"I haven't figured it out either. I'm just taking pre-generated numbers from e.g. http://code.google.com/p/ardupilot-mega/source/browse/libraries/GCS_MAVLink/include/mavlink/v1.0/common/common.h
Ari."
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Ari Krupnik
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Ari Krupnik's Discussions
RC_CHANNELS_OVERRIDE and flying with joystick
Started this discussion. Last reply by Ari Krupnik Feb 10. 2 Replies 0 Likes
I'm trying to control an APM using Mavlink and a joystick.I understand that the Mavlink message I need to send for this is RC_CHANNELS_OVERRIDE. Some of the fields in this message are obscure to me.I…Continue
Tags: target_component, target_system, RC_CHANNELS_OVERRIDE, 1.0, mavlink
MAVLINK endianness confusion
Started this discussion. Last reply by Ari Krupnik Feb 12. 10 Replies 0 Likes
I'm parsing MAVLINK 1.0 for my ground station.From MAVLINK documentation, I understand that the protocol uses little-endian encoding on the wire. This assumption produces meaningful data for a lot of…Continue
Minimal Ground Station software--MAVLINK 1.0
Started this discussion. Last reply by Ari Krupnik Jan 27. 6 Replies 1 Like
I'm putting this here since I'm unclear where this question would belong.I want to build a ground station around a Raspberry Pi that can display basic telemetry.Initially at least, I want to read…Continue
Trying to program simple looping mission
Started this discussion. Last reply by Ari Krupnik Aug 3, 2012. 5 Replies 0 Likes
I'm trying to program my APM to fly to waypoint A, fly to waypoint B, return to A, return to B, etc., indefinitely. The simple approaches I've tried with a single jump command don't work: the plane…Continue
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Søren Kuula replied to Ari Krupnik's discussion MAVLINK endianness confusion"Hi,
Hehe ;)
So the byte ordering was little endian after all, but you had the word boundaries in the wrong places?
Yeah there was that change from 0.9 to 1.0 with field vs, byte order. And there is a magic number derived from all fields (and their…"
Ari Krupnik replied to Ari Krupnik's discussion RC_CHANNELS_OVERRIDE and flying with joystick"ComponentID=190 seems to match MAV_COMP_ID_MISSIONPLANNER member of the MAV_COMPONENT enumeration in XML.
Ari."
Ari Krupnik replied to Ari Krupnik's discussion RC_CHANNELS_OVERRIDE and flying with joystick"My parsing code was inconsistent with MAVLink encoding. I was reading fields in the order that they appear in the XML, while in reality, MAVLink reorders them based on field width. So I was parsing the high and low bytes of chan1_raw into the…"
Ari Krupnik replied to Ari Krupnik's discussion MAVLINK endianness confusion"So here's my problem. In an offline communication, Lorenz Meier set me straight on field reordering. I was parsing fields from the stream in the order that they appear in XML. This is inconsistent with the wire encoding. The wire encoding…"
Ari Krupnik posted a discussionRC_CHANNELS_OVERRIDE and flying with joystick
I'm trying to control an APM using Mavlink and a joystick.I understand that the Mavlink message I need to send for this is RC_CHANNELS_OVERRIDE. Some of the fields in this message are obscure to me.I notice that Mission Planner sets SystemID=255 and ComponentID=190 in the packet header, and in the body of the message itself sets target_system=220 and target_component=5.Where do these numbers come from? Are they important? Are they constants? Do they change with APM configuration? Mavlink…See More
Ari Krupnik replied to Ari Krupnik's discussion MAVLINK endianness confusion"I notice the same with SERVO_OUTPUT_RAW message: no port field, and consequent 8-bit offsets for 16-bit fields."
Ari Krupnik replied to Ari Krupnik's discussion MAVLINK endianness confusion"Another possibility is that APM puts the "port" field at the end of message rather than at the front.
I notice that the payload length matches the longer 1.0 message definition, and that the last two bytes before the checksum are always…"
Ari Krupnik replied to Ari Krupnik's discussion MAVLINK endianness confusion"Hm. This XML https://github.com/mavlink/mavlink/blob/master/message_definitions/v0.9/common.xml has no port field. It looks like an addition between 0.9 and 1.0. I wonder if Ardupilot simply forgot to add this field?
