27be9675db
Fix MD034/no-bare-urls lint errors by converting bare URLs to proper markdown link syntax [text](url). Link text is derived from the URL: - GitHub repos use the repository name - ArduPilot ecosystem URLs use descriptive names - Vendor/product URLs use the vendor name - Documentation sites include "documentation" suffix Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
2.4 KiB
RockBlock 9704 Lua Script
A Lua script for ArduPilot that enables satellite communication using the RockBlock 9704 SBD modem to send and receive basic MAVLink telemetry.
Requires rockblock2mav (MQTT client) at the GCS end
Messages will be send or received if High Latency Mode is enabled, or as configured
by RK9_FORCEHL.
Setup: This script requires:
- A SERIALn port, set to Scripting. Connect to the RXD/TXD lines of the Rockblock's header
- A SCR_SDEVn (virtual) port, set to MAVLink High Latency. Requires SCR_SDEV_EN=1
- A relay output connected to the I_EN pin of the Rockblock's header
- A GPIO input connected to the I_BTD pin of the Rockblock's header
The Rockblock's V_IN- and V_IN+ header pins can be connected to the flight controller's GND and +5V pins respectively.
Caveats:
- This will only send HIGH_LATENCY2 packets via the SBD modem. No heartbeats, no command acknowledgements, no statustexts, no parameters, etc
- A single HIGH_LATENCY2 packet will be sent every RK9_PERIOD sec
Parameters
The script has the following parameters:
RK9_FORCEHL
Mode of operation:
- 0 = start disabled, can be enabled via MAV_CMD_CONTROL_HIGH_LATENCY (default)
- 1 = start enabled, can be disabled via MAV_CMD_CONTROL_HIGH_LATENCY
- 2 = enabled on loss of telemetry (GCS) link for RK9_TIMEOUT seconds
RK9_PERIOD
When in High Latency mode, send Rockblock updates every RK9_PERIOD seconds. Defaults to 30 seconds.
RK9_DEBUG
Sends Rockblock debug text to GCS via statustexts. Defaults to 0 (disabled).
RK9_ENABLE
Enables the modem transmission. Defaults to 1 (enabled).
RK9_TIMEOUT
If RK9_FORCEHL=2, this is the number of seconds of no-messages from the GCS until High Latency mode is auto-enabled. Defaults to 5 seconds.
RK9_SERPORT
Serial port number to which the Rockblock is connected. This is the index of the SERIALn_ ports that are set to 28 for "scripting". Defaults to 0.
RK9_SCRPORT
Scripting Serial port number to which the Rockblock is connected for HL2 messages. This is the index of the SCR_SDEV ports that are set to 2 for "MavlinkHL". Defaults to 0.
RK9_RELAY
RELAYn output to control Rockblock power. This connects to I_EN on the Rockblock header. Defaults to RELAY1.
RK9_BOOTED
SERVOn GPIO pin number (usually 50 or greater) that reads the Rockblock booted state. This connects to I_BTD on the Rockblock header. Requires SERVOn_FUNCTION=-1. Defaults to 52 (SERVO3).