MAVlink

6X Series Sensors Integration Communication Protocol - MAVlink

Introduction

MAVLink is a very lightweight messaging protocol for communicating with drones, as well as between onboard drone components. It is a commonly used protocol in the open source drone community.

6X OEM

6X supports image metadata tagging and sensor triggering using MAVLink V1 messages. The required serial port configuration for the MAVLink controller is 460800, 8-N-1, and it must be connected to 6X connector J2, pins 1/2 (UART2 TX/RX) with 3.3v signal levels.

MAVlink V1

6X Gimbal

The gimbaled 6X supports image metadata tagging and sensor triggering using MAVlink V2 messages. The MAVlink messages are ingested into the gimbal hardware and automatically forwarded to the 6X.

MAVlink V2

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Integrated Platforms

Please see the compatibility settings if you are using a fully integrated platform:

Freefly Compatibility SettingsInspired Flight Compatibility Settings

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Generic Settings

These are generic MAVlink settings for use with the 6X Series sensors.

For non-gimbaled sensors use the listed baud rates. For gimbaled sensors a baud rate of 115200 or greater is recommended.

PX4 Settings

Parameter	Value	Description
TRIG_INTERFACE	MAVlink	Sets MAVlink messages as the trigger commands.
TRIG_MODE	Distance Based (Survey Mode)	Distance-based on command (Survey mode)
MAV_X_CONFIG	TELEM2 (or any other configurable UART)	Sets the configuration of the desired MAVlink stream on a serial/UART port.
MAV_X_RATE	0 b/s	PX4 Default (half of theoretical max).
MAV_X_MODE	Gimbal or Normal	Sets the MAVlink message set.
MAV_X_FORWARD	Enable	Enables forwarding of MAVlink messages on the configured MAVlink stream.
SER_X_BAUD	460800 8N1	Baudrate for the configured serial port.

Ardupilot Settings

Parameter	Value	Description
SERIALX_BAUD	460800	Baudrate for configured serial port.
SERIALX_PROTOCOL	MAVlink 1 (OEM) MAVlink 2 (Gimballed)	MAVlink protocol for configured serial port.
SRX_EXTRA1	10	Rate for attitude messages (10Hz).
SRX_EXTRA3	2	Rate for UTC time messages (2Hz).
SRX_POSITION	4	Rate for GPS position messages (4Hz).
SRX_EXT_STAT	10	MAVLink Stream rate of SYS_STATUS, POWER_STATUS, MCU_STATUS, MEMINFO, CURRENT_WAYPOINT, GPS_RAW_INT, GPS_RTK (if available), GPS2_RAW_INT (if available), GPS2_RTK (if available), NAV_CONTROLLER_OUTPUT, FENCE_STATUS, and GLOBAL_TARGET_POS_INT
CAMX_TYPE	5	how to trigger the camera to take a picture