Overview
MavProxy allows the user to forward MavLink messages to other devices in the network over UDP. In this page we go over how to set up MavProxy to connect to other devices such as an antenna, what to watch out for when parsing the UDP message, and how to set up the Mission Planner SITL simulation to work with MavProxy.
Setting Up MavProxy
Download and install MavProxy https://ardupilot.org/mavproxy/docs/getting_started/download_and_installation.html
This tutorial was tested on Windows but Linux should work the same
To test if you are able to receive MavLink messages from the drone, enter the command
mavproxy --master=udp:xxx.x.x.x:port_numberwithxxx.x.x.x:port_numberreplaced with the ip and port number that the MavLink messages are being sent through.You should now see a connection with data about the drone in the mavproxy GUI
We will now forward the MavLink messages to other devices in our network. You can exit out of
MavProxy by using
ctrl+con the terminal until it's closedEnsure that your devices are connected to the same network that the device running MavProxy is connected to.
Enter the command
mavproxy --master=udp:xxx.x.x.x:port_number --out xxx.x.x.x:port_numberwith the firstxxx.x.x.x:port_numberagain replaced with the ip and port number that the MavLink messages are being sent through, and the secondxxx.x.x.x:port_numberreplaced with the IP of the device that the data is being forwarded to and any free port on that device.
Setting Up Mission Planner SITL with MavProxy
Follow this tutorial on how to set up a Mission Planner SITL simulation, in the MAVLink forwarding section follow steps 1, 2, and 4: https://uwarg-docs.atlassian.net/wiki/spaces/CV/pages/2240643073/Mission+Planner+Simulated+Ardupilot#MAVLink-forwarding
The port and IP you selected will be the one you use for the --master field. For example,
mavproxy --master=udp:127.0.0.1:14550 --out xxx.x.x.x:port_numberIf you are running into issues, try using a different port as 14550 is a common MAVLink port.
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