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Fix links after repo rename

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Vasily Evseenko 2022-11-23 23:44:19 +03:00
parent 99ce66f409
commit 2bb5791a14
5 changed files with 48 additions and 535 deletions
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4
.github/ISSUE_TEMPLATE/bug_report.md vendored
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@ -29,5 +29,5 @@ If applicable, add screenshots to help explain your problem.
Add any other context about the problem here.
**Confirm you read**
- [ ] https://github.com/svpcom/wifibroadcast/blob/master/README.md
- [ ] https://github.com/svpcom/wifibroadcast/wiki/Setup-HOWTO
- [ ] https://github.com/svpcom/wfb-ng/blob/master/README.md
- [ ] https://github.com/svpcom/wfb-ng/wiki/Setup-HOWTO

4
.github/ISSUE_TEMPLATE/question.md vendored
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@ -1,11 +1,11 @@
---
name: ⛔ Support Question
about: See https://github.com/svpcom/wifibroadcast/discussions for questions about using WFB.
about: See https://github.com/svpcom/wfb-ng/discussions for questions about using WFB.
---
We use GitHub issues only to discuss WFB bugs and new features. For
questions about using WFB or related components, please use https://github.com/svpcom/wifibroadcast/discussions
questions about using WFB or related components, please use https://github.com/svpcom/wfb-ng/discussions
Thanks!

24
README.md
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@ -7,29 +7,29 @@ Main features:
--------------
- 1:1 map of RTP to IEEE80211 packets for minimum latency (doesn't serialize to byte steam)
- Smart FEC support (immediately yeild packet to video decoder if FEC pipeline without gaps)
- [Bidirectional mavlink telemetry](https://github.com/svpcom/wifibroadcast/wiki/Setup-HOWTO). You can use it for mavlink up/down and video down link.
- [Bidirectional mavlink telemetry](https://github.com/svpcom/wfb-ng/wiki/Setup-HOWTO). You can use it for mavlink up/down and video down link.
- IP-over-WFB tunnel support. You can transmit ordinary ip packets over WFB link. Note, don't use ip tunnel for high-bandwidth transfers like video or mavlink. It use less efficient FEC coding and doesn't aggregate small packets.
- Automatic TX diversity (select TX card based on RX RSSI)
- Stream encryption and authentication ([libsodium](https://download.libsodium.org/doc/))
- Distributed operation. It can gather data from cards on different hosts. So you don't limited to bandwidth of single USB bus.
- Aggreagation of mavlink packets. Doesn't send wifi packet for every mavlink packet.
- Enhanced [OSD](https://github.com/svpcom/wifibroadcast_osd) for Raspberry PI (consume 10% CPU on PI Zero) or any other system which
- Enhanced [OSD](https://github.com/svpcom/wfb-ng-osd) for Raspberry PI (consume 10% CPU on PI Zero) or any other system which
supports gstreamer (Linux X11, etc). Compatible with any screen resolution. Supports aspect correction for PAL to HD scaling.
- Provides IPv4 tunnel for generic usage
> :warning: **Warranty/Disclaimer** <br />
> This is free software and comes with no warranty, as stated in parts 15 and 16 of the GPLv3 license. The creators and contributors of the software are not responsible for how it is used.
> See [License and Support](https://github.com/svpcom/wifibroadcast/wiki/License-and-Support) for details.
> See [License and Support](https://github.com/svpcom/wfb-ng/wiki/License-and-Support) for details.
## Getting Started
For detailed instructions on how to get started read through
[PX4-Guide](https://docs.px4.io/main/en/tutorials/video_streaming_wifi_broadcast.html)
and follow the [Setup HowTo](https://github.com/svpcom/wifibroadcast/wiki/Setup-HOWTO)
and follow the [Setup HowTo](https://github.com/svpcom/wfb-ng/wiki/Setup-HOWTO)
### Quick start using Raspberry Pi
- Under [Releases](https://github.com/svpcom/wifibroadcast/releases) download the latest image file (`*.img.gz`).
- Under [Releases](https://github.com/svpcom/wfb-ng/releases) download the latest image file (`*.img.gz`).
- Unpack the `*.img` file and flash it to 2-SD Cards.
- Plug the WiFi Adapters into the Raspberry Pis
- Boot the Pis and ssh into them using the following command (replace `192.168.0.111` with their IP-Address). Password: `raspberry`
@ -84,8 +84,8 @@ wlan0: flags=4163<UP,BROADCAST,RUNNING,MULTICAST> mtu 2312
- Copy the name of the RTL8812AU WiFi card.
- Install wfb-ng. Replace `wifi0`with the previously copied name of the WiFi card.
```
git clone -b stable https://github.com/svpcom/wifibroadcast.git
cd wifibroadcast
git clone -b stable https://github.com/svpcom/wfb-ng.git
cd wfb-ng
sudo ./scripts/install_gs.sh wifi0
```
- Done! To monitor the link use the following command on the ground station:
@ -135,7 +135,7 @@ If you like WFB-ng you can make a donation to `bitcoin:bc1qfvlsvr0ea7tzzydngq5cf
## Theory
WFB-NG puts the wifi cards into monitor mode. This mode allows to send and receive arbitrary packets without association and waiting for ACK packets.
