MAVLink

Cyclops uses MAVLink2 protocol for two-way communication with the flight controller. This requires a bidirectional link between the edge device and the flight controller to send position estimates and receive sensor measurements. Below is a complete list of MAV messages Cyclops uses.

If your flight controller does not support these message types or is limited to one-way communication over MAVLink, contact the Theseus team for help integrating on your system.

Messages from Cyclops

We send a number of packets

• STATUSTEXT (253)

• MAV_CMD_USER_2 (31011)

  • crosstrack start command

• SYSTEM_TIME (2)

• TIMESYNC (111)

• MAV_CMD_EXTERNAL_POSITION_ESTIMATE (43003) (Cyclops v1.x.x)

• GPS_INPUT (232) (Cyclops v2.x.x)

Messages to Cyclops

• LOCAL_POSITION_NED (32)

• ATTITUDE_QUATERNION (31)

• GPS_RAW_INT (24) (for testing purposes)

• NAV_CONTROLLER_OUTPUT (62)

• VFR_HUD (74)

• SYSTEM_TIME (2)

• TIMESYNC (111)

• EXTENDED_SYS_STATE (245)

• SCALED_PRESSURE (29) (for AP 4.5)

• SCALED_IMU (26) (for AP 4.5)

• HIGHRES_IMU (105) (for AP 4.6+)

System ID (sysid)

Connecting multiple systems over MAVLink requires a different sysid for each flight controller. The default sysid is 1, so Cyclops automatically looks to connect with sysid 1. If your flight controller has a different sysid, Cyclops will report no MAV heartbeat.

To configure Cyclops to connect with a flight controller on another sysid, edit the MAV configuration in Vozilla under Settings>MAV.