mirror of https://github.com/ArduPilot/ardupilot
50 lines
1.1 KiB
Plaintext
50 lines
1.1 KiB
Plaintext
/*
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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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