mavp2p is a flexible and efficient Mavlink proxy / bridge / router, implemented in the form of a command-line utility. It is used primarily to link UAV flight controllers, connected through a serial port, with ground stations on a network, but can be used to build any kind of routing involving serial, TCP and UDP, allowing communication across different physical layers or transport layers.

This project makes use of the gomavlib library, a full-featured Mavlink library.

Features:

• Link together an arbitrary number of different kinds of endpoints:
  • serial
  • UDP (client, server or broadcast mode)
  • TCP (client or server mode)
• Support Mavlink 2.0 and 1.0, support any dialect
• Emit heartbeats
• Automatically request streams to Ardupilot devices and block stream requests from ground stations
• Route messages by target system ID / component ID
• Support domain names in place of IPs
• Reconnect to TCP/UDP servers when disconnected, remove inactive TCP/UDP clients
• Multiplatform, available for multiple operating systems (Linux, Windows) and architectures (arm6, arm7, arm64, amd64), does not depend on libc and therefore is compatible with lightweight distros (Alpine Linux)

• Installation
• Usage
• Comparison with similar software
• Full command-line usage
• Specifications
• Links

There are several installation methods available: standalone binary, Docker image and OpenWRT package.

Download and extract a standalone binary from the release page.

There's a image available at bluenviron/mavp2p:

docker run --rm -it --network=host bluenviron/mavp2p

1. In a x86 Linux system, download the OpenWRT SDK corresponding to the wanted OpenWRT version and target from the OpenWRT website and extract it.

2. Open a terminal in the SDK folder and setup the SDK:

   ./scripts/feeds update -a
   ./scripts/feeds install -a
   make defconfig
   

3. Download the server Makefile and set the server version inside the file:

   mkdir package/mavp2p
   wget -O package/mavp2p/Makefile https://raw.githubusercontent.com/bluenviron/mavp2p/main/openwrt.mk
   sed -i "s/v0.0.0/$(git ls-remote --tags --sort=v:refname https://github.com/bluenviron/mavp2p | tail -n1 | sed 's/.*\///; s/\^{}//')/" package/mavp2p/Makefile
   

4. Compile the server:

   make package/mavp2p/compile -j$(nproc)
   

5. Transfer the .ipk file from bin/packages/*/base to the OpenWRT system and install it with:

   opkg install [ipk-file-name].ipk
   

Link a serial port with a UDP endpoint in client mode:

./mavp2p serial:/dev/ttyAMA0:57600 udpc:1.2.3.4:5600

Link a serial port with a UDP endpoint in server mode:

./mavp2p serial:/dev/ttyAMA0:57600 udps:0.0.0.0:5600

Link a UDP endpoint in broadcast mode with a TCP endpoint in client mode:

./mavp2p udpb:192.168.7.255:5601 tcpc:exampleendpoint.com:5600

Create a server that links together all UDP endpoints that connect to it:

./mavp2p udps:0.0.0.0:5600

mavp2p vs mavproxy

• Does not require python nor any interpreter
• Much lower CPU and memory usage
• Supports an arbitrary number of inputs and outputs
• Logs can be disabled, resulting in no disk I/O
• UDP clients are removed when inactive

mavp2p vs mavlink-router

• Supports domain names
• Supports multiple TCP servers
• UDP clients are removed when inactive
• Supports automatic stream requests to Ardupilot devices

Usage: mavp2p [<endpoints> ...]

mavp2p v0.0.0

Arguments:
  [<endpoints> ...]    Space-separated list of endpoints. At least one endpoint is required. Possible endpoints types are:

                       udpc:dest_ip:port (udp, client mode)

                       udpb:broadcast_ip:port (udp, broadcast mode)

                       tcps:listen_ip:port (tcp, server mode)

                       tcpc:dest_ip:port (tcp, client mode)

                       serial:port:baudrate (serial)

                       udps:listen_ip:port (udp, server mode)

Flags:
  -h, --help                     Show context-sensitive help.
      --version                  print version.
  -q, --quiet                    suppress info messages.
      --print                    print routed frames.
      --print-errors             print parse errors singularly, instead of printing only their quantity every 5 seconds.
      --read-timeout=10s         timeout of read operations.
      --write-timeout=10s        timeout of write operations.
      --idle-timeout=60s         disconnect idle connections after a timeout.
      --hb-disable               disable heartbeats.
      --hb-version=1             set mavlink version of heartbeats.
      --hb-systemid=125          set system ID of heartbeats. it is recommended to set a different system id for each router in the network.
      --hb-componentid=191       set component ID of heartbeats.
      --hb-period=5              set period of heartbeats.
      --streamreq-disable        do not request streams to Ardupilot devices, that need an explicit request
                                 in order to emit telemetry streams. this task is usually delegated to the router,
                                 in order to avoid conflicts when multiple ground stations are active.
      --streamreq-frequency=4    set the stream frequency to request.

• Mavlink specifications

Related projects

• gomavlib

Similar software

• MavProxy
• mavlink-router