Hello
I am attempting to send custom mavlink commands and data to a camera that is able to receive Mavlink data but I am having some trouble with the Arduino code. I installed the mavlink library, and have begun to attempt to modify code from here Arduino Mega ADK interfacing with Pixhawk autopilot - Project Guidance - Arduino Forum to suit my specific application. The problem I am having is that the code will not compile. I get "'GLOBAL_POSITION_INT' was not declared in this scope", however I thought that I was declaring it using the statement " uint16_t msg = GLOBAL_POSITION_INT;" but that is specifically where the compiler gets hung up.
I have looked through the original code and I cannot find anywhere that the commands are declared other than through the statement I referenced above ^^
Any help would be appreciated
//Code originally written by "hadogr" from Arduino Forums
//include the mavlink library
#include "mavlink.h"
//Baudrate
int bitRate = 57600;
void setup() {
Serial.begin(bitRate);
}
void loop() {
command_heartbeat();
command_location(52.464217,-1.280222, 200);
}
void command_location(int32_t lat, int32_t lon, int32_t alt) {
//TARGET DRONE
uint8_t _target_system = 1; // Target drone id
uint8_t _target_component = 100; // component id set to 100 for FLIR cameras
uint16_t seq = 0; // Sequence is always set to 0
uint8_t frame = MAV_FRAME_GLOBAL; // Set target frame to global default
uint16_t command = GLOBAL_POSITION_INT; // Specific command for Duo
uint8_t current = 2; // Guided mode waypoint
uint8_t autocontinue = 0; // Always 0
uint32_t upTime = 0; //time since system boot, ignored by camera
int16_t velx = 1; //x speed
int16_t vely = 1; //y speed
int16_t velz = 1; //z speed
uint16_t heading = 180; //heading
// Initialize the required buffers
mavlink_message_t msg;
uint8_t buf[MAVLINK_MAX_PACKET_LEN];
// Pack the message
mavlink_msg_mission_item_pack(1,1, &msg, _target_system, _target_component, seq, frame, command, current, autocontinue, upTime, lat, lon, alt, alt, velx, vely, velz, heading);
// Copy the message to the send buffer
uint16_t len = mavlink_msg_to_send_buffer(buf, &msg);
// Send the message (.write sends as bytes)
delay(1000);
Serial.write(buf, len);
}
/************************************************************
* @brief Sends a heartbeat message every second.
* @param NONE
* @return void
*************************************************************/
void command_heartbeat() {
//< ID 1 for this system
int sysid = 1;
//< The component sending the message.
int compid = MAV_COMP_ID_MISSIONPLANNER;
// Define the system type, in this case ground control station
uint8_t system_type = MAV_TYPE_GCS;
uint8_t autopilot_type = MAV_AUTOPILOT_INVALID;
uint8_t system_mode = 0;
uint32_t custom_mode = 0;
uint8_t system_state = 0;
// Initialize the required buffers
mavlink_message_t msg;
uint8_t buf[MAVLINK_MAX_PACKET_LEN];
// Pack the message
mavlink_msg_heartbeat_pack(sysid,compid, &msg, system_type, autopilot_type, system_mode, custom_mode, system_state);
// Copy the message to the send buffer
uint16_t len = mavlink_msg_to_send_buffer(buf, &msg);
// Send the message
delay(1000);
Serial.write(buf, len);
}
/************************************************************
* @brief Sends a waypoint command
* @param NONE
* @return void
*************************************************************/
void command_waypoint() {
//TARGET DRONE
uint8_t _target_system = 1; // Target drone id
uint8_t _target_component = 0; // Target component, 0 = all
uint16_t seq = 0; // Sequence is always set to 0
uint8_t frame = MAV_FRAME_GLOBAL; // Set target frame to global default
uint16_t command = MAV_CMD_NAV_WAYPOINT; // Specific command for PX4
uint8_t current = 2; // Guided mode waypoint
uint8_t autocontinue = 0; // Always 0
float param1 = 0; // Loiter time
float param2 = 1; // Acceptable range from target - radius in meters
float param3 = 0; // Pass through waypoint
float param4 = 0; // Desired yaw angle
float x = 52.464217; // Latitude - degrees
float y = -1.280222; // Longitude - degrees
float z = 200; // Altitude - meters
// Initialize the required buffers
mavlink_message_t msg;
uint8_t buf[MAVLINK_MAX_PACKET_LEN];
// Pack the message
mavlink_msg_mission_item_pack(1,1, &msg, _target_system, _target_component, seq, frame, command, current, autocontinue, param1, param2, param3, param4, x, y, z);
// Copy the message to the send buffer
uint16_t len = mavlink_msg_to_send_buffer(buf, &msg);
// Send the message (.write sends as bytes)
delay(1000);
Serial.write(buf, len);
}