[Analysis of Injection Capabilities and Media Access of IEEE 802.11 Hardware in Monitor Mode](https://github.com/svpcom/wifibroadcast/blob/master/patches/Analysis%20of%20Injection%20Capabilities%20and%20Media%20Access%20of%20IEEE%20802.11%20Hardware%20in%20Monitor%20Mode.pdf)
[Analysis of Injection Capabilities and Media Access of IEEE 802.11 Hardware in Monitor Mode](https://github.com/svpcom/wfb-ng/blob/master/doc/Analysis%20of%20Injection%20Capabilities%20and%20Media%20Access%20of%20IEEE%20802.11%20Hardware%20in%20Monitor%20Mode.pdf)
[802.11 timings](https://github.com/ewa/802.11-data)
Sample usage chain:
@ -195,16 +195,12 @@ Put `drone.key` to drone and `gs.key` to gs.
Supported WiFi hardware:
------------------------
My primary hardware targets are:
1. Realtek RTL8812au. 802.11ac capable. Easy to buy. [**Requires external patched driver!**](https://github.com/svpcom/rtl8812au) System was tested with ALPHA AWUS036ACH on both sides in 5GHz mode.
2. ~~Ralink RT28xx family. Cheap, but doesn't produced anymore. System was tested with ALPHA AWUS051NH v2 as TX and array of RT5572 OEM cards as RX in 5GHz mode.~~ Broken in latest 5.x kernels. Injection became slow and eats 100% CPU
To maximize output power and/or increase bandwidth (in case of one-way transmitting) you need to apply kernel patches from ``patches`` directory. See https://github.com/svpcom/wifibroadcast/wiki/Kernel-patches for details.
My primary hardware target is Realtek **RTL8812au**. 802.11ac capable. Easy to buy. [**Requires external patched driver!**](https://github.com/svpcom/rtl8812au) System was tested with ALPHA AWUS036ACH on both sides in 5GHz mode.
Wiki:
-----
See https://github.com/svpcom/wifibroadcast/wiki for additional info
See https://github.com/svpcom/wfb-ng/wiki for additional info
Community support:
---------------

68
doc/enhanced_setup.dot
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@ -1,4 +1,4 @@
digraph wifibroadcast {
digraph wfb_ng {
size = "a4";
compound=true;
splines=ortho;
@ -27,8 +27,8 @@ digraph wifibroadcast {
label = "NanoPI NEO2";
color = "green";
wifibroadcast_tx_1[shape=box];
wifibroadcast_tx_2[shape=box];
wfb_tx_1[shape=box];
wfb_tx_2[shape=box];
mavproxy1[label="mavlink router", shape=box];
}
wifi_tx;
@ -36,14 +36,14 @@ digraph wifibroadcast {
wifi_tx -> ant_tx;
gstreamer -> wifibroadcast_tx_1[label="USB", ltail=cluster_pizero, lhead=cluster_companion];
gstreamer -> wfb_tx_1[label="USB", ltail=cluster_pizero, lhead=cluster_companion];
pixhawk -> mavproxy1[label="UART"];
gstreamer -> wifibroadcast_tx_1[label="UDP 5060", style=dotted];
mavproxy1 -> wifibroadcast_tx_2[label="UDP 14550", style=dotted];
gstreamer -> wfb_tx_1[label="UDP 5060", style=dotted];
mavproxy1 -> wfb_tx_2[label="UDP 14550", style=dotted];
mavproxy1 -> sik_radio1[label="UART"];
wifibroadcast_tx_1 -> wifi_tx [label="radio_port 1", style=dotted];
wifibroadcast_tx_2 -> wifi_tx [label="radio_port 2", style=dotted];
wifibroadcast_tx_2 -> wifi_tx [label="USB", ltail=cluster_companion];
wfb_tx_1 -> wifi_tx [label="radio_port 1", style=dotted];
wfb_tx_2 -> wifi_tx [label="radio_port 2", style=dotted];
wfb_tx_2 -> wifi_tx [label="USB", ltail=cluster_companion];
}
subgraph cluster_GS {
@ -73,22 +73,22 @@ digraph wifibroadcast {
label = "Host RX1";
color="red";
eth_rx1[label="eth0"];
wifibroadcast_rx_1_1[shape=box];
wifibroadcast_rx_1_2[shape=box];
wfb_rx_1_1[shape=box];
wfb_rx_1_2[shape=box];
}
subgraph cluster_rx2{
label = "Host RX2";
color="red";
eth_rx2[label="eth0"];
wifibroadcast_rx_2_1[shape=box];
wifibroadcast_rx_2_2[shape=box];
wfb_rx_2_1[shape=box];
wfb_rx_2_2[shape=box];
}
subgraph cluster_rx3{
label = "Host RX3";
color="red";
eth_rx3[label="eth0"];
wifibroadcast_rx_3_1[shape=box];
wifibroadcast_rx_3_2[shape=box];
wfb_rx_3_1[shape=box];
wfb_rx_3_2[shape=box];
}
sik_radio2[label="3DR radio"];
subgraph cluster_rx4{
@ -97,27 +97,27 @@ digraph wifibroadcast {
eth_rx4[label="eth0"];
mavproxy2[label="mavlink router", shape=box];
}
wifi_rx1 -> wifibroadcast_rx_1_1[label="radio port 1",style=dotted];
wifi_rx1 -> wifibroadcast_rx_1_2[label="radio port 2",style=dotted];
wifi_rx2 -> wifibroadcast_rx_2_1[label="radio port 1",style=dotted];
