MAVLink packet sequence communicating with Pixhawk

Posted by Baden Corr on August 10, 2015 at 10:06pm

I have a JAVA program that uses MAVLink to communicate with a Pixhawk over telemetry.

I've got the basics down, but i'm having trouble sending messages as i can't get the MAVLink sequence correct.

What does the MAVLink sequence start at (for the ground station as the sender) when communicating and how does it increment?

Cheers

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Replies

  • Maarten Deheegher August 10, 2015 at 10:48pm

    First clear all your existing missions.

    Then send a MISSION_COUNT for as many mission items you plan to upload. Wait for a MISSION_REQUEST in order to send a MISSION_ITEM.

    Start by sending your MISSION_ITEM's starting with sequence 0 and incrementing the sequence number because the Pixhawk will send MISSION_COUNT times a MISSION_REQUEST. Each mission request you have to answer to with a MISSION_ITEM. After the last MISSION_ITEM you send to the Pixhawk you will receive finally a MISSION_ACK.

    For sequence 0, use the home location for RTL.

    As an example for the protocol you can reference my python script for loading missions on github

    https://github.com/SireMartin/handleAircraft/blob/master/loadMissio...

    A refrerence to the protocol:

    http://qgroundcontrol.org/mavlink/waypoint_protocol

    SireMartin/handleAircraft
    raspberry pi scripts for packet delivery. Contribute to SireMartin/handleAircraft development by creating an account on GitHub.
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