Open Source
Use equipment data across business systems.
Musubi is open-source software that connects drones, robots and sensors to business systems. It includes adapters on both sides and shared processing to normalise and forward data. By reusing adapters, it aims to reduce the work of writing transformations for each equipment and system pairing.
The Apache-2.0 source preview is now public.
- Licence
- Apache-2.0 ↗
- Intended inputs
- Files · streams · APIs
- Applications
- Agriculture · inspection · logistics · disaster response · industry
- Published
Common problems
Every new device or system needs another data transformation
Drones and sensors produce different data formats. Farm management and inspection systems each need data in a format they can consume. As equipment and destinations grow, so does the work of building and maintaining transformations for each pairing.
A working connection does not guarantee a correctly interpreted value. Different distance units or coordinate frames change how a value should be used. Units, coordinate frames, time and missing data all need to be checked.
Design principle
N × MN + M
Connecting N types of equipment to M types of destination individually requires N×M transformations. Musubi combines N source adapters with M destination adapters. With three types on each side, for example, three input and three output adapters handle nine pairings. Each pairing may still need adjustments, and the shared core requires development and maintenance.
What Musubi is
Musubi’s components and connections
Musubi consists of source adapters, a shared processing core and destination adapters. It is designed for companion computers and servers connected to equipment.
Source examples
Source adapters · N
Destination adapters · M
Destination examples
- Read data through source adapters and normalise units, coordinate frames and time.
- Identify missing values and data that fails validation, and record the reasons.
- Attach the source and transformation history, then send data in each system’s format through destination adapters.
Musubi handles observation data. Existing systems remain responsible for operating and controlling equipment.
Who it is for
For UxV development and evaluation teams
Connect your aircraft or vehicle to different customer systems. Reduce the work of rebuilding integration whenever onboard equipment or firmware changes.
Musubi is designed for teams developing and testing data integration at UAV, USV and UGV manufacturers, and at suppliers of sensors, cameras, radios and other onboard equipment.
Examples of what to test
- Map your platform’s data into formats that customer systems can use
- Use the same platform data across display, analytics and operational systems
- Compare data and missing fields before and after equipment or firmware changes
Open source
Public code and development resources
The shared core, adapter example and development resources are public on GitHub. Data definitions, templates, synthetic data and tests help you reuse suitable components and add the adapters you need.
Data coverage
We assess data, interfaces and records across 13 categories when considering a connection. The examples below are for evaluation; they do not list devices supported by the public preview or adapters included in it. Applicability depends on the format, version and configuration.
- Equipment
- UAV · FPV · UGV/AMR · agricultural equipment · surface and underwater vehicles
- Interface examples
- MAVLink 1/2 · ROS 2/DDS · MQTT · VDA 5050 · ISOBUS · HTTP/REST · NMEA · RTSP
- Recording examples
- DataFlash · ULog · Blackbox CSV · rosbag2 · ISOXML · video recordings · cloud exports
The public release has been tested with synthetic data. Connections to real equipment require testing for each device and configuration. Check the public scope on GitHub ↗
Get in touch
Discuss testing and integration
Tell us about your platform, onboard equipment, destination systems and what you want to test. You can also apply as a design partner or request release updates.