.contains("super-secret-password"));
+    }
+}

src/tcp/cot.rs

@@ -19,6 +19,16 @@ pub fn send_marker_cot(
     "Sending Marker Cursor Over Time to TCP server"
 }
 
+pub fn send_report_marker_cot(
+    ctx: Context,
+    cursor_over_time: cot::report_marker::ReportMarkerCoTPayload,
+) -> &'static str {
+    let payload = cursor_over_time.to_cot().convert_to_xml();
+    send_payload(ctx, payload);
+
+    "Sending Report Marker Cursor Over Time to TCP server"
+}
+
 pub fn send_digital_pointer_cot(
     ctx: Context,
     cursor_over_time: cot::digital_pointer::DigitalPointerPayload,
@@ -29,6 +39,12 @@ pub fn send_digital_pointer_cot(
     "Sending Digital Pointer Cursor Over Time to TCP server"
 }
 
+pub fn send_delete_cot(ctx: Context, payload: cot::delete::DeleteCoTPayload) -> &'static str {
+    send_payload(ctx, payload.to_xml());
+
+    "Sending Delete Cursor Over Time to TCP server"
+}
+
 pub fn send_message_cot(
     ctx: Context,
     message_payload: cot::message::MessagePayload,
@@ -50,10 +66,7 @@ pub fn send_uas_platform_cot(
     "Sending UAS Platform main CoT to TCP server"
 }
 
-pub fn send_uas_video_cot(
-    ctx: Context,
-    payload: cot::uas::UasVideoCoTPayload,
-) -> &'static str {
+pub fn send_uas_video_cot(ctx: Context, payload: cot::uas::UasVideoCoTPayload) -> &'static str {
     let xml = payload.to_xml();
     if !xml.is_empty() {
         send_payload(ctx, xml);
@@ -62,10 +75,7 @@ pub fn send_uas_video_cot(
     "Sending UAS Video (b-i-v) CoT to TCP server"
 }
 
-pub fn send_uas_sensor_cot(
-    ctx: Context,
-    payload: cot::uas::UasSensorCoTPayload,
-) -> &'static str {
+pub fn send_uas_sensor_cot(ctx: Context, payload: cot::uas::UasSensorCoTPayload) -> &'static str {
     let xml = payload.to_xml();
     send_payload(ctx, xml);
 

src/tcp/draw.rs

@@ -1,37 +1,90 @@
 use arma_rs::Context;
+use log::info;
 
 use crate::{cot, tcp::send_payload};
 
+fn day_stale() -> (String, String) {
+    let now = chrono::Utc::now().to_rfc3339_opts(chrono::SecondsFormat::Millis, true);
+    let stale = (chrono::Utc::now() + chrono::Duration::days(1))
+        .to_rfc3339_opts(chrono::SecondsFormat::Millis, true);
+    (now, stale)
+}
+
+fn payload_stale(stale_seconds: i64) -> (String, String) {
+    let now = chrono::Utc::now().to_rfc3339_opts(chrono::SecondsFormat::Millis, true);
+    let stale = (chrono::Utc::now() + chrono::Duration::seconds(stale_seconds.max(1)))
+        .to_rfc3339_opts(chrono::SecondsFormat::Millis, true);
+    (now, stale)
+}
+
 pub fn send_circle_cot(
     ctx: Context,
     circle_payload: cot::draws::circle::CircleCoTPayload,
 ) -> &'static str {
     let shape_circle_cot = circle_payload.to_cot();
-    let now = chrono::Utc::now().to_rfc3339_opts(chrono::SecondsFormat::Millis, true);
-    let stale = (chrono::Utc::now() + chrono::Duration::days(1))
-        .to_rfc3339_opts(chrono::SecondsFormat::Millis, true);
+    let (now, stale) = day_stale();
     let payload = shape_circle_cot.to_xml(&now, &stale);
     send_payload(ctx, payload);
 
     "Sending Circle CoT to TCP server"
 }
 
-pub fn send_ellipse_cot(ctx: Context) -> &'static str {
-    let _ = ctx;
-    "Not implemented: send_ellipse_cot"
+pub fn send_ellipse_cot(
+    ctx: Context,
+    ellipse_payload: cot::draws::shape::DrawEllipsePayload,
+) -> &'static str {
+    let (now, stale) = payload_stale(ellipse_payload.stale_seconds);
+    let payload = ellipse_payload.to_xml(&now, &stale);
+    send_payload(ctx, payload);
+
+    "Sending Ellipse CoT to TCP server"
 }
 
-pub fn send_rectangle_cot(ctx: Context) -> &'static str {
-    let _ = ctx;
-    "Not implemented: send_ellipse_cot"
+pub fn send_rectangle_cot(
+    ctx: Context,
+    rectangle_payload: cot::draws::shape::DrawLinksPayload,
+) -> &'static str {
+    let (now, stale) = payload_stale(rectangle_payload.stale_seconds);
+    let payload = rectangle_payload.to_xml(&now, &stale);
+    send_payload(ctx, payload);
+
+    "Sending Rectangle CoT to TCP server"
 }
 
-pub fn send_freedraw_cot(ctx: Context) -> &'static str {
-    let _ = ctx;
-    "Not implemented: send_ellipse_cot"
+pub fn send_freedraw_cot(
+    ctx: Context,
+    freedraw_payload: cot::draws::shape::DrawLinksPayload,
+) -> &'static str {
+    let (now, stale) = payload_stale(freedraw_payload.stale_seconds);
+    let payload = freedraw_payload.to_xml(&now, &stale);
+    send_payload(ctx, payload);
+
+    "Sending Free Draw CoT to TCP server"
 }
 
-pub fn send_vectordraw_cot(ctx: Context) -> &'static str {
-    let _ = ctx;
-    "Not implemented: send_ellipse_cot"
+pub fn send_vectordraw_cot(
+    ctx: Context,
+    vector_payload: cot::draws::shape::DrawLinksPayload,
+) -> &'static str {
+    let (now, stale) = payload_stale(vector_payload.stale_seconds);
+    let payload = vector_payload.to_xml(&now, &stale);
+    send_payload(ctx, payload);
+
+    "Sending Tactical Graphic CoT to TCP server"
+}
+
+pub fn send_route_cot(
+    ctx: Context,
+    route_payload: cot::draws::route::RoutePayload,
+) -> &'static str {
+    let (now, stale) = payload_stale(route_payload.stale_seconds);
+    let payload = route_payload.to_xml(&now, &stale);
+    info!(
+        "Sending ATAK route '{}' ({} bytes)",
+        route_payload.callsign,
+        payload.len()
+    );
+    send_payload(ctx, payload);
+
+    "Sending Route CoT to TCP server"
 }

src/tcp/tls/connector.rs

@@ -6,8 +6,8 @@ use std::fs::File;
 use std::io::BufReader;
 use std::io::Cursor;
 use std::net::{SocketAddr, TcpStream, ToSocketAddrs};
-use std::time::Duration;
 use std::sync::Arc;
+use std::time::Duration;
 
 use crate::tcp::transport::TransportStream;
 
@@ -65,7 +65,12 @@ fn resolve_address(address: &str) -> Result<SocketAddr, String> {
         .to_socket_addrs()
         .map_err(|e| format!("failed to resolve {}: {}", address, e))?
         .next()
-        .ok_or_else(|| format!("failed to resolve {}: no socket addresses returned", address))
+        .ok_or_else(|| {
+            format!(
+                "failed to resolve {}: no socket addresses returned",
+                address
+            )
+        })
 }
 
 fn connect_tcp(address: &str) -> Result<TcpStream, String> {

src/tcp/tls/enrollment.rs

@@ -1,10 +1,14 @@
-use rcgen::{CertificateParams, DistinguishedName, DnType, KeyPair, PKCS_RSA_SHA256};
 use log::info;
+use rcgen::{CertificateParams, DistinguishedName, DnType, KeyPair, PKCS_RSA_SHA256};
 use reqwest::blocking::Client;
 use serde::Deserialize;
 use uuid::Uuid;
 
 use super::connector::connect_mtls_from_pem;
+use super::protocol::{
+    enrollment_config_url, enrollment_sign_url, normalize_certificate_pem,
+    parse_enrollment_config, EnrollmentConfig,
+};
 use crate::tcp::transport::TransportStream;
 
 #[derive(Deserialize)]
@@ -14,34 +18,6 @@ struct EnrollmentResponse {
     ca0: String,
 }
 
-struct EnrollmentConfig {
-    server_port: String,
-    enroll_path: String,
-}
-
-fn extract_tag_value(xml: &str, tag_name: &str) -> Option<String> {
-    let open_tag = format!("<{}>", tag_name);
-    let close_tag = format!("</{}>", tag_name);
-    let start = xml.find(&open_tag)? + open_tag.len();
-    let end = xml[start..].find(&close_tag)? + start;
-    Some(xml[start..end].trim().to_string())
-}
-
-fn wrap_pem_body(base64_body: &str, begin: &str, end: &str) -> String {
-    let mut wrapped = String::new();
-    let normalized = base64_body.trim().replace(['\r', '\n'], "");
-
-    wrapped.push_str(begin);
-    wrapped.push('\n');
-    for chunk in normalized.as_bytes().chunks(64) {
-        wrapped.push_str(std::str::from_utf8(chunk).unwrap_or_default());
-        wrapped.push('\n');
-    }
-    wrapped.push_str(end);
-    wrapped.push('\n');
-    wrapped
-}
-
 fn enrollment_http_client() -> Result<Client, String> {
     Client::builder()
         .danger_accept_invalid_certs(true)
@@ -64,16 +40,18 @@ fn response_error_details(response: reqwest::blocking::Response) -> String {
     }
 }
 
-fn fetch_enrollment_config(host: &str, enroll_port: &str) -> Result<EnrollmentConfig, String> {
-    let url = format!(
-        "https://{}:{}/Marti/api/tls/config",
-        host.trim(),
-        enroll_port.trim()
-    );
+fn fetch_enrollment_config(
+    host: &str,
+    enroll_port: &str,
+    username: &str,
+    password: &str,
+) -> Result<EnrollmentConfig, String> {
+    let url = enrollment_config_url(host, enroll_port);
     info!("Fetching TAK enrollment config from {}", url);
 
     let response = enrollment_http_client()?
         .get(&url)
+        .basic_auth(username.trim(), Some(password.to_string()))
         .send()
         .map_err(|e| format!("failed to fetch {}: {}", url, e))?;
 
@@ -88,21 +66,14 @@ fn fetch_enrollment_config(host: &str, enroll_port: &str) -> Result<EnrollmentCo
     let response_text = response
         .text()
         .map_err(|e| format!("failed to read config response from {}: {}", url, e))?;
-
-    let server_port = extract_tag_value(&response_text, "serverPort")
-        .ok_or_else(|| "missing serverPort in /Marti/api/tls/config response".to_string())?;
-    let enroll_path = extract_tag_value(&response_text, "enrollPath")
-        .ok_or_else(|| "missing enrollPath in /Marti/api/tls/config response".to_string())?;
+    let config = parse_enrollment_config(&response_text);
 
     info!(
         "Enrollment config received: server_port={} enroll_path={}",
-        server_port, enroll_path
+        config.server_port, config.enroll_path
     );
 
-    Ok(EnrollmentConfig {
-        server_port,
-        enroll_path,
-    })
+    Ok(config)
 }
 
 fn enroll_client_certificate(
@@ -134,13 +105,7 @@ fn enroll_client_certificate(
         .map_err(|e| format!("failed to generate CSR: {}", e))?;
     let csr_der = csr.der().as_ref().to_vec();
 
-    let url = format!(
-        "https://{}:{}{}?clientUid={}",
-        host.trim(),
-        enroll_port.trim(),
-        enroll_path.trim(),
-        client_uid.trim()
-    );
+    let url = enrollment_sign_url(host, enroll_port, enroll_path, client_uid);
     info!(
         "Submitting client certificate enrollment request for {} to {}",
         client_uid, url
@@ -173,14 +138,11 @@ fn enroll_client_certificate(
         enrollment.ca0.len()
     );
 
-    let cert_pem = wrap_pem_body(
-        &enrollment.signed_cert,
-        "-----BEGIN CERTIFICATE-----",
-        "-----END CERTIFICATE-----",
-    );
+    let ca_cert_pem = normalize_certificate_pem(&enrollment.ca0);
+    let cert_pem = normalize_certificate_pem(&enrollment.signed_cert);
     let key_pem = key_pair.serialize_pem();
 
-    Ok((enrollment.ca0, cert_pem, key_pem))
+    Ok((ca_cert_pem, cert_pem, key_pem))
 }
 
 pub fn enroll_and_connect(
@@ -198,13 +160,10 @@ pub fn enroll_and_connect(
     };
     info!(
         "Starting enroll_and_connect for host={} enroll_port={} server_name={} client_uid={}",
-        host,
-        enroll_port,
-        server_name,
-        normalized_client_uid
+        host, enroll_port, server_name, normalized_client_uid
     );
 
-    let enrollment_config = fetch_enrollment_config(host, enroll_port)?;
+    let enrollment_config = fetch_enrollment_config(host, enroll_port, username, password)?;
     let (ca_cert_pem, client_cert_pem, client_key_pem) = enroll_client_certificate(
         host,
         enroll_port,

src/tcp/tls/mod.rs

@@ -1,5 +1,6 @@
 mod connector;
 mod enrollment;
+mod protocol;
 
 pub use connector::connect_mtls;
 pub use enrollment::enroll_and_connect;

