When I put it before the switch and in the comm_receive() function, nothing came out still. So I print msg.id and the other parameters in the void loop, outside of the function, and am getting this with msg.id being 0:
07:14:47.963 → GPS Fix: 83
07:14:47.991 → GPS Latitude: 545316611
07:14:47.991 → GPS Longitude: 1735290700
07:14:47.991 → GPS Speed: 20551
07:14:47.991 → Sats Visible: 112
Putting the msg.id print outside of comm_receive() unfortunately doesn’t help, the values in msg at that point are not valid/unassigned.
Also, getting no output when you have the msg.id print inside comm_receive() and before the switch() confirms you are not receiving data bytes over the serial link clearly.
If you are certain you have the serial port speeds correct then I would try and listen in on the serial wire that goes from the AutoPilot TX to your Arduino RX. You can do this by using an FTDI buddy connected via USB to your computer. Then on your computer open a terminal program that allows you to see the received bytes in hex and open the fetid buddy serial port. Then last but not least connect the ground pin of the ftdi buddy to the ground of your project and the ftdi buddy RX to the AutoPilot TX.
That way you can evesdrop on all data bytes coming from the AutoPilot. That should help you troubleshoot at the serial port level and confirm that clean correct speed bytes are being sent by the AutoPilot.
You can also listen in on the Arduino TX line as well to check data flow from Arduino to AutoPilot.
This should help you confirm low level issues.
Again keep the serial port voltages in mind, make sure they are all 3.3v or 5v and not a mix of the two.
How to get ardupilot log messages from mavlink?
Hello everyone!
Could you please assist me with obtaining data from a LiDAR sensor? Ideally, I should be using DISTANCE_SENSOR ( #132 ) and its current_distance value, but I can’t find a suitable description for it in the MAVLink library. I found that I need to use MAV_DATA_STREAM_EXTRA3 (this is described in GCS_Mavlink.cpp, line 543). But I don’t understand what to do next… I am using the TF Mini Plus lidar ( I2C, it works fine), and it’s crucial to transmit its readings to Arduino. I might be overlooking something, as I’ve been struggling for three days without success. Thank you all in advance for your help!
hi i try to connect teensy 4.1 to my drone
i config all the data and use the example of the heartbeat
i get row data with no logic and it not readable
try to switch rx and tx
i am not connect the teensy to the power only tx rx and ground
thanks for help |
OK, I did it). I used another library for my task.
Hi @jplopezll
I need your help am using esp8266 wifi module.I have connected the wifi module with pixhawk device and also gps module(ready to sky) also connected with pixhawk device.I need to reterive the gps data from the pixhawk device using the esp8266 wifi module can you please how to reterive the gps using wifi module using the ardunio ide software what are library’s need to add on the wifi module and what code need to be embeded on the wifi module to reterive the gps data over pixhawk device.
can you share your code use to reterive the gps data.Can you confirm are you using the esp8266 or esp32 wifi module?.
@jplopezll Thank u so much for this helpful post.
I need help on how to transmit data from arduino to the cube+ orange (pixhawk).
Thanks in advance.
For u guys that having problem, try to change the serial 2 protocol in ‘Full Parameter List’ on Mission Planner to ‘mavlink1’, if u guys use the same library that @jplopezll used.
Note : I have tried almost 1 months to figure where’s my problem and also invite my friend from computer engineering. Luckily he try to change the protocol and turns out it can give all of the data.
@jplopezll I’m using the simplified code that you provided to get the heartbeat from the pixhawk 6c mini to the arduino nano. When I run it, it just stays in “Streams Requested”. I connected the TX from the pixhawk to pin 9 and RX to pin 10. I tried debugging and it appears to never enter the if statement for the mavlink_parse_char function. Here is the source code used:
#include <mavlink.h>
#include <SoftwareSerial.h>
SoftwareSerial _MavLinkSerial(9, 10); // PIN 9=Telemetry TX->Pixhawk RX, PIN 10=Telemetry RX->Pixhawk TX
// Mavlink variables
unsigned long previousMillisMAVLink = 0; // will store last time MAVLink was transmitted and listened
unsigned long next_interval_MAVLink = 1000; // next interval to count
const int num_hbs = 60; // # of heartbeats to wait before activating STREAMS from Pixhawk. 60 = one minute.
int num_hbs_pasados = num_hbs;
void setup() {
// MAVLink interface start
_MavLinkSerial.begin(57600);
Serial.begin(57600);
Serial.println(“MAVLink starting.”);
}
void loop() {
// MAVLink
/* The default UART header for your MCU */
int sysid = 1; ///< ID 20 for this airplane. 1 PX, 255 ground station
int compid = 158; ///< The component sending the message
int type = MAV_TYPE_QUADROTOR; ///< This system is an airplane / fixed wing
// Define the system type, in this case an airplane → on-board controller
// uint8_t system_type = MAV_TYPE_FIXED_WING;
uint8_t system_type = MAV_TYPE_GENERIC;
uint8_t autopilot_type = MAV_AUTOPILOT_INVALID;
uint8_t system_mode = MAV_MODE_PREFLIGHT; ///< Booting up
uint32_t custom_mode = 0; ///< Custom mode, can be defined by user/adopter
uint8_t system_state = MAV_STATE_STANDBY; ///< System ready for flight
// Initialize the required buffers
mavlink_message_t msg;
uint8_t buf[MAVLINK_MAX_PACKET_LEN];
// Pack the message
//mavlink_msg_heartbeat_pack(sysid,compid, &msg, type, autopilot_type, system_mode, custom_mode, system_state);
mavlink_msg_heartbeat_pack(1, 0, &msg, type, autopilot_type, system_mode, custom_mode, system_state);
// Copy the message to the send buffer
uint16_t len = mavlink_msg_to_send_buffer(buf, &msg);
// Send the message with the standard UART send function
// uart0_send might be named differently depending on
// the individual microcontroller / library in use.
