Added UAS Tool active actions from ATAK

Update fn_convert_to_stratis.sqf

.gitignore

@@ -3,6 +3,7 @@
 hemtt
 hemtt.exe
 *.biprivatekey
+.hemttprivatekey
 source/
 .vscode
 releases/
@@ -87,4 +88,4 @@ target/
 .cxx
 local.properties
 
-*.apk
+*.apk

.hemtt/project.toml

@@ -38,28 +38,31 @@ preset = "Hemtt"
 [hemtt.launch.default]
 workshop = [
   "450814997", # CBA_A3
-  "463939057", # ACE
+  "463939057", # ace
   "751965892", # ACRE2
-  "2522638637", # ACE Extended Arsenal
+  "2522638637", # ACE3 Arsenal Extended - Core
   "333310405", # Enhanced Movement
   "2034363662", # Enhanced Movement Rework
-  "2941986336", # Hatchet Interaction Framework - Stable Version
-  "1745501605", # Hatchet H-60 pack - Stable Version
   "843577117", # RHSUSAF
-  "843425103", # RHSAFRF
-  "843632231", # RHSSAF
-  "843593391", # RHSGREF
-  "1673456286", # 3CB Factions
+  "3147473073", # TOTT Core
   "623475643", # 3den Enhanced
-  "2257686620", # Blastcore Murr Edition
+  "520618345", # Jbad
+  "1779063631", # Zeus Enhanced
+  "2397360831", # USAF Mod - Main
+  "2397376046", # USAF Mod - Utility
+  "3147476552", # TOTT Optics
   "583496184", # CUP Terrains - Core
-  "3078351739", # Kunduz River
-  "1858075458", # LAMBS_Danger.fsm
-  "1808238502", # LAMBS_Suppression
-  "3425368881", # M4A1_URGI
-  "2268351256", # Tier One Weapons
   "2560276469", # Restrict Markers
-  "3493557838" # Ballad of the Green Berets
+  "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 = [

Cargo.toml

@@ -9,7 +9,10 @@ chrono = "0.4.39"
 lazy_static = "1.5.0"
 log = "0.4.22"
 log4rs = "1.3.0"
-once_cell = "1.19.0"
+reqwest = { version = "0.12.15", default-features = false, features = ["blocking", "json", "rustls-tls"] }
+rcgen = { version = "0.13.2", default-features = false, features = ["crypto", "pem", "aws_lc_rs"] }
+rustls = "0.23.23"
+rustls-pemfile = "2.2.0"
 serde = { version = "1.0.210", features = ["derive"] }
 
 [dependencies.uuid]

README.md

@@ -4,6 +4,10 @@
 
 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/dialog.hpp

@@ -10,44 +10,79 @@ class armatak_udp_socket_start_dialog {
     class armatak_gui_module_udp_socket_dialog_main_frame: RscBackground {
       idc = 16960;
       x = "0.386562 * safezoneW + safezoneX";
-      y = "0.401 * safezoneH + safezoneY";
+      y = "0.357 * safezoneH + safezoneY";
       w = "0.216563 * safezoneW";
-      h = "0.242 * safezoneH";
+      h = "0.418 * safezoneH";
       colorBackground[]={0,0,0,0.45};
     };
   };
   class Controls {
     class armatak_gui_module_udp_socket_dialog_address_edit: RscEdit {
       idc = 16961;
-      text = "168.15.0.3";
+      text = "192.168.15.121";
       x = "0.391719 * safezoneW + safezoneX";
-      y = "0.445 * safezoneH + safezoneY";
+      y = "0.401 * safezoneH + safezoneY";
       w = "0.20625 * safezoneW";
       h = "0.044 * safezoneH";
       colorBackground[]={0,0,0,0.5};
     };
-    class armatak_gui_module_udp_socket_dialog_address_port_edit: RscEdit {
+    class armatak_gui_module_udp_socket_dialog_gnss_port_edit: RscEdit {
       idc = 16962;
       text = "4349";
       x = "0.391719 * safezoneW + safezoneX";
-      y = "0.522 * safezoneH + safezoneY";
+      y = "0.478 * safezoneH + safezoneY";
       w = "0.20625 * safezoneW";
       h = "0.044 * safezoneH";
       colorBackground[]={0,0,0,0.5};
     };
+    class armatak_gui_module_udp_socket_dialog_mavlink_port_edit: RscEdit {
+      idc = 16967;
+      text = "14550";
+      x = "0.391719 * safezoneW + safezoneX";
+      y = "0.555 * safezoneH + safezoneY";
+      w = "0.20625 * safezoneW";
+      h = "0.044 * safezoneH";
+      colorBackground[]={0,0,0,0.5};
+    };
+    class armatak_gui_module_udp_socket_dialog_video_feed_url_edit: RscEdit {
+      idc = 16969;
+      text = "";
+      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 = "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_address_text: RscText {
       idc = 16963;
-      text = "Phone's Socket Local Address";
+      text = "EUD's Address";
       x = "0.391719 * safezoneW + safezoneX";
-      y = "0.412 * safezoneH + safezoneY";
+      y = "0.368 * safezoneH + safezoneY";
       w = "0.20625 * safezoneW";
       h = "0.033 * safezoneH";
     };
-    class armatak_gui_module_udp_socket_dialog_address_port_text: RscText {
+    class armatak_gui_module_udp_socket_dialog_gnss_port_text: RscText {
       idc = 16964;
-      text = "Phone's Socket Local Port";
+      text = "Network GNSS Port";
       x = "0.391719 * safezoneW + safezoneX";
-      y = "0.489 * safezoneH + safezoneY";
+      y = "0.445 * safezoneH + safezoneY";
+      w = "0.20625 * safezoneW";
+      h = "0.033 * safezoneH";
+    };
+    class armatak_gui_module_udp_socket_dialog_mavlink_port_text: RscText {
+      idc = 16968;
+      text = "Mavlink Port";
+      x = "0.391719 * safezoneW + safezoneX";
+      y = "0.522 * safezoneH + safezoneY";
+      w = "0.20625 * safezoneW";
+      h = "0.033 * safezoneH";
+    };
+    class armatak_gui_module_udp_socket_dialog_video_feed_url_text: RscText {
+      idc = 16970;
+      text = "Video Feed URL (Optional)";
+      x = "0.391719 * safezoneW + safezoneX";
+      y = "0.599 * safezoneH + safezoneY";
       w = "0.20625 * safezoneW";
       h = "0.033 * safezoneH";
     };
@@ -56,7 +91,7 @@ class armatak_udp_socket_start_dialog {
       text = "Cancel";
       action = "closeDialog 2;";
       x = "0.551563 * safezoneW + safezoneX";
-      y = "0.577 * safezoneH + safezoneY";
+      y = "0.709 * safezoneH + safezoneY";
       w = "0.0464063 * safezoneW";
       h = "0.055 * safezoneH";
     };
@@ -65,7 +100,7 @@ class armatak_udp_socket_start_dialog {
       text = "Ok";
       action = QUOTE(call FUNC(startUDPSocket));
       x = "0.5 * safezoneW + safezoneX";
-      y = "0.577 * safezoneH + safezoneY";
+      y = "0.709 * safezoneH + safezoneY";
       w = "0.0464063 * safezoneW";
       h = "0.055 * safezoneH";
     };

addons/client/functions/fnc_convertClientLocation.sqf

@@ -1,22 +1,22 @@
 #include "..\script_component.hpp"
 
 /*
- * Author: Valmo Trindade
- * This function is used to convert the position of a unit to the world world location.
- *
- * Argument:
- * 0: in game latitude <NUMBER> is the latitude of the unit.
- * 1: in game longitude <NUMBER> is the longitude of the unit.
- * 2: in game altitude <NUMBER> is the altitude of the unit.
- * 3: in game bearing <NUMBER> is the bearing of the unit.
- *
- * Return Value:
- * ARRAY -> [latitude, longitude, altitude, bearing]
- *
- * Example:
- * [player] call armatak_client_fnc_convertClientLocation;
- *
- * Public: Yes
+	 * Author: Valmo Trindade
+	 * This function is used to convert the position of a unit to the world world location.
+	 *
+	 * Argument:
+	 * 0: in game latitude <NUMBER> is the latitude of the unit.
+	 * 1: in game longitude <NUMBER> is the longitude of the unit.
+	 * 2: in game altitude <NUMBER> is the altitude of the unit.
+	 * 3: in game bearing <NUMBER> is the bearing of the unit.
+	 *
+	 * Return Value:
+	 * ARRAY -> [latitude, longitude, altitude, bearing]
+	 *
+	 * Example:
+	 * [player] call armatak_client_fnc_convertClientLocation;
+	 *
+	 * Public: Yes
 */
 
 params["_latitude", "_longitude", "_altitude"];
@@ -38,6 +38,9 @@ switch (toLower worldName) do {
 	case "vr": {
 		_realLocation = _position call armatak_fnc_convert_to_vr;
 	};
+	case "lawn": {
+		_realLocation = _position call armatak_fnc_convert_to_lawn;
+	};
 	case "cucui": {
 		_realLocation = _position call armatak_fnc_convert_to_cucui;
 	};
@@ -74,9 +77,42 @@ switch (toLower worldName) do {
 	case "kunduz_valley": {
 		_realLocation = _position call armatak_fnc_convert_to_kunduz_valley;
 	};
+	case "malvinasfalkands": {
+		_realLocation = _position call armatak_fnc_convert_to_malvinas_malvinasfalkands;
+	};
+	case "pebble_island_airfield": {
+		_realLocation = _position call armatak_fnc_convert_to_malvinas_pebble_island_airfield;
+	};
+	case "p_argentino_stanley": {
+		_realLocation = _position call armatak_fnc_convert_to_malvinas_p_argentino_stanley;
+	};
+	case "top_malo_house": {
+		_realLocation = _position call armatak_fnc_convert_to_malvinas_top_malo_house;
+	};
+	case "pradera_ganso": {
+		_realLocation = _position call armatak_fnc_convert_to_malvinas_pradera_ganso;
+	};
 	case "tanoa": {
 		_realLocation = _position call armatak_fnc_convert_to_tanoa;
 	};
+	case "zagor_zagorsk_reserved_forest": {
+		_realLocation = _position call armatak_fnc_convert_to_zagor_zagorsk_reserved_forest;
+	};
+	case "umb_colombia": {
+		_realLocation = _position call armatak_fnc_convert_to_colombia;
+	};
+	case "clafghan": {
+		_realLocation = _position call armatak_fnc_convert_to_clafghan;
+	};
+	case "rut_mandol": {
+		_realLocation = _position call armatak_fnc_convert_to_rut_mandol;
+	};
+	case "hellanmaa": {
+		_realLocation = _position call armatak_fnc_convert_to_hellanmaa;
+	};
+	case "hellanmaaw": {
+		_realLocation = _position call armatak_fnc_convert_to_hellanmaa;
+	};
 	default {
 		_warning = format ["<t color='#FF8021'>ARMATAK</t><br/> %1", "Unsupported Map"];
 		[[_warning, 1.5]] call CBA_fnc_notify;

addons/client/functions/fnc_startUDPSocket.sqf

@@ -2,7 +2,7 @@
 
 params ["_logic"];
 
-_socket_is_running = player getVariable [QGVAR(eudConnected), false];
+private _socket_is_running = player getVariable [QGVAR(eudConnected), false];
 
 if (_socket_is_running) exitWith {
 	["Socket is already running", "error", "UDP Socket"] call EFUNC(main,notify);
@@ -11,20 +11,34 @@ if (_socket_is_running) exitWith {
 
 disableSerialization;
 
-_udp_socket_instance_address = ctrlText 16961;
-_udp_socket_instance_port = ctrlText 16962;
+private _eud_address = ctrlText 16961;
+private _gnss_port = ctrlText 16962;
+private _mavlink_port = ctrlText 16967;
+private _video_feed_url = ctrlText 16969;
 
-_udp_socket_fulladdress = ((_udp_socket_instance_address) + ":" + (_udp_socket_instance_port));
+private _udp_socket_fulladdress = _eud_address + ":" + _gnss_port;
+private _mavlink_address = _eud_address + ":" + _mavlink_port;
 
 player setVariable [QGVAR(udp_socket_address), _udp_socket_fulladdress];
+player setVariable [QGVAR(mavlink_address), _mavlink_address];
+player setVariable [QGVAR(video_feed_url), trim _video_feed_url];
 player setVariable [QGVAR(eudConnected), 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]];
+
+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]]]];
+
+call EFUNC(uav,startMavlinkBroadcast);
 
 [{
-	if (player getVariable [QGVAR(eudConnected), false]) then {
-		"armatak" callExtension ["udp_socket:send_gps_cot", [player call FUNC(extractClientPosition)]];
-	};
+	if !(player getVariable [QGVAR(eudConnected), false]) exitWith {};
+
+	"armatak" callExtension ["udp_socket:send_gps_cot", [player call FUNC(extractClientPosition)]];
 }, 0.5, []] call CBA_fnc_addPerFrameHandler;
 
 deleteVehicle _logic;

addons/main/Cfg3den.hpp

@@ -78,6 +78,16 @@ class Cfg3den {
             condition = "objectVehicle";
             typeName = "STRING";
           };
+          class armatak_attribute_marker_video_url {
+            displayName = "Video Feed URL";
+            tooltip = "Shared UAV video URL. This per-vehicle value overrides the optional session video URL from Connect to EUD.";
+            property = "armatak_attribute_marker_video_url";
+            control = "Edit";
+            expression = "_this setVariable ['armatak_attribute_marker_video_url',_value]";
+            defaultValue = "''";
+            condition = "objectVehicle";
+            typeName = "STRING";
+          };
         };
       };
     };

addons/main/CfgFunctions.hpp

@@ -10,12 +10,27 @@ class CfgFunctions {
 			class send_group_cots {
 				file = "\armatak\armatak\addons\main\functions\api\fn_send_group_cots.sqf";
 			};
+			class send_enemy_cot {
+				file = "\armatak\armatak\addons\main\functions\api\fn_send_enemy_cot.sqf";
+			};
 			class send_eud_cot {
 				file = "\armatak\armatak\addons\main\functions\api\fn_send_eud_cot.sqf";
 			};
 			class send_marker_cot {
 				file = "\armatak\armatak\addons\main\functions\api\fn_send_marker_cot.sqf";
 			};
+			class send_uas_platform_cot {
+				file = "\armatak\armatak\addons\main\functions\api\fn_send_uas_platform_cot.sqf";
+			};
+			class send_uas_video_cot {
+				file = "\armatak\armatak\addons\main\functions\api\fn_send_uas_video_cot.sqf";
+			};
+			class send_uas_sensor_cot {
+				file = "\armatak\armatak\addons\main\functions\api\fn_send_uas_sensor_cot.sqf";
+			};
+			class set_uas_camera_override {
+				file = "\armatak\armatak\addons\main\functions\api\fn_set_uas_camera_override.sqf";
+			};
 			class stop_tcp_socket {
 				file = "\armatak\armatak\addons\main\functions\api\fn_stop_tcp_socket.sqf";
 			};
@@ -28,9 +43,18 @@ class CfgFunctions {
 			class extract_marker_callsign {
 				file = "\armatak\armatak\addons\main\functions\extract_data\fn_extract_marker_callsign.sqf";
 			};
+			class extract_marker_video_url {
+				file = "\armatak\armatak\addons\main\functions\extract_data\fn_extract_marker_video_url.sqf";
+			};
 			class extract_role {
 				file = "\armatak\armatak\addons\main\functions\extract_data\fn_extract_role.sqf";
 			};
+			class extract_sensor_data {
+				file = "\armatak\armatak\addons\main\functions\extract_data\fn_extract_sensor_data.sqf";
+			};
+			class extract_uas_camera_data {
+				file = "\armatak\armatak\addons\main\functions\extract_data\fn_extract_uas_camera_data.sqf";
+			};
 			class extract_unit_callsign {
 				file = "\armatak\armatak\addons\main\functions\extract_data\fn_extract_unit_callsign.sqf";
 			};
@@ -62,12 +86,30 @@ class CfgFunctions {
 			class convert_to_kunduz_valley {
 				file = "\armatak\armatak\addons\main\functions\map\fn_convert_to_kunduz_valley.sqf";
 			};
+			class convert_to_lawn {
+				file = "\armatak\armatak\addons\main\functions\map\fn_convert_to_lawn.sqf";
+			};
 			class convert_to_livonia {
 				file = "\armatak\armatak\addons\main\functions\map\fn_convert_to_livonia.sqf";
 			};
 			class convert_to_malden {
 				file = "\armatak\armatak\addons\main\functions\map\fn_convert_to_malden.sqf";
 			};
+			class convert_to_malvinas_malvinasfalkands {
+				file = "\armatak\armatak\addons\main\functions\map\fn_convert_to_malvinas_malvinasfalkands.sqf";
+			};
+			class convert_to_malvinas_p_argentino_stanley {
+				file = "\armatak\armatak\addons\main\functions\map\fn_convert_to_malvinas_p_argentino_stanley.sqf";
+			};
+			class convert_to_malvinas_pebble_island_airfield {
+				file = "\armatak\armatak\addons\main\functions\map\fn_convert_to_malvinas_pebble_island_airfield.sqf";
+			};
+			class convert_to_malvinas_pradera_ganso {
+				file = "\armatak\armatak\addons\main\functions\map\fn_convert_to_malvinas_pradera_ganso.sqf";
+			};
+			class convert_to_malvinas_top_malo_house {
+				file = "\armatak\armatak\addons\main\functions\map\fn_convert_to_malvinas_top_malo_house.sqf";
+			};
 			class convert_to_southen_sahrani {
 				file = "\armatak\armatak\addons\main\functions\map\fn_convert_to_southen_sahrani.sqf";
 			};
@@ -86,6 +128,22 @@ class CfgFunctions {
 			class convert_to_vr {
 				file = "\armatak\armatak\addons\main\functions\map\fn_convert_to_vr.sqf";
 			};
+			class convert_to_zagor_zagorsk_reserved_forest {
+				file = "\armatak\armatak\addons\main\functions\map\fn_convert_to_zagor_zagorsk_reserved_forest.sqf";
+			};
+			class convert_to_colombia {
+				file = "\armatak\armatak\addons\main\functions\map\fn_convert_to_colombia.sqf";
+			};
+			class convert_to_clafghan {
+				file = "\armatak\armatak\addons\main\functions\map\fn_convert_to_clafghan.sqf";
+			};
+			class convert_to_rut_mandol {
+				file = "\armatak\armatak\addons\main\functions\map\fn_convert_to_rut_mandol.sqf";
+			};
+			class convert_to_hellanmaa {
+				file = "\armatak\armatak\addons\main\functions\map\fn_convert_to_hellanmaa.sqf";
+			};
 		};
 	};
 };
+

addons/main/XEH_postInit.sqf

@@ -13,6 +13,9 @@ addMissionEventHandler ["ExtensionCallback", {
 				};
 				case "EUD Disconnected": {
 					SETVAR(player,EGVAR(client,eudConnected),false);
+					call EFUNC(uav,stopMavlinkBroadcast);
+					"armatak" callExtension ["uas:stop_endpoint", []];
+					"armatak" callExtension ["mdns:stop", []];
 				};
 				default {};
 			};
@@ -25,21 +28,74 @@ addMissionEventHandler ["ExtensionCallback", {
 			
 			if (_function == "UDP Socket is not running") then {
 				SETVAR(player,EGVAR(client,eudConnected),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);
+				call EFUNC(uav,stopMavlinkBroadcast);
+				"armatak" callExtension ["uas:stop_endpoint", []];
+				"armatak" callExtension ["mdns:stop", []];
+			};
+		};
+		case "MAVLINK UDP ERROR": {
+			_message = _function;
+			if (_data isNotEqualTo "") then {
+				_message = format ["%1: %2", _function, _data];
+			};
+
+			[_message, "warning", _name] call FUNC(notify);
+		};
+		case "MAVLINK UDP": {
+			private _history = missionNamespace getVariable ["armatak_uav_mavlink_callback_history", []];
+			_history pushBack [diag_tickTime, _function, _data];
+			if ((count _history) > 50) then {
+				_history deleteRange [0, (count _history) - 50];
+			};
+			missionNamespace setVariable ["armatak_uav_mavlink_callback_history", _history];
+			missionNamespace setVariable ["armatak_uav_last_mavlink_callback", [diag_tickTime, _function, _data]];
+
+			switch (_function) do {
+				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);
+				};
+				default {};
 			};
 		};
 		case "TCP SOCKET": {
 			[_function, "success", _name] call FUNC(notify);
 		};
 		case "TCP SOCKET ERROR": {
-			[_function, "error", _name] call FUNC(notify);
+			_message = _function;
+			if (_data isNotEqualTo "") then {
+				_message = format ["%1: %2", _function, _data];
+			};
+
+			[_message, "error", _name] call FUNC(notify);
 		};
 		case "VIDEO": {
 			[_function, "success", _name] call FUNC(notify);
 		};
+		case "MDNS": {
+			[_function, "success", _name] call FUNC(notify);
+		};
+		case "MDNS ERROR": {
+			[_function, "warning", _name] call FUNC(notify);
+		};
 		case "VIDEO ERROR": {
 			[_function, "error", _name] call FUNC(notify);
 

addons/main/functions/api/fn_send_digital_pointer_cot.sqf

@@ -3,12 +3,12 @@ params ["_unit"];
 _digitalPointer = laserTarget _unit;
 
 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";
-
-	_dpCot = [_link_uid, _contact_callsign, _digitalPointerPosition select 0, _digitalPointerPosition select 1, _digitalPointerPosition select 2];
-
-	"armatak" callExtension ["tcp_socket:send_digital_pointer_cot", [_dpCot]];
+ _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"; 
+ 
+ _dpCot = [_link_uid, _contact_callsign, _digitalPointerPosition select 1, _digitalPointerPosition select 2, _digitalPointerPosition select 3]; 
+ 
+ "armatak" callExtension ["tcp_socket:cot:digital_pointer", [_dpCot]];
 };

addons/main/functions/api/fn_send_drone_cot.sqf

@@ -1,28 +1,7 @@
-// function name: armatak_fnc_extract_drone
+// function name: armatak_fnc_send_drone_cot
 // function author: Valmo
 // function description: Gets the drone information for the CoT Router
 
 params["_drone"];
 
-private _atak_role = "a-f-A";
-private _atak_callsign = [_drone] call armatak_fnc_extract_unit_callsign;
-
-switch (side _drone) do {
-	case "WEST": {
-		_atak_role = "a-f-A-M-F-Q"
-	};
-	case "EAST": {
-		_atak_role = "a-h-A-M-F-Q"
-	};
-	case "INDEPENDENT": {
-		_atak_role = "a-n-A-M-F-Q"
-	};
-	case "CIVILIAN": {
-		_atak_role = "a-f-A-C"
-	};
-	default {
-		_atak_role = "a-f-A-M-F-Q"
-	};
-};
-
-_cot = [_drone, _atak_role, _atak_callsign] call armatak_fnc_send_marker_cot;
+[_drone] call armatak_fnc_send_uas_platform_cot;

addons/main/functions/api/fn_send_enemy_cot.sqf

@@ -0,0 +1,15 @@
+// function name: armatak_fnc_send_eud_cot
+// function author: Valmo
+// function description: Gets the information necessary for generating the EUD Cursor Over Time
+
+params ["_unit"];
+
+_unit_position = _unit call armatak_client_fnc_extractClientPosition; 
+
+_uuid = _unit call armatak_fnc_extract_uuid;
+_type = _unit call armatak_fnc_extract_role;
+_callsign = _unit call armatak_fnc_extract_marker_callsign;
+
+_marker_cot = [_uuid, _type, _unit_position select 1, _unit_position select 2, _unit_position select 3, _callsign, _unit_position select 5, _unit_position select 6]; 
+ 
+"armatak" callExtension ["tcp_socket:cot:marker", [_marker_cot]]; 

addons/main/functions/api/fn_send_eud_cot.sqf

@@ -1,4 +1,4 @@
-// function name: armatak_fnc_extract_eud_cot_info
+// function name: armatak_fnc_send_eud_cot
 // function author: Valmo
 // function description: Gets the information necessary for generating the EUD Cursor Over Time
 