src/tcp/tls/protocol.rs

@@ -0,0 +1,201 @@
+pub(crate) const DEFAULT_MTLS_SERVER_PORT: &str = "8089";
+pub(crate) const DEFAULT_ENROLL_PATH: &str = "/Marti/api/tls/signClient/v2";
+
+#[derive(Debug, Clone, PartialEq, Eq)]
+pub(crate) struct EnrollmentConfig {
+    pub server_port: String,
+    pub enroll_path: String,
+}
+
+pub(crate) fn enrollment_config_url(host: &str, enroll_port: &str) -> String {
+    format!(
+        "https://{}:{}/Marti/api/tls/config",
+        host.trim(),
+        enroll_port.trim()
+    )
+}
+
+pub(crate) fn enrollment_sign_url(
+    host: &str,
+    enroll_port: &str,
+    enroll_path: &str,
+    client_uid: &str,
+) -> String {
+    let path = normalize_enroll_path(enroll_path);
+    format!(
+        "https://{}:{}{}?clientUid={}",
+        host.trim(),
+        enroll_port.trim(),
+        path,
+        client_uid.trim()
+    )
+}
+
+pub(crate) fn parse_enrollment_config(xml: &str) -> EnrollmentConfig {
+    EnrollmentConfig {
+        server_port: extract_tag_value(xml, "serverPort")
+            .unwrap_or_else(|| DEFAULT_MTLS_SERVER_PORT.to_string()),
+        enroll_path: extract_tag_value(xml, "enrollPath")
+            .map(|path| normalize_enroll_path(&path))
+            .unwrap_or_else(|| DEFAULT_ENROLL_PATH.to_string()),
+    }
+}
+
+pub(crate) fn normalize_certificate_pem(certificate: &str) -> String {
+    let trimmed = certificate.trim();
+    if trimmed.contains("-----BEGIN CERTIFICATE-----") {
+        format!("{}\n", trimmed)
+    } else {
+        wrap_pem_body(
+            trimmed,
+            "-----BEGIN CERTIFICATE-----",
+            "-----END CERTIFICATE-----",
+        )
+    }
+}
+
+fn normalize_enroll_path(path: &str) -> String {
+    let trimmed = path.trim();
+    if trimmed.starts_with('/') {
+        trimmed.to_string()
+    } else {
+        format!("/{}", trimmed)
+    }
+}
+
+fn extract_tag_value(xml: &str, tag_name: &str) -> Option<String> {
+    let open_tag = format!("<{}>", tag_name);
+    let close_tag = format!("</{}>", tag_name);
+    let start = xml.find(&open_tag)? + open_tag.len();
+    let end = xml[start..].find(&close_tag)? + start;
+    Some(xml[start..end].trim().to_string())
+}
+
+fn wrap_pem_body(base64_body: &str, begin: &str, end: &str) -> String {
+    let mut wrapped = String::new();
+    let normalized = base64_body.trim().replace(['\r', '\n'], "");
+
+    wrapped.push_str(begin);
+    wrapped.push('\n');
+    for chunk in normalized.as_bytes().chunks(64) {
+        wrapped.push_str(std::str::from_utf8(chunk).unwrap_or_default());
+        wrapped.push('\n');
+    }
+    wrapped.push_str(end);
+    wrapped.push('\n');
+    wrapped
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    #[test]
+    fn uses_official_tak_defaults() {
+        assert_eq!(DEFAULT_MTLS_SERVER_PORT, "8089");
+        assert_eq!(DEFAULT_ENROLL_PATH, "/Marti/api/tls/signClient/v2");
+    }
+
+    #[test]
+    fn builds_enrollment_config_url_from_trimmed_values() {
+        assert_eq!(
+            enrollment_config_url(" tak.example.test ", " 8446 "),
+            "https://tak.example.test:8446/Marti/api/tls/config"
+        );
+    }
+
+    #[test]
+    fn builds_enrollment_sign_url_and_normalizes_path() {
+        assert_eq!(
+            enrollment_sign_url(
+                " tak.example.test ",
+                " 8446 ",
+                " Marti/api/tls/signClient/v2 ",
+                " client-1 "
+            ),
+            "https://tak.example.test:8446/Marti/api/tls/signClient/v2?clientUid=client-1"
+        );
+
+        assert_eq!(
+            enrollment_sign_url(
+                "tak.example.test",
+                "8446",
+                "/custom/enroll",
+                "client-2"
+            ),
+            "https://tak.example.test:8446/custom/enroll?clientUid=client-2"
+        );
+    }
+
+    #[test]
+    fn parses_explicit_tak_enrollment_config() {
+        let xml = "<certificateConfig><serverPort>9443</serverPort><enrollPath>Marti/api/tls/signClient/v2</enrollPath></certificateConfig>";
+
+        assert_eq!(
+            parse_enrollment_config(xml),
+            EnrollmentConfig {
+                server_port: "9443".to_string(),
+                enroll_path: "/Marti/api/tls/signClient/v2".to_string(),
+            }
+        );
+    }
+
+    #[test]
+    fn falls_back_when_optional_config_values_are_missing() {
+        let xml = "<certificateConfig><nameEntries /></certificateConfig>";
+
+        assert_eq!(
+            parse_enrollment_config(xml),
+            EnrollmentConfig {
+                server_port: DEFAULT_MTLS_SERVER_PORT.to_string(),
+                enroll_path: DEFAULT_ENROLL_PATH.to_string(),
+            }
+        );
+    }
+
+    #[test]
+    fn returns_none_when_config_closing_tag_is_missing() {
+        assert_eq!(extract_tag_value("<serverPort>9443", "serverPort"), None);
+    }
+
+    #[test]
+    fn trims_extracted_config_values() {
+        let xml = "<certificateConfig><serverPort> 8089 </serverPort><enrollPath> /Marti/api/tls/signClient/v2 </enrollPath></certificateConfig>";
+
+        assert_eq!(
+            parse_enrollment_config(xml),
+            EnrollmentConfig {
+                server_port: "8089".to_string(),
+                enroll_path: DEFAULT_ENROLL_PATH.to_string(),
+            }
+        );
+    }
+
+    #[test]
+    fn normalizes_raw_certificate_body_to_pem() {
+        let raw = format!("{}\r\n{}", "A".repeat(64), "B".repeat(8));
+        let pem = normalize_certificate_pem(&raw);
+
+        assert_eq!(
+            pem,
+            format!(
+                "-----BEGIN CERTIFICATE-----\n{}\n{}\n-----END CERTIFICATE-----\n",
+                "A".repeat(64),
+                "B".repeat(8)
+            )
+        );
+    }
+
+    #[test]
+    fn preserves_existing_pem_and_adds_a_single_trailing_newline() {
+        let with_newline =
+            "-----BEGIN CERTIFICATE-----\nQUJD\n-----END CERTIFICATE-----\n";
+        let without_newline = "-----BEGIN CERTIFICATE-----\nQUJD\n-----END CERTIFICATE-----";
+
+        assert_eq!(normalize_certificate_pem(with_newline), with_newline);
+        assert_eq!(
+            normalize_certificate_pem(without_newline),
+            format!("{}\n", without_newline)
+        );
+    }
+}

src/tcp/transport.rs

@@ -35,7 +35,12 @@ fn connect_plain(address: &str) -> Result<TransportStream, String> {
         .to_socket_addrs()
         .map_err(|e| format!("failed to resolve {}: {}", address, e))?
         .next()
-        .ok_or_else(|| format!("failed to resolve {}: no socket addresses returned", address))?;
+        .ok_or_else(|| {
+            format!(
+                "failed to resolve {}: no socket addresses returned",
+                address
+            )
+        })?;
 
     info!(
         "Opening plain TCP connection to {} (resolved={}) with timeout {:?}",

src/tests.rs

@@ -1,25 +1,17 @@
 #[cfg(test)]
 mod tests {
     use crate::init;
-    use std::vec;
     use uuid::Uuid;
 
     #[test]
-    fn uuid_output_is_uuid4_identifier() {
+    fn uuid_command_accepts_no_arguments_and_rejects_arguments() {
         let extension = init().testing();
+
         let (output, _) = extension.call("uuid", None);
+        assert!(Uuid::parse_str(&output).is_ok());
 
-        let validation = Uuid::parse_str(&output);
-
-        assert!(validation.is_ok())
-    }
-
-    #[test]
-    fn uuid_output_throws_if_passed_args() {
-        let extension = init().testing();
-        let args: Vec<String> = vec![1.to_string(), 2.to_string()];
-        let (output, _) = extension.call("uuid", Some(args));
-
-        assert_eq!(output, "")
+        let args = vec!["1".to_string(), "2".to_string()];
+        let (output_with_args, _) = extension.call("uuid", Some(args));
+        assert_eq!(output_with_args, "");
     }
 }

src/uas/callbacks.rs

@@ -3,8 +3,38 @@ pub(crate) struct MavlinkCallbackEvent {
     pub data: String,
 }
 
+use super::constants::{AUTOPILOT_COMPONENT_ID, CAMERA_COMPONENT_ID, TURRET_CAMERA_COMPONENT_ID};
+use super::identity::should_send_video_stream_information;
+use super::packets::{
+    autopilot_version_packet, camera_fov_status_packet_for_component,
+    camera_information_packet_for_component, command_ack_packet, gimbal_manager_information_packet,
+    home_position_packet, mission_ack_packet, mission_request_int_packet,
+    mount_orientation_packet_for_component, mount_status_packet,
+    video_stream_information_packet_for_component, video_stream_status_packet_for_component,
+};
+use super::state::{latest_system, set_active_camera, set_home};
+use log::info;
+use std::collections::HashMap;
+use std::sync::{Mutex, OnceLock};
+
+#[derive(Clone, Copy)]
+struct MissionUploadState {
+    count: u16,
+    next_seq: u16,
+    mission_type: u8,
+    gcs_system: u8,
+    gcs_component: u8,
+}
+
+static MISSION_UPLOADS: OnceLock<Mutex<HashMap<u8, MissionUploadState>>> = OnceLock::new();
+
+fn mission_uploads() -> &'static Mutex<HashMap<u8, MissionUploadState>> {
+    MISSION_UPLOADS.get_or_init(|| Mutex::new(HashMap::new()))
+}
+
 pub(crate) fn hex_preview(bytes: &[u8], max_len: usize) -> String {
-    bytes.iter()
+    bytes
+        .iter()
         .take(max_len)
         .map(|byte| format!("{:02X}", byte))
         .collect::<Vec<_>>()
@@ -13,19 +43,42 @@ pub(crate) fn hex_preview(bytes: &[u8], max_len: usize) -> String {
 
 pub(crate) fn mav_cmd_name(command_id: u16) -> &'static str {
     match command_id {
+        16 => "NAV_WAYPOINT",
+        17 => "NAV_LOITER_UNLIM",
+        20 => "NAV_RETURN_TO_LAUNCH",
+        21 => "NAV_LAND",
         22 => "NAV_TAKEOFF",
         176 => "DO_SET_MODE",
+        178 => "DO_CHANGE_SPEED",
+        179 => "DO_SET_HOME",
+        192 => "DO_REPOSITION",
+        205 => "DO_MOUNT_CONTROL",
+        43000 => "GUIDED_CHANGE_SPEED",
+        43001 => "GUIDED_CHANGE_ALTITUDE",
+        43002 => "GUIDED_CHANGE_HEADING",
         200 => "IMAGE_START_CAPTURE",
         201 => "IMAGE_STOP_CAPTURE",
         250 => "VIDEO_START_CAPTURE",
         251 => "VIDEO_STOP_CAPTURE",
         252 => "DO_CONTROL_VIDEO",
         400 => "COMPONENT_ARM_DISARM",
-        521 => "REQUEST_MESSAGE",
+        511 => "SET_MESSAGE_INTERVAL",
+        512 => "REQUEST_MESSAGE",
+        521 => "REQUEST_CAMERA_INFORMATION",
+        2502 => "VIDEO_START_STREAMING",
+        2503 => "VIDEO_STOP_STREAMING",
+        2504 => "REQUEST_VIDEO_STREAM_INFORMATION",
+        2505 => "REQUEST_VIDEO_STREAM_STATUS",
         _ => "UNKNOWN",
     }
 }
 
+fn read_i32(payload: &[u8], offset: usize) -> Option<i32> {
+    payload
+        .get(offset..offset + 4)
+        .map(|bytes| i32::from_le_bytes([bytes[0], bytes[1], bytes[2], bytes[3]]))
+}
+
 fn read_i16(payload: &[u8], offset: usize) -> Option<i16> {
     payload
         .get(offset..offset + 2)
@@ -46,10 +99,10 @@ fn read_f32(payload: &[u8], offset: usize) -> Option<f32> {
 
