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2026-01-09 20:10:53 +00:00
parent d4c8bb572b
commit eb8761bac1
1 changed files with 5 additions and 4 deletions
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config.py
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@@ -149,15 +149,16 @@ ARDUPILOT_TOPICS = {
# MAVLink configuration (for pymavlink/mavproxy) # MAVLink configuration (for pymavlink/mavproxy)
MAVLINK = { MAVLINK = {
# MAVLink system IDs # MAVLink system IDs
"system_id": 1, # Our system ID "system_id": 255, # GCS system ID
"component_id": 191, # MAV_COMP_ID_MISSIONPLANNER "component_id": 190, # MAV_COMP_ID_MISSIONPLANNER
# Target system (the autopilot) # Target system (the autopilot)
"target_system": 1, "target_system": 1,
"target_component": 1, "target_component": 1,
# Connection - SITL listens on TCP 5760 (shown as SERIAL0) # Connection - MAVProxy outputs to UDP 14550
"connection_string": "tcp:127.0.0.1:5760", # (sim_vehicle.py uses 5760 internally, but forwards to 14550)
"connection_string": "udp:127.0.0.1:14550",
# Timeouts (seconds) # Timeouts (seconds)
"heartbeat_timeout": 5.0, "heartbeat_timeout": 5.0,