@@ -8,6 +8,5 @@ _position = _unit call armatak_client_fnc_extractClientPosition;
 
 _uuid = _unit call armatak_fnc_extract_uuid;
 
-_eud_cot = [_uuid, _position select 0, _position select 1, _position select 2, _callsign, _group_name, _group_role, _position select 3, speed player / 3.6];
-
-"armatak" callExtension ["tcp_socket:send_eud_cot", [_eud_cot]];
+_eud_cot = [_uuid, _position select 1, _position select 2, _position select 3, _callsign, _group_name, _group_role, _position select 5, _position select 6];
+"armatak" callExtension ["tcp_socket:cot:eud", [_eud_cot]];

addons/main/functions/api/fn_send_marker_cot.sqf

@@ -5,9 +5,10 @@
 params ["_unit", "_type", "_callsign"];
 
 _unit_position = _unit call armatak_client_fnc_extractClientPosition;
+_video_url = [_unit] call armatak_fnc_extract_marker_video_url;
 
 _uuid = _unit call armatak_fnc_extract_uuid;
 
-_marker_cot = [_uuid, _type, _unit_position select 0, _unit_position select 1, _unit_position select 2, _callsign, _unit_position select 3, speed _unit / 3.6];
+_marker_cot = [_uuid, _type, _unit_position select 1, _unit_position select 2, _unit_position select 3, _callsign, _unit_position select 5, _unit_position select 6, _video_url];
 
-"armatak" callExtension ["tcp_socket:send_marker_cot", [_marker_cot]];
+"armatak" callExtension ["tcp_socket:cot:marker", [_marker_cot]];

addons/main/functions/api/fn_send_uas_platform_cot.sqf

@@ -0,0 +1,77 @@
+params ["_drone"];
+
+private _uuid = _drone call armatak_fnc_extract_uuid;
+private _uavControl = UAVControl _drone;
+private _controller = _uavControl param [0, objNull];
+private _controller_uid = if (!isNull _controller) then { [_controller] call armatak_fnc_extract_uuid } else { _drone getVariable ["armatak_uas_controller_uid", _uuid] };
+private _callsign = [_drone] call armatak_fnc_extract_marker_callsign;
+private _video_url = [_drone] call armatak_fnc_extract_marker_video_url;
+
+private _atak_role = "a-f-A-M-H-Q";
+switch (side _drone) do {
+    case west: {
+        _atak_role = "a-f-A-M-H-Q";
+    };
+    case east: {
+        _atak_role = "a-h-A-M-H-Q";
+    };
+    case independent: {
+        _atak_role = "a-n-A-M-H-Q";
+    };
+    case civilian: {
+        _atak_role = "a-f-A-C";
+    };
+    default {
+        _atak_role = "a-f-A-M-H-Q";
+    };
+};
+
+private _position = _drone call armatak_client_fnc_extractClientPosition;
+private _lat = _position select 1;
+private _lon = _position select 2;
+private _hae = _position select 3;
+private _course = _position select 5;
+private _speed = _position select 6;
+
+private _cameraData = [_drone] call armatak_fnc_extract_uas_camera_data;
+private _azimuth = _cameraData select 0;
+private _elevation = _cameraData select 1;
+private _fov = _cameraData select 2;
+private _range = _cameraData select 3;
+private _vfov = _drone getVariable ["armatak_uas_vfov", _fov];
+
+private _yaw = round (getDir _drone);
+private _pitch = (vectorDir _drone) select 2;
+private _roll = (vectorUp _drone) select 0;
+private _isFlying = parseNumber (isEngineOn _drone);
+private _hal = ((getPosATL _drone) select 2) max 0;
+private _vehicleType = if (_video_url == "") then {
+    typeOf _drone
+} else {
+    format ["%1|armatak_video_url=%2", typeOf _drone, _video_url]
+};
+
+private _payload = [
+    _uuid,
+    _atak_role,
+    _callsign,
+    _lat,
+    _lon,
+    _hae,
+    _course,
+    _speed,
+    _azimuth,
+    _elevation,
+    _fov,
+    _vfov,
+    _range,
+    _yaw,
+    _pitch,
+    _roll,
+    _hal,
+    _vehicleType,
+    _isFlying,
+    _controller_uid
+];
+
+"armatak" callExtension ["tcp_socket:cot:uas_platform", [_payload]];

addons/main/functions/api/fn_send_uas_sensor_cot.sqf

@@ -0,0 +1,22 @@
+params ["_drone"];
+
+private _video_url = [_drone] call armatak_fnc_extract_marker_video_url;
+if (_video_url == "") exitWith {};
+
+private _uuid = _drone call armatak_fnc_extract_uuid;
+private _video_uid = _uuid + "-video";
+private _sensor_uid = _uuid + "-sensor";
+private _callsign = [_drone] call armatak_fnc_extract_marker_callsign;
+
+private _position = _drone call armatak_client_fnc_extractClientPosition;
+private _lat = _position select 1;
+private _lon = _position select 2;
+private _hae = _position select 3;
+
+private _cameraData = [_drone] call armatak_fnc_extract_uas_camera_data;
+private _azimuth = _cameraData select 0;
+private _fov = _cameraData select 2;
+private _range = _cameraData select 3;
+
+private _payload = [_sensor_uid, _video_uid, _callsign, _lat, _lon, _hae, _azimuth, _fov, _range];
+"armatak" callExtension ["tcp_socket:cot:uas_sensor", [_payload]];

addons/main/functions/api/fn_send_uas_video_cot.sqf

@@ -0,0 +1,20 @@
+params ["_drone"];
+
+private _video_url = [_drone] call armatak_fnc_extract_marker_video_url;
+if (_video_url == "") exitWith {};
+
+private _uuid = _drone call armatak_fnc_extract_uuid;
+private _video_uid = _uuid + "-video";
+private _callsign = [_drone] call armatak_fnc_extract_marker_callsign;
+
+private _signature = format ["%1|%2|%3", _video_uid, _callsign, _video_url];
+private _nextRefreshAt = _drone getVariable ["armatak_next_uas_video_refresh_at", 0];
+private _lastSignature = _drone getVariable ["armatak_last_uas_video_signature", ""];
+
+if (_signature == _lastSignature && {diag_tickTime < _nextRefreshAt}) exitWith {};
+
+_drone setVariable ["armatak_last_uas_video_signature", _signature, false];
+_drone setVariable ["armatak_next_uas_video_refresh_at", diag_tickTime + 300, false];
+
+private _payload = [_video_uid, _callsign, _video_url];
+"armatak" callExtension ["tcp_socket:cot:uas_video", [_payload]];

addons/main/functions/api/fn_set_uas_camera_override.sqf

@@ -0,0 +1,9 @@
+params ["_drone", ["_cameraData", []]];
+
+if (isNull _drone) exitWith {};
+
+if ((_cameraData isEqualType []) && {(count _cameraData) >= 6}) then {
+    _drone setVariable ["armatak_uas_camera_data_override", _cameraData + [serverTime], false];
+} else {
+    _drone setVariable ["armatak_uas_camera_data_override", nil, false];
+};

addons/main/functions/extract_data/fn_extract_marker_callsign.sqf

@@ -5,29 +5,45 @@
 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 = getText (configOf _unit >> "displayName");
+	_callsign = [_displayName, _vehicleName] select (_vehicleName isNotEqualTo "");
 
 	if (!isNull driver _unit) then {
-		_callsign = getText (configOf _unit >> "displayName") + " | " + ([name (driver _unit)] call armatak_fnc_shorten_name);
+		_callsign = _displayName + " | " + ([name (driver _unit)] call armatak_fnc_shorten_name);
 	};
 };
 
 if (unitIsUAV _unit) then {
-	_callsign = getText (configOf _unit >> "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]";
+		_callsign = _callsign + " [ON]";
 	} else {
-		_callsign = (_callsign) + "[OFF]";
+		_callsign = _callsign + " [OFF]";
 	}
 };
 
-armatak_attribute_marker_callsign = _unit getVariable "armatak_attribute_marker_callsign";
-
-if (!isNil "armatak_attribute_marker_callsign" or armatak_attribute_marker_callsign != '') then {
-	_callsign = armatak_attribute_marker_callsign;
+if (_callsign isEqualTo "") then {
+	_callsign = _displayName;
 };
 
 _callsign

addons/main/functions/extract_data/fn_extract_marker_video_url.sqf

@@ -0,0 +1,13 @@
+// function name: armatak_fnc_extract_marker_video_url
+// function author: Codex
+// function description: Gets the marker video URL configured in 3DEN for a vehicle
+
+params ["_unit"];
+
+private _videoUrl = _unit getVariable ["armatak_attribute_marker_video_url", ""];
+
+if (isNil "_videoUrl") exitWith {
+	""
+};
+
+_videoUrl

addons/main/functions/extract_data/fn_extract_role.sqf

@@ -7,8 +7,9 @@ params["_unit"];
 private _affiliation = "f";
 private _type = "G";
 private _role = "a-f-G-U-C-I";
- 
-switch (str side _unit) do {
+private _side = _unit getVariable ["armatak_current_side", side _unit];
+
+switch (str _side) do {
 	case "WEST": {
 		_affiliation = "f";
 	};
@@ -22,7 +23,7 @@ switch (str side _unit) do {
 		_affiliation = "u";
 	};
 	default {
-		_affiliation = "f";
+		_affiliation = "u";
 	};
 };
 
@@ -110,7 +111,6 @@ 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";
 
 if (!isNil "armatak_attribute_marker_type" or armatak_attribute_marker_type != '') then {

addons/main/functions/extract_data/fn_extract_sensor_data.sqf

@@ -0,0 +1,30 @@
+params["_unit"];
+
+_target = getSensorTargets (_unit);
+
+{
+	private _targetUnit = _x select 0;
+	_position = _x select 1;
+	_status = _x select 2;
+	private _targetType = toLower (typeOf _targetUnit);
+
+	if ((_targetType find "lasertarget") < 0) then {
+		if (isNil {
+			_targetUnit getVariable "armatak_current_side"
+		}) then {
+			_targetUnit setVariable ["armatak_current_side", side _targetUnit];
+		};
+
+		if (_status != "destroyed" && !(_targetUnit in armatak_server_syncedUnits)) then {
+			_unit_position = _targetUnit call armatak_client_fnc_extractClientPosition;
+
+			_uuid = _targetUnit call armatak_fnc_extract_uuid;
+			_type = _targetUnit call armatak_fnc_extract_role;
+			_callsign = getText (configOf _targetUnit >> "displayName");
+
+			_marker_cot = [_uuid, _type, _unit_position select 1, _unit_position select 2, _unit_position select 3, _callsign, _unit_position select 5, _unit_position select 6];
+
+			"armatak" callExtension ["tcp_socket:cot:marker", [_marker_cot]];
+		};
+	};
+} forEach _target;

addons/main/functions/extract_data/fn_extract_uas_camera_data.sqf

@@ -0,0 +1,143 @@
+params ["_drone", ["_cameraMode", "turret"]];
+
+private _override = _drone getVariable ["armatak_uas_camera_data_override", []];
+private _isLocalController = hasInterface && {!isNull player} && {(getConnectedUAV player) isEqualTo _drone};
+
+if (!_isLocalController && {_override isEqualType []} && {(count _override) >= 7}) then {
+    private _updatedAt = _override param [6, -1000];
+    if ((time - _updatedAt) <= 5) exitWith {
+        private _overrideSpiAsl = _override param [4, []];
+        private _overrideSpiGeo = _override param [5, []];
+        _drone setVariable ["armatak_uas_spi_asl", _overrideSpiAsl, false];
+        _drone setVariable ["armatak_uas_spi_geo", _overrideSpiGeo, false];
+        _override select [0, 6]
+    };
+};
+
+private _defaultFov = _drone getVariable ["armatak_uas_fov", 60];
+private _maxRange = _drone getVariable ["armatak_uas_max_range", 15000];
+private _originASL = getPosASL _drone;
+private _originAGL = ASLToAGL _originASL;
+private _cameraDir = [];
+private _spiASL = [];
+private _slantRange = 0;
+
+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 [] && {_cameraMode isNotEqualTo "fpv"}) then {
+    private _uavControl = UAVControl _drone;
+    private _controlledTurretPath = _uavControl param [1, []];
+    private _candidateTurrets = [];
+
+    if ((_controlledTurretPath isEqualType []) && {_controlledTurretPath isNotEqualTo []}) then {
+        _candidateTurrets pushBack _controlledTurretPath;
+    };
+
+    {
+        if !(_x in _candidateTurrets) then {
+            _candidateTurrets pushBack _x;
+        };
+    } forEach (allTurrets _drone);
+
+    {
+        private _turretWeapons = _drone weaponsTurret _x;
+        if (_turretWeapons isNotEqualTo []) exitWith {
+            private _weapon = _turretWeapons select 0;
+            private _weaponDirection = _drone weaponDirection _weapon;
+            if (_weaponDirection isNotEqualTo [0, 0, 0]) then {
+                _cameraDir = _weaponDirection;
+            };
+        };
+    } forEach _candidateTurrets;
+};
+
+if (_cameraDir isEqualTo []) then {
+    _cameraDir = vectorDirVisual _drone;
+};
+
+private _dirMagnitude = vectorMagnitude _cameraDir;
+if (_dirMagnitude <= 0) then {
+    private _fallbackAzimuth = getDir _drone;
+    _cameraDir = [sin _fallbackAzimuth, cos _fallbackAzimuth, -1];
+    _dirMagnitude = vectorMagnitude _cameraDir;
+};
+
+_cameraDir = _cameraDir vectorMultiply (1 / _dirMagnitude);
+
+private _dirX = _cameraDir select 0;
+private _dirY = _cameraDir select 1;
+private _dirZ = _cameraDir select 2;
+private _horizontalMagnitude = sqrt ((_dirX * _dirX) + (_dirY * _dirY));
+
+private _azimuth = (((_dirX atan2 _dirY) + 360) mod 360);
+private _elevation = (_dirZ atan2 (_horizontalMagnitude max 0.001));
+
+if (_spiASL isEqualTo []) then {
+    private _altitudeAGL = (_originAGL select 2) max 0.1;
+    private _probeASL = _originASL vectorAdd (_cameraDir vectorMultiply _maxRange);
+
+    if (_dirZ < -0.01 && {terrainIntersectASL [_originASL, _probeASL]}) then {
+        private _near = _originASL;
+        private _far = _probeASL;
+
+        for "_i" from 0 to 24 do {
+            private _mid = [
+                ((_near select 0) + (_far select 0)) / 2,
+                ((_near select 1) + (_far select 1)) / 2,
+                ((_near select 2) + (_far select 2)) / 2
+            ];
+
+            if (terrainIntersectASL [_originASL, _mid]) then {
+                _far = _mid;
+            } else {
+                _near = _mid;
+            };
+        };
+
+        _spiASL = _far;
+        _slantRange = _originASL vectorDistance _spiASL;
+    } else {
+        private _verticalComponent = abs _dirZ;
+
+        if (_verticalComponent > 0.01) then {
+            _slantRange = (_altitudeAGL / _verticalComponent) min _maxRange;
+        } else {
+            _slantRange = _maxRange;
+        };
+
+        _slantRange = _slantRange max 1;
+        _spiASL = _originASL vectorAdd (_cameraDir vectorMultiply _slantRange);
+        _spiASL set [2, getTerrainHeightASL [_spiASL select 0, _spiASL select 1]];
+    };
+};
+
+if (_slantRange <= 0) then {
+    _slantRange = (_originASL vectorDistance _spiASL) max 1;
+};
+
+private _spiAgl = ASLToAGL _spiASL;
+private _spiWorld = [_spiAgl select 0, _spiAgl select 1, (_spiAgl select 2) max 0];
+private _spiGeo = _spiWorld call armatak_client_fnc_convertClientLocation;
+
+_drone setVariable ["armatak_uas_spi_asl", _spiASL, false];
+_drone setVariable ["armatak_uas_spi_geo", _spiGeo, false];
+
+[
+    round _azimuth,
+    round _elevation,
+    round _defaultFov,
+    round (_slantRange max 1),
+    _spiASL,
+    _spiGeo
+]
+
+

addons/main/functions/extract_data/fn_extract_unit_callsign.sqf

@@ -16,10 +16,14 @@ if (roleDescription _unit != "") then {
 	};
 };
 
-armatak_attribute_unit_callsign = _unit getVariable "armatak_attribute_unit_callsign";
+if (side _unit == east) then {
+	_callsign = getText (configOf _unit >> "displayName");
+};
 
-if (!isNil "armatak_attribute_unit_callsign" or armatak_attribute_unit_callsign != '') then {
-	_callsign = armatak_attribute_unit_callsign;
+private _unitCallsignOverride = _unit getVariable ["armatak_attribute_unit_callsign", ""];
+
+if (_unitCallsignOverride isNotEqualTo "") then {
+	_callsign = _unitCallsignOverride;
 };
 
 _callsign

addons/main/functions/map/fn_convert_to_clafghan.sqf

@@ -0,0 +1,23 @@
+params["_latitude", "_longitude", "_altitude"];
+
+_playerPosition = [_latitude, _longitude, _altitude];
+
+_playerLatitude = _playerPosition select 0;
+_playerLongitude = _playerPosition select 1;
+
+_playerMaxLatitude = 20480;
+_playerMaxLongitude = 20480;
+
+_MapMaxLongitude = 33.728772;
+_MapMinLongitude = 33.542815;
+
+_MapMaxLatitude = 63.169746;
+_MapMinLatitude = 62.938820;
+
+_LongitudeDifference = _MapMaxLongitude - _MapMinLongitude;
+_LatitudeDifference = _MapMaxLatitude - _MapMinLatitude;
+
+_RealLongitude = (_playerLongitude / _playerMaxLongitude) * _LongitudeDifference + _MapMinLongitude;
+_RealLatitude = (_playerLatitude / _playerMaxLatitude) * _LatitudeDifference + _MapMinLatitude;
+
+[_RealLongitude, _RealLatitude, _playerPosition select 2]

addons/main/functions/map/fn_convert_to_colombia.sqf

@@ -0,0 +1,23 @@
+params["_latitude", "_longitude", "_altitude"];
+
+_playerPosition = [_latitude, _longitude, _altitude];
+
+_playerLatitude = _playerPosition select 0;
+_playerLongitude = _playerPosition select 1;
+
+_playerMaxLatitude = 20480;
+_playerMaxLongitude = 20480;
+
+_MapMaxLatitude = -67.765153;
+_MapMinLatitude = -68.223664;
+
+_MapMaxLongitude = 10.593815;
+_MapMinLongitude = 10.137466;
+
+_LongitudeDifference = _MapMaxLongitude - _MapMinLongitude;
+_LatitudeDifference = _MapMaxLatitude - _MapMinLatitude;
+
+_RealLongitude = (_playerLongitude / _playerMaxLongitude) * _LongitudeDifference + _MapMinLongitude;
+_RealLatitude = (_playerLatitude / _playerMaxLatitude) * _LatitudeDifference + _MapMinLatitude;
+
+[_RealLongitude, _RealLatitude, _playerPosition select 2]

addons/main/functions/map/fn_convert_to_hellanmaa.sqf

@@ -0,0 +1,30 @@
+params ["_longitudeInGame", "_latitudeInGame", "_altitude"];
+
+private _mapWidth = 8192;
+private _mapHeight = 8192;
+
+//    SW corner (used as origin)
+private _SW_lat = 63.005389;
+private _SW_lon = 22.638957;
+
+//    SE corner
+private _SE_lat = 63.010092;
+private _SE_lon = 22.800107;
+
+//    NW corner
+private _NW_lat = 63.078713;
+private _NW_lon = 22.628542;
+
+private _edgeSE_lat = _SE_lat - _SW_lat;
+private _edgeSE_lon = _SE_lon - _SW_lon;
+
+private _edgeNW_lat = _NW_lat - _SW_lat;
+private _edgeNW_lon = _NW_lon - _SW_lon;
+
+private _fx = _longitudeInGame / _mapWidth;
+private _fy = _latitudeInGame / _mapHeight;
+
+private _realLat = _SW_lat + (_fx * _edgeSE_lat) + (_fy * _edgeNW_lat);
+private _realLon = _SW_lon + (_fx * _edgeSE_lon) + (_fy * _edgeNW_lon);
+
+[_realLat, _realLon, _altitude]

addons/main/functions/map/fn_convert_to_lawn.sqf

@@ -0,0 +1,23 @@
+params["_latitude", "_longitude", "_altitude"];
+
+_playerPosition = [_latitude, _longitude, _altitude];
+
+_playerLatitude = _playerPosition select 0;
+_playerLongitude = _playerPosition select 1;
+
+_playerMaxLongitude = 4992;
+_playerMaxLatitude = 4992;
+
+_MapMaxLongitude = -99.722665;
+_MapMinLongitude = -99.775505;
+
+_MapMaxLatitude = 32.159272;
+_MapMinLatitude = 32.114011;
+
+_LongitudeDifference = _MapMaxLongitude - _MapMinLongitude;
+_LatitudeDifference = _MapMaxLatitude - _MapMinLatitude;
+
+_RealLongitude = (_playerLongitude / _playerMaxLongitude) * _LongitudeDifference + _MapMinLongitude;
+_RealLatitude = (_playerLatitude / _playerMaxLatitude) * _LatitudeDifference + _MapMinLatitude;
+
+[_RealLongitude, _RealLatitude, _playerPosition select 2]

addons/main/functions/map/fn_convert_to_malvinas_malvinasfalkands.sqf

@@ -0,0 +1,30 @@
+params ["_longitudeInGame", "_latitudeInGame", "_altitude"];
+
+private _mapWidth = 11264;
+private _mapHeight = 11264;
+
+//    SW corner (used as origin)
+private _SW_lat = -51.736078;
+private _SW_lon = -57.915032;
+
+//    SE corner
+private _SE_lat = -51.736078;
+private _SE_lon = -58.077879;
+
+//    NW corner
+private _NW_lat = -51.634750;
+private _NW_lon = -58.077879;
+
+private _edgeSE_lat = _SE_lat - _SW_lat;
+private _edgeSE_lon = _SE_lon - _SW_lon;
+
+private _edgeNW_lat = _NW_lat - _SW_lat;
+private _edgeNW_lon = _NW_lon - _SW_lon;
+
+private _fx = _longitudeInGame / _mapWidth;
+private _fy = _latitudeInGame / _mapHeight;
+
+private _realLat = _SW_lat + (_fx * _edgeSE_lat) + (_fy * _edgeNW_lat);
+private _realLon = _SW_lon + (_fx * _edgeSE_lon) + (_fy * _edgeNW_lon);
+
+[_realLat, _realLon, _altitude]

