Data transfer from ARDUINO to PIXHAWK through serial or I2C

Dear all

I need your help in the following simple(?) issue: I have connected through I2C two ARDUINOs (a master MEGA and a slave NANO). Using the following code they communicate correctly:

For the master:

#include <Wire.h>

String msg = String("");

void setup()

{

  Wire.begin();                // join i2c bus (address optional for master)

  Serial.begin(9600);       // start serial for output

}

void loop()

{

  Wire.requestFrom(10, 27);  // request n=27 bytes from slave device #10

    while (Wire.available())

    {                                     

      char c = Wire.read();      // receive a byte as character

       

      Serial.print(c);                // print the character

    }

delay(1000);

Wire.end();

}

And for the slave:

#include <Wire.h>

void setup()

{

  Wire.begin(10);                            // join i2c bus with address #10

  Wire.onRequest(requestEvent);     // register event

}

void loop()

{

  delay(1000);

}

                             // function that executes whenever data is requested by master   

void requestEvent()       // this function is registered as an even

{

  Wire.write("41.439234,24.712345,67.25; "); // respond with message of n bytes                     

}

I must replace the master ARDUINO MEGA with the PIXHAWK flight controller of a hexa and read the above message "41.139234,24.912345,67.25;” through one of its serial ports (UART or I2C).

Could you please suggest me which is the easier solution:

1) to use MAVLINK lib in ARDUINO NANO and to communicate through Telem2 for example to Pixhawk, or

2) Is it possible to write a Python code through MP in order to communicate through I2C from Pixhawk to ARDUINO? 

In this case must I modify the above C++ code for slave or not? I use python scripting through Mission Planner to control the hexa.

Thanking you in advance.

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