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uavcomm

A project to simplify MAVLink serial communication.

The design concept of this package is to view an external application communicating with a UAV as a remote client that can both send commands to, and receive telemetry from, the UAV via MAVLink messages. As such, all communication to/from the UAV is done via a client "Portal" that implements the MAVCommunicator interface. The interface is shown below.

public interface MAVCommunicator {

    /**
     * This method is used to received messages (i.e., telemetry) from the UAV.
     * It is called automatically on each MAVLink message arrival.
     * @param messageFromUav
     */
    public void receive(MAVTelemetryMessage messageFromUav);

    /**
     * This method is used to send MAVLinkMessages (i.e., commands) to the UAV
     * @param messageToUav
     * @throws MAVLinkSerialPortException if there is a problem with the connection
     */
    public void send(MAVCommandMessage messageToUav) throws MAVLinkSerialPortException;
}

Code examples and the properties file setup (for the serial port) are shown in these files:

This code has been tested with the following 2 UAV autopilots.

  • Pixhawk (running ArduPilot and MAVLink)
  • UAV Dev board (running MatrixPilot and MAVLink)