addons/main/functions/map/fn_convert_to_malvinas_p_argentino_stanley.sqf

@@ -0,0 +1,30 @@
+params ["_longitudeInGame", "_latitudeInGame", "_altitude"];
+
+private _mapWidth = 16384;
+private _mapHeight = 16384;
+
+//    SW corner (used as origin)
+private _SW_lat = -51.806546;
+private _SW_lon = -57.939747;
+
+//    SE corner
+private _SE_lat = -51.806546;
+private _SE_lon = -57.701978;
+
+//    NW corner
+private _NW_lat = -51.658913;
+private _NW_lon = -57.939747;
+
+private _edgeSE_lat = _SE_lat - _SW_lat;
+private _edgeSE_lon = _SE_lon - _SW_lon;
+
+private _edgeNW_lat = _NW_lat - _SW_lat;
+private _edgeNW_lon = _NW_lon - _SW_lon;
+
+private _fx = _longitudeInGame / _mapWidth;
+private _fy = _latitudeInGame / _mapHeight;
+
+private _realLat = _SW_lat + (_fx * _edgeSE_lat) + (_fy * _edgeNW_lat);
+private _realLon = _SW_lon + (_fx * _edgeSE_lon) + (_fy * _edgeNW_lon);
+
+[_realLat, _realLon, _altitude]

addons/main/functions/map/fn_convert_to_malvinas_pebble_island_airfield.sqf

@@ -0,0 +1,30 @@
+params ["_longitudeInGame", "_latitudeInGame", "_altitude"];
+
+private _mapWidth = 10240;
+private _mapHeight = 10240;
+
+//    SW corner (used as origin)
+private _SW_lat = -51.863358;
+private _SW_lon = -59.054585;
+
+//    SE corner
+private _SE_lat = -51.863358;
+private _SE_lon = -58.906155;
+
+//    NW corner
+private _NW_lat = -51.771493;
+private _NW_lon = -59.054585;
+
+private _edgeSE_lat = _SE_lat - _SW_lat;
+private _edgeSE_lon = _SE_lon - _SW_lon;
+
+private _edgeNW_lat = _NW_lat - _SW_lat;
+private _edgeNW_lon = _NW_lon - _SW_lon;
+
+private _fx = _longitudeInGame / _mapWidth;
+private _fy = _latitudeInGame / _mapHeight;
+
+private _realLat = _SW_lat + (_fx * _edgeSE_lat) + (_fy * _edgeNW_lat);
+private _realLon = _SW_lon + (_fx * _edgeSE_lon) + (_fy * _edgeNW_lon);
+
+[_realLat, _realLon, _altitude]

addons/main/functions/map/fn_convert_to_malvinas_pradera_ganso.sqf

@@ -0,0 +1 @@
+

addons/main/functions/map/fn_convert_to_malvinas_top_malo_house.sqf

@@ -0,0 +1,23 @@
+params["_latitude", "_longitude", "_altitude"];
+
+_playerPosition = [_latitude, _longitude, _altitude];
+
+_playerLatitude = _playerPosition select 0;
+_playerLongitude = _playerPosition select 1;
+
+_playerMaxLongitude = 5120;
+_playerMaxLatitude = 5120;
+
+_MapMaxLatitude = -51.619725;
+_MapMinLatitude = -51.664223;
+
+_MapMaxLongitude = -58.394630;
+_MapMinLongitude = -58.469580;
+
+_LongitudeDifference = _MapMaxLongitude - _MapMinLongitude;
+_LatitudeDifference = _MapMaxLatitude - _MapMinLatitude;
+
+_RealLongitude = (_playerLongitude / _playerMaxLongitude) * _LongitudeDifference + _MapMinLongitude;
+_RealLatitude = (_playerLatitude / _playerMaxLatitude) * _LatitudeDifference + _MapMinLatitude;
+
+[_RealLongitude, _RealLatitude, _playerPosition select 2]

addons/main/functions/map/fn_convert_to_rut_mandol.sqf

@@ -0,0 +1,23 @@
+params["_latitude", "_longitude", "_altitude"];
+
+_playerPosition = [_latitude, _longitude, _altitude];
+
+_playerLatitude = _playerPosition select 0;
+_playerLongitude = _playerPosition select 1;
+
+_playerMaxLatitude = 32768;
+_playerMaxLongitude = 32768;
+
+_MapMaxLongitude = 35.285485;
+_MapMinLongitude = 34.927617;
+
+_MapMaxLatitude = 70.445404;
+_MapMinLatitude = 70.016783;
+
+_LongitudeDifference = _MapMaxLongitude - _MapMinLongitude;
+_LatitudeDifference = _MapMaxLatitude - _MapMinLatitude;
+
+_RealLongitude = (_playerLongitude / _playerMaxLongitude) * _LongitudeDifference + _MapMinLongitude;
+_RealLatitude = (_playerLatitude / _playerMaxLatitude) * _LatitudeDifference + _MapMinLatitude;
+
+[_RealLongitude, _RealLatitude, _playerPosition select 2]

addons/main/functions/map/fn_convert_to_stratis.sqf

@@ -12,7 +12,7 @@ private _SE_lat = 39.458019;
 private _SE_lon = 25.081992;
 
 //    NW corner
-private _NW_lat = 39.458019;
+private _NW_lat = 39.568847;
 private _NW_lon = 24.939314;
 
 private _edgeSE_lat = _SE_lat - _SW_lat;

addons/main/functions/map/fn_convert_to_zagor_zagorsk_reserved_forest.sqf

@@ -0,0 +1,23 @@
+params["_latitude", "_longitude", "_altitude"];
+
+_playerPosition = [_latitude, _longitude, _altitude];
+
+_playerLatitude = _playerPosition select 0;
+_playerLongitude = _playerPosition select 1;
+
+_playerMaxLongitude = 20480;
+_playerMaxLatitude = 20480;
+
+_MapMaxLongitude = 48.351216;
+_MapMinLongitude = 48.097496;
+
+_MapMaxLatitude = 38.345389;
+_MapMinLatitude = 37.956754;
+
+_LongitudeDifference = _MapMaxLongitude - _MapMinLongitude;
+_LatitudeDifference = _MapMaxLatitude - _MapMinLatitude;
+
+_RealLongitude = (_playerLongitude / _playerMaxLongitude) * _LongitudeDifference + _MapMinLongitude;
+_RealLatitude = (_playerLatitude / _playerMaxLatitude) * _LatitudeDifference + _MapMinLatitude;
+
+[_RealLongitude, _RealLatitude, _playerPosition select 2]

addons/server/CfgVehicles.hpp

@@ -1,42 +1,28 @@
 class CfgVehicles {
-  	class Logic;
-	class Module_F : Logic
-	{
-		class AttributesBase
-		{
-			class Default;
+	class Logic;
+	class Module_F : Logic {
+		class AttributesBase {
 			class Edit;
-			class Combo;
-			class Checkbox;
-			class CheckboxNumber;
 			class ModuleDescription;
-			class Units;
-		};
-
-		class ModuleDescription
-		{
-			class AnyBrain;
 		};
+		class ModuleDescription;
 	};
 
 	class GVAR(moduleBase): Module_F {
-    author = PROJECT_AUTHOR;
-    category = QEGVAR(main,moduleCategory);
-    function = QUOTE({});
-    functionPriority = 1;
-    isGlobal = 1;
-    isTriggerActivated = 0;
-    scope = 1;
-    scopeCurator = 2;
-  };
+		author = PROJECT_AUTHOR;
+		category = QEGVAR(main,moduleCategory);
+		function = QUOTE({});
+		functionPriority = 1;
+		isGlobal = 1;
+		isTriggerActivated = 0;
+		scope = 1;
+		scopeCurator = 2;
+	};
 
-	class GVAR(coreModule): GVAR(moduleBase) {
-		scope = 2;
+	class GVAR(connectionModuleBase): GVAR(moduleBase) {
 		scopeCurator = 0;
-		displayname = "CoT Router";
 		icon = "\a3\Modules_F_Curator\Data\iconRadio_ca.paa";
 		category = QEGVAR(main,moduleCategory);
-		function = QFUNC(3denCoreModuleConfig);
 		functionPriority = 1;
 		isGlobal = 0;
 		isTriggerActivated = 1;
@@ -47,19 +33,25 @@ class CfgVehicles {
 		canSetArea = 0;
 		canSetAreaShape = 0;
 		canSetAreaHeight = 0;
+	};
+
+	class GVAR(tcpModule): GVAR(connectionModuleBase) {
+		scope = 2;
+		displayName = "CoT Router (TCP)";
+		function = QFUNC(3denTcpModuleConfig);
 
 		class Attributes: AttributesBase {
 			class GVAR(moduleInstanceAddress): Edit {
 				property = QGVAR(moduleInstanceAddress);
-				displayname = "TAK Server Address";
-				tooltip = "TAK Server Instance Address";
+				displayName = "TAK Server Address";
+				tooltip = "Hostname or IP address for the TAK or IronTAK server.";
 				typeName = "STRING";
-				defaultValue = "localhost";
+				defaultValue = "'localhost'";
 			};
 			class GVAR(moduleInstancePort): Edit {
 				property = QGVAR(moduleInstancePort);
-				displayname = "TAK Server TCP Port";
-				tooltip = "TAK Server instance Port for TCP connection";
+				displayName = "TAK Server TCP Port";
+				tooltip = "Port for the unauthenticated TCP socket.";
 				typeName = "NUMBER";
 				defaultValue = "8088";
 			};
@@ -67,24 +59,75 @@ class CfgVehicles {
 		};
 
 		class ModuleDescription: ModuleDescription {
-			description = "Generate the initial ARMATAK configuration, syncronizing all players to the TAK server instance";
+			description = "Connect ArmaTAK to a TAK server over plain TCP.";
 			sync[] = {"LocationArea_F"};
 		};
 	};
 
-	class GVAR(coreModuleCurator): GVAR(coreModule) {
+	class GVAR(enrollModule): GVAR(connectionModuleBase) {
+		scope = 2;
+		displayName = "CoT Router (Authenticated)";
+		function = QFUNC(3denEnrollModuleConfig);
+
+		class Attributes: AttributesBase {
+			class GVAR(moduleInstanceAddress): Edit {
+				property = QGVAR(moduleInstanceAddress);
+				displayname = "TAK Server Address";
+				tooltip = "Hostname or IP address used for enrollment and the final TLS connection.";
+				typeName = "STRING";
+				defaultValue = "'localhost'";
+			};
+			class GVAR(moduleEnrollmentPort): Edit {
+				property = QGVAR(moduleEnrollmentPort);
+				displayName = "Enrollment HTTPS Port";
+				tooltip = "Port used for GET /Marti/api/tls/config and POST /Marti/api/tls/signClient/v2.";
+				typeName = "NUMBER";
+				defaultValue = "8446";
+			};
+			class GVAR(moduleEnrollmentUsername): Edit {
+				property = QGVAR(moduleEnrollmentUsername);
+				displayName = "Enrollment Username";
+				tooltip = "Username used in Basic Auth for client certificate enrollment.";
+				typeName = "STRING";
+				defaultValue = "''";
+			};
+			class GVAR(moduleEnrollmentPassword): Edit {
+				property = QGVAR(moduleEnrollmentPassword);
+				displayName = "Enrollment Password";
+				tooltip = "Password used in Basic Auth for client certificate enrollment.";
+				typeName = "STRING";
+				defaultValue = "''";
+			};
+			class ModuleDescription: ModuleDescription {};
+		};
+
+		class ModuleDescription: ModuleDescription {
+			description = "Enroll a client certificate and connect ArmaTAK over mTLS.";
+			sync[] = {"LocationArea_F"};
+		};
+	};
+
+	class GVAR(tcpModuleCurator): GVAR(tcpModule) {
 		scope = 1;
 		scopeCurator = 2;
 		function = "";
-		displayName = "CoT Router (Zeus)";
-		curatorInfoType = "armatak_zeus_core_module_dialog";
+		displayName = "CoT Router (TCP, Zeus)";
+		curatorInfoType = "armatak_zeus_tcp_module_dialog";
+	};
+
+	class GVAR(enrollModuleCurator): GVAR(enrollModule) {
+		scope = 1;
+		scopeCurator = 2;
+		function = "";
+		displayName = "CoT Router (Authenticated, Zeus)";
+		curatorInfoType = "armatak_zeus_enroll_module_dialog";
 	};
 
 	class GVAR(markEntity): GVAR(moduleBase) {
-    curatorCanAttach = 1;
-    category = QEGVAR(main,moduleCategory);
+		curatorCanAttach = 1;
+		category = QEGVAR(main,moduleCategory);
 		displayname = "Mark Entity";
-    function = QFUNC(routerEntityAdd);
-    icon = "\a3\Modules_F_Curator\Data\iconRadio_ca.paa";
-  };
+		function = QFUNC(routerEntityAdd);
+		icon = "\a3\Modules_F_Curator\Data\iconRadio_ca.paa";
+	};
 };

addons/server/XEH_PREP.hpp

@@ -1,4 +1,7 @@
-PREP(3denCoreModuleConfig);
+PREP(3denEnrollModuleConfig);
+PREP(3denTcpModuleConfig);
 PREP(routerEntityAdd);
 PREP(routerEntityRemove);
-PREP(ZeusCoreModuleConfig);
+PREP(startCotRouter);
+PREP(ZeusEnrollModuleConfig);
+PREP(ZeusTcpModuleConfig);

addons/server/config.cpp

@@ -4,8 +4,10 @@ class CfgPatches {
   class ADDON {
     name = COMPONENT_NAME;
     units[] = {
-			QGVAR(coreModule),
-			QGVAR(coreModuleCurator),
+			QGVAR(tcpModule),
+			QGVAR(tcpModuleCurator),
+			QGVAR(enrollModule),
+			QGVAR(enrollModuleCurator),
       QGVAR(markEntity)
 		};
     weapons[] = {};

addons/server/dialog.hpp

@@ -3,69 +3,172 @@ class RscBackground;
 class RscButton;
 class RscEdit;
 
-class armatak_zeus_core_module_dialog {
+class armatak_zeus_tcp_module_dialog {
   idd = 999991;
   movingEnable = 0;
   class ControlsBackground {
-    class armatak_gui_module_zeus_core_dialog_main_frame: RscBackground {
+    class main_frame: RscBackground {
       idc = 1800;
       x = "0.386562 * safezoneW + safezoneX";
-      y = "0.401 * safezoneH + safezoneY";
+      y = "0.29 * safezoneH + safezoneY";
       w = "0.216563 * safezoneW";
-      h = "0.242 * safezoneH";
-      colorBackground[]={0,0,0,0.45};
+      h = "0.32 * safezoneH";
+      colorBackground[] = {0,0,0,0.45};
     };
   };
   class Controls {
-    class armatak_gui_module_zeus_core_dialog_address_edit: RscEdit {
-      idc = 14000;
-      text = "localhost";
-      x = "0.391719 * safezoneW + safezoneX";
-      y = "0.445 * safezoneH + safezoneY";
-      w = "0.20625 * safezoneW";
-      h = "0.044 * safezoneH";
-      colorBackground[]={0,0,0,0.5};
-    };
-    class armatak_gui_module_zeus_core_dialog_address_port_edit: RscEdit {
-      idc = 14001;
-      text = "8088";
-      x = "0.391719 * safezoneW + safezoneX";
-      y = "0.522 * safezoneH + safezoneY";
-      w = "0.20625 * safezoneW";
-      h = "0.044 * safezoneH";
-      colorBackground[]={0,0,0,0.5};
-    };
-    class armatak_gui_module_zeus_core_dialog_address_text: RscText {
+    class address_text: RscText {
       idc = 1000;
       text = "TAK Server Address";
       x = "0.391719 * safezoneW + safezoneX";
-      y = "0.412 * safezoneH + safezoneY";
+      y = "0.332 * safezoneH + safezoneY";
       w = "0.20625 * safezoneW";
       h = "0.033 * safezoneH";
     };
-    class armatak_gui_module_zeus_core_dialog_address_port_text: RscText {
+    class address_edit: RscEdit {
+      idc = 14000;
+      text = "localhost";
+      x = "0.391719 * safezoneW + safezoneX";
+      y = "0.365 * safezoneH + safezoneY";
+      w = "0.20625 * safezoneW";
+      h = "0.044 * safezoneH";
+      colorBackground[] = {0,0,0,0.5};
+    };
+    class port_text: RscText {
       idc = 1001;
       text = "TAK Server Port";
       x = "0.391719 * safezoneW + safezoneX";
-      y = "0.489 * safezoneH + safezoneY";
+      y = "0.425 * safezoneH + safezoneY";
       w = "0.20625 * safezoneW";
       h = "0.033 * safezoneH";
     };
-    class armatak_gui_module_zeus_core_dialog_address_button_cancel: RscButton {
+    class port_edit: RscEdit {
+      idc = 14001;
+      text = "8088";
+      x = "0.391719 * safezoneW + safezoneX";
+      y = "0.458 * safezoneH + safezoneY";
+      w = "0.20625 * safezoneW";
+      h = "0.044 * safezoneH";
+      colorBackground[] = {0,0,0,0.5};
+    };
+    class button_cancel: RscButton {
       idc = 1601;
       text = "Cancel";
       action = "closeDialog 2;";
       x = "0.551563 * safezoneW + safezoneX";
-      y = "0.577 * safezoneH + safezoneY";
+      y = "0.535 * safezoneH + safezoneY";
       w = "0.0464063 * safezoneW";
       h = "0.055 * safezoneH";
     };
-    class armatak_gui_module_zeus_core_dialog_address_button_ok: RscButton {
+    class button_ok: RscButton {
       idc = 1600;
       text = "Ok";
-      action = QUOTE(call FUNC(zeusCoreModuleConfig));
+      action = QUOTE(call FUNC(ZeusTcpModuleConfig));
       x = "0.5 * safezoneW + safezoneX";
-      y = "0.577 * safezoneH + safezoneY";
+      y = "0.535 * safezoneH + safezoneY";
+      w = "0.0464063 * safezoneW";
+      h = "0.055 * safezoneH";
+    };
+  };
+};
+
+class armatak_zeus_enroll_module_dialog {
+  idd = 999992;
+  movingEnable = 0;
+  class ControlsBackground {
+    class main_frame: RscBackground {
+      idc = 1810;
+      x = "0.386562 * safezoneW + safezoneX";
+      y = "0.2 * safezoneH + safezoneY";
+      w = "0.216563 * safezoneW";
+      h = "0.52 * safezoneH";
+      colorBackground[] = {0,0,0,0.45};
+    };
+  };
+  class Controls {
+    class address_text: RscText {
+      idc = 1010;
+      text = "TAK Server Address";
+      x = "0.391719 * safezoneW + safezoneX";
+      y = "0.242 * safezoneH + safezoneY";
+      w = "0.20625 * safezoneW";
+      h = "0.033 * safezoneH";
+    };
+    class address_edit: RscEdit {
+      idc = 14100;
+      text = "localhost";
+      x = "0.391719 * safezoneW + safezoneX";
+      y = "0.275 * safezoneH + safezoneY";
+      w = "0.20625 * safezoneW";
+      h = "0.044 * safezoneH";
+      colorBackground[] = {0,0,0,0.5};
+    };
+    class enroll_port_text: RscText {
+      idc = 1011;
+      text = "Enrollment HTTPS Port";
+      x = "0.391719 * safezoneW + safezoneX";
+      y = "0.335 * safezoneH + safezoneY";
+      w = "0.20625 * safezoneW";
+      h = "0.033 * safezoneH";
+    };
+    class enroll_port_edit: RscEdit {
+      idc = 14101;
+      text = "8446";
+      x = "0.391719 * safezoneW + safezoneX";
+      y = "0.368 * safezoneH + safezoneY";
+      w = "0.20625 * safezoneW";
+      h = "0.044 * safezoneH";
+      colorBackground[] = {0,0,0,0.5};
+    };
+    class username_text: RscText {
+      idc = 1012;
+      text = "Enrollment Username";
+      x = "0.391719 * safezoneW + safezoneX";
+      y = "0.428 * safezoneH + safezoneY";
+      w = "0.20625 * safezoneW";
+      h = "0.033 * safezoneH";
+    };
+    class username_edit: RscEdit {
+      idc = 14102;
+      text = "";
+      x = "0.391719 * safezoneW + safezoneX";
+      y = "0.461 * safezoneH + safezoneY";
+      w = "0.20625 * safezoneW";
+      h = "0.044 * safezoneH";
+      colorBackground[] = {0,0,0,0.5};
+    };
+    class password_text: RscText {
+      idc = 1013;
+      text = "Enrollment Password";
+      x = "0.391719 * safezoneW + safezoneX";
+      y = "0.521 * safezoneH + safezoneY";
+      w = "0.20625 * safezoneW";
+      h = "0.033 * safezoneH";
+    };
+    class password_edit: RscEdit {
+      idc = 14103;
+      text = "";
+      x = "0.391719 * safezoneW + safezoneX";
+      y = "0.554 * safezoneH + safezoneY";
+      w = "0.20625 * safezoneW";
+      h = "0.044 * safezoneH";
+      colorBackground[] = {0,0,0,0.5};
+    };
+    class button_cancel: RscButton {
+      idc = 1611;
+      text = "Cancel";
+      action = "closeDialog 2;";
+      x = "0.551563 * safezoneW + safezoneX";
+      y = "0.645 * safezoneH + safezoneY";
+      w = "0.0464063 * safezoneW";
+      h = "0.055 * safezoneH";
+    };
+    class button_ok: RscButton {
+      idc = 1610;
+      text = "Ok";
+      action = QUOTE(call FUNC(ZeusEnrollModuleConfig));
+      x = "0.5 * safezoneW + safezoneX";
+      y = "0.645 * safezoneH + safezoneY";
       w = "0.0464063 * safezoneW";
       h = "0.055 * safezoneH";
     };

addons/server/functions/fnc_3denCoreModuleConfig.sqf

@@ -1,57 +0,0 @@
-#include "..\script_component.hpp"
-
-params [
-	["_logic", objNull, [objNull]],
-	["_units", [], [[]]],
-	["_activated", true, [true]]
-];
-
-if (isServer) exitWith {
-	["Connecting to TCP Socket", "success", "TCP Socket"] call EFUNC(main,notify);
-
-	_tak_server_instance_address = _logic getVariable QGVAR(moduleInstanceAddress);
-	_tak_server_instance_port = _logic getVariable QGVAR(moduleInstancePort);
-
-	_tak_server_fulladdress = _tak_server_instance_address + ":" + (str _tak_server_instance_port);
-
-	missionNamespace setVariable ["armatak_server_instance", _tak_server_fulladdress];
-	missionNamespace setVariable ["armatak_tcp_socket_is_running", true];
-
-	"armatak" callExtension ["tcp_socket:start", [_tak_server_fulladdress]];
-
-	_syncUnits = synchronizedObjects _logic;
-
-	missionNamespace setVariable ["armatak_marked_units", _syncUnits];
-
-	GVAR(syncedUnits) = missionNamespace getVariable "armatak_marked_units";
-
-	[{
-		GVAR(syncedUnits) = missionNamespace getVariable "armatak_marked_units";
-
-		{
-			_objectType = _x call BIS_fnc_objectType;
-			switch (true) do {
-				case ((_objectType select 0) == "Soldier"): {
-					_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;
-
-					[_x, _callsign, _group_name, _group_role] call armatak_fnc_send_eud_cot;
-					[_x] call armatak_fnc_send_digital_pointer_cot;
-				};
-				case ((_objectType select 0) == "Vehicle"): {
-					_atak_type = [_x] call armatak_fnc_extract_role;
-					_callsign = [_x] call armatak_fnc_extract_marker_callsign;
-
-					[_x, _atak_type, _callsign] call armatak_fnc_send_marker_cot;
-				};
-			};
-			if (unitIsUAV _x) then {
-				[_x] call armatak_fnc_send_drone_cot;
-				[_x] call armatak_fnc_send_digital_pointer_cot;
-			};
-		} forEach GVAR(syncedUnits);
-	}, 2, []] call CBA_fnc_addPerFrameHandler;
-};
-
-true;

