MAVLink on Arduino

Projects Discussion and Showcase Robotics
1

Hi all,
Having a bit of trouble getting MAVLink working on my Arduino Mega.
I can get the code from the example on qgroundcontrol to compile, upload and run, but it never manages to parse a message.
Any ideas?

Regards,
Si

Documentation: http://www.qgroundcontrol.org/dev/mavlink_onboard_integration_tutorial
My code:

#ifndef PI
# define PI 3.141592653589793f
#endif

#ifndef M_PI_2
# define M_PI_2 1.570796326794897f
#endif

#ifndef atanf
# define atanf atan
#endif

#ifndef atan2f
# define atan2f atan2
#endif

#include "C:/Users/Simon/Documents/GitHub/failsafe/libraries/mavlink/include/include/mavlink/v1.0/ardupilotmega/mavlink.h" 

void communication_receive();
int packet_drops = 0;

void setup(){
  Serial.begin(57600);
  Serial1.begin(57600);
}

void loop(){
  communication_receive();
}


void communication_receive()
{
  mavlink_message_t msg;
  mavlink_status_t status;

  if(Serial1.available()) {
    Serial.print("\t\tReading some bytes: ");
    Serial.println(Serial1.available());
  }

  // COMMUNICATION THROUGH UART
  while(Serial1.available() > 0)
  {
    uint8_t c = Serial1.read();
    //Serial.print(char(c));

    // Try to get a new message
    if(mavlink_parse_char(MAVLINK_COMM_0, c, &msg, &status)) {
      Serial.print("\t\t***Message received! id:");
      Serial.println(msg.msgid);

      // Handle message
      //decode(msg);
    }

    // And get the next one
  }
  // Update global packet drops counter
  packet_drops += status.packet_rx_drop_count;
}

Result:

		Reading some bytes: 19
		Reading some bytes: 7
		Reading some bytes: 2
		Reading some bytes: 2
		Reading some bytes: 2
		Reading some bytes: 2
		Reading some bytes: 2
		Reading some bytes: 2
		Reading some bytes: 2
		Reading some bytes: 2
		Reading some bytes: 2
		Reading some bytes: 2
		Reading some bytes: 2
		Reading some bytes: 17
		Reading some bytes: 2
		Reading some bytes: 1
		Reading some bytes: 2
		Reading some bytes: 18
		Reading some bytes: 12
		Reading some bytes: 2
		Reading some bytes: 2
		Reading some bytes: 2
		Reading some bytes: 20
		Reading some bytes: 1
		Reading some bytes: 2
		Reading some bytes: 1
		Reading some bytes: 2
		Reading some bytes: 2
		Reading some bytes: 2
		Reading some bytes: 17
		Reading some bytes: 2
2

char c = Serial1.read();

???

Why does your code look different to: Google Code Archive - Long-term storage for Google Code Project Hosting. ? ie &msg is not indexed?