Added support in Mavlink Ethernet channel parameters

Mavlink Ethernet channel settings such as udp port, remote port and broadcast mode now can be changed dynamically via parameters.

ROMFS/CMakeLists.txt

@@ -81,6 +81,9 @@ file(GLOB jinja_templates ${PX4_SOURCE_DIR}/Tools/serial/*.jinja)
 if (px4_constrained_flash_build)
 	set(added_arguments --constrained-flash)
 endif()
+if(PX4_ETHERNET)
+	set(added_arguments ${added_arguments} --ethernet)
+endif()	
 # create list of relative romfs file names
 set(romfs_copy_files_relative)
 foreach(romfs_file IN LISTS romfs_copy_files)

ROMFS/px4fmu_common/init.d-posix/airframes/1015_iris_obs_avoid.post

@@ -1,2 +1,2 @@
 # shellcheck disable=SC2154
-mavlink start -x -u 14558 -r 4000000 -m onboard -o 14541 # add mavlink stream for SDK
+mavlink start -x -u 14558 -r 4000000 -m onboard -o 14541 -p # add mavlink stream for SDK

ROMFS/px4fmu_common/init.d-posix/airframes/17001_tf-g1

@@ -38,7 +38,6 @@ then
 	param set NAV_LOITER_RAD 100
 
 	param set RWTO_TKOFF 1
-	param set MAV_BROADCAST 1
 
 	param set FW_ARSP_SCALE_EN 0
 

ROMFS/px4fmu_common/init.d-posix/airframes/6011_typhoon_h480.post

@@ -1,7 +1,7 @@
 
 mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
 
-mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530
+mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p
 
 # shellcheck disable=SC2154
 mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local

ROMFS/px4fmu_common/init.d-posix/airframes/6012_typhoon_ctrlalloc.post

@@ -1,7 +1,7 @@
 
 mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
 
-mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530
+mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p
 
 # shellcheck disable=SC2154
 mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -244,7 +244,7 @@ then
 	sh etc/init.d-posix/rc.mavlink_override
 else
 	# GCS link
-	mavlink start -x -u $udp_gcs_port_local -r 4000000 -f
+	mavlink start -x -u $udp_gcs_port_local -r 4000000 -f -p
 	mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
 	mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
 	mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
@@ -256,10 +256,10 @@ else
 	mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
 
 	# API/Offboard link
-	mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote
+	mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote -p
 
 	# Onboard link to camera
-	mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
+	mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote -p
 
 	# Onboard link to gimbal
 	mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote

Tools/serial/generate_config.py

@@ -36,6 +36,7 @@ except ImportError as e:
 # with QGC (parameter metadata)
 serial_ports = {
     # index 0 means disabled
+    # index 1000 means ethernet condiguration
 
     # Generic
 #     "URT1": {
@@ -155,6 +156,8 @@ parser.add_argument('--rc-dir', type=str, action='store',
                     help='ROMFS output directory', default=None)
 parser.add_argument('--params-file', type=str, action='store',
                     help='Parameter output file', default=None)
+parser.add_argument('--ethernet', action='store_true',
+                    help='Ethernet support')
 parser.add_argument('-v', '--verbose', dest='verbose', action='store_true',
                     help='Verbose Output')
 
@@ -169,6 +172,7 @@ serial_params_output_file = args.params_file
 serial_params_template = 'serial_params.c.jinja'
 generate_for_all_ports = args.all_ports
 constrained_flash = args.constrained_flash
+ethernet_supported = args.ethernet
 
 if generate_for_all_ports:
     board_ports = [(key, "") for key in serial_ports]
@@ -184,7 +188,16 @@ if rc_serial_output_dir is None and serial_params_output_file is None:
 
 # parse the YAML files
 serial_commands = []
+ethernet_configuration = []
 additional_params = ""
+additional_ethernet_params = ""
+
+if ethernet_supported:
+    ethernet_configuration.append({
+        'tag': "ETH",
+        'label': "Ethernet",
+        'index': 1000
+        })
 