addons/server/functions/fnc_3denEnrollModuleConfig.sqf

@@ -0,0 +1,37 @@
+#include "..\script_component.hpp"
+
+params [
+	["_logic", objNull, [objNull]],
+	["_units", [], [[]]],
+	["_activated", true, [true]]
+];
+
+if (isServer) exitWith {
+	if (missionNamespace getVariable ["armatak_tcp_socket_is_running", false]) exitWith {
+		["Socket was called twice", "error", "TCP Socket"] call EFUNC(main,notify);
+	};
+
+	["Connecting to authenticated TAK socket", "success", "TCP Socket"] call EFUNC(main,notify);
+
+	_tak_server_instance_address = _logic getVariable [QGVAR(moduleInstanceAddress), "localhost"];
+	_tak_server_enrollment_port = _logic getVariable [QGVAR(moduleEnrollmentPort), 8446];
+	_tak_server_enrollment_username = _logic getVariable [QGVAR(moduleEnrollmentUsername), ""];
+	_tak_server_enrollment_password = _logic getVariable [QGVAR(moduleEnrollmentPassword), ""];
+
+	"armatak" callExtension [
+		"tcp_socket:start_enroll_mtls",
+		[
+			_tak_server_instance_address,
+			_tak_server_instance_address,
+			str _tak_server_enrollment_port,
+			_tak_server_enrollment_username,
+			_tak_server_enrollment_password,
+			""
+		]
+	];
+
+	missionNamespace setVariable ["armatak_server_syncedUnits", synchronizedObjects _logic];
+	_tak_server_instance_address call FUNC(startCotRouter);
+};
+
+true

addons/server/functions/fnc_3denTcpModuleConfig.sqf

@@ -0,0 +1,26 @@
+#include "..\script_component.hpp"
+
+params [
+	["_logic", objNull, [objNull]],
+	["_units", [], [[]]],
+	["_activated", true, [true]]
+];
+
+if (isServer) exitWith {
+	if (missionNamespace getVariable ["armatak_tcp_socket_is_running", false]) exitWith {
+		["Socket was called twice", "error", "TCP Socket"] call EFUNC(main,notify);
+	};
+
+	["Connecting to TCP Socket", "success", "TCP Socket"] call EFUNC(main,notify);
+
+	_tak_server_instance_address = _logic getVariable [QGVAR(moduleInstanceAddress), "localhost"];
+	_tak_server_instance_port = _logic getVariable [QGVAR(moduleInstancePort), 8088];
+	_tak_server_fulladdress = _tak_server_instance_address + ":" + (str _tak_server_instance_port);
+
+	"armatak" callExtension ["tcp_socket:start", [_tak_server_fulladdress]];
+
+	missionNamespace setVariable ["armatak_server_syncedUnits", synchronizedObjects _logic];
+	_tak_server_fulladdress call FUNC(startCotRouter);
+};
+
+true

addons/server/functions/fnc_ZeusCoreModuleConfig.sqf

@@ -1,60 +0,0 @@
-#include "..\script_component.hpp"
-
-params ["_logic"];
-
-_socket_is_running = missionNamespace getVariable ["armatak_tcp_socket_is_running", false];
-
-if (_socket_is_running) exitWith {
-	["Socket was called twice", "error", "TCP Socket"] call EFUNC(main,notify);
-	closeDialog 1;
-};
-
-disableSerialization;
-
-["Connecting to TCP Socket", "success", "TCP Socket"] call EFUNC(main,notify);
-
-_tak_server_instance_address = ctrlText 14000;
-_tak_server_instance_port = ctrlText 14001;
-
-_tak_server_fulladdress = ((_tak_server_instance_address) + ":" + (_tak_server_instance_port));
-
-missionNamespace setVariable ["armatak_server_instance", _tak_server_fulladdress];
-missionNamespace setVariable ["armatak_tcp_socket_is_running", true];
-
-"armatak" callExtension ["tcp_socket:start", [_tak_server_fulladdress]];
-
-_syncUnits = [];
-
-missionNamespace setVariable ["armatak_marked_units", _syncUnits];
-
-GVAR(syncedUnits) = missionNamespace getVariable "armatak_marked_units";
-
-[{
-	GVAR(syncedUnits) = missionNamespace getVariable "armatak_marked_units";
-
-	{
-		_objectType = _x call BIS_fnc_objectType;
-		switch (true) do {
-			case ((_objectType select 0) == "Soldier"): {
-				_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;
-
-				[_x, _callsign, _group_name, _group_role] call armatak_fnc_send_eud_cot;
-				[_x] call armatak_fnc_send_digital_pointer_cot;
-			};
-			case ((_objectType select 0) == "Vehicle"): {
-				_atak_type = [_x] call armatak_fnc_extract_role;
-				_callsign = [_x] call armatak_fnc_extract_marker_callsign;
-
-				[_x, _atak_type, _callsign] call armatak_fnc_send_marker_cot;
-			};
-		};
-		if (unitIsUAV _x) then {
-			[_x] call armatak_fnc_send_drone_cot;
-			[_x] call armatak_fnc_send_digital_pointer_cot;
-		};
-	} forEach GVAR(syncedUnits);
-}, 2, []] call CBA_fnc_addPerFrameHandler;
-deleteVehicle _logic;
-closeDialog 1;

addons/server/functions/fnc_ZeusEnrollModuleConfig.sqf

@@ -0,0 +1,33 @@
+#include "..\script_component.hpp"
+
+params ["_logic"];
+
+if (missionNamespace getVariable ["armatak_tcp_socket_is_running", false]) exitWith {
+	["Socket was called twice", "error", "TCP Socket"] call EFUNC(main,notify);
+	closeDialog 1;
+};
+
+disableSerialization;
+
+["Connecting to authenticated TAK socket", "success", "TCP Socket"] call EFUNC(main,notify);
+
+_tak_server_instance_address = ctrlText 14100;
+_tak_server_enrollment_port = ctrlText 14101;
+_tak_server_enrollment_username = ctrlText 14102;
+_tak_server_enrollment_password = ctrlText 14103;
+
+"armatak" callExtension [
+	"tcp_socket:start_enroll_mtls",
+	[
+		_tak_server_instance_address,
+		_tak_server_instance_address,
+		_tak_server_enrollment_port,
+		_tak_server_enrollment_username,
+		_tak_server_enrollment_password,
+		""
+	]
+];
+
+_tak_server_instance_address call FUNC(startCotRouter);
+deleteVehicle _logic;
+closeDialog 1;

addons/server/functions/fnc_ZeusTcpModuleConfig.sqf

@@ -0,0 +1,22 @@
+#include "..\script_component.hpp"
+
+params ["_logic"];
+
+if (missionNamespace getVariable ["armatak_tcp_socket_is_running", false]) exitWith {
+	["Socket was called twice", "error", "TCP Socket"] call EFUNC(main,notify);
+	closeDialog 1;
+};
+
+disableSerialization;
+
+["Connecting to TCP Socket", "success", "TCP Socket"] call EFUNC(main,notify);
+
+_tak_server_instance_address = ctrlText 14000;
+_tak_server_instance_port = ctrlText 14001;
+_tak_server_fulladdress = _tak_server_instance_address + ":" + _tak_server_instance_port;
+
+"armatak" callExtension ["tcp_socket:start", [_tak_server_fulladdress]];
+
+_tak_server_fulladdress call FUNC(startCotRouter);
+deleteVehicle _logic;
+closeDialog 1;

addons/server/functions/fnc_routerEntityAdd.sqf

@@ -27,16 +27,16 @@ switch (false) do {
 		deleteVehicle _logic;
 	};
 	default {
-		if (_unit in (missionNamespace getVariable ["armatak_marked_units", []])) exitWith {
+		if (_unit in (missionNamespace getVariable ["armatak_server_syncedUnits", []])) exitWith {
 			["Unit already marked", "warning", "TCP Socket"] call EFUNC(main,notify);
 			deleteVehicle _logic;
 		};
 
-		GVAR(syncedUnits) = missionNamespace getVariable "armatak_marked_units";
+		GVAR(syncedUnits) = missionNamespace getVariable "armatak_server_syncedUnits";
 
 		GVAR(syncedUnits) pushBack _unit;
 
-		missionNamespace setVariable ["armatak_marked_units", GVAR(syncedUnits)];
+		missionNamespace setVariable ["armatak_server_syncedUnits", GVAR(syncedUnits)];
 		SETVAR(_unit,GVAR(isRouting),true);
 
 		deleteVehicle _logic;

addons/server/functions/fnc_routerEntityRemove.sqf

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

addons/server/functions/fnc_startCotRouter.sqf

@@ -0,0 +1,59 @@
+#include "..\script_component.hpp"
+
+params [["_server_instance", "", [""]]];
+
+missionNamespace setVariable ["armatak_server_instance", _server_instance];
+missionNamespace setVariable ["armatak_tcp_socket_is_running", true];
+
+if (isNil { missionNamespace getVariable "armatak_server_syncedUnits" }) then {
+	missionNamespace setVariable ["armatak_server_syncedUnits", []];
+};
+
+GVAR(syncedUnits) = missionNamespace getVariable "armatak_server_syncedUnits";
+
+[{
+	GVAR(syncedUnits) = missionNamespace getVariable "armatak_server_syncedUnits";
+
+	{
+		_objectType = _x call BIS_fnc_objectType;
+		switch (true) do {
+			case ((_objectType select 0) == "Soldier"): {
+				_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;
+
+				[_x, _callsign, _group_name, _group_role] call armatak_fnc_send_eud_cot;
+				[_x] call armatak_fnc_send_digital_pointer_cot;
+			};
+			case (unitIsUAV _x): {
+				if !(_x getVariable ["armatak_uav_mavlink_broadcasting", false]) then {
+					_atak_type = [_x] call armatak_fnc_extract_role;
+					_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;
+				};
+			};
+			case ((_objectType select 0) == "Vehicle"): {
+				_atak_type = [_x] call armatak_fnc_extract_role;
+				_callsign = [_x] call armatak_fnc_extract_marker_callsign;
+
+				[_x, _atak_type, _callsign] call armatak_fnc_send_marker_cot;
+				_x call armatak_fnc_extract_sensor_data;
+			};
+			case ((_objectType select 0) == "VehicleAutonomous"): {
+				if !(_x getVariable ["armatak_uav_mavlink_broadcasting", false]) then {
+					_atak_type = [_x] call armatak_fnc_extract_role;
+					_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;
+				};
+			};
+		};
+	} forEach GVAR(syncedUnits);
+}, 1, []] call CBA_fnc_addPerFrameHandler;
+
+true

addons/uav/$PBOPREFIX$

@@ -0,0 +1 @@
+armatak\armatak\addons\uav

addons/uav/CfgEventHandlers.hpp

@@ -9,3 +9,9 @@ class Extended_PreInit_EventHandlers {
         init = QUOTE(call COMPILE_SCRIPT(XEH_preInit));
     };
 };
+
+class Extended_PostInit_EventHandlers {
+    class ADDON {
+        init = QUOTE(call COMPILE_SCRIPT(XEH_postInit));
+    };
+};

addons/uav/XEH_PREP.hpp

@@ -0,0 +1,6 @@
+PREP(startMavlinkBroadcast);
+PREP(stopMavlinkBroadcast);
+PREP(updateMavlinkBroadcast);
+PREP(resolveVideoUri);
+PREP(handleMavlinkCallback);
+PREP(parseMavlinkCallbackData);

addons/uav/XEH_postInit.sqf

@@ -0,0 +1,5 @@
+#include "script_component.hpp"
+
+if (!hasInterface) exitWith {};
+
+SETVAR(player,GVAR(mavlinkPFH),-1);

addons/uav/config.cpp

@@ -3,15 +3,13 @@
 class CfgPatches {
   class ADDON {
     name = COMPONENT_NAME;
-    units[] = {
-      QGVAR(videoModule)
-    };
+    units[] = {};
     weapons[] = {};
     requiredAddons[] = {
         "cba_main",
         "ace_main",
         "armatak_main",
-        "armatak_server"
+        "armatak_client"
       };
     requiredVersion = REQUIRED_VERSION;
     author = PROJECT_AUTHOR;
@@ -20,4 +18,3 @@ class CfgPatches {
 };
 
 #include "CfgEventHandlers.hpp"
-//#include "CfgVehicles.hpp"

addons/uav/functions/fnc_handleMavlinkCallback.sqf

@@ -0,0 +1,382 @@
+#include "..\script_component.hpp"
+
+params ["_function", ["_data", "", [""]]];
+
+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 _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 _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, _callsign];
+				"armatak" callExtension ["log", [["info", format ["Applied MAVLINK ARM=%1 to UAV %2", _doArm, _uav]]]];
+			};
+			case 22: {
+				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];
+				};
+			};
+			default {
+				"armatak" callExtension ["log", [["info", format ["Unhandled MAVLINK COMMAND_LONG %1 (%2): %3", _command, _commandName, _data]]]];
+			};
+		};
+	};
+	case "COMMAND_INT": {
+		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]]]];
+	};
+	case "MANUAL_CONTROL": {
+		"armatak" callExtension ["log", [["info", format ["Received MAVLINK MANUAL_CONTROL: %1", _data]]]];
+	};
+	default {
+		"armatak" callExtension ["log", [["info", format ["Unhandled MAVLINK UDP callback %1: %2", _function, _data]]]];
+	};
+};

addons/uav/functions/fnc_parseMavlinkCallbackData.sqf

@@ -0,0 +1,17 @@
+#include "..\script_component.hpp"
+
+params [["_raw", "", [""]]];
+
+private _pairs = createHashMap;
+
+{
+	private _entry = _x;
+	private _separatorIndex = _entry find "=";
+	if (_separatorIndex > 0) then {
+		private _key = _entry select [0, _separatorIndex];
+		private _value = _entry select [_separatorIndex + 1];
+		_pairs set [_key, _value];
+	};
+} forEach (_raw splitString ";");
+
+_pairs

addons/uav/functions/fnc_resolveVideoUri.sqf

@@ -0,0 +1,45 @@
+#include "..\script_component.hpp"
+
+params [["_uav", objNull, [objNull]]];
+
+private _defaultVideoUri = "rtsp://undefined:554/fpv";
+private _activelyControlledUav = if (!isNull player) then {getConnectedUAV player} else {objNull};
+
+private _normalize = {
+	params ["_rawUrl"];
+
+	private _url = trim _rawUrl;
+	if (_url isEqualTo "") exitWith {""};
+
+	if (_url find "://" >= 0) exitWith {_url};
+
+	if (_url find "/" >= 0) exitWith {
+		format ["rtsp://%1", _url]
+	};
+
+	format ["rtp://%1", _url]
+};
+
+if (!isNull _uav) then {
+	private _objectVideoUrl = [_uav] call armatak_fnc_extract_marker_video_url;
+	private _normalizedObjectVideoUrl = [_objectVideoUrl] call _normalize;
+	if (_normalizedObjectVideoUrl isNotEqualTo "") exitWith {
+		_normalizedObjectVideoUrl
+	};
+
+	private _activeSessionVideoUrl = player getVariable [QEGVAR(client,video_feed_url), ""];
+	private _normalizedActiveSessionVideoUrl = [_activeSessionVideoUrl] call _normalize;
+	if (_normalizedActiveSessionVideoUrl isNotEqualTo "") exitWith {
+		_normalizedActiveSessionVideoUrl
+	};
+
+	_defaultVideoUri
+};
+
+private _sessionVideoUrl = player getVariable [QEGVAR(client,video_feed_url), ""];
+private _normalizedSessionVideoUrl = [_sessionVideoUrl] call _normalize;
+if (_normalizedSessionVideoUrl isNotEqualTo "") exitWith {
+	_normalizedSessionVideoUrl
+};
+
+_defaultVideoUri

addons/uav/functions/fnc_startMavlinkBroadcast.sqf

@@ -0,0 +1,16 @@
+#include "..\script_component.hpp"
+
+if (!hasInterface) exitWith {};
+
+private _existingPfh = player getVariable [QGVAR(mavlinkPFH), -1];
+if (_existingPfh >= 0) then {
+	[_existingPfh] call CBA_fnc_removePerFrameHandler;
+};
+
+player setVariable [QGVAR(broadcastingUav), objNull];
+
+private _pfh = [{
+	call FUNC(updateMavlinkBroadcast);
+}, 0.5, []] call CBA_fnc_addPerFrameHandler;
+
+player setVariable [QGVAR(mavlinkPFH), _pfh];

addons/uav/functions/fnc_stopMavlinkBroadcast.sqf

@@ -0,0 +1,17 @@
+#include "..\script_component.hpp"
+
+if (!hasInterface) exitWith {};
+
+private _existingPfh = player getVariable [QGVAR(mavlinkPFH), -1];
+if (_existingPfh >= 0) then {
+	[_existingPfh] call CBA_fnc_removePerFrameHandler;
+	player setVariable [QGVAR(mavlinkPFH), -1];
+};
+
+private _broadcastingUav = player getVariable [QGVAR(broadcastingUav), objNull];
+if (!isNull _broadcastingUav) then {
+	_broadcastingUav setVariable ["armatak_uav_mavlink_broadcasting", false, true];
+	systemChat "UAV broadcasting stopped";
+};
+
+player setVariable [QGVAR(broadcastingUav), objNull];

addons/uav/functions/fnc_updateMavlinkBroadcast.sqf

@@ -0,0 +1,122 @@
+#include "..\script_component.hpp"
+
+private _broadcastingUav = player getVariable [QGVAR(broadcastingUav), objNull];
+
+if !(player getVariable [QEGVAR(client,eudConnected), false]) exitWith {
+	if (!isNull _broadcastingUav) then {
+		_broadcastingUav setVariable ["armatak_uav_mavlink_broadcasting", false, true];
+		player setVariable [QGVAR(broadcastingUav), objNull];
+	};
+};
+
+private _uav = getConnectedUAV player;
+if (isNull _uav) then {
+	_uav = _broadcastingUav;
+};
+
+if (isNull _uav || {!alive _uav}) exitWith {
+	if (!isNull _broadcastingUav) then {
+		_broadcastingUav setVariable ["armatak_uav_mavlink_broadcasting", false, true];
+		player setVariable [QGVAR(broadcastingUav), objNull];
+		systemChat "UAV broadcasting stopped";
+		"armatak" callExtension ["log", [["info", "UAV broadcasting stopped because the UAV is no longer available"]]];
+	};
+};
+
+if (_broadcastingUav isNotEqualTo _uav) then {
+	if (!isNull _broadcastingUav) then {
+		_broadcastingUav setVariable ["armatak_uav_mavlink_broadcasting", false, true];
+	};
+	player setVariable [QGVAR(broadcastingUav), _uav];
+	_uav setVariable ["armatak_uav_mavlink_broadcasting", true, true];
+	private _callsign = [_uav] call armatak_fnc_extract_marker_callsign;
+	systemChat format ["Broadcasting UAV %1", _callsign];
+	"armatak" callExtension ["log", [["info", format ["Broadcasting UAV %1 via MAVLink mock to %2", _callsign, player getVariable [QEGVAR(client,mavlink_address), ""]]]]];
+};
+
+_uav setVariable ["armatak_uav_mavlink_broadcasting", true, true];
+
+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);
+private _dir = vectorDir _uav;
+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 _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;
+private _gimbalYaw = _yaw;
+private _hfov = _uav getVariable ["armatak_uas_fov", 60];
+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 []};
+
+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 _spiGeo = _cameraData param [5, []];
+	if (_spiGeo isEqualType [] && {(count _spiGeo) >= 3}) then {
+		_imageLat = _spiGeo select 0;
+		_imageLon = _spiGeo select 1;
+		_imageAlt = _spiGeo select 2;
+	};
+};
+
+private _systemPayload = [
+	_mavlinkAddress,
+	_uuid,
+	_callsign,
+	_uavType,
+	_pos select 1,
+	_pos select 2,
+	_pos select 3,
+	_relAlt,
+	_pos select 5,
+	_pos select 6,
+	_roll,
+	_pitch,
+	_yaw,
+	parseNumber _armed,
+	parseNumber _landed,
+	_gimbalRoll,
+	_gimbalPitch,
+	_gimbalYaw,
+	_videoUri,
+	_hfov,
+	_vfov,
+	_imageLat,
+	_imageLon,
+	_imageAlt,
+	parseNumber _hasTurretCamera,
+	_batteryRemaining
+];
+
+"armatak" callExtension ["uas:send_uas_system", [_systemPayload]];

addons/uav/script_component.hpp

@@ -1,17 +1,17 @@
-#define COMPONENT video
-#define COMPONENT_BEAUTIFIED Video Streaming
+#define COMPONENT uav
+#define COMPONENT_BEAUTIFIED UAV
 #include "\armatak\armatak\addons\main\script_mod.hpp"
 
 // #define DEBUG_MODE_FULL
 // #define DISABLE_COMPILE_CACHE
 // #define ENABLE_PERFORMANCE_COUNTERS
 
-#ifdef DEBUG_ENABLED_MAIN
+#ifdef DEBUG_ENABLED_UAV
     #define DEBUG_MODE_FULL
 #endif
 
-#ifdef DEBUG_SETTINGS_MAIN
-    #define DEBUG_SETTINGS DEBUG_SETTINGS_MAIN
+#ifdef DEBUG_SETTINGS_UAV
+    #define DEBUG_SETTINGS DEBUG_SETTINGS_UAV
 #endif
 
