Mavlink Routing and Endpoints
AuterionOS uses mavlink router and the MAVLink protocol in order to connect any software components with the flight controller. You can connect your own applications to mavlink router using the UDP protocol and one of the following ports:
| Network Interface | Listening IP Address | Port | Transport Protocol | Purpose |
|---|---|---|---|---|
localhost | 127.0.0.1 | 13550 | UDP | GCS communication |
localhost | 127.0.0.1 | 14561 | UDP | App 1 |
localhost | 127.0.0.1 | 14562 | UDP | App 2 |
localhost | 127.0.0.1 | 14563 | UDP | App 3 |
The three ports are preconfigured mavlink endpoints in AuterionOS that are not used by any official Auterion software component and reserved for custom applications.
Usage of any other ports could damage the system.
Additional documentation
MAVLink: https://mavlink.io
MAVLink Message definitions: https://mavlink.io/en/messages/common.html
Manual mavlink router configuration
For advanced setups, the mavlink router configuration can be extended by creating the directory /etc/mavlink-router/conf.d on Skynode and then creating one or multiple files in it with the additional endpoint configurations. The content of all files within this directory will be appended to the runtime configuration /var/run/mavlink.conf on each boot.
In order to be able to create the directory and files under /etc/mavlink-router/conf.d, the root file system needs to be temporarily mounted with write permission. Persistent write permissions are not required on each boot because the runtime configuration in the /var partition is always writable.
External Mavlink Communication to Skynode
| Network Interface | Listening IP Address | Port | Transport Protocol | Purpose |
|---|---|---|---|---|
USB-C on Skynode | 10.41.1.1 | 14550 | UDP | GCS Communication |
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