mavp2p
mavp2p is a flexible and efficient Mavlink proxy / bridge / router, implemented in the form of a command-line utility. It is used primarily to link UAV flight controllers, connected through a serial port, with ground stations on a network, but can be used to build any kind of routing involving serial, TCP and UDP, allowing communication across different physical layers or transport layers.
mavp2p can replace mavproxy in systems with limited resources (for instance companion computers), and mavlink-router when more flexibility is needed.
This project makes use of the gomavlib library, a full-featured Mavlink library.
Features:
- Link together an arbitrary number of different types of endpoints:
- serial
- UDP (client, server or broadcast mode)
- TCP (client or server mode)
- Support Mavlink 2.0 and 1.0, support any dialect
- Emit heartbeats
- Request streams to Ardupilot devices and block stream requests from ground stations
- Support domain names in place of IPs
- Reconnect to TCP/UDP servers when disconnected, remove inactive TCP/UDP clients
- Multiplatform, available for multiple operating systems (Linux, Windows) and architectures (arm6, arm7, arm64, amd64), does not depend on libc and therefore is compatible with lightweight distros (Alpine Linux)
Table of contents
Installation
Download and extract a precompiled binary from the release page.
Usage
Link a serial port with a UDP endpoint in client mode:
./mavp2p serial:/dev/ttyAMA0:57600 udpc:1.2.3.4:5600
Link a serial port with a UDP endpoint in server mode:
./mavp2p serial:/dev/ttyAMA0:57600 udps:0.0.0.0:5600
Link a UDP endpoint in broadcast mode with a TCP endpoint in client mode:
./mavp2p udpb:192.168.7.255:5601 tcpc:exampleendpoint.com:5600
Create a server that links together all UDP endpoints that connect to it:
./mavp2p udps:0.0.0.0:5600
Comparison
mavp2p vs mavproxy
- Does not require python nor any interpreter
- Much lower CPU and memory usage
- Supports an arbitrary number of inputs and outputs
- Logs can be disabled, resulting in no disk I/O
- UDP clients are removed when inactive
mavp2p vs mavlink-router
- Supports domain names
- Supports multiple TCP servers
- UDP clients are removed when inactive
- Supports automatic stream requests to Ardupilot devices
Full command-line usage
usage: mavp2p [<flags>] [<endpoints>...]
mavp2p v0.0.0
Link together Mavlink endpoints.
Flags:
--help Show context-sensitive help (also try
--help-long and --help-man).
--version print version
-q, --quiet suppress info messages
--print print routed frames
--print-errors print parse errors singularly, instead of
printing only their quantity every 5 seconds
--hb-disable disable heartbeats
--hb-version=1 set mavlink version of heartbeats
--hb-systemid=125 set system id of heartbeats. it is
recommended to set a different system
id for each router in the network
--hb-period=5 set period of heartbeats
--streamreq-disable do not request streams to Ardupilot
devices, that need an explicit request
in order to emit telemetry streams.
this task is usually delegated to the
router, in order to avoid conflicts when
multiple ground stations are active
--streamreq-frequency=4 set the stream frequency to request
Args:
[<endpoints>] Space-separated list of endpoints. At least one
endpoint is required. Possible endpoints types are:
udps:listen_ip:port (udp, server mode)
udpc:dest_ip:port (udp, client mode)
udpb:broadcast_ip:port (udp, broadcast mode)
tcps:listen_ip:port (tcp, server mode)
tcpc:dest_ip:port (tcp, client mode)
serial:port:baudrate (serial)
Links
Related projects
Similar software
Mavlink references