 #include "\z\ace\addons\main\script_macros.hpp"

addons/video/$PBOPREFIX$

@@ -1 +0,0 @@
-armatak\armatak\addons\video

addons/video/CfgVehicles.hpp

@@ -1,73 +0,0 @@
-class CfgVehicles {
-  class Logic;
-
-	class Module_F : Logic
-	{
-		class AttributesBase
-		{
-			class Default;
-			class Edit;
-			class Combo;
-			class Checkbox;
-			class CheckboxNumber;
-			class ModuleDescription;
-			class Units;
-		};
-
-		class ModuleDescription
-		{
-			class AnyBrain;
-		};
-	};
-	class EGVAR(server,moduleBase);
-	class GVAR(videoModule): EGVAR(server,moduleBase) {
-		scope = 2;
-		scopeCurator = 0;
-		displayname = "Video Streaming Handler";
-		icon = "\a3\Modules_F_Curator\Data\iconRadio_ca.paa";
-		category = QEGVAR(main,moduleCategory);
-		function = QFUNC(videoParser);
-		functionPriority = 1;
-		isGlobal = 0;
-		isTriggerActivated = 1;
-		isDisposable = 1;
-		is3den = 0;
-		curatorCanAttach = 0;
-		curatorInfoType = "RscDisplayAttributeModuleNuke";
-		canSetArea = 0;
-		canSetAreaShape = 0;
-		canSetAreaHeight = 0;
-		/*
-		class Attributes: AttributesBase {
-			class GVAR(instanceAddress): Edit {
-				property = QGVAR(instanceAddress);
-				displayname = "MediaMTX Provider Address";
-				tooltip = "MediaMTX Provider Instance Address";
-				typeName = "STRING";
-				defaultValue = "localhost";
-			};
-			class GVAR(instancePort): Edit {
-				property = QGVAR(instancePort);
-				displayname = QUOTE(MediaMTX Provider Port);
-				tooltip = QUOTE(MediaMTX Provider Port for handling video streams);
-				typeName = "STRING";
-				defaultValue = "8554";
-			};
-			class GVAR(instanceAuthUser): Edit {
-				property = QGVAR(instanceAuthUser);
-				displayname = QUOTE(MediaMTX Provider Username);
-				tooltip = QUOTE(MediaMTX Provider Instance Username);
-				typeName = "STRING";
-				defaultValue = "administrator";
-			};
-			class GVAR(instanceAuthPassword): Edit {
-				property = QGVAR(instanceAuthPassword);
-				displayname = QUOTE(MediaMTX Provider Password);
-				tooltip = QUOTE(MediaMTX Provider Instance Password);
-				typeName = "STRING";
-				defaultValue = "password";
-			};
-		};
-		*/
-	};
-};

addons/video/XEH_PREP.hpp

@@ -1 +0,0 @@
-PREP(videoParser);

addons/video/functions/fnc_videoParser.sqf

@@ -1,83 +0,0 @@
-#include "..\script_component.hpp"
-
-params [
-	["_logic", objNull, [objNull]],
-	["_units", [], [[]]],
-	["_activated", true, [true]]
-];
-
-if (isServer) exitWith {
-	private _instance_address = GETVAR(_logic,GVAR(instanceAddress),false);
-	private _instance_port = GETVAR(_logic,GVAR(instancePort),false);
-	private _instance_auth_user = GETVAR(_logic,GVAR(instanceAuthUser),false);
-	private _instance_auth_pass = GETVAR(_logic,GVAR(instanceAuthPassword),false);
-
-	SETMVAR(GVAR(instanceAddress),_instance_address);
-	SETMVAR(GVAR(instancePort),_instance_port);
-	SETMVAR(GVAR(instanceAuthUser),_instance_auth_user);
-	SETMVAR(GVAR(instanceAuthPassword),_instance_auth_pass);
-
-	_startAction = [
-		QGVAR(startStream),
-		"Start Video Feed",
-		"",
-		{
-			_uuid = (_this select 0) call armatak_fnc_extract_uuid; 
-			_uuid_short = _uuid select [0, 8]; 
-			_role = roleDescription (_this select 0); 
-			_name = name (_this select 0); 
-
-			_role = [_role] call BIS_fnc_filterString;
-			_name = [_name] call BIS_fnc_filterString; 
-			
-			_stream_path = _name + "_" + _role + "_" + _uuid_short; 
-
-			armatak_mediamtx_video_stream_instance_address = GETMVAR(instance_address,false);
-			armatak_mediamtx_video_stream_instance_port = missionNamespace getVariable "instance_port";
-			armatak_mediamtx_video_stream_instance_auth_user = missionNamespace getVariable "instance_auth_user";
-			armatak_mediamtx_video_stream_instance_auth_pass = missionNamespace getVariable "instance_auth_pass";
-
-			"armatak" callExtension ["video_stream:start", [armatak_mediamtx_video_stream_instance_address, armatak_mediamtx_video_stream_instance_port, _stream_path, armatak_mediamtx_video_stream_instance_auth_user, armatak_mediamtx_video_stream_instance_auth_pass]];
-			(_this select 0) setVariable ["armatak_video_feed_is_streaming", true];
-		},
-		{
-			(_this select 0) getVariable "armatak_video_feed_is_streaming" == false
-		}
-	] call ace_interact_menu_fnc_createAction;
-	[
-		"Man",
-		1,
-		["ACE_SelfActions"],
-		_startAction,
-		true
-	] call ace_interact_menu_fnc_addActionToClass;
-
-	_stopAction = [
-		"ArmatakStopStream",
-		"Stop Video Feed",
-		"",
-		{
-			"armatak" callExtension ["video_stream:stop", []];
-			SETVAR(_this select 0,GVAR(isStreaming),false);
-		},
-		{
-			GETVAR((this select 0),GVAR(isStreaming),false)
-		}
-	] call ace_interact_menu_fnc_createAction;
-	[
-		"Man",
-		1,
-		["ACE_SelfActions"],
-		_stopAction,
-		true
-	] call ace_interact_menu_fnc_addActionToClass;
-	if (isMultiplayer) then {
-		{
-			SETVAR(_x,GVAR(isStreaming),false);
-		} forEach playableUnits;
-	} else {
-		SETVAR(player,GVAR(isStreaming),false);
-	};
-};
-
-true;

src/cot/cot.rs

@@ -1,5 +1,6 @@
-use uuid::Uuid;
+use super::video::video_detail_xml;
 use chrono::{Duration, SecondsFormat, Utc};
+use uuid::Uuid;
 
 pub struct CursorOverTime {
     pub uuid: Option<String>,
@@ -16,6 +17,7 @@ pub struct CursorOverTime {
     pub track_speed: Option<f32>,
     pub link_uid: Option<String>,
     pub remarker: Option<String>,
+    pub video_url: Option<String>,
 }
 
 impl CursorOverTime {
@@ -107,6 +109,12 @@ impl CursorOverTime {
             xml.push_str(format!("<remarks>ARMATAK | {}</remarks>", remark).as_str());
         }
 
+        if let Some(video_url) = &self.video_url {
+            if !video_url.trim().is_empty() {
+                xml.push_str(&video_detail_xml(video_url, uuid, &self.contact_callsign));
+            }
+        }
+
         xml.push_str("</detail></event>");
 
         return xml;

src/cot/digital_pointer.rs

@@ -1,45 +1,47 @@
-use arma_rs::{FromArma, FromArmaError};
 use super::cot::CursorOverTime;
+use arma_rs::{FromArma, FromArmaError};
 
 pub struct DigitalPointerPayload {
-  pub link_uid: String,
-  pub contact_callsign: String,
-  pub point_lat: f64,
-  pub point_lon: f64,
-  pub point_hae: f32,
+    pub link_uid: String,
+    pub contact_callsign: String,
+    pub point_lat: f64,
+    pub point_lon: f64,
+    pub point_hae: f32,
 }
 
 impl FromArma for DigitalPointerPayload {
-  fn from_arma(data: String) -> Result<DigitalPointerPayload, FromArmaError> {
-      let (link_uid, contact_callsign, point_lat, point_lon, point_hae) =
-          <(String, String, f64, f64, f32)>::from_arma(data)?;
-      Ok(Self {
-          link_uid,
-          contact_callsign,
-          point_lat,
-          point_lon,
-          point_hae,
-      })
-  }
+    fn from_arma(data: String) -> Result<DigitalPointerPayload, FromArmaError> {
+        let (link_uid, contact_callsign, point_lat, point_lon, point_hae) =
+            <(String, String, f64, f64, f32)>::from_arma(data)?;
+        Ok(Self {
+            link_uid,
+            contact_callsign,
+            point_lat,
+            point_lon,
+            point_hae,
+        })
+    }
 }
 
 impl DigitalPointerPayload {
-  pub fn to_cot(&self) -> CursorOverTime {
-      CursorOverTime {
-          uuid: Some(format!("{}{}", self.link_uid.clone(), ".SPI1")),
-          r#type: Some("b-m-p-s-p-i".to_string()),
-          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: Some(self.link_uid.clone()),
-          remarker: None,
-      }
-  }
+    pub fn to_cot(&self) -> CursorOverTime {
+        CursorOverTime {
+            uuid: Some(format!("{}{}", self.link_uid.clone(), ".SPI1")),
+            r#type: Some("b-m-p-s-p-i".to_string()),
+            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: Some(self.link_uid.clone()),
+            remarker: None,
+            video_url: None,
+        }
+    }
 }
+

src/cot/draws/circle.rs

@@ -0,0 +1,126 @@
+use arma_rs::{FromArma, FromArmaError};
+
+pub struct CircleCoTPayload {
+    pub uuid: 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 creator_uid: String,
+    pub creator_callsign: String,
+}
+
+impl FromArma for CircleCoTPayload {
+    fn from_arma(data: String) -> Result<Self, FromArmaError> {
+        let (
+            uuid,
+            center_lat,
+            center_lon,
+            center_hae,
+            major,
+            minor,
+            angle,
+            callsign,
+            creator_uid,
+            creator_callsign,
+        ) = <(String, f64, f64, f32, f64, f64, f32, String, String, String)>::from_arma(data)?;
+
+        Ok(Self {
+            uuid,
+            center_lat,
+            center_lon,
+            center_hae,
+            major,
+            minor,
+            angle,
+            callsign,
+            creator_uid,
+            creator_callsign,
+        })
+    }
+}
+
+pub struct ShapeCircleCoT {
+    pub uid: String,
+    pub lat: f64,
+    pub lon: f64,
+    pub hae: f32,
+    pub major: f64,
+    pub minor: f64,
+    pub angle: f32,
+    pub callsign: String,
+    pub creator_uid: String,
+    pub creator_callsign: String,
+}
+
+impl CircleCoTPayload {
+    pub fn to_cot(&self) -> ShapeCircleCoT {
+        ShapeCircleCoT {
+            uid: self.uuid.clone(),
+            lat: self.center_lat,
+            lon: self.center_lon,
+            hae: self.center_hae,
+            major: self.major,
+            minor: self.minor,
+            angle: self.angle,
+            callsign: self.callsign.clone(),
+            creator_uid: self.creator_uid.clone(),
+            creator_callsign: self.creator_callsign.clone(),
+        }
+    }
+}
+
+impl ShapeCircleCoT {
+    pub fn to_xml(&self, now: &str, stale: &str) -> String {
+        format!(
+            r#"<event version="2.0" uid="{uid}" type="u-d-c-c"
+  time="{t}" start="{t}" stale="{stale}"
+  how="h-e" access="Undefined">
+  <point lat="{lat}" lon="{lon}" hae="{hae}" ce="10.9" le="9999999.0" />
+  <detail>
+    <shape>
+      <ellipse major="{major}" minor="{minor}" angle="{angle}" />
+      <link uid="{uid}.Style" type="b-x-KmlStyle" relation="p-c">
+        <Style>
+          <LineStyle>
+            <color>ffffffff</color>
+            <width>3.0</width>
+          </LineStyle>
+          <PolyStyle>
+            <color>96ffffff</color>
+          </PolyStyle>
+        </Style>
+      </link>
+      <link uid="{creator_uid}" type="self" relation="p-p-CenterAnchor" />
+    </shape>
+    <__shapeExtras cpvis="true" editable="true" />
+    <remarks />
+    <contact callsign="{callsign}" />
+    <creator uid="{creator_uid}" callsign="{creator_callsign}" time="{t}" type="a-f-G-U-C" />
+    <archive />
+    <labels_on value="true" />
+    <strokeColor value="-1" />
+    <strokeWeight value="3.0" />
+    <strokeStyle value="solid" />
+    <fillColor value="-1761607681" />
+    <precisionlocation altsrc="GPS" geopointsrc="GPS" />
+  </detail>
+</event>"#,
+            uid = self.uid,
+            t = now,
+            stale = stale,
+            lat = self.lat,
+            lon = self.lon,
+            hae = self.hae,
+            major = self.major,
+            minor = self.minor,
+            angle = self.angle,
+            callsign = self.callsign,
+            creator_uid = self.creator_uid,
+            creator_callsign = self.creator_callsign
+        )
+    }
+}

src/cot/draws/mod.rs

@@ -0,0 +1 @@
+pub mod circle;

src/cot/eud.rs

@@ -1,62 +1,64 @@
-use arma_rs::{FromArma, FromArmaError};
 use super::cot::CursorOverTime;
+use arma_rs::{FromArma, FromArmaError};
 
 pub struct EudCoTPayload {
-  pub uuid: String,
-  pub point_lat: f64,
-  pub point_lon: f64,
-  pub point_hae: f32,
-  pub contact_callsign: String,
-  pub group_name: String,
-  pub group_role: String,
-  pub track_course: i32,
-  pub track_speed: f32,
+    pub uuid: String,
+    pub point_lat: f64,
+    pub point_lon: f64,
+    pub point_hae: f32,
+    pub contact_callsign: String,
+    pub group_name: String,
+    pub group_role: String,
+    pub track_course: i32,
+    pub track_speed: f32,
 }
 
 impl FromArma for EudCoTPayload {
-  fn from_arma(data: String) -> Result<EudCoTPayload, FromArmaError> {
-      let (
-          uuid,
-          point_lat,
-          point_lon,
-          point_hae,
-          contact_callsign,
-          group_name,
-          group_role,
-          track_course,
-          track_speed,
-      ) = <(String, f64, f64, f32, String, String, String, i32, f32)>::from_arma(data)?;
-      Ok(Self {
-          uuid,
-          point_lat,
-          point_lon,
-          point_hae,
-          contact_callsign,
-          group_name,
-          group_role,
-          track_course,
-          track_speed,
-      })
-  }
+    fn from_arma(data: String) -> Result<EudCoTPayload, FromArmaError> {
+        let (
+            uuid,
+            point_lat,
+            point_lon,
+            point_hae,
+            contact_callsign,
+            group_name,
+            group_role,
+            track_course,
+            track_speed,
+        ) = <(String, f64, f64, f32, String, String, String, i32, f32)>::from_arma(data)?;
+        Ok(Self {
+            uuid,
+            point_lat,
+            point_lon,
+            point_hae,
+            contact_callsign,
+            group_name,
+            group_role,
+            track_course,
+            track_speed,
+        })
+    }
 }
 
 impl EudCoTPayload {
-  pub fn to_cot(&self) -> CursorOverTime {
-      CursorOverTime {
-          uuid: Some(self.uuid.clone()),
-          r#type: None,
-          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: Some(self.group_name.clone()),
-          group_role: Some(self.group_role.clone()),
-          track_course: Some(self.track_course),
-          track_speed: Some(self.track_speed),
-          link_uid: None,
-          remarker: None,
-      }
-  }
+    pub fn to_cot(&self) -> CursorOverTime {
+        CursorOverTime {
+            uuid: Some(self.uuid.clone()),
+            r#type: None,
+            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: Some(self.group_name.clone()),
+            group_role: Some(self.group_role.clone()),
+            track_course: Some(self.track_course),
+            track_speed: Some(self.track_speed),
+            link_uid: None,
+            remarker: None,
+            video_url: None,
+        }
+    }
 }
+

src/cot/gps.rs

@@ -1,5 +1,5 @@
-use arma_rs::{FromArma, FromArmaError};
 use super::cot::CursorOverTime;
+use arma_rs::{FromArma, FromArmaError};
 
 pub struct ExternalPositionPayload {
     pub uuid: String,
@@ -13,47 +13,49 @@ pub struct ExternalPositionPayload {
 }
 
 impl FromArma for ExternalPositionPayload {
-  fn from_arma(data: String) -> Result<ExternalPositionPayload, FromArmaError> {
-      let (
-          uuid,
-          point_lat,
-          point_lon,
-          point_hae,
-          contact_callsign,
-          track_course,
-          track_speed,
-          remarker,
-      ) = <(String, f64, f64, f32, String, i32, f32, String)>::from_arma(data)?;
-      Ok(Self {
-          uuid,
-          point_lat,
-          point_lon,
-          point_hae,
-          contact_callsign,
-          track_course,
-          track_speed,
-          remarker,
-      })
-  }
+    fn from_arma(data: String) -> Result<ExternalPositionPayload, FromArmaError> {
+        let (
+            uuid,
+            point_lat,
+            point_lon,
+            point_hae,
+            contact_callsign,
+            track_course,
+            track_speed,
+            remarker,
+        ) = <(String, f64, f64, f32, String, i32, f32, String)>::from_arma(data)?;
+        Ok(Self {
+            uuid,
+            point_lat,
+            point_lon,
+            point_hae,
+            contact_callsign,
+            track_course,
+            track_speed,
+            remarker,
+        })
+    }
 }
 
 impl ExternalPositionPayload {
-  pub fn to_cot(&self) -> CursorOverTime {
-      CursorOverTime {
-          uuid: Some(self.uuid.clone()),
-          r#type: None,
-          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: Some(self.track_course),
-          track_speed: Some(self.track_speed),
-          link_uid: None,
-          remarker: Some(self.remarker.clone()),
-      }
-  }
+    pub fn to_cot(&self) -> CursorOverTime {
+        CursorOverTime {
+            uuid: Some(self.uuid.clone()),
+            r#type: None,
+            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: Some(self.track_course),
+            track_speed: Some(self.track_speed),
+            link_uid: None,
+            remarker: Some(self.remarker.clone()),
+            video_url: None,
+        }
+    }
 }
+

src/cot/message.rs

@@ -0,0 +1,147 @@
+use arma_rs::{FromArma, FromArmaError};
+use chrono::{Duration, SecondsFormat, Utc};
+use uuid::Uuid;
+
+pub struct MessagePayload {
+    pub sender_callsign: String,
+    pub chatroom: String,
+    pub message_text: String,
+    pub point_lat: f64,
+    pub point_lon: f64,
+    pub point_hae: f32,
+    pub sender_uid: String,
+}
+
+impl FromArma for MessagePayload {
+    fn from_arma(data: String) -> Result<Self, FromArmaError> {
+        let (sender_callsign, chatroom, message_text, point_lat, point_lon, point_hae, sender_uid) =
+            <(String, String, String, f64, f64, f32, String)>::from_arma(data)?;
+
+        Ok(Self {
+            sender_callsign,
+            chatroom,
+            message_text,
+            point_lat,
+            point_lon,
+            point_hae,
+            sender_uid,
+        })
+    }
+}
+
+pub struct MessageCot {
+    pub sender_callsign: String,
+    pub chatroom: String,
+    pub message_text: String,
+    pub point_lat: f64,
+    pub point_lon: f64,
+    pub point_hae: f32,
+    pub sender_uid: String,
+}
+
+impl MessageCot {
+    pub fn from_payload(p: MessagePayload) -> Self {
+        Self {
+            sender_callsign: p.sender_callsign,
+            chatroom: p.chatroom,
+            message_text: p.message_text,
+            point_lat: p.point_lat,
+            point_lon: p.point_lon,
+            point_hae: p.point_hae,
+            sender_uid: p.sender_uid,
+        }
+    }
+
+    pub fn to_xml(&self) -> String {
+        let created_time = Utc::now().to_rfc3339_opts(SecondsFormat::Millis, true);
+        let stale_time =
+            (Utc::now() + Duration::days(1)).to_rfc3339_opts(SecondsFormat::Millis, true);
+
+        // MESSAGE ID (random UUID)
+        let message_uuid = Uuid::new_v4().to_string();
+
+        // FULL EVENT UID
+        // format: GeoChat.{sender}.{chatroom}.{uuid}
+        let event_uid = format!(
+            "GeoChat.{}.{}.{}",
+            self.sender_uid,
+            self.chatroom.replace(" ", "_"),
+            message_uuid,
+        );
+
+        let mut xml = String::new();
+
+        xml.push_str("<?xml version=\"1.0\" encoding=\"UTF-8\"?>");
+
+        xml.push_str(
+            format!(
+                "<event version=\"2.0\" uid=\"{}\" type=\"b-t-f\" time=\"{}\" start=\"{}\" stale=\"{}\" how=\"h-g-i-g-o\" access=\"Undefined\">",
+                event_uid, created_time, created_time, stale_time
+            )
+            .as_str(),
+        );
+
+        xml.push_str(
+            format!(
+                "<point lat=\"{}\" lon=\"{}\" hae=\"{}\" ce=\"10.3\" le=\"9999999.0\"/>",
+                self.point_lat, self.point_lon, self.point_hae
+            )
+            .as_str(),
+        );
+
+        xml.push_str("<detail>");
+
+        // ========== CHAT OBJECT ==========
+
+        xml.push_str(
+            format!(
+                "<__chat parent=\"RootContactGroup\" groupOwner=\"false\" \
+                 messageId=\"{}\" chatroom=\"{}\" id=\"{}\" senderCallsign=\"{}\">",
+                message_uuid, self.chatroom, self.chatroom, self.sender_callsign,
+            )
+            .as_str(),
+        );
+
+        xml.push_str(
+            format!(
+                "<chatgrp uid0=\"{}\" uid1=\"{}\" id=\"{}\" />",
+                self.sender_uid, self.chatroom, self.chatroom
+            )
+            .as_str(),
+        );
+
+        xml.push_str("</__chat>");
+
+        // ========== LINK ELEMENT ==========
+        xml.push_str(
+            format!(
+                "<link uid=\"{}\" type=\"a-f-G-U-C\" relation=\"p-p\" />",
+                self.sender_uid
+            )
+            .as_str(),
+        );
+
+        // ========== SERVER DEST ==========
+        // This is optional — you may remove or customize it
+        xml.push_str(
+            format!(
+                "<__serverdestination destinations=\"0.0.0.0:0:tcp:{}\" />",
+                self.sender_uid
+            )
+            .as_str(),
+        );
+
+        // ========== MESSAGE REMARKS ==========
+        xml.push_str(
+            format!(
+                "<remarks source=\"ARMATAK.{}\" to=\"{}\" time=\"{}\">{}</remarks>",
+                self.sender_uid, self.chatroom, created_time, self.message_text
+            )
+            .as_str(),
+        );
+
+        xml.push_str("</detail></event>");
+
+        xml
+    }
+}

src/cot/mod.rs

@@ -1,5 +1,9 @@
 pub mod cot;
 pub mod digital_pointer;
+pub mod draws;
 pub mod eud;
 pub mod gps;
-pub mod nato;
+pub mod message;
+pub mod nato;
+pub mod uas;
+pub mod video;

src/cot/nato.rs

@@ -11,10 +11,40 @@ pub struct MarkerCoTPayload {
     pub contact_callsign: String,
     pub track_course: i32,
     pub track_speed: f32,
+    pub video_url: Option<String>,
 }
 
 impl FromArma for MarkerCoTPayload {
     fn from_arma(data: String) -> Result<MarkerCoTPayload, FromArmaError> {
+        if let Ok((
+            uuid,
+            r#type,
+            point_lat,
+            point_lon,
+            point_hae,
+            contact_callsign,
+            track_course,
+            track_speed,
+            video_url,
+        )) = <(String, String, f64, f64, f32, String, i32, f32, String)>::from_arma(data.clone())
+        {
+            return Ok(Self {
+                uuid,
+                r#type,
+                point_lat,
+                point_lon,
+                point_hae,
+                contact_callsign,
+                track_course,
+                track_speed,
+                video_url: if video_url.trim().is_empty() {
+                    None
+                } else {
+                    Some(video_url)
+                },
+            });
+        }
+
         let (
             uuid,
             r#type,
@@ -34,6 +64,7 @@ impl FromArma for MarkerCoTPayload {
             contact_callsign,
             track_course,
             track_speed,
+            video_url: None,
         })
     }
 }
@@ -55,6 +86,7 @@ impl MarkerCoTPayload {
             track_speed: Some(self.track_speed),
             link_uid: None,
             remarker: None,
+            video_url: self.video_url.clone(),
         }
     }
 }