wifi_rx2 -> wifibroadcast_rx_2_2[label="radio port 2",style=dotted];
wifi_rx3 -> wifibroadcast_rx_3_1[label="radio port 1",style=dotted];
wifi_rx3 -> wifibroadcast_rx_3_2[label="radio port 2",style=dotted];
wifi_rx1 -> wfb_rx_1_1[label="radio port 1",style=dotted];
wifi_rx1 -> wfb_rx_1_2[label="radio port 2",style=dotted];
wifi_rx2 -> wfb_rx_2_1[label="radio port 1",style=dotted];
wifi_rx2 -> wfb_rx_2_2[label="radio port 2",style=dotted];
wifi_rx3 -> wfb_rx_3_1[label="radio port 1",style=dotted];
wifi_rx3 -> wfb_rx_3_2[label="radio port 2",style=dotted];
sik_radio2 -> mavproxy2;
subgraph cluster_laptop {
label = "Linux laptop";
color="green";
eth_linux[label="eth0"];
wifibroadcast_agg1[shape=box];
wifibroadcast_agg2[shape=box];
wfb_agg1[shape=box];
wfb_agg2[shape=box];
qgroundcontrol[shape=box];
}
wifibroadcast_rx_1_1 -> wifibroadcast_agg1[label="UDP 5601", style=dotted];
wifibroadcast_rx_1_2 -> wifibroadcast_agg2[label="UDP 14551", style=dotted];
wifibroadcast_rx_2_1 -> wifibroadcast_agg1[label="UDP 5601", style=dotted];
wifibroadcast_rx_2_2 -> wifibroadcast_agg2[label="UDP 14551",style=dotted];
wifibroadcast_rx_3_1 -> wifibroadcast_agg1[label="UDP 5601" style=dotted];
wifibroadcast_rx_3_2 -> wifibroadcast_agg2[label="UDP 14551",style=dotted];
wfb_rx_1_1 -> wfb_agg1[label="UDP 5601", style=dotted];
wfb_rx_1_2 -> wfb_agg2[label="UDP 14551", style=dotted];
wfb_rx_2_1 -> wfb_agg1[label="UDP 5601", style=dotted];
wfb_rx_2_2 -> wfb_agg2[label="UDP 14551",style=dotted];
wfb_rx_3_1 -> wfb_agg1[label="UDP 5601" style=dotted];
wfb_rx_3_2 -> wfb_agg2[label="UDP 14551",style=dotted];
ethernet_switch[label="switch"];
eth_rx1 -> ethernet_switch[dir=both];
@ -133,17 +133,17 @@ digraph wifibroadcast {
label = "PI Zero";
color="blue";
style=solid;
wifibroadcast_osd[shape=box];
wfb_osd[shape=box];
gstreamer_fpv[shape=box];
}
video_display[label="Display"];
}
wifibroadcast_agg1 -> gstreamer_fpv[label="UDP 5600", style=dotted];
wifibroadcast_agg2 -> wifibroadcast_osd[label="UDP 14550", style=dotted];
wifibroadcast_agg2 -> wifibroadcast_osd[label="USB", ltail=cluster_laptop, lhead=cluster_fpv_pi_zero];
wfb_agg1 -> gstreamer_fpv[label="UDP 5600", style=dotted];
wfb_agg2 -> wfb_osd[label="UDP 14550", style=dotted];
wfb_agg2 -> wfb_osd[label="USB", ltail=cluster_laptop, lhead=cluster_fpv_pi_zero];
mavproxy2 -> qgroundcontrol[style=dotted];
wifibroadcast_osd -> video_display[label="HDMI or AV",ltail=cluster_fpv_pi_zero];
wfb_osd -> video_display[label="HDMI or AV",ltail=cluster_fpv_pi_zero];
}

483
doc/enhanced_setup.svg
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@ -1,483 +0,0 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN"
"http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">
<!-- Generated by graphviz version 2.38.0 (20140413.2041)
-->
<!-- Title: wifibroadcast Pages: 1 -->
<svg width="1866pt" height="728pt"
viewBox="0.00 0.00 1866.00 728.00" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g id="graph0" class="graph" transform="scale(1 1) rotate(0) translate(4 724)">
<title>wifibroadcast</title>
<polygon fill="white" stroke="none" points="-4,4 -4,-724 1862,-724 1862,4 -4,4"/>
<g id="clust1" class="cluster"><title>cluster_uav</title>
<polygon fill="none" stroke="black" points="8,-8 8,-712 485,-712 485,-8 8,-8"/>
<text text-anchor="middle" x="246.5" y="-696.8" font-family="Times,serif" font-size="14.00">UAV</text>
</g>
<g id="clust2" class="cluster"><title>cluster_pizero</title>
<polygon fill="none" stroke="blue" points="140,-421 140,-604 228,-604 228,-421 140,-421"/>
<text text-anchor="middle" x="184" y="-588.8" font-family="Times,serif" font-size="14.00">PI Zero</text>
</g>
<g id="clust3" class="cluster"><title>cluster_companion</title>
<polygon fill="none" stroke="green" points="16,-174 16,-388 270,-388 270,-174 16,-174"/>
<text text-anchor="middle" x="143" y="-372.8" font-family="Times,serif" font-size="14.00">NanoPI NEO2</text>
</g>
<g id="clust4" class="cluster"><title>cluster_GS</title>
<polygon fill="none" stroke="black" points="493,-79 493,-712 1850,-712 1850,-79 493,-79"/>
<text text-anchor="middle" x="1171.5" y="-696.8" font-family="Times,serif" font-size="14.00">Ground station</text>
</g>
<g id="clust5" class="cluster"><title>cluster_rx1</title>
