Connecting NavQ to FMUK66 via Serial

Installing MAVSDK

• Build MAVSDK from source
• Follow the instructions here
• Do not forget to do a system-wide-install
• After you build the MAVSDK go ahead and build the mavsdk_server.
• The binary can be found in MAVSDK/build/default/src/backend/src/mavsdk_server

Installing MAVSDK-Python

• Install using the following command

$ pip3 install mavsdk 

• At the time of writing this story the MAVSDK-Python for NavQ does not come with the mavsdk_server binary, hence the previous step.
• Now you need to copy the mavsdk_server binary created in the previous section

$ sudo cp MAVSDK/build/default/src/backend/src/mavsdk_server /usr/local/lib/python3.8/dist-packages/mavsdk/bin/

• Now we need to give the mavsdk_server binary execute permission
• Go to the location and update the permission

$ cd /usr/local/lib/python3.8/dist-packages/mavsdk/bin/
$ sudo chmod +x mavsdk_server

Setup in QGroundControl

• Connect the FMUK66 with your computer running QGroundControl using USB or Telemetry radio.
• Connect the UART connector coming out of the NavQ to the TELEM2 port of FMUK66
• Click on the gear icon to open the Vehicle Setup page

• Now click on the Parameters tab
• Go to MAVLink tab under Parameters
• See that the TELEM1 is assigned to MAV_0_CONFIG but MAV_1_CONFIG and MAV_2_CONFIG are disabled.

• Enable the MAV_1_CONFIG by clicking on it and choosing TELEM2 on the dropdown.
• Your vehicle needs to reboot for this change to take effect.
• Now go ahead and reboot the FMUK66 either from SW or by pressing the reboot button on the FMUK66

• Note that TELEM2 is assigned to MAV_1_CONFIG

• Now go to the Serial tab under Parameters and check the serial port settings for TELEM2
• The baud rate should be set to 921600 by default. If not change it.

Running your python script

• Now go ahead and run the MAVSDK-Python examples
• Do not forget to use the serial port as the connection medium by assigning it to the system_address param in the connect() function.

>>> await drone.connect(system_address="serial:///dev/ttymxc2:921600") 

• You should get the following response

Waiting for mavsdk_server to be ready...
Connected to mavsdk_server!

• Go ahead and have fun using MAVSDK to build your autonomous drone.