# Source Registry

## Source #1
- **Title**: MAVSDK-Python Issue #320: Input external GPS through MAVSDK
- **Link**: https://github.com/mavlink/MAVSDK-Python/issues/320
- **Tier**: L4
- **Publication Date**: 2021 (still open 2025)
- **Timeliness Status**: ✅ Currently valid
- **Version Info**: MAVSDK-Python — GPS_INPUT not supported as of v3.15.3
- **Target Audience**: Companion computer developers
- **Research Boundary Match**: ✅ Full match
- **Summary**: MAVSDK-Python does not support GPS_INPUT message. Feature requested but unresolved.
- **Related Sub-question**: Q1

## Source #2
- **Title**: MAVLink GPS_INPUT Message Specification (mavlink_msg_gps_input.h)
- **Link**: https://rflysim.com/doc/en/RflySimAPIs/RflySimSDK/html/mavlink__msg__gps__input_8h_source.html
- **Tier**: L1
- **Publication Date**: 2024
- **Timeliness Status**: ✅ Currently valid
- **Version Info**: MAVLink v2, Message ID 232
- **Target Audience**: MAVLink developers
- **Research Boundary Match**: ✅ Full match
- **Summary**: GPS_INPUT message fields: lat/lon (1E7), alt, fix_type, horiz_accuracy, vert_accuracy, speed_accuracy, hdop, vdop, satellites_visible, velocities NED, yaw, ignore_flags.
- **Related Sub-question**: Q1

## Source #3
- **Title**: ArduPilot GPS Input MAVProxy Documentation
- **Link**: https://ardupilot.org/mavproxy/docs/modules/GPSInput.html
- **Tier**: L1
- **Publication Date**: 2024
- **Timeliness Status**: ✅ Currently valid
- **Version Info**: ArduPilot GPS1_TYPE=14
- **Target Audience**: ArduPilot companion computer developers
- **Research Boundary Match**: ✅ Full match
- **Summary**: GPS_INPUT requires GPS1_TYPE=14. Accepts JSON over UDP port 25100. Fields: lat, lon, alt, fix_type, hdop, timestamps.
- **Related Sub-question**: Q1

## Source #4
- **Title**: pymavlink GPS_INPUT example
- **Link**: https://webperso.ensta.fr/lebars/Share/GPS_INPUT_pymavlink.py
- **Tier**: L3
- **Publication Date**: 2023
- **Timeliness Status**: ✅ Currently valid
- **Version Info**: pymavlink
- **Target Audience**: Companion computer developers
- **Research Boundary Match**: ✅ Full match
- **Summary**: Complete pymavlink example for sending GPS_INPUT with all fields including yaw. Uses gps_input_send() method.
- **Related Sub-question**: Q1

## Source #5
- **Title**: ArduPilot AP_GPS_Params.cpp — GPS_RATE_MS
- **Link**: https://cocalc.com/github/ardupilot/ardupilot/blob/master/libraries/AP_GPS/AP_GPS_Params.cpp
- **Tier**: L1
- **Publication Date**: 2024
- **Timeliness Status**: ✅ Currently valid
- **Version Info**: ArduPilot master
- **Target Audience**: ArduPilot developers
- **Research Boundary Match**: ✅ Full match
- **Summary**: GPS_RATE_MS default 200ms (5Hz), range 50-200ms (5-20Hz). Below 5Hz not allowed.
- **Related Sub-question**: Q1

## Source #6
- **Title**: MAVLink Telemetry Bandwidth Optimization Issue #1605
- **Link**: https://github.com/mavlink/mavlink/issues/1605
- **Tier**: L2
- **Publication Date**: 2022
- **Timeliness Status**: ✅ Currently valid
- **Target Audience**: MAVLink protocol developers
- **Research Boundary Match**: ✅ Full match
- **Summary**: Minimal telemetry requires ~12kbit/s. Optimized ~6kbit/s. SiK at 57600 baud provides ~21% usable budget. RFD900 for long range (15km+).
- **Related Sub-question**: Q2

## Source #7
- **Title**: NVIDIA JetPack 6.2 Super Mode Blog
- **Link**: https://developer.nvidia.com/blog/nvidia-jetpack-6-2-brings-super-mode-to-nvidia-jetson-orin-nano-and-jetson-orin-nx-modules/
- **Tier**: L1
- **Publication Date**: 2025-01
- **Timeliness Status**: ✅ Currently valid
- **Version Info**: JetPack 6.2, Orin Nano Super
- **Target Audience**: Jetson developers
- **Research Boundary Match**: ✅ Full match
- **Summary**: MAXN SUPER mode for peak performance. Thermal throttling at 80°C. Power modes: 15W, 25W, MAXN SUPER. Up to 1.7x AI boost.
- **Related Sub-question**: Q5