<polygon fill="none" stroke="red" points="1271,-421 1271,-496 1648,-496 1648,-421 1271,-421"/>
<text text-anchor="middle" x="1459.5" y="-480.8" font-family="Times,serif" font-size="14.00">Host RX1</text>
</g>
<g id="clust6" class="cluster"><title>cluster_rx2</title>
<polygon fill="none" stroke="red" points="886,-421 886,-496 1263,-496 1263,-421 886,-421"/>
<text text-anchor="middle" x="1074.5" y="-480.8" font-family="Times,serif" font-size="14.00">Host RX2</text>
</g>
<g id="clust7" class="cluster"><title>cluster_rx3</title>
<polygon fill="none" stroke="red" points="501,-421 501,-496 878,-496 878,-421 501,-421"/>
<text text-anchor="middle" x="689.5" y="-480.8" font-family="Times,serif" font-size="14.00">Host RX3</text>
</g>
<g id="clust8" class="cluster"><title>cluster_rx4</title>
<polygon fill="none" stroke="red" points="1656,-421 1656,-496 1842,-496 1842,-421 1656,-421"/>
<text text-anchor="middle" x="1749" y="-480.8" font-family="Times,serif" font-size="14.00">Host RX4</text>
</g>
<g id="clust9" class="cluster"><title>cluster_laptop</title>
<polygon fill="none" stroke="green" points="892,-313 892,-388 1363,-388 1363,-313 892,-313"/>
<text text-anchor="middle" x="1127.5" y="-372.8" font-family="Times,serif" font-size="14.00">Linux laptop</text>
</g>
<g id="clust10" class="cluster"><title>cluster_video_goggles</title>
<polygon fill="none" stroke="black" stroke-dasharray="1,5" points="905,-87 905,-280 1167,-280 1167,-87 905,-87"/>
<text text-anchor="middle" x="1036" y="-264.8" font-family="Times,serif" font-size="14.00">FPV goggles</text>
</g>
<g id="clust11" class="cluster"><title>cluster_fpv_pi_zero</title>
<polygon fill="none" stroke="blue" points="913,-174 913,-249 1159,-249 1159,-174 913,-174"/>
<text text-anchor="middle" x="1036" y="-233.8" font-family="Times,serif" font-size="14.00">PI Zero</text>
</g>
<!-- camera -->
<g id="node1" class="node"><title>camera</title>
<ellipse fill="none" stroke="black" cx="184" cy="-663" rx="36.2938" ry="18"/>
<text text-anchor="middle" x="184" y="-659.3" font-family="Times,serif" font-size="14.00">camera</text>
</g>
<!-- raspivid -->
<g id="node2" class="node"><title>raspivid</title>
<polygon fill="none" stroke="black" points="214,-573 154,-573 154,-537 214,-537 214,-573"/>
<text text-anchor="middle" x="184" y="-551.3" font-family="Times,serif" font-size="14.00">raspivid</text>
</g>
<!-- camera&#45;&gt;raspivid -->
<g id="edge2" class="edge"><title>camera&#45;&gt;raspivid</title>
<path fill="none" stroke="black" stroke-dasharray="1,5" d="M184,-644.679C184,-644.679 184,-583.05 184,-583.05"/>
<polygon fill="black" stroke="black" points="187.5,-583.05 184,-573.05 180.5,-583.05 187.5,-583.05"/>
<text text-anchor="middle" x="206" y="-615.8" font-family="Times,serif" font-size="14.00">CSI bus</text>
</g>
<!-- gstreamer -->
<g id="node3" class="node"><title>gstreamer</title>
<polygon fill="none" stroke="black" points="219.5,-465 148.5,-465 148.5,-429 219.5,-429 219.5,-465"/>
<text text-anchor="middle" x="184" y="-443.3" font-family="Times,serif" font-size="14.00">gstreamer</text>
</g>
<!-- raspivid&#45;&gt;gstreamer -->
<g id="edge1" class="edge"><title>raspivid&#45;&gt;gstreamer</title>
<path fill="none" stroke="black" stroke-dasharray="1,5" d="M184,-536.679C184,-536.679 184,-475.05 184,-475.05"/>
<polygon fill="black" stroke="black" points="187.5,-475.05 184,-465.05 180.5,-475.05 187.5,-475.05"/>
<text text-anchor="middle" x="196" y="-507.8" font-family="Times,serif" font-size="14.00">pipe</text>
</g>
<!-- wifibroadcast_tx_1 -->
<g id="node6" class="node"><title>wifibroadcast_tx_1</title>
<polygon fill="none" stroke="black" points="261.5,-357 140.5,-357 140.5,-321 261.5,-321 261.5,-357"/>
<text text-anchor="middle" x="201" y="-335.3" font-family="Times,serif" font-size="14.00">wifibroadcast_tx_1</text>
</g>
<!-- gstreamer&#45;&gt;wifibroadcast_tx_1 -->
<g id="edge4" class="edge"><title>gstreamer&#45;&gt;wifibroadcast_tx_1</title>
<path fill="none" stroke="black" d="M172.167,-421.257C172.167,-415.432 172.167,-406.897 172.167,-398.316"/>
<polygon fill="black" stroke="black" points="175.667,-397.915 172.167,-387.915 168.667,-397.915 175.667,-397.915"/>
