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