https://bellergy.com/6-install-and-setup-mavlink-router/

https://ardupilot.org/dev/docs/raspberry-pi-via-mavlink.html

1. install dulu gak sih

   https://github.com/mavlink-router/mavlink-router

   follow up until

   sudo ninja -C build install
   

2. Create mavlink-router config file

   cd ~
   mkdir /etc/mavlink-router/
   cd /etc/mavlink-router/
   
   sudo nano main.conf
   

   Here is an example of main.conf

   [UartEndpoint serial0]
      Device = /dev/ttyACM0
      Baud = 921600
      FlowControl=false
   
   [UdpEndpoint local0]
      Mode = normal
      Address = 192.168.18.255 # broadcast address of local subnet
      Port = 14555
      PortLock = 0
      
   [UdpEndpoint local1] 
      Mode = normal
      Address = 192.168.18.255
      Port = 14556
      PortLock = 0
   

3. Adjust serial port parameter

   

   set protocol to mavlink2 and baud to 921, serial port depends on which port you’re using

4. Launch mavlink-router

   sudo mavlink-routerd -c /etc/mavlink-router/main.conf -v