Download the source

$git clone <https://github.com/intel/mavlink-router.git>
$cd mavlink-router
$git submodule update --init --recursive
$sudo apt install git meson ninja-build pkg-config gcc g++ systemd

Build and install

$sudo pip3 install meson
$meson setup build .
$ninja -C build
$sudo ninja -C build install

Create a config file

$sudo mkdir /etc/mavlink-router
$cd /etc/mavlink-router
$sudo nano main.conf
[main.conf]

[General]
   TcpServerPort=5760
   ReportStats=false
   MavlinkDialect=common

[UartEndpoint ttyUSB5]
   Device=/dev/ttyUSB5
   Baud=921600 

[UdpEndpoint local]
   Mode=normal
   Address=127.0.0.1
   Port=14550

<aside> 💡 Device跟Baud每個人可能都不一樣 這裡Device是/dev/ttyUSB5的原因是我的TTL to USB，它的通道在這 參考下圖，我的Pi透過Pixhawk的TELEM2接著TTL to USB溝通，Baud設定為921600

</aside>

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開啟通道

$mavlink-routerd -e 100.77.107.4:14550 # 這裡的ip是指QgroundControl那台電腦的ip

mavlink-router version v3
Opened UART [4]ttyUSB2: /dev/ttyUSB2
UART [4]ttyUSB2: speed = 921600
Opened UDP Client [5]local: 127.0.0.1:14550
Opened UDP Client [7]CLI: 10.147.20.248:14550
Opened TCP Server [9] [::]:5760

到QGroundControl做設定

<aside> 💡 【Application Settings】→【Common Links】→【Add】→【自己設一個名稱】

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UAV Tutorial

Last Updated: Feb.7 / 2023