Table of Contents

MAVLink
- Supported features:
- Installation instructions:
  - - Video and Gimbal
    - Resource tracking and interventions

MAVLink

Supported features:

Tracking of drone (incl. status)
Send drone using interventions to position
Gimbal control

Installation instructions:

create a subsystem “MAVLink”
- set type to “MAVLink”
create a tracking device, type “MAVLink”
- select sub type MAVLink
- enter URL of drone
  - If drone telemetry is send to Terra4D server by GCS usually the URL is “udp:0.0.0.0:14550”. Adjust the port 14550 if necessary.
  - For using a Mavproxy you can use “tcp:1.2.3.4:5760” as URL.
- Set System ID of the drone; either select a drone from the list or enter manually. E.g. 1. Usually the system ID 255 is reserved for the controller itself. This value should not be selected.
- Set the “Telemetry only” option when the Terra4D server is used for status monitoring of the drone. When this mode is enabled, no commands (e.g. Take off and Land) can be sent to the drone. The “Telemetry only” mode should be enabled when you use telemetry forwarding in your GCS.

Video and Gimbal

create a control port, type “MAVLink”
- enter the same URL as in the tracking device
- select the same System ID
- select the correct sub type for the control port; either MAVLink
- Select the gimbal type; by default it's set to MAVLink
- enter the configuration details for non-MAVLink control ports; like gimbal URL with ip and port number
create a PTZ camera, type “VLC”
- enter camera stream URL; e.g. “rtsp://1.2.3.4:554”; You can verify the URL by opening it as network stream in the VLC application.
- select the newly create control port
- ensure that you have a “VLC” subsystem configured as well

Resource tracking and interventions

To use a drone within an intervention you have to create a resource for each drone and a resource type “Drone”:
- Switch to “Users” tab, select “Resource Types”
- Create a new resource type, name e.g. “Drone”, select type “UAV”
- For “Intervention QML”, press the “Browse” button and select “mavlink_intervention.qml”
- Switch to “Users” tab, select “Resources”
- Create a new resource, name e.g. “Drone”
- Select the resource type previously e.g. “Drone”
- Select the tracking device of the drone; e.g. MAVLink
- Enter the “System ID” as unique identifier for the resource; e.g. 1