Connecting to MAVLink
The MAVLink data streams can be connected to either by connecting to the Ground Control Station or directly on the aircraft.
Groundside
Offboard the aircraft there are 2 port sets open to listen and send MAVLink data through.
The default port set is 14550 to receive and 14551 to send data. This is what mission planning software such as QGroundControl or Mission Planner will connect to by default. This port set has been limited to only send messages from the Flight Controller. The user can send any messages they like from any system/component id they like through these ports but will only receive massages from the Flight Controller back.
The second set of ports are 15550 to receive and 15551 to send. These ports are open to all MAVLink traffic on the aircraft. If a user uses this port to connect to mission planning software, it will shown many extra devices on the network.
Airside
Onboard the aircraft there are a two main ways to connect to MAVLink. If connected to the aircraft via Ethernet ports 14550 for receiving and 14551 for sending data are open with no restrictions.
By default the Flight Controller serial port on the payload connector is configured for MAVLink with a baudrate of 115200. The baudrate and protocol are all user configurable on the Flight Controller depending on the users application.
Usage
For info to write code to connect to MAVLink and send and receive messages please see the