Mavlink Telemetry Routing, port selection

[Aldo Castro Freire]

Hi guys,

I was wondering if there is a way to select the port we are rerouting the mavlink messages, the documenation only says how to change the ip. or change between udp or tcp ?

Page not found

ModalAI technical documentation for VOXL and VOXL 2 Companion Computers for PX4 and ArduPilot Obstacle Avoidance and GPS-denied navigation, assembled in the USA

ModalAI Technical Docs (docs.modalai.com)

This part specifically:

A second manual IP entry can optionally be configured and enabled. Both of these will fields will tell voxl-vision-px4 to continuously forward all mavlink trafic from PX4 to these IP addresses at port 14550 which is the default UDP port for qGroundControl.

"en_secondary_qgc": false,
"secondary_qgc_ip": "192.168.1.214",

[modaltb]

Hi @Aldo-Castro-Freire ,

Not via the config file, but here's where they're defined if you are able to build from source:

include/udp_mavlink.h · v0.6.8 · voxl / VOXL SDK / Services / voxl-vision-hub · GitLab

This service acts as the main hub managing communication between VOXL MPA services and autopilots such as PX4 and Ardupilot.

GitLab (gitlab.com)

For TCP, a bit more work likely is needed, but here's the UDP implementation that could be used as a guide:

src/udp_mavlink.c · v0.6.8 · voxl / VOXL SDK / Services / voxl-vision-hub · GitLab

This service acts as the main hub managing communication between VOXL MPA services and autopilots such as PX4 and Ardupilot.

GitLab (gitlab.com)

-Travis

[Aldo Castro Freire]

How do I delete my current version voxl-vision-px4 to install this one ?

[Aldo Castro Freire]

One more questions, where should I change in the code to change the port using the config file. Add a new variable called port. This will help me a lot as I have more than 1 drone.

[Aldo Castro Freire]

Actually here: https://gitlab.com/voxl-public/modal-pipe-architecture/voxl-vision-px4/-/blob/master/src/config_file.c

is parsing and asking for the port, should I just add the variable and change the port as I want ?

[Chad Sweet]

Have you tried changing the port number parameter in /etc/modalai/voxl-vision-px4.conf ?

[Aldo Castro Freire]

Yes, I tried apparently master and v0.68 of the code are different while in master is not hardcode the udp port. For v0.68 it is hardcode. So I assumed my version is hardcode because nothing seem to change.

Do I need to delete my voxl-vision-px4? To install a new custom version?