README.md

MAVLink Switch

Configuration

MAVLink Switch is configured using a configuration YAML file, containing endpoints and rules sets.

Endpoints

Endpoint protocols:

• [serial:]<file>[:<baudrate>] – a serial device file;
• udp://[<local_host>[:<local_port>]]@<remote_host>[:<remote_port>] – UDP.

The default local host is 0.0.0.0, the default ports are 14550.

Endpoints options:

• url String – link URL (required);
• name String – endpoint name;
• broadcast Boolean – enable UDP broadcasting;
• interface String – network interface;
• discovery Boolean – discovering mode: memorize remote endpoint on respond;
• discovery_timeout Number – discovered endpoint invalidation timeout.

Rules

A message is getting passed if at least one rule matches. If multiple rules match the same endpoints pair, the first rule is applied.

Rules options:

• from String – input endpoint name;
• to String – output endpoint name;
• min_interval Number – minimal message interval (for rate limiting);
• remote_exists Boolean – pass message only if the remote has not timed out;
• header Object – match MAVLink header fields;
• message Object – match specific MAVLink message fields;
• log Boolean – log passed messages.

Note: message option enables MAVLink message parser. This filtering will be skipped on an incompatible MAVLink message.

Example

mavlink:
  dialect: "common"
  version: 2

endpoints:
  - name: "pixhawk"
    url: "serial:/dev/ttyS0"
  - name: "vpn"
    url: "udp://@72.11.6.255:14550"  # network interface is determined by the subnet
    broadcast: true
  - name: "wifi"
    url: "udp://@192.168.0.255:14550"
    broadcast: true
    discovery: true

# a message should match at least one rule to get passed
rules:
  - from: pixhawk  # pass the global position to the internet
    to: vpn
    header:
      msgid: GLOBAL_POSITION_INT  # string ID representation is replaced to a number automatically
    min_interval: 1  # miminal interval in seconds for the rule
  - from: pixhawk
    to: wifi
  - from: wifi
    to: pixhawk