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  • 3D Robotics
    Yes, just send an arm command over serial from Arduino using MAVLink. Super easy:
    https://discuss.ardupilot.org/t/mavlink-and-arduino-step-by-step/25566
    MAVLink and Arduino: step by step
    MAVLink and Arduino by Juan Pedro López This is not a post on the details of MAVLink serial protocol. If you are interested on the protocol itself,…
    • I tried combining some code snippets to arm the Pixhawk. However, I am missing something. The code I am running is the code below. Can you please check it and tell me what is wrong? Thanks

      #include <mavlink.h>
      #include <SoftwareSerial.h>
      SoftwareSerial _MavLinkSerial(9, 10); // PIN 9=Telemetry TX->Pixhawk RX, PIN 10=Telemetry RX->Pixhawk TX

      // Mavlink variables
      unsigned long previousMillisMAVLink = 0; // will store last time MAVLink was transmitted and listened
      unsigned long next_interval_MAVLink = 1000; // next interval to count
      const int num_hbs = 60; // # of heartbeats to wait before activating STREAMS from Pixhawk. 60 = one minute.
      int num_hbs_pasados = num_hbs;

      uint8_t target_system=1;// - not really sure why this has to be at a valu of 1
      uint8_t target_component=0;
      uint16_t CMD_LONG_command=0;
      uint8_t CMD_LONG_confirmation=0;
      float CMD_LONG_param1=0;
      float CMD_LONG_param2=0;
      float CMD_LONG_param3=0;
      float CMD_LONG_param4=0;
      float CMD_LONG_param5=0;
      float CMD_LONG_param6=0;
      float CMD_LONG_param7=0;

      //Standard requireemnts for packets to have
      uint8_t system_id = 255;
      uint8_t component_id = 200;


      void setup() {
      // MAVLink interface start
      _MavLinkSerial.begin(57600);

      Serial.begin(57600);
      Serial.println("MAVLink starting.");
      }

      void loop() {

      Command_long_ARM();
      delay(10000);

      Command_long_Disarm();

      // MAVLink
      /* The default UART header for your MCU */
      int sysid = 1; ///< ID 20 for this airplane. 1 PX, 255 ground station
      int compid = 158; ///< The component sending the message
      int type = MAV_TYPE_QUADROTOR; ///< This system is an airplane / fixed wing

      // Define the system type, in this case an airplane -> on-board controller
      // uint8_t system_type = MAV_TYPE_FIXED_WING;
      uint8_t system_type = MAV_TYPE_GENERIC;
      uint8_t autopilot_type = MAV_AUTOPILOT_INVALID;

      uint8_t system_mode = MAV_MODE_PREFLIGHT; ///< Booting up
      uint32_t custom_mode = 0; ///< Custom mode, can be defined by user/adopter
      uint8_t system_state = MAV_STATE_STANDBY; ///< System ready for flight

      // Initialize the required buffers
      mavlink_message_t msg;
      uint8_t buf[MAVLINK_MAX_PACKET_LEN];

      // Pack the message
      //mavlink_msg_heartbeat_pack(sysid,compid, &msg, type, autopilot_type, system_mode, custom_mode, system_state);
      mavlink_msg_heartbeat_pack(1, 0, &msg, type, autopilot_type, system_mode, custom_mode, system_state);

      // Copy the message to the send buffer
      uint16_t len = mavlink_msg_to_send_buffer(buf, &msg);

      // Send the message with the standard UART send function
      // uart0_send might be named differently depending on
      // the individual microcontroller / library in use.
      unsigned long currentMillisMAVLink = millis();
      if (currentMillisMAVLink - previousMillisMAVLink >= next_interval_MAVLink)
      {
      // Record last HB update
      previousMillisMAVLink = currentMillisMAVLink;


      //Mav_Request_Data();
      num_hbs_pasados++;
      if (num_hbs_pasados >= num_hbs) {
      // Request streams from Pixhawk
      Serial.println("Streams requested!");
      Mav_Request_Data();
      num_hbs_pasados = 0;
      }

      }

      // Check reception buffer
      comm_receive();
      }


      void Mav_Request_Data()
      {
      mavlink_message_t msg;
      uint8_t buf[MAVLINK_MAX_PACKET_LEN];


      // To be setup according to the needed information to be requested from the Pixhawk
      const int maxStreams = 1;
      const uint8_t MAVStreams[maxStreams] = {MAV_DATA_STREAM_POSITION};
      const uint16_t MAVRates[maxStreams] = {0x02};

      for (int i = 0; i < maxStreams; i++) {
      mavlink_msg_request_data_stream_pack(6, 200, &msg, 1, 0, MAVStreams[i], MAVRates[i], 1);
      uint16_t len = mavlink_msg_to_send_buffer(buf, &msg);
      _MavLinkSerial.write(buf, len);
      }
      }

      void comm_receive() {
      mavlink_message_t msg;
      mavlink_status_t status;

      while (_MavLinkSerial.available() > 0) {
      uint8_t c = _MavLinkSerial.read();

