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49 lines
1.2 KiB
49 lines
1.2 KiB
/* |
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AnalogReadSerial |
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Reads an analog input on pin 0, prints the result to the serial monitor |
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This example code is in the public domain. |
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*/ |
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#include <GCS_MAVLink.h> |
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int packetDrops = 0; |
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void handleMessage(mavlink_message_t * msg) { |
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Serial.print(", received mavlink message: "); |
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Serial.print(msg->msgid, DEC); |
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} |
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void setup() { |
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Serial.begin(57600); |
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Serial3.begin(57600); |
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mavlink_comm_0_port = &Serial3; |
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packetDrops = 0; |
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} |
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void loop() { |
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mavlink_msg_heartbeat_send(MAVLINK_COMM_0, mavlink_system.type, |
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MAV_AUTOPILOT_ARDUPILOTMEGA); |
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Serial.print("heartbeat sent"); |
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// receive new packets |
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mavlink_message_t msg; |
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mavlink_status_t status; |
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Serial.print(", bytes available: "); |
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Serial.print(comm_get_available(MAVLINK_COMM_0)); |
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while (comm_get_available( MAVLINK_COMM_0)) { |
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uint8_t c = comm_receive_ch(MAVLINK_COMM_0); |
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// Try to get a new message |
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if (mavlink_parse_char(MAVLINK_COMM_0, c, &msg, &status)) |
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handleMessage(&msg); |
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} |
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// Update packet drops counter |
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packetDrops += status.packet_rx_drop_count; |
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Serial.print(", dropped packets: "); |
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Serial.println(packetDrops); |
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delay(1000); |
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}
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