Route mavlink packets between endpoints (WIP)
In its current state it acts as a bridge between one "master" endpoint on UART and other endpoints on UDP.
In order to compile you need the following packages:
- GCC or Clang compiler
- C and C++ standard libraries
We currently depend on mavlink C library which is generated by the build system during compilation. The corresponding submodule should be fetched.
$ git submodule update --init --recursive
Build system follows the usual configure/build/install cycle. Configuration is needed to be done only once. A typical configuration is shown below:
$ ./autogen.sh && ./configure CFLAGS='-g -O2' \
--sysconfdir=/etc --localstatedir=/var --libdir=/usr/lib64 \
--prefix=/usr
Build:
$ make
Install:
$ make install
$ # or... to another root directory:
$ make DESTDIR=/tmp/root/dir install
To route mavlink packets from master ttyS1 to 2 other UDP endpoints, do as
following:
$ mavlink-routerd -b 1500000 -e 192.168.7.1:14550 -e 127.0.0.1:14550 /dev/ttyS1
The -b switch above is used to set the UART baudrate. See more options with
mavlink-routerd --help
It's also possible to route mavlinks packets from any interface using:
$ mavlink-routerd -b 1500000 -e 192.168.7.1:14550 -e 127.0.0.1:14550 0.0.0.0:24550
mavlink-router also listens, by default, port 5760 for TCP connections. Any connection there will also receive routed packets.
Pull-requests are accepted on GitHub. Make sure to check coding style with the provided script in tools/checkpatch and tools/checkpython, check for memory leaks with valgrind and test on real hardware.
Directory examples has some samples that can be used to test mavlink-router. Those are Python scripts, and pymavlink is required.
One can test mavlink-router by using examples/sender.py and
examples/receiver.py to simulate traffic of mavlink messages.
First script send mavlink ping messages to a target mavlink system-id, and
second receives and respond them.
For instance:
$ python examples/sender.py 127.0.0.1:3000 100 0
Will send mavlink pings to UDP port 300. Those pings will have 100 as
source system and will have 0 as target-system (0 as target means broadcast).
Receiver could be set as:
$ python examples/receiver.py 127.0.0.1:4000 50
Where 50 is receiver system id. Then, to route between those:
$ mavlink-routerd -e 127.0.0.1:4000 0.0.0.0:3000
Note that it's possible to setup multiple senders and receivers to see mavlink-router in action.