 def parse_yaml_serial_config(yaml_config):
     """ parse the serial_config section from the yaml config file """
@@ -211,6 +224,80 @@ def parse_yaml_parameters_config(yaml_config):
         param_group = parameters_section.get('group', None)
         for param_name in definitions:
             param = definitions[param_name]
+            if 'ethernet' in param:
+                continue
+            num_instances = param.get('num_instances', 1)
+            instance_start = param.get('instance_start', 0) # offset
+
+            # get the type and extract all tags
+            tags = '@group {:}'.format(param_group)
+            if param['type'] == 'enum':
+                param_type = 'INT32'
+                for key in param['values']:
+                    tags += '\n * @value {:} {:}'.format(key, param['values'][key])
+            elif param['type'] == 'boolean':
+                param_type = 'INT32'
+                tags += '\n * @boolean'
+            elif param['type'] == 'int32':
+                param_type = 'INT32'
+            elif param['type'] == 'float':
+                param_type = 'FLOAT'
+            else:
+                raise Exception("unknown param type {:}".format(param['type']))
+
+            for tag in ['decimal', 'increment', 'category', 'volatile', 'bit',
+                        'min', 'max', 'unit', 'reboot_required']:
+                if tag in param:
+                    tags += '\n * @{:} {:}'.format(tag, param[tag])
+
+            for i in range(num_instances):
+                # default value
+                default_value = 0
+                if 'default' in param:
+                    # default can be a list of num_instances or a single value
+                    if type(param['default']) == list:
+                        assert len(param['default']) == num_instances
+                        default_value = param['default'][i]
+                    else:
+                        default_value = param['default']
+
+                if type(default_value) == bool:
+                    default_value = int(default_value)
+
+                # output the existing C-style format
+                ret += '''
+/**
+ * {short_descr}
+ *
+ * {long_descr}
+ *
+ * {tags}
+ */
+PARAM_DEFINE_{param_type}({name}, {default_value});
+'''.format(short_descr=param['description']['short'].replace("\n", "\n * "),
+           long_descr=param['description']['long'].replace("\n", "\n * "),
+           tags=tags,
+           param_type=param_type,
+           name=param_name,
+           default_value=default_value,
+          ).replace('${i}', str(i+instance_start))
+    return ret
+
+def parse_yaml_ethernet_parameters_config(yaml_config):
+    """ parse the parameters section from the yaml config file """
+    if 'parameters' not in yaml_config:
+        return ''
+    parameters_section_list = yaml_config['parameters']
+    for parameters_section in parameters_section_list:
+        if 'definitions' not in parameters_section:
+            return ''
+        definitions = parameters_section['definitions']
+        ret = ''
+        param_group = parameters_section.get('group', None)
+        for param_name in definitions:
+            param = definitions[param_name]
+            if 'ethernet' not in param:
+                continue
             num_instances = param.get('num_instances', 1)
             instance_start = param.get('instance_start', 0) # offset
 
@@ -276,6 +363,8 @@ for yaml_file in args.config_files:
 
             # TODO: additional params should be parsed in a separate script
             additional_params += parse_yaml_parameters_config(yaml_config)
+            if ethernet_supported:
+                additional_ethernet_params += parse_yaml_ethernet_parameters_config(yaml_config)
 
         except yaml.YAMLError as exc:
             print(exc)
@@ -339,7 +428,8 @@ for serial_command in serial_commands:
             'port_param_name': port_param_name,
             'default_port': default_port,
             'param_group': port_config['group'],
-            'description_extended': port_config.get('description_extended', '')
+            'description_extended': port_config.get('description_extended', ''),
+			'ethernet_config': serial_command.get('ethernet', 'none')
             })
 
 if verbose:
@@ -372,6 +462,7 @@ if rc_serial_output_dir is not None:
         template = jinja_env.get_template(rc_serial_port_template)
         with open(rc_serial_port_output_file, 'w') as fid:
             fid.write(template.render(serial_devices=serial_devices,
+                ethernet_configuration=ethernet_configuration,
                 constrained_flash=constrained_flash))
 
 # parameter definitions
@@ -380,6 +471,8 @@ if serial_params_output_file is not None:
     template = jinja_env.get_template(serial_params_template)
     with open(serial_params_output_file, 'w') as fid:
         fid.write(template.render(serial_devices=serial_devices,
+            ethernet_configuration=ethernet_configuration,
             commands=commands, serial_ports=serial_ports,
-            additional_definitions=additional_params))
+            additional_definitions=additional_params,
+            additional_ethernet_definitions=additional_ethernet_params))
 

Tools/serial/rc.serial_port.jinja

@@ -17,3 +17,9 @@ if param compare "$PRT" {{ serial_device.index }}; then
 fi
 
 {% endfor %}
+{% for config in ethernet_configuration -%}
+if param compare "$PRT" {{ config.index }}; then
+	set SERIAL_DEV ethernet
+fi
+
+{% endfor %}

