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mavlink-anywhere

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Portable MAVLink routing and telemetry dashboard for companion computers, GCS links, LTE, Wi-Fi, VPNs, UDP, and serial

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# MAVLink Anywhere

**Portable MAVLink routing for drones, companion computers, GCS links, LTE, Wi-Fi, VPNs, UDP, and serial.**

![MAVLink Anywhere logo](https://raw.githubusercontent.com/alireza787b/mavlink-anywhere/main/assets/brand/mavlink-anywhere-logo.svg)

[![License](https://img.shields.io/badge/license-MIT-blue.svg)](https://raw.githubusercontent.com/alireza787b/mavlink-anywhere/main/LICENSE)
[![Version](https://img.shields.io/badge/version-3.0.14-blue.svg)](https://raw.githubusercontent.com/alireza787b/mavlink-anywhere/main/configure_mavlink_router.sh)
[![MAVLink](https://img.shields.io/badge/MAVLink-routing-20D6FF.svg)](https://mavlink.io/)
[![Dashboard](https://img.shields.io/badge/dashboard-9070-F4B942.svg)](https://raw.githubusercontent.com/alireza787b/mavlink-anywhere/main/docs/DASHBOARD.md)

MAVLink Anywhere routes MAVLink data from a flight controller
(Pixhawk/ArduPilot/PX4) through a companion computer to ground stations, SDKs,
remote operators, local QGroundControl fallback links, and MDS Fleet Ops.

## Ecosystem Fit

| Tool | Role |
|------|------|
| **MAVLink Anywhere** | companion-computer MAVLink routing and endpoint dashboard |
| **[MDS](https://github.com/alireza787b/mavsdk_drone_show)** | fleet operations, SITL, real drone dashboard, sidecar profile status |
| **[Smart Wi-Fi Manager](https://github.com/alireza787b/smart-wifi-manager)** | Wi-Fi profile priority and field connectivity |

---

## Video Tutorial

**First time here? Watch the video!**

[![MAVLink Anywhere Tutorial](https://img.youtube.com/vi/_QEWpoy6HSo/0.jpg)](https://www.youtube.com/watch?v=_QEWpoy6HSo)

[Complete Setup Guide (YouTube)](https://www.youtube.com/watch?v=_QEWpoy6HSo)

---

## Quick Start

### Step 1: Clone & Install

```bash
git clone https://github.com/alireza787b/mavlink-anywhere.git
cd mavlink-anywhere
sudo ./install_mavlink_router.sh
```

### Step 2: Configure

```bash
sudo ./configure_mavlink_router.sh
```

The script will:
- **Detect your platform** (Raspberry Pi, Jetson, generic Linux)
- **Check serial port** configuration
- **Guide you** through any needed setup (with auto-fix option on Raspberry Pi)
- **Configure** mavlink-router with your settings

> **Note:** On Raspberry Pi, if serial port needs configuration, the script will offer to fix it automatically. This requires a **reboot**, after which you run the configure script again.

### Step 3: Verify

```bash
sudo systemctl status mavlink-router
```

You should see `active (running)`. Connect your ground station to the configured UDP ports.

---

### Step 4: Open Dashboard (Optional)

The configure script automatically installs a web dashboard bound to localhost by default. On supported release architectures it downloads a prebuilt binary; if that asset is unavailable, it falls back to a local Go source build before dropping back to CLI-only mode. Minimal hosts do not need the external `file(1)` package for dashboard installation.

```
http://127.0.0.1:9070
```

Manage endpoints, inspect MAVLink health, view logs, and control the service from your browser. Skip with `--skip-dashboard`.
To expose it on the network, use `--dashboard-listen 0.0.0.0:9070`.

When the dashboard is exposed on a non-loopback address and no dashboard auth is
already configured, the configure script generates browser login credentials,
stores only a bcrypt password hash in `/etc/mavlink-anywhere/dashboard.env`, and
prints the generated password once. The default generated username is `admin`.

```bash
sudo ./configure_mavlink_router.sh --install-dashboard \
  --dashboard-listen 0.0.0.0:9070 \
  --dashboard-auth-user operator \
  --dashboard-auth-password-file /root/mavlink-dashboard-password
```

For interactive setup or password rotation, use `--dashboard-auth-prompt`.
For MDS/Fleet Ops or other machine clients, also configure a bearer token with
`--dashboard-generate-api-token` or `--dashboard-api-token-file`.

