rchiossi / mavlink-vehicles

Mavlink Vehicle Abstraction Layer

A Mavlink wrapper dedicated to the most common messages that are exchanged between an air vehicle and a ground station.

Requirements

* Mavlink (https:https://github.com/mavlink/mavlink)
* MavProxy (https://github.com/ArduPilot/MAVProxy)
* Ardupilot (https://github.com/ArduPilot/ardupilot)

Build and Install

1. Make sure you have all dependencies properly installed in your system.

2. Check if $PKG_CONFIG_PATH points to the location of the mavlink pkg-config configuration file. If you have installed Mavlink using its cmake defaults, $PKG_CONFIG_PATH should be set with the following command:

   export PKG_CONFIG_PATH=${PKG_CONFIG_PATH}:/usr/local/lib/pkgconfig
   

3. Create a build folder and compile using CMAKE as follows:

   mkdir build
   cd build
   cmake ..
   make
   

Run Tests

1. Open a second terminal and run Ardupilot:

   cd ${ARDUPILOTDIR}/build/sitl/bin
   ./arducopter-quad --model x
   

2. In a third terminal, run Mavproxy:

   mavproxy.py --master tcp:127.0.0.1:5760 --out udp:127.0.0.1:14557 --streamrate -1
   

3. Run tests:

   build/tests/tests
   

   A series of tests will be executed and their results (OK/FAIL) will be displayed on the screen.