Diff: main.cpp

Revision:

0:cf75b2b10606

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Jul 23 16:34:48 2018 +0000
@@ -0,0 +1,74 @@
+#include "mbed.h"
+#include "mavlink.h"
+
+char buf[300];
+DigitalOut led(LED1);
+int sysid = 0;
+int compid=0;
+mavlink_message_t message;
+mavlink_heartbeat_t heartbeat;
+
+Serial pc(SERIAL_TX, SERIAL_RX);
+
+
+int write_data(char * data){
+
+
+    
+}
+
+
+
+void write_data( Serial& serial ,char* buf ,unsigned int len  ){
+
+for(int i =0 ; i<len;i++){
+    serial.putc(buf[i]);
+}
+}
+int light = 0;
+unsigned len = 0;
+int main()
+{
+     pc.baud(921600);
+    heartbeat.custom_mode = 555;
+    heartbeat.type = 2;
+    heartbeat.autopilot = 12;
+    heartbeat.base_mode = 43;
+    heartbeat.system_status =32;
+    heartbeat.mavlink_version = 3;
+  
+int j=0;
+
+  while(1){
+    
+    mavlink_msg_heartbeat_encode(3,255 ,&message ,&heartbeat  );
+    len = mavlink_msg_to_send_buffer((uint8_t*)buf, &message);
+    write_data(pc, buf , len);
+    
+    mavlink_msg_sys_status_pack(3, 255, &message, 0, 0, 0, 500, 11000, -1, -1, 0, 0, 0, 0, 0, 0);
+    len = mavlink_msg_to_send_buffer((uint8_t*)buf, &message);
+     write_data(pc, buf , len);
+    
+    mavlink_msg_local_position_ned_pack(3, 255, &message, j, 
+                                    0, 1, 2,
+                                    3, 4, 5);
+    len = mavlink_msg_to_send_buffer((uint8_t*)buf, &message);
+    write_data(pc, buf , len);
+
+
+    mavlink_msg_attitude_pack(3, 255, &message, j, 1.2, 1.7, 3.14, 0.01, 0.02, 0.03);
+    len = mavlink_msg_to_send_buffer((uint8_t*)buf, &message);
+    
+    write_data(pc, buf , len);
+    
+    
+   
+    if(led.read()){
+    led.write(0);    
+    }else{
+    led.write(1);
+        }
+    wait(1);  
+      j+=1;
+    }  
+}