<text text-anchor="middle" x="180.5" y="-399.8" font-family="Times,serif" font-size="14.00">USB</text>
</g>
<!-- gstreamer&#45;&gt;wifibroadcast_tx_1 -->
<g id="edge6" class="edge"><title>gstreamer&#45;&gt;wifibroadcast_tx_1</title>
<path fill="none" stroke="black" stroke-dasharray="1,5" d="M195.833,-428.679C195.833,-428.679 195.833,-367.05 195.833,-367.05"/>
<polygon fill="black" stroke="black" points="199.333,-367.05 195.833,-357.05 192.333,-367.05 199.333,-367.05"/>
<text text-anchor="middle" x="246" y="-399.8" font-family="Times,serif" font-size="14.00">UDP 5060</text>
</g>
<!-- pixhawk -->
<g id="node4" class="node"><title>pixhawk</title>
<ellipse fill="none" stroke="black" cx="73" cy="-447" rx="40.8928" ry="18"/>
<text text-anchor="middle" x="73" y="-443.3" font-family="Times,serif" font-size="14.00">pixhawk</text>
</g>
<!-- mavproxy1 -->
<g id="node8" class="node"><title>mavproxy1</title>
<polygon fill="none" stroke="black" points="122,-357 24,-357 24,-321 122,-321 122,-357"/>
<text text-anchor="middle" x="73" y="-335.3" font-family="Times,serif" font-size="14.00">mavlink router</text>
</g>
<!-- pixhawk&#45;&gt;mavproxy1 -->
<g id="edge5" class="edge"><title>pixhawk&#45;&gt;mavproxy1</title>
<path fill="none" stroke="black" d="M73,-428.679C73,-428.679 73,-367.05 73,-367.05"/>
<polygon fill="black" stroke="black" points="76.5001,-367.05 73,-357.05 69.5001,-367.05 76.5001,-367.05"/>
<text text-anchor="middle" x="91.5" y="-399.8" font-family="Times,serif" font-size="14.00">UART</text>
</g>
<!-- sik_radio1 -->
<g id="node5" class="node"><title>sik_radio1</title>
<ellipse fill="none" stroke="black" cx="326" cy="-200" rx="48.1917" ry="18"/>
<text text-anchor="middle" x="326" y="-196.3" font-family="Times,serif" font-size="14.00">3DR radio</text>
</g>
<!-- wifi_tx -->
<g id="node9" class="node"><title>wifi_tx</title>
<ellipse fill="none" stroke="black" cx="232" cy="-113" rx="36.2938" ry="18"/>
<text text-anchor="middle" x="232" y="-109.3" font-family="Times,serif" font-size="14.00">wifi_tx</text>
</g>
<!-- wifibroadcast_tx_1&#45;&gt;wifi_tx -->
<g id="edge9" class="edge"><title>wifibroadcast_tx_1&#45;&gt;wifi_tx</title>
<path fill="none" stroke="black" stroke-dasharray="1,5" d="M246.75,-320.888C246.75,-320.888 246.75,-139.653 246.75,-139.653"/>
<polygon fill="black" stroke="black" points="250.25,-139.653 246.75,-129.653 243.25,-139.653 250.25,-139.653"/>
<text text-anchor="middle" x="443.5" y="-196.3" font-family="Times,serif" font-size="14.00">radio_port 1</text>
</g>
<!-- wifibroadcast_tx_2 -->
<g id="node7" class="node"><title>wifibroadcast_tx_2</title>
<polygon fill="none" stroke="black" points="202.5,-218 81.5,-218 81.5,-182 202.5,-182 202.5,-218"/>
<text text-anchor="middle" x="142" y="-196.3" font-family="Times,serif" font-size="14.00">wifibroadcast_tx_2</text>
</g>
<!-- wifibroadcast_tx_2&#45;&gt;wifi_tx -->
<g id="edge10" class="edge"><title>wifibroadcast_tx_2&#45;&gt;wifi_tx</title>
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</g>
<!-- wifibroadcast_tx_2&#45;&gt;wifi_tx -->
<g id="edge11" class="edge"><title>wifibroadcast_tx_2&#45;&gt;wifi_tx</title>
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<text text-anchor="middle" x="245.5" y="-152.8" font-family="Times,serif" font-size="14.00">USB</text>
</g>
<!-- mavproxy1&#45;&gt;sik_radio1 -->
<g id="edge8" class="edge"><title>mavproxy1&#45;&gt;sik_radio1</title>
<path fill="none" stroke="black" d="M108.5,-320.974C108.5,-295.491 108.5,-252 108.5,-252 108.5,-252 326,-252 326,-252 326,-252 326,-228.187 326,-228.187"/>
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</g>
<!-- mavproxy1&#45;&gt;wifibroadcast_tx_2 -->
<g id="edge7" class="edge"><title>mavproxy1&#45;&gt;wifibroadcast_tx_2</title>
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</g>
<!-- ant_tx -->
<g id="node10" class="node"><title>ant_tx</title>
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<text text-anchor="middle" x="232" y="-30.3" font-family="Times,serif" font-size="14.00">ant_tx</text>
</g>
<!-- wifi_tx&#45;&gt;ant_tx -->
<g id="edge3" class="edge"><title>wifi_tx&#45;&gt;ant_tx</title>
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<!-- ant_1_1 -->
<g id="node11" class="node"><title>ant_1_1</title>
