Paolo asked . 2023-01-16

Send MAVLink command with MATLAB

Hello,

I'm searching if there is a way for interact and send commands to my quadcopter with MATLAB, instead of a Ground Control Station. I tried with MATMAV but seems not working. I also tried with MAVLink Support and also this seems not working for send command to my quadcopter. This is my code:

dialect = mavlinkdialect('common.xml');
mavlink = mavlinkio(dialect);
connect(mavlink, 'UDP', 'LocalPort', 14550);
%%
client = mavlinkclient(mavlink, 1, 1) % specify client (1 client = 1 drone)
connectionList = listConnections(mavlink)
clientsList = listClients(mavlink)
topicsList = listTopics(mavlink)
%%
message_num = 400;
cmdMsg = createcmd(dialect, 'int', message_num)
cmdMsg
num2enum(dialect,"MAV_CMD", message_num)
%%
sendudpmsg(mavlink, cmdMsg, '0.0.0.0', 14550)

There are other approaches to send commands to quadcopter through MATLAB?

mavlink , uav , uav toolbox , Engineering , Aerospace Engineering , UAV

Expert Answer

Kshitij Singh answered . 2024-12-21 16:58:34

First the mavlink message needs to be refined:

For arm UAV:

cmd = dialect.createcmd("LONG", "MAV_CMD_COMPONENT_ARM_DISARM");

cmd.Payload.target_component(:) = 1;

cmd.Payload.target_system(:) = 1;

cmd.Payload.param1(:) = 1;

For disarm UAV

cmd = dialect.createcmd("LONG", "MAV_CMD_COMPONENT_ARM_DISARM");

cmd.Payload.target_component(:) = 1;

cmd.Payload.target_system(:) = 1;

cmd.Payload.param1(:) = 0;

Also since you are emulating a ground control station in MATLAB, you will need to keep sending out heartbeat from MATLAB to help the UAV find it:

heartbeat = createmsg(dialect,"HEARTBEAT");

heartbeat.Payload.type(:) = enum2num(obj.Dialect,'MAV_TYPE', 'MAV_TYPE_GCS');

heartbeat.Payload.autopilot(:) = enum2num(obj.Dialect,'MAV_AUTOPILOT', 'MAV_AUTOPILOT_INVALID');

heartbeat.Payload.system_status(:) = enum2num(obj.Dialect,'MAV_STATE',"MAV_STATE_STANDBY");

heartbeatTimer = timer;

heartbeatTimer.ExecutionMode = 'fixedRate';

heartbeatTimer.TimerFcn = @(~,~)sendmsg(obj.IO,heartbeat);

start(heartbeatTimer);

If UAV is also broadcasting its heartbeat, your listClient call should show UAV client as well, then you can send message to the uav client:

 sendmsg(mavlink, client);

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