Anyone know where I can find documentation on Mavlink messages? The pixhawk wiki seems to be permanently borked and everything I can find on Google points back to the borked wiki. Any suggestions?
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I think you're looking for how to control APM via MAVLink, right? Check out PyMAVLink and Tridge's MAVProxy.
The word, borked, is new to me, so I'm not quite sure what you mean. But there is documentation that I can read here
http://qgroundcontrol.org/mavlink/start
And there is the detailed XML message description file, which has a lot of useful data. The "common messages" for MAVLink as implemented in MatrixPilot are here.
you could try looking at the code, but other than that, i cant help im afraid.