Hi all,
Having a bit of trouble getting MAVLink working on my Arduino Mega.
I can get the code from the example on qgroundcontrol to compile, upload and run, but it never manages to parse a message.
Any ideas?
Regards,
Si
Documentation: http://www.qgroundcontrol.org/dev/mavlink_onboard_integration_tutorial
My code:
#ifndef PI
# define PI 3.141592653589793f
#endif
#ifndef M_PI_2
# define M_PI_2 1.570796326794897f
#endif
#ifndef atanf
# define atanf atan
#endif
#ifndef atan2f
# define atan2f atan2
#endif
#include "C:/Users/Simon/Documents/GitHub/failsafe/libraries/mavlink/include/include/mavlink/v1.0/ardupilotmega/mavlink.h"
void communication_receive();
int packet_drops = 0;
void setup(){
Serial.begin(57600);
Serial1.begin(57600);
}
void loop(){
communication_receive();
}
void communication_receive()
{
mavlink_message_t msg;
mavlink_status_t status;
if(Serial1.available()) {
Serial.print("\t\tReading some bytes: ");
Serial.println(Serial1.available());
}
// COMMUNICATION THROUGH UART
while(Serial1.available() > 0)
{
uint8_t c = Serial1.read();
//Serial.print(char(c));
// Try to get a new message
if(mavlink_parse_char(MAVLINK_COMM_0, c, &msg, &status)) {
Serial.print("\t\t***Message received! id:");
Serial.println(msg.msgid);
// Handle message
//decode(msg);
}
// And get the next one
}
// Update global packet drops counter
packet_drops += status.packet_rx_drop_count;
}
Result:
Reading some bytes: 19
Reading some bytes: 7
Reading some bytes: 2
Reading some bytes: 2
Reading some bytes: 2
Reading some bytes: 2
Reading some bytes: 2
Reading some bytes: 2
Reading some bytes: 2
Reading some bytes: 2
Reading some bytes: 2
Reading some bytes: 2
Reading some bytes: 2
Reading some bytes: 17
Reading some bytes: 2
Reading some bytes: 1
Reading some bytes: 2
Reading some bytes: 18
