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Hi Chethan,
Did you ever get this to work?
Thanks
I think, that Message #0 Hearthbeat is the right Message. But base_mode return value 0 and 68. Thats not a unique Mode.
yes i got it working by serial connection from PC to APM borad
Does APM board send out heartbeat message automatically after you connected to PC?
// Arduino MAVLink test code.
#include <FastSerial.h>
#include "/home/sm/Desktop/ardomavtest/arduino-1.0.4/AQ_MAVLink/mavlink/include/mavlink.h" // Mavlink interface
//FastSerialPort0(Serial);
void setup() {
Serial.begin(9600);
}
void loop() {
// Define the system type (see mavlink_types.h for list of possible types)
int system_type = MAV_QUADROTOR;
int autopilot_type = MAV_AUTOPILOT_GENERIC;
// Initialize the required buffers
mavlink_message_t msg;
uint8_t buf[MAVLINK_MAX_PACKET_LEN];
// Pack the message
// mavlink_message_heartbeat_pack(system id, component id, message container, system type, MAV_AUTOPILOT_GENERIC)
mavlink_msg_heartbeat_pack(100, 200, &msg, system_type, autopilot_type);
// Copy the message to send buffer
uint16_t len = mavlink_msg_to_send_buffer(buf, &msg);
// Send the message (.write sends as bytes)
Serial.write(buf, len);
int xacc = 10;
int yacc = 11;
int zacc = 12;
int xgyro = 100;
int ygyro = 101;
int zgyro = 102;
int xmag = 200;
int ymag = 201;
int zmag = 202;
mavlink_msg_raw_imu_pack(100,200, &msg, 0, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag);
len = mavlink_msg_to_send_buffer(buf, &msg);
Serial.write(buf, len);
comm_receive();
}
void comm_receive() {
mavlink_message_t msg;
mavlink_status_t status;
//receive data over serial
while(Serial.available() > 0) {
uint8_t c = Serial.read();
//try to get a new message
if(mavlink_parse_char(MAVLINK_COMM_0, c, &msg, &status)) {
// Handle message
switch(msg.msgid) {
case MAVLINK_MSG_ID_SET_MODE: {
// set mode
}
break;
case MAVLINK_MSG_ID_ACTION:
// EXECUTE ACTION
break;
default:
//Do nothing
break;
}
}
// And get the next one
}
}
i used this code to read mavlink messages from APM to PC
Could you help me?
I would sniffing Arducopter Mavlink Protocol.
Use also this code snippet.
How i can get GPS data from Mavlink connection?
Thanks
hi Bruno
I was working on sending visual based information on mavlink with respect to
GPS data it was in build in Arducopter code.Try using mavproxy which
is much more user friendly in terms of data transmission.
Thanks
http://copter.ardupilot.com/wiki/configuration/arducopter-parameters/
check out if this link helps.
I am using similar code too, however this call never return TRUE
if(mavlink_parse_char(MAVLINK_COMM_0, c, &msg, &status))