mavproxysetup

sudo apt-get update
sudo apt-get upgrade
https://github.com/aircrack-ng/rtl8812au
https://ardupilot.github.io/MAVProxy/html/getting_started/download_and_installation.html
Install the GStreamer

sudo apt-get update
sudo apt-get upgrade
sudo apt-get install gstreamer1.0-tools
sudo apt-get install gstreamer1.0-plugins-good
sudo apt-get install gstreamer1.0-plugins-bad
sudo apt-get install gstreamer1.0-plugins-ugly
sudo apt-get install gstreamer1.0-libav

Ensure screen is installed: sudo apt-get install screen
Place a script in your home directory (eg ~pi/mavgateway.sh) to start mavproxy:

#! /bin/bash
# optional: provides RTCM injection if ublox m8p is connected to usb
# socat UDP-DATAGRAM:127.0.0.1:13320 file:/dev/ttyACM0
raspivid -n -fl -w 1280 -h 720 -b 500000 -fps 30 -t 0 -o - | gst-launch-1.0 -v fdsrc ! h264parse ! rtph264pay config-interval=10 pt=96 ! udpsink host=192.168.1.xxx port=5002
mavproxy.py --master=/dev/serial/by-id/usb-3D_Robotics_PX4_FMU_v2.x_0-if00 --out=udp:192.168.1.xxx:14550 --source-system=199
#mavproxy.py --master=/dev/serial/by-id/usb-3D_Robotics_PX4_FMU_v2.x_0-if00 --out=udpbcast:192.168.1.255:14550 --source-system=199

Make the script executable:

sudo chmod +x mavgateway.sh

Create a systemd init file in /etc/init.d/mavrelay :

#! /bin/bash
### BEGIN INIT INFO
# Provides: mavgateway
# Required-Start:    $all
# Required-Stop:
# Default-Start:     2 3 4 5
# Default-Stop:
# Short-Description: Start mavproxy relay at boot
### END INIT INFO

su - pi -c "cd ~pi; screen -L -dmS mavbarn ~pi/mavgateway.sh"

Edit the permissions for mavgateway and update the system to include the mavgateway daemon upon startup:

sudo chmod +x /etc/init.d/mavgateway
sudo chown root:root /etc/init.d/mavgateway

Enable the service:

sudo update-rc.d mavgateway defaults

You can stop the service by sudo service mavgateway stop or start it with sudo service mavgateway start. On next boot it should start automatically

dollop80/mavproxysetup

mavproxysetup