Eye4Software Hydromagic

  Hydrographic Survey Software


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Hydromagic MAVLink Plugin

MAVLink is a communications used to communicate with a drone by using ground control software (GCS). The MAVLink protocol contains commands to instruct an AutoPilot to fly to a specific location, take-off or land. Also sensor values like motion, elevation, speed and GPS position are transferred using the MAVLink protocol. The Hydromagic MAVLink protocol plugin allows you to feed this sensor information directly into Hydromagic as raw data.


Loading the MAVLink plugin

To load this plugin, open the preferences window by selecting "Preferences..." from the "Options" menu. In the window that appears, select the "Devices" tab. Next click the "Add..." button.

the devices tab in the preferences dialog
The devices tab in the "Preferences" dialog.

A list of available plugins will be displayed. In this list, select the "MAVLink AutoPilot for Hydromagic" plugin and click "OK" to load and display the configuration dialog.

Select the MAVLink AutoPilot for Hydromagic plugin from the list of available plugins
Select the "MAVLink AutoPilot for Hydromagic" plugin from the list of available plugins.


Configuring the MAVLink plugin

After loading the plugin, you have to select the connection parameters first. Please note that a MAVLink can be connected using a serial connection or a TCP/IP connection (for instance WiFi). First select the connection type from the drop down list and configure other connection parameters.

Configure communication settings for the MAVLink connection in the plugin window.
Configure communication settings for the MAVLink
connection in the plugin window..

To define which MAVLink messages are decoded and handled by the Hydromagic software, click the "Select Messages..." button. Your version of the plugin might have more messages to choose from then displayed in the screenshot below. Please refer to the "Supported Messages" paragraph for more details on these message types.

Select which MAVLink protocol messages are handled by the plugin
Select which MAVLink protocol messages are handled by the plugin


Unloading the MAVLink plugin

To unload the MAVLink plugin, open the preferences window by selecting "Preferences..." from the "Options" menu. In the window that appears, select the "Devices" tab. Next select the "MAVLink AutoPilot Plugin for Hydromagic" and click the "Remove..." button.

Select the MAVLink plugin and click the Remove... button to unload the plugin
Select the MAVLink plugin and click the
"Remove..." button to unload the plugin.


Supported Messages

#24 - MAVLINK_MSG_ID_GPS_RAW_INT

The global position, as returned by the Global Positioning System (GPS). This is NOT the global position estimate of the system, but rather a RAW sensor value. This packet has a length of 30 bytes and contains WGS84 position, EGM96 altitude, HDOP/VDOP, fix type, satellite count and velocity and speed over ground. When both message #24 and #33 are available, prefer to use this message only.

#30 - MAVLINK_MSG_ID_ATTITUDE

The attitude message contains attitude information like pitch, roll and yaw. This is calculated from an IMU or motion sensor on board the drone or USV. The range for roll and pitch is +-90 degrees. When this message is not supported, message #31 could be used as alternative.

#31 - MAVLINK_MSG_ID_ATTITUDE_QUATERNION

The attitude message contains pitch and roll information encoded as a quaternion (x,y,z,w values). Hydromagic converts this to a pitch and roll value. The range for roll and pitch is +-90 degrees. When this message is not supported, message #30 could be used as alternative.

#33 - MAVLINK_MSG_ID_GLOBAL_POSITION_INT

Just like message #24 this message contains position information. However the difference with message #24 is, that this message only contains a geographic position and speed vectors in x,y and z direction. When #24 is present, disable message number 33.