Im currently designing an arduino gps tracking system for my APM,
The aim is to have an seperate arduino board assertain it's gps location, parse this then send it via xbee to the APM using MAVlink to set new navigation waypoints for my copter - allowing the quadrocopter to follow a moving person (with the secondary arduino board).
To date I have a working gps acquisition, parsing and sending over xbee, however MAVlink is producing some massive headaches.
I've generated my header files from the python app found at (http://qgroundcontrol.org/mavlink/start)
And i have a rough idea as to how to protocol works and it's functionality, im just finding it difficult to connect the dots and use the functions in the headers inside my sketchbook to actually talk to my APM, how do i check for the heartbeats that the APM sends?
I've tried several sources on github to try and find a solution ranging from OSD's through to the APM code (which is a bit over whelming) but i didnt seem to learn a whole lot from these and was left more confused than when i began
My xbee's work through the APM planner and also QGC with the correct baud settings and firmware