README.md

uav bridge

• How to build?
• How to configure?
• How to run the program?
• Hardware diagram for uav mavlink
• Software diagram for uav mavlink

Design Goal

uav_mavlink is used for bridging messages between ardupilot and VINS-Mono/VINS-Fusion/ego-Planner. And it oriented to simplify configuration and handles different kind of interfaces.

The original code comes from: https://github.com/chobitsfan/mavlink-udp-proxy

Features

• Support UART connection with Ardupilot
• Support UDP Client connection with Ardupilot
• Support UDP Server connection from Ardupilot
• Support RTP splitter from uav_mixer
• Support Jetson Orin
  • CSI/RTP video feed (csi://0, rtp://@:1234, file://my_video.mp4)
  • decoder engine (cpu/omx/v4l2)
  • codec (h264/h265)
• IPC1???
• IPC2???

ToDo

• clarify IPC1/IPC2 usage
• join test with wfb-ng