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Stephen Dade 7ee0232d83

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AP_Scripting: Better mavlink parsing for MAVLinkHL and Rockblock

2025-02-27 11:39:56 +11:00

1.7 KiB

Raw Blame History

RockBlock Lua Script

Lua script to send a recieve very basic MAVLink telemetry over a Rockblock SBD satellite modem Requires https://github.com/stephendade/rockblock2mav at the GCS end

Note that this uses MAVLink1 messaging, due to it's smaller message size compared to MAVLink2.

Messages will only be send or received if High Latency Mode is enabled.

Setup: This script requires 1 serial port:

A "Script" port to connect the modem to

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 RCK_PERIOD sec, in addition to receiving a single MAVLink packet from the GCS. This is known as a mailbox check.
Any incoming packets on the first mailbox check will be ignored (as these may be from a long time in the past)
Only 1 command can be sent per mailbox check from the GCS. Any additional commands will overwrite the previous command

Parameters

The script adds the following parameters:

RCK_FORCEHL

Mode of operation:

0 = start disabled, can be enabled via MAV_CMD_CONTROL_HIGH_LATENCY
1 = start enabled, can be disabled via MAV_CMD_CONTROL_HIGH_LATENCY
2 = enabled on loss of telemetry (GCS) link for RCK_TIMEOUT seconds

RCK_PERIOD

When in High Latency mode, send Rockblock updates every RCK_PERIOD seconds

RCK_DEBUG

Sends Rockblock debug text to GCS via statustexts

RCK_ENABLE

Enables the modem transmission

RCK_TIMEOUT

If RCK_FORCEHL=2, this is the number of seconds of no-messages from the GCS until High Latency mode is auto-enabled

When GCS messages are recieved again, High Latency mode is auto-disabled.

1.7 KiB Raw Blame History