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Does anyone know of any recent Arduino MAVLink tutorials?

I would like to use an Arduino connected to the PixHawk to update waypoints, check current positions, etc. All the tutorials I could find (most rooting back to http://qgroundcontrol.org/dev/mavlink_arduino_integration_tutorial) seem to be outdated. When I follow these instructions the sketch doesn't compile.

Is anyone currently doing something like this that could give me some pointers in the right direction or provide a updated tutorial on getting started with MAVLink and Arduino?

Thanks for your help!