Cyclops v2.x.x

MAVLink to Cyclops

Set the port protocol to MAVLink 2 and baud rate to 921600 on the port you connected your Cyclops box to the flight controller.

921600 is the recommended baud rate to use with Cyclops. Run this command on your Cyclops device to verify the configured baud rate: vns-config show

ArduPilot params

We need configure time synchronization, GPS blending, and EKF sources.

ArduPilot Parameter	Param Value	Description
BRD_RTC_TYPES	2	Set time from MAVLink
GPS2_TYPE	14	MAVLink GPS on GPS 2
GPS_BLEND_MASK	0	Disable GPS blending
GPS_AUTO_SWITCH	0	Disable GPS autoswitching
EK3_SRC_OPTIONS	0	Disable velocity fusion
EK3_GPS_CHECK	23	Lower GPS quality checks
EK3_SRC1_POSXY	3	Set GPS as pos source on EK3
EK3_SRC1_VELXY	0	No horizontal velocity source
EK3_SRC1_VELZ	0	No vertical velocity source
EK3_SRC1_POSZ	1	(default) Baro as vertical pos source
EK3_SRC1_YAW	1	(default) Compass as yaw source
EK3_MAG_CAL	2	Disable mag cal in EK3
EK3_GSF_USE_MASK	0	Do not use GPS for yaw alignment