> For the complete documentation index, see [llms.txt](https://acolor-bluerov2.gitbook.io/acolor-bluerov2/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://acolor-bluerov2.gitbook.io/acolor-bluerov2/mavlink-message/pymavlink.md).

# Pymavlink

There is a lot of examples for BlueRov2 <https://www.ardusub.com/developers/pymavlink.html>&#x20;

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. &#x20;

"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 "