Tools/serial/serial_params.c.jinja

@@ -58,6 +58,10 @@ PARAM_DEFINE_INT32(SER_{{ serial_device.tag }}_BAUD, {{ serial_device.default_ba
 {%- for serial_device in serial_devices %}
  * @value {{ serial_device.index }} {{ serial_device.label }}
 {%- endfor %}
+{%- if command.ethernet_config != "none" %}
+{%- for config in ethernet_configuration %}
+ * @value {{ config.index }} {{ config.label }}
+{%- endfor %}{% endif %}
  * @group {{ command.param_group }}
  * @reboot_required true
  */
@@ -68,3 +72,5 @@ PARAM_DEFINE_INT32({{ command.port_param_name }}, {{ command.default_port }});
 
 {{ additional_definitions }}
 
+{{ additional_ethernet_definitions }}
+

boards/av/x-v1/default.cmake

@@ -9,6 +9,7 @@ px4_add_board(
 	ROMFSROOT px4fmu_common
 	TESTING
 	UAVCAN_INTERFACES 2
+	ETHERNET
 	SERIAL_PORTS
 		GPS1:/dev/ttyS6
 		TEL1:/dev/ttyS0

boards/av/x-v1/init/rc.board_mavlink

@@ -11,4 +11,4 @@ mavlink stream -d /dev/ttyS5 -s LOCAL_POSITION_NED -r 50
 
 
 # AV-X: start MAVLink UDP port 14570
-mavlink start -x -u 14570
+mavlink start -x -u 14570 -p

boards/px4/fmu-v5x/default.cmake

@@ -10,6 +10,7 @@ px4_add_board(
 	IO px4_io-v2_default
 	TESTING
 	UAVCAN_INTERFACES 2
+	ETHERNET
 	SERIAL_PORTS
 		GPS1:/dev/ttyS0
 		TEL1:/dev/ttyS6

cmake/px4_add_board.cmake

@@ -61,6 +61,7 @@
 #			[ TESTING ]
 #			[ LINKER_PREFIX <string> ]
 #			[ EMBEDDED_METADATA <string> ]
+#			[ ETHERNET ]
 #			)
 #
 #	Input:
@@ -86,6 +87,7 @@
 #		CONSTRAINED_MEMORY	: flag to enable constrained memory options (eg limit maximum number of uORB publications)
 #		TESTING			: flag to enable automatic inclusion of PX4 testing modules
 #		LINKER_PREFIX	: optional to prefix on the Linker script.
+#		ETHERNET		: flag to indicate that ethernet is enabled
 #
 #
 #	Example:
@@ -163,6 +165,7 @@ function(px4_add_board)
 			CONSTRAINED_FLASH
 			CONSTRAINED_MEMORY
 			TESTING
+			ETHERNET
 		REQUIRED
 			PLATFORM
 			VENDOR
@@ -269,6 +272,10 @@ function(px4_add_board)
 		set(PX4_TESTING "1" CACHE INTERNAL "testing enabled" FORCE)
 	endif()
 
+	if(ETHERNET)
+		set(PX4_ETHERNET "1" CACHE INTERNAL "ethernet enabled" FORCE)
+	endif()
+
 	if(LINKER_PREFIX)
 		set(PX4_BOARD_LINKER_PREFIX ${LINKER_PREFIX} CACHE STRING "PX4 board linker prefix" FORCE)
 	else()

posix-configs/SITL/init/test/cmd_template.in

@@ -16,7 +16,7 @@ pwm_out_sim start
 
 ver all
 
-mavlink start -x -u 14556 -r 2000000
+mavlink start -x -u 14556 -r 2000000 -p
 mavlink boot_complete
 
 @cmd_name@ start

posix-configs/SITL/init/test/test_mavlink

@@ -16,7 +16,7 @@ pwm_out_sim start
 
 ver all
 
-mavlink start -x -u 14556 -r 2000000
+mavlink start -x -u 14556 -r 2000000 -p
 mavlink boot_complete
 
 tests mavlink

posix-configs/bbblue/px4.config

@@ -29,7 +29,6 @@ param set SYS_AUTOSTART 4011
 
 # Broadcast heartbeats on local network. This allows a ground control station
 # to automatically find the drone on the local network.
-param set MAV_BROADCAST 1
 
 # MAV_TYPE: 1 Fixed wing aircraft, 2 Quadrotor
 param set MAV_TYPE 2
@@ -73,7 +72,7 @@ mc_pos_control start
 mc_att_control start
 mc_rate_control start
 
-mavlink start -n SoftAp -x -u 14556 -r 1000000
+mavlink start -n SoftAp -x -u 14556 -r 1000000 -p
 # -n name of wifi interface: SoftAp, wlan or your custom interface,
 # e.g., -n SoftAp . The default is wlan
 

posix-configs/bbblue/px4_fw.config

@@ -29,7 +29,6 @@ param set SYS_AUTOSTART 4011
 
 # Broadcast heartbeats on local network. This allows a ground control station
 # to automatically find the drone on the local network.
-param set MAV_BROADCAST 1
 
