Mavlink Usage

MavLink Usage

When using MavLink, there are various functions that are used. These functions exist between the "pymavlink/mavutil.py" and "pymavlink/dialects/v10/ardupilotmega.py" files (must build mavlink dialects to see the last one).

For work on the APMCopter code, the file located at GCS_Mavlink.pde details what the APMCopter does with MAVLink commands.

For work on the APMRover2 code, the file located at GCS_Mavlink.pde details what the APMCopter does with MAVLink commands.

MISSION_ITEM target_system target_common seq frame command current autocontinue param2 - Radius for mission reached in meters param1 - Time to stay in radius in ms param3 - LOITER command for radius of orbit param4 - NAV/LOITER Yaw Orientation from x lat y long z alt

mavlink_msg_mission_item_send(chan,msg->sysid, msg->compid, packet.seq, frame, tell_command.id, current, autocontinue, param1, param2, param3, param4, x, y, z);

                               set_mode_send
                               
                               target_system, target_component, 
                               command, confirmation, param1,
                               param2, param3, param4,
                               param5, param6, param7)

MavLink Messages Sent from APM

Messages Used

ATTITUDE (check - Common)

VFR_HUD (check - Common)

RAW_IMU (check - Common)

SYS_STATUS (check - common) - Give battery percentage

MISSION_CURRENT (check - common)

GPS_RAW_INT (check - common)

NAV_CONTROLLER_OUTPUT (check - common)

GLOBAL_POSITION_INT (check - common) - filtered gps

RC_CHANNELS_RAW (check - common)

Messages Not Used

AHRS (not wanted - ardupilotmega)

HWSTATUS (not wanted - ardupilotmega)

SCALED_PRESSURE (not wanted - common)

SENSOR_OFFSETS (not wanted - ardupilotmega)

MEMINFO (not wanted - ardupilotmega)

RC_CHANNELS_SCALED (not wanted - common)

SERVO_OUTPUT_RAW (not wanted - common)