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mavlink / MAVSDK-Java

MAVSDK client for Java.
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Multiple systems on the network #149

Open tkocik92 opened 4 months ago

tkocik92 commented 4 months ago

MAVSDK-Java Version: 2.0.1 MavSDK-Server Version: 2.0.0

I am running into an issue when there are multiple Systems detected on a network. My implementation looks like the following:

val mavSdkPort = mavSdkServer.run("udp://$ipAddress:$port")
val system = System(ipAddress, mavSdkPort)

Where ipAddress = "0.0.0.0" and port is the port of the system I am trying to connect to.

If only 1 system is on the network, I am able to connect perfectly fine. If 2 systems are on the network, I am connected to both Systems with no way to discern between the two. Logcat looks like the following:

Mavsdk           MAVSDK version: v2.1.0
MAVSDK-Server    Running mavsdk_server with connection url: udp://0.0.0.0:14550
Mavsdk           Waiting to discover system on udp://0.0.0.0:14550...
Mavsdk           New system on: 192.168.4.223:43620 (with system ID: 1) // Simulator
Mavsdk           New system ID: 1 Comp ID: 1
Mavsdk           Component Autopilot (1) added.
Mavsdk           Component Gimbal (154) added.
Mavsdk           New system on: 10.X.X.X:14550 (with system ID: 1) // System I am attempting to connect to

If I change ipAddress (mentioned above) to the IP of the desired system, MavSDK Server never finishes booting up. What can I do differently?

JonasVautherin commented 4 months ago

The problem is that MAVSDK-Java expects exactly one system on the port it listens to (here udp://:14550). It is the same with all the language bindings (e.g. MAVSDK-Swift, MAVSDK-Python). What you have to do is demultiplex the MAVLink stream, and send it to different instances of mavsdk_server.

Say you have two drones, both broadcasting on udp://:14550. You can run a mavlink-router that listens on 14550 and forwards to 14551 and 14552. Then you can run on mavsdk_server with mavSdkServer.run("udp://:14551") and the other with mavSdkServer.run("udp://:14552").

Does that make sense?