 # MAV_TYPE: 1 Fixed wing aircraft, 2 Quadrotor
 param set MAV_TYPE 2
@@ -68,7 +67,7 @@ land_detector start fixedwing
 fw_att_control start
 fw_pos_control_l1 start
 
-mavlink start -n SoftAp -x -u 14556 -r 1000000
+mavlink start -n SoftAp -x -u 14556 -r 1000000 -p
 # -n name of wifi interface: SoftAp, wlan or your custom interface,
 # e.g., -n wlan . The default on BBBlue is SoftAp
 

posix-configs/eagle/200qx/mainapp.config

@@ -9,10 +9,9 @@ logger start -t -b 200
 # Wait 1s before setting parameters for muorb to initialize
 sleep 1
 param set CBRK_SUPPLY_CHK 894281
-param set MAV_BROADCAST 1
 dataman start
 navigator start
-mavlink start -x -u 14556 -r 1000000
+mavlink start -x -u 14556 -r 1000000 -p
 sleep 1
 mavlink stream -u 14556 -s HIGHRES_IMU -r 50
 mavlink stream -u 14556 -s ATTITUDE -r 50

posix-configs/eagle/210qc/mainapp.config

@@ -9,10 +9,9 @@ logger start -t -b 200
 # Wait 1s before setting parameters for muorb to initialize
 sleep 1
 param set CBRK_SUPPLY_CHK 894281
-param set MAV_BROADCAST 1
 dataman start
 navigator start
-mavlink start -x -u 14556 -r 1000000
+mavlink start -x -u 14556 -r 1000000 -p
 sleep 1
 mavlink stream -u 14556 -s HIGHRES_IMU -r 50
 mavlink stream -u 14556 -s ATTITUDE -r 50

posix-configs/eagle/flight/mainapp.config

@@ -9,10 +9,9 @@ logger start -t -b 200
 # Wait 1s before setting parameters for muorb to initialize
 sleep 1
 param set CBRK_SUPPLY_CHK 894281
-param set MAV_BROADCAST 1
 dataman start
 navigator start
-mavlink start -x -u 14556 -r 1000000
+mavlink start -x -u 14556 -r 1000000 -p
 sleep 1
 mavlink stream -u 14556 -s HIGHRES_IMU -r 50
 mavlink stream -u 14556 -s ATTITUDE -r 50

posix-configs/eagle/hil/mainapphil.config

@@ -2,8 +2,7 @@ muorb start
 # Wait 1s before setting parameters for muorb to initialize
 sleep 1
 param set CBRK_SUPPLY_CHK 894281
-param set MAV_BROADCAST 1
+mavlink start -x -u 14556 -p
-mavlink start -x -u 14556
 sleep 1
 mavlink stream -u 14556 -s HIGHRES_IMU -r 50
 mavlink stream -u 14556 -s ATTITUDE -r 50

posix-configs/eagle/init/rcS

@@ -94,10 +94,9 @@ qshell mc_rate_control start
 
 logger start -b 200 -t
 
-param set MAV_BROADCAST 1
 dataman start
 navigator start
-mavlink start -u 14556 -r 1000000
+mavlink start -u 14556 -r 1000000 -p
 mavlink stream -u 14556 -s HIGHRES_IMU -r 50
 mavlink stream -u 14556 -s ATTITUDE -r 50
 mavlink stream -u 14556 -s RC_CHANNELS -r 20

posix-configs/excelsior/mainapp.config

@@ -6,11 +6,10 @@
 muorb start
 logger start -e -t
 param set CBRK_SUPPLY_CHK 894281
-param set MAV_BROADCAST 1
 dataman start
 navigator start
 sleep 2
-mavlink start -x -u 14556 -r 1000000
+mavlink start -x -u 14556 -r 1000000 -p
 sleep 1
 mavlink stream -u 14556 -s HIGHRES_IMU -r 50
 mavlink stream -u 14556 -s ATTITUDE -r 50

posix-configs/ocpoc/px4.config

@@ -10,7 +10,6 @@ then
 fi
 param set CBRK_SUPPLY_CHK 894281
 param set SYS_AUTOSTART 4001
-param set MAV_BROADCAST 1
 param set MAV_TYPE 2
 param set MAV_SYS_ID 1
 

posix-configs/rpi/pilotpi_fw.config

@@ -11,7 +11,6 @@ fi
 # system_power not implemented
 param set CBRK_SUPPLY_CHK 894281
 # broadcast to LAN
-param set MAV_BROADCAST 1
 # always keep current config
 param set SYS_AUTOCONFIG 0
 # useless but required for parameter completeness
@@ -71,7 +70,7 @@ flight_mode_manager start
 fw_att_control start
 fw_pos_control_l1 start
 