src/cot/uas.rs

@@ -0,0 +1,330 @@
+use super::video::video_detail_xml;
+use arma_rs::{FromArma, FromArmaError};
+use chrono::{Duration, SecondsFormat, Utc};
+
+fn escape_xml(value: &str) -> String {
+    value
+        .replace('&', "&")
+        .replace('"', """)
+        .replace('<', "&lt;")
+        .replace('>', "&gt;")
+        .replace('\'', "&apos;")
+}
+
+fn parse_rtsp_url(url: &str) -> Option<(String, String, String)> {
+    let without_proto = url.strip_prefix("rtsp://")?;
+    let slash_pos = without_proto.find('/')?;
+    let host_port = &without_proto[..slash_pos];
+    let path = &without_proto[slash_pos..];
+    let colon_pos = host_port.rfind(':')?;
+    let address = host_port[..colon_pos].to_string();
+    let port = host_port[colon_pos + 1..].to_string();
+    Some((address, port, path.to_string()))
+}
+
+pub struct UasPlatformCoTPayload {
+    pub uid: String,
+    pub cot_type: String,
+    pub callsign: String,
+    pub point_lat: f64,
+    pub point_lon: f64,
+    pub point_hae: f32,
+    pub track_course: i32,
+    pub track_speed: f32,
+    pub sensor_azimuth: i32,
+    pub sensor_elevation: i32,
+    pub sensor_fov: i32,
+    pub sensor_vfov: i32,
+    pub sensor_range: i32,
+    pub attitude_yaw: i32,
+    pub attitude_pitch: f32,
+    pub attitude_roll: f32,
+    pub hal: f32,
+    pub vehicle_type_tag: String,
+    pub is_flying: i32,
+    pub link_uid: String,
+}
+
+impl FromArma for UasPlatformCoTPayload {
+    fn from_arma(data: String) -> Result<UasPlatformCoTPayload, FromArmaError> {
+        let (
+            uid,
+            cot_type,
+            callsign,
+            point_lat,
+            point_lon,
+            point_hae,
+            track_course,
+            track_speed,
+            sensor_azimuth,
+            sensor_elevation,
+            sensor_fov,
+            sensor_vfov,
+            sensor_range,
+            attitude_yaw,
+            attitude_pitch,
+            attitude_roll,
+            hal,
+            vehicle_type_tag,
+            is_flying,
+            link_uid,
+        ) = <(
+            String,
+            String,
+            String,
+            f64,
+            f64,
+            f32,
+            i32,
+            f32,
+            i32,
+            i32,
+            i32,
+            i32,
+            i32,
+            i32,
+            f32,
+            f32,
+            f32,
+            String,
+            i32,
+            String,
+        )>::from_arma(data)?;
+
+        Ok(Self {
+            uid,
+            cot_type,
+            callsign,
+            point_lat,
+            point_lon,
+            point_hae,
+            track_course,
+            track_speed,
+            sensor_azimuth,
+            sensor_elevation,
+            sensor_fov,
+            sensor_vfov,
+            sensor_range,
+            attitude_yaw,
+            attitude_pitch,
+            attitude_roll,
+            hal,
+            vehicle_type_tag,
+            is_flying,
+            link_uid,
+        })
+    }
+}
+
+impl UasPlatformCoTPayload {
+    pub fn to_xml(&self) -> String {
+        let uid = escape_xml(&self.uid);
+        let cot_type = escape_xml(&self.cot_type);
+        let callsign = escape_xml(&self.callsign);
+        let link_uid = escape_xml(&self.link_uid);
+        let (vehicle_type_tag, video_url) =
+            match self.vehicle_type_tag.split_once("|armatak_video_url=") {
+                Some((vehicle_type_tag, video_url)) => (
+                    escape_xml(vehicle_type_tag),
+                    Some(escape_xml(video_url.trim())).filter(|value| !value.is_empty()),
+                ),
+                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 mut xml = String::new();
+        xml.push_str("<?xml version=\"1.0\" encoding=\"UTF-8\" standalone=\"yes\"?>");
+        xml.push_str(&format!(
+            "<event version=\"2.0\" uid=\"{uid}\" type=\"{cot_type}\" time=\"{now}\" start=\"{now}\" stale=\"{stale}\" how=\"m-g\" access=\"Undefined\">",
+            cot_type = cot_type,
+            uid = uid,
+            now = now,
+            stale = stale,
+        ));
+        xml.push_str(&format!(
+            "<point lat=\"{lat}\" lon=\"{lon}\" hae=\"{hae}\" ce=\"9999999.0\" le=\"9999999.0\"/>",
+            lat = self.point_lat,
+            lon = self.point_lon,
+            hae = self.point_hae,
+        ));
+        xml.push_str("<detail>");
+        xml.push_str("<_uastool extendedCot=\"true\" activeRoute=\"false\"/>");
+        xml.push_str(&format!(
+            "<track course=\"{}\" slope=\"0.0\" 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\"/>",
+            self.sensor_elevation,
+            self.sensor_vfov,
+            self.sensor_range,
+            self.sensor_azimuth,
+            self.sensor_fov,
+        ));
+        xml.push_str(&format!(
+            "<spatial><attitude roll=\"{}\" pitch=\"{}\" yaw=\"{}\"/><spin roll=\"0.0\" pitch=\"0.0\" yaw=\"0.0\"/></spatial>",
+            self.attitude_roll,
+            self.attitude_pitch,
+            self.attitude_yaw,
+        ));
+        xml.push_str(&format!(
+            "<vehicle goHomeBatteryPercent=\"-2147483648\" hal=\"{}\" flightTimeRemaining=\"-2147483648\" typeTag=\"{}\" batteryRemainingCapacity=\"-2147483648\" isFlying=\"{}\" flightTime=\"-2147483648\" type=\"Generic\" batteryMaxCapacity=\"-2147483648\"/>",
+            self.hal,
+            vehicle_type_tag,
+            if self.is_flying != 0 { "true" } else { "false" },
+        ));
+        xml.push_str("<_radio rssi=\"-2147483648\" gps=\"false\"/>");
+        xml.push_str(&format!("<contact callsign=\"{}\"/>", callsign));
+        xml.push_str("<waypointCollection></waypointCollection>");
+        xml.push_str(&format!("<_route sender=\"{}\"/>", link_uid));
+        xml.push_str("<commandedData climbRate=\"0.0\"/>");
+        if let Some(video_url) = video_url {
+            xml.push_str(&video_detail_xml(&video_url, &self.uid, &self.callsign));
+        } 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("</detail></event>");
+        xml
+    }
+}
+
+pub struct UasVideoCoTPayload {
+    pub uid: String,
+    pub callsign: String,
+    pub video_url: String,
+}
+
+impl FromArma for UasVideoCoTPayload {
+    fn from_arma(data: String) -> Result<UasVideoCoTPayload, FromArmaError> {
+        let (uid, callsign, video_url) = <(String, String, String)>::from_arma(data)?;
+        Ok(Self {
+            uid,
+            callsign,
+            video_url,
+        })
+    }
+}
+
+impl UasVideoCoTPayload {
+    pub fn to_xml(&self) -> String {
+        let (address, port, path) = match parse_rtsp_url(&self.video_url) {
+            Some(parts) => parts,
+            None => {
+                log::warn!(
+                    "UasVideoCoTPayload: could not parse RTSP URL: {}",
+                    self.video_url
+                );
+                return String::new();
+            }
+        };
+        let callsign = escape_xml(&self.callsign);
+        let uid = escape_xml(&self.uid);
+        let address = escape_xml(&address);
+        let path = escape_xml(&path);
+
+        let now = Utc::now().to_rfc3339_opts(SecondsFormat::Millis, true);
+        let stale =
+            (Utc::now() + Duration::seconds(3600)).to_rfc3339_opts(SecondsFormat::Millis, true);
+
+        let mut xml = String::new();
+        xml.push_str("<?xml version=\"1.0\" encoding=\"UTF-8\" ?>");
+        xml.push_str(&format!(
+            "<event type=\"b-i-v\" version=\"2.0\" how=\"m-g\" uid=\"{uid}\" time=\"{now}\" start=\"{now}\" stale=\"{stale}\">",
+            uid = uid,
+            now = now,
+            stale = stale
+        ));
+        xml.push_str(
+            "<point lat=\"0\" lon=\"0\" hae=\"9999999.0\" ce=\"9999999.0\" le=\"9999999.0\"/>",
+        );
+        xml.push_str("<detail>");
+        xml.push_str("<__video>");
+        xml.push_str(&format!(
+            "<ConnectionEntry protocol=\"rtsp\" path=\"{path}\" address=\"{address}\" port=\"{port}\" uid=\"{uid}\" alias=\"{callsign}\" roverPort=\"-1\" rtspReliable=\"0\" ignoreEmbeddedKLV=\"False\" networkTimeout=\"0\" bufferTime=\"-1\"/>",
+            path = path,
+            address = address,
+            port = port,
+            uid = uid,
+            callsign = callsign,
+        ));
+        xml.push_str("</__video>");
+        xml.push_str(&format!("<contact callsign=\"{}\"/>", callsign));
+        xml.push_str("</detail>");
+        xml.push_str("</event>");
+        xml
+    }
+}
+
+pub struct UasSensorCoTPayload {
+    pub uid: String,
+    pub video_uid: String,
+    pub callsign: String,
+    pub point_lat: f64,
+    pub point_lon: f64,
+    pub point_hae: f32,
+    pub azimuth: i32,
+    pub fov: i32,
+    pub range: i32,
+}
+
+impl FromArma for UasSensorCoTPayload {
+    fn from_arma(data: String) -> Result<UasSensorCoTPayload, FromArmaError> {
+        let (uid, video_uid, callsign, point_lat, point_lon, point_hae, azimuth, fov, range) =
+            <(String, String, String, f64, f64, f32, i32, i32, i32)>::from_arma(data)?;
+        Ok(Self {
+            uid,
+            video_uid,
+            callsign,
+            point_lat,
+            point_lon,
+            point_hae,
+            azimuth,
+            fov,
+            range,
+        })
+    }
+}
+
+impl UasSensorCoTPayload {
+    pub fn to_xml(&self) -> String {
+        let uid = escape_xml(&self.uid);
+        let video_uid = escape_xml(&self.video_uid);
+        let callsign = escape_xml(&self.callsign);
+        let now = Utc::now().to_rfc3339_opts(SecondsFormat::Millis, true);
+        let stale =
+            (Utc::now() + Duration::seconds(60)).to_rfc3339_opts(SecondsFormat::Millis, true);
+
+        let mut xml = String::new();
+        xml.push_str("<?xml version=\"1.0\" encoding=\"UTF-8\" ?>");
+        xml.push_str(&format!(
+            "<event type=\"b-m-p-s-p-loc\" version=\"2.0\" how=\"h-g-i-g-o\" uid=\"{uid}\" time=\"{now}\" start=\"{now}\" stale=\"{stale}\">",
+            uid = uid,
+            now = now,
+            stale = stale,
+        ));
+        xml.push_str(&format!(
+            "<point lat=\"{lat}\" lon=\"{lon}\" hae=\"{hae}\" ce=\"9999999.0\" le=\"9999999.0\"/>",
+            lat = self.point_lat,
+            lon = self.point_lon,
+            hae = self.point_hae,
+        ));
+        xml.push_str("<detail>");
+        xml.push_str(&format!(
+            "<sensor fov=\"{fov}\" fovRed=\"1\" fovGreen=\"1\" fovBlue=\"1\" fovAlpha=\"0.5372549\" displayMagneticReference=\"0\" range=\"{range}\" azimuth=\"{az}\"/>",
+            fov = self.fov,
+            range = self.range,
+            az = self.azimuth,
+        ));
+        xml.push_str(&format!("<__video uid=\"{}\"/>", video_uid));
+        xml.push_str(&format!("<contact callsign=\"{}\"/>", callsign));
+        xml.push_str("</detail>");
+        xml.push_str("</event>");
+        xml
+    }
+}
+
+

src/cot/video.rs

@@ -0,0 +1,53 @@
+fn escape_xml_attribute(value: &str) -> String {
+    value
+        .replace('&', "&")
+        .replace('"', """)
+        .replace('<', "&lt;")
+        .replace('>', "&gt;")
+        .replace('\'', "&apos;")
+}
+
+fn parse_video_url(url: &str) -> Option<(String, String, String, String)> {
+    let (protocol, rest) = url.trim().split_once("://")?;
+    let (authority, path) = match rest.split_once('/') {
+        Some((authority, path)) => (authority, format!("/{}", path)),
+        None => (rest, String::new()),
+    };
+    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() {
+        return None;
+    }
+
+    Some((
+        protocol.to_ascii_lowercase(),
+        address.to_string(),
+        port.to_string(),
+        path,
+    ))
+}
+
+pub fn video_detail_xml(video_url: &str, uid: &str, callsign: &str) -> String {
+    let trimmed_url = video_url.trim();
+    if trimmed_url.is_empty() {
+        return "<__video></__video>".to_string();
+    }
+
+    let Some((protocol, address, port, path)) = parse_video_url(trimmed_url) else {
+        return format!(
+            "<__video url=\"{}\"/>",
+            escape_xml_attribute(trimmed_url)
+        );
+    };
+
+    format!(
+        "<__video><ConnectionEntry protocol=\"{}\" path=\"{}\" address=\"{}\" port=\"{}\" uid=\"{}\" alias=\"{}\" roverPort=\"-1\" rtspReliable=\"0\" ignoreEmbeddedKLV=\"False\" networkTimeout=\"0\" bufferTime=\"-1\"/></__video>",
+        escape_xml_attribute(&protocol),
+        escape_xml_attribute(&path),
+        escape_xml_attribute(&address),
+        escape_xml_attribute(&port),
+        escape_xml_attribute(uid),
+        escape_xml_attribute(callsign),
+    )
+}

src/lib.rs

@@ -1,8 +1,11 @@
 use arma_rs::{arma, Extension, Group};
+use rustls::crypto::aws_lc_rs;
+mod uas;
+mod mdns;
 mod structs;
+mod tcp;
 mod tests;
 mod udp_socket;
-mod tcp_socket;
 mod video_stream;
 
 mod cot;
@@ -31,32 +34,69 @@ pub fn init() -> Extension {
 
     log4rs::init_config(config).unwrap();
 
+    let _ = aws_lc_rs::default_provider().install_default();
+    log::info!("Initialized rustls aws-lc crypto provider.");
+
     Extension::build()
         .command("local_ip", utils::address::get_local_address)
         .command("uuid", utils::uuid::get_uuid)
         .command("log", utils::log::log_info)
-        .group("udp_socket",
+        .group(
+            "uas",
+            Group::new()
+                .command("start_endpoint", uas::start_endpoint)
+                .command("stop_endpoint", uas::stop_endpoint)
+                .command("send_uas_telemetry", uas::send_uas_telemetry)
+                .command("send_uas_system", uas::send_uas_system),
+        )
+        .group(
+            "mdns",
+            Group::new()
+                .command("start_uas_advertisement", mdns::start_uas_advertisement)
+                .command("stop", mdns::stop),
+        )
+        .group(
+            "udp_socket",
             Group::new()
                 .command("start", udp_socket::start)
                 .command("send_payload", udp_socket::send_payload)
                 .command("send_gps_cot", udp_socket::send_gps_cot)
-                .command("stop", udp_socket::stop)
+                .command("stop", udp_socket::stop),
         )
         .group(
             "tcp_socket",
             Group::new()
-                .command("start", tcp_socket::start)
-                .command("send_payload", tcp_socket::send_payload)
-                .command("send_eud_cot", tcp_socket::send_eud_cot)
-                .command("send_marker_cot", tcp_socket::send_marker_cot)
-                .command("send_digital_pointer_cot", tcp_socket::send_digital_pointer_cot)
-                .command("stop", tcp_socket::stop)
+                .command("start", tcp::start)
+                .command("start_mtls", tcp::start_mtls)
+                .command("start_enroll_mtls", tcp::start_enroll_mtls)
+                .command("stop", tcp::stop)
+                .command("send_payload", tcp::send_payload)
+                .group(
+                    "cot",
+                    Group::new()
+                        .command("eud", tcp::cot::send_eud_cot)
+                        .command("marker", tcp::cot::send_marker_cot)
+                        .command("digital_pointer", tcp::cot::send_digital_pointer_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)
+                        .command("uas_sensor", tcp::cot::send_uas_sensor_cot),
+                )
+                .group(
+                    "draw",
+                    Group::new()
+                        .command("circle", tcp::draw::send_circle_cot)
+                        .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),
+                ),
         )
         .group(
             "video_stream",
             Group::new()
                 .command("start", video_stream::start_stream)
-                .command("stop", video_stream::stop_stream)
+                .command("stop", video_stream::stop_stream),
         )
         .finish()
 }

src/mdns.rs

@@ -0,0 +1,207 @@
+use arma_rs::Context;
+use lazy_static::lazy_static;
+use log::info;
+use std::net::{Ipv4Addr, SocketAddrV4, UdpSocket};
+use std::sync::mpsc::{self, Receiver, Sender};
+use std::sync::Mutex;
+use std::thread;
+use std::time::Duration;
+
+lazy_static! {
+    static ref MDNS_CTRL: Mutex<Option<Sender<()>>> = Mutex::new(None);
+}
+
+fn detect_local_ipv4() -> Result<Ipv4Addr, String> {
+    let socket = UdpSocket::bind("0.0.0.0:0").map_err(|e| e.to_string())?;
+    socket.connect("8.8.8.8:80").map_err(|e| e.to_string())?;
+    match socket.local_addr().map_err(|e| e.to_string())? {
+        std::net::SocketAddr::V4(addr) => Ok(*addr.ip()),
+        std::net::SocketAddr::V6(_) => Err("Local address is not IPv4".to_string()),
+    }
+}
+
+fn sanitize_label(value: &str, fallback: &str) -> String {
+    let mut sanitized = value
+        .chars()
+        .map(|c| if c.is_ascii_alphanumeric() || c == '-' { c } else { '-' })
+        .collect::<String>()
+        .trim_matches('-')
+        .to_string();
+
+    if sanitized.is_empty() {
+        sanitized = fallback.to_string();
+    }
+
+    if sanitized.len() > 63 {
+        sanitized.truncate(63);
+    }
+
+    sanitized
+}
+
+fn encode_name(name: &str) -> Vec<u8> {
+    let mut encoded = Vec::new();
+    for label in name.split('.') {
+        let bytes = label.as_bytes();
+        encoded.push(bytes.len() as u8);
+        encoded.extend_from_slice(bytes);
+    }
+    encoded.push(0);
+    encoded
+}
+
+fn push_u16(buf: &mut Vec<u8>, value: u16) {
+    buf.extend_from_slice(&value.to_be_bytes());
+}
+
+fn push_u32(buf: &mut Vec<u8>, value: u32) {
+    buf.extend_from_slice(&value.to_be_bytes());
+}
+
+fn push_record(buf: &mut Vec<u8>, name: &str, rr_type: u16, rr_class: u16, ttl: u32, rdata: &[u8]) {
+    buf.extend_from_slice(&encode_name(name));
+    push_u16(buf, rr_type);
+    push_u16(buf, rr_class);
+    push_u32(buf, ttl);
+    push_u16(buf, rdata.len() as u16);
+    buf.extend_from_slice(rdata);
+}
+
+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);
+
+    let mut packet = Vec::new();
+    push_u16(&mut packet, 0);
+    push_u16(&mut packet, 0x8400);
+    push_u16(&mut packet, 0);
+    push_u16(&mut packet, 4);
+    push_u16(&mut packet, 0);
+    push_u16(&mut packet, 0);
+
+    let ptr_rdata = encode_name(&instance_fqdn);
+    push_record(&mut packet, service_type, 12, 0x0001, 120, &ptr_rdata);
+
+    let mut srv_rdata = Vec::new();
+    push_u16(&mut srv_rdata, 0);
+    push_u16(&mut srv_rdata, 0);
+    push_u16(&mut srv_rdata, port);
+    srv_rdata.extend_from_slice(&encode_name(&host_fqdn));
+    push_record(&mut packet, &instance_fqdn, 33, 0x8001, 120, &srv_rdata);
+
+    let txt_value = format!("uri={}", video_uri);
+    let txt_bytes = txt_value.as_bytes();
+    let mut txt_rdata = Vec::new();
+    txt_rdata.push(txt_bytes.len() as u8);
+    txt_rdata.extend_from_slice(txt_bytes);
+    push_record(&mut packet, &instance_fqdn, 16, 0x8001, 120, &txt_rdata);
+
+    let a_rdata = ip.octets();
+    push_record(&mut packet, &host_fqdn, 1, 0x8001, 120, &a_rdata);
+
+    packet
+}
+
+fn stop_existing() {
+    if let Ok(mut lock) = MDNS_CTRL.lock() {
+        if let Some(tx) = lock.take() {
+            let _ = tx.send(());
+        }
+    }
+}
+
+pub fn start_uas_advertisement(
+    ctx: Context,
+    instance_name: String,
+    mavlink_port: i32,
+    video_uri: String,
+) -> &'static str {
+    stop_existing();
+
+    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());
+            return "mdns local IPv4 error";
+        }
+    };
+
+    let port = mavlink_port.clamp(1, 65535) as u16;
+    let safe_instance = sanitize_label(&instance_name, "ArmaTAK-UAS");
+    let host_label = sanitize_label(
+        &format!("armatak-{}", safe_instance.to_lowercase()),
+        "armatak-uas-host",
+    );
+    let packet = build_mdns_packet(&safe_instance, &host_label, local_ip, port, &video_uri);
+    let callback_video_uri = video_uri.clone();
+    let multicast_addr = SocketAddrV4::new(Ipv4Addr::new(224, 0, 0, 251), 5353);
+
+    let (stop_tx, stop_rx): (Sender<()>, Receiver<()>) = mpsc::channel();
+    if let Ok(mut lock) = MDNS_CTRL.lock() {
+        *lock = Some(stop_tx);
+    }
+
+    thread::spawn(move || {
+        let socket = match UdpSocket::bind("0.0.0.0:0") {
+            Ok(socket) => socket,
+            Err(error) => {
+                info!("mDNS failed to bind UDP socket: {}", error);
+                return;
+            }
+        };
+
+        let _ = socket.set_multicast_ttl_v4(255);
+        let _ = socket.set_multicast_loop_v4(true);
+
+        info!(
+            "Starting mDNS UAS advertisement instance={} host={} ip={} port={} video_uri={}",
+            safe_instance, host_label, local_ip, port, video_uri
+        );
+
+        loop {
+            match socket.send_to(&packet, multicast_addr) {
+                Ok(size) => info!("Sent mDNS UAS advertisement ({} bytes) to {}", size, multicast_addr),
+                Err(error) => info!("Failed sending mDNS UAS advertisement: {}", error),
+            }
+
+            match stop_rx.recv_timeout(Duration::from_secs(5)) {
+                Ok(_) => break,
+                Err(mpsc::RecvTimeoutError::Timeout) => {}
+                Err(_) => break,
+            }
+        }
+
+        info!("Stopped mDNS UAS advertisement for instance={}", safe_instance);
+    });
+
+    let _ = ctx.callback_data(
+        "MDNS",
+        "UAS advertisement started",
+        format!("{}:{} | {}", local_ip, port, callback_video_uri),
+    );
+
+    "starting mdns uas advertisement"
+}
+
+pub fn stop(ctx: Context) -> &'static str {
+    let had_running = match MDNS_CTRL.lock() {
+        Ok(mut lock) => {
+            if let Some(tx) = lock.take() {
+                let _ = tx.send(());
+                true
+            } else {
+                false
+            }
+        }
+        Err(_) => false,
+    };
+
+    if had_running {
+        let _ = ctx.callback_null("MDNS", "UAS advertisement stopped");
+        "stopping mdns advertisement"
+    } else {
+        let _ = ctx.callback_null("MDNS ERROR", "No mDNS advertisement is running");
+        "no mdns advertisement running"
+    }
+}

src/structs.rs

@@ -10,9 +10,6 @@ pub struct LogPayload {
 impl FromArma for LogPayload {
     fn from_arma(data: String) -> Result<LogPayload, FromArmaError> {
         let (status, message) = <(String, String)>::from_arma(data)?;
-        Ok(Self {
-            status,
-            message
-        })
+        Ok(Self { status, message })
     }
 }