      // Try to get a new message
      if (mavlink_parse_char(MAVLINK_COMM_0, c, &msg, &status))
      {
      Serial.print("DEBUG msgid:"); Serial.println(msg.msgid);
      // Handle message
      switch (msg.msgid)
      {
      case MAVLINK_MSG_ID_HEARTBEAT: // #0: Heartbeat
      {
      // E.g. read GCS heartbeat and go into
      // comm lost mode if timer times out
      }
      break;

      case MAVLINK_MSG_ID_SET_MODE: {
      // set mode
      }
      break;
      }
      }
      }
      }

      void Command_long_ARM(){

      // Define the system type (see mavlink_types.h for list of possible types)

      // Initialize the required buffers
      mavlink_message_t msg;
      uint8_t buf[MAVLINK_MAX_PACKET_LEN];

      CMD_LONG_param1 = 1;// to arm the damn thing
      CMD_LONG_command=MAV_CMD_COMPONENT_ARM_DISARM;//this is the type of command i.e. disamr/arm


      // Pack the message
      //uint16_t mavlink_msg_command_long_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,uint8_t target_system, uint8_t target_component, uint16_t command, uint8_t confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7)
      mavlink_msg_command_long_pack(system_id,component_id,&msg,target_system,target_component,CMD_LONG_command,CMD_LONG_confirmation,CMD_LONG_param1,CMD_LONG_param2,CMD_LONG_param3,CMD_LONG_param4,CMD_LONG_param5,CMD_LONG_param6,CMD_LONG_param7);
      // Copy the message to send buffer

      /*
      mavlink_command_long_t arm_command_msg;
      mavlink_message_t arm_msg;

      arm_command_msg.command = 40;
      arm_command_msg.target_system = 1;
      arm_command_msg.target_component = 0;
      arm_command_msg.confirmation = 0;
      arm_command_msg.param1 = 1;
      arm_command_msg.param2 = 0;
      arm_command_msg.param3 = 0;
      arm_command_msg.param4 = 0;
      arm_command_msg.param5 = 0;
      arm_command_msg.param6 = 0;
      arm_command_msg.param7 = 0;

      mavlink_msg_command_long_encode(system_id, component_id, &arm_msg, &arm_command_msg);
      */
      uint16_t len = mavlink_msg_to_send_buffer(buf, &msg);

      // Send the message (.write sends as bytes)
      Serial.write(buf, len);


      }
      void Command_long_Disarm(){

      // Define the system type (see mavlink_types.h for list of possible types)

      // Initialize the required buffers
      mavlink_message_t msg;
      uint8_t buf[MAVLINK_MAX_PACKET_LEN];


      CMD_LONG_param1 = 0;// to arm the damn thing
      CMD_LONG_command=MAV_CMD_COMPONENT_ARM_DISARM;//this is the type of command i.e. disarm/arm
      // Pack the message
      //uint16_t mavlink_msg_command_long_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,uint8_t target_system, uint8_t target_component, uint16_t command, uint8_t confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7)
      mavlink_msg_command_long_pack(system_id,component_id,&msg,target_system,target_component,CMD_LONG_command,CMD_LONG_confirmation,CMD_LONG_param1,CMD_LONG_param2,CMD_LONG_param3,CMD_LONG_param4,CMD_LONG_param5,CMD_LONG_param6,CMD_LONG_param7);
      // Copy the message to send buffer

      //int fd = serial_fd;
      //char buf[300];
      /*
      mavlink_command_long_t arm_command_msg;
      mavlink_message_t arm_msg;

      arm_command_msg.command = 40;
      arm_command_msg.target_system = 1;
      arm_command_msg.target_component = 0;
      arm_command_msg.confirmation = 0;
      arm_command_msg.param1 = 0;
      arm_command_msg.param2 = 0;
      arm_command_msg.param3 = 0;
      arm_command_msg.param4 = 0;
      arm_command_msg.param5 = 0;
      arm_command_msg.param6 = 0;
      arm_command_msg.param7 = 0;

      mavlink_msg_command_long_encode(system_id, component_id, &arm_msg, &arm_command_msg);
      */
      uint16_t len = mavlink_msg_to_send_buffer(buf, &msg);

      // Send the message (.write sends as bytes)
      Serial.write(buf, len);

      }
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