diff --git a/.gitignore b/.gitignore
index 7564cd1..5e3cbff 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,15 +1,18 @@
 # Compiled Object files from SCons
 *.os
 
-# Generated by tooling
+# Generated for current Godot
 extension_api.json
 compile_commands.json
 
 # clangd cache
 .cache/
 
-# Created by https://www.toptal.com/developers/gitignore/api/c++,godot,scons
-# Edit at https://www.toptal.com/developers/gitignore?templates=c++,godot,scons
+# Generated MAVLink headers
+/include/mavlink
+
+# Created by https://www.toptal.com/developers/gitignore/api/c++,godot,scons,python
+# Edit at https://www.toptal.com/developers/gitignore?templates=c++,godot,scons,python
 
 ### C++ ###
 # Prerequisites
@@ -62,6 +65,177 @@ export_presets.cfg
 data_*/
 mono_crash.*.json
 
+### Python ###
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+cover/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+.pybuilder/
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+#   For a library or package, you might want to ignore these files since the code is
+#   intended to run in multiple environments; otherwise, check them in:
+# .python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# poetry
+#   Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
+#   This is especially recommended for binary packages to ensure reproducibility, and is more
+#   commonly ignored for libraries.
+#   https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
+#poetry.lock
+
+# pdm
+#   Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control.
+#pdm.lock
+#   pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it
+#   in version control.
+#   https://pdm.fming.dev/#use-with-ide
+.pdm.toml
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# pytype static type analyzer
+.pytype/
+
+# Cython debug symbols
+cython_debug/
+
+# PyCharm
+#  JetBrains specific template is maintained in a separate JetBrains.gitignore that can
+#  be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
+#  and can be added to the global gitignore or merged into this file.  For a more nuclear
+#  option (not recommended) you can uncomment the following to ignore the entire idea folder.
+#.idea/
+
+### Python Patch ###
+# Poetry local configuration file - https://python-poetry.org/docs/configuration/#local-configuration
+poetry.toml
+
+# ruff
+.ruff_cache/
+
+# LSP config files
+pyrightconfig.json
+
 ### SCons ###
 # for projects that use SCons for building: http://http://www.scons.org/
 .sconsign.dblite
@@ -70,4 +244,4 @@ mono_crash.*.json
 config.log
 .sconf_temp
 
-# End of https://www.toptal.com/developers/gitignore/api/c++,godot,scons
+# End of https://www.toptal.com/developers/gitignore/api/c++,godot,scons,python
diff --git a/.gitmodules b/.gitmodules
index dbedc99..223680a 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,3 +1,6 @@
 [submodule "godot-cpp"]
 	path = modules/godot-cpp
 	url = https://github.com/godotengine/godot-cpp.git
+[submodule "modules/mavlink"]
+	path = modules/mavlink
+	url = https://github.com/marsh-sim/mavlink.git
diff --git a/README.md b/README.md
index 92539c9..c10c2e8 100644
--- a/README.md
+++ b/README.md
@@ -4,19 +4,36 @@ Named in this order so not everything starts with the same word
 
 ## Development
 
-Using Godot v4.4.beta1.official [d33da79d3].
-Install SCons with `pipx install scons`.
-
-To generate files for build tooling, run the following:
+This repository uses [Git Submodules](https://git-scm.com/book/en/v2/Git-Tools-Submodules), to get all the code you need to run either:
 
 ```sh
-godot --dump-extension-api
-scons compile_commands
+git clone --recurse-submodules <address of this repository>
+# Or at any later point
+git submodule update --init --recursive
+```
+
+Using Godot v4.4.beta1.official [d33da79d3](https://github.com/godotengine/godot/commit/d33da79d3f8fe84be2521d25b9ba8e440cf25a88).
+Install SCons with `pipx install scons`.
+For updating MAVLink generator, you additionally `pip install future`.
+It is recommended to install any packages in a [virtual environment](https://docs.python.org/3/library/venv.html), for example:
+
+```sh
+python3 -m venv venv
+source venv/bin/activate
+pip install future
+```
+
+Some files are generated, run the following commands on first setup and when dependencies change:
+
+```sh
+godot --dump-extension-api  # after updating Godot
+scons compile_commands      # after modifying SConstruct
+python update_mavlink.py    # after updating MAVLink dialect
 ```
 
 ### Build
 
-To build the extension run SCons in the repository root, the default arguments have been added to the file.
+To build the GDExtension binary run SCons in the repository root, the default arguments have been added to the file.
 
 ```sh
 scons
diff --git a/modules/mavlink b/modules/mavlink
new file mode 160000
index 0000000..153d474
--- /dev/null
+++ b/modules/mavlink
@@ -0,0 +1 @@
+Subproject commit 153d474873a461f1554c2c34aaa864f818509eef
diff --git a/update_mavlink.py b/update_mavlink.py
new file mode 100644
index 0000000..3d96869
--- /dev/null
+++ b/update_mavlink.py
@@ -0,0 +1,45 @@
+#!/usr/bin/env python3
+
+"""
+Generates required libraries based on the message definitions in mavlink submodule.
+Doesn't accept any arguments by design.
+
+Requires future package, example of installation:
+```
+pip install future
+```
+"""
+
+from os import path, makedirs
+from shutil import copytree
+import sys
+
+# add repository root path to import local module regardless of location
+root_path = path.abspath(path.dirname(__file__))
+sys.path.insert(1, root_path)
+# fmt: off - don't move import to top of file
+from modules.mavlink.pymavlink.generator import mavgen
+from modules.mavlink.pymavlink.generator.mavparse import PROTOCOL_2_0
+# fmt: on
+
+definitions_path = path.join(root_path, 'modules', 'mavlink',
+                             'message_definitions', 'v1.0')
+dialect_file = 'all.xml'
+out_path = path.join(root_path, 'include', 'mavlink')
+
+# generate C library
+opts = mavgen.Opts(out_path, wire_protocol=PROTOCOL_2_0,
+                   language='C', validate=True, strict_units=True)
+mavgen.mavgen(opts, [path.join(definitions_path, dialect_file)])
+
+out_definitions_path = path.join(out_path, 'message_definitions')
+print("Copying message definitions to", out_definitions_path)
+makedirs(out_definitions_path, exist_ok=True)
+copytree(definitions_path, out_definitions_path, dirs_exist_ok=True)
+
+# generate Python library
+out_path = path.join(root_path, 'dist', 'all_marsh')
+makedirs(path.dirname(out_path), exist_ok=True)
+opts.output = out_path
+opts.language = 'Python3'
+mavgen.mavgen(opts, [path.join(definitions_path, dialect_file)])