 fn mavlink_message_detail(msg_id: u8, payload: &[u8]) -> String {
     match msg_id {
-        76 if payload.len() >= 33 => {
+        76 if payload.len() >= 31 => {
             let command = u16::from_le_bytes([payload[28], payload[29]]);
             let target_system = payload[30];
-            let target_component = payload[31];
+            let target_component = payload.get(31).copied().unwrap_or(0);
             format!(
                 " command={}({}) target={}:{}",
                 command,
@@ -86,7 +139,8 @@ pub(crate) fn mavlink_packet_summary(bytes: &[u8]) -> String {
             let system_id = bytes[3];
             let component_id = bytes[4];
             let msg_id = bytes[5];
-            let detail = mavlink_message_detail(msg_id, bytes.get(6..6 + payload_len).unwrap_or(&[]));
+            let detail =
+                mavlink_message_detail(msg_id, bytes.get(6..6 + payload_len).unwrap_or(&[]));
             format!(
                 "MAVLink v1 msgid={}{} sysid={} compid={} seq={} payload_len={} preview={}",
                 msg_id,
@@ -104,7 +158,10 @@ pub(crate) fn mavlink_packet_summary(bytes: &[u8]) -> String {
             let system_id = bytes[5];
             let component_id = bytes[6];
             let msg_id = bytes[7] as u32 | ((bytes[8] as u32) << 8) | ((bytes[9] as u32) << 16);
-            let detail = mavlink_message_detail(msg_id as u8, bytes.get(10..10 + payload_len).unwrap_or(&[]));
+            let detail = mavlink_message_detail(
+                msg_id as u8,
+                bytes.get(10..10 + payload_len).unwrap_or(&[]),
+            );
             format!(
                 "MAVLink v2 msgid={}{} sysid={} compid={} seq={} payload_len={} preview={}",
                 msg_id,
@@ -163,11 +220,11 @@ pub(crate) fn mavlink_callback_event(bytes: &[u8], source: &str) -> Option<Mavli
                 ),
             })
         }
-        76 if payload.len() >= 33 => {
+        76 if payload.len() >= 31 => {
             let command = read_u16(payload, 28)?;
             let target_system = *payload.get(30)?;
-            let target_component = *payload.get(31)?;
-            let confirmation = *payload.get(32)?;
+            let target_component = payload.get(31).copied().unwrap_or(0);
+            let confirmation = payload.get(32).copied().unwrap_or(0);
             Some(MavlinkCallbackEvent {
                 function: "COMMAND_LONG",
                 data: format!(
@@ -200,7 +257,7 @@ pub(crate) fn mavlink_callback_event(bytes: &[u8], source: &str) -> Option<Mavli
             Some(MavlinkCallbackEvent {
                 function: "COMMAND_INT",
                 data: format!(
-                    "source={};sysid={};compid={};command={};command_name={};target_system={};target_component={};frame={};current={};autocontinue={};param1={:.3};param2={:.3};param3={:.3};param4={:.3}",
+                    "source={};sysid={};compid={};command={};command_name={};target_system={};target_component={};frame={};current={};autocontinue={};param1={:.3};param2={:.3};param3={:.3};param4={:.3};x={};y={};z={:.3}",
                     source,
                     system_id,
                     component_id,
@@ -215,6 +272,181 @@ pub(crate) fn mavlink_callback_event(bytes: &[u8], source: &str) -> Option<Mavli
                     read_f32(payload, 4).unwrap_or(0.0),
                     read_f32(payload, 8).unwrap_or(0.0),
                     read_f32(payload, 12).unwrap_or(0.0),
+                    read_i32(payload, 16).unwrap_or(0),
+                    read_i32(payload, 20).unwrap_or(0),
+                    read_f32(payload, 24).unwrap_or(0.0),
+                ),
+            })
+        }
+        44 if payload.len() >= 4 => {
+            let count = read_u16(payload, 0)?;
+            let target_system = *payload.get(2)?;
+            let target_component = *payload.get(3)?;
+            let mission_type = payload.get(4).copied().unwrap_or(0);
+            Some(MavlinkCallbackEvent {
+                function: "MISSION_COUNT",
+                data: format!(
+                    "source={};sysid={};compid={};target_system={};target_component={};count={};mission_type={}",
+                    source, system_id, component_id, target_system, target_component, count, mission_type
+                ),
+            })
+        }
+        39 if payload.len() >= 37 => {
+            let seq = read_u16(payload, 28)?;
+            let command = read_u16(payload, 30)?;
+            let target_system = *payload.get(32)?;
+            let target_component = *payload.get(33)?;
+            let frame = *payload.get(34)?;
+            let current = *payload.get(35)?;
+            let autocontinue = *payload.get(36)?;
+            let mission_type = payload.get(37).copied().unwrap_or(0);
+            Some(MavlinkCallbackEvent {
+                function: "MISSION_ITEM",
+                data: format!(
+                    "source={};sysid={};compid={};seq={};command={};command_name={};target_system={};target_component={};frame={};current={};autocontinue={};mission_type={};param1={:.3};param2={:.3};param3={:.3};param4={:.3};lat={:.7};lon={:.7};alt={:.3}",
+                    source,
+                    system_id,
+                    component_id,
+                    seq,
+                    command,
+                    mav_cmd_name(command),
+                    target_system,
+                    target_component,
+                    frame,
+                    current,
+                    autocontinue,
+                    mission_type,
+                    read_f32(payload, 0).unwrap_or(0.0),
+                    read_f32(payload, 4).unwrap_or(0.0),
+                    read_f32(payload, 8).unwrap_or(0.0),
+                    read_f32(payload, 12).unwrap_or(0.0),
+                    read_f32(payload, 16).unwrap_or(0.0),
+                    read_f32(payload, 20).unwrap_or(0.0),
+                    read_f32(payload, 24).unwrap_or(0.0),
+                ),
+            })
+        }
+        73 if payload.len() >= 37 => {
+            let seq = read_u16(payload, 28)?;
+            let command = read_u16(payload, 30)?;
+            let target_system = *payload.get(32)?;
+            let target_component = *payload.get(33)?;
+            let frame = *payload.get(34)?;
+            let current = *payload.get(35)?;
+            let autocontinue = *payload.get(36)?;
+            let mission_type = payload.get(37).copied().unwrap_or(0);
+            Some(MavlinkCallbackEvent {
+                function: "MISSION_ITEM_INT",
+                data: format!(
+                    "source={};sysid={};compid={};seq={};command={};command_name={};target_system={};target_component={};frame={};current={};autocontinue={};mission_type={};param1={:.3};param2={:.3};param3={:.3};param4={:.3};x={};y={};z={:.3};lat={:.7};lon={:.7};alt={:.3}",
+                    source,
+                    system_id,
+                    component_id,
+                    seq,
+                    command,
+                    mav_cmd_name(command),
+                    target_system,
+                    target_component,
+                    frame,
+                    current,
+                    autocontinue,
+                    mission_type,
+                    read_f32(payload, 0).unwrap_or(0.0),
+                    read_f32(payload, 4).unwrap_or(0.0),
+                    read_f32(payload, 8).unwrap_or(0.0),
+                    read_f32(payload, 12).unwrap_or(0.0),
+                    read_i32(payload, 16).unwrap_or(0),
+                    read_i32(payload, 20).unwrap_or(0),
+                    read_f32(payload, 24).unwrap_or(0.0),
+                    read_i32(payload, 16).unwrap_or(0) as f64 / 1e7,
+                    read_i32(payload, 20).unwrap_or(0) as f64 / 1e7,
+                    read_f32(payload, 24).unwrap_or(0.0),
+                ),
+            })
+        }
+        45 if payload.len() >= 2 => {
+            let target_system = *payload.get(0)?;
+            let target_component = *payload.get(1)?;
+            let mission_type = payload.get(2).copied().unwrap_or(0);
+            Some(MavlinkCallbackEvent {
+                function: "MISSION_CLEAR_ALL",
+                data: format!(
+                    "source={};sysid={};compid={};target_system={};target_component={};mission_type={}",
+                    source, system_id, component_id, target_system, target_component, mission_type
+                ),
+            })
+        }
+        41 if payload.len() >= 4 => {
+            let seq = read_u16(payload, 0)?;
+            let target_system = *payload.get(2)?;
+            let target_component = *payload.get(3)?;
+            Some(MavlinkCallbackEvent {
+                function: "MISSION_SET_CURRENT",
+                data: format!(
+                    "source={};sysid={};compid={};target_system={};target_component={};seq={}",
+                    source, system_id, component_id, target_system, target_component, seq
+                ),
+            })
+        }
+        243 if payload.len() >= 53 => {
+            let lat_int = read_i32(payload, 0)?;
+            let lon_int = read_i32(payload, 4)?;
+            let alt_mm = read_i32(payload, 8)?;
+            let target_system = *payload.get(52)?;
+            Some(MavlinkCallbackEvent {
+                function: "SET_HOME_POSITION",
+                data: format!(
+                    "source={};sysid={};compid={};target_system={};lat={:.7};lon={:.7};alt={:.3}",
+                    source,
+                    system_id,
+                    component_id,
+                    target_system,
+                    lat_int as f64 / 1e7,
+                    lon_int as f64 / 1e7,
+                    alt_mm as f32 / 1000.0,
+                ),
+            })
+        }
+        86 if payload.len() >= 53 => {
+            let lat_int = read_i32(payload, 4)?;
+            let lon_int = read_i32(payload, 8)?;
+            let alt = read_f32(payload, 12)?;
+            let type_mask = read_u16(payload, 48)?;
+            let target_system = *payload.get(50)?;
+            let target_component = *payload.get(51)?;
+            let coordinate_frame = *payload.get(52)?;
+            Some(MavlinkCallbackEvent {
+                function: "SET_POSITION_TARGET_GLOBAL_INT",
+                data: format!(
+                    "source={};sysid={};compid={};target_system={};target_component={};coordinate_frame={};type_mask={};lat={:.7};lon={:.7};alt={:.3};vx={:.3};vy={:.3};vz={:.3};yaw={:.3}",
+                    source,
+                    system_id,
+                    component_id,
+                    target_system,
+                    target_component,
+                    coordinate_frame,
+                    type_mask,
+                    lat_int as f64 / 1e7,
+                    lon_int as f64 / 1e7,
+                    alt,
+                    read_f32(payload, 16).unwrap_or(0.0),
+                    read_f32(payload, 20).unwrap_or(0.0),
+                    read_f32(payload, 24).unwrap_or(0.0),
+                    read_f32(payload, 40).unwrap_or(0.0),
+                ),
+            })
+        }
+        11 if payload.len() >= 6 => {
+            let custom_mode = payload
+                .get(0..4)
+                .map(|bytes| u32::from_le_bytes([bytes[0], bytes[1], bytes[2], bytes[3]]))?;
+            let target_system = *payload.get(4)?;
+            let base_mode = *payload.get(5)?;
+            Some(MavlinkCallbackEvent {
+                function: "SET_MODE",
+                data: format!(
+                    "source={};sysid={};compid={};target_system={};base_mode={};custom_mode={}",
+                    source, system_id, component_id, target_system, base_mode, custom_mode
                 ),
             })
         }
@@ -237,3 +469,553 @@ pub(crate) fn mavlink_callback_event(bytes: &[u8], source: &str) -> Option<Mavli
         _ => None,
     }
 }
+
+pub(crate) fn mavlink_response_packets(bytes: &[u8]) -> Vec<Vec<u8>> {
+    if bytes.len() < 8 {
+        return Vec::new();
+    }
+
+    let (msg_id, system_id, component_id, payload) = match bytes[0] {
+        0xFE if bytes.len() >= 8 => {
+            let payload_len = bytes[1] as usize;
+            (
+                bytes[5] as u32,
+                bytes[3],
+                bytes[4],
+                bytes.get(6..6 + payload_len).unwrap_or(&[]),
+            )
+        }
+        0xFD if bytes.len() >= 12 => {
+            let payload_len = bytes[1] as usize;
+            (
+                bytes[7] as u32 | ((bytes[8] as u32) << 8) | ((bytes[9] as u32) << 16),
+                bytes[5],
+                bytes[6],
+                bytes.get(10..10 + payload_len).unwrap_or(&[]),
+            )
+        }
+        _ => return Vec::new(),
+    };
+
+    match msg_id {
+        76 if payload.len() >= 31 => command_long_response_packets(payload),
+        75 if payload.len() >= 35 => command_int_response_packets(payload),
+        44 if payload.len() >= 4 => {
+            mission_count_response_packets(system_id, component_id, payload)
+        }
+        39 | 73 if payload.len() >= 37 => mission_item_response_packets(payload),
+        45 if payload.len() >= 2 => mission_clear_all_response_packets(payload),
+        243 if payload.len() >= 53 => set_home_position_response_packets(payload),
+        _ => Vec::new(),
+    }
+}
+
+fn command_long_response_packets(payload: &[u8]) -> Vec<Vec<u8>> {
+    let command = match read_u16(payload, 28) {
+        Some(command) => command,
+        None => return Vec::new(),
+    };
+    let target_system = *payload.get(30).unwrap_or(&0);
+    let target_component = *payload.get(31).unwrap_or(&0);
+    if target_system == 0 {
+        return Vec::new();
+    }
+
+    let ack_component = if target_component == 0 {
+        AUTOPILOT_COMPONENT_ID
+    } else {
+        target_component
+    };
+    let mut packets = vec![command_ack_packet(target_system, ack_component, command, 0)];
+
+    match command {
+        512 => {
+            let requested_message = read_f32(payload, 0).unwrap_or(0.0).round() as u32;
+            packets.extend(requested_message_packets(target_system, requested_message));
+        }
+        179 => {
+            if target_system != 0 {
+                let use_current = read_f32(payload, 0).unwrap_or(0.0) >= 1.0;
+                let lat = read_f32(payload, 16).unwrap_or(0.0) as f64;
+                let lon = read_f32(payload, 20).unwrap_or(0.0) as f64;
+                let alt = read_f32(payload, 24).unwrap_or(0.0);
+                if use_current {
+                    if let Some(system) = latest_system(target_system) {
+                        set_home(
+                            target_system,
+                            system.lat_deg,
+                            system.lon_deg,
+                            system.alt_msl_m - system.rel_alt_m,
+                        );
+                    }
+                } else if lat != 0.0 || lon != 0.0 {
+                    set_home(target_system, lat, lon, alt);
+                }
+            }
+        }
+        521 => {
+            if let Some(system) = latest_system(target_system) {
+                let camera_component =
+                    camera_component_for_target(target_component, system.has_turret_camera);
+                set_active_camera(target_system, camera_component);
+                info!(
+                    "MAVLink camera selection command={} target_system={} target_component={} resolved_camera_component={}",
+                    command, target_system, target_component, camera_component
+                );
+                packets.push(camera_information_packet_for_component(
+                    target_system,
+                    camera_component,
+                    &camera_name(&system.callsign, camera_component, system.has_turret_camera),
+                    gimbal_device_for_target(target_component, system.has_turret_camera),
+                ));
+            }
+        }
+        2502 | 2503 | 2505 => {
+            if let Some(system) = latest_system(target_system) {
+                let camera_component =
+                    camera_component_for_target(target_component, system.has_turret_camera);
+                set_active_camera(target_system, camera_component);
+                info!(
+                    "MAVLink camera selection command={} target_system={} target_component={} resolved_camera_component={}",
+                    command, target_system, target_component, camera_component
+                );
+                packets.push(video_stream_status_packet_for_component(
+                    target_system,
+                    camera_component,
+                    system.hfov_deg,
+                    1,
+                    false,
+                ));
+            }
+        }
+        2504 => {
+            if let Some(system) = latest_system(target_system) {
+                if should_send_video_stream_information(&system.video_uri) {
+                    let camera_component =
+                        camera_component_for_target(target_component, system.has_turret_camera);
+                    set_active_camera(target_system, camera_component);
+                    info!(
+                        "MAVLink camera selection command={} target_system={} target_component={} resolved_camera_component={}",
+                        command, target_system, target_component, camera_component
+                    );
+                    packets.push(video_stream_information_packet_for_component(
+                        target_system,
+                        camera_component,
+                        &camera_name(&system.callsign, camera_component, system.has_turret_camera),
+                        &system.video_uri,
+                        system.hfov_deg,
+                        1,
+                        1,
+                        false,
+                    ));
+                }
+            }
+        }
+        _ => {}
+    }
+
+    packets
+}
+
+fn command_int_response_packets(payload: &[u8]) -> Vec<Vec<u8>> {
+    let command = match read_u16(payload, 28) {
+        Some(command) => command,
+        None => return Vec::new(),
+    };
+    let target_system = *payload.get(30).unwrap_or(&0);
+    let target_component = *payload.get(31).unwrap_or(&AUTOPILOT_COMPONENT_ID);
+    if target_system == 0 {
+        return Vec::new();
+    }
+
+    vec![command_ack_packet(
+        target_system,
+        if target_component == 0 {
+            AUTOPILOT_COMPONENT_ID
+        } else {
+            target_component
+        },
+        command,
+        0,
+    )]
+}
+
+fn mission_count_response_packets(
+    gcs_system: u8,
+    gcs_component: u8,
+    payload: &[u8],
+) -> Vec<Vec<u8>> {
+    let count = match read_u16(payload, 0) {
+        Some(count) => count,
+        None => return Vec::new(),
+    };
+    let target_system = *payload.get(2).unwrap_or(&0);
+    let target_component = *payload.get(3).unwrap_or(&AUTOPILOT_COMPONENT_ID);
+    let mission_type = payload.get(4).copied().unwrap_or(0);
+    if target_system == 0 {
+        return Vec::new();
+    }
+
+    let ack_component = if target_component == 0 {
+        AUTOPILOT_COMPONENT_ID
+    } else {
+        target_component
+    };
+
+    let Ok(mut uploads) = mission_uploads().lock() else {
+        return Vec::new();
+    };
+
+    if count == 0 {
+        uploads.remove(&target_system);
+        return vec![mission_ack_packet(
+            target_system,
+            ack_component,
+            gcs_system,
+            gcs_component,
+            mission_type,
+        )];
+    }
+
+    uploads.insert(
+        target_system,
+        MissionUploadState {
+            count,
+            next_seq: 0,
+            mission_type,
+            gcs_system,
+            gcs_component,
+        },
+    );
+
+    vec![mission_request_int_packet(
+        target_system,
+        ack_component,
+        gcs_system,
+        gcs_component,
+        0,
+        mission_type,
+    )]
+}
+
+fn mission_item_response_packets(payload: &[u8]) -> Vec<Vec<u8>> {
+    let seq = match read_u16(payload, 28) {
+        Some(seq) => seq,
+        None => return Vec::new(),
+    };
+    let target_system = *payload.get(32).unwrap_or(&0);
+    let target_component = *payload.get(33).unwrap_or(&AUTOPILOT_COMPONENT_ID);
+    if target_system == 0 {
+        return Vec::new();
+    }
+
+    let ack_component = if target_component == 0 {
+        AUTOPILOT_COMPONENT_ID
+    } else {
+        target_component
+    };
+
+    let Ok(mut uploads) = mission_uploads().lock() else {
+        return Vec::new();
+    };
+    let Some(state) = uploads.get_mut(&target_system) else {
+        return vec![mission_ack_packet(
+            target_system,
+            ack_component,
+            255,
+            190,
+            payload.get(37).copied().unwrap_or(0),
+        )];
+    };
+
+    state.next_seq = seq.saturating_add(1);
+    if state.next_seq < state.count {
+        vec![mission_request_int_packet(
+            target_system,
+            ack_component,
+            state.gcs_system,
+            state.gcs_component,
+            state.next_seq,
+            state.mission_type,
+        )]
+    } else {
+        let ack = mission_ack_packet(
+            target_system,
+            ack_component,
+            state.gcs_system,
+            state.gcs_component,
+            state.mission_type,
+        );
+        uploads.remove(&target_system);
+        vec![ack]
+    }
+}
+
+fn mission_clear_all_response_packets(payload: &[u8]) -> Vec<Vec<u8>> {
+    let target_system = *payload.get(0).unwrap_or(&0);
+    let target_component = *payload.get(1).unwrap_or(&AUTOPILOT_COMPONENT_ID);
+    if target_system == 0 {
+        return Vec::new();
+    }
+
+    if let Ok(mut uploads) = mission_uploads().lock() {
+        uploads.remove(&target_system);
+    }
+
+    vec![mission_ack_packet(
+        target_system,
+        if target_component == 0 {
+            AUTOPILOT_COMPONENT_ID
+        } else {
+            target_component
+        },
+        255,
+        190,
+        payload.get(2).copied().unwrap_or(0),
+    )]
+}
+
+fn set_home_position_response_packets(payload: &[u8]) -> Vec<Vec<u8>> {
+    let target_system = *payload.get(52).unwrap_or(&0);
+    if target_system == 0 {
+        return Vec::new();
+    }
+    let lat = read_i32(payload, 0).unwrap_or(0) as f64 / 1e7;
+    let lon = read_i32(payload, 4).unwrap_or(0) as f64 / 1e7;
+    let alt = read_i32(payload, 8).unwrap_or(0) as f32 / 1000.0;
+    if lat != 0.0 || lon != 0.0 {
+        set_home(target_system, lat, lon, alt);
+    }
+    Vec::new()
+}
+
+fn requested_message_packets(system_id: u8, requested_message: u32) -> Vec<Vec<u8>> {
+    let Some(system) = latest_system(system_id) else {
+        return Vec::new();
+    };
+
+    match requested_message {
+        148 => vec![autopilot_version_packet(
+            system_id,
+            &system.mavlink_identity,
+        )],
+        242 => vec![home_position_packet(
+            system_id,
+            system.home_lat_deg,
+            system.home_lon_deg,
+            system.home_alt_msl_m,
+            system.heading_deg,
+        )],
+        259 => {
+            let mut packets = vec![camera_information_packet_for_component(
+                system_id,
+                CAMERA_COMPONENT_ID,
+                &camera_name(
+                    &system.callsign,
+                    CAMERA_COMPONENT_ID,
+                    system.has_turret_camera,
+                ),
+                0,
+            )];
+            if system.has_turret_camera {
+                packets.push(camera_information_packet_for_component(
+                    system_id,
+                    TURRET_CAMERA_COMPONENT_ID,
+                    &camera_name(&system.callsign, TURRET_CAMERA_COMPONENT_ID, true),
+                    super::constants::GIMBAL_COMPONENT_ID,
+                ));
+            }
+            packets
+        }
+        269 => {
+            if should_send_video_stream_information(&system.video_uri) {
+                let mut packets = vec![video_stream_information_packet_for_component(
+                    system_id,
+                    CAMERA_COMPONENT_ID,
+                    &camera_name(
+                        &system.callsign,
+                        CAMERA_COMPONENT_ID,
+                        system.has_turret_camera,
+                    ),
+                    &system.video_uri,
+                    system.hfov_deg,
+                    1,
+                    1,
+                    false,
+                )];
+                if system.has_turret_camera {
+                    packets.push(video_stream_information_packet_for_component(
+                        system_id,
+                        TURRET_CAMERA_COMPONENT_ID,
+                        &camera_name(&system.callsign, TURRET_CAMERA_COMPONENT_ID, true),
+                        &system.video_uri,
+                        system.hfov_deg,
+                        1,
+                        1,
+                        false,
+                    ));
+                }
+                packets
+            } else {
+                Vec::new()
+            }
+        }
+        270 => {
+            let mut packets = vec![video_stream_status_packet_for_component(
+                system_id,
+                CAMERA_COMPONENT_ID,
+                system.hfov_deg,
+                1,
+                false,
+            )];
+            if system.has_turret_camera {
+                packets.push(video_stream_status_packet_for_component(
+                    system_id,
+                    TURRET_CAMERA_COMPONENT_ID,
+                    system.hfov_deg,
+                    1,
+                    false,
+                ));
+            }
+            packets
+        }
+        265 => {
+            let mut packets = vec![mount_orientation_packet_for_component(
+                system_id,
+                CAMERA_COMPONENT_ID,
+                system.fpv_pitch_deg,
+                system.fpv_yaw_deg,
+            )];
+            if system.has_turret_camera {
+                packets.push(mount_orientation_packet_for_component(
+                    system_id,
+                    TURRET_CAMERA_COMPONENT_ID,
+                    system.gimbal_pitch_deg,
+                    system.gimbal_yaw_deg,
+                ));
+            }
+            packets
+        }
+        271 => {
+            let (fpv_image_lat, fpv_image_lon, fpv_image_alt) = fpv_image_point(
+                system.lat_deg,
+                system.lon_deg,
+                system.alt_msl_m,
+                system.rel_alt_m,
+                system.fpv_pitch_deg,
+                system.fpv_yaw_deg,
+            );
+            let mut packets = vec![camera_fov_status_packet_for_component(
+                system_id,
+                CAMERA_COMPONENT_ID,
+                system.lat_deg,
+                system.lon_deg,
+                system.alt_msl_m,
+                fpv_image_lat,
+                fpv_image_lon,
+                fpv_image_alt,
+                0.0,
+                system.fpv_pitch_deg,
+                system.fpv_yaw_deg,
+                system.hfov_deg,
+                system.vfov_deg,
+            )];
+            if system.has_turret_camera {
+                packets.push(camera_fov_status_packet_for_component(
+                    system_id,
+                    TURRET_CAMERA_COMPONENT_ID,
+                    system.lat_deg,
+                    system.lon_deg,
+                    system.alt_msl_m,
+                    system.image_lat_deg,
+                    system.image_lon_deg,
+                    system.image_alt_msl_m,
+                    0.0,
+                    system.gimbal_pitch_deg,
+                    system.gimbal_yaw_deg,
+                    system.hfov_deg,
+                    system.vfov_deg,
+                ));
+            }
+            packets
+        }
+        158 => {
+            let active_component = if system.has_turret_camera {
+                system.active_camera_component
+            } else {
+                CAMERA_COMPONENT_ID
+            };
+            let (pitch, roll, relative_yaw) = if active_component == TURRET_CAMERA_COMPONENT_ID {
+                (
+                    system.gimbal_pitch_deg,
+                    0.0,
+                    normalize_signed_deg(system.gimbal_yaw_deg - system.fpv_yaw_deg),
+                )
+            } else {
+                (system.fpv_pitch_deg, 0.0, 0.0)
+            };
+            vec![mount_status_packet(system_id, pitch, roll, relative_yaw)]
+        }
+        280 => vec![gimbal_manager_information_packet(system_id)],
+        _ => Vec::new(),
+    }
+}
+
+fn camera_component_for_target(target_component: u8, has_turret_camera: bool) -> u8 {
+    if has_turret_camera && target_component == TURRET_CAMERA_COMPONENT_ID {
+        TURRET_CAMERA_COMPONENT_ID
+    } else {
+        CAMERA_COMPONENT_ID
+    }
+}
+
+fn gimbal_device_for_target(target_component: u8, has_turret_camera: bool) -> u8 {
+    if has_turret_camera && target_component == TURRET_CAMERA_COMPONENT_ID {
+        super::constants::GIMBAL_COMPONENT_ID
+    } else {
+        0
+    }
+}
+
+fn camera_name(callsign: &str, component_id: u8, has_turret_camera: bool) -> String {
+    if has_turret_camera && component_id == TURRET_CAMERA_COMPONENT_ID {
+        format!("{callsign} Turret")
+    } else {
+        format!("{callsign} FPV")
+    }
+}
+
+fn normalize_signed_deg(value: f32) -> f32 {
+    let normalized = ((value % 360.0) + 360.0) % 360.0;
+    if normalized > 180.0 {
+        normalized - 360.0
+    } else {
+        normalized
+    }
+}
+
+fn fpv_image_point(
+    lat_deg: f64,
+    lon_deg: f64,
+    alt_msl_m: f32,
+    rel_alt_m: f32,
+    pitch_deg: f32,
+    yaw_deg: f32,
+) -> (f64, f64, f32) {
+    let pitch_rad = pitch_deg.to_radians();
+    let vertical = (-pitch_rad.sin()).max(0.01);
+    let slant_m = (rel_alt_m.max(1.0) / vertical).clamp(1.0, 15_000.0);
+    let ground_m = slant_m * pitch_rad.cos().abs();
+    let yaw_rad = yaw_deg.to_radians();
+    let north_m = ground_m * yaw_rad.cos();
+    let east_m = ground_m * yaw_rad.sin();
+    let lat_rad = lat_deg.to_radians();
+    let meters_per_degree_lat = 111_320.0;
+    let meters_per_degree_lon = (111_320.0 * lat_rad.cos().abs()).max(1.0);
+
+    (
+        lat_deg + north_m as f64 / meters_per_degree_lat,
+        lon_deg + east_m as f64 / meters_per_degree_lon,
+        alt_msl_m - rel_alt_m,
+    )
+}

