This code is intended to act as a Mavlink router
A fork of the Mavlink library with custom messages and commands for OpenHD (not finalized, they're subject to change at any time) is included in this repo as a submodule, however the generated Mavlink headers are also included directly in the repo so you don't need to rebuild them.
apt install build-essential git python libboost-dev libboost-program-options-dev libboost-system-dev libasio-dev
git clone https://github.com/OpenHD/OpenHDRouter.git
cd OpenHDRouter
git submodule update --init
sudo make install
There's a systemd service file for starting the router:
systemctl start openhd_router
You can also run them directly for testing:
openhd_router --tcp-port 5761 --serial-port /dev/openhd_microservice1
That will start the router on TCP port 5761 and connect to the local mavlink pipe wired to tx_telemetry
and rx_rc_telemetry_buf. The baud rate is always 115200.