For headless automation, use `--dashboard-auth-password-stdin` or
`--dashboard-auth-password-file`. `--dashboard-auth-password PASSWORD` exists
for constrained lab automation, but it is not recommended because shell history
and process listings can expose it.

If UFW is active, add `--dashboard-ufw-rule` to allow TCP `9070`
automatically when the dashboard listens on a non-loopback address.

An unauthenticated remote dashboard is still available for isolated lab demos:
use `--dashboard-open-lab-mode`. Do not use that mode on a shared LAN, VPN, or
field network.

Do not expose the dashboard to a public network without VPN, firewall, reverse
proxy, and dashboard browser auth.

The dashboard can also export the current effective routing profile, preview imported profiles, apply them with automatic backup, and restore the last good dashboard-managed backup. Fleet profile APIs support MDS Fleet Ops dry-run/apply workflows while preserving node-local hardware input settings by default.

## That's It

The configure script handles everything - platform detection, serial setup, configuration, and dashboard.

`gcs_listen` on `14550/udp` is enabled by default for ad-hoc field access, so QGroundControl can point to `<device-ip>:14550` without pre-configuring a remote IP on the device. This follows `mavlink-router` UDP server semantics: the active remote is the last sender on that listener. Keep local consumers such as MAVSDK and mavlink2rest on explicit localhost endpoints, and use explicit `Mode=Normal` endpoints or the built-in TCP server on `5760/tcp` when you need deterministic or multi-client remote access.

---

## Documentation

| Guide | Description |
|-------|-------------|
| [Web Dashboard](docs/DASHBOARD.md) | Dashboard access, API reference, and configuration |
| [Board Setup And Dashboard Auth](docs/BOARD_SETUP.md) | New board bring-up, dashboard auth, firewall, and version drift checks |
| [UART Setup Guide](docs/UART-SETUP.md) | Detailed serial port configuration and wiring |
| [CLI Reference](docs/CLI-REFERENCE.md) | All command-line options |
| [Troubleshooting](docs/TROUBLESHOOTING.md) | Common issues and solutions |

---

## Advanced Usage

### Auto Mode (Minimal Prompts)

```bash
sudo ./configure_mavlink_router.sh --auto --gcs-ip 192.168.1.100
```

### Headless Mode (No Prompts)

```bash
sudo ./configure_mavlink_router.sh --headless \
    --uart /dev/ttyS0 \
    --baud 57600 \
    --endpoints "127.0.0.1:14540,127.0.0.1:14569,192.168.1.100:24550"
```

### USB Serial (No Boot Config Needed)

```bash
sudo ./configure_mavlink_router.sh --auto --uart /dev/ttyUSB0
```

### UDP Input (For Simulation)

```bash
sudo ./configure_mavlink_router.sh --headless \
    --input-type udp \
    --input-port 14550 \
    --endpoints "127.0.0.1:14540,127.0.0.1:14569"
```

---

## Common Commands

### Service Management

```bash
# Check status
sudo systemctl status mavlink-router

# View live logs
sudo journalctl -u mavlink-router -f

# Restart service
sudo systemctl restart mavlink-router

# Stop/Start
sudo systemctl stop mavlink-router
sudo systemctl start mavlink-router
```

### Change Endpoints

```bash
# Re-run interactive config
sudo ./configure_mavlink_router.sh

# Or headless with new endpoints
sudo ./configure_mavlink_router.sh --headless \
    --endpoints "127.0.0.1:14550,192.168.1.100:14550"
```

### Edit Config Directly

```bash
# Edit configuration
sudo nano /etc/mavlink-router/main.conf

# Apply changes
sudo systemctl restart mavlink-router
```

### CLI Helper (Optional)

```bash
./mavlink-router-cli.sh status      # Show status & config
./mavlink-router-cli.sh logs        # View live logs
./mavlink-router-cli.sh endpoints   # Quick endpoint edit
./mavlink-router-cli.sh help        # All commands
```

### Update to Latest Version

```bash
cd ~/mavlink-anywhere
git fetch --tags origin
git pull --ff-only

# Update mavlink-anywhere dashboard/service files
sudo ./configure_mavlink_router.sh --install-dashboard

# Optional: rebuild upstream mavlink-routerd as well
sudo ./install_mavlink_router.sh
```

If your dashboard is intentionally exposed on the network, re-run the dashboard step with:

```bash
sudo ./configure_mavlink_router.sh --install-dashboard \
    --dashboard-listen 0.0.0.0:9070
```

`--install-dashboard` refreshes the installed dashboard binary when the host is running an older `mavlink-anywhere` release.

