pMavlink is a translation layer between MOOS and PX4 software which is used in conjunction with iPX4 to handle Mavlink data streams.
Supported messages are:
| MOOS | Mavlink |
|---|---|
| DESIRED_SETPOINT | MAVLINK_MSG_SET_POSITION_TARGET_LOCAL_NED_SETPOINT |
| Mavlink | MOOS |
|---|---|
| MAVLINK_MSG_ID_SYS_STATUS | BAT_REMAINING |
| MAVLINK_MSG_ID_SYSTEM_TIME | OFFSET_MS_PIXHAWK_BOOT_UNIX |
| OFFSET_MS_MOOSUNIX_PIXHAWKUNIX | |
| OFFSET_MS_MOOSUNIX_PIXHAWKUNIX_AVERAGE | |
| MAVLINK_MSG_ID_ATTITUDE | NAV_ROLL |
| NAV_PITCH | |
| NAV_YAW | |
| MAVLINK_MSG_ID_LOCAL_POSITION_NED | LOCAL_X_NED |
| LOCAL_Y_NED | |
| LOCAL_Z_NED | |
| MAVLINK_MSG_ID_GLOBAL_POSITION_INT | NAV_LAT |
| NAV_LONG | |
| ALT_AMSL | |
| ALT_REL | |
| NAV_HEADING | |
| NAV_X | |
| NAV_Y | |
| NAV_Z | |
| MAVLINK_MSG_ID_GPS_RAW_INT | GPS_UNIX_TIME |
| MAVLINK_MSG_ID_TIMESYNC | TIMESYNC_DELAY_AVERAGE_MS |
| MAVLINK_MSG_ID_EXTENDED_SYS_STATE | LANDED_STATE |
| MAVLINK_MSG_ID_COMMAND_ACK | COMMAND_ACK |
| MAVLINK_MSG_ID_PING | PING_AVERAGE_MS |
All messages are read from or recorded in the MOOSDB. iPX4 is used to transport to or from MOOSDB via Mavlink.
For installation of the Mavlink library, consult iPX4 README located at https://github.com/mission-systems-pty-ltd/iPX4