src/uas/constants.rs

@@ -1,5 +1,6 @@
 pub const AUTOPILOT_COMPONENT_ID: u8 = 1;
 pub const CAMERA_COMPONENT_ID: u8 = 100;
+pub const TURRET_CAMERA_COMPONENT_ID: u8 = 101;
 pub const GIMBAL_COMPONENT_ID: u8 = 154;
 
 pub const MAV_TYPE_FIXED_WING: u8 = 1;
@@ -8,7 +9,7 @@ pub const MAV_TYPE_HELICOPTER: u8 = 4;
 pub const MAV_TYPE_GIMBAL: u8 = 26;
 pub const MAV_TYPE_CAMERA: u8 = 30;
 
-pub const MAV_AUTOPILOT_GENERIC: u8 = 0;
+pub const MAV_AUTOPILOT_ARDUPILOTMEGA: u8 = 3;
 pub const MAV_AUTOPILOT_INVALID: u8 = 8;
 
 pub const MAV_STATE_STANDBY: u8 = 3;
@@ -27,6 +28,10 @@ pub const MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INT: u64 = 256;
 pub const MAV_PROTOCOL_CAPABILITY_MAVLINK2: u64 = 8192;
 pub const MAV_PROTOCOL_CAPABILITY_COMPONENT_IMPLEMENTS_GIMBAL_MANAGER: u64 = 262_144;
 
+pub const CAMERA_CAP_FLAGS_CAPTURE_VIDEO: u32 = 1;
+pub const CAMERA_CAP_FLAGS_CAPTURE_IMAGE: u32 = 2;
+pub const CAMERA_CAP_FLAGS_HAS_MODES: u32 = 4;
+pub const CAMERA_CAP_FLAGS_HAS_BASIC_ZOOM: u32 = 64;
 pub const CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM: u32 = 256;
 pub const VIDEO_STREAM_STATUS_FLAGS_RUNNING: u16 = 1;
 pub const VIDEO_STREAM_TYPE_RTSP: u8 = 0;
@@ -34,3 +39,5 @@ pub const VIDEO_STREAM_TYPE_RTPUDP: u8 = 1;
 pub const VIDEO_STREAM_TYPE_TCP_MPEG: u8 = 2;
 pub const VIDEO_STREAM_TYPE_MPEG_TS: u8 = 3;
 pub const VIDEO_STREAM_ENCODING_H264: u8 = 1;
+
+pub const GIMBAL_MANAGER_CAP_FLAGS_BASIC_PITCH_YAW: u32 = 32 | 128 | 256 | 1024 | 4096 | 131_072;

src/uas/crc.rs

@@ -100,3 +100,70 @@ pub(crate) fn build_v2_packet(
     packet.push((crc >> 8) as u8);
     packet
 }
+
+#[cfg(test)]
+mod tests {
+    use super::{build_v1_packet, build_v2_packet, calculate_crc_extra, mavlink_crc, FieldSpec};
+
+    fn assert_packet_crc(packet: &[u8], crc_extra: u8) {
+        let checksum_offset = packet.len() - 2;
+        let expected = mavlink_crc(&packet[1..checksum_offset], crc_extra);
+        let actual = u16::from_le_bytes([packet[checksum_offset], packet[checksum_offset + 1]]);
+        assert_eq!(actual, expected);
+    }
+
+    #[test]
+    fn crc_extra_is_deterministic_for_scalar_and_array_fields() {
+        let fields = [
+            FieldSpec {
+                ty: "uint32_t",
+                name: "time_boot_ms",
+                array_len: 0,
+            },
+            FieldSpec {
+                ty: "char",
+                name: "name",
+                array_len: 16,
+            },
+        ];
+
+        let first = calculate_crc_extra("ARMATAK_TEST", &fields);
+        let second = calculate_crc_extra("ARMATAK_TEST", &fields);
+        let no_fields = calculate_crc_extra("ARMATAK_TEST", &[]);
+
+        assert_eq!(first, second);
+        assert_ne!(first, no_fields);
+    }
+
+    #[test]
+    fn builds_valid_mavlink_v1_packet() {
+        let payload = [0x10, 0x20, 0x30];
+        let packet = build_v1_packet(7, 9, 42, &payload, 77);
+
+        assert_eq!(packet[0], 0xFE);
+        assert_eq!(packet[1], payload.len() as u8);
+        assert_eq!(packet[3], 7);
+        assert_eq!(packet[4], 9);
+        assert_eq!(packet[5], 42);
+        assert_eq!(&packet[6..9], &payload);
+        assert_eq!(packet.len(), payload.len() + 8);
+        assert_packet_crc(&packet, 77);
+    }
+
+    #[test]
+    fn builds_valid_mavlink_v2_packet_with_three_byte_message_id() {
+        let payload = [0xAA, 0xBB];
+        let packet = build_v2_packet(11, 13, 0x01_02_03, &payload, 99);
+
+        assert_eq!(packet[0], 0xFD);
+        assert_eq!(packet[1], payload.len() as u8);
+        assert_eq!(packet[2], 0);
+        assert_eq!(packet[3], 0);
+        assert_eq!(packet[5], 11);
+        assert_eq!(packet[6], 13);
+        assert_eq!(&packet[7..10], &[0x03, 0x02, 0x01]);
+        assert_eq!(&packet[10..12], &payload);
+        assert_eq!(packet.len(), payload.len() + 12);
+        assert_packet_crc(&packet, 99);
+    }
+}

src/uas/endpoint.rs

@@ -6,7 +6,7 @@ use std::sync::{Arc, Mutex};
 use std::thread::{self, JoinHandle};
 use std::time::Duration;
 
-use super::callbacks::{mavlink_callback_event, mavlink_packet_summary};
+use super::callbacks::{mavlink_callback_event, mavlink_packet_summary, mavlink_response_packets};
 
 pub(crate) struct MavlinkEndpoint {
     pub socket: UdpSocket,
@@ -18,10 +18,11 @@ pub(crate) struct MavlinkEndpoint {
 static MAVLINK_ENDPOINT: Mutex<Option<MavlinkEndpoint>> = Mutex::new(None);
 
 pub(crate) fn socket_for_send() -> Option<UdpSocket> {
-    MAVLINK_ENDPOINT
-        .lock()
-        .ok()
-        .and_then(|endpoint| endpoint.as_ref().and_then(|entry| entry.socket.try_clone().ok()))
+    MAVLINK_ENDPOINT.lock().ok().and_then(|endpoint| {
+        endpoint
+            .as_ref()
+            .and_then(|entry| entry.socket.try_clone().ok())
+    })
 }
 
 fn stop_endpoint_internal() {
@@ -102,14 +103,27 @@ pub fn start_endpoint(ctx: Context, bind_port: i32) -> &'static str {
                         source,
                         mavlink_packet_summary(&buffer[..received])
                     );
-                    if let Some(event) = mavlink_callback_event(&buffer[..received], &source_string) {
-                        let _ = listener_ctx.callback_data("MAVLINK UDP", event.function, event.data);
+                    if let Some(event) = mavlink_callback_event(&buffer[..received], &source_string)
+                    {
+                        let _ =
+                            listener_ctx.callback_data("MAVLINK UDP", event.function, event.data);
+                    }
+                    for packet in mavlink_response_packets(&buffer[..received]) {
+                        if let Err(error) = listener_socket.send_to(&packet, source) {
+                            info!(
+                                "MAVLink UDP endpoint failed sending response to {}: {}",
+                                source, error
+                            );
+                            break;
+                        }
                     }
                 }
                 Err(error)
                     if matches!(
                         error.kind(),
-                        std::io::ErrorKind::WouldBlock | std::io::ErrorKind::TimedOut
+                        std::io::ErrorKind::WouldBlock
+                            | std::io::ErrorKind::TimedOut
+                            | std::io::ErrorKind::ConnectionReset
                     ) => {}
                 Err(error) => {
                     if listener_running.load(Ordering::Relaxed) {

src/uas/identity.rs

@@ -1,6 +1,4 @@
-use super::constants::{
-    MAV_TYPE_FIXED_WING, MAV_TYPE_HELICOPTER, MAV_TYPE_QUADROTOR,
-};
+use super::constants::{MAV_TYPE_FIXED_WING, MAV_TYPE_HELICOPTER, MAV_TYPE_QUADROTOR};
 
 pub(crate) fn map_vehicle_type(vehicle_type: u8) -> u8 {
     match vehicle_type {
@@ -25,6 +23,23 @@ pub(crate) fn stable_system_id(entity_uuid: &str) -> u8 {
     ((hash % 250) as u8) + 1
 }
 