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<text text-anchor="middle" x="1487" y="-659.3" font-family="Times,serif" font-size="14.00">ant_1_1</text>
</g>
<!-- wifi_rx1 -->
<g id="node17" class="node"><title>wifi_rx1</title>
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<text text-anchor="middle" x="1439" y="-551.3" font-family="Times,serif" font-size="14.00">wifi_rx1</text>
</g>
<!-- ant_1_1&#45;&gt;wifi_rx1 -->
<g id="edge12" class="edge"><title>ant_1_1&#45;&gt;wifi_rx1</title>
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<!-- ant_1_2 -->
<g id="node12" class="node"><title>ant_1_2</title>
<ellipse fill="none" stroke="black" cx="1391" cy="-663" rx="38.9931" ry="18"/>
<text text-anchor="middle" x="1391" y="-659.3" font-family="Times,serif" font-size="14.00">ant_1_2</text>
</g>
<!-- ant_1_2&#45;&gt;wifi_rx1 -->
<g id="edge13" class="edge"><title>ant_1_2&#45;&gt;wifi_rx1</title>
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<!-- ant_2_1 -->
<g id="node13" class="node"><title>ant_2_1</title>
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<text text-anchor="middle" x="1079" y="-659.3" font-family="Times,serif" font-size="14.00">ant_2_1</text>
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<!-- wifi_rx2 -->
<g id="node18" class="node"><title>wifi_rx2</title>
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<text text-anchor="middle" x="1022" y="-551.3" font-family="Times,serif" font-size="14.00">wifi_rx2</text>
</g>
<!-- ant_2_1&#45;&gt;wifi_rx2 -->
<g id="edge14" class="edge"><title>ant_2_1&#45;&gt;wifi_rx2</title>
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<!-- ant_2_2 -->
<g id="node14" class="node"><title>ant_2_2</title>
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<text text-anchor="middle" x="983" y="-659.3" font-family="Times,serif" font-size="14.00">ant_2_2</text>
</g>
<!-- ant_2_2&#45;&gt;wifi_rx2 -->
<g id="edge15" class="edge"><title>ant_2_2&#45;&gt;wifi_rx2</title>
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<!-- ant_3_1 -->
<g id="node15" class="node"><title>ant_3_1</title>
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<text text-anchor="middle" x="769" y="-659.3" font-family="Times,serif" font-size="14.00">ant_3_1</text>
</g>
<!-- wifi_rx3 -->
<g id="node19" class="node"><title>wifi_rx3</title>
<ellipse fill="none" stroke="black" cx="709" cy="-555" rx="40.8928" ry="18"/>
<text text-anchor="middle" x="709" y="-551.3" font-family="Times,serif" font-size="14.00">wifi_rx3</text>
</g>
<!-- ant_3_1&#45;&gt;wifi_rx3 -->
<g id="edge16" class="edge"><title>ant_3_1&#45;&gt;wifi_rx3</title>
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<polygon fill="black" stroke="black" points="743.475,-576.915 739.975,-566.915 736.475,-576.915 743.475,-576.915"/>
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<!-- ant_3_2 -->
<g id="node16" class="node"><title>ant_3_2</title>
<ellipse fill="none" stroke="black" cx="673" cy="-663" rx="38.9931" ry="18"/>
<text text-anchor="middle" x="673" y="-659.3" font-family="Times,serif" font-size="14.00">ant_3_2</text>
</g>
<!-- ant_3_2&#45;&gt;wifi_rx3 -->
<g id="edge17" class="edge"><title>ant_3_2&#45;&gt;wifi_rx3</title>
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<!-- wifibroadcast_rx_1_1 -->
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</g>
<!-- wifi_rx1&#45;&gt;wifibroadcast_rx_1_1 -->
<g id="edge18" class="edge"><title>wifi_rx1&#45;&gt;wifibroadcast_rx_1_1</title>
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<!-- wifibroadcast_rx_1_2 -->
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<text text-anchor="middle" x="1347" y="-443.3" font-family="Times,serif" font-size="14.00">wifibroadcast_rx_1_2</text>
</g>
<!-- wifi_rx1&#45;&gt;wifibroadcast_rx_1_2 -->
<g id="edge19" class="edge"><title>wifi_rx1&#45;&gt;wifibroadcast_rx_1_2</title>
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<text text-anchor="middle" x="1395" y="-507.8" font-family="Times,serif" font-size="14.00">radio port 2</text>
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<!-- wifibroadcast_rx_2_1 -->
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<text text-anchor="middle" x="1115" y="-443.3" font-family="Times,serif" font-size="14.00">wifibroadcast_rx_2_1</text>
