Since contact MAVLink, just go with c # programming to control the output of APM and other flight control, with nearly a month is finally as a result, I hope this article for everyone a little useless,
My program is based on MAVLink MissionPlanner source of one of the software of the ground station with SimpleExample simple example of the extension to,
My environment is Windows 7 VS2012
Compile the SimpleExample example is pass for the first time, because this is an example with a command and a new MAVLink library functions do not match, there are several command names have changed, but this example did not change, so you need to have a problem after the compilation errors ordered one by one, correct, actually name change is not big, you have a problem after selecting commands directly to play ", "c # will let you choose to have been able to use the command automatically, just choose a as the original command name,

Note: this method can only control the APM flight control the output of 5-8, the output of 1-4 can't use this approach to change!
SimpleExample about port connection and data packets inside you can see, is simpler,
This article focuses on control of the output code:

Private void but_armdisarm_Click (object sender, EventArgs e) \ \ this is the case with unlock the lock command to send
{
MAVLink. Mavlink_command_long_t the req=new MAVLink. Mavlink_command_long_t ();

The req. Target_system=1;
The req. Target_component=1;


Mand=(ushort) PONENT_ARM_DISARM MAVLink.MAV_CMD.COM; req.com \ \ lock unlock command


The req. Param1=armed? 0:1;
Armed=! Armed;

/*
The req. Param2=p2;
The req. Param3=p3;
The req. Param4=p4;
The req. Param5=p5;
The req. Param6=p6;
The req. Param7=p7;
*/


Byte [] packet=mavlink. GenerateMAVLinkPacket10 (MAVLink.MAVLINK_MSG_ID.COM MAND_LONG, the req);


SerialPort1. Write (packet, 0, packet Length);


Try
{
Var ack=readsomedataIf (ack. Result==(byte) MAVLink. MAV_RESULT. ACCEPTED)
{


}
}
Catch
{
}
}

Private void button1_Click (object sender, EventArgs e)
{

Int a1=the Convert. ToInt16 (numericUpDown1. Value); \ \ output channel choice, generally in 5-8 ports, 1-4 set up there will be no response,
Int a2=the Convert. ToInt16 (textBox1. Text); \ \ set output value generally between 1000-2000,


MAVLink. Mavlink_command_long_t the req=new MAVLink. Mavlink_command_long_t ();


The req. Target_system=1;
The req. Target_component=0;
Req.com mand=(ushort) MAVLink. MAV_CMD. DO_SET_SERVO; \ \ set steering gear PWM value
The req. Param1=a1;
The req. Param2=a2;
//the req. Param3=0;
//the req. Param4=0;
//the req. Param5=0;
//the req. Param6=0;
//the req. Param7=0;


Byte [] packet=mavlink. GenerateMAVLinkPacket10 (MAVLink.MAVLINK_MSG_ID.COM MAND_LONG, the req); \ \ command package


SerialPort1. Write (packet, 0, packet Length); \ \ send command


Try
{
Var ack=readsomedataIf (ack. Result==(byte) MAVLink. MAV_RESULT. ACCEPTED)
{


}
}
Catch
{
}

}

With the above can control 5-8 PWM output channel value, free we can have a try, if the master who know how to control 1-4 of the output value hope glad!

CodePudding user response:

If you want to send the order, need a connection is established, the original poster

CodePudding user response:

The building Lord, set the PWM pulse width or duty cycle time is value?