MAVLink Router

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.

Compilation and installation

In order to compile you need the following packages:

• GCC or Clang compiler
• C and C++ standard libraries

Fetch dependencies:

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

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

Running

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