You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
1.2 KiB
1.2 KiB
Communication Flow
Description of the high level communication flow which takes place during a vehicle auto-connect.
- LinkManager always has a UDP port open waiting for a vehicle heartbeat
- LinkManager detects a new known device type (Pixhawk, SiK Radio, PX4 Flow) that makes a UDP connection to the computer
- LinkManager creates a new SerialLink between the computer and the device
- Incoming bytes from the Link are sent to MAVLinkProtocol
- MAVLinkProtocol converts the bytes into a MAVLink message
- If the message is a
HEARTBEATthe MultiVehicleManager is notified - MultiVehicleManager is notified of the
HEARTBEATand creates a new vehicle object based on the information in theHEARTBEATmessage - The vehicle object instantiates the plugins that matches the vehicle
- The ParameterLoader associated with the vehicle object sends a
PARAM_REQUEST_LISTto the connected device to load parameters using the parameter protocol - 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
- Once parameter load is complete, the VehicleComponents display their UI in the Setup view