# Pymavlink There is a lot of examples for BlueRov2 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 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 " --- # Agent Instructions: Querying This Documentation If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question. Perform an HTTP GET request on the current page URL with the `ask` query parameter: ``` GET https://acolor-bluerov2.gitbook.io/acolor-bluerov2/mavlink-message/pymavlink.md?ask= ``` The question should be specific, self-contained, and written in natural language. The response will contain a direct answer to the question and relevant excerpts and sources from the documentation. Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.