Copter-GCS now supports MAVLink

At long last, I finally beat MAVLink into Java submission. I wasn't able to find any MAVLink bindings for Java (needed by android), so I ended up using JNI and wrote a MAVLink wrapper. It works nicely and makes using MAVLink very easy. Its available for download here. I've included both the "common" and the "pixhawk" messages.


As you see above, I've added a HUD mode.


I've uploaded the new copy of the GCS for easy download or through the Android Market (search copter-gcs). Of course the source is available through SVN

I am focused on Copters, as that is what I fly, but with MAVLink support, the copter-gcs is now also useful for ArduPilotMega. I loaded the APM code on my quad (minus the props :-) ), and was able to see / tune track just fine with it. The only thing missing is that the PID tuning widgets I have are currently only setup for the copter. The next version I expect will have the APM pids added in. For now you can just use the Parameters view to set anything you like:


When you make a change, just hit the button next to is to save it.

That's about the news for now. I will be working on Mission Planning and some clean-up next.


If anyone has any problems, let me know. Same thing if there is a feature missing (no promises though).

So far USB host mode for tablets (connect XBee directly) and Wifi links have been requested, although i'm not sure when/if they will make it in.

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3D Robotics
Comment by Chris Anderson on July 9, 2011 at 2:30pm
Sweet. Great work!
Comment by pixhawk on July 9, 2011 at 2:40pm
Really cool - looking forward to more of this!
Comment by liululu on July 9, 2011 at 9:43pm
And a great new chapter has arrived

Comment by Hai Tran on July 9, 2011 at 10:18pm
Android -> USB -> Xbee -> AC2?  Is that how I understand the connection?
Comment by Jeff E on July 9, 2011 at 11:12pm

His connection is Android <> Bluetooth <> XBee <> AC2
I really hope you would consider to add the option for a USB <> Serial connection > I tried to review your code and the BT Service/Connections must be completely re-written to adapt a USB serial input. I then realize I am no programmer.


I do agree with your comment about cables being too troublesome to Android phones but I think it will be awesome for Android Tablets like this photo of my Xoom

Comment by Hai Tran on July 10, 2011 at 2:02am
Woah, can use Xoom to control my Arducopter?, cool, just got my excuse to buy a Xoom!
Comment by Jeff E on July 10, 2011 at 2:11am
well not yet, we need a developer to assist in the serialization and parsing of the xbee/usb on the Xoom then we can control our copter via Xoom. Unfortunately, I am not that guy but you might be able to help. I saw your apple serialization and parsing seems to doing great maybe you can chime in, look at Bart's code and port your code to android.

Comment by Hai Tran on July 10, 2011 at 2:18am

Unfortunately I suck at Java, I was going to port my iPhone apps over to Android, I bought an Android phone, but the Android SDK sucks compared to iPhone SDK, and I just gave up.


Once I free up some time I might be able to learn about the MAVLINK protocol and make a Mac version.  Unfortunately apple doesn't allow Bluetooth serial unless you join the Made for iPod program, which I tried to join, but got caught up in so much red tape.

Comment by Bart on July 10, 2011 at 5:52am

Ah yes, the Apple vs OtherPlatform debate hehe.

The funny thing is that for me, having no mac computer, the IPhone SDK can only be used through hacks (can't legally develop from a PC). No XCode, no SDK, no simulator: By comparison I was up and running in 30 minutes with android.


Jeff, that shot looks cool on your tablet, might just have pushed me over the edge. I think you sent me some links earlier, I'll try and dig them up (or please resend them) and i'll have a look at it in depth today. If you are ok testing, I can try to add it in.




Comment by Jeff E on July 10, 2011 at 6:27am

Yup the never ending argument but for me I migrated to Android lol


Bart there is an even better link now Android dev place sample coding for USB host accessory. Here is the old pdf file that implemented a sort of debugging but still have the 2way communication.


With your MAVLink support your app is definitely be the best there is. No more laptop to bring the field.


Great Job Bart




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