{ stdenv
, lib
, buildPythonApplication
, fetchFromGitHub
, lxml
, matplotlib
, numpy
, opencv4
, pymavlink
, pyserial
, setuptools
, wxpython
, billiard
, gnureadline
}:

buildPythonApplication rec {
  pname = "MAVProxy";
  version = "1.8.71";

  src = fetchFromGitHub {
    owner = "ArduPilot";
    repo = pname;
    rev = "refs/tags/v${version}";
    hash = "sha256-A7tqV1kBCSuWHJUTdUZGcPY/r7X1edGZs6xDctpMbMI=";
  };

  postPatch = ''
    substituteInPlace setup.py \
      --replace "opencv-python" ""
  '';

  propagatedBuildInputs = [
    lxml
    matplotlib
    numpy
    opencv4
    pymavlink
    pyserial
    setuptools
    wxpython
  ] ++ lib.optionals stdenv.hostPlatform.isDarwin [ billiard gnureadline ];

  # No tests
  doCheck = false;

  meta = with lib; {
    description = "MAVLink proxy and command line ground station";
    homepage = "https://github.com/ArduPilot/MAVProxy";
    license = licenses.gpl3Plus;
    maintainers = with maintainers; [ lopsided98 ];
  };
}