Mavlink

Introduction

For using Mavlink protocol, Aerostack2 use the MAVROS interface.

Installation

Refer to the MAVROS to setup the Mavlink interface.

Aerostack2 Common Interface

For more details about platform control modes and sensors, see Aerostack2 Aerial Platform Concepts.

Control Modes

These are supported control modes:

Control Modes Mavlink Platform

Control Mode	Yaw Mode	Reference Frame
Hover	None	None
Speed	Speed	ENU
Speed	Angle	ENU
Attitude	Angle	None
Acro	None	None

Sensors

These are supported sensors:

Sensors Mavlink Platform

Sensor	Topic	Type
Odometry	sensor_measurements/odom	nav_msgs/Odometry
IMU	sensor_measurements/imu	sensor_msgs/Imu
Battery	sensor_measurements/battery	sensor_msgs/BatteryState
GPS	sensor_measurements/gps	sensor_msgs/NavSatFix

Platform Launch

Aerostack2 provides a launch file for this platform:

ros2 launch as2_platform_mavlink as2_platform_mavlink_launch.py

Also, MAVROS must be launched before the platform:

ros2 launch as2_platform_mavlink mavros_launch.py

To see all the available parameters, use the ‘-s’ flag to show the description of each parameter in the launch file.