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MAVLink UTM_GLOBAL_POSITION/ GLOBAL_POSITION_INT Simulator

Generate MAVLink UTM_GLOBAL_POSITION or GLOBAL_POSITION_INT messages from a CSV with the corresponding data.

Installation

Clone this repository and install the python dependencies with pip3 install -r requirements.txt.

Usage

This utility generates UTM_GLOBAL_POSITION and GLOBAL_POSITION_INT by replaying a CSV file with the required data fields in a loop. The GLOBAL_POSITION_INT messages will be sent with 4 Hz (repeating the data four times) while UTM_GLOBAL_POSITION is limited to 1 Hz.

The output connection strings are according to the PyMavlink library, e.g.:

  • udpin:$ip:$port: Listening for UDP packets on the specified IP (normally 0.0.0.0) and port
  • udpout:$ip:$port: Sending UDP packets to the specified IP and port, will start with a heartbeat to "activate" the connection when using mavlink-router
  • tcp:$ip:$port: Connecting to the specified IP and port

To fetch data form /path/to/file.csv and send it to localhost:14550, run:

python3 mavlink_utm_sim.py -i /path/to/file.csv -o udpout:localhost:14550

The CSV must contain these colums:

uas_id, lat, lon, alt, relative_alt, vx, vy, vz, h_acc, v_acc, vel_acc

Data is in standard units (meters, degrees, m/s) and is converted to the fixed point version internally. The flight_state is fixed to UTM_FLIGHT_STATE_AIRBORNE, data availablility flags are set to match the required CSV columns.