android开发使用mavlink协议

一、添加依赖库

在工程的build.gradle添加implementation 'io.dronefleet.mavlink:mavlink:1.1.11'。

点击右上角sync

二、接收解析数据

// This example uses a TCP socket, however we may also use a UDP socket by injecting
// PipedInputStream/PipedOutputStream to MavlinkConnection, or even USB by using any
// implementation that will eventually yield an InputStream and an OutputStream.
try (Socket socket = new Socket("127.0.0.1", 5760)) {
    // After establishing a connection, we proceed to building a MavlinkConnection instance.
    MavlinkConnection connection = MavlinkConnection.create(
            socket.getInputStream(), 
            socket.getOutputStream());

    // Now we are ready to read and send messages.
    MavlinkMessage message;
    while ((message = connection.next()) != null) {
        // The received message could be either a Mavlink1 message, or a Mavlink2 message.
        // To check if the message is a Mavlink2 message, we could do the following:
        if (message instanceof Mavlink2Message) {
            // This is a Mavlink2 message.
        // When a message is received, its payload type isn't statically available.
        // We can resolve which kind of message it is by its payload, like so:
        if (message.getPayload() instanceof Heartbeat) {
            // This is a heartbeat message
            MavlinkMessage<Heartbeat> heartbeatMessage = (MavlinkMessage<Heartbeat>)message;
        }
        // We are better off by publishing the payload to a pub/sub mechanism such 
        // as RxJava, JMS or any other favorite instead, though.
    }
} catch (EOFException eof) {
    // The stream has ended.
}

三、发送数据

int systemId = 255;
int componentId = 0;
Heartbeat heartbeat = Heartbeat.builder()
          .type(MavType.MAV_TYPE_GCS)
          .autopilot(MavAutopilot.MAV_AUTOPILOT_INVALID)
          .systemStatus(MavState.MAV_STATE_UNINIT)
          .mavlinkVersion(3)
          .build()

// Write an unsigned heartbeat
connection.send2(systemId, componentId, heartbeat);