Discussions

I have a pixhawk that is receiving telemetry messages from my laptop via a serial port. I send the message like so:

int MAVLinkIF::SendAttitudeTarget()
{
    // basic messaging set up
    mavlink_message_t msg;
    int len;
    uint8_t buf[MAVLINK_MAX_PACKET_LEN];
    // packing inputs
    uint8_t this_sys_id = 2;
    uint8_t this_comp_id = 1;
    uint8_t target_sys_id = 1;
    uint8_t target_comp_id = 1;
    uint32_t time_boot_ms = (uint32_t) get_time_usec();
    uint8_t mask = 0; // Bitfield for ignoring input of
    const float quarter[4] = {1, 0, 0, 0}; // quarternion for zero rotation
    float body_roll_rate = 0; // no roll rate
    float body_pitch_rate = 0; // no pitch rate
    float body_yaw_rate = 0; // no yaw rate
    float thrust = 0.10; // give it ten percent of thrust

        mavlink_msg_set_attitude_target_pack(this_sys_id,this_comp_id,&msg,time_boot_ms,target_sys_id,
        target_comp_id,mask,&(quarter[0]),body_roll_rate,body_pitch_rate,body_yaw_rate,thrust);
    len = mavlink_msg_to_send_buffer(buf,&msg);
    Write(len,(char*)(buf));

    return 0;
}

where Write is just a function that sends data to the serial port. I get no response from the Pixhawk even though I'm sure the message is being sent to the Pixhawk. I am receiving the message like so:

nt MAVLinkIF::ParseMessage(char* msg, int bytes)
{
    // COMMUNICATION THROUGH EXTERNAL UART PORT (XBee serial)
    int bytes_processed = 0;
    int channel = 0; // Channel parsing from
    while(bytes_processed < bytes)
    {
        uint8_t c = msg[bytes_processed];
        // Try to get a new message
        if(mavlink_parse_char(channel, c, &mMavMsg, &mMavMsgStatus)) {
            // Handle message if one can be read
            switch(mMavMsg.msgid)
            {

                 case MAVLINK_MSG_ID_SET_ATTITUDE_TARGET: // ID: 82
                {
                    mavlink_set_attitude_target_t target;
                    mavlink_msg_set_attitude_target_decode(&mMavMsg, &target);
                   
                }
                break;     
                case MAVLINK_MSG_ID_ATTITUDE_TARGET: // ID: 83
                {
                    mavlink_attitude_target_t target;
                    mavlink_msg_attitude_target_decode(&mMavMsg, &target);
                     
                }

default:
                    //Do nothing
                break;
            }
        } else if (mMavMsgStatus.parse_state == MAVLINK_PARSE_STATE_GOT_BAD_CRC1)
        {
            // if the message cannot be parsed due to a bad CRC
            mPacketDrops += 1;
        }
        bytes_processed++;
    }
    return 0;
}

Any ideas? Am I using MAVLink correctly? I can provide additional information ASAP if needed.