Engee documentation

MAVLink

A library of blocks for messaging over the MAVLink protocol.

MAVLink is a lightweight communication protocol that is used in unmanned systems: autopilots (ArduPilot, PX4), drones and ground control stations (GCS) exchange telemetry, commands and sensor data via it. The library blocks work over a network (TCP or UDP), so a physical adapter is not required — network access to the source of MAVLink messages is sufficient: a real autopilot, simulator (SITL), or ground station.

To work with the MAVLink library blocks, install/update the support package. equipment.

How to use ad blocks

The exchange is built around a single connection that creates a block MAVLINK Setup:

  1. block MAVLINK Setup opens a TCP or UDP connection and outputs its handle.;

  2. the descriptor is fed to the input of conn blocks MAVLINK RX and MAVLINK TX — all receiving and transmitting units in the model use this common connection;

  3. blocks MAVLINK RX and MAVLINK TX They receive and send messages through this connection.;

  4. block MAVLINK Select prepares a blank tire with the fields of the desired message, which is then filled in using a block Bus Assignment and they are fed to the entrance of the block MAVLINK TX.

The set of messages that the block works with is set by its parameters:

  • MAVLINK RX and MAVLINK TX — an array of message names (MAVLink сообщения на приём: and MAVLink сообщения на передачу:);

  • MAVLINK Select — one message name (MAVLink сообщение:).

The library supports messages in two MAVLink dialects — common and ardupilotmega. Messages in other dialects are not supported. The descriptions of the messages and their fields are given in the official MAVLink documentation.: common and ardupilotmega. The full list of supported messages with fields and types is given on the page MAVLink Messages.

The blocks automatically deploy tires with a pre-prepared field composition: MAVLINK RX and MAVLINK Select — at the exit ports, MAVLINK TX — at the entrance.

For more information about the MAVLink support package and software management functions, see the article MAVLink Support Package.

MAVLINK RX

Receiving MAVLink messages.

MAVLINK Select

Formation of the MAVLink message bus.

MAVLINK Setup

Setting up a MAVLink connection.

MAVLINK TX

Sending MAVLink messages.