</g>
<!-- wifi_rx2&#45;&gt;wifibroadcast_rx_2_1 -->
<g id="edge20" class="edge"><title>wifi_rx2&#45;&gt;wifibroadcast_rx_2_1</title>
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<!-- wifibroadcast_rx_2_2 -->
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</g>
<!-- wifi_rx2&#45;&gt;wifibroadcast_rx_2_2 -->
<g id="edge21" class="edge"><title>wifi_rx2&#45;&gt;wifibroadcast_rx_2_2</title>
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<!-- wifibroadcast_rx_3_1 -->
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</g>
<!-- wifi_rx3&#45;&gt;wifibroadcast_rx_3_1 -->
<g id="edge22" class="edge"><title>wifi_rx3&#45;&gt;wifibroadcast_rx_3_1</title>
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<!-- wifibroadcast_rx_3_2 -->
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</g>
<!-- wifi_rx3&#45;&gt;wifibroadcast_rx_3_2 -->
<g id="edge23" class="edge"><title>wifi_rx3&#45;&gt;wifibroadcast_rx_3_2</title>
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</g>
<!-- eth_rx1 -->
<g id="node20" class="node"><title>eth_rx1</title>
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<!-- ethernet_switch -->
<g id="node36" class="node"><title>ethernet_switch</title>
<ellipse fill="none" stroke="black" cx="1374" cy="-200" rx="33.5952" ry="18"/>
<text text-anchor="middle" x="1374" y="-196.3" font-family="Times,serif" font-size="14.00">switch</text>
</g>
<!-- eth_rx1&#45;&gt;ethernet_switch -->
<g id="edge31" class="edge"><title>eth_rx1&#45;&gt;ethernet_switch</title>
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<!-- wifibroadcast_agg1 -->
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</g>
<!-- wifibroadcast_rx_1_1&#45;&gt;wifibroadcast_agg1 -->
<g id="edge25" class="edge"><title>wifibroadcast_rx_1_1&#45;&gt;wifibroadcast_agg1</title>
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<!-- wifibroadcast_agg2 -->
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<!-- wifibroadcast_rx_1_2&#45;&gt;wifibroadcast_agg2 -->
<g id="edge26" class="edge"><title>wifibroadcast_rx_1_2&#45;&gt;wifibroadcast_agg2</title>
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<!-- eth_rx2 -->
<g id="node23" class="node"><title>eth_rx2</title>
<ellipse fill="none" stroke="black" cx="1228" cy="-447" rx="27" ry="18"/>
<text text-anchor="middle" x="1228" y="-443.3" font-family="Times,serif" font-size="14.00">eth0</text>
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<!-- eth_rx2&#45;&gt;ethernet_switch -->
<g id="edge32" class="edge"><title>eth_rx2&#45;&gt;ethernet_switch</title>
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<!-- wifibroadcast_rx_2_1&#45;&gt;wifibroadcast_agg1 -->
<g id="edge27" class="edge"><title>wifibroadcast_rx_2_1&#45;&gt;wifibroadcast_agg1</title>
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<!-- wifibroadcast_rx_2_2&#45;&gt;wifibroadcast_agg2 -->
<g id="edge28" class="edge"><title>wifibroadcast_rx_2_2&#45;&gt;wifibroadcast_agg2</title>
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<text text-anchor="middle" x="994.5" y="-399.8" font-family="Times,serif" font-size="14.00">UDP 14551</text>
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<!-- eth_rx3 -->
<g id="node26" class="node"><title>eth_rx3</title>
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<!-- eth_rx3&#45;&gt;ethernet_switch -->
<g id="edge33" class="edge"><title>eth_rx3&#45;&gt;ethernet_switch</title>
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<!-- wifibroadcast_rx_3_1&#45;&gt;wifibroadcast_agg1 -->
<g id="edge29" class="edge"><title>wifibroadcast_rx_3_1&#45;&gt;wifibroadcast_agg1</title>
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<!-- wifibroadcast_rx_3_2&#45;&gt;wifibroadcast_agg2 -->
<g id="edge30" class="edge"><title>wifibroadcast_rx_3_2&#45;&gt;wifibroadcast_agg2</title>
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<text text-anchor="middle" x="738.5" y="-399.8" font-family="Times,serif" font-size="14.00">UDP 14551</text>
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<!-- sik_radio2 -->
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<text text-anchor="middle" x="1713" y="-551.3" font-family="Times,serif" font-size="14.00">3DR radio</text>
