Hi everyone,
I’ve resolved my previous issue with some of your advice and new changes. I can now retrieve my position data, but it still doesn’t appear in the Mission Planner UI. Specifically, the drone and navigation data are not showing on the screen. Does anyone know what might be causing this? or what to change?
By the way, I’m using an Arduino Due, and this is the code:
#include <Marvelmind.h>
#include <MAVLink.h>
MarvelmindHedge hedge;
PositionValuePro positionVP;
RawIMUValue rIMUV;
FusionIMUValuePro fIMUVP;
char print_buffer[128];
const int res = 1; // Resolution to print values
float radiansToDegrees = 57.2957795f; // radians to degrees
float roll, pitch, yaw;
unsigned long t1;
const unsigned long period = 100;
long baudrate = 500000;
void setup() {
Serial.begin(baudrate); // Monitor serial
Serial3.begin(57600, SERIAL_8N1); // Configura Serial2 con los pines GPIO 16 (RX) y GPIO 17 (TX)
Serial2.begin(baudrate, SERIAL_8N1); // Configura Serial1 para la comunicación con la Pixhawk
hedge.begin(&Serial3);
t1 = millis();
}
void loop() {
hedge.read();
if (millis() - t1 > period) {
if (hedge.getPositionFromMarvelmindHedge(true, &positionVP)) {
sendToPixhawk();
Serial.print("Position Hedge: ");
Serial.print(" X=");
Serial.print(positionVP.x, res);
Serial.print(", Y=");
Serial.print(positionVP.y, res);
Serial.print(", Z=");
Serial.print(positionVP.z, res);
Serial.print(", Angle=");
Serial.print(positionVP.angle, res);
Serial.println();
}
// Enviar datos a la Pixhawk
t1 = millis();
}
}
void sendToPixhawk() {
mavlink_message_t msg;
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
float pos_x = positionVP.x;
float pos_y = positionVP.y;
float pos_z = positionVP.z;
float or_angle = positionVP.angle*0.0174533;
float covariance[21] = {0}; // Inicializar el arreglo de covarianza a ceros
uint8_t reset_counter = 0; // Inicializar el contador de reinicio
mavlink_msg_vision_position_estimate_pack(1, 2, &msg, 1, pos_x, pos_y, pos_z, 3, 4, or_angle, covariance, 1);
uint16_t len = mavlink_msg_to_send_buffer(buffer, &msg);
Serial2.write(buffer, len);
Serial.write(buffer, len);
Serial.println();
}
And also, how my MP looks:
