edge-ai-MCP

MAVSDK-only MCP server for ArduPilot drone control. No raw MAVLink — all I/O through MAVSDK plugins (Action, MissionRaw, Telemetry).

Prerequisites

• Python 3.10+

• MAVSDK Python (mavsdk, grpcio)

• ArduPilot SITL or FC reachable via MAVSDK (default udpin://0.0.0.0:14550)

pip install -r requirements.txt
# or: pip install -e .

Related MCP server: Apollo Universal MCP Server

Run (stdio MCP)

cd MCP
python3 server.py
python3 server.py --connect udpin://0.0.0.0:14550

Environment

Mission upload (multi-waypoint)

{
  "include_takeoff": true,
  "takeoff_alt_m": 15,
  "include_rtl": true,
  "waypoints": [
    {"lat": 23.558, "lon": 120.473, "alt_m": 15},
    {"lat": 23.560, "lon": 120.475, "alt_m": 20}
  ]
}

Use MCP tool upload_mission or upload_and_start_mission with this JSON string.

Tools

Connection: connect, disconnect, is_connected, get_link_status

Flight: arm, disarm, takeoff, land, return_to_launch, hold, goto_location, pause_and_hold, emergency_stop, offboard velocity helpers

Mission: upload_mission, upload_and_start_mission, clear_mission, start_mission, pause_mission, resume_mission, set_mission_current, get_mission_progress

Telemetry: get_telemetry, get_battery, get_flight_mode

Peripherals: gimbal/camera (if hardware supports MAVSDK plugins)

Tests

python3 scripts/test_unit.py
# SITL must be on 14550; stop drone-http if it binds the same port
python3 scripts/test_sitl.py
python3 scripts/test_sitl.py --skip-flight   # connect-only

Hermes example

hermes mcp add drone --command ssh --args jetson@HOST "cd ~/Code/MCP && python3 server.py"

Port conflict

Only one process can listen on UDP 14550. When testing MCP directly, stop drone-http in sar-stack or run SITL on another forwarded port.

Deploy key (Jetson → GitHub)

git remote -v   # git@github.com-edge-ai-mcp:basilrari/edge-ai-MCP.git
git push -u origin main