How to decode or read Mavlink Messages ??

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Peicong Liu July 8, 2015 at 6:30pm

Hi Chethan,

Did you ever get this to work?

Thanks
- Bruno > Peicong Liu August 5, 2015 at 1:04pm
  
  Hi Chethan
  I think, that Message #0 Hearthbeat is the right Message. But base_mode return value 0 and 68. Thats not a unique Mode.
- chethan j > Peicong Liu July 9, 2015 at 9:45am
  
  yes i got it working by serial connection from PC to APM borad
  - Peicong Liu > chethan j July 9, 2015 at 9:58am
    
    Does APM board send out heartbeat message automatically after you connected to PC?
    - chethan j > Peicong Liu July 9, 2015 at 10:02pm
      
      // 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
      - Bruno > chethan j August 2, 2015 at 10:51am
        
        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
        
        chethan j > Bruno August 2, 2015 at 10:32pm
        
        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.
        
        Bruno > chethan j August 4, 2015 at 1:37pm
        
        Hi chethan. Thanks for your help. Now could read GPS Position, battery voltage, and Mann more. But i would know the status of my quad (disarm, arm, stabilized, rtl, failsafe). Could you tell me the command ID?
        Thanks
        
        chethan j > Bruno August 4, 2015 at 9:48pm
        
        http://copter.ardupilot.com/wiki/configuration/arducopter-parameters/
        
        check out if this link helps.
      - Peicong Liu > chethan j July 9, 2015 at 11:03pm
        
        I am using similar code too, however this call never return TRUE
        
        if(mavlink_parse_char(MAVLINK_COMM_0, c, &msg, &status))

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How to decode or read Mavlink Messages ??

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