Hi I'm working on trying to send MAVLink commands to ArduCopter requesting it to send GPS data.
From what I understand, the newer MESSAGE_INTERVAL MAVLink command is not supported but REQUEST_DATA_STREAM is. However I am unsure about some of the parameters for the MAVLink packing function.
^ This is the documentation that my MAVLink library gives for the REQUEST_DATA_STREAM packing function. I said system_id to 32 (from what I understand this is an arbitrary number between 1 and 255, though I've also tried using 1 and 255 and nothing improved), for component_id I used 1, for target_system I used 1, for target_component I used 220 aka MAV_COMP_ID_GPS (GPS's component ID), start_stop is set to 1.
I'm assuming that the req_stream_id is supposed to be the id # of the MAVLink message that I want ArduCopter to send. I've tried 24, 25, 63, etc.
req_message_rate is something that I am wary of. I've set it to 100, 1000, 100000, and 38400 (baud rate of GPS component) but nothing has improved.
No matter what I do, the only thing ArduCopter sends back is the same constant heartbeat messages as always. I've tried using PARAM_REQUEST and that actually worked so I don't know what's up with REQUEST_DATA_STREAM.
Any help would be greatly appreciated, this is driving me crazy.