# Modules Reference: Communication
# frsky_telemetry
Source: drivers/telemetry/frsky_telemetry (opens new window)
FrSky Telemetry support. Auto-detects D or S.PORT protocol.
# Usage
frsky_telemetry <command> [arguments...]
Commands:
start
[-d <val>] Select Serial Device
values: <file:dev>, default: /dev/ttyS6
[-t <val>] Scanning timeout [s] (default: no timeout)
default: 0
[-m <val>] Select protocol (default: auto-detect)
values: sport|sport_single|sport_single_invert|dtype, default:
auto
stop
status
# mavlink
Source: modules/mavlink (opens new window)
# Description
This module implements the MAVLink protocol, which can be used on a Serial link or UDP network connection. It communicates with the system via uORB: some messages are directly handled in the module (eg. mission protocol), others are published via uORB (eg. vehicle_command).
Streams are used to send periodic messages with a specific rate, such as the vehicle attitude.
When starting the mavlink instance, a mode can be specified, which defines the set of enabled streams with their rates.
For a running instance, streams can be configured via mavlink stream command.
There can be multiple independent instances of the module, each connected to one serial device or network port.
# Implementation
The implementation uses 2 threads, a sending and a receiving thread. The sender runs at a fixed rate and dynamically
reduces the rates of the streams if the combined bandwidth is higher than the configured rate (-r) or the
physical link becomes saturated. This can be checked with mavlink status, see if rate mult is less than 1.
Careful: some of the data is accessed and modified from both threads, so when changing code or extend the functionality, this needs to be take into account, in order to avoid race conditions and corrupt data.
# Examples
Start mavlink on ttyS1 serial with baudrate 921600 and maximum sending rate of 80kB/s:
mavlink start -d /dev/ttyS1 -b 921600 -m onboard -r 80000
Start mavlink on UDP port 14556 and enable the HIGHRES_IMU message with 50Hz:
mavlink start -u 14556 -r 1000000
mavlink stream -u 14556 -s HIGHRES_IMU -r 50
# Usage
mavlink <command> [arguments...]
Commands:
start Start a new instance
[-d <val>] Select Serial Device
values: <file:dev>, default: /dev/ttyS1
[-b <val>] Baudrate (can also be p:<param_name>)
default: 57600
[-r <val>] Maximum sending data rate in B/s (if 0, use baudrate / 20)
default: 0
[-p] Enable Broadcast
[-u <val>] Select UDP Network Port (local)
default: 14556
[-o <val>] Select UDP Network Port (remote)
default: 14550
[-t <val>] Partner IP (broadcasting can be enabled via -p flag)
default: 127.0.0.1
[-m <val>] Mode: sets default streams and rates
values: custom|camera|onboard|osd|magic|config|iridium|minimal|
extvision|extvisionmin|gimbal, default: normal
[-n <val>] wifi/ethernet interface name
values: <interface_name>
[-c <val>] Multicast address (multicasting can be enabled via
MAV_{i}_BROADCAST param)
values: Multicast address in the range
[239.0.0.0,239.255.255.255]
[-f] Enable message forwarding to other Mavlink instances
[-w] Wait to send, until first message received
[-x] Enable FTP
[-z] Force hardware flow control always on
[-Z] Force hardware flow control always off
stop-all Stop all instances
status Print status for all instances
[streams] Print all enabled streams
stream Configure the sending rate of a stream for a running instance
[-u <val>] Select Mavlink instance via local Network Port
[-d <val>] Select Mavlink instance via Serial Device
values: <file:dev>
-s <val> Mavlink stream to configure
-r <val> Rate in Hz (0 = turn off, -1 = set to default)
boot_complete Enable sending of messages. (Must be) called as last step in
startup script.
# micrortps_client
Source: modules/micrortps_bridge/micrortps_client (opens new window)
# Usage
micrortps_client <command> [arguments...]
Commands:
start
[-t <val>] Transport protocol
values: UART|UDP, default: UART
[-d <val>] Select Serial Device
values: <file:dev>, default: /dev/ttyACM0
[-b <val>] Baudrate (can also be p:<param_name>)
default: 460800
[-m <val>] Maximum sending data rate in B/s
default: 0
[-p <val>] Poll timeout for UART in ms
[-l <val>] Limit number of iterations until the program exits
(-1=infinite)
default: 10000
[-w <val>] Time in us for which each read from the link iteration sleeps
default: 1
[-r <val>] Select UDP Network Port for receiving (local)
default: 2019
[-s <val>] Select UDP Network Port for sending (remote)
default: 2020
[-i <val>] Select IP address (remote)
values: <x.x.x.x>, default: 127.0.0.1
[-f] Activate UART link SW flow control
[-h] Activate UART link HW flow control
[-v] Add more verbosity
stop
status
# uorb
Source: systemcmds/uorb (opens new window)
# Description
uORB is the internal pub-sub messaging system, used for communication between modules.
# Implementation
The implementation is asynchronous and lock-free, ie. a publisher does not wait for a subscriber and vice versa. This is achieved by having a separate buffer between a publisher and a subscriber.
The code is optimized to minimize the memory footprint and the latency to exchange messages.
Messages are defined in the /msg directory. They are converted into C/C++ code at build-time.
If compiled with ORB_USE_PUBLISHER_RULES, a file with uORB publication rules can be used to configure which modules are allowed to publish which topics. This is used for system-wide replay.
# Examples
Monitor topic publication rates. Besides top, this is an important command for general system inspection:
uorb top
# Usage
uorb <command> [arguments...]
Commands:
status Print topic statistics
top Monitor topic publication rates
[-a] print all instead of only currently publishing topics with
subscribers
[-1] run only once, then exit
[<filter1> [<filter2>]] topic(s) to match (implies -a)
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