mavlink-router routes MavLink data dynamically between several end nodes
Introduction
To be able to have several end nodes communicating via mavlink simultaneously we need to set up 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:
Also, you'll need to make sure that the settings in Settings -> Parameters -> Serial look like this:
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
Mavlink-router configuration
Configuration of mavlink router is done via a single configuration file /etc/mavlink-router/main.confThis file needs to be created from scratch. An example configuration file is available in the mavlink-router sources -
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
Setup the config file with minimal configuration
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.
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.
Enabling auto-start of mavlink-router
Enable the auto-start of mavlink-router via systemd and start it
Checking status of mavlink-router
You can check the status of mavlink router using the command
