I have a Pixhawk 6x Pro
Flight controller connected with Jetson Orin AGX
onboard computer running ros2
. As Jetson
and Flight controller
are connected via an FTDI
cable and communicating over DDS
MicroXRCEAgent serial --dev /dev/ttyUSB0 -b 921600
I can list ros2 topic list
and echo ros2
topics like /fmu/out/vehicle_status
. Drone
and Ground Control Station
are connected over a custom telemetry
over a network, I can ssh
the jetson etc
I installed mavlink-router
on the onboard computer. I havethe following config file at /etc/mavlink-router.conf
to route the mavlink data to QGC
[UdpEndpoint dds]
Mode = Normal
Address = 127.0.0.1
Port = 8888
[UdpEndpoint qgc]
Mode = Normal
Address = 192.168.10.5
Port = 14550
[Log]
Mode = always
Directory = /tmp/mavlink-logs
[General]
ReportStats = true
UdpServer = true
but when I run it there is 0 KB
data transfer
jetson@jetson:~$ sudo mavlink-routerd -c /etc/mavlink-router.conf
mavlink-router version v4-15-g51983a4
Opened UDP Client [4]qgc: 192.168.100.255:14550
Opened UDP Client [6]dds: 127.0.0.1:8888
Opened TCP Server [8] [::]:5760
UDP Endpoint [4]qgc {
Received messages {
CRC error: 0 0% 0KB
Sequence lost: 0 0%
Handled: 0 0KB
Total: 0
}
Transmitted messages {
Total: 0 0KB
}
}
UDP Endpoint [6]dds {
Received messages {
CRC error: 0 0% 0KB
Sequence lost: 0 0%
Handled: 0 0KB
Total: 0
}
Transmitted messages {
Total: 0 0KB
}
}
UDP Endpoint [4]qgc {
Received messages {
CRC error: 0 0% 0KB
Sequence lost: 0 0%
Handled: 0 0KB
Total: 0
}
Transmitted messages {
Total: 0 0KB
}
}
UDP Endpoint [6]dds {
Received messages {
CRC error: 0 0% 0KB
Sequence lost: 0 0%
Handled: 0 0KB
Total: 0
}
Transmitted messages {
Total: 0 0KB
}
}
and there is no Data show in QGC