MavLink 输入插件
此插件从 MavLink 兼容的飞行控制器（如 ArduPilot 或 PX4）收集指标，以实时摄取无人驾驶系统（无人机、飞机、船只等）的飞行指标。目前使用 ArduPilot 特定的 Mavlink 方言，有关更多详细信息和可用消息，请参阅Mavlink 文档。
此插件可能生成大量数据。如果您的输出插件无法处理消息速率，请使用指标过滤器限制写入输出的指标，和/或使用 filters 配置参数限制此插件解析哪些 Mavlink 消息。
引入于： Telegraf v1.35.0 标签： iot 操作系统支持： all
全局配置选项
插件支持其他全局和插件配置设置，用于修改指标、标签和字段，创建别名以及配置插件顺序等任务。更多详情请参阅 CONFIGURATION.md。
配置
# Read metrics from a Mavlink flight controller.
[[inputs.mavlink]]
## Flight controller URL supporting serial port, UDP and TCP connections.
## Options are documented at
## https://mavsdk.mavlink.io/v1.4/en/cpp/guide/connections.html.
##
## Examples:
## - Serial port: serial:///dev/ttyACM0:57600
## - TCP client: tcp://192.168.1.12:5760
## - UDP client: udp://192.168.1.12:14550
## - TCP server: tcpserver://:5760
## - UDP server: udpserver://:14550
# url = "tcp://127.0.0.1:5760"
## Filter to specific messages. Only the messages in this list will be parsed.
## If blank or unset, all messages will be accepted. Glob syntax is accepted.
## Each message in this list should be lowercase camel_case, with "message_"
## prefix removed, eg: "global_position_int", "attitude"
# filter = []
## Mavlink system ID for Telegraf. Only used if the mavlink plugin is sending
## messages, eg. when `stream_request_frequency` is 0 (see below.)
# system_id = 254
## Determines whether the plugin sends requests to subscribe to data.
## In mavlink, stream rates must be configured before data is received.
## This config item sets the rate in Hz, with 0 disabling the request.
##
## This frequency should be set to 0 if your software already controls the
## rates using REQUEST_DATA_STREAM or MAV_CMD_SET_MESSAGE_INTERVAL
## (See https://mavlink.io/en/mavgen_python/howto_requestmessages.html)
# stream_request_frequency = 4Metrics
每个支持的 Mavlink 消息都将转换为一个度量组，Mavlink 消息中的字段将转换为 telegraf 中的字段。
Mavlink 消息的名称将转换为小写，并且会删除任何前导文本 message_。
例如，消息 ATTITUDE 将成为一个 attitude 度量，所有字段都将从其 Mavlink 消息定义中复制。
示例输出
system_time,source=udp://:5760,sys_id=1 time_unix_usec=1732901334516981i,time_boot_ms=1731552i
ekf_status_report,source=udp://:5760,sys_id=1 velocity_variance=0.006436665542423725,pos_horiz_variance=0.006062425673007965,pos_vert_variance=0.0029854460153728724,compass_variance=0.010930062271654606,terrain_alt_variance=0,airspeed_variance=0
local_position_ned,source=udp://:5760,sys_id=1 time_boot_ms=1731552i,x=-0.010437906719744205,y=-0.02162001095712185,z=-0.0037050051614642143,vx=-0.011906237341463566,vy=-0.02467793971300125,vz=0.012739507481455803
vibration,source=udp://:5760,sys_id=1 time_usec=1731552102i,vibration_x=0.0028534166049212217,vibration_y=0.002792230574414134,vibration_z=0.0028329004999250174,clipping_0=0i,clipping_1=0i,clipping_2=0i
battery_status,source=udp://:5760,sys_id=1 id=0i,temperature=32767i,current_battery=0i,current_consumed=0i,energy_consumed=0i,battery_remaining=100i,time_remaining=0i
ahrs,source=udp://:5760,sys_id=1 omegaix=-0.0012698185164481401,omegaiy=-0.0011798597406595945,omegaiz=-0.0017210562946274877,accel_weight=0,renorm_val=0,error_rp=0.002372326795011759,error_yaw=0.0014012008905410767
ahrs2,source=udp://:5760,sys_id=1 roll=-0.0015893152449280024,pitch=-0.0018129277741536498,yaw=-1.2297048568725586,altitude=0.22999998927116394,lat=450469223i,lng=-834024728i
attitude,source=udp://:5760,sys_id=1 time_boot_ms=1731811i,roll=-0.0011288427049294114,pitch=-0.0013485358795151114,yaw=-1.2430261373519897,rollspeed=-0.00023304438218474388,pitchspeed=-0.00023194786626845598,yawspeed=-0.0008081073756329715 0
global_position_int,source=udp://:5760,sys_id=1 time_boot_ms=1731811i,lat=450469223i,lon=-834024730i,alt=0i,relative_alt=-115i,vx=-1i,vy=-2i,vz=1i,hdg=28878i
gps_raw_int,source=udp://:5760,sys_id=1 time_usec=1731635000i,lat=450469223i,lon=-834024728i,alt=0i,eph=121i,epv=200i,vel=0i,cog=0i,satellites_visible=10i,alt_ellipsoid=0i,hacc=300i,vacc=300i,vel_acc=40i,hdg_acc=0i,yaw=0i此页面是否有帮助？
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