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Automated forwarding services

  1. Install screen and nano packages from terminal.

sudo apt-get install screen nano

  1. Install MAVProxy to the root user.

sudo python3 -m pip install MAVProxy

  1. To forward telemetry stream using MAVProxy:

mavproxy.py --master=X --out=Y where X is source (your vehicle) and Y is the destination.

  1. Run sudo nano ~/startup.sh.

  2. Add the following:

#!/bin/bash
export LOCALAPPDATA="LOCALAPPDATA"
screen -L -Logfile vehicle_proxy.log -S vehicle_proxy -d -m bash -c "mavproxy.py --force-connected --master=127.0.0.1:14550 --out=127.0.0.1:10000 --out=127.0.0.1:20000 --daemon"

  1. To explain above command:

    1. -L log the screen session.
    2. -Logfile file_name.ext specify the log file name with extension.
    3. -S screen_name specify the session name. It makes easier to resume session like screen -r screen_name.
    4. -d used to start the screen session as detached.
    5. -m executable_name -c "commands" used to run an executable with arguments.

  2. Save the script by pressing Ctrl+X, y and ENTER.

  3. Give permissions to the script.

sudo chmod +x ~/startup.sh

  1. Run the following and copy the path:

echo $(pwd)"/startup.sh"

  1. To run a command at start up:
    1. Run sudo nano /etc/rc.local.
    2. Paste your copied text before exit 0 like the following:

sh /home/m/startup.sh &

where /home/m/startup.sh is my copied full path for example.

  1. This is my complete rc.local script:
#!/bin/sh -e
#
# rc.local
#
# This script is executed at the end of each multiuser runlevel.
# Make sure that the script will "exit 0" on success or any other
# value on error.
#
# In order to enable or disable this script just change the execution
# bits.
#
# By default this script does nothing.
sh /home/m/startup.sh &
exit 0
  1. Save the script by pressing Ctrl+X, y and ENTER.
  2. Make the rc.local executable: sudo chmod +x /etc/rc.local
  3. Enable the service using sudo systemctl enable rc-local.service.
  4. Start the service using sudo systemctl start rc-local.service or reboot.
  5. Monitor the service using sudo systemctl status rc-local.service.
  6. After this operation, if you don't want to start this script to start every boot, put # before sh /home/m/startup.sh &. So the rc.local will be:
#!/bin/sh -e
#
# rc.local
#
# This script is executed at the end of each multiuser runlevel.
# Make sure that the script will "exit 0" on success or any other
# value on error.
#
# In order to enable or disable this script just change the execution
# bits.
#
# By default this script does nothing.
# sh /home/m/startup.sh &
exit 0

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