I find that a 1000hz update rate works well enough.
It's important that the update rate is fast enough to handle high traffic conditions (especially, say, for downloading params), but it shouldn't peg out the CPU either. This can be revered after the message is sent if necessary. This is fixed by hacking PyMAVLink such that your system and component IDs match the forwarded message. A GCS receiving this may be confused (ie, QGC) and not properly connect to the vehicle (despite showing the messages in MAVLink inspector). Attempting to send BAD_DATA will crash Make sure the recipient gets the correct information about the senderīy default PyMAVLink, when sending a message, will encode YOUR system and component IDs (usually left at zero), instead of the IDs from the message. Check message validityĬheck that you actually got a valid message, as opposed to a BAD_DATA message. Otherwise a message on the other connection will not go through until the blocking connection has a message. The loop must quickly check if a message is available from one connection or the other, instead of waiting for a message to be available from a single connection. Notes Make sure your loop isn't being blocked # Don't abuse the CPU by running the loop at maximum speed Vcl_msg = fixMAVLinkMessageForForward(vcl_msg) Vcl_msg = vehicle.recv_match(blocking=False) # Only now is it safe to send the message # hack PyMAVLink so the message has the right source # Finally, in order to forward this, we actually need to Gcs_msg = fixMAVLinkMessageForForward(gcs_msg) # We now have a message we want to forward. Gcs_msg = gcs_conn.recv_match(blocking=False) # Don't block for a GCS message - we have messages Print(f'Heartbeat from system (system )') Gcs_conn = mavutil.mavlink_connection('tcp:localhost:15795', input=False)
# Modified from the snippet in your question If msg_type in ('PARAM_VALUE', 'PARAM_REQUEST_READ', 'PARAM_SET'):
#Mav time all timely code#
# This converts those messages so your code doesn't crash when Useful Tools: Must sign in through Clever. Starting September 12th students can prearrange to visit a teacher during Advisory. Advisory: Monday, Tuesday, Thursday, Friday. # cannot be resent, because they become Python strings (not bytestrings) ALL teachers available in their Classrooms before school. # PyMAVLink has an issue that received messages which contain strings Mav stays quiet this time so Bradley spanks him again, a little harder this time. Mav gasps, caught off guard, and rocks forward from the force of it. This snippet is not tested, but I have a (much more complex) version tested and working. Mav shivers a little at the praise and Bradley grins, lifts his hand and delivers the first slap. I use QGC, and my design has basic testing with it. I'm assuming you need a usable connection to a GCS, like QGroundControl or MissionPlanner. For forwarding MAVLink successfully a few things need to happen.
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