Ari."
Søren Kuula replied to Ari Krupnik's discussion MAVLINK endianness confusion"Hi,
OK.
The easiest thing for you to do might be to look at the MAVLink library yourself in the APM code and see if there is a difference in endianness.
You do know the Python generator of that MAVLink, right? APM uses its generated C code, other…"
Ari Krupnik replied to Ari Krupnik's discussion MAVLINK endianness confusion"I'm running the git version of Ardupilot; I'm writing my own ground station RX. I'm traveling now and so am away from my hardware. I can post the raw binary when I return next week.
Ari."
Søren Kuula replied to Ari Krupnik's discussion MAVLINK endianness confusion"Hi,
Which MAVLink implementation did you use when you saw that (tx and rx)? Did you look at the raw binary data?
I am not aware of inconsistencies..
Regards
Soren"
Ari Krupnik posted a discussionMy head hurts! MAVLINK endianness confusion
I'm parsing MAVLINK 1.0 for my ground station.From MAVLINK documentation, I understand that the protocol uses little-endian encoding on the wire. This assumption produces meaningful data for a lot of packets. However some packets make no sense in LE but produce meaningful data in BE, for example RC_CHANNELS_RAW message seems to encode channel values in BE uint16_t. I wonder if some fields (messages?) indeed use different endianness, and if they do, I wonder if there exists a canonical list of…See More
Ari Krupnik replied to Ari Krupnik's discussion Minimal Ground Station software--MAVLINK 1.0"Uh, I see two message IDs in the XML: REQUEST_DATA_STREAM and DATA_STREAM. I'm unclear on the difference between them. One takes target system and target component ids, the other omits them.
Ari."
Ari Krupnik replied to Ari Krupnik's discussion Minimal Ground Station software--MAVLINK 1.0"So now I'm reading MALINK from APM, and I'm parsing out the telemetry, and the CRCs I calculate match what's coming though the serial (wow the extra CRC nonsense). Thank you for your pointers guys!
Now I want to drive my UAV from the…"
Ari Krupnik replied to Ari Krupnik's discussion Minimal Ground Station software--MAVLINK 1.0"Thanks. I was looking at *.tlogs and there are all these PARAMETER requests, but I guess I don't need them for what I'm doing.
Ari."
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Ari Krupnik's Blog
Rocket-power SkyFun
Posted on April 9, 2012 at 11:00pm 8 Comments 1 Like
First flight of my solid-fuel, rocket-power SkyFun--Saturday at LUNAR Snow Ranch.
Motor: AeroTech E15-PW
Max Altitude: 339 ft
Max Speed: 122 mph
Flight Duration: 24.5 s
Next up: setting up the SkyFun with ArduPilot so it can come back on its own.
…
Continue Pre-order the iPhly iPhone R/C controller on Kickstarter
Posted on March 25, 2011 at 1:00pm 52 Comments 10 Likes
Please visit the Kickstarter project page: iPhly.org/ks.
It's all in the wrist. Roll the phone to roll. Tilt down to pitch down. Swipe up to throttle… Continue Want to meet in the real world
Posted on July 10, 2010 at 12:23pm 5 Comments 0 Likes
This is my first post here. Chris has kindly introduced my project in his post a month ago. I have years of experience with R/C but no experience with drones. I wonder how can I meet some of the people who post here and see their aircraft in action.The photo is one of my smaller models, a 5 1/4 inch, 2 gram Geobat.
I am in Sunnyvale,… Continue
Comment Wall (1 comment)
- At 5:36am on June 9, 2010,
Tim - Arduino for Visual Studio said… - Your project is really cool. I have a question but not about ipod. I am building a ground station application for arduino and like your attitude icon/picture.
Where did you get the picture? did you make it yourself? do you have any others? do you have your attirude icon as seperate images png/bmp.
Thanks, I hope you don't mind my questions
Tim
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