MAVLink Advanced Configuration

Note

Most users never have to change these parameters from their default values.

If a serial port protocol is set to MAVLink (SERIALx_PROTOCOL == 1 or 2), then advance configuration options can be set. The first serial port to have the protocol uses the MAV1_ parameters (often the USB port on SERIAL0), the second port will be MAV2_. etc.

STREAM RATES

The following stream rate parameters can be set for each instance of a MAVLink using serial port to determine how fast data is sent over the port(SERIAL1 will be used in the following as an example)

• MAV1_ADSB: ADSB stream rate

• MAV1_EXT_STAT: MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT

• MAV1_EXTRA1: MAVLink Stream rate of ATTITUDE, SIMSTATE (SIM only), AHRS2, RPM, AOA_SSA, LANDING,ESC_TELEMETRY,EFI_STATUS, and PID_TUNING

• MAV1_EXTRA2: MAVLink Stream rate of VFR_HUD

• MAV1_EXTRA3: MAVLink Stream rate of AHRS, SYSTEM_TIME, WIND, RANGEFINDER, DISTANCE_SENSOR, TERRAIN_REQUEST, TERRAIN_REPORT, BATTERY2, GIMBAL_DEVICE_ATTITUDE_STATUS, OPTICAL_FLOW, MAG_CAL_REPORT, MAG_CAL_PROGRESS, EKF_STATUS_REPORT, VIBRATION, and BATTERY_STATUS

• MAV1_PARAMS: MAVLink Stream rate of PARAM_VALUE

• MAV1_POSITION: MAVLink Stream rate of GLOBAL_POSITION_INT and LOCAL_POSITION_NED

• MAV1_RAW_CTRL: MAVLink Raw Control stream rate of SERVO_OUT

• MAV1_RAW_SENS: MAVLink Stream rate of RAW_IMU, SCALED_IMU2, SCALED_IMU3, SCALED_PRESSURE, SCALED_PRESSURE2, SCALED_PRESSURE3 and AIRSPEED

• MAV1_RC_CHAN: MAVLink Stream rate of SERVO_OUTPUT_RAW and RC_CHANNELS

OPTIONS

Each established MAVLink channel has several behaviors set by its options parameter:

MAVx_OPTIONS	Function
bit 1 set	Do not forward MAVLink messages to or from this channel to other channels
bit 2 set	Ignore stream rate change requests from other MAVLink stations (GCS, etc.)

In addition, there are several global MAVLink related parameters

• MAV_GCS_SYSID: This controls whether packets from other than the expected GCS system ID will be accepted

• MAV_OPTIONS: Alters various behaviour of the MAVLink interface. See table below. If bit 0 is set, the the channel will accetp only MAVLink messages for the SYSID_GCS.

• MAV_SYSID: Allows setting an individual MAVLink system id for this vehicle to distinguish it from others on the same network

• MAV_TELEM_DELAY: The amount of time (in seconds) to delay radio telemetry to prevent an Xbee bricking on power up