{
  lib,
  stdenv,
  python3Packages,
  fetchFromGitHub,
  fetchpatch,
  versionCheckHook,
}:

python3Packages.buildPythonApplication rec {
  pname = "MAVProxy";
  version = "1.8.74";
  pyproject = true;

  src = fetchFromGitHub {
    owner = "ArduPilot";
    repo = "MAVProxy";
    tag = "v${version}";
    hash = "sha256-1/bp3vlCXt4Hg36zwMKSzPSxW7xlxpfx2o+2uQixdos=";
  };

  patches = [
    # Remove python 2 future imports
    (fetchpatch {
      url = "https://github.com/ArduPilot/MAVProxy/commit/db52f3f5d1991942026c00b51a3ce1ce85998cbd.patch";
      hash = "sha256-mNhOfXJMiUihsso3fjzlbeXW/3ENvrdkFSLo23dMCY4=";
    })
  ];

  build-system = with python3Packages; [ setuptools ];

  dependencies =
    with python3Packages;
    [
      lxml
      matplotlib
      numpy
      opencv-python
      pymavlink
      pynmeagps
      pyserial
      setuptools # Imports `pkg_resources` at runtime
      wxpython
    ]
    ++ lib.optionals stdenv.hostPlatform.isDarwin [
      billiard
      gnureadline
    ];

  pythonImportsCheck = [ "MAVProxy" ];

  # No tests, but we can check the version
  nativeInstallCheckInputs = [ versionCheckHook ];

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