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MAVLink Telemetry Setup

Pixhawk 6C Mini → USB-serial → Jetson → UDP → QGroundControl

Hardware path

Pixhawk 6C Mini TELEM1 (JST-GH 6-pin)
  → USB-serial adapter (FTDI or CP210x)
  → Jetson /dev/ttyUSB0
  → mavlink-router
  → UDP over network
  → QGroundControl on base station

Files

File Purpose
mavlink-router.conf Router config: serial in, UDP out
mavlink-router-pixhawk.service Systemd service
serial_test.py Serial diagnostic: raw bytes then MAVLink heartbeat

Jetson setup

1. Build and install mavlink-router

cd mavlink-router
meson setup build && ninja -C build
sudo ninja -C build install

2. Install config

sudo mkdir -p /etc/mavlink-router
sudo cp mavlink-router.conf /etc/mavlink-router/main.conf

Edit main.conf and set Address under [UdpEndpoint qgc] to the base station IP.

3. Serial permissions

sudo usermod -aG dialout $USER

Log out and back in for the group change to take effect.

4. Test serial before starting the service

pip3 install pyserial pymavlink
python3 serial_test.py /dev/ttyUSB0 57600

5. Install and start the service

sudo cp mavlink-router-pixhawk.service /etc/systemd/system/
sudo systemctl daemon-reload
sudo systemctl enable mavlink-router-pixhawk
sudo systemctl start mavlink-router-pixhawk
sudo journalctl -u mavlink-router-pixhawk -f

QGroundControl (base station)

QGC listens on UDP 14550 by default — no extra config needed when using Mode = Normal in the conf.

If you switch to server mode (UdpEndpoint qgc_server block):

QGC → Application Settings → Comm Links → Add → UDP → port 14551 → Jetson IP

Gotchas

  • Baud rate: default is 57600 on TELEM1. Check SER_TEL1_BAUD in QGC params and match it in mavlink-router.conf.
  • Device path: CP210x → /dev/ttyUSB0, direct Pixhawk USB → /dev/ttyACM0. Update Device in the conf and BindsTo/After in the service file if using ACM.
  • Firewall: sudo ufw allow 14550/udp on the Jetson.
  • Network: both machines must be on the same subnet, or routing must be configured.