-mavlink start -x -u 14556 -r 1000000
+mavlink start -x -u 14556 -r 1000000 -p
 
 # Telem
 mavlink start -x -Z -d /dev/ttySC1

posix-configs/rpi/pilotpi_mc.config

@@ -11,7 +11,6 @@ fi
 # system_power not implemented
 param set CBRK_SUPPLY_CHK 894281
 # broadcast to LAN
-param set MAV_BROADCAST 1
 # always keep current config
 param set SYS_AUTOCONFIG 0
 # useless but required for parameter completeness
@@ -69,7 +68,7 @@ mc_pos_control start
 mc_att_control start
 mc_rate_control start
 
-mavlink start -x -u 14556 -r 1000000
+mavlink start -x -u 14556 -r 1000000 -p
 
 # Telem
 mavlink start -x -Z -d /dev/ttySC1

posix-configs/rpi/px4.config

@@ -11,7 +11,6 @@ then
 fi
 param set CBRK_SUPPLY_CHK 894281
 param set SYS_AUTOSTART 4001
-param set MAV_BROADCAST 1
 param set MAV_TYPE 2
 param set IMU_GYRO_RATEMAX 400
 
@@ -48,7 +47,7 @@ mc_pos_control start
 mc_att_control start
 mc_rate_control start
 
-mavlink start -x -u 14556 -r 1000000
+mavlink start -x -u 14556 -r 1000000 -p
 
 if [ -c /dev/ttyUSB0 ]
 then

posix-configs/rpi/px4_fw.config

@@ -10,7 +10,6 @@ then
 	param load
 fi
 param set CBRK_SUPPLY_CHK 894281
-param set MAV_BROADCAST 1
 param set SYS_AUTOSTART 2100
 param set MAV_TYPE 1
 param set IMU_GYRO_RATEMAX 400
@@ -46,7 +45,7 @@ land_detector start fixedwing
 fw_att_control start
 fw_pos_control_l1 start
 
-mavlink start -x -u 14556 -r 1000000
+mavlink start -x -u 14556 -r 1000000 -p
 
 if [ -c /dev/ttyUSB0 ]
 then

posix-configs/rpi/px4_hil.config

@@ -13,7 +13,6 @@ then
 fi
 param set CBRK_SUPPLY_CHK 894281
 param set SYS_AUTOSTART 1001
-param set MAV_BROADCAST 1
 param set MAV_TYPE 2
 
 # Multi-EKF
@@ -38,7 +37,7 @@ mc_pos_control start
 mc_att_control start
 mc_rate_control start
 
-mavlink start -x -u 14577 -r 1000000
+mavlink start -x -u 14577 -r 1000000 -p
 navio_sysfs_rc_in start
 pwm_out_sim start
 mixer load /dev/pwm_output0 etc/mixers/quad_x.main.mix

posix-configs/rpi/px4_test.config

@@ -11,7 +11,6 @@ then
 fi
 param set CBRK_SUPPLY_CHK 894281
 param set SYS_AUTOSTART 4001
-param set MAV_BROADCAST 1
 param set MAV_TYPE 2
 param set IMU_GYRO_RATEMAX 400
 
@@ -47,7 +46,7 @@ flight_mode_manager start
 mc_pos_control start
 mc_att_control start
 
-mavlink start -x -u 14556 -r 1000000
+mavlink start -x -u 14556 -r 1000000 -p
 
 if [ -c /dev/ttyUSB0 ]
 then

src/lib/parameters/CMakeLists.txt

@@ -75,6 +75,9 @@ file(GLOB jinja_templates ${PX4_SOURCE_DIR}/Tools/serial/*.jinja)
 if (px4_constrained_flash_build)
 	set(added_arguments --constrained-flash)
 endif()
+if(PX4_ETHERNET)
+	set(added_arguments ${added_arguments} --ethernet)
+endif()	
 add_custom_command(OUTPUT ${generated_serial_params_file}
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${generated_params_dir}
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/serial/generate_config.py

src/modules/mavlink/mavlink_main.cpp

@@ -1809,11 +1809,10 @@ Mavlink::task_main(int argc, char *argv[])
 	int myoptind = 1;
 	const char *myoptarg = nullptr;
 #if defined(CONFIG_NET) || defined(__PX4_POSIX)
-	char *eptr;
 	int temp_int_arg;
 #endif
 
