I’m trying to connect my pixhawk (Aurdupilot) to my RPi using the Telem2 port and GPIO pins, as I don’t have the space in my enclosure to connect via USB.
I initially followed this
Except for the following:
- I think BlueOS already has the correct options enabled for UART
- Mavproxy is no longer used so I’m using Mavlink-routerd
- Also changed the baud rate in the pixhawk as people seem so suggest to 57600.
So I’ve successfully got my Mavlink messages to my qgroundcontrol computer by running the following in the terminal of BlueOS docker environment:
mavlink-routerd -e 192.168.1.13:14550 /dev/serial0:57600
However, I don’t know how to make that persistent between docker reboots or full reboots.
I know there’s a mavlink-router config file I could create, but would that file get deleted between reboots? Is there anywhere I could store that file in the docker container that would be persistant?
Also, I don’t know how to get the autopilot data to come through to the BlueOS interface, e.g. I’m not seeing any Mavlink in the Mavlink inspector, and I’m not able to use the Autopilot firmware or parameter update functionallity of BlueOS, as BlueOS doesn’t seem to see the Autopilot.
Is there an endpoint I can add to my mavlink-routerd command to allow me to see the Autopilot in BlueOS? In the same way it shows up when I connect via USB?