Read Mavlink Pixhawk-Arduino

[Luis AVC]

Hi Guys.

I been trying to connect a Pixhawk with and arduino using Mavlink

In Pixhawk im using firmware 3.3 quadcoprter. And im using the Serial4/5 Port.

In the Arduino, is an Arduino Mega, and im ussing the TX1 and RX1, while the TX and RX are ussed to see the information in the PC.

For now I understend some of the way Mavlink work, but I not sure if im asking for the Heartbeat in the correct way and how im supose to call the variables trow mavlink. 

//#include <FastSerial.h>

#include "C:/Users/luis.Valtierra/Documents/ardupilot/libraries/mavlink/include/mavlink.h"         // Mavlink interface

// FastSerialPort0(Serial);

void setup() {

Serial1.begin(57600);

 Serial.begin(57600);

}

void loop() { 

// Define the system type (see mavlink_types.h for list of possible types) 

int system_type = MAV_QUADROTOR;

int autopilot_type = MAV_AUTOPILOT_GENERIC;

// Initialize the required buffers 

mavlink_message_t msg; 

uint8_t buf[MAVLINK_MAX_PACKET_LEN];

// Pack the message

// mavlink_message_heartbeat_pack(system id, component id, message container, system type, MAV_AUTOPILOT_GENERIC)

mavlink_msg_heartbeat_pack(100, 200, &msg, system_type, autopilot_type);

// Copy the message to send buffer 

uint16_t len = mavlink_msg_to_send_buffer(buf, &msg);

// Send the message (.write sends as bytes) 

Serial1.write(buf, len);

comm_receive();

}

void comm_receive() { 

mavlink_message_t msg; 

mavlink_status_t status;

//receive data over serial 

while(Serial1.available() > 0) { 

uint8_t c = Serial1.read();

//try to get a new message 

if(mavlink_parse_char(MAVLINK_COMM_0, c, &msg, &status)) { 

// Handle message

  switch(msg.msgid) {

       case MAVLINK_MSG_ID_SET_MODE: {

        // set mode

       }

       break;

       case MAVLINK_MSG_ID_ACTION:

// EXECUTE ACTION

break;

default:

//Do nothing

break;

}

} 

// And get the next one

}

}

The code work, but im not getting inside the receive switch, most probable becase the program doesnt know how to send a proper heartbeat. 

Hope someone could help me.

[Luis AVC]

UPDATE

I check the group and found som advices. Now I get sometingh from Serial1.read(); Looks like the HeartBeat, but I dont know how to handle it...

// Arduino MAVLink test code.

   Serial.println(c);

//try to get a new message 

if(mavlink_parse_char(MAVLINK_COMM_0, c, &msg, &status)) { 

Serial.println("Enter"); 

// Handle message

  switch(msg.msgid) {

       case MAVLINK_MSG_ID_SET_MODE: {

      Serial.println("set mode");

        // set mode

             }

       break;

       case MAVLINK_MSG_ID_ACTION:

            Serial.println("ID action");

[Luis AVC]

My code
https://github.com/HertBox/Pixhawk-Arduino-Mavlink

[john console]

hi,

i have a arduino mkr1000, would it be possible to make a version that will listen to a udp connection? THANKS