-	while ((ch = px4_getopt(argc, argv, "b:r:d:n:u:o:m:t:c:fswxzZ", &myoptind, &myoptarg)) != EOF) {
+	while ((ch = px4_getopt(argc, argv, "b:r:d:n:u:o:m:t:c:fswxzZp", &myoptind, &myoptarg)) != EOF) {
 		switch (ch) {
 		case 'b':
 			if (px4_get_parameter_value(myoptarg, _baudrate) != 0) {
@@ -1859,29 +1858,25 @@ Mavlink::task_main(int argc, char *argv[])
 #if defined(MAVLINK_UDP)
 
 		case 'u':
-			temp_int_arg = strtoul(myoptarg, &eptr, 10);
+			if (px4_get_parameter_value(myoptarg, temp_int_arg) != 0) {
-
+				PX4_ERR("invalid data udp_port");
-			if (*eptr == '\0') {
+				err_flag = true;
-				_network_port = temp_int_arg;
-				set_protocol(Protocol::UDP);
 
 			} else {
-				PX4_ERR("invalid data udp_port '%s'", myoptarg);
+				_network_port = temp_int_arg;
-				err_flag = true;
+				set_protocol(Protocol::UDP);
 			}
 
 			break;
 
 		case 'o':
-			temp_int_arg = strtoul(myoptarg, &eptr, 10);
+			if (px4_get_parameter_value(myoptarg, temp_int_arg) != 0) {
-
+				PX4_ERR("invalid remote udp_port");
-			if (*eptr == '\0') {
+				err_flag = true;
-				_remote_port = temp_int_arg;
-				set_protocol(Protocol::UDP);
 
 			} else {
-				PX4_ERR("invalid remote udp_port '%s'", myoptarg);
+				_remote_port = temp_int_arg;
-				err_flag = true;
+				set_protocol(Protocol::UDP);
 			}
 
 			break;
@@ -1899,6 +1894,10 @@ Mavlink::task_main(int argc, char *argv[])
 
 			break;
 
+		case 'p':
+			_mav_broadcast = BROADCAST_MODE_ON;
+			break;
+
 #if defined(CONFIG_NET_IGMP) && defined(CONFIG_NET_ROUTE)
 
 		// multicast
@@ -1907,6 +1906,7 @@ Mavlink::task_main(int argc, char *argv[])
 
 			if (inet_aton(myoptarg, &_src_addr.sin_addr)) {
 				_src_addr_initialized = true;
+				_mav_broadcast = BROADCAST_MODE_MULTICAST;
 
 			} else {
 				PX4_ERR("invalid partner ip '%s'", myoptarg);
@@ -1923,6 +1923,7 @@ Mavlink::task_main(int argc, char *argv[])
 #endif
 #else
 
+		case 'p':
 		case 'u':
 		case 'o':
 		case 't':
@@ -2206,7 +2207,7 @@ Mavlink::task_main(int argc, char *argv[])
 
 #if defined(CONFIG_NET)
 
-			if (_param_mav_broadcast.get() != BROADCAST_MODE_MULTICAST) {
+			if (!multicast_enabled()) {
 				_src_addr_initialized = false;
 			}
 
@@ -2767,6 +2768,12 @@ Mavlink::display_status()
 
 	case Protocol::UDP:
 		printf("UDP (%i, remote port: %i)\n", _network_port, _remote_port);
+		printf("\tBroadcast enabled: %s\n",
+		       broadcast_enabled() ? "YES" : "NO");
+#if defined(CONFIG_NET_IGMP) && defined(CONFIG_NET_ROUTE)
+		printf("\tMulticast enabled: %s\n",
+		       multicast_enabled() ? "YES" : "NO");
+#endif
 #ifdef __PX4_POSIX
 
 		if (get_client_source_initialized()) {
@@ -2833,7 +2840,6 @@ Mavlink::stream_command(int argc, char *argv[])
 	float rate = -1.0f;
 	const char *stream_name = nullptr;
 #ifdef MAVLINK_UDP
-	char *eptr;
 	int temp_int_arg;
 	unsigned short network_port = 0;
 #endif // MAVLINK_UDP
@@ -2879,13 +2885,12 @@ Mavlink::stream_command(int argc, char *argv[])
 
 		} else if (0 == strcmp(argv[i], "-u") && i < argc - 1) {
 			provided_network_port = true;
-			temp_int_arg = strtoul(argv[i + 1], &eptr, 10);
 
-			if (*eptr == '\0') {
+			if (px4_get_parameter_value(argv[i + 1], temp_int_arg) != 0) {
-				network_port = temp_int_arg;
+				err_flag = true;
 
