PX4-Autopilot/src/modules/mavlink/module.yaml

__max_num_config_instances: &max_num_config_instances 3

module_name: MAVLink
serial_config:
    - command: |
        if [ $SERIAL_DEV != ethernet ]; then
            set MAV_ARGS "-d ${SERIAL_DEV} -b p:${BAUD_PARAM} -m p:MAV_${i}_MODE -r p:MAV_${i}_RATE"
        else
            set MAV_ARGS "-u p:MAV_${i}_UDP_PRT -o p:MAV_${i}_REMOTE_PRT -m p:MAV_${i}_MODE -r p:MAV_${i}_RATE"
            if param compare MAV_${i}_BROADCAST 1
            then
                set MAV_ARGS "${MAV_ARGS} -p"
            fi
            if param compare MAV_${i}_BROADCAST 2
            then
                set MAV_ARGS "${MAV_ARGS} -c"
            fi
        fi
        if param compare MAV_${i}_FORWARD 1
        then
            set MAV_ARGS "${MAV_ARGS} -f"
        fi
        if param compare MAV_${i}_RADIO_CTL 1
        then
            set MAV_ARGS "${MAV_ARGS} -s"
        fi
        mavlink start ${MAV_ARGS} -x
      port_config_param:
        name: MAV_${i}_CONFIG
        group: MAVLink
        # MAVLink instances:
        # 0: Telem1 Port (Telemetry Link)
        # 1: Telem2 Port (Companion Link). Disabled by default to reduce RAM usage
        # 2: Board-specific / no fixed function or port
        default: [TEL1, "", ""]
      num_instances: *max_num_config_instances
      supports_networking: true

parameters:
    - group: MAVLink
      definitions:
        MAV_${i}_MODE:
            description:
                short: MAVLink Mode for instance ${i}
                long: |
                    The MAVLink Mode defines the set of streamed messages (for example the
                    vehicle's attitude) and their sending rates.

            type: enum
            values:
                0: Normal
                1: Custom
                2: Onboard
                3: OSD
                4: Magic
                5: Config
                #6: Iridium # as the user does not need to configure this, hide it from the UI
                7: Minimal
                8: External Vision
                #9: External Vision Minimal # hidden
                10: Gimbal
                11: Onboard Low Bandwidth
            reboot_required: true
            num_instances: *max_num_config_instances
            default: [0, 2, 0]

        MAV_${i}_RATE:
            description:
                short: Maximum MAVLink sending rate for instance ${i}
                long: |
                    Configure the maximum sending rate for the MAVLink streams in Bytes/sec.
                    If the configured streams exceed the maximum rate, the sending rate of
                    each stream is automatically decreased.

                    If this is set to 0 a value of half of the theoretical maximum bandwidth is used.
                    This corresponds to baudrate/20 Bytes/s (baudrate/10 = maximum data rate on 
                    8N1-configured links).

            type: int32
            min: 0
            unit: B/s
            reboot_required: true
            num_instances: *max_num_config_instances
            default: [1200, 0, 0]

        MAV_${i}_FORWARD:
            description:
                short: Enable MAVLink Message forwarding for instance ${i}
                long: |
                    If enabled, forward incoming MAVLink messages to other MAVLink ports if the
                    message is either broadcast or the target is not the autopilot.

                    This allows for example a GCS to talk to a camera that is connected to the
                    autopilot via MAVLink (on a different link than the GCS).

            type: boolean
            reboot_required: true
            num_instances: *max_num_config_instances
            default: [true, false, false]

        MAV_${i}_RADIO_CTL:
            description:
                short: Enable software throttling of mavlink on instance ${i}
                long: |
                    If enabled, MAVLink messages will be throttled according to
                    `txbuf` field reported by radio_status.

                    Requires a radio to send the mavlink message RADIO_STATUS.

            type: boolean
            reboot_required: true
            num_instances: *max_num_config_instances
            default: [true, true, true]

        MAV_${i}_UDP_PRT:
            description:
                short: MAVLink Network Port for instance ${i}
                long: |
                    If ethernet enabled and selected as configuration for MAVLink instance ${i}, 
                    selected udp port will be set and used in MAVLink instance ${i}.

            type: int32
            reboot_required: true
            num_instances: *max_num_config_instances
            default: [14556, 0, 0]
            requires_ethernet: true

        MAV_${i}_REMOTE_PRT:
            description:
                short: MAVLink Remote Port for instance ${i}
                long: |
                    If ethernet enabled and selected as configuration for MAVLink instance ${i}, 
                    selected remote port will be set and used in MAVLink instance ${i}.

            type: int32
            reboot_required: true
            num_instances: *max_num_config_instances
            default: [14550, 0, 0]
            requires_ethernet: true

        MAV_${i}_BROADCAST:
            description:
                short: Broadcast heartbeats on local network for MAVLink instance ${i}
                long: |
                    This allows a ground control station to automatically find the drone 
                    on the local network.

            type: enum
            values:
                0: Never broadcast
                1: Always broadcast
                2: Only multicast        
            num_instances: *max_num_config_instances
            default: [1, 0, 0]
            requires_ethernet: true