Extension `mavlink`

Support for drones that use the MAVLink protocol.

Version

-

Tags

-

Dependencies

show, signals

Configuration properties

Table 1. properties
Property	Type	Default	Description
networks	object		MAVLink networks
`id_format`	string		ID format. Python format string that determines the format of the IDs of the drones created by the extension. May be overridden in each network.
`custom_mode`	integer	127	Enforce MAVLink custom flight mode. MAVLink custom flight mode number to switch drones to when they are discovered the first time. 127 is the mode number of the drone show mode for Skybrush-compatible MAVLink-based drones. Refer to the documentation of your autopilot for more details.
`rssi_mode`	enum<string>	radio_status	RSSI mode. Specifies how RSSI values are derived for the drones. May be overridden in each network. Possible parameter values: none No RSSI values radio_status From RADIO_STATUS messages rtcm_counters From RTCM counters (Skybrush only)
`assume_data_streams_configured`	boolean	False	Assume that MAVLink packet streams are configured. If enabled, the driver will assume that the MAVLink data streams are already configured and will not attempt to configure them automatically. This speeds up the initialization sequence when you have thousands of drones.
`autopilot_type`	enum<string>	auto	Flight controller firmware. Possible parameter values: auto Autodetected ardupilot ArduPilot skybrush ArduPilot with Skybrush px4 PX4
`use_bulk_parameter_uploads`	boolean	False	Use bulk parameter uploads. If enabled, the driver will use bulk parameter uploads instead of individual parameter uploads. This can speed up the parameter upload process, especially for large numbers of parameters. Requires support from the flight controller; currently supported by ArduPilot only.

Table 2. properties.networks
Property	Type	Default	Description
`connections`	array<string>	[]	Connection URLs. URLs describing the connections where the server needs to listen for incoming MAVLink packets in this network. 'default' means that incoming MAVLink packets are expected on UDP port 14550 and outbound MAVLink packets are sent to UDP port 14555.
`id_format`	string		ID format. Python format string that determines the format of the IDs of the drones created in this network. Overrides the global ID format defined at the top level.
`id_offset`	number	0	ID offset. Offset to add to the numeric ID of each drone within the network to derive its final ID. You can use it to map multiple networks with the same MAVLink ID range to different Skybrush ID ranges. Leave it at zero if you only have one MAVLink network.
`system_id`	integer	254	System ID. MAVLink system ID of the server in this network; typically IDs from 251 to 254 are reserved for ground stations.
routing	object		Message routing
`rssi_mode`	enum<string>	radio_status	RSSI mode. Specifies how RSSI values are derived for the drones in this network. Possible parameter values: none No RSSI values radio_status From RADIO_STATUS messages rtcm_counters From RTCM counters (Skybrush only)
signing	object		Message signing
statustext_targets	object	{'client': 'debug', 'server': 'notice', 'log_prearm': False}	STATUSTEXT message handling
`use_broadcast_rate_limiting`	boolean	False	Apply rate limiting on broadcast messages. This is a workaround that should be enabled only if you have a connection without flow control and you are experiencing issues with packet loss, especially for bursty packet streams like RTK corrections.

Table 3. properties.networks.routing
Property	Type	Default	Description
`rc`	array<integer>	[0]	RC override. Indices of the connections where RC override messages are routed to (zero-based).
`rtk`	array<integer>	[0]	RTK messages. Indices of the connection where RTK correction messages are routed to (zero-based).

Table 4. properties.networks.signing
Property	Type	Default	Description
`enabled`	boolean	False	Enable MAVLink message signing
`key`	string		Signing key. The key must be exactly 32 bytes long. It can be provided in hexadecimal format or as a base64-encoded string, which is identical to the format being used in Mission Planner.
`sign_outbound`	boolean	True	Sign outbound MAVLink messages if signing is enabled
`allow_unsigned`	boolean	False	Accept unsigned incoming messages

Table 5. properties.networks.statustext_targets
Property	Type	Default	Description
`client`	enum<string>	NOTICE	Forward to Skybrush clients above this severity. Possible parameter values: none None emergency Emergency alert Alert critical Critical error Error warning Warning notice Notice info Info debug Debug any Any
`server`	enum<string>	NOTICE	Log in the server log above this severity. Possible parameter values: none None emergency Emergency alert Alert critical Critical error Error warning Warning notice Notice info Info debug Debug any Any
`log_prearm`	boolean	False	Log pre-arm messages. If enabled, the extension will log all pre-arm check errors received from the drones in this network. These messages are hidden by default as they are fairly common and can be inspected by other means.