 			} else {
-				err_flag = true;
+				network_port = temp_int_arg;
 			}
 
 			i++;
@@ -2963,7 +2968,7 @@ Mavlink::set_boot_complete()
 		if (inst && (inst->get_mode() != MAVLINK_MODE_ONBOARD) &&
 		    !inst->broadcast_enabled() && inst->get_protocol() == Protocol::UDP) {
 
-			PX4_INFO("MAVLink only on localhost (set param MAV_BROADCAST = 1 to enable network)");
+			PX4_INFO("MAVLink only on localhost (set param MAV_{i}_BROADCAST = 1 to enable network)");
 		}
 	}
 
@@ -3010,16 +3015,17 @@ $ mavlink stream -u 14556 -s HIGHRES_IMU -r 50
 	PRINT_MODULE_USAGE_PARAM_INT('b', 57600, 9600, 3000000, "Baudrate (can also be p:<param_name>)", true);
 	PRINT_MODULE_USAGE_PARAM_INT('r', 0, 10, 10000000, "Maximum sending data rate in B/s (if 0, use baudrate / 20)", true);
 #if defined(CONFIG_NET) || defined(__PX4_POSIX)
+	PRINT_MODULE_USAGE_PARAM_FLAG('p', "Enable Broadcast", true);
 	PRINT_MODULE_USAGE_PARAM_INT('u', 14556, 0, 65536, "Select UDP Network Port (local)", true);
 	PRINT_MODULE_USAGE_PARAM_INT('o', 14550, 0, 65536, "Select UDP Network Port (remote)", true);
 	PRINT_MODULE_USAGE_PARAM_STRING('t', "127.0.0.1", nullptr,
-					"Partner IP (broadcasting can be enabled via MAV_BROADCAST param)", true);
+					"Partner IP (broadcasting can be enabled via MAV_{i}_BROADCAST param)", true);
 #endif
 	PRINT_MODULE_USAGE_PARAM_STRING('m', "normal", "custom|camera|onboard|osd|magic|config|iridium|minimal|extvision|extvisionmin|gimbal",
 					"Mode: sets default streams and rates", true);
 	PRINT_MODULE_USAGE_PARAM_STRING('n', nullptr, "<interface_name>", "wifi/ethernet interface name", true);
 #if defined(CONFIG_NET_IGMP) && defined(CONFIG_NET_ROUTE)
-	PRINT_MODULE_USAGE_PARAM_STRING('c', nullptr, "Multicast address in the range [239.0.0.0,239.255.255.255]", "Multicast address (multicasting can be enabled via MAV_BROADCAST param)", true);
+	PRINT_MODULE_USAGE_PARAM_STRING('c', nullptr, "Multicast address in the range [239.0.0.0,239.255.255.255]", "Multicast address (multicasting can be enabled via MAV_{i}_BROADCAST param)", true);
 #endif
 	PRINT_MODULE_USAGE_PARAM_FLAG('f', "Enable message forwarding to other Mavlink instances", true);
 	PRINT_MODULE_USAGE_PARAM_FLAG('w', "Wait to send, until first message received", true);

src/modules/mavlink/mavlink_main.h

@@ -265,7 +265,9 @@ public:
 #if defined(MAVLINK_UDP)
 	static Mavlink 		*get_instance_for_network_port(unsigned long port);
 
-	bool			broadcast_enabled() { return _param_mav_broadcast.get() == BROADCAST_MODE_ON; }
+	bool			broadcast_enabled() { return _mav_broadcast == BROADCAST_MODE_ON; }
+
+	bool			multicast_enabled() { return _mav_broadcast == BROADCAST_MODE_MULTICAST; }
 #endif // MAVLINK_UDP
 
 	/**
@@ -610,6 +612,8 @@ private:
 	hrt_abstime		_bytes_timestamp{0};
 
 #if defined(MAVLINK_UDP)
+	BROADCAST_MODE		_mav_broadcast {BROADCAST_MODE_OFF};
+
 	sockaddr_in		_myaddr {};
 	sockaddr_in		_src_addr {};
 	sockaddr_in		_bcast_addr {};
@@ -659,9 +663,6 @@ private:
 		(ParamInt<px4::params::MAV_TYPE>) _param_mav_type,
 		(ParamBool<px4::params::MAV_USEHILGPS>) _param_mav_usehilgps,
 		(ParamBool<px4::params::MAV_FWDEXTSP>) _param_mav_fwdextsp,
-#if defined(MAVLINK_UDP)
-		(ParamInt<px4::params::MAV_BROADCAST>) _param_mav_broadcast,
-#endif // MAVLINK_UDP
 		(ParamBool<px4::params::MAV_HASH_CHK_EN>) _param_mav_hash_chk_en,
 		(ParamBool<px4::params::MAV_HB_FORW_EN>) _param_mav_hb_forw_en,
 		(ParamBool<px4::params::MAV_ODOM_LP>) _param_mav_odom_lp,

src/modules/mavlink/mavlink_params.c

@@ -130,19 +130,6 @@ PARAM_DEFINE_INT32(MAV_USEHILGPS, 0);
  */
 PARAM_DEFINE_INT32(MAV_FWDEXTSP, 1);
 
