# mavlink-router

## Introduction

To be able to have several end nodes communicating via mavlink simultaneously we need to set up [mavlink-router](https://github.com/intel/mavlink-router) on the NavQ.\
\
The end nodes can be 

* A process for onboard control running on NavQ.
* A QGroundControl (QGC) computer the NavQ connects to via a data link such as WiFi.
* Other mavlink enabled peripherals on the vehicle.
* Another program running on the same remote PC as QGC

## Prerequisites

### Set up TELEM2 on the FMU

Connect to your FMU over USB and open QGroundControl. Navigate to Settings -> Parameters -> MAVLink and set these parameters:

![](/files/-MCTMSP9peqSSkPh4LZV)

Also, you'll need to make sure that the settings in Settings -> Parameters -> Serial look like this:

![](/files/-MCTMgOwHPHxcDfqRhd5)

## Installation and compiling mavlink router

To install and compile `mavlink router` follow the steps below (internet access required on your NavQ)

1\) Connect to NavQ console via ssh / serial

2\) Type the following commands

```
~$ mkdir src
~$ cd src
~/src$ git clone https://github.com/intel/mavlink-router.git
~/src$ cd mavlink-router 
~/src/mavlink-router$ git submodule update --init --recursive
~/src/mavlink-router$ ./autogen.sh && ./configure CFLAGS='-g -O2' --sysconfdir=/etc --localstatedir=/var --libdir=/usr/lib --prefix=/usr
~/src/mavlink-router$ make
~/src/mavlink-router$ sudo make install
```

## Mavlink-router configuration

Configuration of `mavlink router` is done via a single configuration file  *`/etc/mavlink-router/main.conf`*\
This file needs to be created from scratch. An example configuration file is available in the mavlink-router sources - <https://github.com/intel/mavlink-router/blob/master/examples/config.sample>&#x20;

{% hint style="danger" %}
As of today the mavlink-router *make install* does not create the /etc/mavlink-router directory and main.conf file.\
Therefore please use the following commands to create the directory and file initially.

\~$ sudo mkdir /etc/mavlink-router

\~$ sudo touch /etc/mavlink-router/main.conf
{% endhint %}

### Setup the config file with minimal configuration&#x20;

```
~$ sudo nano /etc/mavlink-router/main.conf
```

```
#Mavlink router configuration navq
#
[General]
TcpServerPort=5760
ReportStats=false
MavlinkDialect=auto

[UartEndpoint FMUuart]
Device=/dev/ttymxc2
Baud=921600

[UdpEndpoint FMUeth]
Mode = Eavesdropping
Address = 0.0.0.0
Port = 14551

[UdpEndpoint QGConMobile]
Mode = Normal
Address = 192.168.43.1
Port = 14550
```

{% hint style="info" %}
The configuration above assumes that the NavQ gets mavlink data from FMU either via UART3 (/dev/ttymxc2) or UDP.\
If you use UART please set on the FMU the corresponding serial port to 921600Bd.\
For this the SER\_TELx\_BAUD (x = number of telemetry port) parameter needs to be adjusted to 921600 8N.\
If you use lower speed QGroundControl might fail to load parameters.
{% endhint %}

\
You can leave out the unused connection.\
Via the `UdpEndpoint QGConMobile` section the mavlink stream is forwarded to a QGC computer/mobile device assuming it has 192.168.43.1 and NavQ is connected to this network via e.g. WiFi.&#x20;

### Enabling auto-start of mavlink-router

Enable the auto-start of `mavlink-router` via `systemd` and start it&#x20;

```
~$ sudo systemctl enable mavlink-router
~$ sudo systemctl start mavlink-router
```

### Checking status of mavlink-router

You can check the status of mavlink router using the command&#x20;

```
~$ sudo systemctl status mavlink-router
```


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