{"id":1780,"date":"2020-09-13T19:21:03","date_gmt":"2020-09-13T17:21:03","guid":{"rendered":"https:\/\/www.pschatzmann.ch\/home\/?p=1780"},"modified":"2020-11-21T22:22:43","modified_gmt":"2020-11-21T21:22:43","slug":"a-simple-arduino-mavlink-drone-library","status":"publish","type":"post","link":"https:\/\/www.pschatzmann.ch\/home\/2020\/09\/13\/a-simple-arduino-mavlink-drone-library\/","title":{"rendered":"A Simple Arduino Mavlink Drone Library for QGroundControl"},"content":{"rendered":"<p>I was looking for an easy to implement solution to control my RC Airplane (that is using a ESP32 micro controller) with the help of a Mobile Application. I decided to use <a href=\"http:\/\/qgroundcontrol.com\/\">QGroundControl<\/a> which is based on <a href=\"https:\/\/mavlink.io\/en\/\">Mavlink<\/a>.<\/p>\n<p><a href=\"https:\/\/github.com\/pschatzmann\/ArduinoMavlinkDroneLibrary\">My project<\/a> provides the following features:<\/p>\n<ul>\n<li>It is available as <strong>Arduino Library<\/strong> (which should work on any architecture)<\/li>\n<li>you can easily <strong>overwrite any method<\/strong> if you desire a different behavoir<\/li>\n<li>A simple extendable <strong>parameter store<\/strong> is provided, so that you can access the parameter values<\/li>\n<li>There are examples for <strong>Bluetooth<\/strong>, <strong>TCP\/IP<\/strong> and <strong>UDP<\/strong> (for the ESP32)<\/li>\n<\/ul>\n<p>My code is heavily relying on Dan Zimmermans <a href=\"https:\/\/github.com\/danzimmerman\/barebones_MAVLink\">Barebones_MAVLink work<\/a>. So many thinks to him!<\/p>\n<h2>Bluetooth Example<\/h2>\n<p>Here is a simple demo that shows how to use it on a ESP32 with Bluetooth:<\/p>\n<pre><code><br \/>#include \"SimpleMavlinkDrone.h\"\n#include \"BluetoothSerial.h\"\n\nBluetoothSerial SerialBT;\nSimpleMavlinkDrone Drone(&amp;SerialBT);\n\nvoid setup() {\n\/\/ setup log\nSerial.begin(115200);\nSerialBT.begin(\"Airplane\"); \/\/Bluetooth device name\n\n\/\/ provide some initial optional values\nDrone.setValue(GPS_LATITUDE, 46.211236);\nDrone.setValue(GPS_LONGITUDE, 7.259520);\nDrone.setValue(GPS_ALTITUDE, 503);\nDrone.setValue(VOLTAGE_BATTERY_MV, 5000.0); \/\/ report 5V\n}\n\nvoid loop() {\nDrone.setValue(RECEIVER_RSSI, WiFi.RSSI());\nDrone.loop();\n}\n\n<\/code><\/pre>\n<p>This is pretty easy!<\/p>\n<h2>Reading Parameters<\/h2>\n<p>Currently the following parameter definitions are available<\/p>\n<pre><code>#define THROTTLE 0 \/\/ from 0 to 1.0\n#define YAW 1 \/\/ from -100.0 to 100.0 \/\/ Rudder\n#define PITCH 2 \/\/ from -100.0 to 100.0 \/\/ Elevator\n#define ROLL 3 \/\/ from -100.0 to 100.0 \/\/ Aileron\n#define VOLTAGE_BATTERY 4 \/\/ in milli volts\n#define GPS_LATITUDE 5\n#define GPS_LONGITUDE 6\n#define GPS_ALTITUDE 7\n#define HEADING 8 \/\/ 0 - 360 deg\n#define RECEIVER_RSSI 9\n<\/code><\/pre>\n<p>You can also easily get the available parameter values by calling the getValue() method.<\/p>\n<pre><code>Serial.print(drone.isArmed()?\"[Armed] \":\"[Not armed] \");\nSerial.print(drone.getValue(THROTTLE));\nSerial.print(\", \");\nSerial.print(drone.getValue(YAW));\nSerial.print(\", \");\nSerial.print(drone.getValue(PITCH));\nSerial.print(\", \");\nSerial.print(drone.getValue(ROLL));\nSerial.println();\n\n<\/code><\/pre>\n<p>In the <a href=\"https:\/\/github.com\/pschatzmann\/ArduinoMavlinkDroneLibrary\">documentation on Github<\/a> you can find an example implementation of a simple filight controller which is updating the Servos and Motor via PWM.