PPRZLINK¶
PPRZLink is the communication system used by the Paparazzi UAV system.
Several interfaces are available with PPRZLink (OCaml, Python and C) as well as several communication supports (RF modems, UDP, IVY). This MORSE implementation is based on the Python API and the IVY software bus which is used in Paparazzi for the communication between the ground agents. It is based on a publisher/subscriber mechanism. The bindings are done with regular expressions and only text (ASCII) data can be exchanged with this middleware.
Required packages (from system or from source): - lxml - ivy - pprzlink
Files¶
- Python:
$MORSE_ROOT/src/morse/middleware/pprzlink_datastream.py
Configuration specificities¶
When configuring a component, you can pass several options to adjust the messages binding.
The option ac_id
allows to select a specific aircraft. Otherwise, the
binding is done on every aircraft, which might lead to inconsistent
behavior when multiple aircraft are used but is fine when only one is used
at a time.
The option msg_name
can overwrite the message name for the binding. This
can only be done if the same fields are available in the original message
and the custom one.
foo.add_stream('pprzlink', ac_id = '101')