Pymavlink

There is a lot of examples for BlueRov2 https://www.ardusub.com/developers/pymavlink.html

There is two end points for mavlink stream :

'udpin:192.168.2.1:14550'	used by QGroundControl (QGC) but if QGC is not launch you can use this end point
'udpin:192.168.2.1:14560'	used by bluerov2_node to do the bridge between ROS and MAVlink

Change MAVlink protocol from version1 to version 2

Currently the MAVlink protocol version 1 is used.

If you want to use the MAVlink protocol version 2 you will need to change the STREAM_PARAMETER with QGroundControl (or mavlink command but it is more difficult) for PixHawk. Then you will need to setup pymavlink environment to work with Mavlink 2. Here it is a quotation from https://mavlink.io/en/mavgen_python/ to deal with protocol.

"By default mavutil sets up the link to use the MAVLink 1 ardupilotmega dialect for sending/receiving. You can change this by setting environment variables:

• MAVLINK_DIALECT: Set to string name for the dialect file (without XML extension). For Ardusub it is ardupilotmega

• MAVLINK20: Set to 1 (if unset then default to MAVLink 1)

• MDEF: Location of message definition libraries "