src/tcp/client.rs

@@ -0,0 +1,280 @@
+use arma_rs::Context;
+use log::{info, warn};
+use std::collections::VecDeque;
+use std::panic::{self, AssertUnwindSafe};
+use std::sync::mpsc::{self, Receiver, RecvTimeoutError, Sender, TryRecvError};
+use std::thread;
+use std::time::Duration;
+
+use super::config::ConnectionConfig;
+use super::transport::{connect_stream, TransportStream};
+use super::TCP_CLIENT;
+
+const CONNECT_POLL_INTERVAL: Duration = Duration::from_millis(200);
+const MAX_PENDING_MESSAGES: usize = 128;
+
+pub enum TcpCommand {
+    SendMessage(String, Context),
+    Stop,
+}
+
+pub struct TcpClient {
+    pub(crate) tx: Sender<TcpCommand>,
+}
+
+enum ConnectionState {
+    Connecting,
+    Connected,
+    Failed(String),
+}
+
+enum ConnectEvent {
+    Connected(TransportStream),
+    Failed(String),
+}
+
+fn describe_panic_payload(payload: Box<dyn std::any::Any + Send>) -> String {
+    if let Some(message) = payload.downcast_ref::<&str>() {
+        (*message).to_string()
+    } else if let Some(message) = payload.downcast_ref::<String>() {
+        message.clone()
+    } else {
+        "unknown panic payload".to_string()
+    }
+}
+
+fn log_message_preview(message: &str) -> String {
+    message.chars().take(96).collect::<String>()
+}
+
+fn send_over_stream(
+    stream: &mut TransportStream,
+    context: &Context,
+    message: String,
+) -> 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
+        })
+}
+
+fn flush_pending_messages(
+    connection: &mut Option<TransportStream>,
+    pending_messages: &mut VecDeque<(String, Context)>,
+    state: &mut ConnectionState,
+) {
+    if pending_messages.is_empty() {
+        return;
+    }
+
+    let Some(stream) = connection.as_mut() else {
+        return;
+    };
+
+    info!(
+        "Flushing {} queued TCP payload(s) after connection became active",
+        pending_messages.len()
+    );
+
+    while let Some((message, context)) = pending_messages.pop_front() {
+        if let Err(error) = send_over_stream(stream, &context, message) {
+            info!("Failed to send queued message: {}", error);
+            *state = ConnectionState::Failed(error);
+            *connection = None;
+            return;
+        }
+    }
+}
+
+fn poll_connect_event(
+    connect_rx: &Receiver<ConnectEvent>,
+    connection: &mut Option<TransportStream>,
+    state: &mut ConnectionState,
+    pending_messages: &mut VecDeque<(String, Context)>,
+    ctx: &Context,
+    connection_message: &str,
+    target: &str,
+) {
+    loop {
+        match connect_rx.try_recv() {
+            Ok(ConnectEvent::Connected(stream)) => {
+                info!("TCP connection established successfully: {}", target);
+                let _ = ctx.callback_data("TCP SOCKET", connection_message, target.to_string());
+                *connection = Some(stream);
+                *state = ConnectionState::Connected;
+                flush_pending_messages(connection, pending_messages, state);
+            }
+            Ok(ConnectEvent::Failed(error)) => {
+                info!("Failed to connect to TCP server: {}", error);
+                let _ = ctx.callback_data(
+                    "TCP SOCKET ERROR",
+                    "TAK Socket connection failed",
+                    error.clone(),
+                );
+                *state = ConnectionState::Failed(error);
+            }
+            Err(TryRecvError::Empty) => break,
+            Err(TryRecvError::Disconnected) => break,
+        }
+    }
+}
+
+impl TcpClient {
+    pub fn start(&self, config: ConnectionConfig, rx: Receiver<TcpCommand>, ctx: Context) {
+        if let Some(ref client) = *TCP_CLIENT.lock().unwrap() {
+            info!("Existing TCP client detected; stopping previous instance before restart.");
+            client.stop();
+        }
+
+        thread::spawn(move || {
+            let mut running = true;
+            let connection_message = config.connected_message();
+            let config_description = config.describe();
+            let target = config.target();
+            let mut state = ConnectionState::Connecting;
+            let mut connection: Option<TransportStream> = None;
+            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);
+
+            let tcp_thread = thread::spawn(move || {
+                let connect_result = panic::catch_unwind(AssertUnwindSafe(|| connect_stream(&config)));
+
+                match connect_result {
+                    Ok(Ok(stream)) => {
+                        let _ = connect_tx.send(ConnectEvent::Connected(stream));
+                    }
+                    Ok(Err(error)) => {
+                        let _ = connect_tx.send(ConnectEvent::Failed(error));
+                    }
+                    Err(payload) => {
+                        let message = format!(
+                            "TCP connection worker panicked: {}",
+                            describe_panic_payload(payload)
+                        );
+                        let _ = connect_tx.send(ConnectEvent::Failed(message));
+                    }
+                }
+            });
+
+            while running {
+                poll_connect_event(
+                    &connect_rx,
+                    &mut connection,
+                    &mut state,
+                    &mut pending_messages,
+                    &ctx,
+                    connection_message,
+                    &target,
+                );
+
+                match rx.recv_timeout(CONNECT_POLL_INTERVAL) {
+                    Ok(TcpCommand::SendMessage(message, context)) => {
+                        let message_len = message.len();
+                        match &mut state {
+                            ConnectionState::Connected => {
+                                if let Some(stream) = connection.as_mut() {
+                                    if let Err(error) = send_over_stream(stream, &context, message) {
+                                        info!("Failed to send message: {}", error);
+                                        state = ConnectionState::Failed(error);
+                                        connection = None;
+                                    }
+                                } else {
+                                    warn!(
+                                        "Connection state said connected, but no socket was present; queuing payload."
+                                    );
+                                    pending_messages.push_back((message, context));
+                                }
+                            }
+                            ConnectionState::Connecting => {
+                                if pending_messages.len() >= MAX_PENDING_MESSAGES {
+                                    let preview = log_message_preview(&message);
+                                    warn!(
+                                        "Dropping TCP payload because connection is still pending and queue is full ({} bytes, preview={:?})",
+                                        message_len, preview
+                                    );
+                                    let _ = context.callback_data(
+                                        "TCP SOCKET ERROR",
+                                        "TAK Socket is still connecting",
+                                        format!(
+                                            "queue full while connecting; dropped payload ({} bytes, preview={:?})",
+                                            message_len, preview
+                                        ),
+                                    );
+                                } else {
+                                    info!(
+                                        "Queueing TCP payload while connection is pending ({} bytes, queued={})",
+                                        message_len,
+                                        pending_messages.len() + 1
+                                    );
+                                    pending_messages.push_back((message, context));
+                                }
+                            }
+                            ConnectionState::Failed(error) => {
+                                let preview = log_message_preview(&message);
+                                warn!(
+                                    "Dropping TCP payload because connection is in failed state ({} bytes, preview={:?}, error={})",
+                                    message_len, preview, error
+                                );
+                                let _ = context.callback_data(
+                                    "TCP SOCKET ERROR",
+                                    "TAK Socket is not connected",
+                                    error.clone(),
+                                );
+                            }
+                        }
+                    }
+                    Ok(TcpCommand::Stop) => {
+                        running = false;
+                        info!("Stopping TCP client.");
+                    }
+                    Err(RecvTimeoutError::Timeout) => {}
+                    Err(RecvTimeoutError::Disconnected) => {
+                        warn!("TCP command channel disconnected.");
+                        running = false;
+                    }
+                }
+            }
+
+            info!("Waiting for TCP connection thread to finish.");
+            match tcp_thread.join() {
+                Ok(()) => info!("TCP connection thread joined successfully."),
+                Err(payload) => warn!(
+                    "TCP connection thread join reported a panic: {}",
+                    describe_panic_payload(payload)
+                ),
+            }
+            info!("TCP worker thread finished.");
+        });
+    }
+
+    pub fn send_payload(&self, context: Context, payload: String) {
+        let tx = self.tx.clone();
+        thread::spawn(move || {
+            info!("Dispatching queued TCP payload command.");
+            if let Err(error) = tx.send(TcpCommand::SendMessage(payload, context)) {
+                warn!("Failed to dispatch TCP payload command: {}", error);
+            }
+        });
+    }
+
+    pub fn stop(&self) {
+        let tx = self.tx.clone();
+        thread::spawn(move || {
+            info!("Dispatching TCP stop command.");
+            if let Err(error) = tx.send(TcpCommand::Stop) {
+                warn!("Failed to dispatch TCP stop command: {}", error);
+            }
+        });
+    }
+}

src/tcp/config.rs

@@ -0,0 +1,64 @@
+pub enum ConnectionConfig {
+    Plain {
+        address: String,
+    },
+    Mtls {
+        address: String,
+        server_name: String,
+        ca_cert_path: String,
+        client_cert_path: String,
+        client_key_path: String,
+    },
+    EnrollMtls {
+        host: String,
+        server_name: String,
+        enroll_port: String,
+        username: String,
+        password: String,
+        client_uid: String,
+    },
+}
+
+impl ConnectionConfig {
+    pub fn connected_message(&self) -> &'static str {
+        match self {
+            Self::Plain { .. } => "Connected to TCP Server",
+            Self::Mtls { .. } => "Connected to TAK Server via mTLS",
+            Self::EnrollMtls { .. } => "Connected to TAK Server via enrolled mTLS certificate",
+        }
+    }
+
+    pub fn target(&self) -> String {
+        match self {
+            Self::Plain { address } | Self::Mtls { address, .. } => address.clone(),
+            Self::EnrollMtls { host, .. } => host.clone(),
+        }
+    }
+
+    pub fn describe(&self) -> String {
+        match self {
+            Self::Plain { address } => format!("plain tcp -> {}", address),
+            Self::Mtls {
+                address,
+                server_name,
+                ca_cert_path,
+                client_cert_path,
+                client_key_path,
+            } => format!(
+                "manual mtls -> {} (server_name={}, ca={}, cert={}, key={})",
+                address, server_name, ca_cert_path, client_cert_path, client_key_path
+            ),
+            Self::EnrollMtls {
+                host,
+                server_name,
+                enroll_port,
+                username,
+                client_uid,
+                ..
+            } => format!(
+                "enroll mtls -> host={} enroll_port={} server_name={} username={} client_uid={}",
+                host, enroll_port, server_name, username, client_uid
+            ),
+        }
+    }
+}

src/tcp/cot.rs

@@ -0,0 +1,73 @@
+use arma_rs::Context;
+
+use crate::{cot, tcp::send_payload};
+
+pub fn send_eud_cot(ctx: Context, cursor_over_time: cot::eud::EudCoTPayload) -> &'static str {
+    let payload = cursor_over_time.to_cot().convert_to_xml();
+    send_payload(ctx, payload);
+
+    "Sending End User Device Cursor Over Time to TCP server"
+}
+
+pub fn send_marker_cot(
+    ctx: Context,
+    cursor_over_time: cot::nato::MarkerCoTPayload,
+) -> &'static str {
+    let payload = cursor_over_time.to_cot().convert_to_xml();
+    send_payload(ctx, payload);
+
+    "Sending Marker Cursor Over Time to TCP server"
+}
+
+pub fn send_digital_pointer_cot(
+    ctx: Context,
+    cursor_over_time: cot::digital_pointer::DigitalPointerPayload,
+) -> &'static str {
+    let payload = cursor_over_time.to_cot().convert_to_xml();
+    send_payload(ctx, payload);
+
+    "Sending Digital Pointer Cursor Over Time to TCP server"
+}
+
+pub fn send_message_cot(
+    ctx: Context,
+    message_payload: cot::message::MessagePayload,
+) -> &'static str {
+    let message_cot = cot::message::MessageCot::from_payload(message_payload);
+    let payload = message_cot.to_xml();
+    send_payload(ctx, payload);
+
+    "Sending Message CoT to TCP server"
+}
+
+pub fn send_uas_platform_cot(
+    ctx: Context,
+    payload: cot::uas::UasPlatformCoTPayload,
+) -> &'static str {
+    let xml = payload.to_xml();
+    send_payload(ctx, xml);
+
+    "Sending UAS Platform main CoT to TCP server"
+}
+
+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);
+    }
+
+    "Sending UAS Video (b-i-v) CoT to TCP server"
+}
+
+pub fn send_uas_sensor_cot(
+    ctx: Context,
+    payload: cot::uas::UasSensorCoTPayload,
+) -> &'static str {
+    let xml = payload.to_xml();
+    send_payload(ctx, xml);
+
+    "Sending UAS Sensor (b-m-p-s-p-loc) CoT to TCP server"
+}

src/tcp/draw.rs

@@ -0,0 +1,37 @@
+use arma_rs::Context;
+
+use crate::{cot, tcp::send_payload};
+
+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 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_rectangle_cot(ctx: Context) -> &'static str {
+    let _ = ctx;
+    "Not implemented: send_ellipse_cot"
+}
+
+pub fn send_freedraw_cot(ctx: Context) -> &'static str {
+    let _ = ctx;
+    "Not implemented: send_ellipse_cot"
+}
+
+pub fn send_vectordraw_cot(ctx: Context) -> &'static str {
+    let _ = ctx;
+    "Not implemented: send_ellipse_cot"
+}

src/tcp/mod.rs

@@ -0,0 +1,107 @@
+use arma_rs::Context;
+use lazy_static::lazy_static;
+use log::info;
+use std::sync::mpsc::{self, Receiver, Sender};
+use std::sync::{Arc, Mutex};
+
+mod client;
+mod config;
+mod tls;
+mod transport;
+
+pub mod cot;
+pub mod draw;
+
+use client::{TcpClient, TcpCommand};
+use config::ConnectionConfig;
+
+lazy_static! {
+    static ref TCP_CLIENT: Arc<Mutex<Option<TcpClient>>> = Arc::new(Mutex::new(None));
+}
+
+fn start_with_config(ctx: Context, config: ConnectionConfig) {
+    info!("Starting TCP client with config: {}", config.describe());
+    let (tx, rx): (Sender<TcpCommand>, Receiver<TcpCommand>) = mpsc::channel();
+
+    let client = TcpClient { tx };
+    client.start(config, rx, ctx);
+
+    let mut client_guard = TCP_CLIENT.lock().unwrap();
+    *client_guard = Some(client);
+}
+
+pub fn start(ctx: Context, address: String) -> &'static str {
+    start_with_config(ctx, ConnectionConfig::Plain { address });
+
+    "Starting TCP Client"
+}
+
+pub fn start_mtls(
+    ctx: Context,
+    address: String,
+    server_name: String,
+    ca_cert_path: String,
+    client_cert_path: String,
+    client_key_path: String,
+) -> &'static str {
+    start_with_config(
+        ctx,
+        ConnectionConfig::Mtls {
+            address,
+            server_name,
+            ca_cert_path,
+            client_cert_path,
+            client_key_path,
+        },
+    );
+
+    "Starting mTLS TCP Client"
+}
+
+pub fn start_enroll_mtls(
+    ctx: Context,
+    host: String,
+    server_name: String,
+    enroll_port: String,
+    username: String,
+    password: String,
+    client_uid: String,
+) -> &'static str {
+    start_with_config(
+        ctx,
+        ConnectionConfig::EnrollMtls {
+            host,
+            server_name,
+            enroll_port,
+            username,
+            password,
+            client_uid,
+        },
+    );
+
+    "Starting enrolled mTLS TCP Client"
+}
+
+pub fn send_payload(ctx: Context, payload: String) -> &'static str {
+    if let Some(ref client) = *TCP_CLIENT.lock().unwrap() {
+        info!("Queueing TCP payload ({} bytes)", payload.len());
+        client.send_payload(ctx, payload);
+    } else {
+        let _ = ctx.callback_null("TCP SOCKET ERROR", "TCP Client is not running");
+        info!("TCP client is not running.");
+    }
+
+    "Sending payload to TCP server"
+}
+
+pub fn stop(ctx: Context) -> &'static str {
+    if let Some(ref client) = *TCP_CLIENT.lock().unwrap() {
+        info!("Stopping TCP client via extension command.");
+        client.stop();
+        let _ = ctx.callback_null("TCP SOCKET", "TCP client stopped");
+    } else {
+        let _ = ctx.callback_null("TCP SOCKET ERROR", "TCP client is not running");
+    }
+
+    "Stopping TCP Client"
+}

src/tcp/tls/connector.rs

@@ -0,0 +1,221 @@
+use log::info;
+use rustls::pki_types::{CertificateDer, PrivateKeyDer, ServerName};
+use rustls::{ClientConfig, ClientConnection, RootCertStore, StreamOwned};
+use rustls_pemfile::{certs, private_key};
+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 crate::tcp::transport::TransportStream;
+
+const TCP_CONNECT_TIMEOUT: Duration = Duration::from_secs(10);
+const SOCKET_IO_TIMEOUT: Duration = Duration::from_secs(10);
+
+fn load_certificates(path: &str) -> Result<Vec<CertificateDer<'static>>, String> {
+    let file = File::open(path).map_err(|e| format!("failed to open cert file {}: {}", path, e))?;
+    let mut reader = BufReader::new(file);
+
+    certs(&mut reader)
+        .collect::<Result<Vec<_>, _>>()
+        .map_err(|e| format!("failed to read certs from {}: {}", path, e))
+}
+
+fn load_private_key(path: &str) -> Result<PrivateKeyDer<'static>, String> {
+    let file = File::open(path).map_err(|e| format!("failed to open key file {}: {}", path, e))?;
+    let mut reader = BufReader::new(file);
+
+    private_key(&mut reader)
+        .map_err(|e| format!("failed to read private key from {}: {}", path, e))?
+        .ok_or_else(|| format!("no supported private key found in {}", path))
+}
+
+fn load_certificates_from_pem(pem: &str) -> Result<Vec<CertificateDer<'static>>, String> {
+    let mut reader = Cursor::new(pem.as_bytes());
+
+    certs(&mut reader)
+        .collect::<Result<Vec<_>, _>>()
+        .map_err(|e| format!("failed to read certs from PEM payload: {}", e))
+}
+
+fn load_private_key_from_pem(pem: &str) -> Result<PrivateKeyDer<'static>, String> {
+    let mut reader = Cursor::new(pem.as_bytes());
+
+    private_key(&mut reader)
+        .map_err(|e| format!("failed to read private key from PEM payload: {}", e))?
+        .ok_or_else(|| "no supported private key found in PEM payload".to_string())
+}
+
+fn infer_server_name(address: &str) -> &str {
+    address
+        .trim()
+        .trim_start_matches('[')
+        .split(']')
+        .next()
+        .unwrap_or(address)
+        .split(':')
+        .next()
+        .unwrap_or(address)
+}
+
+fn resolve_address(address: &str) -> Result<SocketAddr, String> {
+    address
+        .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))
+}
+
+fn connect_tcp(address: &str) -> Result<TcpStream, String> {
+    let socket_addr = resolve_address(address)?;
+    info!(
+        "Opening TCP connection to {} (resolved={}) with timeout {:?}",
+        address, socket_addr, TCP_CONNECT_TIMEOUT
+    );
+
+    let tcp_stream = TcpStream::connect_timeout(&socket_addr, TCP_CONNECT_TIMEOUT)
+        .map_err(|e| format!("failed to connect to {}: {}", address, e))?;
+
+    tcp_stream
+        .set_read_timeout(Some(SOCKET_IO_TIMEOUT))
+        .map_err(|e| format!("failed to set read timeout on {}: {}", address, e))?;
+    tcp_stream
+        .set_write_timeout(Some(SOCKET_IO_TIMEOUT))
+        .map_err(|e| format!("failed to set write timeout on {}: {}", address, e))?;
+
+    Ok(tcp_stream)
+}
+
+pub fn connect_mtls(
+    address: &str,
+    server_name: &str,
+    ca_cert_path: &str,
+    client_cert_path: &str,
+    client_key_path: &str,
+) -> Result<TransportStream, String> {
+    info!(
+        "Connecting mTLS from file paths to {} using server_name={}",
+        address, server_name
+    );
+    let mut root_store = RootCertStore::empty();
+    let ca_certificates = load_certificates(ca_cert_path)?;
+    info!(
+        "Loaded {} CA certificate(s) from {}",
+        ca_certificates.len(),
+        ca_cert_path
+    );
+    for certificate in ca_certificates {
+        root_store
+            .add(certificate)
+            .map_err(|e| format!("failed to add CA certificate from {}: {}", ca_cert_path, e))?;
+    }
+
+    let client_certificates = load_certificates(client_cert_path)?;
+    info!(
+        "Loaded {} client certificate(s) from {}",
+        client_certificates.len(),
+        client_cert_path
+    );
+    let client_key = load_private_key(client_key_path)?;
+    info!("Loaded client private key from {}", client_key_path);
+
+    let tls_config = ClientConfig::builder()
+        .with_root_certificates(root_store)
+        .with_client_auth_cert(client_certificates, client_key)
+        .map_err(|e| format!("failed to configure mTLS client: {}", e))?;
+    info!("Constructed rustls client config for {}", address);
+
+    let tcp_stream = connect_tcp(address)?;
+    let resolved_server_name = if server_name.trim().is_empty() {
+        infer_server_name(address).to_string()
+    } else {
+        server_name.trim().to_string()
+    };
+
+    let server_name = ServerName::try_from(resolved_server_name.clone())
+        .map_err(|_| format!("invalid TLS server name: {}", resolved_server_name))?;
+    let mut tls_stream = StreamOwned::new(
+        ClientConnection::new(Arc::new(tls_config), server_name)
+            .map_err(|e| format!("failed to create TLS client: {}", e))?,
+        tcp_stream,
+    );
+
+    info!("Starting mTLS handshake for {}", address);
+    while tls_stream.conn.is_handshaking() {
+        tls_stream
+            .conn
+            .complete_io(&mut tls_stream.sock)
+            .map_err(|e| format!("TLS handshake failed: {}", e))?;
+    }
+
+    info!("mTLS handshake completed successfully for {}", address);
+
+    Ok(TransportStream::Mtls(tls_stream))
+}
+
+pub fn connect_mtls_from_pem(
+    address: &str,
+    server_name: &str,
+    ca_cert_pem: &str,
+    client_cert_pem: &str,
+    client_key_pem: &str,
+) -> Result<TransportStream, String> {
+    info!(
+        "Connecting mTLS from in-memory PEM payloads to {} using server_name={}",
+        address, server_name
+    );
+    let mut root_store = RootCertStore::empty();
+    let ca_certificates = load_certificates_from_pem(ca_cert_pem)?;
+    info!(
+        "Loaded {} CA certificate(s) from enrollment payload",
+        ca_certificates.len()
+    );
+    for certificate in ca_certificates {
+        root_store
+            .add(certificate)
+            .map_err(|e| format!("failed to add CA certificate from PEM payload: {}", e))?;
+    }
+
+    let client_certificates = load_certificates_from_pem(client_cert_pem)?;
+    info!(
+        "Loaded {} client certificate(s) from enrollment payload",
+        client_certificates.len()
+    );
+    let client_key = load_private_key_from_pem(client_key_pem)?;
+    info!("Loaded client private key from enrollment payload");
+
+    let tls_config = ClientConfig::builder()
+        .with_root_certificates(root_store)
+        .with_client_auth_cert(client_certificates, client_key)
+        .map_err(|e| format!("failed to configure mTLS client: {}", e))?;
+    info!("Constructed rustls client config for {}", address);
+
+    let tcp_stream = connect_tcp(address)?;
+    let resolved_server_name = if server_name.trim().is_empty() {
+        infer_server_name(address).to_string()
+    } else {
+        server_name.trim().to_string()
+    };
+
+    let server_name = ServerName::try_from(resolved_server_name.clone())
+        .map_err(|_| format!("invalid TLS server name: {}", resolved_server_name))?;
+    let mut tls_stream = StreamOwned::new(
+        ClientConnection::new(Arc::new(tls_config), server_name)
+            .map_err(|e| format!("failed to create TLS client: {}", e))?,
+        tcp_stream,
+    );
+
+    info!("Starting mTLS handshake for {}", address);
+    while tls_stream.conn.is_handshaking() {
+        tls_stream
+            .conn
+            .complete_io(&mut tls_stream.sock)
+            .map_err(|e| format!("TLS handshake failed: {}", e))?;
+    }
+
+    info!("mTLS handshake completed successfully for {}", address);
+
+    Ok(TransportStream::Mtls(tls_stream))
+}

