Mission Planner and Mavlink

[Ahmet Basri Altay]

I want to send the heartbeat signal to Mission planner using STM32 and communicate with mission planner to stm32. What am I supposed to do?

[Mrunal Shinde]

Are you using a STM32F1 bluepill?

[Ahmet Basri Altay]

No I am using STM32F411

Mrunal Shinde <shinde.m...@gmail.com>, 28 Nis 2021 Çar, 15:52 tarihinde şunu yazdı:

Are you using a STM32F1 bluepill?

On Wednesday, April 28, 2021 at 6:17:24 PM UTC+5:30 altay...@gmail.com wrote:

I want to send the heartbeat signal to Mission planner using STM32 and communicate with mission planner to stm32. What am I supposed to do?

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[Mrunal Shinde]

Alright . First you need to download the right libraries .You can get them  here : https://mavlink.io/en/getting_started/use_libraries.html

Have you downloaded them?Also what type of data do you want to send to mission planner ? i.e attitude , gps etc specify 

[Ahmet Basri Altay]

Yeah, I have the right libraries. I want to send pitch, roll, yaw, longitud values etc.

Mrunal Shinde <shinde.m...@gmail.com>, 28 Nis 2021 Çar, 15:57 tarihinde şunu yazdı:

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[Mrunal Shinde]

Alright. So after that you need to write a simple code that can receive a mavlink msg from mission planner and parse it. 

i.e tell you what kind of msg it is . 

You can get an example here : https://mavlink.io/en/mavgen_c/

After decoding the msg you need to send it the data that it is requesting .

[Ahmet Basri Altay]

I have already reviewed the example here, but I could not understand how the recieve process is done and how it is controlled. Can you explain them a little bit for me? Thanks for everything.

Mrunal Shinde <shinde.m...@gmail.com>, 28 Nis 2021 Çar, 16:22 tarihinde şunu yazdı:

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[Mrunal Shinde]

Alright . Ill try actually am not good at explaining .

Ill share my code and explain you through it . So excuse me if i say something wrong.

First you start by initializing and creating objects of the these specific classes . 

Other things you need are system id =1(for  vehicle ) component id=1 (for flight controller) target system id = 255( for mission planner) target component id =1 ( for mission planner )

#include "c_library_v2-master/ardupilotmega/mavlink.h"

mavlink_status_t status;

mavlink_message_t msg;

uint8_t sysid = 1, compid = 1, targetsys_id = 255, targetcomp_id = 1, count = 0;

//initialize serial 

//I am using serial to connect to mission planner and serial1 to debug and read

void setup() {

  // put your setup code here, to run once:

  Serial.begin(115200);

  Serial1.begin(115200);

}

void loop() {

  if (Serial.available() > 0)

  {

    while (Serial.available() > 0)

    {

      uint8_t byte = Serial.read();

      if (mavlink_parse_char(chan, byte, &msg, &status))

      {

        Serial1.print("Received message with ID ");

        Serial1.print(msg.msgid);

        Serial1.print(" Serquence :");

        Serial1.print(msg.seq);

        Serial1.print(" from Component:");

        Serial1.print(msg.compid);

        Serial1.print(" of system:");

        Serial1.println(msg.sysid);

        ... DECODE THE MESSAGE PAYLOAD HERE ...

        Serial1.println(mavlink_get_msg_entry(&msg));

      }

    }

  }

}

This will give you the message id that mp is request . 

So once you get the message id you can further decode it by using a switch statement 

switch (msg.msgid)

    {

      case MAVLINK_MSG_ID_REQUEST_DATA_STREAM :

        {

          req_message_rate = mavlink_msg_request_data_stream_get_req_message_rate(&msg);

          target_system = mavlink_msg_request_data_stream_get_target_system(&msg);

          target_component = mavlink_msg_request_data_stream_get_target_component(&msg);

          req_stream_id = mavlink_msg_request_data_stream_get_req_stream_id(&msg);

          start_stop = mavlink_msg_request_data_stream_get_start_stop(&msg);

                    Serial1.print("RDS   ");

                    Serial1.print(req_message_rate);

                    Serial1.print(" ");

                    Serial1.print(target_system);

                    Serial1.print(" ");

                    Serial1.print(target_component);

                    Serial1.print(" ");

                    Serial1.print(req_stream_id);

                    Serial1.print(" ");

                    Serial1.println(start_stop);

       }

}

This is and example to decode the elements of MSGid request_data_stream 

Similiarly you can decode other messages once you get their msg id 

[Mrunal Shinde]

And also i forgot to include the channel . you need to initialize another variable :

int chan = MAVLINK_COMM_0;

We are using channel 0 to connect to mission planner .

[Ahmet Basri Altay]

Okey. Thank you so much for everything. I can't work right now but I will examine it as soon as possible. Then I hope we can communicate again. Thank you so much again.

Mrunal Shinde <shinde.m...@gmail.com>, 28 Nis 2021 Çar, 16:46 tarihinde şunu yazdı:

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[Mrunal Shinde]

Yes surely !

[Ahmet Basri Altay]

Hello, have a nice day, I came again.  I tried to use the v2 libraries here   https://mavlink.io/en/mavgen_c/     However, I did not succeed in this and I constantly got errors in .h files.   I use the keil interface and the c language.  I think these are the problems.   and i couldn't figure it out.  Which library and IDE did you use? I wonder if the arduino IDE OR Visual or something different?

28 Nisan 2021 Çarşamba tarihinde saat 16:58:15 UTC+3 itibarıyla shinde.m...@gmail.com şunları yazdı: