PX4-Autopilot/docs/ko/peripherals/mavlink_peripherals.md

# MAVLink Peripherals (GCS/OSD/Gimbal/Camera/Companion)

Ground Control Stations (GCS), On-Screen Displays (OSD), MAVLink Cameras & Gimbals, Remote IDs, Companion Computers, ADS-B receivers, and other MAVLink peripherals interact with PX4 using separate MAVLink streams, sent via different serial ports.

In order to configure that a particular serial port is used for MAVLink traffic with a particular peripheral, we use [Serial Port Configuration](../peripherals/serial_configuration.md), assigning one of the abstract "MAVLink instance" configuration parameters to the desired port.
We then set other properties of the MAVLink channel using the parameters associated with our selected MAVLink instance, so that they match the requirements of our particular peripheral.

The most relevant parameters are described below (the full set are listed in the [Parameter Reference > MAVLink](../advanced_config/parameter_reference.md#mavlink)).

## MAVLink 인스턴스

In order to assign a particular peripheral to a serial port we use the concept of a _MAVLink instance_.

Each MAVLink instance represents a particular MAVLink configuration that you can apply to a particular port.
At time of writing three MAVLink _instances_ are defined, each represented by a parameter [MAV_X_CONFIG](#MAV_X_CONFIG), where X is 0, 1, 2.

Each instance has associated parameters that you can use to define the properties of the instance on that port, such as the set of streamed messages (see [MAV_X_MODE](#MAV_X_MODE) below), data rate ([MAV_X_RATE](#MAV_X_RATE)), whether incoming traffic is forwarded to other MAVLink instances ([MAV_X_FORWARD](#MAV_X_FORWARD)), and so on.

:::info
MAVLink instances are an abstract concept for a particular MAVLink configuration.
The number in the name means nothing; you can assign any instance to any port.
:::

각 인스턴스의 매개변수는 아래와 같습니다.

- <a id="MAV_X_CONFIG"></a>[MAV_X_CONFIG](../advanced_config/parameter_reference.md#MAV_0_CONFIG) - Set the serial port (UART) for this instance "X", where X is 0, 1, 2.
  It can be any unused port, e.g.: `TELEM2`, `TELEM3`, `GPS2` etc.
  For more information see [Serial Port Configuration](../peripherals/serial_configuration.md).
- <a id="MAV_X_MODE"></a>[MAV_X_MODE](../advanced_config/parameter_reference.md#MAV_0_MODE) - Specify the [MAVLink profile](../mavlink/mavlink_profiles.md) for the instance, such as _Normal_ or _OSD_.
  Profiles define a particular set of streamed messages and their rates — you should choose a profile that is appropriate for your channel and the peripheral.
- <a id="MAV_X_RATE"></a>[MAV_X_RATE](../advanced_config/parameter_reference.md#MAV_0_MODE) - Set the maximum _data rate_ for this instance (bytes/second).
  - 이는 개별 메시지의 모든 스트림에 대한 결합 비율입니다 (총 비율이이 값을 초과하면 개별 메시지에 대한 비율이 감소됨).
  - 기본 설정은 일반적으로 허용되지만 원격 분석 링크가 포화 상태가 되고, 너무 많은 메시지가 삭제되는 경우에는 감소할 수 있습니다.
  - 값이 0이면 데이터 속도가 이론적인 값의 절반으로 설정됩니다.
- <a id="MAV_X_FORWARD"></a>[MAV_X_FORWARD](../advanced_config/parameter_reference.md#MAV_0_FORWARD) - Enable forwarding of MAVLink packets received by the current instance onto other interfaces.
  예를 들어 GCS가 보조 컴퓨터에 연결된 MAVLink 지원 카메라와 통신할 수 있도록 GCS와 보조 컴퓨터간에 메시지를 전송에 사용할 수 있습니다.

Next you need to set the baud rate for the serial port you assigned above (in `MAV_X_CONFIG`).

:::tip
You will need to reboot PX4 to make the parameter available (i.e. in QGroundControl).
:::

The parameter used will depend on the [assigned serial port](../advanced_config/parameter_reference.md#serial) - for example: `SER_GPS1_BAUD`, `SER_TEL2_BAUD`, etc.
사용하는 값은 연결 유형과 연결된 MAVLink 주변 장치에 따라 달라집니다.

## Default MAVLink Ports {#default_ports}

### TELEM1

The `TELEM 1` port is almost always configured by default for the GCS telemetry stream ("Normal").

To support this there is a [default serial port mapping](../peripherals/serial_configuration.md#default_port_mapping) of MAVLink instance 0 as shown below:

- [MAV_0_CONFIG](../advanced_config/parameter_reference.md#MAV_0_CONFIG) = `TELEM 1`
- [MAV_0_MODE](../advanced_config/parameter_reference.md#MAV_0_MODE) = `Normal`
- [MAV_0_RATE](../advanced_config/parameter_reference.md#MAV_0_RATE)= `1200` Bytes/s
- [MAV_0_FORWARD](../advanced_config/parameter_reference.md#MAV_0_FORWARD) = `True`
- [SER_TEL1_BAUD](../advanced_config/parameter_reference.md#SER_TEL1_BAUD) = `57600`

### TELEM2

The `TELEM 2` port usually configured by default for a companion computer telemetry stream ("Onboard").

To support this there is a [default serial port mapping](../peripherals/serial_configuration.md#default_port_mapping) of MAVLink instance 0 as shown below:

- [MAV_1_CONFIG](../advanced_config/parameter_reference.md#MAV_0_CONFIG) = `TELEM 2`
- [MAV_1_MODE](../advanced_config/parameter_reference.md#MAV_0_MODE) = `Onboard`
- [MAV_1_RATE](../advanced_config/parameter_reference.md#MAV_0_RATE)= `0` (Half maximum)
- [MAV_1_FORWARD](../advanced_config/parameter_reference.md#MAV_0_FORWARD) = `Disabled`
- [SER_TEL2_BAUD](../advanced_config/parameter_reference.md#SER_TEL2_BAUD) = `921600`

### ETHERNET

Pixhawk 5x devices (and later) that have an Ethernet port, configure it by default to connect to a GCS:

On this hardware, there is a [default serial port mapping](../peripherals/serial_configuration.md#default_port_mapping) of MAVLink instance 2 as shown below:

- [MAV_2_CONFIG](../advanced_config/parameter_reference.md#MAV_2_CONFIG) = `Ethernet` (1000)
- [MAV_2_BROADCAST](../advanced_config/parameter_reference.md#MAV_2_BROADCAST) = `1`
- [MAV_2_MODE](../advanced_config/parameter_reference.md#MAV_2_MODE) = `0` (normal/GCS)
- [MAV_2_RADIO_CTL](../advanced_config/parameter_reference.md#MAV_2_RADIO_CTL) = `0`
- [MAV_2_RATE](../advanced_config/parameter_reference.md#MAV_2_RATE) = `100000`
- [MAV_2_REMOTE_PRT](../advanced_config/parameter_reference.md#MAV_2_REMOTE_PRT)= `14550` (GCS)
- [MAV_2_UDP_PRT](../advanced_config/parameter_reference.md#MAV_2_UDP_PRT) = `14550` (GCS)

For more information see: [PX4 Ethernet Setup](../advanced_config/ethernet_setup.md)

## Device Specific Setup

Links to setup instructions for specific MAVLink components:

- [MAVLink Cameras (Camera Protocol v2) > PX4 Configuration](../camera/mavlink_v2_camera.md#px4-configuration)
- [Gimbal Configuration > MAVLink Gimbal (MNT_MODE_OUT=MAVLINK)](../advanced/gimbal_control.md#mavlink-gimbal-mnt-mode-out-mavlink)

## See Also

- [MAVLink Profiles](../mavlink/mavlink_profiles.md)
- [Serial Port Configuration](../peripherals/serial_configuration.md)
- [PX4 Ethernet Setup > PX4 MAVLink Serial Port Configuration](../advanced_config/ethernet_setup.md#px4-mavlink-serial-port-configuration)
- [Serial Port Mapping](../hardware/serial_port_mapping.md)