Hi there,
I'm trying to get the data of the sensors from a Android Mobile phone to an Arduino, so far it worked for me with a small program, now I want to pack it all in a Mavlink format, do you have any App to do that? +open source of course
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Have you tried this tut?
http://www.buildcircuit.com/how-to-send-data-from-android-to-arduino/
Have fun