I'm working on a project that consists control APM with voice commands using the EasyVR shield of arduino. I'm talking to the APM through a C++ program that interprets the voice and sends MAV commands to APM.

The problem is: I' dont know how to send a command like "Turn 90 degrees" or something to direct control my quad. I want to do something like that, changing yaw angle.

Until now I can Arm and Disarm the quad through voice commands.

My Code:

raw_values raw;
raw.r_yaw = 0.314 ;
raw.x_pitch = 0;
raw.y_roll = 0 ;
raw.z_throttle = 1;

switch(var)
{
case RIGHT:
{
Console::WriteLine("Right");
const float q0[4]={0.70710678,-0.70710678,0.0,0.0};
mavlink_msg_command_long_send( MAVLINK_COMM_0,
apm_system,
apm_component, // uint8_t target_component
MAV_CMD_NAV_GUIDED_ENABLE, // uint16_t command,
0, // uint8_t confirmation,
0.6f, // float param1,
0, // float param2,
0, // float param3,
0, // float param4,
0, // float param5,
0, // float param6,
0 // float param7)
);

mavlink_msg_set_attitude_target_send(MAVLINK_COMM_0,apm_time_boot,apm_system,apm_component,0,q0,raw.y_roll,raw.x_pitch,raw.r_yaw,raw.z_throttle);
}