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How to send a text message from a companion computer to the GCS through Ardupilot?

I would like to send a a short status text message from a Companion Computer to the Ground Control Station that will be displayed in Mission Planner or QGroundControl somehow.

The Companion Computer is connected to the Ardupilot in the vehicle.

Is there a way to do so using mavlink?

Let me answer my own question:
The STATUSTEXT [ #253 ] message sent from the companion computer appears in the Mission Planner (I guess QGC is the same) when I tried using the real hardware setup. (GCS connected to TELEM1, Companion Computer to TELEM2). It just didn’t work on sitl config.

Servers by jDrones