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The MAVLink is a lightweight communication protocol between Unmanned AerialVehicles (UAVs) and ground control stations (GCSs). It defines a set ofbi-directional messages exchanged between a UAV (aka drone) and a groundstation. The messages carry out information about the UAV's states and controlcommands sent from the ground station. However, the MAVLink protocol is notsecure and has several vulnerabilities to different attacks that result incritical threats and safety concerns. Very few studies provided solutions tothis problem. In this paper, we discuss the security vulnerabilities of theMAVLink protocol and propose MAVSec, a security-integrated mechanism forMAVLink that leverages the use of encryption algorithms to ensure theprotection of exchanged MAVLink messages between UAVs and GCSs. To validateMAVSec, we implemented it in Ardupilot and evaluated the performance ofdifferent encryption algorithms (i.e. AES-CBC, AES-CTR, RC4, and ChaCha20) interms of memory usage and CPU consumption. The experimental results show thatChaCha20 has a better performance and is more efficient than other encryptionalgorithms. Integrating ChaCha20 into MAVLink can guarantee its messagesconfidentiality, without affecting its performance, while occupying less memoryand CPU consumption, thus, preserving memory and saving the battery for theresource-constrained drone.

MAVSec: Securing the MAVLink Protocol for Ardupilot/PX4 Unmanned Aerial Systems