+pub(crate) fn stable_mavlink_identity(callsign: &str, entity_uuid: &str) -> String {
+    let mut identity = callsign.trim().to_string();
+
+    for suffix in [" [ON]", " [OFF]"] {
+        if identity.ends_with(suffix) {
+            identity.truncate(identity.len() - suffix.len());
+            break;
+        }
+    }
+
+    if identity.is_empty() {
+        entity_uuid.trim().to_string()
+    } else {
+        identity
+    }
+}
+
 fn uuid16(entity_uuid: &str) -> [u8; 16] {
     let hex = entity_uuid.replace('-', "");
     let mut bytes = [0u8; 16];
@@ -78,3 +93,99 @@ pub(crate) fn should_send_video_stream_information(video_uri: &str) -> bool {
         || trimmed.starts_with("mpegts://")
         || trimmed.starts_with("tcp://")
 }
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    const UUID: &str = "00112233-4455-6677-8899-aabbccddeeff";
+
+    #[test]
+    fn maps_arma_vehicle_types_to_mavlink_types() {
+        assert_eq!(map_vehicle_type(1), MAV_TYPE_FIXED_WING);
+        assert_eq!(map_vehicle_type(2), MAV_TYPE_QUADROTOR);
+        assert_eq!(map_vehicle_type(3), MAV_TYPE_HELICOPTER);
+        assert_eq!(map_vehicle_type(99), 99);
+    }
+
+    #[test]
+    fn normalizes_headings_to_zero_through_360() {
+        assert_eq!(normalize_heading_deg(0.0), 0.0);
+        assert_eq!(normalize_heading_deg(370.0), 10.0);
+        assert_eq!(normalize_heading_deg(-10.0), 350.0);
+        assert_eq!(normalize_heading_deg(720.0), 0.0);
+    }
+
+    #[test]
+    fn stable_system_id_is_deterministic_and_in_mavlink_range() {
+        let first = stable_system_id(UUID);
+        let second = stable_system_id(UUID);
+
+        assert_eq!(first, second);
+        assert!((1..=250).contains(&first));
+        assert!((1..=250).contains(&stable_system_id("")));
+    }
+
+    #[test]
+    fn stable_identity_trims_runtime_status_suffixes_and_falls_back_to_uuid() {
+        assert_eq!(stable_mavlink_identity(" Falcon ", UUID), "Falcon");
+        assert_eq!(stable_mavlink_identity("Falcon [ON]", UUID), "Falcon");
+        assert_eq!(stable_mavlink_identity("Falcon [OFF]", UUID), "Falcon");
+        assert_eq!(stable_mavlink_identity("   ", UUID), UUID);
+    }
+
+    #[test]
+    fn converts_uuid_to_fixed_binary_identifiers() {
+        assert_eq!(
+            uid64_from_uuid(UUID),
+            u64::from_le_bytes([0x00, 0x11, 0x22, 0x33, 0x44, 0x55, 0x66, 0x77])
+        );
+
+        let uid2 = uid2_from_uuid(UUID);
+        assert_eq!(
+            &uid2[..16],
+            &[
+                0x00, 0x11, 0x22, 0x33, 0x44, 0x55, 0x66, 0x77, 0x88, 0x99, 0xaa, 0xbb,
+                0xcc, 0xdd, 0xee, 0xff,
+            ]
+        );
+        let checksum = UUID
+            .as_bytes()
+            .iter()
+            .fold(0u16, |acc, value| acc.wrapping_add(*value as u16));
+        assert_eq!(&uid2[16..], &checksum.to_le_bytes());
+    }
+
+    #[test]
+    fn malformed_or_short_uuid_components_are_zero_filled() {
+        let invalid = uuid16("gg");
+        assert_eq!(invalid, [0; 16]);
+
+        let short = uuid16("01");
+        assert_eq!(short[0], 1);
+        assert!(short[1..].iter().all(|byte| *byte == 0));
+    }
+
+    #[test]
+    fn fixed_string_reserves_a_nul_terminator_and_handles_zero_length() {
+        assert_eq!(fixed_string::<5>("abcdef"), [b'a', b'b', b'c', b'd', 0]);
+        assert_eq!(fixed_string::<5>("ab"), [b'a', b'b', 0, 0, 0]);
+        assert_eq!(fixed_string::<0>("ab"), [0u8; 0]);
+    }
+
+    #[test]
+    fn identifies_supported_video_stream_schemes_case_insensitively() {
+        for uri in [
+            " RTSP://host/live ",
+            "rtp://host/live",
+            "udp://239.1.1.1:1234",
+            "mpegts://host/live",
+            "tcp://host:1234",
+        ] {
+            assert!(should_send_video_stream_information(uri), "{uri}");
+        }
+
+        assert!(!should_send_video_stream_information("https://host/live"));
+        assert!(!should_send_video_stream_information(""));
+    }
+}

src/uas/mod.rs

@@ -6,6 +6,7 @@ mod identity;
 mod packets;
 mod payload;
 mod send;
+mod state;
 
 pub use endpoint::{start_endpoint, stop_endpoint};
 #[allow(unused_imports)]

src/uas/packets.rs

@@ -1,16 +1,17 @@
 use chrono::Utc;
 
 use super::constants::{
-    AUTOPILOT_COMPONENT_ID, CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM, CAMERA_COMPONENT_ID,
-    GIMBAL_COMPONENT_ID, MAV_AUTOPILOT_GENERIC, MAV_AUTOPILOT_INVALID,
-    MAV_LANDED_STATE_IN_AIR, MAV_LANDED_STATE_ON_GROUND, MAV_LANDED_STATE_UNDEFINED,
-    MAV_MODE_FLAG_CUSTOM_MODE_ENABLED, MAV_MODE_FLAG_SAFETY_ARMED,
-    MAV_PROTOCOL_CAPABILITY_COMMAND_INT, MAV_PROTOCOL_CAPABILITY_COMPONENT_IMPLEMENTS_GIMBAL_MANAGER,
-    MAV_PROTOCOL_CAPABILITY_FTP, MAV_PROTOCOL_CAPABILITY_MAVLINK2,
-    MAV_PROTOCOL_CAPABILITY_MISSION_INT, MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INT,
-    MAV_STATE_ACTIVE, MAV_STATE_STANDBY, VIDEO_STREAM_ENCODING_H264,
-    VIDEO_STREAM_STATUS_FLAGS_RUNNING, VIDEO_STREAM_TYPE_MPEG_TS, VIDEO_STREAM_TYPE_RTPUDP,
-    VIDEO_STREAM_TYPE_RTSP, VIDEO_STREAM_TYPE_TCP_MPEG,
+    AUTOPILOT_COMPONENT_ID, CAMERA_CAP_FLAGS_CAPTURE_IMAGE, CAMERA_CAP_FLAGS_CAPTURE_VIDEO,
+    CAMERA_CAP_FLAGS_HAS_BASIC_ZOOM, CAMERA_CAP_FLAGS_HAS_MODES, CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM,
+    GIMBAL_COMPONENT_ID, GIMBAL_MANAGER_CAP_FLAGS_BASIC_PITCH_YAW, MAV_AUTOPILOT_ARDUPILOTMEGA,
+    MAV_AUTOPILOT_INVALID, MAV_LANDED_STATE_IN_AIR, MAV_LANDED_STATE_ON_GROUND,
+    MAV_LANDED_STATE_UNDEFINED, MAV_MODE_FLAG_CUSTOM_MODE_ENABLED, MAV_MODE_FLAG_SAFETY_ARMED,
+    MAV_PROTOCOL_CAPABILITY_COMMAND_INT,
+    MAV_PROTOCOL_CAPABILITY_COMPONENT_IMPLEMENTS_GIMBAL_MANAGER, MAV_PROTOCOL_CAPABILITY_FTP,
+    MAV_PROTOCOL_CAPABILITY_MAVLINK2, MAV_PROTOCOL_CAPABILITY_MISSION_INT,
+    MAV_PROTOCOL_CAPABILITY_SET_POSITION_TARGET_GLOBAL_INT, MAV_STATE_ACTIVE, MAV_STATE_STANDBY,
+    VIDEO_STREAM_ENCODING_H264, VIDEO_STREAM_STATUS_FLAGS_RUNNING, VIDEO_STREAM_TYPE_MPEG_TS,
+    VIDEO_STREAM_TYPE_RTPUDP, VIDEO_STREAM_TYPE_RTSP, VIDEO_STREAM_TYPE_TCP_MPEG,
 };
 use super::crc::{build_v1_packet, build_v2_packet, calculate_crc_extra, FieldSpec};
 use super::identity::{fixed_string, normalize_heading_deg, uid2_from_uuid, uid64_from_uuid};
@@ -18,9 +19,10 @@ use super::payload::UasTelemetryPayload;
 
 pub(crate) fn heartbeat_packet(payload: &UasTelemetryPayload) -> Vec<u8> {
     let mut msg = Vec::with_capacity(9);
-    msg.extend_from_slice(&0u32.to_le_bytes());
+    let custom_mode = if payload.flying { 5u32 } else { 0u32 };
+    msg.extend_from_slice(&custom_mode.to_le_bytes());
     msg.push(payload.vehicle_type);
-    msg.push(MAV_AUTOPILOT_GENERIC);
+    msg.push(MAV_AUTOPILOT_ARDUPILOTMEGA);
     msg.push(if payload.flying {
         MAV_MODE_FLAG_CUSTOM_MODE_ENABLED | MAV_MODE_FLAG_SAFETY_ARMED
     } else {
@@ -35,6 +37,49 @@ pub(crate) fn heartbeat_packet(payload: &UasTelemetryPayload) -> Vec<u8> {
     build_v1_packet(payload.system_id, payload.component_id, 0, &msg, 50)
 }
 
+pub(crate) fn command_ack_packet(
+    system_id: u8,
+    component_id: u8,
+    command: u16,
+    result: u8,
+) -> Vec<u8> {
+    let mut msg = Vec::with_capacity(3);
+    msg.extend_from_slice(&command.to_le_bytes());
+    msg.push(result);
+    build_v2_packet(system_id, component_id, 77, &msg, 143)
+}
+
+pub(crate) fn mission_request_int_packet(
+    system_id: u8,
+    component_id: u8,
+    target_system: u8,
+    target_component: u8,
+    seq: u16,
+    mission_type: u8,
+) -> Vec<u8> {
+    let mut msg = Vec::with_capacity(5);
+    msg.extend_from_slice(&seq.to_le_bytes());
+    msg.push(target_system);
+    msg.push(target_component);
+    msg.push(mission_type);
+    build_v2_packet(system_id, component_id, 51, &msg, 196)
+}
+
+pub(crate) fn mission_ack_packet(
+    system_id: u8,
+    component_id: u8,
+    target_system: u8,
+    target_component: u8,
+    mission_type: u8,
+) -> Vec<u8> {
+    let mut msg = Vec::with_capacity(4);
+    msg.push(target_system);
+    msg.push(target_component);
+    msg.push(0);
+    msg.push(mission_type);
+    build_v2_packet(system_id, component_id, 47, &msg, 153)
+}
+
 pub(crate) fn gps_raw_int_packet(payload: &UasTelemetryPayload) -> Vec<u8> {
     let time_usec = (Utc::now().timestamp_millis().max(0) as u64) * 1_000;
     let fix_type = if payload.flying { 3u8 } else { 2u8 };
@@ -55,8 +100,10 @@ pub(crate) fn gps_raw_int_packet(payload: &UasTelemetryPayload) -> Vec<u8> {
 
 pub(crate) fn global_position_int_packet(payload: &UasTelemetryPayload) -> Vec<u8> {
     let time_boot_ms = Utc::now().timestamp_millis().max(0) as u32;
-    let vx = (payload.groundspeed_mps * payload.heading_deg.to_radians().sin() * 100.0).round() as i16;
-    let vy = (payload.groundspeed_mps * payload.heading_deg.to_radians().cos() * 100.0).round() as i16;
+    let vx =
+        (payload.groundspeed_mps * payload.heading_deg.to_radians().sin() * 100.0).round() as i16;
+    let vy =
+        (payload.groundspeed_mps * payload.heading_deg.to_radians().cos() * 100.0).round() as i16;
     let heading = (normalize_heading_deg(payload.heading_deg) * 100.0).round() as u16;
 
     let mut msg = Vec::with_capacity(28);
@@ -103,21 +150,73 @@ pub(crate) fn vfr_hud_packet(payload: &UasTelemetryPayload) -> Vec<u8> {
     build_v1_packet(payload.system_id, payload.component_id, 74, &msg, 20)
 }
 
-pub(crate) fn system_status_packet(system_id: u8) -> Vec<u8> {
+pub(crate) fn system_status_packet(system_id: u8, battery_remaining_pct: i8) -> Vec<u8> {
     let fields = [
-        FieldSpec { ty: "uint32_t", name: "onboard_control_sensors_present", array_len: 0 },
-        FieldSpec { ty: "uint32_t", name: "onboard_control_sensors_enabled", array_len: 0 },
-        FieldSpec { ty: "uint32_t", name: "onboard_control_sensors_health", array_len: 0 },
-        FieldSpec { ty: "uint16_t", name: "load", array_len: 0 },
-        FieldSpec { ty: "uint16_t", name: "voltage_battery", array_len: 0 },
-        FieldSpec { ty: "int16_t", name: "current_battery", array_len: 0 },
-        FieldSpec { ty: "uint16_t", name: "drop_rate_comm", array_len: 0 },
-        FieldSpec { ty: "uint16_t", name: "errors_comm", array_len: 0 },
-        FieldSpec { ty: "uint16_t", name: "errors_count1", array_len: 0 },
-        FieldSpec { ty: "uint16_t", name: "errors_count2", array_len: 0 },
-        FieldSpec { ty: "uint16_t", name: "errors_count3", array_len: 0 },
-        FieldSpec { ty: "uint16_t", name: "errors_count4", array_len: 0 },
-        FieldSpec { ty: "int8_t", name: "battery_remaining", array_len: 0 },
+        FieldSpec {
+            ty: "uint32_t",
+            name: "onboard_control_sensors_present",
+            array_len: 0,
+        },
+        FieldSpec {
+            ty: "uint32_t",
+            name: "onboard_control_sensors_enabled",
+            array_len: 0,
+        },
+        FieldSpec {
+            ty: "uint32_t",
+            name: "onboard_control_sensors_health",
+            array_len: 0,
+        },
+        FieldSpec {
+            ty: "uint16_t",
+            name: "load",
+            array_len: 0,
+        },
+        FieldSpec {
+            ty: "uint16_t",
+            name: "voltage_battery",
+            array_len: 0,
+        },
+        FieldSpec {
+            ty: "int16_t",
+            name: "current_battery",
+            array_len: 0,
+        },
+        FieldSpec {
+            ty: "uint16_t",
+            name: "drop_rate_comm",
+            array_len: 0,
+        },
+        FieldSpec {
+            ty: "uint16_t",
+            name: "errors_comm",
+            array_len: 0,
+        },
+        FieldSpec {
+            ty: "uint16_t",
+            name: "errors_count1",
+            array_len: 0,
+        },
+        FieldSpec {
+            ty: "uint16_t",
+            name: "errors_count2",
+            array_len: 0,
+        },
+        FieldSpec {
+            ty: "uint16_t",
+            name: "errors_count3",
+            array_len: 0,
+        },
+        FieldSpec {
+            ty: "uint16_t",
+            name: "errors_count4",
+            array_len: 0,
+        },
+        FieldSpec {
+            ty: "int8_t",
+            name: "battery_remaining",
+            array_len: 0,
+        },
     ];
     let crc_extra = calculate_crc_extra("SYS_STATUS", &fields);
 
