Hi every:
I recently want to build a customized GCS, I just familiar with C# so I decided to read the source code in Mission Planner. However, I just confused how sysid and compid works? How mission planner know there is a UAV there and communicate with it?
Maybe I am still a little confused about mavlink after I refered to QGound websit. When it comes to mavlink I have several Questions:
1. How GCS keep updating the message? GCS constantly send heartbeat message to ask info to UAV or UAV constantly send heartbeat message?
2. If there's more than one UAV, how Mission Planner mange that? I know It use "MAVlist" to store the multi uav's information, but how it first get those UAV's sysid and compid?
3. I find where to connect UAV but did not see how "MAVlist" initialized.
// do the connect
comPort.Open(false, skipconnectcheck);
Can anybody help me. Thank you very much.
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