RockBLOCK Satellite Modem

Note

This feature is only available on ArduPilot 4.4 or later and requires a flight controller that supports LUA Scripts

The RockBLOCK satellite modem allows for a global (including polar regions) MAVLink connection to an ArduPilot vehicle. This uses the Iridium SBD data service.

Due to the very low datarate of the RockBLOCK, there are a few key limitations:

• A single HIGH_LATENCY2 packet will be sent every RCK_PERIOD sec. This will give basic position and status information.

• No heartbeats, statustexts, parameters and waypoints will be sent from the vehicle to the GCS.

• The RockBLOCK only sends a subset of MAVlink messages (see below list) from the GCS to Vehicle. Parameters and waypoints will not be sent.

• Only 1 command message can be sent per RCK_PERIOD from the GCS to vehicle. Any additional commands will overwrite the previous command

In practice, this means the RockBLOCK can only be used whilst monitoring a vehicle during automated flight modes. Any sort of manual control (outside of low-rate GUIDED mode “fly to” locations) is not possible.

The RockBLOCK has a latency of 20-60 seconds and is only able to send 1 message per 30 second period (or greater). This period is configurable via the RCK_PERIOD parameter.

If desired, the RockBlock can automatically activate on loss-of-GCS-telemetry. This is done by setting the RCK_FORCEHL parameter to 2. The RockBLOCK will then automatically activate when telemetry is lost for RCK_TIMEOUT seconds. When telemetry is restored, the RockBLOCK will deactivate.

Note

Any modem using the Iridium 9602 or 9603 chipset should work, though only the RockBLOCK 9603N modem has been tested.

Supported MAVLink messages

The following MAVLink messages are supported from the GCS to the vehicle:

• COMMAND_LONG

• COMMAND_INT

• MISSION_ITEM_INT

• MISSION_SET_CURRENT

Within the COMMAND_LONG and COMMAND_INT messages, the following commands are supported:

• MAV_CMD_NAV_RETURN_TO_LAUNCH

• MAV_CMD_NAV_LAND

• MAV_CMD_NAV_TAKEOFF

• MAV_CMD_NAV_VTOL_TAKEOFF

• MAV_CMD_NAV_VTOL_LAND

• MAV_CMD_DO_SET_MODE

• MAV_CMD_DO_CHANGE_SPEED

• MAV_CMD_DO_SET_SERVO

• MAV_CMD_DO_PARACHUTE

• MAV_CMD_MISSION_START

• MAV_CMD_COMPONENT_ARM_DISARM

• MAV_CMD_DO_REPOSITION

• MAV_CMD_CONTROL_HIGH_LATENCY

Vehicle Setup

1. Connect the RockBLOCK modem to a spare UART on the flight controller. Only the +5V, RX, TX and GND lines need to be connected

2. Ensure the modem is activated in your RockBLOCK account

3. Copy the Ardupilot RockBLOCK Lua script to the flight controller’s SD card.

4. Ensure LUA Scripts are enabled and the RockBLOCK UART is set as a scripting UART.

Ground Setup

The RockBLOCK messages are sent and received via the Rock7 gateway. It has an API that allows for sending and receiving messages via a web service.

The Rockblock2MAV software is a companion to the RockBlock Lua script. Use this software on the GCS to send and receive MAVLink messages from the RockBLOCK modem via the Rock7 gateway.

See the Rockblock2MAV documentation for installation and usage instructions.

Note

QGroundControl and Mission Planner have limited support for RockBLOCK MAVLink telemetry. It is recommended to use MAVProxy, which fully supports this telemetry.

Usage

1. Enable High Latency mode on the flight controller to start RockBLOCK mailbox checks.

2. The RockBLOCK will do a mailbox check every RCK_PERIOD seconds. It will send one HIGH_LATENCY2 message and recieve one message from the GCS at this time.

3. Disable High Latency mode on the flight controller to stop RockBLOCK mailbox checks.

Data Costs

Compared to terrestrial services (such as 4G Celluar), the RockBLOCK data costs are expensive.

Current data costs are available from the RockBlock website.

1 RockBLOCK credit is used per MAVLink message. So, for example, if the RockBLOCK was configured to send 1 HIGH_LATENCY2 message every 30 seconds that would give a data usage of 60 credits per hour. If any commands are sent from the GCS to the vehicle via the RockBLOCK, they should be added too. For example, if 5 commands are sent in the same hour, 5 credits are used. Combining both sent and recieved messages, a total of 65 credits per hours are used.

Parameters

The following parameters are available to control the script:

Name	Description
RCK_FORCEHL	Mode of operation. 0 = start disabled, 1 = start enabled, 2 = enabled on loss of telemetry
RCK_PERIOD	When in High Latency mode, send RockBLOCK updates every RCK_PERIOD seconds
RCK_DEBUG	Sends RockBLOCK debug text to GCS via statustexts
RCK_ENABLE	Enables the modem transmission
RCK_TIMEOUT	When RCK_FORCEHL=2, the number of seconds of no telemetry until High Latency mode is enabled