@@ -135,24 +234,32 @@ pub(crate) fn system_status_packet(system_id: u8) -> Vec<u8> {
     msg.extend_from_slice(&0u16.to_le_bytes());
     msg.extend_from_slice(&0u16.to_le_bytes());
     msg.extend_from_slice(&0u16.to_le_bytes());
-    msg.push(100u8);
+    msg.push(battery_remaining_pct.clamp(0, 100) as u8);
 
     build_v2_packet(system_id, AUTOPILOT_COMPONENT_ID, 1, &msg, crc_extra)
 }
 
-pub(crate) fn extended_sys_state_packet(system_id: u8, flying: bool) -> Vec<u8> {
+pub(crate) fn extended_sys_state_packet(system_id: u8, landed: bool) -> Vec<u8> {
     let fields = [
-        FieldSpec { ty: "uint8_t", name: "vtol_state", array_len: 0 },
-        FieldSpec { ty: "uint8_t", name: "landed_state", array_len: 0 },
+        FieldSpec {
+            ty: "uint8_t",
+            name: "vtol_state",
+            array_len: 0,
+        },
+        FieldSpec {
+            ty: "uint8_t",
+            name: "landed_state",
+            array_len: 0,
+        },
     ];
     let crc_extra = calculate_crc_extra("EXTENDED_SYS_STATE", &fields);
 
     let mut msg = Vec::with_capacity(2);
     msg.push(MAV_LANDED_STATE_UNDEFINED);
-    msg.push(if flying {
-        MAV_LANDED_STATE_IN_AIR
-    } else {
+    msg.push(if landed {
         MAV_LANDED_STATE_ON_GROUND
+    } else {
+        MAV_LANDED_STATE_IN_AIR
     });
 
     build_v2_packet(system_id, AUTOPILOT_COMPONENT_ID, 245, &msg, crc_extra)
@@ -160,17 +267,61 @@ pub(crate) fn extended_sys_state_packet(system_id: u8, flying: bool) -> Vec<u8>
 
 pub(crate) fn autopilot_version_packet(system_id: u8, entity_uuid: &str) -> Vec<u8> {
     let fields = [
-        FieldSpec { ty: "uint64_t", name: "capabilities", array_len: 0 },
-        FieldSpec { ty: "uint32_t", name: "flight_sw_version", array_len: 0 },
-        FieldSpec { ty: "uint32_t", name: "middleware_sw_version", array_len: 0 },
-        FieldSpec { ty: "uint32_t", name: "os_sw_version", array_len: 0 },
-        FieldSpec { ty: "uint32_t", name: "board_version", array_len: 0 },
-        FieldSpec { ty: "uint8_t", name: "flight_custom_version", array_len: 8 },
-        FieldSpec { ty: "uint8_t", name: "middleware_custom_version", array_len: 8 },
-        FieldSpec { ty: "uint8_t", name: "os_custom_version", array_len: 8 },
-        FieldSpec { ty: "uint16_t", name: "vendor_id", array_len: 0 },
-        FieldSpec { ty: "uint16_t", name: "product_id", array_len: 0 },
-        FieldSpec { ty: "uint64_t", name: "uid", array_len: 0 },
+        FieldSpec {
+            ty: "uint64_t",
+            name: "capabilities",
+            array_len: 0,
+        },
+        FieldSpec {
+            ty: "uint32_t",
+            name: "flight_sw_version",
+            array_len: 0,
+        },
+        FieldSpec {
+            ty: "uint32_t",
+            name: "middleware_sw_version",
+            array_len: 0,
+        },
+        FieldSpec {
+            ty: "uint32_t",
+            name: "os_sw_version",
+            array_len: 0,
+        },
+        FieldSpec {
+            ty: "uint32_t",
+            name: "board_version",
+            array_len: 0,
+        },
+        FieldSpec {
+            ty: "uint8_t",
+            name: "flight_custom_version",
+            array_len: 8,
+        },
+        FieldSpec {
+            ty: "uint8_t",
+            name: "middleware_custom_version",
+            array_len: 8,
+        },
+        FieldSpec {
+            ty: "uint8_t",
+            name: "os_custom_version",
+            array_len: 8,
+        },
+        FieldSpec {
+            ty: "uint16_t",
+            name: "vendor_id",
+            array_len: 0,
+        },
+        FieldSpec {
+            ty: "uint16_t",
+            name: "product_id",
+            array_len: 0,
+        },
+        FieldSpec {
+            ty: "uint64_t",
+            name: "uid",
+            array_len: 0,
+        },
     ];
     let crc_extra = calculate_crc_extra("AUTOPILOT_VERSION", &fields);
 
@@ -200,7 +351,38 @@ pub(crate) fn autopilot_version_packet(system_id: u8, entity_uuid: &str) -> Vec<
     build_v2_packet(system_id, AUTOPILOT_COMPONENT_ID, 148, &msg, crc_extra)
 }
 
-pub(crate) fn component_heartbeat_packet(system_id: u8, component_id: u8, component_type: u8) -> Vec<u8> {
+pub(crate) fn home_position_packet(
+    system_id: u8,
+    lat_deg: f64,
+    lon_deg: f64,
+    alt_msl_m: f32,
+    heading_deg: f32,
+) -> Vec<u8> {
+    let yaw = normalize_heading_deg(heading_deg).to_radians();
+    let q = [(yaw * 0.5).cos(), 0.0f32, 0.0f32, (yaw * 0.5).sin()];
+
+    let mut msg = Vec::with_capacity(52);
+    msg.extend_from_slice(&((lat_deg * 1e7).round() as i32).to_le_bytes());
+    msg.extend_from_slice(&((lon_deg * 1e7).round() as i32).to_le_bytes());
+    msg.extend_from_slice(&((alt_msl_m * 1000.0).round() as i32).to_le_bytes());
+    msg.extend_from_slice(&0f32.to_le_bytes());
+    msg.extend_from_slice(&0f32.to_le_bytes());
+    msg.extend_from_slice(&0f32.to_le_bytes());
+    for value in q {
+        msg.extend_from_slice(&value.to_le_bytes());
+    }
+    msg.extend_from_slice(&0f32.to_le_bytes());
+    msg.extend_from_slice(&0f32.to_le_bytes());
+    msg.extend_from_slice(&0f32.to_le_bytes());
+
+    build_v2_packet(system_id, AUTOPILOT_COMPONENT_ID, 242, &msg, 85)
+}
+
+pub(crate) fn component_heartbeat_packet(
+    system_id: u8,
+    component_id: u8,
+    component_type: u8,
+) -> Vec<u8> {
     let mut msg = Vec::with_capacity(9);
     msg.extend_from_slice(&0u32.to_le_bytes());
     msg.push(component_type);
@@ -211,10 +393,20 @@ pub(crate) fn component_heartbeat_packet(system_id: u8, component_id: u8, compon
     build_v2_packet(system_id, component_id, 0, &msg, 50)
 }
 
-pub(crate) fn camera_information_packet(system_id: u8, callsign: &str) -> Vec<u8> {
+pub(crate) fn camera_information_packet_for_component(
+    system_id: u8,
+    component_id: u8,
+    callsign: &str,
+    gimbal_device_id: u8,
+) -> Vec<u8> {
     let vendor = fixed_string::<32>("ArmaTAK");
     let model = fixed_string::<32>(callsign);
     let cam_definition_uri = fixed_string::<140>("");
+    let flags = CAMERA_CAP_FLAGS_CAPTURE_VIDEO
+        | CAMERA_CAP_FLAGS_CAPTURE_IMAGE
+        | CAMERA_CAP_FLAGS_HAS_MODES
+        | CAMERA_CAP_FLAGS_HAS_BASIC_ZOOM
+        | CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM;
 
     let mut msg = Vec::with_capacity(235);
     msg.extend_from_slice(&(Utc::now().timestamp_millis().max(0) as u32).to_le_bytes());
@@ -222,7 +414,7 @@ pub(crate) fn camera_information_packet(system_id: u8, callsign: &str) -> Vec<u8
     msg.extend_from_slice(&2.8f32.to_le_bytes());
     msg.extend_from_slice(&6.4f32.to_le_bytes());
     msg.extend_from_slice(&4.8f32.to_le_bytes());
-    msg.extend_from_slice(&CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM.to_le_bytes());
+    msg.extend_from_slice(&flags.to_le_bytes());
     msg.extend_from_slice(&1280u16.to_le_bytes());
     msg.extend_from_slice(&720u16.to_le_bytes());
     msg.extend_from_slice(&0u16.to_le_bytes());
@@ -230,17 +422,21 @@ pub(crate) fn camera_information_packet(system_id: u8, callsign: &str) -> Vec<u8
     msg.extend_from_slice(&model);
     msg.push(0);
     msg.extend_from_slice(&cam_definition_uri);
-    msg.push(GIMBAL_COMPONENT_ID);
+    msg.push(gimbal_device_id);
     msg.push(0);
 
-    build_v2_packet(system_id, CAMERA_COMPONENT_ID, 259, &msg, 92)
+    build_v2_packet(system_id, component_id, 259, &msg, 92)
 }
 
-pub(crate) fn video_stream_information_packet(
+pub(crate) fn video_stream_information_packet_for_component(
     system_id: u8,
+    component_id: u8,
     callsign: &str,
     video_uri: &str,
     hfov_deg: f32,
+    stream_id: u8,
+    stream_count: u8,
+    thermal: bool,
 ) -> Vec<u8> {
     let stream_type = if video_uri.starts_with("rtsp://") {
         VIDEO_STREAM_TYPE_RTSP
@@ -254,42 +450,195 @@ pub(crate) fn video_stream_information_packet(
         VIDEO_STREAM_TYPE_RTSP
     };
 
-    let name = fixed_string::<32>(&format!("{} Video", callsign));
+    let name = fixed_string::<32>(callsign);
     let uri = fixed_string::<160>(video_uri);
+    let flags = VIDEO_STREAM_STATUS_FLAGS_RUNNING | if thermal { 2 } else { 0 };
 
     let mut msg = Vec::with_capacity(208);
     msg.extend_from_slice(&30f32.to_le_bytes());
     msg.extend_from_slice(&4_000_000u32.to_le_bytes());
-    msg.extend_from_slice(&VIDEO_STREAM_STATUS_FLAGS_RUNNING.to_le_bytes());
+    msg.extend_from_slice(&flags.to_le_bytes());
     msg.extend_from_slice(&1280u16.to_le_bytes());
     msg.extend_from_slice(&720u16.to_le_bytes());
     msg.extend_from_slice(&0u16.to_le_bytes());
     msg.extend_from_slice(&(hfov_deg.clamp(1.0, 360.0).round() as u16).to_le_bytes());
-    msg.push(1);
-    msg.push(1);
+    msg.push(stream_id);
+    msg.push(stream_count);
     msg.push(stream_type);
     msg.extend_from_slice(&name);
     msg.extend_from_slice(&uri);
     msg.push(VIDEO_STREAM_ENCODING_H264);
     msg.push(0);
 
-    build_v2_packet(system_id, CAMERA_COMPONENT_ID, 269, &msg, 109)
+    build_v2_packet(system_id, component_id, 269, &msg, 109)
 }
 
-pub(crate) fn video_stream_status_packet(
+pub(crate) fn video_stream_status_packet_for_component(
     system_id: u8,
+    component_id: u8,
     hfov_deg: f32,
+    stream_id: u8,
+    thermal: bool,
 ) -> Vec<u8> {
+    let flags = VIDEO_STREAM_STATUS_FLAGS_RUNNING | if thermal { 2 } else { 0 };
     let mut msg = Vec::with_capacity(19);
     msg.extend_from_slice(&30f32.to_le_bytes());
     msg.extend_from_slice(&4_000_000u32.to_le_bytes());
-    msg.extend_from_slice(&VIDEO_STREAM_STATUS_FLAGS_RUNNING.to_le_bytes());
+    msg.extend_from_slice(&flags.to_le_bytes());
     msg.extend_from_slice(&1280u16.to_le_bytes());
     msg.extend_from_slice(&720u16.to_le_bytes());
     msg.extend_from_slice(&0u16.to_le_bytes());
     msg.extend_from_slice(&(hfov_deg.clamp(1.0, 360.0).round() as u16).to_le_bytes());
-    msg.push(1);
+    msg.push(stream_id);
     msg.push(0);
 
-    build_v2_packet(system_id, CAMERA_COMPONENT_ID, 270, &msg, 59)
+    build_v2_packet(system_id, component_id, 270, &msg, 59)
+}
+
+pub(crate) fn mount_orientation_packet_for_component(
+    system_id: u8,
+    component_id: u8,
+    pitch_deg: f32,
+    yaw_deg: f32,
+) -> Vec<u8> {
+    let mut msg = Vec::with_capacity(16);
+    msg.extend_from_slice(&(Utc::now().timestamp_millis().max(0) as u32).to_le_bytes());
+    msg.extend_from_slice(&pitch_deg.to_le_bytes());
+    msg.extend_from_slice(&0f32.to_le_bytes());
+    msg.extend_from_slice(&normalize_heading_deg(yaw_deg).to_le_bytes());
+
+    build_v2_packet(system_id, component_id, 265, &msg, 26)
+}
+
+pub(crate) fn camera_fov_status_packet_for_component(
+    system_id: u8,
+    component_id: u8,
+    lat_camera_deg: f64,
+    lon_camera_deg: f64,
+    alt_camera_msl_m: f32,
+    lat_image_deg: f64,
+    lon_image_deg: f64,
+    alt_image_msl_m: f32,
+    roll_deg: f32,
+    pitch_deg: f32,
+    yaw_deg: f32,
+    hfov_deg: f32,
+    vfov_deg: f32,
+) -> Vec<u8> {
+    let q = attitude_quaternion(roll_deg, pitch_deg, yaw_deg);
+    let mut msg = Vec::with_capacity(53);
+    msg.extend_from_slice(&(Utc::now().timestamp_millis().max(0) as u32).to_le_bytes());
+    msg.extend_from_slice(&((lat_camera_deg * 1e7).round() as i32).to_le_bytes());
+    msg.extend_from_slice(&((lon_camera_deg * 1e7).round() as i32).to_le_bytes());
+    msg.extend_from_slice(&((alt_camera_msl_m * 1000.0).round() as i32).to_le_bytes());
+    msg.extend_from_slice(&((lat_image_deg * 1e7).round() as i32).to_le_bytes());
+    msg.extend_from_slice(&((lon_image_deg * 1e7).round() as i32).to_le_bytes());
+    msg.extend_from_slice(&((alt_image_msl_m * 1000.0).round() as i32).to_le_bytes());
+    for value in q {
+        msg.extend_from_slice(&value.to_le_bytes());
+    }
+    msg.extend_from_slice(&hfov_deg.to_le_bytes());
+    msg.extend_from_slice(&vfov_deg.to_le_bytes());
+    msg.push(0);
+
+    build_v2_packet(system_id, component_id, 271, &msg, 22)
+}
+
+pub(crate) fn mount_status_packet(
+    system_id: u8,
+    pitch_deg: f32,
+    roll_deg: f32,
+    relative_yaw_deg: f32,
+) -> Vec<u8> {
+    let mut msg = Vec::with_capacity(15);
+    msg.extend_from_slice(&((pitch_deg * 100.0).round() as i32).to_le_bytes());
+    msg.extend_from_slice(&((roll_deg * 100.0).round() as i32).to_le_bytes());
+    msg.extend_from_slice(&((relative_yaw_deg * 100.0).round() as i32).to_le_bytes());
+    msg.push(system_id);
+    msg.push(GIMBAL_COMPONENT_ID);
+    msg.push(2);
+
+    build_v2_packet(system_id, AUTOPILOT_COMPONENT_ID, 158, &msg, 134)
+}
+
+pub(crate) fn gimbal_manager_information_packet(system_id: u8) -> Vec<u8> {
+    let fields = [
+        FieldSpec {
+            ty: "uint32_t",
+            name: "time_boot_ms",
+            array_len: 0,
+        },
+        FieldSpec {
+            ty: "uint32_t",
+            name: "cap_flags",
+            array_len: 0,
+        },
+        FieldSpec {
+            ty: "float",
+            name: "roll_min",
+            array_len: 0,
+        },
+        FieldSpec {
+            ty: "float",
+            name: "roll_max",
+            array_len: 0,
+        },
+        FieldSpec {
+            ty: "float",
+            name: "pitch_min",
+            array_len: 0,
+        },
+        FieldSpec {
+            ty: "float",
+            name: "pitch_max",
+            array_len: 0,
+        },
+        FieldSpec {
+            ty: "float",
+            name: "yaw_min",
+            array_len: 0,
+        },
+        FieldSpec {
+            ty: "float",
+            name: "yaw_max",
+            array_len: 0,
+        },
+        FieldSpec {
+            ty: "uint8_t",
+            name: "gimbal_device_id",
+            array_len: 0,
+        },
+    ];
+    let crc_extra = calculate_crc_extra("GIMBAL_MANAGER_INFORMATION", &fields);
+
+    let mut msg = Vec::with_capacity(33);
+    msg.extend_from_slice(&(Utc::now().timestamp_millis().max(0) as u32).to_le_bytes());
+    msg.extend_from_slice(&GIMBAL_MANAGER_CAP_FLAGS_BASIC_PITCH_YAW.to_le_bytes());
+    msg.extend_from_slice(&0f32.to_le_bytes());
+    msg.extend_from_slice(&0f32.to_le_bytes());
+    msg.extend_from_slice(&(-90f32).to_radians().to_le_bytes());
+    msg.extend_from_slice(&30f32.to_radians().to_le_bytes());
+    msg.extend_from_slice(&(-180f32).to_radians().to_le_bytes());
+    msg.extend_from_slice(&180f32.to_radians().to_le_bytes());
+    msg.push(GIMBAL_COMPONENT_ID);
+
+    build_v2_packet(system_id, GIMBAL_COMPONENT_ID, 280, &msg, crc_extra)
+}
+
+fn attitude_quaternion(roll_deg: f32, pitch_deg: f32, yaw_deg: f32) -> [f32; 4] {
+    let (roll, pitch, yaw) = (
+        roll_deg.to_radians(),
+        pitch_deg.to_radians(),
+        normalize_heading_deg(yaw_deg).to_radians(),
+    );
+    let (sr, cr) = (roll * 0.5).sin_cos();
+    let (sp, cp) = (pitch * 0.5).sin_cos();
+    let (sy, cy) = (yaw * 0.5).sin_cos();
+
+    [
+        cr * cp * cy + sr * sp * sy,
+        sr * cp * cy - cr * sp * sy,
+        cr * sp * cy + sr * cp * sy,
+        cr * cp * sy - sr * sp * cy,
+    ]
 }

