"Hi Chethan
I think, that Message #0 Hearthbeat is the right Message. But base_mode return value 0 and 68. Thats not a unique Mode."

"Hi chethan. Thanks for your help. Now could read GPS Position, battery voltage, and Mann more. But i would know the status of my quad (disarm, arm, stabilized, rtl, failsafe). Could you tell me the command ID?
Thanks"

"Could you help me?
I would sniffing Arducopter Mavlink Protocol.
Use also this code snippet.
How i can get GPS data from Mavlink connection?
Thanks"

"Have same Problem, did not understand how it works :-(
FE 1E CF 01 01 18 40 A4 6F 10 00 00 00 00 B8
FA 4C 1C 9D         lat // Latitude (WGS84), in degrees * 1E7 [4'199'292'061 / 10000000= 419]
E9 14 05 8E          lon // Longitude (WGS84), in…"