-/**
- * Broadcast heartbeats on local network
- *
- * This allows a ground control station to automatically find the drone
- * on the local network.
- *
- * @value 0 Never broadcast
- * @value 1 Always broadcast
- * @value 2 Only multicast
- * @group MAVLink
- */
-PARAM_DEFINE_INT32(MAV_BROADCAST, 0);
-
 /**
  * Parameter hash check.
  *

src/modules/mavlink/module.yaml

@@ -3,7 +3,15 @@ __max_num_config_instances: &max_num_config_instances 3
 module_name: MAVLink
 serial_config:
     - command: |
-        set MAV_ARGS "-b p:${BAUD_PARAM} -m p:MAV_${i}_MODE -r p:MAV_${i}_RATE"
+        if [ $SERIAL_DEV != ethernet ]; then
+            set MAV_ARGS "-d ${SERIAL_DEV} -b p:${BAUD_PARAM} -m p:MAV_${i}_MODE -r p:MAV_${i}_RATE"
+        else
+            set MAV_ARGS "-u p:MAV_${i}_UDP_PRT -o p:MAV_${i}_REMOTE_PRT -m p:MAV_${i}_MODE -r p:MAV_${i}_RATE"
+            if param compare MAV_${i}_BROADCAST 1
+            then
+                set MAV_ARGS "${MAV_ARGS} -p"
+            fi        
+        fi
         if param compare MAV_${i}_FORWARD 1
         then
             set MAV_ARGS "${MAV_ARGS} -f"
@@ -12,7 +20,7 @@ serial_config:
         then
             set MAV_ARGS "${MAV_ARGS} -s"
         fi
-        mavlink start -d ${SERIAL_DEV} ${MAV_ARGS} -x
+        mavlink start ${MAV_ARGS} -x
       port_config_param:
         name: MAV_${i}_CONFIG
         group: MAVLink
@@ -22,6 +30,7 @@ serial_config:
         # 2: Board-specific / no fixed function or port
         default: [TEL1, "", ""]
       num_instances: *max_num_config_instances
+      ethernet:
 
 parameters:
     - group: MAVLink
@@ -97,3 +106,45 @@ parameters:
             reboot_required: true
             num_instances: *max_num_config_instances
             default: [true, true, true]
+
+        MAV_${i}_UDP_PRT:
+            description:
+                short: MAVLink Network Port for instance ${i}
+                long: |
+                    If ethernet enabled and selected as configuration for MAVLink instance ${i}, 
+                    selected udp port will be set and used in MAVLink instance ${i}.
+
+            type: int32
+            reboot_required: true
+            num_instances: *max_num_config_instances
+            default: [14556, 0, 0]
+            ethernet:
+
+        MAV_${i}_REMOTE_PRT:
+            description:
+                short: MAVLink Remote Port for instance ${i}
+                long: |
+                    If ethernet enabled and selected as configuration for MAVLink instance ${i}, 
+                    selected remote port will be set and used in MAVLink instance ${i}.
+
+            type: int32
+            reboot_required: true
+            num_instances: *max_num_config_instances
+            default: [14550, 0, 0]
+            ethernet:
+
+        MAV_${i}_BROADCAST:
+            description:
+                short: Broadcast heartbeats on local network for MAVLink instance ${i}
+                long: |
+                    This allows a ground control station to automatically find the drone 
+                    on the local network.
+
+            type: enum
+            values:
+                0: Never broadcast
+                1: Always broadcast
+                2: Only multicast        
+            num_instances: *max_num_config_instances
+            default: [1, 0, 0]
+            ethernet:

validation/module_schema.yaml

@@ -75,6 +75,10 @@ serial_config:
                 # Default: 1
                 type: integer
                 min: 1
+            ethernet:
+                # Optional command ethernet.
+                # If omitted, ethernet condiguration value will be omitted.
+                nullable: True 
 
 
 parameters:
@@ -206,5 +210,9 @@ parameters:
                             # [0, N-1]
                             # Default: 0
                             type: integer
+                        ethernet:
+                            # Optional command ethernet.
+                            # If specified, parameter will be generated only if board supports Ethernet.
+                            nullable: True