src/uas/payload.rs

@@ -33,6 +33,7 @@ pub struct UasSystemPayload {
     pub pitch_deg: f32,
     pub yaw_deg: f32,
     pub flying: bool,
+    pub landed: bool,
     pub gimbal_roll_deg: f32,
     pub gimbal_pitch_deg: f32,
     pub gimbal_yaw_deg: f32,
@@ -42,6 +43,8 @@ pub struct UasSystemPayload {
     pub image_lat_deg: f64,
     pub image_lon_deg: f64,
     pub image_alt_msl_m: f32,
+    pub has_turret_camera: bool,
+    pub battery_remaining_pct: i8,
 }
 
 impl FromArma for UasTelemetryPayload {
@@ -114,6 +117,7 @@ impl FromArma for UasSystemPayload {
             pitch_deg,
             yaw_deg,
             flying,
+            landed,
             gimbal_roll_deg,
             gimbal_pitch_deg,
             gimbal_yaw_deg,
@@ -123,6 +127,8 @@ impl FromArma for UasSystemPayload {
             image_lat_deg,
             image_lon_deg,
             image_alt_msl_m,
+            has_turret_camera,
+            battery_remaining_pct,
         ) = <(
             String,
             String,
@@ -138,6 +144,7 @@ impl FromArma for UasSystemPayload {
             f32,
             f32,
             i32,
+            i32,
             f32,
             f32,
             f32,
@@ -147,6 +154,8 @@ impl FromArma for UasSystemPayload {
             f64,
             f64,
             f32,
+            i32,
+            i32,
         )>::from_arma(data)?;
 
         Ok(Self {
@@ -164,6 +173,7 @@ impl FromArma for UasSystemPayload {
             pitch_deg,
             yaw_deg,
             flying: flying != 0,
+            landed: landed != 0,
             gimbal_roll_deg,
             gimbal_pitch_deg,
             gimbal_yaw_deg,
@@ -173,6 +183,74 @@ impl FromArma for UasSystemPayload {
             image_lat_deg,
             image_lon_deg,
             image_alt_msl_m,
+            has_turret_camera: has_turret_camera != 0,
+            battery_remaining_pct: battery_remaining_pct.clamp(0, 100) as i8,
         })
     }
 }
+
+#[cfg(test)]
+mod tests {
+    use super::{UasSystemPayload, UasTelemetryPayload};
+    use arma_rs::FromArma;
+
+    #[test]
+    fn parses_and_clamps_uas_telemetry_payload() {
+        let payload = UasTelemetryPayload::from_arma(
+            r#"["127.0.0.1:14550",0,999,-1,-30.1,-51.2,100.5,25.25,361.0,12.5,1.0,2.0,3.0,1]"#
+                .to_string(),
+        )
+        .expect("telemetry payload should parse");
+
+        assert_eq!(payload.address, "127.0.0.1:14550");
+        assert_eq!(payload.system_id, 1);
+        assert_eq!(payload.component_id, 255);
+        assert_eq!(payload.vehicle_type, 0);
+        assert_eq!(payload.lat_deg, -30.1);
+        assert_eq!(payload.lon_deg, -51.2);
+        assert_eq!(payload.alt_msl_m, 100.5);
+        assert_eq!(payload.rel_alt_m, 25.25);
+        assert_eq!(payload.heading_deg, 361.0);
+        assert_eq!(payload.groundspeed_mps, 12.5);
+        assert_eq!(payload.roll_deg, 1.0);
+        assert_eq!(payload.pitch_deg, 2.0);
+        assert_eq!(payload.yaw_deg, 3.0);
+        assert!(payload.flying);
+    }
+
+    #[test]
+    fn parses_and_clamps_full_uas_system_payload() {
+        let payload = UasSystemPayload::from_arma(
+            r#"["10.0.0.1:14550","00112233-4455-6677-8899-aabbccddeeff","Falcon",300,-30.1,-51.2,100.5,25.25,90.0,12.5,1.0,2.0,3.0,0,1,4.0,5.0,6.0,"rtsp://video.example.test:8554/live",60.0,40.0,-30.2,-51.3,50.0,1,200]"#
+                .to_string(),
+        )
+        .expect("system payload should parse");
+
+        assert_eq!(payload.address, "10.0.0.1:14550");
+        assert_eq!(payload.entity_uuid, "00112233-4455-6677-8899-aabbccddeeff");
+        assert_eq!(payload.callsign, "Falcon");
+        assert_eq!(payload.vehicle_type, 255);
+        assert_eq!(payload.lat_deg, -30.1);
+        assert_eq!(payload.lon_deg, -51.2);
+        assert_eq!(payload.alt_msl_m, 100.5);
+        assert_eq!(payload.rel_alt_m, 25.25);
+        assert_eq!(payload.heading_deg, 90.0);
+        assert_eq!(payload.groundspeed_mps, 12.5);
+        assert_eq!(payload.roll_deg, 1.0);
+        assert_eq!(payload.pitch_deg, 2.0);
+        assert_eq!(payload.yaw_deg, 3.0);
+        assert!(!payload.flying);
+        assert!(payload.landed);
+        assert_eq!(payload.gimbal_roll_deg, 4.0);
+        assert_eq!(payload.gimbal_pitch_deg, 5.0);
+        assert_eq!(payload.gimbal_yaw_deg, 6.0);
+        assert_eq!(payload.video_uri, "rtsp://video.example.test:8554/live");
+        assert_eq!(payload.hfov_deg, 60.0);
+        assert_eq!(payload.vfov_deg, 40.0);
+        assert_eq!(payload.image_lat_deg, -30.2);
+        assert_eq!(payload.image_lon_deg, -51.3);
+        assert_eq!(payload.image_alt_msl_m, 50.0);
+        assert!(payload.has_turret_camera);
+        assert_eq!(payload.battery_remaining_pct, 100);
+    }
+}

src/uas/send.rs

@@ -2,16 +2,25 @@ use arma_rs::Context;
 use log::info;
 use std::net::UdpSocket;
 
-use super::constants::{AUTOPILOT_COMPONENT_ID, CAMERA_COMPONENT_ID, GIMBAL_COMPONENT_ID, MAV_TYPE_CAMERA, MAV_TYPE_GIMBAL};
+use super::constants::{
+    AUTOPILOT_COMPONENT_ID, CAMERA_COMPONENT_ID, GIMBAL_COMPONENT_ID, MAV_TYPE_CAMERA,
+    MAV_TYPE_GIMBAL, TURRET_CAMERA_COMPONENT_ID,
+};
 use super::endpoint::socket_for_send;
-use super::identity::{map_vehicle_type, should_send_video_stream_information, stable_system_id};
+use super::identity::{
+    map_vehicle_type, should_send_video_stream_information, stable_mavlink_identity,
+    stable_system_id,
+};
 use super::packets::{
-    attitude_packet, autopilot_version_packet, camera_information_packet,
-    component_heartbeat_packet, extended_sys_state_packet, global_position_int_packet,
-    gps_raw_int_packet, heartbeat_packet, system_status_packet, vfr_hud_packet,
-    video_stream_information_packet, video_stream_status_packet,
+    attitude_packet, autopilot_version_packet, camera_fov_status_packet_for_component,
+    camera_information_packet_for_component, component_heartbeat_packet, extended_sys_state_packet,
+    gimbal_manager_information_packet, global_position_int_packet, gps_raw_int_packet,
+    heartbeat_packet, home_position_packet, mount_orientation_packet_for_component,
+    mount_status_packet, system_status_packet, vfr_hud_packet,
+    video_stream_information_packet_for_component, video_stream_status_packet_for_component,
 };
 use super::payload::{UasSystemPayload, UasTelemetryPayload};
+use super::state::{latest_system, record_system};
 
 fn sending_socket(ctx: &Context, error_prefix: &str) -> Result<UdpSocket, &'static str> {
     if let Some(socket) = socket_for_send() {
@@ -21,7 +30,11 @@ fn sending_socket(ctx: &Context, error_prefix: &str) -> Result<UdpSocket, &'stat
     match UdpSocket::bind("0.0.0.0:0") {
         Ok(socket) => Ok(socket),
         Err(error) => {
-            let _ = ctx.callback_data("MAVLINK MOCK ERROR", "Failed to bind UDP socket", error.to_string());
+            let _ = ctx.callback_data(
+                "MAVLINK MOCK ERROR",
+                "Failed to bind UDP socket",
+                error.to_string(),
+            );
             info!("{} failed to bind UDP socket: {}", error_prefix, error);
             Err("Failed to bind MAVLink mock socket")
         }
@@ -58,24 +71,54 @@ pub fn send_uas_telemetry(ctx: Context, payload: UasTelemetryPayload) -> &'stati
 
     for (index, packet) in packets.iter().enumerate() {
         if let Err(error) = socket.send_to(packet, &payload.address) {
-            let _ = ctx.callback_data("MAVLINK MOCK ERROR", "Failed to send MAVLink packet", error.to_string());
-            info!("MAVLink mock failed sending packet {} to {}: {}", index, payload.address, error);
+            let _ = ctx.callback_data(
+                "MAVLINK MOCK ERROR",
+                "Failed to send MAVLink packet",
+                error.to_string(),
+            );
+            info!(
+                "MAVLink mock failed sending packet {} to {}: {}",
+                index, payload.address, error
+            );
             return "Failed to send MAVLink mock telemetry";
         }
     }
 
-    info!("MAVLink mock sent {} packets to {}", packets.len(), payload.address);
+    info!(
+        "MAVLink mock sent {} packets to {}",
+        packets.len(),
+        payload.address
+    );
     "Sent MAVLink mock telemetry"
 }
 
 pub fn send_uas_system(ctx: Context, payload: UasSystemPayload) -> &'static str {
-    let system_id = stable_system_id(&payload.entity_uuid);
+    let mavlink_identity = stable_mavlink_identity(&payload.callsign, &payload.entity_uuid);
+    let system_id = stable_system_id(&mavlink_identity);
     let vehicle_type = map_vehicle_type(payload.vehicle_type);
+    record_system(system_id, &mavlink_identity, &payload);
+    let active_camera_component = latest_system(system_id)
+        .map(|system| system.active_camera_component)
+        .unwrap_or(CAMERA_COMPONENT_ID);
+    let (home_lat_deg, home_lon_deg, home_alt_msl_m) = latest_system(system_id)
+        .map(|system| {
+            (
+                system.home_lat_deg,
+                system.home_lon_deg,
+                system.home_alt_msl_m,
+            )
+        })
+        .unwrap_or((
+            payload.lat_deg,
+            payload.lon_deg,
+            payload.alt_msl_m - payload.rel_alt_m,
+        ));
 
     info!(
-        "MAVLink system send requested to {} entity_uuid={} sysid={} callsign={} lat={} lon={} alt_msl={} rel_alt={} heading={} gimbal_pitch={} gimbal_yaw={} video_uri={}",
+        "MAVLink system send requested to {} entity_uuid={} mavlink_identity={} sysid={} callsign={} lat={} lon={} alt_msl={} rel_alt={} heading={} gimbal_pitch={} gimbal_yaw={} video_uri={}",
         payload.address,
         payload.entity_uuid,
+        mavlink_identity,
         system_id,
         payload.callsign,
         payload.lat_deg,
@@ -92,6 +135,46 @@ pub fn send_uas_system(ctx: Context, payload: UasSystemPayload) -> &'static str
         Ok(socket) => socket,
         Err(message) => return message,
     };
+    let (fpv_image_lat, fpv_image_lon, fpv_image_alt) = fpv_image_point(
+        payload.lat_deg,
+        payload.lon_deg,
+        payload.alt_msl_m,
+        payload.rel_alt_m,
+        payload.pitch_deg,
+        payload.yaw_deg,
+    );
+    let active_is_turret =
+        payload.has_turret_camera && active_camera_component == TURRET_CAMERA_COMPONENT_ID;
+    info!(
+        "MAVLink active camera sysid={} active_component={} has_turret={} active_is_turret={}",
+        system_id, active_camera_component, payload.has_turret_camera, active_is_turret
+    );
+    let (
+        primary_pitch,
+        primary_roll,
+        primary_yaw,
+        primary_image_lat,
+        primary_image_lon,
+        primary_image_alt,
+    ) = if active_is_turret {
+        (
+            payload.gimbal_pitch_deg,
+            payload.gimbal_roll_deg,
+            payload.gimbal_yaw_deg,
+            payload.image_lat_deg,
+            payload.image_lon_deg,
+            payload.image_alt_msl_m,
+        )
+    } else {
+        (
+            payload.pitch_deg,
+            payload.roll_deg,
+            payload.yaw_deg,
+            fpv_image_lat,
+            fpv_image_lon,
+            fpv_image_alt,
+        )
+    };
 
     let autopilot_payload = UasTelemetryPayload {
         address: payload.address.clone(),
@@ -116,27 +199,141 @@ pub fn send_uas_system(ctx: Context, payload: UasSystemPayload) -> &'static str
         global_position_int_packet(&autopilot_payload),
         attitude_packet(&autopilot_payload),
         vfr_hud_packet(&autopilot_payload),
-        system_status_packet(system_id),
-        extended_sys_state_packet(system_id, payload.flying),
-        autopilot_version_packet(system_id, &payload.entity_uuid),
+        system_status_packet(system_id, payload.battery_remaining_pct),
+        extended_sys_state_packet(system_id, payload.landed),
+        autopilot_version_packet(system_id, &mavlink_identity),
+        home_position_packet(
+            system_id,
+            home_lat_deg,
+            home_lon_deg,
+            home_alt_msl_m,
+            payload.heading_deg,
+        ),
         component_heartbeat_packet(system_id, CAMERA_COMPONENT_ID, MAV_TYPE_CAMERA),
         component_heartbeat_packet(system_id, GIMBAL_COMPONENT_ID, MAV_TYPE_GIMBAL),
-        camera_information_packet(system_id, &payload.callsign),
+        camera_information_packet_for_component(
+            system_id,
+            CAMERA_COMPONENT_ID,
+            &format!("{} FPV", payload.callsign),
+            0,
+        ),
+        mount_orientation_packet_for_component(
+            system_id,
+            CAMERA_COMPONENT_ID,
+            primary_pitch,
+            primary_yaw,
+        ),
+        camera_fov_status_packet_for_component(
+            system_id,
+            CAMERA_COMPONENT_ID,
+            payload.lat_deg,
+            payload.lon_deg,
+            payload.alt_msl_m,
+            primary_image_lat,
+            primary_image_lon,
+            primary_image_alt,
+            primary_roll,
+            primary_pitch,
+            primary_yaw,
+            payload.hfov_deg,
+            payload.vfov_deg,
+        ),
+        gimbal_manager_information_packet(system_id),
     ];
 