<\/p>\n<h2>Setting Up QGroundControl<\/h2>\n<ul>\n<li>Define the <strong>Communication Link<\/strong>: e.g. UDP. The IP address is displayed when you start the sketch<\/li>\n<li>In General (Settings) in the Fly Vue Section activate the <strong>Visual Joystick<\/strong><\/li>\n<li>If you click on the &#8216;Airplane&#8217; icon you can see and use the <strong>joysticks<\/strong><\/li>\n<li>Click on <strong>Arm<\/strong> and confirm<\/li>\n<\/ul>\n<p>and now you are <strong>ready to fly<\/strong>!<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/www.pschatzmann.ch\/wp-content\/uploads\/2020\/09\/QGroundControl-3-300x164.png\" alt=\"\" width=\"743\" height=\"406\" class=\"alignnone  wp-image-1799\" srcset=\"https:\/\/www.pschatzmann.ch\/wp-content\/uploads\/2020\/09\/QGroundControl-3-300x164.png 300w, https:\/\/www.pschatzmann.ch\/wp-content\/uploads\/2020\/09\/QGroundControl-3-768x420.png 768w, https:\/\/www.pschatzmann.ch\/wp-content\/uploads\/2020\/09\/QGroundControl-3.png 800w\" sizes=\"auto, (max-width: 743px) 100vw, 743px\" \/><\/p>\n<h2>Installation<\/h2>\n<p>You can download this project as ZIP and in the Arduino IDE use -&gt; Sketch -&gt; Include Library -&gt; Add ZIP Library.<\/p>\n<p>The recommended way howerver is to clone the project to your libraries directory. E.g. with<\/p>\n<p>cd ~\/Documents\/Arduino\/libraries<br \/>\ngit clone https:\/\/github.com\/pschatzmann\/ArduinoMavlinkDrone.git<\/p>\n","protected":false},"excerpt":{"rendered":"<p>I was looking for an easy to implement solution to control my RC Airplane (that is using a ESP32 micro controller) with the help of a Mobile Application. I decided to use QGroundControl which is based on Mavlink. My project provides the following features: It is available as Arduino Library [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":1784,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_crdt_document":"","_import_markdown_pro_load_document_selector":0,"_import_markdown_pro_submit_text_textarea":"","_exactmetrics_skip_tracking":false,"_exactmetrics_sitenote_active":false,"_exactmetrics_sitenote_note":"","_exactmetrics_sitenote_category":0,"footnotes":""},"categories":[20,10,23],"tags":[],"class_list":["post-1780","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-arduino","category-projects","category-rc"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v27.6 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>A Simple Arduino Mavlink Drone Library for QGroundControl - Phil Schatzmann<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/www.pschatzmann.ch\/home\/2020\/09\/13\/a-simple-arduino-mavlink-drone-library\/\" \/>\n<meta property=\"og:locale\" content=\"en_US\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"A Simple Arduino Mavlink Drone Library for QGroundControl - Phil Schatzmann\" \/>\n<meta property=\"og:description\" content=\"I was looking for an easy to implement solution to control my RC Airplane (that is using a ESP32 micro controller) with the help of a Mobile Application. 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