Revision as of 17:01, 5 August 2018

Focus: Route Custom Messages from ground station through Pixhawk (SITL) to MavROS Node

Useful links to start from

Wrote two python scripts for MAVlink UDP debugging, i.e. send(Custom)Message and listenForMessages
- Python interface turned out to be not very much customizable with outgoing / ingoing port (at least not as MAVros does)
Tried routing by exploiting system_id and target_id
Using python script setup, we debugged the mavlink module running in PX4 SITL
- Figured out that the forwarding option -f does not work as expected
- The code base is somehow messed up (over 2500 loc in mavlink_main.cpp) and we could not find the routing fault
- Seems that only some messages carry the component id and system_id properly
By using -f on both instances of mavlink the routing is possible in both directions --> decided to take the easy way
Commented out the sending of an unsuccessful ACK when the target system and component is not matched --> leaving to mavros to respond
Installation of QtCreator with ROS plugin

@@ Line 7: / Line 7: @@
 * [https://github.com/mavlink/mavros/issues/682 custom message from stream (may be useful)]
 * [http://api.ning.com/files/i*tFWQTF2R*7Mmw7hksAU-u9IABKNDO9apguOiSOCfvi2znk1tXhur0Bt00jTOldFvob-Sczg3*lDcgChG26QaHZpzEcISM5/MAVLINK_FOR_DUMMIESPart1_v.1.1.pdf MAVlink tutorial for absolute dummies]
+= Daily Log =
+# Wrote two python scripts for MAVlink UDP debugging, i.e. send(Custom)Message and listenForMessages
+#* Python interface turned out to be not very much customizable with outgoing / ingoing port (at least not as MAVros does)
+# Tried routing by exploiting <code>system_id</code> and <code>target_id</code>
+# Using python script setup, we debugged the mavlink module running in PX4 SITL
+#* Figured out that the forwarding option <code>-f</code> does not work as expected
+#* The code base is somehow messed up (over 2500 loc in mavlink_main.cpp) and we could not find the routing fault
+#* Seems that only some messages carry the component id and system_id properly
+# By using <code>-f</code> on both instances of mavlink the routing is possible in both directions --> decided to take the easy way
+# Commented out the sending of an unsuccessful <code>ACK</code> when the target system and component is not matched --> leaving to mavros to respond
+# Installation of QtCreator with ROS plugin
 = Results =
 * [https://dev.qgroundcontrol.com/en/tools/custom_command_widget.html QGroundControl Custom Widget to send command]