PX4 User Guide
  • Introduction
  • Getting Started
    • Basic Concepts
    • Vehicles/Frames
    • Flight Controllers
    • Sensors
    • Radio Systems
    • Flight Modes
    • Vehicle Status Notifications
      • LED Meanings
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  • Basic Assembly
    • Mounting the Flight Controller
    • Mounting the GPS/Compass
    • Vibration Isolation
    • Cable Wiring
    • CUAV Pixhawk V6X Wiring QuickStart
    • CUAV V5+ Wiring Quickstart
    • CUAV V5 nano Wiring Quickstart
    • Holybro Pixhawk 6C Wiring Quickstart
    • Holybro Pixhawk 6X Wiring Quickstart
    • Holybro Pixhawk 5X Wiring Quickstart
    • Holybro Pixhawk 4 Wiring Quickstart - Discontinued
    • Holybro Pixhawk 4 Mini Wiring Quickstart - Discontinued
    • Holybro Durandal Wiring Quickstart
    • Holybro Pix32 v5 Wiring Quickstart
    • Cube Wiring Quickstart
    • Pixracer Wiring Quickstart
    • mRo (3DR) Pixhawk Wiring Quickstart
  • Standard Configuration
    • Firmware
    • Airframe
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      • Multicopter Config/Tuning
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          • MC Jerk-limited Type Trajectory
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      • QAV250 (Pixhawk4 Mini) - Discontinued
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        • Back-transition Tuning
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        • FunCub QuadPlane (Pixhawk)
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        • Falcon Vertigo QuadPlane (Dropix)
      • Tailsitter VTOL
        • Build: TBS Caipiroshka Tailsitter Build (Pixracer)
      • Tiltrotor VTOL
        • Build: Convergence Tiltrotor (Pixfalcon)
    • Airships (experimental)
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    • Balloons (experimental)
    • Helicopter (experimental)
      • Helicopter Config/Tuning
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    • Airframes Reference
  • Flying
    • First Flight Guidelines
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      • Position Mode (MC)
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    • Flight Controllers (Autopilots)
      • Pixhawk Series
        • Silicon Errata
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        • CUAV Pixhawk V6X (FMUv6X)
        • Holybro Pixhawk 6X (FMUv6X)
        • Holybro Pixhawk 6C (FMUv6C)
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        • Holybro Pix32 v6 (FMUv6C)
        • Holybro Pixhawk 5X (FMUv5X)
        • Holybro Pixhawk 4 (FMUv5) - Discontinued
        • Holybro Pixhawk 4 Mini (FMUv5) - Discontinued
        • Drotek Pixhawk 3 Pro (FMUv4pro)
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        • Hex Cube Black (FMUv3)
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        • Holybro Pixhawk Mini (FMUv3) - Discontinued
      • Manufacturer-Supported Autopilots
        • AirMind MindPX
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        • ARK Electronics ARKV6X
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      • Discontinued Autopilots/Vehicles
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    • Flight Controller Peripherals
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On this page
  • MAVLink Instances
  • Default MAVLink Ports
  • TELEM1
  • TELEM2
  • ETHERNET
  • See Also
  1. Advanced Configuration

MAVLink Telemetry (OSD/GCS)

PreviousSerial Port ConfigurationNextPX4 Ethernet Setup

Last updated 1 year ago

Ground Control Stations (GCS), On-Screen Displays (OSD), Companion Computers, ADS-B receivers, and other MAVLink peripherals interact with PX4 using separate MAVLink streams, sent via different serial ports.

In order to configure that a particular serial port is used for MAVLink traffic with a particular peripheral, we use , assigning one of the abstract "MAVLink instance" configuration parameters to the desired port. We then set other properties of the MAVLink channel using the parameters associated with our selected MAVLink instance, so that they match the requirements of our particular peripheral.

The most relevant parameters are described below (the full set are listed in the ).

MAVLink Instances

In order to assign a particular peripheral to a serial port we use the concept of a MAVLink instance.

Each MAVLink instance represents a particular MAVLink configuration that you can apply to a particular port. At time of writing three MAVLink instances are defined, each represented by a parameter , where X is 0, 1, 2.

Each instance has associated parameters that you can use to define the properties of the instance on that port, such as the set of streamed messages (see below), data rate (), whether incoming traffic is forwarded to other MAVLink instances (), and so on.

