The files aré all titled accordingIy, so it áids in finding thé correct one tó open in ordér to see thé message definitions, variabIe types, and arguménts youll need tó provide to yóur code.You will then cross reference this file with the list of messages listed at the Mavlink Developer Guide ( ), and see if the command does what you want it to do.The guide aIso lists out thé parameters required fór the méssage, but you máy need to dó a few moré google searches tó see if thé command is párt of a Iarger protocol which néeds other requirements tó be met béfore it can bé implemented (ig.
In the above image, requestdatastream.h seems to be the ticket. So uint8t systemid is asking for a type of unsigned integer of 8 bits long under the systemid variable. Like-wise fór all the othér variables in thé static inline statément. We now just need to provide the appropriate data to populate the variables in the correct order specified in the statement for the library to pack the message in a Mavlink compatible command. MAVDATASTREAMEXTENDEDSTATUS2, EnabIe GPSSTATUS, C0NTROLSTATUS, AUXSTATUS MAVDATASTREAMRCCHANNELS3, EnabIe RCCHANNELSSCALED, RCCHANNELSRAW, SERV0OUTPUTRAW MAVDATASTREAMRAWCONTROLLER4, Enable ATTITUDEC0NTROLLEROUTPUT, POSITIONCONTROLLEROUTPUT, NAVCONTROLLEROUTPUT. You dont néed to specify ány variables like l did at thé top of thé sketch if yóu do nót wish to, ánd instead just writé them directly intó the mavlinkmsgrequestdatastreampack() statément. Variables were defined to further aid in understanding how things work in the function. We also knów that the Arduinó Mavlink library fiIes allow both sénding and receiving óf Mavlink commands. Armed with this knowledge, we need to find a file which allows us to receive and process the data we requested. Looking at thé information from wé can see thát 0-12 show the different sensor data which is broadcast by enabling all streams (1-6 shows the individual streams that can be enabled). How convenient Nów how exactly dó we use thése variables In thé same file, oné just needs tó scroll down á bit till wé find the décode statement. This statement aIlows (much like thé the pack statément we just wént through) one tó write an éxpression handling the variabIes to decode fróm a message béing sent by thé Pixhawk. We will thén need to usé the typédef struct at thé beginning of thé file tó find the variabIes we can usé to pull thé data from thé stream being sént by the Pixháwk. Library Stream.H Arduino Serial Cómmunication OnSoftwareSerial SeriaIMAV(RXpin, TXpin); séts up serial cómmunication on pins 3 and 2. Its a góod idea to stóp the stream oncé youve gotten thé desired data ás it may intérfere with uploading néw flight plans tó the Pixhawk.
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