Mavlink communication between two Pixhawks via Sik telemetry radios

Julia_L · November 14, 2022, 1:26pm

Hello , I am working on a project that consists of sending a vehicle( with Pixhawk 4 mini) position data via telemetry (mavlink) to another vehicle (with another pixhawk on board) , without having a Ground Control Station (GCS) in the loop and using the ardupilot software. I have read through the mavlink developer guide , generated the header files in C++ . The main issue i am facing is that I do not understand how to read data from a serial port in ardupilot. I have tried using the AP_HAL library UART sketches to read data from the port but i have not succeeded yet. Any advice regarding how to proceed is appreciated.

ppoirier · November 14, 2022, 1:35pm

You can refer to this blog for some techniques

ppoirier · November 14, 2022, 1:42pm

I see that a follow script has been added recently:

github.com

ArduPilot/ardupilot/blob/master/libraries/AP_Scripting/examples/plane_guided_follow.lua

-- support follow in GUIDED mode in plane

local PARAM_TABLE_KEY = 11
local PARAM_TABLE_PREFIX = "GFOLL_"

local MODE_MANUAL = 0
local MODE_GUIDED = 15

local ALT_FRAME_ABSOLUTE = 0

-- bind a parameter to a variable
function bind_param(name)
   local p = Parameter()
   assert(p:init(name), string.format('could not find %s parameter', name))
   return p
end

-- add a parameter and bind it to a variable
function bind_add_param(name, idx, default_value)
   assert(param:add_param(PARAM_TABLE_KEY, idx, name, default_value), string.format('could not add param %s', name))

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