Path of MAVLink Data

MAVLink messages are transferred from the Ardupilot on the drone to the phone on the drone by wire. The phone then uses _ to transfer the messages to the computer. The computer and the ground station devices/antennas are connected to the same router and so the MAVLink messages can be forwarded through UDP using MavProxy. A tutorial on how to set up MavProxy to do so is here: MavProxy MavLink Forwarding . For Tracking Antenna purposes, we have been using --out 172.20.10.6:16550 when running MavProxy with 172.20.10.6 being the IP of the AirLift WiFi module and 16550 being the port that it expects messages through.

SITL Simulation of MAVLink Data

SITL Simulation of MAVLink Data allows us to test all of the functionalities of Tracking Antenna without flying the drone. We use a simulated MissionPlanner drone and still forward the messages over MavProxy. You can find how to set up MissionPlanner and MavProxy for this in MavProxy MavLink Forwarding.