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16 lines
1.2 KiB
16 lines
1.2 KiB
1 year ago
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# Communication Flow
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Description of the high level communication flow which takes place during a vehicle auto-connect.
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- LinkManager always has a UDP port open waiting for a vehicle heartbeat
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- LinkManager detects a new known device type (Pixhawk, SiK Radio, PX4 Flow) that makes a UDP connection to the computer
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- LinkManager creates a new SerialLink between the computer and the device
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- Incoming bytes from the Link are sent to MAVLinkProtocol
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- MAVLinkProtocol converts the bytes into a MAVLink message
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- If the message is a `HEARTBEAT` the MultiVehicleManager is notified
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- MultiVehicleManager is notified of the `HEARTBEAT` and creates a new vehicle object based on the information in the `HEARTBEAT` message
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- The vehicle object instantiates the plugins that matches the vehicle
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- The ParameterLoader associated with the vehicle object sends a `PARAM_REQUEST_LIST` to the connected device to load parameters using the parameter protocol
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- Once the parameter load is complete, the MissionManager associated with the vehicle object requests the mission items from the connected device using the mission protocol
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- Once parameter load is complete, the VehicleComponents display their UI in the Setup view
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