:::note MAVLink instances are an abstract concept for a particular MAVLink configuration. The number in the name means nothing; you can assign any instance to any port. :::

The parameters for each instance are:

  • - Set the serial port (UART) for this instance "X", where X is 0, 1, 2. It can be any unused port, e.g.: TELEM2, TELEM3, GPS2 etc. For more information see .

  • - Specify the telemetry mode/target (the set of messages to stream for the current instance and their rate). The default values are:

    • Normal: Standard set of messages for a GCS.

    • Custom or Magic: Nothing (in the default PX4 implementation). Modes may be used for testing when developing a new mode.

    • Onboard: Standard set of messages for a companion computer.

    • OSD: Standard set of messages for an OSD system.

    • Config: Standard set of messages and rate configuration for a fast link (e.g. USB).

    • Minimal: Minimal set of messages for use with a GCS connected on a high latency link.

    • ExtVision or ExtVisionMin: Messages for offboard vision systems (ExtVision needed for VIO).

    • Iridium: Messages for an .

    :::note If you need to find the specific set of message for each mode search for MAVLINK_MODE_ in . :::

    :::tip The mode defines the default messages and rates. A connected MAVLink system can still request the streams/rates that it wants using . :::

  • - Set the maximum data rate for this instance (bytes/second).

    • This is the combined rate for all streams of individual message (the rates for individual messages are reduced if the total rate exceeds this value).

    • The default setting will generally be acceptable, but might be reduced if the telemetry link becomes saturated and too many messages are being dropped.

    • A value of 0 sets the data rate to half the theoretical value.

  • - Enable forwarding of MAVLink packets received by the current instance onto other interfaces. This might be used, for example, to transfer messages between a GCS and a companion computer so that the GCS can talk to a MAVLink enabled camera connected to the companion computer.

Next you need to set the baud rate for the serial port you assigned above (in MAV_X_CONFIG).

:::tip You will need to reboot PX4 to make the parameter available (i.e. in QGroundControl). :::

Default MAVLink Ports

TELEM1

The TELEM 1 port is almost always configured by default for the GCS telemetry stream ("Normal").

TELEM2

The TELEM 2 port usually configured by default for a companion computer telemetry stream ("Onboard").

ETHERNET

Pixhawk 5x devices (and later) that have an Ethernet port, configure it by default to connect to a GCS:

See Also

The parameter used will depend on the - for example: SER_GPS1_BAUD, SER_TEL2_BAUD, etc. The value you use will depend on the type of connection and the capabilities of the connected MAVLink peripheral.

To support this there is a of MAVLink instance 0 as shown below:

= TELEM 1

= Normal

= 1200 Bytes/s

= True

= 57600

To support this there is a of MAVLink instance 0 as shown below:

= TELEM 2

= Onboard

= 0 (Half maximum)

= Disabled

= 921600

On this hardware, there is a of MAVLink instance 2 as shown below:

= Ethernet (1000)

= 1

= 0 (normal/GCS)

= 0

= 100000

= 14550 (GCS)

= 14550 (GCS)

For more information see:

PX4 Ethernet Setup
Serial Port Configuration
Serial Port Mapping
Serial Port Configuration
Serial Port Configuration
Iridium satellite communication system
/src/modules/mavlink/mavlink_main.cpp
MAV_CMD_SET_MESSAGE_INTERVAL
MAV_X_CONFIG
MAV_X_MODE
MAV_X_RATE
MAV_X_FORWARD
PX4 Ethernet Setup > PX4 MAVLink Serial Port Configuration
default serial port mapping
default serial port mapping
default serial port mapping
Parameter Reference > MAVLink
MAV_X_CONFIG
MAV_X_MODE
MAV_X_RATE
MAV_X_FORWARD
assigned serial port
MAV_0_CONFIG
MAV_0_MODE
MAV_0_RATE
MAV_0_FORWARD
SER_TEL1_BAUD
MAV_1_CONFIG
MAV_1_MODE
MAV_1_RATE
MAV_1_FORWARD
SER_TEL2_BAUD
MAV_2_CONFIG
MAV_2_BROADCAST
MAV_2_MODE
MAV_2_RADIO_CTL
MAV_2_RATE
MAV_2_REMOTE_PRT
MAV_2_UDP_PRT