mavros node on base station fcu_url

rapit

Hi,
I usually connect my QGroundControl (running on base station) to the voxl which in my unsderstanding "routes" the mavlink data from the flight core to my base station.

Sometimes I want to run a mavros instance not on the voxl but on my base station. I am not sure how to configure this node correctly in order to connect to the flight core using voxl as "wifi link". It works if I set the fcu_url param like that: udp://:14550:@VOXL_IP:14556 but then the link in my QGroundControl fails. I guess it is because both connections are running over port 14550. I have no idea how to set fcu_url and gcs_url`. Or do I have to install additional software on the voxl to route the packages?

Any help would be appreciated!

Chad Sweet

Hi Rapit, have you looked at this doc here?

I think you'll want to look at this parameter "en_secondary_qgc"

rapit

Hi Chad,
thank you for the link. I did read section before but I could't see how it would help me as the port on the outgoing connection is still the same.

I just configured my base station ip in ggc_ip and secondary_qgc_ip (and en_secondary_qgc) and the connection to my ground control station is successfully initiated by voxl. But when I fire up mavros at my ground station, QGroundControl again loses the connection to voxl, so initiating "from the other direction" does not seem to solve the port conflict.

James Strawson

Hi Rapit,

You don't need the secondary qgc_ip, just one udp link from VOXL to MAVROS. In this case you would use MAVROS as another link in the chain between VOXL and QGC.

VOXL <--> MAVROS <--> QGC

Try launching mavros with the fcu_url :
fcu_url:=udp://VOXL_IP:14550@:14550

and gcs_url:
gcs_url:=udp://@127.0.0.1

You may need to change the port to QGC to something else (like 14551) to avoid a conflict.

Best,
James

rapit

Thank you, it works now. I did not think about using my local mavros as connection link between voxl and QGroundControl.

I changed the port. The original issue was a binary installed mavros which crashed when using a gcs_url. So I thought it was a configuration problem but building mavros from source and running with your proposed configuration worked. Thank you again!

Raphael