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PX4-Autopilot/platforms/nuttx/NuttX/apps/netutils/discover/README.md

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Network Utilities / discover

This daemon is useful for discovering devices in local networks, especially with DHCP configured devices. It listens for UDP broadcasts which also can include a device class so that groups of devices can be discovered. It is also possible to address all classes with a kind of broadcast discover.

See nuttx/tools/discover.py for a client example.