#87 39b: MAVLink bridge — ARM intercept + AUT enforcement - #89
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On COMMAND_LONG MAV_CMD_COMPONENT_ARM_DISARM (param1=1): - With --require-aut: calls GET /airspaceUsageToken/find with PUSHPAKA_TOKEN - If any AUT in CREATED or INUSE state → ARM passes through - Otherwise → sends immediate DISARM to SITL (reactive, same as QGC #76) - Fail-safe: ARM blocked if token missing or flight-auth unreachable - HEARTBEAT handler extended to log armed/disarmed state transitions README updated with --require-aut usage and enforcement behaviour table. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
- .github/workflows/python-ci.yml: triggers on sitl-bridge/** changes; runs ruff check + ruff format --check on Python 3.11 - sitl-bridge/pyproject.toml: ruff config (target py311, line-length 100, E/F/W/I rules) - sitl-bridge/bridge.py: auto-formatted to pass ruff format --check Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
This was referenced Mar 25, 2026
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Summary
Extends the MAVLink bridge with ARM enforcement: when
--require-autis set, ARM commands are checked against the flight-auth API and immediately reversed if no active AUT is found.Changes
bridge.py:_on_command_long()— interceptsMAV_CMD_COMPONENT_ARM_DISARM(arm only; disarm passes through)_has_active_aut()— callsGET /airspaceUsageToken/findwithPUSHPAKA_TOKEN; returns True if any AUT isCREATEDorINUSE_send_disarm()— sendsMAV_CMD_COMPONENT_ARM_DISARMparam1=0 + force-disarm magic number to SITL--require-autCLI flag;PUSHPAKA_TOKENenv varREADME.md: updated with--require-autusage and enforcement behaviour tableEnforcement table
CREATED/INUSE)Test plan
python3 bridge.py --helpshows--require-aut--require-aut: ARM commands pass through unaffected--require-aut+ valid token + active AUT: ARM passes--require-aut+ valid token + no AUT: DISARM sent, logged--require-aut+ no token: ARM blocked, warning logged🤖 Generated with Claude Code