unsigned long currentMillisMAVLink = millis();
if (currentMillisMAVLink - previousMillisMAVLink >= next_interval_MAVLink)
{
// Record last HB update
previousMillisMAVLink = currentMillisMAVLink;
//Mav_Request_Data();
num_hbs_pasados++;
if (num_hbs_pasados >= num_hbs) {
// Request streams from Pixhawk
Serial.println("Streams requested!");
Mav_Request_Data();
num_hbs_pasados = 0;
}
}
// Check reception buffer
comm_receive();
}
void Mav_Request_Data()
{
mavlink_message_t msg;
uint8_t buf[MAVLINK_MAX_PACKET_LEN];
// To be setup according to the needed information to be requested from the Pixhawk
const int maxStreams = 1;
const uint8_t MAVStreams[maxStreams] = {MAV_DATA_STREAM_POSITION};
const uint16_t MAVRates[maxStreams] = {0x02};
for (int i = 0; i < maxStreams; i++) {
mavlink_msg_request_data_stream_pack(6, 200, &msg, 1, 0, MAVStreams[i], MAVRates[i], 1);
uint16_t len = mavlink_msg_to_send_buffer(buf, &msg);
_MavLinkSerial.write(buf, len);
}
}
void comm_receive() {
mavlink_message_t msg;
mavlink_status_t status;
delay(500);
while (_MavLinkSerial.available() > 0) {
//Serial.print(“Here2”);
//Serial.println();
uint8_t c = _MavLinkSerial.read();
// Try to get a new message
if (mavlink_parse_char(MAVLINK_COMM_0, c, &msg, &status))
{
//Serial.print("Here3");
//Serial.println();
Serial.print("DEBUG msgid:"); Serial.println(msg.msgid);
// Handle message
switch (msg.msgid)
{
case MAVLINK_MSG_ID_HEARTBEAT: // #0: Heartbeat
{
Serial.print("Heartbeat received");
// E.g. read GCS heartbeat and go into
// comm lost mode if timer times out
}
break;
}
}
}
}
Hi @Diego_Marrero, have you also connected a ground wire between your PixHawk and Arduino? You will need that as well as your TX and RX wires.
Also which port are you using on your Pixhawk and how have you configured it?
Also in your mavlink_msg_heartbeat_pack() function, you should be using the systemID and componentID of your Arduino, which you can make up and set yourself at say 1, 200, instead of the 1, 0 you have in your code.
So I would look like
mavlink_msg_heartbeat_pack(1, 200, &msg, type, autopilot_type, system_mode, custom_mode, system_state);
In a similar way you need to make some changes to your mavlink_msg_request_data_stream_pack() function call.
Again where you have 6,200 you should be using the systemID and componentID of your Arduino, which I suggested you could use 1, 200.
Then where you have 1,0 in you code you should be using the systemID and componentID of the Pixhawk, which I believe in most cases is 1,1.
So your now function call would look like
mavlink_msg_request_data_stream_pack(1, 200, &msg, 1, 1, MAVStreams[i], MAVRates[i], 1);
Let me know if that helps. And keep in mind that you should be seeing the heartbeats from the Pixhawk if the wiring and Pixhawk configuration are correct, even if you don’t see other MAVlink messages. So I would focus in making sure you have the wiring correct first, the Pixhawk configuration second, and then fixing your heartbeat function, before worrying about requesting it the data stream.
Yes, I also connected the ground wire between the Arduino and the PixHawk. Also, the port I’m using from the Pixhawk is Telem2 and I configured it to be at 57,600 baudrate and set up MAVLink2 protocol.
Thank you @pauljeff! I will give this a shot. I see that that function is commented with those parameters in the code. Sorry about this, I’m new to MAVLink. I’ll let you know if this works.
No problem, you’ll get there.
Also I think from memory that Arduino code is setup for MAVlink v1, so try changing your Pixhawk to use mavlink v1 on that telemetry port.
Hi everyone,
Thanks for this great tutorial! I’m working on a project with a Pixhawk, and I’m wondering if there’s a way to power off the Pixhawk using an external command sent via serial. Is this possible, and if so, could someone guide me on how to implement it?
Thank you!
Hi sir,
i want my GPS colors match with external led through mavlink protocol.
i use arduino mega2560 and here3+ gps .
connection: a) external led to arduino mega2560
b) arduino to telemetry2 pin in pixhawk cube orange plus
c) gps to can pin in pixhawk cube orange plus