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