How To Send Mavlink Commands To SITL

Hello,

I am trying to figure out how I can send mavlink commands to my SITL environment.  I have SITL running on my linux mint VM and I have my own python code generated from mavgen.py which decoded the mavlink messages from SITL.

My SITL experiment is just a generic copter in a loop going to 5 different geo points.  I have a separate script that sends out LAND commands or SETMODE commands which does work on my real drone.  I am just trying to get my SITL environment to receive the commands.  I assume this can be done?

If I run netstat I see

tcp        0      0 0.0.0.0:5760            0.0.0.0:*               LISTEN      8644/arducopter-qua

tcp        0      0 0.0.0.0:5762            0.0.0.0:*               LISTEN      8644/arducopter-qua

tcp        0      0 0.0.0.0:5763            0.0.0.0:*               LISTEN      8644/arducopter-qua

tcp        0      0 127.0.0.1:5760          127.0.0.1:51175         ESTABLISHED 8644/arducopter-qua

udp        0      0 0.0.0.0:5501            0.0.0.0:*                           8644/arducopter-qua

udp        0      0 127.0.0.1:45278         127.0.0.1:5503          ESTABLISHED 8644/arducopter-qua

I am hoping I can just send the commands to one of those ports and I have tried UDP port 5501 and TCP port 5760 and none of them seem to work?

Am I doing something wrong, can this be done, I am hoping someone may have some advice for me as all I want to do is send real hand crafted mavlink commands to my SITL environment and it respond?

Thanks in advance,

Joe

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Replies

  • Hello,

    Could you get this working?

    I am trying to do something similar with PX4 SITL.

    Please let me know if it worked for you.

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