MAVLink is a popular communication protocol used in Unmanned Aerial Vehicles (UAVs) for exchanging critical information between onboard systems and ground control stations. This study delves into the vulnerabilities present in MAVLink that could be exploited by malicious actors to compromise UAV operations. For example, the current MAVLink protocol lacks a robust cryptographic protection on the communication, and a strong key distribution scheme is even missing. By exploring potential attacks and weaknesses, the research aims to develop robust defense mechanisms to enhance the security of UAV communications utilizing MAVLink. Through a comprehensive analysis of attack vectors and defense strategies, this study seeks to contribute valuable insights to the UAV community, enabling the development of more secure and resilient systems for safe and reliable UAV operations in various applications.