src/tcp/tls/enrollment.rs

@@ -0,0 +1,228 @@
+use rcgen::{CertificateParams, DistinguishedName, DnType, KeyPair, PKCS_RSA_SHA256};
+use log::info;
+use reqwest::blocking::Client;
+use serde::Deserialize;
+use uuid::Uuid;
+
+use super::connector::connect_mtls_from_pem;
+use crate::tcp::transport::TransportStream;
+
+#[derive(Deserialize)]
+struct EnrollmentResponse {
+    #[serde(rename = "signedCert")]
+    signed_cert: String,
+    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)
+        .build()
+        .map_err(|e| format!("failed to build enrollment HTTP client: {}", e))
+}
+
+fn response_error_details(response: reqwest::blocking::Response) -> String {
+    let status = response.status();
+    match response.text() {
+        Ok(body) => {
+            let trimmed = body.trim();
+            if trimmed.is_empty() {
+                status.to_string()
+            } else {
+                format!("{}: {}", status, trimmed)
+            }
+        }
+        Err(_) => status.to_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()
+    );
+    info!("Fetching TAK enrollment config from {}", url);
+
+    let response = enrollment_http_client()?
+        .get(&url)
+        .send()
+        .map_err(|e| format!("failed to fetch {}: {}", url, e))?;
+
+    if !response.status().is_success() {
+        return Err(format!(
+            "failed to fetch {}: {}",
+            url,
+            response_error_details(response)
+        ));
+    }
+
+    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())?;
+
+    info!(
+        "Enrollment config received: server_port={} enroll_path={}",
+        server_port, enroll_path
+    );
+
+    Ok(EnrollmentConfig {
+        server_port,
+        enroll_path,
+    })
+}
+
+fn enroll_client_certificate(
+    host: &str,
+    enroll_port: &str,
+    enroll_path: &str,
+    username: &str,
+    password: &str,
+    client_uid: &str,
+) -> Result<(String, String, String), String> {
+    info!(
+        "Generating RSA client keypair and CSR for enrolled TAK client {}",
+        client_uid
+    );
+    let key_pair = KeyPair::generate_for(&PKCS_RSA_SHA256)
+        .map_err(|e| format!("failed to generate client keypair: {}", e))?;
+
+    let mut distinguished_name = DistinguishedName::new();
+    distinguished_name.push(DnType::CommonName, client_uid);
+    distinguished_name.push(DnType::OrganizationName, "ArmaTAK");
+    distinguished_name.push(DnType::OrganizationalUnitName, "ArmaTAK Session");
+
+    let mut params = CertificateParams::new(vec![])
+        .map_err(|e| format!("failed to create CSR params: {}", e))?;
+    params.distinguished_name = distinguished_name;
+
+    let csr = params
+        .serialize_request(&key_pair)
+        .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()
+    );
+    info!(
+        "Submitting client certificate enrollment request for {} to {}",
+        client_uid, url
+    );
+
+    let response = enrollment_http_client()?
+        .post(&url)
+        .basic_auth(username.trim(), Some(password.to_string()))
+        .header("Accept", "application/json")
+        .header("Content-Type", "application/pkcs10")
+        .body(csr_der)
+        .send()
+        .map_err(|e| format!("failed to enroll client certificate at {}: {}", url, e))?;
+
+    if !response.status().is_success() {
+        return Err(format!(
+            "failed to enroll client certificate at {}: {}",
+            url,
+            response_error_details(response)
+        ));
+    }
+
+    let enrollment: EnrollmentResponse = response
+        .json()
+        .map_err(|e| format!("failed to parse enrollment response: {}", e))?;
+    info!(
+        "Enrollment response parsed successfully for {} (signed_cert_len={}, ca_len={})",
+        client_uid,
+        enrollment.signed_cert.len(),
+        enrollment.ca0.len()
+    );
+
+    let cert_pem = wrap_pem_body(
+        &enrollment.signed_cert,
+        "-----BEGIN CERTIFICATE-----",
+        "-----END CERTIFICATE-----",
+    );
+    let key_pem = key_pair.serialize_pem();
+
+    Ok((enrollment.ca0, cert_pem, key_pem))
+}
+
+pub fn enroll_and_connect(
+    host: &str,
+    server_name: &str,
+    enroll_port: &str,
+    username: &str,
+    password: &str,
+    client_uid: &str,
+) -> Result<TransportStream, String> {
+    let normalized_client_uid = if client_uid.trim().is_empty() {
+        format!("armatak-{}", Uuid::new_v4())
+    } else {
+        client_uid.trim().to_string()
+    };
+    info!(
+        "Starting enroll_and_connect for host={} enroll_port={} server_name={} client_uid={}",
+        host,
+        enroll_port,
+        server_name,
+        normalized_client_uid
+    );
+
+    let enrollment_config = fetch_enrollment_config(host, enroll_port)?;
+    let (ca_cert_pem, client_cert_pem, client_key_pem) = enroll_client_certificate(
+        host,
+        enroll_port,
+        &enrollment_config.enroll_path,
+        username,
+        password,
+        &normalized_client_uid,
+    )?;
+
+    connect_mtls_from_pem(
+        &format!("{}:{}", host.trim(), enrollment_config.server_port.trim()),
+        if server_name.trim().is_empty() {
+            host.trim()
+        } else {
+            server_name.trim()
+        },
+        &ca_cert_pem,
+        &client_cert_pem,
+        &client_key_pem,
+    )
+}

src/tcp/tls/mod.rs

@@ -0,0 +1,5 @@
+mod connector;
+mod enrollment;
+
+pub use connector::connect_mtls;
+pub use enrollment::enroll_and_connect;

src/tcp/transport.rs

@@ -0,0 +1,90 @@
+use log::info;
+use rustls::{ClientConnection, StreamOwned};
+use std::io::Write;
+use std::net::{SocketAddr, TcpStream, ToSocketAddrs};
+use std::time::Duration;
+
+use super::config::ConnectionConfig;
+use super::tls::{connect_mtls, enroll_and_connect};
+
+const TCP_CONNECT_TIMEOUT: Duration = Duration::from_secs(10);
+const SOCKET_IO_TIMEOUT: Duration = Duration::from_secs(10);
+
+pub enum TransportStream {
+    Plain(TcpStream),
+    Mtls(StreamOwned<ClientConnection, TcpStream>),
+}
+
+impl TransportStream {
+    pub fn write_message(&mut self, message: &[u8]) -> Result<(), std::io::Error> {
+        match self {
+            Self::Plain(stream) => {
+                stream.write_all(message)?;
+                stream.flush()
+            }
+            Self::Mtls(stream) => {
+                stream.write_all(message)?;
+                stream.flush()
+            }
+        }
+    }
+}
+
+fn connect_plain(address: &str) -> Result<TransportStream, String> {
+    let socket_addr: SocketAddr = address
+        .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))?;
+
+    info!(
+        "Opening plain TCP connection to {} (resolved={}) with timeout {:?}",
+        address, socket_addr, TCP_CONNECT_TIMEOUT
+    );
+
+    let stream = TcpStream::connect_timeout(&socket_addr, TCP_CONNECT_TIMEOUT)
+        .map_err(|e| format!("failed to connect to {}: {}", address, e))?;
+    stream
+        .set_read_timeout(Some(SOCKET_IO_TIMEOUT))
+        .map_err(|e| format!("failed to set read timeout on {}: {}", address, e))?;
+    stream
+        .set_write_timeout(Some(SOCKET_IO_TIMEOUT))
+        .map_err(|e| format!("failed to set write timeout on {}: {}", address, e))?;
+
+    Ok(TransportStream::Plain(stream))
+}
+
+pub fn connect_stream(config: &ConnectionConfig) -> Result<TransportStream, String> {
+    info!("connect_stream invoked for {}", config.describe());
+    match config {
+        ConnectionConfig::Plain { address } => connect_plain(address),
+        ConnectionConfig::Mtls {
+            address,
+            server_name,
+            ca_cert_path,
+            client_cert_path,
+            client_key_path,
+        } => connect_mtls(
+            address,
+            server_name,
+            ca_cert_path,
+            client_cert_path,
+            client_key_path,
+        ),
+        ConnectionConfig::EnrollMtls {
+            host,
+            server_name,
+            enroll_port,
+            username,
+            password,
+            client_uid,
+        } => enroll_and_connect(
+            host,
+            server_name,
+            enroll_port,
+            username,
+            password,
+            client_uid,
+        ),
+    }
+}

src/tcp_socket.rs

@@ -1,156 +0,0 @@
-use arma_rs::Context;
-use lazy_static::lazy_static;
-use log::info;
-use std::io::Write;
-use std::net::TcpStream;
-use std::sync::mpsc::{self, Receiver, Sender};
-use std::sync::{Arc, Mutex};
-use std::thread;
-
-use crate::cot;
-
-pub enum TcpCommand {
-    SendMessage(String, Context),
-    Stop,
-}
-
-pub struct TcpClient {
-    pub(crate) tx: Sender<TcpCommand>,
-}
-
-impl TcpClient {
-    pub fn start(&self, address: String, rx: Receiver<TcpCommand>, ctx: Context) {
-        if let Some(ref client) = *TCP_CLIENT.lock().unwrap() {
-            client.stop();
-        }
-
-        let connection = Arc::new(Mutex::new(None));
-        let connection_clone = Arc::clone(&connection);
-
-        thread::spawn(move || {
-            let mut running = true;
-
-            let tcp_thread = thread::spawn(move || match TcpStream::connect(&address) {
-                Ok(stream) => {
-                    let _ = ctx.callback_data("TCP SOCKET", "Connected to TCP Server", address);
-                    *connection_clone.lock().unwrap() = Some(stream);
-                }
-                Err(e) => {
-                    let _ = ctx.callback_data(
-                        "TCP SOCKET ERROR",
-                        "TAK Socket connection failed",
-                        e.to_string(),
-                    );
-                    info!("Failed to connect to TCP server: {}", e);
-                }
-            });
-
-            while running {
-                match rx.recv() {
-                    Ok(TcpCommand::SendMessage(message, context)) => {
-                        if let Some(mut stream) = connection.lock().unwrap().as_ref() {
-                            if let Err(e) = stream.write_all(message.as_bytes()) {
-                                info!("Failed to send message: {}", e);
-
-                                let _ = context.callback_data(
-                                    "TCP SOCKET ERROR",
-                                    "TAK Socket disconnected",
-                                    e.to_string(),
-                                );
-
-                                running = false;
-                            }
-                        } else {
-                            let _ = context.callback_null(
-                                "TCP SOCKET ERROR",
-                                "TAK Socket is not active",
-                            );
-                        }
-                    }
-                    Ok(TcpCommand::Stop) => {
-                        running = false;
-                        info!("Stopping TCP client.");
-                    }
-                    Err(error) => {
-                        info!("Error receiving command: {}", error.to_string());
-                    }
-                }
-            }
-
-            tcp_thread.join().unwrap();
-        });
-    }
-
-    pub fn send_payload(&self, context: Context, payload: String) {
-        let tx = self.tx.clone();
-        thread::spawn(move || {
-            tx.send(TcpCommand::SendMessage(payload, context)).unwrap();
-        });
-    }
-
-    pub fn stop(&self) {
-        let tx = self.tx.clone();
-        thread::spawn(move || {
-            tx.send(TcpCommand::Stop).unwrap();
-        });
-    }
-}
-
-lazy_static! {
-    static ref TCP_CLIENT: Arc<Mutex<Option<TcpClient>>> = Arc::new(Mutex::new(None));
-}
-
-pub fn start(ctx: Context, address: String) -> &'static str {
-    let (tx, rx): (Sender<TcpCommand>, Receiver<TcpCommand>) = mpsc::channel();
-
-    let client = TcpClient { tx };
-    client.start(address, rx, ctx);
-
-    let mut client_guard = TCP_CLIENT.lock().unwrap();
-    *client_guard = Some(client);
-
-    "Starting TCP Client"
-}
-
-pub fn send_payload(ctx: Context, payload: String) -> &'static str {
-    if let Some(ref client) = *TCP_CLIENT.lock().unwrap() {
-        client.send_payload(ctx, payload);
-    } else {
-        let _ = ctx.callback_null("TCP SOCKET ERROR", "TCP Client is not running");
-        info!("TCP client is not running.");
-    }
-
-    "Sending payload to TCP server"
-}
-
-pub fn send_eud_cot(ctx: Context, cursor_over_time: cot::eud::EudCoTPayload) -> &'static str {
-    let payload = cursor_over_time.to_cot().convert_to_xml();
-    send_payload(ctx, payload);
-
-    "Sending End User Device Cursor Over Time to TCP server"
-}
-
-pub fn send_marker_cot(ctx: Context, cursor_over_time: cot::nato::MarkerCoTPayload) -> &'static str {
-    let payload = cursor_over_time.to_cot().convert_to_xml();
-    send_payload(ctx, payload);
-
-    "Sending Marker Cursor Over Time to TCP server"
-}
-
-pub fn send_digital_pointer_cot(ctx: Context, cursor_over_time: cot::digital_pointer::DigitalPointerPayload) -> &'static str {
-    let payload = cursor_over_time.to_cot().convert_to_xml();
-    send_payload(ctx, payload);
-
-    "Sending Digital Pointer Cursor Over Time to TCP server"
-}
-
-pub fn stop(ctx: Context) -> &'static str {
-    if let Some(ref client) = *TCP_CLIENT.lock().unwrap() {
-        client.stop();
-        let _ = ctx.callback_null("TCP SOCKET", "TCP client stopped");
-    } else {
-        let _ = ctx.callback_null("TCP SOCKET ERROR", "TCP client is not running");
-    }
-
-    "Stopping TCP Client"
-}

src/tests.rs

@@ -1,25 +1,25 @@
 #[cfg(test)]
 mod tests {
-        use crate::init;
-        use uuid::Uuid;
-        use std::vec;
+    use crate::init;
+    use std::vec;
+    use uuid::Uuid;
 
-        #[test]
-        fn uuid_output_is_uuid4_identifier() {
-            let extension = init().testing();
-            let (output, _) = extension.call("uuid", None);
+    #[test]
+    fn uuid_output_is_uuid4_identifier() {
+        let extension = init().testing();
+        let (output, _) = extension.call("uuid", None);
 
-            let validation = Uuid::parse_str(&output);
+        let validation = Uuid::parse_str(&output);
 
-            assert!(validation.is_ok())
-        }
+        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));
+    #[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,"")
-        }
+        assert_eq!(output, "")
+    }
 }

src/uas/constants.rs

@@ -0,0 +1,43 @@
+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;
+pub const MAV_TYPE_QUADROTOR: u8 = 2;
+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_ARDUPILOTMEGA: u8 = 3;
+pub const MAV_AUTOPILOT_INVALID: u8 = 8;
+
+pub const MAV_STATE_STANDBY: u8 = 3;
+pub const MAV_STATE_ACTIVE: u8 = 4;
+
+pub const MAV_MODE_FLAG_CUSTOM_MODE_ENABLED: u8 = 1;
+pub const MAV_MODE_FLAG_SAFETY_ARMED: u8 = 128;
+pub const MAV_LANDED_STATE_UNDEFINED: u8 = 0;
+pub const MAV_LANDED_STATE_ON_GROUND: u8 = 1;
+pub const MAV_LANDED_STATE_IN_AIR: u8 = 2;
+
+pub const MAV_PROTOCOL_CAPABILITY_MISSION_INT: u64 = 4;
+pub const MAV_PROTOCOL_CAPABILITY_COMMAND_INT: u64 = 8;
+pub const MAV_PROTOCOL_CAPABILITY_FTP: u64 = 32;
+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;
+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

@@ -0,0 +1,102 @@
+use std::sync::atomic::{AtomicU8, Ordering};
+
+static MAVLINK_SEQUENCE: AtomicU8 = AtomicU8::new(0);
+
+#[derive(Clone, Copy)]
+pub(crate) struct FieldSpec {
+    pub ty: &'static str,
+    pub name: &'static str,
+    pub array_len: usize,
+}
+
+fn crc_accumulate(byte: u8, crc: &mut u16) {
+    let mut tmp = byte ^ (*crc as u8);
+    tmp ^= tmp << 4;
+    *crc = (*crc >> 8) ^ ((tmp as u16) << 8) ^ ((tmp as u16) << 3) ^ ((tmp as u16) >> 4);
+}
+
+fn mavlink_crc(bytes: &[u8], crc_extra: u8) -> u16 {
+    let mut crc = 0xFFFFu16;
+    for byte in bytes {
+        crc_accumulate(*byte, &mut crc);
+    }
+    crc_accumulate(crc_extra, &mut crc);
+    crc
+}
+
+pub(crate) fn calculate_crc_extra(message_name: &str, base_fields: &[FieldSpec]) -> u8 {
+    let mut crc = 0xFFFFu16;
+
+    for byte in message_name.as_bytes() {
+        crc_accumulate(*byte, &mut crc);
+    }
+    crc_accumulate(b' ', &mut crc);
+
+    for field in base_fields {
+        for byte in field.ty.as_bytes() {
+            crc_accumulate(*byte, &mut crc);
+        }
+        crc_accumulate(b' ', &mut crc);
+
+        for byte in field.name.as_bytes() {
+            crc_accumulate(*byte, &mut crc);
+        }
+        crc_accumulate(b' ', &mut crc);
+
+        if field.array_len > 0 {
+            crc_accumulate(field.array_len as u8, &mut crc);
+        }
+    }
+
+    ((crc & 0xFF) ^ (crc >> 8)) as u8
+}
+
+pub(crate) fn build_v1_packet(
+    system_id: u8,
+    component_id: u8,
+    msg_id: u8,
+    payload: &[u8],
+    crc_extra: u8,
+) -> Vec<u8> {
+    let seq = MAVLINK_SEQUENCE.fetch_add(1, Ordering::Relaxed);
+    let mut packet = Vec::with_capacity(payload.len() + 8);
+    packet.push(0xFE);
+    packet.push(payload.len() as u8);
+    packet.push(seq);
+    packet.push(system_id);
+    packet.push(component_id);
+    packet.push(msg_id);
+    packet.extend_from_slice(payload);
+
+    let crc = mavlink_crc(&packet[1..], crc_extra);
+    packet.push((crc & 0xFF) as u8);
+    packet.push((crc >> 8) as u8);
+    packet
+}
+
+pub(crate) fn build_v2_packet(
+    system_id: u8,
+    component_id: u8,
+    msg_id: u32,
+    payload: &[u8],
+    crc_extra: u8,
+) -> Vec<u8> {
+    let seq = MAVLINK_SEQUENCE.fetch_add(1, Ordering::Relaxed);
+    let mut packet = Vec::with_capacity(payload.len() + 12);
+    packet.push(0xFD);
+    packet.push(payload.len() as u8);
+    packet.push(0);
+    packet.push(0);
+    packet.push(seq);
+    packet.push(system_id);
+    packet.push(component_id);
+    packet.push((msg_id & 0xFF) as u8);
+    packet.push(((msg_id >> 8) & 0xFF) as u8);
+    packet.push(((msg_id >> 16) & 0xFF) as u8);
+    packet.extend_from_slice(payload);
+
+    let crc = mavlink_crc(&packet[1..], crc_extra);
+    packet.push((crc & 0xFF) as u8);
+    packet.push((crc >> 8) as u8);
+    packet
+}

src/uas/endpoint.rs

@@ -0,0 +1,160 @@
+use arma_rs::Context;
+use log::info;
+use std::net::UdpSocket;
+use std::sync::atomic::{AtomicBool, Ordering};
+use std::sync::{Arc, Mutex};
+use std::thread::{self, JoinHandle};
+use std::time::Duration;
+
+use super::callbacks::{mavlink_callback_event, mavlink_packet_summary, mavlink_response_packets};
+
+pub(crate) struct MavlinkEndpoint {
+    pub socket: UdpSocket,
+    pub running: Arc<AtomicBool>,
+    pub listener: Option<JoinHandle<()>>,
+    pub bind_port: u16,
+}
+
+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())
+    })
+}
+
+fn stop_endpoint_internal() {
+    let endpoint = MAVLINK_ENDPOINT.lock().unwrap().take();
+
+    if let Some(mut endpoint) = endpoint {
+        endpoint.running.store(false, Ordering::Relaxed);
+        info!(
+            "Stopping MAVLink UDP endpoint on 0.0.0.0:{}",
+            endpoint.bind_port
+        );
+
+        if let Some(listener) = endpoint.listener.take() {
+            let _ = listener.join();
+        }
+    }
+}
+
+pub fn start_endpoint(ctx: Context, bind_port: i32) -> &'static str {
+    let bind_port = bind_port.clamp(1, 65535) as u16;
+
+    stop_endpoint_internal();
+
+    let socket = match UdpSocket::bind(format!("0.0.0.0:{bind_port}")) {
+        Ok(socket) => socket,
+        Err(error) => {
+            let _ = ctx.callback_data(
+                "MAVLINK UDP ERROR",
+                "failed to bind MAVLink UDP endpoint",
+                error.to_string(),
+            );
+            info!(
+                "Failed to bind MAVLink UDP endpoint on 0.0.0.0:{}: {}",
+                bind_port, error
+            );
+            return "Failed to bind MAVLink UDP endpoint";
+        }
+    };
+
+    if let Err(error) = socket.set_read_timeout(Some(Duration::from_millis(500))) {
+        info!(
+            "Failed to set MAVLink UDP endpoint read timeout on 0.0.0.0:{}: {}",
+            bind_port, error
+        );
+    }
+
+    let listener_socket = match socket.try_clone() {
+        Ok(listener_socket) => listener_socket,
+        Err(error) => {
+            let _ = ctx.callback_data(
+                "MAVLINK UDP ERROR",
+                "failed to clone MAVLink UDP endpoint socket",
+                error.to_string(),
+            );
+            info!(
+                "Failed to clone MAVLink UDP endpoint socket on 0.0.0.0:{}: {}",
+                bind_port, error
+            );
+            return "Failed to clone MAVLink UDP endpoint socket";
+        }
+    };
+
+    let running = Arc::new(AtomicBool::new(true));
+    let listener_running = Arc::clone(&running);
+
+    let listener_ctx = ctx;
+    let listener = thread::spawn(move || {
+        let mut buffer = [0u8; 2048];
+        info!("MAVLink UDP endpoint listening on 0.0.0.0:{}", bind_port);
+
+        while listener_running.load(Ordering::Relaxed) {
+            match listener_socket.recv_from(&mut buffer) {
+                Ok((received, source)) => {
+                    let source_string = source.to_string();
+                    info!(
+                        "MAVLink UDP endpoint received {} bytes from {}: {}",
+                        received,
+                        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);
+                    }
+                    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::ConnectionReset
+                    ) => {}
+                Err(error) => {
+                    if listener_running.load(Ordering::Relaxed) {
+                        info!(
+                            "MAVLink UDP endpoint listener error on 0.0.0.0:{}: {}",
+                            bind_port, error
+                        );
+                    }
+                    break;
+                }
+            }
+        }
+
+        info!(
+            "MAVLink UDP endpoint listener stopped on 0.0.0.0:{}",
+            bind_port
+        );
+    });
+
+    *MAVLINK_ENDPOINT.lock().unwrap() = Some(MavlinkEndpoint {
+        socket,
+        running,
+        listener: Some(listener),
+        bind_port,
+    });
+
+    info!("Started MAVLink UDP endpoint on 0.0.0.0:{}", bind_port);
+    "Started MAVLink UDP endpoint"
+}
+
+pub fn stop_endpoint(_ctx: Context) -> &'static str {
+    stop_endpoint_internal();
+    "Stopped MAVLink UDP endpoint"
+}