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Protobuf is used as the primary serialization format for hardware transmission and exchanges between the different components of the platform. Messages struct are defined in .proto files and generated with protoc.


Protobuf is easier to handle than MAVLINK for example, the code to send and receive is way more compact and generic, the messages structuration is more flexible thanks to protoc code generation which explains why we use it as the primary serialization format.


For easy manipulation, users are recommended to use libDM_msg_center library which provides easy handling of protobuf messages + can, mavlink… libDM_msg_center.