+    if payload.has_turret_camera {
+        packets.push(component_heartbeat_packet(
+            system_id,
+            TURRET_CAMERA_COMPONENT_ID,
+            MAV_TYPE_CAMERA,
+        ));
+        packets.push(camera_information_packet_for_component(
+            system_id,
+            TURRET_CAMERA_COMPONENT_ID,
+            &format!("{} Turret", payload.callsign),
+            GIMBAL_COMPONENT_ID,
+        ));
+        packets.push(mount_orientation_packet_for_component(
+            system_id,
+            TURRET_CAMERA_COMPONENT_ID,
+            payload.gimbal_pitch_deg,
+            payload.gimbal_yaw_deg,
+        ));
+        packets.push(camera_fov_status_packet_for_component(
+            system_id,
+            TURRET_CAMERA_COMPONENT_ID,
+            payload.lat_deg,
+            payload.lon_deg,
+            payload.alt_msl_m,
+            payload.image_lat_deg,
+            payload.image_lon_deg,
+            payload.image_alt_msl_m,
+            payload.gimbal_roll_deg,
+            payload.gimbal_pitch_deg,
+            payload.gimbal_yaw_deg,
+            payload.hfov_deg,
+            payload.vfov_deg,
+        ));
+    }
+
+    let (active_pitch, active_roll, active_relative_yaw) = if active_is_turret {
+        (
+            payload.gimbal_pitch_deg,
+            payload.gimbal_roll_deg,
+            normalize_signed_deg(payload.gimbal_yaw_deg - payload.yaw_deg),
+        )
+    } else {
+        (payload.pitch_deg, payload.roll_deg, 0.0)
+    };
+    packets.push(mount_status_packet(
+        system_id,
+        active_pitch,
+        active_roll,
+        active_relative_yaw,
+    ));
+
     if should_send_video_stream_information(&payload.video_uri) {
         info!(
             "Sending VIDEO_STREAM_INFORMATION for sysid={} uri={}",
-            system_id,
-            payload.video_uri
+            system_id, payload.video_uri
         );
-        packets.push(video_stream_information_packet(
+        packets.push(video_stream_information_packet_for_component(
             system_id,
-            &payload.callsign,
+            CAMERA_COMPONENT_ID,
+            &format!("{} FPV", payload.callsign),
             &payload.video_uri,
             payload.hfov_deg,
+            1,
+            1,
+            false,
         ));
-        packets.push(video_stream_status_packet(system_id, payload.hfov_deg));
+        packets.push(video_stream_status_packet_for_component(
+            system_id,
+            CAMERA_COMPONENT_ID,
+            payload.hfov_deg,
+            1,
+            false,
+        ));
+
+        if payload.has_turret_camera {
+            packets.push(video_stream_information_packet_for_component(
+                system_id,
+                TURRET_CAMERA_COMPONENT_ID,
+                &format!("{} Turret", payload.callsign),
+                &payload.video_uri,
+                payload.hfov_deg,
+                1,
+                1,
+                false,
+            ));
+            packets.push(video_stream_status_packet_for_component(
+                system_id,
+                TURRET_CAMERA_COMPONENT_ID,
+                payload.hfov_deg,
+                1,
+                false,
+            ));
+        }
     } else if !payload.video_uri.trim().is_empty() {
         info!(
             "Skipping VIDEO_STREAM_INFORMATION for sysid={} because URI is not a supported stream URI: {}",
@@ -146,8 +343,15 @@ pub fn send_uas_system(ctx: Context, payload: UasSystemPayload) -> &'static str
 
     for (index, packet) in packets.iter().enumerate() {
         if let Err(error) = socket.send_to(packet, &payload.address) {
-            let _ = ctx.callback_data("MAVLINK MOCK ERROR", "Failed to send MAVLink packet", error.to_string());
-            info!("MAVLink system failed sending packet {} to {}: {}", index, payload.address, error);
+            let _ = ctx.callback_data(
+                "MAVLINK MOCK ERROR",
+                "Failed to send MAVLink packet",
+                error.to_string(),
+            );
+            info!(
+                "MAVLink system failed sending packet {} to {}: {}",
+                index, payload.address, error
+            );
             return "Failed to send MAVLink system telemetry";
         }
     }
@@ -162,3 +366,38 @@ pub fn send_uas_system(ctx: Context, payload: UasSystemPayload) -> &'static str
     );
     "Sent MAVLink system telemetry"
 }
+
+fn normalize_signed_deg(value: f32) -> f32 {
+    let normalized = ((value % 360.0) + 360.0) % 360.0;
+    if normalized > 180.0 {
+        normalized - 360.0
+    } else {
+        normalized
+    }
+}
+
+fn fpv_image_point(
+    lat_deg: f64,
+    lon_deg: f64,
+    alt_msl_m: f32,
+    rel_alt_m: f32,
+    pitch_deg: f32,
+    yaw_deg: f32,
+) -> (f64, f64, f32) {
+    let pitch_rad = pitch_deg.to_radians();
+    let vertical = (-pitch_rad.sin()).max(0.01);
+    let slant_m = (rel_alt_m.max(1.0) / vertical).clamp(1.0, 15_000.0);
+    let ground_m = slant_m * pitch_rad.cos().abs();
+    let yaw_rad = yaw_deg.to_radians();
+    let north_m = ground_m * yaw_rad.cos();
+    let east_m = ground_m * yaw_rad.sin();
+    let lat_rad = lat_deg.to_radians();
+    let meters_per_degree_lat = 111_320.0;
+    let meters_per_degree_lon = (111_320.0 * lat_rad.cos().abs()).max(1.0);
+
+    (
+        lat_deg + north_m as f64 / meters_per_degree_lat,
+        lon_deg + east_m as f64 / meters_per_degree_lon,
+        alt_msl_m - rel_alt_m,
+    )
+}

src/uas/state.rs

@@ -0,0 +1,112 @@
+use std::collections::HashMap;
+use std::sync::Mutex;
+
+use lazy_static::lazy_static;
+
+use super::payload::UasSystemPayload;
+
+#[derive(Clone)]
+pub(crate) struct LatestUasSystem {
+    pub mavlink_identity: String,
+    pub callsign: String,
+    pub lat_deg: f64,
+    pub lon_deg: f64,
+    pub alt_msl_m: f32,
+    pub rel_alt_m: f32,
+    pub heading_deg: f32,
+    pub fpv_pitch_deg: f32,
+    pub fpv_yaw_deg: f32,
+    pub gimbal_pitch_deg: f32,
+    pub gimbal_yaw_deg: f32,
+    pub video_uri: String,
+    pub hfov_deg: f32,
+    pub vfov_deg: f32,
+    pub image_lat_deg: f64,
+    pub image_lon_deg: f64,
+    pub image_alt_msl_m: f32,
+    pub has_turret_camera: bool,
+    pub active_camera_component: u8,
+    pub home_lat_deg: f64,
+    pub home_lon_deg: f64,
+    pub home_alt_msl_m: f32,
+}
+
+lazy_static! {
+    static ref LATEST_UAS_SYSTEMS: Mutex<HashMap<u8, LatestUasSystem>> = Mutex::new(HashMap::new());
+}
+
+pub(crate) fn record_system(system_id: u8, mavlink_identity: &str, payload: &UasSystemPayload) {
+    if let Ok(mut systems) = LATEST_UAS_SYSTEMS.lock() {
+        let active_camera_component = systems
+            .get(&system_id)
+            .map(|system| system.active_camera_component)
+            .unwrap_or(super::constants::CAMERA_COMPONENT_ID);
+        let home = systems
+            .get(&system_id)
+            .map(|system| {
+                (
+                    system.home_lat_deg,
+                    system.home_lon_deg,
+                    system.home_alt_msl_m,
+                )
+            })
+            .unwrap_or((
+                payload.lat_deg,
+                payload.lon_deg,
+                payload.alt_msl_m - payload.rel_alt_m,
+            ));
+
+        systems.insert(
+            system_id,
+            LatestUasSystem {
+                mavlink_identity: mavlink_identity.to_string(),
+                callsign: payload.callsign.clone(),
+                lat_deg: payload.lat_deg,
+                lon_deg: payload.lon_deg,
+                alt_msl_m: payload.alt_msl_m,
+                rel_alt_m: payload.rel_alt_m,
+                heading_deg: payload.heading_deg,
+                fpv_pitch_deg: payload.pitch_deg,
+                fpv_yaw_deg: payload.yaw_deg,
+                gimbal_pitch_deg: payload.gimbal_pitch_deg,
+                gimbal_yaw_deg: payload.gimbal_yaw_deg,
+                video_uri: payload.video_uri.clone(),
+                hfov_deg: payload.hfov_deg,
+                vfov_deg: payload.vfov_deg,
+                image_lat_deg: payload.image_lat_deg,
+                image_lon_deg: payload.image_lon_deg,
+                image_alt_msl_m: payload.image_alt_msl_m,
+                has_turret_camera: payload.has_turret_camera,
+                active_camera_component,
+                home_lat_deg: home.0,
+                home_lon_deg: home.1,
+                home_alt_msl_m: home.2,
+            },
+        );
+    }
+}
+
+pub(crate) fn set_home(system_id: u8, lat_deg: f64, lon_deg: f64, alt_msl_m: f32) {
+    if let Ok(mut systems) = LATEST_UAS_SYSTEMS.lock() {
+        if let Some(system) = systems.get_mut(&system_id) {
+            system.home_lat_deg = lat_deg;
+            system.home_lon_deg = lon_deg;
+            system.home_alt_msl_m = alt_msl_m;
+        }
+    }
+}
+
+pub(crate) fn latest_system(system_id: u8) -> Option<LatestUasSystem> {
+    LATEST_UAS_SYSTEMS
+        .lock()
+        .ok()
+        .and_then(|systems| systems.get(&system_id).cloned())
+}
+
+pub(crate) fn set_active_camera(system_id: u8, component_id: u8) {
+    if let Ok(mut systems) = LATEST_UAS_SYSTEMS.lock() {
+        if let Some(system) = systems.get_mut(&system_id) {
+            system.active_camera_component = component_id;
+        }
+    }
+}

src/udp_socket.rs

@@ -93,6 +93,8 @@ impl UdpClient {
 
 lazy_static! {
     static ref UDP_CLIENT: Arc<Mutex<Option<UdpClient>>> = Arc::new(Mutex::new(None));
+    static ref LRF_CLIENT: Arc<Mutex<Option<UdpClient>>> = Arc::new(Mutex::new(None));
+    static ref COT_CLIENT: Arc<Mutex<Option<UdpClient>>> = Arc::new(Mutex::new(None));
 }
 
 pub fn start(ctx: Context, address: String) -> &'static str {
@@ -125,13 +127,22 @@ pub fn start(ctx: Context, address: String) -> &'static str {
     "Starting UDP Client"
 }
 
-pub fn send_payload(ctx: Context, payload: String) -> &'static str {
-    if let Some(ref client) = *UDP_CLIENT.lock().unwrap() {
+fn send_with_client(
+    client_slot: &Arc<Mutex<Option<UdpClient>>>,
+    ctx: Context,
+    payload: String,
+    missing_message: &'static str,
+) {
+    if let Some(ref client) = *client_slot.lock().unwrap() {
         client.send_payload(ctx, payload);
     } else {
-        let _ = ctx.callback_null("UDP SOCKET ERROR", "UDP Socket is not running");
-        info!("UDP send requested while socket was not running");
+        let _ = ctx.callback_null("UDP SOCKET ERROR", missing_message);
+        info!("UDP send requested while target socket was not running");
     }
+}
+
+pub fn send_payload(ctx: Context, payload: String) -> &'static str {
+    send_with_client(&UDP_CLIENT, ctx, payload, "UDP Socket is not running");
 
     "Sending payload to UDP server"
 }
@@ -146,6 +157,116 @@ pub fn send_gps_cot(
     "Sending GPS Cursor Over Time to UDP server"
 }
 
+pub fn send_eud_cot(
+    ctx: Context,
+    cursor_over_time: cot::gps::ExternalPositionPayload,
+) -> &'static str {
+    send_with_client(
+        &COT_CLIENT,
+        ctx,
+        cursor_over_time.to_cot().convert_to_xml(),
+        "CoT UDP Socket is not running",
+    );
+
+    "Sending EUD Cursor Over Time to CoT UDP server"
+}
+
+pub fn start_lrf(ctx: Context, address: String) -> &'static str {
+    info!("LRF UDP socket start requested for {}", address);
+
+    let (tx, rx): (Sender<UdpCommand>, Receiver<UdpCommand>) = mpsc::channel();
+
+    let client = UdpClient {
+        tx,
+        address: address.clone(),
+    };
+
+    {
+        let mut client_guard = LRF_CLIENT.lock().unwrap();
+        if let Some(ref existing_client) = *client_guard {
+            info!(
+                "Stopping previous LRF UDP client {} before starting {}",
+                existing_client.address, address
+            );
+            existing_client.stop();
+        }
+        *client_guard = Some(UdpClient {
+            tx: client.tx.clone(),
+            address: client.address.clone(),
+        });
+    }
+
+    client.start(address, rx, ctx);
+
+    "Starting LRF UDP Client"
+}
+
+pub fn start_cot(ctx: Context, address: String) -> &'static str {
+    info!("CoT UDP socket start requested for {}", address);
+
+    let (tx, rx): (Sender<UdpCommand>, Receiver<UdpCommand>) = mpsc::channel();
+
+    let client = UdpClient {
+        tx,
+        address: address.clone(),
+    };
+
+    {
+        let mut client_guard = COT_CLIENT.lock().unwrap();
+        if let Some(ref existing_client) = *client_guard {
+            info!(
+                "Stopping previous CoT UDP client {} before starting {}",
+                existing_client.address, address
+            );
+            existing_client.stop();
+        }
+        *client_guard = Some(UdpClient {
+            tx: client.tx.clone(),
+            address: client.address.clone(),
+        });
+    }
+
+    client.start(address, rx, ctx);
+
+    "Starting CoT UDP Client"
+}
+
+pub fn send_lrf(ctx: Context, payload: cot::lrf::LaserRangeFinderPayload) -> &'static str {
+    send_with_client(
+        &LRF_CLIENT,
+        ctx,
+        payload.to_lrf_message(),
+        "LRF UDP Socket is not running",
+    );
+
+    "Sending Laser Range Finder payload to UDP server"
+}
+
+pub fn clear_lrf(ctx: Context, payload: cot::lrf::LaserRangeFinderClearPayload) -> &'static str {
+    send_with_client(
+        &LRF_CLIENT,
+        ctx,
+        payload.to_lrf_message(),
+        "LRF UDP Socket is not running",
+    );
+
+    "Clearing Laser Range Finder payload on UDP server"
+}
+
+pub fn send_digital_pointer_cot(
+    ctx: Context,
+    payload: cot::digital_pointer::DigitalPointerPayload,
+) -> &'static str {
+    send_with_client(
+        &COT_CLIENT,
+        ctx,
+        payload.to_cot().convert_to_xml(),
+        "CoT UDP Socket is not running",
+    );
+
+    "Sending Digital Pointer CoT to UDP server"
+}
+
 pub fn stop(ctx: Context) -> &'static str {
     if let Some(ref client) = *UDP_CLIENT.lock().unwrap() {
         info!("UDP socket stop requested for {}", client.address);
@@ -156,5 +277,15 @@ pub fn stop(ctx: Context) -> &'static str {
         info!("UDP stop requested while socket was not running");
     }
 
+    if let Some(ref client) = *LRF_CLIENT.lock().unwrap() {
+        info!("LRF UDP socket stop requested for {}", client.address);
+        client.stop();
+    }
+
+    if let Some(ref client) = *COT_CLIENT.lock().unwrap() {
+        info!("CoT UDP socket stop requested for {}", client.address);
+        client.stop();
+    }
+
     "Stopping UDP Client"
 }

src/video_stream.rs

@@ -70,7 +70,10 @@ pub fn start_stream(
     let rtsp_url = if username.is_empty() || password.is_empty() {
         format!("rtsp://{}:{}/{}", address, port, stream_path)
     } else {
-        format!("rtsp://{}:{}@{}:{}/{}", username, password, address, port, stream_path)
+        format!(
+            "rtsp://{}:{}@{}:{}/{}",
+            username, password, address, port, stream_path
+        )
     };
 
     let mut cmd = Command::new("ffmpeg");