So I am trying to retrieve sensor information from my ArduCopter to my c# application and as such need to use Mavlink.
From the Mission Planner source I have found functions to create the packets with check-sums and all. Once connected I can see my ArduCopter streaming heart beat messages. As I am a newbie to Mavlink, how do I get it to stream sensor info or how can I poll the ArduCopter? Send messages with no payload?