Andrew Radford
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The current status of camera stabilization

Started this discussion. Last reply by phillou91 Oct 8, 2011. 10 Replies

Just added a (tilt only) camera gimble - the cheap one from Hobby King. Now I'd like to get some stabilization working. I've lost track on how to do this on AC2 - last time I looked at this was in…Continue

Migrating from ArduPirates - are PIDs the same?

Started this discussion. Last reply by Chris Anderson Jun 13, 2011. 3 Replies

As subject says - is there a rule of thumb when moving to AC2? should I start with the PID values from the Pirates NG version, or start from scratch with the defaults? AndrewContinue

MTK GPS: Would it be possible to save almanacs to speed startup?

Started this discussion. Last reply by Michael Pursifull Jun 23, 2012. 3 Replies

I have no clue about the MTK GPS API; can someone who knows comment on whether it would be possible to do this - i.e store the GPS state blob on the APM flash? GPS startup times are pretty long at…Continue

Reducing cables from RX to APM

Started this discussion. Last reply by The Old Flyer Dec 1, 2010. 6 Replies

Hi, I am building a arducopter and have the standard female-female servo leads to connect the RX to the APM. This amounts to a lot of wires. Is it possible to reduce this somehow? could I use a…Continue

Tags: connector, cable, receiver


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Bluetooth Serial Communications with the APM

Posted on September 17, 2011 at 1:46pm 39 Comments

I've heard some people mention using bluetooth to communicate with microcontrollers as replacement for a serial or USB & FTDI. Recently some small bluetooth serial modules have become available from large electronics retailers and smaller ones that operate on large internet auction websites. They can be purchased now for just a few bucks. The module has all the bluetooth components integrated and takes 3 volt TTL level RS232 signals. It comes in a surface mountable pcb package, however…


.Net Configurator screen shots

Posted on February 22, 2011 at 3:14pm 6 Comments

Screen shots after some sporadic work. Accel and TX calibration is working.

UI is a bit rude still, it's in Winforms. WPF is so much nicer, but can not run on Mono.




Comment Wall (5 comments)

At 11:54am on November 1, 2012, Patrick Andersen said…

Hi Andrew,

Sorry for my late response.

I'm using the APM 2.0 with MAVLink v1.0, so I would be very interested in your new version!

I couldn't find it on or in here.

I spend the last couple of weeks looking at the MAVLink part of my bachelor project with a drone, and really didn't expect to use this amount of time on this part.
So I'd hear, when you expect the new version to be on Github? or maybe, if you could send me what you have this far, I could work a little further on it to get it to work for my project, and of cause send improvements (if any) back to you?


At 4:12am on November 3, 2012, Andrew Radford said…

I've just got the new version checked in on my fork here:


you'll need python installed as well as the .Net 4 C# compiler, which you will have if you have installed any visual studio 2010 version. Probably it will work with studio 2012 also, perhaps the path to the csc compiler will need to be altered.

Anyway run pymavlink\generator\ to create all the libs for all the languages including c#. You may have to create a 'python' directory IIRC the generation script for the python libs does not auto create that dir.

the lib should be created in the generator\CS\v1.0\mavlink_ardupilotmega directory. It's called mavlink.dll.

Let me know if you have any problems - I've not used the generated code extensively, there is bound to be issues.


To use the lib - create a Mavlink() class

call mavlink.ParseBytes() when you receive some bytes off the wire

any parsed mavlink packets will be raised on the 'PacketReceived' event



At 4:50am on November 5, 2012, Seth Bourne said…
Any documenation to use this dll with c# ? Perhaps some easy examples like to get heartbeat and other parameter ?

At 1:49pm on November 5, 2012, Andrew Radford said…

Just subscribe to the received event like:



private void MavlinkPacketReceived(object sender, MavlinkPacket e)


if (e.Message is MavLink.Msg_heartbeat)


var m = e.Message as MavLink.Msg_heartbeat;  

Console.WriteLine("Heartbeat, version" + m.mavlink_version);




Every mavlink message is already defined, you just need to test the type of the Mavlinkmessage.Message property

At 6:59am on November 15, 2012, Patrick Andersen said…

Gee.. I just saw your response now..
So I'd started developing my own lib.
But this Tuesday I found out, you'd uploadet it, and have played a little around with it.
I commented on your pull request on GitHub - found a minor bug. :)
Keep up the good work! :)

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