HereLink Android app - access to MavLink

Michael_Oborne · 6 March 2021 08:47

you need to send one thing to make the socket latch onto you, after rereading the code, it does NOT need to be a mavlink packet… so you could send a 1 byte packet, and that should be enough.

github.com

mavlink-router/mavlink-router/blob/master/src/mavlink-router/endpoint.cpp#L858


ssize_t UdpEndpoint::_read_msg(uint8_t *buf, size_t len)
{
    socklen_t addrlen = sizeof(sockaddr);
    ssize_t r = 0;
#ifdef ENABLE_IPV6
    if (this->is_ipv6) {
        addrlen = sizeof(sockaddr6);
        r = ::recvfrom(fd, buf, len, 0, (struct sockaddr *)&sockaddr6, &addrlen);
    } else {
#endif
    r = ::recvfrom(fd, buf, len, 0, (struct sockaddr *)&sockaddr, &addrlen);
#ifdef ENABLE_IPV6
    }
#endif
    if (r == -1 && errno == EAGAIN)
        return 0;
    if (r == -1)
        return -errno;
    return r;

the other option is to modify the mavlink router config via the herelink OEM settings. then you can define anything you want in that config file