Keelson Connector Mavlink
Keelson connector for Mavlink
MAVLink developer guide
Primary package pymavlink
Requires:
python >= 3.11
docker and docker-compose
Install the python requirements in a virtual environment:
python3 -m venv env
source venv/bin/activate
pip install -r requirements_dev.txt
To generate functions from .proto file use protoc generator
Keytopics (Keelson 0.3.1)
Rudde
0 = Port rudder
1 = Starboard rudder
zenoh info
zenoh network
python bin/main.py -r rise -e boatswain -di /dev/ttyACM0 --log-level 10
# Start with active subscription to HW controller
python bin/main.py -r rise -e boatswain -di /dev/ttyACM0 --log-level 10 -sub start
Truble shooting / Lessons learned
# If you do not have access rights to read devise
sudo chmod a+rw /dev/ttyACM0
Telemetry data example from Speedybee
Parameter
Value
Vcc
0
Vservo
0
flags
0
Parameter
Value
brkval
0
freemem
46240
freemem32
46240
Parameter
Value
seq
0
total
0
mission_state
0
mission_mode
0
Parameter
Value
time_usec
1854881584
port
0
servo1_raw
1500
servo2_raw
1500
servo3_raw
0
...
...
servo16_raw
0
Parameter
Value
time_boot_ms
1854881
chancount
16
chan1_raw
1500
chan2_raw
1500
...
...
chan18_raw
0
rssi
255
Parameter
Value
time_usec
1854881692
xacc
-888
yacc
17
zacc
-459
xgyro
0
ygyro
0
zgyro
0
xmag
0
ymag
0
zmag
0
id
0
temperature
3369
Parameter
Value
time_boot_ms
1854881
press_abs
1019.5732421875
press_diff
0.0
temperature
3656
temperature_press_diff
0
Parameter
Value
time_usec
0
fix_type
0
lat
0
lon
0
alt
0
eph
65535
epv
65535
vel
0
cog
0
satellites_visible
0
alt_ellipsoid
0
h_acc
0
v_acc
0
vel_acc
0
hdg_acc
0
yaw
0
Parameter
Value
time_unix_usec
0
time_boot_ms
1854881
Parameter
Value
omegaIx
-0.00020578244584612548
omegaIy
1.7825033864937723e-05
omegaIz
0.00021514587569981813
accel_weight
0.0
renorm_val
0.0
error_rp
0.00012932810932397842
error_yaw
1.0
Parameter
Value
flags
167
velocity_variance
0.0
pos_horiz_variance
0.0003704401315189898
pos_vert_variance
0.0030375404749065638
compass_variance
0.0
terrain_alt_variance
0.0
airspeed_variance
0.0
Parameter
Value
time_usec
1854900660
vibration_x
0.009094780310988426
vibration_y
0.006576085463166237
vibration_z
0.00686581851914525
clipping_0
0
clipping_1
0
clipping_2
0
Parameter
Value
id
0
battery_function
0
type
0
temperature
32767
voltages
[4966, 65535, ...]
current_battery
44
current_consumed
229
energy_consumed
41
battery_remaining
93
time_remaining
0
charge_state
1
voltages_ext
[0, 0, 0, 0]
mode
0
fault_bitmask
0
Parameter
Value
airspeed
0
groundspeed
0.0170395914465
heading
293
throttle
-59.43
alt
0
climb
-0.00705