---

## 🔌 Supported Platforms

| Platform | Serial Config | Notes |
|----------|--------------|-------|
| **Raspberry Pi** | Auto-detected | Script offers auto-fix for serial setup |
| **NVIDIA Jetson** | Manual | Ensure UART is enabled |
| **Generic Linux** | Manual | Ensure UART device exists |
| **USB Serial** | None needed | Just plug in adapter |
| **UDP Input** | None needed | For SITL/simulation |

Dashboard release binaries are published for `arm6`, `arm64`, and `amd64`. On other Linux architectures, the configure script will try a local Go build if `go` is installed; otherwise the router still works without the dashboard.

## Routing Profiles

Use dashboard profiles when you want repeatable routing layouts without editing raw INI by hand.

- **Export** writes the current effective routing config to JSON
- **Import** previews changes before apply
- **Apply** creates a backup and restarts `mavlink-router`
- **Restore Last Good** reverts to the latest dashboard-created backup

Profiles are intentionally limited to router configuration. They do not change firewall policy or host boot serial settings.

For fleet-managed deployments, use the dashboard profile API rather than
editing `/etc/mavlink-router/main.conf` directly:

- `GET /api/v1/profiles/summary` reports endpoint policy and the local hardware
  source overlay separately.
- `POST /api/v1/profiles/import` requires `dry_run=true` and returns a
  confirmation token.
- `POST /api/v1/profiles/apply` applies only a confirmed dry-run plan for
  `fleet-merge` or `fleet-strict`.
- `fleet-merge` preserves local extra endpoints and the hardware input overlay.
- `fleet-strict` can prune local extra output endpoints only after advanced
  confirmation and still preserves the hardware input overlay.

Set `MAVLINK_ANYWHERE_API_TOKEN` before exposing mutating dashboard APIs beyond
loopback for machine clients. Browser users use
`MAVLINK_ANYWHERE_DASHBOARD_USER` plus
`MAVLINK_ANYWHERE_DASHBOARD_PASSWORD_BCRYPT`; once authenticated, dashboard
save/delete/service controls work without putting the machine token into
JavaScript. Read-only API responses can still reveal routing topology and
system metadata, so keep network exposure behind VPN/firewall controls. MDS
Fleet Ops sends the matching bearer token through `MDS_SIDECAR_PROFILE_TOKEN`.

---

## 🌐 Remote Connectivity

For internet streaming, you need:

1. **Internet** on companion computer (WiFi, 4G, Ethernet)
2. **VPN** for secure access:
   - [NetBird](https://netbird.io/) - Recommended (shown in video)
   - [Tailscale](https://tailscale.com/)
   - [WireGuard](https://www.wireguard.com/)

---

## Integrations

`mavlink-anywhere` is intentionally generic. It sets up a MAVLink router, a default GCS listen endpoint, and optional local service endpoints. Higher-level projects can automate it by passing explicit CLI arguments or by managing `/etc/mavlink-router/main.conf`.

One example integration is [MAVSDK Drone Show](https://github.com/alireza787b/mavsdk_drone_show), but this repository does not assume MDS-specific defaults.

---

## ❓ Need Help?

1. **[Video Tutorial](https://www.youtube.com/watch?v=_QEWpoy6HSo)** - Most common scenarios
2. **[Troubleshooting Guide](docs/TROUBLESHOOTING.md)** - Common issues
3. **[GitHub Issues](https://github.com/alireza787b/mavlink-anywhere/issues)** - Bug reports

---

## 📄 License

---

Made with ❤️ for the drone community 
 <a href="https://github.com/alireza787b/mavlink-anywhere">GitHub</a> •
 <a href="https://www.youtube.com/watch?v=_QEWpoy6HSo">Tutorial</a> •
 <a href="docs/DASHBOARD.md">Dashboard Docs</a>

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