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MAVLINK¶

MAVLink is a very lightweight, header-only message marshalling library for micro air vehicles.

It can pack C-structs over serial channels with high effiency and send these packets to the ground control station. It is extensively tested on the PX4, PIXHAWK, APM and Parrot AR.Drone platforms and serves there as communication backbone for the MCU/IMU communication as well as for Linux interprocess and ground link communication.

To use this binding with Morse, you need at least pymavlink >= 1.1.62.

Note

As mavlink message have strong semantic about used frame, the middleware part deal with ENU -> aeronautical frame, so mavlink messages have expected semantic.

Files¶

  • Python: $MORSE_ROOT/src/morse/middleware/mavlink_datastream.py

Configuration specificities¶

When configuring a component to export its data through mavlink, you can pass several options to tune the behaviour of the {ex, im}porter.

The option device allows to configure the link which is used to exchange data trough Mavlink. Valid configurations are for now:

  • ‘udpout:host:port’

  • ‘udpin:host:port’

  • ‘tcp:host:port’

Note

Contrarily to numerous middlewares, in Mavlink, multiple sensors / actuators can use the same device.

foo.add_stream('mavlink', device = 'udpout:localhost:14550')

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