## Source #8
- **Title**: Jetson Orin Nano Power Consumption Analysis
- **Link**: https://edgeaistack.app/blog/jetson-orin-nano-power-consumption/
- **Tier**: L3
- **Publication Date**: 2025
- **Timeliness Status**: ✅ Currently valid
- **Target Audience**: Jetson edge deployment engineers
- **Research Boundary Match**: ✅ Full match
- **Summary**: 5W idle, 8-12W typical inference, 25W peak. Throttling above 80°C drops GPU from 1GHz to 300MHz. Active cooling required for sustained loads.
- **Related Sub-question**: Q5

## Source #9
- **Title**: UAV Target Geolocation (Sensors 2022)
- **Link**: https://www.mdpi.com/1424-8220/22/5/1903
- **Tier**: L1
- **Publication Date**: 2022
- **Timeliness Status**: ✅ Currently valid (math doesn't change)
- **Target Audience**: UAV reconnaissance systems
- **Research Boundary Match**: ✅ Full match
- **Summary**: Trigonometric target geolocation from camera angle, altitude, UAV position. Iterative refinement improves accuracy 22-38x.
- **Related Sub-question**: Q4

## Source #10
- **Title**: pymavlink vs MAVSDK-Python for custom messages (Issue #739)
- **Link**: https://github.com/mavlink/MAVSDK-Python/issues/739
- **Tier**: L4
- **Publication Date**: 2024-12
- **Timeliness Status**: ✅ Currently valid
- **Version Info**: MAVSDK-Python, pymavlink
- **Target Audience**: Companion computer developers
- **Research Boundary Match**: ✅ Full match
- **Summary**: MAVSDK-Python lacks custom message support. pymavlink recommended for GPS_INPUT and custom messages. MAVSDK v4 may add MavlinkDirect plugin.
- **Related Sub-question**: Q1

## Source #11
- **Title**: NAMED_VALUE_FLOAT for custom telemetry (PR #18501)
- **Link**: https://github.com/ArduPilot/ardupilot/pull/18501
- **Tier**: L2
- **Publication Date**: 2022
- **Timeliness Status**: ✅ Currently valid
- **Target Audience**: ArduPilot companion computer developers
- **Research Boundary Match**: ✅ Full match
- **Summary**: NAMED_VALUE_FLOAT messages from companion computer are logged by ArduPilot and forwarded to GCS. Useful for custom telemetry data.
- **Related Sub-question**: Q2

## Source #12
- **Title**: ArduPilot Companion Computer UART Connection
- **Link**: https://ardupilot.org/dev/docs/raspberry-pi-via-mavlink.html
- **Tier**: L1
- **Publication Date**: 2024
- **Timeliness Status**: ✅ Currently valid
- **Target Audience**: ArduPilot companion computer developers
- **Research Boundary Match**: ✅ Full match
- **Summary**: Connect via TELEM2 UART. SERIAL2_PROTOCOL=2 (MAVLink2). Baud up to 1.5Mbps. TX/RX crossover.
- **Related Sub-question**: Q1, Q2

## Source #13
- **Title**: Jetson Orin Nano UART with ArduPilot
- **Link**: https://forums.developer.nvidia.com/t/uart-connection-between-jetson-nano-orin-and-ardupilot/325416
- **Tier**: L4
- **Publication Date**: 2025
- **Timeliness Status**: ✅ Currently valid
- **Version Info**: JetPack 6.x, Orin Nano
- **Target Audience**: Jetson + ArduPilot integration
- **Research Boundary Match**: ✅ Full match
- **Summary**: UART instability reported on Orin Nano with ArduPilot. Use /dev/ttyTHS0 or /dev/ttyTHS1. Check pinout carefully.
- **Related Sub-question**: Q1

## Source #14
- **Title**: MAVSDK-Python v3.15.3 PyPI (aarch64 wheels)
- **Link**: https://pypi.org/project/mavsdk/
- **Tier**: L1
- **Publication Date**: 2025
- **Timeliness Status**: ✅ Currently valid
- **Version Info**: v3.15.3, manylinux2014_aarch64
- **Target Audience**: MAVSDK Python developers
- **Research Boundary Match**: ✅ Full match
- **Summary**: MAVSDK-Python has aarch64 wheels. pip install works on Jetson. But no GPS_INPUT support.
- **Related Sub-question**: Q1

## Source #15
- **Title**: ArduPilot receive COMMAND_LONG on companion computer
- **Link**: https://discuss.ardupilot.org/t/recieve-mav-cmd-on-companion-computer/48928
- **Tier**: L4
- **Publication Date**: 2020
- **Timeliness Status**: ⚠️ Needs verification (old but concept still valid)
- **Target Audience**: ArduPilot companion computer developers
- **Research Boundary Match**: ✅ Full match
- **Summary**: Companion computer can receive COMMAND_LONG messages from GCS via MAVLink. ArduPilot scripting can intercept specific command IDs.
- **Related Sub-question**: Q2
