mavlink-router routes MavLink data dynamically between several end nodes
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
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:
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
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 -
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
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.
Enable the auto-start of mavlink-router via systemd and start it
You can check the status of mavlink router using the command
~$ 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~$ 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~$ sudo systemctl enable mavlink-router
~$ sudo systemctl start mavlink-router~$ sudo systemctl status mavlink-router