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<!-- mavproxy2 -->
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</g>
<!-- sik_radio2&#45;&gt;mavproxy2 -->
<g id="edge24" class="edge"><title>sik_radio2&#45;&gt;mavproxy2</title>
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<polygon fill="black" stroke="black" points="1716.5,-475.05 1713,-465.05 1709.5,-475.05 1716.5,-475.05"/>
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<!-- eth_rx4 -->
<g id="node30" class="node"><title>eth_rx4</title>
<ellipse fill="none" stroke="black" cx="1807" cy="-447" rx="27" ry="18"/>
<text text-anchor="middle" x="1807" y="-443.3" font-family="Times,serif" font-size="14.00">eth0</text>
</g>
<!-- eth_rx4&#45;&gt;ethernet_switch -->
<g id="edge34" class="edge"><title>eth_rx4&#45;&gt;ethernet_switch</title>
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<g id="node35" class="node"><title>qgroundcontrol</title>
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<text text-anchor="middle" x="1233" y="-335.3" font-family="Times,serif" font-size="14.00">qgroundcontrol</text>
</g>
<!-- mavproxy2&#45;&gt;qgroundcontrol -->
<g id="edge39" class="edge"><title>mavproxy2&#45;&gt;qgroundcontrol</title>
<path fill="none" stroke="black" stroke-dasharray="1,5" d="M1713,-428.718C1713,-413.052 1713,-393 1713,-393 1713,-393 1267.25,-393 1267.25,-393 1267.25,-393 1267.25,-367.282 1267.25,-367.282"/>
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<!-- eth_linux -->
<g id="node32" class="node"><title>eth_linux</title>
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<text text-anchor="middle" x="1328" y="-335.3" font-family="Times,serif" font-size="14.00">eth0</text>
</g>
<!-- eth_linux&#45;&gt;ethernet_switch -->
<g id="edge35" class="edge"><title>eth_linux&#45;&gt;ethernet_switch</title>
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<text text-anchor="middle" x="1103" y="-196.3" font-family="Times,serif" font-size="14.00">gstreamer_fpv</text>
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<!-- wifibroadcast_agg1&#45;&gt;gstreamer_fpv -->
<g id="edge36" class="edge"><title>wifibroadcast_agg1&#45;&gt;gstreamer_fpv</title>
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<text text-anchor="middle" x="1132" y="-291.8" font-family="Times,serif" font-size="14.00">UDP 5600</text>
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<g id="node37" class="node"><title>wifibroadcast_osd</title>
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<text text-anchor="middle" x="979" y="-196.3" font-family="Times,serif" font-size="14.00">wifibroadcast_osd</text>
</g>
<!-- wifibroadcast_agg2&#45;&gt;wifibroadcast_osd -->
<g id="edge37" class="edge"><title>wifibroadcast_agg2&#45;&gt;wifibroadcast_osd</title>
<path fill="none" stroke="black" stroke-dasharray="1,5" d="M955.167,-320.828C955.167,-320.828 955.167,-228.176 955.167,-228.176"/>
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<text text-anchor="middle" x="959.5" y="-291.8" font-family="Times,serif" font-size="14.00">UDP 14550</text>
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<!-- wifibroadcast_agg2&#45;&gt;wifibroadcast_osd -->
<g id="edge38" class="edge"><title>wifibroadcast_agg2&#45;&gt;wifibroadcast_osd</title>
<path fill="none" stroke="black" d="M989.333,-313.497C989.333,-301.82 989.333,-278.335 989.333,-258.956"/>
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<!-- video_display -->
<g id="node39" class="node"><title>video_display</title>
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<text text-anchor="middle" x="979" y="-109.3" font-family="Times,serif" font-size="14.00">Display</text>
</g>
<!-- wifibroadcast_osd&#45;&gt;video_display -->
<g id="edge40" class="edge"><title>wifibroadcast_osd&#45;&gt;video_display</title>
<path fill="none" stroke="black" d="M979,-174.074C979,-162.169 979,-141.003 979,-141.003"/>
<polygon fill="black" stroke="black" points="982.5,-141.003 979,-131.003 975.5,-141.003 982.5,-141.003"/>
<text text-anchor="middle" x="1017" y="-152.8" font-family="Times,serif" font-size="14.00">HDMI or AV</text>
</g>
</g>
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