Hello Dears,
I hope you’re all doing well. I’m currently working on a plugin for Mission Planner that requires intercepting and handling MAVLink messages from the autopilot. As part of my plugin’s functionality, I’m trying to find a method or event that allows me to listen to incoming MAVLink messages and respond accordingly.
notice : MainV2.gcs.ReceivedPacket += Gcs_ReceivedPacket; is just my imgination.
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using MissionPlanner.Utilities;
using System.IO;
using System.Windows.Forms;
using System.Diagnostics;
using System.Threading.Tasks;
using MissionPlanner;
using static MAVLink;
//loadassembly: MissionPlanner.WebAPIs
namespace MessageInterceptionExample
{
public class MessageInterceptionPlugin : MissionPlanner.Plugin.Plugin
{
public override string Name => "Message Interception Plugin";
public override string Version => "1.0";
public override string Author => "Dave Bonsall";
public override bool Init()
{
return true;
}
public override bool Loaded()
{
return true;
}
public override bool Exit()
{
return true;
}
// Constructor
public MessageInterceptionPlugin()
{
// Subscribe to the ReceivedPacket event
MainV2.gcs.ReceivedPacket += Gcs_ReceivedPacket;
}
// Event handler for ReceivedPacket event
private void Gcs_ReceivedPacket(object sender, MAVLinkMessage packet)
{
// Here, i want to intercept and handle incoming MAVLink messages
// For example, i want to log the message information or process specific messages
Console.WriteLine($"Received MAVLink message with ID: {packet.msgid}");
}
}
}
However, I’m not certain about the exact way to achieve this in the latest version of Mission Planner. Could anyone kindly provide insights on how I can intercept and handle MAVLink messages within the current environment?
Best Regards
Dave
