The MAVLink is a lightweight communication protocol between Unmanned Aerial Vehicles (UAVs) and ground control stations (GCSs). It defines a set of bi-directional messages exchanged between a UAV (aka drone) and a ground station. The messages carry out information about the UAV's states and control commands sent from the ground station. However, the MAVLink protocol is not secure and has several vulnerabilities to different attacks that result in critical threats and safety concerns. Very few studies provided solutions to this problem. In this paper, we discuss the security vulnerabilities of the MAVLink protocol and propose MAVSec, a security-integrated mechanism for MAVLink that leverages the use of encryption algorithms to ensure the protection of exchanged MAVLink messages between UAVs and GCSs. To validate MAVSec, we implemented it in Ardupilot and evaluated the performance of diffe

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