majal-edge

Connects a PX4 or ArduPilot drone to Majal, the UAS traffic management (UTM) platform by ScaleX Innovation. It runs on the drone's companion computer (Raspberry Pi, Jetson, …) or on a ground laptop with a telemetry radio, and sends the vehicle's live MAVLink 2 telemetry to Majal over MQTT with TLS.

Connect a drone

1. In Majal, open Fleet, choose the aircraft and click Connect. You get a one-time code, valid for 15 minutes.
2. On the companion computer, wired to the flight controller (TELEM2 or USB):

pip install majal-edge
sudo majal-edge enroll https://<your-majal-address> ABCD-2345
sudo majal-edge install-service        # start now and on every boot (Linux / systemd)

The aircraft appears on the live map once the autopilot has a position fix.

What it does

• Finds the flight controller: USB flight controllers (Pixhawk, Cube, Holybro, CUAV, …), the companion computer's UART (/dev/serial0, /dev/ttyAMA0, /dev/ttyTHS1) at 921600 / 57600 / 115200 baud, then MAVLink UDP 14540 / 14550. It only listens while probing. majal-edge detect shows what it finds; enroll --autopilot /dev/ttyACM0 skips detection.
• Gets its identity from the server: the code is exchanged over HTTPS for a device id and a broker login that belong to this device only. The device id, not the MAVLink system id, identifies the aircraft, so drones left on system id 1 never collide.
• Sends telemetry only: position, altitude, speed, heading, battery, mode and armed state (requested at 4 Hz / 1 Hz to save mobile data). Nothing from the platform is forwarded to the autopilot.
• Handles weak links: reconnects by itself; while offline, telemetry is dropped rather than queued, because a stale position is worse than a gap.

Security

• Enrollment needs https:// (plain http:// only for local / private test addresses or with --allow-http). Codes are single-use and expire after 15 minutes.
• The broker login can only publish this device's own telemetry topic. It can be revoked from the Fleet page at any time, which disconnects the device immediately.
• The configuration file holding the login is readable by its owner only (/etc/majal-edge/config.json as root, otherwise ~/.config/majal-edge/config.json). The systemd service runs as an unprivileged majal-edge user with the dialout group.

Commands

Requires Python 3.9+. Licensed under Apache 2.0. © ScaleX Innovation. Support: support@scalexi.ai