The MCP tools are a thin layer over a library you can import on its own. Everything below is in the mcardupilot package. Nothing in it knows an airframe: frames, parameters, Lua scripts and scoring belong to the caller.
| Module |
What it holds |
mcardupilot.sitl |
Sitl, one SITL instance and the MAVLink link to it: lease, run directory, launch in its own process group, connect, wait for home, pump, wait, wait_text, set, get, height, truth, arm_on_pad, disarm, fresh_pack, close. The tick(kind, msg) hook and the Bridge protocol for an external physics process. kill_instance(instance, run_root) for a SITL a SIGKILLed script left behind. Constants DEFAULT_RC, CMAC (the default home), NO_OVERRIDE |
mcardupilot.mission |
Item, nav, do, upload (retries while ArduPilot ignores mission traffic after boot), download, box_mission, to_latlon, to_ne. Items are in metres from home |
mcardupilot.frames |
frame_defaults(binary, frame): a frame’s default parameter files, read from the tree’s own vehicleinfo.json as sim_vehicle.py reads them |
mcardupilot.provenance |
binary_provenance(binary): the binary, its build time, the tree’s short SHA, the hash of any uncommitted patch, and patched files newer than the build |
| Module |
What it holds |
mcardupilot.leases |
LeasePool(lock_dir, pool) with acquire(owner, instance=None, check=None), release, the lease(...) context manager, status() and lock_instances(). python -m mcardupilot.leases status prints the holders |
mcardupilot.procs |
launch_group, kill_group (SIGKILL to the group, by recorded start ticks), alive, start_ticks, port_free, busy_ports, port_holder, wait_ports_free, pid files |
mcardupilot.config |
Settings, plus mavlink_port(n) (5760 + 10n), json_port(n) (9002 + 10n), parse_pool, format_pool, RESERVED_INSTANCES |
mcardupilot.errors |
McardupilotError and its subclasses SitlDied, LeasePoolExhausted, InstanceBusy, ArmRefused. Messages are written for the caller to act on |
| Module |
What it holds |
mcardupilot.logs |
Keep policies (never, last, all), collect, latest_bin, pin, unpin, is_pinned, prune (dry run unless apply=True), enforce_budget. python -m mcardupilot.logs prune --root DIR [--budget-gb N] [--apply] |
mcardupilot.logread |
summary(path), fields(path, msg, names, ...), messages(path, types, ...), open_log, read: what log_summary, log_fields and log_messages return |
mcardupilot.logcompare |
compare(a, b, params=True) as log_compare returns it, plus align (phase alignment by longest common subsequence), param_diff and text_diff |
| Module |
What it holds |
mcardupilot.turbulence |
Dryden(seed=None, method="exact") with step(t, mean_wind, h_m, airspeed), scales(h_m, mean_wind) (the MIL-F-8785C sigmas and lengths), and sitl_wind(speed, from_deg, gust, up) (mean wind plus gust as SITL’s three SIM_WIND_* values) |
mcardupilot.wind |
WindSpec, parse, and Wind, a session’s wind advanced on sim time |
| Module |
What it holds |
mcardupilot.server |
build_server(settings=None) and main(), the mcardupilot script |
mcardupilot.sessions |
SessionManager and Session: one Sitl and its pump thread, waiters, idle pacing, reconcile at start, the idle reaper |
mcardupilot.steps |
step program validation and execution inside the pump |
mcardupilot.models |
the pydantic result and argument models on these pages |
mcardupilot.tools |
one module per tool group, each with register(mcp) |
